[PATCH v15 0/5] Enable Remote GPIO over RPMSG on i.MX Platform

[PATCH v15 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 v15:
 - Update Kconfig description per AndrewD and Julian's feedback
 - Enable the GPIO driver even without a DT node per AndrewD's feedback
 - Update gpio-rpmsg.rst per Mathieu’s feedback
 - Code cleanup according the new gpio-rpmsg.rst and sashiko-bot's review
   feedback

Changes in v14:
 - Update gpio-rpmsg.rst per Mathieu’s feedback.
 - Align the rpmsg-gpio driver with the revised gpio-rpmsg.rst.
 - Modify rpmsg-core to enable prefix-based matching of RPMSG device IDs.

Changes in v13:
 - drop the support for legacy NXP firmware.
 - remove the fixed_up hooks from the rpmsg gpio driver.
 - code cleanup.

Changes in v12:
 - Fixed the "underline" warning reported by Randy.

Changes in v11:
 - Expand RPMSG for the first time per Shuah's review comment.

Changes in v10:
 - Update gpio-rpmsg.rst according to Daniel Baluta's review comments.
 - Add a kernel CONFIG for fixed up handlers and only enable it on
   i.MX products.
 - Fixed bugs reported by kernel test robot.

Changes in v9:
 - Reuse the gpio-virtio design for command and IRQ type definitions.
 - Remove msg_id, version, and vendor fields from the generic protocol.
 - Add fixed-up handlers to support legacy firmware.

Changes in v8:
 - Add "depends on REMOTEPROC" in Kconfig to fix the build error reported
   by the kernel test robot.
 - Move the .rst patch before the .yaml patch.
 - Handle the "ngpios" DT property based on Andrew's feedback.

Changes in v7:
 - Reworked the driver to use the rpmsg_driver framework instead of
   platform_driver, based on feedback from Bjorn and Arnaud.
 - Updated gpio-rpmsg.yaml and imx_rproc.yaml according to comments from
   Rob and Arnaud.
 - Further refinements to gpio-rpmsg.yaml per Arnaud's feedback.

Changes in v6:
 - make the driver more generic with the actions below:
     rename the driver file to gpio-rpmsg.c
     remove the imx related info in the function and variable names
     rename the imx_rpmsg.h to rpdev_info.h
     create a gpio-rpmsg.yaml and refer it in imx_rproc.yaml
 - update the gpio-rpmsg.rst according to the feedback from Andrew and
   move the source file to driver-api/gpio
 - fix the bug reported by Zhongqiu Han
 - remove the I2C related info

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

Shenwei Wang (5):
  docs: driver-api: gpio: rpmsg gpio driver over rpmsg bus
  dt-bindings: remoteproc: imx_rproc: Add "rpmsg" subnode support
  rpmsg: core: match rpmsg device IDs by prefix
  gpio: rpmsg: add generic rpmsg GPIO driver
  arm64: dts: imx8ulp: Add rpmsg node under imx_rproc

 .../devicetree/bindings/gpio/gpio-rpmsg.yaml  |  55 ++
 .../bindings/remoteproc/fsl,imx-rproc.yaml    |  53 ++
 Documentation/driver-api/gpio/gpio-rpmsg.rst  | 242 ++++++++
 Documentation/driver-api/gpio/index.rst       |   1 +
 arch/arm64/boot/dts/freescale/imx8ulp.dtsi    |  25 +
 drivers/gpio/Kconfig                          |  17 +
 drivers/gpio/Makefile                         |   1 +
 drivers/gpio/gpio-rpmsg.c                     | 587 ++++++++++++++++++
 drivers/rpmsg/rpmsg_core.c                    |   4 +-
 9 files changed, 984 insertions(+), 1 deletion(-)
 create mode 100644 Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml
 create mode 100644 Documentation/driver-api/gpio/gpio-rpmsg.rst
 create mode 100644 drivers/gpio/gpio-rpmsg.c

--
2.43.0

[PATCH v15 1/5] docs: driver-api: gpio: rpmsg gpio driver over rpmsg bus

[Shenwei Wang]

From: Shenwei Wang <shenwei.wang@nxp.com>

Describes the gpio rpmsg transport protocol over the rpmsg bus between
the remote system and Linux.

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 Documentation/driver-api/gpio/gpio-rpmsg.rst | 242 +++++++++++++++++++
 Documentation/driver-api/gpio/index.rst      |   1 +
 2 files changed, 243 insertions(+)
 create mode 100644 Documentation/driver-api/gpio/gpio-rpmsg.rst

