diff options
| -rw-r--r-- | hw/net/Kconfig | 11 | ||||
| -rw-r--r-- | hw/net/can/ctucan_core.c | 696 | ||||
| -rw-r--r-- | hw/net/can/ctucan_core.h | 127 | ||||
| -rw-r--r-- | hw/net/can/ctucan_pci.c | 281 | ||||
| -rw-r--r-- | hw/net/can/meson.build | 2 |
5 files changed, 1117 insertions, 0 deletions
diff --git a/hw/net/Kconfig b/hw/net/Kconfig index e43c96d..225d948 100644 --- a/hw/net/Kconfig +++ b/hw/net/Kconfig @@ -143,3 +143,14 @@ config CAN_SJA1000 default y if PCI_DEVICES depends on PCI select CAN_BUS + +config CAN_CTUCANFD + bool + default y if PCI_DEVICES + select CAN_BUS + +config CAN_CTUCANFD_PCI + bool + default y if PCI_DEVICES + depends on PCI && CAN_CTUCANFD + select CAN_BUS diff --git a/hw/net/can/ctucan_core.c b/hw/net/can/ctucan_core.c new file mode 100644 index 0000000..d20835c --- /dev/null +++ b/hw/net/can/ctucan_core.c @@ -0,0 +1,696 @@ +/* + * CTU CAN FD PCI device emulation + * http://canbus.pages.fel.cvut.cz/ + * + * Copyright (c) 2019 Jan Charvat (jancharvat.charvat@gmail.com) + * + * Based on Kvaser PCI CAN device (SJA1000 based) emulation implemented by + * Jin Yang and Pavel Pisa + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "qemu/osdep.h" +#include "qemu/log.h" +#include "chardev/char.h" +#include "hw/irq.h" +#include "migration/vmstate.h" +#include "net/can_emu.h" + +#include "ctucan_core.h" + +#ifndef DEBUG_CAN +#define DEBUG_CAN 0 +#endif /*DEBUG_CAN*/ + +#define DPRINTF(fmt, ...) \ + do { \ + if (DEBUG_CAN) { \ + qemu_log("[ctucan]: " fmt , ## __VA_ARGS__); \ + } \ + } while (0) + +static void ctucan_buff2frame(const uint8_t *buff, qemu_can_frame *frame) +{ + frame->can_id = 0; + frame->can_dlc = 0; + frame->flags = 0; + + if (buff == NULL) { + return; + } + { + union ctu_can_fd_frame_form_w frame_form_w; + union ctu_can_fd_identifier_w identifier_w; + unsigned int ide; + uint32_t w; + + w = le32_to_cpu(*(uint32_t *)buff); + frame_form_w = (union ctu_can_fd_frame_form_w)w; + frame->can_dlc = can_dlc2len(frame_form_w.s.dlc); + + w = le32_to_cpu(*(uint32_t *)(buff + 4)); + identifier_w = (union ctu_can_fd_identifier_w)w; + + ide = frame_form_w.s.ide; + if (ide) { + frame->can_id = (identifier_w.s.identifier_base << 18) | + identifier_w.s.identifier_ext; + frame->can_id |= QEMU_CAN_EFF_FLAG; + } else { + frame->can_id = identifier_w.s.identifier_base; + } + + if (frame_form_w.s.esi_rsv) { + frame->flags |= QEMU_CAN_FRMF_ESI; + } + + if (frame_form_w.s.rtr) { + frame->can_id |= QEMU_CAN_RTR_FLAG; + } + + if (frame_form_w.s.fdf) { /*CAN FD*/ + frame->flags |= QEMU_CAN_FRMF_TYPE_FD; + if (frame_form_w.s.brs) { + frame->flags |= QEMU_CAN_FRMF_BRS; + } + } + } + + memcpy(frame->data, buff + 0x10, 0x40); +} + + +static int ctucan_frame2buff(const qemu_can_frame *frame, uint8_t *buff) +{ + unsigned int bytes_cnt = -1; + memset(buff, 0, CTUCAN_MSG_MAX_LEN * sizeof(*buff)); + + if (frame == NULL) { + return bytes_cnt; + } + { + union ctu_can_fd_frame_form_w frame_form_w; + union ctu_can_fd_identifier_w identifier_w; + + frame_form_w.u32 = 0; + identifier_w.u32 = 0; + + bytes_cnt = frame->can_dlc; + bytes_cnt = (bytes_cnt + 3) & ~3; + bytes_cnt += 16; + frame_form_w.s.rwcnt = (bytes_cnt >> 2) - 1; + + frame_form_w.s.dlc = can_len2dlc(frame->can_dlc); + + if (frame->can_id & QEMU_CAN_EFF_FLAG) { + frame_form_w.s.ide = 1; + identifier_w.s.identifier_base = + (frame->can_id & 0x1FFC0000) >> 18; + identifier_w.s.identifier_ext = frame->can_id & 0x3FFFF; + } else { + identifier_w.s.identifier_base = frame->can_id & 0x7FF; + } + + if (frame->flags & QEMU_CAN_FRMF_ESI) { + frame_form_w.s.esi_rsv = 1; + } + + if (frame->can_id & QEMU_CAN_RTR_FLAG) { + frame_form_w.s.rtr = 1; + } + + if (frame->flags & QEMU_CAN_FRMF_TYPE_FD) { /*CAN FD*/ + frame_form_w.s.fdf = 1; + if (frame->flags & QEMU_CAN_FRMF_BRS) { + frame_form_w.s.brs = 1; + } + } + *(uint32_t *)buff = cpu_to_le32(frame_form_w.u32); + *(uint32_t *)(buff + 4) = cpu_to_le32(identifier_w.u32); + } + + memcpy(buff + 0x10, frame->data, 0x40); + + return bytes_cnt; +} + +static void ctucan_update_irq(CtuCanCoreState *s) +{ + union ctu_can_fd_int_stat int_rq; + + int_rq.u32 = 0; + + if (s->rx_status_rx_settings.s.rxfrc) { + int_rq.s.rbnei = 1; + } + + int_rq.u32 &= ~s->int_mask.u32; + s->int_stat.u32 |= int_rq.u32; + if (s->int_stat.u32 & s->int_ena.u32) { + qemu_irq_raise(s->irq); + } else { + qemu_irq_lower(s->irq); + } +} + +static void ctucan_update_txnf(CtuCanCoreState *s) +{ + int i; + int txnf; + unsigned int buff_st; + + txnf = 0; + + for (i = 0; i < CTUCAN_CORE_TXBUF_NUM; i++) { + buff_st = (s->tx_status.u32 >> (i * 4)) & 0xf; + if (buff_st == TXT_ETY) { + txnf = 1; + } + } + s->status.s.txnf = txnf; +} + +void ctucan_hardware_reset(CtuCanCoreState *s) +{ + DPRINTF("Hardware reset in progress!!!\n"); + int i; + unsigned int buff_st; + uint32_t buff_st_mask; + + s->tx_status.u32 = 0; + for (i = 0; i < CTUCAN_CORE_TXBUF_NUM; i++) { + buff_st_mask = 0xf << (i * 4); + buff_st = TXT_ETY; + s->tx_status.u32 = (s->tx_status.u32 & ~buff_st_mask) | + (buff_st << (i * 4)); + } + s->status.s.idle = 1; + + ctucan_update_txnf(s); + + s->rx_status_rx_settings.u32 = 0; + s->rx_tail_pos = 0; + s->rx_cnt = 0; + s->rx_frame_rem = 0; + + /* Flush RX buffer */ + s->rx_tail_pos = 0; + s->rx_cnt = 0; + s->rx_frame_rem = 0; + + /* Set on progdokum reset value */ + s->mode_settings.u32 = 0; + s->mode_settings.s.fde = 1; + + s->int_stat.u32 = 0; + s->int_ena.u32 = 0; + s->int_mask.u32 = 0; + + s->rx_status_rx_settings.u32 = 0; + s->rx_status_rx_settings.s.rxe = 0; + + s->rx_fr_ctr.u32 = 0; + s->tx_fr_ctr.u32 = 0; + + s->yolo_reg.s.yolo_val = 3735928559; + + qemu_irq_lower(s->irq); +} + +static void ctucan_send_ready_buffers(CtuCanCoreState *s) +{ + qemu_can_frame frame; + uint8_t *pf; + int buff2tx_idx; + uint32_t tx_prio_max; + unsigned int buff_st; + uint32_t buff_st_mask; + + if (!s->mode_settings.s.ena) { + return; + } + + do { + union ctu_can_fd_int_stat int_stat; + int i; + buff2tx_idx = -1; + tx_prio_max = 0; + + for (i = 0; i < CTUCAN_CORE_TXBUF_NUM; i++) { + uint32_t prio; + + buff_st_mask = 0xf << (i * 4); + buff_st = (s->tx_status.u32 >> (i * 4)) & 0xf; + + if (buff_st != TXT_RDY) { + continue; + } + prio = (s->tx_priority.u32 >> (i * 4)) & 0x7; + if (tx_prio_max < prio) { + tx_prio_max = prio; + buff2tx_idx = i; + } + } + if (buff2tx_idx == -1) { + break; + } + buff_st_mask = 0xf << (buff2tx_idx * 4); + buff_st = (s->tx_status.u32 >> (buff2tx_idx * 4)) & 0xf; + int_stat.u32 = 0; + buff_st = TXT_RDY; + pf = s->tx_buffer[buff2tx_idx].data; + ctucan_buff2frame(pf, &frame); + s->status.s.idle = 0; + s->status.s.txs = 1; + can_bus_client_send(&s->bus_client, &frame, 1); + s->status.s.idle = 1; + s->status.s.txs = 0; + s->tx_fr_ctr.s.tx_fr_ctr_val++; + buff_st = TXT_TOK; + int_stat.s.txi = 1; + int_stat.s.txbhci = 1; + s->int_stat.u32 |= int_stat.u32 & ~s->int_mask.u32; + s->tx_status.u32 = (s->tx_status.u32 & ~buff_st_mask) | + (buff_st << (buff2tx_idx * 4)); + } while (1); +} + +#define CTUCAN_CORE_TXBUFF_SPAN \ + (CTU_CAN_FD_TXTB2_DATA_1 - CTU_CAN_FD_TXTB1_DATA_1) + +void ctucan_mem_write(CtuCanCoreState *s, hwaddr addr, uint64_t val, + unsigned size) +{ + int