* [PATCH v6 1/4] hw/net/can: Introduce Xilinx ZynqMP CAN controller
2020-06-23 23:23 [PATCH v6 0/4] Introduce Xilinx ZynqMP CAN controller Vikram Garhwal
@ 2020-06-23 23:23 ` Vikram Garhwal
2020-06-23 23:23 ` [PATCH v6 2/4] xlnx-zynqmp: Connect Xilinx ZynqMP CAN controllers Vikram Garhwal
` (3 subsequent siblings)
4 siblings, 0 replies; 7+ messages in thread
From: Vikram Garhwal @ 2020-06-23 23:23 UTC (permalink / raw)
To: qemu-devel
Cc: Peter Maydell, Vikram Garhwal, Jason Wang, Alistair Francis,
francisco.iglesias, open list:Xilinx ZynqMP, Edgar E. Iglesias
The Xilinx ZynqMP CAN controller is developed based on SocketCAN, QEMU CAN bus
implementation. Bus connection and socketCAN connection for each CAN module
can be set through command lines.
Example for using single CAN:
-object can-bus,id=canbus0 \
-global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0 \
-object can-host-socketcan,id=socketcan0,if=vcan0,canbus=canbus0
Example for connecting both CAN to same virtual CAN on host machine:
-object can-bus,id=canbus0 -object can-bus,id=canbus1 \
-global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0 \
-global driver=xlnx.zynqmp-can,property=canbus1,value=canbus1 \
-object can-host-socketcan,id=socketcan0,if=vcan0,canbus=canbus0 \
-object can-host-socketcan,id=socketcan1,if=vcan0,canbus=canbus1
To create virtual CAN on the host machine, please check the QEMU CAN docs:
https://github.com/qemu/qemu/blob/master/docs/can.txt
Signed-off-by: Vikram Garhwal <fnu.vikram@xilinx.com>
---
hw/net/can/Makefile.objs | 1 +
hw/net/can/xlnx-zynqmp-can.c | 1163 ++++++++++++++++++++++++++++++++++++++
include/hw/net/xlnx-zynqmp-can.h | 79 +++
3 files changed, 1243 insertions(+)
create mode 100644 hw/net/can/xlnx-zynqmp-can.c
create mode 100644 include/hw/net/xlnx-zynqmp-can.h
diff --git a/hw/net/can/Makefile.objs b/hw/net/can/Makefile.objs
index 9f0c4ee..0fe87dd 100644
--- a/hw/net/can/Makefile.objs
+++ b/hw/net/can/Makefile.objs
@@ -2,3 +2,4 @@ common-obj-$(CONFIG_CAN_SJA1000) += can_sja1000.o
common-obj-$(CONFIG_CAN_PCI) += can_kvaser_pci.o
common-obj-$(CONFIG_CAN_PCI) += can_pcm3680_pci.o
common-obj-$(CONFIG_CAN_PCI) += can_mioe3680_pci.o
+common-obj-$(CONFIG_XLNX_ZYNQMP) += xlnx-zynqmp-can.o
diff --git a/hw/net/can/xlnx-zynqmp-can.c b/hw/net/can/xlnx-zynqmp-can.c
new file mode 100644
index 0000000..a71137f
--- /dev/null
+++ b/hw/net/can/xlnx-zynqmp-can.c
@@ -0,0 +1,1163 @@
+/*
+ * QEMU model of the Xilinx ZynqMP CAN controller.
+ * This implementation is based on the following datasheet:
+ * https://www.xilinx.com/support/documentation/user_guides/ug1085-zynq-ultrascale-trm.pdf
+ *
+ * Copyright (c) 2020 Xilinx Inc.
+ *
+ * Written-by: Vikram Garhwal<fnu.vikram@xilinx.com>
+ *
+ * Based on QEMU CAN Device emulation implemented by Jin Yang, Deniz Eren and
+ * Pavel Pisa
+ *
+ * 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 "hw/sysbus.h"
+#include "hw/register.h"
+#include "hw/irq.h"
+#include "qapi/error.h"
+#include "qemu/bitops.h"
+#include "qemu/log.h"
+#include "qemu/cutils.h"
+#include "sysemu/sysemu.h"
+#include "migration/vmstate.h"
+#include "hw/qdev-properties.h"
+#include "net/can_emu.h"
+#include "net/can_host.h"
+#include "qemu/event_notifier.h"
+#include "qom/object_interfaces.h"
+#include "hw/net/xlnx-zynqmp-can.h"
+
+#ifndef XLNX_ZYNQMP_CAN_ERR_DEBUG
+#define XLNX_ZYNQMP_CAN_ERR_DEBUG 0
+#endif
+
+#define DB_PRINT(...) do { \
+ if (XLNX_ZYNQMP_CAN_ERR_DEBUG) { \
+ qemu_log(__VA_ARGS__); \
+ } \
+} while (0)
+
+#define MAX_DLC 8
+#undef ERROR
+
+REG32(SOFTWARE_RESET_REGISTER, 0x0)
+ FIELD(SOFTWARE_RESET_REGISTER, CEN, 1, 1)
+ FIELD(SOFTWARE_RESET_REGISTER, SRST, 0, 1)
+REG32(MODE_SELECT_REGISTER, 0x4)
+ FIELD(MODE_SELECT_REGISTER, SNOOP, 2, 1)
+ FIELD(MODE_SELECT_REGISTER, LBACK, 1, 1)
+ FIELD(MODE_SELECT_REGISTER, SLEEP, 0, 1)
+REG32(ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER, 0x8)
+ FIELD(ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER, BRP, 0, 8)
+REG32(ARBITRATION_PHASE_BIT_TIMING_REGISTER, 0xc)
+ FIELD(ARBITRATION_PHASE_BIT_TIMING_REGISTER, SJW, 7, 2)
+ FIELD(ARBITRATION_PHASE_BIT_TIMING_REGISTER, TS2, 4, 3)
+ FIELD(ARBITRATION_PHASE_BIT_TIMING_REGISTER, TS1, 0, 4)
+REG32(ERROR_COUNTER_REGISTER, 0x10)
+ FIELD(ERROR_COUNTER_REGISTER, REC, 8, 8)
+ FIELD(ERROR_COUNTER_REGISTER, TEC, 0, 8)
+REG32(ERROR_STATUS_REGISTER, 0x14)
+ FIELD(ERROR_STATUS_REGISTER, ACKER, 4, 1)
+ FIELD(ERROR_STATUS_REGISTER, BERR, 3, 1)
+ FIELD(ERROR_STATUS_REGISTER, STER, 2, 1)
+ FIELD(ERROR_STATUS_REGISTER, FMER, 1, 1)
+ FIELD(ERROR_STATUS_REGISTER, CRCER, 0, 1)
+REG32(STATUS_REGISTER, 0x18)
+ FIELD(STATUS_REGISTER, SNOOP, 12, 1)
+ FIELD(STATUS_REGISTER, ACFBSY, 11, 1)
+ FIELD(STATUS_REGISTER, TXFLL, 10, 1)
+ FIELD(STATUS_REGISTER, TXBFLL, 9, 1)
+ FIELD(STATUS_REGISTER, ESTAT, 7, 2)
+ FIELD(STATUS_REGISTER, ERRWRN, 6, 1)
+ FIELD(STATUS_REGISTER, BBSY, 5, 1)
+ FIELD(STATUS_REGISTER, BIDLE, 4, 1)
+ FIELD(STATUS_REGISTER, NORMAL, 3, 1)
+ FIELD(STATUS_REGISTER, SLEEP, 2, 1)
+ FIELD(STATUS_REGISTER, LBACK, 1, 1)
+ FIELD(STATUS_REGISTER, CONFIG, 0, 1)
+REG32(INTERRUPT_STATUS_REGISTER, 0x1c)
+ FIELD(INTERRUPT_STATUS_REGISTER, TXFEMP, 14, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, TXFWMEMP, 13, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, RXFWMFLL, 12, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, WKUP, 11, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, SLP, 10, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, BSOFF, 9, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, ERROR, 8, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, RXNEMP, 7, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, RXOFLW, 6, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, RXUFLW, 5, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, RXOK, 4, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, TXBFLL, 3, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, TXFLL, 2, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, TXOK, 1, 1)
+ FIELD(INTERRUPT_STATUS_REGISTER, ARBLST, 0, 1)
