diff mbox series

[v8,2/4] xlnx-zynqmp: Connect Xilinx ZynqMP CAN controllers

Message ID 1596575505-163040-3-git-send-email-fnu.vikram@xilinx.com (mailing list archive)
State New, archived
Headers show
Series Introduce Xilinx ZynqMP CAN controller | expand

Commit Message

Vikram Garhwal Aug. 4, 2020, 9:11 p.m. UTC 
Connect CAN0 and CAN1 on the ZynqMP.

Signed-off-by: Vikram Garhwal <fnu.vikram@xilinx.com>
---
 hw/arm/xlnx-zcu102.c         | 20 ++++++++++++++++++++
 hw/arm/xlnx-zynqmp.c         | 34 ++++++++++++++++++++++++++++++++++
 include/hw/arm/xlnx-zynqmp.h |  8 ++++++++
 3 files changed, 62 insertions(+)

Comments

Edgar E. Iglesias Aug. 10, 2020, 2:32 p.m. UTC | #1 
On Tue, Aug 04, 2020 at 02:11:43PM -0700, Vikram Garhwal wrote:
> Connect CAN0 and CAN1 on the ZynqMP.

Reviewed-by: Edgar E. Iglesias <edgar.iglesias@xilinx.com>


> 
> Signed-off-by: Vikram Garhwal <fnu.vikram@xilinx.com>
> ---
>  hw/arm/xlnx-zcu102.c         | 20 ++++++++++++++++++++
>  hw/arm/xlnx-zynqmp.c         | 34 ++++++++++++++++++++++++++++++++++
>  include/hw/arm/xlnx-zynqmp.h |  8 ++++++++
>  3 files changed, 62 insertions(+)
> 
> diff --git a/hw/arm/xlnx-zcu102.c b/hw/arm/xlnx-zcu102.c
> index 5997262..c3e3420 100644
> --- a/hw/arm/xlnx-zcu102.c
> +++ b/hw/arm/xlnx-zcu102.c
> @@ -24,6 +24,7 @@
>  #include "qemu/log.h"
>  #include "sysemu/qtest.h"
>  #include "sysemu/device_tree.h"
> +#include "net/can_emu.h"
>  
>  typedef struct XlnxZCU102 {
>      MachineState parent_obj;
> @@ -33,6 +34,8 @@ typedef struct XlnxZCU102 {
>      bool secure;
>      bool virt;
>  
> +    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
> +
>      struct arm_boot_info binfo;
>  } XlnxZCU102;
>  
> @@ -125,6 +128,14 @@ static void xlnx_zcu102_init(MachineState *machine)
>      object_property_set_bool(OBJECT(&s->soc), "virtualization", s->virt,
>                               &error_fatal);
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        gchar *bus_name = g_strdup_printf("canbus%d", i);
> +
> +        object_property_set_link(OBJECT(&s->soc), bus_name,
> +                                 OBJECT(s->canbus[i]), &error_fatal);
> +        g_free(bus_name);
> +    }
> +
>      qdev_realize(DEVICE(&s->soc), NULL, &error_fatal);
>  
>      /* Create and plug in the SD cards */
> @@ -220,6 +231,15 @@ static void xlnx_zcu102_machine_instance_init(Object *obj)
>                                      "Set on/off to enable/disable emulating a "
>                                      "guest CPU which implements the ARM "
