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e88bb8f7 SA |
1 | /* |
2 | * TI Keystone DSP remoteproc driver | |
3 | * | |
4 | * Copyright (C) 2015-2017 Texas Instruments Incorporated - http://www.ti.com/ | |
5 | * | |
6 | * This program is free software; you can redistribute it and/or | |
7 | * modify it under the terms of the GNU General Public License | |
8 | * version 2 as published by the Free Software Foundation. | |
9 | * | |
10 | * This program is distributed in the hope that it will be useful, but | |
11 | * WITHOUT ANY WARRANTY; without even the implied warranty of | |
12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
13 | * General Public License for more details. | |
14 | */ | |
15 | ||
16 | #include <linux/module.h> | |
17 | #include <linux/slab.h> | |
18 | #include <linux/io.h> | |
19 | #include <linux/interrupt.h> | |
20 | #include <linux/platform_device.h> | |
21 | #include <linux/pm_runtime.h> | |
22 | #include <linux/workqueue.h> | |
23 | #include <linux/of_address.h> | |
24 | #include <linux/of_reserved_mem.h> | |
25 | #include <linux/of_gpio.h> | |
26 | #include <linux/regmap.h> | |
27 | #include <linux/mfd/syscon.h> | |
28 | #include <linux/remoteproc.h> | |
29 | #include <linux/reset.h> | |
30 | ||
31 | #include "remoteproc_internal.h" | |
32 | ||
33 | #define KEYSTONE_RPROC_LOCAL_ADDRESS_MASK (SZ_16M - 1) | |
34 | ||
35 | /** | |
36 | * struct keystone_rproc_mem - internal memory structure | |
37 | * @cpu_addr: MPU virtual address of the memory region | |
38 | * @bus_addr: Bus address used to access the memory region | |
39 | * @dev_addr: Device address of the memory region from DSP view | |
40 | * @size: Size of the memory region | |
41 | */ | |
42 | struct keystone_rproc_mem { | |
43 | void __iomem *cpu_addr; | |
44 | phys_addr_t bus_addr; | |
45 | u32 dev_addr; | |
46 | size_t size; | |
47 | }; | |
48 | ||
49 | /** | |
50 | * struct keystone_rproc - keystone remote processor driver structure | |
51 | * @dev: cached device pointer | |
52 | * @rproc: remoteproc device handle | |
53 | * @mem: internal memory regions data | |
54 | * @num_mems: number of internal memory regions | |
55 | * @dev_ctrl: device control regmap handle | |
56 | * @reset: reset control handle | |
57 | * @boot_offset: boot register offset in @dev_ctrl regmap | |
58 | * @irq_ring: irq entry for vring | |
59 | * @irq_fault: irq entry for exception | |
60 | * @kick_gpio: gpio used for virtio kicks | |
61 | * @workqueue: workqueue for processing virtio interrupts | |
62 | */ | |
63 | struct keystone_rproc { | |
64 | struct device *dev; | |
65 | struct rproc *rproc; | |
66 | struct keystone_rproc_mem *mem; | |
67 | int num_mems; | |
68 | struct regmap *dev_ctrl; | |
69 | struct reset_control *reset; | |
70 | u32 boot_offset; | |
71 | int irq_ring; | |
72 | int irq_fault; | |
73 | int kick_gpio; | |
74 | struct work_struct workqueue; | |
75 | }; | |
76 | ||
77 | /* Put the DSP processor into reset */ | |
78 | static void keystone_rproc_dsp_reset(struct keystone_rproc *ksproc) | |
79 | { | |
80 | reset_control_assert(ksproc->reset); | |
81 | } | |
82 | ||
83 | /* Configure the boot address and boot the DSP processor */ | |
