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Date: Tue, 21 Jun 2011 10:18:27 +0300
From: Ohad Ben-Cohen <ohad@...ery.com>
To: <linux-omap@...r.kernel.org>, <linux-kernel@...r.kernel.org>,
<linux-arm-kernel@...ts.infradead.org>
Cc: <akpm@...ux-foundation.org>, Brian Swetland <swetland@...gle.com>,
Arnd Bergmann <arnd@...db.de>,
Grant Likely <grant.likely@...retlab.ca>,
davinci-linux-open-source
<davinci-linux-open-source@...ux.davincidsp.com>,
Rusty Russell <rusty@...tcorp.com.au>,
Ohad Ben-Cohen <ohad@...ery.com>
Subject: [RFC 1/8] drivers: add generic remoteproc framework
Some systems have slave heterogeneous remote processor devices,
that are usually used to offload cpu-intensive computations
(e.g. multimedia codec tasks).
Booting a remote processor typically involves:
- Loading a firmware which contains the OS image (mainly text and data)
- If needed, programming an IOMMU
- Powering on the device
This patch introduces a generic remoteproc framework that allows drivers
to start and stop those remote processor devices, load up their firmware
(which might not necessarily be Linux-based), and in the future also
support power management and error recovery.
It's still not clear how much this is really reusable for other
platforms/architectures, especially the part that deals with the
firmware.
Moreover, it's not entirely clear whether this should really be an
independent layer, or if it should just be squashed with the host-specific
component of the rpmsg framework (there isn't really a remoteproc use case
that doesn't require rpmsg).
That said, it did prove useful for us on two completely different
platforms: OMAP and Davinci, each with its different remote
processor (Cortex-M3 and a C674x DSP, respectively). So to avoid
egregious duplication of code, remoteproc must not be omap-only.
Firmware loader is based on code by Mark Grosen <mgrosen@...com>.
TODO:
- drop rproc_da_to_pa(), use iommu_iova_to_phys() instead
(requires completion of omap's iommu migration and some generic iommu
API work)
- instead of ioremapping reserved memory and handling IOMMUs, consider
moving to the generic DMA mapping API (with a CMA backend)
Signed-off-by: Ohad Ben-Cohen <ohad@...ery.com>
---
Documentation/remoteproc.txt | 170 +++++++++
drivers/Kconfig | 2 +
drivers/Makefile | 1 +
drivers/remoteproc/Kconfig | 7 +
drivers/remoteproc/Makefile | 5 +
drivers/remoteproc/remoteproc.c | 780 +++++++++++++++++++++++++++++++++++++++
include/linux/remoteproc.h | 273 ++++++++++++++
7 files changed, 1238 insertions(+), 0 deletions(-)
create mode 100644 Documentation/remoteproc.txt
create mode 100644 drivers/remoteproc/Kconfig
create mode 100644 drivers/remoteproc/Makefile
create mode 100644 drivers/remoteproc/remoteproc.c
create mode 100644 include/linux/remoteproc.h
diff --git a/Documentation/remoteproc.txt b/Documentation/remoteproc.txt
new file mode 100644
index 0000000..3075813
--- /dev/null
+++ b/Documentation/remoteproc.txt
@@ -0,0 +1,170 @@
+Remote Processor Framework
+
+1. Introduction
+
+Modern SoCs typically have heterogeneous remote processor devices in asymmetric
+multiprocessing (AMP) configurations, which may be running different instances
+of operating system, whether it's Linux or any other flavor of real-time OS.
+
+OMAP4, for example, has dual Cortex-A9, dual Cortex-M3 and a C64x+ DSP.
+In a typical configuration, the dual cortex-A9 is running Linux in a SMP
+configuration, and each of the other three cores (two M3 cores and a DSP)
+is running its own instance of RTOS in an AMP configuration.
+
+The generic remoteproc driver allows different platforms/architectures to
+control (power on, load firmware, power off) those remote processors while
+abstracting the hardware differences, so the entire driver doesn't need to be
+duplicated.
+
+2. User API
+
+ struct rproc *rproc_get(const char *name);
+ - power up the remote processor, identified by the 'name' argument,
+ and boot it. If the remote processor is already powered on, the
+ function immediately succeeds.
+ On success, returns the rproc handle. On failure, NULL is returned.
+
+ void rproc_put(struct rproc *rproc);
+ - power off the remote processor, identified by the rproc handle.
+ Every call to rproc_get() must be (eventually) accompanied by a call
+ to rproc_put(). Calling rproc_put() redundantly is a bug.
+ Note: the remote processor will actually be powered off only when the
+ last user calls rproc_put().
+
+3. Typical usage
+
+#include <linux/remoteproc.h>
+
+int dummy_rproc_example(void)
+{
+ struct rproc *my_rproc;
+
+ /* let's power on and boot the image processing unit */
+ my_rproc = rproc_get("ipu");
+ if (!my_rproc) {
+ /*
+ * something went wrong. handle it and leave.
+ */
+ }
+
+ /*
+ * the 'ipu' remote processor is now powered on... let it work !
+ */
+
+ /* if we no longer need ipu's services, power it down */
+ rproc_put(my_rproc);
+}
+
+4. API for implementors
+
+ int rproc_register(struct device *dev, const char *name,
+ const struct rproc_ops *ops,
+ const char *firmware,
+ const struct rproc_mem_entry *memory_maps,
+ struct module *owner);
+ - should be called from the underlying platform-specific implementation, in
+ order to register a new remoteproc device. 'dev' is the underlying
+ device, 'name' is the name of the remote processor, which will be
+ specified by users calling rproc_get(), 'ops' is the platform-specific
+ start/stop handlers, 'firmware' is the name of the firmware file to
+ boot the processor with, 'memory_maps' is a table of da<->pa memory
+ mappings which should be used to configure the IOMMU (if not relevant,
+ just pass NULL here), 'owner' is the underlying module that should
+ not be removed while the remote processor is in use.
