this patch set to provide remoteproc functionality on
i.MX7D SoC.
For testing I used this simple counter written in ASM:
======================================
.syntax unified
.text
.thumb
.int 0x10020000 @ Initial SP value
.int reset + 1
reset:
mov r0, #0x55
ldr r1, =(0x40)
1:
str r0, [r1]
add r0, 1
b 1b
/* Dummy data, required by remoteproc loader */
/* Please FIXME, this part seem to be incorrect */
.data
.section .resource_table, "aw"
.word 1, 0, 0, 0 /* struct resource_table base */
.word 0 /* uint32_t offset[1] */
============================================================
compiled with:
${CROSS}as -o imx7m4.o imx7m4.S
${CROSS}ld -Ttext=0x0 -o imx7m4.elf imx7m4.o
cp imx7m4.elf /srv/nfs/sid-armhf/lib/firmware/rproc-imx_rproc-fw
Functionality was confirmed with current OpenOCD master.
OpenOCD cfg file can be found here:
https://github.com/olerem/openocd/blob/imx7-2017.06.14/tcl/target/imx7.cfg
changes:
v3:
- rename rproc to cm4 (Cortex M4)
v2:
- use memory-region instead of reg property
- remove memory ranges from documentation
Oleksij Rempel (2):
remoteproc: dt: Provide bindings for iMX6SX/7D Remote Processor
Controller driver
remoteproc: imx_rproc: add a NXP/Freescale imx_rproc driver
.../devicetree/bindings/remoteproc/imx-rproc.txt | 33 ++
drivers/remoteproc/Kconfig | 10 +
drivers/remoteproc/Makefile | 1 +
drivers/remoteproc/imx_rproc.c | 426 +++++++++++++++++++++
4 files changed, 470 insertions(+)
create mode 100644 Documentation/devicetree/bindings/remoteproc/imx-rproc.txt
create mode 100644 drivers/remoteproc/imx_rproc.c
--
2.11.0
Provide a basic driver to control Cortex M4 co-processor found
on NXP i.MX7D and i.MX6SX.
Currently it is able to resolve addresses between M4 and main CPU,
start and stop the co-processor. Other functionality is not provided
or test.
This driver was tested on NXP i.MX7D and expected to work on
i.MX6SX as well.
Signed-off-by: Oleksij Rempel <[email protected]>
---
drivers/remoteproc/Kconfig | 10 +
drivers/remoteproc/Makefile | 1 +
drivers/remoteproc/imx_rproc.c | 426 +++++++++++++++++++++++++++++++++++++++++
3 files changed, 437 insertions(+)
create mode 100644 drivers/remoteproc/imx_rproc.c
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
index 8891a8e50f12..8f4a28098a5f 100644
--- a/drivers/remoteproc/Kconfig
+++ b/drivers/remoteproc/Kconfig
@@ -12,6 +12,16 @@ config REMOTEPROC
if REMOTEPROC
+config IMX_REMOTEPROC
+ tristate "IMX6/7 remoteproc support"
+ depends on SOC_IMX6SX || SOC_IMX7D
+ depends on REMOTEPROC
+ help
+ Say y here to support iMX's remote processors (Cortex M4
+ on iMX7D) via the remote processor framework.
+
+ It's safe to say N here.
+
config OMAP_REMOTEPROC
tristate "OMAP remoteproc support"
depends on HAS_DMA
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
index f1ce5fc8a2f3..d828e500e035 100644
--- a/drivers/remoteproc/Makefile
+++ b/drivers/remoteproc/Makefile
@@ -20,3 +20,4 @@ qcom_wcnss_pil-y += qcom_wcnss.o
qcom_wcnss_pil-y += qcom_wcnss_iris.o
obj-$(CONFIG_ST_REMOTEPROC) += st_remoteproc.o
obj-$(CONFIG_ST_SLIM_REMOTEPROC) += st_slim_rproc.o
+obj-$(CONFIG_IMX_REMOTEPROC) += imx_rproc.o
diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
new file mode 100644
index 000000000000..612d91403341
--- /dev/null
+++ b/drivers/remoteproc/imx_rproc.c
@@ -0,0 +1,426 @@
+/*
+ * Copyright (c) 2017 Pengutronix, Oleksij Rempel <[email protected]>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2
+ * as published by the Free Software Foundation.
