Hello,
The EyeQ5 SoC from Mobileye is based on the MIPS I6500 architecture
and features multiple controllers such as the classic UART, I2C, SPI,
as well as CAN-FD, PCIe, Octal/Quad SPI Flash interface, Gigabit
Ethernet, MIPI CSI-2, and eMMC 5.1. It also includes a Hardware
Security Module, Functional Safety Hardware, and MJPEG encoder.
One peculiarity of this SoC is that the physical address of the DDDR
exceeds 32 bits. Given that the architecture is 64 bits, this is not
an issue, but it requires some changes in how the mips64 is currently
managed during boot.
In this sixth version, I tried to fix the last two issues I found to
merge the series. The first one is about using dedicated platform
support while still reusing code as much as possible, following
patches 13 and 14.The second point is about the "Fix kernel in XKPHYS"
series I added, which has some issues reported by Thomas. At first, I
only kept the necessary part for booting with XKPHYS, leaving out the
clean-up and optimization. Then, I addressed two concerns in this
series by adding an extra macro in the "MIPS: spaces: Define a couple
of handy macros" patch. Lastly, I attempted to make the changes more
concise and focus solely on a single purpose in the "MIPS: Allows
relocation exception vectors everywhere" patch.
To build and test the kernel, we need to run the following commands:
make eyeq5_defconfig
make vmlinuz.itb
Changelog:
v5 -> v6:
- From series v5, patches 1 ("MIPS: Export higher/highest
relocation functions in uasm") and 3 ("MIPS: genex: Fix
except_vec_vi for kernel in XKPHYS)" have been removed as "MIPS:
Allow vectored interrupt handler to reside everywhere for 64bit"
and "MIPS: Remove unused shadow GPR support from vector irq setup"
address the same requirement.
- From series v5, patches 8 to 12 have been removed as they are
not mandatory to support EyeQ5 SoCs.
- The 1st patch of series v6 ("MIPS: spaces: Define a couple of
handy macros") has been modified to add the extra macros
CKSEG[01]ADDR_OR_64BIT.
- Patch 3 ("MIPS: Allows relocation exception vectors everywhere")
is a merge of patches 6 ("MIPS: Refactor mips_cps_core_entry
implementation) and 7 ("MIPS: Fix cache issue with
mips_cps_core_entry") from series v5. It has been rewritten to
reduce the diff stat; the 64-bit fixes have been moved to patch 5
("MIPS: cps-vec: Use macros for 64-bit access").
- Patch 13 ("MIPS: Share generic kernel code with other
architecture)" is a new one allowing separate platform support in
the patch ("MIPS: Add support for Mobileye EyeQ5").
v4 -> v5:
- Improve commit messages for patch 3, 5, 12 and 13.
- Fix style in patch 9
- Really enable SPARSMEM and use correct address in
board-eyeq5.config in patch 21
v3 -> v4:
- Fix build warning in "MIPS: Get rid of CONFIG_NO_EXCEPT_FILL":
check that we are in 64bit mode before using KSEG0 that exist only
in this mode.
- Modify "MIPS: spaces: Define a couple of handy macros" to be
buildable in 32bit mode.
- Use correct format specifier to print address in "MIPS: traps: Give
more explanations if ebase doesn't belong to KSEG0"
- In "MIPS: generic: Add support for Mobileye EyeQ5",remove
CONFIG_ZBOOT_LOAD_ADDRESS from board-eyeq5.config, (as well as
CONFIG_USE_XKPHYS that does not exist anymore) and add
CONFIG_SPARSEMEM_MANUAL to enable SPARSMEM.
v2 -> v3
- Added more reviewed-by and acked-by tags
- Fix sorting for cpus entries in
- Fix indentation issue in Documentation/devicetree/bindings/mips/mobileye.yaml
v1 -> v2
- Added reviewed-by and acked-by tags
- Fix typos reported
- In patch 15 use 'img' vendor string instead of mti
- In patch 16 modify licence
- In patch 17 give more explanations about the block usage.
- In patch 18, remove _ in node names, don't use anymore
CONFIG_BUILTIN_DTB in Makefile, remove macro, modify licence.
- In patch 19 remove most of the bootargs and only keeps earlycon. I
also split the memory in 2 part in the device tree.
- Integrate the series from Jiaxun Yang
https://lore.kernel.org/linux-mips/[email protected]/
They are patches 2 to 6 and 8 to 12
Then I added patch 7 to fix the cache issue visible on the Mobileye
platform, I also add patch 13 to improve warning message when ebase
doesn't belong to KSEG0
Regards,
Gregory
Gregory CLEMENT (13):
MIPS: spaces: Define a couple of handy macros
MIPS: traps: Give more explanations if ebase doesn't belong to KSEG0
MIPS: cps-vec: Use macros for 64bits access
dt-bindings: Add vendor prefix for Mobileye Vision Technologies Ltd.
