1 | // SPDX-License-Identifier: GPL-2.0-only |
2 | /* |
3 | * TI Keystone DSP remoteproc driver |
4 | * |
5 | * Copyright (C) 2015-2017 Texas Instruments Incorporated - http://www.ti.com/ |
6 | */ |
7 | |
8 | #include <linux/module.h> |
9 | #include <linux/slab.h> |
10 | #include <linux/io.h> |
11 | #include <linux/interrupt.h> |
12 | #include <linux/platform_device.h> |
13 | #include <linux/pm_runtime.h> |
14 | #include <linux/workqueue.h> |
15 | #include <linux/of_address.h> |
16 | #include <linux/of_reserved_mem.h> |
17 | #include <linux/gpio/consumer.h> |
18 | #include <linux/regmap.h> |
19 | #include <linux/mfd/syscon.h> |
20 | #include <linux/remoteproc.h> |
21 | #include <linux/reset.h> |
22 | |
23 | #include "remoteproc_internal.h" |
24 | |
25 | #define KEYSTONE_RPROC_LOCAL_ADDRESS_MASK (SZ_16M - 1) |
26 | |
27 | /** |
28 | * struct keystone_rproc_mem - internal memory structure |
29 | * @cpu_addr: MPU virtual address of the memory region |
30 | * @bus_addr: Bus address used to access the memory region |
31 | * @dev_addr: Device address of the memory region from DSP view |
32 | * @size: Size of the memory region |
33 | */ |
34 | struct keystone_rproc_mem { |
35 | void __iomem *cpu_addr; |
36 | phys_addr_t bus_addr; |
37 | u32 dev_addr; |
38 | size_t size; |
39 | }; |
40 | |
41 | /** |
42 | * struct keystone_rproc - keystone remote processor driver structure |
43 | * @dev: cached device pointer |
44 | * @rproc: remoteproc device handle |
45 | * @mem: internal memory regions data |
46 | * @num_mems: number of internal memory regions |
47 | * @dev_ctrl: device control regmap handle |
48 | * @reset: reset control handle |
49 | * @boot_offset: boot register offset in @dev_ctrl regmap |
50 | * @irq_ring: irq entry for vring |
51 | * @irq_fault: irq entry for exception |
52 | * @kick_gpio: gpio used for virtio kicks |
53 | * @workqueue: workqueue for processing virtio interrupts |
54 | */ |
55 | struct keystone_rproc { |
56 | struct device *dev; |
57 | struct rproc *rproc; |
58 | struct keystone_rproc_mem *mem; |
59 | int num_mems; |
60 | struct regmap *dev_ctrl; |
61 | struct reset_control *reset; |
62 | struct gpio_desc *kick_gpio; |
63 | u32 boot_offset; |
64 | int irq_ring; |
65 | int irq_fault; |
66 | struct work_struct workqueue; |
67 | }; |
68 | |
69 | /* Put the DSP processor into reset */ |
70 | static void keystone_rproc_dsp_reset(struct keystone_rproc *ksproc) |
71 | { |
72 | reset_control_assert(rstc: ksproc->reset); |
73 | } |
74 | |
75 | /* Configure the boot address and boot the DSP processor */ |
76 | static int keystone_rproc_dsp_boot(struct keystone_rproc *ksproc, u32 boot_addr) |
77 | { |
78 | int ret; |
79 | |
80 | if (boot_addr & (SZ_1K - 1)) { |
81 | dev_err(ksproc->dev, "invalid boot address 0x%x, must be aligned on a 1KB boundary\n" , |
82 | boot_addr); |
83 | return -EINVAL; |
84 | } |
85 | |
86 | ret = regmap_write(map: ksproc->dev_ctrl, reg: ksproc->boot_offset, val: boot_addr); |
87 | if (ret) { |
88 | dev_err(ksproc->dev, "regmap_write of boot address failed, status = %d\n" , |
89 | ret); |
90 | return ret; |
91 | } |
92 | |
93 | reset_control_deassert(rstc: ksproc->reset); |
94 | |
95 | return 0; |
96 | } |
97 | |
98 | /* |
99 | * Process the remoteproc exceptions |
100 | * |
101 | * The exception reporting on Keystone DSP remote processors is very simple |
102 | * compared to the equivalent processors on the OMAP family, it is notified |
103 | * through a software-designed specific interrupt source in the IPC interrupt |
104 | * generation register. |
105 | * |