84 | static int keystone_rproc_dsp_boot(struct keystone_rproc *ksproc, u32 boot_addr) | |
85 | { | |
86 | int ret; | |
87 | ||
88 | if (boot_addr & (SZ_1K - 1)) { | |
89 | dev_err(ksproc->dev, "invalid boot address 0x%x, must be aligned on a 1KB boundary\n", | |
90 | boot_addr); | |
91 | return -EINVAL; | |
92 | } | |
93 | ||
94 | ret = regmap_write(ksproc->dev_ctrl, ksproc->boot_offset, boot_addr); | |
95 | if (ret) { | |
96 | dev_err(ksproc->dev, "regmap_write of boot address failed, status = %d\n", | |
97 | ret); | |
98 | return ret; | |
99 | } | |
100 | ||
101 | reset_control_deassert(ksproc->reset); | |
102 | ||
103 | return 0; | |
104 | } | |
105 | ||
106 | /* | |
107 | * Process the remoteproc exceptions | |
108 | * | |
109 | * The exception reporting on Keystone DSP remote processors is very simple | |
110 | * compared to the equivalent processors on the OMAP family, it is notified | |
111 | * through a software-designed specific interrupt source in the IPC interrupt | |
112 | * generation register. | |
113 | * | |
114 | * This function just invokes the rproc_report_crash to report the exception | |
115 | * to the remoteproc driver core, to trigger a recovery. | |
116 | */ | |
117 | static irqreturn_t keystone_rproc_exception_interrupt(int irq, void *dev_id) | |
118 | { | |
119 | struct keystone_rproc *ksproc = dev_id; | |
120 | ||
121 | rproc_report_crash(ksproc->rproc, RPROC_FATAL_ERROR); | |
122 | ||
123 | return IRQ_HANDLED; | |
124 | } | |
125 | ||
126 | /* | |
127 | * Main virtqueue message workqueue function | |
128 | * | |
129 | * This function is executed upon scheduling of the keystone remoteproc | |
130 | * driver's workqueue. The workqueue is scheduled by the vring ISR handler. | |
131 | * | |
132 | * There is no payload message indicating the virtqueue index as is the | |
133 | * case with mailbox-based implementations on OMAP family. As such, this | |
134 | * handler processes both the Tx and Rx virtqueue indices on every invocation. | |
135 | * The rproc_vq_interrupt function can detect if there are new unprocessed | |
136 | * messages or not (returns IRQ_NONE vs IRQ_HANDLED), but there is no need | |
137 | * to check for these return values. The index 0 triggering will process all | |
138 | * pending Rx buffers, and the index 1 triggering will process all newly | |
139 | * available Tx buffers and will wakeup any potentially blocked senders. | |
140 | * | |
141 | * NOTE: | |
142 | * 1. A payload could be added by using some of the source bits in the | |
143 | * IPC interrupt generation registers, but this would need additional | |
144 | * changes to the overall IPC stack, and currently there are no benefits | |
145 | * of adapting that approach. | |
146 | * 2. The current logic is based on an inherent design assumption of supporting | |
147 | * only 2 vrings, but this can be changed if needed. | |
148 | */ | |
149 | static void handle_event(struct work_struct *work) | |
150 | { | |
151 | struct keystone_rproc *ksproc = | |
152 | container_of(work, struct keystone_rproc, workqueue); | |
153 | ||
154 | rproc_vq_interrupt(ksproc->rproc, 0); | |
155 | rproc_vq_interrupt(ksproc->rproc, 1); | |
156 | } | |
157 | ||
158 | /* | |
