1 // SPDX-License-Identifier: GPL-2.0-only 2 /* 3 * PRU-ICSS remoteproc driver for various TI SoCs 4 * 5 * Copyright (C) 2014-2022 Texas Instruments Incorporated - https://www.ti.com/ 6 * 7 * Author(s): 8 * Suman Anna <s-anna@ti.com> 9 * Andrew F. Davis <afd@ti.com> 10 * Grzegorz Jaszczyk <grzegorz.jaszczyk@linaro.org> for Texas Instruments 11 * Puranjay Mohan <p-mohan@ti.com> 12 * Md Danish Anwar <danishanwar@ti.com> 13 */ 14 15 #include <linux/bitops.h> 16 #include <linux/debugfs.h> 17 #include <linux/irqdomain.h> 18 #include <linux/module.h> 19 #include <linux/of.h> 20 #include <linux/of_irq.h> 21 #include <linux/platform_device.h> 22 #include <linux/remoteproc/pruss.h> 23 #include <linux/pruss_driver.h> 24 #include <linux/remoteproc.h> 25 26 #include "remoteproc_internal.h" 27 #include "remoteproc_elf_helpers.h" 28 #include "pru_rproc.h" 29 30 /* PRU_ICSS_PRU_CTRL registers */ 31 #define PRU_CTRL_CTRL 0x0000 32 #define PRU_CTRL_STS 0x0004 33 #define PRU_CTRL_WAKEUP_EN 0x0008 34 #define PRU_CTRL_CYCLE 0x000C 35 #define PRU_CTRL_STALL 0x0010 36 #define PRU_CTRL_CTBIR0 0x0020 37 #define PRU_CTRL_CTBIR1 0x0024 38 #define PRU_CTRL_CTPPR0 0x0028 39 #define PRU_CTRL_CTPPR1 0x002C 40 41 /* CTRL register bit-fields */ 42 #define CTRL_CTRL_SOFT_RST_N BIT(0) 43 #define CTRL_CTRL_EN BIT(1) 44 #define CTRL_CTRL_SLEEPING BIT(2) 45 #define CTRL_CTRL_CTR_EN BIT(3) 46 #define CTRL_CTRL_SINGLE_STEP BIT(8) 47 #define CTRL_CTRL_RUNSTATE BIT(15) 48 49 /* PRU_ICSS_PRU_DEBUG registers */ 50 #define PRU_DEBUG_GPREG(x) (0x0000 + (x) * 4) 51 #define PRU_DEBUG_CT_REG(x) (0x0080 + (x) * 4) 52 53 /* PRU/RTU/Tx_PRU Core IRAM address masks */ 54 #define PRU_IRAM_ADDR_MASK 0x3ffff 55 #define PRU0_IRAM_ADDR_MASK 0x34000 56 #define PRU1_IRAM_ADDR_MASK 0x38000 57 #define RTU0_IRAM_ADDR_MASK 0x4000 58 #define RTU1_IRAM_ADDR_MASK 0x6000 59 #define TX_PRU0_IRAM_ADDR_MASK 0xa000 60 #define TX_PRU1_IRAM_ADDR_MASK 0xc000 61 62 /* PRU device addresses for various type of PRU RAMs */ 63 #define PRU_IRAM_DA 0 /* Instruction RAM */ 64 #define PRU_PDRAM_DA 0 /* Primary Data RAM */ 65 #define PRU_SDRAM_DA 0x2000 /* Secondary Data RAM */ 66 #define PRU_SHRDRAM_DA 0x10000 /* Shared Data RAM */ 67 68 #define MAX_PRU_SYS_EVENTS 160 69 70 /** 71 * enum pru_iomem - PRU core memory/register range identifiers 72 * 73 * @PRU_IOMEM_IRAM: PRU Instruction RAM range 74 * @PRU_IOMEM_CTRL: PRU Control register range 75 * @PRU_IOMEM_DEBUG: PRU Debug register range 76 * @PRU_IOMEM_MAX: just keep this one at the end 77 */ 78 enum pru_iomem { 79 PRU_IOMEM_IRAM = 0, 80 PRU_IOMEM_CTRL, 81 PRU_IOMEM_DEBUG, 82 PRU_IOMEM_MAX, 83 }; 84 85 /** 86 * struct pru_private_data - device data for a PRU core 87 * @type: type of the PRU core (PRU, RTU, Tx_PRU) 88 * @is_k3: flag used to identify the need for special load handling 89 */ 90 struct pru_private_data { 91 enum pru_type type; 92 unsigned int is_k3 : 1; 93 }; 94 95 /** 96 * struct pru_rproc - PRU remoteproc structure 97 * @id: id of the PRU core within the PRUSS 98 * @dev: PRU core device pointer 99 * @pruss: back-reference to parent PRUSS structure 100 * @rproc: remoteproc pointer for this PRU core 101 * @data: PRU core specific data 102 * @mem_regions: data for each of the PRU memory regions 103 * @client_np: client device node 104 * @lock: mutex to protect client usage 105 * @fw_name: name of firmware image used during loading 106 * @mapped_irq: virtual interrupt numbers of created fw specific mapping 107 * @pru_interrupt_map: pointer to interrupt mapping description (firmware) 108 * @pru_interrupt_map_sz: pru_interrupt_map size 109 * @rmw_lock: lock for read, modify, write operations on registers 110 * @dbg_single_step: debug state variable to set PRU into single step mode 111 * @dbg_continuous: debug state variable to restore PRU execution mode 112 * @evt_count: number of mapped events 113 * @gpmux_save: saved value for gpmux config 114 */ 115 struct pru_rproc { 116 int id; 117 struct device *dev; 118 struct pruss *pruss; 119 struct rproc *rproc; 120 const struct pru_private_data *data; 121 struct pruss_mem_region mem_regions[PRU_IOMEM_MAX]; 122 struct device_node *client_np; 123 struct mutex lock; 124 const char *fw_name; 125 unsigned int *mapped_irq; 126 struct pru_irq_rsc *pru_interrupt_map; 127 size_t pru_interrupt_map_sz; 128 spinlock_t rmw_lock; 129 u32 