The QTests perform three tests on the Xilinx VERSAL CANFD controller:
Tests the CANFD controllers in loopback.
Tests the CANFD controllers in normal mode with CAN frame.
Tests the CANFD controllers in normal mode with CANFD frame.
Signed-off-by: Vikram Garhwal <vikram.garh...@amd.com>
Acked-by: Thomas Huth <th...@redhat.com>
Reviewed-by: Francisco Iglesias <francisco.igles...@amd.com>
Reviewed-by: Peter Maydell <peter.mayd...@linaro.org>
---
tests/qtest/meson.build | 1 +
tests/qtest/xlnx-canfd-test.c | 423 ++++++++++++++++++++++++++++++++++
2 files changed, 424 insertions(+)
create mode 100644 tests/qtest/xlnx-canfd-test.c
diff --git a/tests/qtest/meson.build b/tests/qtest/meson.build
index ab422772d3..045007c34c 100644
--- a/tests/qtest/meson.build
+++ b/tests/qtest/meson.build
@@ -212,6 +212,7 @@ qtests_aarch64 = \
(config_all.has_key('CONFIG_TCG') and
config_all_devices.has_key('CONFIG_TPM_TIS_SYSBUS') ? \
['tpm-tis-device-test', 'tpm-tis-device-swtpm-test'] : []) +
\
(config_all_devices.has_key('CONFIG_XLNX_ZYNQMP_ARM') ? ['xlnx-can-test',
'fuzz-xlnx-dp-test'] : []) + \
+ (config_all_devices.has_key('CONFIG_XLNX_VERSAL') ? ['xlnx-canfd-test'] :
[]) + \
(config_all_devices.has_key('CONFIG_RASPI') ? ['bcm2835-dma-test'] : []) + \
(config_all.has_key('CONFIG_TCG') and
\
config_all_devices.has_key('CONFIG_TPM_TIS_I2C') ? ['tpm-tis-i2c-test'] :
[]) + \
diff --git a/tests/qtest/xlnx-canfd-test.c b/tests/qtest/xlnx-canfd-test.c
new file mode 100644
index 0000000000..76ee106d4f
--- /dev/null
+++ b/tests/qtest/xlnx-canfd-test.c
@@ -0,0 +1,423 @@
+/*
+ * SPDX-License-Identifier: MIT
+ *
+ * QTests for the Xilinx Versal CANFD controller.
+ *
+ * Copyright (c) 2022 AMD Inc.
+ *
+ * Written-by: Vikram Garhwal<vikram.garh...@amd.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"
+
+/* Base address. */
+#define CANFD0_BASE_ADDR 0xff060000
+#define CANFD1_BASE_ADDR 0xff070000
+
+/* Register addresses. */
+#define R_SRR_OFFSET 0x00
+#define R_MSR_OFFSET 0x04
+#define R_FILTER_CONTROL_REGISTER 0xe0
+#define R_SR_OFFSET 0x18
+#define R_ISR_OFFSET 0x1c
+#define R_IER_OFFSET 0x20
+#define R_ICR_OFFSET 0x24
+#define R_TX_READY_REQ_REGISTER 0x90
+#define RX_FIFO_STATUS_REGISTER 0xe8
+#define R_TXID_OFFSET 0x100
+#define R_TXDLC_OFFSET 0x104
+#define R_TXDATA1_OFFSET 0x108
+#define R_TXDATA2_OFFSET 0x10c
+#define R_AFMR_REGISTER0 0xa00
+#define R_AFIR_REGISTER0 0xa04
+#define R_RX0_ID_OFFSET 0x2100
+#define R_RX0_DLC_OFFSET 0x2104
+#define R_RX0_DATA1_OFFSET 0x2108
+#define R_RX0_DATA2_OFFSET 0x210c
+
+/* CANFD modes. */
+#define SRR_CONFIG_MODE 0x00
+#define MSR_NORMAL_MODE 0x00
+#define MSR_LOOPBACK_MODE (1 << 1)
+#define ENABLE_CANFD (1 << 1)
+
+/* CANFD status. */
+#define STATUS_CONFIG_MODE (1 << 0)
+#define STATUS_NORMAL_MODE (1 << 3)
+#define STATUS_LOOPBACK_MODE (1 << 1)
+#define ISR_TXOK (1 << 1)
+#define ISR_RXOK (1 << 4)
+
+#define ENABLE_ALL_FILTERS 0xffffffff
+#define ENABLE_ALL_INTERRUPTS 0xffffffff
+
+/* We are sending one canfd message. */
+#define TX_READY_REG_VAL 0x1
+
+#define FIRST_RX_STORE_INDEX 0x1
+#define STATUS_REG_MASK 0xf
+#define DLC_FD_BIT_SHIFT 0x1b
+#define DLC_FD_BIT_MASK 0xf8000000
+#define FIFO_STATUS_READ_INDEX_MASK 0x3f
+#define FIFO_STATUS_FILL_LEVEL_MASK 0x7f00
+#define FILL_LEVEL_SHIFT 0x8
