[PATCH v3 02/12] remoteproc: Add imx_rproc driver to support NXP i.MX8MP/N
Peng Fan
peng.fan at nxp.com
Wed Oct 22 02:48:28 CEST 2025
Support i.MX8MP/N with start/stop/device_to_virt/is_running/load
implemented. The device static configuration is mostly reused from
Linux Kernel with adapation to U-Boot dm_rproc_ops.
The booting method:
- load mmc 2:2 0x90000000 /lib/firmware/imx8mp_m7_DDR_rpmsg_lite_str_echo_
rtos.elf
- rproc load 0 0x90000000 ${filesize}
- rproc start 0
Reviewed-by: Ye Li <ye.li at nxp.com>
Signed-off-by: Peng Fan <peng.fan at nxp.com>
---
MAINTAINERS | 1 +
drivers/remoteproc/Kconfig | 7 ++
drivers/remoteproc/Makefile | 1 +
drivers/remoteproc/imx_rproc.c | 233 +++++++++++++++++++++++++++++++++++++++++
drivers/remoteproc/imx_rproc.h | 56 ++++++++++
5 files changed, 298 insertions(+)
diff --git a/MAINTAINERS b/MAINTAINERS
index 671903605d17a78b88d83ddb7e01b78115b553e7..9070df85335919ab2db73bb0668869d64051f964 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -319,6 +319,7 @@ F: board/freescale/common/
F: common/spl/spl_imx_container.c
F: doc/imx/
F: drivers/mailbox/imx-mailbox.c
+F: drivers/remoteproc/imx*
F: drivers/serial/serial_mxc.c
F: include/imx_container.h
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
index e9f19a694332bf255c0144467264193873dd6384..8056f210abc895ee0e4866679090cc47cce9e7ae 100644
--- a/drivers/remoteproc/Kconfig
+++ b/drivers/remoteproc/Kconfig
@@ -33,6 +33,13 @@ config REMOTEPROC_ADI_SC5XX
Say 'y' here to add support for loading code onto SHARC cores in
an ADSP-SC5xx SoC from Analog Devices
+config REMOTEPROC_IMX
+ bool "Support for NXP i.MX remoteproc"
+ select REMOTEPROC
+ depends on DM && MACH_IMX && OF_CONTROL
+ help
+ Say 'y' here to add support for i.MX remoteproc.
+
config REMOTEPROC_RENESAS_APMU
bool "Support for Renesas R-Car Gen4 APMU start of CR52 processor"
select REMOTEPROC
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
index 47bd57c7890d9b14cc53da59616ed59ea2eba47b..7ea8023c50bb8ca34cd142260a9cafa8040c5560 100644
--- a/drivers/remoteproc/Makefile
+++ b/drivers/remoteproc/Makefile
@@ -9,6 +9,7 @@ obj-$(CONFIG_$(PHASE_)REMOTEPROC) += rproc-uclass.o rproc-elf-loader.o
# Remote proc drivers - Please keep this list alphabetically sorted.
obj-$(CONFIG_K3_SYSTEM_CONTROLLER) += k3_system_controller.o
obj-$(CONFIG_REMOTEPROC_ADI_SC5XX) += adi_sc5xx_rproc.o
+obj-$(CONFIG_REMOTEPROC_IMX) += imx_rproc.o
obj-$(CONFIG_REMOTEPROC_RENESAS_APMU) += renesas_apmu.o
obj-$(CONFIG_REMOTEPROC_SANDBOX) += sandbox_testproc.o
obj-$(CONFIG_REMOTEPROC_STM32_COPRO) += stm32_copro.o
diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
new file mode 100644
index 0000000000000000000000000000000000000000..1b2ef5005e3a2f2cc1254e953b0bcb7a58063f5a
--- /dev/null
+++ b/drivers/remoteproc/imx_rproc.c
@@ -0,0 +1,233 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright 2025 NXP
+ */
+
+#include <asm/io.h>
+#include <dm.h>
+#include <errno.h>
+#include <dm/device_compat.h>
+#include <linux/arm-smccc.h>
+#include <linux/types.h>
+#include <remoteproc.h>
+
+#include "imx_rproc.h"
+
+#define IMX_RPROC_MEM_MAX 32
+
+#define IMX_SIP_RPROC 0xC2000005
+#define IMX_SIP_RPROC_START 0x00
+#define IMX_SIP_RPROC_STARTED 0x01
+#define IMX_SIP_RPROC_STOP 0x02
+
+struct imx_rproc {
+ const struct imx_rproc_dcfg *dcfg;
+};
+
+/* att flags: lower 16 bits specifying core, higher 16 bits for flags */