+
+ Returns 0 on success, or an appropriate error code on failure.
+
+ int rproc_unregister(const char *name);
+ - should be called from the underlying platform-specific implementation, in
+ order to unregister a remoteproc device that was previously registered
+ with rproc_register().
+
+5. Implementation callbacks
+
+Every remoteproc implementation must provide these handlers:
+
+struct rproc_ops {
+ int (*start)(struct rproc *rproc, u64 bootaddr);
+ int (*stop)(struct rproc *rproc);
+};
+
+The ->start() handler takes a rproc handle and an optional bootaddr argument,
+and should power on the device and boot it (using the bootaddr argument
+if the hardware requires one).
+On success, 0 is returned, and on failure, an appropriate error code.
+
+The ->stop() handler takes a rproc handle and powers the device off.
+On success, 0 is returned, and on failure, an appropriate error code.
+
+6. Binary Firmware Structure
+
+The following enums and structures define the binary format of the images
+remoteproc loads and boot the remote processors with.
+
+The general binary format is as follows:
+
+struct {
+ char magic[4] = { 'R', 'P', 'R', 'C' };
+ u32 version;
+ u32 header_len;
+ char header[...] = { header_len bytes of unformatted, textual header };
+ struct section {
+ u32 type;
+ u64 da;
+ u32 len;
+ u8 content[...] = { len bytes of binary data };
+ } [ no limit on number of sections ];
+} __packed;
+
+The image begins with a 4-bytes "RPRC" magic, a version number, and a
+free-style textual header that users can easily read.
+
+After the header, the firmware contains several sections that should be
+loaded to memory so the remote processor can access them.
+
+Every section begins with its type, device address (da) where the remote
+processor expects to find this section at (exact meaning depends whether
+the device accesses memory through an IOMMU or not. if not, da might just
+be physical addresses), the section length and its content.
+
+Most of the sections are either text or data (which currently are treated
+exactly the same), but there is one special "resource" section that allows
+the remote processor to announce/request certain resources from the host.
+
+A resource section is just a packed array of the following struct:
+
+struct fw_resource {
+ u32 type;
+ u64 da;
+ u64 pa;
+ u32 len;
+ u32 flags;
+ u8 name[48];
+} __packed;
+
+The way a resource is really handled strongly depends on its type.
+Some resources are just one-way announcements, e.g., a RSC_TRACE type means
+that the remote processor will be writing log messages into a trace buffer
+which is located at the address specified in 'da'. In that case, 'len' is
+the size of that buffer. A RSC_BOOTADDR resource type announces the boot
+address (i.e. the first instruction the remote processor should be booted with)
+in 'da'.
+
+Other resources entries might be a two-way request/respond negotiation where
+a certain resource (memory or any other hardware resource) is requested
+by specifying the appropriate type and name. The host should then allocate
+such a resource and "reply" by writing the identifier (physical address
+or any other device id that will be meaningful to the remote processor)
+back into the relevant member of the resource structure. Obviously this
+approach can only be used _before_ booting the remote processor. After
+the remote processor is powered up, the resource section is expected
+to stay static. Runtime resource management (i.e. handling requests after
+the remote processor has booted) will be achieved using a dedicated rpmsg
+driver.
+
+The latter two-way approach is still preliminary and has not been implemented
+yet. It's left to see how this all works out.
+
+Most likely this kind of static allocations of hardware resources for
+remote processors can also use DT, so it's interesting to see how
+this all work out when DT materializes.
diff --git a/drivers/Kconfig b/drivers/Kconfig
index 3bb154d..1f6d6d3 100644
--- a/drivers/Kconfig
+++ b/drivers/Kconfig
@@ -126,4 +126,6 @@ source "drivers/hwspinlock/Kconfig"
source "drivers/clocksource/Kconfig"
+source "drivers/remoteproc/Kconfig"
+
endmenu
diff --git a/drivers/Makefile b/drivers/Makefile
index 09f3232..4d53a18 100644
--- a/drivers/Makefile
+++ b/drivers/Makefile
@@ -122,3 +122,4 @@ obj-y += ieee802154/
obj-y += clk/
obj-$(CONFIG_HWSPINLOCK) += hwspinlock/
+obj-$(CONFIG_REMOTE_PROC) += remoteproc/
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
new file mode 100644
index 0000000..a60bb12
--- /dev/null
+++ b/drivers/remoteproc/Kconfig
@@ -0,0 +1,7 @@
+#
+# Generic framework for controlling remote processors
+#
+
+# REMOTE_PROC gets selected by whoever wants it
+config REMOTE_PROC
+ tristate
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
new file mode 100644
index 0000000..d0f60c7
--- /dev/null
+++ b/drivers/remoteproc/Makefile
@@ -0,0 +1,5 @@
+#
+# Generic framework for controlling remote processors
+#
+
+obj-$(CONFIG_REMOTE_PROC) += remoteproc.o
diff --git a/drivers/remoteproc/remoteproc.c b/drivers/remoteproc/remoteproc.c
new file mode 100644
index 0000000..2b0514b
--- /dev/null
+++ b/drivers/remoteproc/remoteproc.c
@@ -0,0 +1,780 @@
+/*
+ * Remote Processor Framework
+ *
+ * Copyright (C) 2011 Texas Instruments, Inc.
