[PATCH v5 5/5] remoteproc: k3-m4: Add a remoteproc driver for M4F subsystem
Mathieu Poirier
mathieu.poirier at linaro.org
Tue Aug 29 13:01:34 PDT 2023
On Mon, Aug 07, 2023 at 11:45:29PM -0500, Hari Nagalla wrote:
> From: Martyn Welch <martyn.welch at collabora.com>
>
> The AM62x and AM64x SoCs of the TI K3 family has a Cortex M4F core in
> the MCU domain. This core is typically used for safety applications in a
> stand alone mode. However, some application (non safety related) may
> want to use the M4F core as a generic remote processor with IPC to the
> host processor. The M4F core has internal IRAM and DRAM memories and are
> exposed to the system bus for code and data loading.
>
> A remote processor driver is added to support this subsystem, including
> being able to load and boot the M4F core. Loading includes to M4F
> internal memories and predefined external code/data memories. The
> carve outs for external contiguous memory is defined in the M4F device
> node and should match with the external memory declarations in the M4F
> image binary. The M4F subsystem has two resets. One reset is for the
> entire subsystem i.e including the internal memories and the other, a
> local reset is only for the M4F processing core. When loading the image,
> the driver first releases the subsystem reset, loads the firmware image
> and then releases the local reset to let the M4F processing core run.
>
> Signed-off-by: Martyn Welch <martyn.welch at collabora.com>
> Signed-off-by: Hari Nagalla <hnagalla at ti.com>
> ---
> Changes since v1:
> - Addressed minor review comments (refactoring completed in separate
> patch)
>
> Changes since v2:
> - Refactoring completed first, thus smaller change
>
> Changes since v3:
> - Removed 'ipc_only' flag and made changes in probe() to enact right
> operations
> - Fixed spelling mistakes in commit message
> - Changed some 'dev_err' messages to 'dev_info'
> - Removed unnecessary checks rproc state
>
> Changes since v4:
> - None
>
> drivers/remoteproc/Kconfig | 13 +
> drivers/remoteproc/Makefile | 1 +
> drivers/remoteproc/ti_k3_common.h | 7 +-
> drivers/remoteproc/ti_k3_m4_remoteproc.c | 333 +++++++++++++++++++++++
> 4 files changed, 353 insertions(+), 1 deletion(-)
> create mode 100644 drivers/remoteproc/ti_k3_m4_remoteproc.c
>
> diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
> index 48845dc8fa85..85c1a3a2b987 100644
> --- a/drivers/remoteproc/Kconfig
> +++ b/drivers/remoteproc/Kconfig
> @@ -339,6 +339,19 @@ config TI_K3_DSP_REMOTEPROC
> It's safe to say N here if you're not interested in utilizing
> the DSP slave processors.
>
> +config TI_K3_M4_REMOTEPROC
> + tristate "TI K3 M4 remoteproc support"
> + depends on ARCH_K3
> + select MAILBOX
> + select OMAP2PLUS_MBOX
> + help
> + Say m here to support TI's M4 remote processor subsystems
> + on various TI K3 family of SoCs through the remote processor
> + framework.
> +
> + It's safe to say N here if you're not interested in utilizing
> + a remote processor.
> +
> config TI_K3_R5_REMOTEPROC
> tristate "TI K3 R5 remoteproc support"
> depends on ARCH_K3
> diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
> index 55c552e27a45..e30908ca4bfc 100644
> --- a/drivers/remoteproc/Makefile
> +++ b/drivers/remoteproc/Makefile
> @@ -37,5 +37,6 @@ obj-$(CONFIG_ST_REMOTEPROC) += st_remoteproc.o
> obj-$(CONFIG_ST_SLIM_REMOTEPROC) += st_slim_rproc.o
> obj-$(CONFIG_STM32_RPROC) += stm32_rproc.o
> obj-$(CONFIG_TI_K3_DSP_REMOTEPROC) += ti_k3_dsp_remoteproc.o ti_k3_common.o
> +obj-$(CONFIG_TI_K3_M4_REMOTEPROC) += ti_k3_m4_remoteproc.o ti_k3_common.o
> obj-$(CONFIG_TI_K3_R5_REMOTEPROC) += ti_k3_r5_remoteproc.o
> obj-$(CONFIG_XLNX_R5_REMOTEPROC) += xlnx_r5_remoteproc.o
> diff --git a/drivers/remoteproc/ti_k3_common.h b/drivers/remoteproc/ti_k3_common.h
> index 917a9c82b4cf..5de014e1065f 100644
> --- a/drivers/remoteproc/ti_k3_common.h
> +++ b/drivers/remoteproc/ti_k3_common.h
> @@ -2,11 +2,15 @@
> /*
> * TI K3 Remote Processor(s) driver common code
> *
> - * Refactored from ti_k3_dsp_remoteproc.c.
