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- // SPDX-License-Identifier: GPL-2.0-only
- /*
- * TI K3 R5F (MCU) Remote Processor driver
- *
- * Copyright (C) 2017-2020 Texas Instruments Incorporated - https://www.ti.com/
- * Suman Anna <s-anna@ti.com>
- */
- #include <linux/dma-mapping.h>
- #include <linux/err.h>
- #include <linux/interrupt.h>
- #include <linux/kernel.h>
- #include <linux/mailbox_client.h>
- #include <linux/module.h>
- #include <linux/of_address.h>
- #include <linux/of_device.h>
- #include <linux/of_reserved_mem.h>
- #include <linux/omap-mailbox.h>
- #include <linux/platform_device.h>
- #include <linux/pm_runtime.h>
- #include <linux/remoteproc.h>
- #include <linux/reset.h>
- #include <linux/slab.h>
- #include "omap_remoteproc.h"
- #include "remoteproc_internal.h"
- #include "ti_sci_proc.h"
- /* This address can either be for ATCM or BTCM with the other at address 0x0 */
- #define K3_R5_TCM_DEV_ADDR 0x41010000
- /* R5 TI-SCI Processor Configuration Flags */
- #define PROC_BOOT_CFG_FLAG_R5_DBG_EN 0x00000001
- #define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN 0x00000002
- #define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP 0x00000100
- #define PROC_BOOT_CFG_FLAG_R5_TEINIT 0x00000200
- #define PROC_BOOT_CFG_FLAG_R5_NMFI_EN 0x00000400
- #define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE 0x00000800
- #define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000
- #define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
- /* R5 TI-SCI Processor Control Flags */
- #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
- /* R5 TI-SCI Processor Status Flags */
- #define PROC_BOOT_STATUS_FLAG_R5_WFE 0x00000001
- #define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
- #define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
- #define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
- /**
- * struct k3_r5_mem - internal memory structure
- * @cpu_addr: MPU virtual address of the memory region
- * @bus_addr: Bus address used to access the memory region
- * @dev_addr: Device address from remoteproc view
- * @size: Size of the memory region
- */
- struct k3_r5_mem {
- void __iomem *cpu_addr;
- phys_addr_t bus_addr;
- u32 dev_addr;
- size_t size;
- };
- enum cluster_mode {
- CLUSTER_MODE_SPLIT = 0,
- CLUSTER_MODE_LOCKSTEP,
- };
- /**
- * struct k3_r5_cluster - K3 R5F Cluster structure
- * @dev: cached device pointer
- * @mode: Mode to configure the Cluster - Split or LockStep
- * @cores: list of R5 cores within the cluster
- */
- struct k3_r5_cluster {
- struct device *dev;
- enum cluster_mode mode;
- struct list_head cores;
- };
- /**
- * struct k3_r5_core - K3 R5 core structure
- * @elem: linked list item
- * @dev: cached device pointer
- * @rproc: rproc handle representing this core
- * @mem: internal memory regions data
- * @sram: on-chip SRAM memory regions data
- * @num_mems: number of internal memory regions
- * @num_sram: number of on-chip SRAM memory regions
- * @reset: reset control handle
- * @tsp: TI-SCI processor control handle
- * @ti_sci: TI-SCI handle
- * @ti_sci_id: TI-SCI device identifier
- * @atcm_enable: flag to control ATCM enablement
- * @btcm_enable: flag to control BTCM enablement
- * @loczrama: flag to dictate which TCM is at device address 0x0
- */
- struct k3_r5_core {
- struct list_head elem;
- struct device *dev;
- struct rproc *rproc;
- struct k3_r5_mem *mem;
- struct k3_r5_mem *sram;
- int num_mems;
- int num_sram;
- struct reset_control *reset;
- struct ti_sci_proc *tsp;
- const struct ti_sci_handle *ti_sci;
- u32 ti_sci_id;
- u32 atcm_enable;
- u32 btcm_enable;
- u32 loczrama;
- };
- /**
- * struct k3_r5_rproc - K3 remote processor state
- * @dev: cached device pointer
- * @cluster: cached pointer to parent cluster structure
- * @mbox: mailbox channel handle
- * @client: mailbox client to request the mailbox channel
- * @rproc: rproc handle
- * @core: cached pointer to r5 core structure being used
- * @rmem: reserved memory regions data
- * @num_rmems: number of reserved memory regions
- */
- struct k3_r5_rproc {
- struct device *dev;
- struct k3_r5_cluster *cluster;
- struct mbox_chan *mbox;
- struct mbox_client client;
- struct rproc *rproc;
- struct k3_r5_core *core;
- struct k3_r5_mem *rmem;
- int num_rmems;
- };
- /**
- * k3_r5_rproc_mbox_callback() - inbound mailbox message handler
- * @client: mailbox client pointer used for requesting the mailbox channel
- * @data: mailbox payload
- *
- * This handler is invoked by the OMAP mailbox driver whenever a mailbox
- * message is received. Usually, the mailbox payload simply contains
- * the index of the virtqueue that is kicked by the remote processor,
- * and we let remoteproc core handle it.
- *
- * In addition to virtqueue indices, we also have some out-of-band values
- * that indicate different events. Those values are deliberately very
- * large so they don't coincide with virtqueue indices.
