// SPDX-License-Identifier: GPL-2.0
/*
* ZynqMP R5 Remote Processor driver
*
*/
#include <dt-bindings/power/xlnx-zynqmp-power.h>
#include <linux/dma-mapping.h>
#include <linux/firmware/xlnx-zynqmp.h>
#include <linux/kernel.h>
#include <linux/mailbox_client.h>
#include <linux/mailbox/zynqmp-ipi-message.h>
#include <linux/module.h>
#include <linux/of_address.h>
#include <linux/of_platform.h>
#include <linux/of_reserved_mem.h>
#include <linux/platform_device.h>
#include <linux/remoteproc.h>
#include "remoteproc_internal.h"
/* IPI buffer MAX length */
#define IPI_BUF_LEN_MAX 32U
/* RX mailbox client buffer max length */
#define MBOX_CLIENT_BUF_MAX (IPI_BUF_LEN_MAX + \
sizeof(struct zynqmp_ipi_message))
#define RSC_TBL_XLNX_MAGIC ((uint32_t)'x' << 24 | (uint32_t)'a' << 16 | \
(uint32_t)'m' << 8 | (uint32_t)'p')
/*
* settings for RPU cluster mode which
* reflects possible values of xlnx,cluster-mode dt-property
*/
enum zynqmp_r5_cluster_mode {
SPLIT_MODE = 0, /* When cores run as separate processor */
LOCKSTEP_MODE = 1, /* cores execute same code in lockstep,clk-for-clk */
SINGLE_CPU_MODE = 2, /* core0 is held in reset and only core1 runs */
};
/**
* struct mem_bank_data - Memory Bank description
*
* @addr: Start address of memory bank
* @da: device address
* @size: Size of Memory bank
* @pm_domain_id: Power-domains id of memory bank for firmware to turn on/off
* @bank_name: name of the bank for remoteproc framework
*/
struct mem_bank_data {
phys_addr_t addr;
u32 da;
size_t size;
u32 pm_domain_id;
char *bank_name;
};
/**
* struct mbox_info
*
* @rx_mc_buf: to copy data from mailbox rx channel
* @tx_mc_buf: to copy data to mailbox tx channel
* @r5_core: this mailbox's corresponding r5_core pointer
* @mbox_work: schedule work after receiving data from mailbox
* @mbox_cl: mailbox client
* @tx_chan: mailbox tx channel
* @rx_chan: mailbox rx channel
*/
struct mbox_info {
unsigned char rx_mc_buf[MBOX_CLIENT_BUF_MAX];
unsigned char tx_mc_buf[MBOX_CLIENT_BUF_MAX];
struct zynqmp_r5_core *r5_core;
struct work_struct mbox_work;
struct mbox_client mbox_cl;
struct mbox_chan *tx_chan;
struct mbox_chan *rx_chan;
};
/**
* struct rsc_tbl_data
*
* Platform specific data structure used to sync resource table address.
* It's important to maintain order and size of each field on remote side.
*
* @version: version of data structure
* @magic_num: 32-bit magic number.
* @comp_magic_num: complement of above magic number
* @rsc_tbl_size: resource table size
* @rsc_tbl: resource table address
*/
struct rsc_tbl_data {
const int version;
const u32 magic_num;
const u32 comp_magic_num;
const u32 rsc_tbl_size;
const uintptr_t rsc_tbl;
} __packed;
/*
* Hardcoded TCM bank values. This will stay in driver to maintain backward
* compatibility with device-tree that does not have TCM information.
*/
static const struct mem_bank_data zynqmp_tcm_banks_split[] = {
{0xffe00000UL, 0x0, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
{0xffe20000UL, 0x20000, 0x10000UL, PD_R5_0_BTCM, "btcm0"},
{0xffe90000UL, 0x0, 0x10000UL, PD_R5_1_ATCM, "atcm1"},
{0xffeb0000UL, 0x20000, 0x10000UL, PD_R5_1_BTCM, "btcm1"},
};
/* In lockstep mode cluster uses each 64KB TCM from second core as well */
static const struct mem_bank_data zynqmp_tcm_banks_lockstep[] = {
{0xffe00000UL, 0x0, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
{0xffe20000UL, 0x20000, 0x10000UL, PD_R5_0_BTCM, "btcm0"},
{0xffe10000UL, 0x10000, 0x10000UL, PD_R5_1_ATCM, "atcm1"},
{0xffe30000UL, 0x30000, 0x10000UL, PD_R5_1_BTCM, "btcm1"},
};
/**
* struct zynqmp_r5_core
*
* @rsc_tbl_va: resource table virtual address
* @dev: device of RPU instance
* @np: device node of RPU instance
* @tcm_bank_count: number TCM banks accessible to this RPU
* @tcm_banks: array of each TCM bank data
* @rproc: rproc handle
* @rsc_tbl_size: resource table size retrieved from remote
* @pm_domain_id: RPU CPU power domain id
* @ipi: pointer to mailbox information
*/
struct zynqmp_r5_core {
void __iomem *rsc_tbl_va;
struct device *dev;
struct device_node *np;
int tcm_bank_count;
struct mem_bank_data **tcm_banks;
struct rproc *rproc;
u32 rsc_tbl_size;
u32 pm_domain_id;
struct mbox_info *ipi;
};
/**
* struct zynqmp_r5_cluster
*
* @dev: r5f subsystem cluster device node
* @mode: cluster mode of type zynqmp_r5_cluster_mode
* @core_count: number of r5 cores used for this cluster mode
* @r5_cores: Array of pointers pointing to r5 core
*/
struct zynqmp_r5_cluster {
struct device *dev;
enum zynqmp_r5_cluster_mode mode;
int core_count;
struct zynqmp_r5_core **r5_cores;
};
/**
* event_notified_idr_cb() - callback for vq_interrupt per notifyid
* @id: rproc->notify id
* @ptr: pointer to idr private data
* @data: data passed to idr_for_each callback
*
* Pass notification to remoteproc virtio
*
* Return: 0. having return is to satisfy the idr_for_each() function
* pointer input argument requirement.