diff --git a/Documentation/driver-api/gpio/gpio-rpmsg.rst b/Documentation/driver-api/gpio/gpio-rpmsg.rst
new file mode 100644
index 000000000000..9af75cc759ba
--- /dev/null
+++ b/Documentation/driver-api/gpio/gpio-rpmsg.rst
@@ -0,0 +1,242 @@
+.. SPDX-License-Identifier: GPL-2.0-or-later
+
+GPIO RPMSG (Remote Processor Messaging) Protocol
+================================================
+
+The GPIO RPMSG transport protocol is used for communication and interaction
+with GPIO controllers on remote processors via the RPMSG bus.
+
+Message Format
+--------------
+
+The out message to the remote consists of a 8-byte packet with the
+following layout:
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |     cmd     |    line     |           value           |
+   +------+------+------+------+------+------+------+------+
+
+- **cmd**: Little endian. Command type.
+
+- **line**: Little endian. The GPIO line (pin) index.
+
+- **value**: Little endian. See details in the command description below.
+
+
+The in message from the remote has the following layout:
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   | type |     payload     |
+   +------+--------+--------+
+
+- **type**: Message types.
+  - 0: Command reply messages.
+  - 1: Interrupt messages.
+
+- **payload**: See details below.
+
+GPIO Commands
+-------------
+
+Commands are specified in the **Cmd** field.
+
+The SEND message is always sent from Linux to the remote firmware. Each
+SEND corresponds to a single REPLY message. The GPIO driver should
+serialize messages and determine whether a REPLY message is required. If a
+REPLY message is expected but not received within the specified timeout
+period (currently 1 second in the Linux driver), the driver should return
+-ETIMEDOUT.
+
+GET_DIRECTION (Cmd=2)
+~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |      2      |    line     |             0             |
+   +------+------+------+------+------+------+------+------+
+
+**Reply:**
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   |   0  | status | value  |
+   +------+--------+--------+
+
+- **status**:
+
+  - 0: Ok
+  - 1: Error
+
+- **value**: Direction.
+
+  - 0: None
+  - 1: Output
+  - 2: Input
+
+
+SET_DIRECTION (Cmd=3)
+~~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |      3      |    line     |           value           |
+   +------+------+------+------+------+------+------+------+
+
+- **value**: Direction.
+
+  - 0: None
+  - 1: Output
+  - 2: Input
+
+**Reply:**
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   |   0  | status |    0   |
+   +------+--------+--------+
+
+- **status**:
+
+  - 0: Ok
+  - 1: Error
+
+
+GET_VALUE (Cmd=4)
+~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |      4      |    line     |             0             |
+   +------+------+------+------+------+------+------+------+
+
+**Reply:**
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   |   0  | status | value  |
+   +------+--------+--------+
+
+- **status**:
+
+  - 0: Ok
+  - 1: Error
+
+- **value**: Level.
+
+  - 0: Low
+  - 1: High
+
+
+SET_VALUE (Cmd=5)
+~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |      5      |    line     |           value           |
+   +------+------+------+------+------+------+------+------+
+
+- **value**: Output level.
+
+  - 0: Low
+  - 1: High
+
+**Reply:**
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   |   0  | status |    0   |
+   +------+--------+--------+
+
+- **status**:
+
+  - 0: Ok
+  - 1: Error
+
+
+SET_IRQ_TYPE (Cmd=6)
+~~~~~~~~~~~~~~~~~~~~
+
+**Request:**
+
+.. code-block:: none
+
+   +------+------+------+------+------+------+------+------+
+   | 0x00 | 0x01 | 0x02 | 0x03 | 0x04 | 0x05 | 0x06 | 0x07 |
+   |      6      |    line     |           value           |
+   +------+------+------+------+------+------+------+------+
+
+- **value**: IRQ types.
+
+  - 0: Interrupt disabled
+  - 1: Rising edge trigger
+  - 2: Falling edge trigger
+  - 3: Both edge trigger
+  - 4: High level trigger
+  - 8: Low level trigger
+
+**Reply:**
+
+.. code-block:: none
+
+   +------+--------+--------+
+   | 0x00 |  0x01  |  0x02  |
+   |   0  | status |    0   |
+   +------+--------+--------+
+
+- **status**:
+
+  - 0: Ok
+  - 1: Error
+
+
+Interrupt Messages
+------------------
+
+Interrupt messages are sent by the remote core and they have
+**Type=1 (GPIO_RPMSG_NOTIFY)**:
+
+When a GPIO line asserts an interrupt on the remote processor, the firmware
+should immediately mask the corresponding interrupt source and send a
+notification message to the Linux. Upon completion of the interrupt
+handling on the Linux side, the driver should issue a
+command **SET_IRQ_TYPE** to the firmware to unmask the interrupt.
+
+.. code-block:: none
+
+   +------+------+--------+
+   | 0x00 | 0x01 |  0x02  |
+   |   1  |     line      |
+   +------+------+--------+
+
+- **line**: Little endian. The GPIO line (pin) index.
+
diff --git a/Documentation/driver-api/gpio/index.rst b/Documentation/driver-api/gpio/index.rst
index bee58f709b9a..e5eb1f82f01f 100644
--- a/Documentation/driver-api/gpio/index.rst
+++ b/Documentation/driver-api/gpio/index.rst
@@ -16,6 +16,7 @@ Contents:
    drivers-on-gpio
    bt8xxgpio
    pca953x
+   gpio-rpmsg
 
 Core
 ====
-- 
2.43.0

[PATCH v15 2/5] dt-bindings: remoteproc: imx_rproc: Add "rpmsg" subnode support

[Shenwei Wang]

