This patch series add support for PRUSS (Programmable Real-time Unit Sub
System) UIO driver in Texas Instruments DA850, AM18xx and OMAP-L138 processors.
PRUSS is programmable RISC core which can be used to implement Soft IPs
(eg:- DMA, CAN, UART,SmartCard) and Industrial communications data link layers
(eg:- PROFIBUS). UIO driver exposes PRUSS resources like memory and interrupts
to user space application.PRUSS UIO application API can be used to control PRUs
in PRUSS, setup PRU INTC, load firmware to PRUs and implement IPC between Host
processor and PRUs. More information on PRUSS and UIO linux user space API
available in the links below
http://processors.wiki.ti.com/index.php/Programmable_Realtime_Unit_Subsystem
http://processors.wiki.ti.com/index.php/PRU_Linux_Application_Loader
http://processors.wiki.ti.com/index.php/PRU_Linux_Application_Loader_API_Guide
Platform/board specific portion of this patch depends on Mistral patches below
[PATCH 1/1] davinci: changed SRAM allocator to shared ram :
https://patchwork.kernel.org/patch/549351/
[PATCH 1/1] da830: macro rename DA8XX_LPSC0_DMAX to DA8XX_LPSC0_PRUSS :
https://patchwork.kernel.org/patch/549331/
[PATCH v2 01/13] mfd: pruss mfd driver :
https://patchwork.kernel.org/patch/549531/
[PATCH v2 02/13] da850: pruss platform specific additions :
https://patchwork.kernel.org/patch/549521/
I will submit a seperate patch set on top of these patches to support PRUSS
UIO driver.
Pratheesh Gangadhar (1):
PRUSS UIO driver support
drivers/uio/Kconfig | 17 +++
drivers/uio/Makefile | 1 +
drivers/uio/uio_pruss.c | 247 +++++++++++++++++++++++++++++++++++++++++++++
include/linux/uio_pruss.h | 25 +++++
4 files changed, 290 insertions(+), 0 deletions(-)
create mode 100644 drivers/uio/uio_pruss.c
create mode 100644 include/linux/uio_pruss.h
This patch implements PRUSS (Programmable Real-time Unit Sub System)
UIO driver which exports SOC resources associated with PRUSS like
I/O, memories and IRQs to user space. PRUSS is dual 32-bit RISC
processors which is efficient in performing embedded tasks that
require manipulation of packed memory mapped data structures and
handling system events that have tight real time constraints. This
driver is currently supported on Texas Instruments DA850, AM18xx and
OMAP-L138 devices.
For example, PRUSS runs firmware for real-time critical industrial
communication data link layer and communicates with application stack
running in user space via shared memory and IRQs.
Signed-off-by: Pratheesh Gangadhar <[email protected]>
Reviewed-by: Thomas Gleixner <[email protected]>
---
drivers/uio/Kconfig | 17 +++
drivers/uio/Makefile | 1 +
drivers/uio/uio_pruss.c | 247 +++++++++++++++++++++++++++++++++++++++++++++
include/linux/uio_pruss.h | 25 +++++
4 files changed, 290 insertions(+), 0 deletions(-)
create mode 100644 drivers/uio/uio_pruss.c
create mode 100644 include/linux/uio_pruss.h
diff --git a/drivers/uio/Kconfig b/drivers/uio/Kconfig
index bb44079..6f3ea9b 100644
--- a/drivers/uio/Kconfig
+++ b/drivers/uio/Kconfig
@@ -94,4 +94,21 @@ config UIO_NETX
To compile this driver as a module, choose M here; the module
will be called uio_netx.
+config UIO_PRUSS
+ tristate "Texas Instruments PRUSS driver"
+ depends on ARCH_DAVINCI_DA850
+ help
+ PRUSS driver for OMAPL138/DA850/AM18XX devices
+ PRUSS driver requires user space components, examples and user space
+ driver is available from below SVN repo - you may use anonymous login
+
+ https://gforge.ti.com/gf/project/pru_sw/
+
+ More info on API is available at below wiki
+
+ http://processors.wiki.ti.com/index.php/PRU_Linux_Application_Loader
+
+ To compile this driver as a module, choose M here: the module
+ will be called uio_pruss.
