Message ID | 20221022054746.28217-4-vikram.garhwal@amd.com |
---|---|
State | New |
Headers | show |
Series | Introduce Xilinx Versal CANFD | expand |
Hi Vikram, In the git summary s/zynqmp/versal/. On [2022 Oct 21] Fri 22:47:44, Vikram Garhwal wrote: > Connect CANFD0 and CANFD1 on the Versal-virt machine and update xlnx-versal-virt > document with CANFD command line examples. > > Signed-off-by: Vikram Garhwal <vikram.garhwal@amd.com> > --- > docs/system/arm/xlnx-versal-virt.rst | 31 ++++++++++++++++++ > hw/arm/xlnx-versal-virt.c | 48 ++++++++++++++++++++++++++++ > hw/arm/xlnx-versal.c | 37 +++++++++++++++++++++ > include/hw/arm/xlnx-versal.h | 12 +++++++ > 4 files changed, 128 insertions(+) > > diff --git a/docs/system/arm/xlnx-versal-virt.rst b/docs/system/arm/xlnx-versal-virt.rst > index 92ad10d2da..372e4249f0 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 > + > +SocketCAN interface can connect to a Physical or a Virtual CAN interfaces on > +host machine. I'm not native english but this sounds better to me: "The SocketCAN interface can connect to a Physical or a Virtual CAN interface 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 37fc9b919c..963ace861e 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 +237,33 @@ static void fdt_add_uart_nodes(VersalVirt *s) > } > } > > +static void fdt_add_canfd_nodes(VersalVirt *s) > +{ > + uint64_t addrs[] = { MM_CANFD0, MM_CANFD1 }; > + uint32_t size[] = { MM_CANFD0_SIZE, MM_CANFD1_SIZE }; > + unsigned int irqs[] = { VERSAL_CANFD0_IRQ_0, VERSAL_CANFD1_IRQ_0 }; > + 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-fifo0", 0x40); > + qemu_fdt_setprop_cell(s->fdt, name, "enable-rx-fifo1", 0x1); > + qemu_fdt_setprop_cell(s->fdt, name, "rx-fifo1", 0x40); > + > + 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,versal-canfd"); For the nodes we need to go with something similar to this: https://github.com/Xilinx/linux-xlnx/blob/master/arch/arm64/boot/dts/xilinx/versal.dtsi#L153 > + > + g_free(name); > + } > +} > + > static void fdt_add_fixed_link_nodes(VersalVirt *s, char *gemname, > uint32_t phandle) > { > @@ -639,12 +668,17 @@ 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 +746,20 @@ 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 57276e1506..44b0eaf0c8 100644 > --- a/hw/arm/xlnx-versal.c > +++ b/hw/arm/xlnx-versal.c > @@ -185,6 +185,38 @@ static void versal_create_uarts(Versal *s, qemu_irq *pic) > } > } > > +static void versal_create_canfds(Versal *s, qemu_irq *pic) > +{ > + int i; > + > + for (i = 0; i < ARRAY_SIZE(s->lpd.iou.canfd); i++) { > + static const int irqs[] = { VERSAL_CANFD0_IRQ_0, VERSAL_CANFD1_IRQ_0}; > + static const uint64_t addrs[] = { MM_CANFD0, MM_CANFD1 }; A suggestion is undo the static and move above to the top of the function (similar to 'addrs' and 'size' in 'fdt_add_canfd_nodes'). Looks good to me otherwise! Best regards, Francisco > + 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; > @@ -719,6 +751,7 @@ 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); > @@ -758,6 +791,10 @@ 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 cbe8a19c10..97e63a1b0e 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 0xff060000 > +#define MM_CANFD0_SIZE 0x10000 > +#define MM_CANFD1 0xff070000 > +#define MM_CANFD1_SIZE 0x10000 > + > #define MM_GEM0 0xff0c0000U > #define MM_GEM0_SIZE 0x10000 > #define MM_GEM1 0xff0d0000U > -- > 2.17.1 > >
diff --git a/docs/system/arm/xlnx-versal-virt.rst b/docs/system/arm/xlnx-versal-virt.rst index 92ad10d2da..372e4249f0 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 + +SocketCAN interface can connect to a Physical or a Virtual CAN interfaces on +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 37fc9b919c..963ace861e 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 +237,33 @@ static void fdt_add_uart_nodes(VersalVirt *s) } } +static void fdt_add_canfd_nodes(VersalVirt *s) +{ + uint64_t addrs[] = { MM_CANFD0, MM_CANFD1 }; + uint32_t size[] = { MM_CANFD0_SIZE, MM_CANFD1_SIZE }; + unsigned int irqs[] = { VERSAL_CANFD0_IRQ_0, VERSAL_CANFD1_IRQ_0 }; + 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-fifo0", 0x40); + qemu_fdt_setprop_cell(s->fdt, name, "enable-rx-fifo1", 0x1); + qemu_fdt_setprop_cell(s->fdt, name, "rx-fifo1", 0x40); + + 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,versal-canfd"); + + g_free(name); + } +} + static void fdt_add_fixed_link_nodes(VersalVirt *s, char *gemname, uint32_t phandle) { @@ -639,12 +668,17 @@ 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 +746,20 @@ 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 57276e1506..44b0eaf0c8 100644 --- a/hw/arm/xlnx-versal.c +++ b/hw/arm/xlnx-versal.c @@ -185,6 +185,38 @@ static void versal_create_uarts(Versal *s, qemu_irq *pic) } } +static void versal_create_canfds(Versal *s, qemu_irq *pic) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(s->lpd.iou.canfd); i++) { + static const int irqs[] = { VERSAL_CANFD0_IRQ_0, VERSAL_CANFD1_IRQ_0}; + static const uint64_t addrs[] = { MM_CANFD0, MM_CANFD1 }; + 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; @@ -719,6 +751,7 @@ 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); @@ -758,6 +791,10 @@ 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 cbe8a19c10..97e63a1b0e 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 0xff060000 +#define MM_CANFD0_SIZE 0x10000 +#define MM_CANFD1 0xff070000 +#define MM_CANFD1_SIZE 0x10000 + #define MM_GEM0 0xff0c0000U #define MM_GEM0_SIZE 0x10000 #define MM_GEM1 0xff0d0000U
Connect CANFD0 and CANFD1 on the Versal-virt machine and update xlnx-versal-virt document with CANFD command line examples. Signed-off-by: Vikram Garhwal <vikram.garhwal@amd.com> --- docs/system/arm/xlnx-versal-virt.rst | 31 ++++++++++++++++++ hw/arm/xlnx-versal-virt.c | 48 ++++++++++++++++++++++++++++ hw/arm/xlnx-versal.c | 37 +++++++++++++++++++++ include/hw/arm/xlnx-versal.h | 12 +++++++ 4 files changed, 128 insertions(+)