RTEMS | Controller Area Network (CAN) Stack Improvements (#5440)

Wed Feb 4 21:20:54 UTC 2026

Michal Lenc commented: https://gitlab.rtems.org/rtems/rtos/rtems/-/issues/5440#note_141283

@Muhammad-Kamran-Khan Hi, I am glad to hear you want to contribute. Do you have some board with FPGA that you could run the tests on? RTEMS currently supports only CTU CAN FD controller, I am finishing the work on SJA1000 controller implementation. You could also work with QEMU, but unfortunately CTU CAN FD support is not mainlined yet, but you can build the development version https://gitlab.fel.cvut.cz/canbus/qemu-canbus/-/tree/ctu-canfd?ref_type=heads - @ppisa can provide some insights if you need. SJA1000 is supported in mainline QEMU, so it will be much easier to experiment with.

Some basic example applications can be found here https://gitlab.fel.cvut.cz/otrees/rtems/rtems-canfd/-/tree/master/rtems_can_test - these are mostly simple one or two way send/receive applications that can be run either on real hardware (tested on xilinx-zynq) or with QEMU (tested with i386 qemu with ctucanfd patch). But they serve as a good practical introduction for you to CAN stack API.

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View it on GitLab: https://gitlab.rtems.org/rtems/rtos/rtems/-/issues/5440#note_141283
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