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413 lines
15 KiB
C
413 lines
15 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* QTests for the Xilinx Versal CANFD controller.
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*
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* Copyright (c) 2022 AMD Inc.
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*
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* Written-by: Vikram Garhwal<vikram.garhwal@amd.com>
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "qemu/osdep.h"
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#include "libqtest.h"
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/* Base address. */
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#define CANFD0_BASE_ADDR 0xff060000
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#define CANFD1_BASE_ADDR 0xff070000
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/* Register addresses. */
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#define R_SRR_OFFSET 0x00
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#define R_MSR_OFFSET 0x04
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#define R_FILTER_CONTROL_REGISTER 0xe0
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#define R_SR_OFFSET 0x18
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#define R_ISR_OFFSET 0x1c
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#define R_IER_OFFSET 0x20
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#define R_ICR_OFFSET 0x24
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#define R_TX_READY_REQ_REGISTER 0x90
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#define RX_FIFO_STATUS_REGISTER 0xe8
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#define R_TXID_OFFSET 0x100
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#define R_TXDLC_OFFSET 0x104
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#define R_TXDATA1_OFFSET 0x108
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#define R_TXDATA2_OFFSET 0x10c
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#define R_AFMR_REGISTER0 0xa00
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#define R_AFIR_REGISTER0 0xa04
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#define R_RX0_ID_OFFSET 0x2100
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#define R_RX0_DLC_OFFSET 0x2104
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#define R_RX0_DATA1_OFFSET 0x2108
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#define R_RX0_DATA2_OFFSET 0x210c
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/* CANFD modes. */
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#define SRR_CONFIG_MODE 0x00
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#define MSR_NORMAL_MODE 0x00
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#define MSR_LOOPBACK_MODE (1 << 1)
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#define ENABLE_CANFD (1 << 1)
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/* CANFD status. */
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#define STATUS_CONFIG_MODE (1 << 0)
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#define STATUS_NORMAL_MODE (1 << 3)
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#define STATUS_LOOPBACK_MODE (1 << 1)
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#define ISR_TXOK (1 << 1)
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#define ISR_RXOK (1 << 4)
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#define ENABLE_ALL_FILTERS 0xffffffff
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#define ENABLE_ALL_INTERRUPTS 0xffffffff
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/* We are sending one canfd message. */
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#define TX_READY_REG_VAL 0x1
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#define FIRST_RX_STORE_INDEX 0x1
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#define STATUS_REG_MASK 0xf
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#define DLC_FD_BIT_SHIFT 0x1b
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#define DLC_FD_BIT_MASK 0xf8000000
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#define FIFO_STATUS_READ_INDEX_MASK 0x3f
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#define FIFO_STATUS_FILL_LEVEL_MASK 0x7f00
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#define FILL_LEVEL_SHIFT 0x8
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/* CANFD frame size ID, DLC and 16 DATA word. */
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#define CANFD_FRAME_SIZE 18
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/* CAN frame size ID, DLC and 2 DATA word. */
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#define CAN_FRAME_SIZE 4
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/* Set the filters for CANFD controller. */
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static void enable_filters(QTestState *qts)
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{
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const uint32_t arr_afmr[32] = { 0xb423deaa, 0xa2a40bdc, 0x1b64f486,
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0x95c0d4ee, 0xe0c44528, 0x4b407904,
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0xd2673f46, 0x9fc638d6, 0x8844f3d8,
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0xa607d1e8, 0x67871bf4, 0xc2557dc,
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0x9ea5b53e, 0x3643c0cc, 0x5a05ea8e,
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0x83a46d84, 0x4a25c2b8, 0x93a66008,
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0x2e467470, 0xedc66118, 0x9086f9f2,
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0xfa23dd36, 0xb6654b90, 0xb221b8ca,
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0x3467d1e2, 0xa3a55542, 0x5b26a012,
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0x2281ea7e, 0xcea0ece8, 0xdc61e588,
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0x2e5676a, 0x16821320 };
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const uint32_t arr_afir[32] = { 0xa833dfa1, 0x255a477e, 0x3a4bb1c5,
