[U-Boot] [PATCH v3 1/2] arm64: zynqmp: spl: install a PMU firmware config object at runtime
Michal Simek
michal.simek at xilinx.com
Fri May 3 22:38:37 UTC 2019
On 15. 04. 19 9:47, Luca Ceresoli wrote:
> Optionally allow U-Boot to load at the PMU firmware configuration object
> into the Power Management Unit (PMU) on Xilinx ZynqMP.
>
> The configuration object is required by the PMU FW to enable most SoC
> peripherals. So far the only way to boot using U-Boot SPL was to hard-code
> the configuration object in the PMU firmware. Allow a different boot
> process, where the PMU FW is equal for any ZynqMP chip and its
> configuration is passed at runtime by U-Boot SPL.
>
> All the code for Inter-processor communication with the PMU is isolated in
> a new file (pmu_ipc.c). The code is inspired by the same feature as
> implemented in the Xilinx First Stage Bootloader (FSBL) and Arm Trusted
> Firmware:
>
> * https://github.com/Xilinx/embeddedsw/blob/fb647e6b4c00f5154eba52a88b948195b6f1dc2b/lib/sw_apps/zynqmp_fsbl/src/xfsbl_misc_drivers.c#L295
> * https://github.com/ARM-software/arm-trusted-firmware/blob/c48d02bade88b07fa7f43aa44e5217f68e5d047f/plat/xilinx/zynqmp/pm_service/pm_api_sys.c#L357
>
> SPL logs on the console before loading the configuration object:
>
> U-Boot SPL 2018.01 (Mar 20 2019 - 08:12:21)
> Loading PMUFW cfg obj (2008 bytes)
> EL Level: EL3
> ...
>
> Signed-off-by: Luca Ceresoli <luca at lucaceresoli.net>
>
> ---
>
> Changes RFC v2 -> v3:
> - don't compile pm_cfg_obj.c from source, load it from a binary file
> (suggested by Michal)
> - move IPC code to arch/arm/mach-zynqmp/ and sys_proto.h (Michal)
>
> Changes RFC v1 -> RFC v2:
> - Load the cfg_obj in SPL, not U-Boot proper: this required a complete
> reimplementation since we cannot rely on ATF now
> - Update and refine the Kconfig option help
> ---
> arch/arm/mach-zynqmp/Kconfig | 17 +++
> arch/arm/mach-zynqmp/Makefile | 4 +
> arch/arm/mach-zynqmp/include/mach/sys_proto.h | 4 +
> arch/arm/mach-zynqmp/pmu_ipc.c | 112 ++++++++++++++++++
> board/xilinx/zynqmp/Makefile | 12 ++
> board/xilinx/zynqmp/pm_cfg_obj.S | 17 +++
> board/xilinx/zynqmp/zynqmp.c | 8 ++
> 7 files changed, 174 insertions(+)
> create mode 100644 arch/arm/mach-zynqmp/pmu_ipc.c
> create mode 100644 board/xilinx/zynqmp/pm_cfg_obj.S
>
> diff --git a/arch/arm/mach-zynqmp/Kconfig b/arch/arm/mach-zynqmp/Kconfig
> index 9bb5a5c20201..b88d1d313839 100644
> --- a/arch/arm/mach-zynqmp/Kconfig
> +++ b/arch/arm/mach-zynqmp/Kconfig
> @@ -65,6 +65,23 @@ config PMUFW_INIT_FILE
> Include external PMUFW (Platform Management Unit FirmWare) to
> a Xilinx bootable image (boot.bin).
>
> +config ZYNQMP_LOAD_PM_CFG_OBJ_FILE
> + string "PMU firmware configuration object to load at runtime"
> + help
> +
remove this empty line.
> + Path to a binary PMU firmware configuration object to be linked
> + into U-Boot SPL and loaded at runtime into the PMU firmware.
> +
> + The ZynqMP Power Management Unit (PMU) needs a configuration
> + object for most SoC peripherals to work. To have it loaded by
> + U-Boot SPL set here the file name (absolute path or relative to
> + board/xilinx/zynqmp/) of your configuration, which must be a
> + binary blob. It will be linked in the SPL binary and loaded into
> + the PMU firmware by U-Boot SPL during board initialization.
> +
> + Leave this option empty if your PMU firmware has a hard-coded
> + configuration object or you are loading it by any other means.
