The K3 J7200 SoC family has a revised R5F sub-system and contains a subset of the R5F clusters present on J721E SoCs. The integration of these clusters is very much similar to J721E SoCs otherwise.

The revised IP has the following two new features: 1. TCMs are auto-initialized during module power-up, and the behavior is programmable through a MMR bit controlled by System Firmware. 2. The LockStep-mode allows the Core1 TCMs to be combined with the Core0 TCMs effectively doubling the amount of TCMs available. The LockStep-mode on previous SoCs could only use the Core0 TCMs. This combined TCMs appear contiguous at the respective Core0 TCM addresses.

Add the support to these clusters in the K3 R5F remoteproc driver using J7200 specific compatibles and revised logic accounting for the above IP features/differences.

Signed-off-by: Suman Anna s-anna@ti.com --- drivers/remoteproc/ti_k3_r5f_rproc.c | 99 +++++++++++++++++++++++++--- 1 file changed, 89 insertions(+), 10 deletions(-)

diff --git a/drivers/remoteproc/ti_k3_r5f_rproc.c b/drivers/remoteproc/ti_k3_r5f_rproc.c index 1a7f1f8a005f..8e21a38be7f1 100644 --- a/drivers/remoteproc/ti_k3_r5f_rproc.c +++ b/drivers/remoteproc/ti_k3_r5f_rproc.c @@ -2,8 +2,9 @@ /* * Texas Instruments' K3 R5 Remoteproc driver * - * Copyright (C) 2018-2019 Texas Instruments Incorporated - http://www.ti.com/ + * Copyright (C) 2018-2020 Texas Instruments Incorporated - https://www.ti.com/ * Lokesh Vutla lokeshvutla@ti.com + * Suman Anna s-anna@ti.com */

#include <common.h> @@ -37,6 +38,8 @@ #define PROC_BOOT_CFG_FLAG_R5_BTCM_EN 0x00001000 #define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000 #define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR 0x10000000 +/* Available from J7200 SoCs onwards */ +#define PROC_BOOT_CFG_FLAG_R5_MEM_INIT_DIS 0x00004000

/* R5 TI-SCI Processor Control Flags */ #define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001 @@ -54,6 +57,16 @@ enum cluster_mode { CLUSTER_MODE_LOCKSTEP, };

+/** + * struct k3_r5f_ip_data - internal data structure used for IP variations + * @tcm_is_double: flag to denote the larger unified TCMs in certain modes + * @tcm_ecc_autoinit: flag to denote the auto-initialization of TCMs for ECC + */ +struct k3_r5f_ip_data { + bool tcm_is_double; + bool tcm_ecc_autoinit; +}; + /** * struct k3_r5_mem - internal memory structure * @cpu_addr: MPU virtual address of the memory region @@ -74,6 +87,7 @@ struct k3_r5f_mem { * @cluster: pointer to the parent cluster. * @reset: reset control handle * @tsp: TI-SCI processor control handle + * @ipdata: cached pointer to R5F IP specific feature data * @mem: Array of available internal memories * @num_mem: Number of available memories * @atcm_enable: flag to control ATCM enablement @@ -86,6 +100,7 @@ struct k3_r5f_core { struct k3_r5f_cluster *cluster; struct reset_ctl reset; struct ti_sci_proc tsp; + struct k3_r5f_ip_data *ipdata; struct k3_r5f_mem *mem; int num_mems; u32 atcm_enable; @@ -257,6 +272,18 @@ static int k3_r5f_core_sanity_check(struct k3_r5f_core *core) return 0; }

+/* Zero out TCMs so that ECC can be effective on all TCM addresses */ +void k3_r5f_init_tcm_memories(struct k3_r5f_core *core, bool auto_inited) +{ + if (core->ipdata->tcm_ecc_autoinit && auto_inited) + return; + + if (core->atcm_enable) + memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size); + if (core->btcm_enable) + memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size); +} + /** * k3_r5f_load() - Load up the Remote processor image * @dev: rproc device pointer @@ -268,7 +295,9 @@ static int k3_r5f_core_sanity_check(struct k3_r5f_core *core) static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size) { struct k3_r5f_core *core = dev_get_priv(dev); - u32 boot_vector; + u64 boot_vector; + u32 ctrl, sts, cfg = 0; + bool mem_auto_init; int ret;

dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size); @@ -281,6 +310,12 @@ static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size) if (ret) return ret;

