[PATCH v5 0/5] Enable Remote GPIO over RPMSG on i.MX Platform

[PATCH v5 0/5] Enable Remote GPIO over RPMSG on i.MX Platform

[Shenwei Wang]

Support the remote devices on the remote processor via the RPMSG bus on
i.MX platform.

Changes in v5:
 - move the gpio-rpmsg.rst from admin-guide to staging directory after
   discussion with Randy Dunlap.
 - add include files with some code improvements per Bartosz's comments.

Changes in v4:
 - add a documentation to describe the transport protocol per Andrew's
   comments.
 - add a new handler to get the gpio direction.

Changes in v3:
 - fix various format issue and return value check per Peng 's review
   comments.
 - add the logic to also populate the subnodes which are not in the
   device map per Arnaud's request. (in imx_rproc.c)
 - update the yaml per Frank's review comments.

Changes in v2:
 - re-implemented the gpio driver per Linus Walleij's feedback by using
   GPIOLIB_IRQCHIP helper library.
 - fix various format issue per Mathieu/Peng 's review comments.
 - update the yaml doc per Rob's feedback

Cc: Bartosz Golaszewski <brgl@bgdev.pl>
Cc: Randy Dunlap <rdunlap@infradead.org>
Cc: Andrew Lunn <andrew@lunn.ch>
Cc: Mathieu Poirier <mathieu.poirier@linaro.org>
Cc: Arnaud POULIQUEN <arnaud.pouliquen@foss.st.com>
Cc: Linus Walleij <linus.walleij@linaro.org>
Cc: linux-gpio@vger.kernel.org

Shenwei Wang (5):
  dt-bindings: remoteproc: imx_rproc: Add "rpmsg" subnode support
  remoteproc: imx_rproc: Populate devices under "rpmsg" subnode
  docs: staging: gpio-rpmsg: gpio over rpmsg bus
  gpio: imx-rpmsg: add imx-rpmsg GPIO driver
  arm64: dts: imx8ulp: Add rpmsg node under imx_rproc

 .../bindings/remoteproc/fsl,imx-rproc.yaml    | 123 +++++
 Documentation/staging/gpio-rpmsg.rst          | 202 ++++++++
 Documentation/staging/index.rst               |   1 +
 arch/arm64/boot/dts/freescale/imx8ulp.dtsi    |  27 +
 drivers/gpio/Kconfig                          |  17 +
 drivers/gpio/Makefile                         |   1 +
 drivers/gpio/gpio-imx-rpmsg.c                 | 475 ++++++++++++++++++
 drivers/remoteproc/imx_rproc.c                | 146 ++++++
 include/linux/rpmsg/imx_rpmsg.h               |  48 ++
 9 files changed, 1040 insertions(+)
 create mode 100644 Documentation/staging/gpio-rpmsg.rst
 create mode 100644 drivers/gpio/gpio-imx-rpmsg.c
 create mode 100644 include/linux/rpmsg/imx_rpmsg.h

--
2.43.0

[PATCH v5 1/5] dt-bindings: remoteproc: imx_rproc: Add "rpmsg" subnode support

[Shenwei Wang]

Remote processors may announce multiple devices (e.g., I2C, GPIO) over
an RPMSG channel. These devices may require corresponding device tree
nodes, especially when acting as providers, to supply phandles for their
consumers.

Define an RPMSG node to work as a container for a group of RPMSG channels
under the imx_rproc node.

Each subnode within "rpmsg" represents an individual RPMSG channel. The
name of each subnode corresponds to the channel name as defined by the
remote processor.

All remote devices associated with a given channel are defined as child
nodes under the corresponding channel node.

