summaryrefslogtreecommitdiff
path: root/drivers/remoteproc/keystone_remoteproc.c
blob: 95b39741925dbf88a7f7534548ca86b71d2d3eed (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
// SPDX-License-Identifier: GPL-2.0-only
/*
 * TI Keystone DSP remoteproc driver
 *
 * Copyright (C) 2015-2017 Texas Instruments Incorporated - http://www.ti.com/
 */

#include <linux/module.h>
#include <linux/slab.h>
#include <linux/io.h>
#include <linux/interrupt.h>
#include <linux/platform_device.h>
#include <linux/pm_runtime.h>
#include <linux/workqueue.h>
#include <linux/of_address.h>
#include <linux/of_reserved_mem.h>
#include <linux/gpio/consumer.h>
#include <linux/regmap.h>
#include <linux/mfd/syscon.h>
#include <linux/remoteproc.h>
#include <linux/reset.h>

#include "remoteproc_internal.h"

#define KEYSTONE_RPROC_LOCAL_ADDRESS_MASK	(SZ_16M - 1)

/**
 * struct keystone_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 DSP view
 * @size: Size of the memory region
 */
struct keystone_rproc_mem {
	void __iomem *cpu_addr;
	phys_addr_t bus_addr;
	u32 dev_addr;
	size_t size;
};

/**
 * struct keystone_rproc - keystone remote processor driver structure
 * @dev: cached device pointer
 * @rproc: remoteproc device handle
 * @mem: internal memory regions data
 * @num_mems: number of internal memory regions
 * @dev_ctrl: device control regmap handle
 * @reset: reset control handle
 * @boot_offset: boot register offset in @dev_ctrl regmap
 * @irq_ring: irq entry for vring
 * @irq_fault: irq entry for exception
 * @kick_gpio: gpio used for virtio kicks
 * @workqueue: workqueue for processing virtio interrupts
 */
struct keystone_rproc {
	struct device *dev;
	struct rproc *rproc;
	struct keystone_rproc_mem *mem;
	int num_mems;
	struct regmap *dev_ctrl;
	struct reset_control *reset;
	struct gpio_desc *kick_gpio;
	u32 boot_offset;
	int irq_ring;
	int irq_fault;
	struct work_struct workqueue;
};

/* Put the DSP processor into reset */
static void keystone_rproc_dsp_reset(struct keystone_rproc *ksproc)
{
	reset_control_assert(ksproc->reset);
}

/* Configure the boot address and boot the DSP processor */
static int keystone_rproc_dsp_boot(struct keystone_rproc *ksproc, u32 boot_addr)
{
	int ret;

	if (boot_addr & (SZ_1K - 1)) {
		dev_err(ksproc->dev, "invalid boot address 0x%x, must be aligned on a 1KB boundary\n",
			boot_addr);
		return -EINVAL;
	}

	ret = regmap_write(ksproc->dev_ctrl, ksproc->boot_offset, boot_addr);
	if (ret) {
		dev_err(ksproc->dev, "regmap_write of boot address failed, status = %d\n",
			ret);
		return ret;
	}

	reset_control_deassert(ksproc->reset);

	return 0;
}

/*
 * Process the remoteproc exceptions
 *
 * The exception reporting on Keystone DSP remote processors is very simple
 * compared to the equivalent processors on the OMAP family, it is notified
 * through a software-designed specific interrupt source in the IPC interrupt
 * generation register.
 *
 * This function just invokes the rproc_report_crash to report the exception
 * to the remoteproc driver core, to trigger a recovery.
 */
static irqreturn_t keystone_rproc_exception_interrupt(int irq, void *dev_id)
{
	struct keystone_rproc *ksproc = dev_id;

	rproc_report_crash(ksproc->rproc, RPROC_FATAL_ERROR);