159 | * Interrupt handler for processing vring kicks from remote processor | |
160 | */ | |
161 | static irqreturn_t keystone_rproc_vring_interrupt(int irq, void *dev_id) | |
162 | { | |
163 | struct keystone_rproc *ksproc = dev_id; | |
164 | ||
165 | schedule_work(&ksproc->workqueue); | |
166 | ||
167 | return IRQ_HANDLED; | |
168 | } | |
169 | ||
170 | /* | |
171 | * Power up the DSP remote processor. | |
172 | * | |
173 | * This function will be invoked only after the firmware for this rproc | |
174 | * was loaded, parsed successfully, and all of its resource requirements | |
175 | * were met. | |
176 | */ | |
177 | static int keystone_rproc_start(struct rproc *rproc) | |
178 | { | |
179 | struct keystone_rproc *ksproc = rproc->priv; | |
180 | int ret; | |
181 | ||
182 | INIT_WORK(&ksproc->workqueue, handle_event); | |
183 | ||
184 | ret = request_irq(ksproc->irq_ring, keystone_rproc_vring_interrupt, 0, | |
185 | dev_name(ksproc->dev), ksproc); | |
186 | if (ret) { | |
187 | dev_err(ksproc->dev, "failed to enable vring interrupt, ret = %d\n", | |
188 | ret); | |
189 | goto out; | |
190 | } | |
191 | ||
192 | ret = request_irq(ksproc->irq_fault, keystone_rproc_exception_interrupt, | |
193 | 0, dev_name(ksproc->dev), ksproc); | |
194 | if (ret) { | |
195 | dev_err(ksproc->dev, "failed to enable exception interrupt, ret = %d\n", | |
196 | ret); | |
197 | goto free_vring_irq; | |
198 | } | |
199 | ||
200 | ret = keystone_rproc_dsp_boot(ksproc, rproc->bootaddr); | |
201 | if (ret) | |
202 | goto free_exc_irq; | |
203 | ||
204 | return 0; | |
205 | ||
206 | free_exc_irq: | |
207 | free_irq(ksproc->irq_fault, ksproc); | |
208 | free_vring_irq: | |
209 | free_irq(ksproc->irq_ring, ksproc); | |
210 | flush_work(&ksproc->workqueue); | |
211 | out: | |
212 | return ret; | |
213 | } | |
214 | ||
215 | /* | |
216 | * Stop the DSP remote processor. | |
217 | * | |
218 | * This function puts the DSP processor into reset, and finishes processing | |
219 | * of any pending messages. | |
220 | */ | |
221 | static int keystone_rproc_stop(struct rproc *rproc) | |
222 | { | |
223 | struct keystone_rproc *ksproc = rproc->priv; | |
224 | ||
225 | keystone_rproc_dsp_reset(ksproc); | |
226 | free_irq(ksproc->irq_fault, ksproc); | |
227 | free_irq(ksproc->irq_ring, ksproc); | |
228 | flush_work(&ksproc->workqueue); | |
229 | ||
230 | return 0; | |
231 | } | |
232 | ||
233 | /* | |
234 | * Kick the remote processor to notify about pending unprocessed messages. | |
235 | * The vqid usage is not used and is inconsequential, as the kick is performed | |
236 | * through a simulated GPIO (a bit in an IPC interrupt-triggering register), | |
237 | * the remote processor is expected to process both its Tx and Rx virtqueues. | |
238 | */ | |
239 | static void keystone_rproc_kick(struct rproc *rproc, int vqid) | |
240 | { | |
241 | struct keystone_rproc *ksproc = rproc->priv; | |
242 | ||
243 | if (WARN_ON(ksproc->kick_gpio < 0)) | |
244 | return; | |
245 | ||
246 | gpio_set_value(ksproc->kick_gpio, 1); | |
247 | } | |
248 | ||
249 | /* | |
250 | * Custom function to translate a DSP device address (internal RAMs only) to a | |
251 | * kernel virtual address. The DSPs can access their RAMs at either an internal | |