dbg_single_step; 130 u32 dbg_continuous; 131 u8 evt_count; 132 u8 gpmux_save; 133 }; 134 135 static inline u32 pru_control_read_reg(struct pru_rproc *pru, unsigned int reg) 136 { 137 return readl_relaxed(pru->mem_regions[PRU_IOMEM_CTRL].va + reg); 138 } 139 140 static inline 141 void pru_control_write_reg(struct pru_rproc *pru, unsigned int reg, u32 val) 142 { 143 writel_relaxed(val, pru->mem_regions[PRU_IOMEM_CTRL].va + reg); 144 } 145 146 static inline 147 void pru_control_set_reg(struct pru_rproc *pru, unsigned int reg, 148 u32 mask, u32 set) 149 { 150 u32 val; 151 unsigned long flags; 152 153 spin_lock_irqsave(&pru->rmw_lock, flags); 154 155 val = pru_control_read_reg(pru, reg); 156 val &= ~mask; 157 val |= (set & mask); 158 pru_control_write_reg(pru, reg, val); 159 160 spin_unlock_irqrestore(&pru->rmw_lock, flags); 161 } 162 163 /** 164 * pru_rproc_set_firmware() - set firmware for a PRU core 165 * @rproc: the rproc instance of the PRU 166 * @fw_name: the new firmware name, or NULL if default is desired 167 * 168 * Return: 0 on success, or errno in error case. 169 */ 170 static int pru_rproc_set_firmware(struct rproc *rproc, const char *fw_name) 171 { 172 struct pru_rproc *pru = rproc->priv; 173 174 if (!fw_name) 175 fw_name = pru->fw_name; 176 177 return rproc_set_firmware(rproc, fw_name); 178 } 179 180 static struct rproc *__pru_rproc_get(struct device_node *np, int index) 181 { 182 struct rproc *rproc; 183 phandle rproc_phandle; 184 int ret; 185 186 ret = of_property_read_u32_index(np, "ti,prus", index, &rproc_phandle); 187 if (ret) 188 return ERR_PTR(ret); 189 190 rproc = rproc_get_by_phandle(rproc_phandle); 191 if (!rproc) { 192 ret = -EPROBE_DEFER; 193 return ERR_PTR(ret); 194 } 195 196 /* make sure it is PRU rproc */ 197 if (!is_pru_rproc(rproc->dev.parent)) { 198 rproc_put(rproc); 199 return ERR_PTR(-ENODEV); 200 } 201 202 return rproc; 203 } 204 205 /** 206 * pru_rproc_get() - get the PRU rproc instance from a device node 207 * @np: the user/client device node 208 * @index: index to use for the ti,prus property 209 * @pru_id: optional pointer to return the PRU remoteproc processor id 210 * 211 * This function looks through a client device node's "ti,prus" property at 212 * index @index and returns the rproc handle for a valid PRU remote processor if 213 * found. The function allows only one user to own the PRU rproc resource at a 214 * time. Caller must call pru_rproc_put() when done with using the rproc, not 215 * required if the function returns a failure. 216 * 217 * When optional @pru_id pointer is passed the PRU remoteproc processor id is 218 * returned. 219 * 220 * Return: rproc handle on success, and an ERR_PTR on failure using one 221 * of the following error values 222 * -ENODEV if device is not found 223 * -EBUSY if PRU is already acquired by anyone 224 * -EPROBE_DEFER is PRU device is not probed yet 225 */ 226 struct rproc *pru_rproc_get(struct device_node *np, int index, 227 enum pruss_pru_id *pru_id) 228 { 229 struct rproc *rproc; 230 struct pru_rproc *pru; 231 struct device *dev; 232 const char *fw_name; 233 int ret; 234 u32 mux; 235 236 rproc = __pru_rproc_get(np, index); 237 if (IS_ERR(rproc)) 238 return rproc; 239 240 pru = rproc->priv; 241 dev = &rproc->dev; 242 243 mutex_lock(&pru->lock); 244 245 if (pru->client_np) { 246 mutex_unlock(&pru->lock); 247 ret = -EBUSY; 248 goto err_no_rproc_handle; 249 } 250 251 pru->client_np = np; 252 rproc->sysfs_read_only = true; 253 254 mutex_unlock(&pru->lock); 255 256 if (pru_id) 257 *pru_id = pru->id; 258 259 ret = pruss_cfg_get_gpmux(pru->pruss, pru->id, &pru->gpmux_save); 260 if (ret) { 261 dev_err(dev, "failed to get cfg gpmux: %d\n", ret); 262 goto err; 263 } 264 265 /* An error here is acceptable for backward compatibility */ 266 ret = of_property_read_u32_index(np, "ti,pruss-gp-mux-sel", index, 267 &mux); 268 if (!ret) { 269 ret = pruss_cfg_set_gpmux(pru->pruss, pru->id, mux); 270 if (ret) { 271 dev_err(dev, "failed to set cfg gpmux: %d\n", ret); 272 goto err; 273 } 274 } 275 276 ret = of_property_read_string_index(np, "firmware-name", index, 277 &fw_name); 278 if (!ret) { 279 ret = pru_rproc_set_firmware(rproc, fw_name); 280 if (ret) { 281 dev_err(dev, "failed to set firmware: %d\n", ret); 282 goto err; 283 } 284 } 285 286 return rproc; 287 288 err_no_rproc_handle: 289 rproc_put(rproc); 290 return ERR_PTR(ret); 291 292 err: 293 pru_rproc_put(rproc); 294 return ERR_PTR(ret); 295 } 296 EXPORT_SYMBOL_GPL(pru_rproc_get); 297 298 /** 299 * pru_rproc_put() - release the PRU rproc resource 300 * @rproc: the rproc resource to release 301 * 302 * Releases the PRU rproc resource and makes it available to other 303 * users. 