+ * Copyright (C) 2011 Google, Inc.
+ *
+ * Ohad Ben-Cohen <ohad@...ery.com>
+ * Mark Grosen <mgrosen@...com>
+ * Brian Swetland <swetland@...gle.com>
+ * Fernando Guzman Lugo <fernando.lugo@...com>
+ * Robert Tivy <rtivy@...com>
+ * Armando Uribe De Leon <x0095078@...com>
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * version 2 as published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ */
+
+#define pr_fmt(fmt) "%s: " fmt, __func__
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/device.h>
+#include <linux/delay.h>
+#include <linux/slab.h>
+#include <linux/platform_device.h>
+#include <linux/firmware.h>
+#include <linux/io.h>
+#include <linux/list.h>
+#include <linux/debugfs.h>
+#include <linux/remoteproc.h>
+
+/* list of the available remote processors */
+static LIST_HEAD(rprocs);
+/*
+ * This lock should be taken when the list of rprocs is accessed.
+ * Consider using RCU instead, since remote processors only get registered
+ * once (usually at boot), and then the list is only read accessed.
+ * Though right now the list is pretty short, and only rarely accessed.
+ */
+static DEFINE_SPINLOCK(rprocs_lock);
+
+/* debugfs parent dir */
+static struct dentry *rproc_dbg;
+
+/*
+ * Some remote processors may support dumping trace logs into a shared
+ * memory buffer. We expose this trace buffer using debugfs, so users
+ * can easily tell what's going on remotely.
+ */
+static ssize_t rproc_format_trace_buf(char __user *userbuf, size_t count,
+ loff_t *ppos, const void *src, int size)
+{
+ const char *buf = (const char *) src;
+ int i;
+
+ /*
+ * find the end of trace buffer (does not account for wrapping).
+ * desirable improvement: use a ring buffer instead.
+ */
+ for (i = 0; i < size && buf[i]; i++);
+
+ return simple_read_from_buffer(userbuf, count, ppos, src, i);
+}
+
+static int rproc_open_generic(struct inode *inode, struct file *file)
+{
+ file->private_data = inode->i_private;
+ return 0;
+}
+
+#define DEBUGFS_READONLY_FILE(name, value, len) \
+static ssize_t name## _rproc_read(struct file *filp, \
+ char __user *userbuf, size_t count, loff_t *ppos) \
+{ \
+ struct rproc *rproc = filp->private_data; \
+ return rproc_format_trace_buf(userbuf, count, ppos, value, len);\
+} \
+ \
+static const struct file_operations name ##_rproc_ops = { \
+ .read = name ##_rproc_read, \
+ .open = rproc_open_generic, \
+ .llseek = generic_file_llseek, \
+};
+
+/*
+ * Currently we allow two trace buffers for each remote processor.
+ * This is helpful in case a single remote processor has two independent
+ * cores, each of which is running an independent OS image.
+ * The current implementation is straightforward and simple, and is
+ * rather limited to 2 trace buffers. If, in time, we'd realize we
+ * need additional trace buffers, then the code should be refactored
+ * and generalized.
+ */
+DEBUGFS_READONLY_FILE(trace0, rproc->trace_buf0, rproc->trace_len0);
+DEBUGFS_READONLY_FILE(trace1, rproc->trace_buf1, rproc->trace_len1);
+
+/* The state of the remote processor is exposed via debugfs, too */
+const char *rproc_state_string(int state)
+{
+ const char *result;
+
+ switch (state) {
+ case RPROC_OFFLINE:
+ result = "offline";
+ break;
+ case RPROC_SUSPENDED:
+ result = "suspended";
+ break;
+ case RPROC_RUNNING:
+ result = "running";
+ break;
+ case RPROC_LOADING:
+ result = "loading";
+ break;
+ case RPROC_CRASHED:
+ result = "crashed";
+ break;
+ default:
+ result = "invalid state";
+ break;
+ }
+
+ return result;
+}
+
+static ssize_t rproc_state_read(struct file *filp, char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct rproc *rproc = filp->private_data;
+ int state = rproc->state;
+ char buf[100];
+ int i;
+
+ i = snprintf(buf, 100, "%s (%d)\n", rproc_state_string(state), state);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, i);
+}
+
+static const struct file_operations rproc_state_ops = {
+ .read = rproc_state_read,
+ .open = rproc_open_generic,
+ .llseek = generic_file_llseek,
+};
+
+/* The name of the remote processor is exposed via debugfs, too */
+static ssize_t rproc_name_read(struct file *filp, char __user *userbuf,
+ size_t count, loff_t *ppos)
+{
+ struct rproc *rproc = filp->private_data;
+ /* need room for the name, a newline and a terminating null */
+ char buf[RPROC_MAX_NAME + 2];
+ int i;
+
+ i = snprintf(buf, RPROC_MAX_NAME + 2, "%s\n", rproc->name);
+
+ return simple_read_from_buffer(userbuf, count, ppos, buf, i);
+}
+
+static const struct file_operations rproc_name_ops = {
+ .read = rproc_name_read,
+ .open = rproc_open_generic,
+ .llseek = generic_file_llseek,
+};
+
+#define DEBUGFS_ADD(name) \
+ debugfs_create_file(#name, 0400, rproc->dbg_dir, \
+ rproc, &name## _rproc_ops)
+
+/**
+ * __find_rproc_by_name() - find a registered remote processor by name
+ * @name: name of the remote processor
+ *
+ * Internal function that returns the rproc @name, or NULL if @name does
+ * not exists.