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 .../bindings/remoteproc/fsl,imx-rproc.yaml    | 123 ++++++++++++++++++
 1 file changed, 123 insertions(+)

diff --git a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
index 57d75acb0b5e..897a16c4f7db 100644
--- a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
+++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
@@ -84,6 +84,92 @@ properties:
       This property is to specify the resource id of the remote processor in SoC
       which supports SCFW
 
+  rpmsg:
+    type: object
+    additionalProperties: false
+    description:
+      Present a group of RPMSG channel devices.
+
+    properties:
+      rpmsg-io-channel:
+        type: object
+        additionalProperties: false
+        properties:
+          '#address-cells':
+            const: 1
+
+          '#size-cells':
+            const: 0
+
+        patternProperties:
+          "gpio@[0-9a-f]+$":
+            type: object
+            unevaluatedProperties: false
+            properties:
+              compatible:
+                enum:
+                  - fsl,imx-rpmsg-gpio
+
+              reg:
+                maxItems: 1
+
+              "#gpio-cells":
+                const: 2
+
+              gpio-controller: true
+
+              interrupt-controller: true
+
+              "#interrupt-cells":
+                const: 2
+
+            required:
+              - compatible
+              - reg
+              - "#gpio-cells"
+              - "#interrupt-cells"
+
+            allOf:
+              - $ref: /schemas/gpio/gpio.yaml#
+              - $ref: /schemas/interrupt-controller.yaml#
+
+        required:
+          - '#address-cells'
+          - '#size-cells'
+
+      rpmsg-i2c-channel:
+        type: object
+        unevaluatedProperties: false
+        properties:
+          '#address-cells':
+            const: 1
+
+          '#size-cells':
+            const: 0
+
+        patternProperties:
+          "i2c@[0-9a-f]+$":
+            type: object
+            unevaluatedProperties: false
+            properties:
+              compatible:
+                enum:
+                  - fsl,imx-rpmsg-i2c
+
+              reg:
+                maxItems: 1
+
+            required:
+              - compatible
+              - reg
+
+            allOf:
+              - $ref: /schemas/i2c/i2c-controller.yaml#
+
+        required:
+          - '#address-cells'
+          - '#size-cells'
+
 required:
   - compatible
 
@@ -146,5 +232,42 @@ examples:
                 &mu 3 1>;
       memory-region = <&vdev0buffer>, <&vdev0vring0>, <&vdev0vring1>, <&rsc_table>;
       syscon = <&src>;
+
+      rpmsg {
+        rpmsg-io-channel {
+          #address-cells = <1>;
+          #size-cells = <0>;
+
+          gpio@0 {
+            compatible = "fsl,imx-rpmsg-gpio";
+            reg = <0>;
+            gpio-controller;
+            #gpio-cells = <2>;
+            #interrupt-cells = <2>;
+            interrupt-controller;
+            interrupt-parent = <&rpmsg_gpioa>;
+          };
+
+          gpio@1 {
+            compatible = "fsl,imx-rpmsg-gpio";
+            reg = <1>;
+            gpio-controller;
+            #gpio-cells = <2>;
+            #interrupt-cells = <2>;
+            interrupt-controller;
+            interrupt-parent = <&rpmsg_gpiob>;
+          };
+        };
+
+        rpmsg-i2c-channel {
+          #address-cells = <1>;
+          #size-cells = <0>;
+
+          i2c@0 {
+            compatible = "fsl,imx-rpmsg-i2c";
+            reg = <0>;
+          };
+        };
+      };
     };
 ...
-- 
2.43.0

[PATCH v5 2/5] remoteproc: imx_rproc: Populate devices under "rpmsg" subnode

[Shenwei Wang]

Register the RPMsg channel driver and populate remote devices defined
under the "rpmsg" subnode upon receiving their notification messages.

