[PATCH v2 0/5] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[PATCH v2 0/5] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[Jiafei Pan]

This patch series is to add remoteproc support on Cortex-A Core of i.MX platforms:
1. Adding dts binding for Cortex-A Core remoteproc
2. Enable Cortex-A Core remoteproc support in remoteproc driver
3. Adding dts example on imx93 platforms.
4. Updating remoteproc driver to use prcoessor name as device node in sys filesystem

Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>

---
Changes in v2:
- Update arch/arm64/boot/dts/freescale/Makefile to add new dts

---
Hou Zhiqiang (1):
  drivers: remoteproc: imx: add autoboot support for A-core remoteproc

Jiafei Pan (4):
  dt-bindings: remoteproc: add imx-rproc-psci binding
  drivers: remoteproc: imx: add support for Cortex-A Core
  arm64: dts: imx93: Cortex-A Core remoteproc device node
  remoteproc: imx: use device node name as processor name

 .../remoteproc/fsl,imx-rproc-psci.yaml        |  64 ++++++++
 arch/arm64/boot/dts/freescale/Makefile        |   2 +
 .../imx93-11x11-evk-multicore-rtos.dts        |  39 +++++
 .../imx93-14x14-evk-multicore-rtos.dts        |  39 +++++
 .../boot/dts/freescale/imx93-rproc-ca55.dtsi  |  14 ++
 drivers/remoteproc/imx_rproc.c                | 152 +++++++++++++++++-
 drivers/remoteproc/imx_rproc.h                |   2 +
 7 files changed, 311 insertions(+), 1 deletion(-)
 create mode 100644 Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-11x11-evk-multicore-rtos.dts
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-14x14-evk-multicore-rtos.dts
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-rproc-ca55.dtsi

-- 
2.43.0

[PATCH v2 1/5] dt-bindings: remoteproc: add imx-rproc-psci binding

[Jiafei Pan]

Add compatible string "fsl,imx-rproc-psci" for i.MX Cortex-A Core's
remoteproc support.

Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
---
 .../remoteproc/fsl,imx-rproc-psci.yaml        | 64 +++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml

diff --git a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
new file mode 100644
index 000000000000..cdab9566e588
--- /dev/null
+++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
@@ -0,0 +1,64 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/remoteproc/fsl,imx-rproc-psci.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: NXP i.MX Cortex-A Core Remote Processor via PSCI
+
+maintainers:
+  - Jiafei Pan <Jiafei.Pan@nxp.com>
+
+description:
+  This binding provides support for managing Cortex-A cores as remote
+  processors on i.MX platforms using the PSCI (Power State Coordination
+  Interface) for CPU power management operations. This allows single
+  Cortex-A core or multiple Cortex-A cores to be controlled by Linux as
+  a remote processor, enabling them to run RTOS or bare-metal applications.
+
+properties:
+  compatible:
+    const: fsl,imx-rproc-psci
+
+  fsl,cpus-bits:
+    $ref: /schemas/types.yaml#/definitions/uint32
+    description:
+      Bitmask indicating which CPU cores are assigned to this remote
+      processor instance. Each bit represents a CPU core, where bit N
+      corresponds to CPU N. For example, 0x2 (0b10) assigns CPU core 1,
+      while 0x6 (0b110) assigns CPU cores 1 and 2.
+
+  memory-region:
+    maxItems: 1
+    description:
+      Phandle to a reserved memory region to be used for the remote
+      processor's code and data.
+
+required:
+  - compatible
+  - fsl,cpus-bits
+  - memory-region
+
+additionalProperties: false
+
+examples:
+  - |
+    / {
+        reserved-memory {
+            #address-cells = <2>;
+            #size-cells = <2>;
+            ranges;
+
+            rtos_ca55_reserved: rtos-ca55@d0000000 {
+                reg = <0 0xd0000000 0 0x10000000>;
+                no-map;
+            };
+        };
+
+        remoteproc-ca55-1 {
+            compatible = "fsl,imx-rproc-psci";
+            /* bitmask: 0b10, assign A55 Core 1 */
+            fsl,cpus-bits = <0x2>;
+            memory-region = <&rtos_ca55_reserved>;
+        };
+    };
-- 
2.43.0

Re: [PATCH v2 1/5] dt-bindings: remoteproc: add imx-rproc-psci binding

[Rob Herring (Arm)]

