drivers/remoteproc/imx_rproc.c

   1 // SPDX-License-Identifier: GPL-2.0-only
   2 /*
   3  * Copyright (c) 2017 Pengutronix, Oleksij Rempel <kernel@pengutronix.de>
   4  */
   5
   6 #include <linux/clk.h>
   7 #include <linux/err.h>
   8 #include <linux/interrupt.h>
   9 #include <linux/kernel.h>
  10 #include <linux/mfd/syscon.h>
  11 #include <linux/module.h>
  12 #include <linux/of_address.h>
  13 #include <linux/of_device.h>
  14 #include <linux/platform_device.h>
  15 #include <linux/regmap.h>
  16 #include <linux/remoteproc.h>
  17
  18 #define IMX7D_SRC_SCR                   0x0C
  19 #define IMX7D_ENABLE_M4                 BIT(3)
  20 #define IMX7D_SW_M4P_RST                BIT(2)
  21 #define IMX7D_SW_M4C_RST                BIT(1)
  22 #define IMX7D_SW_M4C_NON_SCLR_RST       BIT(0)
  23
  24 #define IMX7D_M4_RST_MASK               (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
  25                                          | IMX7D_SW_M4C_RST \
  26                                          | IMX7D_SW_M4C_NON_SCLR_RST)
  27
  28 #define IMX7D_M4_START                  (IMX7D_ENABLE_M4 | IMX7D_SW_M4P_RST \
  29                                          | IMX7D_SW_M4C_RST)
  30 #define IMX7D_M4_STOP                   IMX7D_SW_M4C_NON_SCLR_RST
  31
  32 /* Address: 0x020D8000 */
  33 #define IMX6SX_SRC_SCR                  0x00
  34 #define IMX6SX_ENABLE_M4                BIT(22)
  35 #define IMX6SX_SW_M4P_RST               BIT(12)
  36 #define IMX6SX_SW_M4C_NON_SCLR_RST      BIT(4)
  37 #define IMX6SX_SW_M4C_RST               BIT(3)
  38
  39 #define IMX6SX_M4_START                 (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
  40                                          | IMX6SX_SW_M4C_RST)
  41 #define IMX6SX_M4_STOP                  IMX6SX_SW_M4C_NON_SCLR_RST
  42 #define IMX6SX_M4_RST_MASK              (IMX6SX_ENABLE_M4 | IMX6SX_SW_M4P_RST \
  43                                          | IMX6SX_SW_M4C_NON_SCLR_RST \
  44                                          | IMX6SX_SW_M4C_RST)
  45
  46 #define IMX7D_RPROC_MEM_MAX             8
  47
  48 /**
  49  * struct imx_rproc_mem - slim internal memory structure
  50  * @cpu_addr: MPU virtual address of the memory region
  51  * @sys_addr: Bus address used to access the memory region
  52  * @size: Size of the memory region
  53  */
  54 struct imx_rproc_mem {
  55         void __iomem *cpu_addr;
  56         phys_addr_t sys_addr;
  57         size_t size;
  58 };
  59
  60 /* att flags */
  61 /* M4 own area. Can be mapped at probe */
  62 #define ATT_OWN         BIT(1)
  63
  64 /* address translation table */
  65 struct imx_rproc_att {
  66         u32 da; /* device address (From Cortex M4 view)*/
  67         u32 sa; /* system bus address */
  68         u32 size; /* size of reg range */
  69         int flags;
  70 };
  71
  72 struct imx_rproc_dcfg {
  73         u32                             src_reg;
  74         u32                             src_mask;
  75         u32                             src_start;
  76         u32                             src_stop;
  77         const struct imx_rproc_att      *att;
  78         size_t                          att_size;
  79 };
  80
  81 struct imx_rproc {
  82         struct device                   *dev;
  83         struct regmap                   *regmap;
  84         struct rproc                    *rproc;
  85         const struct imx_rproc_dcfg     *dcfg;
  86         struct imx_rproc_mem            mem[IMX7D_RPROC_MEM_MAX];
  87         struct clk                      *clk;
  88 };
  89
  90 static const struct imx_rproc_att imx_rproc_att_imx7d[] = {
  91         /* dev addr , sys addr  , size      , flags */
  92         /* OCRAM_S (M4 Boot code) - alias */
  93         { 0x00000000, 0x00180000, 0x00008000, 0 },
  94         /* OCRAM_S (Code) */
  95         { 0x00180000, 0x00180000, 0x00008000, ATT_OWN },
  96         /* OCRAM (Code) - alias */
  97         { 0x00900000, 0x00900000, 0x00020000, 0 },
  98         /* OCRAM_EPDC (Code) - alias */
  99         { 0x00920000, 0x00920000, 0x00020000, 0 },
 100         /* OCRAM_PXP (Code) - alias */
 101         { 0x00940000, 0x00940000, 0x00008000, 0 },
 102         /* TCML (Code) */
 103         { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
 104         /* DDR (Code) - alias, first part of DDR (Data) */
 105         { 0x10000000, 0x80000000, 0x0FFF0000, 0 },
 106