i; + + DPRINTF("write 0x%02llx addr 0x%02x\n", + (unsigned long long)val, (unsigned int)addr); + + if (addr > CTUCAN_CORE_MEM_SIZE) { + return; + } + + if (addr >= CTU_CAN_FD_TXTB1_DATA_1) { + int buff_num; + addr -= CTU_CAN_FD_TXTB1_DATA_1; + buff_num = addr / CTUCAN_CORE_TXBUFF_SPAN; + addr %= CTUCAN_CORE_TXBUFF_SPAN; + if (buff_num < CTUCAN_CORE_TXBUF_NUM) { + uint32_t *bufp = (uint32_t *)(s->tx_buffer[buff_num].data + addr); + *bufp = cpu_to_le32(val); + } + } else { + switch (addr & ~3) { + case CTU_CAN_FD_MODE: + s->mode_settings.u32 = (uint32_t)val; + if (s->mode_settings.s.rst) { + ctucan_hardware_reset(s); + s->mode_settings.s.rst = 0; + } + break; + case CTU_CAN_FD_COMMAND: + { + union ctu_can_fd_command command; + command.u32 = (uint32_t)val; + if (command.s.cdo) { + s->status.s.dor = 0; + } + if (command.s.rrb) { + s->rx_tail_pos = 0; + s->rx_cnt = 0; + s->rx_frame_rem = 0; + s->rx_status_rx_settings.s.rxfrc = 0; + } + if (command.s.txfcrst) { + s->tx_fr_ctr.s.tx_fr_ctr_val = 0; + } + if (command.s.rxfcrst) { + s->rx_fr_ctr.s.rx_fr_ctr_val = 0; + } + break; + } + case CTU_CAN_FD_INT_STAT: + s->int_stat.u32 &= ~(uint32_t)val; + break; + case CTU_CAN_FD_INT_ENA_SET: + s->int_ena.u32 |= (uint32_t)val; + break; + case CTU_CAN_FD_INT_ENA_CLR: + s->int_ena.u32 &= ~(uint32_t)val; + break; + case CTU_CAN_FD_INT_MASK_SET: + s->int_mask.u32 |= (uint32_t)val; + break; + case CTU_CAN_FD_INT_MASK_CLR: + s->int_mask.u32 &= ~(uint32_t)val; + break; + case CTU_CAN_FD_TX_COMMAND: + if (s->mode_settings.s.ena) { + union ctu_can_fd_tx_command tx_command; + union ctu_can_fd_tx_command mask; + unsigned int buff_st; + uint32_t buff_st_mask; + + tx_command.u32 = (uint32_t)val; + mask.u32 = 0; + mask.s.txb1 = 1; + + for (i = 0; i < CTUCAN_CORE_TXBUF_NUM; i++) { + if (!(tx_command.u32 & (mask.u32 << i))) { + continue; + } + buff_st_mask = 0xf << (i * 4); + buff_st = (s->tx_status.u32 >> (i * 4)) & 0xf; + if (tx_command.s.txca) { + if (buff_st == TXT_RDY) { + buff_st = TXT_ABT; + } + } + if (tx_command.s.txcr) { + if ((buff_st == TXT_TOK) || (buff_st == TXT_ERR) || + (buff_st == TXT_ABT) || (buff_st == TXT_ETY)) + buff_st = TXT_RDY; + } + if (tx_command.s.txce) { + if ((buff_st == TXT_TOK) || (buff_st == TXT_ERR) || + (buff_st == TXT_ABT)) + buff_st = TXT_ETY; + } + s->tx_status.u32 = (s->tx_status.u32 & ~buff_st_mask) | + (buff_st << (i * 4)); + } + + ctucan_send_ready_buffers(s); + ctucan_update_txnf(s); + } + break; + case CTU_CAN_FD_TX_PRIORITY: + s->tx_priority.u32 = (uint32_t)val; + break; + } + + ctucan_update_irq(s); + } + + return; +} + +uint64_t ctucan_mem_read(CtuCanCoreState *s, hwaddr addr, unsigned size) +{ + uint32_t val = 0; + + DPRINTF("read addr 0x%02x ...\n", (unsigned int)addr); + + if (addr > CTUCAN_CORE_MEM_SIZE) { + return 0; + } + + switch (addr & ~3) { + case CTU_CAN_FD_DEVICE_ID: + { + union ctu_can_fd_device_id_version idver; + idver.u32 = 0; + idver.s.device_id = CTU_CAN_FD_ID; + idver.s.ver_major = 2; + idver.s.ver_minor = 2; + val = idver.u32; + } + break; + case CTU_CAN_FD_MODE: + val = s->mode_settings.u32; + break; + case CTU_CAN_FD_STATUS: + val = s->status.u32; + break; + case CTU_CAN_FD_INT_STAT: + val = s->int_stat.u32; + break; + case CTU_CAN_FD_INT_ENA_SET: + case CTU_CAN_FD_INT_ENA_CLR: + val = s->int_ena.u32; + break; + case CTU_CAN_FD_INT_MASK_SET: + case CTU_CAN_FD_INT_MASK_CLR: + val = s->int_mask.u32; + break; + case CTU_CAN_FD_RX_MEM_INFO: + s->rx_mem_info.u32 = 0; + s->rx_mem_info.s.rx_buff_size = CTUCAN_RCV_BUF_LEN >> 2; + s->rx_mem_info.s.rx_mem_free = (CTUCAN_RCV_BUF_LEN - + s->rx_cnt) >> 