/*
* 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"
/* Base address. */
#define CAN0_BASE_ADDR 0xFF060000
#define CAN1_BASE_ADDR 0xFF070000
/* Register addresses. */
#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(const uint32_t *buf_tx, const 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,
const 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)
{
const 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 = 1;
QTestState *qts = qtest_init("-machine xlnx-zcu102"
" -object can-bus,id=canbus"
" -machine canbus0=canbus"
" -machine canbus1=canbus"
);
/* 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);
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=canbus"
" -machine canbus0=canbus"
" -machine canbus1=canbus"
);
/* 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 = 1;
QTestState *qts = qtest_init("-machine xlnx-zcu102"
" -object can-bus,id=canbus"
" -machine canbus0=canbus"
" -machine canbus1=canbus"
);
/* 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);
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 = 1;
QTestState *qts = qtest_init("-machine xlnx-zcu102"
" -object can-bus,id=canbus"
" -machine canbus0=canbus"
" -machine canbus1=canbus"
);
/* 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 SLEEP 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);
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 = 1;
QTestState *qts = qtest_init("-machine xlnx-zcu102"
" -object can-bus,id=canbus"
" -machine canbus0=canbus"
" -machine canbus1=canbus"
);
/* 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);
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();
}