304 */ 305 void pru_rproc_put(struct rproc *rproc) 306 { 307 struct pru_rproc *pru; 308 309 if (IS_ERR_OR_NULL(rproc) || !is_pru_rproc(rproc->dev.parent)) 310 return; 311 312 pru = rproc->priv; 313 314 pruss_cfg_set_gpmux(pru->pruss, pru->id, pru->gpmux_save); 315 316 pru_rproc_set_firmware(rproc, NULL); 317 318 mutex_lock(&pru->lock); 319 320 if (!pru->client_np) { 321 mutex_unlock(&pru->lock); 322 return; 323 } 324 325 pru->client_np = NULL; 326 rproc->sysfs_read_only = false; 327 mutex_unlock(&pru->lock); 328 329 rproc_put(rproc); 330 } 331 EXPORT_SYMBOL_GPL(pru_rproc_put); 332 333 /** 334 * pru_rproc_set_ctable() - set the constant table index for the PRU 335 * @rproc: the rproc instance of the PRU 336 * @c: constant table index to set 337 * @addr: physical address to set it to 338 * 339 * Return: 0 on success, or errno in error case. 340 */ 341 int pru_rproc_set_ctable(struct rproc *rproc, enum pru_ctable_idx c, u32 addr) 342 { 343 struct pru_rproc *pru = rproc->priv; 344 unsigned int reg; 345 u32 mask, set; 346 u16 idx; 347 u16 idx_mask; 348 349 if (IS_ERR_OR_NULL(rproc)) 350 return -EINVAL; 351 352 if (!rproc->dev.parent || !is_pru_rproc(rproc->dev.parent)) 353 return -ENODEV; 354 355 /* pointer is 16 bit and index is 8-bit so mask out the rest */ 356 idx_mask = (c >= PRU_C28) ? 0xFFFF : 0xFF; 357 358 /* ctable uses bit 8 and upwards only */ 359 idx = (addr >> 8) & idx_mask; 360 361 /* configurable ctable (i.e. C24) starts at PRU_CTRL_CTBIR0 */ 362 reg = PRU_CTRL_CTBIR0 + 4 * (c >> 1); 363 mask = idx_mask << (16 * (c & 1)); 364 set = idx << (16 * (c & 1)); 365 366 pru_control_set_reg(pru, reg, mask, set); 367 368 return 0; 369 } 370 EXPORT_SYMBOL_GPL(pru_rproc_set_ctable); 371 372 static inline u32 pru_debug_read_reg(struct pru_rproc *pru, unsigned int reg) 373 { 374 return readl_relaxed(pru->mem_regions[PRU_IOMEM_DEBUG].va + reg); 375 } 376 377 static int regs_show(struct seq_file *s, void *data) 378 { 379 struct rproc *rproc = s->private; 380 struct pru_rproc *pru = rproc->priv; 381 int i, nregs = 32; 382 u32 pru_sts; 383 int pru_is_running; 384 385 seq_puts(s, "============== Control Registers ==============\n"); 386 seq_printf(s, "CTRL := 0x%08x\n", 387 pru_control_read_reg(pru, PRU_CTRL_CTRL)); 388 pru_sts = pru_control_read_reg(pru, PRU_CTRL_STS); 389 seq_printf(s, "STS (PC) := 0x%08x (0x%08x)\n", pru_sts, pru_sts << 2); 390 seq_printf(s, "WAKEUP_EN := 0x%08x\n", 391 pru_control_read_reg(pru, PRU_CTRL_WAKEUP_EN)); 392 seq_printf(s, "CYCLE := 0x%08x\n", 393 pru_control_read_reg(pru, PRU_CTRL_CYCLE)); 394 seq_printf(s, "STALL := 0x%08x\n", 395 pru_control_read_reg(pru, PRU_CTRL_STALL)); 396 seq_printf(s, "CTBIR0 := 0x%08x\n", 397 pru_control_read_reg(pru, PRU_CTRL_CTBIR0)); 398 seq_printf(s, "CTBIR1 := 0x%08x\n", 399 pru_control_read_reg(pru, PRU_CTRL_CTBIR1)); 400 seq_printf(s, "CTPPR0 := 0x%08x\n", 401 pru_control_read_reg(pru, PRU_CTRL_CTPPR0)); 402 seq_printf(s, "CTPPR1 := 0x%08x\n", 403 pru_control_read_reg(pru, PRU_CTRL_CTPPR1)); 404 405 seq_puts(s, "=============== Debug Registers ===============\n"); 406 pru_is_running = pru_control_read_reg(pru, PRU_CTRL_CTRL) & 407 CTRL_CTRL_RUNSTATE; 408 if (pru_is_running) { 409 seq_puts(s, "PRU is executing, cannot print/access debug registers.\n"); 410 return 0; 411 } 412 413 for (i = 0; i < nregs; i++) { 414 seq_printf(s, "GPREG%-2d := 0x%08x\tCT_REG%-2d := 0x%08x\n", 415 i, pru_debug_read_reg(pru, PRU_DEBUG_GPREG(i)), 416 i, pru_debug_read_reg(pru, PRU_DEBUG_CT_REG(i))); 417 } 418 419 return 0; 420 } 421 DEFINE_SHOW_ATTRIBUTE(regs); 422 423 /* 424 * Control PRU single-step mode 425 * 426 * This is a debug helper function used for controlling the single-step 427 * mode of the PRU. The PRU Debug registers are not accessible when the 428 * PRU is in RUNNING state. 