**/
static int event_notified_idr_cb(int id, void *ptr, void *data)
{
struct rproc *rproc = data;
if (rproc_vq_interrupt(rproc, id) == IRQ_NONE)
dev_dbg(&rproc->dev, "data not found for vqid=%d\n", id);
return 0;
}
/**
* handle_event_notified() - remoteproc notification work function
* @work: pointer to the work structure
*
* It checks each registered remoteproc notify IDs.
*/
static void handle_event_notified(struct work_struct *work)
{
struct mbox_info *ipi;
struct rproc *rproc;
ipi = container_of(work, struct mbox_info, mbox_work);
rproc = ipi->r5_core->rproc;
/*
* We only use IPI for interrupt. The RPU firmware side may or may
* not write the notifyid when it trigger IPI.
* And thus, we scan through all the registered notifyids and
* find which one is valid to get the message.
* Even if message from firmware is NULL, we attempt to get vqid
*/
idr_for_each(&rproc->notifyids, event_notified_idr_cb, rproc);
}
/**
* zynqmp_r5_mb_rx_cb() - receive channel mailbox callback
* @cl: mailbox client
* @msg: message pointer
*
* Receive data from ipi buffer, ack interrupt and then
* it will schedule the R5 notification work.
*/
static void zynqmp_r5_mb_rx_cb(struct mbox_client *cl, void *msg)
{
struct zynqmp_ipi_message *ipi_msg, *buf_msg;
struct mbox_info *ipi;
size_t len;
ipi = container_of(cl, struct mbox_info, mbox_cl);
/* copy data from ipi buffer to r5_core */
ipi_msg = (struct zynqmp_ipi_message *)msg;
buf_msg = (struct zynqmp_ipi_message *)ipi->rx_mc_buf;
len = ipi_msg->len;
if (len > IPI_BUF_LEN_MAX) {
dev_warn(cl->dev, "msg size exceeded than %d\n",
IPI_BUF_LEN_MAX);
len = IPI_BUF_LEN_MAX;
}
buf_msg->len = len;
memcpy(buf_msg->data, ipi_msg->data, len);
/* received and processed interrupt ack */
if (mbox_send_message(ipi->rx_chan, NULL) < 0)
dev_err(cl->dev, "ack failed to mbox rx_chan\n");
schedule_work(&ipi->mbox_work);
}
/**
* zynqmp_r5_setup_mbox() - Setup mailboxes related properties
* this is used for each individual R5 core
*
* @cdev: child node device
*
* Function to setup mailboxes related properties
* return : NULL if failed else pointer to mbox_info
*/
static struct mbox_info *zynqmp_r5_setup_mbox(struct device *cdev)
{
struct mbox_client *mbox_cl;
struct mbox_info *ipi;
ipi = kzalloc(sizeof(*ipi), GFP_KERNEL);
if (!ipi)
return NULL;
mbox_cl = &ipi->mbox_cl;
mbox_cl->rx_callback = zynqmp_r5_mb_rx_cb;
mbox_cl->tx_block = false;
mbox_cl->knows_txdone = false;
mbox_cl->tx_done = NULL;
mbox_cl->dev = cdev;
/* Request TX and RX channels */
ipi->tx_chan = mbox_request_channel_byname(mbox_cl, "tx");
if (IS_ERR(ipi->tx_chan)) {
ipi->tx_chan = NULL;
kfree(ipi);
dev_warn(cdev, "mbox tx channel request failed\n");
return NULL;
}
ipi->rx_chan = mbox_request_channel_byname(mbox_cl, "rx");
if (IS_ERR(ipi->rx_chan)) {
mbox_free_channel(ipi->tx_chan);
ipi->rx_chan = NULL;
ipi->tx_chan = NULL;
kfree(ipi);
dev_warn(cdev, "mbox rx channel request failed\n");
return NULL;
}
INIT_WORK(&ipi->mbox_work, handle_event_notified);
return ipi;
}
static void zynqmp_r5_free_mbox(struct mbox_info *ipi)
{
if (!ipi)
return;
if (ipi->tx_chan) {
mbox_free_channel(ipi->tx_chan);
ipi->tx_chan = NULL;
}
if (ipi->rx_chan) {
mbox_free_channel(ipi->rx_chan);
ipi->rx_chan = NULL;
}
kfree(ipi);
}
/*
* zynqmp_r5_core_kick() - kick a firmware if mbox is provided
* @rproc: r5 core's corresponding rproc structure
* @vqid: virtqueue ID
*/
static void zynqmp_r5_rproc_kick(struct rproc *rproc, int vqid)
{
struct zynqmp_r5_core *r5_core = rproc->priv;
struct device *dev = r5_core->dev;
struct zynqmp_ipi_message *mb_msg;
struct mbox_info *ipi;
int ret;
ipi = r5_core->ipi;
if (!ipi)
return;
mb_msg = (struct zynqmp_ipi_message *)ipi->tx_mc_buf;
memcpy(mb_msg->data, &vqid, sizeof(vqid));
mb_msg->len = sizeof(vqid);
ret = mbox_send_message(ipi->tx_chan, mb_msg);
if (ret < 0)
dev_warn(dev, "failed to send message\n");
}
/*
* zynqmp_r5_rproc_start()
* @rproc: single R5 core's corresponding rproc instance
*
* Start R5 Core from designated boot address.