+ */
+
+#include <linux/clk.h>
+#include <linux/err.h>
+#include <linux/interrupt.h>
+#include <linux/kernel.h>
+#include <linux/mfd/syscon.h>
+#include <linux/module.h>
+#include <linux/of_address.h>
+#include <linux/of_device.h>
+#include <linux/platform_device.h>
+#include <linux/regmap.h>
+#include <linux/remoteproc.h>
+
+#define IMX7D_SRC_SCR 0x0C
+#define IMX7D_ENABLE_M4 BIT(3)
+#define IMX7D_SW_M4P_RST BIT(2)
+#define IMX7D_SW_M4C_RST BIT(1)
+#define IMX7D_SW_M4C_NON_SCLR_RST BIT(0)
+
+#define IMX7D_M4_RST_MASK (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
+ | IMX7D_SW_M4C_RST \
+ | IMX7D_SW_M4C_NON_SCLR_RST)
+
+#define IMX7D_M4_START (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
+ | IMX7D_SW_M4C_RST)
+#define IMX7D_M4_STOP IMX7D_SW_M4C_NON_SCLR_RST
+
+/* Address: 0x020D8000 */
+#define IMX6SX_SRC_SCR 0x00
+#define IMX6SX_ENABLE_M4 BIT(22)
+#define IMX6SX_SW_M4P_RST BIT(12)
+#define IMX6SX_SW_M4C_NON_SCLR_RST BIT(4)
+#define IMX6SX_SW_M4C_RST BIT(3)
+
+#define IMX6SX_M4_START (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
+ | IMX6SX_SW_M4C_RST)
+#define IMX6SX_M4_STOP IMX6SX_SW_M4C_NON_SCLR_RST
+#define IMX6SX_M4_RST_MASK (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
+ | IMX6SX_SW_M4C_NON_SCLR_RST \
+ | IMX6SX_SW_M4C_RST)
+
+#define IMX7D_RPROC_MEM_MAX 8
+
+/**
+ * struct imx_rproc_mem - slim internal memory structure
+ * @cpu_addr: MPU virtual address of the memory region
+ * @sys_addr: Bus address used to access the memory region
+ * @size: Size of the memory region
+ */
+struct imx_rproc_mem {
+ void __iomem *cpu_addr;
+ phys_addr_t sys_addr;
+ size_t size;
+};
+
+/* att flags */
+/* M4 own area. Can be mapped at probe */
+#define ATT_OWN BIT(1)
+
+/* address translation table */
+struct imx_rproc_att {
+ u32 da; /* device address (From Cortex M4 view)*/
+ u32 sa; /* system bus address */
+ u32 size; /* size of reg range */
+ int flags;
+};
+
+struct imx_rproc_dcfg {
+ u32 src_reg;
+ u32 src_mask;
+ u32 src_start;
+ u32 src_stop;
+ const struct imx_rproc_att *att;
+ size_t att_size;
+};
+
+struct imx_rproc {
+ struct device *dev;
+ struct regmap *regmap;
+ struct rproc *rproc;
+ const struct imx_rproc_dcfg *dcfg;
+ struct imx_rproc_mem mem[IMX7D_RPROC_MEM_MAX];
+ struct clk *clk;
+};
+
+static const struct imx_rproc_att imx_rproc_att_imx7d[] = {
+ /* dev addr , sys addr , size , flags */
+ /* OCRAM_S (M4 Boot code) - alias */
+ { 0x00000000, 0x00180000, 0x00008000, 0 },
+ /* OCRAM_S (Code) */
+ { 0x00180000, 0x00180000, 0x00008000, ATT_OWN },
+ /* OCRAM (Code) - alias */
+ { 0x00900000, 0x00900000, 0x00020000, 0 },
+ /* OCRAM_EPDC (Code) - alias */
+ { 0x00920000, 0x00920000, 0x00020000, 0 },
+ /* OCRAM_PXP (Code) - alias */
+ { 0x00940000, 0x00940000, 0x00008000, 0 },
+ /* TCML (Code) */
+ { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
+ /* DDR (Code) - alias, first part of DDR (Data) */
+ { 0x10000000, 0x80000000, 0x0FFF0000, 0 },
+
+ /* TCMU (Data) */
+ { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
+ /* OCRAM (Data) */
