[PATCH v7 3/3] remoteproc: imx_rproc: detect and attach to pre-booted remote cores
Hiago De Franco
hiagofranco at gmail.com
Wed Jul 16 10:23:08 PDT 2025
On Wed, Jul 16, 2025 at 10:50:08AM -0600, Mathieu Poirier wrote:
> On Wed, Jul 16, 2025 at 10:25:52AM -0300, Hiago De Franco wrote:
> > Hi Mathieu, Ulf,
> >
> > On Tue, Jul 15, 2025 at 09:32:44AM -0600, Mathieu Poirier wrote:
> > > On Sun, Jun 29, 2025 at 02:25:12PM -0300, Hiago De Franco wrote:
> > > > From: Hiago De Franco <hiago.franco at toradex.com>
> > > >
> > > > When the Cortex-M remote core is started and already running before
> > > > Linux boots (typically by the Cortex-A bootloader using a command like
> > > > bootaux), the current driver is unable to attach to it. This is because
> > > > the driver only checks for remote cores running in different SCFW
> > > > partitions. However in this case, the M-core is in the same partition as
> > > > Linux and is already powered up and running by the bootloader.
> > > >
> > > > This patch adds a check using dev_pm_genpd_is_on() to verify whether the
> > > > M-core's power domains are already on. If all power domain devices are
> > > > on, the driver assumes the M-core is running and proceed to attach to
> > > > it.
> > > >
> > > > To accomplish this, we need to avoid passing any attach_data or flags to
> > > > dev_pm_domain_attach_list(), allowing the platform device become a
> > > > consumer of the power domain provider without changing its current
> > > > state.
> > > >
> > > > During probe, also enable and sync the device runtime PM to make sure
> > > > the power domains are correctly managed when the core is controlled by
> > > > the kernel.
> > > >
> > > > Suggested-by: Ulf Hansson <ulf.hansson at linaro.org>
> > > > Reviewed-by: Ulf Hansson <ulf.hansson at linaro.org>
> > > > Reviewed-by: Peng Fan <peng.fan at nxp.com>
> > > > Signed-off-by: Hiago De Franco <hiago.franco at toradex.com>
> > > > ---
> > > > v6 -> v7:
> > > > - Added Peng reviewed-by.
> > > > v5 -> v6:
> > > > - Commit description improved, as suggested. Added Ulf Hansson reviewed
> > > > by. Comment on imx-rproc.c improved.
> > > > v4 -> v5:
> > > > - pm_runtime_get_sync() removed in favor of
> > > > pm_runtime_resume_and_get(). Now it also checks the return value of
> > > > this function.
> > > > - Added pm_runtime_disable() and pm_runtime_put() to imx_rproc_remove()
> > > > function.
> > > > v3 -> v4:
> > > > - Changed to use the new dev_pm_genpd_is_on() function instead, as
> > > > suggested by Ulf. This will now get the power status of the two
> > > > remote cores power domains to decided if imx_rpoc needs to attach or
> > > > not. In order to do that, pm_runtime_enable() and
> > > > pm_runtime_get_sync() were introduced and pd_data was removed.
> > > > v2 -> v3:
> > > > - Unchanged.
> > > > v1 -> v2:
> > > > - Dropped unecessary include. Removed the imx_rproc_is_on function, as
> > > > suggested.
