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>
11 #include <remoteproc.h>
16 #include <linux/err.h>
17 #include <linux/kernel.h>
18 #include <linux/soc/ti/ti_sci_protocol.h>
19 #include "ti_sci_proc.h"
22 * R5F's view of this address can either be for ATCM or BTCM with the other
23 * at address 0x0 based on loczrama signal.
25 #define K3_R5_TCM_DEV_ADDR 0x41010000
27 /* R5 TI-SCI Processor Configuration Flags */
28 #define PROC_BOOT_CFG_FLAG_R5_DBG_EN 0x00000001
29 #define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN 0x00000002
30 #define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP 0x00000100
31 #define PROC_BOOT_CFG_FLAG_R5_TEINIT 0x00000200
32 #define PROC_BOOT_CFG_FLAG_R5_NMFI_EN 0x00000400
33 #define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE 0x00000800
34 #define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000
35 #define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
36 #define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR 0x10000000
38 /* R5 TI-SCI Processor Control Flags */
39 #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
41 /* R5 TI-SCI Processor Status Flags */
42 #define PROC_BOOT_STATUS_FLAG_R5_WFE 0x00000001
43 #define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
44 #define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
45 #define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
50 CLUSTER_MODE_SPLIT = 0,
51 CLUSTER_MODE_LOCKSTEP,
55 * struct k3_r5_mem - internal memory structure
56 * @cpu_addr: MPU virtual address of the memory region
57 * @bus_addr: Bus address used to access the memory region
58 * @dev_addr: Device address from remoteproc view
59 * @size: Size of the memory region
62 void __iomem *cpu_addr;
69 * struct k3_r5f_core - K3 R5 core structure
70 * @dev: cached device pointer
71 * @cluster: pointer to the parent cluster.
72 * @reset: reset control handle
73 * @tsp: TI-SCI processor control handle
74 * @mem: Array of available internal memories
75 * @num_mem: Number of available memories
76 * @atcm_enable: flag to control ATCM enablement
77 * @btcm_enable: flag to control BTCM enablement
78 * @loczrama: flag to dictate which TCM is at device address 0x0
79 * @in_use: flag to tell if the core is already in use.
83 struct k3_r5f_cluster *cluster;
84 struct reset_ctl reset;
85 struct ti_sci_proc tsp;
86 struct k3_r5f_mem *mem;
95 * struct k3_r5f_cluster - K3 R5F Cluster structure
96 * @mode: Mode to configure the Cluster - Split or LockStep
97 * @cores: Array of pointers to R5 cores within the cluster
99 struct k3_r5f_cluster {
100 enum cluster_mode mode;
101 struct k3_r5f_core *cores[NR_CORES];
104 static bool is_primary_core(struct k3_r5f_core *core)
106 return core == core->cluster->cores[0];
109 static int k3_r5f_proc_request(struct k3_r5f_core *core)
111 struct k3_r5f_cluster *cluster = core->cluster;
114 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
115 for (i = 0; i < NR_CORES; i++) {
116 ret = ti_sci_proc_request(&cluster->cores[i]->tsp);
121 ret = ti_sci_proc_request(&core->tsp);
128 ti_sci_proc_release(&cluster->cores[i]->tsp);
134 static void k3_r5f_proc_release(struct k3_r5f_core *core)
136 struct k3_r5f_cluster *cluster = core->cluster;
139 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
140 for (i = 0; i < NR_CORES; i++)
141 ti_sci_proc_release(&cluster->cores[i]->tsp);
143 ti_sci_proc_release(&core->tsp);
146 static int k3_r5f_lockstep_release(struct k3_r5f_cluster *cluster)
150 dev_dbg(dev, "%s\n", __func__);
152 for (c = NR_CORES - 1; c >= 0; c--) {
153 ret = ti_sci_proc_power_domain_on(&cluster->cores[c]->tsp);
155 goto unroll_module_reset;
158 /* deassert local reset on all applicable cores */
159 for (c = NR_CORES - 1; c >= 0; c--) {
160 ret = reset_deassert(&cluster->cores[c]->reset);
162 goto unroll_local_reset;
168 while (c < NR_CORES) {
169 reset_assert(&cluster->cores[c]->reset);
174 while (c < NR_CORES) {
175 ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp);
182 static int k3_r5f_split_release(struct k3_r5f_core *core)
186 dev_dbg(dev, "%s\n", __func__);
188 ret = ti_sci_proc_power_domain_on(&core->tsp);
190 dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
195 ret = reset_deassert(&core->reset);
197 dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
199 if (ti_sci_proc_power_domain_off(&core->tsp))
200 dev_warn(core->dev, "module-reset assert back failed\n");
206 static int k3_r5f_prepare(struct udevice *dev)
208 struct k3_r5f_core *core = dev_get_priv(dev);
209 struct k3_r5f_cluster *cluster = core->cluster;
212 dev_dbg(dev, "%s\n", __func__);
214 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
215 ret = k3_r5f_lockstep_release(cluster);
217 ret = k3_r5f_split_release(core);
220 dev_err(dev, "Unable to enable cores for TCM loading %d\n",
226 static int k3_r5f_core_sanity_check(struct k3_r5f_core *core)
228 struct k3_r5f_cluster *cluster = core->cluster;
231 dev_err(dev, "Invalid op: Trying to load/start on already running core %d\n",
236 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !cluster->cores[1]) {
237 printf("Secondary core is not probed in this cluster\n");
241 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !is_primary_core(core)) {
242 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
247 if (cluster->mode == CLUSTER_MODE_SPLIT && !is_primary_core(core)) {
248 if (!core->cluster->cores[0]->in_use) {
249 dev_err(dev, "Invalid seq: Enable primary core before loading secondary core\n");
258 * k3_r5f_load() - Load up the Remote processor image
259 * @dev: rproc device pointer
260 * @addr: Address at which image is available
261 * @size: size of the image
263 * Return: 0 if all goes good, else appropriate error message.