2; + val = s->rx_mem_info.u32; + break; + case CTU_CAN_FD_RX_POINTERS: + { + uint32_t rx_head_pos = s->rx_tail_pos + s->rx_cnt; + rx_head_pos %= CTUCAN_RCV_BUF_LEN; + s->rx_pointers.s.rx_wpp = rx_head_pos; + s->rx_pointers.s.rx_rpp = s->rx_tail_pos; + val = s->rx_pointers.u32; + break; + } + case CTU_CAN_FD_RX_STATUS: + case CTU_CAN_FD_RX_SETTINGS: + if (!s->rx_status_rx_settings.s.rxfrc) { + s->rx_status_rx_settings.s.rxe = 1; + } else { + s->rx_status_rx_settings.s.rxe = 0; + } + if (((s->rx_cnt + 3) & ~3) == CTUCAN_RCV_BUF_LEN) { + s->rx_status_rx_settings.s.rxf = 1; + } else { + s->rx_status_rx_settings.s.rxf = 0; + } + val = s->rx_status_rx_settings.u32; + break; + case CTU_CAN_FD_RX_DATA: + if (s->rx_cnt) { + memcpy(&val, s->rx_buff + s->rx_tail_pos, 4); + val = le32_to_cpu(val); + if (!s->rx_frame_rem) { + union ctu_can_fd_frame_form_w frame_form_w; + frame_form_w.u32 = val; + s->rx_frame_rem = frame_form_w.s.rwcnt * 4 + 4; + } + s->rx_cnt -= 4; + s->rx_frame_rem -= 4; + if (!s->rx_frame_rem) { + s->rx_status_rx_settings.s.rxfrc--; + if (!s->rx_status_rx_settings.s.rxfrc) { + s->status.s.rxne = 0; + s->status.s.idle = 1; + s->status.s.rxs = 0; + } + } + s->rx_tail_pos = (s->rx_tail_pos + 4) % CTUCAN_RCV_BUF_LEN; + } else { + val = 0; + } + break; + case CTU_CAN_FD_TX_STATUS: + val = s->tx_status.u32; + break; + case CTU_CAN_FD_TX_PRIORITY: + val = s->tx_priority.u32; + break; + case CTU_CAN_FD_RX_FR_CTR: + val = s->rx_fr_ctr.s.rx_fr_ctr_val; + break; + case CTU_CAN_FD_TX_FR_CTR: + val = s->tx_fr_ctr.s.tx_fr_ctr_val; + break; + case CTU_CAN_FD_YOLO_REG: + val = s->yolo_reg.s.yolo_val; + break; + } + + val >>= ((addr & 3) << 3); + if (size < 8) { + val &= ((uint64_t)1 << (size << 3)) - 1; + } + + return val; +} + +bool ctucan_can_receive(CanBusClientState *client) +{ + CtuCanCoreState *s = container_of(client, CtuCanCoreState, bus_client); + + if (!s->mode_settings.s.ena) { + return false; + } + + return true; /* always return true, when operation mode */ +} + +ssize_t ctucan_receive(CanBusClientState *client, const qemu_can_frame *frames, + size_t frames_cnt) +{ + CtuCanCoreState *s = container_of(client, CtuCanCoreState, bus_client); + static uint8_t rcv[CTUCAN_MSG_MAX_LEN]; + int i; + int ret = -1; + const qemu_can_frame *frame = frames; + union ctu_can_fd_int_stat int_stat; + int_stat.u32 = 0; + + if (frames_cnt <= 0) { + return 0; + } + + ret = ctucan_frame2buff(frame, rcv); + + if (s->rx_cnt + ret > CTUCAN_RCV_BUF_LEN) { /* Data overrun. */ + s->status.s.dor = 1; + int_stat.s.doi = 1; + s->int_stat.u32 |= int_stat.u32 & ~s->int_mask.u32; + ctucan_update_irq(s); + DPRINTF("Receive FIFO overrun\n"); + return ret; + } + s->status.s.idle = 0; + s->status.s.rxs = 1; + int_stat.s.rxi = 1; + if (((s->rx_cnt + 3) & ~3) == CTUCAN_RCV_BUF_LEN) { + int_stat.s.rxfi = 1; + } + s->int_stat.u32 |= int_stat.u32 & ~s->int_mask.u32; + s->rx_fr_ctr.s.rx_fr_ctr_val++; + s->rx_status_rx_settings.s.rxfrc++; + for (i = 0; i < ret; i++) { + s->rx_buff[(s->rx_tail_pos + s->rx_cnt) % CTUCAN_RCV_BUF_LEN] = rcv[i]; + s->rx_cnt++; + } + s->status.s.rxne = 1; + + ctucan_update_irq(s); + + return 1; +} + +static CanBusClientInfo ctucan_bus_client_info = { + .can_receive = ctucan_can_receive, + .receive = ctucan_receive, +}; + + +int ctucan_connect_to_bus(CtuCanCoreState *s, CanBusState *bus) +{ + s->bus_client.info = &ctucan_bus_client_info; + + if (!bus) { + return -EINVAL; + } + + if (can_bus_insert_client(bus, &s->bus_client) < 0) { + return -1; + } + + return 0; +} + +void ctucan_disconnect(CtuCanCoreState *s) +{ + can_bus_remove_client(&s->bus_client); +} + +int ctucan_init(CtuCanCoreState *s, qemu_irq irq) +{ + s->irq = irq; + + qemu_irq_lower(s->irq); + + ctucan_hardware_reset(s); + + return 0; +} + +const VMStateDescription vmstate_qemu_ctucan_tx_buffer = { + .name = "qemu_ctucan_tx_buffer", + .version_id = 1, + .minimum_version_id = 1, + .minimum_version_id_old = 1, + .fields = (VMStateField[]) { + VMSTATE_UINT8_ARRAY(data, CtuCanCoreMsgBuffer, CTUCAN_CORE_MSG_MAX_LEN), + VMSTATE_END_OF_LIST() + } +}; + +static int ctucan_post_load(void *opaque, int version_id) +{ + CtuCanCoreState *s = opaque; + ctucan_update_irq(s); + return 0; +} + +/* VMState is needed for live migration of QEMU images */ +const VMStateDescription vmstate_ctucan = { + .name = "ctucan", + .version_id = 1, + .minimum_version_id = 1, + .minimum_version_id_old = 1, + .post_load = ctucan_post_load, + .fields = (VMStateField[]) { + VMSTATE_UINT32(mode_settings.u32, CtuCanCoreState), + VMSTATE_UINT32(status.u32, CtuCanCoreState), + VMSTATE_UINT32(int_stat.u32, CtuCanCoreState), + VMSTATE_UINT32(int_ena.u32, CtuCanCoreState), + VMSTATE_UINT32(int_mask.u32, CtuCanCoreState), + VMSTATE_UINT32(brt.u32, CtuCanCoreState), + VMSTATE_UINT32(brt_fd.u32, CtuCanCoreState), + VMSTATE_UINT32(ewl_erp_fault_state.u32, CtuCanCoreState), + VMSTATE_UINT32(rec_tec.u32, CtuCanCoreState), + VMSTATE_UINT32(err_norm_err_fd.u32, CtuCanCoreState), + VMSTATE_UINT32(ctr_pres.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_a_mask.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_a_val.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_b_mask.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_b_val.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_c_mask.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_c_val.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_ran_low.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_ran_high.u32, CtuCanCoreState), + VMSTATE_UINT32(filter_control_filter_status.u32, CtuCanCoreState), + VMSTATE_UINT32(rx_mem_info.u32, CtuCanCoreState), + VMSTATE_UINT32(rx_pointers.u32, CtuCanCoreState), + VMSTATE_UINT32(rx_status_rx_settings.u32, CtuCanCoreState), + VMSTATE_UINT32(tx_status.u32, CtuCanCoreState), + VMSTATE_UINT32(tx_priority.u32, CtuCanCoreState), + VMSTATE_UINT32(err_capt_alc.u32, CtuCanCoreState), + VMSTATE_UINT32(trv_delay_ssp_cfg.u32, CtuCanCoreState), + VMSTATE_UINT32(rx_fr_ctr.u32, CtuCanCoreState), + VMSTATE_UINT32(tx_fr_ctr.u32, CtuCanCoreState), + VMSTATE_UINT32(debug_register.u32, CtuCanCoreState), + VMSTATE_UINT32(yolo_reg.u32, CtuCanCoreState), + VMSTATE_UINT32(timestamp_low.u32, CtuCanCoreState), + VMSTATE_UINT32(timestamp_high.u32, CtuCanCoreState), + + VMSTATE_STRUCT_ARRAY(tx_buffer, CtuCanCoreState, + CTUCAN_CORE_TXBUF_NUM, 0, vmstate_qemu_ctucan_tx_buffer, + CtuCanCoreMsgBuffer), + + VMSTATE_BUFFER(rx_buff, CtuCanCoreState), + VMSTATE_UINT32(rx_tail_pos, CtuCanCoreState), + VMSTATE_UINT32(rx_cnt, CtuCanCoreState), + VMSTATE_UINT32(rx_frame_rem, CtuCanCoreState), + + VMSTATE_END_OF_LIST() + } +}; diff --git a/hw/net/can/ctucan_core.h b/hw/net/can/ctucan_core.h new file mode 100644 index 0000000..f21cb1c --- /dev/null +++ b/hw/net/can/ctucan_core.h @@ -0,0 +1,127 @@ +/* + * CTU CAN FD device emulation + * http://canbus.pages.fel.cvut.cz/ + * + * Copyright (c) 2019 Jan Charvat (jancharvat.charvat@gmail.com) + * + * Based on Kvaser PCI CAN device (SJA1000 based) emulation implemented by + * Jin Yang and Pavel Pisa + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ +#ifndef HW_CAN_CTUCAN_CORE_H +#define HW_CAN_CTUCAN_CORE_H + +#include "exec/hwaddr.h" +#include "net/can_emu.h" + + +#ifndef __LITTLE_ENDIAN_BITFIELD +#define __LITTLE_ENDIAN_BITFIELD 1 +#endif + +#include "ctu_can_fd_frame.h" +#include "ctu_can_fd_regs.h" + +#define CTUCAN_CORE_MEM_SIZE 0x500 + +/* The max size for a message in FIFO */ +#define CTUCAN_MSG_MAX_LEN (CTU_CAN_FD_DATA_1_4_W + 64) +/* The receive buffer size. */ +#define CTUCAN_RCV_BUF_LEN (1024 * 8) + + +/* The max size for a message buffer */ +#define CTUCAN_CORE_MSG_MAX_LEN 0x50 +/* The receive buffer size. */ +#define CTUCAN_CORE_RCV_BUF_LEN 0x1000 + +#define CTUCAN_CORE_TXBUF_NUM 4 + +typedef struct CtuCanCoreMsgBuffer { + uint8_t data[CTUCAN_CORE_MSG_MAX_LEN]; +} CtuCanCoreMsgBuffer; + +typedef struct CtuCanCoreState { + union ctu_can_fd_mode_settings mode_settings; + union ctu_can_fd_status status; + union ctu_can_fd_int_stat int_stat; + union ctu_can_fd_int_ena_set int_ena; + union ctu_can_fd_int_mask_set int_mask; + union ctu_can_fd_btr brt; + union ctu_can_fd_btr_fd brt_fd; + union ctu_can_fd_ewl_erp_fault_state ewl_erp_fault_state; + union ctu_can_fd_rec_tec rec_tec; + union ctu_can_fd_err_norm_err_fd err_norm_err_fd; + union ctu_can_fd_ctr_pres ctr_pres; + union ctu_can_fd_filter_a_mask filter_a_mask; + union ctu_can_fd_filter_a_val filter_a_val; + union ctu_can_fd_filter_b_mask filter_b_mask; + union ctu_can_fd_filter_b_val filter_b_val; + union ctu_can_fd_filter_c_mask filter_c_mask; + union ctu_can_fd_filter_c_val filter_c_val; + union ctu_can_fd_filter_ran_low filter_ran_low; + union ctu_can_fd_filter_ran_high filter_ran_high; + union ctu_can_fd_filter_control_filter_status filter_control_filter_status; + union ctu_can_fd_rx_mem_info rx_mem_info; + union ctu_can_fd_rx_pointers rx_pointers; + union ctu_can_fd_rx_status_rx_settings rx_status_rx_settings; + union ctu_can_fd_tx_status tx_status; + union ctu_can_fd_tx_priority tx_priority; + union ctu_can_fd_err_capt_alc err_capt_alc; + union ctu_can_fd_trv_delay_ssp_cfg trv_delay_ssp_cfg; + union ctu_can_fd_rx_fr_ctr rx_fr_ctr; + union ctu_can_fd_tx_fr_ctr tx_fr_ctr; + union ctu_can_fd_debug_register debug_register; + union ctu_can_fd_yolo_reg yolo_reg; + union ctu_can_fd_timestamp_low timestamp_low; + union ctu_can_fd_timestamp_high timestamp_high; + + CtuCanCoreMsgBuffer tx_buffer[CTUCAN_CORE_TXBUF_NUM]; + + uint8_t rx_buff[CTUCAN_RCV_BUF_LEN]; /* 32~95 .. 64bytes Rx FIFO */ + uint32_t rx_tail_pos; /* Count by bytes. */ + uint32_t rx_cnt; /* Count by bytes. */ + uint32_t rx_frame_rem; + + qemu_irq irq; + CanBusClientState bus_client; +} CtuCanCoreState; + +void ctucan_hardware_reset(CtuCanCoreState *s); + +void ctucan_mem_write(CtuCanCoreState *s, hwaddr addr, uint64_t val, + unsigned size); + +uint64_t ctucan_mem_read(CtuCanCoreState *s, hwaddr addr, unsigned size); + +int ctucan_connect_to_bus(CtuCanCoreState *s, CanBusState *bus); + +void ctucan_disconnect(CtuCanCoreState *s); + +int ctucan_init(CtuCanCoreState *s, qemu_irq irq); + +bool ctucan_can_receive(CanBusClientState *client); + +ssize_t ctucan_receive(CanBusClientState *client, + const qemu_can_frame *frames, size_t frames_cnt); + +extern const VMStateDescription vmstate_ctucan; + +#endif diff --git a/hw/net/can/ctucan_pci.c b/hw/net/can/ctucan_pci.c new file mode 100644 index 0000000..f1c86cd --- /dev/null +++ b/hw/net/can/ctucan_pci.c @@ -0,0 +1,281 @@ +/* + * CTU CAN FD PCI device emulation + * http://canbus.pages.fel.cvut.cz/ + * + * Copyright (c) 2019 Jan Charvat (jancharvat.charvat@gmail.com) + * + * Based on Kvaser PCI CAN device (SJA1000 based) emulation implemented by + * Jin