> + * Refactored from ti_k3_dsp_remoteproc.c and ti_k3_m4_remoteproc.c.
How can this be refactored from ti_k3_m4_remoteproc.c when it did not exists
before this patchset?
> *
> * ti_k3_dsp_remoteproc.c:
> * Copyright (C) 2018-2022 Texas Instruments Incorporated - https://www.ti.com/
> * Suman Anna <s-anna at ti.com>
> + *
> + * ti_k3_m4_remoteproc.c:
> + * Copyright (C) 2021 Texas Instruments Incorporated - https://www.ti.com/
> + * Hari Nagalla <hnagalla at ti.com>
> */
>
> #ifndef REMOTEPROC_TI_K3_COMMON_H
> @@ -82,6 +86,7 @@ struct k3_rproc {
> u32 ti_sci_id;
> struct mbox_chan *mbox;
> struct mbox_client client;
> + bool ipc_only;
>From the comments above this should have been removed.
I will not move forward with the rest of this patch. I am done reviewing this
version.
Thanks,
Mathieu
> };
>
> void k3_rproc_kick(struct rproc *rproc, int vqid);
> diff --git a/drivers/remoteproc/ti_k3_m4_remoteproc.c b/drivers/remoteproc/ti_k3_m4_remoteproc.c
> new file mode 100644
> index 000000000000..010b3a2fc1fa
> --- /dev/null
> +++ b/drivers/remoteproc/ti_k3_m4_remoteproc.c
> @@ -0,0 +1,333 @@
> +// SPDX-License-Identifier: GPL-2.0-only
> +/*
> + * TI K3 Cortex-M4 Remote Processor(s) driver
> + *
> + * Copyright (C) 2021 Texas Instruments Incorporated - https://www.ti.com/
> + * Hari Nagalla <hnagalla at ti.com>
> + */
> +
> +#include <linux/io.h>
> +#include <linux/mailbox_client.h>
> +#include <linux/module.h>
> +#include <linux/of_device.h>
> +#include <linux/of_reserved_mem.h>
> +#include <linux/omap-mailbox.h>
> +#include <linux/platform_device.h>
> +#include <linux/remoteproc.h>
> +#include <linux/reset.h>
> +#include <linux/slab.h>
> +
> +#include "omap_remoteproc.h"
> +#include "remoteproc_internal.h"
> +#include "ti_sci_proc.h"
> +#include "ti_k3_common.h"
> +
> +/*
> + * Power up the M4F remote processor.
> + *
> + * This function will be invoked only after the firmware for this rproc
> + * was loaded, parsed successfully, and all of its resource requirements
> + * were met. This callback is invoked only in remoteproc mode.
> + */
> +static int k3_m4_rproc_start(struct rproc *rproc)
> +{
> + struct k3_rproc *kproc = rproc->priv;
> + struct device *dev = kproc->dev;
> + u32 boot_addr;
> + int ret;
> +
> + ret = k3_rproc_request_mbox(rproc);
> + if (ret)
> + return ret;
> +
> + boot_addr = rproc->bootaddr;
> + ret = k3_rproc_release(kproc);
> + if (ret)
> + goto put_mbox;
> +
> + return 0;
> +
> +put_mbox:
> + mbox_free_channel(kproc->mbox);
> + return ret;
> +}
> +
> +/*
> + * Stop the M4 remote processor.
> + *
> + * This function puts the M4 processor into reset, and finishes processing
> + * of any pending messages. This callback is invoked only in remoteproc mode.
> + */
> +static int k3_m4_rproc_stop(struct rproc *rproc)
> +{
> + struct k3_rproc *kproc = rproc->priv;
> + struct device *dev = kproc->dev;
> +
> + mbox_free_channel(kproc->mbox);
> +
> + k3_rproc_reset(kproc);
> +
> + return 0;
> +}
> +
> +/*
> + * Attach to a running M4 remote processor (IPC-only mode)
> + *
> + * This rproc attach callback only needs to request the mailbox, the remote
> + * processor is already booted, so there is no need to issue any TI-SCI
> + * commands to boot the M4 core. This callback is used only in IPC-only mode.