429 * 430 * Writing a non-zero value sets the PRU into single-step mode irrespective 431 * of its previous state. The PRU mode is saved only on the first set into 432 * a single-step mode. Writing a zero value will restore the PRU into its 433 * original mode. 434 */ 435 static int pru_rproc_debug_ss_set(void *data, u64 val) 436 { 437 struct rproc *rproc = data; 438 struct pru_rproc *pru = rproc->priv; 439 u32 reg_val; 440 441 val = val ? 1 : 0; 442 if (!val && !pru->dbg_single_step) 443 return 0; 444 445 reg_val = pru_control_read_reg(pru, PRU_CTRL_CTRL); 446 447 if (val && !pru->dbg_single_step) 448 pru->dbg_continuous = reg_val; 449 450 if (val) 451 reg_val |= CTRL_CTRL_SINGLE_STEP | CTRL_CTRL_EN; 452 else 453 reg_val = pru->dbg_continuous; 454 455 pru->dbg_single_step = val; 456 pru_control_write_reg(pru, PRU_CTRL_CTRL, reg_val); 457 458 return 0; 459 } 460 461 static int pru_rproc_debug_ss_get(void *data, u64 *val) 462 { 463 struct rproc *rproc = data; 464 struct pru_rproc *pru = rproc->priv; 465 466 *val = pru->dbg_single_step; 467 468 return 0; 469 } 470 DEFINE_DEBUGFS_ATTRIBUTE(pru_rproc_debug_ss_fops, pru_rproc_debug_ss_get, 471 pru_rproc_debug_ss_set, "%llu\n"); 472 473 /* 474 * Create PRU-specific debugfs entries 475 * 476 * The entries are created only if the parent remoteproc debugfs directory 477 * exists, and will be cleaned up by the remoteproc core. 478 */ 479 static void pru_rproc_create_debug_entries(struct rproc *rproc) 480 { 481 if (!rproc->dbg_dir) 482 return; 483 484 debugfs_create_file("regs", 0400, rproc->dbg_dir, 485 rproc, ®s_fops); 486 debugfs_create_file("single_step", 0600, rproc->dbg_dir, 487 rproc, &pru_rproc_debug_ss_fops); 488 } 489 490 static void pru_dispose_irq_mapping(struct pru_rproc *pru) 491 { 492 if (!pru->mapped_irq) 493 return; 494 495 while (pru->evt_count) { 496 pru->evt_count--; 497 if (pru->mapped_irq[pru->evt_count] > 0) 498 irq_dispose_mapping(pru->mapped_irq[pru->evt_count]); 499 } 500 501 kfree(pru->mapped_irq); 502 pru->mapped_irq = NULL; 503 } 504 505 /* 506 * Parse the custom PRU interrupt map resource and configure the INTC 507 * appropriately. 508 */ 509 static int pru_handle_intrmap(struct rproc *rproc) 510 { 511 struct device *dev = rproc->dev.parent; 512 struct pru_rproc *pru = rproc->priv; 513 struct pru_irq_rsc *rsc = pru->pru_interrupt_map; 514 struct irq_fwspec fwspec; 515 struct device_node *parent, *irq_parent; 516 int i, ret = 0; 517 518 /* not having pru_interrupt_map is not an error */ 519 if (!rsc) 520 return 0; 521 522 /* currently supporting only type 0 */ 523 if (rsc->type != 0) { 524 dev_err(dev, "unsupported rsc type: %d\n", rsc->type); 525 return -EINVAL; 526 } 527 528 if (rsc->num_evts > MAX_PRU_SYS_EVENTS) 529 return -EINVAL; 530 531 if (sizeof(*rsc) + rsc->num_evts * sizeof(struct pruss_int_map) != 532 pru->pru_interrupt_map_sz) 533 return -EINVAL; 534 535 pru->evt_count = rsc->num_evts; 536 pru->mapped_irq = kcalloc(pru->evt_count, sizeof(unsigned int), 537 GFP_KERNEL); 538 if (!pru->mapped_irq) { 539 pru->evt_count = 0; 540 return -ENOMEM; 541 } 542 543 /* 544 * parse and fill in system event to interrupt channel and 545 * channel-to-host mapping. The interrupt controller to be used 546 * for these mappings for a given PRU remoteproc is always its 547 * corresponding sibling PRUSS INTC node. 548 */ 549 parent = of_get_parent(dev_of_node(pru->dev)); 550 if (!parent) { 551 kfree(pru->mapped_irq); 552 pru->mapped_irq = NULL; 553 pru->evt_count = 0; 554 return -ENODEV; 555 } 556 557 irq_parent = of_get_child_by_name(parent, "interrupt-controller"); 558 of_node_put(parent); 559 if (!irq_parent) { 560 kfree(pru->mapped_irq); 561 pru->mapped_irq = NULL; 562 pru->evt_count = 0; 563 return -ENODEV; 564 } 565 566 fwspec.fwnode = of_node_to_fwnode(irq_parent); 567 fwspec.param_count = 3; 568 for (i = 0; i < pru->evt_count; i++) { 569 fwspec.param[0] = rsc->pru_intc_map[i].event; 570 fwspec.param[1] = rsc->pru_intc_map[i].chnl; 571 fwspec.param[2] = rsc->pru_intc_map[i].host; 572 573 dev_dbg(dev, "mapping%d: event %d, chnl %d, host %d\n", 574 i, fwspec.param[0], fwspec.param[1], fwspec.param[2]); 575 576 pru->mapped_irq[i] = irq_create_fwspec_mapping(&fwspec); 577 if (!pru->mapped_irq[i]) { 578 dev_err(dev, "failed to get virq for fw mapping %d: event %d chnl %d host %d\n", 579 i, fwspec.param[0], fwspec.param[1], 580 fwspec.param[2]); 581 ret = -EINVAL; 582 goto map_fail; 583 } 584 } 585 of_node_put(irq_parent); 586 587 return ret; 588 589 map_fail: 590 pru_dispose_irq_mapping(pru); 