dt-bindings: mips: cpus: Sort the entries
dt-bindings: mips: cpu: Add I-Class I6500 Multiprocessor Core
dt-bindings: mips: Add bindings for Mobileye SoCs
dt-bindings: mfd: syscon: Document EyeQ5 OLB
MIPS: mobileye: Add EyeQ5 dtsi
MIPS: mobileye: Add EPM5 device tree
MIPS: Share generic kernel code with other architecture
MIPS: Add support for Mobileye EyeQ5
MAINTAINERS: Add entry for Mobileye MIPS SoCs
Jiaxun Yang (2):
MIPS: Fix set_uncached_handler for ebase in XKPHYS
MIPS: Allows relocation exception vectors everywhere
.../devicetree/bindings/mfd/syscon.yaml | 1 +
.../devicetree/bindings/mips/cpus.yaml | 13 +-
.../devicetree/bindings/mips/mobileye.yaml | 32 ++
.../devicetree/bindings/vendor-prefixes.yaml | 2 +
MAINTAINERS | 12 +
arch/mips/Kbuild | 1 +
arch/mips/Kbuild.platforms | 1 +
arch/mips/Kconfig | 65 ++++
arch/mips/boot/dts/Makefile | 1 +
arch/mips/boot/dts/mobileye/Makefile | 4 +
arch/mips/boot/dts/mobileye/eyeq5-epm5.dts | 24 ++
.../boot/dts/mobileye/eyeq5-fixed-clocks.dtsi | 292 ++++++++++++++++++
arch/mips/boot/dts/mobileye/eyeq5.dtsi | 131 ++++++++
arch/mips/configs/eyeq5_defconfig | 109 +++++++
arch/mips/generic/Makefile | 6 +-
arch/mips/include/asm/addrspace.h | 5 +
arch/mips/include/asm/mach-generic/spaces.h | 4 +
arch/mips/include/asm/mips-cm.h | 1 +
arch/mips/include/asm/smp-cps.h | 4 +-
arch/mips/kernel/cps-vec.S | 54 +---
arch/mips/kernel/smp-cps.c | 171 ++++++++--
arch/mips/kernel/traps.c | 7 +-
arch/mips/mobileye/Kconfig | 12 +
arch/mips/mobileye/Platform | 16 +
arch/mips/mobileye/board-epm5.its.S | 24 ++
arch/mips/mobileye/vmlinux.its.S | 32 ++
26 files changed, 943 insertions(+), 81 deletions(-)
create mode 100644 Documentation/devicetree/bindings/mips/mobileye.yaml
create mode 100644 arch/mips/boot/dts/mobileye/Makefile
create mode 100644 arch/mips/boot/dts/mobileye/eyeq5-epm5.dts
create mode 100644 arch/mips/boot/dts/mobileye/eyeq5-fixed-clocks.dtsi
create mode 100644 arch/mips/boot/dts/mobileye/eyeq5.dtsi
create mode 100644 arch/mips/configs/eyeq5_defconfig
create mode 100644 arch/mips/mobileye/Kconfig
create mode 100644 arch/mips/mobileye/Platform
create mode 100644 arch/mips/mobileye/board-epm5.its.S
create mode 100644 arch/mips/mobileye/vmlinux.its.S
--
2.43.0
Add Vlad, Théo and myself as co-maintainers for the Mobileye MIPS
SoCs.
Signed-off-by: Vladimir Kondratiev <[email protected]>
Signed-off-by: Théo Lebrun <[email protected]>
Signed-off-by: Gregory CLEMENT <[email protected]>
---
MAINTAINERS | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/MAINTAINERS b/MAINTAINERS
index b3444c8c6512e..b18f328ee8ee7 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -14546,6 +14546,18 @@ W: https://linuxtv.org
Q: http://patchwork.linuxtv.org/project/linux-media/list/
F: drivers/media/dvb-frontends/mn88473*
+MOBILEYE MIPS SOCS
+M: Vladimir Kondratiev <[email protected]>
+M: Gregory CLEMENT <[email protected]>
+M: Théo Lebrun <[email protected]>
+L: [email protected]
+S: Maintained
+F: Documentation/devicetree/bindings/mips/mobileye.yaml
+F: arch/mips/boot/dts/mobileye/
+F: arch/mips/configs/eyeq5_defconfig
+F: arch/mips/mobileye/board-epm5.its.S
+F: include/dt-bindings/soc/mobileye,eyeq5.h
+
MODULE SUPPORT
M: Luis Chamberlain <[email protected]>
L: [email protected]
--
2.43.0
Introduce support for the MIPS based Mobileye EyeQ5 SoCs.
Signed-off-by: Gregory CLEMENT <[email protected]>
---
arch/mips/Kbuild.platforms | 1 +
arch/mips/Kconfig | 62 ++++++++++++++++
arch/mips/configs/eyeq5_defconfig | 109 ++++++++++++++++++++++++++++
arch/mips/mobileye/Kconfig | 12 +++
arch/mips/mobileye/Platform | 16 ++++
arch/mips/mobileye/board-epm5.its.S | 24 ++++++
arch/mips/mobileye/vmlinux.its.S | 32 ++++++++
7 files changed, 256 insertions(+)
create mode 100644 arch/mips/configs/eyeq5_defconfig
create mode 100644 arch/mips/mobileye/Kconfig
create mode 100644 arch/mips/mobileye/Platform
create mode 100644 arch/mips/mobileye/board-epm5.its.S
create mode 100644 arch/mips/mobileye/vmlinux.its.S
diff --git a/arch/mips/Kbuild.platforms b/arch/mips/Kbuild.platforms
index a2311c4bce6a6..5c145b67d3bf4 100644
--- a/arch/mips/Kbuild.platforms
+++ b/arch/mips/Kbuild.platforms
@@ -17,6 +17,7 @@ platform-$(CONFIG_MACH_LOONGSON2EF) += loongson2ef/
platform-$(CONFIG_MACH_LOONGSON32) += loongson32/
platform-$(CONFIG_MACH_LOONGSON64) += loongson64/
platform-$(CONFIG_MIPS_MALTA) += mti-malta/
+platform-$(CONFIG_MACH_EYEQ5) += mobileye/
platform-$(CONFIG_MACH_NINTENDO64) += n64/
platform-$(CONFIG_PIC32MZDA) += pic32/
platform-$(CONFIG_RALINK) += ralink/
diff --git a/arch/mips/Kconfig b/arch/mips/Kconfig
index 5549d26448941..e4f624adffee8 100644
--- a/arch/mips/Kconfig
+++ b/arch/mips/Kconfig
@@ -569,6 +569,68 @@ config MACH_PIC32
Microchip PIC32 is a family of general-purpose 32 bit MIPS core
microcontrollers.
