drivers/remoteproc/imx_rproc.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3  * Copyright (c) 2017 Pengutronix, Oleksij Rempel <kernel@pengutronix.de>
   4  */
   5
   6 #include <linux/clk.h>
   7 #include <linux/err.h>
   8 #include <linux/interrupt.h>
   9 #include <linux/kernel.h>
  10 #include <linux/mfd/syscon.h>
  11 #include <linux/module.h>
  12 #include <linux/of_address.h>
  13 #include <linux/of_device.h>
  14 #include <linux/platform_device.h>
  15 #include <linux/regmap.h>
  16 #include <linux/remoteproc.h>
  17
  18 #define IMX7D_SRC_SCR                   0x0C
  19 #define IMX7D_ENABLE_M4                 BIT(3)
  20 #define IMX7D_SW_M4P_RST                BIT(2)
  21 #define IMX7D_SW_M4C_RST                BIT(1)
  22 #define IMX7D_SW_M4C_NON_SCLR_RST       BIT(0)
  23
  24 #define IMX7D_M4_RST_MASK               (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
  25                                          | IMX7D_SW_M4C_RST \
  26                                          | IMX7D_SW_M4C_NON_SCLR_RST)
  27
  28 #define IMX7D_M4_START                  (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
  29                                          | IMX7D_SW_M4C_RST)
  30 #define IMX7D_M4_STOP                   IMX7D_SW_M4C_NON_SCLR_RST
  31
  32 /* Address: 0x020D8000 */
  33 #define IMX6SX_SRC_SCR                  0x00
  34 #define IMX6SX_ENABLE_M4                BIT(22)
  35 #define IMX6SX_SW_M4P_RST               BIT(12)
  36 #define IMX6SX_SW_M4C_NON_SCLR_RST      BIT(4)
  37 #define IMX6SX_SW_M4C_RST               BIT(3)
  38
  39 #define IMX6SX_M4_START                 (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
  40                                          | IMX6SX_SW_M4C_RST)
  41 #define IMX6SX_M4_STOP                  IMX6SX_SW_M4C_NON_SCLR_RST
  42 #define IMX6SX_M4_RST_MASK              (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
  43                                          | IMX6SX_SW_M4C_NON_SCLR_RST \
  44                                          | IMX6SX_SW_M4C_RST)
  45
  46 #define IMX7D_RPROC_MEM_MAX             8
  47
  48 /**
  49  * struct imx_rproc_mem - slim internal memory structure
  50  * @cpu_addr: MPU virtual address of the memory region
  51  * @sys_addr: Bus address used to access the memory region
  52  * @size: Size of the memory region
  53  */
  54 struct imx_rproc_mem {
  55         void __iomem *cpu_addr;
  56         phys_addr_t sys_addr;
  57         size_t size;
  58 };
  59
  60 /* att flags */
  61 /* M4 own area. Can be mapped at probe */
  62 #define ATT_OWN         BIT(1)
  63
  64 /* address translation table */
  65 struct imx_rproc_att {
  66         u32 da; /* device address (From Cortex M4 view)*/
  67         u32 sa; /* system bus address */
  68         u32 size; /* size of reg range */
  69         int flags;
  70 };
  71
  72 struct imx_rproc_dcfg {
  73         u32                             src_reg;
  74         u32                             src_mask;
  75         u32                             src_start;
  76         u32                             src_stop;
  77         const struct imx_rproc_att      *att;
  78         size_t                          att_size;
  79 };
  80
  81 struct imx_rproc {
  82         struct device                   *dev;
  83         struct regmap                   *regmap;
  84         struct rproc                    *rproc;
  85         const struct imx_rproc_dcfg     *dcfg;
  86         struct imx_rproc_mem            mem[IMX7D_RPROC_MEM_MAX];
  87         struct clk                      *clk;
  88 };
  89
  90 static const struct imx_rproc_att imx_rproc_att_imx7d[] = {
  91         /* dev addr , sys addr  , size      , flags */
  92         /* OCRAM_S (M4 Boot code) - alias */
  93         { 0x00000000, 0x00180000, 0x00008000, 0 },
  94         /* OCRAM_S (Code) */
  95         { 0x00180000, 0x00180000, 0x00008000, ATT_OWN },
  96         /* OCRAM (Code) - alias */
  97         { 0x00900000, 0x00900000, 0x00020000, 0 },
  98         /* OCRAM_EPDC (Code) - alias */
  99         { 0x00920000, 0x00920000, 0x00020000, 0 },
 100         /* OCRAM_PXP (Code) - alias */
 101         { 0x00940000, 0x00940000, 0x00008000, 0 },
 102         /* TCML (Code) */
 103         { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
 104         /* DDR (Code) - alias, first part of DDR (Data) */
 105         { 0x10000000, 0x80000000, 0x0FFF0000, 0 },
 106