+ */
+static struct rproc *__find_rproc_by_name(const char *name)
+{
+ struct rproc *rproc;
+ struct list_head *tmp;
+
+ spin_lock(&rprocs_lock);
+
+ list_for_each(tmp, &rprocs) {
+ rproc = list_entry(tmp, struct rproc, next);
+ if (!strcmp(rproc->name, name))
+ break;
+ rproc = NULL;
+ }
+
+ spin_unlock(&rprocs_lock);
+
+ return rproc;
+}
+
+/**
+ * __rproc_da_to_pa() - device to physical address conversion
+ * @maps: the remote processor's memory mappings table
+ * @da: a device address (as seen by the remote processor)
+ * @pa: pointer where the physical address result should be stored
+ *
+ * This function converts @da to its physical address (pa) by going through
+ * @maps, looking for a mapping that contains @da, and then calculating the
+ * appropriate pa.
+ *
+ * Not all remote processors are behind an IOMMU, so if @maps is NULL,
+ * we just return @da (after doing a basic sanity check).
+ *
+ * *** This function will be removed. Instead, iommu_iova_to_phys should
+ * *** be used. This will be done once the OMAP IOMMU migration will
+ * *** complete, and the missing parts in the generic IOMMU API will be
+ * *** added.
+ *
+ * On success 0 is returned, and @pa is updated with the result.
+ * Otherwise, -EINVAL is returned.
+ */
+static int
+rproc_da_to_pa(const struct rproc_mem_entry *maps, u64 da, phys_addr_t *pa)
+{
+ int i;
+ u64 offset;
+
+ /*
+ * If we're not being an IOMMU, then the remoteproc is accessing
+ * physical addresses directly
+ */
+ if (!maps) {
+ if (da > ((phys_addr_t)(~0U)))
+ return -EINVAL;
+
+ *pa = (phys_addr_t) da;
+ return 0;
+ }
+
+ for (i = 0; maps[i].size; i++) {
+ const struct rproc_mem_entry *me = &maps[i];
+
+ if (da >= me->da && da < (me->da + me->size)) {
+ offset = da - me->da;
+ pr_debug("%s: matched mem entry no. %d\n", __func__, i);
+ *pa = me->pa + offset;
+ return 0;
+ }
+ }
+
+ return -EINVAL;
+}
+
+/**
+ * rproc_start() - boot the remote processor
+ * @rproc: the remote processor
+ * @bootaddr: address of first instruction to execute (optional)
+ *
+ * Boot a remote processor (i.e. power it on, take it out of reset, etc..)
+ */
+static void rproc_start(struct rproc *rproc, u64 bootaddr)
+{
+ struct device *dev = rproc->dev;
+ int err;
+
+ err = mutex_lock_interruptible(&rproc->lock);
+ if (err) {
+ dev_err(dev, "can't lock remote processor %d\n", err);
+ return;
+ }
+
+ err = rproc->ops->start(rproc, bootaddr);
+ if (err) {
+ dev_err(dev, "can't start rproc %s: %d\n", rproc->name, err);
+ goto unlock_mutex;
+ }
+
+ rproc->state = RPROC_RUNNING;
+
+ dev_info(dev, "remote processor %s is now up\n", rproc->name);
+
+unlock_mutex:
+ mutex_unlock(&rproc->lock);
+}
+
+/**
+ * rproc_handle_trace_rsc() - handle a shared trace buffer resource
+ * @rproc: the remote processor
+ * @rsc: the trace resource descriptor
+ *
+ * In case the remote processor dumps trace logs into memory, ioremap it
+ * and make it available to the user via debugfs.
+ * Consider using the DMA mapping API here.
+ *
+ * Returns 0 on success, or an appropriate error code otherwise
+ */
+static int rproc_handle_trace_rsc(struct rproc *rproc, struct fw_resource *rsc)
+{
+ struct device *dev = rproc->dev;
+ void *ptr;
+ phys_addr_t pa;
+ int ret;
+
+ ret = rproc_da_to_pa(rproc->memory_maps, rsc->da, &pa);
+ if (ret) {
+ dev_err(dev, "invalid device address\n");
+ return -EINVAL;
+ }
+
+ /* allow two trace buffers per rproc (can be extended if needed) */
+ if (rproc->trace_buf0 && rproc->trace_buf1) {
+ dev_warn(dev, "skipping extra trace rsc %s\n", rsc->name);
+ return -EBUSY;
+ }
+
+ /*
+ * trace buffer memory is normal memory, so we cast away the __iomem
+ * to make sparse happy
+ */
+ ptr = (__force void *) ioremap_nocache(pa, rsc->len);
+ if (!ptr) {
+ dev_err(dev, "can't ioremap trace buffer %s\n", rsc->name);
+ return -ENOMEM;
+ }
+
+ /* add the trace0 debugfs entry. If it already exists, add trace1 */
+ if (!rproc->trace_buf0) {
+ rproc->trace_len0 = rsc->len;
+ rproc->trace_buf0 = ptr;
+ DEBUGFS_ADD(trace0);
+ } else {
+ rproc->trace_len1 = rsc->len;
+ rproc->trace_buf1 = ptr;
+ DEBUGFS_ADD(trace1);
+ }
+
+ return 0;
+}
+
+/**
+ * rproc_handle_resources - go over and handle the resource section
+ * @rproc: rproc handle
+ * @rsc: the resource secion
+ * @len: length of the resource section