>                                      "Virtualization Extensions");
> +    object_property_add_link(obj, "xlnx-zcu102.canbus0", TYPE_CAN_BUS,
> +                             (Object **)&s->canbus[0],
> +                             object_property_allow_set_link,
> +                             0);
> +
> +    object_property_add_link(obj, "xlnx-zcu102.canbus1", TYPE_CAN_BUS,
> +                             (Object **)&s->canbus[1],
> +                             object_property_allow_set_link,
> +                             0);
>  }
>  
>  static void xlnx_zcu102_machine_class_init(ObjectClass *oc, void *data)
> diff --git a/hw/arm/xlnx-zynqmp.c b/hw/arm/xlnx-zynqmp.c
> index c435b9d..adad3e7 100644
> --- a/hw/arm/xlnx-zynqmp.c
> +++ b/hw/arm/xlnx-zynqmp.c
> @@ -81,6 +81,14 @@ static const int uart_intr[XLNX_ZYNQMP_NUM_UARTS] = {
>      21, 22,
>  };
>  
> +static const uint64_t can_addr[XLNX_ZYNQMP_NUM_CAN] = {
> +    0xFF060000, 0xFF070000,
> +};
> +
> +static const int can_intr[XLNX_ZYNQMP_NUM_CAN] = {
> +    23, 24,
> +};
> +
>  static const uint64_t sdhci_addr[XLNX_ZYNQMP_NUM_SDHCI] = {
>      0xFF160000, 0xFF170000,
>  };
> @@ -243,6 +251,11 @@ static void xlnx_zynqmp_init(Object *obj)
>                                  TYPE_CADENCE_UART);
>      }
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        object_initialize_child(obj, "can[*]", &s->can[i],
> +                                TYPE_XLNX_ZYNQMP_CAN);
> +    }
> +
>      object_initialize_child(obj, "sata", &s->sata, TYPE_SYSBUS_AHCI);
>  
>      for (i = 0; i < XLNX_ZYNQMP_NUM_SDHCI; i++) {
> @@ -480,6 +493,23 @@ static void xlnx_zynqmp_realize(DeviceState *dev, Error **errp)
>                             gic_spi[uart_intr[i]]);
>      }
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        object_property_set_int(OBJECT(&s->can[i]), "ext_clk_freq",
> +                                XLNX_ZYNQMP_CAN_REF_CLK, &error_abort);
> +
> +        object_property_set_link(OBJECT(&s->can[i]), "canbus",
> +                                 OBJECT(s->canbus[i]), &error_fatal);
> +
> +        sysbus_realize(SYS_BUS_DEVICE(&s->can[i]), &err);
> +        if (err) {
> +            error_propagate(errp, err);
> +            return;
> +        }
> +        sysbus_mmio_map(SYS_BUS_DEVICE(&s->can[i]), 0, can_addr[i]);
> +        sysbus_connect_irq(SYS_BUS_DEVICE(&s->can[i]), 0,
> +                           gic_spi[can_intr[i]]);
> +    }
> +
>      object_property_set_int(OBJECT(&s->sata), "num-ports", SATA_NUM_PORTS,