From: Shenwei Wang <shenwei.wang@nxp.com>

Remote processors may announce multiple GPIO controllers over an RPMSG
channel. These GPIO controllers 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>
---
 .../devicetree/bindings/gpio/gpio-rpmsg.yaml  | 55 +++++++++++++++++++
 .../bindings/remoteproc/fsl,imx-rproc.yaml    | 53 ++++++++++++++++++
 2 files changed, 108 insertions(+)
 create mode 100644 Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml

diff --git a/Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml b/Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml
new file mode 100644
index 000000000000..41eb2e149942
--- /dev/null
+++ b/Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml
@@ -0,0 +1,55 @@
+# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: http://devicetree.org/schemas/gpio/gpio-rpmsg.yaml#
+$schema: http://devicetree.org/meta-schemas/core.yaml#
+
+title: Generic RPMSG GPIO Controller
+
+maintainers:
+  - Shenwei Wang <shenwei.wang@nxp.com>
+
+description:
+  On an AMP platform, some GPIO controllers are exposed by the remote processor
+  through the RPMSG bus. The RPMSG GPIO transport protocol defines the packet
+  structure and communication flow between Linux and the remote firmware. Those
+  controllers are managed via this transport protocol. For more details of the
+  protocol, check the document below.
+  Documentation/driver-api/gpio/gpio-rpmsg.rst
+
+properties:
+  compatible:
+    oneOf:
+      - items:
+          - enum:
+              - fsl,rpmsg-gpio
+          - const: rpmsg-gpio
+      - const: rpmsg-gpio
+
+  reg:
+    description:
+      The reg property represents the index of the GPIO controllers. Since
+      the driver manages controllers on a remote system, this index tells
+      the remote system which controller to operate.
+    maxItems: 1
+
+  "#gpio-cells":
+    const: 2
+
+  gpio-controller: true
+
+  interrupt-controller: true
+
+  "#interrupt-cells":
+    const: 2
+
+required:
+  - compatible
+  - reg
+  - "#gpio-cells"
+  - gpio-controller
+
+allOf:
+  - $ref: /schemas/gpio/gpio.yaml#
+
+unevaluatedProperties: false
diff --git a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
index c18f71b64889..b9b559b186af 100644
--- a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
+++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml
@@ -88,6 +88,34 @@ properties:
       This property is to specify the resource id of the remote processor in SoC
       which supports SCFW
 
+  rpmsg:
+    type: object
+    additionalProperties: false
+    description:
+      Represents the RPMSG bus between Linux and the remote system. Contains
+      a group of RPMSG channel devices running on the bus.
+
+    properties:
+      rpmsg-io:
+        type: object
+        additionalProperties: false
+        properties:
+          '#address-cells':
+            const: 1
+
+          '#size-cells':
+            const: 0
+
+        patternProperties:
+          "^gpio@[0-9a-f]+$":
+            type: object
+            $ref: /schemas/gpio/gpio-rpmsg.yaml#
+            unevaluatedProperties: false
+
+        required:
+          - '#address-cells'
+          - '#size-cells'
+
 required:
   - compatible
 
@@ -150,5 +178,30 @@ examples:
                 &mu 3 1>;
       memory-region = <&vdev0buffer>, <&vdev0vring0>, <&vdev0vring1>, <&rsc_table>;
       syscon = <&src>;
+
+      rpmsg {
+        rpmsg-io {
+          #address-cells = <1>;
+          #size-cells = <0>;
+
+          gpio@0 {
+            compatible = "rpmsg-gpio";
+            reg = <0>;
+            gpio-controller;
+            #gpio-cells = <2>;
+            #interrupt-cells = <2>;
+            interrupt-controller;
+          };
+
+          gpio@1 {
+            compatible = "rpmsg-gpio";
+            reg = <1>;
+            gpio-controller;
+            #gpio-cells = <2>;
+            #interrupt-cells = <2>;
+            interrupt-controller;
+          };
+        };
+      };
     };
 ...
-- 
2.43.0

[PATCH v15 3/5] rpmsg: core: match rpmsg device IDs by prefix

[Shenwei Wang]

From: Shenwei Wang <shenwei.wang@nxp.com>

The current rpmsg_id_match() implementation requires an exact
string match between the driver id_table entry and the rpmsg
device name using strncmp() with RPMSG_NAME_SIZE.

This makes it impossible for a driver to match a group of
rpmsg devices sharing a common prefix (e.g. dynamically
suffixed channel names).

Update the matching logic to compare only the length of the
id->name string, allowing id_table entries to act as prefixes.
This enables drivers to bind to devices whose names start with
the specified id->name.

The implementation is copied from a reply by Mathieu.

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 drivers/rpmsg/rpmsg_core.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/drivers/rpmsg/rpmsg_core.c b/drivers/rpmsg/rpmsg_core.c
index 04bfcc75f05b..97a4db52b040 100644
--- a/drivers/rpmsg/rpmsg_core.c
+++ b/drivers/rpmsg/rpmsg_core.c
@@ -386,7 +386,9 @@ ATTRIBUTE_GROUPS(rpmsg_dev);
 static inline int rpmsg_id_match(const struct rpmsg_device *rpdev,
 				  const struct rpmsg_device_id *id)
 {
-	return strncmp(id->name, rpdev->id.name, RPMSG_NAME_SIZE) == 0;
+	size_t len = strnlen(id->name, RPMSG_NAME_SIZE);
+
+	return strncmp(id->name, rpdev->id.name, len) == 0;
 }
 
 /* match rpmsg channel and rpmsg driver */
-- 
2.43.0

[PATCH v15 4/5] gpio: rpmsg: add generic rpmsg GPIO driver

[Shenwei Wang]

From: Shenwei Wang <shenwei.wang@nxp.com>

On an AMP platform, the system may include multiple processors:
	- MCUs running an RTOS
	- An MPU running Linux

These processors communicate via the RPMSG protocol.
The driver implements the standard GPIO interface, allowing
the Linux side to control GPIO controllers which reside in
the remote processor via RPMSG protocol.