+ { 0x20200000, 0x00900000, 0x00020000, 0 },
+ /* OCRAM_EPDC (Data) */
+ { 0x20220000, 0x00920000, 0x00020000, 0 },
+ /* OCRAM_PXP (Data) */
+ { 0x20240000, 0x00940000, 0x00008000, 0 },
+ /* DDR (Data) */
+ { 0x80000000, 0x80000000, 0x60000000, 0 },
+};
+
+static const struct imx_rproc_att imx_rproc_att_imx6sx[] = {
+ /* dev addr , sys addr , size , flags */
+ /* TCML (M4 Boot Code) - alias */
+ { 0x00000000, 0x007F8000, 0x00008000, 0 },
+ /* OCRAM_S (Code) */
+ { 0x00180000, 0x008F8000, 0x00004000, 0 },
+ /* OCRAM_S (Code) - alias */
+ { 0x00180000, 0x008FC000, 0x00004000, 0 },
+ /* TCML (Code) */
+ { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
+ /* DDR (Code) - alias, first part of DDR (Data) */
+ { 0x10000000, 0x80000000, 0x0FFF8000, 0 },
+
+ /* TCMU (Data) */
+ { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
+ /* OCRAM_S (Data) - alias? */
+ { 0x208F8000, 0x008F8000, 0x00004000, 0 },
+ /* DDR (Data) */
+ { 0x80000000, 0x80000000, 0x60000000, 0 },
+};
+
+static const struct imx_rproc_dcfg imx_rproc_cfg_imx7d = {
+ .src_reg = IMX7D_SRC_SCR,
+ .src_mask = IMX7D_M4_RST_MASK,
+ .src_start = IMX7D_M4_START,
+ .src_stop = IMX7D_M4_STOP,
+ .att = imx_rproc_att_imx7d,
+ .att_size = ARRAY_SIZE(imx_rproc_att_imx7d),
+};
+
+static const struct imx_rproc_dcfg imx_rproc_cfg_imx6sx = {
+ .src_reg = IMX6SX_SRC_SCR,
+ .src_mask = IMX6SX_M4_RST_MASK,
+ .src_start = IMX6SX_M4_START,
+ .src_stop = IMX6SX_M4_STOP,
+ .att = imx_rproc_att_imx6sx,
+ .att_size = ARRAY_SIZE(imx_rproc_att_imx6sx),
+};
+
+static int imx_rproc_start(struct rproc *rproc)
+{
+ struct imx_rproc *priv = rproc->priv;
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ struct device *dev = priv->dev;
+ int ret;
+
+ ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
+ dcfg->src_mask, dcfg->src_start);
+ if (ret)
+ dev_err(dev, "Filed to enable M4!\n");
+
+ return ret;
+}
+
+static int imx_rproc_stop(struct rproc *rproc)
+{
+ struct imx_rproc *priv = rproc->priv;
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ struct device *dev = priv->dev;
+ int ret;
+
+ ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
+ dcfg->src_mask, dcfg->src_stop);
+ if (ret)
+ dev_err(dev, "Filed to stop M4!\n");
+
+ return ret;
+}
+
+static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da,
+ int len, u64 *sys)
+{
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ int i;
+
+ /* parse address translation table */
+ for (i = 0; i < dcfg->att_size; i++) {
+ const struct imx_rproc_att *att = &dcfg->att[i];
+
+ if (da >= att->da && da + len < att->da + att->size) {
+ unsigned int offset = da - att->da;
+
+ *sys = att->sa + offset;
+ return 0;
+ }
+ }
+
+ dev_warn(priv->dev, "Translation filed: da = 0x%llx len = 0x%x\n",
+ da, len);
+ return -ENOENT;
+}
+
+static void *imx_rproc_da_to_va(struct rproc *rproc, u64 da, int len)
+{
+ struct imx_rproc *priv = rproc->priv;
+ void *va = NULL;
+ u64 sys;
+ int i;
+
+ if (len <= 0)
+ return NULL;
+
+ /*
+ * On device side we have many aliases, so we need to convert device
+ * address (M4) to system bus address first.