The following illustrates the expected DTS layout structure:

	cm33: remoteproc-cm33 {
		compatible = "fsl,imx8ulp-cm33";

		rpmsg {
			rpmsg-io-channel {
				gpio@0 {
					compatible = "fsl,imx-rpmsg-gpio";
					reg = <0>;
				};

				gpio@1 {
					compatible = "fsl,imx-rpmsg-gpio";
					reg = <1>;
				};

				...
			};

			rpmsg-i2c-channel {
				i2c@0 {
					compatible = "fsl,imx-rpmsg-i2c";
					reg = <0>;
				};
			};

			...
		};
	};

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 drivers/remoteproc/imx_rproc.c  | 146 ++++++++++++++++++++++++++++++++
 include/linux/rpmsg/imx_rpmsg.h |  48 +++++++++++
 2 files changed, 194 insertions(+)
 create mode 100644 include/linux/rpmsg/imx_rpmsg.h

diff --git a/drivers/remoteproc/imx_rproc.c b/drivers/remoteproc/imx_rproc.c
index a6eef0080ca9..e21a7980c490 100644
--- a/drivers/remoteproc/imx_rproc.c
+++ b/drivers/remoteproc/imx_rproc.c
@@ -8,6 +8,7 @@
 #include <linux/clk.h>
 #include <linux/err.h>
 #include <linux/firmware/imx/sci.h>
+#include <linux/rpmsg/imx_rpmsg.h>
 #include <linux/interrupt.h>
 #include <linux/kernel.h>
 #include <linux/mailbox_client.h>
@@ -15,6 +16,8 @@
 #include <linux/module.h>
 #include <linux/of.h>
 #include <linux/of_address.h>
+#include <linux/of_irq.h>
+#include <linux/of_platform.h>
 #include <linux/of_reserved_mem.h>
 #include <linux/platform_device.h>
 #include <linux/pm_domain.h>
@@ -22,6 +25,7 @@
 #include <linux/reboot.h>
 #include <linux/regmap.h>
 #include <linux/remoteproc.h>
+#include <linux/rpmsg.h>
 #include <linux/workqueue.h>
 
 #include "imx_rproc.h"
@@ -1084,6 +1088,144 @@ static int imx_rproc_sys_off_handler(struct sys_off_data *data)
 	return NOTIFY_DONE;
 }
 