	return IRQ_HANDLED;
}

/*
 * Main virtqueue message workqueue function
 *
 * This function is executed upon scheduling of the keystone remoteproc
 * driver's workqueue. The workqueue is scheduled by the vring ISR handler.
 *
 * There is no payload message indicating the virtqueue index as is the
 * case with mailbox-based implementations on OMAP family. As such, this
 * handler processes both the Tx and Rx virtqueue indices on every invocation.
 * The rproc_vq_interrupt function can detect if there are new unprocessed
 * messages or not (returns IRQ_NONE vs IRQ_HANDLED), but there is no need
 * to check for these return values. The index 0 triggering will process all
 * pending Rx buffers, and the index 1 triggering will process all newly
 * available Tx buffers and will wakeup any potentially blocked senders.
 *
 * NOTE:
 * 1. A payload could be added by using some of the source bits in the
 *    IPC interrupt generation registers, but this would need additional
 *    changes to the overall IPC stack, and currently there are no benefits
 *    of adapting that approach.
 * 2. The current logic is based on an inherent design assumption of supporting
 *    only 2 vrings, but this can be changed if needed.
 */
static void handle_event(struct work_struct *work)
{
	struct keystone_rproc *ksproc =
		container_of(work, struct keystone_rproc, workqueue);

	rproc_vq_interrupt(ksproc->rproc, 0);
	rproc_vq_interrupt(ksproc->rproc, 1);
}

/*
 * Interrupt handler for processing vring kicks from remote processor
 */
static irqreturn_t keystone_rproc_vring_interrupt(int irq, void *dev_id)
{
	struct keystone_rproc *ksproc = dev_id;

	schedule_work(&ksproc->workqueue);

	return IRQ_HANDLED;
}

/*
 * Power up the DSP 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.
 */
static int keystone_rproc_start(struct rproc *rproc)
{
	struct keystone_rproc *ksproc = rproc->priv;
	int ret;

	INIT_WORK(&ksproc->workqueue, handle_event);

	ret = request_irq(ksproc->irq_ring, keystone_rproc_vring_interrupt, 0,
			  dev_name(ksproc->dev), ksproc);
	if (ret) {
		dev_err(ksproc->dev, "failed to enable vring interrupt, ret = %d\n",
			ret);
		goto out;
	}

	ret = request_irq(ksproc->irq_fault, keystone_rproc_exception_interrupt,
			  0, dev_name(ksproc->dev), ksproc);
	if (ret) {
		dev_err(ksproc->dev, "failed to enable exception interrupt, ret = %d\n",
			ret);
		goto free_vring_irq;
	}

	ret = keystone_rproc_dsp_boot(ksproc, rproc->bootaddr);
	if (ret)
		goto free_exc_irq;

	return 0;

free_exc_irq:
	free_irq(ksproc->irq_fault, ksproc);
free_vring_irq:
	free_irq(ksproc->irq_ring, ksproc);
	flush_work(&ksproc->workqueue);
out:
	return ret;
}

/*
 * Stop the DSP remote processor.
 *
 * This function puts the DSP processor into reset, and finishes processing
 * of any pending messages.
 */
static int keystone_rproc_stop(struct rproc *rproc)
{
	struct keystone_rproc *ksproc = rproc->priv;

	keystone_rproc_dsp_reset(ksproc);
	free_irq(ksproc->irq_fault, ksproc);
	free_irq(ksproc->irq_ring, ksproc);
	flush_work(&ksproc->workqueue);

	return 0;
}

/*
 * 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 keystone_rproc_kick(struct rproc *rproc, int vqid)
{
	struct keystone_rproc *ksproc = rproc->priv;

	if (!ksproc->kick_gpio)
		return;

	gpiod_set_value(ksproc->kick_gpio, 1);
}

/*
 * Custom function to translate a DSP device address (internal RAMs only) to a
 * kernel virtual address.  The DSPs can access their RAMs at either an internal
 * address visible only from a DSP, 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 *keystone_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem)
{
	struct keystone_rproc *ksproc = 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 < ksproc->num_mems; i++) {
		bus_addr = ksproc->mem[i].bus_addr;
		dev_addr = ksproc->mem[i].dev_addr;
		size = ksproc->mem[i].size;