- */
- static void k3_r5_rproc_mbox_callback(struct mbox_client *client, void *data)
- {
- struct k3_r5_rproc *kproc = container_of(client, struct k3_r5_rproc,
- client);
- struct device *dev = kproc->rproc->dev.parent;
- const char *name = kproc->rproc->name;
- u32 msg = omap_mbox_message(data);
- dev_dbg(dev, "mbox msg: 0x%x\n", msg);
- switch (msg) {
- case RP_MBOX_CRASH:
- /*
- * remoteproc detected an exception, but error recovery is not
- * supported. So, just log this for now
- */
- dev_err(dev, "K3 R5F rproc %s crashed\n", name);
- break;
- case RP_MBOX_ECHO_REPLY:
- dev_info(dev, "received echo reply from %s\n", name);
- break;
- default:
- /* silently handle all other valid messages */
- if (msg >= RP_MBOX_READY && msg < RP_MBOX_END_MSG)
- return;
- if (msg > kproc->rproc->max_notifyid) {
- dev_dbg(dev, "dropping unknown message 0x%x", msg);
- return;
- }
- /* msg contains the index of the triggered vring */
- if (rproc_vq_interrupt(kproc->rproc, msg) == IRQ_NONE)
- dev_dbg(dev, "no message was found in vqid %d\n", msg);
- }
- }
- /* kick a virtqueue */
- static void k3_r5_rproc_kick(struct rproc *rproc, int vqid)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct device *dev = rproc->dev.parent;
- mbox_msg_t msg = (mbox_msg_t)vqid;
- int ret;
- /* send the index of the triggered virtqueue in the mailbox payload */
- ret = mbox_send_message(kproc->mbox, (void *)msg);
- if (ret < 0)
- dev_err(dev, "failed to send mailbox message, status = %d\n",
- ret);
- }
- static int k3_r5_split_reset(struct k3_r5_core *core)
- {
- int ret;
- ret = reset_control_assert(core->reset);
- if (ret) {
- dev_err(core->dev, "local-reset assert failed, ret = %d\n",
- ret);
- return ret;
- }
- ret = core->ti_sci->ops.dev_ops.put_device(core->ti_sci,
- core->ti_sci_id);
- if (ret) {
- dev_err(core->dev, "module-reset assert failed, ret = %d\n",
- ret);
- if (reset_control_deassert(core->reset))
- dev_warn(core->dev, "local-reset deassert back failed\n");
- }
- return ret;
- }
- static int k3_r5_split_release(struct k3_r5_core *core)
- {
- int ret;
- ret = core->ti_sci->ops.dev_ops.get_device(core->ti_sci,
- core->ti_sci_id);
- if (ret) {
- dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
- ret);
- return ret;
- }
- ret = reset_control_deassert(core->reset);
- if (ret) {
- dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
- ret);
- if (core->ti_sci->ops.dev_ops.put_device(core->ti_sci,
- core->ti_sci_id))
- dev_warn(core->dev, "module-reset assert back failed\n");
- }
- return ret;
- }
- static int k3_r5_lockstep_reset(struct k3_r5_cluster *cluster)
- {
- struct k3_r5_core *core;
- int ret;
- /* assert local reset on all applicable cores */
- list_for_each_entry(core, &cluster->cores, elem) {
- ret = reset_control_assert(core->reset);
- if (ret) {
- dev_err(core->dev, "local-reset assert failed, ret = %d\n",
- ret);
- core = list_prev_entry(core, elem);
- goto unroll_local_reset;
- }
- }
- /* disable PSC modules on all applicable cores */
- list_for_each_entry(core, &cluster->cores, elem) {
- ret = core->ti_sci->ops.dev_ops.put_device(core->ti_sci,
- core->ti_sci_id);
- if (ret) {
- dev_err(core->dev, "module-reset assert failed, ret = %d\n",
- ret);
- goto unroll_module_reset;
- }
- }
- return 0;
- unroll_module_reset:
- list_for_each_entry_continue_reverse(core, &cluster->cores, elem) {
- if (core->ti_sci->ops.dev_ops.put_device(core->ti_sci,
- core->ti_sci_id))
- dev_warn(core->dev, "module-reset assert back failed\n");
- }
- core = list_last_entry(&cluster->cores, struct k3_r5_core, elem);
- unroll_local_reset:
- list_for_each_entry_from_reverse(core, &cluster->cores, elem) {
- if (reset_control_deassert(core->reset))
- dev_warn(core->dev, "local-reset deassert back failed\n");
- }
- return ret;
- }
- static int k3_r5_lockstep_release(struct k3_r5_cluster *cluster)
- {
- struct k3_r5_core *core;
- int ret;
- /* enable PSC modules on all applicable cores */
- list_for_each_entry_reverse(core, &cluster->cores, elem) {
- ret = core->ti_sci->ops.dev_ops.get_device(core->ti_sci,
- core->ti_sci_id);
- if (ret) {
- dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
- ret);
- core = list_next_entry(core, elem);
- goto unroll_module_reset;
- }
- }
- /* deassert local reset on all applicable cores */
- list_for_each_entry_reverse(core, &cluster->cores, elem) {
- ret = reset_control_deassert(core->reset);
- if (ret) {
- dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
- ret);
- goto unroll_local_reset;
- }
- }
- return 0;
- unroll_local_reset:
- list_for_each_entry_continue(core, &cluster->cores, elem) {
- if (reset_control_assert(core->reset))
- dev_warn(core->dev, "local-reset assert back failed\n");
- }
- core = list_first_entry(&cluster->cores, struct k3_r5_core, elem);
- unroll_module_reset:
- list_for_each_entry_from(core, &cluster->cores, elem) {
- if (core->ti_sci->ops.dev_ops.put_device(core->ti_sci,
- core->ti_sci_id))
- dev_warn(core->dev, "module-reset assert back failed\n");
- }
- return ret;
- }
- static inline int k3_r5_core_halt(struct k3_r5_core *core)
- {
- return ti_sci_proc_set_control(core->tsp,
- PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
- }
- static inline int k3_r5_core_run(struct k3_r5_core *core)
- {
- return ti_sci_proc_set_control(core->tsp,
- 0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
- }
- /*
- * The R5F cores have controls for both a reset and a halt/run. The code
- * execution from DDR requires the initial boot-strapping code to be run
- * from the internal TCMs. This function is used to release the resets on
- * applicable cores to allow loading into the TCMs. The .prepare() ops is
- * invoked by remoteproc core before any firmware loading, and is followed
- * by the .start() ops after loading to actually let the R5 cores run.
