1 // SPDX-License-Identifier: GPL-2.0+
3 * Texas Instruments' K3 R5 Remoteproc driver
5 * Copyright (C) 2018-2019 Texas Instruments Incorporated - http://www.ti.com/
6 * Lokesh Vutla <lokeshvutla@ti.com>
13 #include <remoteproc.h>
18 #include <dm/device_compat.h>
19 #include <linux/err.h>
20 #include <linux/kernel.h>
21 #include <linux/soc/ti/ti_sci_protocol.h>
22 #include "ti_sci_proc.h"
25 * R5F's view of this address can either be for ATCM or BTCM with the other
26 * at address 0x0 based on loczrama signal.
28 #define K3_R5_TCM_DEV_ADDR 0x41010000
30 /* R5 TI-SCI Processor Configuration Flags */
31 #define PROC_BOOT_CFG_FLAG_R5_DBG_EN 0x00000001
32 #define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN 0x00000002
33 #define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP 0x00000100
34 #define PROC_BOOT_CFG_FLAG_R5_TEINIT 0x00000200
35 #define PROC_BOOT_CFG_FLAG_R5_NMFI_EN 0x00000400
36 #define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE 0x00000800
37 #define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000
38 #define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
39 #define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR 0x10000000
41 /* R5 TI-SCI Processor Control Flags */
42 #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
44 /* R5 TI-SCI Processor Status Flags */
45 #define PROC_BOOT_STATUS_FLAG_R5_WFE 0x00000001
46 #define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
47 #define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
48 #define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
53 CLUSTER_MODE_SPLIT = 0,
54 CLUSTER_MODE_LOCKSTEP,
58 * struct k3_r5_mem - internal memory structure
59 * @cpu_addr: MPU virtual address of the memory region
60 * @bus_addr: Bus address used to access the memory region
61 * @dev_addr: Device address from remoteproc view
62 * @size: Size of the memory region
65 void __iomem *cpu_addr;
72 * struct k3_r5f_core - K3 R5 core structure
73 * @dev: cached device pointer
74 * @cluster: pointer to the parent cluster.
75 * @reset: reset control handle
76 * @tsp: TI-SCI processor control handle
77 * @mem: Array of available internal memories
78 * @num_mem: Number of available memories
79 * @atcm_enable: flag to control ATCM enablement
80 * @btcm_enable: flag to control BTCM enablement
81 * @loczrama: flag to dictate which TCM is at device address 0x0
82 * @in_use: flag to tell if the core is already in use.
86 struct k3_r5f_cluster *cluster;
87 struct reset_ctl reset;
88 struct ti_sci_proc tsp;
89 struct k3_r5f_mem *mem;
98 * struct k3_r5f_cluster - K3 R5F Cluster structure
99 * @mode: Mode to configure the Cluster - Split or LockStep
100 * @cores: Array of pointers to R5 cores within the cluster
102 struct k3_r5f_cluster {
103 enum cluster_mode mode;
104 struct k3_r5f_core *cores[NR_CORES];
107 static bool is_primary_core(struct k3_r5f_core *core)
109 return core == core->cluster->cores[0];
112 static int k3_r5f_proc_request(struct k3_r5f_core *core)
114 struct k3_r5f_cluster *cluster = core->cluster;
117 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
118 for (i = 0; i < NR_CORES; i++) {
119 ret = ti_sci_proc_request(&cluster->cores[i]->tsp);
124 ret = ti_sci_proc_request(&core->tsp);
131 ti_sci_proc_release(&cluster->cores[i]->tsp);
137 static void k3_r5f_proc_release(struct k3_r5f_core *core)
139 struct k3_r5f_cluster *cluster = core->cluster;
142 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
143 for (i = 0; i < NR_CORES; i++)
144 ti_sci_proc_release(&cluster->cores[i]->tsp);
146 ti_sci_proc_release(&core->tsp);
149 static int k3_r5f_lockstep_release(struct k3_r5f_cluster *cluster)
153 dev_dbg(dev, "%s\n", __func__);
155 for (c = NR_CORES - 1; c >= 0; c--) {
156 ret = ti_sci_proc_power_domain_on(&cluster->cores[c]->tsp);
158 goto unroll_module_reset;
161 /* deassert local reset on all applicable cores */
162 for (c = NR_CORES - 1; c >= 0; c--) {
163 ret = reset_deassert(&cluster->cores[c]->reset);
165 goto unroll_local_reset;
171 while (c < NR_CORES) {
172 reset_assert(&cluster->cores[c]->reset);
177 while (c < NR_CORES) {
178 ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp);
185 static int k3_r5f_split_release(struct k3_r5f_core *core)
189 dev_dbg(dev, "%s\n", __func__);
191 ret = ti_sci_proc_power_domain_on(&core->tsp);
193 dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
198 ret = reset_deassert(&core->reset);
200 dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
202 if (ti_sci_proc_power_domain_off(&core->tsp))
203 dev_warn(core->dev, "module-reset assert back failed\n");
209 static int k3_r5f_prepare(struct udevice *dev)
211 struct k3_r5f_core *core = dev_get_priv(dev);
212 struct k3_r5f_cluster *cluster = core->cluster;
