[U-Boot] [PATCH v2 3/3] mach-imx: bootaux: elf firmware support
Oleksandr Suvorov
oleksandr.suvorov at toradex.com
Tue Dec 3 15:37:22 CET 2019
On Thu, Nov 28, 2019 at 3:57 PM Igor Opaniuk <igor.opaniuk at gmail.com> wrote:
>
> From: Igor Opaniuk <igor.opaniuk at toradex.com>
>
> Currently imx-specific bootaux command doesn't support ELF format
> firmware for Cortex-M4 core.
>
> This patches introduces a PoC implementation of handling elf firmware
> (load_elf_image_phdr() was copy-pasted from elf.c just for PoC).
>
> This has the advantage that the user does not need to know to which
> address the binary has been linked to. However, in order to handle
> and load the elf sections to the right address, we need to translate the
> Cortex-M4 core memory addresses to primary/host CPU memory
> addresses (Cortex A7/A9 cores).
>
> This allows to boot firmwares from any location with just using
> bootaux, e.g.:
> > tftp ${loadaddr} hello_world.elf && bootaux ${loadaddr}
>
> Similar translation table can be found in the Linux remoteproc
> driver [1].
>
> [1] https://elixir.bootlin.com/linux/latest/source/drivers/remoteproc/imx_rproc.c
>
> Signed-off-by: Igor Opaniuk <igor.opaniuk at toradex.com>
> Signed-off-by: Stefan Agner <stefan.agner at toradex.com>
Reviewed-by: Oleksandr Suvorov <oleksandr.suvorov at toradex.com>
> ---
>
> arch/arm/include/asm/mach-imx/sys_proto.h | 7 ++
> arch/arm/mach-imx/imx_bootaux.c | 84 +++++++++++++++++++++--
> arch/arm/mach-imx/mx7/soc.c | 28 ++++++++
> 3 files changed, 115 insertions(+), 4 deletions(-)
>
> diff --git a/arch/arm/include/asm/mach-imx/sys_proto.h b/arch/arm/include/asm/mach-imx/sys_proto.h
> index 1e627c8fc3..ed5d9a1667 100644
> --- a/arch/arm/include/asm/mach-imx/sys_proto.h
> +++ b/arch/arm/include/asm/mach-imx/sys_proto.h
> @@ -104,6 +104,13 @@ void gpr_init(void);
>
> #endif /* CONFIG_MX6 */
>
> +/* address translation table */
> +struct rproc_att {
> + u32 da; /* device address (From Cortex M4 view) */
> + u32 sa; /* system bus address */
> + u32 size; /* size of reg range */
> +};
> +
> u32 get_nr_cpus(void);
> u32 get_cpu_rev(void);
> u32 get_cpu_speed_grade_hz(void);
> diff --git a/arch/arm/mach-imx/imx_bootaux.c b/arch/arm/mach-imx/imx_bootaux.c
> index c750cee60c..871169e771 100644
> --- a/arch/arm/mach-imx/imx_bootaux.c
> +++ b/arch/arm/mach-imx/imx_bootaux.c
> @@ -7,18 +7,94 @@
> #include <asm/io.h>
> #include <asm/mach-imx/sys_proto.h>
> #include <command.h>
> +#include <elf.h>
> #include <imx_sip.h>
> #include <linux/compiler.h>
>
> -int arch_auxiliary_core_up(u32 core_id, ulong boot_private_data)
> +const __weak struct rproc_att hostmap[] = { };
> +
> +static const struct rproc_att *get_host_mapping(unsigned long auxcore)
> +{
> + const struct rproc_att *mmap = hostmap;
> +
> + while (mmap && mmap->size) {
> + if (mmap->da <= auxcore &&
> + mmap->da + mmap->size > auxcore)
> + return mmap;
> + mmap++;
> + }
> +
> + return NULL;
> +}
> +
> +/*
> + * A very simple elf loader, assumes the image is valid, returns the
> + * entry point address.