		if (da < KEYSTONE_RPROC_LOCAL_ADDRESS_MASK) {
			/* handle DSP-view addresses */
			if ((da >= dev_addr) &&
			    ((da + len) <= (dev_addr + size))) {
				offset = da - dev_addr;
				va = ksproc->mem[i].cpu_addr + offset;
				break;
			}
		} else {
			/* handle SoC-view addresses */
			if ((da >= bus_addr) &&
			    (da + len) <= (bus_addr + size)) {
				offset = da - bus_addr;
				va = ksproc->mem[i].cpu_addr + offset;
				break;
			}
		}
	}

	return (__force void *)va;
}

static const struct rproc_ops keystone_rproc_ops = {
	.start		= keystone_rproc_start,
	.stop		= keystone_rproc_stop,
	.kick		= keystone_rproc_kick,
	.da_to_va	= keystone_rproc_da_to_va,
};

static int keystone_rproc_of_get_memories(struct platform_device *pdev,
					  struct keystone_rproc *ksproc)
{
	static const char * const mem_names[] = {"l2sram", "l1pram", "l1dram"};
	struct device *dev = &pdev->dev;
	struct resource *res;
	int num_mems = 0;
	int i;

	num_mems = ARRAY_SIZE(mem_names);
	ksproc->mem = devm_kcalloc(ksproc->dev, num_mems,
				   sizeof(*ksproc->mem), GFP_KERNEL);
	if (!ksproc->mem)
		return -ENOMEM;

	for (i = 0; i < num_mems; i++) {
		res = platform_get_resource_byname(pdev, IORESOURCE_MEM,
						   mem_names[i]);
		ksproc->mem[i].cpu_addr = devm_ioremap_resource(dev, res);
		if (IS_ERR(ksproc->mem[i].cpu_addr)) {
			dev_err(dev, "failed to parse and map %s memory\n",
				mem_names[i]);
			return PTR_ERR(ksproc->mem[i].cpu_addr);
		}
		ksproc->mem[i].bus_addr = res->start;
		ksproc->mem[i].dev_addr =
				res->start & KEYSTONE_RPROC_LOCAL_ADDRESS_MASK;
		ksproc->mem[i].size = resource_size(res);

		/* zero out memories to start in a pristine state */
		memset((__force void *)ksproc->mem[i].cpu_addr, 0,
		       ksproc->mem[i].size);
	}
	ksproc->num_mems = num_mems;

	return 0;
}

static int keystone_rproc_of_get_dev_syscon(struct platform_device *pdev,
					    struct keystone_rproc *ksproc)
{
	struct device_node *np = pdev->dev.of_node;
	struct device *dev = &pdev->dev;
	int ret;

	if (!of_property_read_bool(np, "ti,syscon-dev")) {
		dev_err(dev, "ti,syscon-dev property is absent\n");
		return -EINVAL;
	}

	ksproc->dev_ctrl =
		syscon_regmap_lookup_by_phandle(np, "ti,syscon-dev");
	if (IS_ERR(ksproc->dev_ctrl)) {
		ret = PTR_ERR(ksproc->dev_ctrl);
		return ret;
	}

	if (of_property_read_u32_index(np, "ti,syscon-dev", 1,
				       &ksproc->boot_offset)) {
		dev_err(dev, "couldn't read the boot register offset\n");
		return -EINVAL;
	}

	return 0;
}

static int keystone_rproc_probe(struct platform_device *pdev)
{
	struct device *dev = &pdev->dev;
	struct device_node *np = dev->of_node;
	struct keystone_rproc *ksproc;
	struct rproc *rproc;
	int dsp_id;
	char *fw_name = NULL;
	char *template = "keystone-dsp%d-fw";
	int name_len = 0;
	int ret = 0;

	if (!np) {
		dev_err(dev, "only DT-based devices are supported\n");
		return -ENODEV;
	}

	dsp_id = of_alias_get_id(np, "rproc");
	if (dsp_id < 0) {
		dev_warn(dev, "device does not have an alias id\n");
		return dsp_id;
	}

