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|
// SPDX-License-Identifier: GPL-2.0+
/*
* Texas Instruments' K3 R5 Remoteproc driver
*
* Copyright (C) 2018-2019 Texas Instruments Incorporated - http://www.ti.com/
* Lokesh Vutla <lokeshvutla@ti.com>
*/
#include <common.h>
#include <dm.h>
#include <remoteproc.h>
#include <errno.h>
#include <clk.h>
#include <reset.h>
#include <asm/io.h>
#include <linux/err.h>
#include <linux/kernel.h>
#include <linux/soc/ti/ti_sci_protocol.h>
#include "ti_sci_proc.h"
/*
* R5F's view of this address can either be for ATCM or BTCM with the other
* at address 0x0 based on loczrama signal.
*/
#define K3_R5_TCM_DEV_ADDR 0x41010000
/* R5 TI-SCI Processor Configuration Flags */
#define PROC_BOOT_CFG_FLAG_R5_DBG_EN 0x00000001
#define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN 0x00000002
#define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP 0x00000100
#define PROC_BOOT_CFG_FLAG_R5_TEINIT 0x00000200
#define PROC_BOOT_CFG_FLAG_R5_NMFI_EN 0x00000400
#define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE 0x00000800
#define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000
#define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
#define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR 0x10000000
/* R5 TI-SCI Processor Control Flags */
#define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
/* R5 TI-SCI Processor Status Flags */
#define PROC_BOOT_STATUS_FLAG_R5_WFE 0x00000001
#define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
#define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
#define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
#define NR_CORES 2
enum cluster_mode {
CLUSTER_MODE_SPLIT = 0,
CLUSTER_MODE_LOCKSTEP,
};
/**
* struct k3_r5_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_r5f_mem {
void __iomem *cpu_addr;
phys_addr_t bus_addr;
u32 dev_addr;
size_t size;
};
/**
* struct k3_r5f_core - K3 R5 core structure
* @dev: cached device pointer
* @cluster: pointer to the parent cluster.
* @reset: reset control handle
* @tsp: TI-SCI processor control handle
* @mem: Array of available internal memories
* @num_mem: Number of available memories
* @atcm_enable: flag to control ATCM enablement
* @btcm_enable: flag to control BTCM enablement
* @loczrama: flag to dictate which TCM is at device address 0x0
* @in_use: flag to tell if the core is already in use.
*/
struct k3_r5f_core {
struct udevice *dev;
struct k3_r5f_cluster *cluster;
struct reset_ctl reset;
struct ti_sci_proc tsp;
struct k3_r5f_mem *mem;
int num_mems;
u32 atcm_enable;
u32 btcm_enable;
u32 loczrama;
bool in_use;
};
/**
* struct k3_r5f_cluster - K3 R5F Cluster structure
* @mode: Mode to configure the Cluster - Split or LockStep
* @cores: Array of pointers to R5 cores within the cluster
*/
struct k3_r5f_cluster {
enum cluster_mode mode;
struct k3_r5f_core *cores[NR_CORES];
};
static bool is_primary_core(struct k3_r5f_core *core)
{
return core == core->cluster->cores[0];
}
static int k3_r5f_proc_request(struct k3_r5f_core *core)
{
struct k3_r5f_cluster *cluster = core->cluster;
int i, ret;
if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
for (i = 0; i < NR_CORES; i++) {
ret = ti_sci_proc_request(&cluster->cores[i]->tsp);
if (ret)
goto proc_release;
}
} else {
ret = ti_sci_proc_request(&core->tsp);
}
return 0;
proc_release:
while (i >= 0) {
ti_sci_proc_release(&cluster->cores[i]->tsp);
i--;
}
return ret;
}
static void k3_r5f_proc_release(struct k3_r5f_core *core)
{
struct k3_r5f_cluster *cluster = core->cluster;
int i;
if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
for (i = 0; i < NR_CORES; i++)
