remoteproc: imx_rproc: add a NXP/Freescale imx_rproc driver
Provide a basic driver to control Cortex M4 co-processor found on NXP i.MX7D and i.MX6SX. Currently it is able to resolve addresses between M4 and main CPU, start and stop the co-processor. Other functionality is not provided or test. This driver was tested on NXP i.MX7D and expected to work on i.MX6SX as well. Signed-off-by: Oleksij Rempel <o.rempel@pengutronix.de> Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>
This commit is contained in:
Oleksij Rempel
Bjorn Andersson
parent
0862bff5d5
commit
a0ff4aa6f0
3 changed files with 436 additions and 0 deletions
|
|
@ -12,6 +12,15 @@ config REMOTEPROC
|
|||
|
||||
if REMOTEPROC
|
||||
|
||||
config IMX_REMOTEPROC
|
||||
tristate "IMX6/7 remoteproc support"
|
||||
depends on SOC_IMX6SX || SOC_IMX7D
|
||||
help
|
||||
Say y here to support iMX's remote processors (Cortex M4
|
||||
on iMX7D) via the remote processor framework.
|
||||
|
||||
It's safe to say N here.
|
||||
|
||||
config OMAP_REMOTEPROC
|
||||
tristate "OMAP remoteproc support"
|
||||
depends on HAS_DMA
|
||||
|
|
|
|||
|
|
@ -8,6 +8,7 @@ remoteproc-y += remoteproc_debugfs.o
|
|||
remoteproc-y += remoteproc_sysfs.o
|
||||
remoteproc-y += remoteproc_virtio.o
|
||||
remoteproc-y += remoteproc_elf_loader.o
|
||||
obj-$(CONFIG_IMX_REMOTEPROC) += imx_rproc.o
|
||||
obj-$(CONFIG_OMAP_REMOTEPROC) += omap_remoteproc.o
|
||||
obj-$(CONFIG_WKUP_M3_RPROC) += wkup_m3_rproc.o
|
||||
obj-$(CONFIG_DA8XX_REMOTEPROC) += da8xx_remoteproc.o
|
||||
|
|
|
|||
426
drivers/remoteproc/imx_rproc.c
Normal file
426
drivers/remoteproc/imx_rproc.c
Normal file
|
|
@ -0,0 +1,426 @@
|
|||
/*
|
||||
* Copyright (c) 2017 Pengutronix, Oleksij Rempel <kernel@pengutronix.de>
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License version 2
|
||||
* as published by the Free Software Foundation.
|
||||
*/
|
||||
|
||||
#include <linux/clk.h>
|
||||
#include <linux/err.h>
|
||||
#include <linux/interrupt.h>
|
||||
#include <linux/kernel.h>
|
||||
#include <linux/mfd/syscon.h>
|
||||
#include <linux/module.h>
|
||||
#include <linux/of_address.h>
|
||||
#include <linux/of_device.h>
|
||||
#include <linux/platform_device.h>
|
||||
#include <linux/regmap.h>
|
||||
#include <linux/remoteproc.h>
|
||||
|
||||
#define IMX7D_SRC_SCR 0x0C
|
||||
#define IMX7D_ENABLE_M4 BIT(3)
|
||||
#define IMX7D_SW_M4P_RST BIT(2)
|
||||
#define IMX7D_SW_M4C_RST BIT(1)
|
||||
#define IMX7D_SW_M4C_NON_SCLR_RST BIT(0)
|
||||
|
||||
#define IMX7D_M4_RST_MASK (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
|
||||
| IMX7D_SW_M4C_RST \
|
||||
| IMX7D_SW_M4C_NON_SCLR_RST)
|
||||
|
||||
#define IMX7D_M4_START (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
|
||||
| IMX7D_SW_M4C_RST)
|
||||
#define IMX7D_M4_STOP IMX7D_SW_M4C_NON_SCLR_RST
|
||||
|
||||
/* Address: 0x020D8000 */
|
||||
#define IMX6SX_SRC_SCR 0x00
|
||||
#define IMX6SX_ENABLE_M4 BIT(22)
|
||||
#define IMX6SX_SW_M4P_RST BIT(12)
|
||||
#define IMX6SX_SW_M4C_NON_SCLR_RST BIT(4)
|
||||