Cc: Bartosz Golaszewski <brgl@bgdev.pl>
Cc: Andrew Lunn <andrew@lunn.ch>
Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 drivers/gpio/Kconfig      |  17 ++
 drivers/gpio/Makefile     |   1 +
 drivers/gpio/gpio-rpmsg.c | 587 ++++++++++++++++++++++++++++++++++++++
 3 files changed, 605 insertions(+)
 create mode 100644 drivers/gpio/gpio-rpmsg.c

diff --git a/drivers/gpio/Kconfig b/drivers/gpio/Kconfig
index f03c05288376..9fb8ab4d3616 100644
--- a/drivers/gpio/Kconfig
+++ b/drivers/gpio/Kconfig
@@ -1954,6 +1954,23 @@ config GPIO_SODAVILLE
 
 endmenu
 
+menu "RPMSG GPIO drivers"
+	depends on RPMSG
+
+config GPIO_RPMSG
+	tristate "Generic RPMSG GPIO support"
+	depends on OF && REMOTEPROC
+	select GPIOLIB_IRQCHIP
+	default REMOTEPROC
+	help
+	  Say Y here to enable GPIO controllers exposed over an RPMSG
+	  communication channel to a remote processor. GPIO operations
+	  and interrupt configuration requests are forwarded to the
+	  remote side through RPMSG, allowing Linux to control GPIOs
+	  implemented by a remote firmware.
+
+endmenu
+
 menu "SPI GPIO expanders"
 	depends on SPI_MASTER
 