*
* return 0 on success, otherwise non-zero value on failure
*/
static int zynqmp_r5_rproc_start(struct rproc *rproc)
{
struct zynqmp_r5_core *r5_core = rproc->priv;
enum rpu_boot_mem bootmem;
int ret;
/*
* The exception vector pointers (EVP) refer to the base-address of
* exception vectors (for reset, IRQ, FIQ, etc). The reset-vector
* starts at the base-address and subsequent vectors are on 4-byte
* boundaries.
*
* Exception vectors can start either from 0x0000_0000 (LOVEC) or
* from 0xFFFF_0000 (HIVEC) which is mapped in the OCM (On-Chip Memory)
*
* Usually firmware will put Exception vectors at LOVEC.
*
* It is not recommend that you change the exception vector.
* Changing the EVP to HIVEC will result in increased interrupt latency
* and jitter. Also, if the OCM is secured and the Cortex-R5F processor
* is non-secured, then the Cortex-R5F processor cannot access the
* HIVEC exception vectors in the OCM.
*/
bootmem = (rproc->bootaddr >= 0xFFFC0000) ?
PM_RPU_BOOTMEM_HIVEC : PM_RPU_BOOTMEM_LOVEC;
dev_dbg(r5_core->dev, "RPU boot addr 0x%llx from %s.", rproc->bootaddr,
bootmem == PM_RPU_BOOTMEM_HIVEC ? "OCM" : "TCM");
ret = zynqmp_pm_request_wake(r5_core->pm_domain_id, 1,
bootmem, ZYNQMP_PM_REQUEST_ACK_NO);
if (ret)
dev_err(r5_core->dev,
"failed to start RPU = 0x%x\n", r5_core->pm_domain_id);
return ret;
}
/*
* zynqmp_r5_rproc_stop()
* @rproc: single R5 core's corresponding rproc instance
*
* Power down R5 Core.
*
* return 0 on success, otherwise non-zero value on failure
*/
static int zynqmp_r5_rproc_stop(struct rproc *rproc)
{
struct zynqmp_r5_core *r5_core = rproc->priv;
int ret;
ret = zynqmp_pm_force_pwrdwn(r5_core->pm_domain_id,
ZYNQMP_PM_REQUEST_ACK_BLOCKING);
if (ret)
dev_err(r5_core->dev, "failed to stop remoteproc RPU %d\n", ret);
return ret;
}
/*
* zynqmp_r5_mem_region_map()
* @rproc: single R5 core's corresponding rproc instance
* @mem: mem descriptor to map reserved memory-regions
*
* Callback to map va for memory-region's carveout.
*
* return 0 on success, otherwise non-zero value on failure
*/
static int zynqmp_r5_mem_region_map(struct rproc *rproc,
struct rproc_mem_entry *mem)
{
void __iomem *va;
va = ioremap_wc(mem->dma, mem->len);
if (IS_ERR_OR_NULL(va))
return -ENOMEM;
mem->va = (void *)va;
return 0;
}
/*
* zynqmp_r5_rproc_mem_unmap
* @rproc: single R5 core's corresponding rproc instance
* @mem: mem entry to unmap
*
* Unmap memory-region carveout
*
* return: always returns 0
*/
static int zynqmp_r5_mem_region_unmap(struct rproc *rproc,
struct rproc_mem_entry *mem)
{
iounmap((void __iomem *)mem->va);
return 0;
}
/*
* add_mem_regions_carveout()
* @rproc: single R5 core's corresponding rproc instance
*
* Construct rproc mem carveouts from memory-region property nodes
*
* return 0 on success, otherwise non-zero value on failure
*/
static int add_mem_regions_carveout(struct rproc *rproc)
{
struct rproc_mem_entry *rproc_mem;
struct zynqmp_r5_core *r5_core;
struct of_phandle_iterator it;
struct reserved_mem *rmem;
int i = 0;
r5_core = rproc->priv;
/* Register associated reserved memory regions */
of_phandle_iterator_init(&it, r5_core->np, "memory-region", NULL, 0);
while (of_phandle_iterator_next(&it) == 0) {
rmem = of_reserved_mem_lookup(it.node);
if (!rmem) {
of_node_put(it.node);
dev_err(&rproc->dev, "unable to acquire memory-region\n");
return -EINVAL;
}
if (!strcmp(it.node->name, "vdev0buffer")) {
/* Init reserved memory for vdev buffer */
rproc_mem = rproc_of_resm_mem_entry_init(&rproc->dev, i,
rmem->size,
rmem->base,
it.node->name);
} else {
/* Register associated reserved memory regions */
rproc_mem = rproc_mem_entry_init(&rproc->dev, NULL,
(dma_addr_t)rmem->base,
rmem->size, rmem->base,
zynqmp_r5_mem_region_map,
zynqmp_r5_mem_region_unmap,
it.node->name);
}
if (!rproc_mem) {
of_node_put(it.node);
return -ENOMEM;
}
rproc_add_carveout(rproc, rproc_mem);
rproc_coredump_add_segment(rproc, rmem->base, rmem->size);
dev_dbg(&rproc->dev, "reserved mem carveout %s addr=%llx, size=0x%llx",
it.node->name, rmem->base, rmem->size);
i++;
}
return 0;
}
/*
* tcm_mem_unmap()
* @rproc: single R5 core's corresponding rproc instance
* @mem: tcm mem entry to unmap
*
* Unmap TCM banks when powering down R5 core.
