// SPDX-License-Identifier: GPL-2.0-only
/*
* PRU-ICSS remoteproc driver for various TI SoCs
*
* Copyright (C) 2014-2020 Texas Instruments Incorporated - https://www.ti.com/
*
* Author(s):
* Suman Anna <s-anna@ti.com>
* Andrew F. Davis <afd@ti.com>
* Grzegorz Jaszczyk <grzegorz.jaszczyk@linaro.org> for Texas Instruments
*/
#include <linux/bitops.h>
#include <linux/module.h>
#include <linux/of_device.h>
#include <linux/pruss_driver.h>
#include <linux/remoteproc.h>
#include "remoteproc_internal.h"
#include "remoteproc_elf_helpers.h"
/* PRU_ICSS_PRU_CTRL registers */
#define PRU_CTRL_CTRL 0x0000
#define PRU_CTRL_STS 0x0004
/* CTRL register bit-fields */
#define CTRL_CTRL_SOFT_RST_N BIT(0)
#define CTRL_CTRL_EN BIT(1)
#define CTRL_CTRL_SLEEPING BIT(2)
#define CTRL_CTRL_CTR_EN BIT(3)
#define CTRL_CTRL_SINGLE_STEP BIT(8)
#define CTRL_CTRL_RUNSTATE BIT(15)
/* PRU Core IRAM address masks */
#define PRU_IRAM_ADDR_MASK 0x3ffff
#define PRU0_IRAM_ADDR_MASK 0x34000
#define PRU1_IRAM_ADDR_MASK 0x38000
/* PRU device addresses for various type of PRU RAMs */
#define PRU_IRAM_DA 0 /* Instruction RAM */
#define PRU_PDRAM_DA 0 /* Primary Data RAM */
#define PRU_SDRAM_DA 0x2000 /* Secondary Data RAM */
#define PRU_SHRDRAM_DA 0x10000 /* Shared Data RAM */
/**
* enum pru_iomem - PRU core memory/register range identifiers
*
* @PRU_IOMEM_IRAM: PRU Instruction RAM range
* @PRU_IOMEM_CTRL: PRU Control register range
* @PRU_IOMEM_DEBUG: PRU Debug register range
* @PRU_IOMEM_MAX: just keep this one at the end
*/
enum pru_iomem {
PRU_IOMEM_IRAM = 0,
PRU_IOMEM_CTRL,
PRU_IOMEM_DEBUG,
PRU_IOMEM_MAX,
};
/**
* struct pru_rproc - PRU remoteproc structure
* @id: id of the PRU core within the PRUSS
* @dev: PRU core device pointer
* @pruss: back-reference to parent PRUSS structure
* @rproc: remoteproc pointer for this PRU core
* @mem_regions: data for each of the PRU memory regions
* @fw_name: name of firmware image used during loading
*/
struct pru_rproc {
int id;
struct device *dev;
struct pruss *pruss;
struct rproc *rproc;
struct pruss_mem_region mem_regions[PRU_IOMEM_MAX];
const char *fw_name;
};
static inline u32 pru_control_read_reg(struct pru_rproc *pru, unsigned int reg)
{
return readl_relaxed(pru->mem_regions[PRU_IOMEM_CTRL].va + reg);
}
static inline
void pru_control_write_reg(struct pru_rproc *pru, unsigned int reg, u32 val)
{
writel_relaxed(val, pru->mem_regions[PRU_IOMEM_CTRL].va + reg);
}
static int pru_rproc_start(struct rproc *rproc)
{
struct device *dev = &rproc->dev;
struct pru_rproc *pru = rproc->priv;
u32 val;
dev_dbg(dev, "starting PRU%d: entry-point = 0x%llx\n",
pru->id, (rproc->bootaddr >> 2));
val = CTRL_CTRL_EN | ((rproc->bootaddr >> 2) << 16);
pru_control_write_reg(pru, PRU_CTRL_CTRL, val);
return 0;
}
static int pru_rproc_stop(struct rproc *rproc)
{
struct device *dev = &rproc->dev;
struct pru_rproc *pru = rproc->priv;
u32 val;
dev_dbg(dev, "stopping PRU%d\n", pru->id);
val = pru_control_read_reg(pru, PRU_CTRL_CTRL);
val &= ~CTRL_CTRL_EN;
pru_control_write_reg(pru, PRU_CTRL_CTRL, val);
return 0;
}
/*
* Convert PRU device address (data spaces only) to kernel virtual address.
*
* Each PRU has access to all data memories within the PRUSS, accessible at
* different ranges. So, look through both its primary and secondary Data
* RAMs as well as any shared Data RAM to convert a PRU device address to
* kernel virtual address. Data RAM0 is primary Data RAM for PRU0 and Data
* RAM1 is primary Data RAM for PRU1.
