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Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- hw/arm/sabrelite.c | 20 ++++++++++++++++++-- 1 file changed, 18 insertions(+), 2 deletions(-) diff --git a/hw/arm/sabrelite.c b/hw/arm/sabrelite.c index db5669c5c2..04484aaa14 100644 --- a/hw/arm/sabrelite.c +++ b/hw/arm/sabrelite.c @@ -104,8 +104,10 @@ static void sabrelite_init(MachineState *machine) } } =20 -static void sabrelite_machine_init(MachineClass *mc) +static void sabrelite_machine_class_init(ObjectClass *oc, const void *data) { + MachineClass *mc =3D MACHINE_CLASS(oc); + mc->desc =3D "Freescale i.MX6 Quad SABRE Lite Board (Cortex-A9)"; mc->init =3D sabrelite_init; mc->max_cpus =3D FSL_IMX6_NUM_CPUS; @@ -114,4 +116,18 @@ static void sabrelite_machine_init(MachineClass *mc) mc->auto_create_sdcard =3D true; } =20 -DEFINE_MACHINE_ARM("sabrelite", sabrelite_machine_init) +static const TypeInfo sabrelite_machine_init_typeinfo =3D { + .name =3D MACHINE_TYPE_NAME("sabrelite"), + .parent =3D TYPE_MACHINE, + .class_init =3D sabrelite_machine_class_init, + .instance_size =3D sizeof(MachineState), + .abstract =3D false, + .interfaces =3D arm_machine_interfaces, +}; + +static void sabrelite_machine_init_register_types(void) +{ + type_register_static(&sabrelite_machine_init_typeinfo); +} + +type_init(sabrelite_machine_init_register_types) --=20 2.53.0 From nobody Sat May 30 18:34:23 2026 Delivered-To: importer@patchew.org Authentication-Results: mx.zohomail.com; dkim=pass; spf=pass (zohomail.com: domain of gnu.org designates 209.51.188.17 as permitted sender) smtp.mailfrom=qemu-devel-bounces+importer=patchew.org@nongnu.org; dmarc=pass(p=none dis=none) header.from=gmail.com ARC-Seal: i=1; a=rsa-sha256; t=1777573662; cv=none; d=zohomail.com; s=zohoarc; b=hhUCoaFOPxXhW/G09a5oJ8Sh4cxfeWEe9OcCZ4O3xb+ukeddYKGsWvay9pWs5GP/6nlUFrKDMgUyiIZFjEpoz0x2IiX2MC8iFmHu4se1jjm0eCSzVxPMCmMkclDIRLB4xtA3u5ET4uyRNRWBam4JaKBt5ecqgWEfV7NB4UUe/N4= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zohomail.com; s=zohoarc; t=1777573662; h=Content-Type:Content-Transfer-Encoding:Cc:Cc:Date:Date:From:From:In-Reply-To:List-Subscribe:List-Post:List-Id:List-Archive:List-Help:List-Unsubscribe:MIME-Version:Message-ID:References:Sender:Subject:Subject:To:To:Message-Id:Reply-To; bh=30GY1IKrltrPVzUIuoJTA3lYJMRk3qcolQ/AgKSRsLY=; b=oBG7qmmba47Vf7nIUQpf0KSo9URBOZw9WoUtM20HNj0ogCMFynKIBmaMOwLVfBpLOYNF+C6KM61iKnHZ02J1Awrw+o4pnJ7hGY1920GMfEKTxDgsJwteU1PHVA930u3qmCvhOKDGgtr1FmP2qmGtFo593KIN1hFPKnzU17u5bAg= ARC-Authentication-Results: i=1; mx.zohomail.com; dkim=pass; spf=pass (zohomail.com: domain of gnu.org designates 209.51.188.17 as permitted sender) smtp.mailfrom=qemu-devel-bounces+importer=patchew.org@nongnu.org; dmarc=pass header.from= (p=none dis=none) Return-Path: Received: from lists1p.gnu.org (lists1p.gnu.org [209.51.188.17]) by mx.zohomail.com with SMTPS id 1777573662727554.3561763328471; Thu, 30 Apr 2026 11:27:42 -0700 (PDT) Received: from localhost ([::1] helo=lists1p.gnu.org) by lists1p.gnu.org with esmtp (Exim 4.90_1) (envelope-from ) id 1wIW6K-0006ah-M2; Thu, 30 Apr 2026 14:27:06 -0400 Received: from eggs.gnu.org ([2001:470:142:3::10]) by lists1p.gnu.org with esmtps (TLS1.2:ECDHE_RSA_AES_256_GCM_SHA384:256) (Exim 4.90_1) (envelope-from ) id 1wIW5i-0006WC-9k for qemu-devel@nongnu.org; Thu, 30 Apr 2026 14:26:32 -0400 Received: from mail-wr1-x429.google.com ([2a00:1450:4864:20::429]) by eggs.gnu.org with esmtps (TLS1.2:ECDHE_RSA_AES_128_GCM_SHA256:128) (Exim 4.90_1) (envelope-from ) id 1wIW5e-0005UM-Ce for qemu-devel@nongnu.org; Thu, 30 Apr 2026 14:26:25 -0400 Received: by mail-wr1-x429.google.com with SMTP id ffacd0b85a97d-43eb012ac4fso767734f8f.0 for ; Thu, 30 Apr 2026 11:26:22 -0700 (PDT) Received: from acidburn.pod.cvut.cz (acidburn.pod.cvut.cz. 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Previously, Sabrelite board MachineState was declared indirectly by the DEFINE_MACHINE_ARM macro. FslIMX6State was only instantiated in the sabrelite_init function. For FlexCAN device, machine properties will be used to select QEMU CAN buses. A custom class is therefore required, so the CanBusState "connections" can then be added as fields. Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- hw/arm/sabrelite.c | 28 ++++++++++++++++++---------- 1 file changed, 18 insertions(+), 10 deletions(-) diff --git a/hw/arm/sabrelite.c b/hw/arm/sabrelite.c index 04484aaa14..7e036e6388 100644 --- a/hw/arm/sabrelite.c +++ b/hw/arm/sabrelite.c @@ -20,6 +20,15 @@ #include "qemu/error-report.h" #include "system/qtest.h" =20 +struct SabreliteMachineState { + MachineState parent_obj; + + FslIMX6State soc; +}; + +#define TYPE_SABRELITE_MACHINE MACHINE_TYPE_NAME("sabrelite") +OBJECT_DECLARE_SIMPLE_TYPE(SabreliteMachineState, SABRELITE_MACHINE) + static struct arm_boot_info sabrelite_binfo =3D { /* DDR memory start */ .loader_start =3D FSL_IMX6_MMDC_ADDR, @@ -41,7 +50,7 @@ static void sabrelite_reset_secondary(ARMCPU *cpu, =20 static void sabrelite_init(MachineState *machine) { - FslIMX6State *s; + SabreliteMachineState *s =3D SABRELITE_MACHINE(machine); =20 /* Check the amount of memory is compatible with the SOC */ if (machine->ram_size > FSL_IMX6_MMDC_SIZE) { @@ -50,13 +59,12 @@ static void sabrelite_init(MachineState *machine) exit(1); } =20 - s =3D FSL_IMX6(object_new(TYPE_FSL_IMX6)); - object_property_add_child(OBJECT(machine), "soc", OBJECT(s)); + object_initialize_child(OBJECT(machine), "soc", &s->soc, TYPE_FSL_IMX6= ); =20 /* Ethernet PHY address is 6 */ - object_property_set_int(OBJECT(s), "fec-phy-num", 6, &error_fatal); + object_property_set_int(OBJECT(&s->soc), "fec-phy-num", 6, &error_fata= l); =20 - qdev_realize(DEVICE(s), NULL, &error_fatal); + qdev_realize(DEVICE(&s->soc), NULL, &error_fatal); =20 memory_region_add_subregion(get_system_memory(), FSL_IMX6_MMDC_ADDR, machine->ram); @@ -70,7 +78,7 @@ static void sabrelite_init(MachineState *machine) /* Add the sst25vf016b NOR FLASH memory to first SPI */ Object *spi_dev; =20 - spi_dev =3D object_resolve_path_component(OBJECT(s), "spi1"); + spi_dev =3D object_resolve_path_component(OBJECT(&s->soc), "spi1"); if (spi_dev) { SSIBus *spi_bus; =20 @@ -89,7 +97,7 @@ static void sabrelite_init(MachineState *machine) qdev_realize_and_unref(flash_dev, BUS(spi_bus), &error_fat= al); =20 cs_line =3D qdev_get_gpio_in_named(flash_dev, SSI_GPIO_CS,= 0); - qdev_connect_gpio_out(DEVICE(&s->gpio[2]), 19, cs_line); + qdev_connect_gpio_out(DEVICE(&s->soc.gpio[2]), 19, cs_line= ); } } } @@ -100,7 +108,7 @@ static void sabrelite_init(MachineState *machine) sabrelite_binfo.secondary_cpu_reset_hook =3D sabrelite_reset_secondary; =20 if (!qtest_enabled()) { - arm_load_kernel(&s->cpu[0], machine, &sabrelite_binfo); + arm_load_kernel(&s->soc.cpu[0], machine, &sabrelite_binfo); } } =20 @@ -117,10 +125,10 @@ static void sabrelite_machine_class_init(ObjectClass = *oc, const void *data) } =20 static const TypeInfo sabrelite_machine_init_typeinfo =3D { - .name =3D MACHINE_TYPE_NAME("sabrelite"), + .name =3D TYPE_SABRELITE_MACHINE, .parent =3D TYPE_MACHINE, .class_init =3D sabrelite_machine_class_init, - .instance_size =3D sizeof(MachineState), + .instance_size =3D sizeof(SabreliteMachineState), .abstract =3D false, .interfaces =3D arm_machine_interfaces, }; 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The clock frequency will be used for computing timestamps in FlexCAN emulator. Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- hw/misc/imx6_ccm.c | 24 ++++++++++++++++++++++++ hw/misc/trace-events | 2 ++ include/hw/misc/imx6_ccm.h | 4 ++++ include/hw/misc/imx_ccm.h | 1 + 4 files changed, 31 insertions(+) diff --git a/hw/misc/imx6_ccm.c b/hw/misc/imx6_ccm.c index a10b67d396..45fdd0d5a8 100644 --- a/hw/misc/imx6_ccm.c +++ b/hw/misc/imx6_ccm.c @@ -257,6 +257,15 @@ static uint64_t imx6_analog_get_pll2_clk(IMX6CCMState = *dev) return freq; } =20 +static uint64_t imx6_analog_get_pll3_clk(IMX6CCMState *dev) +{ + uint64_t freq =3D 480000000; + + trace_imx6_analog_get_pll3_clk(freq); + + return freq; +} + static uint64_t imx6_analog_get_pll2_pfd0_clk(IMX6CCMState *dev) { uint64_t freq =3D 0; @@ -344,6 +353,18 @@ static uint64_t imx6_ccm_get_per_clk(IMX6CCMState *dev) return freq; } =20 +static uint64_t imx6_ccm_get_can_clk(IMX6CCMState *dev) +{ + uint64_t freq =3D 0; + + freq =3D imx6_analog_get_pll3_clk(dev) / 8; + freq /=3D (1 + EXTRACT(dev->ccm[CCM_CSCMR2], CAN_CLK_PODF)); + + trace_imx6_ccm_get_can_clk(freq); + + return freq; +} + static uint32_t imx6_ccm_get_clock_frequency(IMXCCMState *dev, IMXClk cloc= k) { uint32_t freq =3D 0; @@ -358,6 +379,9 @@ static uint32_t imx6_ccm_get_clock_frequency(IMXCCMStat= e *dev, IMXClk clock) case CLK_IPG_HIGH: freq =3D imx6_ccm_get_per_clk(s); break; + case CLK_CAN: + freq =3D imx6_ccm_get_can_clk(s); + break; case CLK_32k: freq =3D CKIL_FREQ; break; diff --git a/hw/misc/trace-events b/hw/misc/trace-events index b88accc437..99910fc068 100644 --- a/hw/misc/trace-events +++ b/hw/misc/trace-events @@ -242,11 +242,13 @@ imx6_analog_get_periph_clk(uint32_t freq) "freq =3D %= u Hz" imx6_analog_get_pll2_clk(uint32_t freq) "freq =3D %u Hz" imx6_analog_get_pll2_pfd0_clk(uint32_t freq) "freq =3D %u Hz" imx6_analog_get_pll2_pfd2_clk(uint32_t freq) "freq =3D %u Hz" +imx6_analog_get_pll3_clk(uint32_t freq) "freq =3D %u Hz" imx6_analog_read(const char *reg, uint32_t value) "reg[%s] =3D> 0x%" PRIx32 imx6_analog_write(const char *reg, uint32_t value) "reg[%s] <=3D 0x%" PRIx= 32 imx6_ccm_get_ahb_clk(uint32_t freq) "freq =3D %u Hz" imx6_ccm_get_ipg_clk(uint32_t freq) "freq =3D %u Hz" imx6_ccm_get_per_clk(uint32_t freq) "freq =3D %u Hz" +imx6_ccm_get_can_clk(uint32_t freq) "freq =3D %u Hz" imx6_ccm_get_clock_frequency(unsigned clock, uint32_t freq) "(Clock =3D %d= ) =3D %u" imx6_ccm_read(const char *reg, uint32_t value) "reg[%s] =3D> 0x%" PRIx32 imx6_ccm_reset(void) "" diff --git a/include/hw/misc/imx6_ccm.h b/include/hw/misc/imx6_ccm.h index ccf46d7353..a54b940686 100644 --- a/include/hw/misc/imx6_ccm.h +++ b/include/hw/misc/imx6_ccm.h @@ -164,6 +164,10 @@ #define PERCLK_PODF_SHIFT (0) #define PERCLK_PODF_LENGTH (6) =20 +/* CCM_CSCMR2 */ +#define CAN_CLK_PODF_SHIFT (2) +#define CAN_CLK_PODF_LENGTH (6) + /* CCM_ANALOG_PFD_528 */ #define PFD0_FRAC_SHIFT (0) #define PFD0_FRAC_LENGTH (6) diff --git a/include/hw/misc/imx_ccm.h b/include/hw/misc/imx_ccm.h index c4212d04ea..6839716ea3 100644 --- a/include/hw/misc/imx_ccm.h +++ b/include/hw/misc/imx_ccm.h @@ -46,6 +46,7 @@ typedef enum { CLK_EXT, CLK_HIGH_DIV, CLK_HIGH, + CLK_CAN, } IMXClk; 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FlexCAN2 version can be found in i.MX6 SoCs and others. More information about the implementation can be found in [1]. [1] http://dspace.cvut.cz/bitstream/handle/10467/122654/F3-BP-2025-Bobek-Ma= tyas-BP_Bobek_FlexCAN_final_4.pdf Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- MAINTAINERS | 8 + hw/net/Kconfig | 5 + hw/net/can/flexcan.c | 1395 +++++++++++++++++++++++++++++++++++++ hw/net/can/flexcan_regs.h | 193 +++++ hw/net/can/meson.build | 1 + hw/net/can/trace-events | 18 + include/hw/net/flexcan.h | 139 ++++ 7 files changed, 1759 insertions(+) create mode 100644 hw/net/can/flexcan.c create mode 100644 hw/net/can/flexcan_regs.h create mode 100644 include/hw/net/flexcan.h diff --git a/MAINTAINERS b/MAINTAINERS index f109e46172..59a3614a58 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -2091,6 +2091,14 @@ F: hw/net/can/xlnx-* F: include/hw/net/xlnx-* F: tests/qtest/xlnx-can*-test* =20 +FlexCAN +M: Matyas Bobek +M: Pavel Pisa +S: Maintained +F: hw/net/can/flexcan.c +F: hw/net/can/flexcan_regs.h +F: include/hw/net/flexcan.h + EDU M: Jiri Slaby S: Maintained diff --git a/hw/net/Kconfig b/hw/net/Kconfig index f9a1dfb80d..b56a173eed 100644 --- a/hw/net/Kconfig +++ b/hw/net/Kconfig @@ -157,3 +157,8 @@ config CAN_CTUCANFD_PCI default y if PCI_DEVICES depends on PCI && CAN_CTUCANFD select CAN_BUS + +config CAN_FLEXCAN + bool + depends on IMX + select CAN_BUS diff --git a/hw/net/can/flexcan.c b/hw/net/can/flexcan.c new file mode 100644 index 0000000000..61a59e6086 --- /dev/null +++ b/hw/net/can/flexcan.c @@ -0,0 +1,1395 @@ +/* + * QEMU model of the NXP FLEXCAN device. + * + * This implementation is based on the following reference manual: + * i.MX 6Dual/6Quad Applications Processor Reference Manual + * Document Number: IMX6DQRM, Rev. 6, 05/2020 + * + * Copyright (c) 2025 Matyas Bobek + * + * Based on CTU CAN FD emulation implemented by Jan Charvat. + * + * SPDX-License-Identifier: GPL-2.0-or-later + */ + +#include "qemu/osdep.h" +#include "qemu/log.h" +#include "hw/core/sysbus.h" +#include "qapi/error.h" +#include "hw/core/irq.h" +#include "migration/vmstate.h" +#include "net/can_emu.h" +#include "hw/core/qdev-properties.h" +#include "trace.h" + +#include "hw/net/flexcan.h" +#include "flexcan_regs.h" +#include "qemu/timer.h" + +/* + * Indicates MB w/ received frame has not been serviced yet + * This is an emulator-only flag in position of unused (reserved) bit + * of message buffer control register + */ +#define FLEXCAN_MB_CNT_NOT_SRV BIT(23) +/** + * if no MB is locked, FlexcanState.locked_mb + * is set to FLEXCAN_NO_MB_LOCKED + */ +#define FLEXCAN_NO_MB_LOCKED -1 +/** + * if no frame is waiting in the SMB, FlexcanState.smb_target_mbid + * is set to FLEXCAN_SMB_EMPTY + */ +#define FLEXCAN_SMB_EMPTY -1 +/** + * When the module is disabled or in freeze mode, + * the timer is not running. That is indicated by setting + * FlexcanState.timer_start to FLEXCAN_TIMER_STOPPED. + */ +#define FLEXCAN_TIMER_STOPPED -1 + +/* These constants are returned by flexcan_fifo_rx() and flexcan_mb_rx(), = */ +enum FlexcanRx { +/* Retry the other receiving mechanism (ie. message bufer or mailbox). */ + FLEXCAN_RX_SEARCH_RETRY, +/* The frame was received and stored. */ + FLEXCAN_RX_SEARCH_ACCEPT, +/* The frame was filtered out and dropped. */ + FLEXCAN_RX_SEARCH_DROPPED, +}; + +/* + * These constants are returned by flexcan_mb_rx_check_mb(). + * See flexcan_mb_rx_check_mb() kerneldoc for details. + */ +enum FlexcanCheck { + FLEXCAN_CHECK_MB_NIL =3D 0, + FLEXCAN_CHECK_MB_MATCH =3D 3, + FLEXCAN_CHECK_MB_MATCH_NON_FREE =3D 1, + FLEXCAN_CHECK_MB_MATCH_LOCKED =3D 5, +}; + +static const FlexcanRegs flexcan_regs_write_mask =3D { + .mcr =3D 0xF6EB337F, + .ctrl =3D 0xFFFFFFFF, + .timer =3D 0xFFFFFFFF, + .tcr =3D 0xFFFFFFFF, + .rxmgmask =3D 0xFFFFFFFF, + .rx14mask =3D 0xFFFFFFFF, + .rx15mask =3D 0xFFFFFFFF, + .ecr =3D 0xFFFFFFFF, + .esr =3D 0xFFFFFFFF, + .imask2 =3D 0xFFFFFFFF, + .imask1 =3D 0xFFFFFFFF, + .iflag2 =3D 0, + .iflag1 =3D 0, + .ctrl2 =3D 0xFFFFFFFF, + .esr2 =3D 0, + .imeur =3D 0, + .lrfr =3D 0, + .crcr =3D 0, + .rxfgmask =3D 0xFFFFFFFF, + .rxfir =3D 0, + .cbt =3D 0, + ._reserved2 =3D 0, + .dbg1 =3D 0, + .dbg2 =3D 0, + .mbs =3D { [0 ... 63] =3D { + .can_ctrl =3D 0xFFFFFFFF & ~FLEXCAN_MB_CNT_NOT_SRV, + .can_id =3D 0xFFFFFFFF, + .data =3D { 0xFFFFFFFF, 0xFFFFFFFF }, + } }, + ._reserved4 =3D {0}, + .rximr =3D { [0 ... 63] =3D 0xFFFFFFFF }, + ._reserved5 =3D {0}, + .gfwr_mx6 =3D 0xFFFFFFFF, + ._reserved6 =3D {0}, + ._reserved8 =3D {0}, + .rx_smb0_raw =3D {0, 0, 0, 0}, + .rx_smb1 =3D {0, 0, 0, 0}, +}; +static const FlexcanRegs flexcan_regs_reset_mask =3D { + .mcr =3D 0x80000000, + .ctrl =3D 0xFFFFFFFF, + .timer =3D 0, + .tcr =3D 0, + .rxmgmask =3D 0xFFFFFFFF, + .rx14mask =3D 0xFFFFFFFF, + .rx15mask =3D 0xFFFFFFFF, + .ecr =3D 0, + .esr =3D 0, + .imask2 =3D 0, + .imask1 =3D 0, + .iflag2 =3D 0, + .iflag1 =3D 0, + .ctrl2 =3D 0xFFFFFFFF, + .esr2 =3D 0, + .imeur =3D 0, + .lrfr =3D 0, + .crcr =3D 0, + .rxfgmask =3D 0xFFFFFFFF, + .rxfir =3D 0xFFFFFFFF, + .cbt =3D 0, + ._reserved2 =3D 0, + .dbg1 =3D 0, + .dbg2 =3D 0, + .mb =3D {0xFFFFFFFF}, + ._reserved4 =3D {0}, + .rximr =3D {0xFFFFFFFF}, + ._reserved5 =3D {0}, + .gfwr_mx6 =3D 0, + ._reserved6 =3D {0}, + ._reserved8 =3D {0}, + .rx_smb0_raw =3D {0, 0, 0, 0}, + .rx_smb1 =3D {0, 0, 0, 0}, +}; + +/* length of buffer used to format register names in trace output */ +#define FLEXCAN_DBG_BUF_LEN 16 + +/** + * flexcan_dbg_mb_code_strs - Readable names for CODE field codes + * + * Readable names for possible values of CODE field in message buffer + * control word. + */ +static const char *flexcan_dbg_mb_code_strs[16] =3D { + "INACTIVE_RX", + "FULL", + "EMPTY", + "OVERRUN", + "INACTIVE_TX", + "RANSWER", + "DATA", + "TANSWER" +}; + +/** + * flexcan_dbg_mb_code() - Get the string representation of a mailbox code + * @mb_ctrl: The mailbox control register value + * @buf: The buffer to store the string representation + * + * Return: Either constant string or string formatted into @buf + */ +static const char *flexcan_dbg_mb_code(uint32_t mb_ctrl, char *buf) +{ + uint32_t code =3D mb_ctrl & FLEXCAN_MB_CODE_MASK; + uint32_t code_idx =3D code >> 24; + if (code =3D=3D FLEXCAN_MB_CODE_TX_ABORT) { + return "ABORT"; + } else { + const char *code_str =3D flexcan_dbg_mb_code_strs[code_idx >> 1]; + if (code_idx & 1) { + g_snprintf(buf, FLEXCAN_DBG_BUF_LEN, "%s+BUSY", code_str); + return buf; + } + + return code_str; + } +} + +static const char *flexcan_dbg_reg_name_fixed(hwaddr addr) +{ + switch (addr) { + case offsetof(FlexcanRegs, mcr): + return "MCR"; + case offsetof(FlexcanRegs, ctrl): + return "CTRL"; + case offsetof(FlexcanRegs, timer): + return "TIMER"; + case offsetof(FlexcanRegs, esr): + return "ESR"; + case offsetof(FlexcanRegs, rxmgmask): + return "RXMGMASK"; + case offsetof(FlexcanRegs, rx14mask): + return "RX14MASK"; + case offsetof(FlexcanRegs, rx15mask): + return "RX15MASK"; + case offsetof(FlexcanRegs, rxfgmask): + return "RXFGMASK"; + case offsetof(FlexcanRegs, ecr): + return "ECR"; + case offsetof(FlexcanRegs, ctrl2): + return "CTRL2"; + case offsetof(FlexcanRegs, imask2): + return "IMASK2"; + case offsetof(FlexcanRegs, imask1): + return "IMASK1"; + case offsetof(FlexcanRegs, iflag2): + return "IFLAG2"; + case offsetof(FlexcanRegs, iflag1): + return "IFLAG1"; + } + return NULL; +} + +static inline void flexcan_trace_mem_op(FlexcanState *s, hwaddr addr, + uint32_t value, int size, bool is_= wr) +{ + if (trace_event_get_state_backends(TRACE_FLEXCAN_MEM_OP)) { + const char *reg_name =3D "unknown"; + char reg_name_buf[FLEXCAN_DBG_BUF_LEN] =3D { 0 }; + const char *reg_name_fixed =3D flexcan_dbg_reg_name_fixed(addr); + const char *op_string =3D is_wr ? "write" : "read"; + + if (reg_name_fixed) { + reg_name =3D reg_name_fixed; + } else if (addr >=3D 0x80 && addr < 0x480) { + int mbidx =3D (addr - 0x80) / 16; + g_snprintf(reg_name_buf, sizeof(reg_name_buf), "MB%i", mbidx); + reg_name =3D reg_name_buf; + } else if (addr >=3D 0x880 && addr < 0x9e0) { + int id =3D (addr - 0x880) / 4; + g_snprintf(reg_name_buf, sizeof(reg_name_buf), "RXIMR%i", id); + reg_name =3D reg_name_buf; + } + + trace_flexcan_mem_op(DEVICE(s)->canonical_path, op_string, value, = addr, + reg_name, size); + } +} + +static enum FlexcanRx flexcan_mb_rx(FlexcanState *s, + const qemu_can_frame *frame); +static void flexcan_mb_unlock(FlexcanState *s); + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D Mailbox Utils =3D=3D=3D=3D=3D=3D=3D=3D= =3D=3D */ + +/** + * flexcan_mailbox_count() - Get number of enabled mailboxes + * @s: FlexCAN device pointer + * + * Count is based on MCR[MAXMB] field. Note that some of those mailboxes + * might be part of queue or queue ID filters or ordinary message buffers. + */ +static inline int flexcan_enabled_mailbox_count(const FlexcanState *s) +{ + return (s->regs.mcr & FLEXCAN_MCR_MAXMB(UINT32_MAX)) + 1; +} + +/** + * flexcan_get_first_message_buffer() - Get pointer to first message buffer + * @s: FlexCAN device pointer + * + * In context of this function, message buffer means a mailbox which is not + * a queue element nor a queue filter. Note this function does not take + * MCR[MAXMB] into account, meaning that the returned mailbox + * might be disabled. + */ +static FlexcanRegsMessageBuffer *flexcan_get_first_message_buffer( + FlexcanState *s) +{ + if (s->regs.mcr & FLEXCAN_MCR_FEN) { + int rffn =3D (s->regs.ctrl2 & FLEXCAN_CTRL2_RFFN(UINT32_MAX)) >> 2= 4; + return s->regs.mbs + 8 + 2 * rffn; + } + + return s->regs.mbs; +} + +/** + * flexcan_get_last_enabled_mailbox() - Get pointer to last enabled mailbo= x. + * @s: FlexCAN device pointer + * + * When used with flexcan_get_first_message_buffer(), all mailboxes *ptr in + * range `first_message_buffer() <=3D ptr <=3D last_enabled_mailbox` are v= alid + * message buffer mailboxes. + * + * Return: Last enabled mailbox in MCR[MAXMB] sense. The mailbox might be + * of any type. + */ +static inline FlexcanRegsMessageBuffer *flexcan_get_last_enabled_mailbox( + FlexcanState *s) +{ + return s->regs.mbs + flexcan_enabled_mailbox_count(s); +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D Free-running Timer =3D=3D=3D=3D=3D=3D=3D= =3D=3D=3D */ +static inline int64_t flexcan_get_time(void) +{ + return qemu_clock_get_ns(QEMU_CLOCK_VIRTUAL); +} + +/** + * flexcan_get_bitrate() - Calculate CAN bitrate (in Hz) + * @s: FlexCAN device pointer + * + * The bitrate is determined by FlexCAN configuration in CTRL1 register, + * and CCM co + */ +static uint32_t flexcan_get_bitrate(FlexcanState *s) +{ + uint32_t conf_presdiv =3D (s->regs.ctrl & FLEXCAN_CTRL_PRESDIV_MASK) >= > 24; + uint32_t conf_pseg1 =3D (s->regs.ctrl & FLEXCAN_CTRL_PSEG1_MASK) >> 19; + uint32_t conf_pseg2 =3D (s->regs.ctrl & FLEXCAN_CTRL_PSEG2_MASK) >> 16; + uint32_t conf_propseg =3D s->regs.ctrl & FLEXCAN_CTRL_PROPSEG_MASK; + + /* N of time quanta for segments */ + uint32_t tseg1 =3D 2 + conf_pseg1 + conf_propseg; + uint32_t tseg2 =3D 1 + conf_pseg2; + uint32_t total_qpb =3D 1 + tseg1 + tseg2; + + uint32_t pe_freq, s_freq, bitrate; + + assert(s->ccm); + + /* s_freq: CAN clock from CCM divided by the prescaler */ + pe_freq =3D imx_ccm_get_clock_frequency(s->ccm, CLK_CAN); + s_freq =3D pe_freq / (1 + conf_presdiv); + bitrate =3D s_freq / total_qpb; + + trace_flexcan_get_bitrate(DEVICE(s)->canonical_path, pe_freq, + 1 + conf_presdiv, s_freq, tseg1, tseg2, tota= l_qpb, + bitrate); + return bitrate; +} + +/** + * int128_mul_6464() - Multiply two 64-bit integers into a 128-bit one + */ +static Int128 int128_muls_6464(int64_t ai, int64_t bi) +{ + uint64_t l, h; + + muls64(&l, &h, ai, bi); + return int128_make128(l, h); +} + +/** + * flexcan_get_timestamp() - Get current value of the 16-bit free-running = timer + * @s: FlexCAN device pointer + * @mk_unique: if true, make the timestamp unique by incrementing it if ne= eded + */ +static uint32_t flexcan_get_timestamp(FlexcanState *s, bool mk_unique) +{ + const Int128 nanoseconds_in_second =3D int128_makes64((int64_t)1e9); + Int128 ncycles, cycles128; + int64_t current_time, elapsed_time_ns; + uint64_t cycles; + uint32_t rv, shift =3D 0; + + if (s->timer_start =3D=3D FLEXCAN_TIMER_STOPPED) { + /* timer