1 // SPDX-License-Identifier: GPL-2.0-only
3  * PRU-ICSS remoteproc driver for various TI SoCs
5  * Copyright (C) 2014-2020 Texas Instruments Incorporated - https://www.ti.com/
8  *	Suman Anna <s-anna@ti.com>
37 /* CTRL register bit-fields */
49 /* PRU/RTU/Tx_PRU Core IRAM address masks */
58 /* PRU device addresses for various type of PRU RAMs */
67  * enum pru_iomem - PRU core memory/register range identifiers
69  * @PRU_IOMEM_IRAM: PRU Instruction RAM range
70  * @PRU_IOMEM_CTRL: PRU Control register range
71  * @PRU_IOMEM_DEBUG: PRU Debug register range
82  * enum pru_type - PRU core type identifier
84  * @PRU_TYPE_PRU: Programmable Real-time Unit
85  * @PRU_TYPE_RTU: Auxiliary Programmable Real-Time Unit
86  * @PRU_TYPE_TX_PRU: Transmit Programmable Real-Time Unit
97  * struct pru_private_data - device data for a PRU core
98  * @type: type of the PRU core (PRU, RTU, Tx_PRU)
107  * struct pru_rproc - PRU remoteproc structure
108  * @id: id of the PRU core within the PRUSS
109  * @dev: PRU core device pointer
110  * @pruss: back-reference to parent PRUSS structure
111  * @rproc: remoteproc pointer for this PRU core
112  * @data: PRU core specific data
113  * @mem_regions: data for each of the PRU memory regions
118  * @dbg_single_step: debug state variable to set PRU into single step mode
119  * @dbg_continuous: debug state variable to restore PRU execution mode
138 static inline u32 pru_control_read_reg(struct pru_rproc *pru, unsigned int reg)  in pru_control_read_reg()  argument
140 	return readl_relaxed(pru->mem_regions[PRU_IOMEM_CTRL].va + reg);  in pru_control_read_reg()
144 void pru_control_write_reg(struct pru_rproc *pru, unsigned int reg, u32 val)  in pru_control_write_reg()  argument
146 	writel_relaxed(val, pru->mem_regions[PRU_IOMEM_CTRL].va + reg);  in pru_control_write_reg()
149 static inline u32 pru_debug_read_reg(struct pru_rproc *pru, unsigned int reg)  in pru_debug_read_reg()  argument
151 	return readl_relaxed(pru->mem_regions[PRU_IOMEM_DEBUG].va + reg);  in pru_debug_read_reg()
156 	struct rproc *rproc = s->private;  in regs_show()
157 	struct pru_rproc *pru = rproc->priv;  in regs_show()  local
164 		   pru_control_read_reg(pru, PRU_CTRL_CTRL));  in regs_show()
165 	pru_sts = pru_control_read_reg(pru, PRU_CTRL_STS);  in regs_show()
168 		   pru_control_read_reg(pru, PRU_CTRL_WAKEUP_EN));  in regs_show()
170 		   pru_control_read_reg(pru, PRU_CTRL_CYCLE));  in regs_show()
172 		   pru_control_read_reg(pru, PRU_CTRL_STALL));  in regs_show()
174 		   pru_control_read_reg(pru, PRU_CTRL_CTBIR0));  in regs_show()
176 		   pru_control_read_reg(pru, PRU_CTRL_CTBIR1));  in regs_show()
178 		   pru_control_read_reg(pru, PRU_CTRL_CTPPR0));  in regs_show()
180 		   pru_control_read_reg(pru, PRU_CTRL_CTPPR1));  in regs_show()
183 	pru_is_running = pru_control_read_reg(pru, PRU_CTRL_CTRL) &  in regs_show()
186 		seq_puts(s, "PRU is executing, cannot print/access debug registers.\n");  in regs_show()
191 		seq_printf(s, "GPREG%-2d := 0x%08x\tCT_REG%-2d := 0x%08x\n",  in regs_show()
192 			   i, pru_debug_read_reg(pru, PRU_DEBUG_GPREG(i)),  in regs_show()
193 			   i, pru_debug_read_reg(pru, PRU_DEBUG_CT_REG(i)));  in regs_show()
201  * Control PRU single-step mode
203  * This is a debug helper function used for controlling the single-step
204  * mode of the PRU. The PRU Debug registers are not accessible when the
205  * PRU is in RUNNING state.