+ */
+ if (imx_rproc_da_to_sys(priv, da, len, &sys))
+ return NULL;
+
+ for (i = 0; i < IMX7D_RPROC_MEM_MAX; i++) {
+ if (sys >= priv->mem[i].sys_addr && sys + len <
+ priv->mem[i].sys_addr + priv->mem[i].size) {
+ unsigned int offset = sys - priv->mem[i].sys_addr;
+ /* __force to make sparse happy with type conversion */
+ va = (__force void *)(priv->mem[i].cpu_addr + offset);
+ break;
+ }
+ }
+
+ dev_dbg(&rproc->dev, "da = 0x%llx len = 0x%x va = 0x%p\n", da, len, va);
+
+ return va;
+}
+
+static const struct rproc_ops imx_rproc_ops = {
+ .start = imx_rproc_start,
+ .stop = imx_rproc_stop,
+ .da_to_va = imx_rproc_da_to_va,
+};
+
+static int imx_rproc_addr_init(struct imx_rproc *priv,
+ struct platform_device *pdev)
+{
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ struct device *dev = &pdev->dev;
+ struct device_node *np = dev->of_node;
+ int a, b = 0, err, nph;
+
+ /* remap required addresses */
+ for (a = 0; a < dcfg->att_size; a++) {
+ const struct imx_rproc_att *att = &dcfg->att[a];
+
+ if (!(att->flags & ATT_OWN))
+ continue;
+
+ if (b > IMX7D_RPROC_MEM_MAX)
+ break;
+
+ priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev,
+ att->sa, att->size);
+ if (IS_ERR(priv->mem[b].cpu_addr)) {
+ dev_err(dev, "devm_ioremap_resource failed\n");
+ err = PTR_ERR(priv->mem[b].cpu_addr);
+ return err;
+ }
+ priv->mem[b].sys_addr = att->sa;
+ priv->mem[b].size = att->size;
+ b++;
+ }
+
+ /* memory-region is optional property */
+ nph = of_count_phandle_with_args(np, "memory-region", NULL);
+ if (nph <= 0)
+ return 0;
+
+ /* remap optional addresses */
+ for (a = 0; a < nph; a++) {
+ struct device_node *node;
+ struct resource res;
+
+ node = of_parse_phandle(np, "memory-region", a);
+ err = of_address_to_resource(node, 0, &res);
+ if (err) {
+ dev_err(dev, "unable to resolve memory region\n");
+ return err;
+ }
+
+ if (b > IMX7D_RPROC_MEM_MAX)
+ break;
+
+ priv->mem[b].cpu_addr = devm_ioremap_resource(&pdev->dev, &res);
+ if (IS_ERR(priv->mem[b].cpu_addr)) {
+ dev_err(dev, "devm_ioremap_resource failed\n");
+ err = PTR_ERR(priv->mem[b].cpu_addr);
+ return err;
+ }
+ priv->mem[b].sys_addr = res.start;
+ priv->mem[b].size = resource_size(&res);
+ b++;
+ }
+
+ return 0;
+}
+
+static int imx_rproc_probe(struct platform_device *pdev)
+{
+ struct device *dev = &pdev->dev;
+ struct device_node *np = dev->of_node;
+ struct imx_rproc *priv;
+ struct rproc *rproc;
+ struct regmap_config config = { .name = "imx-rproc" };
+ const struct imx_rproc_dcfg *dcfg;
+ struct regmap *regmap;
+ int ret;
+
+ regmap = syscon_regmap_lookup_by_phandle(np, "syscon");
+ if (IS_ERR(regmap)) {
+ dev_err(dev, "failed to find syscon\n");
+ return PTR_ERR(regmap);
+ }
+ regmap_attach_dev(dev, regmap, &config);
+
+ /* set some other name then imx */
+ rproc = rproc_alloc(dev, "imx-rproc", &imx_rproc_ops,
+ NULL, sizeof(*priv));
+ if (!rproc) {
+ ret = -ENOMEM;
+ goto err;
+ }
+
+ dcfg = of_device_get_match_data(dev);
+ if (!dcfg)
+ return -EINVAL;
+
+ priv = rproc->priv;
+ priv->rproc = rproc;
+ priv->regmap = regmap;
+ priv->dcfg = dcfg;
+ priv->dev = dev;
+
+ dev_set_drvdata(dev, rproc);
+
+ ret = imx_rproc_addr_init(priv, pdev);
+ if (ret) {
+ dev_err(dev, "filed on imx_rproc_addr_init\n");
+ goto err_put_rproc;
+ }
+
+ priv->clk = devm_clk_get(dev, NULL);
+ if (IS_ERR(priv->clk)) {
+ dev_err(dev, "Failed to get clock\n");
+ rproc_free(rproc);
+ return PTR_ERR(priv->clk);
+ }
+
+ /*
+ * clk for M4 block including memory. Should be
+ * enabled before .start for FW transfer.
