diff --git a/tests/qtest/Makefile.include b/tests/qtest/Makefile.include
index 9e5a51d..369234a 100644
--- a/tests/qtest/Makefile.include
+++ b/tests/qtest/Makefile.include
@@ -136,6 +136,7 @@ check-qtest-aarch64-$(CONFIG_TPM_TIS_SYSBUS) += tpm-tis-device-swtpm-test
 check-qtest-aarch64-y += numa-test
 check-qtest-aarch64-y += boot-serial-test
 check-qtest-aarch64-y += migration-test
+check-qtest-aarch64-y += xlnx-can-test
 
 # TODO: once aarch64 TCG is fixed on ARM 32 bit host, make test unconditional
 ifneq ($(ARCH),arm)
diff --git a/tests/qtest/xlnx-can-test.c b/tests/qtest/xlnx-can-test.c
new file mode 100644
index 0000000..c9e2efc
--- /dev/null
+++ b/tests/qtest/xlnx-can-test.c
@@ -0,0 +1,367 @@
+/*
+ *  Xilinx CAN qtest.
+ *
+ * Copyright (c) 2020 Xilinx Inc.
+ *
+ * Written-by: Vikram Garhwal<fnu.vikram@xilinx.com>
+ *
+ * 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 "libqtest.h"
+
+/* Xlnx-CAN base address. */
+#define CAN0_BASE_ADDR          0xFF060000
+#define CAN1_BASE_ADDR          0xFF070000
+
+/* Register address in Xlnx-CAN. */
+#define R_SRR_OFFSET            0x00
+#define R_MSR_OFFSET            0x04
+#define R_SR_OFFSET             0x18
+#define R_ISR_OFFSET            0x1C
+#define R_ICR_OFFSET            0x24
+#define R_TXID_OFFSET           0x30
+#define R_TXDLC_OFFSET          0x34
+#define R_TXDATA1_OFFSET        0x38
+#define R_TXDATA2_OFFSET        0x3C
+#define R_RXID_OFFSET           0x50
+#define R_RXDLC_OFFSET          0x54
+#define R_RXDATA1_OFFSET        0x58
+#define R_RXDATA2_OFFSET        0x5C
+#define R_AFR                   0x60
+#define R_AFMR1                 0x64
+#define R_AFIR1                 0x68
+#define R_AFMR2                 0x6C
+#define R_AFIR2                 0x70
+#define R_AFMR3                 0x74
+#define R_AFIR3                 0x78
+#define R_AFMR4                 0x7C
+#define R_AFIR4                 0x80
+
+/* CAN modes. */
+#define CONFIG_MODE             0x00
+#define NORMAL_MODE             0x00
+#define LOOPBACK_MODE           0x02
+#define SNOOP_MODE              0x04
+#define SLEEP_MODE              0x01
+#define ENABLE_CAN              (1 << 1)
+#define STATUS_NORMAL_MODE      (1 << 3)
+#define STATUS_LOOPBACK_MODE    (1 << 1)
+#define STATUS_SNOOP_MODE       (1 << 12)
+#define STATUS_SLEEP_MODE       (1 << 2)
+#define ISR_TXOK                (1 << 1)
+#define ISR_RXOK                (1 << 4)
+
+static void match_rx_tx_data(uint32_t *buf_tx, uint32_t *buf_rx,
+                             uint8_t can_timestamp)
+{
+    uint16_t size = 0;
+    uint8_t len = 4;
+
+    while (size < len) {
+        if (R_RXID_OFFSET + 4 * size == R_RXDLC_OFFSET)  {
+            g_assert_cmpint(buf_rx[size], ==, buf_tx[size] + can_timestamp);
+        } else {
+            g_assert_cmpint(buf_rx[size], ==, buf_tx[size]);
+        }
+
+        size++;
+    }
+}
+
+static void read_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_rx)
+{
+    uint32_t int_status;
+
+    /* Read the interrupt on CAN rx. */
+    int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_RXOK;
+
+    g_assert_cmpint(int_status, ==, ISR_RXOK);
+
+    /* Read the RX register data for CAN. */
+    buf_rx[0] = qtest_readl(qts, can_base_addr + R_RXID_OFFSET);
+    buf_rx[1] = qtest_readl(qts, can_base_addr + R_RXDLC_OFFSET);
+    buf_rx[2] = qtest_readl(qts, can_base_addr + R_RXDATA1_OFFSET);
+    buf_rx[3] = qtest_readl(qts, can_base_addr + R_RXDATA2_OFFSET);
