diff options
Diffstat (limited to 'drivers/remoteproc/xlnx_r5_remoteproc.c')
-rw-r--r-- | drivers/remoteproc/xlnx_r5_remoteproc.c | 1233 |
1 files changed, 1233 insertions, 0 deletions
diff --git a/drivers/remoteproc/xlnx_r5_remoteproc.c b/drivers/remoteproc/xlnx_r5_remoteproc.c new file mode 100644 index 0000000000..feca6de68d --- /dev/null +++ b/drivers/remoteproc/xlnx_r5_remoteproc.c @@ -0,0 +1,1233 @@ +// 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)) +/* + * 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 + * @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; + 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; +}; + +/* + * Hardcoded TCM bank values. This will be removed once TCM bindings are + * accepted for system-dt specifications and upstreamed in linux kernel + */ +static const struct mem_bank_data zynqmp_tcm_banks[] = { + {0xffe00000UL, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */ + {0xffe20000UL, 0x10000UL, PD_R5_0_BTCM, "btcm0"}, + {0xffe90000UL, 0x10000UL, PD_R5_1_ATCM, "atcm1"}, + {0xffeb0000UL, 0x10000UL, PD_R5_1_BTCM, "btcm1"}, +}; + +/** + * struct zynqmp_r5_core + * + * @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 + * @pm_domain_id: RPU CPU power domain id + * @ipi: pointer to mailbox information + */ +struct zynqmp_r5_core { + struct device *dev; + struct device_node *np; + int tcm_bank_count; + struct mem_bank_data **tcm_banks; + struct rproc *rproc; + 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_set_mode() + * + * set RPU cluster and TCM operation mode + * + * @r5_core: pointer to zynqmp_r5_core 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 < 0 for failure + */ +static int zynqmp_r5_set_mode(struct zynqmp_r5_core *r5_core, + enum rpu_oper_mode fw_reg_val, + enum rpu_tcm_comb tcm_mode) +{ + int 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; + } + + 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; +} + +/* + * 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); + + 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); + + /* + * The R5s expect their TCM banks to be at address 0x0 and 0x2000, + * while on the Linux side they are at 0xffexxxxx. + * + * Zero out the high 12 bits of the address. This will give + * expected values for TCM Banks 0A and 0B (0x0 and 0x20000). + */ + mem->da &= 0x000fffff; + + /* + * TCM Banks 1A and 1B still have to be translated. + * + * Below handle these two banks' absolute addresses (0xffe90000 and + * 0xffeb0000) and convert to the expected relative addresses + * (0x0 and 0x20000). + */ + if (mem->da == 0x90000 || mem->da == 0xB0000) + mem->da -= 0x90000; + + /* if translated TCM bank address is not valid report error */ + if (mem->da != 0x0 && mem->da != 0x20000) { + dev_err(&rproc->dev, "invalid TCM address: %x\n", mem->da); + return -EINVAL; + } + return 0; +} + +/* + * add_tcm_carveout_split_mode() + * @rproc: single R5 core's corresponding rproc instance + * + * allocate and add remoteproc carveout for TCM memory in split mode + * + * return 0 on success, otherwise non-zero value on failure + */ +static int add_tcm_carveout_split_mode(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; + + 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; + 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_split; + } + + dev_dbg(dev, "TCM carveout split mode %s addr=%llx, size=0x%lx", + bank_name, bank_addr, bank_size); + + rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr, + bank_size, bank_addr, + tcm_mem_map, tcm_mem_unmap, + bank_name); + if (!rproc_mem) { + ret = -ENOMEM; + zynqmp_pm_release_node(pm_domain_id); + goto release_tcm_split; + } + + rproc_add_carveout(rproc, rproc_mem); + } + + return 0; + +release_tcm_split: + /* 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; +} + +/* + * add_tcm_carveout_lockstep_mode() + * @rproc: single R5 core's corresponding rproc instance + * + * allocate and add remoteproc carveout for TCM memory in lockstep mode + * + * return 0 on