Yang and Pavel Pisa + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "qemu/osdep.h" +#include "qemu/event_notifier.h" +#include "qemu/module.h" +#include "qemu/thread.h" +#include "qemu/sockets.h" +#include "qapi/error.h" +#include "chardev/char.h" +#include "hw/irq.h" +#include "hw/pci/pci.h" +#include "hw/qdev-properties.h" +#include "migration/vmstate.h" +#include "net/can_emu.h" + +#include "ctucan_core.h" + +#define TYPE_CTUCAN_PCI_DEV "ctucan_pci" + +typedef struct CtuCanPCIState CtuCanPCIState; +DECLARE_INSTANCE_CHECKER(CtuCanPCIState, CTUCAN_PCI_DEV, + TYPE_CTUCAN_PCI_DEV) + +#define CTUCAN_PCI_CORE_COUNT 2 +#define CTUCAN_PCI_CORE_RANGE 0x10000 + +#define CTUCAN_PCI_BAR_COUNT 2 + +#define CTUCAN_PCI_BYTES_PER_CORE 0x4000 + +#ifndef PCI_VENDOR_ID_TEDIA +#define PCI_VENDOR_ID_TEDIA 0x1760 +#endif + +#define PCI_DEVICE_ID_TEDIA_CTUCAN_VER21 0xff00 + +#define CTUCAN_BAR0_RANGE 0x8000 +#define CTUCAN_BAR0_CTUCAN_ID 0x0000 +#define CTUCAN_BAR0_CRA_BASE 0x4000 +#define CYCLONE_IV_CRA_A2P_IE (0x0050) + +#define CTUCAN_WITHOUT_CTUCAN_ID 0 +#define CTUCAN_WITH_CTUCAN_ID 1 + +struct CtuCanPCIState { + /*< private >*/ + PCIDevice dev; + /*< public >*/ + MemoryRegion ctucan_io[CTUCAN_PCI_BAR_COUNT]; + + CtuCanCoreState ctucan_state[CTUCAN_PCI_CORE_COUNT]; + qemu_irq irq; + + char *model; /* The model that support, only SJA1000 now. */ + CanBusState *canbus[CTUCAN_PCI_CORE_COUNT]; +}; + +static void ctucan_pci_reset(DeviceState *dev) +{ + CtuCanPCIState *d = CTUCAN_PCI_DEV(dev); + int i; + + for (i = 0 ; i < CTUCAN_PCI_CORE_COUNT; i++) { + ctucan_hardware_reset(&d->ctucan_state[i]); + } +} + +static uint64_t ctucan_pci_id_cra_io_read(void *opaque, hwaddr addr, + unsigned size) +{ + if (addr >= 4) { + return 0; + } + + uint64_t tmp = 0xC0000000 + CTUCAN_PCI_CORE_COUNT; + tmp >>= ((addr & 3) << 3); + if (size < 8) { + tmp &= ((uint64_t)1 << (size << 3)) - 1; + } + return tmp; +} + +static void ctucan_pci_id_cra_io_write(void *opaque, hwaddr addr, uint64_t data, + unsigned size) +{ + +} + +static uint64_t ctucan_pci_cores_io_read(void *opaque, hwaddr addr, + unsigned size) +{ + CtuCanPCIState *d = opaque; + CtuCanCoreState *s; + hwaddr core_num = addr / CTUCAN_PCI_BYTES_PER_CORE; + + if (core_num >= CTUCAN_PCI_CORE_COUNT) { + return 0; + } + + s = &d->ctucan_state[core_num]; + + return ctucan_mem_read(s, addr % CTUCAN_PCI_BYTES_PER_CORE, size); +} + +static void ctucan_pci_cores_io_write(void *opaque, hwaddr addr, uint64_t data, + unsigned size) +{ + CtuCanPCIState *d = opaque; + CtuCanCoreState *s; + hwaddr core_num = addr / CTUCAN_PCI_BYTES_PER_CORE; + + if (core_num >= CTUCAN_PCI_CORE_COUNT) { + return; + } + + s = &d->ctucan_state[core_num]; + + return ctucan_mem_write(s, addr % CTUCAN_PCI_BYTES_PER_CORE, data, size); +} + +static const MemoryRegionOps ctucan_pci_id_cra_io_ops = { + .read = ctucan_pci_id_cra_io_read, + .write = ctucan_pci_id_cra_io_write, + .endianness = DEVICE_LITTLE_ENDIAN, + .impl.min_access_size = 1, + .impl.max_access_size = 4, + .valid.min_access_size = 1, + .valid.max_access_size = 4, +}; + +static const MemoryRegionOps ctucan_pci_cores_io_ops = { + .read = ctucan_pci_cores_io_read, + .write = ctucan_pci_cores_io_write, + .endianness = DEVICE_LITTLE_ENDIAN, + .impl.min_access_size = 1, + .impl.max_access_size = 4, + .valid.min_access_size = 1, + .valid.max_access_size = 4, +}; + +static void ctucan_pci_realize(PCIDevice *pci_dev, Error **errp) +{ + CtuCanPCIState *d = CTUCAN_PCI_DEV(pci_dev); + uint8_t *pci_conf; + int i; + + pci_conf = pci_dev->config; + pci_conf[PCI_INTERRUPT_PIN] = 