1 // SPDX-License-Identifier: GPL-2.0
3  * ZynqMP R5 Remote Processor driver
7 #include <dt-bindings/power/xlnx-zynqmp-power.h>
8 #include <linux/dma-mapping.h>
9 #include <linux/firmware/xlnx-zynqmp.h>
12 #include <linux/mailbox/zynqmp-ipi-message.h>
22 /* IPI buffer MAX length */
25 /* RX mailbox client buffer max length */
30  * reflects possible values of xlnx,cluster-mode dt-property
34 	LOCKSTEP_MODE = 1, /* cores execute same code in lockstep,clk-for-clk */
39  * struct mem_bank_data - Memory Bank description
43  * @pm_domain_id: Power-domains id of memory bank for firmware to turn on/off
56  * @rx_mc_buf: to copy data from mailbox rx channel
57  * @tx_mc_buf: to copy data to mailbox tx channel
58  * @r5_core: this mailbox's corresponding r5_core pointer
59  * @mbox_work: schedule work after receiving data from mailbox
60  * @mbox_cl: mailbox client
61  * @tx_chan: mailbox tx channel
62  * @rx_chan: mailbox rx channel
76  * accepted for system-dt specifications and upstreamed in linux kernel
94  * @ipi: pointer to mailbox information
103 	struct mbox_info *ipi;  member
122  * event_notified_idr_cb() - callback for vq_interrupt per notifyid
123  * @id: rproc->notify id
137 		dev_dbg(&rproc->dev, "data not found for vqid=%d\n", id);  in event_notified_idr_cb()
143  * handle_event_notified() - remoteproc notification work function
150 	struct mbox_info *ipi;  in handle_event_notified()  local
153 	ipi = container_of(work, struct mbox_info, mbox_work);  in handle_event_notified()
154 	rproc = ipi->r5_core->rproc;  in handle_event_notified()
157 	 * We only use IPI for interrupt. The RPU firmware side may or may  in handle_event_notified()
158 	 * not write the notifyid when it trigger IPI.  in handle_event_notified()
163 	idr_for_each(&rproc->notifyids, event_notified_idr_cb, rproc);  in handle_event_notified()
167  * zynqmp_r5_mb_rx_cb() - receive channel mailbox callback
168  * @cl: mailbox client
171  * Receive data from ipi buffer, ack interrupt and then
177 	struct mbox_info *ipi;  in zynqmp_r5_mb_rx_cb()  local
180 	ipi = container_of(cl, struct mbox_info, mbox_cl);  in zynqmp_r5_mb_rx_cb()
182 	/* copy data from ipi buffer to r5_core */  in zynqmp_r5_mb_rx_cb()
184 	buf_msg = (struct zynqmp_ipi_message *)ipi->rx_mc_buf;  in zynqmp_r5_mb_rx_cb()
185 	len = ipi_msg->len;  in zynqmp_r5_mb_rx_cb()
187 		dev_warn(cl->dev, "msg size exceeded than %d\n",  in zynqmp_r5_mb_rx_cb()
191 	buf_msg->len = len;  in zynqmp_r5_mb_rx_cb()
192 	memcpy(buf_msg->data, ipi_msg->data, len);  in zynqmp_r5_mb_rx_cb()
195 	if (mbox_send_message(ipi->rx_chan, NULL) < 0)  in zynqmp_r5_mb_rx_cb()
196 		dev_err(cl->dev, "ack failed to mbox rx_chan\n");  in zynqmp_r5_mb_rx_cb()
198 	schedule_work(&ipi->mbox_work);  in zynqmp_r5_mb_rx_cb()
202  * zynqmp_r5_setup_mbox() - Setup mailboxes related properties
213 	struct mbox_info *ipi;  in zynqmp_r5_setup_mbox()  local