>                              &error_abort);
>      if (!sysbus_realize(SYS_BUS_DEVICE(&s->sata), errp)) {
> @@ -617,6 +647,10 @@ static Property xlnx_zynqmp_props[] = {
>      DEFINE_PROP_BOOL("has_rpu", XlnxZynqMPState, has_rpu, false),
>      DEFINE_PROP_LINK("ddr-ram", XlnxZynqMPState, ddr_ram, TYPE_MEMORY_REGION,
>                       MemoryRegion *),
> +    DEFINE_PROP_LINK("canbus0", XlnxZynqMPState, canbus[0], TYPE_CAN_BUS,
> +                     CanBusState *),
> +    DEFINE_PROP_LINK("canbus1", XlnxZynqMPState, canbus[1], TYPE_CAN_BUS,
> +                     CanBusState *),
>      DEFINE_PROP_END_OF_LIST()
>  };
>  
> diff --git a/include/hw/arm/xlnx-zynqmp.h b/include/hw/arm/xlnx-zynqmp.h
> index 53076fa..8cada69 100644
> --- a/include/hw/arm/xlnx-zynqmp.h
> +++ b/include/hw/arm/xlnx-zynqmp.h
> @@ -22,6 +22,7 @@
>  #include "hw/intc/arm_gic.h"
>  #include "hw/net/cadence_gem.h"
>  #include "hw/char/cadence_uart.h"
> +#include "hw/net/xlnx-zynqmp-can.h"
>  #include "hw/ide/ahci.h"
>  #include "hw/sd/sdhci.h"
>  #include "hw/ssi/xilinx_spips.h"
> @@ -32,6 +33,7 @@
>  #include "hw/rtc/xlnx-zynqmp-rtc.h"
>  #include "hw/cpu/cluster.h"
>  #include "target/arm/cpu.h"
> +#include "net/can_emu.h"
>  
>  #define TYPE_XLNX_ZYNQMP "xlnx,zynqmp"
>  #define XLNX_ZYNQMP(obj) OBJECT_CHECK(XlnxZynqMPState, (obj), \
> @@ -41,6 +43,8 @@
>  #define XLNX_ZYNQMP_NUM_RPU_CPUS 2
>  #define XLNX_ZYNQMP_NUM_GEMS 4
>  #define XLNX_ZYNQMP_NUM_UARTS 2
> +#define XLNX_ZYNQMP_NUM_CAN 2
> +#define XLNX_ZYNQMP_CAN_REF_CLK (24 * 1000 * 1000)
>  #define XLNX_ZYNQMP_NUM_SDHCI 2
>  #define XLNX_ZYNQMP_NUM_SPIS 2
>  #define XLNX_ZYNQMP_NUM_GDMA_CH 8
> @@ -92,6 +96,7 @@ typedef struct XlnxZynqMPState {
>  
>      CadenceGEMState gem[XLNX_ZYNQMP_NUM_GEMS];
>      CadenceUARTState uart[XLNX_ZYNQMP_NUM_UARTS];
> +    XlnxZynqMPCANState can[XLNX_ZYNQMP_NUM_CAN];
>      SysbusAHCIState sata;
>      SDHCIState sdhci[XLNX_ZYNQMP_NUM_SDHCI];
>      XilinxSPIPS spi[XLNX_ZYNQMP_NUM_SPIS];
> @@ -112,6 +117,9 @@ typedef struct XlnxZynqMPState {
>      bool virt;
>      /* Has the RPU subsystem?  */
>      bool has_rpu;
> +
> +    /* CAN bus. */
> +    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
>  }  XlnxZynqMPState;
>  
>  #endif
> -- 
> 2.7.4
>
Francisco Iglesias Aug. 10, 2020, 6:54 p.m. UTC | #2 
On Tue, Aug 04, 2020 at 02:11:43PM -0700, Vikram Garhwal wrote:
> Connect CAN0 and CAN1 on the ZynqMP.
> 
> Signed-off-by: Vikram Garhwal <fnu.vikram@xilinx.com>