+REG32(INTERRUPT_ENABLE_REGISTER, 0x20)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ETXFEMP, 14, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ETXFWMEMP, 13, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ERXFWMFLL, 12, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, EWKUP, 11, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ESLP, 10, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, EBSOFF, 9, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, EERROR, 8, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ERXNEMP, 7, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ERXOFLW, 6, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ERXUFLW, 5, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ERXOK, 4, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ETXBFLL, 3, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ETXFLL, 2, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, ETXOK, 1, 1)
+ FIELD(INTERRUPT_ENABLE_REGISTER, EARBLST, 0, 1)
+REG32(INTERRUPT_CLEAR_REGISTER, 0x24)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CTXFEMP, 14, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CTXFWMEMP, 13, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CRXFWMFLL, 12, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CWKUP, 11, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CSLP, 10, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CBSOFF, 9, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CERROR, 8, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CRXNEMP, 7, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CRXOFLW, 6, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CRXUFLW, 5, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CRXOK, 4, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CTXBFLL, 3, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CTXFLL, 2, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CTXOK, 1, 1)
+ FIELD(INTERRUPT_CLEAR_REGISTER, CARBLST, 0, 1)
+REG32(TIMESTAMP_REGISTER, 0x28)
+ FIELD(TIMESTAMP_REGISTER, CTS, 0, 1)
+REG32(WIR, 0x2c)
+ FIELD(WIR, EW, 8, 8)
+ FIELD(WIR, FW, 0, 8)
+REG32(TXFIFO_ID, 0x30)
+ FIELD(TXFIFO_ID, IDH, 21, 11)
+ FIELD(TXFIFO_ID, SRRRTR, 20, 1)
+ FIELD(TXFIFO_ID, IDE, 19, 1)
+ FIELD(TXFIFO_ID, IDL, 1, 18)
+ FIELD(TXFIFO_ID, RTR, 0, 1)
+REG32(TXFIFO_DLC, 0x34)
+ FIELD(TXFIFO_DLC, DLC, 28, 4)
+REG32(TXFIFO_DATA1, 0x38)
+ FIELD(TXFIFO_DATA1, DB0, 24, 8)
+ FIELD(TXFIFO_DATA1, DB1, 16, 8)
+ FIELD(TXFIFO_DATA1, DB2, 8, 8)
+ FIELD(TXFIFO_DATA1, DB3, 0, 8)
+REG32(TXFIFO_DATA2, 0x3c)
+ FIELD(TXFIFO_DATA2, DB4, 24, 8)
+ FIELD(TXFIFO_DATA2, DB5, 16, 8)
+ FIELD(TXFIFO_DATA2, DB6, 8, 8)
+ FIELD(TXFIFO_DATA2, DB7, 0, 8)
+REG32(TXHPB_ID, 0x40)
+ FIELD(TXHPB_ID, IDH, 21, 11)
+ FIELD(TXHPB_ID, SRRRTR, 20, 1)
+ FIELD(TXHPB_ID, IDE, 19, 1)
+ FIELD(TXHPB_ID, IDL, 1, 18)
+ FIELD(TXHPB_ID, RTR, 0, 1)
+REG32(TXHPB_DLC, 0x44)
+ FIELD(TXHPB_DLC, DLC, 28, 4)
+REG32(TXHPB_DATA1, 0x48)
+ FIELD(TXHPB_DATA1, DB0, 24, 8)
+ FIELD(TXHPB_DATA1, DB1, 16, 8)
+ FIELD(TXHPB_DATA1, DB2, 8, 8)
+ FIELD(TXHPB_DATA1, DB3, 0, 8)
+REG32(TXHPB_DATA2, 0x4c)
+ FIELD(TXHPB_DATA2, DB4, 24, 8)
+ FIELD(TXHPB_DATA2, DB5, 16, 8)
+ FIELD(TXHPB_DATA2, DB6, 8, 8)
+ FIELD(TXHPB_DATA2, DB7, 0, 8)
+REG32(RXFIFO_ID, 0x50)
+ FIELD(RXFIFO_ID, IDH, 21, 11)
+ FIELD(RXFIFO_ID, SRRRTR, 20, 1)
+ FIELD(RXFIFO_ID, IDE, 19, 1)
+ FIELD(RXFIFO_ID, IDL, 1, 18)
+ FIELD(RXFIFO_ID, RTR, 0, 1)
+REG32(RXFIFO_DLC, 0x54)
+ FIELD(RXFIFO_DLC, DLC, 28, 4)
+ FIELD(RXFIFO_DLC, RXT, 0, 16)
+REG32(RXFIFO_DATA1, 0x58)
+ FIELD(RXFIFO_DATA1, DB0, 24, 8)
+ FIELD(RXFIFO_DATA1, DB1, 16, 8)
+ FIELD(RXFIFO_DATA1, DB2, 8, 8)
+ FIELD(RXFIFO_DATA1, DB3, 0, 8)
+REG32(RXFIFO_DATA2, 0x5c)
+ FIELD(RXFIFO_DATA2, DB4, 24, 8)
+ FIELD(RXFIFO_DATA2, DB5, 16, 8)
+ FIELD(RXFIFO_DATA2, DB6, 8, 8)
+ FIELD(RXFIFO_DATA2, DB7, 0, 8)
+REG32(AFR, 0x60)
+ FIELD(AFR, UAF4, 3, 1)
+ FIELD(AFR, UAF3, 2, 1)
+ FIELD(AFR, UAF2, 1, 1)
+ FIELD(AFR, UAF1, 0, 1)
+REG32(AFMR1, 0x64)
+ FIELD(AFMR1, AMIDH, 21, 11)
+ FIELD(AFMR1, AMSRR, 20, 1)
+ FIELD(AFMR1, AMIDE, 19, 1)
+ FIELD(AFMR1, AMIDL, 1, 18)
+ FIELD(AFMR1, AMRTR, 0, 1)
+REG32(AFIR1, 0x68)
+ FIELD(AFIR1, AIIDH, 21, 11)
+ FIELD(AFIR1, AISRR, 20, 1)
+ FIELD(AFIR1, AIIDE, 19, 1)
+ FIELD(AFIR1, AIIDL, 1, 18)
+ FIELD(AFIR1, AIRTR, 0, 1)
+REG32(AFMR2, 0x6c)
+ FIELD(AFMR2, AMIDH, 21, 11)
+ FIELD(AFMR2, AMSRR, 20, 1)
+ FIELD(AFMR2, AMIDE, 19, 1)
+ FIELD(AFMR2, AMIDL, 1, 18)
+ FIELD(AFMR2, AMRTR, 0, 1)
+REG32(AFIR2, 0x70)
+ FIELD(AFIR2, AIIDH, 21, 11)
+ FIELD(AFIR2, AISRR, 20, 1)
+ FIELD(AFIR2, AIIDE, 19, 1)
+ FIELD(AFIR2, AIIDL, 1, 18)
+ FIELD(AFIR2, AIRTR, 0, 1)
+REG32(AFMR3, 0x74)
+ FIELD(AFMR3, AMIDH, 21, 11)
+ FIELD(AFMR3, AMSRR, 20, 1)
+ FIELD(AFMR3, AMIDE, 19, 1)
+ FIELD(AFMR3, AMIDL, 1, 18)
+ FIELD(AFMR3, AMRTR, 0, 1)
+REG32(AFIR3, 0x78)
+ FIELD(AFIR3, AIIDH, 21, 11)
+ FIELD(AFIR3, AISRR, 20, 1)
+ FIELD(AFIR3, AIIDE, 19, 1)
+ FIELD(AFIR3, AIIDL, 1, 18)
+ FIELD(AFIR3, AIRTR, 0, 1)
+REG32(AFMR4, 0x7c)
+ FIELD(AFMR4, AMIDH, 21, 11)
+ FIELD(AFMR4, AMSRR, 20, 1)
+ FIELD(AFMR4, AMIDE, 19, 1)
+ FIELD(AFMR4, AMIDL, 1, 18)
+ FIELD(AFMR4, AMRTR, 0, 1)
+REG32(AFIR4, 0x80)
+ FIELD(AFIR4, AIIDH, 21, 11)
+ FIELD(AFIR4, AISRR, 20, 1)
+ FIELD(AFIR4, AIIDE, 19, 1)
+ FIELD(AFIR4, AIIDL, 1, 18)
+ FIELD(AFIR4, AIRTR, 0, 1)
+
+static void can_update_irq(XlnxZynqMPCANState *s)
+{
+ uint32_t irq;
+
+ /* Watermark register interrupts. */
+ if ((fifo32_num_free(&s->tx_fifo) / CAN_FRAME_SIZE) >
+ ARRAY_FIELD_EX32(s->regs, WIR, EW)) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXFWMEMP, 1);
+ }
+
+ if ((fifo32_num_used(&s->rx_fifo) / CAN_FRAME_SIZE) >
+ ARRAY_FIELD_EX32(s->regs, WIR, FW)) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXFWMFLL, 1);
+ }
+
+ /* RX Interrupts. */
+ if (fifo32_num_used(&s->rx_fifo) >= CAN_FRAME_SIZE) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXNEMP, 1);
+ }
+
+ /* TX interrupts. */
+ if (fifo32_is_empty(&s->tx_fifo)) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXFEMP, 1);
+ }
+
+ if (fifo32_is_full(&s->tx_fifo)) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXFLL, 1);
+ }
+
+ if (fifo32_is_full(&s->txhpb_fifo)) {
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXBFLL, 1);
+ }
+
+ irq = s->regs[R_INTERRUPT_STATUS_REGISTER];
+ irq &= s->regs[R_INTERRUPT_ENABLE_REGISTER];
+
+ qemu_set_irq(s->irq, irq);
+}
+
+static void can_ier_post_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+
+ can_update_irq(s);
+}
+
+static uint64_t can_icr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ s->regs[R_INTERRUPT_STATUS_REGISTER] &= ~val;
+ can_update_irq(s);
+
+ return 0;
+}
+
+static void can_config_reset(XlnxZynqMPCANState *s)
+{
+ /* Reset all the configuration registers. */
+ register_reset(&s->reg_info[R_SOFTWARE_RESET_REGISTER]);
+ register_reset(&s->reg_info[R_MODE_SELECT_REGISTER]);
+ register_reset(
+ &s->reg_info[R_ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER]);