#define IMX6SX_SW_M4C_RST BIT(3)
|
||||
|
||||
#define IMX6SX_M4_START (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
|
||||
| IMX6SX_SW_M4C_RST)
|
||||
#define IMX6SX_M4_STOP IMX6SX_SW_M4C_NON_SCLR_RST
|
||||
#define IMX6SX_M4_RST_MASK (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
|
||||
| IMX6SX_SW_M4C_NON_SCLR_RST \
|
||||
| IMX6SX_SW_M4C_RST)
|
||||
|
||||
#define IMX7D_RPROC_MEM_MAX 8
|
||||
|
||||
/**
|
||||
* struct imx_rproc_mem - slim internal memory structure
|
||||
* @cpu_addr: MPU virtual address of the memory region
|
||||
* @sys_addr: Bus address used to access the memory region
|
||||
* @size: Size of the memory region
|
||||
*/
|
||||
struct imx_rproc_mem {
|
||||
void __iomem *cpu_addr;
|
||||
phys_addr_t sys_addr;
|
||||
size_t size;
|
||||
};
|
||||
|
||||
/* att flags */
|
||||
/* M4 own area. Can be mapped at probe */
|
||||
#define ATT_OWN BIT(1)
|
||||
|
||||
/* address translation table */
|
||||
struct imx_rproc_att {
|
||||
u32 da; /* device address (From Cortex M4 view)*/
|
||||
u32 sa; /* system bus address */
|
||||
u32 size; /* size of reg range */
|
||||
int flags;
|
||||
};
|
||||
|
||||
struct imx_rproc_dcfg {
|
||||
u32 src_reg;
|
||||
u32 src_mask;
|
||||
u32 src_start;
|
||||
u32 src_stop;
|
||||
const struct imx_rproc_att *att;
|
||||
size_t att_size;
|
||||
};
|
||||
|
||||
struct imx_rproc {
|
||||
struct device *dev;
|
||||
struct regmap *regmap;
|
||||
struct rproc *rproc;
|
||||
const struct imx_rproc_dcfg *dcfg;
|
||||
struct imx_rproc_mem mem[IMX7D_RPROC_MEM_MAX];
|
||||
struct clk *clk;
|
||||
};
|
||||
|
||||
static const struct imx_rproc_att imx_rproc_att_imx7d[] = {
|
||||
/* dev addr , sys addr , size , flags */
|
||||
/* OCRAM_S (M4 Boot code) - alias */
|
||||
{ 0x00000000, 0x00180000, 0x00008000, 0 },
|
||||
/* OCRAM_S (Code) */
|
||||
{ 0x00180000, 0x00180000, 0x00008000, ATT_OWN },
|
||||
/* OCRAM (Code) - alias */
|
||||
{ 0x00900000, 0x00900000, 0x00020000, 0 },
|
||||
/* OCRAM_EPDC (Code) - alias */
|
||||
{ 0x00920000, 0x00920000, 0x00020000, 0 },
|
||||
/* OCRAM_PXP (Code) - alias */
|
||||
{ 0x00940000, 0x00940000, 0x00008000, 0 },
|
||||
/* TCML (Code) */
|
||||
{ 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
|
||||
/* DDR (Code) - alias, first part of DDR (Data) */
|
||||
{ 0x10000000, 0x80000000, 0x0FFF0000, 0 },
|
||||
|
||||
/* TCMU (Data) */
|
||||
{ 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
|
||||
/* OCRAM (Data) */
|
||||
{ 0x20200000, 0x00900000, 0x00020000, 0 },
|
||||
/* OCRAM_EPDC (Data) */
|
||||
{ 0x20220000, 0x00920000, 0x00020000, 0 },
|
||||
/* OCRAM_PXP (Data) */
|
||||
{ 0x20240000, 0x00940000, 0x00008000, 0 },
|
||||
/* DDR (Data) */
|
||||
{ 0x80000000, 0x80000000, 0x60000000, 0 },
|
||||
};
|
||||
|
||||
static const struct imx_rproc_att imx_rproc_att_imx6sx[] = {
|
||||
/* dev addr , sys addr , size , flags */
|
||||
/* TCML (M4 Boot Code) - alias */
|
||||
{ 0x00000000, 0x007F8000, 0x00008000, 0 },
|
||||
/* OCRAM_S (Code) */
|
||||
{ 0x00180000, 0x008F8000, 0x00004000, 0 },
