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>
12 #include <remoteproc.h>
17 #include <dm/device_compat.h>
18 #include <linux/err.h>
19 #include <linux/kernel.h>
20 #include <linux/soc/ti/ti_sci_protocol.h>
21 #include "ti_sci_proc.h"
24 * R5F's view of this address can either be for ATCM or BTCM with the other
25 * at address 0x0 based on loczrama signal.
27 #define K3_R5_TCM_DEV_ADDR 0x41010000
29 /* R5 TI-SCI Processor Configuration Flags */
30 #define PROC_BOOT_CFG_FLAG_R5_DBG_EN 0x00000001
31 #define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN 0x00000002
32 #define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP 0x00000100
33 #define PROC_BOOT_CFG_FLAG_R5_TEINIT 0x00000200
34 #define PROC_BOOT_CFG_FLAG_R5_NMFI_EN 0x00000400
35 #define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE 0x00000800
36 #define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000
37 #define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
38 #define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR 0x10000000
40 /* R5 TI-SCI Processor Control Flags */
41 #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
43 /* R5 TI-SCI Processor Status Flags */
44 #define PROC_BOOT_STATUS_FLAG_R5_WFE 0x00000001
45 #define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
46 #define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
47 #define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
52 CLUSTER_MODE_SPLIT = 0,
53 CLUSTER_MODE_LOCKSTEP,
57 * struct k3_r5_mem - internal memory structure
58 * @cpu_addr: MPU virtual address of the memory region
59 * @bus_addr: Bus address used to access the memory region
60 * @dev_addr: Device address from remoteproc view
61 * @size: Size of the memory region
64 void __iomem *cpu_addr;
71 * struct k3_r5f_core - K3 R5 core structure
72 * @dev: cached device pointer
73 * @cluster: pointer to the parent cluster.
74 * @reset: reset control handle
75 * @tsp: TI-SCI processor control handle
76 * @mem: Array of available internal memories
77 * @num_mem: Number of available memories
78 * @atcm_enable: flag to control ATCM enablement
79 * @btcm_enable: flag to control BTCM enablement
80 * @loczrama: flag to dictate which TCM is at device address 0x0
81 * @in_use: flag to tell if the core is already in use.
85 struct k3_r5f_cluster *cluster;
86 struct reset_ctl reset;
87 struct ti_sci_proc tsp;
88 struct k3_r5f_mem *mem;
97 * struct k3_r5f_cluster - K3 R5F Cluster structure
98 * @mode: Mode to configure the Cluster - Split or LockStep
99 * @cores: Array of pointers to R5 cores within the cluster
101 struct k3_r5f_cluster {
102 enum cluster_mode mode;
103 struct k3_r5f_core *cores[NR_CORES];
106 static bool is_primary_core(struct k3_r5f_core *core)
108 return core == core->cluster->cores[0];
111 static int k3_r5f_proc_request(struct k3_r5f_core *core)
113 struct k3_r5f_cluster *cluster = core->cluster;
116 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
117 for (i = 0; i < NR_CORES; i++) {
118 ret = ti_sci_proc_request(&cluster->cores[i]->tsp);
123 ret = ti_sci_proc_request(&core->tsp);
130 ti_sci_proc_release(&cluster->cores[i]->tsp);
136 static void k3_r5f_proc_release(struct k3_r5f_core *core)
138 struct k3_r5f_cluster *cluster = core->cluster;
141 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
142 for (i = 0; i < NR_CORES; i++)
143 ti_sci_proc_release(&cluster->cores[i]->tsp);
145 ti_sci_proc_release(&core->tsp);
148 static int k3_r5f_lockstep_release(struct k3_r5f_cluster *cluster)
152 dev_dbg(dev, "%s\n", __func__);
154 for (c = NR_CORES - 1; c >= 0; c--) {
155 ret = ti_sci_proc_power_domain_on(&cluster->cores[c]->tsp);
157 goto unroll_module_reset;
160 /* deassert local reset on all applicable cores */
161 for (c = NR_CORES - 1; c >= 0; c--) {
162 ret = reset_deassert(&cluster->cores[c]->reset);
164 goto unroll_local_reset;
170 while (c < NR_CORES) {
171 reset_assert(&cluster->cores[c]->reset);
176 while (c < NR_CORES) {
177 ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp);
184 static int k3_r5f_split_release(struct k3_r5f_core *core)
188 dev_dbg(dev, "%s\n", __func__);
190 ret = ti_sci_proc_power_domain_on(&core->tsp);
192 dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
197 ret = reset_deassert(&core->reset);
199 dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
201 if (ti_sci_proc_power_domain_off(&core->tsp))
202 dev_warn(core->dev, "module-reset assert back failed\n");
208 static int k3_r5f_prepare(struct udevice *dev)
210 struct k3_r5f_core *core = dev_get_priv(dev);
211 struct k3_r5f_cluster *cluster = core->cluster;
214 dev_dbg(dev, "%s\n", __func__);
216 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
217 ret = k3_r5f_lockstep_release(cluster);
219 ret = k3_r5f_split_release(core);
222 dev_err(dev, "Unable to enable cores for TCM loading %d\n",
228 static int k3_r5f_core_sanity_check(struct k3_r5f_core *core)
230 struct k3_r5f_cluster *cluster = core->cluster;
233 dev_err(dev, "Invalid op: Trying to load/start on already running core %d\n",
238 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !cluster->cores[1]) {
239 printf("Secondary core is not probed in this cluster\n");
243 if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !is_primary_core(core)) {
244 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
249 if (cluster->mode == CLUSTER_MODE_SPLIT && !is_primary_core(core)) {
250 if (!core->cluster->cores[0]->in_use) {
251 dev_err(dev, "Invalid seq: Enable primary core before loading secondary core\n");
260 * k3_r5f_load() - Load up the Remote processor image
261 * @dev: rproc device pointer
262 * @addr: Address at which image is available
263 * @size: size of the image
265 * Return: 0 if all goes good, else appropriate error message.