252 | * address visible only from a DSP, or at the SoC-level bus address. Both these | |
253 | * addresses need to be looked through for translation. The translated addresses | |
254 | * can be used either by the remoteproc core for loading (when using kernel | |
255 | * remoteproc loader), or by any rpmsg bus drivers. | |
256 | */ | |
257 | static void *keystone_rproc_da_to_va(struct rproc *rproc, u64 da, int len) | |
258 | { | |
259 | struct keystone_rproc *ksproc = rproc->priv; | |
260 | void __iomem *va = NULL; | |
261 | phys_addr_t bus_addr; | |
262 | u32 dev_addr, offset; | |
263 | size_t size; | |
264 | int i; | |
265 | ||
266 | if (len <= 0) | |
267 | return NULL; | |
268 | ||
269 | for (i = 0; i < ksproc->num_mems; i++) { | |
270 | bus_addr = ksproc->mem[i].bus_addr; | |
271 | dev_addr = ksproc->mem[i].dev_addr; | |
272 | size = ksproc->mem[i].size; | |
273 | ||
274 | if (da < KEYSTONE_RPROC_LOCAL_ADDRESS_MASK) { | |
275 | /* handle DSP-view addresses */ | |
276 | if ((da >= dev_addr) && | |
277 | ((da + len) <= (dev_addr + size))) { | |
278 | offset = da - dev_addr; | |
279 | va = ksproc->mem[i].cpu_addr + offset; | |
280 | break; | |
281 | } | |
282 | } else { | |
283 | /* handle SoC-view addresses */ | |
284 | if ((da >= bus_addr) && | |
285 | (da + len) <= (bus_addr + size)) { | |
286 | offset = da - bus_addr; | |
287 | va = ksproc->mem[i].cpu_addr + offset; | |
288 | break; | |
289 | } | |
290 | } | |
291 | } | |
292 | ||
293 | return (__force void *)va; | |
294 | } | |
295 | ||
296 | static const struct rproc_ops keystone_rproc_ops = { | |
297 | .start = keystone_rproc_start, | |
298 | .stop = keystone_rproc_stop, | |
299 | .kick = keystone_rproc_kick, | |
300 | .da_to_va = keystone_rproc_da_to_va, | |
301 | }; | |
302 | ||
303 | static int keystone_rproc_of_get_memories(struct platform_device *pdev, | |
304 | struct keystone_rproc *ksproc) | |
305 | { | |
306 | static const char * const mem_names[] = {"l2sram", "l1pram", "l1dram"}; | |
307 | struct device *dev = &pdev->dev; | |
308 | struct resource *res; | |
309 | int num_mems = 0; | |
310 | int i; | |
311 | ||
312 | num_mems = ARRAY_SIZE(mem_names); | |
313 | ksproc->mem = devm_kcalloc(ksproc->dev, num_mems, | |
314 | sizeof(*ksproc->mem), GFP_KERNEL); | |
315 | if (!ksproc->mem) | |
316 | return -ENOMEM; | |
317 | ||
318 | for (i = 0; i < num_mems; i++) { | |
319 | res = platform_get_resource_byname(pdev, IORESOURCE_MEM, | |
320 | mem_names[i]); | |
321 | ksproc->mem[i].cpu_addr = devm_ioremap_resource(dev, res); | |
322 | if (IS_ERR(ksproc->mem[i].cpu_addr)) { | |
323 | dev_err(dev, "failed to parse and map %s memory\n", | |
324 | mem_names[i]); | |
325 | return PTR_ERR(ksproc->mem[i].cpu_addr); | |
326 | } | |
327 | ksproc->mem[i].bus_addr = res->start; | |
328 | ksproc->mem[i].dev_addr = | |
329 | res->start & KEYSTONE_RPROC_LOCAL_ADDRESS_MASK; | |
330 | ksproc->mem[i].size = resource_size(res); | |
331 | ||
332 | /* zero out memories to start in a pristine state */ | |
333 | memset((__force void *)ksproc->mem[i].cpu_addr, 0, | |
334 | ksproc->mem[i].size); | |
335 | } | |
336 | ksproc->num_mems = num_mems; | |
337 | ||