+ register_reset(&s->reg_info[R_ARBITRATION_PHASE_BIT_TIMING_REGISTER]);
+ register_reset(&s->reg_info[R_STATUS_REGISTER]);
+ register_reset(&s->reg_info[R_INTERRUPT_STATUS_REGISTER]);
+ register_reset(&s->reg_info[R_INTERRUPT_ENABLE_REGISTER]);
+ register_reset(&s->reg_info[R_INTERRUPT_CLEAR_REGISTER]);
+ register_reset(&s->reg_info[R_WIR]);
+}
+
+static void can_config_mode(XlnxZynqMPCANState *s)
+{
+ register_reset(&s->reg_info[R_ERROR_COUNTER_REGISTER]);
+ register_reset(&s->reg_info[R_ERROR_STATUS_REGISTER]);
+
+ /* Put XlnxZynqMPCAN in configuration mode. */
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, CONFIG, 1);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, WKUP, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, SLP, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, BSOFF, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, ERROR, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXOFLW, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXOK, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXOK, 0);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, ARBLST, 0);
+
+ can_update_irq(s);
+}
+
+static void update_status_register_mode_bits(XlnxZynqMPCANState *s)
+{
+ bool sleep_status = ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SLEEP);
+ bool sleep_mode = ARRAY_FIELD_EX32(s->regs, MODE_SELECT_REGISTER, SLEEP);
+ /* Wake up interrupt bit. */
+ bool wakeup_irq_val = sleep_status && (sleep_mode == 0);
+ /* Sleep interrupt bit. */
+ bool sleep_irq_val = sleep_mode && (sleep_status == 0);
+
+ /* Clear previous core mode status bits. */
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, LBACK, 0);
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, SLEEP, 0);
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, SNOOP, 0);
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, NORMAL, 0);
+
+ /* set current mode bit and generate irqs accordingly. */
+ if (ARRAY_FIELD_EX32(s->regs, MODE_SELECT_REGISTER, LBACK)) {
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, LBACK, 1);
+ } else if (ARRAY_FIELD_EX32(s->regs, MODE_SELECT_REGISTER, SLEEP)) {
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, SLEEP, 1);
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, SLP,
+ sleep_irq_val);
+ } else if (ARRAY_FIELD_EX32(s->regs, MODE_SELECT_REGISTER, SNOOP)) {
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, SNOOP, 1);
+ } else {
+ /*
+ * If all bits are zero then XlnxZynqMPCAN is set in normal mode.
+ */
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, NORMAL, 1);
+ /* Set wakeup interrupt bit. */
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, WKUP,
+ wakeup_irq_val);
+ }
+
+ can_update_irq(s);
+}
+
+static void can_exit_sleep_mode(XlnxZynqMPCANState *s)
+{
+ ARRAY_FIELD_DP32(s->regs, MODE_SELECT_REGISTER, SLEEP, 0);
+ update_status_register_mode_bits(s);
+}
+
+static void generate_frame(qemu_can_frame *frame, uint32_t *data)
+{
+ frame->can_id = data[0];
+ frame->can_dlc = FIELD_EX32(data[1], TXFIFO_DLC, DLC);
+
+ frame->data[0] = FIELD_EX32(data[2], TXFIFO_DATA1, DB3);
+ frame->data[1] = FIELD_EX32(data[2], TXFIFO_DATA1, DB2);
+ frame->data[2] = FIELD_EX32(data[2], TXFIFO_DATA1, DB1);
+ frame->data[3] = FIELD_EX32(data[2], TXFIFO_DATA1, DB0);
+
+ frame->data[4] = FIELD_EX32(data[3], TXFIFO_DATA2, DB7);
+ frame->data[5] = FIELD_EX32(data[3], TXFIFO_DATA2, DB6);
+ frame->data[6] = FIELD_EX32(data[3], TXFIFO_DATA2, DB5);
+ frame->data[7] = FIELD_EX32(data[3], TXFIFO_DATA2, DB4);
+}
+
+static bool tx_ready_check(XlnxZynqMPCANState *s)
+{
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, SRST)) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to transfer"
+ " data while controller is in reset mode.\n",
+ s->cfg.ctrl_idx);
+ return false;
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN) == 0) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to transfer"
+ " data while controller is in configuration mode. Reset"
+ " the core so operations can start fresh.\n",
+ s->cfg.ctrl_idx);
+ return false;
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SNOOP)) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to transfer"
+ " data while controller is in SNOOP MODE.\n",
+ s->cfg.ctrl_idx);
+ return false;
+ }
+
+ return true;
+}
+
+static void transfer_fifo(XlnxZynqMPCANState *s, Fifo32 *fifo)
+{
+ qemu_can_frame frame;
+ uint32_t data[CAN_FRAME_SIZE];
+ int i;
+ bool can_tx = tx_ready_check(s);
+
+ if (can_tx) {
+ while (!fifo32_is_empty(fifo)) {
+ for (i = 0; i < CAN_FRAME_SIZE; i++) {
+ data[i] = fifo32_pop(fifo);
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, LBACK)) {
+ /*
+ * Controller is in loopback. In Loopback mode, the CAN core
+ * transmits a recessive bitstream on to the XlnxZynqMPCAN Bus.
+ * Any message transmitted is looped back to the RX line and
+ * acknowledged. The XlnxZynqMPCAN core receives any message
+ * that it transmits.
+ */
+ if (fifo32_is_full(&s->rx_fifo)) {
+ DB_PRINT("XlnxZynqMPCAN%d: Loopback: RX FIFO is full."
+ "TX FIFO will be flushed.\n", s->cfg.ctrl_idx);
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER,
+ RXOFLW, 1);
+ } else {
+ for (i = 0; i < CAN_FRAME_SIZE; i++) {
+ fifo32_push(&s->rx_fifo, data[i]);
+ }
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER,
+ RXOK, 1);
+ }
+ } else {
+ /* Normal mode Tx. */
+ generate_frame(&frame, data);
+
+ can_bus_client_send(&s->bus_client, &frame, 1);
+ }
+ }
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, TXOK, 1);
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, TXBFLL, 0);
+
+ if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SLEEP)) {
+ can_exit_sleep_mode(s);
+ }
+ } else {
+ DB_PRINT("XlnxZynqMPCAN%d: Not enabled for data transfer.\n",
+ s->cfg.ctrl_idx);
+ }
+
+ can_update_irq(s);
+}
+
+static uint64_t can_srr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ ARRAY_FIELD_DP32(s->regs, SOFTWARE_RESET_REGISTER, CEN,
+ FIELD_EX32(val, SOFTWARE_RESET_REGISTER, CEN));
+
+ if (FIELD_EX32(val, SOFTWARE_RESET_REGISTER, SRST)) {
+ DB_PRINT("XlnxZynqMPCAN%d: Resetting controller.\n", s->cfg.ctrl_idx);
+
+ /* First, core will do software reset then will enter in config mode. */
+ can_config_reset(s);
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN) == 0) {
+ can_config_mode(s);
+ } else {
+ /*
+ * Leave config mode. Now XlnxZynqMPCAN core will enter normal,
+ * sleep, snoop or loopback mode depending upon LBACK, SLEEP, SNOOP
+ * register states.