215 	ipi = kzalloc(sizeof(*ipi), GFP_KERNEL);  in zynqmp_r5_setup_mbox()
216 	if (!ipi)  in zynqmp_r5_setup_mbox()
219 	mbox_cl = &ipi->mbox_cl;  in zynqmp_r5_setup_mbox()
220 	mbox_cl->rx_callback = zynqmp_r5_mb_rx_cb;  in zynqmp_r5_setup_mbox()
221 	mbox_cl->tx_block = false;  in zynqmp_r5_setup_mbox()
222 	mbox_cl->knows_txdone = false;  in zynqmp_r5_setup_mbox()
223 	mbox_cl->tx_done = NULL;  in zynqmp_r5_setup_mbox()
224 	mbox_cl->dev = cdev;  in zynqmp_r5_setup_mbox()
227 	ipi->tx_chan = mbox_request_channel_byname(mbox_cl, "tx");  in zynqmp_r5_setup_mbox()
228 	if (IS_ERR(ipi->tx_chan)) {  in zynqmp_r5_setup_mbox()
229 		ipi->tx_chan = NULL;  in zynqmp_r5_setup_mbox()
230 		kfree(ipi);  in zynqmp_r5_setup_mbox()
235 	ipi->rx_chan = mbox_request_channel_byname(mbox_cl, "rx");  in zynqmp_r5_setup_mbox()
236 	if (IS_ERR(ipi->rx_chan)) {  in zynqmp_r5_setup_mbox()
237 		mbox_free_channel(ipi->tx_chan);  in zynqmp_r5_setup_mbox()
238 		ipi->rx_chan = NULL;  in zynqmp_r5_setup_mbox()
239 		ipi->tx_chan = NULL;  in zynqmp_r5_setup_mbox()
240 		kfree(ipi);  in zynqmp_r5_setup_mbox()
245 	INIT_WORK(&ipi->mbox_work, handle_event_notified);  in zynqmp_r5_setup_mbox()
247 	return ipi;  in zynqmp_r5_setup_mbox()
250 static void zynqmp_r5_free_mbox(struct mbox_info *ipi)  in zynqmp_r5_free_mbox()  argument
252 	if (!ipi)  in zynqmp_r5_free_mbox()
255 	if (ipi->tx_chan) {  in zynqmp_r5_free_mbox()
256 		mbox_free_channel(ipi->tx_chan);  in zynqmp_r5_free_mbox()
257 		ipi->tx_chan = NULL;  in zynqmp_r5_free_mbox()
260 	if (ipi->rx_chan) {  in zynqmp_r5_free_mbox()
261 		mbox_free_channel(ipi->rx_chan);  in zynqmp_r5_free_mbox()
262 		ipi->rx_chan = NULL;  in zynqmp_r5_free_mbox()
265 	kfree(ipi);  in zynqmp_r5_free_mbox()
269  * zynqmp_r5_core_kick() - kick a firmware if mbox is provided
275 	struct zynqmp_r5_core *r5_core = rproc->priv;  in zynqmp_r5_rproc_kick()
276 	struct device *dev = r5_core->dev;  in zynqmp_r5_rproc_kick()
278 	struct mbox_info *ipi;  in zynqmp_r5_rproc_kick()  local
281 	ipi = r5_core->ipi;  in zynqmp_r5_rproc_kick()
282 	if (!ipi)  in zynqmp_r5_rproc_kick()
285 	mb_msg = (struct zynqmp_ipi_message *)ipi->tx_mc_buf;  in zynqmp_r5_rproc_kick()
286 	memcpy(mb_msg->data, &vqid, sizeof(vqid));  in zynqmp_r5_rproc_kick()
287 	mb_msg->len = sizeof(vqid);  in zynqmp_r5_rproc_kick()
288 	ret = mbox_send_message(ipi->tx_chan, mb_msg);  in zynqmp_r5_rproc_kick()
310 	ret = zynqmp_pm_set_rpu_mode(r5_core->pm_domain_id, fw_reg_val);  in zynqmp_r5_set_mode()
312 		dev_err(r5_core->dev, "failed to set RPU mode\n");  in zynqmp_r5_set_mode()
316 	ret = zynqmp_pm_set_tcm_config(r5_core->pm_domain_id, tcm_mode);  in zynqmp_r5_set_mode()
318 		dev_err(r5_core->dev, "failed to configure TCM\n");  in zynqmp_r5_set_mode()
329  * return 0 on success, otherwise non-zero value on failure
333 	struct zynqmp_r5_core *r5_core = rproc->priv;  in zynqmp_r5_rproc_start()
338 	 * The exception vector pointers (EVP) refer to the base-address of  in zynqmp_r5_rproc_start()
