// SPDX-License-Identifier: GPL-2.0-only
/*
* TI K3 Cortex-M4 Remote Processor(s) driver
*
* Copyright (C) 2021-2024 Texas Instruments Incorporated - https://www.ti.com/
* Hari Nagalla <[email protected]>
*/
#include <linux/io.h>
#include <linux/mailbox_client.h>
#include <linux/module.h>
#include <linux/of_address.h>
#include <linux/of_reserved_mem.h>
#include <linux/platform_device.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"
#define K3_M4_IRAM_DEV_ADDR 0x00000
#define K3_M4_DRAM_DEV_ADDR 0x30000
/**
* struct k3_m4_rproc_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 of the memory region from remote processor view
* @size: Size of the memory region
*/
struct k3_m4_rproc_mem {
void __iomem *cpu_addr;
phys_addr_t bus_addr;
u32 dev_addr;
size_t size;
};
/**
* struct k3_m4_rproc_mem_data - memory definitions for a remote processor
* @name: name for this memory entry
* @dev_addr: device address for the memory entry
*/
struct k3_m4_rproc_mem_data {
const char *name;
const u32 dev_addr;
};
/**
* struct k3_m4_rproc - k3 remote processor driver structure
* @dev: cached device pointer
* @mem: internal memory regions data
* @num_mems: number of internal memory regions
* @rmem: reserved memory regions data
* @num_rmems: number of reserved memory regions
* @reset: reset control handle
* @tsp: TI-SCI processor control handle
* @ti_sci: TI-SCI handle
* @ti_sci_id: TI-SCI device identifier
* @mbox: mailbox channel handle
* @client: mailbox client to request the mailbox channel
*/
struct k3_m4_rproc {
struct device *dev;
struct k3_m4_rproc_mem *mem;
int num_mems;
struct k3_m4_rproc_mem *rmem;
int num_rmems;
struct reset_control *reset;
struct ti_sci_proc *tsp;
const struct ti_sci_handle *ti_sci;
u32 ti_sci_id;
struct mbox_chan *mbox;
struct mbox_client client;
};
/**
* k3_m4_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 K3 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_m4_rproc_mbox_callback(struct mbox_client *client, void *data)
{
struct device *dev = client->dev;
struct rproc *rproc = dev_get_drvdata(dev);
u32 msg = (u32)(uintptr_t)(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 rproc %s crashed\n", rproc->name);
break;
case RP_MBOX_ECHO_REPLY:
dev_info(dev, "received echo reply from %s\n", rproc->name);
break;
default:
/* silently handle all other valid messages */
if (msg >= RP_MBOX_READY && msg < RP_MBOX_END_MSG)
return;
if (msg > 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(rproc, msg) == IRQ_NONE)
dev_dbg(dev, "no message was found in vqid %d\n", msg);
}
}
/*
* Kick the remote processor to notify about pending unprocessed messages.
* The vqid usage is not used and is inconsequential, as the kick is performed
* through a simulated GPIO (a bit in an IPC interrupt-triggering register),
* the remote processor is expected to process both its Tx and Rx virtqueues.
*/
static void k3_m4_rproc_kick(struct rproc *rproc, int vqid)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
u32 msg = (u32)vqid;
int ret;
/*
* Send the index of the triggered virtqueue in the mailbox payload.
* NOTE: msg is cast to uintptr_t to prevent compiler warnings when
* void* is 64bit. It is safely cast back to u32 in the mailbox driver.
*/
ret = mbox_send_message(kproc->mbox, (void *)(uintptr_t)msg);
if (ret < 0)
dev_err(dev, "failed to send mailbox message, status = %d\n",
ret);
}
static int k3_m4_rproc_ping_mbox(struct k3_m4_rproc *kproc)
{
struct device *dev = kproc->dev;
int 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);
return ret;
}
return 0;
}
/*
* The M4 cores have a local reset that affects only the CPU, and a
* generic module reset that powers on the device and allows the internal
* memories to be accessed while the local reset is asserted. This function is
* used to release the global reset on remote cores to allow loading into the
* internal RAMs. 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 remote cores to run.
*/
static int k3_m4_rproc_prepare(struct rproc *rproc)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
int ret;
/* If the core is running already no need to deassert the module reset */
if (rproc->state == RPROC_DETACHED)
return 0;
/*
* Ensure the local reset is asserted so the core doesn't
* execute bogus code when the module reset is released.