> + */
> +static int k3_m4_rproc_attach(struct rproc *rproc)
> +{
> + struct k3_rproc *kproc = rproc->priv;
> + struct device *dev = kproc->dev;
> + int ret;
> +
> + ret = k3_rproc_request_mbox(rproc);
> + if (ret)
> + return ret;
> +
> + dev_info(dev, "M4 initialized in IPC-only mode\n");
> + return 0;
> +}
> +
> +/*
> + * Detach from a running M4 remote processor (IPC-only mode)
> + *
> + * This rproc detach callback performs the opposite operation to attach callback
> + * and only needs to release the mailbox, the M4 core is not stopped and will
> + * be left to continue to run its booted firmware. This callback is invoked only in
> + * IPC-only mode.
> + */
> +static int k3_m4_rproc_detach(struct rproc *rproc)
> +{
> + struct k3_rproc *kproc = rproc->priv;
> + struct device *dev = kproc->dev;
> +
> + mbox_free_channel(kproc->mbox);
> + dev_info(dev, "M4 deinitialized in IPC-only mode\n");
> + return 0;
> +}
> +
> +static const struct rproc_ops k3_m4_rproc_ops = {
> + .start = k3_m4_rproc_start,
> + .stop = k3_m4_rproc_stop,
> + .attach = k3_m4_rproc_attach,
> + .detach = k3_m4_rproc_detach,
> + .kick = k3_rproc_kick,
> + .da_to_va = k3_rproc_da_to_va,
> + .get_loaded_rsc_table = k3_get_loaded_rsc_table,
> +};
> +
> +static int k3_m4_rproc_probe(struct platform_device *pdev)
> +{
> + struct device *dev = &pdev->dev;
> + struct device_node *np = dev->of_node;
> + const struct k3_rproc_dev_data *data;
> + struct k3_rproc *kproc;
> + struct rproc *rproc;
> + const char *fw_name;
> + bool r_state = false;
> + bool p_state = false;
> + int ret = 0;
> + int ret1;
> +
> + data = of_device_get_match_data(dev);
> + if (!data)
> + return -ENODEV;
> +
> + ret = rproc_of_parse_firmware(dev, 0, &fw_name);
> + if (ret) {
> + dev_err(dev, "failed to parse firmware-name property, ret = %d\n",
> + ret);
> + return ret;
> + }
> +
> + rproc = rproc_alloc(dev, dev_name(dev), &k3_m4_rproc_ops, fw_name,
> + sizeof(*kproc));
> + if (!rproc)
> + return -ENOMEM;
> +
> + rproc->has_iommu = false;
> + rproc->recovery_disabled = true;
> + if (data->uses_lreset) {
> + rproc->ops->prepare = k3_rproc_prepare;
> + rproc->ops->unprepare = k3_rproc_unprepare;
> + }
> + kproc = rproc->priv;
> + kproc->rproc = rproc;
> + kproc->dev = dev;
> + kproc->data = data;
> +
> + kproc->ti_sci = ti_sci_get_by_phandle(np, "ti,sci");
> + if (IS_ERR(kproc->ti_sci)) {
> + ret = PTR_ERR(kproc->ti_sci);
> + if (ret != -EPROBE_DEFER) {
> + dev_err(dev, "failed to get ti-sci handle, ret = %d\n",
> + ret);
> + }
> + kproc->ti_sci = NULL;
> + goto free_rproc;
> + }
> +
> + ret = of_property_read_u32(np, "ti,sci-dev-id", &kproc->ti_sci_id);
> + if (ret) {
> + dev_err(dev, "missing 'ti,sci-dev-id' property\n");
> + goto put_sci;
> + }
> +
> + kproc->reset = devm_reset_control_get_exclusive(dev, NULL);
> + if (IS_ERR(kproc->reset)) {
> + ret = PTR_ERR(kproc->reset);
> + dev_err(dev, "failed to get reset, status = %d\n", ret);
> + goto put_sci;
> + }
> +
> + kproc->tsp = k3_rproc_of_get_tsp(dev, kproc->ti_sci);
> + if (IS_ERR(kproc->tsp)) {
> + dev_err(dev, "failed to construct ti-sci proc control, ret = %d\n",
> + ret);
> + ret = PTR_ERR(kproc->tsp);
> + goto put_sci;
> + }
> +
> + ret = ti_sci_proc_request(kproc->tsp);
> + if (ret < 0) {
> + dev_err(dev, "ti_sci_proc_request failed, ret = %d\n", ret);
> + goto free_tsp;
> + }
> +
> + ret = k3_rproc_of_get_memories(pdev, kproc);
> + if (ret)
> + goto release_tsp;
> +
> + ret = k3_reserved_mem_init(kproc);
> + if (ret) {
> + dev_err(dev, "reserved memory init failed, ret = %d\n", ret);
> + goto release_tsp;
> + }
> +
> + ret = kproc->ti_sci->ops.dev_ops.is_on(kproc->ti_sci, kproc->ti_sci_id,
> + &r_state, &p_state);
> + if (ret) {
> + dev_err(dev, "failed to get initial state, mode cannot be determined, ret = %d\n",
> + ret);
> + goto release_mem;
> + }
> +
> + /* configure devices for either remoteproc or IPC-only mode */
> + if (p_state) {
> + dev_info(dev, "configured M4 for IPC-only mode\n");
> + rproc->state = RPROC_DETACHED;
> + /* override rproc ops with only required IPC-only mode ops */
> + rproc->ops->prepare = NULL;
> + rproc->ops->unprepare = NULL;
> + rproc->ops->start = NULL;
> + rproc->ops->stop = NULL;
> + rproc->ops->attach = k3_m4_rproc_attach;
> + rproc->ops->detach = k3_m4_rproc_detach;
> + rproc->ops->get_loaded_rsc_table = k3_get_loaded_rsc_table;
> + } else {
> + dev_info(dev, "configured M4 for remoteproc mode\n");
> + /*
> + * ensure the M4 local reset is asserted to ensure the core
> + * doesn't execute bogus code in .prepare() when the module
> + * reset is released.