> +
> config ZYNQMP_USB
> bool "Configure ZynqMP USB"
>
> diff --git a/arch/arm/mach-zynqmp/Makefile b/arch/arm/mach-zynqmp/Makefile
> index 8a3b0747244a..d391b7c1d54e 100644
> --- a/arch/arm/mach-zynqmp/Makefile
> +++ b/arch/arm/mach-zynqmp/Makefile
> @@ -8,3 +8,7 @@ obj-y += cpu.o
> obj-$(CONFIG_MP) += mp.o
> obj-$(CONFIG_SPL_BUILD) += spl.o handoff.o
> obj-$(CONFIG_ZYNQMP_PSU_INIT_ENABLED) += psu_spl_init.o
> +
> +ifneq ($(CONFIG_ZYNQMP_LOAD_PM_CFG_OBJ_FILE),"")
> +obj-$(CONFIG_SPL_BUILD) += pmu_ipc.o
> +endif
> diff --git a/arch/arm/mach-zynqmp/include/mach/sys_proto.h b/arch/arm/mach-zynqmp/include/mach/sys_proto.h
> index 385c8825f2f6..e2b9a79ed539 100644
> --- a/arch/arm/mach-zynqmp/include/mach/sys_proto.h
> +++ b/arch/arm/mach-zynqmp/include/mach/sys_proto.h
> @@ -72,4 +72,8 @@ int chip_id(unsigned char id);
> void tcm_init(u8 mode);
> #endif
>
> +#if defined(CONFIG_SPL_BUILD) && defined(ZYNQMP_LOAD_PM_CFG_OBJ)
> +void zynqmp_pmufw_load_config_object(const void *cfg_obj, size_t size);
> +#endif
nit: you can remove that if/endif to open a way to also pass different
configuration object from full u-boot.
> +
> #endif /* _ASM_ARCH_SYS_PROTO_H */
> diff --git a/arch/arm/mach-zynqmp/pmu_ipc.c b/arch/arm/mach-zynqmp/pmu_ipc.c
> new file mode 100644
> index 000000000000..5feb8568f8de
> --- /dev/null
> +++ b/arch/arm/mach-zynqmp/pmu_ipc.c
> @@ -0,0 +1,112 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + * Inter-Processor Communication with the Platform Management Unit (PMU)
> + * firmware.
> + *
> + * (C) Copyright 2019 Luca Ceresoli
> + * Luca Ceresoli <luca at lucaceresoli.net>
> + */
> +
> +#include <common.h>
> +#include <asm/io.h>
> +#include <asm/arch/sys_proto.h>
> +
> +/* IPI bitmasks, register base and register offsets */
> +#define IPI_BIT_MASK_APU 0x00001
> +#define IPI_BIT_MASK_PMU0 0x10000
> +#define IPI_REG_BASE_APU 0xFF300000
> +#define IPI_REG_BASE_PMU0 0xFF330000
> +#define IPI_REG_OFFSET_TRIG 0x00
> +#define IPI_REG_OFFSET_OBR 0x04
> +
> +/* IPI mailbox buffer offsets */
> +#define IPI_BUF_BASE_APU 0xFF990400
> +#define IPI_BUF_OFFSET_TARGET_PMU 0x1C0
> +#define IPI_BUF_OFFSET_REQ 0x00
> +#define IPI_BUF_OFFSET_RESP 0x20
> +
> +#define PMUFW_PAYLOAD_ARG_CNT 8
> +
> +/* PMUFW commands */
> +#define PMUFW_CMD_SET_CONFIGURATION 2
> +
> +static void pmu_ipc_send_request(const u32 *req, size_t req_len)
> +{
> + u32 *mbx = IPI_BUF_BASE_APU +
> + IPI_BUF_OFFSET_TARGET_PMU +
> + IPI_BUF_OFFSET_REQ;
> + size_t i;
> +
> + for (i = 0; i < req_len; i++)
> + writel(req[i], &mbx[i]);
> +}
> +
> +static void pmu_ipc_read_response(unsigned int *value, size_t count)
> +{
> + u32 *mbx = IPI_BUF_BASE_APU +
> + IPI_BUF_OFFSET_TARGET_PMU +
> + IPI_BUF_OFFSET_RESP;
> + size_t i;
> +
> + for (i = 0; i < count; i++)
> + value[i] = readl(&mbx[i]);
> +}
> +
> +/**
This suggest kernel-doc format but it is not. Please run kernel-doc and
check this file.
> + * Send request to PMU and get the response.
> + *
> + * @req Request buffer. Byte 0 is the API ID, other bytes are optional
> + * parameters.
> + * @req_len Request length in number of 32-bit words.
> + * @res Response buffer. Byte 0 is the error code, other bytes are
> + * optional parameters. Optional, if @res_maxlen==0 the parameters
> + * will not be read.
> + * @res_maxlen Space allocated for the response in number of 32-bit words.
> + *
> + * @return Error code returned by the PMU (i.e. the first word of the response)
> + */
> +static int pmu_ipc_request(const u32 *req, size_t req_len,
> + u32 *res, size_t res_maxlen)
> +{
> + u32 status;
> +
> + if (req_len > PMUFW_PAYLOAD_ARG_CNT ||
> + res_maxlen > PMUFW_PAYLOAD_ARG_CNT)
> + return -EINVAL;
> +
> + pmu_ipc_send_request(req, req_len);
> +
> + /* Raise Inter-Processor Interrupt to PMU and wait for response */
> + writel(IPI_BIT_MASK_PMU0, IPI_REG_BASE_APU + IPI_REG_OFFSET_TRIG);
> + do {
> + status = readl(IPI_REG_BASE_APU + IPI_REG_OFFSET_OBR);
> + } while (status & IPI_BIT_MASK_PMU0);
> +
> + pmu_ipc_read_response(res, res_maxlen);
> +
> + return 0;
> +}
> +
> +/**
ditto.