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0x8f560a6c, 0x27f38903, 0x2fecec4d,
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0xa014c66d, 0xec289b8, 0x7e52dead,
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0x82e94f3c, 0xcf3e3c5c, 0x66059871,
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0x3f213df4, 0x25ac3959, 0xa12e9bef,
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0xa3ad3af, 0xbafd7fe, 0xb3cb40fd,
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0x5d9caa81, 0x2ed61902, 0x7cd64a0,
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0x4b1fa538, 0x9b5ced8c, 0x150de059,
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0xd2794227, 0x635e820a, 0xbb6b02cf,
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0xbb58176, 0x570025bb, 0xa78d9658,
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0x49d735df, 0xe5399d2f };
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/* Passing the respective array values to all the AFMR and AFIR pairs. */
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for (int i = 0; i < 32; i++) {
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/* For CANFD0. */
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qtest_writel(qts, CANFD0_BASE_ADDR + R_AFMR_REGISTER0 + 8 * i,
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arr_afmr[i]);
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qtest_writel(qts, CANFD0_BASE_ADDR + R_AFIR_REGISTER0 + 8 * i,
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arr_afir[i]);
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/* For CANFD1. */
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qtest_writel(qts, CANFD1_BASE_ADDR + R_AFMR_REGISTER0 + 8 * i,
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arr_afmr[i]);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_AFIR_REGISTER0 + 8 * i,
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arr_afir[i]);
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}
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/* Enable all the pairs from AFR register. */
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qtest_writel(qts, CANFD0_BASE_ADDR + R_FILTER_CONTROL_REGISTER,
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ENABLE_ALL_FILTERS);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_FILTER_CONTROL_REGISTER,
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ENABLE_ALL_FILTERS);
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}
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static void configure_canfd(QTestState *qts, uint8_t mode)
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{
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uint32_t status = 0;
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/* Put CANFD0 and CANFD1 in config mode. */
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qtest_writel(qts, CANFD0_BASE_ADDR + R_SRR_OFFSET, SRR_CONFIG_MODE);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_SRR_OFFSET, SRR_CONFIG_MODE);
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/* Write mode of operation in Mode select register. */
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qtest_writel(qts, CANFD0_BASE_ADDR + R_MSR_OFFSET, mode);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_MSR_OFFSET, mode);
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enable_filters(qts);
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/* Check here if CANFD0 and CANFD1 are in config mode. */
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status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_CONFIG_MODE);
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status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_CONFIG_MODE);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_IER_OFFSET, ENABLE_ALL_INTERRUPTS);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_IER_OFFSET, ENABLE_ALL_INTERRUPTS);
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qtest_writel(qts, CANFD0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CANFD);
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qtest_writel(qts, CANFD1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CANFD);
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}
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static void generate_random_data(uint32_t *buf_tx, bool is_canfd_frame)
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{
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/* Generate random TX data for CANFD frame. */
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if (is_canfd_frame) {
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for (int i = 0; i < CANFD_FRAME_SIZE - 2; i++) {
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buf_tx[2 + i] = g_random_int();
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}
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} else {
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/* Generate random TX data for CAN frame. */
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for (int i = 0; i < CAN_FRAME_SIZE - 2; i++) {
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buf_tx[2 + i] = g_random_int();
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}
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}
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}
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static void read_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_rx,
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uint32_t frame_size)
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{
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uint32_t int_status;
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uint32_t fifo_status_reg_value;
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/* At which RX FIFO the received data is stored. */
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uint8_t store_ind = 0;
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/* Read the interrupt on CANFD rx. */
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int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_RXOK;
