drivers/remoteproc/imx_rproc.c

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