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-rw-r--r--docs/system/arm/xlnx-versal-virt.rst31
-rw-r--r--hw/arm/xlnx-versal-virt.c53
-rw-r--r--hw/arm/xlnx-versal.c37
-rw-r--r--include/hw/arm/xlnx-versal.h12
4 files changed, 133 insertions, 0 deletions
diff --git a/docs/system/arm/xlnx-versal-virt.rst b/docs/system/arm/xlnx-versal-virt.rst
index 92ad10d..d2d1b26 100644
--- a/docs/system/arm/xlnx-versal-virt.rst
+++ b/docs/system/arm/xlnx-versal-virt.rst
@@ -34,6 +34,7 @@ Implemented devices:
- DDR memory
- BBRAM (36 bytes of Battery-backed RAM)
- eFUSE (3072 bytes of one-time field-programmable bit array)
+- 2 CANFDs
QEMU does not yet model any other devices, including the PL and the AI Engine.
@@ -224,3 +225,33 @@ To use a different index value, N, from default of 1, add:
Better yet, do not use actual product data when running guest image
on this Xilinx Versal Virt board.
+
+Using CANFDs for Versal Virt
+""""""""""""""""""""""""""""
+Versal CANFD controller is developed based on SocketCAN and QEMU CAN bus
+implementation. Bus connection and socketCAN connection for each CAN module
+can be set through command lines.
+
+To connect both CANFD0 and CANFD1 on the same bus:
+
+.. code-block:: bash
+
+ -object can-bus,id=canbus -machine canbus0=canbus -machine canbus1=canbus
+
+To connect CANFD0 and CANFD1 to separate buses:
+
+.. code-block:: bash
+
+ -object can-bus,id=canbus0 -object can-bus,id=canbus1 \
+ -machine canbus0=canbus0 -machine canbus1=canbus1
+
+The SocketCAN interface can connect to a Physical or a Virtual CAN interfaces on
+the host machine. Please check this document to learn about CAN interface on
+Linux: docs/system/devices/can.rst
+
+To connect CANFD0 and CANFD1 to host machine's CAN interface can0:
+
+.. code-block:: bash
+
+ -object can-bus,id=canbus -machine canbus0=canbus -machine canbus1=canbus
+ -object can-host-socketcan,id=canhost0,if=can0,canbus=canbus
diff --git a/hw/arm/xlnx-versal-virt.c b/hw/arm/xlnx-versal-virt.c
index 668a9d6..1ee2b86 100644
--- a/hw/arm/xlnx-versal-virt.c
+++ b/hw/arm/xlnx-versal-virt.c
@@ -40,9 +40,11 @@ struct VersalVirt {
uint32_t clk_25Mhz;
uint32_t usb;
uint32_t dwc;
+ uint32_t canfd[2];
} phandle;
struct arm_boot_info binfo;
+ CanBusState *canbus[XLNX_VERSAL_NR_CANFD];
struct {
bool secure;
} cfg;
@@ -235,6 +237,38 @@ static void fdt_add_uart_nodes(VersalVirt *s)
}
}
+static void fdt_add_canfd_nodes(VersalVirt *s)
+{
+ uint64_t addrs[] = { MM_CANFD1, MM_CANFD0 };
+ uint32_t size[] = { MM_CANFD1_SIZE, MM_CANFD0_SIZE };
+ unsigned int irqs[] = { VERSAL_CANFD1_IRQ_0, VERSAL_CANFD0_IRQ_0 };
+ const char clocknames[] = "can_clk\0s_axi_aclk";
+ int i;
+
+ /* Create and connect CANFD0 and CANFD1 nodes to canbus0. */