+
endif
diff --git a/drivers/uio/Makefile b/drivers/uio/Makefile
index 18fd818..d4dd9a5 100644
--- a/drivers/uio/Makefile
+++ b/drivers/uio/Makefile
@@ -6,3 +6,4 @@ obj-$(CONFIG_UIO_AEC) += uio_aec.o
obj-$(CONFIG_UIO_SERCOS3) += uio_sercos3.o
obj-$(CONFIG_UIO_PCI_GENERIC) += uio_pci_generic.o
obj-$(CONFIG_UIO_NETX) += uio_netx.o
+obj-$(CONFIG_UIO_PRUSS) += uio_pruss.o
diff --git a/drivers/uio/uio_pruss.c b/drivers/uio/uio_pruss.c
new file mode 100644
index 0000000..719e73d
--- /dev/null
+++ b/drivers/uio/uio_pruss.c
@@ -0,0 +1,247 @@
+/*
+ * Programmable Real-Time Unit Sub System (PRUSS) UIO driver (uio_pruss)
+ *
+ * This driver exports PRUSS host event out interrupts and PRUSS, L3 RAM,
+ * and DDR RAM to user space for applications interacting with PRUSS firmware
+ *
+ * Copyright (C) 2010-11 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation version 2.
+ *
+ * This program is distributed "as is" WITHOUT ANY WARRANTY of any
+ * kind, whether express or implied; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+#include <linux/device.h>
+#include <linux/module.h>
+#include <linux/moduleparam.h>
+#include <linux/platform_device.h>
+#include <linux/uio_driver.h>
+#include <linux/uio_pruss.h>
+#include <linux/io.h>
+#include <linux/clk.h>
+#include <linux/dma-mapping.h>
+#include <linux/slab.h>
+#include <mach/sram.h>
+
+#define DRV_NAME "pruss_uio"
+#define DRV_VERSION "1.0"
+
+static int sram_pool_sz = SZ_16K;
+module_param(sram_pool_sz, int, 0);
+MODULE_PARM_DESC(sram_pool_sz, "sram pool size to allocate ");
+
+static int extram_pool_sz = SZ_256K;
+module_param(extram_pool_sz, int, 0);
+MODULE_PARM_DESC(extram_pool_sz, "external ram pool size to allocate");
+
+/*
+ * Host event IRQ numbers from PRUSS - PRUSS can generate upto 8 interrupt
+ * events to AINTC of ARM host processor - which can be used for IPC b/w PRUSS
+ * firmware and user space application, async notification from PRU firmware
+ * to user space application
+ * 3 PRU_EVTOUT0
+ * 4 PRU_EVTOUT1
+ * 5 PRU_EVTOUT2
+ * 6 PRU_EVTOUT3
+ * 7 PRU_EVTOUT4
+ * 8 PRU_EVTOUT5
+ * 9 PRU_EVTOUT6
+ * 10 PRU_EVTOUT7
+*/
+#define MAX_PRUSS_EVT 8
+
+#define PINTC_HIDISR 0x0038
+#define PINTC_HIPIR 0x0900
+#define HIPIR_NOPEND 0x80000000
+#define PINTC_HIER 0x1500
+
+struct uio_pruss_dev {
+ struct uio_info *info;
+ struct clk *pruss_clk;
+ dma_addr_t sram_paddr;
+ dma_addr_t ddr_paddr;
+ void __iomem *prussio_vaddr;
+ void *sram_vaddr;
+ void *ddr_vaddr;
+ unsigned int hostirq_start;
+ unsigned int pintc_base;
+};
+
+static irqreturn_t pruss_handler(int irq, struct uio_info *info)
+{
+ struct uio_pruss_dev *gdev = info->priv;
+ int intr_bit = (irq - gdev->hostirq_start + 2);
+ int val, intr_mask = (1 << intr_bit);
+ void __iomem *base = gdev->prussio_vaddr + gdev->pintc_base;
+ void __iomem *intren_reg = base + PINTC_HIER;
+ void __iomem *intrdis_reg = base + PINTC_HIDISR;
+ void __iomem *intrstat_reg = base + PINTC_HIPIR + (intr_bit << 2);
+
+ val = ioread32(intren_reg);
+ /* Is interrupt enabled and active ? */
+ if (!(val & intr_mask) && (ioread32(intrstat_reg) & HIPIR_NOPEND))
+ return IRQ_NONE;
+ /* Disable interrupt */
+ iowrite32(intr_bit, intrdis_reg);
+ return IRQ_HANDLED;
+}
+
+static void pruss_cleanup(struct platform_device *dev,
+ struct uio_pruss_dev *gdev)
+{
+ int cnt;
+ struct uio_info *p = gdev->info;
+
+ for (cnt = 0; cnt < MAX_PRUSS_EVT; cnt++, p++) {
+ uio_unregister_device(p);
+ kfree(p->name);
+ }
+ iounmap(gdev->prussio_vaddr);
+ if (gdev->ddr_vaddr) {