+ ret = ti_sci_proc_get_status(&core->tsp, &boot_vector, &cfg, &ctrl, + &sts); + if (ret) + return ret; + mem_auto_init = !(cfg & PROC_BOOT_CFG_FLAG_R5_MEM_INIT_DIS); + ret = k3_r5f_prepare(dev); if (ret) { dev_err(dev, "R5f prepare failed for core %d\n", @@ -288,11 +323,7 @@ static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size) goto proc_release; }

- /* Zero out TCMs so that ECC can be effective on all TCM addresses */ - if (core->atcm_enable) - memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size); - if (core->btcm_enable) - memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size); + k3_r5f_init_tcm_memories(core, mem_auto_init);

ret = rproc_elf_load_image(dev, addr, size); if (ret < 0) { @@ -302,7 +333,7 @@ static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size)

boot_vector = rproc_elf_get_boot_addr(dev, addr);

- dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector); + dev_dbg(dev, "%s: Boot vector = 0x%llx\n", __func__, boot_vector);

ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);

@@ -657,6 +688,8 @@ static int k3_r5f_of_to_priv(struct k3_r5f_core *core) return ret; }

+ core->ipdata = (struct k3_r5f_ip_data *)dev_get_driver_data(core->dev); + return 0; }

@@ -702,6 +735,38 @@ static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core) return 0; }

+/* + * Each R5F core within a typical R5FSS instance has a total of 64 KB of TCMs, + * split equally into two 32 KB banks between ATCM and BTCM. The TCMs from both + * cores are usable in Split-mode, but only the Core0 TCMs can be used in + * LockStep-mode. The newer revisions of the R5FSS IP maximizes these TCMs by + * leveraging the Core1 TCMs as well in certain modes where they would have + * otherwise been unusable (Eg: LockStep-mode on J7200 SoCs). This is done by + * making a Core1 TCM visible immediately after the corresponding Core0 TCM. + * The SoC memory map uses the larger 64 KB sizes for the Core0 TCMs, and the + * dts representation reflects this increased size on supported SoCs. The Core0 + * TCM sizes therefore have to be adjusted to only half the original size in + * Split mode. + */ +static void k3_r5f_core_adjust_tcm_sizes(struct k3_r5f_core *core) +{ + struct k3_r5f_cluster *cluster = core->cluster; + + if (cluster->mode == CLUSTER_MODE_LOCKSTEP) + return; + + if (!core->ipdata->tcm_is_double) + return; + + if (core == cluster->cores[0]) { + core->mem[0].size /= 2; + core->mem[1].size /= 2; + + dev_dbg(core->dev, "adjusted TCM sizes, ATCM = 0x%zx BTCM = 0x%zx\n", + core->mem[0].size, core->mem[1].size); + } +} + /** * k3_r5f_probe() - Basic probe * @dev: corresponding k3 remote processor device @@ -755,6 +820,8 @@ static int k3_r5f_probe(struct udevice *dev) return ret; }

+ k3_r5f_core_adjust_tcm_sizes(core); + dev_dbg(dev, "Remoteproc successfully probed\n");

return 0; @@ -771,9 +838,20 @@ static int k3_r5f_remove(struct udevice *dev) return 0; }

+static const struct k3_r5f_ip_data k3_data = { + .tcm_is_double = false, + .tcm_ecc_autoinit = false, +}; + +static const struct k3_r5f_ip_data j7200_data = { + .tcm_is_double = true, + .tcm_ecc_autoinit = true, +}; + static const struct udevice_id k3_r5f_rproc_ids[] = { - { .compatible = "ti,am654-r5f"}, - { .compatible = "ti,j721e-r5f"}, + { .compatible = "ti,am654-r5f", .data = (ulong)&k3_data, }, + { .compatible = "ti,j721e-r5f", .data = (ulong)&k3_data, }, + { .compatible = "ti,j7200-r5f", .data = (ulong)&j7200_data, }, {} };

@@ -810,6 +888,7 @@ static int k3_r5f_cluster_probe(struct udevice *dev) static const struct udevice_id k3_r5fss_ids[] = { { .compatible = "ti,am654-r5fss"}, { .compatible = "ti,j721e-r5fss"}, + { .compatible = "ti,j7200-r5fss"}, {} };

The J7200 SoCs have 2 dual-core Arm Cortex-R5F processor (R5FSS) subsystems/clusters. One R5F cluster is present within the MCU domain (MCU_R5FSS0), and the other one is present within the MAIN domain (MAIN_R5FSS0). Each of these can be configured at boot time to be either run in a LockStep mode or in an Asymmetric Multi Processing (AMP) fashion in Split-mode. These subsystems have 64 KB each Tightly-Coupled Memory (TCM) internal memories for each core split between two banks - ATCM and BTCM (further interleaved into two banks). The TCMs of both Cores are combined in LockStep-mode to provide a larger 128 KB of memory.