591 of_node_put(irq_parent); 592 593 return ret; 594 } 595 596 static int pru_rproc_start(struct rproc *rproc) 597 { 598 struct device *dev = &rproc->dev; 599 struct pru_rproc *pru = rproc->priv; 600 const char *names[PRU_TYPE_MAX] = { "PRU", "RTU", "Tx_PRU" }; 601 u32 val; 602 int ret; 603 604 dev_dbg(dev, "starting %s%d: entry-point = 0x%llx\n", 605 names[pru->data->type], pru->id, (rproc->bootaddr >> 2)); 606 607 ret = pru_handle_intrmap(rproc); 608 /* 609 * reset references to pru interrupt map - they will stop being valid 610 * after rproc_start returns 611 */ 612 pru->pru_interrupt_map = NULL; 613 pru->pru_interrupt_map_sz = 0; 614 if (ret) 615 return ret; 616 617 val = CTRL_CTRL_EN | ((rproc->bootaddr >> 2) << 16); 618 pru_control_write_reg(pru, PRU_CTRL_CTRL, val); 619 620 return 0; 621 } 622 623 static int pru_rproc_stop(struct rproc *rproc) 624 { 625 struct device *dev = &rproc->dev; 626 struct pru_rproc *pru = rproc->priv; 627 const char *names[PRU_TYPE_MAX] = { "PRU", "RTU", "Tx_PRU" }; 628 u32 val; 629 630 dev_dbg(dev, "stopping %s%d\n", names[pru->data->type], pru->id); 631 632 val = pru_control_read_reg(pru, PRU_CTRL_CTRL); 633 val &= ~CTRL_CTRL_EN; 634 pru_control_write_reg(pru, PRU_CTRL_CTRL, val); 635 636 /* dispose irq mapping - new firmware can provide new mapping */ 637 pru_dispose_irq_mapping(pru); 638 639 return 0; 640 } 641 642 /* 643 * Convert PRU device address (data spaces only) to kernel virtual address. 644 * 645 * Each PRU has access to all data memories within the PRUSS, accessible at 646 * different ranges. So, look through both its primary and secondary Data 647 * RAMs as well as any shared Data RAM to convert a PRU device address to 648 * kernel virtual address. Data RAM0 is primary Data RAM for PRU0 and Data 649 * RAM1 is primary Data RAM for PRU1. 650 */ 651 static void *pru_d_da_to_va(struct pru_rproc *pru, u32 da, size_t len) 652 { 653 struct pruss_mem_region dram0, dram1, shrd_ram; 654 struct pruss *pruss = pru->pruss; 655 u32 offset; 656 void *va = NULL; 657 658 if (len == 0) 659 return NULL; 660 661 dram0 = pruss->mem_regions[PRUSS_MEM_DRAM0]; 662 dram1 = pruss->mem_regions[PRUSS_MEM_DRAM1]; 663 /* PRU1 has its local RAM addresses reversed */ 664 if (pru->id == PRUSS_PRU1) 665 swap(dram0, dram1); 666 shrd_ram = pruss->mem_regions[PRUSS_MEM_SHRD_RAM2]; 667 668 if (da + len <= PRU_PDRAM_DA + dram0.size) { 669 offset = da - PRU_PDRAM_DA; 670 va = (__force void *)(dram0.va + offset); 671 } else if (da >= PRU_SDRAM_DA && 672 da + len <= PRU_SDRAM_DA + dram1.size) { 673 offset = da - PRU_SDRAM_DA; 674 va = (__force void *)(dram1.va + offset); 675 } else if (da >= PRU_SHRDRAM_DA && 676 da + len <= PRU_SHRDRAM_DA + shrd_ram.size) { 677 offset = da - PRU_SHRDRAM_DA; 678 va = (__force void *)(shrd_ram.va + offset); 679 } 680 681 return va; 682 } 683 684 /* 685 * Convert PRU device address (instruction space) to kernel virtual address. 686 * 687 * A PRU does not have an unified address space. Each PRU has its very own 688 * private Instruction RAM, and its device address is identical to that of 689 * its primary Data RAM device address. 690 */ 691 static void *pru_i_da_to_va(struct pru_rproc *pru, u32 da, size_t len) 692 { 693 u32 offset; 694 void *va = NULL; 695 696 if (len == 0) 697 return NULL; 698 699 /* 700 * GNU binutils do not support multiple address spaces. The GNU 701 * linker's default linker script places IRAM at an arbitrary high 702 * offset, in order to differentiate it from DRAM. Hence we need to 703 * strip the artificial offset in the IRAM addresses coming from the 704 * ELF file. 705 * 706 * The TI proprietary linker would never set those higher IRAM address 707 * bits anyway. PRU architecture limits the program counter to 16-bit 708 * word-address range. This in turn corresponds to 18-bit IRAM 709 * byte-address range for ELF. 710 * 711 * Two more bits are added just in case to make the final 20-bit mask. 712 * Idea is to have a safeguard in case TI decides to add banking 713 * in future SoCs. 714 */ 715 da &= 0xfffff; 716 717 if (da + len <= PRU_IRAM_DA + pru->mem_regions[PRU_IOMEM_IRAM].size) { 718 offset = da - PRU_IRAM_DA; 719 va = (__force void *)(pru->mem_regions[PRU_IOMEM_IRAM].va + 720 offset); 721 } 722 723 return va; 724 } 725 726 /* 727 * Provide address translations for only PRU