+ */
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, CONFIG, 0);
+
+ ptimer_transaction_begin(s->can_timer);
+ ptimer_set_count(s->can_timer, 0);
+ ptimer_transaction_commit(s->can_timer);
+
+ /* XlnxZynqMPCAN is out of config mode. It will send pending data. */
+ transfer_fifo(s, &s->txhpb_fifo);
+ transfer_fifo(s, &s->tx_fifo);
+ }
+
+ update_status_register_mode_bits(s);
+
+ return s->regs[R_SOFTWARE_RESET_REGISTER];
+}
+
+static uint64_t can_msr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+ uint8_t multi_mode;
+
+ /*
+ * Multiple mode set check. This is done to make sure user doesn't set
+ * multiple modes.
+ */
+ multi_mode = FIELD_EX32(val, MODE_SELECT_REGISTER, LBACK) +
+ FIELD_EX32(val, MODE_SELECT_REGISTER, SLEEP) +
+ FIELD_EX32(val, MODE_SELECT_REGISTER, SNOOP);
+
+ if (multi_mode > 1) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to config"
+ " several modes simultaneously. One mode will be selected"
+ " according to their priority: LBACK > SLEEP > SNOOP.\n",
+ s->cfg.ctrl_idx);
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN) == 0) {
+ /* We are in configuration mode, any mode can be selected. */
+ s->regs[R_MODE_SELECT_REGISTER] = val;
+ } else {
+ bool sleep_mode_bit = FIELD_EX32(val, MODE_SELECT_REGISTER, SLEEP);
+
+ ARRAY_FIELD_DP32(s->regs, MODE_SELECT_REGISTER, SLEEP, sleep_mode_bit);
+
+ if (FIELD_EX32(val, MODE_SELECT_REGISTER, LBACK)) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to set"
+ " LBACK mode without setting CEN bit as 0.\n",
+ s->cfg.ctrl_idx);
+ } else if (FIELD_EX32(val, MODE_SELECT_REGISTER, SNOOP)) {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Attempting to set"
+ " SNOOP mode without setting CEN bit as 0.\n",
+ s->cfg.ctrl_idx);
+ }
+
+ update_status_register_mode_bits(s);
+ }
+ return s->regs[R_MODE_SELECT_REGISTER];
+}
+
+static uint64_t can_brpr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ /* Only allow writes when in config mode. */
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN)) {
+ val = s->regs[R_ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER];
+ }
+
+ return val;
+}
+
+static uint64_t can_btr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ /* Only allow writes when in config mode. */
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN)) {
+ val = s->regs[R_ARBITRATION_PHASE_BIT_TIMING_REGISTER];
+ }
+
+ return val;
+}
+
+static uint64_t can_tcr_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ if (FIELD_EX32(val, TIMESTAMP_REGISTER, CTS)) {
+ ptimer_transaction_begin(s->can_timer);
+ ptimer_set_count(s->can_timer, 0);
+ ptimer_transaction_commit(s->can_timer);
+ }
+
+ return 0;
+}
+
+static void update_rx_fifo(XlnxZynqMPCANState *s, const qemu_can_frame *frame)
+{
+ bool filter_pass = false;
+ uint16_t timestamp = 0;
+
+ /* If no filter is enabled. Message will be stored in FIFO. */
+ if (!((ARRAY_FIELD_EX32(s->regs, AFR, UAF1)) |
+ (ARRAY_FIELD_EX32(s->regs, AFR, UAF2)) |
+ (ARRAY_FIELD_EX32(s->regs, AFR, UAF3)) |
+ (ARRAY_FIELD_EX32(s->regs, AFR, UAF4)))) {
+ filter_pass = true;
+ }
+
+ /*
+ * Messages that pass any of the acceptance filters will be stored in
+ * the RX FIFO.
+ */
+ if (ARRAY_FIELD_EX32(s->regs, AFR, UAF1)) {
+ uint32_t id_masked = s->regs[R_AFMR1] & frame->can_id;
+ uint32_t filter_id_masked = s->regs[R_AFMR1] & s->regs[R_AFIR1];
+
+ if (filter_id_masked == id_masked) {
+ filter_pass = true;
+ }
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, AFR, UAF2)) {
+ uint32_t id_masked = s->regs[R_AFMR2] & frame->can_id;
+ uint32_t filter_id_masked = s->regs[R_AFMR2] & s->regs[R_AFIR2];
+
+ if (filter_id_masked == id_masked) {
+ filter_pass = true;
+ }
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, AFR, UAF3)) {
+ uint32_t id_masked = s->regs[R_AFMR3] & frame->can_id;
+ uint32_t filter_id_masked = s->regs[R_AFMR3] & s->regs[R_AFIR3];
+
+ if (filter_id_masked == id_masked) {
+ filter_pass = true;
+ }
+ }
+
+ if (ARRAY_FIELD_EX32(s->regs, AFR, UAF4)) {
+ uint32_t id_masked = s->regs[R_AFMR4] & frame->can_id;
+ uint32_t filter_id_masked = s->regs[R_AFMR4] & s->regs[R_AFIR4];
+
+ if (filter_id_masked == id_masked) {
+ filter_pass = true;
+ }
+ }
+
+ /* Store the message in fifo if it passed through any of the filters. */
+ if (filter_pass && frame->can_dlc <= MAX_DLC) {
+
+ if (fifo32_is_full(&s->rx_fifo)) {
+ DB_PRINT("XlnxZynqMPCAN%d: RX FIFO is full.\n", s->cfg.ctrl_idx);
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXOFLW, 1);
+ } else {
+ timestamp = CAN_TIMER_MAX - ptimer_get_count(s->can_timer);
+
+ fifo32_push(&s->rx_fifo, frame->can_id);
+
+ fifo32_push(&s->rx_fifo, deposit32(0, R_RXFIFO_DLC_DLC_SHIFT,
+ R_RXFIFO_DLC_DLC_LENGTH,
+ frame->can_dlc) |
+ deposit32(0, R_RXFIFO_DLC_RXT_SHIFT,
+ R_RXFIFO_DLC_RXT_LENGTH,
+ timestamp));
+
+ /* First 32 bit of the data. */
+ fifo32_push(&s->rx_fifo, deposit32(0, R_TXFIFO_DATA1_DB3_SHIFT,
+ R_TXFIFO_DATA1_DB3_LENGTH,
+ frame->data[0]) |
+ deposit32(0, R_TXFIFO_DATA1_DB2_SHIFT,
+ R_TXFIFO_DATA1_DB2_LENGTH,
+ frame->data[1]) |
+ deposit32(0, R_TXFIFO_DATA1_DB1_SHIFT,
+ R_TXFIFO_DATA1_DB1_LENGTH,
+ frame->data[2]) |
+ deposit32(0, R_TXFIFO_DATA1_DB0_SHIFT,
+ R_TXFIFO_DATA1_DB0_LENGTH,
+ frame->data[3]));
+ /* Last 32 bit of the data. */
+ fifo32_push(&s->rx_fifo, deposit32(0, R_TXFIFO_DATA2_DB7_SHIFT,
+ R_TXFIFO_DATA2_DB7_LENGTH,
+ frame->data[4]) |
+ deposit32(0, R_TXFIFO_DATA2_DB6_SHIFT,
+ R_TXFIFO_DATA2_DB6_LENGTH,
+ frame->data[5]) |
+ deposit32(0, R_TXFIFO_DATA2_DB5_SHIFT,
+ R_TXFIFO_DATA2_DB5_LENGTH,
+ frame->data[6]) |
+ deposit32(0, R_TXFIFO_DATA2_DB4_SHIFT,
+ R_TXFIFO_DATA2_DB4_LENGTH,
+ frame->data[7]));
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXOK, 1);
+ }
+
+ can_update_irq(s);
+ } else {
+ DB_PRINT("XlnxZynqMPCAN%d: Message didn't pass through any filter or"
+ " dlc is not in range.\n", s->cfg.ctrl_idx);
+ }
+}
+
+static uint64_t can_rxfifo_pre_read(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t r = 0;
+
+ if (!fifo32_is_empty(&s->rx_fifo)) {
+ r = fifo32_pop(&s->rx_fifo);
+ } else {
+ DB_PRINT("XlnxZynqMPCAN%d: No message in RXFIFO.\n", s->cfg.ctrl_idx);
+
+ ARRAY_FIELD_DP32(s->regs, INTERRUPT_STATUS_REGISTER, RXUFLW, 1);
+ }
+
+ can_update_irq(s);
+ return r;
+}
+
+static void can_filter_enable_post_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+
+ if (ARRAY_FIELD_EX32(s->regs, AFR, UAF1) &&
+ ARRAY_FIELD_EX32(s->regs, AFR, UAF2) &&
+ ARRAY_FIELD_EX32(s->regs, AFR, UAF3) &&
+ ARRAY_FIELD_EX32(s->regs, AFR, UAF4)) {
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, ACFBSY, 1);
+ } else {
+ ARRAY_FIELD_DP32(s->regs, STATUS_REGISTER, ACFBSY, 0);