207  * Writing a non-zero value sets the PRU into single-step mode irrespective
208  * of its previous state. The PRU mode is saved only on the first set into
209  * a single-step mode. Writing a zero value will restore the PRU into its
215 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_debug_ss_set()  local
219 	if (!val && !pru->dbg_single_step)  in pru_rproc_debug_ss_set()
222 	reg_val = pru_control_read_reg(pru, PRU_CTRL_CTRL);  in pru_rproc_debug_ss_set()
224 	if (val && !pru->dbg_single_step)  in pru_rproc_debug_ss_set()
225 		pru->dbg_continuous = reg_val;  in pru_rproc_debug_ss_set()
230 		reg_val = pru->dbg_continuous;  in pru_rproc_debug_ss_set()
232 	pru->dbg_single_step = val;  in pru_rproc_debug_ss_set()
233 	pru_control_write_reg(pru, PRU_CTRL_CTRL, reg_val);  in pru_rproc_debug_ss_set()
241 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_debug_ss_get()  local
243 	*val = pru->dbg_single_step;  in pru_rproc_debug_ss_get()
251  * Create PRU-specific debugfs entries
258 	if (!rproc->dbg_dir)  in pru_rproc_create_debug_entries()
261 	debugfs_create_file("regs", 0400, rproc->dbg_dir,  in pru_rproc_create_debug_entries()
263 	debugfs_create_file("single_step", 0600, rproc->dbg_dir,  in pru_rproc_create_debug_entries()
267 static void pru_dispose_irq_mapping(struct pru_rproc *pru)  in pru_dispose_irq_mapping()  argument
269 	if (!pru->mapped_irq)  in pru_dispose_irq_mapping()
272 	while (pru->evt_count) {  in pru_dispose_irq_mapping()
273 		pru->evt_count--;  in pru_dispose_irq_mapping()
274 		if (pru->mapped_irq[pru->evt_count] > 0)  in pru_dispose_irq_mapping()
275 			irq_dispose_mapping(pru->mapped_irq[pru->evt_count]);  in pru_dispose_irq_mapping()
278 	kfree(pru->mapped_irq);  in pru_dispose_irq_mapping()
279 	pru->mapped_irq = NULL;  in pru_dispose_irq_mapping()
283  * Parse the custom PRU interrupt map resource and configure the INTC
288 	struct device *dev = rproc->dev.parent;  in pru_handle_intrmap()
289 	struct pru_rproc *pru = rproc->priv;  in pru_handle_intrmap()  local
290 	struct pru_irq_rsc *rsc = pru->pru_interrupt_map;  in pru_handle_intrmap()
300 	if (rsc->type != 0) {  in pru_handle_intrmap()
301 		dev_err(dev, "unsupported rsc type: %d\n", rsc->type);  in pru_handle_intrmap()
302 		return -EINVAL;  in pru_handle_intrmap()
305 	if (rsc->num_evts > MAX_PRU_SYS_EVENTS)  in pru_handle_intrmap()
306 		return -EINVAL;  in pru_handle_intrmap()
308 	if (sizeof(*rsc) + rsc->num_evts * sizeof(struct pruss_int_map) !=  in pru_handle_intrmap()
309 	    pru->pru_interrupt_map_sz)  in pru_handle_intrmap()
310 		return -EINVAL;  in pru_handle_intrmap()
312 	pru->evt_count = rsc->num_evts;  in pru_handle_intrmap()
313 	pru->mapped_irq = kcalloc(pru->evt_count, sizeof(unsigned int),  in pru_handle_intrmap()
315 	if (!pru->mapped_irq) {  in pru_handle_intrmap()
316 		pru->evt_count = 0;  in pru_handle_intrmap()
317 		return -ENOMEM;  in pru_handle_intrmap()
322 	 * channel-to-host mapping. The interrupt controller to be used  in pru_handle_intrmap()
323 	 * for these mappings for a given PRU remoteproc is always its  in pru_handle_intrmap()
326 	parent = of_get_parent(dev_of_node(pru->dev));  in pru_handle_intrmap()
328 		kfree(pru->mapped_irq);  in pru_handle_intrmap()