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g_assert_cmpint(int_status, ==, ISR_RXOK);
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/* Find the fill level and read index. */
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fifo_status_reg_value = qtest_readl(qts, can_base_addr +
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RX_FIFO_STATUS_REGISTER);
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store_ind = (fifo_status_reg_value & FIFO_STATUS_READ_INDEX_MASK) +
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((fifo_status_reg_value & FIFO_STATUS_FILL_LEVEL_MASK) >>
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FILL_LEVEL_SHIFT);
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g_assert_cmpint(store_ind, ==, FIRST_RX_STORE_INDEX);
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/* Read the RX register data for CANFD. */
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buf_rx[0] = qtest_readl(qts, can_base_addr + R_RX0_ID_OFFSET);
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buf_rx[1] = qtest_readl(qts, can_base_addr + R_RX0_DLC_OFFSET);
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for (int i = 0; i < frame_size - 2; i++) {
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buf_rx[i + 2] = qtest_readl(qts,
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can_base_addr + R_RX0_DATA1_OFFSET + 4 * i);
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}
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/* Clear the RX interrupt. */
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qtest_writel(qts, CANFD1_BASE_ADDR + R_ICR_OFFSET, ISR_RXOK);
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}
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static void write_data(QTestState *qts, uint64_t can_base_addr,
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const uint32_t *buf_tx, bool is_canfd_frame)
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{
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/* Write the TX register data for CANFD. */
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qtest_writel(qts, can_base_addr + R_TXID_OFFSET, buf_tx[0]);
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qtest_writel(qts, can_base_addr + R_TXDLC_OFFSET, buf_tx[1]);
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if (is_canfd_frame) {
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for (int i = 0; i < CANFD_FRAME_SIZE - 2; i++) {
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qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET + 4 * i,
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buf_tx[2 + i]);
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}
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} else {
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qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET, buf_tx[2]);
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qtest_writel(qts, can_base_addr + R_TXDATA2_OFFSET, buf_tx[3]);
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}
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}
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static void send_data(QTestState *qts, uint64_t can_base_addr)
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{
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uint32_t int_status;
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qtest_writel(qts, can_base_addr + R_TX_READY_REQ_REGISTER,
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TX_READY_REG_VAL);
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/* Read the interrupt on CANFD for tx. */
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int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_TXOK;
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g_assert_cmpint(int_status, ==, ISR_TXOK);
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/* Clear the interrupt for tx. */
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qtest_writel(qts, CANFD0_BASE_ADDR + R_ICR_OFFSET, ISR_TXOK);
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}
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static void match_rx_tx_data(const uint32_t *buf_tx, const uint32_t *buf_rx,
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bool is_canfd_frame)
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{
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uint16_t size = 0;
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uint8_t len = CAN_FRAME_SIZE;
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if (is_canfd_frame) {
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len = CANFD_FRAME_SIZE;
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}
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while (size < len) {
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if (R_RX0_ID_OFFSET + 4 * size == R_RX0_DLC_OFFSET) {
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g_assert_cmpint((buf_rx[size] & DLC_FD_BIT_MASK), ==,
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(buf_tx[size] & DLC_FD_BIT_MASK));
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} else {
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g_assert_cmpint(buf_rx[size], ==, buf_tx[size]);
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}
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size++;
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}
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}
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/*
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* Xilinx CANFD supports both CAN and CANFD frames. This test will be
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* transferring CAN frame i.e. 8 bytes of data from CANFD0 and CANFD1 through
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* canbus. CANFD0 initiate the data transfer to can-bus, CANFD1 receives the
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* data. Test compares the can frame data sent from CANFD0 and received on
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* CANFD1.