*/
static void *pru_d_da_to_va(struct pru_rproc *pru, u32 da, size_t len)
{
struct pruss_mem_region dram0, dram1, shrd_ram;
struct pruss *pruss = pru->pruss;
u32 offset;
void *va = NULL;
if (len == 0)
return NULL;
dram0 = pruss->mem_regions[PRUSS_MEM_DRAM0];
dram1 = pruss->mem_regions[PRUSS_MEM_DRAM1];
/* PRU1 has its local RAM addresses reversed */
if (pru->id == 1)
swap(dram0, dram1);
shrd_ram = pruss->mem_regions[PRUSS_MEM_SHRD_RAM2];
if (da >= PRU_PDRAM_DA && da + len <= PRU_PDRAM_DA + dram0.size) {
offset = da - PRU_PDRAM_DA;
va = (__force void *)(dram0.va + offset);
} else if (da >= PRU_SDRAM_DA &&
da + len <= PRU_SDRAM_DA + dram1.size) {
offset = da - PRU_SDRAM_DA;
va = (__force void *)(dram1.va + offset);
} else if (da >= PRU_SHRDRAM_DA &&
da + len <= PRU_SHRDRAM_DA + shrd_ram.size) {
offset = da - PRU_SHRDRAM_DA;
va = (__force void *)(shrd_ram.va + offset);
}
return va;
}
/*
* Convert PRU device address (instruction space) to kernel virtual address.
*
* A PRU does not have an unified address space. Each PRU has its very own
* private Instruction RAM, and its device address is identical to that of
* its primary Data RAM device address.
*/
static void *pru_i_da_to_va(struct pru_rproc *pru, u32 da, size_t len)
{
u32 offset;
void *va = NULL;
if (len == 0)
return NULL;
if (da >= PRU_IRAM_DA &&
da + len <= PRU_IRAM_DA + pru->mem_regions[PRU_IOMEM_IRAM].size) {
offset = da - PRU_IRAM_DA;
va = (__force void *)(pru->mem_regions[PRU_IOMEM_IRAM].va +
offset);
}
return va;
}
/*
* Provide address translations for only PRU Data RAMs through the remoteproc
* core for any PRU client drivers. The PRU Instruction RAM access is restricted
* only to the PRU loader code.
*/
static void *pru_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len)
{
struct pru_rproc *pru = rproc->priv;
return pru_d_da_to_va(pru, da, len);
}
/* PRU-specific address translator used by PRU loader. */
static void *pru_da_to_va(struct rproc *rproc, u64 da, size_t len, bool is_iram)
{
struct pru_rproc *pru = rproc->priv;
void *va;
if (is_iram)
va = pru_i_da_to_va(pru, da, len);
else
va = pru_d_da_to_va(pru, da, len);
return va;
}
static struct rproc_ops pru_rproc_ops = {
.start = pru_rproc_start,
.stop = pru_rproc_stop,
.da_to_va = pru_rproc_da_to_va,
};
static int
pru_rproc_load_elf_segments(struct rproc *rproc, const struct firmware *fw)
{
struct device *dev = &rproc->dev;
struct elf32_hdr *ehdr;
struct elf32_phdr *phdr;
int i, ret = 0;
const u8 *elf_data = fw->data;
ehdr = (struct elf32_hdr *)elf_data;
phdr = (struct elf32_phdr *)(elf_data + ehdr->e_phoff);
/* go through the available ELF segments */
for (i = 0; i < ehdr->e_phnum; i++, phdr++) {
u32 da = phdr->p_paddr;
u32 memsz = phdr->p_memsz;
u32 filesz = phdr->p_filesz;
u32 offset = phdr->p_offset;
bool is_iram;
void *ptr;
if (phdr->p_type != PT_LOAD || !filesz)
continue;
dev_dbg(dev, "phdr: type %d da 0x%x memsz 0x%x filesz 0x%x\n",
phdr->p_type, da, memsz, filesz);
if (filesz > memsz) {
dev_err(dev, "bad phdr filesz 0x%x memsz 0x%x\n",
filesz, memsz);
ret = -EINVAL;
break;
}
if (offset + filesz > fw->size) {
dev_err(dev, "truncated fw: need 0x%x avail 0x%zx\n",
offset + filesz, fw->size);
ret = -EINVAL;
break;
}
/* grab the kernel address for this device address */
is_iram = phdr->p_flags & PF_X;
ptr = pru_da_to_va(rproc, da, memsz, is_iram);
if (!ptr) {
dev_err(dev, "bad phdr da 0x%x mem 0x%x\n", da, memsz);
ret = -EINVAL;
break;
}
memcpy(ptr, elf_data + phdr->p_offset, filesz);
/* skip the memzero logic performed by remoteproc ELF loader */
}
return ret;
}
/*
* Use a custom parse_fw callback function for dealing with PRU firmware
* specific sections.