- */
- static int k3_r5_rproc_prepare(struct rproc *rproc)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct k3_r5_cluster *cluster = kproc->cluster;
- struct k3_r5_core *core = kproc->core;
- struct device *dev = kproc->dev;
- int ret;
- ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
- k3_r5_lockstep_release(cluster) : k3_r5_split_release(core);
- if (ret) {
- dev_err(dev, "unable to enable cores for TCM loading, ret = %d\n",
- ret);
- return ret;
- }
- /*
- * Zero out both TCMs unconditionally (access from v8 Arm core is not
- * affected by ATCM & BTCM enable configuration values) so that ECC
- * can be effective on all TCM addresses.
- */
- dev_dbg(dev, "zeroing out ATCM memory\n");
- memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
- dev_dbg(dev, "zeroing out BTCM memory\n");
- memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
- return 0;
- }
- /*
- * This function implements the .unprepare() ops and performs the complimentary
- * operations to that of the .prepare() ops. The function is used to assert the
- * resets on all applicable cores for the rproc device (depending on LockStep
- * or Split mode). This completes the second portion of powering down the R5F
- * cores. The cores themselves are only halted in the .stop() ops, and the
- * .unprepare() ops is invoked by the remoteproc core after the remoteproc is
- * stopped.
- */
- static int k3_r5_rproc_unprepare(struct rproc *rproc)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct k3_r5_cluster *cluster = kproc->cluster;
- struct k3_r5_core *core = kproc->core;
- struct device *dev = kproc->dev;
- int ret;
- ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
- k3_r5_lockstep_reset(cluster) : k3_r5_split_reset(core);
- if (ret)
- dev_err(dev, "unable to disable cores, ret = %d\n", ret);
- return ret;
- }
- /*
- * The R5F start sequence includes two different operations
- * 1. Configure the boot vector for R5F core(s)
- * 2. Unhalt/Run the R5F core(s)
- *
- * The sequence is different between LockStep and Split modes. The LockStep
- * mode requires the boot vector to be configured only for Core0, and then
- * unhalt both the cores to start the execution - Core1 needs to be unhalted
- * first followed by Core0. The Split-mode requires that Core0 to be maintained
- * always in a higher power state that Core1 (implying Core1 needs to be started
- * always only after Core0 is started).
- */
- static int k3_r5_rproc_start(struct rproc *rproc)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct k3_r5_cluster *cluster = kproc->cluster;
- struct mbox_client *client = &kproc->client;
- struct device *dev = kproc->dev;
- struct k3_r5_core *core;
- u32 boot_addr;
- int ret;
- client->dev = dev;
- client->tx_done = NULL;
- client->rx_callback = k3_r5_rproc_mbox_callback;
- client->tx_block = false;
- client->knows_txdone = false;
- kproc->mbox = mbox_request_channel(client, 0);
- if (IS_ERR(kproc->mbox)) {
- ret = -EBUSY;
- dev_err(dev, "mbox_request_channel failed: %ld\n",
- PTR_ERR(kproc->mbox));
- return ret;
- }
- /*
- * Ping the remote processor, this is only for sanity-sake for now;
- * there is no functional effect whatsoever.
- *
- * Note that the reply will _not_ arrive immediately: this message
- * will wait in the mailbox fifo until the remote processor is booted.
- */
- ret = mbox_send_message(kproc->mbox, (void *)RP_MBOX_ECHO_REQUEST);
- if (ret < 0) {
- dev_err(dev, "mbox_send_message failed: %d\n", ret);
- goto put_mbox;
- }
- boot_addr = rproc->bootaddr;
- /* TODO: add boot_addr sanity checking */
- dev_dbg(dev, "booting R5F core using boot addr = 0x%x\n", boot_addr);
- /* boot vector need not be programmed for Core1 in LockStep mode */
- core = kproc->core;
- ret = ti_sci_proc_set_config(core->tsp, boot_addr, 0, 0);
- if (ret)
- goto put_mbox;
- /* unhalt/run all applicable cores */
- if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
- list_for_each_entry_reverse(core, &cluster->cores, elem) {
- ret = k3_r5_core_run(core);
- if (ret)
- goto unroll_core_run;
- }
- } else {
- ret = k3_r5_core_run(core);
- if (ret)
- goto put_mbox;
- }
- return 0;
- unroll_core_run:
- list_for_each_entry_continue(core, &cluster->cores, elem) {
- if (k3_r5_core_halt(core))
- dev_warn(core->dev, "core halt back failed\n");
- }
- put_mbox:
- mbox_free_channel(kproc->mbox);
- return ret;
- }
- /*
- * The R5F stop function includes the following operations
- * 1. Halt R5F core(s)
- *
- * The sequence is different between LockStep and Split modes, and the order
- * of cores the operations are performed are also in general reverse to that
- * of the start function. The LockStep mode requires each operation to be
- * performed first on Core0 followed by Core1. The Split-mode requires that
- * Core0 to be maintained always in a higher power state that Core1 (implying
- * Core1 needs to be stopped first before Core0).
- *
- * Note that the R5F halt operation in general is not effective when the R5F
- * core is running, but is needed to make sure the core won't run after
- * deasserting the reset the subsequent time. The asserting of reset can
- * be done here, but is preferred to be done in the .unprepare() ops - this
- * maintains the symmetric behavior between the .start(), .stop(), .prepare()
- * and .unprepare() ops, and also balances them well between sysfs 'state'
- * flow and device bind/unbind or module removal.