+
+    /* Clear the RX interrupt. */
+    qtest_writel(qts, CAN1_BASE_ADDR + R_ICR_OFFSET, ISR_RXOK);
+}
+
+static void send_data(QTestState *qts, uint64_t can_base_addr, uint32_t *buf_tx)
+{
+    uint32_t int_status;
+
+    /* Write the TX register data for CAN. */
+    qtest_writel(qts, can_base_addr + R_TXID_OFFSET, buf_tx[0]);
+    qtest_writel(qts, can_base_addr + R_TXDLC_OFFSET, buf_tx[1]);
+    qtest_writel(qts, can_base_addr + R_TXDATA1_OFFSET, buf_tx[2]);
+    qtest_writel(qts, can_base_addr + R_TXDATA2_OFFSET, buf_tx[3]);
+
+    /* Read the interrupt on CAN for tx. */
+    int_status = qtest_readl(qts, can_base_addr + R_ISR_OFFSET) & ISR_TXOK;
+
+    g_assert_cmpint(int_status, ==, ISR_TXOK);
+
+    /* Clear the interrupt for tx. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_ICR_OFFSET, ISR_TXOK);
+}
+
+/*
+ * This test will be transferring data from CAN0 and CAN1 through canbus. CAN0
+ * initiate the data transfer to can-bus, CAN1 receives the data. Test compares
+ * the data sent from CAN0 with received on CAN1.
+ */
+static void test_can_bus(void)
+{
+    uint32_t buf_tx[4] = {0xFF, 0x80000000, 0x12345678, 0x87654321};
+    uint32_t buf_rx[4] = {0x00, 0x00, 0x00, 0x00};
+    uint32_t status = 0;
+    uint8_t can_timestamp = 0;
+
+    QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+                " -object can-bus,id=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+                );
+
+    /* Configure the CAN0 and CAN1. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+    /* Check here if CAN0 and CAN1 are in normal mode. */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    send_data(qts, CAN0_BASE_ADDR, buf_tx);
+
+    can_timestamp += 1;
+
+    read_data(qts, CAN1_BASE_ADDR, buf_rx);
+    match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+    qtest_quit(qts);
+}
+
+/*
+ * This test is performing loopback mode on CAN0 and CAN1. Data sent from TX of
+ * each CAN0 and CAN1 are compared with RX register data for respective CAN.
+ */
+static void test_can_loopback(void)
+{
+    uint32_t buf_tx[4] = {0xFF, 0x80000000, 0x12345678, 0x87654321};
+    uint32_t buf_rx[4] = {0x00, 0x00, 0x00, 0x00};
+    uint32_t status = 0;
+
+    QTestState *qts = qtest_init("-machine xlnx-zcu102"
+                " -object can-bus,id=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+                );
+
+    /* Configure the CAN0 in loopback mode. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+    /* Check here if CAN0 is set in loopback mode. */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+
+    g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+    send_data(qts, CAN0_BASE_ADDR, buf_tx);
+    read_data(qts, CAN0_BASE_ADDR, buf_rx);
+    match_rx_tx_data(buf_tx, buf_rx, 0);
+
+    /* Configure the CAN1 in loopback mode. */
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, LOOPBACK_MODE);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+    /* Check here if CAN1 is set in loopback mode. */
+    status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+
+    g_assert_cmpint(status, ==, STATUS_LOOPBACK_MODE);
+
+    send_data(qts, CAN1_BASE_ADDR, buf_tx);
+    read_data(qts, CAN1_BASE_ADDR, buf_rx);
+    match_rx_tx_data(buf_tx, buf_rx, 0);
+
+    qtest_quit(qts);
+}
+
+/*
+ * Enable filters for CAN1. This will filter incoming messages with ID. In this
+ * test message will pass through filter 2.