Add the DT node for the MCU domain R5F cluster/subsystem, the two R5F cores are added as child nodes to the main cluster/subsystem node. The cluster is configured to run in LockStep mode by default, with the ATCMs enabled to allow the R5 cores to execute code from DDR with boot-strapping code from ATCM. The inter-processor communication between the main A72 cores and these processors is achieved through shared memory and Mailboxes.

Signed-off-by: Suman Anna s-anna@ti.com --- arch/arm/dts/k3-j7200-common-proc-board.dts | 5 +++ arch/arm/dts/k3-j7200-mcu-wakeup.dtsi | 40 +++++++++++++++++++++ 2 files changed, 45 insertions(+)

diff --git a/arch/arm/dts/k3-j7200-common-proc-board.dts b/arch/arm/dts/k3-j7200-common-proc-board.dts index 3f1d03c96037..b48588952513 100644 --- a/arch/arm/dts/k3-j7200-common-proc-board.dts +++ b/arch/arm/dts/k3-j7200-common-proc-board.dts @@ -13,6 +13,11 @@ stdout-path = "serial2:115200n8"; bootargs = "console=ttyS2,115200n8 earlycon=ns16550a,mmio32,0x02800000"; }; + + aliases { + remoteproc0 = &mcu_r5fss0_core0; + remoteproc1 = &mcu_r5fss0_core1; + }; };

&wkup_pmx0 { diff --git a/arch/arm/dts/k3-j7200-mcu-wakeup.dtsi b/arch/arm/dts/k3-j7200-mcu-wakeup.dtsi index 4c899c8aca5d..75c0c8597dc9 100644 --- a/arch/arm/dts/k3-j7200-mcu-wakeup.dtsi +++ b/arch/arm/dts/k3-j7200-mcu-wakeup.dtsi @@ -269,4 +269,44 @@ ti,cpts-periodic-outputs = <2>; }; }; + + mcu_r5fss0: r5fss@41000000 { + compatible = "ti,j7200-r5fss"; + lockstep-mode = <1>; + #address-cells = <1>; + #size-cells = <1>; + ranges = <0x41000000 0x00 0x41000000 0x20000>, + <0x41400000 0x00 0x41400000 0x20000>; + power-domains = <&k3_pds 249 TI_SCI_PD_EXCLUSIVE>; + + mcu_r5fss0_core0: r5f@41000000 { + compatible = "ti,j7200-r5f"; + reg = <0x41000000 0x00010000>, + <0x41010000 0x00010000>; + reg-names = "atcm", "btcm"; + ti,sci = <&dmsc>; + ti,sci-dev-id = <250>; + ti,sci-proc-ids = <0x01 0xff>; + resets = <&k3_reset 250 1>; + firmware-name = "j7200-mcu-r5f0_0-fw"; + atcm-enable = <1>; + btcm-enable = <1>; + loczrama = <1>; + }; + + mcu_r5fss0_core1: r5f@41400000 { + compatible = "ti,j7200-r5f"; + reg = <0x41400000 0x00008000>, + <0x41410000 0x00008000>; + reg-names = "atcm", "btcm"; + ti,sci = <&dmsc>; + ti,sci-dev-id = <251>; + ti,sci-proc-ids = <0x02 0xff>; + resets = <&k3_reset 251 1>; + firmware-name = "j7200-mcu-r5f0_1-fw"; + atcm-enable = <1>; + btcm-enable = <1>; + loczrama = <1>; + }; + }; };

The J7200 SoCs have different number of remote processors, but reuse the same environment settings as the J721E SoCs. The current env variable rproc_fw_binaries is geared towards J721E SoCs and is incorrect for J7200 SoCs. Please see the logic originally added in commit 0b4ab9c9a754 ("env: ti: j721e-evm: Add support to boot rprocs including R5Fs and DSPs").