- */
- static int k3_r5_rproc_stop(struct rproc *rproc)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct k3_r5_cluster *cluster = kproc->cluster;
- struct k3_r5_core *core = kproc->core;
- int ret;
- /* halt all applicable cores */
- if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
- list_for_each_entry(core, &cluster->cores, elem) {
- ret = k3_r5_core_halt(core);
- if (ret) {
- core = list_prev_entry(core, elem);
- goto unroll_core_halt;
- }
- }
- } else {
- ret = k3_r5_core_halt(core);
- if (ret)
- goto out;
- }
- mbox_free_channel(kproc->mbox);
- return 0;
- unroll_core_halt:
- list_for_each_entry_from_reverse(core, &cluster->cores, elem) {
- if (k3_r5_core_run(core))
- dev_warn(core->dev, "core run back failed\n");
- }
- out:
- return ret;
- }
- /*
- * Internal Memory translation helper
- *
- * Custom function implementing the rproc .da_to_va ops to provide address
- * translation (device address to kernel virtual address) for internal RAMs
- * present in a DSP or IPU device). The translated addresses can be used
- * either by the remoteproc core for loading, or by any rpmsg bus drivers.
- */
- static void *k3_r5_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem)
- {
- struct k3_r5_rproc *kproc = rproc->priv;
- struct k3_r5_core *core = kproc->core;
- void __iomem *va = NULL;
- phys_addr_t bus_addr;
- u32 dev_addr, offset;
- size_t size;
- int i;
- if (len == 0)
- return NULL;
- /* handle both R5 and SoC views of ATCM and BTCM */
- for (i = 0; i < core->num_mems; i++) {
- bus_addr = core->mem[i].bus_addr;
- dev_addr = core->mem[i].dev_addr;
- size = core->mem[i].size;
- /* handle R5-view addresses of TCMs */
- if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
- offset = da - dev_addr;
- va = core->mem[i].cpu_addr + offset;
- return (__force void *)va;
- }
- /* handle SoC-view addresses of TCMs */
- if (da >= bus_addr && ((da + len) <= (bus_addr + size))) {
- offset = da - bus_addr;
- va = core->mem[i].cpu_addr + offset;
- return (__force void *)va;
- }
- }
- /* handle any SRAM regions using SoC-view addresses */
- for (i = 0; i < core->num_sram; i++) {
- dev_addr = core->sram[i].dev_addr;
- size = core->sram[i].size;
- if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
- offset = da - dev_addr;
- va = core->sram[i].cpu_addr + offset;
- return (__force void *)va;
- }
- }
- /* handle static DDR reserved memory regions */
- for (i = 0; i < kproc->num_rmems; i++) {
- dev_addr = kproc->rmem[i].dev_addr;
- size = kproc->rmem[i].size;
- if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
- offset = da - dev_addr;
- va = kproc->rmem[i].cpu_addr + offset;
- return (__force void *)va;
- }
- }
- return NULL;
- }
- static const struct rproc_ops k3_r5_rproc_ops = {
- .prepare = k3_r5_rproc_prepare,
- .unprepare = k3_r5_rproc_unprepare,
- .start = k3_r5_rproc_start,
- .stop = k3_r5_rproc_stop,
- .kick = k3_r5_rproc_kick,
- .da_to_va = k3_r5_rproc_da_to_va,
- };
- /*
- * Internal R5F Core configuration
- *
- * Each R5FSS has a cluster-level setting for configuring the processor
- * subsystem either in a safety/fault-tolerant LockStep mode or a performance
- * oriented Split mode. Each R5F core has a number of settings to either
- * enable/disable each of the TCMs, control which TCM appears at the R5F core's
- * address 0x0. These settings need to be configured before the resets for the
- * corresponding core are released. These settings are all protected and managed
- * by the System Processor.
- *
- * This function is used to pre-configure these settings for each R5F core, and
- * the configuration is all done through various ti_sci_proc functions that
- * communicate with the System Processor. The function also ensures that both
- * the cores are halted before the .prepare() step.
- *
- * The function is called from k3_r5_cluster_rproc_init() and is invoked either
- * once (in LockStep mode) or twice (in Split mode). Support for LockStep-mode
- * is dictated by an eFUSE register bit, and the config settings retrieved from
- * DT are adjusted accordingly as per the permitted cluster mode. All cluster
- * level settings like Cluster mode and TEINIT (exception handling state
- * dictating ARM or Thumb mode) can only be set and retrieved using Core0.
- *
- * The function behavior is different based on the cluster mode. The R5F cores
- * are configured independently as per their individual settings in Split mode.
- * They are identically configured in LockStep mode using the primary Core0
- * settings. However, some individual settings cannot be set in LockStep mode.
- * This is overcome by switching to Split-mode initially and then programming
- * both the cores with the same settings, before reconfiguing again for
- * LockStep mode.