*
* return always 0
*/
static int tcm_mem_unmap(struct rproc *rproc, struct rproc_mem_entry *mem)
{
iounmap((void __iomem *)mem->va);
return 0;
}
/*
* tcm_mem_map()
* @rproc: single R5 core's corresponding rproc instance
* @mem: tcm memory entry descriptor
*
* Given TCM bank entry, this func setup virtual address for TCM bank
* remoteproc carveout. It also takes care of va to da address translation
*
* return 0 on success, otherwise non-zero value on failure
*/
static int tcm_mem_map(struct rproc *rproc,
struct rproc_mem_entry *mem)
{
void __iomem *va;
va = ioremap_wc(mem->dma, mem->len);
if (IS_ERR_OR_NULL(va))
return -ENOMEM;
/* Update memory entry va */
mem->va = (void *)va;
/* clear TCMs */
memset_io(va, 0, mem->len);
return 0;
}
/*
* add_tcm_banks()
* @rproc: single R5 core's corresponding rproc instance
*
* allocate and add remoteproc carveout for TCM memory
*
* return 0 on success, otherwise non-zero value on failure
*/
static int add_tcm_banks(struct rproc *rproc)
{
struct rproc_mem_entry *rproc_mem;
struct zynqmp_r5_core *r5_core;
int i, num_banks, ret;
phys_addr_t bank_addr;
struct device *dev;
u32 pm_domain_id;
size_t bank_size;
char *bank_name;
u32 da;
r5_core = rproc->priv;
dev = r5_core->dev;
num_banks = r5_core->tcm_bank_count;
/*
* Power-on Each 64KB TCM,
* register its address space, map and unmap functions
* and add carveouts accordingly
*/
for (i = 0; i < num_banks; i++) {
bank_addr = r5_core->tcm_banks[i]->addr;
da = r5_core->tcm_banks[i]->da;
bank_name = r5_core->tcm_banks[i]->bank_name;
bank_size = r5_core->tcm_banks[i]->size;
pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
ret = zynqmp_pm_request_node(pm_domain_id,
ZYNQMP_PM_CAPABILITY_ACCESS, 0,
ZYNQMP_PM_REQUEST_ACK_BLOCKING);
if (ret < 0) {
dev_err(dev, "failed to turn on TCM 0x%x", pm_domain_id);
goto release_tcm;
}
dev_dbg(dev, "TCM carveout %s addr=%llx, da=0x%x, size=0x%lx",
bank_name, bank_addr, da, bank_size);
/*
* In DETACHED state firmware is already running so no need to
* request add TCM registers. However, request TCM PD node to let
* platform management firmware know that TCM is in use.
*/
if (rproc->state == RPROC_DETACHED)
continue;
rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
bank_size, da,
tcm_mem_map, tcm_mem_unmap,
bank_name);
if (!rproc_mem) {
ret = -ENOMEM;
zynqmp_pm_release_node(pm_domain_id);
goto release_tcm;
}
rproc_add_carveout(rproc, rproc_mem);
rproc_coredump_add_segment(rproc, da, bank_size);
}
return 0;
release_tcm:
/* If failed, Turn off all TCM banks turned on before */
for (i--; i >= 0; i--) {
pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
zynqmp_pm_release_node(pm_domain_id);
}
return ret;
}
/*
* zynqmp_r5_parse_fw()
* @rproc: single R5 core's corresponding rproc instance
* @fw: ptr to firmware to be loaded onto r5 core
*
* get resource table if available
*
* return 0 on success, otherwise non-zero value on failure
*/
static int zynqmp_r5_parse_fw(struct rproc *rproc, const struct firmware *fw)
{
int ret;
ret = rproc_elf_load_rsc_table(rproc, fw);
if (ret == -EINVAL) {
/*
* resource table only required for IPC.
* if not present, this is not necessarily an error;
* for example, loading r5 hello world application
* so simply inform user and keep going.