106 | * This function just invokes the rproc_report_crash to report the exception |
107 | * to the remoteproc driver core, to trigger a recovery. |
108 | */ |
109 | static irqreturn_t keystone_rproc_exception_interrupt(int irq, void *dev_id) |
110 | { |
111 | struct keystone_rproc *ksproc = dev_id; |
112 | |
113 | rproc_report_crash(rproc: ksproc->rproc, type: RPROC_FATAL_ERROR); |
114 | |
115 | return IRQ_HANDLED; |
116 | } |
117 | |
118 | /* |
119 | * Main virtqueue message workqueue function |
120 | * |
121 | * This function is executed upon scheduling of the keystone remoteproc |
122 | * driver's workqueue. The workqueue is scheduled by the vring ISR handler. |
123 | * |
124 | * There is no payload message indicating the virtqueue index as is the |
125 | * case with mailbox-based implementations on OMAP family. As such, this |
126 | * handler processes both the Tx and Rx virtqueue indices on every invocation. |
127 | * The rproc_vq_interrupt function can detect if there are new unprocessed |
128 | * messages or not (returns IRQ_NONE vs IRQ_HANDLED), but there is no need |
129 | * to check for these return values. The index 0 triggering will process all |
130 | * pending Rx buffers, and the index 1 triggering will process all newly |
131 | * available Tx buffers and will wakeup any potentially blocked senders. |
132 | * |
133 | * NOTE: |
134 | * 1. A payload could be added by using some of the source bits in the |
135 | * IPC interrupt generation registers, but this would need additional |
136 | * changes to the overall IPC stack, and currently there are no benefits |
137 | * of adapting that approach. |
138 | * 2. The current logic is based on an inherent design assumption of supporting |
139 | * only 2 vrings, but this can be changed if needed. |
140 | */ |
141 | static void handle_event(struct work_struct *work) |
142 | { |
143 | struct keystone_rproc *ksproc = |
144 | container_of(work, struct keystone_rproc, workqueue); |
145 | |
146 | rproc_vq_interrupt(rproc: ksproc->rproc, vq_id: 0); |
147 | rproc_vq_interrupt(rproc: ksproc->rproc, vq_id: 1); |
148 | } |
149 | |
150 | /* |
151 | * Interrupt handler for processing vring kicks from remote processor |
152 | */ |
153 | static irqreturn_t keystone_rproc_vring_interrupt(int irq, void *dev_id) |
154 | { |
155 | struct keystone_rproc *ksproc = dev_id; |
156 | |
157 | schedule_work(work: &ksproc->workqueue); |
158 | |
159 | return IRQ_HANDLED; |
160 | } |
161 | |
162 | /* |
163 | * Power up the DSP remote processor. |
164 | * |
165 | * This function will be invoked only after the firmware for this rproc |
166 | * was loaded, parsed successfully, and all of its resource requirements |
167 | * were met. |
168 | */ |
169 | static int keystone_rproc_start(struct rproc *rproc) |
170 | { |
171 | struct keystone_rproc *ksproc = rproc->priv; |
172 | int ret; |
173 | |
174 | INIT_WORK(&ksproc->workqueue, handle_event); |
175 | |
176 | ret = request_irq(irq: ksproc->irq_ring, handler: keystone_rproc_vring_interrupt, flags: 0, |
177 | name: dev_name(dev: ksproc->dev), dev: ksproc); |
178 | if (ret) { |
179 | dev_err(ksproc->dev, "failed to enable vring interrupt, ret = %d\n" , |
180 | ret); |
181 | goto out; |
182 | } |
183 | |
184 | ret = request_irq(irq: ksproc->irq_fault, handler: keystone_rproc_exception_interrupt, |
185 | flags: 0, name: dev_name(dev: ksproc->dev), dev: ksproc); |
186 | if (ret) { |
187 | dev_err(ksproc->dev, "failed to enable exception interrupt, ret = %d\n" , |
188 | ret); |
189 | goto free_vring_irq; |
190 | } |
191 | |
192 | ret = keystone_rproc_dsp_boot(ksproc, boot_addr: rproc->bootaddr); |