diff --git a/drivers/gpio/Makefile b/drivers/gpio/Makefile
index fa14581e3995..89d26f1aaf1c 100644
--- a/drivers/gpio/Makefile
+++ b/drivers/gpio/Makefile
@@ -159,6 +159,7 @@ obj-$(CONFIG_GPIO_RDC321X)		+= gpio-rdc321x.o
 obj-$(CONFIG_GPIO_REALTEK_OTTO)		+= gpio-realtek-otto.o
 obj-$(CONFIG_GPIO_REG)			+= gpio-reg.o
 obj-$(CONFIG_GPIO_ROCKCHIP)	+= gpio-rockchip.o
+obj-$(CONFIG_GPIO_RPMSG)		+= gpio-rpmsg.o
 obj-$(CONFIG_GPIO_RTD)			+= gpio-rtd.o
 obj-$(CONFIG_GPIO_RTD1625)		+= gpio-rtd1625.o
 obj-$(CONFIG_ARCH_SA1100)		+= gpio-sa1100.o
diff --git a/drivers/gpio/gpio-rpmsg.c b/drivers/gpio/gpio-rpmsg.c
new file mode 100644
index 000000000000..5d2d59e6314b
--- /dev/null
+++ b/drivers/gpio/gpio-rpmsg.c
@@ -0,0 +1,587 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * Copyright 2026 NXP
+ *
+ * The driver exports a standard gpiochip interface to control
+ * the GPIO controllers via RPMSG on a remote processor.
+ */
+
+#include <linux/completion.h>
+#include <linux/device.h>
+#include <linux/err.h>
+#include <linux/gpio/driver.h>
+#include <linux/init.h>
+#include <linux/irqdomain.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/mutex.h>
+#include <linux/of.h>
+#include <linux/of_device.h>
+#include <linux/of_platform.h>
+#include <linux/platform_device.h>
+#include <linux/remoteproc.h>
+#include <linux/rpmsg.h>
+#include <linux/virtio_gpio.h>
+
+#define GPIOS_PER_PORT_MAX		32
+#define RPMSG_TIMEOUT			1000
+
+/* GPIO Receive MSG Type */
+#define GPIO_RPMSG_REPLY	0
+#define GPIO_RPMSG_NOTIFY	1
+
+#define CHAN_NAME_PREFIX	"rpmsg-io-"
+#define GPIO_COMPAT_STR		"rpmsg-gpio"
+
+struct rpmsg_gpio_response {
+	__u8 type;
+	union {
+		/* command reply */
+		struct {
+			__u8 status;
+			__u8 value;
+		};
+
+		/* interrupt notification */
+		struct {
+			__le16 line;
+		};
+	};
+};
+
+struct rpmsg_gpio_line {
+	u8 irq_shutdown;
+	u8 irq_unmask;
+	u8 irq_mask;
+	u32 irq_type;
+};
+
+struct rpmsg_gpio_port {
+	struct gpio_chip gc;
+	struct rpmsg_device *rpdev;
+	struct virtio_gpio_request *send_msg;
+	struct rpmsg_gpio_response *recv_msg;
+	struct completion cmd_complete;
+	struct mutex lock;
+	struct work_struct eoi_work;
+	DECLARE_BITMAP(pending_eoi, GPIOS_PER_PORT_MAX);
+	u32 ngpios;
+	u32 idx;
+	struct rpmsg_gpio_line lines[GPIOS_PER_PORT_MAX];
+};
+
+static int rpmsg_gpio_send_message(struct rpmsg_gpio_port *port)
+{
+	int ret;
+
+	reinit_completion(&port->cmd_complete);
+
+	ret = rpmsg_send(port->rpdev->ept, port->send_msg, sizeof(*port->send_msg));
+	if (ret) {
+		dev_err(&port->rpdev->dev, "rpmsg_send failed: cmd=%d ret=%d\n",
+			port->send_msg->type, ret);
+		return ret;
+	}
+
+	ret = wait_for_completion_timeout(&port->cmd_complete,
+					  msecs_to_jiffies(RPMSG_TIMEOUT));
+	if (ret == 0) {
+		dev_err(&port->rpdev->dev, "rpmsg_send timeout! cmd=%d\n",
+			port->send_msg->type);
+		return -ETIMEDOUT;
+	}
+
+	if (port->recv_msg->status != VIRTIO_GPIO_STATUS_OK) {
+		dev_err(&port->rpdev->dev, "remote core replies an error: cmd=%d!\n",
+			port->send_msg->type);
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static struct virtio_gpio_request *
+rpmsg_gpio_msg_prepare(struct rpmsg_gpio_port *port, u16 line, u16 cmd, u32 val)
+{
+	struct virtio_gpio_request *msg = port->send_msg;
+
+	msg->type = cpu_to_le16(cmd);
+	msg->gpio = cpu_to_le16(line);
+	msg->value = cpu_to_le32(val);
+
+	return msg;
+}
+
+static int rpmsg_gpio_get(struct gpio_chip *gc, unsigned int line)
+{
+	struct rpmsg_gpio_port *port = gpiochip_get_data(gc);
+	int ret;
+
+	guard(mutex)(&port->lock);
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_GET_VALUE, 0);
+
+	ret = rpmsg_gpio_send_message(port);
+	return ret ? ret : port->recv_msg->value;
+}
+
+static int rpmsg_gpio_get_direction(struct gpio_chip *gc, unsigned int line)
+{
+	struct rpmsg_gpio_port *port = gpiochip_get_data(gc);
+	int ret;
+
+	guard(mutex)(&port->lock);
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_GET_DIRECTION, 0);
+
+	ret = rpmsg_gpio_send_message(port);
+	if (ret)
+		return ret;
+
+	switch (port->recv_msg->value) {
+	case VIRTIO_GPIO_DIRECTION_IN:
+		return GPIO_LINE_DIRECTION_IN;
+	case VIRTIO_GPIO_DIRECTION_OUT:
+		return GPIO_LINE_DIRECTION_OUT;
+	default:
+		break;
+	}
+
+	return -EINVAL;
+}
+
+static int rpmsg_gpio_direction_input(struct gpio_chip *gc, unsigned int line)
+{
+	struct rpmsg_gpio_port *port = gpiochip_get_data(gc);
+
+	guard(mutex)(&port->lock);
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_SET_DIRECTION,
+			       VIRTIO_GPIO_DIRECTION_IN);
+
+	return rpmsg_gpio_send_message(port);
+}
+
+static int rpmsg_gpio_set(struct gpio_chip *gc, unsigned int line, int val)
+{
+	struct rpmsg_gpio_port *port = gpiochip_get_data(gc);
+
+	guard(mutex)(&port->lock);
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_SET_VALUE, val);
+
+	return rpmsg_gpio_send_message(port);
+}
+
+static int rpmsg_gpio_direction_output(struct gpio_chip *gc, unsigned int line, int val)
+{
+	struct rpmsg_gpio_port *port = gpiochip_get_data(gc);
+	int ret;
+
+	guard(mutex)(&port->lock);
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_SET_VALUE, val);
+	ret = rpmsg_gpio_send_message(port);
+	if (ret)
+		return ret;
+