+config MACH_EYEQ5
+ bool "Mobileye EyeQ5 SoC"
+ select MACH_GENERIC_CORE
+ select ARM_AMBA
+ select WEAK_ORDERING
+ select WEAK_REORDERING_BEYOND_LLSC
+ select PHYSICAL_START_BOOL
+ select ARCH_SPARSEMEM_DEFAULT if 64BIT
+ select BOOT_RAW
+ select BUILTIN_DTB
+ select CEVT_R4K
+ select CLKSRC_MIPS_GIC
+ select COMMON_CLK
+ select CPU_MIPSR2_IRQ_EI
+ select CPU_MIPSR2_IRQ_VI
+ select CSRC_R4K
+ select DMA_NONCOHERENT
+ select HAVE_PCI
+ select IRQ_MIPS_CPU
+ select MIPS_AUTO_PFN_OFFSET
+ select MIPS_CPU_SCACHE
+ select MIPS_GIC
+ select MIPS_L1_CACHE_SHIFT_7
+ select PCI_DRIVERS_GENERIC
+ select SMP_UP if SMP
+ select SWAP_IO_SPACE
+ select SYS_HAS_CPU_MIPS64_R6
+ select SYS_SUPPORTS_32BIT_KERNEL
+ select SYS_SUPPORTS_64BIT_KERNEL
+ select SYS_SUPPORTS_BIG_ENDIAN
+ select SYS_SUPPORTS_HIGHMEM
+ select SYS_SUPPORTS_LITTLE_ENDIAN
+ select SYS_SUPPORTS_MICROMIPS
+ select SYS_SUPPORTS_MIPS16
+ select SYS_SUPPORTS_MIPS_CPS
+ select SYS_SUPPORTS_MULTITHREADING
+ select SYS_SUPPORTS_RELOCATABLE
+ select SYS_SUPPORTS_SMARTMIPS
+ select SYS_SUPPORTS_ZBOOT
+ select UHI_BOOT
+ select USB_EHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
+ select USB_EHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
+ select USB_OHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
+ select USB_OHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
+ select USB_UHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
+ select USB_UHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
+ select USE_OF
+ help
+ Select this to build a kernel supporting EyeQ5 SoC from Mobileye.
+
+ bool
+
+config FIT_IMAGE_FDT_EPM5
+ bool "Include FDT for Mobileye EyeQ5 development platforms"
+ depends on MACH_EYEQ5
+ default n
+ help
+ Enable this to include the FDT for the EyeQ5 development platforms
+ from Mobileye in the FIT kernel image.
+ This requires u-boot on the platform.
+
+
config MACH_NINTENDO64
bool "Nintendo 64 console"
select CEVT_R4K
diff --git a/arch/mips/configs/eyeq5_defconfig b/arch/mips/configs/eyeq5_defconfig
new file mode 100644
index 0000000000000..653fb11b1580d
--- /dev/null
+++ b/arch/mips/configs/eyeq5_defconfig
@@ -0,0 +1,109 @@
+CONFIG_SYSVIPC=y
+CONFIG_NO_HZ_IDLE=y
+CONFIG_HIGH_RES_TIMERS=y
+CONFIG_BPF_SYSCALL=y
+CONFIG_TASKSTATS=y
+CONFIG_IKCONFIG=y
+CONFIG_IKCONFIG_PROC=y
+CONFIG_MEMCG=y
+CONFIG_BLK_CGROUP=y
+CONFIG_CFS_BANDWIDTH=y
+CONFIG_RT_GROUP_SCHED=y
+CONFIG_CGROUP_PIDS=y
+CONFIG_CGROUP_FREEZER=y
+CONFIG_CPUSETS=y
+CONFIG_CGROUP_DEVICE=y
+CONFIG_CGROUP_CPUACCT=y
+CONFIG_NAMESPACES=y
+CONFIG_USER_NS=y
+CONFIG_SCHED_AUTOGROUP=y
+CONFIG_BLK_DEV_INITRD=y
+CONFIG_EXPERT=y
+CONFIG_MACH_EYEQ5=y
+CONFIG_FIT_IMAGE_FDT_EPM5=y
+CONFIG_CPU_LITTLE_ENDIAN=y
+CONFIG_64BIT=y
+CONFIG_PAGE_SIZE_16KB=y
+CONFIG_MIPS_CPS=y
+CONFIG_CPU_HAS_MSA=y
+CONFIG_NR_CPUS=16
+CONFIG_JUMP_LABEL=y
+CONFIG_COMPAT_32BIT_TIME=y
+CONFIG_MODULES=y
+CONFIG_MODULE_UNLOAD=y
+CONFIG_TRIM_UNUSED_KSYMS=y
+# CONFIG_COMPAT_BRK is not set
+CONFIG_SPARSEMEM_MANUAL=y
+CONFIG_USERFAULTFD=y
+CONFIG_NET=y
+CONFIG_PACKET=y
+CONFIG_UNIX=y
+CONFIG_NET_KEY=y
+CONFIG_INET=y
+CONFIG_IP_PNP=y
+CONFIG_IP_PNP_DHCP=y
+CONFIG_NETFILTER=y
+CONFIG_CAN=y
+CONFIG_PCI=y
+CONFIG_PCI_MSI=y
+CONFIG_PCI_DEBUG=y
+CONFIG_PCI_ENDPOINT=y
+CONFIG_DEVTMPFS=y
+CONFIG_DEVTMPFS_MOUNT=y
+CONFIG_CONNECTOR=y
+CONFIG_MTD=y
+CONFIG_MTD_UBI=y
+CONFIG_MTD_UBI_BLOCK=y
+CONFIG_SCSI=y
+CONFIG_NETDEVICES=y
+CONFIG_MACVLAN=y
+CONFIG_IPVLAN=y
+CONFIG_MACB=y
+CONFIG_MARVELL_PHY=y
+CONFIG_MICREL_PHY=y
+CONFIG_CAN_M_CAN=y
+CONFIG_SERIAL_AMBA_PL011=y
+CONFIG_SERIAL_AMBA_PL011_CONSOLE=y
+CONFIG_HW_RANDOM=y
+# CONFIG_PTP_1588_CLOCK is not set