- */
- static int k3_r5_rproc_configure(struct k3_r5_rproc *kproc)
- {
- struct k3_r5_cluster *cluster = kproc->cluster;
- struct device *dev = kproc->dev;
- struct k3_r5_core *core0, *core, *temp;
- u32 ctrl = 0, cfg = 0, stat = 0;
- u32 set_cfg = 0, clr_cfg = 0;
- u64 boot_vec = 0;
- bool lockstep_en;
- int ret;
- core0 = list_first_entry(&cluster->cores, struct k3_r5_core, elem);
- core = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ? core0 : kproc->core;
- ret = ti_sci_proc_get_status(core->tsp, &boot_vec, &cfg, &ctrl,
- &stat);
- if (ret < 0)
- return ret;
- dev_dbg(dev, "boot_vector = 0x%llx, cfg = 0x%x ctrl = 0x%x stat = 0x%x\n",
- boot_vec, cfg, ctrl, stat);
- lockstep_en = !!(stat & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED);
- if (!lockstep_en && cluster->mode == CLUSTER_MODE_LOCKSTEP) {
- dev_err(cluster->dev, "lockstep mode not permitted, force configuring for split-mode\n");
- cluster->mode = CLUSTER_MODE_SPLIT;
- }
- /* always enable ARM mode and set boot vector to 0 */
- boot_vec = 0x0;
- if (core == core0) {
- clr_cfg = PROC_BOOT_CFG_FLAG_R5_TEINIT;
- /*
- * LockStep configuration bit is Read-only on Split-mode _only_
- * devices and system firmware will NACK any requests with the
- * bit configured, so program it only on permitted devices
- */
- if (lockstep_en)
- clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
- }
- if (core->atcm_enable)
- set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
- else
- clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
- if (core->btcm_enable)
- set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
- else
- clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
- if (core->loczrama)
- set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
- else
- clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
- if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
- /*
- * work around system firmware limitations to make sure both
- * cores are programmed symmetrically in LockStep. LockStep
- * and TEINIT config is only allowed with Core0.
- */
- list_for_each_entry(temp, &cluster->cores, elem) {
- ret = k3_r5_core_halt(temp);
- if (ret)
- goto out;
- if (temp != core) {
- clr_cfg &= ~PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
- clr_cfg &= ~PROC_BOOT_CFG_FLAG_R5_TEINIT;
- }
- ret = ti_sci_proc_set_config(temp->tsp, boot_vec,
- set_cfg, clr_cfg);
- if (ret)
- goto out;
- }
- set_cfg = PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
- clr_cfg = 0;
- ret = ti_sci_proc_set_config(core->tsp, boot_vec,
- set_cfg, clr_cfg);
- } else {
- ret = k3_r5_core_halt(core);
- if (ret)
- goto out;
- ret = ti_sci_proc_set_config(core->tsp, boot_vec,
- set_cfg, clr_cfg);
- }
- out:
- return ret;
- }
- static int k3_r5_reserved_mem_init(struct k3_r5_rproc *kproc)
- {
- struct device *dev = kproc->dev;
- struct device_node *np = dev_of_node(dev);
- struct device_node *rmem_np;
- struct reserved_mem *rmem;
- int num_rmems;
- int ret, i;
- num_rmems = of_property_count_elems_of_size(np, "memory-region",
- sizeof(phandle));
- if (num_rmems <= 0) {
- dev_err(dev, "device does not have reserved memory regions, ret = %d\n",
- num_rmems);
- return -EINVAL;
- }
- if (num_rmems < 2) {
- dev_err(dev, "device needs atleast two memory regions to be defined, num = %d\n",
- num_rmems);
- return -EINVAL;
- }
- /* use reserved memory region 0 for vring DMA allocations */
- ret = of_reserved_mem_device_init_by_idx(dev, np, 0);
- if (ret) {
- dev_err(dev, "device cannot initialize DMA pool, ret = %d\n",
- ret);
- return ret;
- }
- num_rmems--;
- kproc->rmem = kcalloc(num_rmems, sizeof(*kproc->rmem), GFP_KERNEL);
- if (!kproc->rmem) {
- ret = -ENOMEM;
- goto release_rmem;
- }
- /* use remaining reserved memory regions for static carveouts */
- for (i = 0; i < num_rmems; i++) {
- rmem_np = of_parse_phandle(np, "memory-region", i + 1);
- if (!rmem_np) {
- ret = -EINVAL;
- goto unmap_rmem;
- }
- rmem = of_reserved_mem_lookup(rmem_np);
- if (!rmem) {
- of_node_put(rmem_np);
- ret = -EINVAL;
- goto unmap_rmem;
- }
- of_node_put(rmem_np);
- kproc->rmem[i].bus_addr = rmem->base;
- /*
- * R5Fs do not have an MMU, but have a Region Address Translator
- * (RAT) module that provides a fixed entry translation between
- * the 32-bit processor addresses to 64-bit bus addresses. The
- * RAT is programmable only by the R5F cores. Support for RAT
- * is currently not supported, so 64-bit address regions are not
- * supported. The absence of MMUs implies that the R5F device
- * addresses/supported memory regions are restricted to 32-bit
- * bus addresses, and are identical
- */
- kproc->rmem[i].dev_addr = (u32)rmem->base;
- kproc->rmem[i].size = rmem->size;
- kproc->rmem[i].cpu_addr = ioremap_wc(rmem->base, rmem->size);
- if (!kproc->rmem[i].cpu_addr) {
- dev_err(dev, "failed to map reserved memory#%d at %pa of size %pa\n",
- i + 1, &rmem->base, &rmem->size);
- ret = -ENOMEM;
- goto unmap_rmem;
- }
- dev_dbg(dev, "reserved memory%d: bus addr %pa size 0x%zx va %pK da 0x%x\n",
- i + 1, &kproc->rmem[i].bus_addr,
- kproc->rmem[i].size, kproc->rmem[i].cpu_addr,
