[PATCH v3 6/6] drivers: remoteproc: Add Xilinx r5 remoteproc driver
Tanmay Shah
tanmay.shah at xilinx.com
Tue Mar 8 23:18:49 PST 2022
On 2/21/22 6:13 PM, Tanmay Shah wrote:
>
> On 2/18/22 11:11 AM, Mathieu Poirier wrote:
>> On Thu, Feb 10, 2022 at 03:28:24AM -0800, Tanmay Shah wrote:
>>> This driver enables r5f dual core Real time Processing Unit subsystem
>>> available on Xilinx Zynq Ultrascale MPSoC Platform. RPU subsystem
>>> (cluster) can be configured in different modes e.g. split mode in which
>>> two r5f cores work independent of each other and lock-step mode in
>>> which
>>> both r5f cores execute same code clock-for-clock and notify if the
>>> result is different.
>>>
>>> The Xilinx r5 Remoteproc Driver boots the RPU cores via calls to the
>>> Xilinx
>>> Platform Management Unit that handles the R5 configuration, memory
>>> access
>>> and R5 lifecycle management. The interface to this manager is done
>>> in this
>>> driver via zynqmp_pm_* function calls.
>>>
>>> Signed-off-by: Ben Levinsky<ben.levinsky at xilinx.com>
>>> Signed-off-by: Tanmay Shah<tanmay.shah at xilinx.com>
>>> ---
[ .... ]
>>> +
>>> +/*
>>> + * zynqmp_r5_rproc_mem_map
>>> + * @rproc: single R5 core's corresponding rproc instance
>>> + * @mem: mem entry to map
>>> + *
>>> + * Callback to map va for memory-region's carveout.
>>> + *
>>> + * return 0 on success, otherwise non-zero value on failure
>>> + */
>>> +static int zynqmp_r5_rproc_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;
>>> +
>>> + 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 0 on success, otherwise non-zero value on failure
>>> + */
>>> +static int zynqmp_r5_rproc_mem_unmap(struct rproc *rproc,
>>> + struct rproc_mem_entry *mem)
>>> +{
>>> + iounmap((void __iomem *)mem->va);
>>> + return 0;
>>> +}
>>> +
>>> +/*
>>> + * add_mem_regions
>>> + * @r5_core: single R5 core's corresponding zynqmp_r5_core type
>>> instance
>>> + * @rmem: reserved mem region parsed from dt node
>>> + *
>>> + * Construct rproc mem carveouts from carveout provided in
>>> + * memory-region property
>>> + *
>>> + * return 0 on success, otherwise non-zero value on failure
>>> + */
>>> +static int add_mem_regions_carveout(struct zynqmp_r5_core *r5_core,
>>> + struct reserved_mem *rmem)
>>> +{
>>> + struct device *dev;
>>> + struct rproc_mem_entry *mem;
>>> + struct rproc *rproc;
>>> +
>>> + rproc = r5_core->rproc;
>>> + dev = r5_core->dev;
>>> +
>>> + /* Register associated reserved memory regions */
>>> + mem = rproc_mem_entry_init(dev, NULL,
>>> + (dma_addr_t)rmem->base,
>>> + rmem->size, rmem->base,
>>> + zynqmp_r5_rproc_mem_map,
>>> + zynqmp_r5_rproc_mem_unmap,
>>> + rmem->name);
>>> + if (!mem)
>>> + return -ENOMEM;
>>> +
>>> + rproc_add_carveout(rproc, mem);
>>> +
>>> + return 0;
>>> +}
>>> +
>>>
[ ... ]
>>> +
>>> +/*
>>> + * zynqmp_r5_parse_fw()
>>> + * @rproc: single R5 core's corresponding rproc instance
>>> + * @fw: ptr to firmware to be loaded onto r5 core
>>> + *
>>> + * When loading firmware, ensure the necessary carveouts are in
>>> remoteproc
>>> + *
>>> + * 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;
>>> + struct zynqmp_r5_core *r5_core;
>>> + struct device *dev;
>>> +
>>> + r5_core = rproc->priv;
>>> +
>>> + dev = r5_core->dev;
>>> +
>>> + ret = add_tcm_banks(rproc);
>>> + if (ret) {
>>> + dev_err(dev, "failed to get TCM banks, err %d\n", ret);
>>> + return 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;
>>> +}
>>> +
>>> +static struct rproc_ops zynqmp_r5_rproc_ops = {
>>> + .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,
>>> +};
>>> +
>>>
[ ... ]
>>> +
>>> +/**
>>> + * zynqmp_r5_get_mem_region_node()
>>> + * parse memory-region property from dt node and add
>>> + * memory region carveouts
>>> + *
>>> + * @r5_core: pointer to zynqmp_r5_core type object
>>> + *
>>> + * Return: 0 for success and error code for failure.
