diff options
Diffstat (limited to 'drivers/remoteproc')
| -rw-r--r-- | drivers/remoteproc/Kconfig | 13 | ||||
| -rw-r--r-- | drivers/remoteproc/Makefile | 1 | ||||
| -rw-r--r-- | drivers/remoteproc/ti_k3_dsp_remoteproc.c | 699 |
3 files changed, 713 insertions, 0 deletions
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig index 3e8d5d1a2b9e..3e70d972a186 100644 --- a/drivers/remoteproc/Kconfig +++ b/drivers/remoteproc/Kconfig @@ -257,6 +257,19 @@ config STM32_RPROC This can be either built-in or a loadable module. +config TI_K3_DSP_REMOTEPROC + tristate "TI K3 DSP remoteproc support" + depends on ARCH_K3 + select MAILBOX + select OMAP2PLUS_MBOX + help + Say m here to support TI's C66x and C71x DSP remote processor + subsystems on various TI K3 family of SoCs through the remote + processor framework. + + It's safe to say N here if you're not interested in utilizing + the DSP slave processors. + endif # REMOTEPROC endmenu diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile index a4c1397d6367..7ce1b8ef7677 100644 --- a/drivers/remoteproc/Makefile +++ b/drivers/remoteproc/Makefile @@ -32,3 +32,4 @@ qcom_wcnss_pil-y += qcom_wcnss_iris.o obj-$(CONFIG_ST_REMOTEPROC) += st_remoteproc.o obj-$(CONFIG_ST_SLIM_REMOTEPROC) += st_slim_rproc.o obj-$(CONFIG_STM32_RPROC) += stm32_rproc.o +obj-$(CONFIG_TI_K3_DSP_REMOTEPROC) += ti_k3_dsp_remoteproc.o diff --git a/drivers/remoteproc/ti_k3_dsp_remoteproc.c b/drivers/remoteproc/ti_k3_dsp_remoteproc.c new file mode 100644 index 000000000000..18f714b012df --- /dev/null +++ b/drivers/remoteproc/ti_k3_dsp_remoteproc.c @@ -0,0 +1,699 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * TI K3 DSP Remote Processor(s) driver + * + * Copyright (C) 2018-2020 Texas Instruments Incorporated - https://www.ti.com/ + * Suman Anna <s-anna@ti.com> + */ + +#include <linux/io.h> +#include <linux/mailbox_client.h> +#include <linux/module.h> +#include <linux/of_device.h> +#include <linux/of_reserved_mem.h> +#include <linux/omap-mailbox.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 KEYSTONE_RPROC_LOCAL_ADDRESS_MASK (SZ_16M - 1) + +/** + * struct k3_dsp_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 k3_dsp_mem { + void __iomem *cpu_addr; + phys_addr_t bus_addr; + u32 dev_addr; + size_t size; +}; + +/** + * struct k3_dsp_mem_data - memory definitions for a DSP + * @name: name for this memory entry + * @dev_addr: device address for the memory entry + */ +struct k3_dsp_mem_data { + const char *name; + const u32 dev_addr; +}; + +/** + * struct k3_dsp_dev_data - device data structure for a DSP + * @mems: pointer to memory definitions for a DSP + * @num_mems: number of memory regions in @mems + * @boot_align_addr: boot vector address alignment granularity + * @uses_lreset: flag to denote the need for local reset management + */ +struct k3_dsp_dev_data { + const struct k3_dsp_mem_data *mems; + u32 num_mems; + u32 boot_align_addr; + bool uses_lreset; +}; + +/** + * struct k3_dsp_rproc - k3 DSP remote processor driver structure + * @dev: cached device pointer + * @rproc: remoteproc device handle + * @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 + * @data: pointer to DSP-specific device data + * @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_dsp_rproc { + struct device *dev; + struct rproc *rproc; + struct k3_dsp_mem *mem; + int num_mems; + struct k3_dsp_mem *rmem; + int num_rmems; + struct reset_control *reset; + const struct k3_dsp_dev_data *data; + 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_dsp_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_dsp_rproc_mbox_callback(struct mbox_client *client, void *data) +{ + struct k3_dsp_rproc *kproc = container_of(client, struct k3_dsp_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 DSP 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 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_dsp_rproc_kick(struct rproc *rproc, int vqid) +{ + struct k3_dsp_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); +} + +/* Put the DSP processor into reset */ +static int k3_dsp_rproc_reset(struct k3_dsp_rproc *kproc) +{ + 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; + } + + 