is not running, return last value */ + trace_flexcan_get_timestamp(DEVICE(s)->canonical_path, -1, 0, 0, 0, + s->regs.timer); + return s->regs.timer; + } + + current_time =3D flexcan_get_time(); + elapsed_time_ns =3D current_time - s->timer_start; + if (elapsed_time_ns < 0) { + trace_flexcan_timer_overflow(DEVICE(s)->canonical_path, current_ti= me, + s->timer_start, elapsed_time_ns); + return 0xFFFF; + } + + ncycles =3D int128_muls_6464(s->timer_freq, elapsed_time_ns); + cycles128 =3D int128_divs(ncycles, nanoseconds_in_second); + /* 64 bits hold for over 50k years at 10MHz */ + cycles =3D int128_getlo(cycles128); + + if (mk_unique && cycles <=3D s->last_rx_timer_cycles) { + shift =3D 1; + cycles =3D s->last_rx_timer_cycles + shift; + } + + s->last_rx_timer_cycles =3D cycles; + rv =3D (uint32_t)cycles & 0xFFFF; + + trace_flexcan_get_timestamp(DEVICE(s)->canonical_path, + elapsed_time_ns / (uint32_t)1e6, + s->timer_freq, cycles, shift, rv); + return rv; +} + +/** + * flexcan_timer_start() - Start the free-running timer + * @s: FlexCAN device pointer + * + * This should be called when the module leaves freeze mode. + */ +static void flexcan_timer_start(FlexcanState *s) +{ + s->timer_freq =3D flexcan_get_bitrate(s); + s->timer_start =3D flexcan_get_time(); + s->last_rx_timer_cycles =3D 0; + + trace_flexcan_timer_start(DEVICE(s)->canonical_path, s->timer_freq, + s->regs.timer); +} + +/** + * flexcan_timer_stop() - Stop the free-running timer + * @s: FlexCAN device pointer + * + * This should be called when the module enters freeze mode. + * Stores the current timestamp in the TIMER register. + */ +static void flexcan_timer_stop(FlexcanState *s) +{ + s->regs.timer =3D flexcan_get_timestamp(s, false); + s->timer_start =3D FLEXCAN_TIMER_STOPPED; + + trace_flexcan_timer_stop(DEVICE(s)->canonical_path, s->timer_freq, + s->regs.timer); +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D IRQ handling =3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D */ +/** + * flexcan_irq_update() - Update qemu_irq line based on interrupt registers + * @s: FlexCAN device pointer + */ +static void flexcan_irq_update(FlexcanState *s) +{ + uint32_t mb_irqs[2]; + int irq_pending; + /* these are all interrupt sources from FlexCAN */ + /* mailbox interrupt sources */ + mb_irqs[0] =3D s->regs.iflag1 & s->regs.imask1; + mb_irqs[1] =3D s->regs.iflag2 & s->regs.imask2; + + /** + * these interrupts aren't currently used and they can never be raised + * + * bool irq_wake_up =3D (s->regs.mcr & FLEXCAN_MCR_WAK_MSK) && + * (s->regs.ecr & FLEXCAN_ESR_WAK_INT); + * bool irq_bus_off =3D (s->regs.ctrl & FLEXCAN_CTRL_BOFF_MSK) && + * (s->regs.ecr & FLEXCAN_ESR_BOFF_INT); + * bool irq_error =3D (s->regs.ctrl & FLEXCAN_CTRL_ERR_MSK) && + * (s->regs.ecr & FLEXCAN_ESR_ERR_INT); + * bool irq_tx_warn =3D (s->regs.ctrl & FLEXCAN_CTRL_TWRN_MSK) && + * (s->regs.ecr & FLEXCAN_ESR_TWRN_INT); + * bool irq_rx_warn =3D (s->regs.ctrl & FLEXCAN_CTRL_RWRN_MSK) && + * (s->regs.ecr & FLEXCAN_ESR_RWRN_INT); + */ + + irq_pending =3D (mb_irqs[0] || mb_irqs[1]) ? 1 : 0; + trace_flexcan_irq_update(DEVICE(s)->canonical_path, mb_irqs[0], mb_irq= s[1], + irq_pending); + + qemu_set_irq(s->irq, irq_pending); +} + +/** + * flexcan_irq_iflag_set() - Set IFLAG bit corresponding to MB mbidx + * @s: FlexCAN device pointer + * @mbidx: mailbox index + */ +static void flexcan_irq_iflag_set(FlexcanState *s, int mbidx) +{ + if (mbidx < 32) { + s->regs.iflag1 |=3D BIT(mbidx); + } else { + s->regs.iflag2 |=3D BIT(mbidx - 32); + } +} + +/** + * flexcan_irq_iflag_clear() - Clear IFLAG bit corresponding to MB mbidx + * @s: FlexCAN device pointer + * @mbidx: mailbox index + */ +static void flexcan_irq_iflag_clear(FlexcanState *s, int mbidx) +{ + if (mbidx < 32) { + s->regs.iflag1 &=3D ~BIT(mbidx); + } else { + s->regs.iflag2 &=3D ~BIT(mbidx - 32); + } +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D RESET =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D */ +static void flexcan_reset_local_state(FlexcanState *s) +{ + uint32_t *reset_mask =3D (uint32_t *)&flexcan_regs_reset_mask; + for (int i =3D 0; i < (sizeof(FlexcanRegs) / 4); i++) { + s->regs_raw[i] &=3D reset_mask[i]; + } + + s->regs.mcr |=3D 0x5980000F; + s->locked_mbidx =3D FLEXCAN_NO_MB_LOCKED; + s->smb_target_mbidx =3D FLEXCAN_SMB_EMPTY; + s->timer_start =3D FLEXCAN_TIMER_STOPPED; + + trace_flexcan_reset(DEVICE(s)->canonical_path); +} + +static void flexcan_reset_enter(Object *obj, ResetType type) +{ + FlexcanState *s =3D CAN_FLEXCAN(obj); + + memset(&s->regs, 0, sizeof(s->regs)); + flexcan_reset_local_state(s); +} + +static void flexcan_reset_hold(Object *obj, ResetType type) +{ + FlexcanState *s =3D CAN_FLEXCAN(obj); + + flexcan_irq_update(s); +} + + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D Operation mode control =3D=3D=3D=3D=3D= =3D=3D=3D=3D=3D */ +/** + * flexcan_update_esr() - Update ESR based on mode and CAN bus connection = state + * @s: FlexCAN device pointer + */ +static void flexcan_update_esr(FlexcanState *s) +{ + bool is_running =3D (s->regs.mcr & FLEXCAN_MCR_NOT_RDY) =3D=3D 0; + /* potentially, there could be other influences on ESR[SYNCH] */ + + if (is_running && s->canbus) { + s->regs.esr |=3D FLEXCAN_ESR_SYNCH | FLEXCAN_ESR_IDLE; + } else { + s->regs.esr &=3D ~(FLEXCAN_ESR_SYNCH | FLEXCAN_ESR_IDLE); + } +} + +/** + * flexcan_update_esr() - Process MCR write + * @s: FlexCAN device pointer + * @pv: previously set MCR value + * + * This function expects the new MCR value to be already written in s->reg= s.mcr. + */ +static void flexcan_set_mcr(FlexcanState *s, const uint32_t pv) +{ + uint32_t cv =3D s->regs.mcr; + + /* -- module disable mode -- */ + if (!(pv & FLEXCAN_MCR_MDIS) && (cv & FLEXCAN_MCR_MDIS)) { + /* transition to Module Disable mode */ + cv |=3D FLEXCAN_MCR_LPM_ACK; + } else if ((pv & FLEXCAN_MCR_MDIS) && !(cv & FLEXCAN_MCR_MDIS)) { + /* transition from Module Disable mode */ + cv &=3D ~FLEXCAN_MCR_LPM_ACK; + } + + /* -- soft reset -- */ + if (!(cv & FLEXCAN_MCR_LPM_ACK) && (cv & FLEXCAN_MCR_SOFTRST)) { + if (s->regs.mcr & FLEXCAN_MCR_LPM_ACK) { + qemu_log_mask(LOG_GUEST_ERROR, + "%s: invalid soft reset request in low-power mod= e", + DEVICE(s)->canonical_path); + } + + flexcan_reset_local_state(s); + cv =3D s->regs.mcr; + } + + /* -- freeze mode -- */ + if (!(cv & FLEXCAN_MCR_LPM_ACK) && + (cv & FLEXCAN_MCR_FRZ) && + (cv & FLEXCAN_MCR_HALT)) { + cv |=3D FLEXCAN_MCR_FRZ_ACK; + } else { + cv &=3D ~FLEXCAN_MCR_FRZ_ACK; + } + + /* -- fifo mode -- */ + if ( + ((pv & FLEXCAN_MCR_FEN) && !(cv & FLEXCAN_MCR_FEN)) || + (!(pv & FLEXCAN_MCR_FEN) && (cv & FLEXCAN_MCR_FEN)) + ) { + /* clear iflags used by fifo */ + s->regs.iflag1 &=3D ~( + FLEXCAN_IFLAG_RX_FIFO_AVAILABLE | + FLEXCAN_IFLAG_RX_FIFO_OVERFLOW | + FLEXCAN_IFLAG_RX_FIFO_WARN + ); + } + if (!(pv & FLEXCAN_MCR_FEN) && (cv & FLEXCAN_MCR_FEN)) { + /* zero out fifo region, we rely on zeroed can_ctrl for empty slot= s */ + memset(s->regs.mbs, 0, + FLEXCAN_FIFO_DEPTH * sizeof(FlexcanRegsMessageBuffer)); + } + + /* + * assert NOT_RDY bit if in disable, + * stop (not implemented) or freeze mode + */ + if ((cv & FLEXCAN_MCR_LPM_ACK) || (cv & FLEXCAN_MCR_FRZ_ACK)) { + cv |=3D FLEXCAN_MCR_NOT_RDY; + } else { + cv &=3D ~FLEXCAN_MCR_NOT_RDY; + } + + if ((pv & FLEXCAN_MCR_NOT_RDY) && !(cv & FLEXCAN_MCR_NOT_RDY)) { + /* module went up, start the timer */ + flexcan_timer_start(s); + } else if (!(pv & FLEXCAN_MCR_NOT_RDY) && (cv & FLEXCAN_MCR_NOT_RDY)) { + /* module went down, store the current timer value */ + flexcan_timer_stop(s); + } + + s->regs.mcr =3D cv; + flexcan_update_esr(s); + trace_flexcan_set_mcr( + DEVICE(s)->canonical_path, + cv & FLEXCAN_MCR_LPM_ACK ? "DISABLED" : "ENABLED", + (cv & FLEXCAN_MCR_FRZ_ACK || cv & FLEXCAN_MCR_LPM_ACK) ? + "FROZEN" : "RUNNING", + cv & FLEXCAN_MCR_FEN ? "FIFO" : "MAILBOX", + cv & FLEXCAN_MCR_NOT_RDY ? "NOT_RDY" : "RDY", + s->regs.esr & FLEXCAN_ESR_SYNCH ? "SYNC" : "NOSYNC" + ); +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D TX =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D */ +static void flexcan_transmit(FlexcanState *s, int mbidx) +{ + FlexcanRegsMessageBuffer *mb =3D &s->regs.mbs[mbidx]; + qemu_can_frame frame =3D { + .flags =3D 0, + }; + uint32_t *frame_data =3D (uint32_t *)&frame.data; + uint32_t timestamp =3D flexcan_get_timestamp(s, true); + + if ((s->regs.ctrl & FLEXCAN_CTRL_LOM) || + (s->regs.mcr & FLEXCAN_MCR_NOT_RDY)) { + /* no transmiting in listen-only, freeze or low-power mode */ + return; + } + + if (mb->can_ctrl & FLEXCAN_MB_CNT_IDE) { + /* 29b ID stored in bits [0, 29) */ + uint32_t id =3D mb->can_id & 0x1FFFFFFF; + frame.can_id =3D id | QEMU_CAN_EFF_FLAG; + } else { + /* 11b ID stored in bits [18, 29) */ + uint32_t id =3D (mb->can_id & (0x7FF << 18)) >> 18; + frame.can_id =3D id; + } + + frame.can_dlc =3D (mb->can_ctrl & (0xF << 16)) >> 16; + + for (int i =3D 0; i < 2; i++) { + stl_be_p(&frame_data[i], mb->data[i]); + } + + if (!(s->regs.mcr & FLEXCAN_MCR_SRX_DIS)) { + /* self-reception */ + flexcan_mb_rx(s, &frame); + } + if (!(s->regs.ctrl & FLEXCAN_CTRL_LPB)) { + /* send to bus if not in loopback mode */ + if (s->canbus) { + can_bus_client_send(&s->bus_client, &frame, 1); + } else { + /* todo: raise error (no ack) */ + } + } + + mb->can_ctrl &=3D ~(FLEXCAN_MB_CODE_MASK | FLEXCAN_MB_CNT_TIMESTAMP_MA= SK); + mb->can_ctrl |=3D FLEXCAN_MB_CODE_TX_INACTIVE | + FLEXCAN_MB_CNT_TIMESTAMP(timestamp); + + /* todo: compute the CRC */ + s->regs.crcr =3D FLEXCAN_CRCR_TXCRC(0) | FLEXCAN_CRCR_MBCRC(mbidx); + + flexcan_irq_iflag_set(s, mbidx); +} + +static void flexcan_mb_write(FlexcanState *s, int mbid) +{ + FlexcanRegsMessageBuffer *mb =3D &s->regs.mbs[mbid]; + + bool is_mailbox =3D (mb <=3D flexcan_get_last_enabled_mailbox(s)) && + (mb >=3D flexcan_get_first_message_buffer(s)); + + if (trace_event_get_state_backends(TRACE_FLEXCAN_MB_WRITE)) { + char code_str_buf[FLEXCAN_DBG_BUF_LEN] =3D { 0 }; + const char *code_str =3D flexcan_dbg_mb_code(mb->can_ctrl, code_st= r_buf); + trace_flexcan_mb_write(DEVICE(s)->canonical_path, mbid, code_str, + is_mailbox, mb->can_ctrl, mb->can_id); + } + + if (!is_mailbox) { + /** + * Disabled mailbox or mailbox in region of queue filters + * was updated. Either way there is nothing to do. + */ + return; + } + + /* any write to message buffer clears the not_serviced flag */ + mb->can_ctrl &=3D ~FLEXCAN_MB_CNT_NOT_SRV; + + /** + * todo: search for active tx mbs on transition from freeze/disable mo= de + */ + switch (mb->can_ctrl & FLEXCAN_MB_CODE_MASK) { + case FLEXCAN_MB_CODE_TX_INACTIVE: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_INACTIVE: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_EMPTY: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_FULL: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_RANSWER: + break; + + case FLEXCAN_MB_CODE_TX_DATA: + flexcan_transmit(s, mbid); + break; + case FLEXCAN_MB_CODE_TX_ABORT: + /* + * as transmission is instant, it can never be aborted + * we need to set CODE in C/S back to the previous code + */ + mb->can_ctrl &=3D ~FLEXCAN_MB_CODE(1); + break; + case FLEXCAN_MB_CODE_TX_TANSWER: + break; + default: + /* prevent setting the busy bit */ + mb->can_ctrl &=3D ~FLEXCAN_MB_CODE_RX_BUSY_BIT; + break; + } + +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D RX =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D */ +static void flexcan_mb_move_in(FlexcanState *s, const qemu_can_frame *fram= e, + FlexcanRegsMessageBuffer *target_mb) +{ + uint32_t frame_len =3D frame->can_dlc; + uint32_t *frame_data =3D (uint32_t *)&frame->data; + int timestamp =3D flexcan_get_timestamp(s, true); + uint32_t new_code =3D 0; + + memset(target_mb, 0, sizeof(FlexcanRegsMessageBuffer)); + + if (frame_len > 8) { + frame_len =3D 8; + } + for (int i =3D 0; i < 2; i++) { + target_mb->data[i] =3D ldl_be_p(&frame_data[i]); + } + + switch (target_mb->can_ctrl & FLEXCAN_MB_CODE_MASK) { + case FLEXCAN_MB_CODE_RX_FULL: + case FLEXCAN_MB_CODE_RX_OVERRUN: + if (target_mb->can_ctrl & FLEXCAN_MB_CNT_NOT_SRV) { + new_code =3D FLEXCAN_MB_CODE_RX_OVERRUN; + } else { + new_code =3D FLEXCAN_MB_CODE_RX_FULL; + } + break; + case FLEXCAN_MB_CODE_RX_RANSWER: + assert(s->regs.ctrl2 & FLEXCAN_CTRL2_RRS); + new_code =3D FLEXCAN_MB_CODE_TX_TANSWER; + break; + default: + new_code =3D FLEXCAN_MB_CODE_RX_FULL; + } + + target_mb->can_ctrl =3D new_code + | FLEXCAN_MB_CNT_TIMESTAMP(timestamp) + | FLEXCAN_MB_CNT_LENGTH(frame_len) + | FLEXCAN_MB_CNT_NOT_SRV + | FLEXCAN_MB_CNT_SRR; /* always set for received frames */ + if (frame->can_id & QEMU_CAN_RTR_FLAG) { + target_mb->can_ctrl |=3D FLEXCAN_MB_CNT_RTR; + } + + if (frame->can_id & QEMU_CAN_EFF_FLAG) { + target_mb->can_ctrl |=3D FLEXCAN_MB_CNT_IDE; + target_mb->can_id |=3D frame->can_id & QEMU_CAN_EFF_MASK; + } else { + target_mb->can_id |=3D (frame->can_id & QEMU_CAN_SFF_MASK) << 18; + } +} +static void flexcan_mb_lock(FlexcanState *s, int mbidx) +{ + FlexcanRegsMessageBuffer *mb =3D &s->regs.mbs[mbidx]; + if ((mb > flexcan_get_last_enabled_mailbox(s)) || + (mb < flexcan_get_first_message_buffer(s))) { + return; + } + switch (mb->can_ctrl & FLEXCAN_MB_CODE_MASK) { + case FLEXCAN_MB_CODE_RX_FULL: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_OVERRUN: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_RANSWER: + /* continue */ + trace_flexcan_mb_lock(DEVICE(s)->canonical_path, mbidx, 1); + break; + default: + trace_flexcan_mb_lock(DEVICE(s)->canonical_path, mbidx, 0); + return; + } + + s->locked_mbidx =3D mbidx; +} + +static void flexcan_mb_unlock(FlexcanState *s) +{ + int locked_mbidx =3D s->locked_mbidx; + bool has_pending_frame =3D locked_mbidx =3D=3D s->smb_target_mbidx; + + if (s->locked_mbidx =3D=3D FLEXCAN_NO_MB_LOCKED) { + return; + } + + assert(locked_mbidx >=3D 0 && locked_mbidx < FLEXCAN_MAILBOX_COUNT); + FlexcanRegsMessageBuffer *locked_mb =3D &s->regs.mbs[locked_mbidx]; + s->locked_mbidx =3D FLEXCAN_NO_MB_LOCKED; + + if (locked_mb >=3D flexcan_get_first_message_buffer(s) && + locked_mb <=3D flexcan_get_last_enabled_mailbox(s) + ) { + /* mark the message buffer as serviced */ + locked_mb->can_ctrl &=3D ~FLEXCAN_MB_CNT_NOT_SRV; + } + + /* try move in from SMB */ + trace_flexcan_mb_unlock(DEVICE(s)->canonical_path, locked_mbidx, + has_pending_frame ? " PENDING FRAME IN SMB" : = ""); + + /* todo: in low-power modes, this should be postponed until exit */ + if (has_pending_frame) { + FlexcanRegsMessageBuffer *target_mb =3D &s->regs.mbs[locked_mbidx]; + memcpy(target_mb, &s->regs.rx_smb0, sizeof(FlexcanRegsMessageBuffe= r)); + + memset(&s->regs.rx_smb0, 0, sizeof(FlexcanRegsMessageBuffer)); + s->locked_mbidx =3D FLEXCAN_SMB_EMPTY; + + flexcan_irq_iflag_set(s, locked_mbidx); + } +} + +static bool flexcan_can_receive(CanBusClientState *client) +{ + FlexcanState *s =3D container_of(client, FlexcanState, bus_client); + return !(s->regs.mcr & FLEXCAN_MCR_NOT_RDY); +} + +/* --------- RX FIFO ---------- */ + +/** + * flexcan_fifo_pop() - Pop message from FIFO and update IRQs + * @s: FlexCAN device pointer + * + * Does not require the queue to be non-empty. + */ +static void flexcan_fifo_pop(FlexcanState *s) +{ + if (s->regs.fifo.mb_back.can_ctrl !=3D 0) { + /* move queue elements forward */ + memmove(&s->regs.fifo.mb_back, &s->regs.fifo.mbs_queue[0], + sizeof(s->regs.fifo.mbs_queue)); + + /* clear the first-in slot */ + memset(&s->regs.mbs[FLEXCAN_FIFO_DEPTH - 1], 0, + sizeof(FlexcanRegsMessageBuffer)); + + trace_flexcan_fifo_pop(DEVICE(s)->canonical_path, 1, + s->regs.fifo.mb_back.can_ctrl !=3D 0); + } else { + trace_flexcan_fifo_pop(DEVICE(s)->canonical_path, 0, 0); + } + + if (s->regs.fifo.mb_back.can_ctrl !=3D 0) { + flexcan_irq_iflag_set(s, I_FIFO_AVAILABLE); + } else { + flexcan_irq_iflag_clear(s, I_FIFO_AVAILABLE); + } +} + +/** + * flexcan_fifo_find_free_slot() - Find the first free slot in the FIFO + * @s: FlexCAN device pointer + * + * Return: Pointer to the first free slot in the FIFO, + * or NULL if the queue is full. + */ +static FlexcanRegsMessageBuffer *flexcan_fifo_find_free_slot(FlexcanState = *s) +{ + for (int i =3D 0; i < FLEXCAN_FIFO_DEPTH; i++) { + FlexcanRegsMessageBuffer *mb =3D &s->regs.mbs[i]; + if (mb->can_ctrl =3D=3D 0) { + return mb; + } + } + return NULL; +} + +/** + * flexcan_fifo_push() - Update FIFO IRQs after frame move-in + * @s: FlexCAN device pointer + * @slot: Target FIFO slot + * + * The usage is as follows: + * 1. Get free slot pointer using flexcan_fifo_find_free_slot() + * 2. Move the frame in if not NULL + * 3. Call flexcan_fifo_push() regardless of the NULL pointer + */ +static void flexcan_fifo_push(FlexcanState *s, FlexcanRegsMessageBuffer *s= lot) +{ + if (slot) { + int n_occupied =3D slot - s->regs.mbs; + if (n_occupied =3D=3D 4) { /* 4 means the 5th slot was filled in */ + /* + * fifo occupancy increased from 4 to 5, + * raising FIFO_WARN interrupt + */ + flexcan_irq_iflag_set(s, I_FIFO_WARN); + } + flexcan_irq_iflag_set(s, I_FIFO_AVAILABLE); + + trace_flexcan_fifo_push(DEVICE(s)->canonical_path, n_occupied); + } else { + flexcan_irq_iflag_set(s, I_FIFO_OVERFLOW); + + trace_flexcan_fifo_push(DEVICE(s)->canonical_path, -1); + } +} + +static enum FlexcanRx flexcan_fifo_rx(FlexcanState *s, + const qemu_can_frame *buf) +{ + /* todo: filtering. return FLEXCAN_FIFO_RX_RETRY if filtered out */ + if ((s->regs.mcr & FLEXCAN_MCR_IDAM_MASK) =3D=3D FLEXCAN_MCR_IDAM_D) { + /* all frames rejected */ + return FLEXCAN_RX_SEARCH_RETRY; + } else { + /* push message to queue if not full */ + FlexcanRegsMessageBuffer *slot =3D flexcan_fifo_find_free_slot(s); + if (slot) { + flexcan_mb_move_in(s, buf, slot); + } + flexcan_fifo_push(s, slot); + + return slot ? FLEXCAN_RX_SEARCH_ACCEPT : FLEXCAN_RX_SEARCH_DROPPED; + } +} + +/* --------- RX message buffer ---------- */ + +/** + * flexcan_mb_rx_check_mb() - Check if a mb matches a received frame + * @s: FlexCAN device pointer + * @buf: Frame to be received from CAN subsystem + * @mbid: Target mailbox index. The mailbox must be a valid message buffer. + * + * Return: FLEXCAN_CHECK_MB_NIL if the message buffer does not match. + * FLEXCAN_CHECK_MB_MATCH if the message buffer matches the receiv= ed + * frame and is free-to-receive, + * FLEXCAN_CHECK_MB_MATCH_LOCKED if the message buffer matches, + * but is locked, + * FLEXCAN_CHECK_MB_MATCH_NON_FREE if the message buffer matches, + * but is not free-to-receive + * for some other reason. + */ +static enum FlexcanCheck flexcan_mb_rx_check_mb(FlexcanState *s, + const qemu_can_frame *buf, + int mbid) +{ + FlexcanRegsMessageBuffer *mb =3D &s->regs.mbs[mbid]; + const bool is_rtr =3D !!(buf->can_id & QEMU_CAN_RTR_FLAG); + const bool is_serviced =3D !(mb->can_ctrl & FLEXCAN_MB_CNT_NOT_SRV); + const bool is_locked =3D s->locked_mbidx =3D=3D mbid; + + bool is_free_to_receive =3D false; + bool is_matched =3D false; + + switch (mb->can_ctrl & FLEXCAN_MB_CODE_MASK) { + case FLEXCAN_MB_CODE_RX_RANSWER: + if (is_rtr && !(s->regs.ctrl2 & FLEXCAN_CTRL2_RRS)) { + /* todo: do the actual matching/filtering and RTR answer */ + is_matched =3D true; + } + break; + case FLEXCAN_MB_CODE_RX_FULL: + QEMU_FALLTHROUGH; + case FLEXCAN_MB_CODE_RX_OVERRUN: + is_free_to_receive =3D is_serviced; + /* todo: do the actual matching/filtering */ + is_matched =3D true; + break; + case FLEXCAN_MB_CODE_RX_EMPTY: + is_free_to_receive =3D true; + /* todo: do the actual matching/filtering */ + is_matched =3D true; + break; + default: + break; + } + + if (trace_event_get_state_backends(TRACE_FLEXCAN_MB_RX_CHECK_MB)) { + char code_str_buf[FLEXCAN_DBG_BUF_LEN] =3D { 0 }; + const char *code_str =3D flexcan_dbg_mb_code(mb->can_ctrl, code_st= r_buf); + trace_flexcan_mb_rx_check_mb(DEVICE(s)->canonical_path, mbid, code= _str, + is_matched, is_free_to_receive, + is_serviced, is_locked); + } + + if (!is_matched) { + return FLEXCAN_CHECK_MB_NIL; + } + + if (is_locked) { + return FLEXCAN_CHECK_MB_MATCH_LOCKED; + } + + if (is_free_to_receive) { + return FLEXCAN_CHECK_MB_MATCH; + } + + return FLEXCAN_CHECK_MB_MATCH_NON_FREE; +} + +static enum FlexcanRx flexcan_mb_rx(FlexcanState *s, const qemu_can_frame = *buf) +{ + int last_not_free_to_receive_mbid =3D -1; + bool last_not_free_to_receive_locked =3D false; + + FlexcanRegsMessageBuffer *first_mb =3D flexcan_get_first_message_buffe= r(s); + FlexcanRegsMessageBuffer *last_mb =3D flexcan_get_last_enabled_mailbox= (s); + + for (FlexcanRegsMessageBuffer *mb =3D first_mb; + mb <=3D last_mb; mb++) { + int mbid =3D mb - s->regs.mbs; + enum FlexcanCheck r =3D flexcan_mb_rx_check_mb(s, buf, mbid); + if (r =3D=3D FLEXCAN_CHECK_MB_MATCH) { + flexcan_mb_move_in(s, buf, mb); + flexcan_irq_iflag_set(s, mbid); + return FLEXCAN_RX_SEARCH_ACCEPT; + } + + if (r =3D=3D FLEXCAN_CHECK_MB_MATCH_NON_FREE) { + last_not_free_to_receive_mbid =3D mbid; + last_not_free_to_receive_locked =3D false; + } else if (r =3D=3D FLEXCAN_CHECK_MB_MATCH_LOCKED) { + /* + * message buffer is locked, + * we can move in the message after it's unlocked + */ + last_not_free_to_receive_mbid =3D mbid; + last_not_free_to_receive_locked =3D true; + } + } + + if (last_not_free_to_receive_mbid >=3D -1) { + if (last_not_free_to_receive_locked) { + /* + * copy to temporary mailbox (SMB) + * it will be moved in when the mailbox is unlocked + */ + s->regs.rx_smb0.can_ctrl =3D + s->regs.mbs[last_not_free_to_receive_mbid].can_id; + flexcan_mb_move_in(s, buf, &s->regs.rx_smb0); + s->smb_target_mbidx =3D last_not_free_to_receive_mbid; + return FLEXCAN_RX_SEARCH_ACCEPT; + } + + if (s->regs.mcr & FLEXCAN_MCR_IRMQ) { + flexcan_mb_move_in(s, buf, + &s->regs.mbs[last_not_free_to_receive_mbid]= ); + flexcan_irq_iflag_set(s, last_not_free_to_receive_mbid); + return FLEXCAN_RX_SEARCH_ACCEPT; + } + } + + return FLEXCAN_RX_SEARCH_RETRY; +} + +static ssize_t flexcan_receive(CanBusClientState *client, + const qemu_can_frame *frames, size_t frames= _cnt) +{ + FlexcanState *s =3D container_of(client, FlexcanState, bus_client); + trace_flexcan_receive(DEVICE(s)->canonical_path, frames_cnt); + + if (frames_cnt =3D=3D 0) { + return 0; + } + + /* clear the SMB, as it would be overriden in hardware */ + memset(&s->regs.rx_smb0, 0, sizeof(FlexcanRegsMessageBuffer)); + s->smb_target_mbidx =3D FLEXCAN_SMB_EMPTY; + + for (size_t i =3D 0; i < frames_cnt; i++) { + int r; + const qemu_can_frame *frame =3D &frames[i]; + if (frame->can_id & QEMU_CAN_ERR_FLAG) { + /* todo: error frame handling */ + continue; + } + if (frame->flags & QEMU_CAN_FRMF_TYPE_FD) { + /* CAN FD supported only in later FlexCAN version */ + continue; + } + + /* todo: this order logic is not complete and needs further work */ + if (s->regs.mcr & FLEXCAN_MCR_FEN && + s->regs.ctrl2 & FLEXCAN_CTRL2_MRP) { + r =3D flexcan_mb_rx(s, frame); + if (r =3D=3D FLEXCAN_RX_SEARCH_RETRY) { + flexcan_fifo_rx(s, frame); + } + } else if (s->regs.mcr & FLEXCAN_MCR_FEN) { + r =3D flexcan_fifo_rx(s, frame); + if (r =3D=3D FLEXCAN_RX_SEARCH_RETRY) { + flexcan_mb_rx(s, frame); + } + } else { + flexcan_mb_rx(s, frame); + } + } + + flexcan_irq_update(s); + return 1; +} + +/* =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D I/O handling =3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D */ +static void flexcan_mem_write(void *opaque, hwaddr addr, uint64_t val, + unsigned size) +{ + FlexcanState *s =3D opaque; + uint32_t write_mask =3D ((const uint32_t *) + &flexcan_regs_write_mask)[addr / 4]; + uint32_t old_value =3D s->regs_raw[addr / 4]; + + /* + * 0 for bits that can "only be written in Freeze mode as it is blocked + * by hardware in other modes" + */ + const uint32_t freeze_mask_mcr =3D 0xDF54CC80; + const uint32_t freeze_mask_ctrl1 =3D 0x0000E740; + + flexcan_trace_mem_op(s, addr, val, size, true); + switch (addr) { + case offsetof(FlexcanRegs, mcr): + if (!