+ * @bootaddr: if found a boot address, put it here
+ */
+static int rproc_handle_resources(struct rproc *rproc, struct fw_resource *rsc,
+ int len, u64 *bootaddr)
+{
+ struct device *dev = rproc->dev;
+ int ret = 0;
+
+ while (len >= sizeof(*rsc)) {
+ dev_dbg(dev, "resource: type %d, da 0x%llx, pa 0x%llx, len 0x%x"
+ ", flags 0x%x, name %s\n", rsc->type, rsc->da, rsc->pa,
+ rsc->len, rsc->flags, rsc->name);
+
+ switch (rsc->type) {
+ case RSC_TRACE:
+ ret = rproc_handle_trace_rsc(rproc, rsc);
+ if (ret)
+ dev_err(dev, "failed handling rsc\n");
+ break;
+ case RSC_BOOTADDR:
+ if (*bootaddr)
+ dev_warn(dev, "bootaddr already set\n");
+ *bootaddr = rsc->da;
+ break;
+ default:
+ /* we don't support much yet, so don't be noisy */
+ dev_dbg(dev, "unsupported resource %d\n", rsc->type);
+ break;
+ }
+
+ if (ret)
+ break;
+ rsc++;
+ len -= sizeof(*rsc);
+ }
+
+ /* unmap trace buffers on failure */
+ if (ret && rproc->trace_buf0)
+ iounmap((__force void __iomem *) rproc->trace_buf0);
+ if (ret && rproc->trace_buf1)
+ iounmap((__force void __iomem *) rproc->trace_buf1);
+
+ return ret;
+}
+
+static int rproc_process_fw(struct rproc *rproc, struct fw_section *section,
+ int left, u64 *bootaddr)
+{
+ struct device *dev = rproc->dev;
+ phys_addr_t pa;
+ u32 len, type;
+ u64 da;
+ int ret = 0;
+ void *ptr;
+
+ while (left > sizeof(struct fw_section)) {
+ da = section->da;
+ len = section->len;
+ type = section->type;
+
+ dev_dbg(dev, "section: type %d da 0x%llx len 0x%x\n",
+ type, da, len);
+
+ left -= sizeof(struct fw_section);
+ if (left < section->len) {
+ dev_err(dev, "firmware image is truncated\n");
+ ret = -EINVAL;
+ break;
+ }
+
+ ret = rproc_da_to_pa(rproc->memory_maps, da, &pa);
+ if (ret) {
+ dev_err(dev, "rproc_da_to_pa failed: %d\n", ret);
+ break;
+ }
+
+ dev_dbg(dev, "da 0x%llx pa 0x%x len 0x%x\n", da, pa, len);
+
+ /* ioremaping normal memory, so make sparse happy */
+ ptr = (__force void *) ioremap_nocache(pa, len);
+ if (!ptr) {
+ dev_err(dev, "can't ioremap 0x%x\n", pa);
+ ret = -ENOMEM;
+ break;
+ }
+
+ /* put the section where the remoteproc will expect it */
+ memcpy(ptr, section->content, len);
+
+ /* a resource table needs special handling */
+ if (section->type == FW_RESOURCE)
+ ret = rproc_handle_resources(rproc,
+ (struct fw_resource *) ptr,
+ len, bootaddr);
+
+ /* iounmap normal memory; make sparse happy */
+ iounmap((__force void __iomem *) ptr);
+
+ /* rproc_handle_resources may have failed */
+ if (ret)
+ break;
+
+ section = (struct fw_section *)(section->content + len);
+ left -= len;
+ }
+
+ return ret;
+}
+
+static void rproc_load_fw(const struct firmware *fw, void *context)
+{
+ struct rproc *rproc = context;
+ struct device *dev = rproc->dev;
+ const char *fwfile = rproc->firmware;
+ u64 bootaddr = 0;
+ struct fw_header *image;
+ struct fw_section *section;
+ int left, ret;
+
+ if (!fw) {
+ dev_err(dev, "%s: failed to load %s\n", __func__, fwfile);
+ goto complete_fw;
+ }
+
+ dev_info(dev, "Loaded fw image %s, size %d\n", fwfile, fw->size);
+
+ /* make sure this image is sane */
+ if (fw->size < sizeof(struct fw_header)) {
+ dev_err(dev, "Image is too small\n");
+ goto out;
+ }
+
+ image = (struct fw_header *) fw->data;
+
+ if (memcmp(image->magic, "RPRC", 4)) {
+ dev_err(dev, "Image is corrupted (bad magic)\n");
+ goto out;
+ }
+
+ dev_info(dev, "BIOS image version is %d\n", image->version);
+
+ /* now process the image, section by section */
+ section = (struct fw_section *)(image->header + image->header_len);
+
+ left = fw->size - sizeof(struct fw_header) - image->header_len;
+
+ ret = rproc_process_fw(rproc, section, left, &bootaddr);
+ if (ret) {
+ dev_err(dev, "Failed to process the image: %d\n", ret);
+ goto out;
+ }
+
+ rproc_start(rproc, bootaddr);
+
+out:
+ release_firmware(fw);
+complete_fw:
+ /* allow all contexts calling rproc_put() to proceed */
+ complete_all(&rproc->firmware_loading_complete);
+}
+
+/**
+ * rproc_get() - boot the remote processor
+ * @name: name of the remote processor
+ *
+ * Boot a remote processor (i.e. load its firmware, power it on, take it
+ * out of reset, etc..).
+ *
+ * If the remote processor is already powered on, immediately return
+ * its rproc handle.
+ *
+ * On success, returns the rproc handle. On failure, NULL is returned.