+ dma_free_coherent(&dev->dev, extram_pool_sz, gdev->ddr_vaddr,
+ gdev->ddr_paddr);
+ }
+ if (gdev->sram_vaddr)
+ sram_free(gdev->sram_vaddr, sram_pool_sz);
+ kfree(gdev->info);
+ clk_put(gdev->pruss_clk);
+ kfree(gdev);
+}
+
+static int __devinit pruss_probe(struct platform_device *dev)
+{
+ struct uio_info *p;
+ struct uio_pruss_dev *gdev;
+ struct resource *regs_prussio;
+ int ret = -ENODEV, cnt = 0, len;
+ struct uio_pruss_pdata *pdata = dev->dev.platform_data;
+
+ gdev = kzalloc(sizeof(struct uio_pruss_dev), GFP_KERNEL);
+ if (!gdev)
+ return -ENOMEM;
+
+ gdev->info = kzalloc(sizeof(*p) * MAX_PRUSS_EVT, GFP_KERNEL);
+ if (!gdev->info) {
+ kfree(gdev);
+ return -ENOMEM;
+ }
+ /* Power on PRU in case its not done as part of boot-loader */
+ gdev->pruss_clk = clk_get(&dev->dev, "pruss");
+ if (IS_ERR(gdev->pruss_clk)) {
+ dev_err(&dev->dev, "Failed to get clock\n");
+ kfree(gdev->info);
+ kfree(gdev);
+ ret = PTR_ERR(gdev->pruss_clk);
+ return ret;
+ } else {
+ clk_enable(gdev->pruss_clk);
+ }
+
+ regs_prussio = platform_get_resource(dev, IORESOURCE_MEM, 0);
+ if (!regs_prussio) {
+ dev_err(&dev->dev, "No PRUSS I/O resource specified\n");
+ goto out_free;
+ }
+
+ if (!regs_prussio->start) {
+ dev_err(&dev->dev, "Invalid memory resource\n");
+ goto out_free;
+ }
+
+ gdev->sram_vaddr = sram_alloc(sram_pool_sz, &(gdev->sram_paddr));
+ if (!gdev->sram_vaddr) {
+ dev_err(&dev->dev, "Could not allocate SRAM pool\n");
+ goto out_free;
+ }
+
+ gdev->ddr_vaddr = dma_alloc_coherent(&dev->dev, extram_pool_sz,
+ &(gdev->ddr_paddr), GFP_KERNEL | GFP_DMA);
+ if (!gdev->ddr_vaddr) {
+ dev_err(&dev->dev, "Could not allocate external memory\n");
+ goto out_free;
+ }
+
+ len = resource_size(regs_prussio);
+ gdev->prussio_vaddr = ioremap(regs_prussio->start, len);
+ if (!gdev->prussio_vaddr) {
+ dev_err(&dev->dev, "Can't remap PRUSS I/O address range\n");
+ goto out_free;
+ }
+
+ gdev->pintc_base = pdata->pintc_base;
+ gdev->hostirq_start = platform_get_irq(dev, 0);
+
+ for (cnt = 0, p = gdev->info; cnt < MAX_PRUSS_EVT; cnt++, p++) {
+ p->mem[0].addr = regs_prussio->start;
+ p->mem[0].size = resource_size(regs_prussio);
+ p->mem[0].memtype = UIO_MEM_PHYS;
+
+ p->mem[1].addr = gdev->sram_paddr;
+ p->mem[1].size = sram_pool_sz;
+ p->mem[1].memtype = UIO_MEM_PHYS;
+
+ p->mem[2].addr = gdev->ddr_paddr;
+ p->mem[2].size = extram_pool_sz;
+ p->mem[2].memtype = UIO_MEM_PHYS;
+
+ p->name = kasprintf(GFP_KERNEL, "pruss_evt%d", cnt);
+ p->version = DRV_VERSION;
+
+ /* Register PRUSS IRQ lines */
+ p->irq = gdev->hostirq_start + cnt;
+ p->handler = pruss_handler;
+ p->priv = gdev;
+
+ ret = uio_register_device(&dev->dev, p);
+ if (ret < 0)
+ goto out_free;
+ }
+
+ platform_set_drvdata(dev, gdev);
+ return 0;
+
+out_free:
+ pruss_cleanup(dev, gdev);
+ return ret;
+}
+
+static int __devexit pruss_remove(struct platform_device *dev)
+{
+ struct uio_pruss_dev *gdev = platform_get_drvdata(dev);
+
+ pruss_cleanup(dev, gdev);
+ platform_set_drvdata(dev, NULL);
+ return 0;
+}
+
+static struct platform_driver pruss_driver = {
+ .probe = pruss_probe,
+ .remove = __devexit_p(pruss_remove),
+ .driver = {
+ .name = DRV_NAME,
+ .owner = THIS_MODULE,
+ },
+};
+
+static int __init pruss_init_module(void)
+{
+ return platform_driver_register(&pruss_driver);
+}
+
+module_init(pruss_init_module);
+
+static void __exit pruss_exit_module(void)
+{
+ platform_driver_unregister(&pruss_driver);
+}
+
+module_exit(pruss_exit_module);
+
+MODULE_LICENSE("GPL v2");
+MODULE_VERSION(DRV_VERSION);