 107         /* TCMU (Data) */
 108         { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
 109         /* OCRAM (Data) */
 110         { 0x20200000, 0x00900000, 0x00020000, 0 },
 111         /* OCRAM_EPDC (Data) */
 112         { 0x20220000, 0x00920000, 0x00020000, 0 },
 113         /* OCRAM_PXP (Data) */
 114         { 0x20240000, 0x00940000, 0x00008000, 0 },
 115         /* DDR (Data) */
 116         { 0x80000000, 0x80000000, 0x60000000, 0 },
 117 };
 118
 119 static const struct imx_rproc_att imx_rproc_att_imx6sx[] = {
 120         /* dev addr , sys addr  , size      , flags */
 121         /* TCML (M4 Boot Code) - alias */
 122         { 0x00000000, 0x007F8000, 0x00008000, 0 },
 123         /* OCRAM_S (Code) */
 124         { 0x00180000, 0x008F8000, 0x00004000, 0 },
 125         /* OCRAM_S (Code) - alias */
 126         { 0x00180000, 0x008FC000, 0x00004000, 0 },
 127         /* TCML (Code) */
 128         { 0x1FFF8000, 0x007F8000, 0x00008000, ATT_OWN },
 129         /* DDR (Code) - alias, first part of DDR (Data) */
 130         { 0x10000000, 0x80000000, 0x0FFF8000, 0 },
 131
 132         /* TCMU (Data) */
 133         { 0x20000000, 0x00800000, 0x00008000, ATT_OWN },
 134         /* OCRAM_S (Data) - alias? */
 135         { 0x208F8000, 0x008F8000, 0x00004000, 0 },
 136         /* DDR (Data) */
 137         { 0x80000000, 0x80000000, 0x60000000, 0 },
 138 };
 139
 140 static const struct imx_rproc_dcfg imx_rproc_cfg_imx7d = {
 141         .src_reg        = IMX7D_SRC_SCR,
 142         .src_mask       = IMX7D_M4_RST_MASK,
 143         .src_start      = IMX7D_M4_START,
 144         .src_stop       = IMX7D_M4_STOP,
 145         .att            = imx_rproc_att_imx7d,
 146         .att_size       = ARRAY_SIZE(imx_rproc_att_imx7d),
 147 };
 148
 149 static const struct imx_rproc_dcfg imx_rproc_cfg_imx6sx = {
 150         .src_reg        = IMX6SX_SRC_SCR,
 151         .src_mask       = IMX6SX_M4_RST_MASK,
 152         .src_start      = IMX6SX_M4_START,
 153         .src_stop       = IMX6SX_M4_STOP,
 154         .att            = imx_rproc_att_imx6sx,
 155         .att_size       = ARRAY_SIZE(imx_rproc_att_imx6sx),
 156 };
 157
 158 static int imx_rproc_start(struct rproc *rproc)
 159 {
 160         struct imx_rproc *priv = rproc->priv;
 161         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 162         struct device *dev = priv->dev;
 163         int ret;
 164
 165         ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
 166                                  dcfg->src_mask, dcfg->src_start);
 167         if (ret)
 168                 dev_err(dev, "Failed to enable M4!\n");
 169
 170         return ret;
 171 }
 172
 173 static int imx_rproc_stop(struct rproc *rproc)
 174 {
 175         struct imx_rproc *priv = rproc->priv;
 176         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 177         struct device *dev = priv->dev;
 178         int ret;
 179
 180         ret = regmap_update_bits(priv->regmap, dcfg->src_reg,
 181                                  dcfg->src_mask, dcfg->src_stop);
 182         if (ret)
 183                 dev_err(dev, "Failed to stop M4!\n");
 184
 185         return ret;
 186 }
 187
 188 static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da,
 189                                size_t len, u64 *sys)
 190 {
 191         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 192         int i;
 193
 194         /* parse address translation table */
 195         for (i = 0; i < dcfg->att_size; i++) {
 196                 const struct imx_rproc_att *att = &dcfg->att[i];
 197
 198                 if (da >= att->da && da + len < att->da + att->size) {
 199                         unsigned int offset = da - att->da;
 200
 201                         *sys = att->sa + offset;
 202                         return 0;
 203                 }
 204         }
 205
 206         dev_warn(priv->dev, "Translation failed: da = 0x%llx len = 0x%zx\n",
 207                  da, len);
 208         return -ENOENT;
 209 }
 210
 211 static void *imx_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len)
 212 {
 213         struct imx_rproc *priv = rproc->priv;
 214         void *va = NULL;
 215         u64 sys;
 216         int i;
 217
 218         if (len == 0)
 219                 return NULL;
 220
 221         /*
 222          * On device side we have many aliases, so we need to convert device
 223          * address (M4) to system bus address first.