ti_sci_proc_release(&cluster->cores[i]->tsp);
else
ti_sci_proc_release(&core->tsp);
}
static int k3_r5f_lockstep_release(struct k3_r5f_cluster *cluster)
{
int ret, c;
dev_dbg(dev, "%s\n", __func__);
for (c = NR_CORES - 1; c >= 0; c--) {
ret = ti_sci_proc_power_domain_on(&cluster->cores[c]->tsp);
if (ret)
goto unroll_module_reset;
}
/* deassert local reset on all applicable cores */
for (c = NR_CORES - 1; c >= 0; c--) {
ret = reset_deassert(&cluster->cores[c]->reset);
if (ret)
goto unroll_local_reset;
}
return 0;
unroll_local_reset:
while (c < NR_CORES) {
reset_assert(&cluster->cores[c]->reset);
c++;
}
c = 0;
unroll_module_reset:
while (c < NR_CORES) {
ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp);
c++;
}
return ret;
}
static int k3_r5f_split_release(struct k3_r5f_core *core)
{
int ret;
dev_dbg(dev, "%s\n", __func__);
ret = ti_sci_proc_power_domain_on(&core->tsp);
if (ret) {
dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
ret);
return ret;
}
ret = reset_deassert(&core->reset);
if (ret) {
dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
ret);
if (ti_sci_proc_power_domain_off(&core->tsp))
dev_warn(core->dev, "module-reset assert back failed\n");
}
return ret;
}
static int k3_r5f_prepare(struct udevice *dev)
{
struct k3_r5f_core *core = dev_get_priv(dev);
struct k3_r5f_cluster *cluster = core->cluster;
int ret = 0;
dev_dbg(dev, "%s\n", __func__);
if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
ret = k3_r5f_lockstep_release(cluster);
else
ret = k3_r5f_split_release(core);
if (ret)
dev_err(dev, "Unable to enable cores for TCM loading %d\n",
ret);
return ret;
}
static int k3_r5f_core_sanity_check(struct k3_r5f_core *core)
{
struct k3_r5f_cluster *cluster = core->cluster;
if (core->in_use) {
dev_err(dev, "Invalid op: Trying to load/start on already running core %d\n",
core->tsp.proc_id);
return -EINVAL;
}
if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !cluster->cores[1]) {
printf("Secondary core is not probed in this cluster\n");
return -EAGAIN;
}
if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !is_primary_core(core)) {
dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
core->tsp.proc_id);
return -EINVAL;
}
if (cluster->mode == CLUSTER_MODE_SPLIT && !is_primary_core(core)) {
if (!core->cluster->cores[0]->in_use) {
dev_err(dev, "Invalid seq: Enable primary core before loading secondary core\n");
return -EINVAL;
}
}
return 0;
}
/**
* k3_r5f_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_r5f_load(struct udevice *dev, ulong addr, ulong size)
{
struct k3_r5f_core *core = dev_get_priv(dev);
u32 boot_vector;
int ret;
dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size);
ret = k3_r5f_core_sanity_check(core);
if (ret)
return ret;
ret = k3_r5f_proc_request(core);
if (ret)
return ret;
ret = k3_r5f_prepare(dev);
if (ret) {
dev_err(dev, "R5f prepare failed for core %d\n",
core->tsp.proc_id);
goto proc_release;
}
/* Zero out TCMs so that ECC can be effective on all TCM addresses */
if (core->atcm_enable)
memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
if (core->btcm_enable)
memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
ret = rproc_elf_load_image(dev, addr, size);
if (ret < 0) {
dev_err(dev, "Loading elf failedi %d\n", ret);
goto proc_release;
}
boot_vector = rproc_elf_get_boot_addr(dev, addr);
dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector);
ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);
proc_release:
k3_r5f_proc_release(core);
return ret;
}
static int k3_r5f_core_halt(struct k3_r5f_core *core)
{
int ret;
ret = ti_sci_proc_set_control(&core->tsp,
PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
if (ret)