+ */
+ ret = clk_prepare_enable(priv->clk);
+ if (ret) {
+ dev_err(&rproc->dev, "Failed to enable clock\n");
+ rproc_free(rproc);
+ return ret;
+ }
+
+ ret = rproc_add(rproc);
+ if (ret) {
+ dev_err(dev, "rproc_add failed\n");
+ goto err_put_clk;
+ }
+
+ return ret;
+
+err_put_clk:
+ clk_disable_unprepare(priv->clk);
+err_put_rproc:
+ rproc_free(rproc);
+err:
+ return ret;
+}
+
+static int imx_rproc_remove(struct platform_device *pdev)
+{
+ struct rproc *rproc = platform_get_drvdata(pdev);
+ struct imx_rproc *priv = rproc->priv;
+
+ clk_disable_unprepare(priv->clk);
+ rproc_del(rproc);
+ rproc_free(rproc);
+
+ return 0;
+}
+
+static const struct of_device_id imx_rproc_of_match[] = {
+ { .compatible = "fsl,imx7d-cm4", .data = &imx_rproc_cfg_imx7d },
+ { .compatible = "fsl,imx6sx-cm4", .data = &imx_rproc_cfg_imx6sx },
+ {},
+};
+MODULE_DEVICE_TABLE(of, imx_rproc_of_match);
+
+static struct platform_driver imx_rproc_driver = {
+ .probe = imx_rproc_probe,
+ .remove = imx_rproc_remove,
+ .driver = {
+ .name = "imx-rproc",
+ .of_match_table = imx_rproc_of_match,
+ },
+};
+
+module_platform_driver(imx_rproc_driver);
+
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("IMX6SX/7D remote processor control driver");
+MODULE_AUTHOR("Oleksij Rempel <[email protected]>");
--
2.11.0
Signed-off-by: Oleksij Rempel <[email protected]>
---
.../devicetree/bindings/remoteproc/imx-rproc.txt | 33 ++++++++++++++++++++++
1 file changed, 33 insertions(+)
create mode 100644 Documentation/devicetree/bindings/remoteproc/imx-rproc.txt
diff --git a/Documentation/devicetree/bindings/remoteproc/imx-rproc.txt b/Documentation/devicetree/bindings/remoteproc/imx-rproc.txt
new file mode 100644
index 000000000000..fbcefd965dc4
--- /dev/null
+++ b/Documentation/devicetree/bindings/remoteproc/imx-rproc.txt
@@ -0,0 +1,33 @@
+NXP iMX6SX/iMX7D Co-Processor Bindings
+----------------------------------------
+
+This binding provides support for ARM Cortex M4 Co-processor found on some
+NXP iMX SoCs.
+
+Required properties:
+- compatible Should be one of:
+ "fsl,imx7d-cm4"
+ "fsl,imx6sx-cm4"
+- clocks Clock for co-processor (See: ../clock/clock-bindings.txt)
+- syscon Phandle to syscon block which provide access to
+ System Reset Controller
+
+Optional properties:
+- memory-region list of phandels to the reserved memory regions.
+ (See: ../reserved-memory/reserved-memory.txt)
+
+Example:
+ m4_reserved_sysmem1: cm4@80000000 {
+ reg = <0x80000000 0x80000>;
+ };
+
+ m4_reserved_sysmem2: cm4@81000000 {
+ reg = <0x81000000 0x80000>;
+ };
+
+ imx7d-cm4 {
+ compatible = "fsl,imx7d-cm4";
+ memory-region = <&m4_reserved_sysmem1>, <&m4_reserved_sysmem2>;
+ syscon = <&src>;
+ clocks = <&clks IMX7D_ARM_M4_ROOT_CLK>;
+ };
--
2.11.0
On Thu, Aug 17, 2017 at 09:15:25AM +0200, Oleksij Rempel wrote:
> Signed-off-by: Oleksij Rempel <[email protected]>
> ---
> .../devicetree/bindings/remoteproc/imx-rproc.txt | 33 ++++++++++++++++++++++
> 1 file changed, 33 insertions(+)
> create mode 100644 Documentation/devicetree/bindings/remoteproc/imx-rproc.txt
Acked-by: Rob Herring <[email protected]>
On Thu 17 Aug 00:15 PDT 2017, Oleksij Rempel wrote:
> this patch set to provide remoteproc functionality on
> i.MX7D SoC.
>
Sorry for taking my time on this, applied this to the rpmsg-next branch.
Regards,
Bjorn