338 | return 0; | |
339 | } | |
340 | ||
341 | static int keystone_rproc_of_get_dev_syscon(struct platform_device *pdev, | |
342 | struct keystone_rproc *ksproc) | |
343 | { | |
344 | struct device_node *np = pdev->dev.of_node; | |
345 | struct device *dev = &pdev->dev; | |
346 | int ret; | |
347 | ||
348 | if (!of_property_read_bool(np, "ti,syscon-dev")) { | |
349 | dev_err(dev, "ti,syscon-dev property is absent\n"); | |
350 | return -EINVAL; | |
351 | } | |
352 | ||
353 | ksproc->dev_ctrl = | |
354 | syscon_regmap_lookup_by_phandle(np, "ti,syscon-dev"); | |
355 | if (IS_ERR(ksproc->dev_ctrl)) { | |
356 | ret = PTR_ERR(ksproc->dev_ctrl); | |
357 | return ret; | |
358 | } | |
359 | ||
360 | if (of_property_read_u32_index(np, "ti,syscon-dev", 1, | |
361 | &ksproc->boot_offset)) { | |
362 | dev_err(dev, "couldn't read the boot register offset\n"); | |
363 | return -EINVAL; | |
364 | } | |
365 | ||
366 | return 0; | |
367 | } | |
368 | ||
369 | static int keystone_rproc_probe(struct platform_device *pdev) | |
370 | { | |
371 | struct device *dev = &pdev->dev; | |
372 | struct device_node *np = dev->of_node; | |
373 | struct keystone_rproc *ksproc; | |
374 | struct rproc *rproc; | |
375 | int dsp_id; | |
376 | char *fw_name = NULL; | |
377 | char *template = "keystone-dsp%d-fw"; | |
378 | int name_len = 0; | |
379 | int ret = 0; | |
380 | ||
381 | if (!np) { | |
382 | dev_err(dev, "only DT-based devices are supported\n"); | |
383 | return -ENODEV; | |
384 | } | |
385 | ||
386 | dsp_id = of_alias_get_id(np, "rproc"); | |
387 | if (dsp_id < 0) { | |
388 | dev_warn(dev, "device does not have an alias id\n"); | |
389 | return dsp_id; | |
390 | } | |
391 | ||
392 | /* construct a custom default fw name - subject to change in future */ | |
393 | name_len = strlen(template); /* assuming a single digit alias */ | |
394 | fw_name = devm_kzalloc(dev, name_len, GFP_KERNEL); | |
395 | if (!fw_name) | |
396 | return -ENOMEM; | |
397 | snprintf(fw_name, name_len, template, dsp_id); | |
398 | ||
399 | rproc = rproc_alloc(dev, dev_name(dev), &keystone_rproc_ops, fw_name, | |
400 | sizeof(*ksproc)); | |
401 | if (!rproc) | |
402 | return -ENOMEM; | |
403 | ||
404 | rproc->has_iommu = false; | |
405 | ksproc = rproc->priv; | |
406 | ksproc->rproc = rproc; | |
407 | ksproc->dev = dev; | |
408 | ||
409 | ret = keystone_rproc_of_get_dev_syscon(pdev, ksproc); | |
410 | if (ret) | |
411 | goto free_rproc; | |
412 | ||
f5f98654 | 413 | ksproc->reset = devm_reset_control_get_exclusive(dev, NULL); |
e88bb8f7 SA |
414 | if (IS_ERR(ksproc->reset)) { |
415 | ret = PTR_ERR(ksproc->reset); | |
416 | goto free_rproc; | |
417 | } | |
418 | ||
419 | /* enable clock for accessing DSP internal memories */ | |
420 | pm_runtime_enable(dev); | |
421 | ret = pm_runtime_get_sync(dev); | |
422 | if (ret < 0) { | |
423 | dev_err(dev, "failed to enable clock, status = %d\n", ret); | |
424 | pm_runtime_put_noidle(dev); | |
425 | goto disable_rpm; | |
426 | } | |
427 | ||
428 | ret = keystone_rproc_of_get_memories(pdev, ksproc); | |
429 | if (ret) | |
430 | goto disable_clk; | |
431 | ||
432 | ksproc->irq_ring = platform_get_irq_byname(pdev, "vring"); | |
433 | if (ksproc->irq_ring < 0) { | |