267 static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size)
269 struct k3_r5f_core *core = dev_get_priv(dev);
273 dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size);
275 ret = k3_r5f_core_sanity_check(core);
279 ret = k3_r5f_proc_request(core);
283 ret = k3_r5f_prepare(dev);
285 dev_err(dev, "R5f prepare failed for core %d\n",
290 /* Zero out TCMs so that ECC can be effective on all TCM addresses */
291 if (core->atcm_enable)
292 memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
293 if (core->btcm_enable)
294 memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
296 ret = rproc_elf_load_image(dev, addr, size);
298 dev_err(dev, "Loading elf failedi %d\n", ret);
302 boot_vector = rproc_elf_get_boot_addr(dev, addr);
304 dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector);
306 ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);
309 k3_r5f_proc_release(core);
314 static int k3_r5f_core_halt(struct k3_r5f_core *core)
318 ret = ti_sci_proc_set_control(&core->tsp,
319 PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
321 dev_err(core->dev, "Core %d failed to stop\n",
327 static int k3_r5f_core_run(struct k3_r5f_core *core)
331 ret = ti_sci_proc_set_control(&core->tsp,
332 0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
334 dev_err(core->dev, "Core %d failed to start\n",
343 * k3_r5f_start() - Start the remote processor
344 * @dev: rproc device pointer
346 * Return: 0 if all went ok, else return appropriate error
348 static int k3_r5f_start(struct udevice *dev)
350 struct k3_r5f_core *core = dev_get_priv(dev);
351 struct k3_r5f_cluster *cluster = core->cluster;
354 dev_dbg(dev, "%s\n", __func__);
356 ret = k3_r5f_core_sanity_check(core);
360 ret = k3_r5f_proc_request(core);
364 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
365 if (is_primary_core(core)) {
366 for (c = NR_CORES - 1; c >= 0; c--) {
367 ret = k3_r5f_core_run(cluster->cores[c]);
369 goto unroll_core_run;
372 dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
378 ret = k3_r5f_core_run(core);
385 k3_r5f_proc_release(core);
389 while (c < NR_CORES) {
390 k3_r5f_core_halt(cluster->cores[c]);
394 k3_r5f_proc_release(core);
399 static int k3_r5f_split_reset(struct k3_r5f_core *core)
403 dev_dbg(dev, "%s\n", __func__);
405 if (reset_assert(&core->reset))
408 if (ti_sci_proc_power_domain_off(&core->tsp))
414 static int k3_r5f_lockstep_reset(struct k3_r5f_cluster *cluster)
418 dev_dbg(dev, "%s\n", __func__);
420 for (c = 0; c < NR_CORES; c++)
421 if (reset_assert(&cluster->cores[c]->reset))
424 /* disable PSC modules on all applicable cores */
425 for (c = 0; c < NR_CORES; c++)
426 if (ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp))
432 static int k3_r5f_unprepare(struct udevice *dev)
434 struct k3_r5f_core *core = dev_get_priv(dev);
435 struct k3_r5f_cluster *cluster = core->cluster;
438 dev_dbg(dev, "%s\n", __func__);
440 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
441 if (is_primary_core(core))
442 ret = k3_r5f_lockstep_reset(cluster);
444 ret = k3_r5f_split_reset(core);
448 dev_warn(dev, "Unable to enable cores for TCM loading %d\n",
454 static int k3_r5f_stop(struct udevice *dev)
456 struct k3_r5f_core *core = dev_get_priv(dev);
457 struct k3_r5f_cluster *cluster = core->cluster;
460 dev_dbg(dev, "%s\n", __func__);
462 ret = k3_r5f_proc_request(core);
466 core->in_use = false;
468 if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
469 if (is_primary_core(core)) {
470 for (c = 0; c < NR_CORES; c++)
471 k3_r5f_core_halt(cluster->cores[c]);
473 dev_err(dev, "Invalid op: Trying to stop secondary core in lockstep mode\n");
478 k3_r5f_core_halt(core);
481 ret = k3_r5f_unprepare(dev);
483 k3_r5f_proc_release(core);
487 static void *k3_r5f_da_to_va(struct udevice *dev, ulong da, ulong size)
489 struct k3_r5f_core *core = dev_get_priv(dev);
490 void __iomem *va = NULL;
491 phys_addr_t bus_addr;
492 u32 dev_addr, offset;
496 dev_dbg(dev, "%s\n", __func__);
501 for (i = 0; i < core->num_mems; i++) {
502 bus_addr = core->mem[i].bus_addr;
503 dev_addr = core->mem[i].dev_addr;
504 mem_size = core->mem[i].size;