> > > > ---
> > > > drivers/remoteproc/imx_rproc.c | 37 +++++++++++++++++++++++++++++-----
> > > > 1 file changed, 32 insertions(+), 5 deletions(-)
> > > >
> > > > diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
> > > > index 627e57a88db2..24597b60c5b0 100644
> > > > --- a/drivers/remoteproc/imx_rproc.c
> > > > +++ b/drivers/remoteproc/imx_rproc.c
> > > > @@ -18,6 +18,7 @@
> > > > #include <linux/of_reserved_mem.h>
> > > > #include <linux/platform_device.h>
> > > > #include <linux/pm_domain.h>
> > > > +#include <linux/pm_runtime.h>
> > > > #include <linux/reboot.h>
> > > > #include <linux/regmap.h>
> > > > #include <linux/remoteproc.h>
> > > > @@ -890,10 +891,8 @@ static int imx_rproc_partition_notify(struct notifier_block *nb,
> > > > static int imx_rproc_attach_pd(struct imx_rproc *priv)
> > > > {
> > > > struct device *dev = priv->dev;
> > > > - int ret;
> > > > - struct dev_pm_domain_attach_data pd_data = {
> > > > - .pd_flags = PD_FLAG_DEV_LINK_ON,
> > > > - };
> > > > + int ret, i;
> > > > + bool detached = true;
> > > >
> > > > /*
> > > > * If there is only one power-domain entry, the platform driver framework
> > > > @@ -902,7 +901,22 @@ static int imx_rproc_attach_pd(struct imx_rproc *priv)
> > > > if (dev->pm_domain)
> > > > return 0;
> > > >
> > > > - ret = dev_pm_domain_attach_list(dev, &pd_data, &priv->pd_list);
> > > > + ret = dev_pm_domain_attach_list(dev, NULL, &priv->pd_list);
> > > > + /*
> > > > + * If all the power domain devices are already turned on, the remote
> > > > + * core is already powered up and running when the kernel booted (e.g.,
> > > > + * started by U-Boot's bootaux command). In this case attach to it.
> > > > + */
> > > > + for (i = 0; i < ret; i++) {
> > > > + if (!dev_pm_genpd_is_on(priv->pd_list->pd_devs[i])) {
> > > > + detached = false;
> > > > + break;
> > > > + }
> > > > + }
> > >
> > > I was doing one final review of this work when I noticed the return code for
> > > dev_pm_domain_attach_list() is never checked for error.
> >
> > As Ulf pointed out, the 'return' a few lines below will return the
> > negative value to the caller of 'imx_rproc_attach_pd', which ultimately
> > will fail 'imx_rproc_detect_mode' and fail the probe of imx_rproc.
> >
> > Please notice that even tough 'dev_pm_domain_attach_list' fails, the
> > rproc->state will still be set as RPROC_DETACHED because we are starting
> > 'detached' as true, but I am not seeing this as an issue because as
> > mentioned above the probe will fail anyway. Please let me know if you
> > see this as an issue.
>
> Two things to consider here:
>
> (1) It is only a matter of time before someone with a cleaver coccinelle script
> sends me a patch that adds the missing error check.
>
> (2) I think that @rproc->state being changed on error conditions is a bug
> waiting to happen. This kind of implicit error handling is difficult to
> maintain and even more difficult for people to make enhancements to the driver.
>
> Adding a simple error check will make sure neither of the above will happen. It
> is a simple change and we are at rc6 - this work can still go in the merge
> window.
Sure, I can submit a new revision with this error check. Sorry I did not
see this before, I only had a close look at this '->state' now that you
asked on the previous email.
Thanks,
Hiago.