- kproc->rmem[i].dev_addr);
- }
- kproc->num_rmems = num_rmems;
- return 0;
- unmap_rmem:
- for (i--; i >= 0; i--)
- iounmap(kproc->rmem[i].cpu_addr);
- kfree(kproc->rmem);
- release_rmem:
- of_reserved_mem_device_release(dev);
- return ret;
- }
- static void k3_r5_reserved_mem_exit(struct k3_r5_rproc *kproc)
- {
- int i;
- for (i = 0; i < kproc->num_rmems; i++)
- iounmap(kproc->rmem[i].cpu_addr);
- kfree(kproc->rmem);
- of_reserved_mem_device_release(kproc->dev);
- }
- static int k3_r5_cluster_rproc_init(struct platform_device *pdev)
- {
- struct k3_r5_cluster *cluster = platform_get_drvdata(pdev);
- struct device *dev = &pdev->dev;
- struct k3_r5_rproc *kproc;
- struct k3_r5_core *core, *core1;
- struct device *cdev;
- const char *fw_name;
- struct rproc *rproc;
- int ret;
- core1 = list_last_entry(&cluster->cores, struct k3_r5_core, elem);
- list_for_each_entry(core, &cluster->cores, elem) {
- cdev = core->dev;
- ret = rproc_of_parse_firmware(cdev, 0, &fw_name);
- if (ret) {
- dev_err(dev, "failed to parse firmware-name property, ret = %d\n",
- ret);
- goto out;
- }
- rproc = rproc_alloc(cdev, dev_name(cdev), &k3_r5_rproc_ops,
- fw_name, sizeof(*kproc));
- if (!rproc) {
- ret = -ENOMEM;
- goto out;
- }
- /* K3 R5s have a Region Address Translator (RAT) but no MMU */
- rproc->has_iommu = false;
- /* error recovery is not supported at present */
- rproc->recovery_disabled = true;
- kproc = rproc->priv;
- kproc->cluster = cluster;
- kproc->core = core;
- kproc->dev = cdev;
- kproc->rproc = rproc;
- core->rproc = rproc;
- ret = k3_r5_rproc_configure(kproc);
- if (ret) {
- dev_err(dev, "initial configure failed, ret = %d\n",
- ret);
- goto err_config;
- }
- ret = k3_r5_reserved_mem_init(kproc);
- if (ret) {
- dev_err(dev, "reserved memory init failed, ret = %d\n",
- ret);
- goto err_config;
- }
- ret = rproc_add(rproc);
- if (ret) {
- dev_err(dev, "rproc_add failed, ret = %d\n", ret);
- goto err_add;
- }
- /* create only one rproc in lockstep mode */
- if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
- break;
- }
- return 0;
- err_split:
- rproc_del(rproc);
- err_add:
- k3_r5_reserved_mem_exit(kproc);
- err_config:
- rproc_free(rproc);
- core->rproc = NULL;
- out:
- /* undo core0 upon any failures on core1 in split-mode */
- if (cluster->mode == CLUSTER_MODE_SPLIT && core == core1) {
- core = list_prev_entry(core, elem);
- rproc = core->rproc;
- kproc = rproc->priv;
- goto err_split;
- }
- return ret;
- }
- static int k3_r5_cluster_rproc_exit(struct platform_device *pdev)
- {
- struct k3_r5_cluster *cluster = platform_get_drvdata(pdev);
- struct k3_r5_rproc *kproc;
- struct k3_r5_core *core;
- struct rproc *rproc;
- /*
- * lockstep mode has only one rproc associated with first core, whereas
- * split-mode has two rprocs associated with each core, and requires
- * that core1 be powered down first
- */
- core = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
- list_first_entry(&cluster->cores, struct k3_r5_core, elem) :
- list_last_entry(&cluster->cores, struct k3_r5_core, elem);
- list_for_each_entry_from_reverse(core, &cluster->cores, elem) {
- rproc = core->rproc;
- kproc = rproc->priv;
- rproc_del(rproc);
- k3_r5_reserved_mem_exit(kproc);
- rproc_free(rproc);
- core->rproc = NULL;
- }
- return 0;
- }
- static int k3_r5_core_of_get_internal_memories(struct platform_device *pdev,
- struct k3_r5_core *core)
- {
- static const char * const mem_names[] = {"atcm", "btcm"};
- struct device *dev = &pdev->dev;
- struct resource *res;
- int num_mems;
- int i;
- num_mems = ARRAY_SIZE(mem_names);
- core->mem = devm_kcalloc(dev, num_mems, sizeof(*core->mem), GFP_KERNEL);
- if (!core->mem)
- return -ENOMEM;
- for (i = 0; i < num_mems; i++) {
- res = platform_get_resource_byname(pdev, IORESOURCE_MEM,
- mem_names[i]);
- if (!res) {
- dev_err(dev, "found no memory resource for %s\n",
- mem_names[i]);
- return -EINVAL;
- }
- if (!devm_request_mem_region(dev, res->start,
- resource_size(res),
- dev_name(dev))) {
- dev_err(dev, "could not request %s region for resource\n",
- mem_names[i]);
- return -EBUSY;
- }
- /*
- * TCMs are designed in general to support RAM-like backing
- * memories. So, map these as Normal Non-Cached memories. This
- * also avoids/fixes any potential alignment faults due to
- * unaligned data accesses when using memcpy() or memset()
- * functions (normally seen with device type memory).
- */
- core->mem[i].cpu_addr = devm_ioremap_wc(dev, res->start,
- resource_size(res));
- if (!core->mem[i].cpu_addr) {
- dev_err(dev, "failed to map %s memory\n", mem_names[i]);
- return -ENOMEM;
- }
- core->mem[i].bus_addr = res->start;
- /*
- * TODO:
- * The R5F cores can place ATCM & BTCM anywhere in its address
- * based on the corresponding Region Registers in the System
- * Control coprocessor. For now, place ATCM and BTCM at
- * addresses 0 and 0x41010000 (same as the bus address on AM65x
- * SoCs) based on loczrama setting
- */
- if (!strcmp(mem_names[i], "atcm")) {
- core->mem[i].dev_addr = core->loczrama ?
- 0 : K3_R5_TCM_DEV_ADDR;
- } else {
- core->mem[i].dev_addr = core->loczrama ?