*/
dev_info(&rproc->dev, "no resource table found.\n");
ret = 0;
}
return ret;
}
/**
* zynqmp_r5_rproc_prepare()
* adds carveouts for TCM bank and reserved memory regions
*
* @rproc: Device node of each rproc
*
* Return: 0 for success else < 0 error code
*/
static int zynqmp_r5_rproc_prepare(struct rproc *rproc)
{
int ret;
ret = add_tcm_banks(rproc);
if (ret) {
dev_err(&rproc->dev, "failed to get TCM banks, err %d\n", ret);
return ret;
}
ret = add_mem_regions_carveout(rproc);
if (ret) {
dev_err(&rproc->dev, "failed to get reserve mem regions %d\n", ret);
return ret;
}
return 0;
}
/**
* zynqmp_r5_rproc_unprepare()
* Turns off TCM banks using power-domain id
*
* @rproc: Device node of each rproc
*
* Return: always 0
*/
static int zynqmp_r5_rproc_unprepare(struct rproc *rproc)
{
struct zynqmp_r5_core *r5_core;
u32 pm_domain_id;
int i;
r5_core = rproc->priv;
for (i = 0; i < r5_core->tcm_bank_count; i++) {
pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
if (zynqmp_pm_release_node(pm_domain_id))
dev_warn(r5_core->dev,
"can't turn off TCM bank 0x%x", pm_domain_id);
}
return 0;
}
static struct resource_table *zynqmp_r5_get_loaded_rsc_table(struct rproc *rproc,
size_t *size)
{
struct zynqmp_r5_core *r5_core;
r5_core = rproc->priv;
*size = r5_core->rsc_tbl_size;
return (struct resource_table *)r5_core->rsc_tbl_va;
}
static int zynqmp_r5_get_rsc_table_va(struct zynqmp_r5_core *r5_core)
{
struct resource_table *rsc_tbl_addr;
struct device *dev = r5_core->dev;
struct rsc_tbl_data *rsc_data_va;
struct resource res_mem;
struct device_node *np;
int ret;
/*
* It is expected from remote processor firmware to provide resource
* table address via struct rsc_tbl_data data structure.
* Start address of first entry under "memory-region" property list
* contains that data structure which holds resource table address, size
* and some magic number to validate correct resource table entry.
*/
np = of_parse_phandle(r5_core->np, "memory-region", 0);
if (!np) {
dev_err(dev, "failed to get memory region dev node\n");
return -EINVAL;
}
ret = of_address_to_resource(np, 0, &res_mem);
of_node_put(np);
if (ret) {
dev_err(dev, "failed to get memory-region resource addr\n");
return -EINVAL;
}
rsc_data_va = (struct rsc_tbl_data *)ioremap_wc(res_mem.start,
sizeof(struct rsc_tbl_data));
if (!rsc_data_va) {
dev_err(dev, "failed to map resource table data address\n");
return -EIO;
}
/*
* If RSC_TBL_XLNX_MAGIC number and its complement isn't found then
* do not consider resource table address valid and don't attach
*/
if (rsc_data_va->magic_num != RSC_TBL_XLNX_MAGIC ||
rsc_data_va->comp_magic_num != ~RSC_TBL_XLNX_MAGIC) {
dev_dbg(dev, "invalid magic number, won't attach\n");
return -EINVAL;
}
r5_core->rsc_tbl_va = ioremap_wc(rsc_data_va->rsc_tbl,
rsc_data_va->rsc_tbl_size);
if (!r5_core->rsc_tbl_va) {
dev_err(dev, "failed to get resource table va\n");
return -EINVAL;
}
rsc_tbl_addr = (struct resource_table *)r5_core->rsc_tbl_va;
/*
* As of now resource table version 1 is expected. Don't fail to attach
* but warn users about it.
*/
if (rsc_tbl_addr->ver != 1)
dev_warn(dev, "unexpected resource table version %d\n",
rsc_tbl_addr->ver);
r5_core->rsc_tbl_size = rsc_data_va->rsc_tbl_size;
iounmap((void __iomem *)rsc_data_va);
return 0;
}
static int zynqmp_r5_attach(struct rproc *rproc)
{
dev_dbg(&rproc->dev, "rproc %d attached\n", rproc->index);
return 0;
}
static int zynqmp_r5_detach(struct rproc *rproc)
{
/*
* Generate last notification to remote after clearing virtio flag.
* Remote can avoid polling on virtio reset flag if kick is generated
* during detach by host and check virtio reset flag on kick interrupt.
*/
zynqmp_r5_rproc_kick(rproc, 0);
return 0;
}
static const struct rproc_ops zynqmp_r5_rproc_ops = {
.prepare = zynqmp_r5_rproc_prepare,
.unprepare = zynqmp_r5_rproc_unprepare,
.start = zynqmp_r5_rproc_start,
.stop = zynqmp_r5_rproc_stop,
.load = rproc_elf_load_segments,
.parse_fw = zynqmp_r5_parse_fw,
.find_loaded_rsc_table = rproc_elf_find_loaded_rsc_table,
.sanity_check = rproc_elf_sanity_check,
.get_boot_addr = rproc_elf_get_boot_addr,
.kick = zynqmp_r5_rproc_kick,
.get_loaded_rsc_table = zynqmp_r5_get_loaded_rsc_table,
.attach = zynqmp_r5_attach,
.detach = zynqmp_r5_detach,
};
/**
* zynqmp_r5_add_rproc_core()
* Allocate and add struct rproc object for each r5f core
* This is called for each individual r5f core
*
* @cdev: Device node of each r5 core
*
* Return: zynqmp_r5_core object for success else error code pointer
*/
static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
{
struct zynqmp_r5_core *r5_core;
struct rproc *r5_rproc;
int ret;
/* Set up DMA mask */
ret = dma_set_coherent_mask(cdev, DMA_BIT_MASK(32));
if (ret)
return ERR_PTR(ret);
/* Allocate remoteproc instance */
r5_rproc = rproc_alloc(cdev, dev_name(cdev),
&zynqmp_r5_rproc_ops,
NULL, sizeof(struct zynqmp_r5_core));
if (!r5_rproc) {
dev_err(cdev, "failed to allocate memory for rproc instance\n");
return ERR_PTR(-ENOMEM);
}
rproc_coredump_set_elf_info(r5_rproc, ELFCLASS32, EM_ARM);
r5_rproc->auto_boot = false;
r5_core = r5_rproc->priv;
r5_core->dev = cdev;
r5_core->np = dev_of_node(cdev);
if (!r5_core->np) {
dev_err(cdev, "can't get device node for r5 core\n");
ret = -EINVAL;
goto free_rproc;
}
/* Add R5 remoteproc core */
ret = rproc_add(r5_rproc);
if (ret) {
dev_err(cdev, "failed to add r5 remoteproc\n");
goto free_rproc;
}
/*
* If firmware is already available in the memory then move rproc state
* to DETACHED. Firmware can be preloaded via debugger or by any other
* agent (processors) in the system.