(s->regs.mcr & FLEXCAN_MCR_FRZ_ACK)) { + write_mask &=3D freeze_mask_mcr; + } + s->regs.mcr =3D (val & write_mask) | (old_value & ~write_mask); + flexcan_set_mcr(s, old_value); + break; + case offsetof(FlexcanRegs, ctrl): + if (!(s->regs.mcr & FLEXCAN_MCR_FRZ_ACK)) { + write_mask &=3D freeze_mask_ctrl1; + } + s->regs.ctrl =3D (val & write_mask) | (old_value & ~write_mask); + break; + case offsetof(FlexcanRegs, iflag1): + s->regs.iflag1 &=3D ~val; + if ((s->regs.mcr & FLEXCAN_MCR_FEN) && + (val & FLEXCAN_IFLAG_RX_FIFO_AVAILABLE)) { + flexcan_fifo_pop(s); + } + break; + case offsetof(FlexcanRegs, iflag2): + s->regs.iflag2 &=3D ~val; + break; + case offsetof(FlexcanRegs, ctrl2): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, ecr): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, rxmgmask): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, rx14mask): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, rx15mask): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, rxfgmask): + QEMU_FALLTHROUGH; + case offsetof(FlexcanRegs, rximr[0]) ... offsetof(FlexcanRegs, rximr[6= 3]): + /* these registers can only be written in freeze mode */ + if (!(s->regs.mcr & FLEXCAN_MCR_FRZ_ACK)) { + break; + } + QEMU_FALLTHROUGH; + default: + s->regs_raw[addr / 4] =3D (val & write_mask) | (old_value & ~write= _mask); + + if (addr >=3D offsetof(FlexcanRegs, mb) && + addr < offsetof(FlexcanRegs, _reserved4)) { + /* access to mailbox */ + int mbid =3D (addr - offsetof(FlexcanRegs, mb)) / + sizeof(FlexcanRegsMessageBuffer); + + if (s->locked_mbidx =3D=3D mbid) { + flexcan_mb_unlock(s); + } + + /* check for invalid writes into FIFO region */ + if (s->regs.mcr & FLEXCAN_MCR_FEN && mbid < FLEXCAN_FIFO_DEPTH= ) { + qemu_log_mask(LOG_GUEST_ERROR, + "%s: Invalid write to Rx-FIFO structure", + DEVICE(s)->canonical_path); + return; + } + + /* run mailbox processing function on write to control word */ + if ((addr & 0xF) =3D=3D 0) { + flexcan_mb_write(s, mbid); + } + } + break; + } + + flexcan_irq_update(s); +} + +static uint64_t flexcan_mem_read(void *opqaue, hwaddr addr, unsigned size) +{ + FlexcanState *s =3D opqaue; + uint32_t rv =3D s->regs_raw[addr >> 2]; + + if (addr >=3D offsetof(FlexcanRegs, mb) && + addr < offsetof(FlexcanRegs, _reserved4)) { + /* reading from mailbox */ + hwaddr offset =3D addr - offsetof(FlexcanRegs, mb); + int mbid =3D offset / sizeof(FlexcanRegsMessageBuffer); + + if (addr % 16 =3D=3D 0 && s->locked_mbidx !=3D mbid) { + /* reading control word locks the mailbox */ + flexcan_mb_unlock(s); + flexcan_mb_lock(s, mbid); + flexcan_irq_update(s); + rv =3D s->regs.mbs[mbid].can_ctrl & ~FLEXCAN_MB_CNT_NOT_SRV; + } + } else if (addr =3D=3D offsetof(FlexcanRegs, timer)) { + flexcan_mb_unlock(s); + flexcan_irq_update(s); + rv =3D flexcan_get_timestamp(s, false); + } + + flexcan_trace_mem_op(s, addr, rv, size, false); + return rv; +} + +static bool flexcan_mem_accepts(void *opaque, hwaddr addr, + unsigned size, bool is_write, + MemTxAttrs attrs) +{ + FlexcanState *s =3D opaque; + + if ((s->regs.ctrl2 & FLEXCAN_CTRL2_WRMFRZ) && + (s->regs.mcr & FLEXCAN_MCR_FRZ_ACK)) { + /* unrestricted access to FlexCAN memory in freeze mode */ + return true; + } else if (attrs.user && (s->regs.mcr & FLEXCAN_MCR_SUPV)) { + qemu_log_mask(LOG_GUEST_ERROR, + "%s: Invalid user-mode access to restricted register= ", + DEVICE(s)->canonical_path); + return false; + } else if (attrs.user && is_write && addr < 4) { + qemu_log_mask(LOG_GUEST_ERROR, + "%s: Invalid user-mode access to MCR", + DEVICE(s)->canonical_path); + return false; + } + + return true; +} + +static const struct MemoryRegionOps flexcan_ops =3D { + .read =3D flexcan_mem_read, + .write =3D flexcan_mem_write, + .endianness =3D DEVICE_LITTLE_ENDIAN, + .valid =3D { + .min_access_size =3D 1, + .max_access_size =3D 4, + .unaligned =3D true, + .accepts =3D flexcan_mem_accepts + }, + .impl =3D { + .min_access_size =3D 4, + .max_access_size =3D 4, + .unaligned =3D false + }, +}; + +static CanBusClientInfo flexcan_bus_client_info =3D { + .can_receive =3D flexcan_can_receive, + .receive =3D flexcan_receive, +}; + +static int flexcan_connect_to_bus(FlexcanState *s, CanBusState *bus) +{ + s->bus_client.info =3D &flexcan_bus_client_info; + + if (can_bus_insert_client(bus, &s->bus_client) < 0) { + return -1; + } + return 0; +} + +static void flexcan_init(Object *obj) +{ + FlexcanState *s =3D CAN_FLEXCAN(obj); + + memory_region_init_io( + &s->iomem, obj, &flexcan_ops, s, TYPE_CAN_FLEXCAN, + offsetof(FlexcanRegs, _reserved6) + ); +} + +static void flexcan_realize(DeviceState *dev, Error **errp) +{ + FlexcanState *s =3D CAN_FLEXCAN(dev); + + if (s->canbus) { + if (flexcan_connect_to_bus(s, s->canbus) < 0) { + error_setg(errp, "%s: flexcan_connect_to_bus failed", + dev->canonical_path); + return; + } + } + + sysbus_init_mmio(SYS_BUS_DEVICE(dev), &s->iomem); + sysbus_init_irq(SYS_BUS_DEVICE(SYS_BUS_DEVICE(dev)), &s->irq); +} + +static const VMStateDescription vmstate_can =3D { + .name =3D TYPE_CAN_FLEXCAN, + .version_id =3D 1, + .minimum_version_id =3D 1, + .fields =3D (const VMStateField[]) { + VMSTATE_INT64(timer_start, FlexcanState), + VMSTATE_UINT32_ARRAY(regs_raw, FlexcanState, sizeof(FlexcanRegs) /= 4), + VMSTATE_INT32(locked_mbidx, FlexcanState), + VMSTATE_INT32(smb_target_mbidx, FlexcanState), + VMSTATE_END_OF_LIST(), + }, +}; + +static const Property flexcan_properties[] =3D { + DEFINE_PROP_LINK("canbus", FlexcanState, canbus, TYPE_CAN_BUS, + CanBusState *), +}; + +static void flexcan_class_init(ObjectClass *klass, const void *data) +{ + DeviceClass *dc =3D DEVICE_CLASS(klass); + ResettableClass *rc =3D RESETTABLE_CLASS(klass); + + rc->phases.enter =3D flexcan_reset_enter; + rc->phases.hold =3D flexcan_reset_hold; + dc->realize =3D flexcan_realize; + device_class_set_props(dc, flexcan_properties); + dc->vmsd =3D &vmstate_can; + dc->desc =3D "i.MX FLEXCAN Controller"; +} + +static const TypeInfo flexcan_info =3D { + .name =3D TYPE_CAN_FLEXCAN, + .parent =3D TYPE_SYS_BUS_DEVICE, + .instance_size =3D sizeof(FlexcanState), + .class_init =3D flexcan_class_init, + .instance_init =3D flexcan_init, +}; + +static void can_register_types(void) +{ + type_register_static(&flexcan_info); +} +type_init(can_register_types) diff --git a/hw/net/can/flexcan_regs.h b/hw/net/can/flexcan_regs.h new file mode 100644 index 0000000000..8dcf1047c6 --- /dev/null +++ b/hw/net/can/flexcan_regs.h @@ -0,0 +1,193 @@ +/* + * Field bitmasks and register structs definitions for FlexCAN + * + * This implementation is based on the following datasheet: + * i.MX 6Dual/6Quad Applications Processor Reference Manual + * Document Number: IMX6DQRM, Rev. 6, 05/2020 + * + * Copyright (c) 2025 Matyas Bobek + * + * SPDX-License-Identifier: GPL-2.0-or-later + */ +#include "qemu/bitops.h" + +#ifndef HW_CAN_FLEXCAN_REGS_H +#define HW_CAN_FLEXCAN_REGS_H + +#define FLEXCAN_GENMASK(h, l) (((~(uint32_t)0) >> (31 - (h) + (l))) << (l)) + +/** + * These macros ware originally written for the Linux kernel + * by Marc Kleine-Budde. + */ + +/* FLEXCAN module configuration register (CANMCR) bits */ +#define FLEXCAN_MCR_MDIS BIT(31) +#define FLEXCAN_MCR_FRZ BIT(30) +#define FLEXCAN_MCR_FEN BIT(29) +#define FLEXCAN_MCR_HALT BIT(28) +#define FLEXCAN_MCR_NOT_RDY BIT(27) +#define FLEXCAN_MCR_WAK_MSK BIT(26) +#define FLEXCAN_MCR_SOFTRST BIT(25) +#define FLEXCAN_MCR_FRZ_ACK BIT(24) +#define FLEXCAN_MCR_SUPV BIT(23) +#define FLEXCAN_MCR_SLF_WAK BIT(22) +#define FLEXCAN_MCR_WRN_EN BIT(21) +#define FLEXCAN_MCR_LPM_ACK BIT(20) +#define FLEXCAN_MCR_WAK_SRC BIT(19) +#define FLEXCAN_MCR_DOZE BIT(18) +#define FLEXCAN_MCR_SRX_DIS BIT(17) +#define FLEXCAN_MCR_IRMQ BIT(16) +#define FLEXCAN_MCR_LPRIO_EN BIT(13) +#define FLEXCAN_MCR_AEN BIT(12) +#define FLEXCAN_MCR_FDEN BIT(11) +#define FLEXCAN_MCR_MAXMB(x) ((x) & 0x7f) +#define FLEXCAN_MCR_IDAM_A (0x0 << 8) +#define FLEXCAN_MCR_IDAM_B (0x1 << 8) +#define FLEXCAN_MCR_IDAM_C (0x2 << 8) +#define FLEXCAN_MCR_IDAM_D (0x3 << 8) +#define FLEXCAN_MCR_IDAM_MASK (0x3 << 8) + +/* FLEXCAN control register (CANCTRL) bits */ +#define FLEXCAN_CTRL_PRESDIV(x) (((x) & 0xFF) << 24) +#define FLEXCAN_CTRL_PRESDIV_MASK FLEXCAN_CTRL_PRESDIV(UINT32_MAX) +#define FLEXCAN_CTRL_RJW(x) (((x) & 0x03) << 22) +#define FLEXCAN_CTRL_RJW_MASK FLEXCAN_CTRL_RJW(UINT32_MAX) +#define FLEXCAN_CTRL_PSEG1(x) (((x) & 0x07) << 19) +#define FLEXCAN_CTRL_PSEG1_MASK FLEXCAN_CTRL_PSEG1(UINT32_MAX) +#define FLEXCAN_CTRL_PSEG2(x) (((x) & 0x07) << 16) +#define FLEXCAN_CTRL_PSEG2_MASK FLEXCAN_CTRL_PSEG2(UINT32_MAX) +#define FLEXCAN_CTRL_BOFF_MSK BIT(15) +#define FLEXCAN_CTRL_ERR_MSK BIT(14) +#define FLEXCAN_CTRL_CLK_SRC BIT(13) +#define FLEXCAN_CTRL_LPB BIT(12) +#define FLEXCAN_CTRL_TWRN_MSK BIT(11) +#define FLEXCAN_CTRL_RWRN_MSK BIT(10) +#define FLEXCAN_CTRL_SMP BIT(7) +#define FLEXCAN_CTRL_BOFF_REC BIT(6) +#define FLEXCAN_CTRL_TSYN BIT(5) +#define FLEXCAN_CTRL_LBUF BIT(4) +#define FLEXCAN_CTRL_LOM BIT(3) +#define FLEXCAN_CTRL_PROPSEG(x) ((x) & 0x07) +#define FLEXCAN_CTRL_PROPSEG_MASK FLEXCAN_CTRL_PROPSEG(UINT32_MAX) +#define FLEXCAN_CTRL_ERR_BUS (FLEXCAN_CTRL_ERR_MSK) +#define FLEXCAN_CTRL_ERR_STATE \ + (FLEXCAN_CTRL_TWRN_MSK | FLEXCAN_CTRL_RWRN_MSK | \ + FLEXCAN_CTRL_BOFF_MSK) +#define FLEXCAN_CTRL_ERR_ALL \ + (FLEXCAN_CTRL_ERR_BUS | FLEXCAN_CTRL_ERR_STATE) + +/* FLEXCAN control register 2 (CTRL2) bits */ +#define FLEXCAN_CTRL2_ECRWRE BIT(29) +#define FLEXCAN_CTRL2_WRMFRZ BIT(28) +#define FLEXCAN_CTRL2_RFFN(x) (((x) & 0x0f) << 24) +#define FLEXCAN_CTRL2_TASD(x) (((x) & 0x1f) << 19) +#define FLEXCAN_CTRL2_MRP BIT(18) +#define FLEXCAN_CTRL2_RRS BIT(17) +#define FLEXCAN_CTRL2_EACEN BIT(16) +#define FLEXCAN_CTRL2_ISOCANFDEN BIT(12) + +/* FLEXCAN memory error control register (MECR) bits */ +#define FLEXCAN_MECR_ECRWRDIS BIT(31) +#define FLEXCAN_MECR_HANCEI_MSK BIT(19) +#define FLEXCAN_MECR_FANCEI_MSK BIT(18) +#define FLEXCAN_MECR_CEI_MSK BIT(16) +#define FLEXCAN_MECR_HAERRIE BIT(15) +#define FLEXCAN_MECR_FAERRIE BIT(14) +#define FLEXCAN_MECR_EXTERRIE BIT(13) +#define FLEXCAN_MECR_RERRDIS BIT(9) +#define FLEXCAN_MECR_ECCDIS BIT(8) +#define FLEXCAN_MECR_NCEFAFRZ BIT(7) + +/* FLEXCAN error and status register (ESR) bits */ +#define FLEXCAN_ESR_SYNCH BIT(18) +#define FLEXCAN_ESR_TWRN_INT BIT(17) +#define FLEXCAN_ESR_RWRN_INT BIT(16) +#define FLEXCAN_ESR_BIT1_ERR BIT(15) +#define FLEXCAN_ESR_BIT0_ERR BIT(14) +#define FLEXCAN_ESR_ACK_ERR BIT(13) +#define FLEXCAN_ESR_CRC_ERR BIT(12) +#define