|
||||
/* OCRAM_S (Code) - alias */
|
||||
{ 0x00180000, 0x008FC000, 0x00004000, 0 },
|
||||
/* TCML (Code) */
|
||||
{ 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
|
||||
/* DDR (Code) - alias, first part of DDR (Data) */
|
||||
{ 0x10000000, 0x80000000, 0x0FFF8000, 0 },
|
||||
|
||||
/* TCMU (Data) */
|
||||
{ 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
|
||||
/* OCRAM_S (Data) - alias? */
|
||||
{ 0x208F8000, 0x008F8000, 0x00004000, 0 },
|
||||
/* DDR (Data) */
|
||||
{ 0x80000000, 0x80000000, 0x60000000, 0 },
|
||||
};
|
||||
|
||||
static const struct imx_rproc_dcfg imx_rproc_cfg_imx7d = {
|
||||
.src_reg = IMX7D_SRC_SCR,
|
||||
.src_mask = IMX7D_M4_RST_MASK,
|
||||
.src_start = IMX7D_M4_START,
|
||||
.src_stop = IMX7D_M4_STOP,
|
||||
.att = imx_rproc_att_imx7d,
|
||||
.att_size = ARRAY_SIZE(imx_rproc_att_imx7d),
|
||||
};
|
||||
|
||||
static const struct imx_rproc_dcfg imx_rproc_cfg_imx6sx = {
|
||||
.src_reg = IMX6SX_SRC_SCR,
|
||||
.src_mask = IMX6SX_M4_RST_MASK,
|
||||
.src_start = IMX6SX_M4_START,
|
||||
.src_stop = IMX6SX_M4_STOP,
|
||||
.att = imx_rproc_att_imx6sx,
|
||||
.att_size = ARRAY_SIZE(imx_rproc_att_imx6sx),
|
||||
};
|
||||
|
||||
static int imx_rproc_start(struct rproc *rproc)
|
||||
{
|
||||
struct imx_rproc *priv = rproc->priv;
|
||||
const struct imx_rproc_dcfg *dcfg = priv->dcfg;
|
||||
struct device *dev = priv->dev;
|
||||
int ret;
|
||||
|
||||
ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
|
||||
dcfg->src_mask, dcfg->src_start);
|
||||
if (ret)
|
||||
dev_err(dev, "Filed to enable M4!\n");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int imx_rproc_stop(struct rproc *rproc)
|
||||
{
|
||||
struct imx_rproc *priv = rproc->priv;
|
||||
const struct imx_rproc_dcfg *dcfg = priv->dcfg;
|
||||
struct device *dev = priv->dev;
|
||||
int ret;
|
||||
|
||||
ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
|
||||
dcfg->src_mask, dcfg->src_stop);
|
||||
if (ret)
|
||||
dev_err(dev, "Filed to stop M4!\n");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da,
|
||||
int len, u64 *sys)
|
||||
{
|
||||
const struct imx_rproc_dcfg *dcfg = priv->dcfg;
|
||||
int i;
|
||||
|
||||
/* parse address translation table */
|
||||
for (i = 0; i < dcfg->att_size; i++) {
|
||||
const struct imx_rproc_att *att = &dcfg->att[i];
|
||||
|
||||
if (da >= att->da && da + len < att->da + att->size) {
|
||||
unsigned int offset = da - att->da;
|
||||
|
||||
*sys = att->sa + offset;
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
dev_warn(priv->dev, "Translation filed: da = 0x%llx len = 0x%x\n",
|
||||
da, len);
|
||||
return -ENOENT;
|
||||
}
|
||||
|
||||
static void *imx_rproc_da_to_va(struct rproc *rproc, u64 da, int len)
|
||||
{
|
||||
struct imx_rproc *priv = rproc->priv;
|
||||
void *va = NULL;
|
||||
u64 sys;
|
||||
int i;
|
||||
|
||||
if (len <= 0)
|
||||
return NULL;
|
||||
|
||||
/*
|
||||
* On device side we have many aliases, so we need to convert device
|
||||
* address (M4) to system bus address first.
