tests/qtest/xlnx-can-test.c

   1 /*
   2  * QTests for the Xilinx ZynqMP CAN controller.
   3  *
   4  * Copyright (c) 2020 Xilinx Inc.
   5  *
   6  * Written-by: Vikram Garhwal<fnu.vikram@xilinx.com>
   7  *
   8  * Permission is hereby granted, free of charge, to any person obtaining a copy
   9  * of this software and associated documentation files (the "Software"), to deal
  10  * in the Software without restriction, including without limitation the rights
  11  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  12  * copies of the Software, and to permit persons to whom the Software is
  13  * furnished to do so, subject to the following conditions:
  14  *
  15  * The above copyright notice and this permission notice shall be included in
  16  * all copies or substantial portions of the Software.
  17  *
  18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  19  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  20  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
  21  * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  22  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  23  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  24  * THE SOFTWARE.
  25  */
  26
  27 #include "qemu/osdep.h"
  28 #include "libqtest.h"
  29
  30 /* Base address. */
  31 #define CAN0_BASE_ADDR          0xFF060000
  32 #define CAN1_BASE_ADDR          0xFF070000
  33
  34 /* Register addresses. */
  35 #define R_SRR_OFFSET            0x00
  36 #define R_MSR_OFFSET            0x04
  37 #define R_SR_OFFSET             0x18
  38 #define R_ISR_OFFSET            0x1C
  39 #define R_ICR_OFFSET            0x24
  40 #define R_TXID_OFFSET           0x30
  41 #define R_TXDLC_OFFSET          0x34
  42 #define R_TXDATA1_OFFSET        0x38
  43 #define R_TXDATA2_OFFSET        0x3C
  44 #define R_RXID_OFFSET           0x50
  45 #define R_RXDLC_OFFSET          0x54
  46 #define R_RXDATA1_OFFSET        0x58
  47 #define R_RXDATA2_OFFSET        0x5C
  48 #define R_AFR                   0x60
  49 #define R_AFMR1                 0x64
  50 #define R_AFIR1                 0x68
  51 #define R_AFMR2                 0x6C
  52 #define R_AFIR2                 0x70
  53 #define R_AFMR3                 0x74
  54 #define R_AFIR3                 0x78
  55 #define R_AFMR4                 0x7C
  56 #define R_AFIR4                 0x80
  57
  58 /* CAN modes. */
  59 #define CONFIG_MODE             0x00
  60 #define NORMAL_MODE             0x00
  61 #define LOOPBACK_MODE           0x02
  62 #define SNOOP_MODE              0x04
  63 #define SLEEP_MODE              0x01
  64 #define ENABLE_CAN              (1 << 1)
  65 #define STATUS_NORMAL_MODE      (1 << 3)
  66 #define STATUS_LOOPBACK_MODE    (1 << 1)
  67 #define STATUS_SNOOP_MODE       (1 << 12)
  68 #define STATUS_SLEEP_MODE       (1 << 2)
  69 #define ISR_TXOK                (1 << 1)
  70 #define ISR_RXOK                (1 << 4)
  71
  72 static void match_rx_tx_data(const uint32_t *buf_tx, const uint32_t *buf_rx,
  73                              uint8_t can_timestamp)
  74 {
  75     uint16_t size = 0;
  76     uint8_t len = 4;
  77
  78     while (size < len) {
  79         if (R_RXID_OFFSET + 4 * size == R_RXDLC_OFFSET)  {
  80             g_assert_cmpint(buf_rx[size], ==, buf_tx[size] + can_timestamp);
  81         } else {
  82             g_assert_cmpint(buf_rx[size], ==, buf_tx[size]);
  83         }
  84
  85         size++;
  86     }
  87 }
  88
  89 static void read_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_rx)
  90 {
  91     uint32_t int_status;
  92
  93     /* Read the interrupt on CAN rx. */
  94     int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_RXOK;
  95
  96     g_assert_cmpint(int_status, ==, ISR_RXOK);
  97
  98     /* Read the RX register data for CAN. */
  99     buf_rx[0] = qtest_readl(qts, can_base_addr + R_RXID_OFFSET);
 100     buf_rx[1] = qtest_readl(qts, can_base_addr + R_RXDLC_OFFSET);
 101     buf_rx[2] = qtest_readl(qts, can_base_addr + R_RXDATA1_OFFSET);
 102     buf_rx[3] = qtest_readl(qts, can_base_addr + R_RXDATA2_OFFSET);
 103
 104     /* Clear the RX interrupt. */
 105     qtest_writel(qts, CAN1_BASE_ADDR + R_ICR_OFFSET, ISR_RXOK);
 106 }
 107
 108 static void send_data(QTestState *qts, uint64_t can_base_addr,