+ }
+}
+
+static uint64_t can_filter_mask_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t reg_idx = (reg->access->addr) / 4;
+ uint32_t val = val64;
+ uint32_t filter_number = (reg_idx - R_AFMR1) / 2;
+
+ /* modify an acceptance filter, the corresponding UAF bit should be '0.' */
+ if (!(s->regs[R_AFR] & (1 << filter_number))) {
+ s->regs[reg_idx] = val;
+ } else {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Acceptance filter %d"
+ " mask is not set as corresponding UAF bit is not 0.\n",
+ s->cfg.ctrl_idx, filter_number + 1);
+ }
+
+ return s->regs[reg_idx];
+}
+
+static uint64_t can_filter_id_pre_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t reg_idx = (reg->access->addr) / 4;
+ uint32_t val = val64;
+ uint32_t filter_number = (reg_idx - R_AFIR1) / 2;
+
+ if (!(s->regs[R_AFR] & (1 << filter_number))) {
+ s->regs[reg_idx] = val;
+ } else {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: Acceptance filter %d"
+ " id is not set as corresponding UAF bit is not 0.\n",
+ s->cfg.ctrl_idx, filter_number + 1);
+ }
+
+ return s->regs[reg_idx];
+}
+
+static void can_tx_post_write(RegisterInfo *reg, uint64_t val64)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(reg->opaque);
+ uint32_t val = val64;
+
+ bool is_txhpb = reg->access->addr > A_TXFIFO_DATA2;
+
+ bool initiate_transfer = (reg->access->addr == A_TXFIFO_DATA2) ||
+ (reg->access->addr == A_TXHPB_DATA2);
+
+ Fifo32 *f = is_txhpb ? &s->txhpb_fifo : &s->tx_fifo;
+
+ DB_PRINT("XlnxZynqMPCAN%d: TX FIFO write.\n", s->cfg.ctrl_idx);
+
+ if (!fifo32_is_full(f)) {
+ fifo32_push(f, val);
+ } else {
+ qemu_log_mask(LOG_GUEST_ERROR, "XlnxZynqMPCAN%d: TX FIFO is full.\n",
+ s->cfg.ctrl_idx);
+ }
+
+ /* Initiate the message send if TX register is written. */
+ if (initiate_transfer &&
+ ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN)) {
+ transfer_fifo(s, f);
+ }
+
+ can_update_irq(s);
+}
+
+static const RegisterAccessInfo can_regs_info[] = {
+ { .name = "SOFTWARE_RESET_REGISTER",
+ .addr = A_SOFTWARE_RESET_REGISTER,
+ .rsvd = 0xfffffffc,
+ .pre_write = can_srr_pre_write,
+ },{ .name = "MODE_SELECT_REGISTER",
+ .addr = A_MODE_SELECT_REGISTER,
+ .rsvd = 0xfffffff8,
+ .pre_write = can_msr_pre_write,
+ },{ .name = "ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER",
+ .addr = A_ARBITRATION_PHASE_BAUD_RATE_PRESCALER_REGISTER,
+ .rsvd = 0xffffff00,
+ .pre_write = can_brpr_pre_write,
+ },{ .name = "ARBITRATION_PHASE_BIT_TIMING_REGISTER",
+ .addr = A_ARBITRATION_PHASE_BIT_TIMING_REGISTER,
+ .rsvd = 0xfffffe00,
+ .pre_write = can_btr_pre_write,
+ },{ .name = "ERROR_COUNTER_REGISTER",
+ .addr = A_ERROR_COUNTER_REGISTER,
+ .rsvd = 0xffff0000,
+ .ro = 0xffffffff,
+ },{ .name = "ERROR_STATUS_REGISTER",
+ .addr = A_ERROR_STATUS_REGISTER,
+ .rsvd = 0xffffffe0,
+ .w1c = 0x1f,
+ },{ .name = "STATUS_REGISTER", .addr = A_STATUS_REGISTER,
+ .reset = 0x1,
+ .rsvd = 0xffffe000,
+ .ro = 0x1fff,
+ },{ .name = "INTERRUPT_STATUS_REGISTER",
+ .addr = A_INTERRUPT_STATUS_REGISTER,
+ .reset = 0x6000,
+ .rsvd = 0xffff8000,
+ .ro = 0x7fff,
+ },{ .name = "INTERRUPT_ENABLE_REGISTER",
+ .addr = A_INTERRUPT_ENABLE_REGISTER,
+ .rsvd = 0xffff8000,
+ .post_write = can_ier_post_write,
+ },{ .name = "INTERRUPT_CLEAR_REGISTER",
+ .addr = A_INTERRUPT_CLEAR_REGISTER,
+ .rsvd = 0xffff8000,
+ .pre_write = can_icr_pre_write,
+ },{ .name = "TIMESTAMP_REGISTER",
+ .addr = A_TIMESTAMP_REGISTER,
+ .rsvd = 0xfffffffe,
+ .pre_write = can_tcr_pre_write,
+ },{ .name = "WIR", .addr = A_WIR,
+ .reset = 0x3f3f,
+ .rsvd = 0xffff0000,
+ },{ .name = "TXFIFO_ID", .addr = A_TXFIFO_ID,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXFIFO_DLC", .addr = A_TXFIFO_DLC,
+ .rsvd = 0xfffffff,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXFIFO_DATA1", .addr = A_TXFIFO_DATA1,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXFIFO_DATA2", .addr = A_TXFIFO_DATA2,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXHPB_ID", .addr = A_TXHPB_ID,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXHPB_DLC", .addr = A_TXHPB_DLC,
+ .rsvd = 0xfffffff,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXHPB_DATA1", .addr = A_TXHPB_DATA1,
+ .post_write = can_tx_post_write,
+ },{ .name = "TXHPB_DATA2", .addr = A_TXHPB_DATA2,
+ .post_write = can_tx_post_write,
+ },{ .name = "RXFIFO_ID", .addr = A_RXFIFO_ID,
+ .ro = 0xffffffff,
+ .post_read = can_rxfifo_pre_read,
+ },{ .name = "RXFIFO_DLC", .addr = A_RXFIFO_DLC,
+ .rsvd = 0xfff0000,
+ .post_read = can_rxfifo_pre_read,
+ },{ .name = "RXFIFO_DATA1", .addr = A_RXFIFO_DATA1,
+ .post_read = can_rxfifo_pre_read,
+ },{ .name = "RXFIFO_DATA2", .addr = A_RXFIFO_DATA2,
+ .post_read = can_rxfifo_pre_read,
+ },{ .name = "AFR", .addr = A_AFR,
+ .rsvd = 0xfffffff0,
+ .post_write = can_filter_enable_post_write,
+ },{ .name = "AFMR1", .addr = A_AFMR1,
+ .pre_write = can_filter_mask_pre_write,
+ },{ .name = "AFIR1", .addr = A_AFIR1,
+ .pre_write = can_filter_id_pre_write,
+ },{ .name = "AFMR2", .addr = A_AFMR2,
+ .pre_write = can_filter_mask_pre_write,
+ },{ .name = "AFIR2", .addr = A_AFIR2,
+ .pre_write = can_filter_id_pre_write,
+ },{ .name = "AFMR3", .addr = A_AFMR3,
+ .pre_write = can_filter_mask_pre_write,
+ },{ .name = "AFIR3", .addr = A_AFIR3,
+ .pre_write = can_filter_id_pre_write,
+ },{ .name = "AFMR4", .addr = A_AFMR4,
+ .pre_write = can_filter_mask_pre_write,
+ },{ .name = "AFIR4", .addr = A_AFIR4,
+ .pre_write = can_filter_id_pre_write,
+ }
+};
+
+static void xlnx_zynqmp_can_ptimer_cb(void *opaque)
+{
+ /* No action required on the timer rollover. */
+}
+
+static const MemoryRegionOps can_ops = {
+ .read = register_read_memory,
+ .write = register_write_memory,
+ .endianness = DEVICE_LITTLE_ENDIAN,
+ .valid = {
+ .min_access_size = 4,
+ .max_access_size = 4,
+ },
+};
+
+static void xlnx_zynqmp_can_reset_init(Object *obj, ResetType type)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(obj);
+ unsigned int i;
+
+ for (i = R_RXFIFO_ID; i < ARRAY_SIZE(s->reg_info); ++i) {
+ register_reset(&s->reg_info[i]);
+ }
+
+ ptimer_transaction_begin(s->can_timer);
+ ptimer_set_count(s->can_timer, 0);
+ ptimer_transaction_commit(s->can_timer);
+}
+
+static void xlnx_zynqmp_can_reset_hold(Object *obj)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(obj);
+ unsigned int i;
+
+ for (i = 0; i < R_RXFIFO_ID; ++i) {
+ register_reset(&s->reg_info[i]);
+ }
+
+ /*
+ * Reset FIFOs when CAN model is reset. This will clear the fifo writes
+ * done by post_write which gets called from register_reset function,
+ * post_write handle will not be able to trigger tx because CAN will be
+ * disabled when software_reset_register is cleared first.