+struct imx_rpmsg_driver {
+	struct rpmsg_driver rpdrv;
+	void *driver_data;
+};
+
+static char *channel_device_map[][2] = {
+	{"rpmsg-io-channel", "fsl,imx-rpmsg-gpio"},
+	{"rpmsg-i2c-channel", "fsl,imx-rpmsg-i2c"},
+};
+
+static int imx_rpmsg_endpoint_cb(struct rpmsg_device *rpdev, void *data,
+				 int len, void *priv, u32 src)
+{
+	struct imx_rpmsg_driver_data *drvdata;
+
+	drvdata = dev_get_drvdata(&rpdev->dev);
+	if (drvdata && drvdata->rx_callback)
+		return drvdata->rx_callback(rpdev, data, len, priv, src);
+
+	return 0;
+}
+
+static void imx_rpmsg_endpoint_remove(struct rpmsg_device *rpdev)
+{
+	of_platform_depopulate(&rpdev->dev);
+}
+
+static int imx_rpmsg_endpoint_probe(struct rpmsg_device *rpdev)
+{
+	struct imx_rpmsg_driver_data *drvdata;
+	struct imx_rpmsg_driver *imx_rpdrv;
+	struct device *dev = &rpdev->dev;
+	struct of_dev_auxdata *auxdata;
+	struct rpmsg_driver *rpdrv;
+	int i;
+
+	rpdrv = container_of(dev->driver, struct rpmsg_driver, drv);
+	imx_rpdrv = container_of(rpdrv, struct imx_rpmsg_driver, rpdrv);
+
+	if (!imx_rpdrv->driver_data)
+		return -EINVAL;
+
+	drvdata = devm_kmemdup(dev, imx_rpdrv->driver_data, sizeof(*drvdata), GFP_KERNEL);
+	if (!drvdata)
+		return -ENOMEM;
+
+	i = drvdata->map_idx;
+	if (i >= ARRAY_SIZE(channel_device_map))
+		return -ENODEV;
+
+	auxdata = devm_kzalloc(dev, sizeof(*auxdata) * 2, GFP_KERNEL);
+	if (!auxdata)
+		return -ENOMEM;
+
+	drvdata->rpdev = rpdev;
+	auxdata[0].compatible = channel_device_map[i][1];
+	auxdata[0].platform_data = drvdata;
+	dev_set_drvdata(dev, drvdata);
+
+	of_platform_populate(drvdata->channel_node, NULL, auxdata, dev);
+	of_node_put(drvdata->channel_node);
+
+	return 0;
+}
+
+static int imx_of_rpmsg_is_in_map(const char *name)
+{
+	int i;
+
+	for (i = 0; i < ARRAY_SIZE(channel_device_map); i++) {
+		if (strcmp(name, channel_device_map[i][0]) == 0)
+			return i;
+	}
+
+	return -1;
+}
+
+static int imx_of_rpmsg_register_rpdriver(struct device_node *channel,
+					  struct device *dev, int idx)
+{
+	struct imx_rpmsg_driver_data *driver_data;
+	struct imx_rpmsg_driver *rp_driver;
+	struct rpmsg_device_id *rpdev_id;
+
+	rpdev_id = devm_kzalloc(dev, sizeof(*rpdev_id) * 2, GFP_KERNEL);
+	if (!rpdev_id)
+		return -ENOMEM;
+
+	strscpy(rpdev_id[0].name, channel_device_map[idx][0], RPMSG_NAME_SIZE);
+
+	rp_driver = devm_kzalloc(dev, sizeof(*rp_driver), GFP_KERNEL);
+	if (!rp_driver)
+		return -ENOMEM;
+
+	driver_data = devm_kzalloc(dev, sizeof(*driver_data), GFP_KERNEL);
+	if (!driver_data)
+		return -ENOMEM;
+
+	driver_data->rproc_name = dev->of_node->name;
+	driver_data->channel_node = channel;
+	driver_data->map_idx = idx;
+
+	rp_driver->rpdrv.drv.name = channel_device_map[idx][0];
+	rp_driver->rpdrv.id_table = rpdev_id;
+	rp_driver->rpdrv.probe = imx_rpmsg_endpoint_probe;
+	rp_driver->rpdrv.remove = imx_rpmsg_endpoint_remove;
+	rp_driver->rpdrv.callback = imx_rpmsg_endpoint_cb;
+	rp_driver->driver_data = driver_data;
+
+	register_rpmsg_driver(&rp_driver->rpdrv);
+
+	return 0;
+}
+
+static int imx_of_rpmsg_node_init(struct platform_device *pdev)
+{
+	struct device_node *np __free(device_node);
+	struct device *dev = &pdev->dev;
+	int idx, ret;
+
+	np = of_get_child_by_name(dev->of_node, "rpmsg");
+	if (!np)
+		return 0;
+
+	for_each_child_of_node_scoped(np, child) {
+		idx = imx_of_rpmsg_is_in_map(child->name);
+		if (idx < 0)
+			ret = of_platform_default_populate(child, NULL, dev);
+		else
+			ret = imx_of_rpmsg_register_rpdriver(child, dev, idx);
+
+		if (ret < 0)
+			return ret;
+	}
+
+	return 0;
+}
+
 static int imx_rproc_probe(struct platform_device *pdev)
 {
 	struct device *dev = &pdev->dev;
@@ -1177,6 +1319,10 @@ static int imx_rproc_probe(struct platform_device *pdev)
 		goto err_put_clk;
 	}
 