dev_err(core->dev, "Core %d failed to stop\n",
core->tsp.proc_id);
return ret;
}
static int k3_r5f_core_run(struct k3_r5f_core *core)
{
int ret;
ret = ti_sci_proc_set_control(&core->tsp,
0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
if (ret) {
dev_err(core->dev, "Core %d failed to start\n",
core->tsp.proc_id);
return ret;
}
return 0;
}
/**
* k3_r5f_start() - Start the remote processor
* @dev: rproc device pointer
*
* Return: 0 if all went ok, else return appropriate error
*/
static int k3_r5f_start(struct udevice *dev)
{
struct k3_r5f_core *core = dev_get_priv(dev);
struct k3_r5f_cluster *cluster = core->cluster;
int ret, c;
dev_dbg(dev, "%s\n", __func__);
ret = k3_r5f_core_sanity_check(core);
if (ret)
return ret;
ret = k3_r5f_proc_request(core);
if (ret)
return ret;
if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
if (is_primary_core(core)) {
for (c = NR_CORES - 1; c >= 0; c--) {
ret = k3_r5f_core_run(cluster->cores[c]);
if (ret)
goto unroll_core_run;
}
} else {
dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
core->tsp.proc_id);
ret = -EINVAL;
goto proc_release;
}
} else {
ret = k3_r5f_core_run(core);
if (ret)
goto proc_release;
}
core->in_use = true;
k3_r5f_proc_release(core);
return 0;
unroll_core_run:
while (c < NR_CORES) {
k3_r5f_core_halt(cluster->cores[c]);
c++;
}
proc_release:
k3_r5f_proc_release(core);
return ret;
}
static int k3_r5f_split_reset(struct k3_r5f_core *core)
{
int ret;
dev_dbg(dev, "%s\n", __func__);
if (reset_assert(&core->reset))
ret = -EINVAL;
if (ti_sci_proc_power_domain_off(&core->tsp))
ret = -EINVAL;
return ret;
}
static int k3_r5f_lockstep_reset(struct k3_r5f_cluster *cluster)
{
int ret = 0, c;
dev_dbg(dev, "%s\n", __func__);
for (c = 0; c < NR_CORES; c++)
if (reset_assert(&cluster->cores[c]->reset))
ret = -EINVAL;
/* disable PSC modules on all applicable cores */
for (c = 0; c < NR_CORES; c++)
if (ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp))
ret = -EINVAL;
return ret;
}
static int k3_r5f_unprepare(struct udevice *dev)
{
struct k3_r5f_core *core = dev_get_priv(dev);
struct k3_r5f_cluster *cluster = core->cluster;
int ret;
dev_dbg(dev, "%s\n", __func__);
if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
if (is_primary_core(core))
ret = k3_r5f_lockstep_reset(cluster);
} else {
ret = k3_r5f_split_reset(core);
}
if (ret)
dev_warn(dev, "Unable to enable cores for TCM loading %d\n",
ret);
return 0;
}
static int k3_r5f_stop(struct udevice *dev)
{
struct k3_r5f_core *core = dev_get_priv(dev);
struct k3_r5f_cluster *cluster = core->cluster;
int c, ret;
dev_dbg(dev, "%s\n", __func__);
ret = k3_r5f_proc_request(core);
if (ret)
return ret;
core->in_use = false;
if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
if (is_primary_core(core)) {
for (c = 0; c < NR_CORES; c++)
k3_r5f_core_halt(cluster->cores[c]);
} else {
dev_err(dev, "Invalid op: Trying to stop secondary core in lockstep mode\n");
ret = -EINVAL;
goto proc_release;
}
} else {
k3_r5f_core_halt(core);
}
ret = k3_r5f_unprepare(dev);
proc_release:
k3_r5f_proc_release(core);
return ret;
}
static void *k3_r5f_da_to_va(struct udevice *dev, ulong da, ulong size)
{
struct k3_r5f_core *core = dev_get_priv(dev);
void __iomem *va = NULL;
phys_addr_t bus_addr;
u32 dev_addr, offset;
ulong mem_size;
int i;
dev_dbg(dev, "%s\n", __func__);
if (size <= 0)
return NULL;
for (i = 0; i < core->num_mems; i++) {
bus_addr = core->mem[i].bus_addr;
dev_addr = core->mem[i].dev_addr;
mem_size = core->mem[i].size;
if (da >= bus_addr && (da + size) <= (bus_addr + mem_size)) {
offset = da - bus_addr;
va = core->mem[i].cpu_addr + offset;
return (__force void *)va;
}
if (da >= dev_addr && (da + size) <= (dev_addr + mem_size)) {
