@@ -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
new file mode 100644
@@ -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()
+ }
+};
new file mode 100644
@@ -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
new file mode 100644
@@ -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)
@@ -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'))