215 dev_dbg(dev, "%s\n", __func__);
217 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
218 ret = k3_r5f_lockstep_release(cluster);
220 ret = k3_r5f_split_release(core);
223 dev_err(dev, "Unable to enable cores for TCM loading %d\n",
229 static int k3_r5f_core_sanity_check(struct k3_r5f_core *core)
231 struct k3_r5f_cluster *cluster = core->cluster;
234 dev_err(dev, "Invalid op: Trying to load/start on already running core %d\n",
239 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !cluster->cores[1]) {
240 printf("Secondary core is not probed in this cluster\n");
244 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !is_primary_core(core)) {
245 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
250 if (cluster->mode == CLUSTER_MODE_SPLIT && !is_primary_core(core)) {
251 if (!core->cluster->cores[0]->in_use) {
252 dev_err(dev, "Invalid seq: Enable primary core before loading secondary core\n");
261 * k3_r5f_load() - Load up the Remote processor image
262 * @dev: rproc device pointer
263 * @addr: Address at which image is available
264 * @size: size of the image
266 * Return: 0 if all goes good, else appropriate error message.
268 static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size)
270 struct k3_r5f_core *core = dev_get_priv(dev);
274 dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size);
276 ret = k3_r5f_core_sanity_check(core);
280 ret = k3_r5f_proc_request(core);
284 ret = k3_r5f_prepare(dev);
286 dev_err(dev, "R5f prepare failed for core %d\n",
291 /* Zero out TCMs so that ECC can be effective on all TCM addresses */
292 if (core->atcm_enable)
293 memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
294 if (core->btcm_enable)
295 memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
297 ret = rproc_elf_load_image(dev, addr, size);
299 dev_err(dev, "Loading elf failedi %d\n", ret);
303 boot_vector = rproc_elf_get_boot_addr(dev, addr);
305 dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector);
307 ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);
310 k3_r5f_proc_release(core);
315 static int k3_r5f_core_halt(struct k3_r5f_core *core)
319 ret = ti_sci_proc_set_control(&core->tsp,
320 PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
322 dev_err(core->dev, "Core %d failed to stop\n",
328 static int k3_r5f_core_run(struct k3_r5f_core *core)
332 ret = ti_sci_proc_set_control(&core->tsp,
333 0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
335 dev_err(core->dev, "Core %d failed to start\n",
344 * k3_r5f_start() - Start the remote processor
345 * @dev: rproc device pointer
347 * Return: 0 if all went ok, else return appropriate error
349 static int k3_r5f_start(struct udevice *dev)
351 struct k3_r5f_core *core = dev_get_priv(dev);
352 struct k3_r5f_cluster *cluster = core->cluster;
355 dev_dbg(dev, "%s\n", __func__);
357 ret = k3_r5f_core_sanity_check(core);
361 ret = k3_r5f_proc_request(core);
365 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
366 if (is_primary_core(core)) {
367 for (c = NR_CORES - 1; c >= 0; c--) {
368 ret = k3_r5f_core_run(cluster->cores[c]);
370 goto unroll_core_run;
373 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
379 ret = k3_r5f_core_run(core);
386 k3_r5f_proc_release(core);
390 while (c < NR_CORES) {
391 k3_r5f_core_halt(cluster->cores[c]);
395 k3_r5f_proc_release(core);
400 static int k3_r5f_split_reset(struct k3_r5f_core *core)
404 dev_dbg(dev, "%s\n", __func__);
406 if (reset_assert(&core->reset))
409 if (ti_sci_proc_power_domain_off(&core->tsp))
415 static int k3_r5f_lockstep_reset(struct k3_r5f_cluster *cluster)
419 dev_dbg(dev, "%s\n", __func__);
421 for (c = 0; c < NR_CORES; c++)
422 if (reset_assert(&cluster->cores[c]->reset))
425 /* disable PSC modules on all applicable cores */
426 for (c = 0; c < NR_CORES; c++)
427 if (ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp))
433 static int k3_r5f_unprepare(struct udevice *dev)
435 struct k3_r5f_core *core = dev_get_priv(dev);
436 struct k3_r5f_cluster *cluster = core->cluster;
439 dev_dbg(dev, "%s\n", __func__);
441 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
442 if (is_primary_core(core))
443 ret = k3_r5f_lockstep_reset(cluster);
445 ret = k3_r5f_split_reset(core);
449 dev_warn(dev, "Unable to enable cores for TCM loading %d\n",
455 static int k3_r5f_stop(struct udevice *dev)
457 struct k3_r5f_core *core = dev_get_priv(dev);
458 struct k3_r5f_cluster *cluster = core->cluster;
461 dev_dbg(dev, "%s\n", __func__);
463 ret = k3_r5f_proc_request(core);
467 core->in_use = false;
469 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
470 if (is_primary_core(core)) {
471 for (c = 0; c < NR_CORES; c++)
472 k3_r5f_core_halt(cluster->cores[c]);
474 dev_err(dev, "Invalid op: Trying to stop secondary core in lockstep mode\n");