Fix this by defining the DEFAULT_RPROCS macro appropriately using the corresponding TARGET_EVM Kconfig symbol. This macro is used by the 'rproc_fw_binaries' env variable in the common remoteproc env header file k3_rproc.h.

The list of R5F cores to be started before loading and booting the Linux kernel are as follows, and mainly comprises of the Main R5FSS0 cores in this order: Main R5FSS0 (Split) Core0 : 2 /lib/firmware/j7200-main-r5f0_0-fw Main R5FSS0 (Split) Core1 : 3 /lib/firmware/j7200-main-r5f0_1-fw

The MCU R5FSS0 is in LockStep mode and is expected to be booted by R5 SPL, so it is not included in the list. The order of rprocs to boot cannot be really modified as only the Main R5FSS0 cores are involved and Core0 has to be booted first always before the corresponding Core1.

Signed-off-by: Suman Anna s-anna@ti.com --- include/configs/j721e_evm.h | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/include/configs/j721e_evm.h b/include/configs/j721e_evm.h index cddcd7a00d37..dc06de234154 100644 --- a/include/configs/j721e_evm.h +++ b/include/configs/j721e_evm.h @@ -2,7 +2,7 @@ /* * Configuration header file for K3 J721E EVM * - * Copyright (C) 2018-2019 Texas Instruments Incorporated - http://www.ti.com/ + * Copyright (C) 2018-2020 Texas Instruments Incorporated - https://www.ti.com/ * Lokesh Vutla lokeshvutla@ti.com */

@@ -116,9 +116,14 @@ "${bootdir}/${name_fit}\0" \ "partitions=" PARTS_DEFAULT

+/* Set the default list of remote processors to boot */ +#if defined(CONFIG_TARGET_J721E_A72_EVM) || defined(CONFIG_TARGET_J7200_A72_EVM) #ifdef DEFAULT_RPROCS #undef DEFAULT_RPROCS #endif +#endif + +#ifdef CONFIG_TARGET_J721E_A72_EVM #define DEFAULT_RPROCS "" \ "3 /lib/firmware/j7-main-r5f0_1-fw " \ "4 /lib/firmware/j7-main-r5f1_0-fw " \ @@ -126,6 +131,13 @@ "6 /lib/firmware/j7-c66_0-fw " \ "7 /lib/firmware/j7-c66_1-fw " \ "8 /lib/firmware/j7-c71_0-fw " +#endif /* CONFIG_TARGET_J721E_A72_EVM */ + +#ifdef CONFIG_TARGET_J7200_A72_EVM +#define DEFAULT_RPROCS "" \ + "2 /lib/firmware/j7200-main-r5f0_0-fw " \ + "3 /lib/firmware/j7200-main-r5f0_1-fw " +#endif /* CONFIG_TARGET_J7200_A72_EVM */

/* set default dfu_bufsiz to 128KB (sector size of OSPI) */ #define EXTRA_ENV_DFUARGS \

The A72 U-boot can support early booting of any of the Main or MCU R5F remote processors from U-boot prompt to achieve various system usecases before booting the Linux kernel. Update the default BOOTCOMMAND to provide an automatic and easier way to start various remote processors through added environment variables.

Signed-off-by: Suman Anna s-anna@ti.com --- configs/j7200_evm_a72_defconfig | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/configs/j7200_evm_a72_defconfig b/configs/j7200_evm_a72_defconfig index 52440a09a647..3572d7ba9414 100644 --- a/configs/j7200_evm_a72_defconfig +++ b/configs/j7200_evm_a72_defconfig @@ -30,7 +30,7 @@ CONFIG_SPL_LOAD_FIT=y CONFIG_SPL_LOAD_FIT_ADDRESS=0x81000000 # CONFIG_USE_SPL_FIT_GENERATOR is not set CONFIG_OF_BOARD_SETUP=y -CONFIG_BOOTCOMMAND="run findfdt; run envboot; run init_${boot}; run get_kern_${boot}; run get_fdt_${boot}; run get_overlay_${boot}; run run_kern" +CONFIG_BOOTCOMMAND="run findfdt; run envboot; run init_${boot}; run boot_rprocs; run get_kern_${boot}; run get_fdt_${boot}; run get_overlay_${boot}; run run_kern" CONFIG_SPL_BOARD_INIT=y CONFIG_SPL_SYS_MALLOC_SIMPLE=y CONFIG_SPL_STACK_R=y