 107         /* TCMU (Data) */
 108         { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
 109         /* OCRAM (Data) */
 110         { 0x20200000, 0x00900000, 0x00020000, 0 },
 111         /* OCRAM_EPDC (Data) */
 112         { 0x20220000, 0x00920000, 0x00020000, 0 },
 113         /* OCRAM_PXP (Data) */
 114         { 0x20240000, 0x00940000, 0x00008000, 0 },
 115         /* DDR (Data) */
 116         { 0x80000000, 0x80000000, 0x60000000, 0 },
 117 };
 118
 119 static const struct imx_rproc_att imx_rproc_att_imx6sx[] = {
 120         /* dev addr , sys addr  , size      , flags */
 121         /* TCML (M4 Boot Code) - alias */
 122         { 0x00000000, 0x007F8000, 0x00008000, 0 },
 123         /* OCRAM_S (Code) */
 124         { 0x00180000, 0x008F8000, 0x00004000, 0 },
 125         /* OCRAM_S (Code) - alias */
 126         { 0x00180000, 0x008FC000, 0x00004000, 0 },
 127         /* TCML (Code) */
 128         { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
 129         /* DDR (Code) - alias, first part of DDR (Data) */
 130         { 0x10000000, 0x80000000, 0x0FFF8000, 0 },
 131
 132         /* TCMU (Data) */
 133         { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
 134         /* OCRAM_S (Data) - alias? */
 135         { 0x208F8000, 0x008F8000, 0x00004000, 0 },
 136         /* DDR (Data) */
 137         { 0x80000000, 0x80000000, 0x60000000, 0 },
 138 };
 139
 140 static const struct imx_rproc_dcfg imx_rproc_cfg_imx7d = {
 141         .src_reg        = IMX7D_SRC_SCR,
 142         .src_mask       = IMX7D_M4_RST_MASK,
 143         .src_start      = IMX7D_M4_START,
 144         .src_stop       = IMX7D_M4_STOP,
 145         .att            = imx_rproc_att_imx7d,
 146         .att_size       = ARRAY_SIZE(imx_rproc_att_imx7d),
 147 };
 148
 149 static const struct imx_rproc_dcfg imx_rproc_cfg_imx6sx = {
 150         .src_reg        = IMX6SX_SRC_SCR,
 151         .src_mask       = IMX6SX_M4_RST_MASK,
 152         .src_start      = IMX6SX_M4_START,
 153         .src_stop       = IMX6SX_M4_STOP,
 154         .att            = imx_rproc_att_imx6sx,
 155         .att_size       = ARRAY_SIZE(imx_rproc_att_imx6sx),
 156 };
 157
 158 static int imx_rproc_start(struct rproc *rproc)
 159 {
 160         struct imx_rproc *priv = rproc->priv;
 161         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 162         struct device *dev = priv->dev;
 163         int ret;
 164
 165         ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
 166                                  dcfg->src_mask, dcfg->src_start);
 167         if (ret)
 168                 dev_err(dev, "Filed to enable M4!\n");
 169
 170         return ret;
 171 }
 172
 173 static int imx_rproc_stop(struct rproc *rproc)
 174 {
 175         struct imx_rproc *priv = rproc->priv;
 176         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 177         struct device *dev = priv->dev;
 178         int ret;
 179
 180         ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
 181                                  dcfg->src_mask, dcfg->src_stop);
 182         if (ret)
 183                 dev_err(dev, "Filed to stop M4!\n");
 184
 185         return ret;
 186 }
 187
 188 static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da,
 189                                int len, u64 *sys)
 190 {
 191         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 192         int i;
 193
 194         /* parse address translation table */
 195         for (i = 0; i < dcfg->att_size; i++) {
 196                 const struct imx_rproc_att *att = &dcfg->att[i];
 197
 198                 if (da >= att->da && da + len < att->da + att->size) {
 199                         unsigned int offset = da - att->da;
 200
 201                         *sys = att->sa + offset;
 202                         return 0;
 203                 }
 204         }
 205
 206         dev_warn(priv->dev, "Translation filed: da = 0x%llx len = 0x%x\n",
 207                  da, len);
 208         return -ENOENT;
 209 }
 210
 211 static void *imx_rproc_da_to_va(struct rproc *rproc, u64 da, int len)
 212 {
 213         struct imx_rproc *priv = rproc->priv;
 214         void *va = NULL;
 215         u64 sys;
 216         int i;
 217
 218         if (len <= 0)
 219                 return NULL;
 220
 221         /*
 222          * On device side we have many aliases, so we need to convert device
 223          * address (M4) to system bus address first.