193 | if (ret) |
194 | goto free_exc_irq; |
195 | |
196 | return 0; |
197 | |
198 | free_exc_irq: |
199 | free_irq(ksproc->irq_fault, ksproc); |
200 | free_vring_irq: |
201 | free_irq(ksproc->irq_ring, ksproc); |
202 | flush_work(work: &ksproc->workqueue); |
203 | out: |
204 | return ret; |
205 | } |
206 | |
207 | /* |
208 | * Stop the DSP remote processor. |
209 | * |
210 | * This function puts the DSP processor into reset, and finishes processing |
211 | * of any pending messages. |
212 | */ |
213 | static int keystone_rproc_stop(struct rproc *rproc) |
214 | { |
215 | struct keystone_rproc *ksproc = rproc->priv; |
216 | |
217 | keystone_rproc_dsp_reset(ksproc); |
218 | free_irq(ksproc->irq_fault, ksproc); |
219 | free_irq(ksproc->irq_ring, ksproc); |
220 | flush_work(work: &ksproc->workqueue); |
221 | |
222 | return 0; |
223 | } |
224 | |
225 | /* |
226 | * Kick the remote processor to notify about pending unprocessed messages. |
227 | * The vqid usage is not used and is inconsequential, as the kick is performed |
228 | * through a simulated GPIO (a bit in an IPC interrupt-triggering register), |
229 | * the remote processor is expected to process both its Tx and Rx virtqueues. |
230 | */ |
231 | static void keystone_rproc_kick(struct rproc *rproc, int vqid) |
232 | { |
233 | struct keystone_rproc *ksproc = rproc->priv; |
234 | |
235 | if (!ksproc->kick_gpio) |
236 | return; |
237 | |
238 | gpiod_set_value(desc: ksproc->kick_gpio, value: 1); |
239 | } |
240 | |
241 | /* |
242 | * Custom function to translate a DSP device address (internal RAMs only) to a |
243 | * kernel virtual address. The DSPs can access their RAMs at either an internal |
244 | * address visible only from a DSP, or at the SoC-level bus address. Both these |
245 | * addresses need to be looked through for translation. The translated addresses |
246 | * can be used either by the remoteproc core for loading (when using kernel |
247 | * remoteproc loader), or by any rpmsg bus drivers. |
248 | */ |
249 | static void *keystone_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem) |
250 | { |
251 | struct keystone_rproc *ksproc = rproc->priv; |
252 | void __iomem *va = NULL; |
253 | phys_addr_t bus_addr; |
254 | u32 dev_addr, offset; |
255 | size_t size; |
256 | int i; |
257 | |
258 | if (len == 0) |
259 | return NULL; |
260 | |
261 | for (i = 0; i < ksproc->num_mems; i++) { |
262 | bus_addr = ksproc->mem[i].bus_addr; |
263 | dev_addr = ksproc->mem[i].dev_addr; |
264 | size = ksproc->mem[i].size; |
265 | |
266 | if (da < KEYSTONE_RPROC_LOCAL_ADDRESS_MASK) { |
267 | /* handle DSP-view addresses */ |
268 | if ((da >= dev_addr) && |
269 | ((da + len) <= (dev_addr + size))) { |
270 | offset = da - dev_addr; |
271 | va = ksproc->mem[i].cpu_addr + offset; |
272 | break; |
273 | } |
274 | } else { |
275 | /* handle SoC-view addresses */ |
276 | if ((da >= bus_addr) && |
277 | (da + len) <= (bus_addr + size)) { |
278 | offset = da - bus_addr; |
279 | va = ksproc->mem[i].cpu_addr + offset; |
280 | break; |
281 | } |
282 | } |
283 | } |
284 | |
285 | return (__force void *)va; |
286 | } |
287 | |
288 | static const struct rproc_ops keystone_rproc_ops = { |
289 | .start = keystone_rproc_start, |
290 | .stop = keystone_rproc_stop, |
291 | .kick = keystone_rproc_kick, |
292 | .da_to_va = keystone_rproc_da_to_va, |
293 | }; |
294 | |
295 | static int keystone_rproc_of_get_memories(struct platform_device *pdev, |
296 | struct keystone_rproc *ksproc) |
297 | { |
298 | static const char * const mem_names[] = {"l2sram" , "l1pram" , "l1dram" }; |