* If firmware isn't available in the memory and resource table isn't
* found, then rproc state remains OFFLINE.
*/
if (!zynqmp_r5_get_rsc_table_va(r5_core))
r5_rproc->state = RPROC_DETACHED;
r5_core->rproc = r5_rproc;
return r5_core;
free_rproc:
rproc_free(r5_rproc);
return ERR_PTR(ret);
}
static int zynqmp_r5_get_tcm_node_from_dt(struct zynqmp_r5_cluster *cluster)
{
int i, j, tcm_bank_count, ret, tcm_pd_idx, pd_count;
struct of_phandle_args out_args;
struct zynqmp_r5_core *r5_core;
struct platform_device *cpdev;
struct mem_bank_data *tcm;
struct device_node *np;
struct resource *res;
u64 abs_addr, size;
struct device *dev;
for (i = 0; i < cluster->core_count; i++) {
r5_core = cluster->r5_cores[i];
dev = r5_core->dev;
np = r5_core->np;
pd_count = of_count_phandle_with_args(np, "power-domains",
"#power-domain-cells");
if (pd_count <= 0) {
dev_err(dev, "invalid power-domains property, %d\n", pd_count);
return -EINVAL;
}
/* First entry in power-domains list is for r5 core, rest for TCM. */
tcm_bank_count = pd_count - 1;
if (tcm_bank_count <= 0) {
dev_err(dev, "invalid TCM count %d\n", tcm_bank_count);
return -EINVAL;
}
r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
sizeof(struct mem_bank_data *),
GFP_KERNEL);
if (!r5_core->tcm_banks)
return -ENOMEM;
r5_core->tcm_bank_count = tcm_bank_count;
for (j = 0, tcm_pd_idx = 1; j < tcm_bank_count; j++, tcm_pd_idx++) {
tcm = devm_kzalloc(dev, sizeof(struct mem_bank_data),
GFP_KERNEL);
if (!tcm)
return -ENOMEM;
r5_core->tcm_banks[j] = tcm;
/* Get power-domains id of TCM. */
ret = of_parse_phandle_with_args(np, "power-domains",
"#power-domain-cells",
tcm_pd_idx, &out_args);
if (ret) {
dev_err(r5_core->dev,
"failed to get tcm %d pm domain, ret %d\n",
tcm_pd_idx, ret);
return ret;
}
tcm->pm_domain_id = out_args.args[0];
of_node_put(out_args.np);
/* Get TCM address without translation. */
ret = of_property_read_reg(np, j, &abs_addr, &size);
if (ret) {
dev_err(dev, "failed to get reg property\n");
return ret;
}
/*
* Remote processor can address only 32 bits
* so convert 64-bits into 32-bits. This will discard
* any unwanted upper 32-bits.
*/
tcm->da = (u32)abs_addr;
tcm->size = (u32)size;
cpdev = to_platform_device(dev);
res = platform_get_resource(cpdev, IORESOURCE_MEM, j);
if (!res) {
dev_err(dev, "failed to get tcm resource\n");
return -EINVAL;
}
tcm->addr = (u32)res->start;
tcm->bank_name = (char *)res->name;
res = devm_request_mem_region(dev, tcm->addr, tcm->size,
tcm->bank_name);
if (!res) {
dev_err(dev, "failed to request tcm resource\n");
return -EINVAL;
}
}
}
return 0;
}
/**
* zynqmp_r5_get_tcm_node()
* Ideally this function should parse tcm node and store information
* in r5_core instance. For now, Hardcoded TCM information is used.
* This approach is used as TCM bindings for system-dt is being developed
*
* @cluster: pointer to zynqmp_r5_cluster type object
*
* Return: 0 for success and < 0 error code for failure.
*/
static int zynqmp_r5_get_tcm_node(struct zynqmp_r5_cluster *cluster)
{
const struct mem_bank_data *zynqmp_tcm_banks;
struct device *dev = cluster->dev;
struct zynqmp_r5_core *r5_core;
int tcm_bank_count, tcm_node;
int i, j;
if (cluster->mode == SPLIT_MODE) {
zynqmp_tcm_banks = zynqmp_tcm_banks_split;
tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks_split);
} else {
zynqmp_tcm_banks = zynqmp_tcm_banks_lockstep;
tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks_lockstep);
}
/* count per core tcm banks */
tcm_bank_count = tcm_bank_count / cluster->core_count;
/*
* r5 core 0 will use all of TCM banks in lockstep mode.
* In split mode, r5 core0 will use 128k and r5 core1 will use another
* 128k. Assign TCM banks to each core accordingly
*/
tcm_node = 0;
for (i = 0; i < cluster->core_count; i++) {
r5_core = cluster->r5_cores[i];
r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
sizeof(struct mem_bank_data *),
GFP_KERNEL);
if (!r5_core->tcm_banks)
return -ENOMEM;
for (j = 0; j < tcm_bank_count; j++) {
/*
* Use pre-defined TCM reg values.