+ */
+ fifo32_reset(&s->rx_fifo);
+ fifo32_reset(&s->tx_fifo);
+ fifo32_reset(&s->txhpb_fifo);
+}
+
+static bool xlnx_zynqmp_can_can_receive(CanBusClientState *client)
+{
+ XlnxZynqMPCANState *s = container_of(client, XlnxZynqMPCANState,
+ bus_client);
+
+ if (ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, SRST)) {
+ DB_PRINT("XlnxZynqMPCAN%d: Controller is in reset.\n", s->cfg.ctrl_idx);
+ return false;
+ } else if ((ARRAY_FIELD_EX32(s->regs, SOFTWARE_RESET_REGISTER, CEN)) == 0) {
+ DB_PRINT("XlnxZynqMPCAN%d: Controller is disabled. Incoming messages"
+ " will be discarded.\n", s->cfg.ctrl_idx);
+ return false;
+ } else {
+ return true;
+ }
+}
+
+static ssize_t xlnx_zynqmp_can_receive(CanBusClientState *client,
+ const qemu_can_frame *buf, size_t buf_size) {
+ XlnxZynqMPCANState *s = container_of(client, XlnxZynqMPCANState,
+ bus_client);
+ const qemu_can_frame *frame = buf;
+
+ DB_PRINT("XlnxZynqMPCAN%d: Incoming data.\n", s->cfg.ctrl_idx);
+
+ if (buf_size <= 0) {
+ DB_PRINT("XlnxZynqMPCAN%d: Junk data received.\n", s->cfg.ctrl_idx);
+ return 0;
+ }
+ if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, LBACK)) {
+ /*
+ * XlnxZynqMPCAN will not participate in normal bus communication
+ * and will not receive any messages transmitted by other CAN nodes.
+ */
+ DB_PRINT("XlnxZynqMPCAN%d: Controller is in loopback mode. It will not"
+ " receive data.\n", s->cfg.ctrl_idx);
+
+ } else if (ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SNOOP)) {
+ /* Snoop Mode: Just keep the data. no response back. */
+ update_rx_fifo(s, frame);
+ } else if ((ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SLEEP))) {
+ /*
+ * XlnxZynqMPCAN is in sleep mode. Any data on bus will bring it to wake
+ * up state.
+ */
+ can_exit_sleep_mode(s);
+ update_rx_fifo(s, frame);
+ } else if ((ARRAY_FIELD_EX32(s->regs, STATUS_REGISTER, SLEEP)) == 0) {
+ update_rx_fifo(s, frame);
+ } else {
+ DB_PRINT("XlnxZynqMPCAN%d: Cannot receive data as controller is not"
+ " configured correctly.\n", s->cfg.ctrl_idx);
+ }
+
+ return 1;
+}
+
+static CanBusClientInfo can_xilinx_bus_client_info = {
+ .can_receive = xlnx_zynqmp_can_can_receive,
+ .receive = xlnx_zynqmp_can_receive,
+};
+
+static int xlnx_zynqmp_can_connect_to_bus(XlnxZynqMPCANState *s,
+ CanBusState *bus)
+{
+ s->bus_client.info = &can_xilinx_bus_client_info;
+
+ if (can_bus_insert_client(bus, &s->bus_client) < 0) {
+ return -1;
+ }
+ return 0;
+}
+
+static void xlnx_zynqmp_can_realize(DeviceState *dev, Error **errp)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(dev);
+
+ if (s->cfg.ctrl_idx >= MAX_CAN_CTRLS) {
+ error_setg(errp, "XlnxZynqMPCAN%d: ctrl-idx exceeds max controller"
+ " index.", s->cfg.ctrl_idx);
+ return;
+ }
+
+ if (s->canbus[s->cfg.ctrl_idx]) {
+ if (xlnx_zynqmp_can_connect_to_bus(s, s->canbus[s->cfg.ctrl_idx]) < 0) {
+ error_setg(errp, "XlnxZynqMPCAN%d: xlnx_zynqmp_can_connect_to_bus"
+ " failed.", s->cfg.ctrl_idx);
+ return;
+ }
+
+ } else {
+ /* If no bus is set. */
+ DB_PRINT("XlnxZynqMPCAN%d: Canbus property is not set.\n",
+ s->cfg.ctrl_idx);
+ }
+
+ /* Create RX FIFO, TXFIFO, TXHPB storage. */
+ fifo32_create(&s->rx_fifo, RXFIFO_SIZE);
+ fifo32_create(&s->tx_fifo, RXFIFO_SIZE);
+ fifo32_create(&s->txhpb_fifo, CAN_FRAME_SIZE);
+
+ /* Allocate a new timer. */
+ s->can_timer = ptimer_init(xlnx_zynqmp_can_ptimer_cb, s,
+ PTIMER_POLICY_DEFAULT);
+
+ ptimer_transaction_begin(s->can_timer);
+
+ ptimer_set_freq(s->can_timer, s->cfg.ext_clk_freq);
+ ptimer_set_limit(s->can_timer, CAN_TIMER_MAX, 1);
+ ptimer_run(s->can_timer, 0);
+ ptimer_transaction_commit(s->can_timer);
+}
+
+static void xlnx_zynqmp_can_init(Object *obj)
+{
+ XlnxZynqMPCANState *s = XLNX_ZYNQMP_CAN(obj);
+ SysBusDevice *sbd = SYS_BUS_DEVICE(obj);
+
+ RegisterInfoArray *reg_array;
+
+ memory_region_init(&s->iomem, obj, TYPE_XLNX_ZYNQMP_CAN,
+ XLNX_ZYNQMP_CAN_R_MAX * 4);
+ reg_array = register_init_block32(DEVICE(obj), can_regs_info,
+ ARRAY_SIZE(can_regs_info),
+ s->reg_info, s->regs,
+ &can_ops,
+ XLNX_ZYNQMP_CAN_ERR_DEBUG,
+ XLNX_ZYNQMP_CAN_R_MAX * 4);
+
+ memory_region_add_subregion(&s->iomem, 0x00, ®_array->mem);
+ sysbus_init_mmio(sbd, &s->iomem);
+ sysbus_init_irq(SYS_BUS_DEVICE(obj), &s->irq);
+
+ object_property_add_link(obj, "canbus0", TYPE_CAN_BUS,
+ (Object **)&s->canbus[0],
+ qdev_prop_allow_set_link_before_realize,
+ 0);
+
+ object_property_add_link(obj, "canbus1", TYPE_CAN_BUS,
+ (Object **)&s->canbus[1],
+ qdev_prop_allow_set_link_before_realize,
+ 0);
+}
+
+static const VMStateDescription vmstate_can = {
+ .name = TYPE_XLNX_ZYNQMP_CAN,
+ .version_id = 1,
+ .minimum_version_id = 1,
+ .fields = (VMStateField[]) {
+ VMSTATE_FIFO32(rx_fifo, XlnxZynqMPCANState),
+ VMSTATE_FIFO32(tx_fifo, XlnxZynqMPCANState),
+ VMSTATE_FIFO32(txhpb_fifo, XlnxZynqMPCANState),
+ VMSTATE_UINT32_ARRAY(regs, XlnxZynqMPCANState, XLNX_ZYNQMP_CAN_R_MAX),
+ VMSTATE_UINT8(cfg.ctrl_idx, XlnxZynqMPCANState),
+ VMSTATE_UINT32(cfg.ext_clk_freq, XlnxZynqMPCANState),
+ VMSTATE_PTIMER(can_timer, XlnxZynqMPCANState),
+ VMSTATE_END_OF_LIST(),
+ }
+};
+
+static Property xlnx_zynqmp_can_properties[] = {
+ DEFINE_PROP_UINT8("ctrl-idx", XlnxZynqMPCANState, cfg.ctrl_idx, 0),
+ DEFINE_PROP_UINT32("ext_clk_freq", XlnxZynqMPCANState, cfg.ext_clk_freq,
+ CAN_DEFAULT_CLOCK),
+ DEFINE_PROP_END_OF_LIST(),
+};
+
+static void xlnx_zynqmp_can_class_init(ObjectClass *klass, void *data)
+{
+ DeviceClass *dc = DEVICE_CLASS(klass);
+ ResettableClass *rc = RESETTABLE_CLASS(klass);
+
+ rc->phases.enter = xlnx_zynqmp_can_reset_init;
+ rc->phases.hold = xlnx_zynqmp_can_reset_hold;
+ dc->realize = xlnx_zynqmp_can_realize;
+ device_class_set_props(dc, xlnx_zynqmp_can_properties);
+ dc->vmsd = &vmstate_can;
+}
+
+static const TypeInfo can_info = {
+ .name = TYPE_XLNX_ZYNQMP_CAN,
+ .parent = TYPE_SYS_BUS_DEVICE,
+ .instance_size = sizeof(XlnxZynqMPCANState),
+ .class_init = xlnx_zynqmp_can_class_init,
+ .instance_init = xlnx_zynqmp_can_init,
+};
+
+static void can_register_types(void)
+{
+ type_register_static(&can_info);
+}
+
+type_init(can_register_types)
diff --git a/include/hw/net/xlnx-zynqmp-can.h b/include/hw/net/xlnx-zynqmp-can.h
new file mode 100644
index 0000000..ab720bf
--- /dev/null
+++ b/include/hw/net/xlnx-zynqmp-can.h
@@ -0,0 +1,79 @@
+/*
+ * QEMU model of the Xilinx ZynqMP CAN controller.