|
||||
*/
|
||||
if (imx_rproc_da_to_sys(priv, da, len, &sys))
|
||||
return NULL;
|
||||
|
||||
for (i = 0; i < IMX7D_RPROC_MEM_MAX; i++) {
|
||||
if (sys >= priv->mem[i].sys_addr && sys + len <
|
||||
priv->mem[i].sys_addr + priv->mem[i].size) {
|
||||
unsigned int offset = sys - priv->mem[i].sys_addr;
|
||||
/* __force to make sparse happy with type conversion */
|
||||
va = (__force void *)(priv->mem[i].cpu_addr + offset);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
dev_dbg(&rproc->dev, "da = 0x%llx len = 0x%x va = 0x%p\n", da, len, va);
|
||||
|
||||
return va;
|
||||
}
|
||||
|
||||
static const struct rproc_ops imx_rproc_ops = {
|
||||
.start = imx_rproc_start,
|
||||
.stop = imx_rproc_stop,
|
||||
.da_to_va = imx_rproc_da_to_va,
|
||||
};
|
||||
|
||||
static int imx_rproc_addr_init(struct imx_rproc *priv,
|
||||
struct platform_device *pdev)
|
||||
{
|
||||
const struct imx_rproc_dcfg *dcfg = priv->dcfg;
|
||||
struct device *dev = &pdev->dev;
|
||||
struct device_node *np = dev->of_node;
|
||||
int a, b = 0, err, nph;
|
||||
|
||||
/* remap required addresses */
|
||||
for (a = 0; a < dcfg->att_size; a++) {
|
||||
const struct imx_rproc_att *att = &dcfg->att[a];
|
||||
|
||||
if (!(att->flags & ATT_OWN))
|
||||
continue;
|
||||
|
||||
if (b > IMX7D_RPROC_MEM_MAX)
|
||||
break;
|
||||
|
||||
priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev,
|
||||
att->sa, att->size);
|
||||
if (IS_ERR(priv->mem[b].cpu_addr)) {
|
||||
dev_err(dev, "devm_ioremap_resource failed\n");
|
||||
err = PTR_ERR(priv->mem[b].cpu_addr);
|
||||
return err;
|
||||
}
|
||||
priv->mem[b].sys_addr = att->sa;
|
||||
priv->mem[b].size = att->size;
|
||||
b++;
|
||||
}
|
||||
|
||||
/* memory-region is optional property */
|
||||
nph = of_count_phandle_with_args(np, "memory-region", NULL);
|
||||
if (nph <= 0)
|
||||
return 0;
|
||||
|
||||
/* remap optional addresses */
|
||||
for (a = 0; a < nph; a++) {
|
||||
struct device_node *node;
|
||||
struct resource res;
|
||||
|
||||
node = of_parse_phandle(np, "memory-region", a);
|
||||
err = of_address_to_resource(node, 0, &res);
|
||||
if (err) {
|
||||
dev_err(dev, "unable to resolve memory region\n");
|
||||
return err;
|
||||
}
|
||||
|
||||
if (b > IMX7D_RPROC_MEM_MAX)
|
||||
break;
|
||||
|
||||
priv->mem[b].cpu_addr = devm_ioremap_resource(&pdev->dev, &res);
|
||||
if (IS_ERR(priv->mem[b].cpu_addr)) {
|
||||
dev_err(dev, "devm_ioremap_resource failed\n");
|
||||
err = PTR_ERR(priv->mem[b].cpu_addr);
|
||||
return err;
|
||||
}
|
||||
priv->mem[b].sys_addr = res.start;
|
||||
priv->mem[b].size = resource_size(&res);
|
||||
b++;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int imx_rproc_probe(struct platform_device *pdev)
|
||||
{
|
||||
struct device *dev = &pdev->dev;
|
||||
struct device_node *np = dev->of_node;
|
||||
struct imx_rproc *priv;
|
||||
struct rproc *rproc;
|
||||
struct regmap_config config = { .name = "imx-rproc" };
