ARK-OS/arkos/kernel/drivers/remoteproc/keystone_remoteproc.c

// SPDX-License-Identifier: GPL-2.0-only
/*
 * TI Keystone DSP remoteproc driver
 *
 * Copyright (C) 2015-2017 Texas Instruments Incorporated - http://www.ti.com/
 */

#include <linux/module.h>
#include <linux/slab.h>
#include <linux/io.h>
#include <linux/interrupt.h>
#include <linux/platform_device.h>
#include <linux/pm_runtime.h>
#include <linux/workqueue.h>
#include <linux/of_address.h>
#include <linux/of_reserved_mem.h>
#include <linux/gpio/consumer.h>
#include <linux/regmap.h>
#include <linux/mfd/syscon.h>
#include <linux/remoteproc.h>
#include <linux/reset.h>

#include "remoteproc_internal.h"

#define KEYSTONE_RPROC_LOCAL_ADDRESS_MASK	(SZ_16M - 1)

/**
 * struct keystone_rproc_mem - internal memory structure
 * @cpu_addr: MPU virtual address of the memory region
 * @bus_addr: Bus address used to access the memory region
 * @dev_addr: Device address of the memory region from DSP view
 * @size: Size of the memory region
 */
struct keystone_rproc_mem {
	void __iomem *cpu_addr;
	phys_addr_t bus_addr;
	u32 dev_addr;
	size_t size;
};

/**
 * struct keystone_rproc - keystone remote processor driver structure
 * @dev: cached device pointer
 * @rproc: remoteproc device handle
 * @mem: internal memory regions data
 * @num_mems: number of internal memory regions
 * @dev_ctrl: device control regmap handle
 * @reset: reset control handle
 * @boot_offset: boot register offset in @dev_ctrl regmap
 * @irq_ring: irq entry for vring
 * @irq_fault: irq entry for exception
 * @kick_gpio: gpio used for virtio kicks
 * @workqueue: workqueue for processing virtio interrupts
 */
struct keystone_rproc {
	struct device *dev;
	struct rproc *rproc;
	struct keystone_rproc_mem *mem;
	int num_mems;
	struct regmap *dev_ctrl;
	struct reset_control *reset;
	struct gpio_desc *kick_gpio;
	u32 boot_offset;
	int irq_ring;
	int irq_fault;
	struct work_struct workqueue;
};

/* Put the DSP processor into reset */
static void keystone_rproc_dsp_reset(struct keystone_rproc *ksproc)
{
	reset_control_assert(ksproc->reset);
}

/* Configure the boot address and boot the DSP processor */
static int keystone_rproc_dsp_boot(struct keystone_rproc *ksproc, u32 boot_addr)
{
	int ret;

	if (boot_addr & (SZ_1K - 1)) {
		dev_err(ksproc->dev, "invalid boot address 0x%x, must be aligned on a 1KB boundary\n",
			boot_addr);
		return -EINVAL;
	}

	ret = regmap_write(ksproc->dev_ctrl, ksproc->boot_offset, boot_addr);
	if (ret) {
		dev_err(ksproc->dev, "regmap_write of boot address failed, status = %d\n",
			ret);
		return ret;
	}

	reset_control_deassert(ksproc->reset);

	return 0;
}

/*
 * Process the remoteproc exceptions
 *
 * The exception reporting on Keystone DSP remote processors is very simple
 * compared to the equivalent processors on the OMAP family, it is notified
 * through a software-designed specific interrupt source in the IPC interrupt
 * generation register.
 *
 * This function just invokes the rproc_report_crash to report the exception
 * to the remoteproc driver core, to trigger a recovery.
 */
static irqreturn_t keystone_rproc_exception_interrupt(int irq, void *dev_id)
{
	struct keystone_rproc *ksproc = dev_id;

	rproc_report_crash(ksproc->rproc, RPROC_FATAL_ERROR);