+ */
+struct rproc *rproc_get(const char *name)
+{
+ struct rproc *rproc, *ret = NULL;
+ struct device *dev;
+ int err;
+
+ rproc = __find_rproc_by_name(name);
+ if (!rproc) {
+ pr_err("can't find remote processor %s\n", name);
+ return NULL;
+ }
+
+ dev = rproc->dev;
+
+ err = mutex_lock_interruptible(&rproc->lock);
+ if (err) {
+ dev_err(dev, "can't lock remote processor %s\n", name);
+ return NULL;
+ }
+
+ /* prevent underlying implementation from being removed */
+ if (!try_module_get(rproc->owner)) {
+ dev_err(dev, "%s: can't get owner\n", __func__);
+ goto unlock_mutex;
+ }
+
+ /* skip the boot process if rproc is already (being) powered up */
+ if (rproc->count++) {
+ ret = rproc;
+ goto unlock_mutex;
+ }
+
+ /* rproc_put() calls should wait until async loader completes */
+ init_completion(&rproc->firmware_loading_complete);
+
+ dev_info(dev, "powering up %s\n", name);
+
+ /* loading a firmware is required */
+ if (!rproc->firmware) {
+ dev_err(dev, "%s: no firmware to load\n", __func__);
+ goto deref_rproc;
+ }
+
+ /*
+ * Initiate an asynchronous firmware loading, to allow building
+ * remoteproc as built-in kernel code, without hanging the boot process
+ */
+ err = request_firmware_nowait(THIS_MODULE, FW_ACTION_HOTPLUG,
+ rproc->firmware, dev, GFP_KERNEL, rproc, rproc_load_fw);
+ if (err < 0) {
+ dev_err(dev, "request_firmware_nowait failed: %d\n", err);
+ goto deref_rproc;
+ }
+
+ rproc->state = RPROC_LOADING;
+ ret = rproc;
+ goto unlock_mutex;
+
+deref_rproc:
+ complete_all(&rproc->firmware_loading_complete);
+ module_put(rproc->owner);
+ --rproc->count;
+unlock_mutex:
+ mutex_unlock(&rproc->lock);
+ return ret;
+}
+EXPORT_SYMBOL(rproc_get);
+
+/**
+ * rproc_put() - power off the remote processor
+ * @rproc: the remote processor
+ *
+ * Release an rproc handle previously acquired with rproc_get(),
+ * and if we're the last user, power the processor off.
+ *
+ * Every call to rproc_get() must be (eventually) accompanied by a call
+ * to rproc_put(). Calling rproc_put() redundantly is a bug.
+ */
+void rproc_put(struct rproc *rproc)
+{
+ struct device *dev = rproc->dev;
+ int ret;
+
+ /*
+ * make sure rproc_get() was called beforehand.
+ * it should be safe to check for zero without taking the lock.
+ */
+ if (!rproc->count) {
+ dev_err(dev, "asymmetric put (fogot to call rproc_get ?)\n");
+ ret = -EINVAL;
+ goto out;
+ }
+
+ /* if rproc is just being loaded now, wait */
+ wait_for_completion(&rproc->firmware_loading_complete);
+
+ ret = mutex_lock_interruptible(&rproc->lock);
+ if (ret) {
+ dev_err(dev, "can't lock rproc %s: %d\n", rproc->name, ret);
+ return;
+ }
+
+ /* if the remote proc is still needed, bail out */
+ if (--rproc->count)
+ goto out;
+
+ if (rproc->trace_buf0)
+ /* iounmap normal memory, so make sparse happy */
+ iounmap((__force void __iomem *) rproc->trace_buf0);
+ if (rproc->trace_buf1)
+ /* iounmap normal memory, so make sparse happy */
+ iounmap((__force void __iomem *) rproc->trace_buf1);
+
+ rproc->trace_buf0 = rproc->trace_buf1 = NULL;
+
+ /*
+ * make sure rproc is really running before powering it off.
+ * this is important, because the fw loading might have failed.
+ */
+ if (rproc->state == RPROC_RUNNING) {
+ ret = rproc->ops->stop(rproc);
+ if (ret) {
+ dev_err(dev, "can't stop rproc: %d\n", ret);
+ goto out;
+ }
+ }
+
+ rproc->state = RPROC_OFFLINE;
+
+ dev_info(dev, "stopped remote processor %s\n", rproc->name);
+
+out:
+ mutex_unlock(&rproc->lock);
+ if (!ret)
+ module_put(rproc->owner);
+}
+EXPORT_SYMBOL(rproc_put);
+
+/**
+ * rproc_register() - register a remote processor
+ * @dev: the underlying device
+ * @name: name of this remote processor
+ * @ops: platform-specific handlers (mainly start/stop)
+ * @firmware: name of firmware file to load
+ * @memory_maps: IOMMU settings for this rproc (optional)
+ * @owner: owning module
+ *
+ * Registers a new remote processor in the remoteproc framework.
+ *
+ * This is called by the underlying platform-specific implementation,
+ * whenever a new remote processor device is probed.
+ *
+ * On succes, 0 is return, and on failure an appropriate error code.