+CONFIG_PINCTRL=y
+CONFIG_MFD_SYSCON=y
+CONFIG_HID_A4TECH=y
+CONFIG_HID_BELKIN=y
+CONFIG_HID_CHERRY=y
+CONFIG_HID_CYPRESS=y
+CONFIG_HID_EZKEY=y
+CONFIG_HID_ITE=y
+CONFIG_HID_KENSINGTON=y
+CONFIG_HID_REDRAGON=y
+CONFIG_HID_MICROSOFT=y
+CONFIG_HID_MONTEREY=y
+CONFIG_MMC=y
+CONFIG_MMC_SDHCI=y
+# CONFIG_IOMMU_SUPPORT is not set
+CONFIG_RESET_CONTROLLER=y
+# CONFIG_NVMEM is not set
+CONFIG_EXT4_FS=y
+CONFIG_EXT4_FS_POSIX_ACL=y
+CONFIG_EXT4_FS_SECURITY=y
+CONFIG_FS_ENCRYPTION=y
+CONFIG_FUSE_FS=y
+CONFIG_CUSE=y
+CONFIG_MSDOS_FS=y
+CONFIG_VFAT_FS=y
+CONFIG_TMPFS=y
+CONFIG_TMPFS_POSIX_ACL=y
+CONFIG_UBIFS_FS=y
+CONFIG_NFS_FS=y
+CONFIG_NFS_V3_ACL=y
+CONFIG_NFS_V4=y
+CONFIG_NFS_V4_1=y
+CONFIG_NFS_V4_2=y
+CONFIG_ROOT_NFS=y
+CONFIG_CRYPTO_CRC32_MIPS=y
+CONFIG_FRAME_WARN=1024
+CONFIG_DEBUG_FS=y
+# CONFIG_RCU_TRACE is not set
+# CONFIG_FTRACE is not set
+CONFIG_CMDLINE_BOOL=y
+CONFIG_CMDLINE="earlycon"
diff --git a/arch/mips/mobileye/Kconfig b/arch/mips/mobileye/Kconfig
new file mode 100644
index 0000000000000..781007542422d
--- /dev/null
+++ b/arch/mips/mobileye/Kconfig
@@ -0,0 +1,12 @@
+# SPDX-License-Identifier: GPL-2.0
+if MACH_EYEQ5
+
+config BOARD_EYEQ5
+ bool "Support EyeQ5 platform"
+ select WEAK_ORDERING
+ select WEAK_REORDERING_BEYOND_LLSC
+ default n
+ help
+ This enables support for EyeQ5 platform.
+
+endif
diff --git a/arch/mips/mobileye/Platform b/arch/mips/mobileye/Platform
new file mode 100644
index 0000000000000..43b6f4644592f
--- /dev/null
+++ b/arch/mips/mobileye/Platform
@@ -0,0 +1,16 @@
+#
+# Copyright (C) 2016 Imagination Technologies
+# Author: Paul Burton <[email protected]>
+#
+# 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; either version 2 of the License, or (at your
+# option) any later version.
+#
+
+load-$(CONFIG_MACH_EYEQ5) = 0xa800000808000000
+all-$(CONFIG_MACH_EYEQ5) += vmlinux.gz.itb
+
+its-y := vmlinux.its.S
+its-$(CONFIG_FIT_IMAGE_FDT_EPM5) += board-epm5.its.S
+
diff --git a/arch/mips/mobileye/board-epm5.its.S b/arch/mips/mobileye/board-epm5.its.S
new file mode 100644
index 0000000000000..08e8c4f183d63
--- /dev/null
+++ b/arch/mips/mobileye/board-epm5.its.S
@@ -0,0 +1,24 @@
+/* SPDX-License-Identifier: (GPL-2.0 OR MIT) */
+/ {
+ images {
+ fdt-mobileye-epm5 {
+ description = "Mobileeye MP5 Device Tree";
+ data = /incbin/("boot/dts/mobileye/eyeq5-epm5.dtb");
+ type = "flat_dt";
+ arch = "mips";
+ compression = "none";
+ hash {
+ algo = "sha1";
+ };
+ };
+ };
+
+ configurations {
+ default = "conf-1";
+ conf-1 {
+ description = "Mobileye EPM5 Linux kernel";
+ kernel = "kernel";
+ fdt = "fdt-mobileye-epm5";
+ };
+ };
+};
diff --git a/arch/mips/mobileye/vmlinux.its.S b/arch/mips/mobileye/vmlinux.its.S
new file mode 100644
index 0000000000000..3e254676540f4
--- /dev/null
+++ b/arch/mips/mobileye/vmlinux.its.S
@@ -0,0 +1,32 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/dts-v1/;
+
+/ {
+ description = KERNEL_NAME;
+ #address-cells = <ADDR_CELLS>;
+
+ images {
+ kernel {
+ description = KERNEL_NAME;
+ data = /incbin/(VMLINUX_BINARY);
+ type = "kernel";
+ arch = "mips";
+ os = "linux";
+ compression = VMLINUX_COMPRESSION;
+ load = /bits/ ADDR_BITS <VMLINUX_LOAD_ADDRESS>;
+ entry = /bits/ ADDR_BITS <VMLINUX_ENTRY_ADDRESS>;
+ hash {
+ algo = "sha1";
+ };
+ };
+ };
+
+ configurations {
+ default = "conf-default";
+
+ conf-default {
+ description = "Generic Linux kernel";
+ kernel = "kernel";
+ };
+ };
+};
--
2.43.0
在 2024/1/18 15:52, Gregory CLEMENT 写道:
> Introduce support for the MIPS based Mobileye EyeQ5 SoCs.
>
> Signed-off-by: Gregory CLEMENT <[email protected]>
Hi Gregory,
Thanks for your reversion!
See my comments below.