* Eventually this should be replaced by values
* parsed from dts.
*/
r5_core->tcm_banks[j] =
(struct mem_bank_data *)&zynqmp_tcm_banks[tcm_node];
tcm_node++;
}
r5_core->tcm_bank_count = tcm_bank_count;
}
return 0;
}
/*
* zynqmp_r5_core_init()
* Create and initialize zynqmp_r5_core type object
*
* @cluster: pointer to zynqmp_r5_cluster type object
* @fw_reg_val: value expected by firmware to configure RPU cluster mode
* @tcm_mode: value expected by fw to configure TCM mode (lockstep or split)
*
* Return: 0 for success and error code for failure.
*/
static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
enum rpu_oper_mode fw_reg_val,
enum rpu_tcm_comb tcm_mode)
{
struct device *dev = cluster->dev;
struct zynqmp_r5_core *r5_core;
int ret = -EINVAL, i;
r5_core = cluster->r5_cores[0];
/* Maintain backward compatibility for zynqmp by using hardcode TCM address. */
if (of_find_property(r5_core->np, "reg", NULL))
ret = zynqmp_r5_get_tcm_node_from_dt(cluster);
else if (device_is_compatible(dev, "xlnx,zynqmp-r5fss"))
ret = zynqmp_r5_get_tcm_node(cluster);
if (ret) {
dev_err(dev, "can't get tcm, err %d\n", ret);
return ret;
}
for (i = 0; i < cluster->core_count; i++) {
r5_core = cluster->r5_cores[i];
/* Initialize r5 cores with power-domains parsed from dts */
ret = of_property_read_u32_index(r5_core->np, "power-domains",
1, &r5_core->pm_domain_id);
if (ret) {
dev_err(dev, "failed to get power-domains property\n");
return ret;
}
ret = zynqmp_pm_set_rpu_mode(r5_core->pm_domain_id, fw_reg_val);
if (ret < 0) {
dev_err(r5_core->dev, "failed to set RPU mode\n");
return ret;
}
if (of_find_property(dev_of_node(dev), "xlnx,tcm-mode", NULL) ||
device_is_compatible(dev, "xlnx,zynqmp-r5fss")) {
ret = zynqmp_pm_set_tcm_config(r5_core->pm_domain_id,
tcm_mode);
if (ret < 0) {
dev_err(r5_core->dev, "failed to configure TCM\n");
return ret;
}
}
}
return 0;
}
/*
* zynqmp_r5_cluster_init()
* Create and initialize zynqmp_r5_cluster type object
*
* @cluster: pointer to zynqmp_r5_cluster type object
*
* Return: 0 for success and error code for failure.
*/
static int zynqmp_r5_cluster_init(struct zynqmp_r5_cluster *cluster)
{
enum zynqmp_r5_cluster_mode cluster_mode = LOCKSTEP_MODE;
struct device *dev = cluster->dev;
struct device_node *dev_node = dev_of_node(dev);
struct platform_device *child_pdev;
struct zynqmp_r5_core **r5_cores;
enum rpu_oper_mode fw_reg_val;
struct device **child_devs;
struct device_node *child;
enum rpu_tcm_comb tcm_mode;
int core_count, ret, i;
struct mbox_info *ipi;
ret = of_property_read_u32(dev_node, "xlnx,cluster-mode", &cluster_mode);
/*
* on success returns 0, if not defined then returns -EINVAL,
* In that case, default is LOCKSTEP mode. Other than that
* returns relative error code < 0.
*/
if (ret != -EINVAL && ret != 0) {
dev_err(dev, "Invalid xlnx,cluster-mode property\n");
return ret;
}
/*
* For now driver only supports split mode and lockstep mode.
* fail driver probe if either of that is not set in dts.
*/
if (cluster_mode == LOCKSTEP_MODE) {
fw_reg_val = PM_RPU_MODE_LOCKSTEP;
} else if (cluster_mode == SPLIT_MODE) {
fw_reg_val = PM_RPU_MODE_SPLIT;
} else {
dev_err(dev, "driver does not support cluster mode %d\n", cluster_mode);
return -EINVAL;
}
if (of_find_property(dev_node, "xlnx,tcm-mode", NULL)) {
ret = of_property_read_u32(dev_node, "xlnx,tcm-mode", (u32 *)&tcm_mode);
if (ret)
return ret;
} else if (device_is_compatible(dev, "xlnx,zynqmp-r5fss")) {
if (cluster_mode == LOCKSTEP_MODE)
tcm_mode = PM_RPU_TCM_COMB;
else
tcm_mode = PM_RPU_TCM_SPLIT;
} else {
tcm_mode = PM_RPU_TCM_COMB;
}
/*
* Number of cores is decided by number of child nodes of
* r5f subsystem node in dts. If Split mode is used in dts
* 2 child nodes are expected.
* In lockstep mode if two child nodes are available,
* only use first child node and consider it as core0
* and ignore core1 dt node.
