[PATCH v2 1/4] remoteproc: k3-m4: Introduce K3 remote proc driver for M4 subsystem
Andrew Davis
afd at ti.com
Thu Jan 30 01:04:45 CET 2025
On 1/29/25 4:52 PM, Judith Mendez wrote:
> From: Hari Nagalla <hnagalla at ti.com>
>
> Some K3 devices like AM64, AM62 devices have a M4 processor in MCU
> voltage domain.
>
> Add a remote proc driver to support this subsystem to be able to load
> and boot the M4 core.
>
> Signed-off-by: Hari Nagalla <hnagalla at ti.com>
> [Judith: Fixed comments and cleanup driver by removing uses_lreset
> which is always enabled for M4 remoteproc]
> Signed-off-by: Judith Mendez <jm at ti.com>
> Tested-by: Daniel Schultz <d.schultz at phytec.de>
> ---
> drivers/remoteproc/Kconfig | 10 +
> drivers/remoteproc/Makefile | 1 +
> drivers/remoteproc/ti_k3_m4_rproc.c | 392 ++++++++++++++++++++++++++++
> 3 files changed, 403 insertions(+)
> create mode 100644 drivers/remoteproc/ti_k3_m4_rproc.c
>
> diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
> index 2790b168b19..8a5d88917d6 100644
> --- a/drivers/remoteproc/Kconfig
> +++ b/drivers/remoteproc/Kconfig
> @@ -70,6 +70,16 @@ config REMOTEPROC_TI_K3_DSP
> on various TI K3 family of SoCs through the remote processor
> framework.
>
> +config REMOTEPROC_TI_K3_M4F
> + bool "TI K3 M4F remoteproc support"
> + select REMOTEPROC
> + depends on ARCH_K3
> + depends on TI_SCI_PROTOCOL
> + help
> + Say y here to support TI's M4F remote processor subsystems
> + on various TI K3 family of SoCs through the remote processor
> + framework.
> +
> config REMOTEPROC_TI_K3_R5F
> bool "TI K3 R5F remoteproc support"
> select REMOTEPROC
> diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
> index 3a092b7660e..f81e5009c5e 100644
> --- a/drivers/remoteproc/Makefile
> +++ b/drivers/remoteproc/Makefile
> @@ -13,6 +13,7 @@ obj-$(CONFIG_REMOTEPROC_SANDBOX) += sandbox_testproc.o
> obj-$(CONFIG_REMOTEPROC_STM32_COPRO) += stm32_copro.o
> obj-$(CONFIG_REMOTEPROC_TI_K3_ARM64) += ti_k3_arm64_rproc.o
> obj-$(CONFIG_REMOTEPROC_TI_K3_DSP) += ti_k3_dsp_rproc.o
> +obj-$(CONFIG_REMOTEPROC_TI_K3_M4F) += ti_k3_m4_rproc.o
> obj-$(CONFIG_REMOTEPROC_TI_K3_R5F) += ti_k3_r5f_rproc.o
> obj-$(CONFIG_REMOTEPROC_TI_POWER) += ti_power_proc.o
> obj-$(CONFIG_REMOTEPROC_TI_PRU) += pru_rproc.o
> diff --git a/drivers/remoteproc/ti_k3_m4_rproc.c b/drivers/remoteproc/ti_k3_m4_rproc.c
> new file mode 100644
> index 00000000000..8cfb9ecf96d
> --- /dev/null
> +++ b/drivers/remoteproc/ti_k3_m4_rproc.c
> @@ -0,0 +1,392 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + * Texas Instruments' K3 M4 Remoteproc driver
> + *
> + * Copyright (C) 2024 Texas Instruments Incorporated - http://www.ti.com/
> + * Hari Nagalla <hnagalla at ti.com>
> + */
> +
> +#include <dm.h>
> +#include <log.h>
> +#include <malloc.h>
> +#include <remoteproc.h>
> +#include <errno.h>
> +#include <clk.h>
> +#include <reset.h>
> +#include <asm/io.h>
> +#include <power-domain.h>
> +#include <dm/device_compat.h>
> +#include <linux/err.h>
> +#include <linux/sizes.h>
> +#include <linux/soc/ti/ti_sci_protocol.h>
> +#include "ti_sci_proc.h"