Reviewed-by: Francisco Iglesias <francisco.iglesias@xilinx.com>

> ---
>  hw/arm/xlnx-zcu102.c         | 20 ++++++++++++++++++++
>  hw/arm/xlnx-zynqmp.c         | 34 ++++++++++++++++++++++++++++++++++
>  include/hw/arm/xlnx-zynqmp.h |  8 ++++++++
>  3 files changed, 62 insertions(+)
> 
> diff --git a/hw/arm/xlnx-zcu102.c b/hw/arm/xlnx-zcu102.c
> index 5997262..c3e3420 100644
> --- a/hw/arm/xlnx-zcu102.c
> +++ b/hw/arm/xlnx-zcu102.c
> @@ -24,6 +24,7 @@
>  #include "qemu/log.h"
>  #include "sysemu/qtest.h"
>  #include "sysemu/device_tree.h"
> +#include "net/can_emu.h"
>  
>  typedef struct XlnxZCU102 {
>      MachineState parent_obj;
> @@ -33,6 +34,8 @@ typedef struct XlnxZCU102 {
>      bool secure;
>      bool virt;
>  
> +    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
> +
>      struct arm_boot_info binfo;
>  } XlnxZCU102;
>  
> @@ -125,6 +128,14 @@ static void xlnx_zcu102_init(MachineState *machine)
>      object_property_set_bool(OBJECT(&s->soc), "virtualization", s->virt,
>                               &error_fatal);
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        gchar *bus_name = g_strdup_printf("canbus%d", i);
> +
> +        object_property_set_link(OBJECT(&s->soc), bus_name,
> +                                 OBJECT(s->canbus[i]), &error_fatal);
> +        g_free(bus_name);
> +    }
> +
>      qdev_realize(DEVICE(&s->soc), NULL, &error_fatal);
>  
>      /* Create and plug in the SD cards */
> @@ -220,6 +231,15 @@ static void xlnx_zcu102_machine_instance_init(Object *obj)
>                                      "Set on/off to enable/disable emulating a "
>                                      "guest CPU which implements the ARM "
>                                      "Virtualization Extensions");
> +    object_property_add_link(obj, "xlnx-zcu102.canbus0", TYPE_CAN_BUS,
> +                             (Object **)&s->canbus[0],
> +                             object_property_allow_set_link,
> +                             0);
> +
> +    object_property_add_link(obj, "xlnx-zcu102.canbus1", TYPE_CAN_BUS,
> +                             (Object **)&s->canbus[1],
> +                             object_property_allow_set_link,
> +                             0);
>  }
>  
>  static void xlnx_zcu102_machine_class_init(ObjectClass *oc, void *data)
> diff --git a/hw/arm/xlnx-zynqmp.c b/hw/arm/xlnx-zynqmp.c
> index c435b9d..adad3e7 100644
> --- a/hw/arm/xlnx-zynqmp.c
> +++ b/hw/arm/xlnx-zynqmp.c
> @@ -81,6 +81,14 @@ static const int uart_intr[XLNX_ZYNQMP_NUM_UARTS] = {
>      21, 22,
>  };
>  
> +static const uint64_t can_addr[XLNX_ZYNQMP_NUM_CAN] = {
> +    0xFF060000, 0xFF070000,
> +};
> +
> +static const int can_intr[XLNX_ZYNQMP_NUM_CAN] = {
> +    23, 24,
> +};
> +
>  static const uint64_t sdhci_addr[XLNX_ZYNQMP_NUM_SDHCI] = {
>      0xFF160000, 0xFF170000,
>  };
> @@ -243,6 +251,11 @@ static void xlnx_zynqmp_init(Object *obj)
>                                  TYPE_CADENCE_UART);
>      }
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        object_initialize_child(obj, "can[*]", &s->can[i],
> +                                TYPE_XLNX_ZYNQMP_CAN);
> +    }
> +
>      object_initialize_child(obj, "sata", &s->sata, TYPE_SYSBUS_AHCI);
>  