339 	 * exception vectors (for reset, IRQ, FIQ, etc). The reset-vector  in zynqmp_r5_rproc_start()
340 	 * starts at the base-address and subsequent vectors are on 4-byte  in zynqmp_r5_rproc_start()
344 	 * from 0xFFFF_0000 (HIVEC) which is mapped in the OCM (On-Chip Memory)  in zynqmp_r5_rproc_start()
350 	 * and jitter. Also, if the OCM is secured and the Cortex-R5F processor  in zynqmp_r5_rproc_start()
351 	 * is non-secured, then the Cortex-R5F processor cannot access the  in zynqmp_r5_rproc_start()
354 	bootmem = (rproc->bootaddr >= 0xFFFC0000) ?  in zynqmp_r5_rproc_start()
357 	dev_dbg(r5_core->dev, "RPU boot addr 0x%llx from %s.", rproc->bootaddr,  in zynqmp_r5_rproc_start()
360 	ret = zynqmp_pm_request_wake(r5_core->pm_domain_id, 1,  in zynqmp_r5_rproc_start()
363 		dev_err(r5_core->dev,  in zynqmp_r5_rproc_start()
364 			"failed to start RPU = 0x%x\n", r5_core->pm_domain_id);  in zynqmp_r5_rproc_start()
374  * return 0 on success, otherwise non-zero value on failure
378 	struct zynqmp_r5_core *r5_core = rproc->priv;  in zynqmp_r5_rproc_stop()
381 	ret = zynqmp_pm_force_pwrdwn(r5_core->pm_domain_id,  in zynqmp_r5_rproc_stop()
384 		dev_err(r5_core->dev, "failed to stop remoteproc RPU %d\n", ret);  in zynqmp_r5_rproc_stop()
392  * @mem: mem descriptor to map reserved memory-regions
394  * Callback to map va for memory-region's carveout.
396  * return 0 on success, otherwise non-zero value on failure
403 	va = ioremap_wc(mem->dma, mem->len);  in zynqmp_r5_mem_region_map()
405 		return -ENOMEM;  in zynqmp_r5_mem_region_map()
407 	mem->va = (void *)va;  in zynqmp_r5_mem_region_map()
417  * Unmap memory-region carveout
424 	iounmap((void __iomem *)mem->va);  in zynqmp_r5_mem_region_unmap()
432  * Construct rproc mem carveouts from memory-region property nodes
434  * return 0 on success, otherwise non-zero value on failure
444 	r5_core = rproc->priv;  in add_mem_regions_carveout()
447 	of_phandle_iterator_init(&it, r5_core->np, "memory-region", NULL, 0);  in add_mem_regions_carveout()
453 			dev_err(&rproc->dev, "unable to acquire memory-region\n");  in add_mem_regions_carveout()
454 			return -EINVAL;  in add_mem_regions_carveout()
457 		if (!strcmp(it.node->name, "vdev0buffer")) {  in add_mem_regions_carveout()
459 			rproc_mem = rproc_of_resm_mem_entry_init(&rproc->dev, i,  in add_mem_regions_carveout()
460 								 rmem->size,  in add_mem_regions_carveout()
461 								 rmem->base,  in add_mem_regions_carveout()
462 								 it.node->name);  in add_mem_regions_carveout()
465 			rproc_mem = rproc_mem_entry_init(&rproc->dev, NULL,  in add_mem_regions_carveout()
466 							 (dma_addr_t)rmem->base,  in add_mem_regions_carveout()
467 							 rmem->size, rmem->base,  in add_mem_regions_carveout()
470 							 it.node->name);  in add_mem_regions_carveout()
475 			return -ENOMEM;  in add_mem_regions_carveout()