> ---
> arch/mips/Kbuild.platforms | 1 +
> arch/mips/Kconfig | 62 ++++++++++++++++
> arch/mips/configs/eyeq5_defconfig | 109 ++++++++++++++++++++++++++++
> arch/mips/mobileye/Kconfig | 12 +++
> arch/mips/mobileye/Platform | 16 ++++
> arch/mips/mobileye/board-epm5.its.S | 24 ++++++
> arch/mips/mobileye/vmlinux.its.S | 32 ++++++++
> 7 files changed, 256 insertions(+)
> create mode 100644 arch/mips/configs/eyeq5_defconfig
> create mode 100644 arch/mips/mobileye/Kconfig
> create mode 100644 arch/mips/mobileye/Platform
> create mode 100644 arch/mips/mobileye/board-epm5.its.S
> create mode 100644 arch/mips/mobileye/vmlinux.its.S
>
> diff --git a/arch/mips/Kbuild.platforms b/arch/mips/Kbuild.platforms
> index a2311c4bce6a6..5c145b67d3bf4 100644
> --- a/arch/mips/Kbuild.platforms
> +++ b/arch/mips/Kbuild.platforms
> @@ -17,6 +17,7 @@ platform-$(CONFIG_MACH_LOONGSON2EF) += loongson2ef/
> platform-$(CONFIG_MACH_LOONGSON32) += loongson32/
> platform-$(CONFIG_MACH_LOONGSON64) += loongson64/
> platform-$(CONFIG_MIPS_MALTA) += mti-malta/
> +platform-$(CONFIG_MACH_EYEQ5) += mobileye/
> platform-$(CONFIG_MACH_NINTENDO64) += n64/
> platform-$(CONFIG_PIC32MZDA) += pic32/
> platform-$(CONFIG_RALINK) += ralink/
> diff --git a/arch/mips/Kconfig b/arch/mips/Kconfig
> index 5549d26448941..e4f624adffee8 100644
> --- a/arch/mips/Kconfig
> +++ b/arch/mips/Kconfig
> @@ -569,6 +569,68 @@ config MACH_PIC32
> Microchip PIC32 is a family of general-purpose 32 bit MIPS core
> microcontrollers.
>
> +config MACH_EYEQ5
> + bool "Mobileye EyeQ5 SoC"
> + select MACH_GENERIC_CORE
> + select ARM_AMBA
> + select WEAK_ORDERING
> + select WEAK_REORDERING_BEYOND_LLSC
^ Those should be selected for MIPS_CPS, as I mentioned before.
> + select PHYSICAL_START_BOOL
> + select ARCH_SPARSEMEM_DEFAULT if 64BIT
> + select BOOT_RAW
> + select BUILTIN_DTB
> + select CEVT_R4K
> + select CLKSRC_MIPS_GIC
> + select COMMON_CLK
> + select CPU_MIPSR2_IRQ_EI
> + select CPU_MIPSR2_IRQ_VI
> + select CSRC_R4K
> + select DMA_NONCOHERENT
> + select HAVE_PCI
> + select IRQ_MIPS_CPU
> + select MIPS_AUTO_PFN_OFFSET
> + select MIPS_CPU_SCACHE
> + select MIPS_GIC
> + select MIPS_L1_CACHE_SHIFT_7
> + select PCI_DRIVERS_GENERIC
> + select SMP_UP if SMP
> + select SWAP_IO_SPACE
> + select SYS_HAS_CPU_MIPS64_R6
> + select SYS_SUPPORTS_32BIT_KERNEL
^ I don't think you can build 32bit kernel due to your address space
limitation.
> + select SYS_SUPPORTS_64BIT_KERNEL
> + select SYS_SUPPORTS_BIG_ENDIAN
^ Does it support big endian mode?
For I6500 endian pin is driven by external circuit. You shouldn't select
it unless you have
physical endian pin or reset and set register at SoC level.
> + select SYS_SUPPORTS_HIGHMEM
> + select SYS_SUPPORTS_LITTLE_ENDIAN
> + select SYS_SUPPORTS_MICROMIPS
> + select SYS_SUPPORTS_MIPS16
^ Both MICROMIPS and MIPS16 are not available on MIPS R6.
> + select SYS_SUPPORTS_MIPS_CPS
> + select SYS_SUPPORTS_MULTITHREADING
^ MT is not possible on R6, we do have VP on R6.
> + select SYS_SUPPORTS_RELOCATABLE
> + select SYS_SUPPORTS_SMARTMIPS
^ SMARTMIPS is deprecated on R6.
> + select SYS_SUPPORTS_ZBOOT
> + select UHI_BOOT
> + select USB_EHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
> + select USB_EHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
> + select USB_OHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
> + select USB_OHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
> + select USB_UHCI_BIG_ENDIAN_DESC if CPU_BIG_ENDIAN
> + select USB_UHCI_BIG_ENDIAN_MMIO if CPU_BIG_ENDIAN
> + select USE_OF
> + help
> + Select this to build a kernel supporting EyeQ5 SoC from Mobileye.
> +
> + bool
> +
> +config FIT_IMAGE_FDT_EPM5
> + bool "Include FDT for Mobileye EyeQ5 development platforms"
> + depends on MACH_EYEQ5
> + default n
> + help
> + Enable this to include the FDT for the EyeQ5 development platforms
> + from Mobileye in the FIT kernel image.
> + This requires u-boot on the platform.