265 static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size)
267 struct k3_r5f_core *core = dev_get_priv(dev);
271 dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size);
273 ret = k3_r5f_core_sanity_check(core);
277 ret = k3_r5f_proc_request(core);
281 ret = k3_r5f_prepare(dev);
283 dev_err(dev, "R5f prepare failed for core %d\n",
288 /* Zero out TCMs so that ECC can be effective on all TCM addresses */
289 if (core->atcm_enable)
290 memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
291 if (core->btcm_enable)
292 memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
294 ret = rproc_elf_load_image(dev, addr, size);
296 dev_err(dev, "Loading elf failedi %d\n", ret);
300 boot_vector = rproc_elf_get_boot_addr(dev, addr);
302 dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector);
304 ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);
307 k3_r5f_proc_release(core);
312 static int k3_r5f_core_halt(struct k3_r5f_core *core)
316 ret = ti_sci_proc_set_control(&core->tsp,
317 PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
319 dev_err(core->dev, "Core %d failed to stop\n",
325 static int k3_r5f_core_run(struct k3_r5f_core *core)
329 ret = ti_sci_proc_set_control(&core->tsp,
330 0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
332 dev_err(core->dev, "Core %d failed to start\n",
341 * k3_r5f_start() - Start the remote processor
342 * @dev: rproc device pointer
344 * Return: 0 if all went ok, else return appropriate error
346 static int k3_r5f_start(struct udevice *dev)
348 struct k3_r5f_core *core = dev_get_priv(dev);
349 struct k3_r5f_cluster *cluster = core->cluster;
352 dev_dbg(dev, "%s\n", __func__);
354 ret = k3_r5f_core_sanity_check(core);
358 ret = k3_r5f_proc_request(core);
362 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
363 if (is_primary_core(core)) {
364 for (c = NR_CORES - 1; c >= 0; c--) {
365 ret = k3_r5f_core_run(cluster->cores[c]);
367 goto unroll_core_run;
370 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
376 ret = k3_r5f_core_run(core);
383 k3_r5f_proc_release(core);
387 while (c < NR_CORES) {
388 k3_r5f_core_halt(cluster->cores[c]);
392 k3_r5f_proc_release(core);
397 static int k3_r5f_split_reset(struct k3_r5f_core *core)
401 dev_dbg(dev, "%s\n", __func__);
403 if (reset_assert(&core->reset))
406 if (ti_sci_proc_power_domain_off(&core->tsp))
412 static int k3_r5f_lockstep_reset(struct k3_r5f_cluster *cluster)
416 dev_dbg(dev, "%s\n", __func__);
418 for (c = 0; c < NR_CORES; c++)
419 if (reset_assert(&cluster->cores[c]->reset))
422 /* disable PSC modules on all applicable cores */
423 for (c = 0; c < NR_CORES; c++)
424 if (ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp))
430 static int k3_r5f_unprepare(struct udevice *dev)
432 struct k3_r5f_core *core = dev_get_priv(dev);
433 struct k3_r5f_cluster *cluster = core->cluster;
436 dev_dbg(dev, "%s\n", __func__);
438 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
439 if (is_primary_core(core))
440 ret = k3_r5f_lockstep_reset(cluster);
442 ret = k3_r5f_split_reset(core);
446 dev_warn(dev, "Unable to enable cores for TCM loading %d\n",
452 static int k3_r5f_stop(struct udevice *dev)
454 struct k3_r5f_core *core = dev_get_priv(dev);
455 struct k3_r5f_cluster *cluster = core->cluster;
458 dev_dbg(dev, "%s\n", __func__);
460 ret = k3_r5f_proc_request(core);
464 core->in_use = false;
466 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
467 if (is_primary_core(core)) {
468 for (c = 0; c < NR_CORES; c++)
469 k3_r5f_core_halt(cluster->cores[c]);
471 dev_err(dev, "Invalid op: Trying to stop secondary core in lockstep mode\n");
476 k3_r5f_core_halt(core);
479 ret = k3_r5f_unprepare(dev);
481 k3_r5f_proc_release(core);
485 static void *k3_r5f_da_to_va(struct udevice *dev, ulong da, ulong size)
487 struct k3_r5f_core *core = dev_get_priv(dev);
488 void __iomem *va = NULL;
489 phys_addr_t bus_addr;
490 u32 dev_addr, offset;
494 dev_dbg(dev, "%s\n", __func__);
499 for (i = 0; i < core->num_mems; i++) {
500 bus_addr = core->mem[i].bus_addr;
501 dev_addr = core->mem[i].dev_addr;
502 mem_size = core->mem[i].size;