On Wed, 29 Apr 2026 11:10:43 +0800, Jiafei Pan wrote:
> Add compatible string "fsl,imx-rproc-psci" for i.MX Cortex-A Core's
> remoteproc support.
> 
> Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
> ---
>  .../remoteproc/fsl,imx-rproc-psci.yaml        | 64 +++++++++++++++++++
>  1 file changed, 64 insertions(+)
>  create mode 100644 Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
> 

My bot found errors running 'make dt_binding_check' on your patch:

yamllint warnings/errors:

dtschema/dtc warnings/errors:
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml: properties:fsl,cpus-bits: '$ref' should not be valid under {'const': '$ref'}
	hint: Standard unit suffix properties don't need a type $ref
	from schema $id: http://devicetree.org/meta-schemas/core.yaml
Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dts:8.9-16: Warning (ranges_format): /reserved-memory:ranges: empty "ranges" property but its #size-cells (2) differs from / (1)
Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dts:5.21-14.7: Warning (avoid_default_addr_size): /reserved-memory: Relying on default #address-cells value
Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dts:5.21-14.7: Warning (avoid_default_addr_size): /reserved-memory: Relying on default #size-cells value
Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: Warning (unique_unit_address_if_enabled): Failed prerequisite 'avoid_default_addr_size'
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: /: 'compatible' is a required property
	from schema $id: http://devicetree.org/schemas/root-node.yaml
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: /: 'model' is a required property
	from schema $id: http://devicetree.org/schemas/root-node.yaml
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: /: '#address-cells' is a required property
	from schema $id: http://devicetree.org/schemas/root-node.yaml
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: /: '#size-cells' is a required property
	from schema $id: http://devicetree.org/schemas/root-node.yaml
/builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.dtb: remoteproc-ca55-1 (fsl,imx-rproc-psci): fsl,cpus-bits: 2 is not of type 'array'
	from schema $id: http://devicetree.org/schemas/property-units.yaml

doc reference errors (make refcheckdocs):

See https://patchwork.kernel.org/project/devicetree/patch/20260429031047.30893-2-Jiafei.Pan@nxp.com

The base for the series is generally the latest rc1. A different dependency
should be noted in *this* patch.

If you already ran 'make dt_binding_check' and didn't see the above
error(s), then make sure 'yamllint' is installed and dt-schema is up to
date:

pip3 install dtschema --upgrade

Please check and re-submit after running the above command yourself. Note
that DT_SCHEMA_FILES can be set to your schema file to speed up checking
your schema. However, it must be unset to test all examples with your schema.

RE: [EXT] Re: [PATCH v2 1/5] dt-bindings: remoteproc: add imx-rproc-psci binding

[Jiafei Pan]