> +
> +
> config MACH_NINTENDO64
> bool "Nintendo 64 console"
> select CEVT_R4K
> diff --git a/arch/mips/configs/eyeq5_defconfig b/arch/mips/configs/eyeq5_defconfig
> new file mode 100644
> index 0000000000000..653fb11b1580d
> --- /dev/null
> +++ b/arch/mips/configs/eyeq5_defconfig
> @@ -0,0 +1,109 @@
> +CONFIG_SYSVIPC=y
> +CONFIG_NO_HZ_IDLE=y
> +CONFIG_HIGH_RES_TIMERS=y
> +CONFIG_BPF_SYSCALL=y
> +CONFIG_TASKSTATS=y
> +CONFIG_IKCONFIG=y
> +CONFIG_IKCONFIG_PROC=y
> +CONFIG_MEMCG=y
> +CONFIG_BLK_CGROUP=y
> +CONFIG_CFS_BANDWIDTH=y
> +CONFIG_RT_GROUP_SCHED=y
> +CONFIG_CGROUP_PIDS=y
> +CONFIG_CGROUP_FREEZER=y
> +CONFIG_CPUSETS=y
> +CONFIG_CGROUP_DEVICE=y
> +CONFIG_CGROUP_CPUACCT=y
> +CONFIG_NAMESPACES=y
> +CONFIG_USER_NS=y
> +CONFIG_SCHED_AUTOGROUP=y
> +CONFIG_BLK_DEV_INITRD=y
> +CONFIG_EXPERT=y
> +CONFIG_MACH_EYEQ5=y
> +CONFIG_FIT_IMAGE_FDT_EPM5=y
> +CONFIG_CPU_LITTLE_ENDIAN=y
> +CONFIG_64BIT=y
> +CONFIG_PAGE_SIZE_16KB=y
> +CONFIG_MIPS_CPS=y
> +CONFIG_CPU_HAS_MSA=y
> +CONFIG_NR_CPUS=16
> +CONFIG_JUMP_LABEL=y
> +CONFIG_COMPAT_32BIT_TIME=y
> +CONFIG_MODULES=y
> +CONFIG_MODULE_UNLOAD=y
> +CONFIG_TRIM_UNUSED_KSYMS=y
> +# CONFIG_COMPAT_BRK is not set
> +CONFIG_SPARSEMEM_MANUAL=y
> +CONFIG_USERFAULTFD=y
> +CONFIG_NET=y
> +CONFIG_PACKET=y
> +CONFIG_UNIX=y
> +CONFIG_NET_KEY=y
> +CONFIG_INET=y
> +CONFIG_IP_PNP=y
> +CONFIG_IP_PNP_DHCP=y
> +CONFIG_NETFILTER=y
> +CONFIG_CAN=y
> +CONFIG_PCI=y
> +CONFIG_PCI_MSI=y
> +CONFIG_PCI_DEBUG=y
> +CONFIG_PCI_ENDPOINT=y
> +CONFIG_DEVTMPFS=y
> +CONFIG_DEVTMPFS_MOUNT=y
> +CONFIG_CONNECTOR=y
> +CONFIG_MTD=y
> +CONFIG_MTD_UBI=y
> +CONFIG_MTD_UBI_BLOCK=y
> +CONFIG_SCSI=y
> +CONFIG_NETDEVICES=y
> +CONFIG_MACVLAN=y
> +CONFIG_IPVLAN=y
> +CONFIG_MACB=y
> +CONFIG_MARVELL_PHY=y
> +CONFIG_MICREL_PHY=y
> +CONFIG_CAN_M_CAN=y
> +CONFIG_SERIAL_AMBA_PL011=y
> +CONFIG_SERIAL_AMBA_PL011_CONSOLE=y
> +CONFIG_HW_RANDOM=y
> +# CONFIG_PTP_1588_CLOCK is not set
> +CONFIG_PINCTRL=y
> +CONFIG_MFD_SYSCON=y
> +CONFIG_HID_A4TECH=y
> +CONFIG_HID_BELKIN=y
> +CONFIG_HID_CHERRY=y
> +CONFIG_HID_CYPRESS=y
> +CONFIG_HID_EZKEY=y
> +CONFIG_HID_ITE=y
> +CONFIG_HID_KENSINGTON=y
> +CONFIG_HID_REDRAGON=y
> +CONFIG_HID_MICROSOFT=y
> +CONFIG_HID_MONTEREY=y
> +CONFIG_MMC=y
> +CONFIG_MMC_SDHCI=y
> +# CONFIG_IOMMU_SUPPORT is not set
> +CONFIG_RESET_CONTROLLER=y
> +# CONFIG_NVMEM is not set
> +CONFIG_EXT4_FS=y
> +CONFIG_EXT4_FS_POSIX_ACL=y
> +CONFIG_EXT4_FS_SECURITY=y
> +CONFIG_FS_ENCRYPTION=y
> +CONFIG_FUSE_FS=y
> +CONFIG_CUSE=y
> +CONFIG_MSDOS_FS=y
> +CONFIG_VFAT_FS=y
> +CONFIG_TMPFS=y
> +CONFIG_TMPFS_POSIX_ACL=y
> +CONFIG_UBIFS_FS=y
> +CONFIG_NFS_FS=y
> +CONFIG_NFS_V3_ACL=y
> +CONFIG_NFS_V4=y
> +CONFIG_NFS_V4_1=y
> +CONFIG_NFS_V4_2=y
> +CONFIG_ROOT_NFS=y
> +CONFIG_CRYPTO_CRC32_MIPS=y
> +CONFIG_FRAME_WARN=1024
> +CONFIG_DEBUG_FS=y
> +# CONFIG_RCU_TRACE is not set
> +# CONFIG_FTRACE is not set
> +CONFIG_CMDLINE_BOOL=y
> +CONFIG_CMDLINE="earlycon"
^ Better not overriding cmdline here, you can leave it in chosen node.
> diff --git a/arch/mips/mobileye/Kconfig b/arch/mips/mobileye/Kconfig
> new file mode 100644
> index 0000000000000..781007542422d
> --- /dev/null
> +++ b/arch/mips/mobileye/Kconfig
> @@ -0,0 +1,12 @@
> +# SPDX-License-Identifier: GPL-2.0
> +if MACH_EYEQ5
> +
> +config BOARD_EYEQ5
> + bool "Support EyeQ5 platform"
> + select WEAK_ORDERING
> + select WEAK_REORDERING_BEYOND_LLSC
> + default n
> + help
> + This enables support for EyeQ5 platform.
^ Do you need this board option, given that you can build a generic
kernel for all
EyeQ5 systems?
Thanks
- Jiaxun
> +
> +endif
> diff --git a/arch/mips/mobileye/Platform b/arch/mips/mobileye/Platform
> new file mode 100644
> index 0000000000000..43b6f4644592f
> --- /dev/null
> +++ b/arch/mips/mobileye/Platform
> @@ -0,0 +1,16 @@
> +#
> +# Copyright (C) 2016 Imagination Technologies
> +# Author: Paul Burton <[email protected]>
> +#
> +# 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; either version 2 of the License, or (at your
> +# option) any later version.