*/
ret = reset_control_assert(kproc->reset);
if (ret) {
dev_err(dev, "could not assert local reset\n");
return ret;
}
ret = reset_control_status(kproc->reset);
if (ret <= 0) {
dev_err(dev, "local reset still not asserted\n");
return ret;
}
ret = kproc->ti_sci->ops.dev_ops.get_device(kproc->ti_sci,
kproc->ti_sci_id);
if (ret) {
dev_err(dev, "could not deassert module-reset for internal RAM loading\n");
return ret;
}
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
* global reset on applicable cores. This completes the second portion of
* powering down the remote core. The cores themselves are only halted in the
* .stop() callback through the local reset, and the .unprepare() ops is invoked
* by the remoteproc core after the remoteproc is stopped to balance the global
* reset.
*/
static int k3_m4_rproc_unprepare(struct rproc *rproc)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
int ret;
/* If the core is going to be detached do not assert the module reset */
if (rproc->state == RPROC_ATTACHED)
return 0;
ret = kproc->ti_sci->ops.dev_ops.put_device(kproc->ti_sci,
kproc->ti_sci_id);
if (ret) {
dev_err(dev, "module-reset assert failed\n");
return ret;
}
return 0;
}
/*
* This function implements the .get_loaded_rsc_table() callback and is used
* to provide the resource table for a booted remote processor in IPC-only
* mode. The remote processor firmwares follow a design-by-contract approach
* and are expected to have the resource table at the base of the DDR region
* reserved for firmware usage. This provides flexibility for the remote
* processor to be booted by different bootloaders that may or may not have the
* ability to publish the resource table address and size through a DT
* property.
*/
static struct resource_table *k3_m4_get_loaded_rsc_table(struct rproc *rproc,
size_t *rsc_table_sz)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
if (!kproc->rmem[0].cpu_addr) {
dev_err(dev, "memory-region #1 does not exist, loaded rsc table can't be found");
return ERR_PTR(-ENOMEM);
}
/*
* NOTE: The resource table size is currently hard-coded to a maximum
* of 256 bytes. The most common resource table usage for K3 firmwares
* is to only have the vdev resource entry and an optional trace entry.
* The exact size could be computed based on resource table address, but
* the hard-coded value suffices to support the IPC-only mode.
*/
*rsc_table_sz = 256;
return (__force struct resource_table *)kproc->rmem[0].cpu_addr;
}
/*
* Custom function to translate a remote processor device address (internal
* RAMs only) to a kernel virtual address. The remote processors can access
* their RAMs at either an internal address visible only from a remote
* processor, or at the SoC-level bus address. Both these addresses need to be
* looked through for translation. The translated addresses can be used either
* by the remoteproc core for loading (when using kernel remoteproc loader), or
* by any rpmsg bus drivers.
*/
static void *k3_m4_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem)
{
struct k3_m4_rproc *kproc = rproc->priv;
void __iomem *va = NULL;
phys_addr_t bus_addr;
u32 dev_addr, offset;
size_t size;
int i;
if (len == 0)
return NULL;
for (i = 0; i < kproc->num_mems; i++) {
bus_addr = kproc->mem[i].bus_addr;
dev_addr = kproc->mem[i].dev_addr;
size = kproc->mem[i].size;
/* handle M4-view addresses */
if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
offset = da - dev_addr;
va = kproc->mem[i].cpu_addr + offset;
return (__force void *)va;
}
/* handle SoC-view addresses */
if (da >= bus_addr && ((da + len) <= (bus_addr + size))) {
offset = da - bus_addr;
va = kproc->mem[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 int k3_m4_rproc_of_get_memories(struct platform_device *pdev,
struct k3_m4_rproc *kproc)
{
static const char * const mem_names[] = { "iram", "dram" };
static const u32 mem_addrs[] = { K3_M4_IRAM_DEV_ADDR, K3_M4_DRAM_DEV_ADDR };