> On Wed, 29 Apr 2026 11:10:43 +0800, Jiafei Pan wrote:
> > Add compatible string "fsl,imx-rproc-psci" for i.MX Cortex-A Core's
> > remoteproc support.
> >
> > Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
> > ---
> >  .../remoteproc/fsl,imx-rproc-psci.yaml        | 64
> +++++++++++++++++++
> >  1 file changed, 64 insertions(+)
> >  create mode 100644
> > Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
> >
> 
> My bot found errors running 'make dt_binding_check' on your patch:
> 
> yamllint warnings/errors:
> 
> dtschema/dtc warnings/errors:
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.yaml: properties:fsl,cpus-bits: '$ref' should not be
> valid under {'const': '$ref'}
>         hint: Standard unit suffix properties don't need a type $ref
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fmeta-schemas%2Fcore.yaml&data=05%7C02%7CJiafei.Pan%40nx
> p.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92c
> d99c5c301635%7C0%7C0%7C639130339864199051%7CUnknown%7CTWFp
> bGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4z
> MiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=olcEFl6U
> HPDO%2FSIhOEekKq%2BEdROarh3zIvVm1oh0FKM%3D&reserved=0
> Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.
> dts:8.9-16: Warning (ranges_format): /reserved-memory:ranges: empty
> "ranges" property but its #size-cells (2) differs from / (1)
> Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.
> dts:5.21-14.7: Warning (avoid_default_addr_size): /reserved-memory: Relying
> on default #address-cells value
> Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.
> dts:5.21-14.7: Warning (avoid_default_addr_size): /reserved-memory: Relying
> on default #size-cells value
> Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.example.
> dtb: Warning (unique_unit_address_if_enabled): Failed prerequisite
> 'avoid_default_addr_size'
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.example.dtb: /: 'compatible' is a required
> property
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fschemas%2Froot-node.yaml&data=05%7C02%7CJiafei.Pan%40nx
> p.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92c
> d99c5c301635%7C0%7C0%7C639130339864225830%7CUnknown%7CTWFp
> bGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4z
> MiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=nZOtCvf
> 57EyKj1cLd1TwW6sRJeAc67cOXgFG%2BSrVAX4%3D&reserved=0
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.example.dtb: /: 'model' is a required property
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fschemas%2Froot-node.yaml&data=05%7C02%7CJiafei.Pan%40nx
> p.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92c
> d99c5c301635%7C0%7C0%7C639130339864244545%7CUnknown%7CTWFp
> bGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4z
> MiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=p5Qp6lO
> dpmNSnB1Deipk95Sx%2FtdU3cbhEZnoYHZqP4g%3D&reserved=0
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.example.dtb: /: '#address-cells' is a required
> property
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fschemas%2Froot-node.yaml&data=05%7C02%7CJiafei.Pan%40nx
> p.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92c
> d99c5c301635%7C0%7C0%7C639130339864262531%7CUnknown%7CTWFp
> bGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4z
> MiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=09mohX
> SQe4bSnzh9WQWudNgLXQ6Hi1SwK%2BiQ59GLZPA%3D&reserved=0
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.example.dtb: /: '#size-cells' is a required
> property
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fschemas%2Froot-node.yaml&data=05%7C02%7CJiafei.Pan%40nx
> p.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92c
> d99c5c301635%7C0%7C0%7C639130339864282107%7CUnknown%7CTWFp
> bGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4z
> MiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=R85RHd
> R7SyFE8vutb1nTigpDMvYB4balwMQ1dwJvmpc%3D&reserved=0
> /builds/robherring/dt-review-ci/linux/Documentation/devicetree/bindings/re
> moteproc/fsl,imx-rproc-psci.example.dtb: remoteproc-ca55-1
> (fsl,imx-rproc-psci): fsl,cpus-bits: 2 is not of type 'array'
>         from schema $id:
> https://eur01.safelinks.protection.outlook.com/?url=http%3A%2F%2Fdevicet
> ree.org%2Fschemas%2Fproperty-units.yaml&data=05%7C02%7CJiafei.Pan%4
> 0nxp.com%7C047a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa
> 92cd99c5c301635%7C0%7C0%7C639130339864301617%7CUnknown%7CT
> WFpbGZsb3d8eyJFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXa
> W4zMiIsIkFOIjoiTWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=0QR
> M5EVXEq2VABkbyBIVRxep0WGhG6aXe4ieI6%2FQAr0%3D&reserved=0
> 
> doc reference errors (make refcheckdocs):
> 
> See
> https://eur01.safelinks.protection.outlook.com/?url=https%3A%2F%2Fpatch
> work.kernel.org%2Fproject%2Fdevicetree%2Fpatch%2F20260429031047.308
> 93-2-Jiafei.Pan%40nxp.com&data=05%7C02%7CJiafei.Pan%40nxp.com%7C0
> 47a041815cd4324f05f08dea5a8672f%7C686ea1d3bc2b4c6fa92cd99c5c3016
> 35%7C0%7C0%7C639130339864319641%7CUnknown%7CTWFpbGZsb3d8ey
> JFbXB0eU1hcGkiOnRydWUsIlYiOiIwLjAuMDAwMCIsIlAiOiJXaW4zMiIsIkFOIjoi
> TWFpbCIsIldUIjoyfQ%3D%3D%7C0%7C%7C%7C&sdata=0Aovvm3Wuu3p%2F
> 2hzjrhG8kUQiNS7cWZ0jIALpFQyfho%3D&reserved=0
> 
> The base for the series is generally the latest rc1. A different dependency
> should be noted in *this* patch.
> 
> If you already ran 'make dt_binding_check' and didn't see the above error(s),
> then make sure 'yamllint' is installed and dt-schema is up to
> date:
> 
> pip3 install dtschema --upgrade
> 
> Please check and re-submit after running the above command yourself. Note
> that DT_SCHEMA_FILES can be set to your schema file to speed up checking
> your schema. However, it must be unset to test all examples with your
> schema.