|
||||
const struct imx_rproc_dcfg *dcfg;
|
||||
struct regmap *regmap;
|
||||
int ret;
|
||||
|
||||
regmap = syscon_regmap_lookup_by_phandle(np, "syscon");
|
||||
if (IS_ERR(regmap)) {
|
||||
dev_err(dev, "failed to find syscon\n");
|
||||
return PTR_ERR(regmap);
|
||||
}
|
||||
regmap_attach_dev(dev, regmap, &config);
|
||||
|
||||
/* set some other name then imx */
|
||||
rproc = rproc_alloc(dev, "imx-rproc", &imx_rproc_ops,
|
||||
NULL, sizeof(*priv));
|
||||
if (!rproc) {
|
||||
ret = -ENOMEM;
|
||||
goto err;
|
||||
}
|
||||
|
||||
dcfg = of_device_get_match_data(dev);
|
||||
if (!dcfg)
|
||||
return -EINVAL;
|
||||
|
||||
priv = rproc->priv;
|
||||
priv->rproc = rproc;
|
||||
priv->regmap = regmap;
|
||||
priv->dcfg = dcfg;
|
||||
priv->dev = dev;
|
||||
|
||||
dev_set_drvdata(dev, rproc);
|
||||
|
||||
ret = imx_rproc_addr_init(priv, pdev);
|
||||
if (ret) {
|
||||
dev_err(dev, "filed on imx_rproc_addr_init\n");
|
||||
goto err_put_rproc;
|
||||
}
|
||||
|
||||
priv->clk = devm_clk_get(dev, NULL);
|
||||
if (IS_ERR(priv->clk)) {
|
||||
dev_err(dev, "Failed to get clock\n");
|
||||
rproc_free(rproc);
|
||||
return PTR_ERR(priv->clk);
|
||||
}
|
||||
|
||||
/*
|
||||
* clk for M4 block including memory. Should be
|
||||
* enabled before .start for FW transfer.
|
||||
*/
|
||||
ret = clk_prepare_enable(priv->clk);
|
||||
if (ret) {
|
||||
dev_err(&rproc->dev, "Failed to enable clock\n");
|
||||
rproc_free(rproc);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = rproc_add(rproc);
|
||||
if (ret) {
|
||||
dev_err(dev, "rproc_add failed\n");
|
||||
goto err_put_clk;
|
||||
}
|
||||
|
||||
return ret;
|
||||
|
||||
err_put_clk:
|
||||
clk_disable_unprepare(priv->clk);
|
||||
err_put_rproc:
|
||||
rproc_free(rproc);
|
||||
err:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int imx_rproc_remove(struct platform_device *pdev)
|
||||
{
|
||||
struct rproc *rproc = platform_get_drvdata(pdev);
|
||||
struct imx_rproc *priv = rproc->priv;
|
||||
|
||||
clk_disable_unprepare(priv->clk);
|
||||
rproc_del(rproc);
|
||||
rproc_free(rproc);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct of_device_id imx_rproc_of_match[] = {
|
||||
{ .compatible = "fsl,imx7d-cm4", .data = &imx_rproc_cfg_imx7d },
|
||||
{ .compatible = "fsl,imx6sx-cm4", .data = &imx_rproc_cfg_imx6sx },
|
||||
{},
|
||||
};
|
||||
MODULE_DEVICE_TABLE(of, imx_rproc_of_match);
|
||||
|
||||
static struct platform_driver imx_rproc_driver = {
|
||||
.probe = imx_rproc_probe,
|
||||
.remove = imx_rproc_remove,
|
||||
.driver = {
|
||||
.name = "imx-rproc",
|
||||
.of_match_table = imx_rproc_of_match,
|
||||
},
|
||||
};
|
||||
|
||||
module_platform_driver(imx_rproc_driver);
|
||||
|
||||
MODULE_LICENSE("GPL v2");
|
||||
MODULE_DESCRIPTION("IMX6SX/7D remote processor control driver");
|
||||
MODULE_AUTHOR("Oleksij Rempel <o.rempel@pengutronix.de>");
|
||||
Loading…
Reference in a new issue