From: Hari Nagalla <hnaga...@ti.com>
Some K3 devices like AM64, AM62 devices have a M4 processor in MCU
voltage domain.
Add a remote proc driver to support this subsystem to be able to load
and boot the M4 core.
Signed-off-by: Hari Nagalla <hnaga...@ti.com>
[Ryan: Fix implicitly include warning]
Signed-off-by: Ryan Eatmon <reat...@ti.com>
[Judith: Cleanup driver, fix warnings, remove lreset logic]
Signed-off-by: Judith Mendez <j...@ti.com>
Tested-by: Daniel Schultz <d.schu...@phytec.de>
---
Changes since v4:
- No change
---
drivers/remoteproc/Kconfig | 10 +
drivers/remoteproc/Makefile | 1 +
drivers/remoteproc/ti_k3_m4_rproc.c | 371 ++++++++++++++++++++++++++++
3 files changed, 382 insertions(+)
create mode 100644 drivers/remoteproc/ti_k3_m4_rproc.c
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
index 2790b168b19..8a5d88917d6 100644
--- a/drivers/remoteproc/Kconfig
+++ b/drivers/remoteproc/Kconfig
@@ -70,6 +70,16 @@ config REMOTEPROC_TI_K3_DSP
on various TI K3 family of SoCs through the remote processor
framework.
+config REMOTEPROC_TI_K3_M4F
+ bool "TI K3 M4F remoteproc support"
+ select REMOTEPROC
+ depends on ARCH_K3
+ depends on TI_SCI_PROTOCOL
+ help
+ Say y here to support TI's M4F remote processor subsystems
+ on various TI K3 family of SoCs through the remote processor
+ framework.
+
config REMOTEPROC_TI_K3_R5F
bool "TI K3 R5F remoteproc support"
select REMOTEPROC
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
index 3a092b7660e..f81e5009c5e 100644
--- a/drivers/remoteproc/Makefile
+++ b/drivers/remoteproc/Makefile
@@ -13,6 +13,7 @@ obj-$(CONFIG_REMOTEPROC_SANDBOX) += sandbox_testproc.o
obj-$(CONFIG_REMOTEPROC_STM32_COPRO) += stm32_copro.o
obj-$(CONFIG_REMOTEPROC_TI_K3_ARM64) += ti_k3_arm64_rproc.o
obj-$(CONFIG_REMOTEPROC_TI_K3_DSP) += ti_k3_dsp_rproc.o
+obj-$(CONFIG_REMOTEPROC_TI_K3_M4F) += ti_k3_m4_rproc.o
obj-$(CONFIG_REMOTEPROC_TI_K3_R5F) += ti_k3_r5f_rproc.o
obj-$(CONFIG_REMOTEPROC_TI_POWER) += ti_power_proc.o
obj-$(CONFIG_REMOTEPROC_TI_PRU) += pru_rproc.o
diff --git a/drivers/remoteproc/ti_k3_m4_rproc.c
b/drivers/remoteproc/ti_k3_m4_rproc.c
new file mode 100644
index 00000000000..31b9de71579
--- /dev/null
+++ b/drivers/remoteproc/ti_k3_m4_rproc.c
@@ -0,0 +1,371 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Texas Instruments' K3 M4 Remoteproc driver
+ *
+ * Copyright (C) 2024 Texas Instruments Incorporated - http://www.ti.com/
+ * Hari Nagalla <hnaga...@ti.com>
+ */
+
+#include <dm.h>
+#include <log.h>
+#include <malloc.h>
+#include <remoteproc.h>
+#include <errno.h>
+#include <clk.h>
+#include <reset.h>
+#include <asm/io.h>
+#include <power-domain.h>
+#include <dm/device_compat.h>
+#include <linux/err.h>
+#include <linux/sizes.h>
+#include <linux/soc/ti/ti_sci_protocol.h>
+#include "ti_sci_proc.h"
+#include <mach/security.h>
+
+/**
+ * struct k3_m4_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_m4_mem {
+ void __iomem *cpu_addr;
+ phys_addr_t bus_addr;
+ phys_addr_t dev_addr;
+ size_t size;
+};
+
+/**
+ * struct k3_m4_mem_data - memory definitions for m4 remote core
+ * @name: name for this memory entry
+ * @dev_addr: device address for the memory entry
+ */
+struct k3_m4_mem_data {
+ const char *name;
+ const u32 dev_addr;
+};
+
+/**
+ * struct k3_m4_boot_data - internal data structure used for boot
+ * @boot_align_addr: Boot vector address alignment granularity
+ */
+struct k3_m4_boot_data {
+ u32 boot_align_addr;
+};
+
+/**
+ * struct k3_m4_privdata - Structure representing Remote processor data.