+MODULE_AUTHOR("Amit Chatterjee <[email protected]>");
+MODULE_AUTHOR("Pratheesh Gangadhar <[email protected]>");
diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
new file mode 100644
index 0000000..8c9b2c9
--- /dev/null
+++ b/include/linux/uio_pruss.h
@@ -0,0 +1,25 @@
+/*
+ * include/linux/uio_pruss.h
+ *
+ * Platform data for uio_pruss driver
+ *
+ * Copyright (C) 2010-11 Texas Instruments Incorporated - http://www.ti.com/
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation version 2.
+ *
+ * This program is distributed "as is" WITHOUT ANY WARRANTY of any
+ * kind, whether express or implied; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _UIO_PRUSS_H_
+#define _UIO_PRUSS_H_
+
+/* Used to configure the PRUSS INTC base offset for UIO driver */
+struct uio_pruss_pdata {
+ u32 pintc_base;
+};
+#endif /* _LINUX_UIO_PRUSS_H_ */
--
1.6.0.6
On Friday 04 March 2011 05:42:52 Pratheesh Gangadhar wrote:
> This patch implements PRUSS (Programmable Real-time Unit Sub System)
> UIO driver which exports SOC resources associated with PRUSS like
> I/O, memories and IRQs to user space. PRUSS is dual 32-bit RISC
> processors which is efficient in performing embedded tasks that
> require manipulation of packed memory mapped data structures and
> handling system events that have tight real time constraints. This
> driver is currently supported on Texas Instruments DA850, AM18xx and
> OMAP-L138 devices.
> For example, PRUSS runs firmware for real-time critical industrial
> communication data link layer and communicates with application stack
> running in user space via shared memory and IRQs.
Looks good
> Signed-off-by: Pratheesh Gangadhar <[email protected]>
> Reviewed-by: Thomas Gleixner <[email protected]>
Reviewed-by: Arnd Bergmann <[email protected]>
On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
> new file mode 100644
> index 0000000..8c9b2c9
> --- /dev/null
> +++ b/include/linux/uio_pruss.h
That should go to arch/arm/mach-davinci/include/mach/
and not to the top level include/linux/ directory.
> @@ -0,0 +1,25 @@
> +/*
> + * include/linux/uio_pruss.h
> + *
> + * Platform data for uio_pruss driver
> + *
> + * Copyright (C) 2010-11 Texas Instruments Incorporated - http://www.ti.com/
> + *
> + * This program is free software; you can redistribute it and/or
> + * modify it under the terms of the GNU General Public License as
> + * published by the Free Software Foundation version 2.
> + *
> + * This program is distributed "as is" WITHOUT ANY WARRANTY of any
> + * kind, whether express or implied; without even the implied warranty
> + * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> + * GNU General Public License for more details.
> + */
> +
> +#ifndef _UIO_PRUSS_H_
> +#define _UIO_PRUSS_H_
> +
> +/* Used to configure the PRUSS INTC base offset for UIO driver */
> +struct uio_pruss_pdata {
> + u32 pintc_base;
> +};
> +#endif /* _LINUX_UIO_PRUSS_H_ */
> --
> 1.6.0.6
>
>
Thanks,
Hans
Hi Hans,
On Fri, Mar 04, 2011 at 19:50:28, Hans J. Koch wrote:
> On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> > diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
> > new file mode 100644
> > index 0000000..8c9b2c9
> > --- /dev/null
> > +++ b/include/linux/uio_pruss.h
>
> That should go to arch/arm/mach-davinci/include/mach/
> and not to the top level include/linux/ directory.
It was put in here because this driver
will be used across two ARM architectures
(DaVinci and OMAP). Although it won't be used
outside of ARM at least in near future.