+/* M4 own area. Can be mapped at probe */
+#define ATT_OWN BIT(31)
+#define ATT_IOMEM BIT(30)
+
+static int imx_rproc_arm_smc_start(struct udevice *dev)
+{
+ struct arm_smccc_res res;
+
+ arm_smccc_smc(IMX_SIP_RPROC, IMX_SIP_RPROC_START, 0, 0, 0, 0, 0, 0, &res);
+
+ return res.a0;
+}
+
+static int imx_rproc_start(struct udevice *dev)
+{
+ struct imx_rproc *priv = dev_get_priv(dev);
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ int ret;
+
+ if (!dcfg->ops || !dcfg->ops->start)
+ return -EOPNOTSUPP;
+
+ ret = dcfg->ops->start(dev);
+ if (ret)
+ dev_err(dev, "Failed to enable remote core!\n");
+
+ return ret;
+}
+
+static int imx_rproc_arm_smc_stop(struct udevice *dev)
+{
+ struct arm_smccc_res res;
+
+ arm_smccc_smc(IMX_SIP_RPROC, IMX_SIP_RPROC_STOP, 0, 0, 0, 0, 0, 0, &res);
+ if (res.a1)
+ dev_info(dev, "Not in wfi, force stopped\n");
+
+ return res.a0;
+}
+
+static int imx_rproc_stop(struct udevice *dev)
+{
+ struct imx_rproc *priv = dev_get_priv(dev);
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ int ret;
+
+ if (!dcfg->ops || !dcfg->ops->stop)
+ return -EOPNOTSUPP;
+
+ ret = dcfg->ops->stop(dev);
+ if (ret)
+ dev_err(dev, "Failed to stop remote core\n");
+
+ return ret;
+}
+
+static int imx_rproc_arm_smc_is_running(struct udevice *dev)
+{
+ struct arm_smccc_res res;
+
+ arm_smccc_smc(IMX_SIP_RPROC, IMX_SIP_RPROC_STARTED, 0, 0, 0, 0, 0, 0, &res);
+ if (res.a0)
+ return 0;
+
+ return 1;
+}
+
+static int imx_rproc_is_running(struct udevice *dev)
+{
+ struct imx_rproc *priv = dev_get_priv(dev);
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+
+ if (!dcfg->ops || !dcfg->ops->is_running)
+ return 0;
+
+ return dcfg->ops->is_running(dev);
+}
+
+static int imx_rproc_init(struct udevice *dev)
+{
+ return 0;
+}
+
+static int imx_rproc_da_to_sys(struct udevice *dev, u64 da, size_t len, u64 *sys, bool *is_iomem)
+{
+ struct imx_rproc *priv = dev_get_priv(dev);
+ const struct imx_rproc_dcfg *dcfg = priv->dcfg;
+ int i;
+
+ /* parse address translation table */
+ for (i = 0; i < dcfg->att_size; i++) {
+ const struct imx_rproc_att *att = &dcfg->att[i];
+
+ if (da >= att->da && da + len < att->da + att->size) {
+ unsigned int offset = da - att->da;
+
+ *sys = att->sa + offset;
+
+ if (is_iomem)
+ *is_iomem = att->flags & ATT_IOMEM;
+
+ return 0;
+ }
+ }
+
+ dev_err(dev, "Translation failed: da = 0x%llx len = 0x%zx\n", da, len);
+
+ return -ENOENT;
+}
+
+static void *imx_rproc_device_to_virt(struct udevice *dev, ulong da, ulong size, bool *is_iomem)
+{
+ u64 sys;
+
+ if (imx_rproc_da_to_sys(dev, da, size, &sys, is_iomem))
+ return NULL;
+
+ dev_dbg(dev, "da = 0x%lx len = 0x%lx sys = 0x%llx\n", da, size, sys);
+
+ return phys_to_virt(sys);
+}
+
+static int imx_rproc_load(struct udevice *dev, ulong addr, ulong size)
+{
+ return rproc_elf_load_image(dev, addr, size);
+}
+
+static const struct dm_rproc_ops imx_rproc_ops = {
+ .init = imx_rproc_init,
+ .start = imx_rproc_start,
+ .stop = imx_rproc_stop,
+ .load = imx_rproc_load,
+ .device_to_virt = imx_rproc_device_to_virt,
+ .is_running = imx_rproc_is_running,
+};
+
+static int imx_rproc_probe(struct udevice *dev)
+{
+ struct imx_rproc *priv = dev_get_priv(dev);
+ struct imx_rproc_dcfg *dcfg = (struct imx_rproc_dcfg *)dev_get_driver_data(dev);
+ ofnode node;
+
+ node = dev_ofnode(dev);
+
+ priv->dcfg = dcfg;
+
+ return 0;
+}
+