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, ret = %d\n", ret); + if (reset_control_deassert(kproc->reset)) + dev_warn(dev, "local-reset deassert back failed\n"); + } + + return ret; +} + +/* Release the DSP processor from reset */ +static int k3_dsp_rproc_release(struct k3_dsp_rproc *kproc) +{ + struct device *dev = kproc->dev; + int ret; + + ret = kproc->ti_sci->ops.dev_ops.get_device(kproc->ti_sci, + kproc->ti_sci_id); + if (ret) { + dev_err(dev, "module-reset deassert failed, ret = %d\n", ret); + return ret; + } + + ret = reset_control_deassert(kproc->reset); + if (ret) { + dev_err(dev, "local-reset deassert failed, ret = %d\n", ret); + if (kproc->ti_sci->ops.dev_ops.put_device(kproc->ti_sci, + kproc->ti_sci_id)) + dev_warn(dev, "module-reset assert back failed\n"); + } + + return ret; +} + +/* + * 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 k3_dsp_rproc_start(struct rproc *rproc) +{ + struct k3_dsp_rproc *kproc = rproc->priv; + struct mbox_client *client = &kproc->client; + struct device *dev = kproc->dev; + u32 boot_addr; + int ret; + + client->dev = dev; + client->tx_done = NULL; + client->rx_callback = k3_dsp_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; + if (boot_addr & (kproc->data->boot_align_addr - 1)) { + dev_err(dev, "invalid boot address 0x%x, must be aligned on a 0x%x boundary\n", + boot_addr, kproc->data->boot_align_addr); + ret = -EINVAL; + goto put_mbox; + } + + dev_err(dev, "booting DSP core using boot addr = 0x%x\n", boot_addr); + ret = ti_sci_proc_set_config(kproc->tsp, boot_addr, 0, 0); + if (ret) + goto put_mbox; + + ret = k3_dsp_rproc_release(kproc); + if (ret) + goto put_mbox; + + return 0; + +put_mbox: + mbox_free_channel(kproc->mbox); + return ret; +} + +/* + * Stop the DSP remote processor. + * + * This function puts the DSP processor into reset, and finishes processing + * of any pending messages. + */ +static int k3_dsp_rproc_stop(struct rproc *rproc) +{ + struct k3_dsp_rproc *kproc = rproc->priv; + + mbox_free_channel(kproc->mbox); + + k3_dsp_rproc_reset(kproc); + + return 0; +} + +/* + * 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 *k3_dsp_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len) +{ + struct k3_dsp_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; + + 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 = kproc->mem[i].cpu_addr + offset; + return (__force void *)va; + } + } else { + /* 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 const struct rproc_ops k3_dsp_rproc_ops = { + .start = k3_dsp_rproc_start, + .stop = k3_dsp_rproc_stop, + .kick = k3_dsp_rproc_kick, + .da_to_va = k3_dsp_rproc_da_to_va, +}; + +static int k3_dsp_rproc_of_get_memories(struct platform_device *pdev, + struct k3_dsp_rproc *kproc) +{ + const struct k3_dsp_dev_data *data = kproc->data; + struct device *dev = &pdev->dev; + struct resource *res; + int num_mems = 0; + int i; + + num_mems = kproc->data->num_mems; + 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, + data->mems[i].name); + if (!res) { + dev_err(dev, "found no memory resource for %s\n", + data->mems[i].name); + 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", + data->mems[i].name); + return -EBUSY; + } + + kproc->mem[i].cpu_addr = devm_ioremap_wc(dev, res->start, + resource_size(res)); + if (IS_ERR(kproc->mem[i].cpu_addr)) { + dev_err(dev, "failed to map %s memory\n", + data->mems[i].name); + return PTR_ERR(kproc->mem[i].cpu_addr); + } + kproc->mem[i].bus_addr = res->start; + kproc->mem[i].dev_addr = data->mems[i].dev_addr; + kproc->mem[i].size = resource_size(res); + + dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %pK da 0x%x\n", + data->mems[i].name, &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 int k3_dsp_reserved_mem_init(struct k3_dsp_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, 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; + /* 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 = 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(kproc->dev); + return ret; +} + +static void k3_dsp_reserved_mem_exit(struct k3_dsp_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 +struct