329 		pru->mapped_irq = NULL;  in pru_handle_intrmap()
330 		pru->evt_count = 0;  in pru_handle_intrmap()
331 		return -ENODEV;  in pru_handle_intrmap()
334 	irq_parent = of_get_child_by_name(parent, "interrupt-controller");  in pru_handle_intrmap()
337 		kfree(pru->mapped_irq);  in pru_handle_intrmap()
338 		pru->mapped_irq = NULL;  in pru_handle_intrmap()
339 		pru->evt_count = 0;  in pru_handle_intrmap()
340 		return -ENODEV;  in pru_handle_intrmap()
345 	for (i = 0; i < pru->evt_count; i++) {  in pru_handle_intrmap()
346 		fwspec.param[0] = rsc->pru_intc_map[i].event;  in pru_handle_intrmap()
347 		fwspec.param[1] = rsc->pru_intc_map[i].chnl;  in pru_handle_intrmap()
348 		fwspec.param[2] = rsc->pru_intc_map[i].host;  in pru_handle_intrmap()
353 		pru->mapped_irq[i] = irq_create_fwspec_mapping(&fwspec);  in pru_handle_intrmap()
354 		if (!pru->mapped_irq[i]) {  in pru_handle_intrmap()
358 			ret = -EINVAL;  in pru_handle_intrmap()
367 	pru_dispose_irq_mapping(pru);  in pru_handle_intrmap()
375 	struct device *dev = &rproc->dev;  in pru_rproc_start()
376 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_start()  local
377 	const char *names[PRU_TYPE_MAX] = { "PRU", "RTU", "Tx_PRU" };  in pru_rproc_start()
381 	dev_dbg(dev, "starting %s%d: entry-point = 0x%llx\n",  in pru_rproc_start()
382 		names[pru->data->type], pru->id, (rproc->bootaddr >> 2));  in pru_rproc_start()
386 	 * reset references to pru interrupt map - they will stop being valid  in pru_rproc_start()
389 	pru->pru_interrupt_map = NULL;  in pru_rproc_start()
390 	pru->pru_interrupt_map_sz = 0;  in pru_rproc_start()
394 	val = CTRL_CTRL_EN | ((rproc->bootaddr >> 2) << 16);  in pru_rproc_start()
395 	pru_control_write_reg(pru, PRU_CTRL_CTRL, val);  in pru_rproc_start()
402 	struct device *dev = &rproc->dev;  in pru_rproc_stop()
403 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_stop()  local
404 	const char *names[PRU_TYPE_MAX] = { "PRU", "RTU", "Tx_PRU" };  in pru_rproc_stop()
407 	dev_dbg(dev, "stopping %s%d\n", names[pru->data->type], pru->id);  in pru_rproc_stop()
409 	val = pru_control_read_reg(pru, PRU_CTRL_CTRL);  in pru_rproc_stop()
411 	pru_control_write_reg(pru, PRU_CTRL_CTRL, val);  in pru_rproc_stop()
413 	/* dispose irq mapping - new firmware can provide new mapping */  in pru_rproc_stop()
414 	pru_dispose_irq_mapping(pru);  in pru_rproc_stop()
420  * Convert PRU device address (data spaces only) to kernel virtual address.
422  * Each PRU has access to all data memories within the PRUSS, accessible at
424  * RAMs as well as any shared Data RAM to convert a PRU device address to
428 static void *pru_d_da_to_va(struct pru_rproc *pru, u32 da, size_t len)  in pru_d_da_to_va()  argument
431 	struct pruss *pruss = pru->pruss;  in pru_d_da_to_va()
438 	dram0 = pruss->mem_regions[PRUSS_MEM_DRAM0];  in pru_d_da_to_va()
439 	dram1 = pruss->mem_regions[PRUSS_MEM_DRAM1];  in pru_d_da_to_va()
441 	if (pru->id == 1)  in pru_d_da_to_va()
443 	shrd_ram = pruss->mem_regions[PRUSS_MEM_SHRD_RAM2];  in pru_d_da_to_va()
446 		offset = da - PRU_PDRAM_DA;  in pru_d_da_to_va()
450 		offset = da - PRU_SDRAM_DA;  in pru_d_da_to_va()
454 		offset = da - PRU_SHRDRAM_DA;  in pru_d_da_to_va()
462  * Convert PRU device address (instruction space) to kernel virtual address.