0x01; /* interrupt pin A */ + + d->irq = pci_allocate_irq(&d->dev); + + for (i = 0 ; i < CTUCAN_PCI_CORE_COUNT; i++) { + ctucan_init(&d->ctucan_state[i], d->irq); + } + + for (i = 0 ; i < CTUCAN_PCI_CORE_COUNT; i++) { + if (ctucan_connect_to_bus(&d->ctucan_state[i], d->canbus[i]) < 0) { + error_setg(errp, "ctucan_connect_to_bus failed"); + return; + } + } + + memory_region_init_io(&d->ctucan_io[0], OBJECT(d), + &ctucan_pci_id_cra_io_ops, d, + "ctucan_pci-core0", CTUCAN_BAR0_RANGE); + memory_region_init_io(&d->ctucan_io[1], OBJECT(d), + &ctucan_pci_cores_io_ops, d, + "ctucan_pci-core1", CTUCAN_PCI_CORE_RANGE); + + for (i = 0 ; i < CTUCAN_PCI_BAR_COUNT; i++) { + pci_register_bar(&d->dev, i, PCI_BASE_ADDRESS_MEM_MASK & 0, + &d->ctucan_io[i]); + } +} + +static void ctucan_pci_exit(PCIDevice *pci_dev) +{ + CtuCanPCIState *d = CTUCAN_PCI_DEV(pci_dev); + int i; + + for (i = 0 ; i < CTUCAN_PCI_CORE_COUNT; i++) { + ctucan_disconnect(&d->ctucan_state[i]); + } + + qemu_free_irq(d->irq); +} + +static const VMStateDescription vmstate_ctucan_pci = { + .name = "ctucan_pci", + .version_id = 1, + .minimum_version_id = 1, + .minimum_version_id_old = 1, + .fields = (VMStateField[]) { + VMSTATE_PCI_DEVICE(dev, CtuCanPCIState), + VMSTATE_STRUCT(ctucan_state[0], CtuCanPCIState, 0, vmstate_ctucan, + CtuCanCoreState), +#if CTUCAN_PCI_CORE_COUNT >= 2 + VMSTATE_STRUCT(ctucan_state[1], CtuCanPCIState, 0, vmstate_ctucan, + CtuCanCoreState), +#endif + VMSTATE_END_OF_LIST() + } +}; + +static void ctucan_pci_instance_init(Object *obj) +{ + CtuCanPCIState *d = CTUCAN_PCI_DEV(obj); + + object_property_add_link(obj, "canbus0", TYPE_CAN_BUS, + (Object **)&d->canbus[0], + qdev_prop_allow_set_link_before_realize, 0); +#if CTUCAN_PCI_CORE_COUNT >= 2 + object_property_add_link(obj, "canbus1", TYPE_CAN_BUS, + (Object **)&d->canbus[1], + qdev_prop_allow_set_link_before_realize, 0); +#endif +} + +static void ctucan_pci_class_init(ObjectClass *klass, void *data) +{ + DeviceClass *dc = DEVICE_CLASS(klass); + PCIDeviceClass *k = PCI_DEVICE_CLASS(klass); + + k->realize = ctucan_pci_realize; + k->exit = ctucan_pci_exit; + k->vendor_id = PCI_VENDOR_ID_TEDIA; + k->device_id = PCI_DEVICE_ID_TEDIA_CTUCAN_VER21; + k->revision = 0x00; + k->class_id = 0x000c09; + k->subsystem_vendor_id = PCI_VENDOR_ID_TEDIA; + k->subsystem_id = PCI_DEVICE_ID_TEDIA_CTUCAN_VER21; + dc->desc = "CTU CAN PCI"; + dc->vmsd = &vmstate_ctucan_pci; + set_bit(DEVICE_CATEGORY_MISC, dc->categories); + dc->reset = ctucan_pci_reset; +} + +static const TypeInfo ctucan_pci_info = { + .name = TYPE_CTUCAN_PCI_DEV, + .parent = TYPE_PCI_DEVICE, + .instance_size = sizeof(CtuCanPCIState), + .class_init = ctucan_pci_class_init, + .instance_init = ctucan_pci_instance_init, + .interfaces = (InterfaceInfo[]) { + { INTERFACE_CONVENTIONAL_PCI_DEVICE }, + { }, + }, +}; + +static void ctucan_pci_register_types(void) +{ + type_register_static(&ctucan_pci_info); +} + +type_init(ctucan_pci_register_types) diff --git a/hw/net/can/meson.build b/hw/net/can/meson.build index c9cfeb7..714951f 100644 --- a/hw/net/can/meson.build +++ b/hw/net/can/meson.build @@ -2,3 +2,5 @@ softmmu_ss.add(when: 'CONFIG_CAN_SJA1000', if_true: files('can_sja1000.c')) softmmu_ss.add(when: 'CONFIG_CAN_PCI', if_true: files('can_kvaser_pci.c')) softmmu_ss.add(when: 'CONFIG_CAN_PCI', if_true: files('can_pcm3680_pci.c')) softmmu_ss.add(when: 'CONFIG_CAN_PCI', if_true: files('can_mioe3680_pci.c')) +softmmu_ss.add(when: 'CONFIG_CAN_CTUCANFD', if_true: files('ctucan_core.c')) +softmmu_ss.add(when: 'CONFIG_CAN_CTUCANFD_PCI', if_true: files('ctucan_pci.c')) |