+ *
+ * Copyright (c) 2020 Xilinx Inc.
+ *
+ * Written-by: Vikram Garhwal<fnu.vikram@xilinx.com>
+ *
+ * Based on QEMU CAN Device emulation implemented by Jin Yang, Deniz Eren and
+ * Pavel Pisa.
+ *
+ * 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 XLNX_ZYNQMP_CAN_H
+#define XLNX_ZYNQMP_CAN_H
+
+#include "hw/register.h"
+#include "net/can_emu.h"
+#include "net/can_host.h"
+#include "qemu/fifo32.h"
+#include "hw/ptimer.h"
+#include "hw/qdev-clock.h"
+
+#define TYPE_XLNX_ZYNQMP_CAN "xlnx.zynqmp-can"
+
+#define XLNX_ZYNQMP_CAN(obj) \
+ OBJECT_CHECK(XlnxZynqMPCANState, (obj), TYPE_XLNX_ZYNQMP_CAN)
+
+#define MAX_CAN_CTRLS 2
+#define XLNX_ZYNQMP_CAN_R_MAX (0x84 / 4)
+#define MAILBOX_CAPACITY 64
+#define CAN_TIMER_MAX 0XFFFFUL
+#define CAN_DEFAULT_CLOCK (24 * 1000 * 1000)
+
+/* Each CAN_FRAME will have 4 * 32bit size. */
+#define CAN_FRAME_SIZE 4
+#define RXFIFO_SIZE (MAILBOX_CAPACITY * CAN_FRAME_SIZE)
+
+typedef struct XlnxZynqMPCANState {
+ SysBusDevice parent_obj;
+ MemoryRegion iomem;
+
+ qemu_irq irq;
+
+ CanBusClientState bus_client;
+ CanBusState *canbus[MAX_CAN_CTRLS];
+
+ struct {
+ uint8_t ctrl_idx;
+ uint32_t ext_clk_freq;
+ } cfg;
+
+ RegisterInfo reg_info[XLNX_ZYNQMP_CAN_R_MAX];
+ uint32_t regs[XLNX_ZYNQMP_CAN_R_MAX];
+
+ Fifo32 rx_fifo;
+ Fifo32 tx_fifo;
+ Fifo32 txhpb_fifo;
+
+ ptimer_state *can_timer;
+} XlnxZynqMPCANState;
+
+#endif
--
2.7.4
^ permalink raw reply related [flat|nested] 7+ messages in thread* [PATCH v6 3/4] tests/qtest: Introduce tests for Xilinx ZynqMP CAN controller
2020-06-23 23:23 [PATCH v6 0/4] Introduce Xilinx ZynqMP CAN controller Vikram Garhwal
2020-06-23 23:23 ` [PATCH v6 1/4] hw/net/can: " Vikram Garhwal
2020-06-23 23:23 ` [PATCH v6 2/4] xlnx-zynqmp: Connect Xilinx ZynqMP CAN controllers Vikram Garhwal
@ 2020-06-23 23:23 ` Vikram Garhwal
2020-06-23 23:23 ` [PATCH v6 4/4] MAINTAINERS: Add maintainer entry " Vikram Garhwal
2020-06-24 0:01 ` [PATCH v6 0/4] Introduce " no-reply
4 siblings, 0 replies; 7+ messages in thread
From: Vikram Garhwal @ 2020-06-23 23:23 UTC (permalink / raw)
To: qemu-devel
Cc: Laurent Vivier, francisco.iglesias, Thomas Huth, Vikram Garhwal,
Paolo Bonzini
The QTests perform five tests on the Xilinx ZynqMP CAN controller:
Tests the CAN controller in loopback, sleep and snoop mode.
Tests filtering of incoming CAN messages.
Acked-by: Thomas Huth <thuth@redhat.com>
Signed-off-by: Vikram Garhwal <fnu.vikram@xilinx.com>
---
tests/qtest/Makefile.include | 2 +
tests/qtest/xlnx-can-test.c | 367 +++++++++++++++++++++++++++++++++++++++++++
2 files changed, 369 insertions(+)
create mode 100644 tests/qtest/xlnx-can-test.c
diff --git a/tests/qtest/Makefile.include b/tests/qtest/Makefile.include
index 98af2c2..1f21f8f 100644
--- a/tests/qtest/Makefile.include
+++ b/tests/qtest/Makefile.include
@@ -136,6 +136,7 @@ check-qtest-aarch64-$(CONFIG_TPM_TIS_SYSBUS) += tpm-tis-device-swtpm-test
check-qtest-aarch64-y += numa-test
check-qtest-aarch64-y += boot-serial-test
check-qtest-aarch64-y += migration-test
+check-qtest-aarch64-y += xlnx-can-test
# TODO: once aarch64 TCG is fixed on ARM 32 bit host, make test unconditional
ifneq ($(ARCH),arm)
@@ -266,6 +267,7 @@ tests/qtest/bios-tables-test$(EXESUF): tests/qtest/bios-tables-test.o \
tests/qtest/boot-sector.o tests/qtest/acpi-utils.o $(libqos-obj-y)
tests/qtest/pxe-test$(EXESUF): tests/qtest/pxe-test.o tests/qtest/boot-sector.o $(libqos-obj-y)
tests/qtest/microbit-test$(EXESUF): tests/qtest/microbit-test.o
+tests/qtest/xlnx-can-test$(EXESUF): tests/qtest/xlnx-can-test.o
tests/qtest/m25p80-test$(EXESUF): tests/qtest/m25p80-test.o
tests/qtest/i440fx-test$(EXESUF): tests/qtest/i440fx-test.o $(libqos-pc-obj-y)
tests/qtest/q35-test$(EXESUF): tests/qtest/q35-test.o $(libqos-pc-obj-y)
diff --git a/tests/qtest/xlnx-can-test.c b/tests/qtest/xlnx-can-test.c
new file mode 100644
index 0000000..54af876
--- /dev/null
+++ b/tests/qtest/xlnx-can-test.c
@@ -0,0 +1,367 @@
+/*
+ * QTests for the Xilinx ZynqMP CAN controller.
+ *
+ * Copyright (c) 2020 Xilinx Inc.