+ for (i = 0; i < ARRAY_SIZE(addrs); i++) {
+ char *name = g_strdup_printf("/canfd@%" PRIx64, addrs[i]);
+ qemu_fdt_add_subnode(s->fdt, name);
+
+ qemu_fdt_setprop_cell(s->fdt, name, "rx-fifo-depth", 0x40);
+ qemu_fdt_setprop_cell(s->fdt, name, "tx-mailbox-count", 0x20);
+
+ qemu_fdt_setprop_cells(s->fdt, name, "clocks",
+ s->phandle.clk_25Mhz, s->phandle.clk_25Mhz);
+ qemu_fdt_setprop(s->fdt, name, "clock-names",
+ clocknames, sizeof(clocknames));
+ qemu_fdt_setprop_cells(s->fdt, name, "interrupts",
+ GIC_FDT_IRQ_TYPE_SPI, irqs[i],
+ GIC_FDT_IRQ_FLAGS_LEVEL_HI);
+ qemu_fdt_setprop_sized_cells(s->fdt, name, "reg",
+ 2, addrs[i], 2, size[i]);
+ qemu_fdt_setprop_string(s->fdt, name, "compatible",
+ "xlnx,canfd-2.0");
+
+ g_free(name);
+ }
+}
+
static void fdt_add_fixed_link_nodes(VersalVirt *s, char *gemname,
uint32_t phandle)
{
@@ -639,12 +673,17 @@ static void versal_virt_init(MachineState *machine)
TYPE_XLNX_VERSAL);
object_property_set_link(OBJECT(&s->soc), "ddr", OBJECT(machine->ram),
&error_abort);
+ object_property_set_link(OBJECT(&s->soc), "canbus0", OBJECT(s->canbus[0]),
+ &error_abort);
+ object_property_set_link(OBJECT(&s->soc), "canbus1", OBJECT(s->canbus[1]),
+ &error_abort);
sysbus_realize(SYS_BUS_DEVICE(&s->soc), &error_fatal);
fdt_create(s);
create_virtio_regions(s);
fdt_add_gem_nodes(s);
fdt_add_uart_nodes(s);
+ fdt_add_canfd_nodes(s);
fdt_add_gic_nodes(s);
fdt_add_timer_nodes(s);
fdt_add_zdma_nodes(s);
@@ -712,6 +751,20 @@ static void versal_virt_init(MachineState *machine)
static void versal_virt_machine_instance_init(Object *obj)
{
+ VersalVirt *s = XLNX_VERSAL_VIRT_MACHINE(obj);
+
+ /*
+ * User can set canbus0 and canbus1 properties to can-bus object and connect
+ * to socketcan(optional) interface via command line.
+ */
+ 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 versal_virt_machine_class_init(ObjectClass *oc, void *data)
diff --git a/hw/arm/xlnx-versal.c b/hw/arm/xlnx-versal.c
index 69b1b99..1594dd6 100644
--- a/hw/arm/xlnx-versal.c
+++ b/hw/arm/xlnx-versal.c
@@ -184,6 +184,38 @@ static void versal_create_uarts(Versal *s, qemu_irq *pic)
}
}
+static void versal_create_canfds(Versal *s, qemu_irq *pic)
+{
+ int i;
+ uint32_t irqs[] = { VERSAL_CANFD0_IRQ_0, VERSAL_CANFD1_IRQ_0};
+ uint64_t addrs[] = { MM_CANFD0, MM_CANFD1 };
+
+ for (i = 0; i < ARRAY_SIZE(s->lpd.iou.canfd); i++) {
+ char *name = g_strdup_printf("canfd%d", i);
+ SysBusDevice *sbd;
+ MemoryRegion *mr;
+
+ object_initialize_child(OBJECT(s), name, &s->lpd.iou.canfd[i],
+ TYPE_XILINX_CANFD);
+ sbd = SYS_BUS_DEVICE(&s->lpd.iou.canfd[i]);
+
+ object_property_set_int(OBJECT(&s->lpd.iou.canfd[i]), "ext_clk_freq",
+ XLNX_VERSAL_CANFD_REF_CLK , &error_abort);