+
+/* CANFD frame size ID, DLC and 16 DATA word. */
+#define CANFD_FRAME_SIZE 18
+/* CAN frame size ID, DLC and 2 DATA word. */
+#define CAN_FRAME_SIZE 4
+
+/* Set the filters for CANFD controller. */
+static void enable_filters(QTestState *qts)
+{
+ const uint32_t arr_afmr[32] = { 0xb423deaa, 0xa2a40bdc, 0x1b64f486,
+ 0x95c0d4ee, 0xe0c44528, 0x4b407904,
+ 0xd2673f46, 0x9fc638d6, 0x8844f3d8,
+ 0xa607d1e8, 0x67871bf4, 0xc2557dc,
+ 0x9ea5b53e, 0x3643c0cc, 0x5a05ea8e,
+ 0x83a46d84, 0x4a25c2b8, 0x93a66008,
+ 0x2e467470, 0xedc66118, 0x9086f9f2,
+ 0xfa23dd36, 0xb6654b90, 0xb221b8ca,
+ 0x3467d1e2, 0xa3a55542, 0x5b26a012,
+ 0x2281ea7e, 0xcea0ece8, 0xdc61e588,
+ 0x2e5676a, 0x16821320 };
+
+ const uint32_t arr_afir[32] = { 0xa833dfa1, 0x255a477e, 0x3a4bb1c5,
+ 0x8f560a6c, 0x27f38903, 0x2fecec4d,
+ 0xa014c66d, 0xec289b8, 0x7e52dead,
+ 0x82e94f3c, 0xcf3e3c5c, 0x66059871,
+ 0x3f213df4, 0x25ac3959, 0xa12e9bef,
+ 0xa3ad3af, 0xbafd7fe, 0xb3cb40fd,
+ 0x5d9caa81, 0x2ed61902, 0x7cd64a0,
+ 0x4b1fa538, 0x9b5ced8c, 0x150de059,
+ 0xd2794227, 0x635e820a, 0xbb6b02cf,
+ 0xbb58176, 0x570025bb, 0xa78d9658,
+ 0x49d735df, 0xe5399d2f };
+
+ /* Passing the respective array values to all the AFMR and AFIR pairs. */
+ for (int i = 0; i < 32; i++) {
+ /* For CANFD0. */
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_AFMR_REGISTER0 + 8 * i,
+ arr_afmr[i]);
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_AFIR_REGISTER0 + 8 * i,
+ arr_afir[i]);
+
+ /* For CANFD1. */
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_AFMR_REGISTER0 + 8 * i,
+ arr_afmr[i]);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_AFIR_REGISTER0 + 8 * i,
+ arr_afir[i]);
+ }
+
+ /* Enable all the pairs from AFR register. */
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_FILTER_CONTROL_REGISTER,
+ ENABLE_ALL_FILTERS);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_FILTER_CONTROL_REGISTER,
+ ENABLE_ALL_FILTERS);
+}
+
+static void configure_canfd(QTestState *qts, uint8_t mode)
+{
+ uint32_t status = 0;
+
+ /* Put CANFD0 and CANFD1 in config mode. */
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_SRR_OFFSET, SRR_CONFIG_MODE);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_SRR_OFFSET, SRR_CONFIG_MODE);
+
+ /* Write mode of operation in Mode select register. */
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_MSR_OFFSET, mode);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_MSR_OFFSET, mode);
+
+ enable_filters(qts);
+
+ /* Check here if CANFD0 and CANFD1 are in config mode. */
+ status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_CONFIG_MODE);
+
+ status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_CONFIG_MODE);
+
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_IER_OFFSET, ENABLE_ALL_INTERRUPTS);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_IER_OFFSET, ENABLE_ALL_INTERRUPTS);
+
+ qtest_writel(qts, CANFD0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CANFD);
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CANFD);
+}
+
+static void generate_random_data(uint32_t *buf_tx, bool is_canfd_frame)
+{
+ /* Generate random TX data for CANFD frame. */
+ if (is_canfd_frame) {
+ for (int i = 0; i < CANFD_FRAME_SIZE - 2; i++) {
+ buf_tx[2 + i] = rand();
+ }
+ } else {
+ /* Generate random TX data for CAN frame. */