ti_sci_proc *k3_dsp_rproc_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, "ti,sci-proc-ids", + temp, 2); + if (ret < 0) + return ERR_PTR(ret); + + tsp = kzalloc(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_dsp_rproc_probe(struct platform_device *pdev) +{ + struct device *dev = &pdev->dev; + struct device_node *np = dev->of_node; + const struct k3_dsp_dev_data *data; + struct k3_dsp_rproc *kproc; + struct rproc *rproc; + const char *fw_name; + int ret = 0; + int ret1; + + data = of_device_get_match_data(dev); + if (!data) + return -ENODEV; + + ret = rproc_of_parse_firmware(dev, 0, &fw_name); + if (ret) { + dev_err(dev, "failed to parse firmware-name property, ret = %d\n", + ret); + return ret; + } + + rproc = rproc_alloc(dev, dev_name(dev), &k3_dsp_rproc_ops, fw_name, + sizeof(*kproc)); + if (!rproc) + return -ENOMEM; + + rproc->has_iommu = false; + rproc->recovery_disabled = true; + kproc = rproc->priv; + kproc->rproc = rproc; + kproc->dev = dev; + kproc->data = data; + + kproc->ti_sci = ti_sci_get_by_phandle(np, "ti,sci"); + if (IS_ERR(kproc->ti_sci)) { + ret = PTR_ERR(kproc->ti_sci); + if (ret != -EPROBE_DEFER) { + dev_err(dev, "failed to get ti-sci handle, ret = %d\n", + ret); + } + kproc->ti_sci = NULL; + goto free_rproc; + } + + ret = of_property_read_u32(np, "ti,sci-dev-id", &kproc->ti_sci_id); + if (ret) { + dev_err(dev, "missing 'ti,sci-dev-id' property\n"); + goto put_sci; + } + + kproc->reset = devm_reset_control_get_exclusive(dev, NULL); + if (IS_ERR(kproc->reset)) { + ret = PTR_ERR(kproc->reset); + dev_err(dev, "failed to get reset, status = %d\n", ret); + goto put_sci; + } + + kproc->tsp = k3_dsp_rproc_of_get_tsp(dev, kproc->ti_sci); + if (IS_ERR(kproc->tsp)) { + dev_err(dev, "failed to construct ti-sci proc control, ret = %d\n", + ret); + ret = PTR_ERR(kproc->tsp); + goto put_sci; + } + + ret = ti_sci_proc_request(kproc->tsp); + if (ret < 0) { + dev_err(dev, "ti_sci_proc_request failed, ret = %d\n", ret); + goto free_tsp; + } + + ret = k3_dsp_rproc_of_get_memories(pdev, kproc); + if (ret) + goto release_tsp; + + ret = k3_dsp_reserved_mem_init(kproc); + if (ret) { + dev_err(dev, "reserved memory init failed, ret = %d\n", ret); + goto release_tsp; + } + + 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, kproc); + + return 0; + +release_mem: + k3_dsp_reserved_mem_exit(kproc); +release_tsp: + ret1 = ti_sci_proc_release(kproc->tsp); + if (ret1) + dev_err(dev, "failed to release proc, ret = %d\n", ret1); +free_tsp: + kfree(kproc->tsp); +put_sci: + ret1 = ti_sci_put_handle(kproc->ti_sci); + if (ret1) + dev_err(dev, "failed to put ti_sci handle, ret = %d\n", ret1); +free_rproc: + rproc_free(rproc); + return ret; +} + +static int k3_dsp_rproc_remove(struct platform_device *pdev) +{ + struct k3_dsp_rproc *kproc = platform_get_drvdata(pdev); + struct device *dev = &pdev->dev; + int ret; + + rproc_del(kproc->rproc); + + ret = ti_sci_proc_release(kproc->tsp); + if (ret) + dev_err(dev, "failed to release proc, ret = %d\n", ret); + + kfree(kproc->tsp); + + ret = ti_sci_put_handle(kproc->ti_sci); + if (ret) + dev_err(dev, "failed to put ti_sci handle, ret = %d\n", ret); + + k3_dsp_reserved_mem_exit(kproc); + rproc_free(kproc->rproc); + + return 0; +} + +static const struct k3_dsp_mem_data c66_mems[] = { + { .name = "l2sram", .dev_addr = 0x800000 }, + { .name = "l1pram", .dev_addr = 0xe00000 }, + { .name = "l1dram", .dev_addr = 0xf00000 }, +}; + +static const struct k3_dsp_dev_data c66_data = { + .mems = c66_mems, + .num_mems = ARRAY_SIZE(c66_mems), + .boot_align_addr = SZ_1K, + .uses_lreset = true, +}; + +static const struct of_device_id k3_dsp_of_match[] = { + { .compatible = "ti,j721e-c66-dsp", .data = &c66_data, }, + { /* sentinel */ }, +}; +MODULE_DEVICE_TABLE(of, k3_dsp_of_match); + +static struct platform_driver k3_dsp_rproc_driver = { + .probe = k3_dsp_rproc_probe, + .remove = k3_dsp_rproc_remove, + .driver = { + .name = "k3-dsp-rproc", + .of_match_table = k3_dsp_of_match, + }, +}; + +module_platform_driver(k3_dsp_rproc_driver); + +MODULE_AUTHOR("Suman Anna <s-anna@ti.com>"); +MODULE_LICENSE("GPL v2"); +MODULE_DESCRIPTION("TI K3 DSP Remoteproc driver"); |