+
+ object_property_set_link(OBJECT(&s->lpd.iou.canfd[i]), "canfdbus",
+ OBJECT(s->lpd.iou.canbus[i]),
+ &error_abort);
+
+ sysbus_realize(sbd, &error_fatal);
+
+ mr = sysbus_mmio_get_region(sbd, 0);
+ memory_region_add_subregion(&s->mr_ps, addrs[i], mr);
+
+ sysbus_connect_irq(sbd, 0, pic[irqs[i]]);
+ g_free(name);
+ }
+}
+
static void versal_create_usbs(Versal *s, qemu_irq *pic)
{
DeviceState *dev;
@@ -718,6 +750,7 @@ static void versal_realize(DeviceState *dev, Error **errp)
versal_create_apu_gic(s, pic);
versal_create_rpu_cpus(s);
versal_create_uarts(s, pic);
+ versal_create_canfds(s, pic);
versal_create_usbs(s, pic);
versal_create_gems(s, pic);
versal_create_admas(s, pic);
@@ -757,6 +790,10 @@ static void versal_init(Object *obj)
static Property versal_properties[] = {
DEFINE_PROP_LINK("ddr", Versal, cfg.mr_ddr, TYPE_MEMORY_REGION,
MemoryRegion *),
+ DEFINE_PROP_LINK("canbus0", Versal, lpd.iou.canbus[0],
+ TYPE_CAN_BUS, CanBusState *),
+ DEFINE_PROP_LINK("canbus1", Versal, lpd.iou.canbus[1],
+ TYPE_CAN_BUS, CanBusState *),
DEFINE_PROP_END_OF_LIST()
};
diff --git a/include/hw/arm/xlnx-versal.h b/include/hw/arm/xlnx-versal.h
index b6786e9..39ee311 100644
--- a/include/hw/arm/xlnx-versal.h
+++ b/include/hw/arm/xlnx-versal.h
@@ -31,6 +31,7 @@
#include "hw/dma/xlnx_csu_dma.h"
#include "hw/misc/xlnx-versal-crl.h"
#include "hw/misc/xlnx-versal-pmc-iou-slcr.h"
+#include "hw/net/xlnx-versal-canfd.h"
#define TYPE_XLNX_VERSAL "xlnx-versal"
OBJECT_DECLARE_SIMPLE_TYPE(Versal, XLNX_VERSAL)
@@ -43,6 +44,8 @@ OBJECT_DECLARE_SIMPLE_TYPE(Versal, XLNX_VERSAL)
#define XLNX_VERSAL_NR_SDS 2
#define XLNX_VERSAL_NR_XRAM 4
#define XLNX_VERSAL_NR_IRQS 192
+#define XLNX_VERSAL_NR_CANFD 2
+#define XLNX_VERSAL_CANFD_REF_CLK (24 * 1000 * 1000)
struct Versal {
/*< private >*/
@@ -73,6 +76,8 @@ struct Versal {
CadenceGEMState gem[XLNX_VERSAL_NR_GEMS];
XlnxZDMA adma[XLNX_VERSAL_NR_ADMAS];
VersalUsb2 usb;
+ CanBusState *canbus[XLNX_VERSAL_NR_CANFD];
+ XlnxVersalCANFDState canfd[XLNX_VERSAL_NR_CANFD];
} iou;
/* Real-time Processing Unit. */
@@ -133,6 +138,8 @@ struct Versal {
#define VERSAL_CRL_IRQ 10
#define VERSAL_UART0_IRQ_0 18
#define VERSAL_UART1_IRQ_0 19
+#define VERSAL_CANFD0_IRQ_0 20
+#define VERSAL_CANFD1_IRQ_0 21
#define VERSAL_USB0_IRQ_0 22
#define VERSAL_GEM0_IRQ_0 56
#define VERSAL_GEM0_WAKE_IRQ_0 57
@@ -163,6 +170,11 @@ struct Versal {
#define MM_UART1 0xff010000U
#define MM_UART1_SIZE 0x10000
+#define MM_CANFD0 0xff060000U
+#define MM_CANFD0_SIZE 0x10000
+#define MM_CANFD1 0xff070000U
+#define MM_CANFD1_SIZE 0x10000
+
#define MM_GEM0 0xff0c0000U
#define MM_GEM0_SIZE 0x10000
#define MM_GEM1 0xff0d0000U
generated by cgit v1.1 at 2025-01-11 05:52:16 +0000