 224          */
 225         if (imx_rproc_da_to_sys(priv, da, len, &sys))
 226                 return NULL;
 227
 228         for (i = 0; i < IMX7D_RPROC_MEM_MAX; i++) {
 229                 if (sys >= priv->mem[i].sys_addr && sys + len <
 230                     priv->mem[i].sys_addr +  priv->mem[i].size) {
 231                         unsigned int offset = sys - priv->mem[i].sys_addr;
 232                         /* __force to make sparse happy with type conversion */
 233                         va = (__force void *)(priv->mem[i].cpu_addr + offset);
 234                         break;
 235                 }
 236         }
 237
 238         dev_dbg(&rproc->dev, "da = 0x%llx len = 0x%zx va = 0x%p\n",
 239                 da, len, va);
 240
 241         return va;
 242 }
 243
 244 static const struct rproc_ops imx_rproc_ops = {
 245         .start          = imx_rproc_start,
 246         .stop           = imx_rproc_stop,
 247         .da_to_va       = imx_rproc_da_to_va,
 248 };
 249
 250 static int imx_rproc_addr_init(struct imx_rproc *priv,
 251                                struct platform_device *pdev)
 252 {
 253         const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 254         struct device *dev = &pdev->dev;
 255         struct device_node *np = dev->of_node;
 256         int a, b = 0, err, nph;
 257
 258         /* remap required addresses */
 259         for (a = 0; a < dcfg->att_size; a++) {
 260                 const struct imx_rproc_att *att = &dcfg->att[a];
 261
 262                 if (!(att->flags & ATT_OWN))
 263                         continue;
 264
 265                 if (b >= IMX7D_RPROC_MEM_MAX)
 266                         break;
 267
 268                 priv->mem[b].cpu_addr = devm_ioremap(&pdev->dev,
 269                                                      att->sa, att->size);
 270                 if (!priv->mem[b].cpu_addr) {
 271                         dev_err(dev, "devm_ioremap_resource failed\n");
 272                         return -ENOMEM;
 273                 }
 274                 priv->mem[b].sys_addr = att->sa;
 275                 priv->mem[b].size = att->size;
 276                 b++;
 277         }
 278
 279         /* memory-region is optional property */
 280         nph = of_count_phandle_with_args(np, "memory-region", NULL);
 281         if (nph <= 0)
 282                 return 0;
 283
 284         /* remap optional addresses */
 285         for (a = 0; a < nph; a++) {
 286                 struct device_node *node;
 287                 struct resource res;
 288
 289                 node = of_parse_phandle(np, "memory-region", a);
 290                 err = of_address_to_resource(node, 0, &res);
 291                 if (err) {
 292                         dev_err(dev, "unable to resolve memory region\n");
 293                         return err;
 294                 }
 295
 296                 if (b >= IMX7D_RPROC_MEM_MAX)
 297                         break;
 298
 299                 priv->mem[b].cpu_addr = devm_ioremap_resource(&pdev->dev, &res);
 300                 if (IS_ERR(priv->mem[b].cpu_addr)) {
 301                         dev_err(dev, "devm_ioremap_resource failed\n");
 302                         err = PTR_ERR(priv->mem[b].cpu_addr);
 303                         return err;
 304                 }
 305                 priv->mem[b].sys_addr = res.start;
 306                 priv->mem[b].size = resource_size(&res);
 307                 b++;
 308         }
 309
 310         return 0;
 311 }
 312
 313 static int imx_rproc_probe(struct platform_device *pdev)