>
> >
> > >
> > > Thanks,
> > > Mathieu
> > >
> > > > +
> > > > + if (detached)
> > > > + priv->rproc->state = RPROC_DETACHED;
> > > > +
> > > > return ret < 0 ? ret : 0;
> > > > }
> > > >
> > > > @@ -1146,6 +1160,15 @@ static int imx_rproc_probe(struct platform_device *pdev)
> > > > }
> > > > }
> > > >
> > > > + if (dcfg->method == IMX_RPROC_SCU_API) {
> > > > + pm_runtime_enable(dev);
> > > > + ret = pm_runtime_resume_and_get(dev);
> > > > + if (ret) {
> > > > + dev_err(dev, "pm_runtime get failed: %d\n", ret);
> > > > + goto err_put_clk;
> > > > + }
> > > > + }
> > > > +
> > > > ret = rproc_add(rproc);
> > > > if (ret) {
> > > > dev_err(dev, "rproc_add failed\n");
> > > > @@ -1171,6 +1194,10 @@ static void imx_rproc_remove(struct platform_device *pdev)
> > > > struct rproc *rproc = platform_get_drvdata(pdev);
> > > > struct imx_rproc *priv = rproc->priv;
> > > >
> > > > + if (priv->dcfg->method == IMX_RPROC_SCU_API) {
> > > > + pm_runtime_disable(priv->dev);
> > > > + pm_runtime_put(priv->dev);
> > > > + }
> > > > clk_disable_unprepare(priv->clk);
> > > > rproc_del(rproc);
> > > > imx_rproc_put_scu(rproc);
> > > > --
> > > > 2.39.5
> > > >
> >
> > On Tue, Jul 15, 2025 at 06:03:44PM +0200, Ulf Hansson wrote:
> > > On Tue, 15 Jul 2025 at 17:32, Mathieu Poirier
> > > <mathieu.poirier at linaro.org> wrote:
> > > >
> > > > On Sun, Jun 29, 2025 at 02:25:12PM -0300, Hiago De Franco wrote:
> > > > > From: Hiago De Franco <hiago.franco at toradex.com>
> > > > >
> > > > > When the Cortex-M remote core is started and already running before
> > > > > Linux boots (typically by the Cortex-A bootloader using a command like
> > > > > bootaux), the current driver is unable to attach to it. This is because
> > > > > the driver only checks for remote cores running in different SCFW
> > > > > partitions. However in this case, the M-core is in the same partition as
> > > > > Linux and is already powered up and running by the bootloader.
> > > > >
> > > > > This patch adds a check using dev_pm_genpd_is_on() to verify whether the
> > > > > M-core's power domains are already on. If all power domain devices are
> > > > > on, the driver assumes the M-core is running and proceed to attach to
> > > > > it.
> > > > >
> > > > > To accomplish this, we need to avoid passing any attach_data or flags to
> > > > > dev_pm_domain_attach_list(), allowing the platform device become a
> > > > > consumer of the power domain provider without changing its current
> > > > > state.
> > > > >
> > > > > During probe, also enable and sync the device runtime PM to make sure
> > > > > the power domains are correctly managed when the core is controlled by
> > > > > the kernel.
> > > > >
> > > > > Suggested-by: Ulf Hansson <ulf.hansson at linaro.org>
> > > > > Reviewed-by: Ulf Hansson <ulf.hansson at linaro.org>
> > > > > Reviewed-by: Peng Fan <peng.fan at nxp.com>
> > > > > Signed-off-by: Hiago De Franco <hiago.franco at toradex.com>
> > > > > ---
> > > > > v6 -> v7:
> > > > > - Added Peng reviewed-by.
> > > > > v5 -> v6:
> > > > > - Commit description improved, as suggested. Added Ulf Hansson reviewed
> > > > > by. Comment on imx-rproc.c improved.
> > > > > v4 -> v5:
> > > > > - pm_runtime_get_sync() removed in favor of
> > > > > pm_runtime_resume_and_get(). Now it also checks the return value of
> > > > > this function.
> > > > > - Added pm_runtime_disable() and pm_runtime_put() to imx_rproc_remove()
> > > > > function.
> > > > > v3 -> v4:
> > > > > - Changed to use the new dev_pm_genpd_is_on() function instead, as
> > > > > suggested by Ulf. This will now get the power status of the two
> > > > > remote cores power domains to decided if imx_rpoc needs to attach or
> > > > > not. In order to do that, pm_runtime_enable() and
> > > > > pm_runtime_get_sync() were introduced and pd_data was removed.
> > > > > v2 -> v3:
> > > > > - Unchanged.
> > > > > v1 -> v2:
> > > > > - Dropped unecessary include. Removed the imx_rproc_is_on function, as
> > > > > suggested.