Thanks for your comments, will update the patch.
Jiafei.

Re: [PATCH v2 1/5] dt-bindings: remoteproc: add imx-rproc-psci binding

[Krzysztof Kozlowski]

On Wed, Apr 29, 2026 at 11:10:43AM +0800, Jiafei Pan wrote:
> Add compatible string "fsl,imx-rproc-psci" for i.MX Cortex-A Core's
> remoteproc support.

So here is v2 and almost all comments apply.

Including one that it fails obviously testing.

Best regards,
Krzysztof

[PATCH v2 2/5] drivers: remoteproc: imx: add support for Cortex-A Core

[Jiafei Pan]

Add Cortex-A Core remoteproc support, it use PSCI and SIP SMC call
to manage Cortex-A Core to be on or off.

Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
---
 drivers/remoteproc/imx_rproc.c | 134 +++++++++++++++++++++++++++++++++
 drivers/remoteproc/imx_rproc.h |   2 +
 2 files changed, 136 insertions(+)

diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
index 0dd80e688b0e..8a3de27c96b7 100644
--- a/drivers/remoteproc/imx_rproc.c
+++ b/drivers/remoteproc/imx_rproc.c
@@ -6,6 +6,7 @@
 #include <dt-bindings/firmware/imx/rsrc.h>
 #include <linux/arm-smccc.h>
 #include <linux/clk.h>
+#include <linux/cpu.h>
 #include <linux/err.h>
 #include <linux/firmware/imx/sci.h>
 #include <linux/firmware/imx/sm.h>
@@ -20,12 +21,17 @@
 #include <linux/platform_device.h>
 #include <linux/pm_domain.h>
 #include <linux/pm_runtime.h>
+#include <linux/psci.h>
 #include <linux/reboot.h>
 #include <linux/regmap.h>
 #include <linux/remoteproc.h>
 #include <linux/scmi_imx_protocol.h>
 #include <linux/workqueue.h>
 
+#include <uapi/linux/psci.h>
+
+#include <asm/smp_plat.h>
+
 #include "imx_rproc.h"
 #include "remoteproc_internal.h"
 
@@ -72,6 +78,8 @@
 #define IMX_SIP_RPROC_STARTED		0x01
 #define IMX_SIP_RPROC_STOP		0x02
 
+#define IMX_SIP_CPU_OFF			0xC2000012
+
 #define IMX_SC_IRQ_GROUP_REBOOTED	5
 
 /**
@@ -131,6 +139,9 @@ struct imx_rproc {
 	 * BIT 0: IMX_RPROC_FLAGS_SM_LMM_CTRL(RPROC LM is under Linux control )
 	 */
 	u32				flags;
+	/* used by Cortex-A Core remoteproc to manage all CPU Cores */
+	cpumask_t			cpus;
+	cpumask_t			offlined_cpus;
 };
 
 static const struct imx_rproc_att imx_rproc_att_imx95_m7[] = {
@@ -381,6 +392,45 @@ static int imx_rproc_sm_lmm_start(struct rproc *rproc)
 	return 0;
 }
 
+static int imx_rproc_psci_start(struct rproc *rproc)
+{
+	struct imx_rproc *priv = rproc->priv;
+	struct device *dev = priv->dev;
+	unsigned int cpu;
+	int ret;
+
+	if (cpumask_empty(&priv->cpus)) {
+		dev_err(dev, "No CPU Core assigned!\n");
+		return -ENODEV;
+	}
+
+	for_each_cpu(cpu, &priv->cpus) {
+		if (cpu_online(cpu)) {
+			ret = remove_cpu(cpu);
+			if (ret)
+				goto err;
+			cpumask_set_cpu(cpu, &priv->offlined_cpus);
+		}
+	}
+
+	cpu = cpumask_first(&priv->cpus);
+	ret = psci_ops.cpu_on(cpu_logical_map(cpu), rproc->bootaddr);
+	if (ret) {
+		dev_err(dev, "Boot failed on CPU Core %d\n", cpu);
+		goto err;
+	}
+
+	return 0;
+
+err:
+	for_each_cpu(cpu, &priv->cpus) {
+		if (!cpu_online(cpu) && add_cpu(cpu) == 0)
+			cpumask_clear_cpu(cpu, &priv->offlined_cpus);
+	}
+
+	return ret;
+}
+
 static int imx_rproc_start(struct rproc *rproc)
 {
 	struct imx_rproc *priv = rproc->priv;
@@ -456,6 +506,50 @@ static int imx_rproc_sm_lmm_stop(struct rproc *rproc)
 	return scmi_imx_lmm_operation(dcfg->lmid, SCMI_IMX_LMM_SHUTDOWN, 0);
 }
 