299 | struct device *dev = &pdev->dev; |
300 | struct resource *res; |
301 | int num_mems = 0; |
302 | int i; |
303 | |
304 | num_mems = ARRAY_SIZE(mem_names); |
305 | ksproc->mem = devm_kcalloc(dev: ksproc->dev, n: num_mems, |
306 | size: sizeof(*ksproc->mem), GFP_KERNEL); |
307 | if (!ksproc->mem) |
308 | return -ENOMEM; |
309 | |
310 | for (i = 0; i < num_mems; i++) { |
311 | res = platform_get_resource_byname(pdev, IORESOURCE_MEM, |
312 | mem_names[i]); |
313 | ksproc->mem[i].cpu_addr = devm_ioremap_resource(dev, res); |
314 | if (IS_ERR(ptr: ksproc->mem[i].cpu_addr)) { |
315 | dev_err(dev, "failed to parse and map %s memory\n" , |
316 | mem_names[i]); |
317 | return PTR_ERR(ptr: ksproc->mem[i].cpu_addr); |
318 | } |
319 | ksproc->mem[i].bus_addr = res->start; |
320 | ksproc->mem[i].dev_addr = |
321 | res->start & KEYSTONE_RPROC_LOCAL_ADDRESS_MASK; |
322 | ksproc->mem[i].size = resource_size(res); |
323 | |
324 | /* zero out memories to start in a pristine state */ |
325 | memset((__force void *)ksproc->mem[i].cpu_addr, 0, |
326 | ksproc->mem[i].size); |
327 | } |
328 | ksproc->num_mems = num_mems; |
329 | |
330 | return 0; |
331 | } |
332 | |
333 | static int keystone_rproc_of_get_dev_syscon(struct platform_device *pdev, |
334 | struct keystone_rproc *ksproc) |
335 | { |
336 | struct device_node *np = pdev->dev.of_node; |
337 | struct device *dev = &pdev->dev; |
338 | int ret; |
339 | |
340 | if (!of_property_read_bool(np, propname: "ti,syscon-dev" )) { |
341 | dev_err(dev, "ti,syscon-dev property is absent\n" ); |
342 | return -EINVAL; |
343 | } |
344 | |
345 | ksproc->dev_ctrl = |
346 | syscon_regmap_lookup_by_phandle(np, property: "ti,syscon-dev" ); |
347 | if (IS_ERR(ptr: ksproc->dev_ctrl)) { |
348 | ret = PTR_ERR(ptr: ksproc->dev_ctrl); |
349 | return ret; |
350 | } |
351 | |
352 | if (of_property_read_u32_index(np, propname: "ti,syscon-dev" , index: 1, |
353 | out_value: &ksproc->boot_offset)) { |
354 | dev_err(dev, "couldn't read the boot register offset\n" ); |
355 | return -EINVAL; |
356 | } |
357 | |
358 | return 0; |
359 | } |
360 | |
361 | static int keystone_rproc_probe(struct platform_device *pdev) |
362 | { |
363 | struct device *dev = &pdev->dev; |
364 | struct device_node *np = dev->of_node; |
365 | struct keystone_rproc *ksproc; |
366 | struct rproc *rproc; |
367 | int dsp_id; |
368 | char *fw_name = NULL; |
369 | char *template = "keystone-dsp%d-fw" ; |
370 | int name_len = 0; |
371 | int ret = 0; |
372 | |
373 | if (!np) { |
374 | dev_err(dev, "only DT-based devices are supported\n" ); |
375 | return -ENODEV; |
376 | } |
377 | |
378 | dsp_id = of_alias_get_id(np, stem: "rproc" ); |
379 | if (dsp_id < 0) { |
380 | dev_warn(dev, "device does not have an alias id\n" ); |
381 | return dsp_id; |
382 | } |
383 | |
384 | /* construct a custom default fw name - subject to change in future */ |
385 | name_len = strlen(template); /* assuming a single digit alias */ |
386 | fw_name = devm_kzalloc(dev, size: name_len, GFP_KERNEL); |
387 | if (!fw_name) |
388 | return -ENOMEM; |
389 | snprintf(buf: fw_name, size: name_len, fmt: template, dsp_id); |
390 | |
391 | rproc = rproc_alloc(dev, name: dev_name(dev), ops: &keystone_rproc_ops, firmware: fw_name, |
392 | len: sizeof(*ksproc)); |
393 | if (!rproc) |
394 | return -ENOMEM; |
395 | |
396 | rproc->has_iommu = false; |
397 | ksproc = rproc->priv; |
398 | ksproc->rproc = rproc; |
399 | ksproc->dev = dev; |
400 | |
401 | ret = keystone_rproc_of_get_dev_syscon(pdev, ksproc); |
402 | if (ret) |
403 | goto free_rproc; |
404 | |
405 | ksproc->reset = devm_reset_control_get_exclusive(dev, NULL); |