> + */
> + if (data->uses_lreset) {
> + ret = reset_control_status(kproc->reset);
> + if (ret < 0) {
> + dev_err(dev, "failed to get reset status, status = %d\n",
> + ret);
> + goto release_mem;
> + } else if (ret == 0) {
> + dev_warn(dev, "local reset is deasserted for device\n");
> + k3_rproc_reset(kproc);
> + }
> + }
> + }
> +
> + ret = rproc_add(rproc);
> + if (ret) {
> + dev_err(dev, "failed to add register device with remoteproc core, status = %d\n",
> + ret);
> + goto release_mem;
> + }
> +
> + platform_set_drvdata(pdev, kproc);
> +
> + return 0;
> +
> +release_mem:
> + k3_reserved_mem_exit(kproc);
> +release_tsp:
> + ret1 = ti_sci_proc_release(kproc->tsp);
> + if (ret1)
> + dev_err(dev, "failed to release proc, ret = %d\n", ret1);
> +free_tsp:
> + kfree(kproc->tsp);
> +put_sci:
> + ret1 = ti_sci_put_handle(kproc->ti_sci);
> + if (ret1)
> + dev_err(dev, "failed to put ti_sci handle, ret = %d\n", ret1);
> +free_rproc:
> + rproc_free(rproc);
> + return ret;
> +}
> +
> +static int k3_m4_rproc_remove(struct platform_device *pdev)
> +{
> + struct k3_rproc *kproc = platform_get_drvdata(pdev);
> + struct device *dev = &pdev->dev;
> + int ret;
> +
> + rproc_del(kproc->rproc);
> +
> + ret = ti_sci_proc_release(kproc->tsp);
> + if (ret)
> + dev_err(dev, "failed to release proc, ret = %d\n", ret);
> +
> + kfree(kproc->tsp);
> +
> + ret = ti_sci_put_handle(kproc->ti_sci);
> + if (ret)
> + dev_err(dev, "failed to put ti_sci handle, ret = %d\n", ret);
> +
> + k3_reserved_mem_exit(kproc);
> + rproc_free(kproc->rproc);
> +
> + return 0;
> +}
> +
> +static const struct k3_rproc_mem_data am64_m4_mems[] = {
> + { .name = "iram", .dev_addr = 0x0 },
> + { .name = "dram", .dev_addr = 0x30000 },
> +};
> +
> +static const struct k3_rproc_dev_data am64_m4_data = {
> + .mems = am64_m4_mems,
> + .num_mems = ARRAY_SIZE(am64_m4_mems),
> + .boot_align_addr = SZ_1K,
> + .uses_lreset = true,
> +};
> +
> +static const struct of_device_id k3_m4_of_match[] = {
> + { .compatible = "ti,am64-m4fss", .data = &am64_m4_data, },
> + { /* sentinel */ },
> +};
> +MODULE_DEVICE_TABLE(of, k3_m4_of_match);
> +
> +static struct platform_driver k3_m4_rproc_driver = {
> + .probe = k3_m4_rproc_probe,
> + .remove = k3_m4_rproc_remove,
> + .driver = {
> + .name = "k3-m4-rproc",
> + .of_match_table = k3_m4_of_match,
> + },
> +};
> +
> +module_platform_driver(k3_m4_rproc_driver);
> +
> +MODULE_AUTHOR("Hari Nagalla <hnagalla at ti.com>");
> +MODULE_LICENSE("GPL");
> +MODULE_DESCRIPTION("TI K3 M4 Remoteproc driver");
> --
> 2.34.1
>
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