+static const struct imx_rproc_att imx_rproc_att_imx8mn[] = {
+ /* dev addr , sys addr , size , flags */
+ /* ITCM */
+ { 0x00000000, 0x007E0000, 0x00020000, ATT_OWN | ATT_IOMEM },
+ /* OCRAM_S */
+ { 0x00180000, 0x00180000, 0x00009000, 0 },
+ /* OCRAM */
+ { 0x00900000, 0x00900000, 0x00020000, 0 },
+ /* OCRAM */
+ { 0x00920000, 0x00920000, 0x00020000, 0 },
+ /* OCRAM */
+ { 0x00940000, 0x00940000, 0x00050000, 0 },
+ /* QSPI Code - alias */
+ { 0x08000000, 0x08000000, 0x08000000, 0 },
+ /* DDR (Code) - alias */
+ { 0x10000000, 0x40000000, 0x0FFE0000, 0 },
+ /* DTCM */
+ { 0x20000000, 0x00800000, 0x00020000, ATT_OWN | ATT_IOMEM },
+ /* OCRAM_S - alias */
+ { 0x20180000, 0x00180000, 0x00008000, ATT_OWN },
+ /* OCRAM */
+ { 0x20200000, 0x00900000, 0x00020000, ATT_OWN },
+ /* OCRAM */
+ { 0x20220000, 0x00920000, 0x00020000, ATT_OWN },
+ /* OCRAM */
+ { 0x20240000, 0x00940000, 0x00040000, ATT_OWN },
+ /* DDR (Data) */
+ { 0x40000000, 0x40000000, 0x80000000, 0 },
+};
+
+static const struct imx_rproc_plat_ops imx_rproc_ops_arm_smc = {
+ .start = imx_rproc_arm_smc_start,
+ .stop = imx_rproc_arm_smc_stop,
+ .is_running = imx_rproc_arm_smc_is_running,
+};
+
+static const struct imx_rproc_dcfg imx_rproc_cfg_imx8mn = {
+ .att = imx_rproc_att_imx8mn,
+ .att_size = ARRAY_SIZE(imx_rproc_att_imx8mn),
+ .method = IMX_RPROC_SMC,
+ .ops = &imx_rproc_ops_arm_smc,
+};
+
+static const struct udevice_id imx_rproc_ids[] = {
+ { .compatible = "fsl,imx8mn-cm7", .data = (ulong)&imx_rproc_cfg_imx8mn, },
+ { .compatible = "fsl,imx8mp-cm7", .data = (ulong)&imx_rproc_cfg_imx8mn, },
+ {}
+};
+
+U_BOOT_DRIVER(imx_rproc) = {
+ .name = "imx_rproc",
+ .of_match = imx_rproc_ids,
+ .id = UCLASS_REMOTEPROC,
+ .ops = &imx_rproc_ops,
+ .probe = imx_rproc_probe,
+ .priv_auto = sizeof(struct imx_rproc),
+};
diff --git a/drivers/remoteproc/imx_rproc.h b/drivers/remoteproc/imx_rproc.h
new file mode 100644
index 0000000000000000000000000000000000000000..7a82dc4a195b44cd4b2d5ce5767c2688dde69ac7
--- /dev/null
+++ b/drivers/remoteproc/imx_rproc.h
@@ -0,0 +1,56 @@
+/* SPDX-License-Identifier: GPL-2.0-only */
+/*
+ * Copyright (c) 2017 Pengutronix, Oleksij Rempel <kernel at pengutronix.de>
+ * Copyright 2021 NXP
+ */
+
+#ifndef _IMX_RPROC_H
+#define _IMX_RPROC_H
+
+/* address translation table */
+struct imx_rproc_att {
+ u32 da; /* device address (From Cortex M4 view)*/
+ u32 sa; /* system bus address */
+ u32 size; /* size of reg range */
+ int flags;
+};
+
+/* Remote core start/stop method */
+enum imx_rproc_method {
+ IMX_RPROC_NONE,
+ /* Through syscon regmap */
+ IMX_RPROC_MMIO,
+ /* Through ARM SMCCC */
+ IMX_RPROC_SMC,
+ /* Through System Control Unit API */
+ IMX_RPROC_SCU_API,
+ /* Through Reset Controller API */
+ IMX_RPROC_RESET_CONTROLLER,
+ /* Through System Manager */
+ IMX_RPROC_SM,
+};
+
+/* dcfg flags */
+#define IMX_RPROC_NEED_SYSTEM_OFF BIT(0)
+
+struct imx_rproc_plat_ops {
+ int (*start)(struct udevice *dev);
+ int (*stop)(struct udevice *dev);
+ int (*is_running)(struct udevice *dev);
+};
+
+struct imx_rproc_dcfg {
+ u32 src_reg;
+ u32 src_mask;
+ u32 src_start;
+ u32 src_stop;
+ u32 gpr_reg;
+ u32 gpr_wait;
+ const struct imx_rproc_att *att;
+ size_t att_size;
+ enum imx_rproc_method method;
+ u32 flags;
+ const struct imx_rproc_plat_ops *ops;
+};
+
+#endif /* _IMX_RPROC_H */
--
2.37.1
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