> +
> +/**
> + * struct k3_m4_mem - internal memory structure
> + * @cpu_addr: MPU virtual address of the memory region
> + * @bus_addr: Bus address used to access the memory region
> + * @dev_addr: Device address from remoteproc view
> + * @size: Size of the memory region
> + */
> +struct k3_m4_mem {
> + void __iomem *cpu_addr;
> + phys_addr_t bus_addr;
> + phys_addr_t dev_addr;
> + size_t size;
> +};
> +
> +/**
> + * struct k3_m4_mem_data - memory definitions for m4 remote core
> + * @name: name for this memory entry
> + * @dev_addr: device address for the memory entry
> + */
> +struct k3_m4_mem_data {
> + const char *name;
> + const u32 dev_addr;
> +};
> +
> +/**
> + * struct k3_m4_boot_data - internal data structure used for boot
> + * @boot_align_addr: Boot vector address alignment granularity
> + */
> +struct k3_m4_boot_data {
> + u32 boot_align_addr;
> +};
> +
> +/**
> + * struct k3_m4_privdata - Structure representing Remote processor data.
> + * @m4_rst: m4 rproc reset control data
> + * @tsp: Pointer to TISCI proc contrl handle
> + * @data: Pointer to DSP specific boot data structure
> + * @mem: Array of available memories
> + * @num_mem: Number of available memories
> + */
> +struct k3_m4_privdata {
> + struct reset_ctl m4_rst;
> + struct ti_sci_proc tsp;
> + struct k3_m4_boot_data *data;
> + struct k3_m4_mem *mem;
> + int num_mems;
> +};
> +
> +/*
> + * The M4 cores have a local reset that affects only the CPU, and a
> + * generic module reset that powers on the device and allows the M4 internal
> + * memories to be accessed while the local reset is asserted. This function is
> + * used to release the global reset on M4F to allow loading into the M4F
> + * internal RAMs. This helper function is invoked in k3_m4_load() before any
> + * actual firmware loading and is undone only in k3_m4_stop(). The local reset
> + * cannot be released on M4 cores until after the firmware images are loaded.
> + */
> +static int k3_m4_prepare(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + struct k3_m4_boot_data *data = m4->data;
> + int ret;
> +
> + ret = ti_sci_proc_power_domain_on(&m4->tsp);
> + if (ret)
> + dev_err(dev, "cannot enable internal RAM loading, ret = %d\n",
> + ret);
> +
> + return ret;
> +}
> +
> +/*
> + * This function is the counterpart to k3_m4_prepare() and is used to assert
> + * the global reset on M4 cores. This completes the second step of powering
> + * down the M4 cores. The cores themselves are halted through the local reset
> + * in first step. This function is invoked in k3_m4_stop() after the local
> + * reset is asserted.
> + */
> +static int k3_m4_unprepare(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + struct k3_m4_boot_data *data = m4->data;
> +
> + return ti_sci_proc_power_domain_off(&m4->tsp);
> +}
> +
> +/**
> + * k3_m4_load() - Load up the Remote processor image
> + * @dev: rproc device pointer
> + * @addr: Address at which image is available
> + * @size: size of the image
> + *
> + * Return: 0 if all goes good, else appropriate error message.