> +#
> +
> +load-$(CONFIG_MACH_EYEQ5) = 0xa800000808000000
> +all-$(CONFIG_MACH_EYEQ5) += vmlinux.gz.itb
> +
> +its-y := vmlinux.its.S
> +its-$(CONFIG_FIT_IMAGE_FDT_EPM5) += board-epm5.its.S
> +
> diff --git a/arch/mips/mobileye/board-epm5.its.S b/arch/mips/mobileye/board-epm5.its.S
> new file mode 100644
> index 0000000000000..08e8c4f183d63
> --- /dev/null
> +++ b/arch/mips/mobileye/board-epm5.its.S
> @@ -0,0 +1,24 @@
> +/* SPDX-License-Identifier: (GPL-2.0 OR MIT) */
> +/ {
> + images {
> + fdt-mobileye-epm5 {
> + description = "Mobileeye MP5 Device Tree";
> + data = /incbin/("boot/dts/mobileye/eyeq5-epm5.dtb");
> + type = "flat_dt";
> + arch = "mips";
> + compression = "none";
> + hash {
> + algo = "sha1";
> + };
> + };
> + };
> +
> + configurations {
> + default = "conf-1";
> + conf-1 {
> + description = "Mobileye EPM5 Linux kernel";
> + kernel = "kernel";
> + fdt = "fdt-mobileye-epm5";
> + };
> + };
> +};
> diff --git a/arch/mips/mobileye/vmlinux.its.S b/arch/mips/mobileye/vmlinux.its.S
> new file mode 100644
> index 0000000000000..3e254676540f4
> --- /dev/null
> +++ b/arch/mips/mobileye/vmlinux.its.S
> @@ -0,0 +1,32 @@
> +/* SPDX-License-Identifier: GPL-2.0 */
> +/dts-v1/;
> +
> +/ {
> + description = KERNEL_NAME;
> + #address-cells = <ADDR_CELLS>;
> +
> + images {
> + kernel {
> + description = KERNEL_NAME;
> + data = /incbin/(VMLINUX_BINARY);
> + type = "kernel";
> + arch = "mips";
> + os = "linux";
> + compression = VMLINUX_COMPRESSION;
> + load = /bits/ ADDR_BITS <VMLINUX_LOAD_ADDRESS>;
> + entry = /bits/ ADDR_BITS <VMLINUX_ENTRY_ADDRESS>;
> + hash {
> + algo = "sha1";
> + };
> + };
> + };
> +
> + configurations {
> + default = "conf-default";
> +
> + conf-default {
> + description = "Generic Linux kernel";
> + kernel = "kernel";
> + };
> + };
> +};
--
---
Jiaxun Yang
Gregory CLEMENT <[email protected]> writes:
Hello Thomas,
> Hello,
>
> The EyeQ5 SoC from Mobileye is based on the MIPS I6500 architecture
> and features multiple controllers such as the classic UART, I2C, SPI,
> as well as CAN-FD, PCIe, Octal/Quad SPI Flash interface, Gigabit
> Ethernet, MIPI CSI-2, and eMMC 5.1. It also includes a Hardware
> Security Module, Functional Safety Hardware, and MJPEG encoder.
>
> One peculiarity of this SoC is that the physical address of the DDDR
> exceeds 32 bits. Given that the architecture is 64 bits, this is not
> an issue, but it requires some changes in how the mips64 is currently
> managed during boot.
>
> In this sixth version, I tried to fix the last two issues I found to
> merge the series. The first one is about using dedicated platform
> support while still reusing code as much as possible, following
> patches 13 and 14.The second point is about the "Fix kernel in XKPHYS"
> series I added, which has some issues reported by Thomas. At first, I
> only kept the necessary part for booting with XKPHYS, leaving out the
> clean-up and optimization. Then, I addressed two concerns in this
> series by adding an extra macro in the "MIPS: spaces: Define a couple
> of handy macros" patch. Lastly, I attempted to make the changes more
> concise and focus solely on a single purpose in the "MIPS: Allows
> relocation exception vectors everywhere" patch.
What do you think of these series? Does it match your requirements? I am
about to send a new version, taking into account the remarks from Jiaxun
about the configuration. However, before doing this, I would like to
know if more changes are needed.
Thanks,
Gregory
>
> To build and test the kernel, we need to run the following commands:
>
> make eyeq5_defconfig
> make vmlinuz.itb
>
> Changelog:
>
> v5 -> v6:
>
> - From series v5, patches 1 ("MIPS: Export higher/highest
> relocation functions in uasm") and 3 ("MIPS: genex: Fix
> except_vec_vi for kernel in XKPHYS)" have been removed as "MIPS:
> Allow vectored interrupt handler to reside everywhere for 64bit"
> and "MIPS: Remove unused shadow GPR support from vector irq setup"
> address the same requirement.
>
> - From series v5, patches 8 to 12 have been removed as they are
> not mandatory to support EyeQ5 SoCs.
>
> - The 1st patch of series v6 ("MIPS: spaces: Define a couple of
> handy macros") has been modified to add the extra macros
> CKSEG[01]ADDR_OR_64BIT.
>
> - Patch 3 ("MIPS: Allows relocation exception vectors everywhere")
> is a merge of patches 6 ("MIPS: Refactor mips_cps_core_entry
> implementation) and 7 ("MIPS: Fix cache issue with
> mips_cps_core_entry") from series v5. It has been rewritten to
> reduce the diff stat; the 64-bit fixes have been moved to patch 5
> ("MIPS: cps-vec: Use macros for 64-bit access").
>
> - Patch 13 ("MIPS: Share generic kernel code with other
> architecture)" is a new one allowing separate platform support in
> the patch ("MIPS: Add support for Mobileye EyeQ5").