480 		dev_dbg(&rproc->dev, "reserved mem carveout %s addr=%llx, size=0x%llx",  in add_mem_regions_carveout()
481 			it.node->name, rmem->base, rmem->size);  in add_mem_regions_carveout()
499 	iounmap((void __iomem *)mem->va);  in tcm_mem_unmap()
512  * return 0 on success, otherwise non-zero value on failure
519 	va = ioremap_wc(mem->dma, mem->len);  in tcm_mem_map()
521 		return -ENOMEM;  in tcm_mem_map()
524 	mem->va = (void *)va;  in tcm_mem_map()
527 	memset_io(va, 0, mem->len);  in tcm_mem_map()
536 	mem->da &= 0x000fffff;  in tcm_mem_map()
545 	if (mem->da == 0x90000 || mem->da == 0xB0000)  in tcm_mem_map()
546 		mem->da -= 0x90000;  in tcm_mem_map()
549 	if (mem->da != 0x0 && mem->da != 0x20000) {  in tcm_mem_map()
550 		dev_err(&rproc->dev, "invalid TCM address: %x\n", mem->da);  in tcm_mem_map()
551 		return -EINVAL;  in tcm_mem_map()
562  * return 0 on success, otherwise non-zero value on failure
575 	r5_core = rproc->priv;  in add_tcm_carveout_split_mode()
576 	dev = r5_core->dev;  in add_tcm_carveout_split_mode()
577 	num_banks = r5_core->tcm_bank_count;  in add_tcm_carveout_split_mode()
580 	 * Power-on Each 64KB TCM,  in add_tcm_carveout_split_mode()
585 		bank_addr = r5_core->tcm_banks[i]->addr;  in add_tcm_carveout_split_mode()
586 		bank_name = r5_core->tcm_banks[i]->bank_name;  in add_tcm_carveout_split_mode()
587 		bank_size = r5_core->tcm_banks[i]->size;  in add_tcm_carveout_split_mode()
588 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;  in add_tcm_carveout_split_mode()
606 			ret = -ENOMEM;  in add_tcm_carveout_split_mode()
618 	for (i--; i >= 0; i--) {  in add_tcm_carveout_split_mode()
619 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;  in add_tcm_carveout_split_mode()
631  * return 0 on success, otherwise non-zero value on failure
644 	r5_core = rproc->priv;  in add_tcm_carveout_lockstep_mode()
645 	dev = r5_core->dev;  in add_tcm_carveout_lockstep_mode()
647 	/* Go through zynqmp banks for r5 node */  in add_tcm_carveout_lockstep_mode()
648 	num_banks = r5_core->tcm_bank_count;  in add_tcm_carveout_lockstep_mode()
656 	bank_addr = r5_core->tcm_banks[0]->addr;  in add_tcm_carveout_lockstep_mode()
657 	bank_name = r5_core->tcm_banks[0]->bank_name;  in add_tcm_carveout_lockstep_mode()
660 		bank_size += r5_core->tcm_banks[i]->size;  in add_tcm_carveout_lockstep_mode()
661 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;  in add_tcm_carveout_lockstep_mode()
682 		ret = -ENOMEM;  in add_tcm_carveout_lockstep_mode()
693 	for (i--; i >= 0; i--) {  in add_tcm_carveout_lockstep_mode()
694 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;  in add_tcm_carveout_lockstep_mode()
706  * return 0 on success, otherwise non-zero value on failure
714 	r5_core = rproc->priv;  in add_tcm_banks()
716 		return -EINVAL;  in add_tcm_banks()
718 	dev = r5_core->dev;  in add_tcm_banks()
720 	cluster = dev_get_drvdata(dev->parent);  in add_tcm_banks()
