// SPDX-License-Identifier: GPL-2.0-only /* * Copyright (c) 2017 Pengutronix, Oleksij Rempel <kernel@pengutronix.de> */ #include <linux/clk.h> #include <linux/err.h> #include <linux/interrupt.h> #include <linux/kernel.h> #include <linux/mailbox_client.h> #include <linux/mfd/syscon.h> #include <linux/module.h> #include <linux/of_address.h> #include <linux/of_reserved_mem.h> #include <linux/of_device.h> #include <linux/platform_device.h> #include <linux/regmap.h> #include <linux/remoteproc.h> #include <linux/workqueue.h> #include "remoteproc_internal.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 IMX_RPROC_MEM_MAX 32 /** * 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[IMX_RPROC_MEM_MAX]; struct clk *clk; struct mbox_client cl; struct mbox_chan *tx_ch; struct mbox_chan *rx_ch; struct work_struct rproc_work; struct workqueue_struct *workqueue; void __iomem *rsc_table; }; static const struct imx_rproc_att imx_rproc_att_imx8mq[] = { /* dev addr , sys addr , size , flags */ /* TCML - alias */ { 0x00000000, 0x007e0000, 0x00020000, 0 }, /* OCRAM_S */ { 0x00180000, 0x00180000, 0x00008000, 0 }, /* OCRAM */ { 0x00900000, 0x00900000, 0x00020000, 0 }, /* OCRAM */ { 0x00920000, 0x00920000, 0x00020000, 0 }, /* QSPI Code - alias */ { 0x08000000, 0x08000000, 0x08000000, 0 }, /* DDR (Code) - alias */ { 0x10000000, 0x80000000, 0x0FFE0000, 0 }, /* TCML */ { 0x1FFE0000, 0x007E0000, 0x00020000, ATT_OWN }, /* TCMU */ { 0x20000000, 0x00800000, 0x00020000, ATT_OWN }, /* OCRAM_S */ { 0x20180000, 0x00180000, 0x00008000, ATT_OWN }, /* OCRAM */ { 0x20200000, 0x00900000, 0x00020000, ATT_OWN }, /* OCRAM */ { 0x20220000, 0x00920000, 0x00020000, ATT_OWN }, /* DDR (Data) */ { 0x40000000, 0x40000000, 0x80000000, 0 }, }; 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_imx8mq = { .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_imx8mq, .att_size = ARRAY_SIZE(imx_rproc_att_imx8mq), }; 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, "Failed 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, "Failed to stop M4!\n"); return ret; } static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da, size_t 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 failed: da = 0x%llx len = 0x%zx\n", da, len); return -ENOENT; } static void *imx_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem) { 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 < IMX_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%zx va = 0x%p\n", da, len, va); return va; } static int imx_rproc_mem_alloc(struct rproc *rproc, struct rproc_mem_entry *mem) { struct device *dev = rproc->dev.parent; void *va; dev_dbg(dev, "map memory: %p+%zx\n", &mem->dma, mem->len); va = ioremap_wc(mem->dma, mem->len); if (IS_ERR_OR_NULL(va)) { dev_err(dev, "Unable to map memory region: %p+%zx\n", &mem->dma, mem->len); return -ENOMEM; } /* Update memory entry va */ mem->va = va; return 0; } static int imx_rproc_mem_release(struct rproc *rproc, struct rproc_mem_entry *mem) { dev_dbg(rproc->dev.parent, "unmap memory: %pa\n", &mem->dma); iounmap(mem->va); return 0; } static int imx_rproc_prepare(struct rproc *rproc) { struct imx_rproc *priv = rproc->priv; struct device_node *np = priv->dev->of_node; struct of_phandle_iterator it; struct rproc_mem_entry *mem; struct reserved_mem *rmem; u32 da; /* Register associated reserved memory regions */ of_phandle_iterator_init(&it, np, "memory-region", NULL, 0); while (of_phandle_iterator_next(&it) == 0) { /* * Ignore the first memory region which will be used vdev buffer. * No need to do extra handlings, rproc_add_virtio_dev will handle it. */ if (!strcmp(it.node->name, "vdev0buffer")) continue; rmem = of_reserved_mem_lookup(it.node); if (!rmem) { dev_err(priv->dev, "unable to acquire memory-region\n"); return -EINVAL; } /* No need to translate pa to da, i.MX use same map */ da = rmem->base; /* Register memory region */ mem = rproc_mem_entry_init(priv->dev, NULL, (dma_addr_t)rmem->base, rmem->size, da, imx_rproc_mem_alloc, imx_rproc_mem_release, it.node->name); if (mem) rproc_coredump_add_segment(rproc, da, rmem->size); else return -ENOMEM; rproc_add_carveout(rproc, mem); } return 0; } static int imx_rproc_parse_fw(struct rproc *rproc, const struct firmware *fw) { int ret; ret = rproc_elf_load_rsc_table(rproc, fw); if (ret) dev_info(&rproc->dev, "No resource table in elf\n"); return 0; } static void imx_rproc_kick(struct rproc *rproc, int vqid) { struct imx_rproc *priv = rproc->priv; int err; __u32 mmsg; if (!priv->tx_ch) { dev_err(priv->dev, "No initialized mbox tx channel\n"); return; } /* * Send the index of the triggered virtqueue as the mu payload. * Let remote processor know which virtqueue is used. */ mmsg = vqid << 16; err = mbox_send_message(priv->tx_ch, (void *)&mmsg); if (err < 0) dev_err(priv->dev, "%s: failed (%d, err:%d)\n", __func__, vqid, err); } static int imx_rproc_attach(struct rproc *rproc) { return 0; } static struct resource_table *imx_rproc_get_loaded_rsc_table(struct rproc *rproc, size_t *table_sz) { struct imx_rproc *priv = rproc->priv; /* The resource table has already been mapped in imx_rproc_addr_init */ if (!priv->rsc_table) return NULL; *table_sz = SZ_1K; return (struct resource_table *)priv->rsc_table; } static const struct rproc_ops imx_rproc_ops = { .prepare = imx_rproc_prepare, .attach = imx_rproc_attach, .start = imx_rproc_start, .stop = imx_rproc_stop, .kick = imx_rproc_kick, .da_to_va = imx_rproc_da_to_va, .load = rproc_elf_load_segments, .parse_fw = imx_rproc_parse_fw, .find_loaded_rsc_table = rproc_elf_find_loaded_rsc_table, .get_loaded_rsc_table = imx_rproc_get_loaded_rsc_table, .sanity_check = rproc_elf_sanity_check, .get_boot_addr = rproc_elf_get_boot_addr, }; 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 >= IMX_RPROC_MEM_MAX) break; priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev, att->sa, att->size); if (!priv->mem[b].cpu_addr) { dev_err(dev, "failed to remap %#x bytes from %#x\n", att->size, att->sa); return -ENOMEM; } 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); /* Not map vdev region */ if (!strcmp(node->name, "vdev")) continue; err = of_address_to_resource(node, 0, &res); if (err) { dev_err(dev, "unable to resolve memory region\n"); return err; } of_node_put(node); if (b >= IMX_RPROC_MEM_MAX) break; /* Not use resource version, because we might share region */ priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev, res.start, resource_size(&res)); if (!priv->mem[b].cpu_addr) { dev_err(dev, "failed to remap %pr\n", &res); return -ENOMEM; } priv->mem[b].sys_addr = res.start; priv->mem[b].size = resource_size(&res); if (!strcmp(node->name, "rsc_table")) priv->rsc_table = priv->mem[b].cpu_addr; b++; } return 0; } static void imx_rproc_vq_work(struct