 224          */
 225         if (imx_rproc_da_to_sys(priv, da, len, &sys))
 226                 return NULL;
 227
 228         for (i = 0; i < IMX7D_RPROC_MEM_MAX; i++) {
 229                 if (sys >= priv->mem[i].sys_addr && sys + len <
 230                     priv->mem[i].sys_addr +  priv->mem[i].size) {
 231                         unsigned int offset = sys - priv->mem[i].sys_addr;
 232                         /* __force to make sparse happy with type conversion */
 233                         va = (__force void *)(priv->mem[i].cpu_addr + offset);
 234                         break;
 235                 }
 236         }
 237
 238         dev_dbg(&rproc->dev, "da = 0x%llx len = 0x%x va = 0x%p\n", da, len, va);
 239
 240         return va;
 241 }
 242
 243 static const struct rproc_ops imx_rproc_ops = {
 244         .start          = imx_rproc_start,
 245         .stop           = imx_rproc_stop,
 246         .da_to_va       = imx_rproc_da_to_va,
 247 };
 248
 249 static int imx_rproc_addr_init(struct imx_rproc *priv,
 250                                struct platform_device *pdev)
 251 {
 252         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 253         struct device *dev = &pdev->dev;
 254         struct device_node *np = dev->of_node;
 255         int a, b = 0, err, nph;
 256
 257         /* remap required addresses */
 258         for (a = 0; a < dcfg->att_size; a++) {
 259                 const struct imx_rproc_att *att = &dcfg->att[a];
 260
 261                 if (!(att->flags & ATT_OWN))
 262                         continue;
 263
 264                 if (b >= IMX7D_RPROC_MEM_MAX)
 265                         break;
 266
 267                 priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev,
 268                                                      att->sa, att->size);
 269                 if (!priv->mem[b].cpu_addr) {
 270                         dev_err(dev, "devm_ioremap_resource failed\n");
 271                         return -ENOMEM;
 272                 }
 273                 priv->mem[b].sys_addr = att->sa;
 274                 priv->mem[b].size = att->size;
 275                 b++;
 276         }
 277
 278         /* memory-region is optional property */
 279         nph = of_count_phandle_with_args(np, "memory-region", NULL);
 280         if (nph <= 0)
 281                 return 0;
 282
 283         /* remap optional addresses */
 284         for (a = 0; a < nph; a++) {
 285                 struct device_node *node;
 286                 struct resource res;
 287
 288                 node = of_parse_phandle(np, "memory-region", a);
 289                 err = of_address_to_resource(node, 0, &res);
 290                 if (err) {
 291                         dev_err(dev, "unable to resolve memory region\n");
 292                         return err;
 293                 }
 294
 295                 if (b >= IMX7D_RPROC_MEM_MAX)
 296                         break;
 297
 298                 priv->mem[b].cpu_addr = devm_ioremap_resource(&pdev->dev, &res);
 299                 if (IS_ERR(priv->mem[b].cpu_addr)) {
 300                         dev_err(dev, "devm_ioremap_resource failed\n");
 301                         err = PTR_ERR(priv->mem[b].cpu_addr);
 302                         return err;
 303                 }
 304                 priv->mem[b].sys_addr = res.start;
 305                 priv->mem[b].size = resource_size(&res);
 306                 b++;
 307         }
 308
 309         return 0;
 310 }
 311
 312 static int imx_rproc_probe(struct platform_device *pdev)
 313 {