	/* construct a custom default fw name - subject to change in future */
	name_len = strlen(template); /* assuming a single digit alias */
	fw_name = devm_kzalloc(dev, name_len, GFP_KERNEL);
	if (!fw_name)
		return -ENOMEM;
	snprintf(fw_name, name_len, template, dsp_id);

	rproc = rproc_alloc(dev, dev_name(dev), &keystone_rproc_ops, fw_name,
			    sizeof(*ksproc));
	if (!rproc)
		return -ENOMEM;

	rproc->has_iommu = false;
	ksproc = rproc->priv;
	ksproc->rproc = rproc;
	ksproc->dev = dev;

	ret = keystone_rproc_of_get_dev_syscon(pdev, ksproc);
	if (ret)
		goto free_rproc;

	ksproc->reset = devm_reset_control_get_exclusive(dev, NULL);
	if (IS_ERR(ksproc->reset)) {
		ret = PTR_ERR(ksproc->reset);
		goto free_rproc;
	}

	/* enable clock for accessing DSP internal memories */
	pm_runtime_enable(dev);
	ret = pm_runtime_resume_and_get(dev);
	if (ret < 0) {
		dev_err(dev, "failed to enable clock, status = %d\n", ret);
		goto disable_rpm;
	}

	ret = keystone_rproc_of_get_memories(pdev, ksproc);
	if (ret)
		goto disable_clk;

	ksproc->irq_ring = platform_get_irq_byname(pdev, "vring");
	if (ksproc->irq_ring < 0) {
		ret = ksproc->irq_ring;
		goto disable_clk;
	}

	ksproc->irq_fault = platform_get_irq_byname(pdev, "exception");
	if (ksproc->irq_fault < 0) {
		ret = ksproc->irq_fault;
		goto disable_clk;
	}

	ksproc->kick_gpio = gpiod_get(dev, "kick", GPIOD_ASIS);
	ret = PTR_ERR_OR_ZERO(ksproc->kick_gpio);
	if (ret) {
		dev_err(dev, "failed to get gpio for virtio kicks, status = %d\n",
			ret);
		goto disable_clk;
	}

	if (of_reserved_mem_device_init(dev))
		dev_warn(dev, "device does not have specific CMA pool\n");

	/* ensure the DSP is in reset before loading firmware */
	ret = reset_control_status(ksproc->reset);
	if (ret < 0) {
		dev_err(dev, "failed to get reset status, status = %d\n", ret);
		goto release_mem;
	} else if (ret == 0) {
		WARN(1, "device is not in reset\n");
		keystone_rproc_dsp_reset(ksproc);
	}

	ret = rproc_add(rproc);
	if (ret) {
		dev_err(dev, "failed to add register device with remoteproc core, status = %d\n",
			ret);
		goto release_mem;
	}

	platform_set_drvdata(pdev, ksproc);

	return 0;

release_mem:
	of_reserved_mem_device_release(dev);
	gpiod_put(ksproc->kick_gpio);
disable_clk:
	pm_runtime_put_sync(dev);
disable_rpm:
	pm_runtime_disable(dev);
free_rproc:
	rproc_free(rproc);
	return ret;
}

static int keystone_rproc_remove(struct platform_device *pdev)
{
	struct keystone_rproc *ksproc = platform_get_drvdata(pdev);

	rproc_del(ksproc->rproc);
	gpiod_put(ksproc->kick_gpio);
	pm_runtime_put_sync(&pdev->dev);
	pm_runtime_disable(&pdev->dev);
	rproc_free(ksproc->rproc);
	of_reserved_mem_device_release(&pdev->dev);

	return 0;
}

static const struct of_device_id keystone_rproc_of_match[] = {
	{ .compatible = "ti,k2hk-dsp", },
	{ .compatible = "ti,k2l-dsp", },
	{ .compatible = "ti,k2e-dsp", },
	{ .compatible = "ti,k2g-dsp", },
	{ /* sentinel */ },
};
MODULE_DEVICE_TABLE(of, keystone_rproc_of_match);

static struct platform_driver keystone_rproc_driver = {
	.probe	= keystone_rproc_probe,
	.remove	= keystone_rproc_remove,
	.driver	= {
		.name = "keystone-rproc",
		.of_match_table = keystone_rproc_of_match,
	},
};

module_platform_driver(keystone_rproc_driver);

MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
MODULE_LICENSE("GPL v2");
MODULE_DESCRIPTION("TI Keystone DSP Remoteproc driver");