work_struct *work) { struct imx_rproc *priv = container_of(work, struct imx_rproc, rproc_work); rproc_vq_interrupt(priv->rproc, 0); rproc_vq_interrupt(priv->rproc, 1); } static void imx_rproc_rx_callback(struct mbox_client *cl, void *msg) { struct rproc *rproc = dev_get_drvdata(cl->dev); struct imx_rproc *priv = rproc->priv; queue_work(priv->workqueue, &priv->rproc_work); } static int imx_rproc_xtr_mbox_init(struct rproc *rproc) { struct imx_rproc *priv = rproc->priv; struct device *dev = priv->dev; struct mbox_client *cl; int ret; if (!of_get_property(dev->of_node, "mbox-names", NULL)) return 0; cl = &priv->cl; cl->dev = dev; cl->tx_block = true; cl->tx_tout = 100; cl->knows_txdone = false; cl->rx_callback = imx_rproc_rx_callback; priv->tx_ch = mbox_request_channel_byname(cl, "tx"); if (IS_ERR(priv->tx_ch)) { ret = PTR_ERR(priv->tx_ch); return dev_err_probe(cl->dev, ret, "failed to request tx mailbox channel: %d\n", ret); } priv->rx_ch = mbox_request_channel_byname(cl, "rx"); if (IS_ERR(priv->rx_ch)) { mbox_free_channel(priv->tx_ch); ret = PTR_ERR(priv->rx_ch); return dev_err_probe(cl->dev, ret, "failed to request rx mailbox channel: %d\n", ret); } return 0; } static void imx_rproc_free_mbox(struct rproc *rproc) { struct imx_rproc *priv = rproc->priv; mbox_free_channel(priv->tx_ch); mbox_free_channel(priv->rx_ch); } static int imx_rproc_detect_mode(struct imx_rproc *priv) { const struct imx_rproc_dcfg *dcfg = priv->dcfg; struct device *dev = priv->dev; int ret; u32 val; ret = regmap_read(priv->regmap, dcfg->src_reg, &val); if (ret) { dev_err(dev, "Failed to read src\n"); return ret; } if (!(val & dcfg->src_stop)) priv->rproc->state = RPROC_DETACHED; 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) return -ENOMEM; dcfg = of_device_get_match_data(dev); if (!dcfg) { ret = -EINVAL; goto err_put_rproc; } priv = rproc->priv; priv->rproc = rproc; priv->regmap = regmap; priv->dcfg = dcfg; priv->dev = dev; dev_set_drvdata(dev, rproc); priv->workqueue = create_workqueue(dev_name(dev)); if (!priv->workqueue) { dev_err(dev, "cannot create workqueue\n"); ret = -ENOMEM; goto err_put_rproc; } ret = imx_rproc_xtr_mbox_init(rproc); if (ret) goto err_put_wkq; ret = imx_rproc_addr_init(priv, pdev); if (ret) { dev_err(dev, "failed on imx_rproc_addr_init\n"); goto err_put_mbox; } ret = imx_rproc_detect_mode(priv); if (ret) goto err_put_mbox; priv->clk = devm_clk_get(dev, NULL); if (IS_ERR(priv->clk)) { dev_err(dev, "Failed to get clock\n"); ret = PTR_ERR(priv->clk); goto err_put_mbox; } /* * 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"); goto err_put_mbox; } INIT_WORK(&priv->rproc_work, imx_rproc_vq_work); ret = rproc_add(rproc); if (ret) { dev_err(dev, "rproc_add failed\n"); goto err_put_clk; } return 0; err_put_clk: clk_disable_unprepare(priv->clk); err_put_mbox: imx_rproc_free_mbox(rproc); err_put_wkq: destroy_workqueue(priv->workqueue); err_put_rproc: rproc_free(rproc); 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); imx_rproc_free_mbox(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 }, { .compatible = "fsl,imx8mq-cm4", .data = &imx_rproc_cfg_imx8mq }, { .compatible = "fsl,imx8mm-cm4", .data = &imx_rproc_cfg_imx8mq }, {}, }; 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("i.MX remote processor control driver"); MODULE_AUTHOR("Oleksij Rempel <o.rempel@pengutronix.de>");