offset = da - dev_addr;
va = core->mem[i].cpu_addr + offset;
return (__force void *)va;
}
}
/* Assume it is DDR region and return da */
return map_physmem(da, size, MAP_NOCACHE);
}
static int k3_r5f_init(struct udevice *dev)
{
return 0;
}
static int k3_r5f_reset(struct udevice *dev)
{
return 0;
}
static const struct dm_rproc_ops k3_r5f_rproc_ops = {
.init = k3_r5f_init,
.reset = k3_r5f_reset,
.start = k3_r5f_start,
.stop = k3_r5f_stop,
.load = k3_r5f_load,
.device_to_virt = k3_r5f_da_to_va,
};
static int k3_r5f_rproc_configure(struct k3_r5f_core *core)
{
struct k3_r5f_cluster *cluster = core->cluster;
u32 set_cfg = 0, clr_cfg = 0, cfg, ctrl, sts;
u64 boot_vec = 0;
int ret;
dev_dbg(dev, "%s\n", __func__);
ret = ti_sci_proc_request(&core->tsp);
if (ret < 0)
return ret;
/* Do not touch boot vector now. Load will take care of it. */
clr_cfg |= PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR;
ret = ti_sci_proc_get_status(&core->tsp, &boot_vec, &cfg, &ctrl, &sts);
if (ret)
goto out;
/* Sanity check for Lockstep mode */
if (cluster->mode && is_primary_core(core) &&
!(sts & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED)) {
dev_err(core->dev, "LockStep mode not permitted on this device\n");
ret = -EINVAL;
goto out;
}
/* Primary core only configuration */
if (is_primary_core(core)) {
/* always enable ARM mode */
clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TEINIT;
if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
set_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
else
clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
}
if (core->atcm_enable)
set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
else
clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
if (core->btcm_enable)
set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
else
clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
if (core->loczrama)
set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
else
clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
ret = k3_r5f_core_halt(core);
if (ret)
goto out;
ret = ti_sci_proc_set_config(&core->tsp, boot_vec, set_cfg, clr_cfg);
out:
ti_sci_proc_release(&core->tsp);
return ret;
}
static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
{
u32 ids[2];
int ret;
dev_dbg(dev, "%s\n", __func__);
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 int k3_r5f_of_to_priv(struct k3_r5f_core *core)
{
int ret;
dev_dbg(dev, "%s\n", __func__);
core->atcm_enable = dev_read_u32_default(core->dev, "atcm-enable", 0);
core->btcm_enable = dev_read_u32_default(core->dev, "btcm-enable", 1);
core->loczrama = dev_read_u32_default(core->dev, "loczrama", 1);
ret = ti_sci_proc_of_to_priv(core->dev, &core->tsp);
if (ret)
return ret;
ret = reset_get_by_index(core->dev, 0, &core->reset);
if (ret) {
dev_err(core->dev, "Reset lines not available: %d\n", ret);
return ret;
}
return 0;
}
static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core)
{
static const char * const mem_names[] = {"atcm", "btcm"};
struct udevice *dev = core->dev;
int i;
dev_dbg(dev, "%s\n", __func__);
core->num_mems = ARRAY_SIZE(mem_names);
core->mem = calloc(core->num_mems, sizeof(*core->mem));
if (!core->mem)
return -ENOMEM;
for (i = 0; i < core->num_mems; i++) {
core->mem[i].bus_addr = dev_read_addr_size_name(dev,
mem_names[i],
(fdt_addr_t *)&core->mem[i].size);
if (core->mem[i].bus_addr == FDT_ADDR_T_NONE) {
dev_err(dev, "%s bus address not found\n",
mem_names[i]);
return -EINVAL;
}
core->mem[i].cpu_addr = map_physmem(core->mem[i].bus_addr,
core->mem[i].size,
MAP_NOCACHE);
if (!strcmp(mem_names[i], "atcm")) {
core->mem[i].dev_addr = core->loczrama ?