506 if (da >= bus_addr && (da + size) <= (bus_addr + mem_size)) {
507 offset = da - bus_addr;
508 va = core->mem[i].cpu_addr + offset;
509 return (__force void *)va;
512 if (da >= dev_addr && (da + size) <= (dev_addr + mem_size)) {
513 offset = da - dev_addr;
514 va = core->mem[i].cpu_addr + offset;
515 return (__force void *)va;
519 /* Assume it is DDR region and return da */
520 return map_physmem(da, size, MAP_NOCACHE);
523 static int k3_r5f_init(struct udevice *dev)
528 static int k3_r5f_reset(struct udevice *dev)
533 static const struct dm_rproc_ops k3_r5f_rproc_ops = {
535 .reset = k3_r5f_reset,
536 .start = k3_r5f_start,
539 .device_to_virt = k3_r5f_da_to_va,
542 static int k3_r5f_rproc_configure(struct k3_r5f_core *core)
544 struct k3_r5f_cluster *cluster = core->cluster;
545 u32 set_cfg = 0, clr_cfg = 0, cfg, ctrl, sts;
549 dev_dbg(dev, "%s\n", __func__);
551 ret = ti_sci_proc_request(&core->tsp);
555 /* Do not touch boot vector now. Load will take care of it. */
556 clr_cfg |= PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR;
558 ret = ti_sci_proc_get_status(&core->tsp, &boot_vec, &cfg, &ctrl, &sts);
562 /* Sanity check for Lockstep mode */
563 if (cluster->mode && is_primary_core(core) &&
564 !(sts & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED)) {
565 dev_err(core->dev, "LockStep mode not permitted on this device\n");
570 /* Primary core only configuration */
571 if (is_primary_core(core)) {
572 /* always enable ARM mode */
573 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TEINIT;
574 if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
575 set_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
577 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
580 if (core->atcm_enable)
581 set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
583 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
585 if (core->btcm_enable)
586 set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
588 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
591 set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
593 clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
595 ret = k3_r5f_core_halt(core);
599 ret = ti_sci_proc_set_config(&core->tsp, boot_vec, set_cfg, clr_cfg);
601 ti_sci_proc_release(&core->tsp);
605 static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
610 dev_dbg(dev, "%s\n", __func__);
612 tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
613 if (IS_ERR(tsp->sci)) {
614 dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
615 return PTR_ERR(tsp->sci);
618 ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
620 dev_err(dev, "Proc IDs not populated %d\n", ret);
624 tsp->ops = &tsp->sci->ops.proc_ops;
625 tsp->proc_id = ids[0];
626 tsp->host_id = ids[1];
627 tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
628 TI_SCI_RESOURCE_NULL);
629 if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
630 dev_err(dev, "Device ID not populated %d\n", ret);
637 static int k3_r5f_of_to_priv(struct k3_r5f_core *core)
641 dev_dbg(dev, "%s\n", __func__);
643 core->atcm_enable = dev_read_u32_default(core->dev, "atcm-enable", 0);
644 core->btcm_enable = dev_read_u32_default(core->dev, "btcm-enable", 1);
645 core->loczrama = dev_read_u32_default(core->dev, "loczrama", 1);
647 ret = ti_sci_proc_of_to_priv(core->dev, &core->tsp);
651 ret = reset_get_by_index(core->dev, 0, &core->reset);
653 dev_err(core->dev, "Reset lines not available: %d\n", ret);
660 static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core)
662 static const char * const mem_names[] = {"atcm", "btcm"};
663 struct udevice *dev = core->dev;
666 dev_dbg(dev, "%s\n", __func__);
668 core->num_mems = ARRAY_SIZE(mem_names);
669 core->mem = calloc(core->num_mems, sizeof(*core->mem));
673 for (i = 0; i < core->num_mems; i++) {
674 core->mem[i].bus_addr = dev_read_addr_size_name(dev,
676 (fdt_addr_t *)&core->mem[i].size);
677 if (core->mem[i].bus_addr == FDT_ADDR_T_NONE) {
678 dev_err(dev, "%s bus address not found\n",
682 core->mem[i].cpu_addr = map_physmem(core->mem[i].bus_addr,
685 if (!strcmp(mem_names[i], "atcm")) {
686 core->mem[i].dev_addr = core->loczrama ?