722 		dev_err(dev->parent, "Invalid driver data\n");  in add_tcm_banks()
723 		return -EINVAL;  in add_tcm_banks()
731 	if (cluster->mode == SPLIT_MODE)  in add_tcm_banks()
733 	else if (cluster->mode == LOCKSTEP_MODE)  in add_tcm_banks()
736 	return -EINVAL;  in add_tcm_banks()
746  * return 0 on success, otherwise non-zero value on failure
753 	if (ret == -EINVAL) {  in zynqmp_r5_parse_fw()
760 		dev_info(&rproc->dev, "no resource table found.\n");  in zynqmp_r5_parse_fw()
780 		dev_err(&rproc->dev, "failed to get TCM banks, err %d\n", ret);  in zynqmp_r5_rproc_prepare()
786 		dev_err(&rproc->dev, "failed to get reserve mem regions %d\n", ret);  in zynqmp_r5_rproc_prepare()
795  * Turns off TCM banks using power-domain id
807 	r5_core = rproc->priv;  in zynqmp_r5_rproc_unprepare()
809 	for (i = 0; i < r5_core->tcm_bank_count; i++) {  in zynqmp_r5_rproc_unprepare()
810 		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;  in zynqmp_r5_rproc_unprepare()
812 			dev_warn(r5_core->dev,  in zynqmp_r5_rproc_unprepare()
858 		return ERR_PTR(-ENOMEM);  in zynqmp_r5_add_rproc_core()
861 	r5_rproc->auto_boot = false;  in zynqmp_r5_add_rproc_core()
862 	r5_core = r5_rproc->priv;  in zynqmp_r5_add_rproc_core()
863 	r5_core->dev = cdev;  in zynqmp_r5_add_rproc_core()
864 	r5_core->np = dev_of_node(cdev);  in zynqmp_r5_add_rproc_core()
865 	if (!r5_core->np) {  in zynqmp_r5_add_rproc_core()
867 		ret = -EINVAL;  in zynqmp_r5_add_rproc_core()
878 	r5_core->rproc = r5_rproc;  in zynqmp_r5_add_rproc_core()
890  * This approach is used as TCM bindings for system-dt is being developed
898 	struct device *dev = cluster->dev;  in zynqmp_r5_get_tcm_node()
906 	tcm_bank_count = tcm_bank_count / cluster->core_count;  in zynqmp_r5_get_tcm_node()
914 	for (i = 0; i < cluster->core_count; i++) {  in zynqmp_r5_get_tcm_node()
915 		r5_core = cluster->r5_cores[i];  in zynqmp_r5_get_tcm_node()
916 		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,  in zynqmp_r5_get_tcm_node()
919 		if (!r5_core->tcm_banks)  in zynqmp_r5_get_tcm_node()
920 			return -ENOMEM;  in zynqmp_r5_get_tcm_node()
924 			 * Use pre-defined TCM reg values.  in zynqmp_r5_get_tcm_node()
928 			r5_core->tcm_banks[j] =  in zynqmp_r5_get_tcm_node()
933 		r5_core->tcm_bank_count = tcm_bank_count;  in zynqmp_r5_get_tcm_node()
953 	struct device *dev = cluster->dev;  in zynqmp_r5_core_init()
963 	for (i = 0; i < cluster->core_count; i++) {  in zynqmp_r5_core_init()
964 		r5_core = cluster->r5_cores[i];  in zynqmp_r5_core_init()
966 		/* Initialize r5 cores with power-domains parsed from dts */  in zynqmp_r5_core_init()
967 		ret = of_property_read_u32_index(r5_core->np, "power-domains",  in zynqmp_r5_core_init()
968 						 1, &r5_core->pm_domain_id);  in zynqmp_r5_core_init()
970 			dev_err(dev, "failed to get power-domains property\n");  in zynqmp_r5_core_init()
977 				cluster->mode, ret);  in zynqmp_r5_core_init()
996 	struct device *dev = cluster->dev;  in zynqmp_r5_cluster_init()