504 if (da >= bus_addr && (da + size) <= (bus_addr + mem_size)) {
505 offset = da - bus_addr;
506 va = core->mem[i].cpu_addr + offset;
507 return (__force void *)va;
510 if (da >= dev_addr && (da + size) <= (dev_addr + mem_size)) {
511 offset = da - dev_addr;
512 va = core->mem[i].cpu_addr + offset;
513 return (__force void *)va;
517 /* Assume it is DDR region and return da */
518 return map_physmem(da, size, MAP_NOCACHE);
521 static int k3_r5f_init(struct udevice *dev)
526 static int k3_r5f_reset(struct udevice *dev)
531 static const struct dm_rproc_ops k3_r5f_rproc_ops = {
533 .reset = k3_r5f_reset,
534 .start = k3_r5f_start,
537 .device_to_virt = k3_r5f_da_to_va,
540 static int k3_r5f_rproc_configure(struct k3_r5f_core *core)
542 struct k3_r5f_cluster *cluster = core->cluster;
543 u32 set_cfg = 0, clr_cfg = 0, cfg, ctrl, sts;
547 dev_dbg(dev, "%s\n", __func__);
549 ret = ti_sci_proc_request(&core->tsp);
553 /* Do not touch boot vector now. Load will take care of it. */
554 clr_cfg |= PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR;
556 ret = ti_sci_proc_get_status(&core->tsp, &boot_vec, &cfg, &ctrl, &sts);
560 /* Sanity check for Lockstep mode */
561 if (cluster->mode && is_primary_core(core) &&
562 !(sts & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED)) {
563 dev_err(core->dev, "LockStep mode not permitted on this device\n");
568 /* Primary core only configuration */
569 if (is_primary_core(core)) {
570 /* always enable ARM mode */
571 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TEINIT;
572 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
573 set_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
575 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
578 if (core->atcm_enable)
579 set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
581 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
583 if (core->btcm_enable)
584 set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
586 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
589 set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
591 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
593 ret = k3_r5f_core_halt(core);
597 ret = ti_sci_proc_set_config(&core->tsp, boot_vec, set_cfg, clr_cfg);
599 ti_sci_proc_release(&core->tsp);
603 static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
608 dev_dbg(dev, "%s\n", __func__);
610 tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
611 if (IS_ERR(tsp->sci)) {
612 dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
613 return PTR_ERR(tsp->sci);
616 ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
618 dev_err(dev, "Proc IDs not populated %d\n", ret);
622 tsp->ops = &tsp->sci->ops.proc_ops;
623 tsp->proc_id = ids[0];
624 tsp->host_id = ids[1];
625 tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
626 TI_SCI_RESOURCE_NULL);
627 if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
628 dev_err(dev, "Device ID not populated %d\n", ret);
635 static int k3_r5f_of_to_priv(struct k3_r5f_core *core)
639 dev_dbg(dev, "%s\n", __func__);
641 core->atcm_enable = dev_read_u32_default(core->dev, "atcm-enable", 0);
642 core->btcm_enable = dev_read_u32_default(core->dev, "btcm-enable", 1);
643 core->loczrama = dev_read_u32_default(core->dev, "loczrama", 1);
645 ret = ti_sci_proc_of_to_priv(core->dev, &core->tsp);
649 ret = reset_get_by_index(core->dev, 0, &core->reset);
651 dev_err(core->dev, "Reset lines not available: %d\n", ret);
658 static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core)
660 static const char * const mem_names[] = {"atcm", "btcm"};
661 struct udevice *dev = core->dev;
664 dev_dbg(dev, "%s\n", __func__);
666 core->num_mems = ARRAY_SIZE(mem_names);
667 core->mem = calloc(core->num_mems, sizeof(*core->mem));
671 for (i = 0; i < core->num_mems; i++) {
672 core->mem[i].bus_addr = dev_read_addr_size_name(dev,
674 (fdt_addr_t *)&core->mem[i].size);
675 if (core->mem[i].bus_addr == FDT_ADDR_T_NONE) {
676 dev_err(dev, "%s bus address not found\n",
680 core->mem[i].cpu_addr = map_physmem(core->mem[i].bus_addr,
683 if (!strcmp(mem_names[i], "atcm")) {
684 core->mem[i].dev_addr = core->loczrama ?