+ * @m4_rst: m4 rproc reset control data
+ * @tsp: Pointer to TISCI proc contrl handle
+ * @data: Pointer to DSP specific boot data structure
+ * @mem: Array of available memories
+ * @num_mem: Number of available memories
+ */
+struct k3_m4_privdata {
+ struct reset_ctl m4_rst;
+ struct ti_sci_proc tsp;
+ struct k3_m4_boot_data *data;
+ struct k3_m4_mem *mem;
+ int num_mems;
+};
+
+/*
+ * 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 M4 internal
+ * memories to be accessed while the local reset is asserted. This function is
+ * used to release the global reset on M4F to allow loading into the M4F
+ * internal RAMs. This helper function is invoked in k3_m4_load() before any
+ * actual firmware loading happens and is undone only in k3_m4_stop(). The
local
+ * reset cannot be released on M4 cores until after the firmware images are
loaded.
+ */
+static int k3_m4_prepare(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+ int ret;
+
+ ret = ti_sci_proc_power_domain_on(&m4->tsp);
+ if (ret)
+ dev_err(dev, "cannot enable internal RAM loading, ret = %d\n",
+ ret);
+
+ return ret;
+}
+
+/*
+ * This function is the counterpart to k3_m4_prepare() and is used to assert
+ * the global reset on M4 cores. This completes the second step of powering
+ * down the M4 cores. The cores themselves are halted through the local reset
+ * in first step. This function is invoked in k3_m4_stop() after the local
+ * reset is asserted.
+ */
+static int k3_m4_unprepare(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+
+ return ti_sci_proc_power_domain_off(&m4->tsp);
+}
+
+/**
+ * k3_m4_load() - Load up the Remote processor image
+ * @dev: rproc device pointer
+ * @addr: Address at which image is available
+ * @size: size of the image
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int k3_m4_load(struct udevice *dev, ulong addr, ulong size)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+ void *image_addr = (void *)addr;
+ int ret;
+
+ ret = ti_sci_proc_request(&m4->tsp);
+ if (ret)
+ return ret;
+
+ ret = k3_m4_prepare(dev);
+ if (ret) {
+ dev_err(dev, "Prepare failed for core %d\n",
+ m4->tsp.proc_id);
+ goto proc_release;
+ }
+
+ ti_secure_image_post_process(&image_addr, &size);
+
+ ret = rproc_elf_load_image(dev, addr, size);
+ if (ret < 0) {
+ dev_err(dev, "Loading elf failed %d\n", ret);
+ goto unprepare;
+ }
+
+unprepare:
+ if (ret)
+ k3_m4_unprepare(dev);
+proc_release:
+ ti_sci_proc_release(&m4->tsp);
+ return ret;
+}
+
+/**
+ * k3_m4_start() - Start the remote processor
+ * @dev: rproc device pointer
+ *
+ * Return: 0 if all went ok, else return appropriate error
+ */
+static int k3_m4_start(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+ int ret;
+
+ ret = ti_sci_proc_request(&m4->tsp);
+ if (ret)
+ return ret;
+
+ ret = reset_deassert(&m4->m4_rst);
+
+ ti_sci_proc_release(&m4->tsp);
+
+ return ret;
+}
+
+static int k3_m4_stop(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+
+ ti_sci_proc_request(&m4->tsp);
+ reset_assert(&m4->m4_rst);
+ k3_m4_unprepare(dev);
+ ti_sci_proc_release(&m4->tsp);
+
+ return 0;
+}
+
+static void *k3_m4_da_to_va(struct udevice *dev, ulong da, ulong len)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+ phys_addr_t bus_addr, dev_addr;
+ void __iomem *va = NULL;
+ size_t size;
+ u32 offset;
+ int i;
+
+ if (len <= 0)
+ return NULL;
+
+ for (i = 0; i < m4->num_mems; i++) {
+ bus_addr = m4->mem[i].bus_addr;
+ dev_addr = m4->mem[i].dev_addr;
+ size = m4->mem[i].size;
+
+ if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
+ offset = da - dev_addr;
+ va = m4->mem[i].cpu_addr + offset;
+ return (__force void *)va;
+ }
+
+ if (da >= bus_addr && (da + len) <= (bus_addr + size)) {
+ offset = da - bus_addr;