464  * A PRU does not have an unified address space. Each PRU has its very own
468 static void *pru_i_da_to_va(struct pru_rproc *pru, u32 da, size_t len)  in pru_i_da_to_va()  argument
484 	 * bits anyway. PRU architecture limits the program counter to 16-bit  in pru_i_da_to_va()
485 	 * word-address range. This in turn corresponds to 18-bit IRAM  in pru_i_da_to_va()
486 	 * byte-address range for ELF.  in pru_i_da_to_va()
488 	 * Two more bits are added just in case to make the final 20-bit mask.  in pru_i_da_to_va()
495 	    da + len <= PRU_IRAM_DA + pru->mem_regions[PRU_IOMEM_IRAM].size) {  in pru_i_da_to_va()
496 		offset = da - PRU_IRAM_DA;  in pru_i_da_to_va()
497 		va = (__force void *)(pru->mem_regions[PRU_IOMEM_IRAM].va +  in pru_i_da_to_va()
505  * Provide address translations for only PRU Data RAMs through the remoteproc
506  * core for any PRU client drivers. The PRU Instruction RAM access is restricted
507  * only to the PRU loader code.
511 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_da_to_va()  local
513 	return pru_d_da_to_va(pru, da, len);  in pru_rproc_da_to_va()
516 /* PRU-specific address translator used by PRU loader. */
519 	struct pru_rproc *pru = rproc->priv;  in pru_da_to_va()  local
523 		va = pru_i_da_to_va(pru, da, len);  in pru_da_to_va()
525 		va = pru_d_da_to_va(pru, da, len);  in pru_da_to_va()
537  * Custom memory copy implementation for ICSSG PRU/RTU/Tx_PRU Cores
539  * The ICSSG PRU/RTU/Tx_PRU cores have a memory copying issue with IRAM
541  * properly in the IRAM memories only for integer (4-byte) copies. Any unaligned
542  * copies result in all the other pre-existing bytes zeroed out within that
543  * 4-byte boundary, thereby resulting in wrong text/code in the IRAMs. Also, the
544  * IRAM memory port interface does not allow any 8-byte copies (as commonly used
556 	 * TODO: relax limitation of 4-byte aligned dest addresses and copy  in pru_rproc_memcpy()
560 		return -EINVAL;  in pru_rproc_memcpy()
562 	/* src offsets in ELF firmware image can be non-aligned */  in pru_rproc_memcpy()
566 			return -ENOMEM;  in pru_rproc_memcpy()
570 	while (size--)  in pru_rproc_memcpy()
581 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_load_elf_segments()  local
582 	struct device *dev = &rproc->dev;  in pru_rproc_load_elf_segments()
586 	const u8 *elf_data = fw->data;  in pru_rproc_load_elf_segments()
589 	phdr = (struct elf32_phdr *)(elf_data + ehdr->e_phoff);  in pru_rproc_load_elf_segments()
592 	for (i = 0; i < ehdr->e_phnum; i++, phdr++) {  in pru_rproc_load_elf_segments()
593 		u32 da = phdr->p_paddr;  in pru_rproc_load_elf_segments()
594 		u32 memsz = phdr->p_memsz;  in pru_rproc_load_elf_segments()
595 		u32 filesz = phdr->p_filesz;  in pru_rproc_load_elf_segments()
596 		u32 offset = phdr->p_offset;  in pru_rproc_load_elf_segments()
600 		if (phdr->p_type != PT_LOAD || !filesz)  in pru_rproc_load_elf_segments()
604 			phdr->p_type, da, memsz, filesz);  in pru_rproc_load_elf_segments()
609 			ret = -EINVAL;  in pru_rproc_load_elf_segments()
613 		if (offset + filesz > fw->size) {  in pru_rproc_load_elf_segments()
615 				offset + filesz, fw->size);  in pru_rproc_load_elf_segments()