+	rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_SET_DIRECTION,
+			       VIRTIO_GPIO_DIRECTION_OUT);
+	return rpmsg_gpio_send_message(port);
+}
+
+static int gpio_rpmsg_irq_set_type(struct irq_data *d, u32 type)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+	u32 line = d->hwirq;
+
+	switch (type) {
+	case IRQ_TYPE_EDGE_RISING:
+		type = VIRTIO_GPIO_IRQ_TYPE_EDGE_RISING;
+		break;
+	case IRQ_TYPE_EDGE_FALLING:
+		type = VIRTIO_GPIO_IRQ_TYPE_EDGE_FALLING;
+		break;
+	case IRQ_TYPE_EDGE_BOTH:
+		type = VIRTIO_GPIO_IRQ_TYPE_EDGE_BOTH;
+		break;
+	case IRQ_TYPE_LEVEL_LOW:
+		type = VIRTIO_GPIO_IRQ_TYPE_LEVEL_LOW;
+		break;
+	case IRQ_TYPE_LEVEL_HIGH:
+		type = VIRTIO_GPIO_IRQ_TYPE_LEVEL_HIGH;
+		break;
+	default:
+		dev_err(&port->rpdev->dev, "unsupported irq type: %u\n", type);
+		return -EINVAL;
+	}
+
+	port->lines[line].irq_type = type;
+
+	return 0;
+}
+
+/*
+ * This unmask/mask function is invoked in two situations:
+ *   - when an interrupt is being set up, and
+ *   - after an interrupt has occurred.
+ *
+ * The GPIO driver does not access hardware registers directly.
+ * Instead, it caches all relevant information locally, and then sends
+ * the accumulated state to the remote system at this stage.
+ */
+static void gpio_rpmsg_unmask_irq(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+	u32 line = d->hwirq;
+
+	port->lines[line].irq_unmask = 1;
+}
+
+static void gpio_rpmsg_mask_irq(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+	u32 line = d->hwirq;
+
+	/*
+	 * When an interrupt occurs, the remote system masks the interrupt
+	 * and then sends a notification to Linux. After Linux processes
+	 * that notification, it sends an RPMsg command back to the remote
+	 * system to unmask the interrupt again.
+	 */
+	port->lines[line].irq_mask = 1;
+}
+
+static void gpio_rpmsg_irq_shutdown(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+	u32 line = d->hwirq;
+
+	port->lines[line].irq_shutdown = 1;
+}
+
+static void gpio_rpmsg_eoi_irq(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+
+	set_bit(d->hwirq, port->pending_eoi);
+	schedule_work(&port->eoi_work);
+}
+
+static void gpio_rpmsg_irq_bus_lock(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+
+	mutex_lock(&port->lock);
+}
+
+static void gpio_rpmsg_irq_bus_sync_unlock(struct irq_data *d)
+{
+	struct rpmsg_gpio_port *port = irq_data_get_irq_chip_data(d);
+	u32 line = d->hwirq;
+
+	/*
+	 * For mask irq, do nothing here.
+	 * The remote system will mask interrupt after an interrupt occurs,
+	 * and then send a notification to Linux system. After Linux system
+	 * handles the notification, it sends an rpmsg back to the remote
+	 * system to unmask this interrupt again.
+	 */
+	if (port->lines[line].irq_mask && !port->lines[line].irq_unmask) {
+		port->lines[line].irq_mask = 0;
+		mutex_unlock(&port->lock);
+		return;
+	}
+
+	if (port->lines[line].irq_shutdown) {
+		rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_IRQ_TYPE,
+				       VIRTIO_GPIO_IRQ_TYPE_NONE);
+		port->lines[line].irq_shutdown = 0;
+	} else {
+		rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_IRQ_TYPE,
+				       port->lines[line].irq_type);
+
+		if (port->lines[line].irq_unmask)
+			port->lines[line].irq_unmask = 0;
+	}
+
+	rpmsg_gpio_send_message(port);
+	mutex_unlock(&port->lock);
+}
+
+static const struct irq_chip gpio_rpmsg_irq_chip = {
+	.name = "rpmsg-gpio",
+	.irq_mask = gpio_rpmsg_mask_irq,
+	.irq_unmask = gpio_rpmsg_unmask_irq,
+	.irq_eoi = gpio_rpmsg_eoi_irq,
+	.irq_set_type = gpio_rpmsg_irq_set_type,
+	.irq_shutdown = gpio_rpmsg_irq_shutdown,
+	.irq_bus_lock = gpio_rpmsg_irq_bus_lock,
+	.irq_bus_sync_unlock = gpio_rpmsg_irq_bus_sync_unlock,
+	.flags = IRQCHIP_IMMUTABLE,
+};
+
+static void gpio_rpmsg_eoi_work(struct work_struct *work)
+{
+	struct rpmsg_gpio_port *port =
+		container_of(work, struct rpmsg_gpio_port, eoi_work);
+	unsigned long pending[BITS_TO_LONGS(GPIOS_PER_PORT_MAX)];
+	unsigned int line;
+
+	guard(mutex)(&port->lock);
+
+	bitmap_copy(pending, port->pending_eoi, port->ngpios);
+	bitmap_zero(port->pending_eoi, port->ngpios);
+
+	for_each_set_bit(line, pending, port->ngpios) {
+		rpmsg_gpio_msg_prepare(port, line, VIRTIO_GPIO_MSG_IRQ_TYPE,
+				       port->lines[line].irq_type);
+
+		if (rpmsg_gpio_send_message(port))
+			dev_err(&port->rpdev->dev, "EOI error for line %u\n", line);
+	}
+}
+
+static int rpmsg_gpiochip_register(struct rpmsg_device *rpdev, u32 idx,
+				   struct device_node *np, const char *name)
+{
+	struct rpmsg_gpio_port *port;
+	struct gpio_irq_chip *girq;
+	struct gpio_chip *gc;
+	int ret;
+
+	port = devm_kzalloc(&rpdev->dev, sizeof(*port), GFP_KERNEL);
+	if (!port)
+		return -ENOMEM;
+
+	ret = devm_mutex_init(&rpdev->dev, &port->lock);
+	if (ret)
+		return ret;
+
+	ret = of_property_read_u32(np, "ngpios", &port->ngpios);
+	if (ret || port->ngpios > GPIOS_PER_PORT_MAX)
+		port->ngpios = GPIOS_PER_PORT_MAX;
+
+	port->send_msg = devm_kzalloc(&rpdev->dev,
+				      sizeof(*port->send_msg),
+				      GFP_KERNEL);
+
+	port->recv_msg = devm_kzalloc(&rpdev->dev,
+				      sizeof(*port->recv_msg),
+				      GFP_KERNEL);
+	if (!port->send_msg || !port->recv_msg)