FLEXCAN_ESR_FRM_ERR BIT(11) +#define FLEXCAN_ESR_STF_ERR BIT(10) +#define FLEXCAN_ESR_TX_WRN BIT(9) +#define FLEXCAN_ESR_RX_WRN BIT(8) +#define FLEXCAN_ESR_IDLE BIT(7) +#define FLEXCAN_ESR_BOFF_INT BIT(2) +#define FLEXCAN_ESR_ERR_INT BIT(1) +#define FLEXCAN_ESR_WAK_INT BIT(0) + +/* FLEXCAN Bit Timing register (CBT) bits */ +#define FLEXCAN_CBT_BTF BIT(31) +#define FLEXCAN_CBT_EPRESDIV_MASK FLEXCAN_GENMASK(30, 21) +#define FLEXCAN_CBT_ERJW_MASK FLEXCAN_GENMASK(20, 16) +#define FLEXCAN_CBT_EPROPSEG_MASK FLEXCAN_GENMASK(15, 10) +#define FLEXCAN_CBT_EPSEG1_MASK FLEXCAN_GENMASK(9, 5) +#define FLEXCAN_CBT_EPSEG2_MASK FLEXCAN_GENMASK(4, 0) + +/* FLEXCAN FD control register (FDCTRL) bits */ +#define FLEXCAN_FDCTRL_FDRATE BIT(31) +#define FLEXCAN_FDCTRL_MBDSR1 FLEXCAN_GENMASK(20, 19) +#define FLEXCAN_FDCTRL_MBDSR0 FLEXCAN_GENMASK(17, 16) +#define FLEXCAN_FDCTRL_MBDSR_8 0x0 +#define FLEXCAN_FDCTRL_MBDSR_12 0x1 +#define FLEXCAN_FDCTRL_MBDSR_32 0x2 +#define FLEXCAN_FDCTRL_MBDSR_64 0x3 +#define FLEXCAN_FDCTRL_TDCEN BIT(15) +#define FLEXCAN_FDCTRL_TDCFAIL BIT(14) +#define FLEXCAN_FDCTRL_TDCOFF FLEXCAN_GENMASK(12, 8) +#define FLEXCAN_FDCTRL_TDCVAL FLEXCAN_GENMASK(5, 0) + +/* FLEXCAN FD Bit Timing register (FDCBT) bits */ +#define FLEXCAN_FDCBT_FPRESDIV_MASK FLEXCAN_GENMASK(29, 20) +#define FLEXCAN_FDCBT_FRJW_MASK FLEXCAN_GENMASK(18, 16) +#define FLEXCAN_FDCBT_FPROPSEG_MASK FLEXCAN_GENMASK(14, 10) +#define FLEXCAN_FDCBT_FPSEG1_MASK FLEXCAN_GENMASK(7, 5) +#define FLEXCAN_FDCBT_FPSEG2_MASK FLEXCAN_GENMASK(2, 0) + +/* FLEXCAN CRC Register (CRCR) bits */ +#define FLEXCAN_CRCR_MBCRC_MASK FLEXCAN_GENMASK(22, 16) +#define FLEXCAN_CRCR_MBCRC(x) (((x) & FLEXCAN_CRCR_MBCRC_MASK) <= < 16) +#define FLEXCAN_CRCR_TXCRC_MASK FLEXCAN_GENMASK(14, 0) +#define FLEXCAN_CRCR_TXCRC(x) ((x) & FLEXCAN_CRCR_TXCRC_MASK) + +/* FLEXCAN interrupt flag register (IFLAG) bits */ +/* Errata ERR005829 step7: Reserve first valid MB */ +#define I_FIFO_OVERFLOW 7 +#define I_FIFO_WARN 6 +#define I_FIFO_AVAILABLE 5 + +#define FLEXCAN_TX_MB_RESERVED_RX_FIFO 8 +#define FLEXCAN_TX_MB_RESERVED_RX_MAILBOX 0 +#define FLEXCAN_RX_MB_RX_MAILBOX_FIRST (FLEXCAN_TX_MB_RESERVED_RX_MAILBOX= + 1) +#define FLEXCAN_IFLAG_MB(x) BIT_ULL(x) +#define FLEXCAN_IFLAG_RX_FIFO_OVERFLOW BIT(I_FIFO_OVERFLOW) +#define FLEXCAN_IFLAG_RX_FIFO_WARN BIT(I_FIFO_WARN) +#define FLEXCAN_IFLAG_RX_FIFO_AVAILABLE BIT(I_FIFO_AVAILABLE) + +/* FLEXCAN message buffers */ +#define FLEXCAN_MB_CODE_RX_BUSY_BIT (0x1 << 24) +#define FLEXCAN_MB_CODE_RX_INACTIVE (0x0 << 24) +#define FLEXCAN_MB_CODE_RX_EMPTY (0x4 << 24) +#define FLEXCAN_MB_CODE_RX_FULL (0x2 << 24) +#define FLEXCAN_MB_CODE_RX_OVERRUN (0x6 << 24) +#define FLEXCAN_MB_CODE_RX_RANSWER (0xa << 24) + +#define FLEXCAN_MB_CODE_TX_INACTIVE (0x8 << 24) +#define FLEXCAN_MB_CODE_TX_ABORT (0x9 << 24) +#define FLEXCAN_MB_CODE_TX_DATA (0xc << 24) +#define FLEXCAN_MB_CODE_TX_TANSWER (0xe << 24) + +#define FLEXCAN_MB_CODE(x) (((x) & 0xF) << 24) +#define FLEXCAN_MB_CODE_MASK FLEXCAN_MB_CODE(UINT32_MAX) + +#define FLEXCAN_MB_CNT_EDL BIT(31) +#define FLEXCAN_MB_CNT_BRS BIT(30) +#define FLEXCAN_MB_CNT_ESI BIT(29) +#define FLEXCAN_MB_CNT_SRR BIT(22) +#define FLEXCAN_MB_CNT_IDE BIT(21) +#define FLEXCAN_MB_CNT_RTR BIT(20) +#define FLEXCAN_MB_CNT_LENGTH(x) (((x) & 0xF) << 16) +#define FLEXCAN_MB_CNT_TIMESTAMP(x) ((x) & 0xFFFF) +#define FLEXCAN_MB_CNT_TIMESTAMP_MASK FLEXCAN_MB_CNT_TIMESTAMP(UINT32_MA= X) + +#endif diff --git a/hw/net/can/meson.build b/hw/net/can/meson.build index 7382344628..401afde2e4 100644 --- a/hw/net/can/meson.build +++ b/hw/net/can/meson.build @@ -6,3 +6,4 @@ system_ss.add(when: 'CONFIG_CAN_CTUCANFD', if_true: files('= ctucan_core.c')) system_ss.add(when: 'CONFIG_CAN_CTUCANFD_PCI', if_true: files('ctucan_pci.= c')) system_ss.add(when: 'CONFIG_XLNX_ZYNQMP', if_true: files('xlnx-zynqmp-can.= c')) system_ss.add(when: 'CONFIG_XLNX_VERSAL', if_true: files('xlnx-versal-canf= d.c')) +system_ss.add(when: 'CONFIG_CAN_FLEXCAN', if_true: files('flexcan.c')) diff --git a/hw/net/can/trace-events b/hw/net/can/trace-events index de64ac1b31..7500f10d7a 100644 --- a/hw/net/can/trace-events +++ b/hw/net/can/trace-events @@ -1,3 +1,21 @@ +# flexcan.c +flexcan_irq_update(const char *inst, uint32_t mb_irqs1, uint32_t mb_irqs2,= int setting) "%s: irqs1 0x%08x irqs2 0x%08x request %i" +flexcan_set_mcr(const char *inst, const char *enabled, const char *freeze,= const char *fifo, const char *rdy, const char *sync) "%s: %s %s %s %s %s" +flexcan_mb_write(const char *inst, int mbidx, const char *code, int is_mai= lbox, uint32_t ctrl, uint32_t id) "%s: mbidx %i code %s is_mailbox %i ctrl = 0x%08x id 0x%08x" +flexcan_mb_lock(const char *inst, int mbidx, int had_rx_code) "%s: mbidx %= i had_rx_code %i" +flexcan_mb_unlock(const char *inst, int mbidx, const char *pending_frame) = "%s: mbidx %i%s" +flexcan_fifo_pop(const char *inst, int non_empty_before, int non_empty_aft= er) "%s: non_empty before %i non_empty_after %i" +flexcan_fifo_push(const char *inst, int n_occupied) "%s: n_slots_occupied = %i" +flexcan_reset(const char *inst) "%s: resetting" +flexcan_mem_op(const char *inst, const char *op, uint32_t v, int offset, c= onst char *reg_name, int size) "%s: %s 0x%08x at offset %i register %s size= %i" +flexcan_get_timestamp(const char *inst, int64_t time_elapsed_ms, uint32_t = bitrate, uint64_t cycles, uint32_t shift, uint32_t timestamp) "%s: time_ela= psed %" PRIi64 "ms bitrate %ub/s cycles %" PRIu64 " shift %u timestamp 0x%0= 4x" +flexcan_get_bitrate(const char *inst, uint32_t pe_freq, uint32_t prediv, u= int32_t s_freq, uint32_t tseg1, uint32_t tseg2, uint32_t quata_per_bit, uin= t32_t bitrate) "%s: pe_freq %uHz prescaler %u s_freq %uHz tseg1 %uq tseg2 %= uq total %uq/b bitrate %ub/s" +flexcan_timer_start(const char *inst, uint32_t bitrate, uint32_t value) "%= s: bitrate %ub/s value 0x%04x" +flexcan_timer_stop(const char *inst, uint32_t bitrate, uint32_t value) "%s= : bitrate %ub/s value 0x%04x" +flexcan_timer_overflow(const char *inst, int64_t current_time, int64_t tim= er_start, int64_t elapsed_ns) "%s: current_time %" PRIi64 "timer_start %" P= RIi64 "elapsed_ns %" PRIi64 +flexcan_mb_rx_check_mb(const char *inst, int mbidx, const char *code, int = is_matched, int is_ftr, int is_serviced, int is_locked) "%s: checking mb %i= code %s is_matched %i is_free_to_receive %i is_serviced %i is_locked %i" +flexcan_receive(const char *inst, size_t n_frames) "%s: received %zu frame= s" + # xlnx-zynqmp-can.c xlnx_can_update_irq(uint32_t isr, uint32_t ier, uint32_t irq) "ISR: 0x%08x= IER: 0x%08x IRQ: 0x%08x" xlnx_can_reset(uint32_t val) "Resetting controller with value =3D 0x%08x" diff --git a/include/hw/net/flexcan.h b/include/hw/net/flexcan.h new file mode 100644 index 0000000000..18f4b29ca3 --- /dev/null +++ b/include/hw/net/flexcan.h @@ -0,0 +1,139 @@ +/* + * QEMU model of the NXP FLEXCAN device. + * + * Copyright (c) 2025 Matyas Bobek + * + * Based on CTU CAN FD emulation implemented by Jan Charvat. + * + * SPDX-License-Identifier: GPL-2.0-or-later + */ + +#ifndef HW_CAN_FLEXCAN_H +#define HW_CAN_FLEXCAN_H + +#include "net/can_emu.h" +#include "qom/object.h" +#include "hw/misc/imx_ccm.h" + +#define FLEXCAN_FIFO_DEPTH 6 +#define FLEXCAN_MAILBOX_COUNT 64 + +/* view of single message buffer registers */ +typedef struct FlexcanRegsMessageBuffer { + uint32_t can_ctrl; + uint32_t can_id; + uint32_t data[2]; +} FlexcanRegsMessageBuffer; + +/* RX FIFO view of message buffer registers */ +typedef struct FlexcanRegsRXFifo { + /* 6 message buffer deep queue, queue back first */ + FlexcanRegsMessageBuffer mb_back; + FlexcanRegsMessageBuffer mbs_queue[FLEXCAN_FIFO_DEPTH - 1]; + + /* number of filter elements active depends on ctrl2 | FLEXCAN_CTRL2_R= FFN */ + uint32_t filter_table_els[128]; +} FlexcanRegsRXFifo; + +/** + * Structure of the hardware registers + * + * originally created for the Linux kernel by Marc Kleine-Budde + */ +typedef struct FlexcanRegs { + uint32_t mcr; /* 0x00 */ + uint32_t ctrl; /* 0x04 - not affected by soft reset */ + uint32_t timer; /* 0x08 */ + uint32_t tcr; /* 0x0C */ + uint32_t rxmgmask; /* 0x10 - not affected by soft reset */ + uint32_t rx14mask; /* 0x14 - not affected by soft reset */ + uint32_t rx15mask; /* 0x18 - not affected by soft reset */ + uint32_t ecr; /* 0x1C */ + uint32_t esr; /* 0x20 */ + uint32_t imask2; /* 0x24 */ + uint32_t imask1; /* 0x28 */ + uint32_t iflag2; /* 0x2C */ + uint32_t iflag1; /* 0x30 */ + union { /* 0x34 */ + uint32_t gfwr_mx28; /* MX28, MX53 */ + uint32_t ctrl2; /* MX6, VF610 - not affected by soft rese= t */ + }; + uint32_t esr2; /* 0x38 */ + uint32_t imeur; /* 0x3C, unused */ + uint32_t lrfr; /* 0x40, unused */ + uint32_t crcr; /* 0x44 */ + uint32_t rxfgmask; /* 0x48 */ + uint32_t rxfir; /* 0x4C - not affected by soft reset */ + uint32_t cbt; /* 0x50, unused - not affected by soft re= set */ + uint32_t _reserved2; /* 0x54 */ + uint32_t dbg1; /* 0x58, unused */ + uint32_t dbg2; /* 0x5C, unused */ + uint32_t _reserved3[8]; /* 0x60 */ + union { /* 0x80 - not affected by soft reset */ + uint32_t mb[sizeof(FlexcanRegsMessageBuffer) * FLEXCAN_MAILBOX_COU= NT]; + FlexcanRegsMessageBuffer mbs[FLEXCAN_MAILBOX_COUNT]; + FlexcanRegsRXFifo fifo; + }; + uint32_t _reserved4[256]; /* 0x480 */ + uint32_t rximr[64]; /* 0x880 - not affected by soft reset */ + uint32_t _reserved5[24]; /* 0x980 */ + uint32_t gfwr_mx6; /* 0x9E0 - MX6 */ + + /* the rest is unused except for SMB */ + uint32_t _reserved6[39]; /* 0x9E4 */ + uint32_t _rxfir[6]; /* 0xA80 */ + uint32_t _reserved8[2]; /* 0xA98 */ + uint32_t _rxmgmask; /* 0xAA0 */ + uint32_t _rxfgmask; /* 0xAA4 */ + uint32_t _rx14mask; /* 0xAA8 */ + uint32_t _rx15mask; /* 0xAAC */ + uint32_t tx_smb[4]; /* 0xAB0 */ + union { /* 0xAC0, used for SMB emulation */ + uint32_t rx_smb0_raw[4]; + FlexcanRegsMessageBuffer rx_smb0; + }; + uint32_t rx_smb1[4]; /* 0xAD0 */ + uint32_t mecr; /* 0xAE0 */ + uint32_t erriar; /* 0xAE4 */ + uint32_t erridpr; /* 0xAE8 */ + uint32_t errippr; /* 0xAEC */ + uint32_t rerrar; /* 0xAF0 */ + uint32_t rerrdr; /* 0xAF4 */ + uint32_t rerrsynr; /* 0xAF8 */ + uint32_t errsr; /* 0xAFC */ + uint32_t _reserved7[64]; /* 0xB00 */ + uint32_t fdctrl; /* 0xC00 - not affected by soft reset */ + uint32_t fdcbt; /* 0xC04 - not affected by soft reset */ + uint32_t fdcrc; /* 0xC08 */ + uint32_t _reserved9[199]; /* 0xC0C */ + uint32_t tx_smb_fd[18]; /* 0xF28 */ + uint32_t rx_smb0_fd[18]; /* 0xF70 */ + uint32_t rx_smb1_fd[18]; /* 0xFB8 */ +} FlexcanRegs; + +typedef struct FlexcanState { + SysBusDevice parent_obj; + + MemoryRegion iomem; + IMXCCMState *ccm; + qemu_irq irq; + + CanBusState *canbus; + CanBusClientState bus_client; + + union { + 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Add two new machine properties to Sabrelite machine for linking the embedded FlexCAN instances to QEMU CAN buses by name. No other machine uses FslIMX6State. Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- hw/arm/Kconfig | 1 + hw/arm/fsl-imx6.c | 29 +++++++++++++++++++++++++++++ hw/arm/sabrelite.c | 24 ++++++++++++++++++++++++ include/hw/arm/fsl-imx6.h | 6 ++++++ 4 files changed, 60 insertions(+) diff --git a/hw/arm/Kconfig b/hw/arm/Kconfig index c31752e83a..5bd0d0972e 100644 --- a/hw/arm/Kconfig +++ b/hw/arm/Kconfig @@ -518,6 +518,7 @@ config FSL_IMX6 select IMX_FEC select IMX_I2C select IMX_USBPHY + select CAN_FLEXCAN select WDT_IMX2 select PL310 # cache controller select PCI_EXPRESS_DESIGNWARE diff --git a/hw/arm/fsl-imx6.c b/hw/arm/fsl-imx6.c index f663ddbf0a..337921d17d 100644 --- a/hw/arm/fsl-imx6.c +++ b/hw/arm/fsl-imx6.c @@ -90,6 +90,10 @@ static void fsl_imx6_init(Object *obj) snprintf(name, NAME_SIZE, "spi%d", i + 1); object_initialize_child(obj, name, &s->spi[i], TYPE_IMX_SPI); } + for (i =3D 0; i < FSL_IMX6_NUM_CANS; i++) { + snprintf(name, NAME_SIZE, "flexcan%d", i + 1); + object_initialize_child(obj, name, &s->can[i], TYPE_CAN_FLEXCAN); + } for (i =3D 0; i < FSL_IMX6_NUM_WDTS; i++) { snprintf(name, NAME_SIZE, "wdt%d", i); object_initialize_child(obj, name, &s->wdt[i], TYPE_IMX2_WDT); @@ -377,6 +381,27 @@ static void fsl_imx6_realize(DeviceState *dev, Error *= *errp) qdev_get_gpio_in(gic, spi_table[i].irq)); } =20 + /* Initialize all FLEXCANs */ + for (i =3D 0; i < FSL_IMX6_NUM_CANS; i++) { + static const struct { + hwaddr addr; + unsigned int irq; + } flexcan_table[FSL_IMX6_NUM_CANS] =3D { + { FSL_IMX6_CAN1_ADDR, FSL_IMX6_FLEXCAN1_IRQ }, + { FSL_IMX6_CAN2_ADDR, FSL_IMX6_FLEXCAN2_IRQ }, + }; + + s->can[i].ccm =3D IMX_CCM(&s->ccm); + object_property_set_link(OBJECT(&s->can[i]), "canbus", + OBJECT(s->canbus[i]), &error_abort); + + sysbus_realize(SYS_BUS_DEVICE(&s->can[i]), &error_abort); + + sysbus_mmio_map(SYS_BUS_DEVICE(&s->can[i]), 0, flexcan_table[i].ad= dr); + sysbus_connect_irq(SYS_BUS_DEVICE(&s->can[i]), 0, + qdev_get_gpio_in(gic, flexcan_table[i].irq)); + } + object_property_set_uint(OBJECT(&s->eth), "phy-num", s->phy_num, &error_abort); qemu_configure_nic_device(DEVICE(&s->eth), true, NULL); @@ -480,6 +505,10 @@ static void fsl_imx6_realize(DeviceState *dev, Error *= *errp) =20 static const Property fsl_imx6_properties[] =3D { DEFINE_PROP_UINT32("fec-phy-num", FslIMX6State, phy_num, 0), + DEFINE_PROP_LINK("canbus0", FslIMX6State, canbus[0], TYPE_CAN_BUS, + CanBusState *), + DEFINE_PROP_LINK("canbus1", FslIMX6State, canbus[1], TYPE_CAN_BUS, + CanBusState *), }; =20 static void fsl_imx6_class_init(ObjectClass *oc, const void *data) diff --git a/hw/arm/sabrelite.c b/hw/arm/sabrelite.c index 7e036e6388..84bbc2f979 100644 --- a/hw/arm/sabrelite.c +++ b/hw/arm/sabrelite.c @@ -24,6 +24,7 @@ struct SabreliteMachineState { MachineState parent_obj; =20 FslIMX6State soc; + CanBusState *canbus[FSL_IMX6_NUM_CANS]; }; =20 #define TYPE_SABRELITE_MACHINE MACHINE_TYPE_NAME("sabrelite") @@ -64,6 +65,13 @@ static void sabrelite_init(MachineState *machine) /* Ethernet PHY address is 6 */ object_property_set_int(OBJECT(&s->soc), "fec-phy-num", 6, &error_fata= l); =20 + for (int i =3D 0; i < FSL_IMX6_NUM_CANS; i++) { + g_autofree char *bus_name =3D g_strdup_printf("canbus%d", i); + + object_property_set_link(OBJECT(&s->soc), bus_name, + OBJECT(s->canbus[i]), &error_fatal); + } + qdev_realize(DEVICE(&s->soc), NULL, &error_fatal); =20 memory_region_add_subregion(get_system_memory(), FSL_IMX6_MMDC_ADDR, @@ -112,6 +120,21 @@ static void sabrelite_init(MachineState *machine) } } =20 +static void sabrelite_machine_instance_init(Object *obj) +{ + SabreliteMachineState *s =3D SABRELITE_MACHINE(obj); + + object_property_add_link(obj, "canbus0", TYPE_CAN_BUS, + (Object **)&s->canbus[0], + object_property_allow_set_link, + 0); + + object_property_add_link(obj, "canbus1", TYPE_CAN_BUS, + (Object **)&s->canbus[1], + object_property_allow_set_link, + 0); +} + static void sabrelite_machine_class_init(ObjectClass *oc, const void *data) { MachineClass *mc =3D MACHINE_CLASS(oc); @@ -128,6 +151,7 @@ static const TypeInfo sabrelite_machine_init_typeinfo = =3D { .name =3D TYPE_SABRELITE_MACHINE, .parent =3D TYPE_MACHINE, .class_init =3D sabrelite_machine_class_init, + .instance_init =3D sabrelite_machine_instance_init, .instance_size =3D sizeof(SabreliteMachineState), .abstract =3D false, .interfaces =3D arm_machine_interfaces, diff --git a/include/hw/arm/fsl-imx6.h b/include/hw/arm/fsl-imx6.h index cddd100dd6..8ea1677e86 100644 --- a/include/hw/arm/fsl-imx6.h +++ b/include/hw/arm/fsl-imx6.h @@ -30,12 +30,14 @@ #include "hw/sd/sdhci.h" #include "hw/ssi/imx_spi.h" #include "hw/net/imx_fec.h" +#include "hw/net/flexcan.h" #include "hw/usb/chipidea.h" #include "hw/usb/imx-usb-phy.h" #include "hw/pci-host/designware.h" #include "hw/core/or-irq.h" #include "system/memory.h" #include "target/arm/cpu.h" +#include "net/can_emu.h" #include "qom/object.h" =20 #define TYPE_FSL_IMX6 "fsl-imx6" @@ -51,6 +53,7 @@ OBJECT_DECLARE_SIMPLE_TYPE(FslIMX6State, FSL_IMX6) #define FSL_IMX6_NUM_WDTS 2 #define FSL_IMX6_NUM_USB_PHYS 2 #define FSL_IMX6_NUM_USBS 4 +#define FSL_IMX6_NUM_CANS 2 =20 struct FslIMX6State { /*< private >*/ @@ -73,6 +76,7 @@ struct FslIMX6State { IMXUSBPHYState usbphy[FSL_IMX6_NUM_USB_PHYS]; ChipideaState usb[FSL_IMX6_NUM_USBS]; IMXFECState eth; + FlexcanState can[FSL_IMX6_NUM_CANS]; DesignwarePCIEHost pcie; OrIRQState pcie4_msi_irq; MemoryRegion rom; @@ -80,6 +84,8 @@ struct FslIMX6State { MemoryRegion ocram; MemoryRegion ocram_alias; uint32_t phy_num; + + CanBusState *canbus[FSL_IMX6_NUM_CANS]; }; =20 =20 --=20 2.53.0 From nobody Sat May 30 18:34:23 2026 Delivered-To: importer@patchew.org Authentication-Results: mx.zohomail.com; dkim=pass; spf=pass (zohomail.com: domain of gnu.org designates 209.51.188.17 as permitted sender) smtp.mailfrom=qemu-devel-bounces+importer=patchew.org@nongnu.org; dmarc=pass(p=none dis=none) header.from=gmail.com ARC-Seal: i=1; a=rsa-sha256; t=1777573663; cv=none; d=zohomail.com; s=zohoarc; b=hRRTx2F+5xTCZ3qwm+CkzCW/nuHcD8a+MqYUUKZe0GQdunTjm5uS7n5otryMm3ibXByfV9yDWMXOp10b1E9nmsaIvty+nFoga3yfLxJqaHjzpl6amo5Jd3QkzCOvqF9Y78o39/6y/+DGZD5aE/LxSd2DziOag4H/pUqACMD7aRc= ARC-Message-Signature: i=1; a=rsa-sha256; c=relaxed/relaxed; d=zohomail.com; s=zohoarc; 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Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- MAINTAINERS | 1 + tests/qtest/flexcan-test.c | 421 +++++++++++++++++++++++++++++++++++++ tests/qtest/meson.build | 1 + 3 files changed, 423 insertions(+) create mode 100644 tests/qtest/flexcan-test.c diff --git a/MAINTAINERS b/MAINTAINERS index 59a3614a58..7b1fe85961 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -2098,6 +2098,7 @@ S: Maintained F: hw/net/can/flexcan.c F: hw/net/can/flexcan_regs.h F: include/hw/net/flexcan.h +F: tests/qtest/flexcan-test.c =20 EDU M: Jiri Slaby diff --git a/tests/qtest/flexcan-test.c b/tests/qtest/flexcan-test.c new file mode 100644 index 0000000000..87d947a806 --- /dev/null +++ b/tests/qtest/flexcan-test.c @@ -0,0 +1,421 @@ +/* + * QTests for FlexCAN CAN controller device model + * + * Copyright (c) 2025 Matyas Bobek + * + * SPDX-License-Identifier: GPL-2.0-or-later + */ + +#include "qemu/osdep.h" +#include "libqtest-single.h" + +#include "hw/net/flexcan.h" +#include "hw/net/can/flexcan_regs.h" + +#define FSL_IMX6_CAN2_ADDR 0x02094000 +#define FSL_IMX6_CAN2_SIZE 0x4000 +#define FSL_IMX6_CAN1_ADDR 0x02090000 +#define FSL_IMX6_CAN1_SIZE 0x4000 + +#define FC_QEMU_ARGS "-nographic -M sabrelite " \ + "-object can-bus,id=3Dqcan0 " \ + "-machine canbus0=3Dqcan0 -machine canbus1=3Dqcan0" + +/* used for masking out unused/reserved bits */ +#define FC_MB_CNT_USED_MASK (~0xF080FFFFu) + +#define FCREG(BASE_ADDR, REG) ((BASE_ADDR) + offsetof(FlexcanRegs, REG)) +#define FCMB(BASE_ADDR, MB_IDX, WORD_IDX) (FCREG(BASE_ADDR, mbs) + \ + 0x10 * (MB_IDX) + 4 * (WORD_IDX)) + +typedef struct FcTestFrame { + uint32_t id; + uint32_t data[2]; + uint8_t len; + bool ide; + bool rtr; + + /* rx only */ + bool expect_overrun; +} FcTestFrame; + +static const FcTestFrame fc_test_frame_1 =3D { + .id =3D 0x5AF, + .len =3D 8, + .data =3D { + 0x01020304, + 0x0A0B0C0D + }, + .ide =3D false +}; + +static const FcTestFrame fc_test_frame_1_ide =3D { + .id =3D 0x105AF5AF, + .len =3D 8, + .data =3D { + 0x01020304, + 0x0A0B0C0D + }, + .ide =3D true +}; + +static void fc_reset(hwaddr ba, uint32_t mcr_flags) +{ + /* disable */ + writel(FCREG(ba, mcr), 0xD890000F); + + /* enable in freeze mode */ + writel(FCREG(ba, mcr), 0x5980000F); + + /* soft reset */ + writel(FCREG(ba, mcr), 0x5980000F | FLEXCAN_MCR_SOFTRST); + + g_assert_cmpuint(readl(FCREG(ba, mcr)), =3D=3D, 0x5980000F); + g_assert_cmpuint(readl(FCREG(ba, ctrl)), =3D=3D, 0); + g_assert_cmpuint(readl(FCREG(ba, ctrl2)), =3D=3D, 0); + + writel(FCREG(ba, mcr), (0x5980000F & ~FLEXCAN_MCR_HALT) | mcr_flags); + writel(FCREG(ba, ctrl2), FLEXCAN_CTRL2_RRS); + + /* initialize all mailboxes as rx inactive */ + for (int i =3D 0; i < FLEXCAN_MAILBOX_COUNT; i++) { + writel(FCMB(ba, i, 0), FLEXCAN_MB_CODE_RX_INACTIVE); + writel(FCMB(ba, i, 1), 0); + writel(FCMB(ba, i, 2), 0); + writel(FCMB(ba, i, 3), 0); + } +} + +static uint64_t fc_get_irqs(hwaddr ba) +{ + return (uint64_t)readl(FCREG(ba, iflag1)) | + ((uint64_t)readl(FCREG(ba, iflag2)) << 32); +} + +static void fc_clear_irq(hwaddr ba, int idx) +{ + if (idx >=3D 32) { + writel(FCREG(ba, iflag2), (uint32_t)1 << (idx - 32)); + } else { + writel(FCREG(ba, iflag1), (uint32_t)1 << idx); + } + + g_assert_cmpuint(fc_get_irqs(ba) & ((uint64_t)1 << idx), =3D=3D, 0); +} + +static void fc_setup_rx_mb(hwaddr ba, int mbidx) +{ + writel(FCMB(ba, mbidx, 0), FLEXCAN_MB_CODE_RX_EMPTY); + writel(FCMB(ba, mbidx, 1), 0); + /* the data value should be ignored for RX mb */ + writel(FCMB(ba, mbidx, 2), 0); + writel(FCMB(ba, mbidx, 3), 0); + + g_assert_cmpuint(readl(FCMB(ba, mbidx, 0)), =3D=3D, FLEXCAN_MB_CODE_RX= _EMPTY); +} + +static void fc_tx(hwaddr ba, int mbidx, const FcTestFrame *frame) +{ + g_assert_cmpuint(frame->len, <=3D, 8); + + writel(FCMB(ba, mbidx, 0), FLEXCAN_MB_CODE_TX_INACTIVE); + uint32_t id =3D frame->ide ? frame->id : frame->id << 18; + writel(FCMB(ba, mbidx, 1), id); + writel(FCMB(ba, mbidx, 2), frame->data[0]); + writel(FCMB(ba, mbidx, 3), frame->data[1]); + + uint32_t ctrl =3D FLEXCAN_MB_CODE_TX_DATA | FLEXCAN_MB_CNT_LENGTH(fram= e->len); + if (frame->ide) { + ctrl |=3D FLEXCAN_MB_CNT_IDE | FLEXCAN_MB_CNT_SRR; + } + if (frame->rtr) { + ctrl |=3D FLEXCAN_MB_CNT_RTR; + } + writel(FCMB(ba, mbidx, 0), ctrl); + + /* check frame was transmitted */ + g_assert_cmpuint(fc_get_irqs(ba) & ((uint64_t)1 << mbidx), + !=3D, 0); + + uint32_t xpectd_ctrl =3D (ctrl & ~FLEXCAN_MB_CODE_MASK) | + FLEXCAN_MB_CODE_TX_INACTIVE; + g_assert_cmpuint(readl(FCMB(ba, mbidx, 0)) & FC_MB_CNT_USED_MASK, =3D= =3D, + xpectd_ctrl); + /* other fields should stay unchanged */ + g_assert_cmpuint(readl(FCMB(ba, mbidx, 1)), =3D=3D, id); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 2)), =3D=3D, frame->data[0]); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 3)), =3D=3D, frame->data[1]); +} + +static void fc_rx_check(hwaddr ba, int mbidx, const FcTestFrame *frame) +{ + uint32_t xpectd_ctrl =3D frame->expect_overrun ? FLEXCAN_MB_CODE_RX_OV= ERRUN + : FLEXCAN_MB_CODE_RX_FULL; + xpectd_ctrl |=3D FLEXCAN_MB_CNT_LENGTH(frame->len) | FLEXCAN_MB_CNT_SR= R; + if (frame->ide) { + xpectd_ctrl |=3D FLEXCAN_MB_CNT_IDE; + } + if (frame->rtr) { + xpectd_ctrl |=3D FLEXCAN_MB_CNT_RTR; + } + + uint32_t xpectd_id =3D frame->ide ? frame->id : frame->id << 18; + + uint32_t ctrl =3D readl(FCMB(ba, mbidx, 0)) & FC_MB_CNT_USED_MASK; + if ((ctrl & FLEXCAN_MB_CODE_MASK) =3D=3D FLEXCAN_MB_CODE_RX_EMPTY) { + fprintf(stderr, "expected frame (id=3D0x%X) not received\n", frame= ->id); + } + + g_assert_cmpuint(ctrl, =3D=3D, xpectd_ctrl); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 1)), =3D=3D, xpectd_id); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 2)), =3D=3D, frame->data[0]); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 3)), =3D=3D, frame->data[1]); +} + +static void fc_check_empty_multi(hwaddr ba, int idx_count, int mbidxs[]) +{ + for (int i =3D 0; i < FLEXCAN_MAILBOX_COUNT; i++) { + bool check_empty =3D true; + int ctrl =3D readl(FCMB(ba, i, 0)); + + for (int j =3D 0; j < idx_count; j++) { + if (i =3D=3D mbidxs[j]) { + check_empty =3D false; + } + } + + if (check_empty) { + if (!