+ */
+int rproc_register(struct device *dev, const char *name,
+ const struct rproc_ops *ops,
+ const char *firmware,
+ const struct rproc_mem_entry *memory_maps,
+ struct module *owner)
+{
+ struct rproc *rproc;
+
+ if (!dev || !name || !ops)
+ return -EINVAL;
+
+ rproc = kzalloc(sizeof(struct rproc), GFP_KERNEL);
+ if (!rproc) {
+ dev_err(dev, "%s: kzalloc failed\n", __func__);
+ return -ENOMEM;
+ }
+
+ rproc->dev = dev;
+ rproc->name = name;
+ rproc->ops = ops;
+ rproc->firmware = firmware;
+ rproc->memory_maps = memory_maps;
+ rproc->owner = owner;
+
+ mutex_init(&rproc->lock);
+
+ rproc->state = RPROC_OFFLINE;
+
+ spin_lock(&rprocs_lock);
+ list_add_tail(&rproc->next, &rprocs);
+ spin_unlock(&rprocs_lock);
+
+ dev_info(dev, "%s is available\n", name);
+
+ if (!rproc_dbg)
+ goto out;
+
+ rproc->dbg_dir = debugfs_create_dir(dev_name(dev), rproc_dbg);
+ if (!rproc->dbg_dir) {
+ dev_err(dev, "can't create debugfs dir\n");
+ goto out;
+ }
+
+ debugfs_create_file("name", 0400, rproc->dbg_dir, rproc,
+ &rproc_name_ops);
+ debugfs_create_file("state", 0400, rproc->dbg_dir, rproc,
+ &rproc_state_ops);
+
+out:
+ return 0;
+}
+EXPORT_SYMBOL(rproc_register);
+
+/**
+ * rproc_unregister() - unregister a remote processor
+ * @name: name of this remote processor
+ *
+ * Unregisters a remote processor.
+ *
+ * On succes, 0 is return. If this remote processor isn't found, -EINVAL
+ * is returned.
+ */
+int rproc_unregister(const char *name)
+{
+ struct rproc *rproc;
+
+ rproc = __find_rproc_by_name(name);
+ if (!rproc) {
+ pr_err("can't find remote processor %s\n", name);
+ return -EINVAL;
+ }
+
+ dev_info(rproc->dev, "removing %s\n", name);
+
+ if (rproc->dbg_dir)
+ debugfs_remove_recursive(rproc->dbg_dir);
+
+ spin_lock(&rprocs_lock);
+ list_del(&rproc->next);
+ spin_unlock(&rprocs_lock);
+
+ kfree(rproc);
+
+ return 0;
+}
+EXPORT_SYMBOL(rproc_unregister);
+
+static int __init remoteproc_init(void)
+{
+ if (debugfs_initialized()) {
+ rproc_dbg = debugfs_create_dir(KBUILD_MODNAME, NULL);
+ if (!rproc_dbg)
+ pr_err("can't create debugfs dir\n");
+ }
+
+ return 0;
+}
+/* must be ready in time for device_initcall users */
+subsys_initcall(remoteproc_init);
+
+static void __exit remoteproc_exit(void)
+{
+ if (rproc_dbg)
+ debugfs_remove(rproc_dbg);
+}
+module_exit(remoteproc_exit);
+
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("Generic Remote Processor Framework");
diff --git a/include/linux/remoteproc.h b/include/linux/remoteproc.h
new file mode 100644
index 0000000..6cdb966
--- /dev/null
+++ b/include/linux/remoteproc.h
@@ -0,0 +1,273 @@
+/*
+ * Remote Processor Framework
+ *
+ * Copyright(c) 2011 Texas Instruments, Inc.
+ * Copyright(c) 2011 Google, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * * Neither the name Texas Instruments nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef REMOTEPROC_H
+#define REMOTEPROC_H
+
+#include <linux/mutex.h>
+#include <linux/completion.h>
+
+/**
+ * DOC: The Binary Structure of the Firmware
+ *
+ * The following enums and structures define the binary format of the image
+ * we load and run the remote processors with.
+ *
+ * The binary format is as follows:
+ *
+ * struct {
+ * char magic[4] = { 'R', 'P', 'R', 'C' };
+ * u32 version;
+ * u32 header_len;
+ * char header[...] = { header_len bytes of unformatted, textual header };
+ * struct section {
+ * u32 type;
+ * u64 da;
+ * u32 len;
+ * u8 content[...] = { len bytes of binary data };
+ * } [ no limit on number of sections ];
+ * } __packed;
+ */
+
+/**
+ * struct fw_header - header of the firmware image
+ * @magic: 4-bytes magic (should contain "RPRC")
+ * @version: version number, should be bumped on binary changes
+ * @header_len: length, in bytes, of the following text header
+ * @header: free-style textual header, users can read with 'head'
+ *
+ * This structure defines the header of the remoteproc firmware.
+ */
+struct fw_header {
+ char magic[4];
+ u32 version;
+ u32 header_len;
+ char header[0];
+} __packed;
+
+/**
+ * struct fw_section - header of a firmware section
+ * @type: section type
+ * @da: device address that the rproc expects to find this section at.
+ * @len: length of the section (in bytes)
+ * @content: the section data
+ *
+ * This structure defines the header of a firmware section. All sections
+ * should be loaded to the address specified by @da, so the remote processor
+ * will find them.
+ *
+ * Note: if the remote processor is not behind an IOMMU, then da is a
+ * mere physical address
+ */
+struct fw_section {
+ u32 type;
+ u64 da;
+ u32 len;
+ char content[0];
+} __packed;
+
+/**
+ * enum fw_section_type - section type values
+ *
+ * @FW_RESOURCE: a resource section. this section contains static
+ * resource requests (/announcements) that the remote
+ * processor requires (/supports). Most of these requests
+ * require that the host fulfill them (and usually
+ * "reply" with a result) before the remote processor
+ * is booted. See Documentation/remoteproc.h for more info
+ * @FW_TEXT: a text section
+ * @FW_DATA: a data section
+ *
+ * Note: text and data sections have different types so we can support stuff
+ * like crash dumps (which only requires dumping data sections) or loading
+ * text sections into faster memory. Currently, though, both section types
+ * are treated exactly the same.