+ *
+ * Written-by: Vikram Garhwal<fnu.vikram@xilinx.com>
+ *
+ * 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 "libqtest.h"
+
+/* Xlnx-CAN base address. */
+#define CAN0_BASE_ADDR 0xFF060000
+#define CAN1_BASE_ADDR 0xFF070000
+
+/* Register address in Xlnx-CAN. */
+#define R_SRR_OFFSET 0x00
+#define R_MSR_OFFSET 0x04
+#define R_SR_OFFSET 0x18
+#define R_ISR_OFFSET 0x1C
+#define R_ICR_OFFSET 0x24
+#define R_TXID_OFFSET 0x30
+#define R_TXDLC_OFFSET 0x34
+#define R_TXDATA1_OFFSET 0x38
+#define R_TXDATA2_OFFSET 0x3C
+#define R_RXID_OFFSET 0x50
+#define R_RXDLC_OFFSET 0x54
+#define R_RXDATA1_OFFSET 0x58
+#define R_RXDATA2_OFFSET 0x5C
+#define R_AFR 0x60
+#define R_AFMR1 0x64
+#define R_AFIR1 0x68
+#define R_AFMR2 0x6C
+#define R_AFIR2 0x70
+#define R_AFMR3 0x74
+#define R_AFIR3 0x78
+#define R_AFMR4 0x7C
+#define R_AFIR4 0x80
+
+/* CAN modes. */
+#define CONFIG_MODE 0x00
+#define NORMAL_MODE 0x00
+#define LOOPBACK_MODE 0x02
+#define SNOOP_MODE 0x04
+#define SLEEP_MODE 0x01
+#define ENABLE_CAN (1 << 1)
+#define STATUS_NORMAL_MODE (1 << 3)
+#define STATUS_LOOPBACK_MODE (1 << 1)
+#define STATUS_SNOOP_MODE (1 << 12)
+#define STATUS_SLEEP_MODE (1 << 2)
+#define ISR_TXOK (1 << 1)
+#define ISR_RXOK (1 << 4)
+
+static void match_rx_tx_data(uint32_t *buf_tx, uint32_t *buf_rx,
+ uint8_t can_timestamp)
+{
+ uint16_t size = 0;
+ uint8_t len = 4;
+
+ while (size < len) {
+ if (R_RXID_OFFSET + 4 * size == R_RXDLC_OFFSET) {
+ g_assert_cmpint(buf_rx[size], ==, buf_tx[size] + can_timestamp);
+ } else {
+ g_assert_cmpint(buf_rx[size], ==, buf_tx[size]);
+ }
+
+ size++;
+ }
+}
+
+static void read_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_rx)
+{
+ uint32_t int_status;
+
+ /* Read the interrupt on CAN rx. */
+ int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_RXOK;
+
+ g_assert_cmpint(int_status, ==, ISR_RXOK);
+
+ /* Read the RX register data for CAN. */
+ buf_rx[0] = qtest_readl(qts, can_base_addr + R_RXID_OFFSET);
+ buf_rx[1] = qtest_readl(qts, can_base_addr + R_RXDLC_OFFSET);
+ buf_rx[2] = qtest_readl(qts, can_base_addr + R_RXDATA1_OFFSET);
+ buf_rx[3] = qtest_readl(qts, can_base_addr + R_RXDATA2_OFFSET);
+
+ /* Clear the RX interrupt. */
+ qtest_writel(qts, CAN1_BASE_ADDR + R_ICR_OFFSET, ISR_RXOK);
+}
+
+static void send_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_tx)
+{
+ uint32_t int_status;
+
+ /* Write the TX register data for CAN. */
+ qtest_writel(qts, can_base_addr + R_TXID_OFFSET, buf_tx[0]);
+ qtest_writel(qts, can_base_addr + R_TXDLC_OFFSET, buf_tx[1]);
+ qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET, buf_tx[2]);
+ qtest_writel(qts, can_base_addr + R_TXDATA2_OFFSET, buf_tx[3]);
+
+ /* Read the interrupt on CAN for tx. */
+ int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_TXOK;
+
+ g_assert_cmpint(int_status, ==, ISR_TXOK);
+
+ /* Clear the interrupt for tx. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_ICR_OFFSET, ISR_TXOK);
+}
+
+/*
+ * This test will be transferring data from CAN0 and CAN1 through canbus. CAN0
+ * initiate the data transfer to can-bus, CAN1 receives the data. Test compares
+ * the data sent from CAN0 with received on CAN1.
+ */
+static void test_can_bus(void)
+{
+ uint32_t buf_tx[4] = { 0xFF, 0x80000000, 0x12345678, 0x87654321 };
+ uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+ uint8_t can_timestamp = 0;
+
+ QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+ " -object can-bus,id=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+ );
+
+ /* Configure the CAN0 and CAN1. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+ /* Check here if CAN0 and CAN1 are in normal mode. */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ send_data(qts, CAN0_BASE_ADDR, buf_tx);
+
+ can_timestamp += 1;
+
+ read_data(qts, CAN1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+ qtest_quit(qts);
+}
+
+/*
+ * This test is performing loopback mode on CAN0 and CAN1. Data sent from TX of
+ * each CAN0 and CAN1 are compared with RX register data for respective CAN.
+ */
+static void test_can_loopback(void)
+{
+ uint32_t buf_tx[4] = { 0xFF, 0x80000000, 0x12345678, 0x87654321 };
+ uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+
+ QTestState *qts = qtest_init("-machine xlnx-zcu102"
+ " -object can-bus,id=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+ );
+
+ /* Configure the CAN0 in loopback mode. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+ /* Check here if CAN0 is set in loopback mode. */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+
+ g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+ send_data(qts, CAN0_BASE_ADDR, buf_tx);
+ read_data(qts, CAN0_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, 0);
+
+ /* Configure the CAN1 in loopback mode. */
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+ /* Check here if CAN1 is set in loopback mode. */
+ status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+
+ g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+ send_data(qts, CAN1_BASE_ADDR, buf_tx);
+ read_data(qts, CAN1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, 0);
+
+ qtest_quit(qts);
+}
+
+/*
+ * Enable filters for CAN1. This will filter incoming messages with ID. In this
+ * test message will pass through filter 2.
+ */
+static void test_can_filter(void)
+{
+ uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
+ uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+ uint8_t can_timestamp = 0;
+
+ QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+ " -object can-bus,id=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+ );
+
+ /* Configure the CAN0 and CAN1. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+ /* Check here if CAN0 and CAN1 are in normal mode. */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ /* Set filter for CAN1 for incoming messages. */
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0x0);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR1, 0xF7);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR1, 0x121F);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR2, 0x5431);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR2, 0x14);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR3, 0x1234);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR3, 0x5431);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR4, 0xFFF);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR4, 0x1234);
+
+ qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0xF);
+
+ send_data(qts, CAN0_BASE_ADDR, buf_tx);
+
+ can_timestamp += 1;
+
+ read_data(qts, CAN1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+ qtest_quit(qts);
+}
+
+/* Testing sleep mode on CAN0 while CAN1 is in normal mode. */
+static void test_can_sleepmode(void)
+{
+ uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
+ uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+ uint8_t can_timestamp = 0;
+
+ QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+ " -object can-bus,id=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+ );
+
+ /* Configure the CAN0. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SLEEP_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+ /* Check here if CAN0 is in SNOOP mode and CAN1 in normal mode. */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_SLEEP_MODE);
+
+ status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ send_data(qts, CAN1_BASE_ADDR, buf_tx);
+
+ /*
+ * Once CAN1 sends data on can-bus. CAN0 should exit sleep mode.
+ * Check the CAN0 status now. It should exit the sleep mode and receive the
+ * incoming data.
+ */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ can_timestamp += 1;
+
+ read_data(qts, CAN0_BASE_ADDR, buf_rx);
+
+ match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+ qtest_quit(qts);
+}
+
+/* Testing Snoop mode on CAN0 while CAN1 is in normal mode. */
+static void test_can_snoopmode(void)
+{
+ uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
+ uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+ uint8_t can_timestamp = 0;
+
+ QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+ " -object can-bus,id=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+ " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+ );
+
+ /* Configure the CAN0. */
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SNOOP_MODE);
+ qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+ qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+ qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+ /* Check here if CAN0 is in SNOOP mode and CAN1 in normal mode. */
+ status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_SNOOP_MODE);
+
+ status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ send_data(qts, CAN1_BASE_ADDR, buf_tx);
+
+ can_timestamp += 1;
+
+ read_data(qts, CAN0_BASE_ADDR, buf_rx);
+
+ match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+ qtest_quit(qts);
+}
+
+int main(int argc, char **argv)
+{
+ g_test_init(&argc, &argv, NULL);
+
+ qtest_add_func("/net/can/can_bus", test_can_bus);
+ qtest_add_func("/net/can/can_loopback", test_can_loopback);
+ qtest_add_func("/net/can/can_filter", test_can_filter);
+ qtest_add_func("/net/can/can_test_snoopmode", test_can_snoopmode);
+ qtest_add_func("/net/can/can_test_sleepmode", test_can_sleepmode);
+
+ return g_test_run();
+}
--
2.7.4
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