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*/
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static void test_can_data_transfer(void)
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{
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uint32_t buf_tx[CAN_FRAME_SIZE] = { 0x5a5bb9a4, 0x80000000,
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0x12345678, 0x87654321 };
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uint32_t buf_rx[CAN_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
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uint32_t status = 0;
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generate_random_data(buf_tx, false);
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QTestState *qts = qtest_init("-machine xlnx-versal-virt"
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" -object can-bus,id=canbus"
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" -machine canbus0=canbus"
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" -machine canbus1=canbus"
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);
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configure_canfd(qts, MSR_NORMAL_MODE);
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/* Check if CANFD0 and CANFD1 are in Normal mode. */
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status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
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status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
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write_data(qts, CANFD0_BASE_ADDR, buf_tx, false);
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send_data(qts, CANFD0_BASE_ADDR);
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read_data(qts, CANFD1_BASE_ADDR, buf_rx, CAN_FRAME_SIZE);
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match_rx_tx_data(buf_tx, buf_rx, false);
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qtest_quit(qts);
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}
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/*
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* This test will be transferring CANFD frame i.e. 64 bytes of data from CANFD0
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* and CANFD1 through canbus. CANFD0 initiate the data transfer to can-bus,
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* CANFD1 receives the data. Test compares the CANFD frame data sent from CANFD0
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* with received on CANFD1.
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*/
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static void test_canfd_data_transfer(void)
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{
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uint32_t buf_tx[CANFD_FRAME_SIZE] = { 0x5a5bb9a4, 0xf8000000 };
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uint32_t buf_rx[CANFD_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
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uint32_t status = 0;
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generate_random_data(buf_tx, true);
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QTestState *qts = qtest_init("-machine xlnx-versal-virt"
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" -object can-bus,id=canbus"
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" -machine canbus0=canbus"
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" -machine canbus1=canbus"
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);
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configure_canfd(qts, MSR_NORMAL_MODE);
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/* Check if CANFD0 and CANFD1 are in Normal mode. */
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status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
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status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
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write_data(qts, CANFD0_BASE_ADDR, buf_tx, true);
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send_data(qts, CANFD0_BASE_ADDR);
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read_data(qts, CANFD1_BASE_ADDR, buf_rx, CANFD_FRAME_SIZE);
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match_rx_tx_data(buf_tx, buf_rx, true);
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qtest_quit(qts);
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}
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/*
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* This test is performing loopback mode on CANFD0 and CANFD1. Data sent from
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* TX of each CANFD0 and CANFD1 are compared with RX register data for
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* respective CANFD Controller.
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*/
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static void test_can_loopback(void)
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{
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uint32_t buf_tx[CANFD_FRAME_SIZE] = { 0x5a5bb9a4, 0xf8000000 };
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uint32_t buf_rx[CANFD_FRAME_SIZE] = { 0x00, 0x00, 0x00, 0x00 };
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uint32_t status = 0;
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generate_random_data(buf_tx, true);
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QTestState *qts = qtest_init("-machine xlnx-versal-virt"
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" -object can-bus,id=canbus"
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" -machine canbus0=canbus"
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" -machine canbus1=canbus"
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);
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configure_canfd(qts, MSR_LOOPBACK_MODE);
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/* Check if CANFD0 and CANFD1 are set in correct loopback mode. */
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status = qtest_readl(qts, CANFD0_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
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status = qtest_readl(qts, CANFD1_BASE_ADDR + R_SR_OFFSET);
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status = status & STATUS_REG_MASK;
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g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
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write_data(qts, CANFD0_BASE_ADDR, buf_tx, true);
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send_data(qts, CANFD0_BASE_ADDR);
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read_data(qts, CANFD0_BASE_ADDR, buf_rx, CANFD_FRAME_SIZE);
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match_rx_tx_data(buf_tx, buf_rx, true);
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generate_random_data(buf_tx, true);
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write_data(qts, CANFD1_BASE_ADDR, buf_tx, true);
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send_data(qts, CANFD1_BASE_ADDR);
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read_data(qts, CANFD1_BASE_ADDR, buf_rx, CANFD_FRAME_SIZE);
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match_rx_tx_data(buf_tx, buf_rx, true);
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qtest_quit(qts);
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}
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int main(int argc, char **argv)
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{
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g_test_init(&argc, &argv, NULL);
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qtest_add_func("/net/canfd/can_data_transfer", test_can_data_transfer);
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qtest_add_func("/net/canfd/canfd_data_transfer", test_canfd_data_transfer);
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qtest_add_func("/net/canfd/can_loopback", test_can_loopback);
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return g_test_run();
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}
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