[PATCH v3 0/4] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[PATCH v3 0/4] 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.

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

---
Changes in v3:
- Fixed dt_binding_check warnings
- Updated prefix of patch subject

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

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

Jiafei Pan (3):
  dt-bindings: remoteproc: add imx-rproc-psci
  remoteproc: imx_rproc: add support for Cortex-A Core
  arm64: dts: imx93: Cortex-A Core remoteproc device node

 .../remoteproc/fsl,imx-rproc-psci.yaml        |  51 ++++++
 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                | 150 ++++++++++++++++++
 drivers/remoteproc/imx_rproc.h                |   2 +
 7 files changed, 297 insertions(+)
 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 v3 1/4] dt-bindings: remoteproc: add imx-rproc-psci

[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>

---
Changes in v3:
- Fixed dt_binding_check warnings

---
 .../remoteproc/fsl,imx-rproc-psci.yaml        | 51 +++++++++++++++++++
 1 file changed, 51 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..28d00dbf8bc7
--- /dev/null
+++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
@@ -0,0 +1,51 @@
+# 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-mask:
+    $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-mask
+  - memory-region
+
+additionalProperties: false
+
+examples:
+  - |
+        remoteproc-ca55-1 {
+            compatible = "fsl,imx-rproc-psci";
+            /* bitmask: 0b10, assign A55 Core 1 */
+            fsl,cpus-mask = <0x2>;
+            memory-region = <&rtos_ca55_reserved>;
+        };
-- 
2.43.0

[PATCH v3 2/4] remoteproc: imx_rproc: 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>
---

Changes in v3:
- Updated prefix of patch subject

---
 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 v3 3/4] remoteproc: imx_rproc: add autoboot support for A-core

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

Changes in v3:
- Added my signed-of-by.

---
 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 v3 4/4] 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..549a9e762d6a
--- /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-mask = <0x2>;
+		memory-region = <&rtos_ca55_reserved>;
+	};
+};
+
-- 
2.43.0

Re: [PATCH v3 0/4] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[Peng Fan]

Hi Jiafei,

On Mon, May 11, 2026 at 10:39:24AM +0800, 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.

Normally, we only keep one patch or patch series from the same author that
modifies the same file in the review queue at a time.

You already have a patch for imx_rproc.c currently under review(got R-b, but
need Mathieu to handle), so this patch series might be delayed to be reviewed.

As I have replied in internal, to make multiple OS run on Cortex-A SMP without
hypervsior, some GIC changes are required, without those GIC changes,
this patchset is not testable using upstream tree.

Thanks,
Peng

>
>Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
>
>---
>Changes in v3:
>- Fixed dt_binding_check warnings
>- Updated prefix of patch subject
>
>Changes in v2:
>- Update arch/arm64/boot/dts/freescale/Makefile to add new dts
>
>---
>Hou Zhiqiang (1):
>  remoteproc: imx_rproc: add autoboot support for A-core
>
>Jiafei Pan (3):
>  dt-bindings: remoteproc: add imx-rproc-psci
>  remoteproc: imx_rproc: add support for Cortex-A Core
>  arm64: dts: imx93: Cortex-A Core remoteproc device node
>
> .../remoteproc/fsl,imx-rproc-psci.yaml        |  51 ++++++
> 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                | 150 ++++++++++++++++++
> drivers/remoteproc/imx_rproc.h                |   2 +
> 7 files changed, 297 insertions(+)
> 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
>

Re: [PATCH v3 0/4] remoteproc: add Cortex-A Core remoteproc support on i.MX platforms

[Mathieu Poirier]

On Mon, May 11, 2026 at 03:00:25PM +0800, Peng Fan wrote:
> Hi Jiafei,
> 
> On Mon, May 11, 2026 at 10:39:24AM +0800, 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.
> 
> Normally, we only keep one patch or patch series from the same author that
> modifies the same file in the review queue at a time.
> 
> You already have a patch for imx_rproc.c currently under review(got R-b, but
> need Mathieu to handle), so this patch series might be delayed to be reviewed.
> 
> As I have replied in internal, to make multiple OS run on Cortex-A SMP without
> hypervsior, some GIC changes are required, without those GIC changes,
> this patchset is not testable using upstream tree.
>

If that is the case, please re-submit when the proper background work on GIC has
been merged.