 109                       const uint32_t *buf_tx)
 110 {
 111     uint32_t int_status;
 112
 113     /* Write the TX register data for CAN. */
 114     qtest_writel(qts, can_base_addr + R_TXID_OFFSET, buf_tx[0]);
 115     qtest_writel(qts, can_base_addr + R_TXDLC_OFFSET, buf_tx[1]);
 116     qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET, buf_tx[2]);
 117     qtest_writel(qts, can_base_addr + R_TXDATA2_OFFSET, buf_tx[3]);
 118
 119     /* Read the interrupt on CAN for tx. */
 120     int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_TXOK;
 121
 122     g_assert_cmpint(int_status, ==, ISR_TXOK);
 123
 124     /* Clear the interrupt for tx. */
 125     qtest_writel(qts, CAN0_BASE_ADDR + R_ICR_OFFSET, ISR_TXOK);
 126 }
 127
 128 /*
 129  * This test will be transferring data from CAN0 and CAN1 through canbus. CAN0
 130  * initiate the data transfer to can-bus, CAN1 receives the data. Test compares
 131  * the data sent from CAN0 with received on CAN1.
 132  */
 133 static void test_can_bus(void)
 134 {
 135     const uint32_t buf_tx[4] = { 0xFF, 0x80000000, 0x12345678, 0x87654321 };
 136     uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
 137     uint32_t status = 0;
 138     uint8_t can_timestamp = 1;
 139
 140     QTestState *qts = qtest_init("-machine xlnx-zcu102"
 141                 " -object can-bus,id=canbus"
 142                 " -machine canbus0=canbus"
 143                 " -machine canbus1=canbus"
 144                 );
 145
 146     /* Configure the CAN0 and CAN1. */
 147     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 148     qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 149     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 150     qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 151
 152     /* Check here if CAN0 and CAN1 are in normal mode. */
 153     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 154     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 155
 156     status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
 157     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 158
 159     send_data(qts, CAN0_BASE_ADDR, buf_tx);
 160
 161     read_data(qts, CAN1_BASE_ADDR, buf_rx);
 162     match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
 163
 164     qtest_quit(qts);
 165 }
 166
 167 /*
 168  * This test is performing loopback mode on CAN0 and CAN1. Data sent from TX of
 169  * each CAN0 and CAN1 are compared with RX register data for respective CAN.
 170  */
 171 static void test_can_loopback(void)
 172 {
 173     uint32_t buf_tx[4] = { 0xFF, 0x80000000, 0x12345678, 0x87654321 };
 174     uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
 175     uint32_t status = 0;
 176
 177     QTestState *qts = qtest_init("-machine xlnx-zcu102"
 178                 " -object can-bus,id=canbus"
 179                 " -machine canbus0=canbus"
 180                 " -machine canbus1=canbus"
 181                 );
 182
 183     /* Configure the CAN0 in loopback mode. */
 184     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
 185     qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
 186     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 187
 188     /* Check here if CAN0 is set in loopback mode. */
 189     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 190
 191     g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
 192
 193     send_data(qts, CAN0_BASE_ADDR, buf_tx);
 194     read_data(qts, CAN0_BASE_ADDR, buf_rx);
 195     match_rx_tx_data(buf_tx, buf_rx, 0);
 196
 197     /* Configure the CAN1 in loopback mode. */
 198     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
 199     qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
 200     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 201
 202     /* Check here if CAN1 is set in loopback mode. */
 203     status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
 204
 205     g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
 206
 207     send_data(qts, CAN1_BASE_ADDR, buf_tx);
 208     read_data(qts, CAN1_BASE_ADDR, buf_rx);
 209     match_rx_tx_data(buf_tx, buf_rx, 0);
 210
 211     qtest_quit(qts);
 212 }
 213
 214 /*
 215  * Enable filters for CAN1. This will filter incoming messages with ID. In this
 216  * test message will pass through filter 2.