struct device *dev = &pdev->dev;
struct resource *res;
int num_mems;
int i;
num_mems = ARRAY_SIZE(mem_names);
kproc->mem = devm_kcalloc(kproc->dev, num_mems,
sizeof(*kproc->mem), GFP_KERNEL);
if (!kproc->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;
}
kproc->mem[i].cpu_addr = devm_ioremap_wc(dev, res->start,
resource_size(res));
if (!kproc->mem[i].cpu_addr) {
dev_err(dev, "failed to map %s memory\n",
mem_names[i]);
return -ENOMEM;
}
kproc->mem[i].bus_addr = res->start;
kproc->mem[i].dev_addr = mem_addrs[i];
kproc->mem[i].size = resource_size(res);
dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %pK da 0x%x\n",
mem_names[i], &kproc->mem[i].bus_addr,
kproc->mem[i].size, kproc->mem[i].cpu_addr,
kproc->mem[i].dev_addr);
}
kproc->num_mems = num_mems;
return 0;
}
static void k3_m4_rproc_dev_mem_release(void *data)
{
struct device *dev = data;
of_reserved_mem_device_release(dev);
}
static int k3_m4_reserved_mem_init(struct k3_m4_rproc *kproc)
{
struct device *dev = kproc->dev;
struct device_node *np = dev->of_node;
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 reserved memory regions (%d)\n",
num_rmems);
return -EINVAL;
}
if (num_rmems < 2) {
dev_err(dev, "device needs at least 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 (%d)\n", ret);
return ret;
}
ret = devm_add_action_or_reset(dev, k3_m4_rproc_dev_mem_release, dev);
if (ret)
return ret;
num_rmems--;
kproc->rmem = devm_kcalloc(dev, num_rmems, sizeof(*kproc->rmem), GFP_KERNEL);
if (!kproc->rmem)
return -ENOMEM;
/* 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)
return -EINVAL;
rmem = of_reserved_mem_lookup(rmem_np);
if (!rmem) {
of_node_put(rmem_np);
return -EINVAL;
}
of_node_put(rmem_np);
kproc->rmem[i].bus_addr = rmem->base;
/* 64-bit address regions currently not supported */
kproc->rmem[i].dev_addr = (u32)rmem->base;
kproc->rmem[i].size = rmem->size;
kproc->rmem[i].cpu_addr = devm_ioremap_wc(dev, 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);
return -ENOMEM;
}
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;
}
static void k3_m4_release_tsp(void *data)
{
struct ti_sci_proc *tsp = data;
ti_sci_proc_release(tsp);
}
/*
* Power up the M4 remote processor.
*
* This function will be invoked only after the firmware for this rproc
* was loaded, parsed successfully, and all of its resource requirements
* were met. This callback is invoked only in remoteproc mode.
*/
static int k3_m4_rproc_start(struct rproc *rproc)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
int ret;
ret = k3_m4_rproc_ping_mbox(kproc);
if (ret)
return ret;
ret = reset_control_deassert(kproc->reset);
if (ret) {
dev_err(dev, "local-reset deassert failed, ret = %d\n", ret);
return ret;
}
return 0;
}
/*
* Stop the M4 remote processor.
*
* This function puts the M4 processor into reset, and finishes processing
* of any pending messages. This callback is invoked only in remoteproc mode.
*/
static int k3_m4_rproc_stop(struct rproc *rproc)
{
struct k3_m4_rproc *kproc = rproc->priv;
struct device *dev = kproc->dev;
int ret;
ret = reset_control_assert(kproc->reset);
if (ret) {
dev_err(dev, "local-reset assert failed, ret = %d\n", ret);
return ret;
}
return 0;
}
/*
* Attach to a running M4 remote processor (IPC-only mode)
*
* The remote processor is already booted, so there is no need to issue any
* TI-SCI commands to boot the M4 core. This callback is used only in IPC-only
* mode.
*/
static int k3_m4_rproc_attach(struct rproc *rproc)
{
struct k3_m4_rproc *kproc = rproc->priv;
int ret;
ret = k3_m4_rproc_ping_mbox(kproc);
if (ret)
return ret;
return 0;
}
/*
* Detach from a running M4 remote processor (IPC-only mode)
*
* This rproc detach callback performs the opposite operation to attach
* callback, the M4 core is not stopped and will be left to continue to
* run its booted firmware. This callback is invoked only in IPC-only mode.