>>> + */
>>> +static int zynqmp_r5_get_mem_region_node(struct zynqmp_r5_core
>>> *r5_core)
>>> +{
>>> + int res_mem_count, i, ret;
>>> + struct device *dev;
>>> + struct device_node *np, *rmem_np;
>>> + struct reserved_mem *rmem;
>>> +
>>> + dev = r5_core->dev;
>>> +
>>> + np = r5_core->np;
>>> +
>>> + res_mem_count = of_property_count_elems_of_size(np,
>>> "memory-region",
>>> + sizeof(phandle));
>>> + if (res_mem_count <= 0) {
>>> + dev_warn(dev, "failed to get memory-region property %d\n",
>>> + res_mem_count);
>>> + return -EINVAL;
>>> + }
>>> +
>>> + for (i = 0; i < res_mem_count; i++) {
>>> + rmem_np = of_parse_phandle(np, "memory-region", i);
>>> + if (!rmem_np)
>>> + return -EINVAL;
>>> +
>>> + rmem = of_reserved_mem_lookup(rmem_np);
>>> + if (!rmem) {
>>> + of_node_put(rmem_np);
>>> + return -EINVAL;
>> What happens to previously allocated regions when there is a failure?
>
> Right, I need to unmap memory and use kfree(rmem) to de-allocate memory.
>
>>> + }
>>> +
>>> + ret = add_mem_regions_carveout(r5_core, rmem);
>>> + if (ret)
>>> + dev_warn(dev, "failed to get reserve mem regions %d\n",
>>> + ret);
>> Same here.
>
> Here as well. I will release reserved mem dev with
> of_reserved_mem_device_release API.
>
> One more thing. I moved add_mem_regions_carveout from parse_fw to
> zynqmp_r5_get_mem_region_node.
>
> However, I believe I should move it back to parse_fw.
>
> Following test case is failing in when add_mem_regions_carveout is not
> available in parse_fw:
>
> load_rpu_fw -> start rpu -> stop rpu -> start rpu again
>
> In above case, during mem regions are not added again.
>
> Is it fine, if I move this add_mem_regions_carveout back to
> zynqmp_r5_parse_fw ?
Hi Mathieu,
I have addressed most of the comments from this revision.
However, I wanted your opinion on this.
I think mapping memory-regions during parse_fw just like tcm mapping is
easily
maintainable rather than mapping during probe. Also in my case, I am not
able to start RPU again because memory regions are unmapped
during RPU stop and can't be mapped again. So, is it ok if I move back
add_mem_regions_carveout from driver probe to parse_fw?
Thanks,
Tanmay
>> I am out of time for this set. Please address comments provided up
>> to here and
>> we will see about the rest in a future revision.
>>
>> Thanks,
>> Mathieu
>>
>>> +
>>> + of_node_put(rmem_np);
>>> + }
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +/*
>>> + * zynqmp_r5_core_init()
>>> + * Create and initialize zynqmp_r5_core type object
>>> + *
>>> + * @cluster: pointer to zynqmp_r5_cluster type object
>>> + *
>>> + * Return: 0 for success and error code for failure.