	return IRQ_HANDLED;
}

/*
 * Main virtqueue message workqueue function
 *
 * This function is executed upon scheduling of the keystone remoteproc
 * driver's workqueue. The workqueue is scheduled by the vring ISR handler.
 *
 * There is no payload message indicating the virtqueue index as is the
 * case with mailbox-based implementations on OMAP family. As such, this
 * handler processes both the Tx and Rx virtqueue indices on every invocation.
 * The rproc_vq_interrupt function can detect if there are new unprocessed
 * messages or not (returns IRQ_NONE vs IRQ_HANDLED), but there is no need
 * to check for these return values. The index 0 triggering will process all
 * pending Rx buffers, and the index 1 triggering will process all newly
 * available Tx buffers and will wakeup any potentially blocked senders.
 *
 * NOTE:
 * 1. A payload could be added by using some of the source bits in the
 *    IPC interrupt generation registers, but this would need additional
 *    changes to the overall IPC stack, and currently there are no benefits
 *    of adapting that approach.
 * 2. The current logic is based on an inherent design assumption of supporting
 *    only 2 vrings, but this can be changed if needed.
 */
static void handle_event(struct work_struct *work)
{
	struct keystone_rproc *ksproc =
		container_of(work, struct keystone_rproc, workqueue);

	rproc_vq_interrupt(ksproc->rproc, 0);
	rproc_vq_interrupt(ksproc->rproc, 1);
}

/*
 * Interrupt handler for processing vring kicks from remote processor
 */
static irqreturn_t keystone_rproc_vring_interrupt(int irq, void *dev_id)
{
	struct keystone_rproc *ksproc = dev_id;

	schedule_work(&ksproc->workqueue);

	return IRQ_HANDLED;
}

/*
 * Power up the DSP remote processor.
 *
 * This function will be invoked only after the firmware for this rproc
 * was loaded, parsed successfully, and all of its resource requirements
 * were met.
 */
static int keystone_rproc_start(struct rproc *rproc)
{
	struct keystone_rproc *ksproc = rproc->priv;
	int ret;

	INIT_WORK(&ksproc->workqueue, handle_event);

	ret = request_irq(ksproc->irq_ring, keystone_rproc_vring_interrupt, 0,
			  dev_name(ksproc->dev), ksproc);
	if (ret) {
		dev_err(ksproc->dev, "failed to enable vring interrupt, ret = %d\n",
			ret);
		goto out;
	}

	ret = request_irq(ksproc->irq_fault, keystone_rproc_exception_interrupt,
			  0, dev_name(ksproc->dev), ksproc);
	if (ret) {
		dev_err(ksproc->dev, "failed to enable exception interrupt, ret = %d\n",
			ret);
		goto free_vring_irq;
	}

	ret = keystone_rproc_dsp_boot(ksproc, rproc->bootaddr);
	if (ret)
		goto free_exc_irq;

	return 0;

free_exc_irq:
	free_irq(ksproc->irq_fault, ksproc);
free_vring_irq:
	free_irq(ksproc->irq_ring, ksproc);
	flush_work(&ksproc->workqueue);
out:
	return ret;
}

/*
 * Stop the DSP remote processor.
 *
 * This function puts the DSP processor into reset, and finishes processing
 * of any pending messages.
 */
static int keystone_rproc_stop(struct rproc *rproc)
{
	struct keystone_rproc *ksproc = rproc->priv;

	keystone_rproc_dsp_reset(ksproc);
	free_irq(ksproc->irq_fault, ksproc);
	free_irq(ksproc->irq_ring, ksproc);
	flush_work(&ksproc->workqueue);

	return 0;
}

/*
 * Kick the remote processor to notify about pending unprocessed messages.
 * The vqid usage is not used and is inconsequential, as the kick is performed
 * through a simulated GPIO (a bit in an IPC interrupt-triggering register),
 * the remote processor is expected to process both its Tx and Rx virtqueues.
 */
static void keystone_rproc_kick(struct rproc *rproc, int vqid)
{
	struct keystone_rproc *ksproc = rproc->priv;

	if (!ksproc->kick_gpio)
		return;

	gpiod_set_value(ksproc->kick_gpio, 1);
}

/*
 * Custom function to translate a DSP device address (internal RAMs only) to a
 * kernel virtual address.  The DSPs can access their RAMs at either an internal
 * address visible only from a DSP, or at the SoC-level bus address. Both these
 * addresses need to be looked through for translation. The translated addresses
 * can be used either by the remoteproc core for loading (when using kernel
 * remoteproc loader), or by any rpmsg bus drivers.
 */
static void *keystone_rproc_da_to_va(struct rproc *rproc, u64 da, size_t len, bool *is_iomem)
{
	struct keystone_rproc *ksproc = rproc->priv;
	void __iomem *va = NULL;
	phys_addr_t bus_addr;
	u32 dev_addr, offset;
	size_t size;
	int i;