Data RAMs through the remoteproc 728 * core for any PRU client drivers. The PRU Instruction RAM access is restricted 729 * only to the PRU loader code. 730 */ 731 static void *pru_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem) 732 { 733 struct pru_rproc *pru = rproc->priv; 734 735 return pru_d_da_to_va(pru, da, len); 736 } 737 738 /* PRU-specific address translator used by PRU loader. */ 739 static void *pru_da_to_va(struct rproc *rproc, u64 da, size_t len, bool is_iram) 740 { 741 struct pru_rproc *pru = rproc->priv; 742 void *va; 743 744 if (is_iram) 745 va = pru_i_da_to_va(pru, da, len); 746 else 747 va = pru_d_da_to_va(pru, da, len); 748 749 return va; 750 } 751 752 static struct rproc_ops pru_rproc_ops = { 753 .start = pru_rproc_start, 754 .stop = pru_rproc_stop, 755 .da_to_va = pru_rproc_da_to_va, 756 }; 757 758 /* 759 * Custom memory copy implementation for ICSSG PRU/RTU/Tx_PRU Cores 760 * 761 * The ICSSG PRU/RTU/Tx_PRU cores have a memory copying issue with IRAM 762 * memories, that is not seen on previous generation SoCs. The data is reflected 763 * properly in the IRAM memories only for integer (4-byte) copies. Any unaligned 764 * copies result in all the other pre-existing bytes zeroed out within that 765 * 4-byte boundary, thereby resulting in wrong text/code in the IRAMs. Also, the 766 * IRAM memory port interface does not allow any 8-byte copies (as commonly used 767 * by ARM64 memcpy implementation) and throws an exception. The DRAM memory 768 * ports do not show this behavior. 769 */ 770 static int pru_rproc_memcpy(void *dest, const void *src, size_t count) 771 { 772 const u32 *s = src; 773 u32 *d = dest; 774 size_t size = count / 4; 775 u32 *tmp_src = NULL; 776 777 /* 778 * TODO: relax limitation of 4-byte aligned dest addresses and copy 779 * sizes 780 */ 781 if ((long)dest % 4 || count % 4) 782 return -EINVAL; 783 784 /* src offsets in ELF firmware image can be non-aligned */ 785 if ((long)src % 4) { 786 tmp_src = kmemdup(src, count, GFP_KERNEL); 787 if (!tmp_src) 788 return -ENOMEM; 789 s = tmp_src; 790 } 791 792 while (size--) 793 *d++ = *s++; 794 795 kfree(tmp_src); 796 797 return 0; 798 } 799 800 static int 801 pru_rproc_load_elf_segments(struct rproc *rproc, const struct firmware *fw) 802 { 803 struct pru_rproc *pru = rproc->priv; 804 struct device *dev = &rproc->dev; 805 struct elf32_hdr *ehdr; 806 struct elf32_phdr *phdr; 807 int i, ret = 0; 808 const u8 *elf_data = fw->data; 809 810 ehdr = (struct elf32_hdr *)elf_data; 811 phdr = (struct elf32_phdr *)(elf_data + ehdr->e_phoff); 812 813 /* go through the available ELF segments */ 814 for (i = 0; i < ehdr->e_phnum; i++, phdr++) { 815 u32 da = phdr->p_paddr; 816 u32 memsz = phdr->p_memsz; 817 u32 filesz = phdr->p_filesz; 818 u32 offset = phdr->p_offset; 819 bool is_iram; 820 void *ptr; 821 822 if (phdr->p_type != PT_LOAD || !filesz) 823 continue; 824 825 dev_dbg(dev, "phdr: type %d da 0x%x memsz 0x%x filesz 0x%x\n", 826 phdr->p_type, da, memsz, filesz); 827 828 if (filesz > memsz) { 829 dev_err(dev, "bad phdr filesz 0x%x memsz 0x%x\n", 830 filesz, memsz); 831 ret = -EINVAL; 832 break; 833 } 834 835 if (offset + filesz > fw->size) { 836 dev_err(dev, "truncated fw: need 0x%x avail 0x%zx\n", 837 offset + filesz, fw->size); 838 ret = -EINVAL; 839 break; 840 } 841 842 /* grab the kernel address for this device address */ 843 is_iram = phdr->p_flags & PF_X; 844 ptr = pru_da_to_va(rproc, da, memsz, is_iram); 845 if (!ptr) { 846 dev_err(dev, "bad phdr da 0x%x mem 0x%x\n", da, memsz); 847 ret = -EINVAL; 848 break; 849 } 850 851 if (pru->data->is_k3) { 852 ret = pru_rproc_memcpy(ptr, elf_data + phdr->p_offset, 853 filesz); 854 if (ret) { 855 dev_err(dev, "PRU memory copy failed for da 0x%x memsz 0x%x\n", 856 da, memsz); 857 break; 858 } 859 } else { 860 memcpy(ptr, elf_data + phdr->p_offset, filesz); 861 } 862 863 /* skip the memzero logic performed by remoteproc ELF loader */ 864 } 865 866 return ret; 867 } 868 869 static const void * 870 pru_rproc_find_interrupt_map(struct device *dev, const struct firmware *fw) 871 { 872 struct elf32_shdr *shdr, *name_table_shdr; 873 const char *name_table; 874 const u8 *elf_data = fw->data; 875 struct elf32_hdr *ehdr = (struct elf32_hdr *)elf_data; 876 u16 shnum = ehdr->e_shnum; 877 u16 shstrndx = ehdr->e_shstrndx; 878 int i; 879 880 /* first, get the section header */ 881 shdr = (struct elf32_shdr *)(elf_data + ehdr->e_shoff); 882 /* compute name table section header entry in shdr array */ 883 name_table_shdr = shdr + shstrndx; 884 /* finally, compute the name table section address in elf */ 885 name_table = elf_data + name_table_shdr->sh_offset; 886 887 for (i = 0; i < shnum; i++, shdr++) { 888 u32 size = shdr->sh_size; 889 u32 offset = shdr->sh_offset; 890 u32 name = shdr->sh_name; 891 892 if (strcmp(name_table + name, ".pru_irq_map")) 893 continue; 894 895 /* make sure we have the entire irq map */ 896 if (offset + size > fw->size || offset + size < size) { 897 dev_err(dev, ".pru_irq_map section truncated\n"); 898 return ERR_PTR(-EINVAL); 899 } 900 901 /* make sure irq map has at least the header */ 902 if (sizeof(struct pru_irq_rsc) > size) { 903 dev_err(dev, "header-less .pru_irq_map section\n"); 904 return ERR_PTR(-EINVAL); 905 } 906 907 return shdr; 908 } 909 910 dev_dbg(dev, "no .pru_irq_map section found for this fw\n"); 911 912 return NULL; 913 } 914 915 /* 916 * Use a custom parse_fw callback function for dealing with PRU firmware 917 * specific sections. 918 * 919 * The firmware blob can contain optional ELF sections: .resource_table section 920 * and .pru_irq_map one. The second one contains the PRUSS interrupt mapping 921 * description, which needs to be setup before powering on the PRU core. To 922 * avoid RAM wastage this ELF section is not mapped to any ELF segment (by the 923 * firmware linker) and therefore is not loaded to PRU memory. 924 */ 925 static int pru_rproc_parse_fw(struct rproc *rproc, const struct firmware *fw) 926 { 927 struct device *dev = &rproc->dev; 928 struct pru_rproc *pru = rproc->priv; 929 const u8 *elf_data = fw->data; 930 const void *shdr; 931 u8 class = fw_elf_get_class(fw); 932 u64 sh_offset; 933 int ret; 934 935 /* load optional rsc table */ 936 ret = rproc_elf_load_rsc_table(rproc, fw); 937 if (ret == -EINVAL) 938 dev_dbg(&rproc->dev, "no resource table found for this fw\n"); 939 else if (ret) 940 return ret; 941 942 /* find .pru_interrupt_map section, not having it is not an error */ 943 shdr = pru_rproc_find_interrupt_map(dev, fw); 944 if (IS_ERR(shdr)) 945 return PTR_ERR(shdr); 946 947 if (!shdr) 948 return 0; 949 950 /* preserve pointer to PRU interrupt map together with it size */ 951 sh_offset = elf_shdr_get_sh_offset(class, shdr); 952 pru->pru_interrupt_map = (struct pru_irq_rsc *)(elf_data + sh_offset); 953 pru->pru_interrupt_map_sz = elf_shdr_get_sh_size(class, shdr); 954 955 return 0; 956 } 957 958 /* 959 * Compute PRU id based on the IRAM addresses. The PRU IRAMs are 960 * always at a particular offset within the PRUSS address space. 961 */ 962 static int pru_rproc_set_id(struct pru_rproc *pru) 963 { 964 int ret = 0; 965 966 switch (pru->mem_regions[PRU_IOMEM_IRAM].pa & PRU_IRAM_ADDR_MASK) { 967 case TX_PRU0_IRAM_ADDR_MASK: 968 fallthrough; 969 case RTU0_IRAM_ADDR_MASK: 970 fallthrough; 971 case PRU0_IRAM_ADDR_MASK: 972 pru->id = PRUSS_PRU0; 973 break; 974 case TX_PRU1_IRAM_ADDR_MASK: 975 fallthrough; 976 case RTU1_IRAM_ADDR_MASK: 977 fallthrough; 978 case PRU1_IRAM_ADDR_MASK: 979 pru->id = PRUSS_PRU1; 980 break; 981 default: 982 ret = -EINVAL; 983 } 984 985 return ret; 986 } 987 988 static int pru_rproc_probe(struct platform_device *pdev) 989 { 990 struct device *dev = &pdev->dev; 991 struct device_node *np = dev->of_node; 992 struct platform_device *ppdev = to_platform_device(dev->parent); 993 struct pru_rproc *pru; 994 const char *fw_name; 995 struct rproc *rproc = NULL; 996 struct resource *res; 997 int i, ret; 998 const struct pru_private_data *data; 999 const char *mem_names[PRU_IOMEM_MAX] = { "iram", "control", "debug" }; 1000 1001 data = of_device_get_match_data(&pdev->dev); 1002 if (!data) 1003 return -ENODEV; 1004 1005 ret = of_property_read_string(np, "firmware-name", &fw_name); 1006 if (ret) { 1007 dev_err(dev, "unable to retrieve firmware-name %d\n", ret); 1008 return ret; 1009 } 1010 1011 rproc = devm_rproc_alloc(dev, pdev->name, &pru_rproc_ops, fw_name, 1012 sizeof(*pru)); 1013 if (!rproc) { 1014 dev_err(dev, "rproc_alloc failed\n"); 1015 return -ENOMEM; 1016 } 1017 /* use a custom load function to deal with PRU-specific quirks */ 1018 rproc->ops->load = pru_rproc_load_elf_segments; 1019 1020 /* use a custom parse