>>> + */
>>> +static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster)
>>> +{
>>> + int ret, i;
>>> + struct zynqmp_r5_core *r5_core;
>>> + struct device *dev = cluster->dev;
>>> +
>>> + 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];
>>> +
>>> + ret = zynqmp_r5_get_mem_region_node(r5_core);
>>> + if (ret)
>>> + dev_warn(dev, "memory-region prop failed %d\n", ret);
>>> +
>>> + /* 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, cluster->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)
>>> +{
>>> + struct device *dev = cluster->dev;
>>> + struct device_node *dev_node = dev_of_node(dev);
>>> + struct device_node *child;
>>> + struct platform_device *child_pdev;
>>> + int core_count = 0, ret, i;
>>> + enum zynqmp_r5_cluster_mode cluster_mode = LOCKSTEP_MODE;
>>> + struct zynqmp_r5_core **r5_cores;
>>> +
>>> + 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
>>> + */
>>> + if (ret != -EINVAL && ret != 0) {
>>> + dev_err(dev, "Invalid xlnx,cluster-mode property\n");
>>> + return -EINVAL;
>>> + }
>>> +
>>> + /*
>>> + * 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 == SINGLE_CPU_MODE) {
>>> + dev_err(dev, "driver does not support single cpu mode\n");
>>> + return -EINVAL;
>>> + } else if ((cluster_mode != SPLIT_MODE &&
>>> + cluster_mode != LOCKSTEP_MODE)) {
>>> + dev_err(dev, "Invalid cluster mode\n");
>>> + 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;
>>> + }
>>> +
>>> + r5_cores = devm_kcalloc(dev, core_count,
>>> + sizeof(struct zynqmp_r5_core *), GFP_KERNEL);
>>> + if (!r5_cores)
>>> + 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);
>>> + return -ENODEV;
>>> + }
>>> +
>>> + /* create and add remoteproc instance of type struct rproc */
>>> + r5_cores[i] = zynqmp_r5_add_rproc_core(&child_pdev->dev);
>>> + r5_cores[i]->dev = &child_pdev->dev;
>>> + if (!r5_cores[i]->dev) {
>>> + dev_err(dev, "can't get device for r5 core %d\n", i);
>>> + of_node_put(child);
>>> + return -ENODEV;
>>> + }
>>> +
>>> + r5_cores[i]->np = dev_of_node(r5_cores[i]->dev);
>>> + if (!r5_cores[i]->np) {
>>> + dev_err(dev, "can't get device node for r5 core %d\n", i);
>>> + of_node_put(child);
>>> + return -ENODEV;
>>> + }
>>> +
>>> + i++;
>>> +
>>> + /*
>>> + * If two child nodes are available in dts in lockstep mode,
>>> + * then ignore second child node.
>>> + */
>>> + if (i == core_count) {
>>> + of_node_put(child);
>>> + break;
>>> + }
>>> + of_node_put(child);
>>> + }
>>> +
>>> + cluster->mode = cluster_mode;
>>> + cluster->core_count = core_count;
>>> + cluster->r5_cores = r5_cores;
>>> +
>>> + ret = zynqmp_r5_core_init(cluster);
>>> + if (ret < 0) {
>>> + dev_err(dev, "failed to init r5 core err %d\n", ret);
>>> + return ret;
>>> + }
>>> +
>>> + return 0;
>>> +}
>>> +
>>> +static void zynqmp_r5_cluster_exit(void *data)
>>> +{
>>> + struct platform_device *pdev = (struct platform_device *)data;
>>> +
>>> + platform_set_drvdata(pdev, NULL);
>>> +
>>> + pr_info("Exit r5f subsystem driver\n");
>>> +}
>>> +
>>> +/*
>>> + * zynqmp_r5_remoteproc_probe()
>>> + *
>>> + * @pdev: domain platform device for R5 cluster
>>> + *
>>> + * called when driver is probed, for each R5 core specified in DT,
>>> + * setup as needed to do remoteproc-related operations
>>> + *
>>> + * Return: 0 for success, negative value for failure.
>>> + */
>>> +static int zynqmp_r5_remoteproc_probe(struct platform_device *pdev)
>>> +{
>>> + int ret;
>>> + struct zynqmp_r5_cluster *cluster;
>>> + struct device *dev = &pdev->dev;
>>> +
>>> + cluster = devm_kzalloc(dev, sizeof(*cluster), GFP_KERNEL);
>>> + if (!cluster)
>>> + return -ENOMEM;
>>> +
>>> + cluster->dev = dev;
>>> +
>>> + ret = devm_of_platform_populate(dev);
>>> + if (ret) {
>>> + dev_err(dev, "failed to populate platform dev %d\n", ret);
>>> + return ret;
>>> + }
>>> +
>>> + /* wire in so each core can be cleaned up at driver remove */
>>> + platform_set_drvdata(pdev, cluster);
>>> +
>>> + ret = devm_add_action_or_reset(dev, zynqmp_r5_cluster_exit, pdev);
>>> + if (ret)
>>> + return ret;
>>> +
>>> + ret = zynqmp_r5_cluster_init(cluster);
>>> + if (ret) {
>>> + dev_err(dev, "Invalid r5f subsystem device tree\n");
>>> + 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 v2");
>>> --
>>> 2.25.1
>>>
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