	if (len == 0)
		return NULL;

	for (i = 0; i < ksproc->num_mems; i++) {
		bus_addr = ksproc->mem[i].bus_addr;
		dev_addr = ksproc->mem[i].dev_addr;
		size = ksproc->mem[i].size;

		if (da < KEYSTONE_RPROC_LOCAL_ADDRESS_MASK) {
			/* handle DSP-view addresses */
			if ((da >= dev_addr) &&
			    ((da + len) <= (dev_addr + size))) {
				offset = da - dev_addr;
				va = ksproc->mem[i].cpu_addr + offset;
				break;
			}
		} else {
			/* handle SoC-view addresses */
			if ((da >= bus_addr) &&
			    (da + len) <= (bus_addr + size)) {
				offset = da - bus_addr;
				va = ksproc->mem[i].cpu_addr + offset;
				break;
			}
		}
	}

	return (__force void *)va;
}

static const struct rproc_ops keystone_rproc_ops = {
	.start		= keystone_rproc_start,
	.stop		= keystone_rproc_stop,
	.kick		= keystone_rproc_kick,
	.da_to_va	= keystone_rproc_da_to_va,
};

static int keystone_rproc_of_get_memories(struct platform_device *pdev,
					  struct keystone_rproc *ksproc)
{
	static const char * const mem_names[] = {"l2sram", "l1pram", "l1dram"};
	struct device *dev = &pdev->dev;
	struct resource *res;
	int num_mems = 0;
	int i;

	num_mems = ARRAY_SIZE(mem_names);
	ksproc->mem = devm_kcalloc(ksproc->dev, num_mems,
				   sizeof(*ksproc->mem), GFP_KERNEL);
	if (!ksproc->mem)
		return -ENOMEM;

	for (i = 0; i < num_mems; i++) {
		res = platform_get_resource_byname(pdev, IORESOURCE_MEM,
						   mem_names[i]);
		ksproc->mem[i].cpu_addr = devm_ioremap_resource(dev, res);
		if (IS_ERR(ksproc->mem[i].cpu_addr)) {
			dev_err(dev, "failed to parse and map %s memory\n",
				mem_names[i]);
			return PTR_ERR(ksproc->mem[i].cpu_addr);
		}
		ksproc->mem[i].bus_addr = res->start;
		ksproc->mem[i].dev_addr =
				res->start & KEYSTONE_RPROC_LOCAL_ADDRESS_MASK;
		ksproc->mem[i].size = resource_size(res);

		/* zero out memories to start in a pristine state */
		memset((__force void *)ksproc->mem[i].cpu_addr, 0,
		       ksproc->mem[i].size);
	}
	ksproc->num_mems = num_mems;

	return 0;
}

static int keystone_rproc_of_get_dev_syscon(struct platform_device *pdev,
					    struct keystone_rproc *ksproc)
{
	struct device_node *np = pdev->dev.of_node;
	struct device *dev = &pdev->dev;

	if (!of_property_read_bool(np, "ti,syscon-dev")) {
		dev_err(dev, "ti,syscon-dev property is absent\n");
		return -EINVAL;
	}

	ksproc->dev_ctrl = syscon_regmap_lookup_by_phandle_args(np, "ti,syscon-dev",
								1, &ksproc->boot_offset);
	if (IS_ERR(ksproc->dev_ctrl))
		return PTR_ERR(ksproc->dev_ctrl);

	return 0;
}

static void keystone_rproc_mem_release(void *data)
{
	struct device *dev = data;

	of_reserved_mem_device_release(dev);
}

static void keystone_rproc_pm_runtime_put(void *data)
{
	struct device *dev = data;

	pm_runtime_put_sync(dev);
}

static int keystone_rproc_probe(struct platform_device *pdev)
{
	struct device *dev = &pdev->dev;
	struct device_node *np = dev->of_node;
	struct keystone_rproc *ksproc;
	struct rproc *rproc;
	int dsp_id;
	char *fw_name = NULL;
	int ret = 0;

	if (!np) {
		dev_err(dev, "only DT-based devices are supported\n");
		return -ENODEV;
	}

	dsp_id = of_alias_get_id(np, "rproc");
	if (dsp_id < 0) {
		dev_warn(dev, "device does not have an alias id\n");
		return dsp_id;
	}