+ */
+static void test_can_filter(void)
+{
+    uint32_t buf_tx[4] = {0x14, 0x80000000, 0x12345678, 0x87654321};
+    uint32_t buf_rx[4] = {0x00, 0x00, 0x00, 0x00};
+    uint32_t status = 0;
+    uint8_t can_timestamp = 0;
+
+    QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+                " -object can-bus,id=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+                );
+
+    /* Configure the CAN0 and CAN1. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+    /* Check here if CAN0 and CAN1 are in normal mode. */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    /* Set filter for CAN1 for incoming messages. */
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0x0);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR1, 0xF7);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR1, 0x121F);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR2, 0x5431);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR2, 0x14);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR3, 0x1234);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR3, 0x5431);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFMR4, 0xFFF);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFIR4, 0x1234);
+
+    qtest_writel(qts, CAN1_BASE_ADDR + R_AFR, 0xF);
+
+    send_data(qts, CAN0_BASE_ADDR, buf_tx);
+
+    can_timestamp += 1;
+
+    read_data(qts, CAN1_BASE_ADDR, buf_rx);
+    match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+    qtest_quit(qts);
+}
+
+/* Testing sleep mode on CAN0 while CAN1 is in normal mode. */
+static void test_can_sleepmode(void)
+{
+    uint32_t buf_tx[4] = {0x14, 0x80000000, 0x12345678, 0x87654321};
+    uint32_t buf_rx[4] = {0x00, 0x00, 0x00, 0x00};
+    uint32_t status = 0;
+    uint8_t can_timestamp = 0;
+
+    QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+                " -object can-bus,id=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+                );
+
+    /* Configure the CAN0. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SLEEP_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+    /* Check here if CAN0 is in SNOOP mode and CAN1 in normal mode. */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_SLEEP_MODE);
+
+    status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    send_data(qts, CAN1_BASE_ADDR, buf_tx);
+
+    /*
+     * Once CAN1 sends data on can-bus. CAN0 should exit sleep mode.
+     * Check the CAN0 status now. It should exit the sleep mode and receive the
+     * incoming data.
+     */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    can_timestamp += 1;
+
+    read_data(qts, CAN0_BASE_ADDR, buf_rx);
+
+    match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+    qtest_quit(qts);
+}
+
+/* Testing Snoop mode on CAN0 while CAN1 is in normal mode. */
+static void test_can_snoopmode(void)
+{
+    uint32_t buf_tx[4] = {0x14, 0x80000000, 0x12345678, 0x87654321};
+    uint32_t buf_rx[4] = {0x00, 0x00, 0x00, 0x00};
+    uint32_t status = 0;
+    uint8_t can_timestamp = 0;
+
+    QTestState *qts = qtest_init("-m 4G -machine xlnx-zcu102"
+                " -object can-bus,id=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus0,value=canbus0"
+                " -global driver=xlnx.zynqmp-can,property=canbus1,value=canbus0"
+                );
+
+    /* Configure the CAN0. */
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, CONFIG_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_MSR_OFFSET, SNOOP_MODE);
+    qtest_writel(qts, CAN0_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+
+    qtest_writel(qts, CAN1_BASE_ADDR + R_SRR_OFFSET, ENABLE_CAN);
+    qtest_writel(qts, CAN1_BASE_ADDR + R_MSR_OFFSET, NORMAL_MODE);
+
+    /* Check here if CAN0 is in SNOOP mode and CAN1 in normal mode. */
+    status = qtest_readl(qts, CAN0_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_SNOOP_MODE);
+
+    status = qtest_readl(qts, CAN1_BASE_ADDR + R_SR_OFFSET);
+    g_assert_cmpint(status, ==, STATUS_NORMAL_MODE);
+
+    send_data(qts, CAN1_BASE_ADDR, buf_tx);
+
+    can_timestamp += 1;
+
+    read_data(qts, CAN0_BASE_ADDR, buf_rx);
+
+    match_rx_tx_data(buf_tx, buf_rx, can_timestamp);
+
+    qtest_quit(qts);
+}
+
+int main(int argc, char **argv)
+{
+    g_test_init(&argc, &argv, NULL);
+
+    qtest_add_func("/net/can/can_bus", test_can_bus);
+    qtest_add_func("/net/can/can_loopback", test_can_loopback);
+    qtest_add_func("/net/can/can_filter", test_can_filter);
+    qtest_add_func("/net/can/can_test_snoopmode", test_can_snoopmode);
+    qtest_add_func("/net/can/can_test_sleepmode", test_can_sleepmode);
+
+    return g_test_run();
+}