+static int imx_rproc_psci_stop(struct rproc *rproc)
+{
+	struct imx_rproc *priv = rproc->priv;
+	struct device *dev = priv->dev;
+	struct arm_smccc_res res;
+	unsigned int cpu;
+	unsigned long start, end;
+	int err;
+
+	for_each_cpu(cpu, &priv->cpus) {
+		/* Check CPU status */
+		err = psci_ops.affinity_info(cpu_logical_map(cpu), 0);
+		if (err == PSCI_0_2_AFFINITY_LEVEL_OFF)
+			continue;
+
+		/* Bring CPU to be off */
+		arm_smccc_smc(IMX_SIP_CPU_OFF, cpu, 0,
+			0, 0, 0, 0, 0, &res);
+		start = jiffies;
+		end = start + msecs_to_jiffies(100);
+		do {
+			err = psci_ops.affinity_info(cpu_logical_map(cpu), 0);
+			if (err == PSCI_0_2_AFFINITY_LEVEL_OFF) {
+				pr_info("CPU%d is killed (polled %d ms)\n", cpu,
+					jiffies_to_msecs(jiffies - start));
+				break;
+			}
+
+			usleep_range(100, 1000);
+		} while (time_before(jiffies, end));
+	}
+
+	/* Return back freed CPU Core to Linux kernel */
+	for_each_cpu(cpu, &priv->cpus) {
+		if (cpumask_test_cpu(cpu, &priv->offlined_cpus)) {
+			if (add_cpu(cpu) != 0)
+				dev_err(dev, "Failed to bring CPU %d back to be online", cpu);
+			cpumask_clear_cpu(cpu, &priv->offlined_cpus);
+		}
+	}
+
+	return 0;
+}
+
 static int imx_rproc_stop(struct rproc *rproc)
 {
 	struct imx_rproc *priv = rproc->priv;
@@ -480,6 +574,12 @@ static int imx_rproc_da_to_sys(struct imx_rproc *priv, u64 da,
 	const struct imx_rproc_dcfg *dcfg = priv->dcfg;
 	int i;
 
+	/* No need to translate for Cortex-A Core */
+	if (dcfg->flags & IMX_RPROC_NO_ADDR_TRANS) {
+		*sys = da;
+		return 0;
+	}
+
 	/* parse address translation table */
 	for (i = 0; i < dcfg->att_size; i++) {
 		const struct imx_rproc_att *att = &dcfg->att[i];
@@ -1184,6 +1284,13 @@ static int imx_rproc_sm_detect_mode(struct rproc *rproc)
 	return imx_rproc_sm_lmm_check(rproc, started);
 }
 
+static int imx_rproc_psci_detect_mode(struct rproc *rproc)
+{
+	rproc->state = RPROC_OFFLINE;
+
+	return 0;
+}
+
 static int imx_rproc_detect_mode(struct imx_rproc *priv)
 {
 	/*
@@ -1228,6 +1335,8 @@ static int imx_rproc_probe(struct platform_device *pdev)
 	struct imx_rproc *priv;
 	struct rproc *rproc;
 	const struct imx_rproc_dcfg *dcfg;
+	unsigned int cpus;
+	unsigned long cpus_bits;
 	int ret;
 
 	/* set some other name then imx */
@@ -1274,6 +1383,17 @@ static int imx_rproc_probe(struct platform_device *pdev)
 	if (ret)
 		return dev_err_probe(dev, ret, "failed on imx_rproc_addr_init\n");
 
+	ret = of_property_read_u32(dev->of_node, "fsl,cpus-bits", &cpus);
+	if (ret) {
+		cpumask_clear(&priv->cpus);
+	} else {
+		cpus_bits = cpus;
+		bitmap_copy(cpumask_bits(&priv->cpus), &cpus_bits,
+				min((unsigned int)nr_cpumask_bits,
+				    (unsigned int)sizeof(unsigned long)));
+		rproc->auto_boot = false;
+	}
+
 	ret = imx_rproc_detect_mode(priv);
 	if (ret)
 		return dev_err_probe(dev, ret, "failed on detect mode\n");
@@ -1372,6 +1492,12 @@ static const struct imx_rproc_plat_ops imx_rproc_ops_sm_cpu = {
 	.stop		= imx_rproc_sm_cpu_stop,
 };
 