	/* construct a custom default fw name - subject to change in future */
	fw_name = devm_kasprintf(dev, GFP_KERNEL, "keystone-dsp%d-fw", dsp_id);
	if (!fw_name)
		return -ENOMEM;

	rproc = devm_rproc_alloc(dev, dev_name(dev), &keystone_rproc_ops,
				 fw_name, sizeof(*ksproc));
	if (!rproc)
		return -ENOMEM;

	rproc->has_iommu = false;
	ksproc = rproc->priv;
	ksproc->rproc = rproc;
	ksproc->dev = dev;

	ret = keystone_rproc_of_get_dev_syscon(pdev, ksproc);
	if (ret)
		return ret;

	ksproc->reset = devm_reset_control_get_exclusive(dev, NULL);
	if (IS_ERR(ksproc->reset))
		return PTR_ERR(ksproc->reset);

	/* enable clock for accessing DSP internal memories */
	ret = devm_pm_runtime_enable(dev);
	if (ret < 0)
		return dev_err_probe(dev, ret, "Failed to enable runtime PM\n");

	ret = pm_runtime_resume_and_get(dev);
	if (ret < 0)
		return dev_err_probe(dev, ret, "failed to enable clock\n");

	ret = devm_add_action_or_reset(dev, keystone_rproc_pm_runtime_put, dev);
	if (ret)
		return dev_err_probe(dev, ret, "failed to add disable pm devm action\n");

	ret = keystone_rproc_of_get_memories(pdev, ksproc);
	if (ret)
		return ret;

	ksproc->irq_ring = platform_get_irq_byname(pdev, "vring");
	if (ksproc->irq_ring < 0)
		return ksproc->irq_ring;

	ksproc->irq_fault = platform_get_irq_byname(pdev, "exception");
	if (ksproc->irq_fault < 0)
		return ksproc->irq_fault;

	ksproc->kick_gpio = devm_gpiod_get(dev, "kick", GPIOD_ASIS);
	ret = PTR_ERR_OR_ZERO(ksproc->kick_gpio);
	if (ret)
		return dev_err_probe(dev, ret, "failed to get gpio for virtio kicks\n");

	ret = of_reserved_mem_device_init(dev);
	if (ret) {
		dev_warn(dev, "device does not have specific CMA pool\n");
	} else {
		ret = devm_add_action_or_reset(dev, keystone_rproc_mem_release, dev);
		if (ret)
			return ret;
	}

	/* ensure the DSP is in reset before loading firmware */
	ret = reset_control_status(ksproc->reset);
	if (ret < 0) {
		return dev_err_probe(dev, ret, "failed to get reset status\n");
	} else if (ret == 0) {
		WARN(1, "device is not in reset\n");
		keystone_rproc_dsp_reset(ksproc);
	}

	ret = devm_rproc_add(dev, rproc);
	if (ret)
		return dev_err_probe(dev, ret, "failed to register device with remoteproc core\n");

	return 0;
}

static const struct of_device_id keystone_rproc_of_match[] = {
	{ .compatible = "ti,k2hk-dsp", },
	{ .compatible = "ti,k2l-dsp", },
	{ .compatible = "ti,k2e-dsp", },
	{ .compatible = "ti,k2g-dsp", },
	{ /* sentinel */ },
};
MODULE_DEVICE_TABLE(of, keystone_rproc_of_match);

static struct platform_driver keystone_rproc_driver = {
	.probe	= keystone_rproc_probe,
	.driver	= {
		.name = "keystone-rproc",
		.of_match_table = keystone_rproc_of_match,
	},
};

module_platform_driver(keystone_rproc_driver);

MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
MODULE_LICENSE("GPL v2");
MODULE_DESCRIPTION("TI Keystone DSP Remoteproc driver");