0 : K3_R5_TCM_DEV_ADDR;
} else {
core->mem[i].dev_addr = core->loczrama ?
K3_R5_TCM_DEV_ADDR : 0;
}
dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %p da 0x%x\n",
mem_names[i], &core->mem[i].bus_addr,
core->mem[i].size, core->mem[i].cpu_addr,
core->mem[i].dev_addr);
}
return 0;
}
/**
* k3_r5f_probe() - Basic probe
* @dev: corresponding k3 remote processor device
*
* Return: 0 if all goes good, else appropriate error message.
*/
static int k3_r5f_probe(struct udevice *dev)
{
struct k3_r5f_cluster *cluster = dev_get_priv(dev->parent);
struct k3_r5f_core *core = dev_get_priv(dev);
bool r_state;
int ret;
dev_dbg(dev, "%s\n", __func__);
core->dev = dev;
ret = k3_r5f_of_to_priv(core);
if (ret)
return ret;
core->cluster = cluster;
/* Assume Primary core gets probed first */
if (!cluster->cores[0])
cluster->cores[0] = core;
else
cluster->cores[1] = core;
ret = k3_r5f_core_of_get_memories(core);
if (ret) {
dev_err(dev, "Rproc getting internal memories failed\n");
return ret;
}
ret = core->tsp.sci->ops.dev_ops.is_on(core->tsp.sci, core->tsp.dev_id,
&r_state, &core->in_use);
if (ret)
return ret;
if (core->in_use) {
dev_info(dev, "Core %d is already in use. No rproc commands work\n",
core->tsp.proc_id);
return 0;
}
/* Make sure Local reset is asserted. Redundant? */
reset_assert(&core->reset);
ret = k3_r5f_rproc_configure(core);
if (ret) {
dev_err(dev, "rproc configure failed %d\n", ret);
return ret;
}
dev_dbg(dev, "Remoteproc successfully probed\n");
return 0;
}
static int k3_r5f_remove(struct udevice *dev)
{
struct k3_r5f_core *core = dev_get_priv(dev);
free(core->mem);
ti_sci_proc_release(&core->tsp);
return 0;
}
static const struct udevice_id k3_r5f_rproc_ids[] = {
{ .compatible = "ti,am654-r5f"},
{ .compatible = "ti,j721e-r5f"},
{}
};
U_BOOT_DRIVER(k3_r5f_rproc) = {
.name = "k3_r5f_rproc",
.of_match = k3_r5f_rproc_ids,
.id = UCLASS_REMOTEPROC,
.ops = &k3_r5f_rproc_ops,
.probe = k3_r5f_probe,
.remove = k3_r5f_remove,
.priv_auto_alloc_size = sizeof(struct k3_r5f_core),
};
static int k3_r5f_cluster_probe(struct udevice *dev)
{
struct k3_r5f_cluster *cluster = dev_get_priv(dev);
dev_dbg(dev, "%s\n", __func__);
cluster->mode = dev_read_u32_default(dev, "lockstep-mode",
CLUSTER_MODE_LOCKSTEP);
if (device_get_child_count(dev) != 2) {
dev_err(dev, "Invalid number of R5 cores");
return -EINVAL;
}
dev_dbg(dev, "%s: Cluster successfully probed in %s mode\n",
__func__, cluster->mode ? "lockstep" : "split");
return 0;
}
static const struct udevice_id k3_r5fss_ids[] = {
{ .compatible = "ti,am654-r5fss"},
{ .compatible = "ti,j721e-r5fss"},
{}
};
U_BOOT_DRIVER(k3_r5fss) = {
.name = "k3_r5fss",
.of_match = k3_r5fss_ids,
.id = UCLASS_MISC,
.probe = k3_r5f_cluster_probe,
.priv_auto_alloc_size = sizeof(struct k3_r5f_cluster),
};
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