+static const struct imx_rproc_plat_ops imx_rproc_ops_psci = {
+	.start		= imx_rproc_psci_start,
+	.stop		= imx_rproc_psci_stop,
+	.detect_mode	= imx_rproc_psci_detect_mode,
+};
+
 static const struct imx_rproc_dcfg imx_rproc_cfg_imx8mn_mmio = {
 	.src_reg	= IMX7D_SRC_SCR,
 	.src_mask	= IMX7D_M4_RST_MASK,
@@ -1464,6 +1590,13 @@ static const struct imx_rproc_dcfg imx_rproc_cfg_imx95_m7 = {
 	.lmid		= 1, /* Use 1 as Logical Machine ID where M7 resides */
 };
 
+static const struct imx_rproc_dcfg imx_rproc_cfg_psci = {
+	.att		= NULL,
+	.att_size	= 0,
+	.ops		= &imx_rproc_ops_psci,
+	.flags		= IMX_RPROC_NO_ADDR_TRANS,
+};
+
 static const struct of_device_id imx_rproc_of_match[] = {
 	{ .compatible = "fsl,imx7ulp-cm4", .data = &imx_rproc_cfg_imx7ulp },
 	{ .compatible = "fsl,imx7d-cm4", .data = &imx_rproc_cfg_imx7d },
@@ -1479,6 +1612,7 @@ static const struct of_device_id imx_rproc_of_match[] = {
 	{ .compatible = "fsl,imx8ulp-cm33", .data = &imx_rproc_cfg_imx8ulp },
 	{ .compatible = "fsl,imx93-cm33", .data = &imx_rproc_cfg_imx93 },
 	{ .compatible = "fsl,imx95-cm7", .data = &imx_rproc_cfg_imx95_m7 },
+	{ .compatible = "fsl,imx-rproc-psci", .data = &imx_rproc_cfg_psci },
 	{},
 };
 MODULE_DEVICE_TABLE(of, imx_rproc_of_match);
diff --git a/drivers/remoteproc/imx_rproc.h b/drivers/remoteproc/imx_rproc.h
index d37e6f90548c..be6709971042 100644
--- a/drivers/remoteproc/imx_rproc.h
+++ b/drivers/remoteproc/imx_rproc.h
@@ -18,6 +18,8 @@ struct imx_rproc_att {
 /* dcfg flags */
 #define IMX_RPROC_NEED_SYSTEM_OFF	BIT(0)
 #define IMX_RPROC_NEED_CLKS		BIT(1)
+/* No need address translation */
+#define IMX_RPROC_NO_ADDR_TRANS		BIT(2)
 
 struct imx_rproc_plat_ops {
 	int (*start)(struct rproc *rproc);
-- 
2.43.0

[PATCH v2 3/5] drivers: remoteproc: imx: add autoboot support for A-core remoteproc

[Jiafei Pan]

From: Hou Zhiqiang <Zhiqiang.Hou@nxp.com>

Add autoboot support for Cortex-A Core remoteproc.

Signed-off-by: Hou Zhiqiang <Zhiqiang.Hou@nxp.com>
---
 drivers/remoteproc/imx_rproc.c | 20 ++++++++++++++++++--
 1 file changed, 18 insertions(+), 2 deletions(-)

diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
index 8a3de27c96b7..e8d239bef5c9 100644
--- a/drivers/remoteproc/imx_rproc.c
+++ b/drivers/remoteproc/imx_rproc.c
@@ -1286,7 +1286,24 @@ static int imx_rproc_sm_detect_mode(struct rproc *rproc)
 
 static int imx_rproc_psci_detect_mode(struct rproc *rproc)
 {
-	rproc->state = RPROC_OFFLINE;
+	struct imx_rproc *priv = rproc->priv;
+	unsigned int cpu;
+	int cpu_aff;
+
+	rproc->state = RPROC_DETACHED;
+	for_each_cpu(cpu, &priv->cpus) {
+		cpu_aff = psci_ops.affinity_info(cpu_logical_map(cpu), 0);
+		if (cpu_aff == PSCI_0_2_AFFINITY_LEVEL_OFF) {
+			rproc->state = RPROC_OFFLINE;
+			break;
+		}
+
+		/* in psci on state but running Linux */
+		if (cpu_online(cpu)) {
+			rproc->state = RPROC_OFFLINE;
+			break;
+		}
+	}
 