479 k3_r5f_core_halt(core);
482 ret = k3_r5f_unprepare(dev);
484 k3_r5f_proc_release(core);
488 static void *k3_r5f_da_to_va(struct udevice *dev, ulong da, ulong size)
490 struct k3_r5f_core *core = dev_get_priv(dev);
491 void __iomem *va = NULL;
492 phys_addr_t bus_addr;
493 u32 dev_addr, offset;
497 dev_dbg(dev, "%s\n", __func__);
502 for (i = 0; i < core->num_mems; i++) {
503 bus_addr = core->mem[i].bus_addr;
504 dev_addr = core->mem[i].dev_addr;
505 mem_size = core->mem[i].size;
507 if (da >= bus_addr && (da + size) <= (bus_addr + mem_size)) {
508 offset = da - bus_addr;
509 va = core->mem[i].cpu_addr + offset;
510 return (__force void *)va;
513 if (da >= dev_addr && (da + size) <= (dev_addr + mem_size)) {
514 offset = da - dev_addr;
515 va = core->mem[i].cpu_addr + offset;
516 return (__force void *)va;
520 /* Assume it is DDR region and return da */
521 return map_physmem(da, size, MAP_NOCACHE);
524 static int k3_r5f_init(struct udevice *dev)
529 static int k3_r5f_reset(struct udevice *dev)
534 static const struct dm_rproc_ops k3_r5f_rproc_ops = {
536 .reset = k3_r5f_reset,
537 .start = k3_r5f_start,
540 .device_to_virt = k3_r5f_da_to_va,
543 static int k3_r5f_rproc_configure(struct k3_r5f_core *core)
545 struct k3_r5f_cluster *cluster = core->cluster;
546 u32 set_cfg = 0, clr_cfg = 0, cfg, ctrl, sts;
547 bool lockstep_permitted;
551 dev_dbg(dev, "%s\n", __func__);
553 ret = ti_sci_proc_request(&core->tsp);
557 /* Do not touch boot vector now. Load will take care of it. */
558 clr_cfg |= PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR;
560 ret = ti_sci_proc_get_status(&core->tsp, &boot_vec, &cfg, &ctrl, &sts);
564 /* Sanity check for Lockstep mode */
565 lockstep_permitted = !!(sts &
566 PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED);
567 if (cluster->mode && is_primary_core(core) && !lockstep_permitted) {
568 dev_err(core->dev, "LockStep mode not permitted on this device\n");
573 /* Primary core only configuration */
574 if (is_primary_core(core)) {
575 /* always enable ARM mode */
576 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TEINIT;
577 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
578 set_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
579 else if (lockstep_permitted)
580 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
583 if (core->atcm_enable)
584 set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
586 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
588 if (core->btcm_enable)
589 set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
591 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
594 set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
596 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
598 ret = k3_r5f_core_halt(core);
602 ret = ti_sci_proc_set_config(&core->tsp, boot_vec, set_cfg, clr_cfg);
604 ti_sci_proc_release(&core->tsp);
608 static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
613 dev_dbg(dev, "%s\n", __func__);
615 tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
616 if (IS_ERR(tsp->sci)) {
617 dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
618 return PTR_ERR(tsp->sci);
621 ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
623 dev_err(dev, "Proc IDs not populated %d\n", ret);
627 tsp->ops = &tsp->sci->ops.proc_ops;
628 tsp->proc_id = ids[0];
629 tsp->host_id = ids[1];
630 tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
631 TI_SCI_RESOURCE_NULL);
632 if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
633 dev_err(dev, "Device ID not populated %d\n", ret);
640 static int k3_r5f_of_to_priv(struct k3_r5f_core *core)
644 dev_dbg(dev, "%s\n", __func__);
646 core->atcm_enable = dev_read_u32_default(core->dev, "atcm-enable", 0);
647 core->btcm_enable = dev_read_u32_default(core->dev, "btcm-enable", 1);
648 core->loczrama = dev_read_u32_default(core->dev, "loczrama", 1);
650 ret = ti_sci_proc_of_to_priv(core->dev, &core->tsp);
654 ret = reset_get_by_index(core->dev, 0, &core->reset);
656 dev_err(core->dev, "Reset lines not available: %d\n", ret);
663 static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core)
665 static const char * const mem_names[] = {"atcm", "btcm"};
666 struct udevice *dev = core->dev;
669 dev_dbg(dev, "%s\n", __func__);
671 core->num_mems = ARRAY_SIZE(mem_names);
672 core->mem = calloc(core->num_mems, sizeof(*core->mem));
676 for (i = 0; i < core->num_mems; i++) {
677 core->mem[i].bus_addr = dev_read_addr_size_name(dev,
679 (fdt_addr_t *)&core->mem[i].size);
680 if (core->mem[i].bus_addr == FDT_ADDR_T_NONE) {
681 dev_err(dev, "%s bus address not found\n",
685 core->mem[i].cpu_addr = map_physmem(core->mem[i].bus_addr,
688 if (!strcmp(mem_names[i], "atcm")) {
689 core->mem[i].dev_addr = core->loczrama ?