- K3_R5_TCM_DEV_ADDR : 0;
- }
- core->mem[i].size = resource_size(res);
- dev_dbg(dev, "memory %5s: bus addr %pa size 0x%zx va %pK da 0x%x\n",
- mem_names[i], &core->mem[i].bus_addr,
- core->mem[i].size, core->mem[i].cpu_addr,
- core->mem[i].dev_addr);
- }
- core->num_mems = num_mems;
- return 0;
- }
- static int k3_r5_core_of_get_sram_memories(struct platform_device *pdev,
- struct k3_r5_core *core)
- {
- struct device_node *np = pdev->dev.of_node;
- struct device *dev = &pdev->dev;
- struct device_node *sram_np;
- struct resource res;
- int num_sram;
- int i, ret;
- num_sram = of_property_count_elems_of_size(np, "sram", sizeof(phandle));
- if (num_sram <= 0) {
- dev_dbg(dev, "device does not use reserved on-chip memories, num_sram = %d\n",
- num_sram);
- return 0;
- }
- core->sram = devm_kcalloc(dev, num_sram, sizeof(*core->sram), GFP_KERNEL);
- if (!core->sram)
- return -ENOMEM;
- for (i = 0; i < num_sram; i++) {
- sram_np = of_parse_phandle(np, "sram", i);
- if (!sram_np)
- return -EINVAL;
- if (!of_device_is_available(sram_np)) {
- of_node_put(sram_np);
- return -EINVAL;
- }
- ret = of_address_to_resource(sram_np, 0, &res);
- of_node_put(sram_np);
- if (ret)
- return -EINVAL;
- core->sram[i].bus_addr = res.start;
- core->sram[i].dev_addr = res.start;
- core->sram[i].size = resource_size(&res);
- core->sram[i].cpu_addr = devm_ioremap_wc(dev, res.start,
- resource_size(&res));
- if (!core->sram[i].cpu_addr) {
- dev_err(dev, "failed to parse and map sram%d memory at %pad\n",
- i, &res.start);
- return -ENOMEM;
- }
- dev_dbg(dev, "memory sram%d: bus addr %pa size 0x%zx va %pK da 0x%x\n",
- i, &core->sram[i].bus_addr,
- core->sram[i].size, core->sram[i].cpu_addr,
- core->sram[i].dev_addr);
- }
- core->num_sram = num_sram;
- return 0;
- }
- static
- struct ti_sci_proc *k3_r5_core_of_get_tsp(struct device *dev,
- const struct ti_sci_handle *sci)
- {
- struct ti_sci_proc *tsp;
- u32 temp[2];
- int ret;
- ret = of_property_read_u32_array(dev_of_node(dev), "ti,sci-proc-ids",
- temp, 2);
- if (ret < 0)
- return ERR_PTR(ret);
- tsp = devm_kzalloc(dev, sizeof(*tsp), GFP_KERNEL);
- if (!tsp)
- return ERR_PTR(-ENOMEM);
- tsp->dev = dev;
- tsp->sci = sci;
- tsp->ops = &sci->ops.proc_ops;
- tsp->proc_id = temp[0];
- tsp->host_id = temp[1];
- return tsp;
- }
- static int k3_r5_core_of_init(struct platform_device *pdev)
- {
- struct device *dev = &pdev->dev;
- struct device_node *np = dev_of_node(dev);
- struct k3_r5_core *core;
- int ret;
- if (!devres_open_group(dev, k3_r5_core_of_init, GFP_KERNEL))
- return -ENOMEM;
- core = devm_kzalloc(dev, sizeof(*core), GFP_KERNEL);
- if (!core) {
- ret = -ENOMEM;
- goto err;
- }
- core->dev = dev;
- /*
- * Use SoC Power-on-Reset values as default if no DT properties are
- * used to dictate the TCM configurations
- */
- core->atcm_enable = 0;
- core->btcm_enable = 1;
- core->loczrama = 1;
- ret = of_property_read_u32(np, "ti,atcm-enable", &core->atcm_enable);
- if (ret < 0 && ret != -EINVAL) {
- dev_err(dev, "invalid format for ti,atcm-enable, ret = %d\n",
- ret);
- goto err;
- }
- ret = of_property_read_u32(np, "ti,btcm-enable", &core->btcm_enable);
- if (ret < 0 && ret != -EINVAL) {
- dev_err(dev, "invalid format for ti,btcm-enable, ret = %d\n",
- ret);
- goto err;
- }
- ret = of_property_read_u32(np, "ti,loczrama", &core->loczrama);
- if (ret < 0 && ret != -EINVAL) {
- dev_err(dev, "invalid format for ti,loczrama, ret = %d\n", ret);
- goto err;
- }
- core->ti_sci = devm_ti_sci_get_by_phandle(dev, "ti,sci");
- if (IS_ERR(core->ti_sci)) {
- ret = PTR_ERR(core->ti_sci);
- if (ret != -EPROBE_DEFER) {
- dev_err(dev, "failed to get ti-sci handle, ret = %d\n",
- ret);
- }
- core->ti_sci = NULL;
- goto err;
- }
- ret = of_property_read_u32(np, "ti,sci-dev-id", &core->ti_sci_id);
- if (ret) {
- dev_err(dev, "missing 'ti,sci-dev-id' property\n");
- goto err;
- }
- core->reset = devm_reset_control_get_exclusive(dev, NULL);
- if (IS_ERR_OR_NULL(core->reset)) {
- ret = PTR_ERR_OR_ZERO(core->reset);
- if (!ret)
- ret = -ENODEV;
- if (ret != -EPROBE_DEFER) {
- dev_err(dev, "failed to get reset handle, ret = %d\n",
- ret);
- }
- goto err;
- }
- core->tsp = k3_r5_core_of_get_tsp(dev, core->ti_sci);
- if (IS_ERR(core->tsp)) {
- ret = PTR_ERR(core->tsp);
- dev_err(dev, "failed to construct ti-sci proc control, ret = %d\n",
- ret);
- goto err;
- }
- ret = k3_r5_core_of_get_internal_memories(pdev, core);