434 | ret = ksproc->irq_ring; | |
435 | dev_err(dev, "failed to get vring interrupt, status = %d\n", | |
436 | ret); | |
437 | goto disable_clk; | |
438 | } | |
439 | ||
440 | ksproc->irq_fault = platform_get_irq_byname(pdev, "exception"); | |
441 | if (ksproc->irq_fault < 0) { | |
442 | ret = ksproc->irq_fault; | |
443 | dev_err(dev, "failed to get exception interrupt, status = %d\n", | |
444 | ret); | |
445 | goto disable_clk; | |
446 | } | |
447 | ||
448 | ksproc->kick_gpio = of_get_named_gpio_flags(np, "kick-gpios", 0, NULL); | |
449 | if (ksproc->kick_gpio < 0) { | |
450 | ret = ksproc->kick_gpio; | |
451 | dev_err(dev, "failed to get gpio for virtio kicks, status = %d\n", | |
452 | ret); | |
453 | goto disable_clk; | |
454 | } | |
455 | ||
456 | if (of_reserved_mem_device_init(dev)) | |
457 | dev_warn(dev, "device does not have specific CMA pool\n"); | |
458 | ||
11d2a2ff AD |
459 | /* ensure the DSP is in reset before loading firmware */ |
460 | ret = reset_control_status(ksproc->reset); | |
461 | if (ret < 0) { | |
462 | dev_err(dev, "failed to get reset status, status = %d\n", ret); | |
463 | goto release_mem; | |
464 | } else if (ret == 0) { | |
465 | WARN(1, "device is not in reset\n"); | |
466 | keystone_rproc_dsp_reset(ksproc); | |
467 | } | |
468 | ||
e88bb8f7 SA |
469 | ret = rproc_add(rproc); |
470 | if (ret) { | |
471 | dev_err(dev, "failed to add register device with remoteproc core, status = %d\n", | |
472 | ret); | |
473 | goto release_mem; | |
474 | } | |
475 | ||
476 | platform_set_drvdata(pdev, ksproc); | |
477 | ||
478 | return 0; | |
479 | ||
480 | release_mem: | |
481 | of_reserved_mem_device_release(dev); | |
482 | disable_clk: | |
483 | pm_runtime_put_sync(dev); | |
484 | disable_rpm: | |
485 | pm_runtime_disable(dev); | |
486 | free_rproc: | |
487 | rproc_free(rproc); | |
488 | return ret; | |
489 | } | |
490 | ||
491 | static int keystone_rproc_remove(struct platform_device *pdev) | |
492 | { | |
493 | struct keystone_rproc *ksproc = platform_get_drvdata(pdev); | |
494 | ||
495 | rproc_del(ksproc->rproc); | |
496 | pm_runtime_put_sync(&pdev->dev); | |
497 | pm_runtime_disable(&pdev->dev); | |
498 | rproc_free(ksproc->rproc); | |
499 | of_reserved_mem_device_release(&pdev->dev); | |
500 | ||
501 | return 0; | |
502 | } | |
503 | ||
504 | static const struct of_device_id keystone_rproc_of_match[] = { | |
505 | { .compatible = "ti,k2hk-dsp", }, | |
506 | { .compatible = "ti,k2l-dsp", }, | |
507 | { .compatible = "ti,k2e-dsp", }, | |
b4daf890 | 508 | { .compatible = "ti,k2g-dsp", }, |
e88bb8f7 SA |
509 | { /* sentinel */ }, |
510 | }; | |
511 | MODULE_DEVICE_TABLE(of, keystone_rproc_of_match); | |
512 | ||
513 | static struct platform_driver keystone_rproc_driver = { | |
514 | .probe = keystone_rproc_probe, | |
515 | .remove = keystone_rproc_remove, | |
516 | .driver = { | |
517 | .name = "keystone-rproc", | |
518 | .of_match_table = keystone_rproc_of_match, | |
519 | }, | |
520 | }; | |
521 | ||
522 | module_platform_driver(keystone_rproc_driver); | |
523 | ||
524 | MODULE_AUTHOR("Suman Anna <s-anna@ti.com>"); | |
525 | MODULE_LICENSE("GPL v2"); | |
526 | MODULE_DESCRIPTION("TI Keystone DSP Remoteproc driver"); |