+ for (int i = 0; i < CAN_FRAME_SIZE - 2; i++) {
+ buf_tx[2 + i] = rand();
+ }
+ }
+}
+
+static void read_data(QTestState *qts, uint64_t can_base_addr, uint32_t
*buf_rx)
+{
+ uint32_t int_status;
+ uint32_t fifo_status_reg_value;
+ /* At which RX FIFO the received data is stored. */
+ uint8_t store_ind = 0;
+ bool is_canfd_frame = false;
+
+ /* Read the interrupt on CANFD rx. */
+ int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_RXOK;
+
+ g_assert_cmpint(int_status, ==, ISR_RXOK);
+
+ /* Find the fill level and read index. */
+ fifo_status_reg_value = qtest_readl(qts, can_base_addr +
+ RX_FIFO_STATUS_REGISTER);
+
+ store_ind = (fifo_status_reg_value & FIFO_STATUS_READ_INDEX_MASK) +
+ ((fifo_status_reg_value & FIFO_STATUS_FILL_LEVEL_MASK) >>
+ FILL_LEVEL_SHIFT);
+
+ g_assert_cmpint(store_ind, ==, FIRST_RX_STORE_INDEX);
+
+ /* Read the RX register data for CANFD. */
+ buf_rx[0] = qtest_readl(qts, can_base_addr + R_RX0_ID_OFFSET);
+ buf_rx[1] = qtest_readl(qts, can_base_addr + R_RX0_DLC_OFFSET);
+
+ is_canfd_frame = (buf_rx[1] >> DLC_FD_BIT_SHIFT) & 1;
+
+ if (is_canfd_frame) {
+ for (int i = 0; i < CANFD_FRAME_SIZE - 2; i++) {
+ buf_rx[i + 2] = qtest_readl(qts,
+ can_base_addr + R_RX0_DATA1_OFFSET + 4 *
i);
+ }
+ } else {
+ buf_rx[2] = qtest_readl(qts, can_base_addr + R_RX0_DATA1_OFFSET);
+ buf_rx[3] = qtest_readl(qts, can_base_addr + R_RX0_DATA2_OFFSET);
+ }
+
+ /* Clear the RX interrupt. */
+ qtest_writel(qts, CANFD1_BASE_ADDR + R_ICR_OFFSET, ISR_RXOK);
+}
+
+static void write_data(QTestState *qts, uint64_t can_base_addr,
+ const uint32_t *buf_tx, bool is_canfd_frame)
+{
+ /* Write the TX register data for CANFD. */
+ qtest_writel(qts, can_base_addr + R_TXID_OFFSET, buf_tx[0]);
+ qtest_writel(qts, can_base_addr + R_TXDLC_OFFSET, buf_tx[1]);
+
+ if (is_canfd_frame) {
+ for (int i = 0; i < CANFD_FRAME_SIZE - 2; i++) {
+ qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET + 4 * i,
+ buf_tx[2 + i]);
+ }
+ } else {
+ qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET, buf_tx[2]);
+ qtest_writel(qts, can_base_addr + R_TXDATA2_OFFSET, buf_tx[3]);
+ }
+}
+
+static void send_data(QTestState *qts, uint64_t can_base_addr)
+{
+ uint32_t int_status;
+
+ qtest_writel(qts, can_base_addr + R_TX_READY_REQ_REGISTER,
+ TX_READY_REG_VAL);
+
+ /* Read the interrupt on CANFD 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, CANFD0_BASE_ADDR + R_ICR_OFFSET, ISR_TXOK);
+}
+
+static void match_rx_tx_data(const uint32_t *buf_tx, const uint32_t *buf_rx,
+ bool is_canfd_frame)
+{
+ uint16_t size = 0;
+ uint8_t len = CAN_FRAME_SIZE;
+
+ if (is_canfd_frame) {
+ len = CANFD_FRAME_SIZE;
+ }
+
+ while (size < len) {
+ if (R_RX0_ID_OFFSET + 4 * size == R_RX0_DLC_OFFSET) {
+ g_assert_cmpint((buf_rx[size] & DLC_FD_BIT_MASK), ==,
+ (buf_tx[size] & DLC_FD_BIT_MASK));
+ } else {
+ if (!is_canfd_frame && size == 4) {
+ break;
+ }
+
+ g_assert_cmpint(buf_rx[size], ==, buf_tx[size]);
+ }
+
+ size++;
+ }
+}
+/*
+ * Xilinx CANFD supports both CAN and CANFD frames. This test will be
+ * transferring CAN frame i.e. 8 bytes of data from CANFD0 and CANFD1 through
+ * canbus. CANFD0 initiate the data transfer to can-bus, CANFD1 receives the
+ * data. Test compares the can frame data sent from CANFD0 and received on
+ * CANFD1.