+	ret = imx_of_rpmsg_node_init(pdev);
+	if (ret < 0)
+		dev_info(dev, "populating 'rpmsg' node failed\n");
+
 	return 0;
 
 err_put_clk:
diff --git a/include/linux/rpmsg/imx_rpmsg.h b/include/linux/rpmsg/imx_rpmsg.h
new file mode 100644
index 000000000000..04a5ad2d4a1d
--- /dev/null
+++ b/include/linux/rpmsg/imx_rpmsg.h
@@ -0,0 +1,48 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/* Copyright 2025 NXP */
+
+/*
+ * @file linux/imx_rpmsg.h
+ *
+ * @brief Global header file for iMX RPMSG
+ *
+ * @ingroup RPMSG
+ */
+#ifndef __LINUX_IMX_RPMSG_H__
+#define __LINUX_IMX_RPMSG_H__
+
+/* Category define */
+#define IMX_RMPSG_LIFECYCLE	1
+#define IMX_RPMSG_PMIC		2
+#define IMX_RPMSG_AUDIO		3
+#define IMX_RPMSG_KEY		4
+#define IMX_RPMSG_GPIO		5
+#define IMX_RPMSG_RTC		6
+#define IMX_RPMSG_SENSOR	7
+
+/* rpmsg version */
+#define IMX_RMPSG_MAJOR		1
+#define IMX_RMPSG_MINOR		0
+
+#define MAX_DEV_PER_CHANNEL	10
+
+struct imx_rpmsg_head {
+	u8 cate;	/* Category */
+	u8 major;	/* Major version */
+	u8 minor;	/* Minor version */
+	u8 type;	/* Message type */
+	u8 cmd;		/* Command code */
+	u8 reserved[5];
+} __packed;
+
+struct imx_rpmsg_driver_data {
+	int map_idx;
+	const char *rproc_name;
+	struct rpmsg_device *rpdev;
+	struct device_node *channel_node;
+	int (*rx_callback)(struct rpmsg_device *rpdev, void *data,
+			   int len, void *priv, u32 src);
+	void *channel_devices[MAX_DEV_PER_CHANNEL];
+};
+
+#endif /* __LINUX_IMX_RPMSG_H__ */
-- 
2.43.0

[PATCH v5 3/5] docs: staging: gpio-rpmsg: gpio over rpmsg bus

[Shenwei Wang]

Describes the gpio rpmsg transport protocol over the rpmsg bus between
the cores.

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 Documentation/staging/gpio-rpmsg.rst | 202 +++++++++++++++++++++++++++
 Documentation/staging/index.rst      |   1 +
 2 files changed, 203 insertions(+)
 create mode 100644 Documentation/staging/gpio-rpmsg.rst