success, otherwise non-zero value on failure + */ +static int add_tcm_carveout_lockstep_mode(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; + size_t bank_size = 0; + struct device *dev; + u32 pm_domain_id; + char *bank_name; + + r5_core = rproc->priv; + dev = r5_core->dev; + + /* Go through zynqmp banks for r5 node */ + num_banks = r5_core->tcm_bank_count; + + /* + * In lockstep mode, TCM is contiguous memory block + * However, each TCM block still needs to be enabled individually. + * So, Enable each TCM block individually, but add their size + * to create contiguous memory region. + */ + bank_addr = r5_core->tcm_banks[0]->addr; + bank_name = r5_core->tcm_banks[0]->bank_name; + + for (i = 0; i < num_banks; i++) { + bank_size += r5_core->tcm_banks[i]->size; + pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id; + + /* Turn on each TCM bank individually */ + 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_lockstep; + } + } + + dev_dbg(dev, "TCM add carveout lockstep mode %s addr=0x%llx, size=0x%lx", + bank_name, bank_addr, bank_size); + + /* Register TCM address range, TCM map and unmap functions */ + rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr, + bank_size, bank_addr, + tcm_mem_map, tcm_mem_unmap, + bank_name); + if (!rproc_mem) { + ret = -ENOMEM; + goto release_tcm_lockstep; + } + + /* If registration is success, add carveouts */ + rproc_add_carveout(rproc, rproc_mem); + + return 0; + +release_tcm_lockstep: + /* 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; +} + +/* + * add_tcm_banks() + * @rproc: single R5 core's corresponding rproc instance + * + * allocate and add remoteproc carveouts for TCM memory based on cluster mode + * + * return 0 on success, otherwise non-zero value on failure + */ +static int add_tcm_banks(struct rproc *rproc) +{ + struct zynqmp_r5_cluster *cluster; + struct zynqmp_r5_core *r5_core; + struct device *dev; + + r5_core = rproc->priv; + if (!r5_core) + return -EINVAL; + + dev = r5_core->dev; + + cluster = dev_get_drvdata(dev->parent); + if (!cluster) { + dev_err(dev->parent, "Invalid driver data\n"); + return -EINVAL; + } + + /* + * In lockstep mode TCM banks are one contiguous memory region of 256Kb + * In split mode, each TCM bank is 64Kb and not contiguous. + * We add memory carveouts accordingly. + */ + if (cluster->mode == SPLIT_MODE) + return add_tcm_carveout_split_mode(rproc); + else if (cluster->mode == LOCKSTEP_MODE) + return add_tcm_carveout_lockstep_mode(rproc); + + return -EINVAL; +} + +/* + * 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 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, +}; + +/** + * 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); + } + + 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; + } + + r5_core->rproc = r5_rproc; + return r5_core; + +free_rproc: + rproc_free(r5_rproc); + return ERR_PTR(ret); +} + +/** + * 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) +{ + struct device *dev = cluster->dev; + struct zynqmp_r5_core *r5_core; + int tcm_bank_count, tcm_node; + int i, j; + + tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks); + + /* 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, i; + + ret = zynqmp_r5_get_tcm_node(cluster); + if (ret < 0) { + dev_err(dev, "can't get tcm node, 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_r5_set_mode(r5_core, fw_reg_val, tcm_mode); + if (ret) { + dev_err(dev, "failed to set r5 cluster mode %d, err %d\n", + cluster->mode, ret); + 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) { + tcm_mode = PM_RPU_TCM_COMB; + fw_reg_val = PM_RPU_MODE_LOCKSTEP; + } else if (cluster_mode == SPLIT_MODE) { + tcm_mode = PM_RPU_TCM_SPLIT; + fw_reg_val = PM_RPU_MODE_SPLIT; + } else { + dev_err(dev, "driver does not support cluster mode %d\n", cluster_mode); + return -EINVAL; + } + + /* + * 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); + 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,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"); |