function to deal with PRU-specific resources */ 1021 rproc->ops->parse_fw = pru_rproc_parse_fw; 1022 1023 /* error recovery is not supported for PRUs */ 1024 rproc->recovery_disabled = true; 1025 1026 /* 1027 * rproc_add will auto-boot the processor normally, but this is not 1028 * desired with PRU client driven boot-flow methodology. A PRU 1029 * application/client driver will boot the corresponding PRU 1030 * remote-processor as part of its state machine either through the 1031 * remoteproc sysfs interface or through the equivalent kernel API. 1032 */ 1033 rproc->auto_boot = false; 1034 1035 pru = rproc->priv; 1036 pru->dev = dev; 1037 pru->data = data; 1038 pru->pruss = platform_get_drvdata(ppdev); 1039 pru->rproc = rproc; 1040 pru->fw_name = fw_name; 1041 pru->client_np = NULL; 1042 spin_lock_init(&pru->rmw_lock); 1043 mutex_init(&pru->lock); 1044 1045 for (i = 0; i < ARRAY_SIZE(mem_names); i++) { 1046 res = platform_get_resource_byname(pdev, IORESOURCE_MEM, 1047 mem_names[i]); 1048 pru->mem_regions[i].va = devm_ioremap_resource(dev, res); 1049 if (IS_ERR(pru->mem_regions[i].va)) { 1050 dev_err(dev, "failed to parse and map memory resource %d %s\n", 1051 i, mem_names[i]); 1052 ret = PTR_ERR(pru->mem_regions[i].va); 1053 return ret; 1054 } 1055 pru->mem_regions[i].pa = res->start; 1056 pru->mem_regions[i].size = resource_size(res); 1057 1058 dev_dbg(dev, "memory %8s: pa %pa size 0x%zx va %pK\n", 1059 mem_names[i], &pru->mem_regions[i].pa, 1060 pru->mem_regions[i].size, pru->mem_regions[i].va); 1061 } 1062 1063 ret = pru_rproc_set_id(pru); 1064 if (ret < 0) 1065 return ret; 1066 1067 platform_set_drvdata(pdev, rproc); 1068 1069 ret = devm_rproc_add(dev, pru->rproc); 1070 if (ret) { 1071 dev_err(dev, "rproc_add failed: %d\n", ret); 1072 return ret; 1073 } 1074 1075 pru_rproc_create_debug_entries(rproc); 1076 1077 dev_dbg(dev, "PRU rproc node %pOF probed successfully\n", np); 1078 1079 return 0; 1080 } 1081 1082 static void pru_rproc_remove(struct platform_device *pdev) 1083 { 1084 struct device *dev = &pdev->dev; 1085 struct rproc *rproc = platform_get_drvdata(pdev); 1086 1087 dev_dbg(dev, "%s: removing rproc %s\n", __func__, rproc->name); 1088 } 1089 1090 static const struct pru_private_data pru_data = { 1091 .type = PRU_TYPE_PRU, 1092 }; 1093 1094 static const struct pru_private_data k3_pru_data = { 1095 .type = PRU_TYPE_PRU, 1096 .is_k3 = 1, 1097 }; 1098 1099 static const struct pru_private_data k3_rtu_data = { 1100 .type = PRU_TYPE_RTU, 1101 .is_k3 = 1, 1102 }; 1103 1104 static const struct pru_private_data k3_tx_pru_data = { 1105 .type = PRU_TYPE_TX_PRU, 1106 .is_k3 = 1, 1107 }; 1108 1109 static const struct of_device_id pru_rproc_match[] = { 1110 { .compatible = "ti,am3356-pru", .data = &pru_data }, 1111 { .compatible = "ti,am4376-pru", .data = &pru_data }, 1112 { .compatible = "ti,am5728-pru", .data = &pru_data }, 1113 { .compatible = "ti,am642-pru", .data = &k3_pru_data }, 1114 { .compatible = "ti,am642-rtu", .data = &k3_rtu_data }, 1115 { .compatible = "ti,am642-tx-pru", .data = &k3_tx_pru_data }, 1116 { .compatible = "ti,k2g-pru", .data = &pru_data }, 1117 { .compatible = "ti,am654-pru", .data = &k3_pru_data }, 1118 { .compatible = "ti,am654-rtu", .data = &k3_rtu_data }, 1119 { .compatible = "ti,am654-tx-pru", .data = &k3_tx_pru_data }, 1120 { .compatible = "ti,j721e-pru", .data = &k3_pru_data }, 1121 { .compatible = "ti,j721e-rtu", .data = &k3_rtu_data }, 1122 { .compatible = "ti,j721e-tx-pru", .data = &k3_tx_pru_data }, 1123 { .compatible = "ti,am625-pru", .data = &k3_pru_data }, 1124 {}, 1125 }; 1126 MODULE_DEVICE_TABLE(of, pru_rproc_match); 1127 1128 static struct platform_driver pru_rproc_driver = { 1129 .driver = { 1130 .name = PRU_RPROC_DRVNAME, 1131 .of_match_table = pru_rproc_match, 1132 .suppress_bind_attrs = true, 1133 }, 1134 .probe = pru_rproc_probe, 1135 .remove_new = pru_rproc_remove, 1136 }; 1137 module_platform_driver(pru_rproc_driver); 1138 1139 MODULE_AUTHOR("Suman Anna <s-anna@ti.com>"); 1140 MODULE_AUTHOR("Andrew F. Davis <afd@ti.com>"); 1141 MODULE_AUTHOR("Grzegorz Jaszczyk <grzegorz.jaszczyk@linaro.org>"); 1142 MODULE_AUTHOR("Puranjay Mohan <p-mohan@ti.com>"); 1143 MODULE_AUTHOR("Md Danish Anwar <danishanwar@ti.com>"); 1144 MODULE_DESCRIPTION("PRU-ICSS Remote Processor Driver"); 1145 MODULE_LICENSE("GPL v2"); 1146