*/
core_count = of_get_available_child_count(dev_node);
if (core_count == 0) {
dev_err(dev, "Invalid number of r5 cores %d", core_count);
return -EINVAL;
} else if (cluster_mode == SPLIT_MODE && core_count != 2) {
dev_err(dev, "Invalid number of r5 cores for split mode\n");
return -EINVAL;
} else if (cluster_mode == LOCKSTEP_MODE && core_count == 2) {
dev_warn(dev, "Only r5 core0 will be used\n");
core_count = 1;
}
child_devs = kcalloc(core_count, sizeof(struct device *), GFP_KERNEL);
if (!child_devs)
return -ENOMEM;
r5_cores = kcalloc(core_count,
sizeof(struct zynqmp_r5_core *), GFP_KERNEL);
if (!r5_cores) {
kfree(child_devs);
return -ENOMEM;
}
i = 0;
for_each_available_child_of_node(dev_node, child) {
child_pdev = of_find_device_by_node(child);
if (!child_pdev) {
of_node_put(child);
ret = -ENODEV;
goto release_r5_cores;
}
child_devs[i] = &child_pdev->dev;
/* create and add remoteproc instance of type struct rproc */
r5_cores[i] = zynqmp_r5_add_rproc_core(&child_pdev->dev);
if (IS_ERR(r5_cores[i])) {
of_node_put(child);
ret = PTR_ERR(r5_cores[i]);
r5_cores[i] = NULL;
goto release_r5_cores;
}
/*
* If mailbox nodes are disabled using "status" property then
* setting up mailbox channels will fail.
*/
ipi = zynqmp_r5_setup_mbox(&child_pdev->dev);
if (ipi) {
r5_cores[i]->ipi = ipi;
ipi->r5_core = r5_cores[i];
}
/*
* If two child nodes are available in dts in lockstep mode,
* then ignore second child node.
*/
if (cluster_mode == LOCKSTEP_MODE) {
of_node_put(child);
break;
}
i++;
}
cluster->mode = cluster_mode;
cluster->core_count = core_count;
cluster->r5_cores = r5_cores;
ret = zynqmp_r5_core_init(cluster, fw_reg_val, tcm_mode);
if (ret < 0) {
dev_err(dev, "failed to init r5 core err %d\n", ret);
cluster->core_count = 0;
cluster->r5_cores = NULL;
/*
* at this point rproc resources for each core are allocated.
* adjust index to free resources in reverse order
*/
i = core_count - 1;
goto release_r5_cores;
}
kfree(child_devs);
return 0;
release_r5_cores:
while (i >= 0) {
put_device(child_devs[i]);
if (r5_cores[i]) {
zynqmp_r5_free_mbox(r5_cores[i]->ipi);
of_reserved_mem_device_release(r5_cores[i]->dev);
rproc_del(r5_cores[i]->rproc);
rproc_free(r5_cores[i]->rproc);
}
i--;
}
kfree(r5_cores);
kfree(child_devs);
return ret;
}
static void zynqmp_r5_cluster_exit(void *data)
{
struct platform_device *pdev = data;
struct zynqmp_r5_cluster *cluster;
struct zynqmp_r5_core *r5_core;
int i;
cluster = platform_get_drvdata(pdev);
if (!cluster)
return;
for (i = 0; i < cluster->core_count; i++) {
r5_core = cluster->r5_cores[i];
zynqmp_r5_free_mbox(r5_core->ipi);
iounmap(r5_core->rsc_tbl_va);
of_reserved_mem_device_release(r5_core->dev);
put_device(r5_core->dev);
rproc_del(r5_core->rproc);
rproc_free(r5_core->rproc);
}
kfree(cluster->r5_cores);
kfree(cluster);
platform_set_drvdata(pdev, NULL);
}
/*
* zynqmp_r5_remoteproc_probe()
* parse device-tree, initialize hardware and allocate required resources
* and remoteproc ops
*
* @pdev: domain platform device for R5 cluster
*
* Return: 0 for success and < 0 for failure.
*/
static int zynqmp_r5_remoteproc_probe(struct platform_device *pdev)
{
struct zynqmp_r5_cluster *cluster;
struct device *dev = &pdev->dev;
int ret;
cluster = kzalloc(sizeof(*cluster), GFP_KERNEL);
if (!cluster)
return -ENOMEM;
cluster->dev = dev;
ret = devm_of_platform_populate(dev);
if (ret) {
dev_err_probe(dev, ret, "failed to populate platform dev\n");
kfree(cluster);
return ret;
}
/* wire in so each core can be cleaned up at driver remove */
platform_set_drvdata(pdev, cluster);
ret = zynqmp_r5_cluster_init(cluster);
if (ret) {
kfree(cluster);
platform_set_drvdata(pdev, NULL);
dev_err_probe(dev, ret, "Invalid r5f subsystem device tree\n");
return ret;
}
ret = devm_add_action_or_reset(dev, zynqmp_r5_cluster_exit, pdev);
if (ret)
return ret;
return 0;
}
/* Match table for OF platform binding */
static const struct of_device_id zynqmp_r5_remoteproc_match[] = {
{ .compatible = "xlnx,versal-net-r52fss", },
{ .compatible = "xlnx,versal-r5fss", },
{ .compatible = "xlnx,zynqmp-r5fss", },
{ /* end of list */ },
};
MODULE_DEVICE_TABLE(of, zynqmp_r5_remoteproc_match);
static struct platform_driver zynqmp_r5_remoteproc_driver = {
.probe = zynqmp_r5_remoteproc_probe,
.driver = {
.name = "zynqmp_r5_remoteproc",
.of_match_table = zynqmp_r5_remoteproc_match,
},
};
module_platform_driver(zynqmp_r5_remoteproc_driver);
MODULE_DESCRIPTION("Xilinx R5F remote processor driver");
MODULE_AUTHOR("Xilinx Inc.");
MODULE_LICENSE("GPL");
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