> + */
> +static int k3_m4_load(struct udevice *dev, ulong addr, ulong size)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + void *image_addr = (void *)addr;
> + int ret;
> +
> + ret = ti_sci_proc_request(&m4->tsp);
> + if (ret)
> + return ret;
> +
> + ret = k3_m4_prepare(dev);
> + if (ret) {
> + dev_err(dev, "Prepare failed for core %d\n",
> + m4->tsp.proc_id);
> + goto proc_release;
> + }
> +
> + ti_secure_image_post_process(&image_addr, &size);
> +
> + ret = rproc_elf_load_image(dev, addr, size);
> + if (ret < 0) {
> + dev_err(dev, "Loading elf failed %d\n", ret);
> + goto unprepare;
> + }
> +
> +unprepare:
> + if (ret)
> + k3_m4_unprepare(dev);
> +proc_release:
> + ti_sci_proc_release(&m4->tsp);
> + return ret;
> +}
> +
> +/**
> + * k3_m4_start() - Start the remote processor
> + * @dev: rproc device pointer
> + *
> + * Return: 0 if all went ok, else return appropriate error
> + */
> +static int k3_m4_start(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + struct k3_m4_boot_data *data = m4->data;
> + int ret;
> +
> + ret = ti_sci_proc_request(&m4->tsp);
> + if (ret)
> + return ret;
> +
> + ret = reset_deassert(&m4->m4_rst);
> +
> +proc_release:
This label isn't used, did this not throw a warning?
> + ti_sci_proc_release(&m4->tsp);
> +
> + return ret;
> +}
> +
> +static int k3_m4_stop(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> +
> + ti_sci_proc_request(&m4->tsp);
> + reset_assert(&m4->m4_rst);
> + ti_sci_proc_power_domain_off(&m4->tsp);
We do the matching ti_sci_proc_power_domain_on() in prepare(),
shouldn't the matching off() be in k3_m4_unprepare()?
Looks like it already is, so why do we do it here also?
Andrew
> + ti_sci_proc_release(&m4->tsp);
> +
> + return 0;
> +}
> +
> +/**
> + * k3_m4_init() - Initialize the remote processor
> + * @dev: rproc device pointer
> + *
> + * Return: 0 if all went ok, else return appropriate error
> + */
> +static int k3_m4_init(struct udevice *dev)
> +{
> + return 0;
> +}
> +
> +static int k3_m4_reset(struct udevice *dev)
> +{
> + return 0;
> +}
The above two functions are optional, if they don't
do anything then don't define them.
Andrew
> +
> +static void *k3_m4_da_to_va(struct udevice *dev, ulong da, ulong len)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + phys_addr_t bus_addr, dev_addr;
> + void __iomem *va = NULL;
> + size_t size;
> + u32 offset;
> + int i;
> +
> + if (len <= 0)
> + return NULL;
> +
> + for (i = 0; i < m4->num_mems; i++) {
> + bus_addr = m4->mem[i].bus_addr;
> + dev_addr = m4->mem[i].dev_addr;
> + size = m4->mem[i].size;
> +
> + if (da >= dev_addr && ((da + len) <= (dev_addr + size))) {
> + offset = da - dev_addr;
> + va = m4->mem[i].cpu_addr + offset;
> + return (__force void *)va;
> + }
> +
> + if (da >= bus_addr && (da + len) <= (bus_addr + size)) {
> + offset = da - bus_addr;
> + va = m4->mem[i].cpu_addr + offset;
> + return (__force void *)va;
> + }
> + }
> +
> + /* Assume it is DDR region and return da */
> + return map_physmem(da, len, MAP_NOCACHE);
> +}
> +
> +static const struct dm_rproc_ops k3_m4_ops = {
> + .init = k3_m4_init,
> + .load = k3_m4_load,
> + .start = k3_m4_start,
> + .stop = k3_m4_stop,
> + .reset = k3_m4_reset,
> + .device_to_virt = k3_m4_da_to_va,
> +};
> +
> +static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
> +{
> + u32 ids[2];
> + int ret;
> +
> + tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
> + if (IS_ERR(tsp->sci)) {
> + dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
> + return PTR_ERR(tsp->sci);
> + }