616 			ret = -EINVAL;  in pru_rproc_load_elf_segments()
621 		is_iram = phdr->p_flags & PF_X;  in pru_rproc_load_elf_segments()
625 			ret = -EINVAL;  in pru_rproc_load_elf_segments()
629 		if (pru->data->is_k3) {  in pru_rproc_load_elf_segments()
630 			ret = pru_rproc_memcpy(ptr, elf_data + phdr->p_offset,  in pru_rproc_load_elf_segments()
633 				dev_err(dev, "PRU memory copy failed for da 0x%x memsz 0x%x\n",  in pru_rproc_load_elf_segments()
638 			memcpy(ptr, elf_data + phdr->p_offset, filesz);  in pru_rproc_load_elf_segments()
652 	const u8 *elf_data = fw->data;  in pru_rproc_find_interrupt_map()
654 	u16 shnum = ehdr->e_shnum;  in pru_rproc_find_interrupt_map()
655 	u16 shstrndx = ehdr->e_shstrndx;  in pru_rproc_find_interrupt_map()
659 	shdr = (struct elf32_shdr *)(elf_data + ehdr->e_shoff);  in pru_rproc_find_interrupt_map()
663 	name_table = elf_data + name_table_shdr->sh_offset;  in pru_rproc_find_interrupt_map()
666 		u32 size = shdr->sh_size;  in pru_rproc_find_interrupt_map()
667 		u32 offset = shdr->sh_offset;  in pru_rproc_find_interrupt_map()
668 		u32 name = shdr->sh_name;  in pru_rproc_find_interrupt_map()
674 		if (offset + size > fw->size || offset + size < size) {  in pru_rproc_find_interrupt_map()
676 			return ERR_PTR(-EINVAL);  in pru_rproc_find_interrupt_map()
681 			dev_err(dev, "header-less .pru_irq_map section\n");  in pru_rproc_find_interrupt_map()
682 			return ERR_PTR(-EINVAL);  in pru_rproc_find_interrupt_map()
694  * Use a custom parse_fw callback function for dealing with PRU firmware
699  * description, which needs to be setup before powering on the PRU core. To
701  * firmware linker) and therefore is not loaded to PRU memory.
705 	struct device *dev = &rproc->dev;  in pru_rproc_parse_fw()
706 	struct pru_rproc *pru = rproc->priv;  in pru_rproc_parse_fw()  local
707 	const u8 *elf_data = fw->data;  in pru_rproc_parse_fw()
715 	if (ret == -EINVAL)  in pru_rproc_parse_fw()
716 		dev_dbg(&rproc->dev, "no resource table found for this fw\n");  in pru_rproc_parse_fw()
728 	/* preserve pointer to PRU interrupt map together with it size */  in pru_rproc_parse_fw()
730 	pru->pru_interrupt_map = (struct pru_irq_rsc *)(elf_data + sh_offset);  in pru_rproc_parse_fw()
731 	pru->pru_interrupt_map_sz = elf_shdr_get_sh_size(class, shdr);  in pru_rproc_parse_fw()
737  * Compute PRU id based on the IRAM addresses. The PRU IRAMs are
740 static int pru_rproc_set_id(struct pru_rproc *pru)  in pru_rproc_set_id()  argument
744 	switch (pru->mem_regions[PRU_IOMEM_IRAM].pa & PRU_IRAM_ADDR_MASK) {  in pru_rproc_set_id()
750 		pru->id = 0;  in pru_rproc_set_id()
757 		pru->id = 1;  in pru_rproc_set_id()
760 		ret = -EINVAL;  in pru_rproc_set_id()
768 	struct device *dev = &pdev->dev;  in pru_rproc_probe()
769 	struct device_node *np = dev->of_node;  in pru_rproc_probe()
770 	struct platform_device *ppdev = to_platform_device(dev->parent);  in pru_rproc_probe()
771 	struct pru_rproc *pru;  in pru_rproc_probe()  local
779 	data = of_device_get_match_data(&pdev->dev);  in pru_rproc_probe()
781 		return -ENODEV;  in pru_rproc_probe()
783 	ret = of_property_read_string(np, "firmware-name", &fw_name);  in pru_rproc_probe()
785 		dev_err(dev, "unable to retrieve firmware-name %d\n", ret);  in pru_rproc_probe()
