diff --git a/default-configs/pci.mak b/default-configs/pci.mak
index e514bdef42..bbe11887a1 100644
--- a/default-configs/pci.mak
+++ b/default-configs/pci.mak
@@ -31,6 +31,7 @@ CONFIG_ESP_PCI=y
 CONFIG_SERIAL=y
 CONFIG_SERIAL_ISA=y
 CONFIG_SERIAL_PCI=y
+CONFIG_CAN_CORE=y
 CONFIG_IPACK=y
 CONFIG_WDT_IB6300ESB=y
 CONFIG_PCI_TESTDEV=y
diff --git a/hw/Makefile.objs b/hw/Makefile.objs
index cf4cb2010b..9d84b8faaa 100644
--- a/hw/Makefile.objs
+++ b/hw/Makefile.objs
@@ -6,6 +6,7 @@ devices-dirs-$(CONFIG_SOFTMMU) += block/
 devices-dirs-$(CONFIG_SOFTMMU) += bt/
 devices-dirs-$(CONFIG_SOFTMMU) += char/
 devices-dirs-$(CONFIG_SOFTMMU) += cpu/
+devices-dirs-$(CONFIG_SOFTMMU) += can/
 devices-dirs-$(CONFIG_SOFTMMU) += display/
 devices-dirs-$(CONFIG_SOFTMMU) += dma/
 devices-dirs-$(CONFIG_SOFTMMU) += gpio/
diff --git a/hw/can/Makefile.objs b/hw/can/Makefile.objs
new file mode 100644
index 0000000000..1028d7c455
--- /dev/null
+++ b/hw/can/Makefile.objs
@@ -0,0 +1,6 @@
+# CAN bus interfaces emulation and infrastructure
+
+ifeq ($(CONFIG_CAN_CORE),y)
+common-obj-y += can_core.o
+common-obj-y += can_host_stub.o
+endif
diff --git a/hw/can/can_core.c b/hw/can/can_core.c
new file mode 100644
index 0000000000..41c458c792
--- /dev/null
+++ b/hw/can/can_core.c
@@ -0,0 +1,136 @@
+/*
+ * CAN common CAN bus emulation support
+ *
+ * Copyright (c) 2013-2014 Jin Yang
+ * Copyright (c) 2014-2018 Pavel Pisa
+ *
+ * Initial development supported by Google GSoC 2013 from RTEMS project slot
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "qemu/osdep.h"
+#include "chardev/char.h"
+#include "qemu/sockets.h"
+#include "qemu/error-report.h"
+#include "hw/hw.h"
+#include "can/can_emu.h"
+
+static QTAILQ_HEAD(, CanBusState) can_buses =
+    QTAILQ_HEAD_INITIALIZER(can_buses);
+
+CanBusState *can_bus_find_by_name(const char *name, bool create_missing)
+{
+    CanBusState *bus;
+
+    if (name == NULL) {
+        name = "canbus0";
+    }
+
+    QTAILQ_FOREACH(bus, &can_buses, next) {
+        if (!strcmp(bus->name, name)) {
+            return bus;
+        }
+    }
+
+    if (!create_missing) {
+        return 0;
+    }
+
+    bus = g_malloc0(sizeof(*bus));
+    if (bus == NULL) {
+        return NULL;
+    }
+
+    QTAILQ_INIT(&bus->clients);
+
+    bus->name = g_strdup(name);
+
+    QTAILQ_INSERT_TAIL(&can_buses, bus, next);
+    return bus;
+}
+
+int can_bus_insert_client(CanBusState *bus, CanBusClientState *client)
+{
+    client->bus = bus;
+    QTAILQ_INSERT_TAIL(&bus->clients, client, next);
+    return 0;
+}
+
+int can_bus_remove_client(CanBusClientState *client)
+{
+    CanBusState *bus = client->bus;
+    if (bus == NULL) {
+        return 0;
+    }
+
+    QTAILQ_REMOVE(&bus->clients, client, next);
+    client->bus = NULL;
+    return 1;
+}
+
+ssize_t can_bus_client_send(CanBusClientState *client,
+             const struct qemu_can_frame *frames, size_t frames_cnt)
+{
+    int ret = 0;
+    CanBusState *bus = client->bus;
+    CanBusClientState *peer;
+    if (bus == NULL) {
+        return -1;
+    }
+
+    QTAILQ_FOREACH(peer, &bus->clients, next) {
+        if (peer->info->can_receive(peer)) {
+            if (peer == client) {
+                /* No loopback support for now */
+                continue;
+            }
+            if (peer->info->receive(peer, frames, frames_cnt) > 0) {
+                ret = 1;
+            }
+        }
+    }
+
+    return ret;
+}
+
+int can_bus_filter_match(struct qemu_can_filter *filter, qemu_canid_t can_id)
+{
+    int m;
+    if (((can_id | filter->can_mask) & QEMU_CAN_ERR_FLAG)) {
+        return (filter->can_mask & QEMU_CAN_ERR_FLAG) != 0;
+    }
+    m = (can_id & filter->can_mask) == (filter->can_id & filter->can_mask);
+    return filter->can_id & QEMU_CAN_INV_FILTER ? !m : m;
+}
+
+int can_bus_client_set_filters(CanBusClientState *client,
+             const struct qemu_can_filter *filters, size_t filters_cnt)
+{
+    return 0;
+}
+
+int can_bus_connect_to_host_device(CanBusState *bus, const char *name)
+{
+    if (can_bus_connect_to_host_variant == NULL) {
+        error_report("CAN bus connect to host device is not "
+                     "supported on this system");
+        exit(1);
+    }
+    return can_bus_connect_to_host_variant(bus, name);
+}
diff --git a/hw/can/can_host_stub.c b/hw/can/can_host_stub.c
new file mode 100644
index 0000000000..748d25f995
--- /dev/null
+++ b/hw/can/can_host_stub.c
@@ -0,0 +1,36 @@
+/*