> > > > > ---
> > > > > drivers/remoteproc/imx_rproc.c | 37 +++++++++++++++++++++++++++++-----
> > > > > 1 file changed, 32 insertions(+), 5 deletions(-)
> > > > >
> > > > > diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
> > > > > index 627e57a88db2..24597b60c5b0 100644
> > > > > --- a/drivers/remoteproc/imx_rproc.c
> > > > > +++ b/drivers/remoteproc/imx_rproc.c
> > > > > @@ -18,6 +18,7 @@
> > > > > #include <linux/of_reserved_mem.h>
> > > > > #include <linux/platform_device.h>
> > > > > #include <linux/pm_domain.h>
> > > > > +#include <linux/pm_runtime.h>
> > > > > #include <linux/reboot.h>
> > > > > #include <linux/regmap.h>
> > > > > #include <linux/remoteproc.h>
> > > > > @@ -890,10 +891,8 @@ static int imx_rproc_partition_notify(struct notifier_block *nb,
> > > > > static int imx_rproc_attach_pd(struct imx_rproc *priv)
> > > > > {
> > > > > struct device *dev = priv->dev;
> > > > > - int ret;
> > > > > - struct dev_pm_domain_attach_data pd_data = {
> > > > > - .pd_flags = PD_FLAG_DEV_LINK_ON,
> > > > > - };
> > > > > + int ret, i;
> > > > > + bool detached = true;
> > > > >
> > > > > /*
> > > > > * If there is only one power-domain entry, the platform driver framework
> > > > > @@ -902,7 +901,22 @@ static int imx_rproc_attach_pd(struct imx_rproc *priv)
> > > > > if (dev->pm_domain)
> > > > > return 0;
> > > > >
> > > > > - ret = dev_pm_domain_attach_list(dev, &pd_data, &priv->pd_list);
> > > > > + ret = dev_pm_domain_attach_list(dev, NULL, &priv->pd_list);
> > > > > + /*
> > > > > + * If all the power domain devices are already turned on, the remote
> > > > > + * core is already powered up and running when the kernel booted (e.g.,
> > > > > + * started by U-Boot's bootaux command). In this case attach to it.
> > > > > + */
> > > > > + for (i = 0; i < ret; i++) {
> > > > > + if (!dev_pm_genpd_is_on(priv->pd_list->pd_devs[i])) {
> > > > > + detached = false;
> > > > > + break;
> > > > > + }
> > > > > + }
> > > >
> > > > I was doing one final review of this work when I noticed the return code for
> > > > dev_pm_domain_attach_list() is never checked for error.
> > >
> > > The for loop covers the error condition correctly, I think. It's only
> > > when ret >=1 when the loop should be started - and ret is propagated
> > > to the caller a few lines below.
> > >
> > > >
> > > > Thanks,
> > > > Mathieu
> > > >
> > >
> > > Kind regards
> > > Uffe
> > >
> > > > > +
> > > > > + if (detached)
> > > > > + priv->rproc->state = RPROC_DETACHED;
> > > > > +
> > > > > return ret < 0 ? ret : 0;
> > > > > }
> > > > >
> > > > > @@ -1146,6 +1160,15 @@ static int imx_rproc_probe(struct platform_device *pdev)
> > > > > }
> > > > > }
> > > > >
> > > > > + if (dcfg->method == IMX_RPROC_SCU_API) {
> > > > > + pm_runtime_enable(dev);
> > > > > + ret = pm_runtime_resume_and_get(dev);
> > > > > + if (ret) {
> > > > > + dev_err(dev, "pm_runtime get failed: %d\n", ret);
> > > > > + goto err_put_clk;
> > > > > + }
> > > > > + }
> > > > > +
> > > > > ret = rproc_add(rproc);
> > > > > if (ret) {
> > > > > dev_err(dev, "rproc_add failed\n");
> > > > > @@ -1171,6 +1194,10 @@ static void imx_rproc_remove(struct platform_device *pdev)
> > > > > struct rproc *rproc = platform_get_drvdata(pdev);
> > > > > struct imx_rproc *priv = rproc->priv;
> > > > >
> > > > > + if (priv->dcfg->method == IMX_RPROC_SCU_API) {
> > > > > + pm_runtime_disable(priv->dev);
> > > > > + pm_runtime_put(priv->dev);
> > > > > + }
> > > > > clk_disable_unprepare(priv->clk);
> > > > > rproc_del(rproc);
> > > > > imx_rproc_put_scu(rproc);
> > > > > --
> > > > > 2.39.5
> > > > >
> >
> > Best Regards,
> >
> > Hiago.
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