diff --git a/Documentation/staging/gpio-rpmsg.rst b/Documentation/staging/gpio-rpmsg.rst
new file mode 100644
index 000000000000..ad6207a3093f
--- /dev/null
+++ b/Documentation/staging/gpio-rpmsg.rst
@@ -0,0 +1,202 @@
+.. SPDX-License-Identifier: GPL-2.0-or-later
+
+GPIO RPMSG Protocol
+===================
+
+The GPIO RPMSG transport protocol is used for communication and interaction
+with GPIO controllers located on remote cores on the RPMSG bus.
+
+Message Format
+--------------
+
+The RPMSG message consists of a 14-byte packet with the following layout:
+
+.. code-block:: none
+
+   +-----+------+------+-----+-----+------------+-----+-----+-----+----+
+   |0x00 |0x01  |0x02  |0x03 |0x04 |0x05..0x09  |0x0A |0x0B |0x0C |0x0D|
+   |cate |major |minor |type |cmd  |reserved[5] |line |port |  data    |
+   +-----+------+------+-----+-----+------------+-----+-----+-----+----+
+
+- **Cate (Category field)**: Indicates the category of the message, such as GPIO, I2C, PMIC, AUDIO, etc.
+
+  Defined categories:
+
+  - 1: RPMSG_LIFECYCLE
+  - 2: RPMSG_PMIC
+  - 3: RPMSG_AUDIO
+  - 4: RPMSG_KEY
+  - 5: RPMSG_GPIO
+  - 6: RPMSG_RTC
+  - 7: RPMSG_SENSOR
+  - 8: RPMSG_AUTO
+  - 9: RPMSG_CATEGORY
+  - A: RPMSG_PWM
+  - B: RPMSG_UART
+
+- **Major**: Major version number.
+
+- **Minor**: Minor version number.
+
+- **Type (Message Type)**: For the GPIO category, can be one of:
+
+  - 0: GPIO_RPMSG_SETUP
+  - 1: GPIO_RPMSG_REPLY
+  - 2: GPIO_RPMSG_NOTIFY
+
+- **Cmd**: Command code, used for GPIO_RPMSG_SETUP messages.
+
+- **reserved[5]**: Reserved bytes.
+
+- **line**: The GPIO line index.
+
+- **port**: The GPIO controller index.
+
+GPIO Commands
+-------------
+
+Commands are specified in the **Cmd** field for **GPIO_RPMSG_SETUP** (Type=0) messages.
+
+GPIO_RPMSG_INPUT_INIT (Cmd=0)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 0   | 0   |  0        |line |port | val | wk |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+- **val**: Interrupt trigger type.
+
+  - 0: Interrupt disabled
+  - 1: Rising edge trigger
+  - 2: Falling edge trigger
+  - 3: Both edge trigger
+  - 4: Low level trigger
+  - 5: High level trigger
+
+- **wk**: Wakeup enable.
+
+  - 0: Disable wakeup from GPIO
+  - 1: Enable wakeup from GPIO
+
+**Reply:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 1   | 1   |  0        |line |port | err | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+- **err**: Error code from the remote core.
+
+  - 0: Success
+  - 1: General error (early remote software only returns this unclassified error)
+  - 2: Not supported
+  - 3: Resource not available
+  - 4: Resource busy
+  - 5: Parameter error
+
+GPIO_RPMSG_OUTPUT_INIT (Cmd=1)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 0   | 1   |  0        |line |port | val | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+- **val**: Output level.
+
+  - 0: Low
+  - 1: High
+
+**Reply:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 1   | 1   |  0        |line |port | err | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+- **err**: See above for definitions.
+
+GPIO_RPMSG_INPUT_GET (Cmd=2)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 0   | 2   |  0        |line |port | 0   | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+**Reply:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+-----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D |
+   | 5   | 1   | 0   | 1   | 2   |  0        |line |port | err |level|
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+-----+
+
+- **err**: See above for definitions.
+
+- **level**: Input level.
+
+  - 0: Low
+  - 1: High
+
+GPIO_RPMSG_GET_DIRECTION (Cmd=3)
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 0   | 3   |  0        |line |port | 0   | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+**Reply:**
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+-----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D |
+   | 5   | 1   | 0   | 1   | 3   |  0        |line |port | err | dir |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+-----+
+
+- **err**: See above for definitions.
+
+- **dir**: Direction.
+
+  - 0: Output
+  - 1: Input
+
+Notification Message
+--------------------
+
+Notifications are sent with **Type=2 (GPIO_RPMSG_NOTIFY)**:
+
+.. code-block:: none
+
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+   |0x00 |0x01 |0x02 |0x03 |0x04 |0x05..0x09 |0x0A |0x0B |0x0C |0x0D|
+   | 5   | 1   | 0   | 2   | 0   |  0        |line |port | 0   | 0  |
+   +-----+-----+-----+-----+-----+-----------+-----+-----+-----+----+
+
+- **line**: The GPIO line index.
+- **port**: The GPIO controller index.
+
diff --git a/Documentation/staging/index.rst b/Documentation/staging/index.rst
index 77bae5e5328b..fbb212e26007 100644
--- a/Documentation/staging/index.rst
+++ b/Documentation/staging/index.rst
@@ -7,6 +7,7 @@ Unsorted Documentation
    :maxdepth: 2
 
    crc32
+   gpio-rpmsg
    lzo