+ va = m4->mem[i].cpu_addr + offset;
+ return (__force void *)va;
+ }
+ }
+
+ /* Assume it is DDR region and return da */
+ return map_physmem(da, len, MAP_NOCACHE);
+}
+
+static const struct dm_rproc_ops k3_m4_ops = {
+ .load = k3_m4_load,
+ .start = k3_m4_start,
+ .stop = k3_m4_stop,
+ .device_to_virt = k3_m4_da_to_va,
+};
+
+static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
+{
+ u32 ids[2];
+ int ret;
+
+ tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
+ if (IS_ERR(tsp->sci)) {
+ dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
+ return PTR_ERR(tsp->sci);
+ }
+
+ ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
+ if (ret) {
+ dev_err(dev, "Proc IDs not populated %d\n", ret);
+ return ret;
+ }
+
+ tsp->ops = &tsp->sci->ops.proc_ops;
+ tsp->proc_id = ids[0];
+ tsp->host_id = ids[1];
+ tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
+ TI_SCI_RESOURCE_NULL);
+ if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
+ dev_err(dev, "Device ID not populated %d\n", ret);
+ return -ENODEV;
+ }
+
+ return 0;
+}
+
+static const struct k3_m4_mem_data am6_m4_mems[] = {
+ { .name = "iram", .dev_addr = 0x0 },
+ { .name = "dram", .dev_addr = 0x30000 },
+};
+
+static int k3_m4_of_get_memories(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+ int i;
+
+ m4->num_mems = ARRAY_SIZE(am6_m4_mems);
+ m4->mem = calloc(m4->num_mems, sizeof(*m4->mem));
+ if (!m4->mem)
+ return -ENOMEM;
+
+ for (i = 0; i < m4->num_mems; i++) {
+ m4->mem[i].bus_addr = dev_read_addr_size_name(dev,
+
am6_m4_mems[i].name,
+ (fdt_addr_t *)&m4->mem[i].size);
+ if (m4->mem[i].bus_addr == FDT_ADDR_T_NONE) {
+ dev_err(dev, "%s bus address not found\n",
+ am6_m4_mems[i].name);
+ return -EINVAL;
+ }
+ m4->mem[i].cpu_addr = map_physmem(m4->mem[i].bus_addr,
+ m4->mem[i].size,
+ MAP_NOCACHE);
+ m4->mem[i].dev_addr = am6_m4_mems[i].dev_addr;
+ }
+
+ return 0;
+}
+
+/**
+ * k3_of_to_priv() - generate private data from device tree
+ * @dev: corresponding k3 m4 processor device
+ * @m4: pointer to driver specific private data
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int k3_m4_of_to_priv(struct udevice *dev, struct k3_m4_privdata *m4)
+{
+ int ret;
+
+ ret = reset_get_by_index(dev, 0, &m4->m4_rst);
+ if (ret) {
+ dev_err(dev, "reset_get() failed: %d\n", ret);
+ return ret;
+ }
+
+ ret = ti_sci_proc_of_to_priv(dev, &m4->tsp);
+ if (ret)
+ return ret;
+
+ ret = k3_m4_of_get_memories(dev);
+ if (ret)
+ return ret;
+
+ m4->data = (struct k3_m4_boot_data *)dev_get_driver_data(dev);
+
+ return 0;
+}
+
+/**
+ * k3_m4_probe() - Basic probe
+ * @dev: corresponding k3 remote processor device
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int k3_m4_probe(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4;
+ int ret;
+
+ m4 = dev_get_priv(dev);
+ ret = k3_m4_of_to_priv(dev, m4);
+ if (ret)
+ return ret;
+
+ /*
+ * The M4 local resets are deasserted by default on Power-On-Reset.
+ * Assert the local resets to ensure the M4s don't execute bogus code
+ * in .load() callback when the module reset is released to support
+ * internal memory loading. This is needed for M4 cores.
+ */
+ reset_assert(&m4->m4_rst);
+
+ return 0;
+}
+
+static int k3_m4_remove(struct udevice *dev)
+{
+ struct k3_m4_privdata *m4 = dev_get_priv(dev);
+
+ free(m4->mem);
+
+ return 0;
+}
+
+static const struct k3_m4_boot_data m4_data = {
+ .boot_align_addr = SZ_1K,
+};
+
+static const struct udevice_id k3_m4_ids[] = {
+ { .compatible = "ti,am64-m4fss", .data = (ulong)&m4_data, },
+ {}
+};
+
+U_BOOT_DRIVER(k3_m4) = {
+ .name = "k3_m4",
+ .of_match = k3_m4_ids,
+ .id = UCLASS_REMOTEPROC,
+ .ops = &k3_m4_ops,
+ .probe = k3_m4_probe,
+ .remove = k3_m4_remove,
+ .priv_auto = sizeof(struct k3_m4_privdata),
+};
--
2.48.0