406 | if (IS_ERR(ptr: ksproc->reset)) { |
407 | ret = PTR_ERR(ptr: ksproc->reset); |
408 | goto free_rproc; |
409 | } |
410 | |
411 | /* enable clock for accessing DSP internal memories */ |
412 | pm_runtime_enable(dev); |
413 | ret = pm_runtime_resume_and_get(dev); |
414 | if (ret < 0) { |
415 | dev_err(dev, "failed to enable clock, status = %d\n" , ret); |
416 | goto disable_rpm; |
417 | } |
418 | |
419 | ret = keystone_rproc_of_get_memories(pdev, ksproc); |
420 | if (ret) |
421 | goto disable_clk; |
422 | |
423 | ksproc->irq_ring = platform_get_irq_byname(pdev, "vring" ); |
424 | if (ksproc->irq_ring < 0) { |
425 | ret = ksproc->irq_ring; |
426 | goto disable_clk; |
427 | } |
428 | |
429 | ksproc->irq_fault = platform_get_irq_byname(pdev, "exception" ); |
430 | if (ksproc->irq_fault < 0) { |
431 | ret = ksproc->irq_fault; |
432 | goto disable_clk; |
433 | } |
434 | |
435 | ksproc->kick_gpio = gpiod_get(dev, con_id: "kick" , flags: GPIOD_ASIS); |
436 | ret = PTR_ERR_OR_ZERO(ptr: ksproc->kick_gpio); |
437 | if (ret) { |
438 | dev_err(dev, "failed to get gpio for virtio kicks, status = %d\n" , |
439 | ret); |
440 | goto disable_clk; |
441 | } |
442 | |
443 | if (of_reserved_mem_device_init(dev)) |
444 | dev_warn(dev, "device does not have specific CMA pool\n" ); |
445 | |
446 | /* ensure the DSP is in reset before loading firmware */ |
447 | ret = reset_control_status(rstc: ksproc->reset); |
448 | if (ret < 0) { |
449 | dev_err(dev, "failed to get reset status, status = %d\n" , ret); |
450 | goto release_mem; |
451 | } else if (ret == 0) { |
452 | WARN(1, "device is not in reset\n" ); |
453 | keystone_rproc_dsp_reset(ksproc); |
454 | } |
455 | |
456 | ret = rproc_add(rproc); |
457 | if (ret) { |
458 | dev_err(dev, "failed to add register device with remoteproc core, status = %d\n" , |
459 | ret); |
460 | goto release_mem; |
461 | } |
462 | |
463 | platform_set_drvdata(pdev, data: ksproc); |
464 | |
465 | return 0; |
466 | |
467 | release_mem: |
468 | of_reserved_mem_device_release(dev); |
469 | gpiod_put(desc: ksproc->kick_gpio); |
470 | disable_clk: |
471 | pm_runtime_put_sync(dev); |
472 | disable_rpm: |
473 | pm_runtime_disable(dev); |
474 | free_rproc: |
475 | rproc_free(rproc); |
476 | return ret; |
477 | } |
478 | |
479 | static void keystone_rproc_remove(struct platform_device *pdev) |
480 | { |
481 | struct keystone_rproc *ksproc = platform_get_drvdata(pdev); |
482 | |
483 | rproc_del(rproc: ksproc->rproc); |
484 | gpiod_put(desc: ksproc->kick_gpio); |
485 | pm_runtime_put_sync(dev: &pdev->dev); |
486 | pm_runtime_disable(dev: &pdev->dev); |
487 | rproc_free(rproc: ksproc->rproc); |
488 | of_reserved_mem_device_release(dev: &pdev->dev); |
489 | } |
490 | |
491 | static const struct of_device_id keystone_rproc_of_match[] = { |
492 | { .compatible = "ti,k2hk-dsp" , }, |
493 | { .compatible = "ti,k2l-dsp" , }, |
494 | { .compatible = "ti,k2e-dsp" , }, |
495 | { .compatible = "ti,k2g-dsp" , }, |
496 | { /* sentinel */ }, |
497 | }; |
498 | MODULE_DEVICE_TABLE(of, keystone_rproc_of_match); |
499 | |
500 | static struct platform_driver keystone_rproc_driver = { |
501 | .probe = keystone_rproc_probe, |
502 | .remove_new = keystone_rproc_remove, |
503 | .driver = { |
504 | .name = "keystone-rproc" , |
505 | .of_match_table = keystone_rproc_of_match, |
506 | }, |
507 | }; |
508 | |
509 | module_platform_driver(keystone_rproc_driver); |
510 | |
511 | MODULE_AUTHOR("Suman Anna <s-anna@ti.com>" ); |
512 | MODULE_LICENSE("GPL v2" ); |
513 | MODULE_DESCRIPTION("TI Keystone DSP Remoteproc driver" ); |
514 | |