789 	rproc = devm_rproc_alloc(dev, pdev->name, &pru_rproc_ops, fw_name,  in pru_rproc_probe()
790 				 sizeof(*pru));  in pru_rproc_probe()
793 		return -ENOMEM;  in pru_rproc_probe()
795 	/* use a custom load function to deal with PRU-specific quirks */  in pru_rproc_probe()
796 	rproc->ops->load = pru_rproc_load_elf_segments;  in pru_rproc_probe()
798 	/* use a custom parse function to deal with PRU-specific resources */  in pru_rproc_probe()
799 	rproc->ops->parse_fw = pru_rproc_parse_fw;  in pru_rproc_probe()
802 	rproc->recovery_disabled = true;  in pru_rproc_probe()
805 	 * rproc_add will auto-boot the processor normally, but this is not  in pru_rproc_probe()
806 	 * desired with PRU client driven boot-flow methodology. A PRU  in pru_rproc_probe()
807 	 * application/client driver will boot the corresponding PRU  in pru_rproc_probe()
808 	 * remote-processor as part of its state machine either through the  in pru_rproc_probe()
811 	rproc->auto_boot = false;  in pru_rproc_probe()
813 	pru = rproc->priv;  in pru_rproc_probe()
814 	pru->dev = dev;  in pru_rproc_probe()
815 	pru->data = data;  in pru_rproc_probe()
816 	pru->pruss = platform_get_drvdata(ppdev);  in pru_rproc_probe()
817 	pru->rproc = rproc;  in pru_rproc_probe()
818 	pru->fw_name = fw_name;  in pru_rproc_probe()
823 		pru->mem_regions[i].va = devm_ioremap_resource(dev, res);  in pru_rproc_probe()
824 		if (IS_ERR(pru->mem_regions[i].va)) {  in pru_rproc_probe()
827 			ret = PTR_ERR(pru->mem_regions[i].va);  in pru_rproc_probe()
830 		pru->mem_regions[i].pa = res->start;  in pru_rproc_probe()
831 		pru->mem_regions[i].size = resource_size(res);  in pru_rproc_probe()
834 			mem_names[i], &pru->mem_regions[i].pa,  in pru_rproc_probe()
835 			pru->mem_regions[i].size, pru->mem_regions[i].va);  in pru_rproc_probe()
838 	ret = pru_rproc_set_id(pru);  in pru_rproc_probe()
844 	ret = devm_rproc_add(dev, pru->rproc);  in pru_rproc_probe()
852 	dev_dbg(dev, "PRU rproc node %pOF probed successfully\n", np);  in pru_rproc_probe()
859 	struct device *dev = &pdev->dev;  in pru_rproc_remove()
862 	dev_dbg(dev, "%s: removing rproc %s\n", __func__, rproc->name);  in pru_rproc_remove()
887 	{ .compatible = "ti,am3356-pru",	.data = &pru_data },
888 	{ .compatible = "ti,am4376-pru",	.data = &pru_data },
889 	{ .compatible = "ti,am5728-pru",	.data = &pru_data },
890 	{ .compatible = "ti,am642-pru",		.data = &k3_pru_data },
891 	{ .compatible = "ti,am642-rtu",		.data = &k3_rtu_data },
892 	{ .compatible = "ti,am642-tx-pru",	.data = &k3_tx_pru_data },
893 	{ .compatible = "ti,k2g-pru",		.data = &pru_data },
894 	{ .compatible = "ti,am654-pru",		.data = &k3_pru_data },
895 	{ .compatible = "ti,am654-rtu",		.data = &k3_rtu_data },
896 	{ .compatible = "ti,am654-tx-pru",	.data = &k3_tx_pru_data },
897 	{ .compatible = "ti,j721e-pru",		.data = &k3_pru_data },
898 	{ .compatible = "ti,j721e-rtu",		.data = &k3_rtu_data },
899 	{ .compatible = "ti,j721e-tx-pru",	.data = &k3_tx_pru_data },
900 	{ .compatible = "ti,am625-pru",		.data = &k3_pru_data },
907 		.name   = "pru-rproc",
916 MODULE_AUTHOR("Suman Anna <s-anna@ti.com>");
919 MODULE_DESCRIPTION("PRU-ICSS Remote Processor Driver");