>      for (i = 0; i < XLNX_ZYNQMP_NUM_SDHCI; i++) {
> @@ -480,6 +493,23 @@ static void xlnx_zynqmp_realize(DeviceState *dev, Error **errp)
>                             gic_spi[uart_intr[i]]);
>      }
>  
> +    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
> +        object_property_set_int(OBJECT(&s->can[i]), "ext_clk_freq",
> +                                XLNX_ZYNQMP_CAN_REF_CLK, &error_abort);
> +
> +        object_property_set_link(OBJECT(&s->can[i]), "canbus",
> +                                 OBJECT(s->canbus[i]), &error_fatal);
> +
> +        sysbus_realize(SYS_BUS_DEVICE(&s->can[i]), &err);
> +        if (err) {
> +            error_propagate(errp, err);
> +            return;
> +        }
> +        sysbus_mmio_map(SYS_BUS_DEVICE(&s->can[i]), 0, can_addr[i]);
> +        sysbus_connect_irq(SYS_BUS_DEVICE(&s->can[i]), 0,
> +                           gic_spi[can_intr[i]]);
> +    }
> +
>      object_property_set_int(OBJECT(&s->sata), "num-ports", SATA_NUM_PORTS,
>                              &error_abort);
>      if (!sysbus_realize(SYS_BUS_DEVICE(&s->sata), errp)) {
> @@ -617,6 +647,10 @@ static Property xlnx_zynqmp_props[] = {
>      DEFINE_PROP_BOOL("has_rpu", XlnxZynqMPState, has_rpu, false),
>      DEFINE_PROP_LINK("ddr-ram", XlnxZynqMPState, ddr_ram, TYPE_MEMORY_REGION,
>                       MemoryRegion *),
> +    DEFINE_PROP_LINK("canbus0", XlnxZynqMPState, canbus[0], TYPE_CAN_BUS,
> +                     CanBusState *),
> +    DEFINE_PROP_LINK("canbus1", XlnxZynqMPState, canbus[1], TYPE_CAN_BUS,
> +                     CanBusState *),
>      DEFINE_PROP_END_OF_LIST()
>  };
>  
> diff --git a/include/hw/arm/xlnx-zynqmp.h b/include/hw/arm/xlnx-zynqmp.h
> index 53076fa..8cada69 100644
> --- a/include/hw/arm/xlnx-zynqmp.h
> +++ b/include/hw/arm/xlnx-zynqmp.h
> @@ -22,6 +22,7 @@
>  #include "hw/intc/arm_gic.h"
>  #include "hw/net/cadence_gem.h"
>  #include "hw/char/cadence_uart.h"
> +#include "hw/net/xlnx-zynqmp-can.h"
>  #include "hw/ide/ahci.h"
>  #include "hw/sd/sdhci.h"
>  #include "hw/ssi/xilinx_spips.h"
> @@ -32,6 +33,7 @@
>  #include "hw/rtc/xlnx-zynqmp-rtc.h"
>  #include "hw/cpu/cluster.h"
>  #include "target/arm/cpu.h"
> +#include "net/can_emu.h"
>  
>  #define TYPE_XLNX_ZYNQMP "xlnx,zynqmp"
>  #define XLNX_ZYNQMP(obj) OBJECT_CHECK(XlnxZynqMPState, (obj), \
> @@ -41,6 +43,8 @@
>  #define XLNX_ZYNQMP_NUM_RPU_CPUS 2
>  #define XLNX_ZYNQMP_NUM_GEMS 4
>  #define XLNX_ZYNQMP_NUM_UARTS 2
> +#define XLNX_ZYNQMP_NUM_CAN 2
> +#define XLNX_ZYNQMP_CAN_REF_CLK (24 * 1000 * 1000)
>  #define XLNX_ZYNQMP_NUM_SDHCI 2
>  #define XLNX_ZYNQMP_NUM_SPIS 2
>  #define XLNX_ZYNQMP_NUM_GDMA_CH 8
> @@ -92,6 +96,7 @@ typedef struct XlnxZynqMPState {
>  
>      CadenceGEMState gem[XLNX_ZYNQMP_NUM_GEMS];
>      CadenceUARTState uart[XLNX_ZYNQMP_NUM_UARTS];
> +    XlnxZynqMPCANState can[XLNX_ZYNQMP_NUM_CAN];
>      SysbusAHCIState sata;
>      SDHCIState sdhci[XLNX_ZYNQMP_NUM_SDHCI];
>      XilinxSPIPS spi[XLNX_ZYNQMP_NUM_SPIS];
> @@ -112,6 +117,9 @@ typedef struct XlnxZynqMPState {
>      bool virt;
>      /* Has the RPU subsystem?  */
>      bool has_rpu;
> +
> +    /* CAN bus. */
> +    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
>  }  XlnxZynqMPState;
>  
>  #endif
> -- 
> 2.7.4
>
diff mbox series