*/
static int pru_rproc_parse_fw(struct rproc *rproc, const struct firmware *fw)
{
int ret;
/* load optional rsc table */
ret = rproc_elf_load_rsc_table(rproc, fw);
if (ret == -EINVAL)
dev_dbg(&rproc->dev, "no resource table found for this fw\n");
else if (ret)
return ret;
return 0;
}
/*
* Compute PRU id based on the IRAM addresses. The PRU IRAMs are
* always at a particular offset within the PRUSS address space.
*/
static int pru_rproc_set_id(struct pru_rproc *pru)
{
int ret = 0;
switch (pru->mem_regions[PRU_IOMEM_IRAM].pa & PRU_IRAM_ADDR_MASK) {
case PRU0_IRAM_ADDR_MASK:
pru->id = 0;
break;
case PRU1_IRAM_ADDR_MASK:
pru->id = 1;
break;
default:
ret = -EINVAL;
}
return ret;
}
static int pru_rproc_probe(struct platform_device *pdev)
{
struct device *dev = &pdev->dev;
struct device_node *np = dev->of_node;
struct platform_device *ppdev = to_platform_device(dev->parent);
struct pru_rproc *pru;
const char *fw_name;
struct rproc *rproc = NULL;
struct resource *res;
int i, ret;
const char *mem_names[PRU_IOMEM_MAX] = { "iram", "control", "debug" };
ret = of_property_read_string(np, "firmware-name", &fw_name);
if (ret) {
dev_err(dev, "unable to retrieve firmware-name %d\n", ret);
return ret;
}
rproc = devm_rproc_alloc(dev, pdev->name, &pru_rproc_ops, fw_name,
sizeof(*pru));
if (!rproc) {
dev_err(dev, "rproc_alloc failed\n");
return -ENOMEM;
}
/* use a custom load function to deal with PRU-specific quirks */
rproc->ops->load = pru_rproc_load_elf_segments;
/* use a custom parse function to deal with PRU-specific resources */
rproc->ops->parse_fw = pru_rproc_parse_fw;
/* error recovery is not supported for PRUs */
rproc->recovery_disabled = true;
/*
* rproc_add will auto-boot the processor normally, but this is not
* desired with PRU client driven boot-flow methodology. A PRU
* application/client driver will boot the corresponding PRU
* remote-processor as part of its state machine either through the
* remoteproc sysfs interface or through the equivalent kernel API.
*/
rproc->auto_boot = false;
pru = rproc->priv;
pru->dev = dev;
pru->pruss = platform_get_drvdata(ppdev);
pru->rproc = rproc;
pru->fw_name = fw_name;
for (i = 0; i < ARRAY_SIZE(mem_names); i++) {
res = platform_get_resource_byname(pdev, IORESOURCE_MEM,
mem_names[i]);
pru->mem_regions[i].va = devm_ioremap_resource(dev, res);
if (IS_ERR(pru->mem_regions[i].va)) {
dev_err(dev, "failed to parse and map memory resource %d %s\n",
i, mem_names[i]);
ret = PTR_ERR(pru->mem_regions[i].va);
return ret;
}
pru->mem_regions[i].pa = res->start;
pru->mem_regions[i].size = resource_size(res);
dev_dbg(dev, "memory %8s: pa %pa size 0x%zx va %pK\n",
mem_names[i], &pru->mem_regions[i].pa,
pru->mem_regions[i].size, pru->mem_regions[i].va);
}
ret = pru_rproc_set_id(pru);
if (ret < 0)
return ret;
platform_set_drvdata(pdev, rproc);
ret = devm_rproc_add(dev, pru->rproc);
if (ret) {
dev_err(dev, "rproc_add failed: %d\n", ret);
return ret;
}
dev_dbg(dev, "PRU rproc node %pOF probed successfully\n", np);
return 0;
}
static int pru_rproc_remove(struct platform_device *pdev)
{
struct device *dev = &pdev->dev;
struct rproc *rproc = platform_get_drvdata(pdev);
dev_dbg(dev, "%s: removing rproc %s\n", __func__, rproc->name);
return 0;
}
static const struct of_device_id pru_rproc_match[] = {
{ .compatible = "ti,am3356-pru", },
{ .compatible = "ti,am4376-pru", },
{ .compatible = "ti,am5728-pru", },
{ .compatible = "ti,k2g-pru", },
{},
};
MODULE_DEVICE_TABLE(of, pru_rproc_match);
static struct platform_driver pru_rproc_driver = {
.driver = {
.name = "pru-rproc",
.of_match_table = pru_rproc_match,
.suppress_bind_attrs = true,
},
.probe = pru_rproc_probe,
.remove = pru_rproc_remove,
};
module_platform_driver(pru_rproc_driver);
MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
MODULE_AUTHOR("Andrew F. Davis <afd@ti.com>");
MODULE_AUTHOR("Grzegorz Jaszczyk <grzegorz.jaszczyk@linaro.org>");
MODULE_DESCRIPTION("PRU-ICSS Remote Processor Driver");
MODULE_LICENSE("GPL v2");