+		return -ENOMEM;
+
+	INIT_WORK(&port->eoi_work, gpio_rpmsg_eoi_work);
+	init_completion(&port->cmd_complete);
+	port->rpdev = rpdev;
+	port->idx = idx;
+
+	gc = &port->gc;
+	gc->owner = THIS_MODULE;
+	gc->parent = &rpdev->dev;
+	gc->fwnode = of_fwnode_handle(np);
+	gc->ngpio = port->ngpios;
+	gc->base = -1;
+	gc->label = devm_kasprintf(&rpdev->dev, GFP_KERNEL, "%s-gpio%d",
+				   name, port->idx);
+
+	gc->direction_input = rpmsg_gpio_direction_input;
+	gc->direction_output = rpmsg_gpio_direction_output;
+	gc->get_direction = rpmsg_gpio_get_direction;
+	gc->get = rpmsg_gpio_get;
+	gc->set = rpmsg_gpio_set;
+
+	girq = &gc->irq;
+	gpio_irq_chip_set_chip(girq, &gpio_rpmsg_irq_chip);
+	girq->parent_handler = NULL;
+	girq->num_parents = 0;
+	girq->parents = NULL;
+	girq->default_type = IRQ_TYPE_NONE;
+	girq->handler = handle_fasteoi_irq;
+
+	dev_set_drvdata(&rpdev->dev, port);
+
+	return devm_gpiochip_add_data(&rpdev->dev, gc, port);
+}
+
+static const char *rpmsg_get_rproc_node_name(struct rpmsg_device *rpdev)
+{
+	const char *name = NULL;
+	struct device_node *np;
+	struct rproc *rproc;
+
+	rproc = rproc_get_by_child(&rpdev->dev);
+	if (!rproc)
+		return NULL;
+
+	np = of_node_get(rproc->dev.of_node);
+	if (!np && rproc->dev.parent)
+		np = of_node_get(rproc->dev.parent->of_node);
+
+	if (np) {
+		name = devm_kstrdup(&rpdev->dev, np->name, GFP_KERNEL);
+		of_node_put(np);
+	}
+
+	return name;
+}
+
+static struct device_node *
+rpmsg_find_child_by_compat_reg(struct device_node *parent, const char *compat, u32 idx)
+{
+	struct device_node *child;
+	u32 reg;
+
+	for_each_available_child_of_node(parent, child) {
+		if (!of_device_is_compatible(child, compat))
+			continue;
+
+		if (of_property_read_u32(child, "reg", &reg))
+			continue;
+
+		if (reg == idx)
+			return child;
+	}
+
+	return NULL;
+}
+
+static struct device_node *
+rpmsg_get_gpio_ofnode(struct rpmsg_device *rpdev, const char *compat, u32 idx)
+{
+	struct device_node *np_chan, *np_rproc, *np_rpmsg, *np_io;
+	struct rproc *rproc;
+
+	rproc = rproc_get_by_child(&rpdev->dev);
+	if (!rproc)
+		return NULL;
+
+	np_rproc = of_node_get(rproc->dev.of_node);
+	if (!np_rproc && rproc->dev.parent)
+		np_rproc = of_node_get(rproc->dev.parent->of_node);
+
+	if (!np_rproc)
+		return NULL;
+
+	np_rpmsg = of_get_child_by_name(np_rproc, "rpmsg");
+	of_node_put(np_rproc);
+	if (!np_rpmsg)
+		return NULL;
+
+	np_io = of_get_child_by_name(np_rpmsg, "rpmsg-io");
+	of_node_put(np_rpmsg);
+	if (!np_io)
+		return NULL;
+
+	np_chan = rpmsg_find_child_by_compat_reg(np_io, compat, idx);
+	of_node_put(np_io);
+
+	return np_chan;
+}
+
+static int rpmsg_get_gpio_index(const char *name, const char *prefix)
+{
+	const char *p;
+	int base = 10;
+	int val;
+
+	if (!name)
+		return -EINVAL;
+
+	/* Ensure correct prefix */
+	if (!str_has_prefix(name, prefix))
+		return -EINVAL;
+
+	/* Find last '-' */
+	p = strrchr(name, '-');
+
+	if (!p || *(p + 1) == '\0')
+		return -EINVAL;
+
+	if (p[1] == '0' && (p[2] == 'x' || p[2] == 'X'))
+		base = 16;
+
+	if (kstrtoint(p + 1, base, &val))
+		return -EINVAL;
+
+	return val;
+}
+
+static int rpmsg_gpio_channel_callback(struct rpmsg_device *rpdev, void *data,
+				       int len, void *priv, u32 src)
+{
+	struct rpmsg_gpio_response *msg = data;
+	struct rpmsg_gpio_port *port = NULL;
+	u32 line;
+
+	port = dev_get_drvdata(&rpdev->dev);
+
+	if (!port) {
+		dev_err(&rpdev->dev, "port is null\n");
+		return -EINVAL;
+	}
+
+	if (msg->type == GPIO_RPMSG_REPLY) {
+		*port->recv_msg = *msg;
+		complete(&port->cmd_complete);
+	} else if (msg->type == GPIO_RPMSG_NOTIFY) {
+		line = le16_to_cpu(msg->line);
+		generic_handle_domain_irq_safe(port->gc.irq.domain, line);
+	} else {
+		dev_err(&rpdev->dev, "wrong message type (0x%x)\n", msg->type);
+	}
+
+	return 0;
+}
+
+static int rpmsg_gpio_channel_probe(struct rpmsg_device *rpdev)
+{
+	struct device *dev = &rpdev->dev;
+	struct device_node *np;
+	const char *rproc_name;
+	int idx;
+
+	idx = rpmsg_get_gpio_index(rpdev->id.name, CHAN_NAME_PREFIX);
+	if (idx < 0)
+		return -EINVAL;
+
+	if (!dev->of_node) {
+		np = rpmsg_get_gpio_ofnode(rpdev, GPIO_COMPAT_STR, idx);
+		if (np) {
+			dev->of_node = np;
+			set_primary_fwnode(dev, of_fwnode_handle(np));
+			return -EPROBE_DEFER;
+		}
+	}
+
+	rproc_name = rpmsg_get_rproc_node_name(rpdev);
+
+	return rpmsg_gpiochip_register(rpdev, idx, dev->of_node, rproc_name);
+}
+
+static void rpmsg_gpio_channel_remove(struct rpmsg_device *rpdev)
+{
+	struct rpmsg_gpio_port *port = dev_get_drvdata(&rpdev->dev);
+
+	cancel_work_sync(&port->eoi_work);
+}
+
+static struct rpmsg_device_id rpmsg_gpio_channel_id_table[] = {
+	{ .name = CHAN_NAME_PREFIX },
+	{ },
+};
+MODULE_DEVICE_TABLE(rpmsg, rpmsg_gpio_channel_id_table);
+
+static struct rpmsg_driver rpmsg_gpio_channel_client = {
+	.callback	= rpmsg_gpio_channel_callback,
+	.id_table	= rpmsg_gpio_channel_id_table,
+	.probe		= rpmsg_gpio_channel_probe,
+	.remove		= rpmsg_gpio_channel_remove,
+	.drv.name	= KBUILD_MODNAME,
+};
+module_rpmsg_driver(rpmsg_gpio_channel_client);
+
+MODULE_AUTHOR("Shenwei Wang <shenwei.wang@nxp.com>");
+MODULE_DESCRIPTION("generic rpmsg gpio driver");
+MODULE_LICENSE("GPL");
-- 
2.43.0