Patch

diff --git a/hw/arm/xlnx-zcu102.c b/hw/arm/xlnx-zcu102.c
index 5997262..c3e3420 100644
--- a/hw/arm/xlnx-zcu102.c
+++ b/hw/arm/xlnx-zcu102.c
@@ -24,6 +24,7 @@ 
 #include "qemu/log.h"
 #include "sysemu/qtest.h"
 #include "sysemu/device_tree.h"
+#include "net/can_emu.h"
 
 typedef struct XlnxZCU102 {
     MachineState parent_obj;
@@ -33,6 +34,8 @@  typedef struct XlnxZCU102 {
     bool secure;
     bool virt;
 
+    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
+
     struct arm_boot_info binfo;
 } XlnxZCU102;
 
@@ -125,6 +128,14 @@  static void xlnx_zcu102_init(MachineState *machine)
     object_property_set_bool(OBJECT(&s->soc), "virtualization", s->virt,
                              &error_fatal);
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        gchar *bus_name = g_strdup_printf("canbus%d", i);
+
+        object_property_set_link(OBJECT(&s->soc), bus_name,
+                                 OBJECT(s->canbus[i]), &error_fatal);
+        g_free(bus_name);
+    }
+
     qdev_realize(DEVICE(&s->soc), NULL, &error_fatal);
 
     /* Create and plug in the SD cards */
@@ -220,6 +231,15 @@  static void xlnx_zcu102_machine_instance_init(Object *obj)
                                     "Set on/off to enable/disable emulating a "
                                     "guest CPU which implements the ARM "
                                     "Virtualization Extensions");
+    object_property_add_link(obj, "xlnx-zcu102.canbus0", TYPE_CAN_BUS,
+                             (Object **)&s->canbus[0],
+                             object_property_allow_set_link,
+                             0);
+
+    object_property_add_link(obj, "xlnx-zcu102.canbus1", TYPE_CAN_BUS,
+                             (Object **)&s->canbus[1],
+                             object_property_allow_set_link,
+                             0);
 }
 
 static void xlnx_zcu102_machine_class_init(ObjectClass *oc, void *data)
diff --git a/hw/arm/xlnx-zynqmp.c b/hw/arm/xlnx-zynqmp.c
index c435b9d..adad3e7 100644
--- a/hw/arm/xlnx-zynqmp.c
+++ b/hw/arm/xlnx-zynqmp.c
@@ -81,6 +81,14 @@  static const int uart_intr[XLNX_ZYNQMP_NUM_UARTS] = {
     21, 22,
 };
 
+static const uint64_t can_addr[XLNX_ZYNQMP_NUM_CAN] = {
+    0xFF060000, 0xFF070000,
+};
+
+static const int can_intr[XLNX_ZYNQMP_NUM_CAN] = {
+    23, 24,
+};
+
 static const uint64_t sdhci_addr[XLNX_ZYNQMP_NUM_SDHCI] = {
     0xFF160000, 0xFF170000,
 };
@@ -243,6 +251,11 @@  static void xlnx_zynqmp_init(Object *obj)
                                 TYPE_CADENCE_UART);
     }
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        object_initialize_child(obj, "can[*]", &s->can[i],
+                                TYPE_XLNX_ZYNQMP_CAN);
+    }
+
     object_initialize_child(obj, "sata", &s->sata, TYPE_SYSBUS_AHCI);
 
     for (i = 0; i < XLNX_ZYNQMP_NUM_SDHCI; i++) {
@@ -480,6 +493,23 @@  static void xlnx_zynqmp_realize(DeviceState *dev, Error **errp)
                            gic_spi[uart_intr[i]]);
     }
 