 314 {
 315         struct device *dev = &pdev->dev;
 316         struct device_node *np = dev->of_node;
 317         struct imx_rproc *priv;
 318         struct rproc *rproc;
 319         struct regmap_config config = { .name = "imx-rproc" };
 320         const struct imx_rproc_dcfg *dcfg;
 321         struct regmap *regmap;
 322         int ret;
 323
 324         regmap = syscon_regmap_lookup_by_phandle(np, "syscon");
 325         if (IS_ERR(regmap)) {
 326                 dev_err(dev, "failed to find syscon\n");
 327                 return PTR_ERR(regmap);
 328         }
 329         regmap_attach_dev(dev, regmap, &config);
 330
 331         /* set some other name then imx */
 332         rproc = rproc_alloc(dev, "imx-rproc", &imx_rproc_ops,
 333                             NULL, sizeof(*priv));
 334         if (!rproc)
 335                 return -ENOMEM;
 336
 337         dcfg = of_device_get_match_data(dev);
 338         if (!dcfg) {
 339                 ret = -EINVAL;
 340                 goto err_put_rproc;
 341         }
 342
 343         priv = rproc->priv;
 344         priv->rproc = rproc;
 345         priv->regmap = regmap;
 346         priv->dcfg = dcfg;
 347         priv->dev = dev;
 348
 349         dev_set_drvdata(dev, rproc);
 350
 351         ret = imx_rproc_addr_init(priv, pdev);
 352         if (ret) {
 353                 dev_err(dev, "failed on imx_rproc_addr_init\n");
 354                 goto err_put_rproc;
 355         }
 356
 357         priv->clk = devm_clk_get(dev, NULL);
 358         if (IS_ERR(priv->clk)) {
 359                 dev_err(dev, "Failed to get clock\n");
 360                 ret = PTR_ERR(priv->clk);
 361                 goto err_put_rproc;
 362         }
 363
 364         /*
 365          * clk for M4 block including memory. Should be
 366          * enabled before .start for FW transfer.
 367          */
 368         ret = clk_prepare_enable(priv->clk);
 369         if (ret) {
 370                 dev_err(&rproc->dev, "Failed to enable clock\n");
 371                 goto err_put_rproc;
 372         }
 373
 374         ret = rproc_add(rproc);
 375         if (ret) {
 376                 dev_err(dev, "rproc_add failed\n");
 377                 goto err_put_clk;
 378         }
 379
 380         return 0;
 381
 382 err_put_clk:
 383         clk_disable_unprepare(priv->clk);
 384 err_put_rproc:
 385         rproc_free(rproc);
 386
 387         return ret;
 388 }
 389
 390 static int imx_rproc_remove(struct platform_device *pdev)
 391 {
 392         struct rproc *rproc = platform_get_drvdata(pdev);
 393         struct imx_rproc *priv = rproc->priv;
 394
 395         clk_disable_unprepare(priv->clk);
 396         rproc_del(rproc);
 397         rproc_free(rproc);
 398
 399         return 0;
 400 }
 401
 402 static const struct of_device_id imx_rproc_of_match[] = {
 403         { .compatible = "fsl,imx7d-cm4", .data = &imx_rproc_cfg_imx7d },
 404         { .compatible = "fsl,imx6sx-cm4", .data = &imx_rproc_cfg_imx6sx },
 405         {},
 406 };
 407 MODULE_DEVICE_TABLE(of, imx_rproc_of_match);
 408
 409 static struct platform_driver imx_rproc_driver = {
 410         .probe = imx_rproc_probe,
 411         .remove = imx_rproc_remove,
 412         .driver = {
 413                 .name = "imx-rproc",
 414                 .of_match_table = imx_rproc_of_match,
 415         },
 416 };
 417
 418 module_platform_driver(imx_rproc_driver);
 419
 420 MODULE_LICENSE("GPL v2");
 421 MODULE_DESCRIPTION("IMX6SX/7D remote processor control driver");
 422 MODULE_AUTHOR("Oleksij Rempel <o.rempel@pengutronix.de>");