687 0 : K3_R5_TCM_DEV_ADDR;
689 core->mem[i].dev_addr = core->loczrama ?
690 K3_R5_TCM_DEV_ADDR : 0;
693 dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %p da 0x%x\n",
694 mem_names[i], &core->mem[i].bus_addr,
695 core->mem[i].size, core->mem[i].cpu_addr,
696 core->mem[i].dev_addr);
703 * k3_r5f_probe() - Basic probe
704 * @dev: corresponding k3 remote processor device
706 * Return: 0 if all goes good, else appropriate error message.
708 static int k3_r5f_probe(struct udevice *dev)
710 struct k3_r5f_cluster *cluster = dev_get_priv(dev->parent);
711 struct k3_r5f_core *core = dev_get_priv(dev);
715 dev_dbg(dev, "%s\n", __func__);
718 ret = k3_r5f_of_to_priv(core);
722 core->cluster = cluster;
723 /* Assume Primary core gets probed first */
724 if (!cluster->cores[0])
725 cluster->cores[0] = core;
727 cluster->cores[1] = core;
729 ret = k3_r5f_core_of_get_memories(core);
731 dev_err(dev, "Rproc getting internal memories failed\n");
735 ret = core->tsp.sci->ops.dev_ops.is_on(core->tsp.sci, core->tsp.dev_id,
736 &r_state, &core->in_use);
741 dev_info(dev, "Core %d is already in use. No rproc commands work\n",
746 /* Make sure Local reset is asserted. Redundant? */
747 reset_assert(&core->reset);
749 ret = k3_r5f_rproc_configure(core);
751 dev_err(dev, "rproc configure failed %d\n", ret);
755 dev_dbg(dev, "Remoteproc successfully probed\n");
760 static int k3_r5f_remove(struct udevice *dev)
762 struct k3_r5f_core *core = dev_get_priv(dev);
766 ti_sci_proc_release(&core->tsp);
771 static const struct udevice_id k3_r5f_rproc_ids[] = {
772 { .compatible = "ti,am654-r5f"},
773 { .compatible = "ti,j721e-r5f"},
777 U_BOOT_DRIVER(k3_r5f_rproc) = {
778 .name = "k3_r5f_rproc",
779 .of_match = k3_r5f_rproc_ids,
780 .id = UCLASS_REMOTEPROC,
781 .ops = &k3_r5f_rproc_ops,
782 .probe = k3_r5f_probe,
783 .remove = k3_r5f_remove,
784 .priv_auto_alloc_size = sizeof(struct k3_r5f_core),
787 static int k3_r5f_cluster_probe(struct udevice *dev)
789 struct k3_r5f_cluster *cluster = dev_get_priv(dev);
791 dev_dbg(dev, "%s\n", __func__);
793 cluster->mode = dev_read_u32_default(dev, "lockstep-mode",
794 CLUSTER_MODE_LOCKSTEP);
796 if (device_get_child_count(dev) != 2) {
797 dev_err(dev, "Invalid number of R5 cores");
801 dev_dbg(dev, "%s: Cluster successfully probed in %s mode\n",
802 __func__, cluster->mode ? "lockstep" : "split");
807 static const struct udevice_id k3_r5fss_ids[] = {
808 { .compatible = "ti,am654-r5fss"},
809 { .compatible = "ti,j721e-r5fss"},
813 U_BOOT_DRIVER(k3_r5fss) = {
815 .of_match = k3_r5fss_ids,
817 .probe = k3_r5f_cluster_probe,
818 .priv_auto_alloc_size = sizeof(struct k3_r5f_cluster),