> + */
> +static unsigned long load_elf_image_phdr(unsigned long addr)
> +{
> + Elf32_Ehdr *ehdr; /* ELF header structure pointer */
> + Elf32_Phdr *phdr; /* Program header structure pointer */
> + int i;
> +
> + ehdr = (Elf32_Ehdr *)addr;
> + phdr = (Elf32_Phdr *)(addr + ehdr->e_phoff);
> +
> + /* Load each program header */
> + for (i = 0; i < ehdr->e_phnum; ++i, ++phdr) {
> + const struct rproc_att *mmap = get_host_mapping(phdr->p_paddr);
> + void *dst, *src;
> +
> + if (phdr->p_type != PT_LOAD)
> + continue;
> +
> + if (!mmap) {
> + printf("Invalid aux core address: %08x",
> + phdr->p_paddr);
> + return 0;
> + }
> +
> + dst = (void *)(phdr->p_paddr - mmap->da) + mmap->sa;
> + src = (void *)addr + phdr->p_offset;
> +
> + debug("Loading phdr %i to 0x%p (%i bytes)\n",
> + i, dst, phdr->p_filesz);
> +
> + if (phdr->p_filesz)
> + memcpy(dst, src, phdr->p_filesz);
> + if (phdr->p_filesz != phdr->p_memsz)
> + memset(dst + phdr->p_filesz, 0x00,
> + phdr->p_memsz - phdr->p_filesz);
> + flush_cache((unsigned long)dst &
> + ~(CONFIG_SYS_CACHELINE_SIZE - 1),
> + ALIGN(phdr->p_filesz, CONFIG_SYS_CACHELINE_SIZE));
> + }
> +
> + return ehdr->e_entry;
> +}
> +
> +int arch_auxiliary_core_up(u32 core_id, ulong addr)
> {
> ulong stack, pc;
>
> - if (!boot_private_data)
> + if (!addr)
> return -EINVAL;
>
> - stack = *(u32 *)boot_private_data;
> - pc = *(u32 *)(boot_private_data + 4);
> + if (valid_elf_image(addr)) {
> + stack = 0x0;
> + pc = load_elf_image_phdr(addr);
> + if (!pc)
> + return CMD_RET_FAILURE;
> +
> + } else {
> + /*
> + * Assume binary file with vector table at the beginning.
> + * Cortex-M4 vector tables start with the stack pointer (SP)
> + * and reset vector (initial PC).
> + */
> + stack = *(u32 *)addr;
> + pc = *(u32 *)(addr + 4);
> + }
>
> printf("## Starting auxiliary core stack = 0x%08lX, pc = 0x%08lX...\n",
> stack, pc);
> diff --git a/arch/arm/mach-imx/mx7/soc.c b/arch/arm/mach-imx/mx7/soc.c
> index 35160f4b37..4aafeed188 100644
> --- a/arch/arm/mach-imx/mx7/soc.c
> +++ b/arch/arm/mach-imx/mx7/soc.c
> @@ -193,6 +193,34 @@ static void init_cpu_basic(void)
> #endif
> }
>
> +#ifdef CONFIG_IMX_BOOTAUX
> +/*
> + * Table of mappings of physical mem regions in both
> + * Cortex-A7 and Cortex-M4 address spaces.
> + *
> + * For additional details check sections 2.1.2 and 2.1.3 in
> + * i.MX7Dual Applications Processor Reference Manual
> + *
> + */
> +const struct rproc_att hostmap[] = {
> + /* aux core , host core, size */
> + { 0x00000000, 0x00180000, 0x8000 }, /* OCRAM_S */
> + { 0x00180000, 0x00180000, 0x8000 }, /* OCRAM_S */
> + { 0x20180000, 0x00180000, 0x8000 }, /* OCRAM_S */
> + { 0x1fff8000, 0x007f8000, 0x8000 }, /* TCML */
> + { 0x20000000, 0x00800000, 0x8000 }, /* TCMU */
> + { 0x00900000, 0x00900000, 0x20000 }, /* OCRAM_128KB */
> + { 0x20200000, 0x00900000, 0x20000 }, /* OCRAM_128KB */
> + { 0x00920000, 0x00920000, 0x20000 }, /* OCRAM_EPDC */
> + { 0x20220000, 0x00920000, 0x20000 }, /* OCRAM_EPDC */
> + { 0x00940000, 0x00940000, 0x20000 }, /* OCRAM_PXP */
> + { 0x20240000, 0x00940000, 0x20000 }, /* OCRAM_PXP */
> + { 0x10000000, 0x80000000, 0x0fff0000 }, /* DDR Code alias */
> + { 0x80000000, 0x80000000, 0xe0000000 }, /* DDRC */
> + { /* sentinel */ }
> +};
> +#endif
> +
> #ifndef CONFIG_SKIP_LOWLEVEL_INIT
> /* enable all periherial can be accessed in nosec mode */
> static void init_csu(void)
> --
> 2.17.1
>
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--
Best regards
Oleksandr Suvorov
Toradex AG
Altsagenstrasse 5 | 6048 Horw/Luzern | Switzerland | T: +41 41 500
4800 (main line)
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