 	return 0;
 }
@@ -1391,7 +1408,6 @@ static int imx_rproc_probe(struct platform_device *pdev)
 		bitmap_copy(cpumask_bits(&priv->cpus), &cpus_bits,
 				min((unsigned int)nr_cpumask_bits,
 				    (unsigned int)sizeof(unsigned long)));
-		rproc->auto_boot = false;
 	}
 
 	ret = imx_rproc_detect_mode(priv);
-- 
2.43.0

[PATCH v2 4/5] arm64: dts: imx93: Cortex-A Core remoteproc device node

[Jiafei Pan]

Create device tree for i.MX93 14x14 evk and 11x11 evk, add Cortex-A Core
remoteproc device nodes in these device tree.

Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
Signed-off-by: Hou Zhiqiang <Zhiqiang.Hou@nxp.com>
---
 arch/arm64/boot/dts/freescale/Makefile        |  2 +
 .../imx93-11x11-evk-multicore-rtos.dts        | 39 +++++++++++++++++++
 .../imx93-14x14-evk-multicore-rtos.dts        | 39 +++++++++++++++++++
 .../boot/dts/freescale/imx93-rproc-ca55.dtsi  | 14 +++++++
 4 files changed, 94 insertions(+)
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-11x11-evk-multicore-rtos.dts
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-14x14-evk-multicore-rtos.dts
 create mode 100644 arch/arm64/boot/dts/freescale/imx93-rproc-ca55.dtsi

diff --git a/arch/arm64/boot/dts/freescale/Makefile b/arch/arm64/boot/dts/freescale/Makefile
index 711e36cc2c99..f067e5c44dae 100644
--- a/arch/arm64/boot/dts/freescale/Makefile
+++ b/arch/arm64/boot/dts/freescale/Makefile
@@ -460,12 +460,14 @@ dtb-$(CONFIG_ARCH_MXC) += imx93-9x9-qsb-i3c.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx93-9x9-qsb-ontat-kd50g21-40nt-a1.dtb
 
 dtb-$(CONFIG_ARCH_MXC) += imx93-11x11-evk.dtb
+dtb-$(CONFIG_ARCH_MXC) += imx93-11x11-evk-multicore-rtos.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx93-11x11-frdm.dtb
 
 imx93-11x11-frdm-pixpaper-dtbs += imx93-11x11-frdm.dtb imx93-11x11-frdm-pixpaper.dtbo
 dtb-$(CONFIG_ARCH_MXC) += imx93-11x11-frdm-pixpaper.dtb
 