Thanks,
Sekhar
On Friday 04 March 2011, Nori, Sekhar wrote:
> On Fri, Mar 04, 2011 at 19:50:28, Hans J. Koch wrote:
> > On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> > > diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
> > > new file mode 100644
> > > index 0000000..8c9b2c9
> > > --- /dev/null
> > > +++ b/include/linux/uio_pruss.h
> >
> > That should go to arch/arm/mach-davinci/include/mach/
> > and not to the top level include/linux/ directory.
>
> It was put in here because this driver
> will be used across two ARM architectures
> (DaVinci and OMAP). Although it won't be used
> outside of ARM at least in near future.
I think include/linux/ is fine for this, and arch/arm/include/asm would
be ok as well. You might want to have only a single pruss header
file that defines all the platform data for the child drivers, though.
Ideally, you would of course not need the header at all. This will
be possible with the move to a flat device tree, where you can store the
offset as a property of the device
Another alternative would be to move it to a resource of the platform
device.
Arnd
On Fri, Mar 04, 2011 at 08:11:56PM +0530, Nori, Sekhar wrote:
> Hi Hans,
>
> On Fri, Mar 04, 2011 at 19:50:28, Hans J. Koch wrote:
> > On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> > > diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
> > > new file mode 100644
> > > index 0000000..8c9b2c9
> > > --- /dev/null
> > > +++ b/include/linux/uio_pruss.h
> >
> > That should go to arch/arm/mach-davinci/include/mach/
> > and not to the top level include/linux/ directory.
>
> It was put in here because this driver
> will be used across two ARM architectures
> (DaVinci and OMAP). Although it won't be used
> outside of ARM at least in near future.
OK, I accept that. I'll review the rest soon.
Thanks,
Hans
On Fri, Mar 04, 2011 at 04:58:05PM +0100, Arnd Bergmann wrote:
> On Friday 04 March 2011, Nori, Sekhar wrote:
> > On Fri, Mar 04, 2011 at 19:50:28, Hans J. Koch wrote:
> > > On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> > > > diff --git a/include/linux/uio_pruss.h b/include/linux/uio_pruss.h
> > > > new file mode 100644
> > > > index 0000000..8c9b2c9
> > > > --- /dev/null
> > > > +++ b/include/linux/uio_pruss.h
> > >
> > > That should go to arch/arm/mach-davinci/include/mach/
> > > and not to the top level include/linux/ directory.
> >
> > It was put in here because this driver
> > will be used across two ARM architectures
> > (DaVinci and OMAP). Although it won't be used
> > outside of ARM at least in near future.
>
> I think include/linux/ is fine for this
No, please use include/linux/platform_data/ instead, that is where
platform data should be going into, not into the "global" space if
include/linux/
> , and arch/arm/include/asm would
> be ok as well. You might want to have only a single pruss header
> file that defines all the platform data for the child drivers, though.
>
> Ideally, you would of course not need the header at all. This will
> be possible with the move to a flat device tree, where you can store the
> offset as a property of the device
>
> Another alternative would be to move it to a resource of the platform
> device.
That might be a nice idea for the future.
thanks,
greg k-h
On Fri, Mar 04, 2011 at 10:12:52AM +0530, Pratheesh Gangadhar wrote:
> This patch implements PRUSS (Programmable Real-time Unit Sub System)
> UIO driver which exports SOC resources associated with PRUSS like
> I/O, memories and IRQs to user space. PRUSS is dual 32-bit RISC
> processors which is efficient in performing embedded tasks that
> require manipulation of packed memory mapped data structures and
> handling system events that have tight real time constraints. This
> driver is currently supported on Texas Instruments DA850, AM18xx and
> OMAP-L138 devices.
> For example, PRUSS runs firmware for real-time critical industrial
> communication data link layer and communicates with application stack
> running in user space via shared memory and IRQs.
>
> Signed-off-by: Pratheesh Gangadhar <[email protected]>
> Reviewed-by: Thomas Gleixner <[email protected]>
> ---
> drivers/uio/Kconfig | 17 +++
> drivers/uio/Makefile | 1 +
> drivers/uio/uio_pruss.c | 247 +++++++++++++++++++++++++++++++++++++++++++++
> include/linux/uio_pruss.h | 25 +++++
> 4 files changed, 290 insertions(+), 0 deletions(-)
> create mode 100644 drivers/uio/uio_pruss.c
> create mode 100644 include/linux/uio_pruss.h
Make that include/linux/platform_data/uio_pruss.h as Greg said.
Otherwise, I don't see further issues, so I think we can take the next version.
Thanks,
Hans