- if (ret) {
- dev_err(dev, "failed to get internal memories, ret = %d\n",
- ret);
- goto err;
- }
- ret = k3_r5_core_of_get_sram_memories(pdev, core);
- if (ret) {
- dev_err(dev, "failed to get sram memories, ret = %d\n", ret);
- goto err;
- }
- ret = ti_sci_proc_request(core->tsp);
- if (ret < 0) {
- dev_err(dev, "ti_sci_proc_request failed, ret = %d\n", ret);
- goto err;
- }
- platform_set_drvdata(pdev, core);
- devres_close_group(dev, k3_r5_core_of_init);
- return 0;
- err:
- devres_release_group(dev, k3_r5_core_of_init);
- return ret;
- }
- /*
- * free the resources explicitly since driver model is not being used
- * for the child R5F devices
- */
- static void k3_r5_core_of_exit(struct platform_device *pdev)
- {
- struct k3_r5_core *core = platform_get_drvdata(pdev);
- struct device *dev = &pdev->dev;
- int ret;
- ret = ti_sci_proc_release(core->tsp);
- if (ret)
- dev_err(dev, "failed to release proc, ret = %d\n", ret);
- platform_set_drvdata(pdev, NULL);
- devres_release_group(dev, k3_r5_core_of_init);
- }
- static void k3_r5_cluster_of_exit(struct platform_device *pdev)
- {
- struct k3_r5_cluster *cluster = platform_get_drvdata(pdev);
- struct platform_device *cpdev;
- struct k3_r5_core *core, *temp;
- list_for_each_entry_safe_reverse(core, temp, &cluster->cores, elem) {
- list_del(&core->elem);
- cpdev = to_platform_device(core->dev);
- k3_r5_core_of_exit(cpdev);
- }
- }
- static int k3_r5_cluster_of_init(struct platform_device *pdev)
- {
- struct k3_r5_cluster *cluster = platform_get_drvdata(pdev);
- struct device *dev = &pdev->dev;
- struct device_node *np = dev_of_node(dev);
- struct platform_device *cpdev;
- struct device_node *child;
- struct k3_r5_core *core;
- int ret;
- for_each_available_child_of_node(np, child) {
- cpdev = of_find_device_by_node(child);
- if (!cpdev) {
- ret = -ENODEV;
- dev_err(dev, "could not get R5 core platform device\n");
- goto fail;
- }
- ret = k3_r5_core_of_init(cpdev);
- if (ret) {
- dev_err(dev, "k3_r5_core_of_init failed, ret = %d\n",
- ret);
- put_device(&cpdev->dev);
- goto fail;
- }
- core = platform_get_drvdata(cpdev);
- put_device(&cpdev->dev);
- list_add_tail(&core->elem, &cluster->cores);
- }
- return 0;
- fail:
- k3_r5_cluster_of_exit(pdev);
- return ret;
- }
- static int k3_r5_probe(struct platform_device *pdev)
- {
- struct device *dev = &pdev->dev;
- struct device_node *np = dev_of_node(dev);
- struct k3_r5_cluster *cluster;
- int ret;
- int num_cores;
- cluster = devm_kzalloc(dev, sizeof(*cluster), GFP_KERNEL);
- if (!cluster)
- return -ENOMEM;
- cluster->dev = dev;
- cluster->mode = CLUSTER_MODE_LOCKSTEP;
- INIT_LIST_HEAD(&cluster->cores);
- ret = of_property_read_u32(np, "ti,cluster-mode", &cluster->mode);
- if (ret < 0 && ret != -EINVAL) {
- dev_err(dev, "invalid format for ti,cluster-mode, ret = %d\n",
- ret);
- return ret;
- }
- num_cores = of_get_available_child_count(np);
- if (num_cores != 2) {
- dev_err(dev, "MCU cluster requires both R5F cores to be enabled, num_cores = %d\n",
- num_cores);
- return -ENODEV;
- }
- platform_set_drvdata(pdev, cluster);
- ret = devm_of_platform_populate(dev);
- if (ret) {
- dev_err(dev, "devm_of_platform_populate failed, ret = %d\n",
- ret);
- return ret;
- }
- ret = k3_r5_cluster_of_init(pdev);
- if (ret) {
- dev_err(dev, "k3_r5_cluster_of_init failed, ret = %d\n", ret);
- return ret;
- }
- ret = devm_add_action_or_reset(dev,
- (void(*)(void *))k3_r5_cluster_of_exit,
- pdev);
- if (ret)
- return ret;
- ret = k3_r5_cluster_rproc_init(pdev);
- if (ret) {
- dev_err(dev, "k3_r5_cluster_rproc_init failed, ret = %d\n",
- ret);
- return ret;
- }
- ret = devm_add_action_or_reset(dev,
- (void(*)(void *))k3_r5_cluster_rproc_exit,
- pdev);
- if (ret)
- return ret;
- return 0;
- }
- static const struct of_device_id k3_r5_of_match[] = {
- { .compatible = "ti,am654-r5fss", },
- { .compatible = "ti,j721e-r5fss", },
- { /* sentinel */ },
- };
- MODULE_DEVICE_TABLE(of, k3_r5_of_match);
- static struct platform_driver k3_r5_rproc_driver = {
- .probe = k3_r5_probe,
- .driver = {
- .name = "k3_r5_rproc",
- .of_match_table = k3_r5_of_match,
- },
- };
- module_platform_driver(k3_r5_rproc_driver);
- MODULE_LICENSE("GPL v2");
- MODULE_DESCRIPTION("TI K3 R5F remote processor driver");
- MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
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