 dtb-$(CONFIG_ARCH_MXC) += imx93-14x14-evk.dtb
+dtb-$(CONFIG_ARCH_MXC) += imx93-14x14-evk-multicore-rtos.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx93-kontron-bl-osm-s.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx93-phyboard-nash.dtb
 dtb-$(CONFIG_ARCH_MXC) += imx93-phyboard-segin.dtb
diff --git a/arch/arm64/boot/dts/freescale/imx93-11x11-evk-multicore-rtos.dts b/arch/arm64/boot/dts/freescale/imx93-11x11-evk-multicore-rtos.dts
new file mode 100644
index 000000000000..9fb2b94b83b4
--- /dev/null
+++ b/arch/arm64/boot/dts/freescale/imx93-11x11-evk-multicore-rtos.dts
@@ -0,0 +1,39 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+/*
+ * Copyright 2023-2026 NXP
+ */
+
+/dts-v1/;
+#include "imx93-11x11-evk.dts"
+#include "imx93-rproc-ca55.dtsi"
+
+/ {
+	reserved-memory {
+		#address-cells = <2>;
+		#size-cells = <2>;
+		ranges;
+
+		/*
+		 * Reserve up to 16MB for one possible RTOS instances running on
+		 * one Cortex-A Cores when booting Linux on at least one Cortex-A Core.
+		 */
+		rtos_ca55_reserved: rtos-ca55@d0000000 {
+			no-map;
+			reg = <0 0xd0000000 0x0 0x1000000>;
+		};
+
+		/* Reserve 16MB for FreeRTOS on M33 */
+		m33_reserved: m33@a5000000 {
+			no-map;
+			reg = <0 0xa5000000 0 0x1000000>;
+		};
+	};
+};
+
+&lpuart2 {
+	status = "disabled";
+};
+
+&clk {
+	init-on-array = <IMX93_CLK_LPUART2_GATE>;
+};
diff --git a/arch/arm64/boot/dts/freescale/imx93-14x14-evk-multicore-rtos.dts b/arch/arm64/boot/dts/freescale/imx93-14x14-evk-multicore-rtos.dts
new file mode 100644
index 000000000000..b2481bf19b4a
--- /dev/null
+++ b/arch/arm64/boot/dts/freescale/imx93-14x14-evk-multicore-rtos.dts
@@ -0,0 +1,39 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+/*
+ * Copyright 2024-2026 NXP
+ */
+
+/dts-v1/;
+#include "imx93-14x14-evk.dts"
+#include "imx93-rproc-ca55.dtsi"
+
+/ {
+	reserved-memory {
+		#address-cells = <2>;
+		#size-cells = <2>;
+		ranges;
+
+		/*
+		 * Reserve up to 16MB for one possible RTOS instances running on
+		 * one Cortex-A Cores when booting Linux on at least one Cortex-A Core.
+		 */
+		rtos_ca55_reserved: rtos-ca55@d0000000 {
+			no-map;
+			reg = <0 0xd0000000 0x0 0x1000000>;
+		};
+
+		/* Reserve 16MB for FreeRTOS on M33 */
+		m33_reserved: m33@a5000000 {
+			no-map;
+			reg = <0 0xa5000000 0 0x1000000>;
+		};
+	};
+};
+
+&lpuart2 {
+	status = "disabled";
+};
+
+&clk {
+	init-on-array = <IMX93_CLK_LPUART2_GATE>;
+};
diff --git a/arch/arm64/boot/dts/freescale/imx93-rproc-ca55.dtsi b/arch/arm64/boot/dts/freescale/imx93-rproc-ca55.dtsi
new file mode 100644
index 000000000000..9d9a60404d2b
--- /dev/null
+++ b/arch/arm64/boot/dts/freescale/imx93-rproc-ca55.dtsi
@@ -0,0 +1,14 @@
+// SPDX-License-Identifier: (GPL-2.0 OR MIT)
+/*
+ * Copyright 2024-2026 NXP
+ */
+
+/ {
+	ca55_1: remoteproc-ca55-1 {
+		compatible = "fsl,imx-rproc-psci";
+		/* bitmask:0b10, assign A55 Core 1 */
+		fsl,cpus-bits = <0x2>;
+		memory-region = <&rtos_ca55_reserved>;
+	};
+};
+
-- 
2.43.0

[PATCH v2 5/5] remoteproc: imx: use device node name as processor name

[Jiafei Pan]

As currently there are maybe multiple remote processors, so change from
using fixed name to using device node name as remote processor name in
order to make them can be distinguished by through of name in sys
filesystem.

Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
---
 drivers/remoteproc/imx_rproc.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
index e8d239bef5c9..17026e390e88 100644
--- a/drivers/remoteproc/imx_rproc.c
+++ b/drivers/remoteproc/imx_rproc.c
@@ -1357,7 +1357,7 @@ static int imx_rproc_probe(struct platform_device *pdev)
 	int ret;
 
 	/* set some other name then imx */
-	rproc = devm_rproc_alloc(dev, "imx-rproc", &imx_rproc_ops,
+	rproc = devm_rproc_alloc(dev, np->name, &imx_rproc_ops,
 				 NULL, sizeof(*priv));
 	if (!rproc)
 		return -ENOMEM;
-- 
2.43.0

Re: [PATCH v2 0/5] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[Daniel Baluta]

On 4/29/26 06:10, Jiafei Pan wrote:
> This patch series is to add remoteproc support on Cortex-A Core of i.MX platforms:
> 1. Adding dts binding for Cortex-A Core remoteproc
> 2. Enable Cortex-A Core remoteproc support in remoteproc driver
> 3. Adding dts example on imx93 platforms.
> 4. Updating remoteproc driver to use prcoessor name as device node in sys filesystem
> 
> Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>

Thanks Jiafei for the series! As Mathieu pointed out let's do internal review first.

@all, please ignore this series.

Daniel.