1005 	struct mbox_info *ipi;  in zynqmp_r5_cluster_init()  local
1007 	ret = of_property_read_u32(dev_node, "xlnx,cluster-mode", &cluster_mode);  in zynqmp_r5_cluster_init()
1010 	 * on success returns 0, if not defined then returns -EINVAL,  in zynqmp_r5_cluster_init()
1014 	if (ret != -EINVAL && ret != 0) {  in zynqmp_r5_cluster_init()
1015 		dev_err(dev, "Invalid xlnx,cluster-mode property\n");  in zynqmp_r5_cluster_init()
1031 		return -EINVAL;  in zynqmp_r5_cluster_init()
1045 		return -EINVAL;  in zynqmp_r5_cluster_init()
1048 		return -EINVAL;  in zynqmp_r5_cluster_init()
1056 		return -ENOMEM;  in zynqmp_r5_cluster_init()
1062 		return -ENOMEM;  in zynqmp_r5_cluster_init()
1070 			ret = -ENODEV;  in zynqmp_r5_cluster_init()
1074 		child_devs[i] = &child_pdev->dev;  in zynqmp_r5_cluster_init()
1077 		r5_cores[i] = zynqmp_r5_add_rproc_core(&child_pdev->dev);  in zynqmp_r5_cluster_init()
1086 		 * If mailbox nodes are disabled using "status" property then  in zynqmp_r5_cluster_init()
1087 		 * setting up mailbox channels will fail.  in zynqmp_r5_cluster_init()
1089 		ipi = zynqmp_r5_setup_mbox(&child_pdev->dev);  in zynqmp_r5_cluster_init()
1090 		if (ipi) {  in zynqmp_r5_cluster_init()
1091 			r5_cores[i]->ipi = ipi;  in zynqmp_r5_cluster_init()
1092 			ipi->r5_core = r5_cores[i];  in zynqmp_r5_cluster_init()
1107 	cluster->mode = cluster_mode;  in zynqmp_r5_cluster_init()
1108 	cluster->core_count = core_count;  in zynqmp_r5_cluster_init()
1109 	cluster->r5_cores = r5_cores;  in zynqmp_r5_cluster_init()
1114 		cluster->core_count = 0;  in zynqmp_r5_cluster_init()
1115 		cluster->r5_cores = NULL;  in zynqmp_r5_cluster_init()
1121 		i = core_count - 1;  in zynqmp_r5_cluster_init()
1132 			zynqmp_r5_free_mbox(r5_cores[i]->ipi);  in zynqmp_r5_cluster_init()
1133 			of_reserved_mem_device_release(r5_cores[i]->dev);  in zynqmp_r5_cluster_init()
1134 			rproc_del(r5_cores[i]->rproc);  in zynqmp_r5_cluster_init()
1135 			rproc_free(r5_cores[i]->rproc);  in zynqmp_r5_cluster_init()
1137 		i--;  in zynqmp_r5_cluster_init()
1155 	for (i = 0; i < cluster->core_count; i++) {  in zynqmp_r5_cluster_exit()
1156 		r5_core = cluster->r5_cores[i];  in zynqmp_r5_cluster_exit()
1157 		zynqmp_r5_free_mbox(r5_core->ipi);  in zynqmp_r5_cluster_exit()
1158 		of_reserved_mem_device_release(r5_core->dev);  in zynqmp_r5_cluster_exit()
1159 		put_device(r5_core->dev);  in zynqmp_r5_cluster_exit()
1160 		rproc_del(r5_core->rproc);  in zynqmp_r5_cluster_exit()
1161 		rproc_free(r5_core->rproc);  in zynqmp_r5_cluster_exit()
1164 	kfree(cluster->r5_cores);  in zynqmp_r5_cluster_exit()
1171  * parse device-tree, initialize hardware and allocate required resources
1181 	struct device *dev = &pdev->dev;  in zynqmp_r5_remoteproc_probe()
1186 		return -ENOMEM;  in zynqmp_r5_remoteproc_probe()
1188 	cluster->dev = dev;  in zynqmp_r5_remoteproc_probe()
1217 	{ .compatible = "xlnx,zynqmp-r5fss", },