> + * Send a configuration object to the PMU firmware.
> + *
> + * @cfg_obj Pointer to the configuration object
> + * @size Size of @cfg_obj in bytes
> + */
> +void zynqmp_pmufw_load_config_object(const void *cfg_obj, size_t size)
> +{
> + const u32 request[] = {
> + PMUFW_CMD_SET_CONFIGURATION,
> + cfg_obj
> + };
> + u32 response;
> + int err;
> +
> + printf("Loading PMUFW cfg obj (%ld bytes)\n", size);
> +
> + err = pmu_ipc_request(request, ARRAY_SIZE(request), &response, 1);
> + if (err)
> + panic("Cannot load PMUFW configuration object (%d)\n", err);
> + if (response != 0)
> + panic("PMUFW returned 0x%08x status!\n", response);
> +}
> diff --git a/board/xilinx/zynqmp/Makefile b/board/xilinx/zynqmp/Makefile
> index 80f8ca7e1e4b..d7a3cb244521 100644
> --- a/board/xilinx/zynqmp/Makefile
> +++ b/board/xilinx/zynqmp/Makefile
> @@ -33,6 +33,18 @@ ifneq ($(call ifdef_any_of, CONFIG_ZYNQMP_PSU_INIT_ENABLED CONFIG_SPL_BUILD),)
> obj-y += $(init-objs)
> endif
>
> +ifneq ($(CONFIG_ZYNQMP_LOAD_PM_CFG_OBJ_FILE),"")
> +PM_CFG_OBJ_FILE := $(shell cd $(srctree); readlink -f $(CONFIG_ZYNQMP_LOAD_PM_CFG_OBJ_FILE))
> +
> +$(obj)/pm_cfg_obj.bin: $(PM_CFG_OBJ_FILE) FORCE
> + $(call if_changed,shipped)
What's the reason to copying it?
> +
> +$(obj)/pm_cfg_obj.o: $(obj)/pm_cfg_obj.bin
> +
> +CFLAGS_zynqmp.o += -DZYNQMP_LOAD_PM_CFG_OBJ
I am no fan of passing another object. you have
CONFIG_ZYNQMP_LOAD_PM_CFG_OBJ_FILE already and this can be used instead.
> +obj-$(CONFIG_SPL_BUILD) += pm_cfg_obj.o
> +endif
> +
> obj-$(CONFIG_MMC_SDHCI_ZYNQ) += tap_delays.o
>
> ifndef CONFIG_SPL_BUILD
> diff --git a/board/xilinx/zynqmp/pm_cfg_obj.S b/board/xilinx/zynqmp/pm_cfg_obj.S
> new file mode 100644
> index 000000000000..72ca0fb785dc
> --- /dev/null
> +++ b/board/xilinx/zynqmp/pm_cfg_obj.S
> @@ -0,0 +1,17 @@
> +/* SPDX-License-Identifier: GPL-2.0+ */
> +
> +.section .rodata
> +
> +.global zynqmp_pm_cfg_obj
> +.type zynqmp_pm_cfg_obj, @object
> +.global zynqmp_pm_cfg_obj_size
> +.type zynqmp_pm_cfg_obj_size, @object
> +
> +zynqmp_pm_cfg_obj:
> +.align 4
> +.incbin "spl/board/xilinx/zynqmp/pm_cfg_obj.bin"
> +
> +zynqmp_pm_cfg_obj_end:
> +
> +zynqmp_pm_cfg_obj_size:
> +.int zynqmp_pm_cfg_obj_end - zynqmp_pm_cfg_obj
> diff --git a/board/xilinx/zynqmp/zynqmp.c b/board/xilinx/zynqmp/zynqmp.c
> index db272478506f..7fcb3e120688 100644
> --- a/board/xilinx/zynqmp/zynqmp.c
> +++ b/board/xilinx/zynqmp/zynqmp.c
> @@ -327,6 +327,14 @@ int board_early_init_f(void)
>
> int board_init(void)
> {
> +#if defined(CONFIG_SPL_BUILD) && defined(ZYNQMP_LOAD_PM_CFG_OBJ)
> + extern const u32 zynqmp_pm_cfg_obj[];
> + extern const int zynqmp_pm_cfg_obj_size;
please put these two to header instead.
> +
> + zynqmp_pmufw_load_config_object(zynqmp_pm_cfg_obj,
> + zynqmp_pm_cfg_obj_size);
> +#endif
> +
> printf("EL Level:\tEL%d\n", current_el());
>
> #if defined(CONFIG_FPGA) && defined(CONFIG_FPGA_ZYNQMPPL) && \
>
Anyway we are almost there. I have tested it on HW and it works.
When this is cleanup I think this should also go to zynqmp pmufw command
to be able to change it at run time directly from u-boot prompt.
Thanks,
Michal
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