Mathieu
 
> Thanks,
> Peng
> 
> >
> >Signed-off-by: Jiafei Pan <Jiafei.Pan@nxp.com>
> >
> >---
> >Changes in v3:
> >- Fixed dt_binding_check warnings
> >- Updated prefix of patch subject
> >
> >Changes in v2:
> >- Update arch/arm64/boot/dts/freescale/Makefile to add new dts
> >
> >---
> >Hou Zhiqiang (1):
> >  remoteproc: imx_rproc: add autoboot support for A-core
> >
> >Jiafei Pan (3):
> >  dt-bindings: remoteproc: add imx-rproc-psci
> >  remoteproc: imx_rproc: add support for Cortex-A Core
> >  arm64: dts: imx93: Cortex-A Core remoteproc device node
> >
> > .../remoteproc/fsl,imx-rproc-psci.yaml        |  51 ++++++
> > 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                | 150 ++++++++++++++++++
> > drivers/remoteproc/imx_rproc.h                |   2 +
> > 7 files changed, 297 insertions(+)
> > 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
> >

Re: [PATCH v3 1/4] dt-bindings: remoteproc: add imx-rproc-psci

[Krzysztof Kozlowski]

On Mon, May 11, 2026 at 10:39:25AM +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>
> 
> ---
> Changes in v3:
> - Fixed dt_binding_check warnings
> 
> ---
>  .../remoteproc/fsl,imx-rproc-psci.yaml        | 51 +++++++++++++++++++
>  1 file changed, 51 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..28d00dbf8bc7
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
> @@ -0,0 +1,51 @@
> +# 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

Describe the hardware, not the binding.

> +  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

Why isn't the compatible specific?

> +
> +  fsl,cpus-mask:
> +    $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.

So you partition existing Cortex-A cores? Or how exactly? Why isn't this
deducible from the compatible (I assume you read carefully writing
bindings)?

> +
> +  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-mask
> +  - memory-region
> +
> +additionalProperties: false
> +
> +examples:
> +  - |
> +        remoteproc-ca55-1 {

Implement previous comments.

Best regards,
Krzysztof

Re: [PATCH v3 1/4] dt-bindings: remoteproc: add imx-rproc-psci

[Jiafei Pan]

NXP Confidential
On Wed, May 14, 2026 at 11:38:13AM +0000, Krzysztof Kozlowski wrote:
> > +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.
>
> Describe the hardware, not the binding.

Will fix. Updated to describe the hardware:

  NXP i.MX SoCs integrate multiple Cortex-A cores. On certain i.MX
  platforms, one or more of these cores can be offloaded to run RTOS
  or bare-metal firmware as a remote processor, while the remaining
  cores run Linux. The cores are powered on and off via PSCI (Power
  State Coordination Interface) CPU_ON/CPU_OFF calls to the firmware.

> > +  compatible:
> > +    const: fsl,imx-rproc-psci
>
> Why isn't the compatible specific?

Will fix. Updated to use a SoC-specific compatible with a generic
fallback:

  compatible:
    - items:
      - enum:
          - fsl,imx93-ca53-rproc-
      - const: fsl,imx-rproc-psci

> > +  fsl,cpus-mask:
> > +    $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.
>
> So you partition existing Cortex-A cores? Or how exactly? Why isn't this
> deducible from the compatible (I assume you read carefully writing
> bindings)?

Yes, we partition existing Cortex-A cores. On i.MX93 for example,
there are 2 Cortex-A55 cores. Core 0 runs Linux as the primary OS,
while core 1 (or any subset of the remaining cores on SoCs with more
cores, e.g. 4x A55) can be assigned to a remoteproc instance to run
RTOS or bare-metal firmware.

The reason fsl,cpus-mask cannot be deduced from the compatible is
that the assignment is flexible and board/use-case specific. On a
4-core SoC, the user may assign core 1 only, cores 1+2, cores 2+3,
or all non-primary cores to one or more remoteproc instances. This
runtime flexibility cannot be encoded in the compatible string.

We considered using a `cpus` phandle list instead, but the CPU nodes
in the DT are already claimed by the Linux CPU topology and do not
naturally represent "remote processor" assignments. The bitmask
approach directly maps to the PSCI CPU_ON/CPU_OFF MPIDR-based
interface used by the firmware.

> > +        remoteproc-ca55-1 {
>
> Implement previous comments.

Will fix the example node name to follow DT naming conventions.

Best regards,
Jiafei

Re: [PATCH v3 1/4] dt-bindings: remoteproc: add imx-rproc-psci

[Krzysztof Kozlowski]

On 12/08/2026 11:19, Jiafei Pan wrote:
> 
> NXP Confidential
> On Wed, May 14, 2026 at 11:38:13AM +0000, Krzysztof Kozlowski wrote:
>>> +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.
>>
>> Describe the hardware, not the binding.
> 
> Will fix. Updated to describe the hardware:
> 
>   NXP i.MX SoCs integrate multiple Cortex-A cores. On certain i.MX
>   platforms, one or more of these cores can be offloaded to run RTOS
>   or bare-metal firmware as a remote processor, while the remaining
>   cores run Linux. The cores are powered on and off via PSCI (Power
>   State Coordination Interface) CPU_ON/CPU_OFF calls to the firmware.
> 
>>> +  compatible:
>>> +    const: fsl,imx-rproc-psci
>>
>> Why isn't the compatible specific?
> 
> Will fix. Updated to use a SoC-specific compatible with a generic
> fallback:
> 
>   compatible:
>     - items:
>       - enum:
>           - fsl,imx93-ca53-rproc-
>       - const: fsl,imx-rproc-psci

Don't do generic fallbacks. Works poor, as visible in multiple cases now.