+ */
+enum fw_section_type {
+ FW_RESOURCE = 0,
+ FW_TEXT = 1,
+ FW_DATA = 2,
+};
+
+/**
+ * struct fw_resource - describes an entry from the resource section
+ * @type: resource type
+ * @da: depends on the resource type
+ * @pa: depends on the resource type
+ * @len: depends on the resource type
+ * @flags: depends on the resource type
+ * @name: name of resource
+ *
+ * Some resources entries are mere announcements, where the host is informed
+ * of specific remoteproc configuration. Other entries require the host to
+ * do something (e.g. reserve a requested resource) and reply by overwriting
+ * a member inside struct fw_resource with the id of the allocated resource.
+ * There could also be resource entries where the remoteproc's image suggests
+ * a configuration, but the host may overwrite it with its own preference.
+ *
+ * Note: the vast majority of the resource types are not implemented yet,
+ * and this is all very much preliminary.
+ */
+struct fw_resource {
+ u32 type;
+ u64 da;
+ u64 pa;
+ u32 len;
+ u32 flags;
+ u8 name[48];
+} __packed;
+
+/**
+ * enum fw_resource_type - types of resource entries
+ *
+ * @RSC_TRACE: announces the availability of a trace buffer into which
+ * the remote processor will be writing logs. In this case,
+ * 'da' indicates the device address where logs are written to,
+ * and 'len' is the size of the trace buffer.
+ * Currently we support two trace buffers per remote processor,
+ * to support two autonomous cores running in a single rproc
+ * device.
+ * If additional trace buffers are needed, this should be
+ * extended/generalized.
+ * @RSC_BOOTADDR: announces the address of the first instruction the remote
+ * processor should be booted with (address indicated in 'da').
+ *
+ * Note: most of the resource types are not implemented yet, so they are
+ * not documented yet.
+ */
+enum fw_resource_type {
+ RSC_CARVEOUT = 0,
+ RSC_DEVMEM = 1,
+ RSC_DEVICE = 2,
+ RSC_IRQ = 3,
+ RSC_TRACE = 4,
+ RSC_BOOTADDR = 5,
+};
+
+/**
+ * struct rproc_mem_entry - memory mapping descriptor
+ * @da: device address as seen by the remote processor
+ * @pa: physical address
+ * @size: size of this memory region
+ *
+ * Board file will use this struct to define the IOMMU configuration
+ * for this remote processor. If the rproc device accesses physical memory
+ * directly (and not through an IOMMU), this is not needed.
+ */
+struct rproc_mem_entry {
+ u64 da;
+ phys_addr_t pa;
+ u32 size;
+};
+
+struct rproc;
+
+/**
+ * struct rproc_ops - platform-specific device handlers
+ * @start: power on the device and boot it. implementation may require
+ * specifyng a boot address
+ * @stop: power off the device
+ */
+struct rproc_ops {
+ int (*start)(struct rproc *rproc, u64 bootaddr);
+ int (*stop)(struct rproc *rproc);
+};
+
+/*
+ * enum rproc_state - remote processor states
+ *
+ * @RPROC_OFFLINE: device is powered off
+ * @RPROC_SUSPENDED: device is suspended; needs to be woken up to receive
+ * a message.
+ * @RPROC_RUNNING: device is up and running
+ * @RPROC_LOADING: asynchronous firmware loading has started
+ * @RPROC_CRASHED: device has crashed; need to start recovery
+ */
+enum rproc_state {
+ RPROC_OFFLINE,
+ RPROC_SUSPENDED,
+ RPROC_RUNNING,
+ RPROC_LOADING,
+ RPROC_CRASHED,
+};
+
+#define RPROC_MAX_NAME 100
+
+/*
+ * struct rproc - represents a physical remote processor device
+ *
+ * @next: next rproc entry in the list
+ * @name: human readable name of the rproc, cannot exceed RPROC_MAX_NAME bytes
+ * @memory_maps: table of da-to-pa memory maps (relevant if device is behind
+ * an iommu)
+ * @firmware: name of firmware file to be loaded
+ * @owner: reference to the platform-specific rproc module
+ * @priv: private data which belongs to the platform-specific rproc module
+ * @ops: platform-specific start/stop rproc handlers
+ * @dev: underlying device
+ * @count: usage refcount
+ * @state: state of the device
+ * @lock: lock which protects concurrent manipulations of the rproc
+ * @dbg_dir: debugfs directory of this rproc device
+ * @trace_buf0: main trace buffer of the remote processor
+ * @trace_buf1: second, optional, trace buffer of the remote processor
+ * @trace_len0: length of main trace buffer of the remote processor
+ * @trace_len1: length of the second (and optional) trace buffer
+ * @firmware_loading_complete: marks e/o asynchronous firmware loading
+ */
+struct rproc {
+ struct list_head next;
+ const char *name;
+ const struct rproc_mem_entry *memory_maps;
+ const char *firmware;
+ struct module *owner;
+ void *priv;
+ const struct rproc_ops *ops;
+ struct device *dev;
+ int count;
+ int state;
+ struct mutex lock;
+ struct dentry *dbg_dir;
+ char *trace_buf0, *trace_buf1;
+ int trace_len0, trace_len1;
+ struct completion firmware_loading_complete;
+};
+
+struct rproc *rproc_get(const char *);
+void rproc_put(struct rproc *);
+int rproc_register(struct device *, const char *, const struct rproc_ops *,
+ const char *, const struct rproc_mem_entry *, struct module *);
+int rproc_unregister(const char *);
+
+#endif /* REMOTEPROC_H */
--
1.7.1
--
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