[PATCH v15 5/5] arm64: dts: imx8ulp: Add rpmsg node under imx_rproc

[Shenwei Wang]

From: Shenwei Wang <shenwei.wang@nxp.com>

Add the RPMSG bus node along with its GPIO subnodes to the device
tree.

Enable remote device communication and GPIO control via RPMSG on
the i.MX platform.

Signed-off-by: Shenwei Wang <shenwei.wang@nxp.com>
---
 arch/arm64/boot/dts/freescale/imx8ulp.dtsi | 25 ++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/arch/arm64/boot/dts/freescale/imx8ulp.dtsi b/arch/arm64/boot/dts/freescale/imx8ulp.dtsi
index c6d1bb9edf38..5a62e0357fa7 100644
--- a/arch/arm64/boot/dts/freescale/imx8ulp.dtsi
+++ b/arch/arm64/boot/dts/freescale/imx8ulp.dtsi
@@ -190,6 +190,31 @@ scmi_sensor: protocol@15 {
 	cm33: remoteproc-cm33 {
 		compatible = "fsl,imx8ulp-cm33";
 		status = "disabled";
+
+		rpmsg {
+			rpmsg-io {
+				#address-cells = <1>;
+				#size-cells = <0>;
+
+				rpmsg_gpioa: gpio@0 {
+					compatible = "rpmsg-gpio";
+					reg = <0>;
+					gpio-controller;
+					#gpio-cells = <2>;
+					#interrupt-cells = <2>;
+					interrupt-controller;
+				};
+
+				rpmsg_gpiob: gpio@1 {
+					compatible = "rpmsg-gpio";
+					reg = <1>;
+					gpio-controller;
+					#gpio-cells = <2>;
+					#interrupt-cells = <2>;
+					interrupt-controller;
+				};
+			};
+		};
 	};
 
 	soc: soc@0 {
-- 
2.43.0

Re: [PATCH v15 4/5] gpio: rpmsg: add generic rpmsg GPIO driver

[Uwe Kleine-König]

[-- Attachment #1: Type: text/plain, Size: 510 bytes --]

Hello,

On Tue, Jul 21, 2026 at 03:46:47PM -0500, Shenwei Wang wrote:
> +#include <linux/mod_devicetable.h>
> [...]
> +#include <linux/rpmsg.h>

<linux/rpmsg.h> includes <linux/device-id/rpmsg.h> and thus provides
rpmsg_device_id already. So please drop the include for
<linux/mod_devicetable.h> which will go away soon.

> +static struct rpmsg_device_id rpmsg_gpio_channel_id_table[] = {
> +	{ .name = CHAN_NAME_PREFIX },
> +	{ },

no trailing comma after the list terminator please.

> +};

Best regards
Uwe

[-- Attachment #2: signature.asc --]
[-- Type: application/pgp-signature, Size: 488 bytes --]