>
> v4 -> v5:
>
> - Improve commit messages for patch 3, 5, 12 and 13.
>
> - Fix style in patch 9
>
> - Really enable SPARSMEM and use correct address in
> board-eyeq5.config in patch 21
>
> v3 -> v4:
>
> - Fix build warning in "MIPS: Get rid of CONFIG_NO_EXCEPT_FILL":
> check that we are in 64bit mode before using KSEG0 that exist only
> in this mode.
>
> - Modify "MIPS: spaces: Define a couple of handy macros" to be
> buildable in 32bit mode.
>
> - Use correct format specifier to print address in "MIPS: traps: Give
> more explanations if ebase doesn't belong to KSEG0"
>
> - In "MIPS: generic: Add support for Mobileye EyeQ5",remove
> CONFIG_ZBOOT_LOAD_ADDRESS from board-eyeq5.config, (as well as
> CONFIG_USE_XKPHYS that does not exist anymore) and add
> CONFIG_SPARSEMEM_MANUAL to enable SPARSMEM.
>
> v2 -> v3
>
> - Added more reviewed-by and acked-by tags
>
> - Fix sorting for cpus entries in
>
> - Fix indentation issue in Documentation/devicetree/bindings/mips/mobileye.yaml
>
> v1 -> v2
>
> - Added reviewed-by and acked-by tags
>
> - Fix typos reported
>
> - In patch 15 use 'img' vendor string instead of mti
>
> - In patch 16 modify licence
>
> - In patch 17 give more explanations about the block usage.
>
> - In patch 18, remove _ in node names, don't use anymore
> CONFIG_BUILTIN_DTB in Makefile, remove macro, modify licence.
>
> - In patch 19 remove most of the bootargs and only keeps earlycon. I
> also split the memory in 2 part in the device tree.
>
> - Integrate the series from Jiaxun Yang
> https://lore.kernel.org/linux-mips/[email protected]/
>
> They are patches 2 to 6 and 8 to 12
>
> Then I added patch 7 to fix the cache issue visible on the Mobileye
> platform, I also add patch 13 to improve warning message when ebase
> doesn't belong to KSEG0
>
> Regards,
>
> Gregory
>
> Gregory CLEMENT (13):
> MIPS: spaces: Define a couple of handy macros
> MIPS: traps: Give more explanations if ebase doesn't belong to KSEG0
> MIPS: cps-vec: Use macros for 64bits access
> dt-bindings: Add vendor prefix for Mobileye Vision Technologies Ltd.
> dt-bindings: mips: cpus: Sort the entries
> dt-bindings: mips: cpu: Add I-Class I6500 Multiprocessor Core
> dt-bindings: mips: Add bindings for Mobileye SoCs
> dt-bindings: mfd: syscon: Document EyeQ5 OLB
> MIPS: mobileye: Add EyeQ5 dtsi
> MIPS: mobileye: Add EPM5 device tree
> MIPS: Share generic kernel code with other architecture
> MIPS: Add support for Mobileye EyeQ5
> MAINTAINERS: Add entry for Mobileye MIPS SoCs
>
> Jiaxun Yang (2):
> MIPS: Fix set_uncached_handler for ebase in XKPHYS
> MIPS: Allows relocation exception vectors everywhere
>
> .../devicetree/bindings/mfd/syscon.yaml | 1 +
> .../devicetree/bindings/mips/cpus.yaml | 13 +-
> .../devicetree/bindings/mips/mobileye.yaml | 32 ++
> .../devicetree/bindings/vendor-prefixes.yaml | 2 +
> MAINTAINERS | 12 +
> arch/mips/Kbuild | 1 +
> arch/mips/Kbuild.platforms | 1 +
> arch/mips/Kconfig | 65 ++++
> arch/mips/boot/dts/Makefile | 1 +
> arch/mips/boot/dts/mobileye/Makefile | 4 +
> arch/mips/boot/dts/mobileye/eyeq5-epm5.dts | 24 ++
> .../boot/dts/mobileye/eyeq5-fixed-clocks.dtsi | 292 ++++++++++++++++++
> arch/mips/boot/dts/mobileye/eyeq5.dtsi | 131 ++++++++
> arch/mips/configs/eyeq5_defconfig | 109 +++++++
> arch/mips/generic/Makefile | 6 +-
> arch/mips/include/asm/addrspace.h | 5 +
> arch/mips/include/asm/mach-generic/spaces.h | 4 +
> arch/mips/include/asm/mips-cm.h | 1 +
> arch/mips/include/asm/smp-cps.h | 4 +-
> arch/mips/kernel/cps-vec.S | 54 +---
> arch/mips/kernel/smp-cps.c | 171 ++++++++--
> arch/mips/kernel/traps.c | 7 +-
> arch/mips/mobileye/Kconfig | 12 +
> arch/mips/mobileye/Platform | 16 +
> arch/mips/mobileye/board-epm5.its.S | 24 ++
> arch/mips/mobileye/vmlinux.its.S | 32 ++
> 26 files changed, 943 insertions(+), 81 deletions(-)
> create mode 100644 Documentation/devicetree/bindings/mips/mobileye.yaml
> create mode 100644 arch/mips/boot/dts/mobileye/Makefile
> create mode 100644 arch/mips/boot/dts/mobileye/eyeq5-epm5.dts
> create mode 100644 arch/mips/boot/dts/mobileye/eyeq5-fixed-clocks.dtsi
> create mode 100644 arch/mips/boot/dts/mobileye/eyeq5.dtsi
> create mode 100644 arch/mips/configs/eyeq5_defconfig
> create mode 100644 arch/mips/mobileye/Kconfig
> create mode 100644 arch/mips/mobileye/Platform
> create mode 100644 arch/mips/mobileye/board-epm5.its.S
> create mode 100644 arch/mips/mobileye/vmlinux.its.S
>
> --
> 2.43.0
>
--
Gregory Clement, Bootlin
Embedded Linux and Kernel engineering
http://bootlin.com