(ctrl =3D=3D FLEXCAN_MB_CODE_RX_EMPTY || + ctrl =3D=3D FLEXCAN_MB_CODE_RX_INACTIVE)) { + g_assert_cmpuint(ctrl, =3D=3D, FLEXCAN_MB_CODE_RX_INACTIVE= ); + } + g_assert_cmpuint(readl(FCMB(ba, i, 1)), =3D=3D, 0); + g_assert_cmpuint(readl(FCMB(ba, i, 2)), =3D=3D, 0); + g_assert_cmpuint(readl(FCMB(ba, i, 3)), =3D=3D, 0); + } else { + g_assert_cmpuint( + ctrl & FLEXCAN_MB_CODE_MASK, !=3D, + FLEXCAN_MB_CODE_RX_INACTIVE + ); + } + } +} + +static void fc_check_empty(hwaddr ba, int mbidx) +{ + fc_check_empty_multi(ba, 1, &mbidx); +} + +static void flexcan_test_linux_probe_impl(hwaddr fba) +{ + /* -- test a Linux driver-like probe sequence -- */ + /* disable */ + writel(FCREG(fba, mcr), 0xD890000F); + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xD890000F); + g_assert_cmpuint(readl(FCREG(fba, ctrl)), =3D=3D, 0); + + /* set bit in reserved field we do not implement (CTRL_CLK_SRC) */ + writel(FCREG(fba, ctrl), 0x00002000); + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xD890000F); + + /* enable in freeze mode */ + writel(FCREG(fba, mcr), 0x5980000F); + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x5980000F); + + /* enable Rx-FIFO */ + writel(FCREG(fba, mcr), 0x7980000F); + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x7980000F); + g_assert_cmpuint(readl(FCREG(fba, ecr)), =3D=3D, 0); + + /* disable */ + writel(FCREG(fba, mcr), 0xF890000F); + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xF890000F); +} + +static void flexcan_test_freeze_disable_interaction_impl(hwaddr fba) +{ + /* -- test normal <=3D> freeze <=3D> disable transitions -- */ + + /* leave freeze in disabled, FRZ_ACK should stay cleared */ + writel(FCREG(fba, mcr), 0xF890000F); /* disable */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xF890000F); + writel(FCREG(fba, mcr), 0xB890000F); /* by clearing FRZ */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xB890000F); + + writel(FCREG(fba, mcr), 0xF890000F); /* disable */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xF890000F); + writel(FCREG(fba, mcr), 0xE890000F); /* by clearing HALT */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xE890000F); + + writel(FCREG(fba, mcr), 0xF890000F); /* disable */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xF890000F); + writel(FCREG(fba, mcr), 0xA890000F); /* by clearing both */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0xA890000F); + + /* enter and leave freeze */ + writel(FCREG(fba, mcr), 0x7980000F); /* enable in freeze mode */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x7980000F); + writel(FCREG(fba, mcr), 0x3980000F); /* leave by clearing FRZ */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x3080000F); + + writel(FCREG(fba, mcr), 0x7980000F); /* enable in freeze mode */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x7980000F); + writel(FCREG(fba, mcr), 0x6980000F); /* leave by clearing HALT */ + g_assert_cmpuint(readl(FCREG(fba, mcr)), =3D=3D, 0x6080000F); +} + +static void flexcan_test_mailbox_io_impl(hwaddr ba_tx, hwaddr ba_rx) +{ + /* -- test correct handling of mailbox IO -- */ + const int test_1_mbidx =3D 0; + fc_reset(ba_tx, + FLEXCAN_MCR_SRX_DIS | FLEXCAN_MCR_MAXMB(FLEXCAN_MAILBOX_COUNT= )); + fc_reset(ba_rx, + FLEXCAN_MCR_SRX_DIS | FLEXCAN_MCR_MAXMB(FLEXCAN_MAILBOX_COUNT= )); + + fc_setup_rx_mb(ba_rx, test_1_mbidx); + fc_tx(ba_tx, test_1_mbidx, &fc_test_frame_1_ide); + g_assert_cmpuint(fc_get_irqs(ba_rx), =3D=3D, 1 << test_1_mbidx); + fc_rx_check(ba_rx, test_1_mbidx, &fc_test_frame_1_ide); + readl(FCREG(ba_rx, timer)); /* reset lock */ + + writel(FCMB(ba_rx, test_1_mbidx, 0), 0); + g_assert_cmpuint(readl(FCMB(ba_rx, test_1_mbidx, 0)), =3D=3D, 0); + writel(FCMB(ba_rx, test_1_mbidx, 1), 0x99AABBCC); + g_assert_cmpuint(readl(FCMB(ba_rx, test_1_mbidx, 1)), =3D=3D, 0x99AABB= CC); +} + +static void flexcan_test_dual_transmit_receive_impl(hwaddr ba_tx, hwaddr b= a_rx) +{ + /* -- test TX and RX between the two FlexCAN instances -- */ + const int test_1_mbidx =3D 50; + const int test_rounds =3D 50; + + /* self-receive enabled on tx FC */ + fc_reset(ba_tx, + FLEXCAN_MCR_MAXMB(FLEXCAN_MAILBOX_COUNT)); + fc_reset(ba_rx, + FLEXCAN_MCR_SRX_DIS | FLEXCAN_MCR_MAXMB(FLEXCAN_MAILBOX_COUNT= )); + + /* tests self-receive on tx and reception on rx */ + fc_setup_rx_mb(ba_rx, test_1_mbidx); + fc_check_empty(ba_rx, test_1_mbidx); + fc_setup_rx_mb(ba_tx, test_1_mbidx + 1); + fc_check_empty(ba_tx, test_1_mbidx + 1); + g_assert_cmpuint(fc_get_irqs(ba_rx), =3D=3D, 0); + g_assert_cmpuint(fc_get_irqs(ba_tx), =3D=3D, 0); + + fc_tx(ba_tx, test_1_mbidx, &fc_test_frame_1); + fc_clear_irq(ba_tx, test_1_mbidx); + + fc_rx_check(ba_rx, test_1_mbidx, &fc_test_frame_1); + fc_check_empty(ba_rx, test_1_mbidx); + fc_rx_check(ba_tx, test_1_mbidx + 1, &fc_test_frame_1); + int tx_non_empty_mbidxs[] =3D {test_1_mbidx, test_1_mbidx + 1}; + + fc_check_empty_multi(ba_tx, 2, tx_non_empty_mbidxs); + fc_clear_irq(ba_rx, test_1_mbidx); + fc_clear_irq(ba_tx, test_1_mbidx + 1); + readl(FCREG(ba_rx, timer)); /* reset lock */ + + for (int ridx =3D 0; ridx < test_rounds; ridx++) { + /* test extended IDs sent to all mailboxes */ + for (int i =3D 0; i < FLEXCAN_MAILBOX_COUNT; i++) { + fc_setup_rx_mb(ba_rx, i); + } + fc_check_empty_multi(ba_rx, 0, NULL); + g_assert_cmpuint(fc_get_irqs(ba_rx), =3D=3D, 0); + g_assert_cmpuint(fc_get_irqs(ba_tx), =3D=3D, 0); + + for (int i =3D 0; i < FLEXCAN_MAILBOX_COUNT; i++) { + fc_tx(ba_tx, i, &fc_test_frame_1_ide); + } + g_assert_cmpuint(fc_get_irqs(ba_rx), =3D=3D, UINT64_MAX); + g_assert_cmpuint(fc_get_irqs(ba_tx), =3D=3D, UINT64_MAX); + for (int i =3D 0; i < FLEXCAN_MAILBOX_COUNT; i++) { + fc_rx_check(ba_rx, i, &fc_test_frame_1_ide); + } + + /* reset interrupts */ + writel(FCREG(ba_rx, iflag1), UINT32_MAX); + writel(FCREG(ba_rx, iflag2), UINT32_MAX); + writel(FCREG(ba_tx, iflag1), UINT32_MAX); + writel(FCREG(ba_tx, iflag2), UINT32_MAX); + g_assert_cmpuint(fc_get_irqs(ba_rx), =3D=3D, 0); + g_assert_cmpuint(fc_get_irqs(ba_tx), =3D=3D, 0); + } +} + +static void flexcan_test_tx_abort_impl(hwaddr ba) +{ + /* -- test the TX abort feature -- */ + fc_reset(ba, + FLEXCAN_MCR_SRX_DIS | FLEXCAN_MCR_MAXMB(FLEXCAN_MAILBOX_COUNT= )); + + + for (int mbidx =3D 0; mbidx < FLEXCAN_MAILBOX_COUNT; mbidx++) { + fc_tx(ba, mbidx, &fc_test_frame_1); + + writel(FCMB(ba, mbidx, 0), FLEXCAN_MB_CODE_TX_ABORT); + g_assert_cmpuint(readl(FCMB(ba, mbidx, 0)), =3D=3D, + FLEXCAN_MB_CODE_TX_INACTIVE); + } +} + +static void flexcan_test_freeze_disable_interaction(void) +{ + qtest_start(FC_QEMU_ARGS); + flexcan_test_freeze_disable_interaction_impl(FSL_IMX6_CAN1_ADDR); + flexcan_test_freeze_disable_interaction_impl(FSL_IMX6_CAN2_ADDR); + qtest_end(); +} + +static void flexcan_test_linux_probe(void) +{ + qtest_start(FC_QEMU_ARGS); + flexcan_test_linux_probe_impl(FSL_IMX6_CAN1_ADDR); + flexcan_test_linux_probe_impl(FSL_IMX6_CAN2_ADDR); + qtest_end(); +} + +static void flexcan_test_dual_transmit_receive(void) +{ + qtest_start(FC_QEMU_ARGS); + flexcan_test_dual_transmit_receive_impl(FSL_IMX6_CAN1_ADDR, + FSL_IMX6_CAN2_ADDR); + flexcan_test_dual_transmit_receive_impl(FSL_IMX6_CAN2_ADDR, + FSL_IMX6_CAN1_ADDR); + qtest_end(); +} + +static void flexcan_test_tx_abort(void) +{ + qtest_start(FC_QEMU_ARGS); + flexcan_test_tx_abort_impl(FSL_IMX6_CAN1_ADDR); + flexcan_test_tx_abort_impl(FSL_IMX6_CAN2_ADDR); + qtest_end(); +} + +static void flexcan_test_mailbox_io(void) +{ + qtest_start(FC_QEMU_ARGS); + flexcan_test_mailbox_io_impl(FSL_IMX6_CAN1_ADDR, FSL_IMX6_CAN2_ADDR); + flexcan_test_mailbox_io_impl(FSL_IMX6_CAN2_ADDR, FSL_IMX6_CAN1_ADDR); + qtest_end(); +} + +int main(int argc, char **argv) +{ + g_test_init(&argc, &argv, NULL); + + qtest_add_func("/net/flexcan/linux_probe", flexcan_test_linux_probe); + qtest_add_func("/net/flexcan/freeze_disable_interaction", + flexcan_test_freeze_disable_interaction); + qtest_add_func("/net/flexcan/dual_transmit_receive", + flexcan_test_dual_transmit_receive); + qtest_add_func("/net/flexcan/tx_abort", + flexcan_test_tx_abort); + qtest_add_func("/net/flexcan/mailbox_io", flexcan_test_mailbox_io); + + return g_test_run(); +} diff --git a/tests/qtest/meson.build b/tests/qtest/meson.build index 43f83ffd3a..17e68d9963 100644 --- a/tests/qtest/meson.build +++ b/tests/qtest/meson.build @@ -248,6 +248,7 @@ qtests_arm =3D \ (config_all_devices.has_key('CONFIG_MICROBIT') ? ['microbit-test'] : [])= + \ (config_all_devices.has_key('CONFIG_STM32L4X5_SOC') ? qtests_stm32l4x5 := []) + \ (config_all_devices.has_key('CONFIG_FSI_APB2OPB_ASPEED') ? ['aspeed_fsi-= test'] : []) + \ + (config_all_devices.has_key('CONFIG_CAN_FLEXCAN') ? ['flexcan-test'] : [= ]) + \ (config_all_devices.has_key('CONFIG_STM32L4X5_SOC') and config_all_devices.has_key('CONFIG_DM163')? 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Signed-off-by: Maty=C3=A1=C5=A1 Bobek Signed-off-by: Pavel Pisa Tested-by: Pavel Pisa Reviewed-by: Bernhard Beschow Reviewed-by: Pavel Pisa --- docs/system/arm/sabrelite.rst | 1 + docs/system/devices/can.rst | 24 ++++++++++++++++++++++++ 2 files changed, 25 insertions(+) diff --git a/docs/system/arm/sabrelite.rst b/docs/system/arm/sabrelite.rst index 4ccb0560af..d3a3c01dd6 100644 --- a/docs/system/arm/sabrelite.rst +++ b/docs/system/arm/sabrelite.rst @@ -24,6 +24,7 @@ The SABRE Lite machine supports the following devices: * 4 SDHC storage controllers * 4 USB 2.0 host controllers * 5 ECSPI controllers + * 2 FlexCAN CAN controllers * 1 SST 25VF016B flash =20 Please note above list is a complete superset the QEMU SABRE Lite machine = can diff --git a/docs/system/devices/can.rst b/docs/system/devices/can.rst index 09121836fd..622f898952 100644 --- a/docs/system/devices/can.rst +++ b/docs/system/devices/can.rst @@ -173,6 +173,30 @@ The test can also be run the other way around, generat= ing messages in the guest system and capturing them in the host system. Other combinations are also possible. =20 +Examples on how to use CAN emulation for FlexCAN on SabreLite board +------------------------------------------------------------------- +FlexCANs are connected to QEMU CAN buses by passing the bus IDs as machine +properties: + +* property ``canbus0`` for connecting ``flexcan1`` +* property ``canbus1`` for connecting ``flexcan2`` + +Note that upstream Linux SabreLite DTs have only a single FlexCAN (``flexc= an1``) +enabled. + +An example command to run QEMU emulating a Sabrelite development board +with both FlexCANs connected to a single QEMU CAN bus (called ``qcan0``), +bridged to host system ``can0`` interface:: + + qemu-system-arm -M sabrelite -smp 4 -m 1G \ + -object can-bus,id=3Dqcan0 \ + -machine canbus0=3Dqcan0 -machine canbus1=3Dqcan0 \ + -object can-host-socketcan,if=3Dcan0,canbus=3Dqcan0,id=3Dqcan0-socketc= an \ + -kernel ... -dtb ... -initrd ... + +Note that in the Linux guest, bitrate for the FlexCAN device is ignored, +but needs to be set via the ``ip`` command. + Links to other resources ------------------------ =20 --=20 2.53.0