 217  */
 218 static void test_can_filter(void)
 219 {
 220     uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
 221     uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
 222     uint32_t status = 0;
 223     uint8_t can_timestamp = 1;
 224
 225     QTestState *qts = qtest_init("-machine xlnx-zcu102"
 226                 " -object can-bus,id=canbus"
 227                 " -machine canbus0=canbus"
 228                 " -machine canbus1=canbus"
 229                 );
 230
 231     /* Configure the CAN0 and CAN1. */
 232     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 233     qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 234     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 235     qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 236
 237     /* Check here if CAN0 and CAN1 are in normal mode. */
 238     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 239     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 240
 241     status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
 242     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 243
 244     /* Set filter for CAN1 for incoming messages. */
 245     qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0x0);
 246     qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR1, 0xF7);
 247     qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR1, 0x121F);
 248     qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR2, 0x5431);
 249     qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR2, 0x14);
 250     qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR3, 0x1234);
 251     qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR3, 0x5431);
 252     qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR4, 0xFFF);
 253     qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR4, 0x1234);
 254
 255     qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0xF);
 256
 257     send_data(qts, CAN0_BASE_ADDR, buf_tx);
 258
 259     read_data(qts, CAN1_BASE_ADDR, buf_rx);
 260     match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
 261
 262     qtest_quit(qts);
 263 }
 264
 265 /* Testing sleep mode on CAN0 while CAN1 is in normal mode. */
 266 static void test_can_sleepmode(void)
 267 {
 268     uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
 269     uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
 270     uint32_t status = 0;
 271     uint8_t can_timestamp = 1;
 272
 273     QTestState *qts = qtest_init("-machine xlnx-zcu102"
 274                 " -object can-bus,id=canbus"
 275                 " -machine canbus0=canbus"
 276                 " -machine canbus1=canbus"
 277                 );
 278
 279     /* Configure the CAN0. */
 280     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
 281     qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SLEEP_MODE);
 282     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 283
 284     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 285     qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 286
 287     /* Check here if CAN0 is in SLEEP mode and CAN1 in normal mode. */
 288     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 289     g_assert_cmpint(status, ==, STATUS_SLEEP_MODE);
 290
 291     status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
 292     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 293
 294     send_data(qts, CAN1_BASE_ADDR, buf_tx);
 295
 296     /*
 297      * Once CAN1 sends data on can-bus. CAN0 should exit sleep mode.
 298      * Check the CAN0 status now. It should exit the sleep mode and receive the
 299      * incoming data.
 300      */
 301     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 302     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 303
 304     read_data(qts, CAN0_BASE_ADDR, buf_rx);
 305
 306     match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
 307
 308     qtest_quit(qts);
 309 }
 310
 311 /* Testing Snoop mode on CAN0 while CAN1 is in normal mode. */
 312 static void test_can_snoopmode(void)
 313 {
 314     uint32_t buf_tx[4] = { 0x14, 0x80000000, 0x12345678, 0x87654321 };
 315     uint32_t buf_rx[4] = { 0x00, 0x00, 0x00, 0x00 };
 316     uint32_t status = 0;
 317     uint8_t can_timestamp = 1;
 318
 319     QTestState *qts = qtest_init("-machine xlnx-zcu102"
 320                 " -object can-bus,id=canbus"
 321                 " -machine canbus0=canbus"
 322                 " -machine canbus1=canbus"
 323                 );
 324
 325     /* Configure the CAN0. */
 326     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
 327     qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SNOOP_MODE);
 328     qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 329
 330     qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
 331     qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
 332
 333     /* Check here if CAN0 is in SNOOP mode and CAN1 in normal mode. */
 334     status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
 335     g_assert_cmpint(status, ==, STATUS_SNOOP_MODE);
 336
 337     status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
 338     g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
 339
 340     send_data(qts, CAN1_BASE_ADDR, buf_tx);
 341
 342     read_data(qts, CAN0_BASE_ADDR, buf_rx);
 343
 344     match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
 345
 346     qtest_quit(qts);
 347 }
 348
 349 int main(int argc, char **argv)
 350 {
 351     g_test_init(&argc, &argv, NULL);
 352
 353     qtest_add_func("/net/can/can_bus", test_can_bus);
 354     qtest_add_func("/net/can/can_loopback", test_can_loopback);
 355     qtest_add_func("/net/can/can_filter", test_can_filter);
 356     qtest_add_func("/net/can/can_test_snoopmode", test_can_snoopmode);
 357     qtest_add_func("/net/can/can_test_sleepmode", test_can_sleepmode);
 358
 359     return g_test_run();
 360 }