Commit a0ff4aa6 authored by Oleksij Rempel's avatar Oleksij Rempel Committed by Bjorn Andersson
Browse files

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: default avatarOleksij Rempel <o.rempel@pengutronix.de>
Signed-off-by: default avatarBjorn Andersson <bjorn.andersson@linaro.org>
parent 0862bff5

drivers/remoteproc/Kconfig

+9 −0
Original line number Diff line number Diff line
@@ -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

drivers/remoteproc/Makefile

+1 −0
Original line number Diff line number Diff line
@@ -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

drivers/remoteproc/imx_rproc.c

0 → 100644
+426 −0
Original line number Diff line number Diff line 
/*

 * 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>");

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