690 0 : K3_R5_TCM_DEV_ADDR;
692 core->mem[i].dev_addr = core->loczrama ?
693 K3_R5_TCM_DEV_ADDR : 0;
696 dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %p da 0x%x\n",
697 mem_names[i], &core->mem[i].bus_addr,
698 core->mem[i].size, core->mem[i].cpu_addr,
699 core->mem[i].dev_addr);
706 * k3_r5f_probe() - Basic probe
707 * @dev: corresponding k3 remote processor device
709 * Return: 0 if all goes good, else appropriate error message.
711 static int k3_r5f_probe(struct udevice *dev)
713 struct k3_r5f_cluster *cluster = dev_get_priv(dev->parent);
714 struct k3_r5f_core *core = dev_get_priv(dev);
718 dev_dbg(dev, "%s\n", __func__);
721 ret = k3_r5f_of_to_priv(core);
725 core->cluster = cluster;
726 /* Assume Primary core gets probed first */
727 if (!cluster->cores[0])
728 cluster->cores[0] = core;
730 cluster->cores[1] = core;
732 ret = k3_r5f_core_of_get_memories(core);
734 dev_err(dev, "Rproc getting internal memories failed\n");
738 ret = core->tsp.sci->ops.dev_ops.is_on(core->tsp.sci, core->tsp.dev_id,
739 &r_state, &core->in_use);
744 dev_info(dev, "Core %d is already in use. No rproc commands work\n",
749 /* Make sure Local reset is asserted. Redundant? */
750 reset_assert(&core->reset);
752 ret = k3_r5f_rproc_configure(core);
754 dev_err(dev, "rproc configure failed %d\n", ret);
758 dev_dbg(dev, "Remoteproc successfully probed\n");
763 static int k3_r5f_remove(struct udevice *dev)
765 struct k3_r5f_core *core = dev_get_priv(dev);
769 ti_sci_proc_release(&core->tsp);
774 static const struct udevice_id k3_r5f_rproc_ids[] = {
775 { .compatible = "ti,am654-r5f"},
776 { .compatible = "ti,j721e-r5f"},
780 U_BOOT_DRIVER(k3_r5f_rproc) = {
781 .name = "k3_r5f_rproc",
782 .of_match = k3_r5f_rproc_ids,
783 .id = UCLASS_REMOTEPROC,
784 .ops = &k3_r5f_rproc_ops,
785 .probe = k3_r5f_probe,
786 .remove = k3_r5f_remove,
787 .priv_auto_alloc_size = sizeof(struct k3_r5f_core),
790 static int k3_r5f_cluster_probe(struct udevice *dev)
792 struct k3_r5f_cluster *cluster = dev_get_priv(dev);
794 dev_dbg(dev, "%s\n", __func__);
796 cluster->mode = dev_read_u32_default(dev, "lockstep-mode",
797 CLUSTER_MODE_LOCKSTEP);
799 if (device_get_child_count(dev) != 2) {
800 dev_err(dev, "Invalid number of R5 cores");
804 dev_dbg(dev, "%s: Cluster successfully probed in %s mode\n",
805 __func__, cluster->mode ? "lockstep" : "split");
810 static const struct udevice_id k3_r5fss_ids[] = {
811 { .compatible = "ti,am654-r5fss"},
812 { .compatible = "ti,j721e-r5fss"},
816 U_BOOT_DRIVER(k3_r5fss) = {
818 .of_match = k3_r5fss_ids,
820 .probe = k3_r5f_cluster_probe,
821 .priv_auto_alloc_size = sizeof(struct k3_r5f_cluster),
822 .flags = DM_FLAG_DEFAULT_PD_CTRL_OFF,