685 0 : K3_R5_TCM_DEV_ADDR;
687 core->mem[i].dev_addr = core->loczrama ?
688 K3_R5_TCM_DEV_ADDR : 0;
691 dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %p da 0x%x\n",
692 mem_names[i], &core->mem[i].bus_addr,
693 core->mem[i].size, core->mem[i].cpu_addr,
694 core->mem[i].dev_addr);
701 * k3_r5f_probe() - Basic probe
702 * @dev: corresponding k3 remote processor device
704 * Return: 0 if all goes good, else appropriate error message.
706 static int k3_r5f_probe(struct udevice *dev)
708 struct k3_r5f_cluster *cluster = dev_get_priv(dev->parent);
709 struct k3_r5f_core *core = dev_get_priv(dev);
713 dev_dbg(dev, "%s\n", __func__);
716 ret = k3_r5f_of_to_priv(core);
720 core->cluster = cluster;
721 /* Assume Primary core gets probed first */
722 if (!cluster->cores[0])
723 cluster->cores[0] = core;
725 cluster->cores[1] = core;
727 ret = k3_r5f_core_of_get_memories(core);
729 dev_err(dev, "Rproc getting internal memories failed\n");
733 ret = core->tsp.sci->ops.dev_ops.is_on(core->tsp.sci, core->tsp.dev_id,
734 &r_state, &core->in_use);
739 dev_info(dev, "Core %d is already in use. No rproc commands work\n",
744 /* Make sure Local reset is asserted. Redundant? */
745 reset_assert(&core->reset);
747 ret = k3_r5f_rproc_configure(core);
749 dev_err(dev, "rproc configure failed %d\n", ret);
753 dev_dbg(dev, "Remoteproc successfully probed\n");
758 static int k3_r5f_remove(struct udevice *dev)
760 struct k3_r5f_core *core = dev_get_priv(dev);
764 ti_sci_proc_release(&core->tsp);
769 static const struct udevice_id k3_r5f_rproc_ids[] = {
770 { .compatible = "ti,am654-r5f"},
771 { .compatible = "ti,j721e-r5f"},
775 U_BOOT_DRIVER(k3_r5f_rproc) = {
776 .name = "k3_r5f_rproc",
777 .of_match = k3_r5f_rproc_ids,
778 .id = UCLASS_REMOTEPROC,
779 .ops = &k3_r5f_rproc_ops,
780 .probe = k3_r5f_probe,
781 .remove = k3_r5f_remove,
782 .priv_auto_alloc_size = sizeof(struct k3_r5f_core),
785 static int k3_r5f_cluster_probe(struct udevice *dev)
787 struct k3_r5f_cluster *cluster = dev_get_priv(dev);
789 dev_dbg(dev, "%s\n", __func__);
791 cluster->mode = dev_read_u32_default(dev, "lockstep-mode",
792 CLUSTER_MODE_LOCKSTEP);
794 if (device_get_child_count(dev) != 2) {
795 dev_err(dev, "Invalid number of R5 cores");
799 dev_dbg(dev, "%s: Cluster successfully probed in %s mode\n",
800 __func__, cluster->mode ? "lockstep" : "split");
805 static const struct udevice_id k3_r5fss_ids[] = {
806 { .compatible = "ti,am654-r5fss"},
807 { .compatible = "ti,j721e-r5fss"},
811 U_BOOT_DRIVER(k3_r5fss) = {
813 .of_match = k3_r5fss_ids,
815 .probe = k3_r5f_cluster_probe,
816 .priv_auto_alloc_size = sizeof(struct k3_r5f_cluster),