+ * CAN stub to connect to host system CAN interface
+ *
+ * Copyright (c) 2013-2014 Jin Yang
+ * Copyright (c) 2014-2018 Pavel Pisa
+ *
+ * Initial development supported by Google GSoC 2013 from RTEMS project slot
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "qemu/osdep.h"
+#include "chardev/char.h"
+#include "qemu/sockets.h"
+#include "qemu/error-report.h"
+#include "hw/hw.h"
+#include "can/can_emu.h"
+
+
+int (*can_bus_connect_to_host_variant)(CanBusState *bus, const char *name) =
+        NULL;
diff --git a/include/can/can_emu.h b/include/can/can_emu.h
new file mode 100644
index 0000000000..85237ee3c9
--- /dev/null
+++ b/include/can/can_emu.h
@@ -0,0 +1,131 @@
+/*
+ * CAN common CAN bus emulation support
+ *
+ * Copyright (c) 2013-2014 Jin Yang
+ * Copyright (c) 2014-2018 Pavel Pisa
+ *
+ * Initial development supported by Google GSoC 2013 from RTEMS project slot
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef NET_CAN_EMU_H
+#define NET_CAN_EMU_H
+
+#include "qemu/queue.h"
+
+/* NOTE: the following two structures is copied from <linux/can.h>. */
+
+/*
+ * Controller Area Network Identifier structure
+ *
+ * bit 0-28    : CAN identifier (11/29 bit)
+ * bit 29      : error frame flag (0 = data frame, 1 = error frame)
+ * bit 30      : remote transmission request flag (1 = rtr frame)
+ * bit 31      : frame format flag (0 = standard 11 bit, 1 = extended 29 bit)
+ */
+typedef uint32_t qemu_canid_t;
+
+typedef struct qemu_can_frame {
+    qemu_canid_t    can_id;  /* 32 bit CAN_ID + EFF/RTR/ERR flags */
+    uint8_t         can_dlc; /* data length code: 0 .. 8 */
+    uint8_t         data[8] QEMU_ALIGNED(8);
+} qemu_can_frame;
+
+/* Keep defines for QEMU separate from Linux ones for now */
+
+#define QEMU_CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
+#define QEMU_CAN_RTR_FLAG 0x40000000U /* remote transmission request */
+#define QEMU_CAN_ERR_FLAG 0x20000000U /* error message frame */
+
+#define QEMU_CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
+#define QEMU_CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
+
+/**
+ * struct qemu_can_filter - CAN ID based filter in can_register().
+ * @can_id:   relevant bits of CAN ID which are not masked out.
+ * @can_mask: CAN mask (see description)
+ *
+ * Description:
+ * A filter matches, when
+ *
+ *          <received_can_id> & mask == can_id & mask
+ *
+ * The filter can be inverted (QEMU_CAN_INV_FILTER bit set in can_id) or it can
+ * filter for error message frames (QEMU_CAN_ERR_FLAG bit set in mask).
+ */
+typedef struct qemu_can_filter {
+    qemu_canid_t    can_id;
+    qemu_canid_t    can_mask;
+} qemu_can_filter;
+
+/* QEMU_CAN_INV_FILTER can be set in qemu_can_filter.can_id */
+#define QEMU_CAN_INV_FILTER 0x20000000U
+
+typedef struct CanBusClientState CanBusClientState;
+typedef struct CanBusState CanBusState;
+
+typedef struct CanBusClientInfo {
+    size_t size;
+    int (*can_receive)(CanBusClientState *);
+    ssize_t (*receive)(CanBusClientState *,
+        const struct qemu_can_frame *frames, size_t frames_cnt);
+    void (*cleanup) (CanBusClientState *);
+    void (*poll)(CanBusClientState *, bool enable);
+} CanBusClientInfo;
+
+struct CanBusClientState {
+    CanBusClientInfo *info;
+    CanBusState *bus;
+    int link_down;
+    QTAILQ_ENTRY(CanBusClientState) next;
+    CanBusClientState *peer;
+    char *model;
+    char *name;
+    void (*destructor)(CanBusClientState *);
+};
+
+struct CanBusState {
+    char *name;
+    QTAILQ_HEAD(, CanBusClientState) clients;
+    QTAILQ_ENTRY(CanBusState) next;
+};
+
+extern int (*can_bus_connect_to_host_variant)(CanBusState *bus,
+                                              const char *name);
+
+int can_bus_filter_match(struct qemu_can_filter *filter, qemu_canid_t can_id);
+
+CanBusState *can_bus_find_by_name(const char *name, bool create_missing);
+
+int can_bus_insert_client(CanBusState *bus, CanBusClientState *client);
+
+int can_bus_remove_client(CanBusClientState *client);
+
+ssize_t can_bus_client_send(CanBusClientState *,
+                            const struct qemu_can_frame *frames,
+                            size_t frames_cnt);
+
+int can_bus_client_set_filters(CanBusClientState *,
+                               const struct qemu_can_filter *filters,
+                               size_t filters_cnt);
+
+int can_bus_connect_to_host_device(CanBusState *bus, const char *host_dev_name);
+
+#endif