 314         struct device *dev = &pdev->dev;
 315         struct device_node *np = dev->of_node;
 316         struct imx_rproc *priv;
 317         struct rproc *rproc;
 318         struct regmap_config config = { .name = "imx-rproc" };
 319         const struct imx_rproc_dcfg *dcfg;
 320         struct regmap *regmap;
 321         int ret;
 322
 323         regmap = syscon_regmap_lookup_by_phandle(np, "syscon");
 324         if (IS_ERR(regmap)) {
 325                 dev_err(dev, "failed to find syscon\n");
 326                 return PTR_ERR(regmap);
 327         }
 328         regmap_attach_dev(dev, regmap, &config);
 329
 330         /* set some other name then imx */
 331         rproc = rproc_alloc(dev, "imx-rproc", &imx_rproc_ops,
 332                             NULL, sizeof(*priv));
 333         if (!rproc)
 334                 return -ENOMEM;
 335
 336         dcfg = of_device_get_match_data(dev);
 337         if (!dcfg) {
 338                 ret = -EINVAL;
 339                 goto err_put_rproc;
 340         }
 341
 342         priv = rproc->priv;
 343         priv->rproc = rproc;
 344         priv->regmap = regmap;
 345         priv->dcfg = dcfg;
 346         priv->dev = dev;
 347
 348         dev_set_drvdata(dev, rproc);
 349
 350         ret = imx_rproc_addr_init(priv, pdev);
 351         if (ret) {
 352                 dev_err(dev, "filed on imx_rproc_addr_init\n");
 353                 goto err_put_rproc;
 354         }
 355
 356         priv->clk = devm_clk_get(dev, NULL);
 357         if (IS_ERR(priv->clk)) {
 358                 dev_err(dev, "Failed to get clock\n");
 359                 ret = PTR_ERR(priv->clk);
 360                 goto err_put_rproc;
 361         }
 362
 363         /*
 364          * clk for M4 block including memory. Should be
 365          * enabled before .start for FW transfer.
 366          */
 367         ret = clk_prepare_enable(priv->clk);
 368         if (ret) {
 369                 dev_err(&rproc->dev, "Failed to enable clock\n");
 370                 goto err_put_rproc;
 371         }
 372
 373         ret = rproc_add(rproc);
 374         if (ret) {
 375                 dev_err(dev, "rproc_add failed\n");
 376                 goto err_put_clk;
 377         }
 378
 379         return 0;
 380
 381 err_put_clk:
 382         clk_disable_unprepare(priv->clk);
 383 err_put_rproc:
 384         rproc_free(rproc);
 385
 386         return ret;
 387 }
 388
 389 static int imx_rproc_remove(struct platform_device *pdev)
 390 {
 391         struct rproc *rproc = platform_get_drvdata(pdev);
 392         struct imx_rproc *priv = rproc->priv;
 393
 394         clk_disable_unprepare(priv->clk);
 395         rproc_del(rproc);
 396         rproc_free(rproc);
 397
 398         return 0;
 399 }
 400
 401 static const struct of_device_id imx_rproc_of_match[] = {
 402         { .compatible = "fsl,imx7d-cm4", .data = &imx_rproc_cfg_imx7d },
 403         { .compatible = "fsl,imx6sx-cm4", .data = &imx_rproc_cfg_imx6sx },
 404         {},
 405 };
 406 MODULE_DEVICE_TABLE(of, imx_rproc_of_match);
 407
 408 static struct platform_driver imx_rproc_driver = {
 409         .probe = imx_rproc_probe,
 410         .remove = imx_rproc_remove,
 411         .driver = {
 412                 .name = "imx-rproc",
 413                 .of_match_table = imx_rproc_of_match,
 414         },
 415 };
 416
 417 module_platform_driver(imx_rproc_driver);
 418
 419 MODULE_LICENSE("GPL v2");
 420 MODULE_DESCRIPTION("IMX6SX/7D remote processor control driver");
 421 MODULE_AUTHOR("Oleksij Rempel <o.rempel@pengutronix.de>");