> +
> + ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
> + if (ret) {
> + dev_err(dev, "Proc IDs not populated %d\n", ret);
> + return ret;
> + }
> +
> + tsp->ops = &tsp->sci->ops.proc_ops;
> + tsp->proc_id = ids[0];
> + tsp->host_id = ids[1];
> + tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
> + TI_SCI_RESOURCE_NULL);
> + if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
> + dev_err(dev, "Device ID not populated %d\n", ret);
> + return -ENODEV;
> + }
> +
> + return 0;
> +}
> +
> +static const struct k3_m4_mem_data am6_m4_mems[] = {
> + { .name = "iram", .dev_addr = 0x0 },
> + { .name = "dram", .dev_addr = 0x30000 },
> +};
> +
> +static int k3_m4_of_get_memories(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> + int i;
> +
> + m4->num_mems = ARRAY_SIZE(am6_m4_mems);
> + m4->mem = calloc(m4->num_mems, sizeof(*m4->mem));
> + if (!m4->mem)
> + return -ENOMEM;
> +
> + for (i = 0; i < m4->num_mems; i++) {
> + m4->mem[i].bus_addr = dev_read_addr_size_name(dev,
> + am6_m4_mems[i].name,
> + (fdt_addr_t *)&m4->mem[i].size);
> + if (m4->mem[i].bus_addr == FDT_ADDR_T_NONE) {
> + dev_err(dev, "%s bus address not found\n",
> + am6_m4_mems[i].name);
> + return -EINVAL;
> + }
> + m4->mem[i].cpu_addr = map_physmem(m4->mem[i].bus_addr,
> + m4->mem[i].size,
> + MAP_NOCACHE);
> + m4->mem[i].dev_addr = am6_m4_mems[i].dev_addr;
> + }
> +
> + return 0;
> +}
> +
> +/**
> + * k3_of_to_priv() - generate private data from device tree
> + * @dev: corresponding k3 m4 processor device
> + * @m4: pointer to driver specific private data
> + *
> + * Return: 0 if all goes good, else appropriate error message.
> + */
> +static int k3_m4_of_to_priv(struct udevice *dev, struct k3_m4_privdata *m4)
> +{
> + int ret;
> +
> + ret = reset_get_by_index(dev, 0, &m4->m4_rst);
> + if (ret) {
> + dev_err(dev, "reset_get() failed: %d\n", ret);
> + return ret;
> + }
> +
> + ret = ti_sci_proc_of_to_priv(dev, &m4->tsp);
> + if (ret)
> + return ret;
> +
> + ret = k3_m4_of_get_memories(dev);
> + if (ret)
> + return ret;
> +
> + m4->data = (struct k3_m4_boot_data *)dev_get_driver_data(dev);
> +
> + return 0;
> +}
> +
> +/**
> + * k3_m4_probe() - Basic probe
> + * @dev: corresponding k3 remote processor device
> + *
> + * Return: 0 if all goes good, else appropriate error message.
> + */
> +static int k3_m4_probe(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4;
> + int ret;
> +
> + m4 = dev_get_priv(dev);
> + ret = k3_m4_of_to_priv(dev, m4);
> + if (ret)
> + return ret;
> +
> + /*
> + * The M4 local resets are deasserted by default on Power-On-Reset.
> + * Assert the local resets to ensure the M4s don't execute bogus code
> + * in .load() callback when the module reset is released to support
> + * internal memory loading. This is needed for M4 cores.
> + */
> + reset_assert(&m4->m4_rst);
> +
> + return 0;
> +}
> +
> +static int k3_m4_remove(struct udevice *dev)
> +{
> + struct k3_m4_privdata *m4 = dev_get_priv(dev);
> +
> + free(m4->mem);
> +
> + return 0;
> +}
> +
> +static const struct k3_m4_boot_data m4_data = {
> + .boot_align_addr = SZ_1K,
> +};
> +
> +static const struct udevice_id k3_m4_ids[] = {
> + { .compatible = "ti,am64-m4fss", .data = (ulong)&m4_data, },
> + {}
> +};
> +
> +U_BOOT_DRIVER(k3_m4) = {
> + .name = "k3_m4",
> + .of_match = k3_m4_ids,
> + .id = UCLASS_REMOTEPROC,
> + .ops = &k3_m4_ops,
> + .probe = k3_m4_probe,
> + .remove = k3_m4_remove,
> + .priv_auto = sizeof(struct k3_m4_privdata),
> +};
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