> 
>>> +  fsl,cpus-mask:
>>> +    $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.
>>
>> So you partition existing Cortex-A cores? Or how exactly? Why isn't this
>> deducible from the compatible (I assume you read carefully writing
>> bindings)?
> 
> Yes, we partition existing Cortex-A cores. On i.MX93 for example,
> there are 2 Cortex-A55 cores. Core 0 runs Linux as the primary OS,
> while core 1 (or any subset of the remaining cores on SoCs with more
> cores, e.g. 4x A55) can be assigned to a remoteproc instance to run
> RTOS or bare-metal firmware.
> 
> The reason fsl,cpus-mask cannot be deduced from the compatible is
> that the assignment is flexible and board/use-case specific. On a
> 4-core SoC, the user may assign core 1 only, cores 1+2, cores 2+3,
> or all non-primary cores to one or more remoteproc instances. This
> runtime flexibility cannot be encoded in the compatible string.
> 
> We considered using a `cpus` phandle list instead, but the CPU nodes
> in the DT are already claimed by the Linux CPU topology and do not
> naturally represent "remote processor" assignments. The bitmask
> approach directly maps to the PSCI CPU_ON/CPU_OFF MPIDR-based
> interface used by the firmware.
You replied three months after my comment. Well, you have such right but
so you know entire context is gone and I am not going to put my time to
read the binding again.

Just for you know - if you partition the cpus, they are gone from the
cpus list as well. Not sure how this affects the bitmask but remember to
model only available CPUs properly in DT.

Best regards,
Krzysztof

[PATCH v4 0/4] 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.

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

---
Changes in v4:
- Refined dts binding

Changes in v3:
- Fixed dt_binding_check warnings
- Updated prefix of patch subject

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


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

Jiafei Pan (3):
  dt-bindings: remoteproc: add imx-rproc-psci
  remoteproc: imx_rproc: add support for Cortex-A Core
  arm64: dts: imx93: Cortex-A Core remoteproc device node

 .../remoteproc/fsl,imx-rproc-psci.yaml        |  54 +++++++
 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                | 150 ++++++++++++++++++
 drivers/remoteproc/imx_rproc.h                |   2 +
 7 files changed, 300 insertions(+)
 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 v4 1/4] dt-bindings: remoteproc: add imx-rproc-psci

[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>

---
Changes in v4:
- Updated description to describe the hardware instead of the binding
- Changed compatible to SoC-specific "fsl,imx93-rproc-psci" with
  generic fallback "fsl,imx-rproc-psci"
- Fixed example node name from "remoteproc-ca55-1" to "remoteproc"

---
 .../remoteproc/fsl,imx-rproc-psci.yaml        | 54 +++++++++++++++++++
 1 file changed, 54 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..7d0d0da383a2
--- /dev/null
+++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc-psci.yaml
@@ -0,0 +1,54 @@
+# 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:
+  NXP i.MX SoCs integrate multiple Cortex-A cores. On certain i.MX
+  platforms, one or more of these cores can be offloaded to run RTOS
+  or bare-metal firmware as a remote processor, while the remaining
+  cores run Linux. The cores are powered on and off via PSCI (Power
+  State Coordination Interface) CPU_ON/CPU_OFF calls to the firmware.
+
+properties:
+  compatible:
+    items:
+      - enum:
+          - fsl,imx93-ca55-rproc
+      - const: fsl,imx-rproc-psci
+
+  fsl,cpus-mask:
+    $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-mask
+  - memory-region
+
+additionalProperties: false
+
+examples:
+  - |
+        remoteproc {
+            compatible = "fsl,imx93-ca55-rproc", "fsl,imx-rproc-psci";
+            /* bitmask: 0b10, assign A55 Core 1 */
+            fsl,cpus-mask = <0x2>;
+            memory-region = <&rtos_ca55_reserved>;
+        };
-- 
2.43.0

[PATCH v4 2/4] remoteproc: imx_rproc: 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 v4 3/4] remoteproc: imx_rproc: add autoboot support for A-core

[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>
Signed-off-by: Jiafei Pan <Jiafei.Pan@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 v4 4/4] 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>

---
Changes in v4:
- Updated dts compatible.

---
 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..715134a55b61
--- /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 {
+		compatible = "fsl,imx93-ca55-rproc", "fsl,imx-rproc-psci";
+		/* bitmask:0b10, assign A55 Core 1 */
+		fsl,cpus-mask = <0x2>;
+		memory-region = <&rtos_ca55_reserved>;
+	};
+};
+
-- 
2.43.0