*/
static int k3_m4_rproc_detach(struct rproc *rproc)
{
return 0;
}
static const struct rproc_ops k3_m4_rproc_ops = {
.prepare = k3_m4_rproc_prepare,
.unprepare = k3_m4_rproc_unprepare,
.start = k3_m4_rproc_start,
.stop = k3_m4_rproc_stop,
.attach = k3_m4_rproc_attach,
.detach = k3_m4_rproc_detach,
.kick = k3_m4_rproc_kick,
.da_to_va = k3_m4_rproc_da_to_va,
.get_loaded_rsc_table = k3_m4_get_loaded_rsc_table,
};
static int k3_m4_rproc_probe(struct platform_device *pdev)
{
struct device *dev = &pdev->dev;
struct k3_m4_rproc *kproc;
struct rproc *rproc;
const char *fw_name;
bool r_state = false;
bool p_state = false;
int ret;
ret = rproc_of_parse_firmware(dev, 0, &fw_name);
if (ret)
return dev_err_probe(dev, ret, "failed to parse firmware-name property\n");
rproc = devm_rproc_alloc(dev, dev_name(dev), &k3_m4_rproc_ops, fw_name,
sizeof(*kproc));
if (!rproc)
return -ENOMEM;
rproc->has_iommu = false;
rproc->recovery_disabled = true;
kproc = rproc->priv;
kproc->dev = dev;
platform_set_drvdata(pdev, rproc);
kproc->ti_sci = devm_ti_sci_get_by_phandle(dev, "ti,sci");
if (IS_ERR(kproc->ti_sci))
return dev_err_probe(dev, PTR_ERR(kproc->ti_sci),
"failed to get ti-sci handle\n");
ret = of_property_read_u32(dev->of_node, "ti,sci-dev-id", &kproc->ti_sci_id);
if (ret)
return dev_err_probe(dev, ret, "missing 'ti,sci-dev-id' property\n");
kproc->reset = devm_reset_control_get_exclusive(dev, NULL);
if (IS_ERR(kproc->reset))
return dev_err_probe(dev, PTR_ERR(kproc->reset), "failed to get reset\n");
kproc->tsp = ti_sci_proc_of_get_tsp(dev, kproc->ti_sci);
if (IS_ERR(kproc->tsp))
return dev_err_probe(dev, PTR_ERR(kproc->tsp),
"failed to construct ti-sci proc control\n");
ret = ti_sci_proc_request(kproc->tsp);
if (ret < 0)
return dev_err_probe(dev, ret, "ti_sci_proc_request failed\n");
ret = devm_add_action_or_reset(dev, k3_m4_release_tsp, kproc->tsp);
if (ret)
return ret;
ret = k3_m4_rproc_of_get_memories(pdev, kproc);
if (ret)
return ret;
ret = k3_m4_reserved_mem_init(kproc);
if (ret)
return dev_err_probe(dev, ret, "reserved memory init failed\n");
ret = kproc->ti_sci->ops.dev_ops.is_on(kproc->ti_sci, kproc->ti_sci_id,
&r_state, &p_state);
if (ret)
return dev_err_probe(dev, ret,
"failed to get initial state, mode cannot be determined\n");
/* configure devices for either remoteproc or IPC-only mode */
if (p_state) {
rproc->state = RPROC_DETACHED;
dev_info(dev, "configured M4F for IPC-only mode\n");
} else {
dev_info(dev, "configured M4F for remoteproc mode\n");
}
kproc->client.dev = dev;
kproc->client.tx_done = NULL;
kproc->client.rx_callback = k3_m4_rproc_mbox_callback;
kproc->client.tx_block = false;
kproc->client.knows_txdone = false;
kproc->mbox = mbox_request_channel(&kproc->client, 0);
if (IS_ERR(kproc->mbox))
return dev_err_probe(dev, PTR_ERR(kproc->mbox),
"mbox_request_channel failed\n");
ret = devm_rproc_add(dev, rproc);
if (ret)
return dev_err_probe(dev, ret,
"failed to register device with remoteproc core\n");
return 0;
}
static const struct of_device_id k3_m4_of_match[] = {
{ .compatible = "ti,am64-m4fss", },
{ /* sentinel */ },
};
MODULE_DEVICE_TABLE(of, k3_m4_of_match);
static struct platform_driver k3_m4_rproc_driver = {
.probe = k3_m4_rproc_probe,
.driver = {
.name = "k3-m4-rproc",
.of_match_table = k3_m4_of_match,
},
};
module_platform_driver(k3_m4_rproc_driver);
MODULE_AUTHOR("Hari Nagalla <[email protected]>");
MODULE_DESCRIPTION("TI K3 M4 Remoteproc driver");
MODULE_LICENSE("GPL");
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