+ */
+static void test_can_data_transfer(void)
+{
+ uint32_t buf_tx[CAN_FRAME_SIZE] = { 0x5a5bb9a4, 0x80000000,
+ 0x12345678, 0x87654321 };
+ uint32_t buf_rx[CAN_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+
+ generate_random_data(buf_tx, false);
+
+ QTestState *qts = qtest_init("-machine xlnx-versal-virt"
+ " -object can-bus,id=canbus"
+ " -machine canbus0=canbus"
+ " -machine canbus1=canbus"
+ );
+
+ configure_canfd(qts, MSR_NORMAL_MODE);
+
+ /* Check if CANFD0 and CANFD1 are in Normal mode. */
+ status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ write_data(qts, CANFD0_BASE_ADDR, buf_tx, false);
+
+ send_data(qts, CANFD0_BASE_ADDR);
+ read_data(qts, CANFD1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, false);
+
+ qtest_quit(qts);
+}
+
+/*
+ * This test will be transferring CANFD frame i.e. 64 bytes of data from CANFD0
+ * and CANFD1 through canbus. CANFD0 initiate the data transfer to can-bus,
+ * CANFD1 receives the data. Test compares the CANFD frame data sent from
CANFD0
+ * with received on CANFD1.
+ */
+static void test_canfd_data_transfer(void)
+{
+ uint32_t buf_tx[CANFD_FRAME_SIZE] = { 0x5a5bb9a4, 0xf8000000 };
+ uint32_t buf_rx[CANFD_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+
+ generate_random_data(buf_tx, true);
+
+ QTestState *qts = qtest_init("-machine xlnx-versal-virt"
+ " -object can-bus,id=canbus"
+ " -machine canbus0=canbus"
+ " -machine canbus1=canbus"
+ );
+
+ configure_canfd(qts, MSR_NORMAL_MODE);
+
+ /* Check if CANFD0 and CANFD1 are in Normal mode. */
+ status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+ write_data(qts, CANFD0_BASE_ADDR, buf_tx, true);
+
+ send_data(qts, CANFD0_BASE_ADDR);
+ read_data(qts, CANFD1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, true);
+
+ qtest_quit(qts);
+}
+
+/*
+ * This test is performing loopback mode on CANFD0 and CANFD1. Data sent from
+ * TX of each CANFD0 and CANFD1 are compared with RX register data for
+ * respective CANFD Controller.
+ */
+static void test_can_loopback(void)
+{
+ uint32_t buf_tx[CANFD_FRAME_SIZE] = { 0x5a5bb9a4, 0xf8000000 };
+ uint32_t buf_rx[CANFD_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
+ uint32_t status = 0;
+
+ generate_random_data(buf_tx, true);
+
+ QTestState *qts = qtest_init("-machine xlnx-versal-virt"
+ " -object can-bus,id=canbus"
+ " -machine canbus0=canbus"
+ " -machine canbus1=canbus"
+ );
+
+ configure_canfd(qts, MSR_LOOPBACK_MODE);
+
+ /* Check if CANFD0 and CANFD1 are set in correct loopback mode. */
+ status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+ status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
+ status = status & STATUS_REG_MASK;
+ g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+ write_data(qts, CANFD0_BASE_ADDR, buf_tx, true);
+
+ send_data(qts, CANFD0_BASE_ADDR);
+ read_data(qts, CANFD0_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, true);
+
+ generate_random_data(buf_tx, true);
+
+ write_data(qts, CANFD1_BASE_ADDR, buf_tx, true);
+
+ send_data(qts, CANFD1_BASE_ADDR);
+ read_data(qts, CANFD1_BASE_ADDR, buf_rx);
+ match_rx_tx_data(buf_tx, buf_rx, true);
+
+ qtest_quit(qts);
+}
+
+int main(int argc, char **argv)
+{
+ g_test_init(&argc, &argv, NULL);
+
+ qtest_add_func("/net/canfd/can_data_transfer", test_can_data_transfer);
+ qtest_add_func("/net/canfd/canfd_data_transfer", test_canfd_data_transfer);
+ qtest_add_func("/net/canfd/can_loopback", test_can_loopback);
+
+ return g_test_run();
+}
--
2.17.1
