tests/qtest/xlnx-canfd-test.c

/*
 * SPDX-License-Identifier: MIT
 *
 * QTests for the Xilinx Versal CANFD controller.
 *
 * Copyright (c) 2022 AMD Inc.
 *
 * Written-by: Vikram Garhwal<vikram.garhwal@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();
}