+    for (i = 0; i < XLNX_ZYNQMP_NUM_CAN; i++) {
+        object_property_set_int(OBJECT(&s->can[i]), "ext_clk_freq",
+                                XLNX_ZYNQMP_CAN_REF_CLK, &error_abort);
+
+        object_property_set_link(OBJECT(&s->can[i]), "canbus",
+                                 OBJECT(s->canbus[i]), &error_fatal);
+
+        sysbus_realize(SYS_BUS_DEVICE(&s->can[i]), &err);
+        if (err) {
+            error_propagate(errp, err);
+            return;
+        }
+        sysbus_mmio_map(SYS_BUS_DEVICE(&s->can[i]), 0, can_addr[i]);
+        sysbus_connect_irq(SYS_BUS_DEVICE(&s->can[i]), 0,
+                           gic_spi[can_intr[i]]);
+    }
+
     object_property_set_int(OBJECT(&s->sata), "num-ports", SATA_NUM_PORTS,
                             &error_abort);
     if (!sysbus_realize(SYS_BUS_DEVICE(&s->sata), errp)) {
@@ -617,6 +647,10 @@  static Property xlnx_zynqmp_props[] = {
     DEFINE_PROP_BOOL("has_rpu", XlnxZynqMPState, has_rpu, false),
     DEFINE_PROP_LINK("ddr-ram", XlnxZynqMPState, ddr_ram, TYPE_MEMORY_REGION,
                      MemoryRegion *),
+    DEFINE_PROP_LINK("canbus0", XlnxZynqMPState, canbus[0], TYPE_CAN_BUS,
+                     CanBusState *),
+    DEFINE_PROP_LINK("canbus1", XlnxZynqMPState, canbus[1], TYPE_CAN_BUS,
+                     CanBusState *),
     DEFINE_PROP_END_OF_LIST()
 };
 
diff --git a/include/hw/arm/xlnx-zynqmp.h b/include/hw/arm/xlnx-zynqmp.h
index 53076fa..8cada69 100644
--- a/include/hw/arm/xlnx-zynqmp.h
+++ b/include/hw/arm/xlnx-zynqmp.h
@@ -22,6 +22,7 @@ 
 #include "hw/intc/arm_gic.h"
 #include "hw/net/cadence_gem.h"
 #include "hw/char/cadence_uart.h"
+#include "hw/net/xlnx-zynqmp-can.h"
 #include "hw/ide/ahci.h"
 #include "hw/sd/sdhci.h"
 #include "hw/ssi/xilinx_spips.h"
@@ -32,6 +33,7 @@ 
 #include "hw/rtc/xlnx-zynqmp-rtc.h"
 #include "hw/cpu/cluster.h"
 #include "target/arm/cpu.h"
+#include "net/can_emu.h"
 
 #define TYPE_XLNX_ZYNQMP "xlnx,zynqmp"
 #define XLNX_ZYNQMP(obj) OBJECT_CHECK(XlnxZynqMPState, (obj), \
@@ -41,6 +43,8 @@ 
 #define XLNX_ZYNQMP_NUM_RPU_CPUS 2
 #define XLNX_ZYNQMP_NUM_GEMS 4
 #define XLNX_ZYNQMP_NUM_UARTS 2
+#define XLNX_ZYNQMP_NUM_CAN 2
+#define XLNX_ZYNQMP_CAN_REF_CLK (24 * 1000 * 1000)
 #define XLNX_ZYNQMP_NUM_SDHCI 2
 #define XLNX_ZYNQMP_NUM_SPIS 2
 #define XLNX_ZYNQMP_NUM_GDMA_CH 8
@@ -92,6 +96,7 @@  typedef struct XlnxZynqMPState {
 
     CadenceGEMState gem[XLNX_ZYNQMP_NUM_GEMS];
     CadenceUARTState uart[XLNX_ZYNQMP_NUM_UARTS];
+    XlnxZynqMPCANState can[XLNX_ZYNQMP_NUM_CAN];
     SysbusAHCIState sata;
     SDHCIState sdhci[XLNX_ZYNQMP_NUM_SDHCI];
     XilinxSPIPS spi[XLNX_ZYNQMP_NUM_SPIS];
@@ -112,6 +117,9 @@  typedef struct XlnxZynqMPState {
     bool virt;
     /* Has the RPU subsystem?  */
     bool has_rpu;
+
+    /* CAN bus. */
+    CanBusState *canbus[XLNX_ZYNQMP_NUM_CAN];
 }  XlnxZynqMPState;
 
 #endif