Re: [PATCHv7 14/15] remoteproc/omap: Add watchdog functionality for remote processors

Mathieu Poirier
2020-03-04T22:33:16Z

On Fri, Feb 21, 2020 at 12:19:35PM +0200, Tero Kristo wrote:
> From: Suman Anna <s-anna@ti.com>
>
> Remote processors can be stuck in a loop, and may not be recoverable
> if they do not have a built-in watchdog. The watchdog implementation
> for OMAP remote processors uses external gptimers that can be used
> to interrupt both the Linux host as well as the remote processor.
>
> Each remote processor is responsible for refreshing the timer during
> normal behavior - during OS task scheduling or entering the idle loop
> properly. During a watchdog condition (executing a tight loop causing
> no scheduling), the host processor gets interrupts and schedules a
> recovery for the corresponding remote processor. The remote processor
> may also get interrupted to be able to print a back trace.
>
> A menuconfig option has also been added to enable/disable the Watchdog
> functionality, with the default as disabled.
>
> Signed-off-by: Suman Anna <s-anna@ti.com>
> Signed-off-by: Tero Kristo <t-kristo@ti.com>
> ---
> v7:
> - minor kerneldoc updates
>
> drivers/remoteproc/Kconfig | 12 +++
> drivers/remoteproc/omap_remoteproc.c | 153 ++++++++++++++++++++++++---
> 2 files changed, 153 insertions(+), 12 deletions(-)
>
> diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
> index b52abc2268cc..5f33358eb2f1 100644
> --- a/drivers/remoteproc/Kconfig
> +++ b/drivers/remoteproc/Kconfig
> @@ -52,6 +52,18 @@ config OMAP_REMOTEPROC
> It's safe to say N here if you're not interested in multimedia
> offloading or just want a bare minimum kernel.
>
> +config OMAP_REMOTEPROC_WATCHDOG
> + bool "OMAP remoteproc watchdog timer"
> + depends on OMAP_REMOTEPROC
> + default n
> + help
> + Say Y here to enable watchdog timer for remote processors.
> +
> + This option controls the watchdog functionality for the remote
> + processors in OMAP. Dedicated OMAP DMTimers are used by the remote
> + processors and triggers the timer interrupt upon a watchdog
> + detection.
> +
> config WKUP_M3_RPROC
> tristate "AMx3xx Wakeup M3 remoteproc support"
> depends on SOC_AM33XX || SOC_AM43XX
> diff --git a/drivers/remoteproc/omap_remoteproc.c b/drivers/remoteproc/omap_remoteproc.c
> index 7dcb5da0d940..bae01a9f8afc 100644
> --- a/drivers/remoteproc/omap_remoteproc.c
> +++ b/drivers/remoteproc/omap_remoteproc.c
> @@ -24,6 +24,7 @@
> #include <linux/platform_device.h>
> #include <linux/pm_runtime.h>
> #include <linux/dma-mapping.h>
> +#include <linux/interrupt.h>
> #include <linux/remoteproc.h>
> #include <linux/mailbox_client.h>
> #include <linux/omap-iommu.h>
> @@ -72,10 +73,12 @@ struct omap_rproc_mem {
> * struct omap_rproc_timer - data structure for a timer used by a omap rproc
> * @odt: timer pointer
> * @timer_ops: OMAP dmtimer ops for @odt timer
> + * @irq: timer irq
> */
> struct omap_rproc_timer {
> struct omap_dm_timer *odt;
> const struct omap_dm_timer_ops *timer_ops;
> + int irq;
> };
>
> /**
> @@ -86,6 +89,7 @@ struct omap_rproc_timer {
> * @mem: internal memory regions data
> * @num_mems: number of internal memory regions
> * @num_timers: number of rproc timer(s)
> + * @num_wd_timers: number of rproc watchdog timers
> * @timers: timer(s) info used by rproc
> * @autosuspend_delay: auto-suspend delay value to be used for runtime pm
> * @need_resume: if true a resume is needed in the system resume callback
> @@ -102,6 +106,7 @@ struct omap_rproc {
> struct omap_rproc_mem *mem;
> int num_mems;
> int num_timers;
> + int num_wd_timers;
> struct omap_rproc_timer *timers;
> int autosuspend_delay;
> bool need_resume;
> @@ -219,6 +224,79 @@ static inline int omap_rproc_release_timer(struct omap_rproc_timer *timer)
> return timer->timer_ops->free(timer->odt);
> }
>
> +/**
> + * omap_rproc_get_timer_irq() - get the irq for a timer
> + * @timer: handle to a OMAP rproc timer
> + *
> + * This function is used to get the irq associated with a watchdog timer. The
> + * function is called by the OMAP remoteproc driver to register a interrupt
> + * handler to handle watchdog events on the remote processor.
> + *
> + * Return: irq id on success, otherwise a failure as returned by DMTimer ops
> + */
> +static inline int omap_rproc_get_timer_irq(struct omap_rproc_timer *timer)
> +{
> + return timer->timer_ops->get_irq(timer->odt);
> +}
> +
> +/**
> + * omap_rproc_ack_timer_irq() - acknowledge a timer irq
> + * @timer: handle to a OMAP rproc timer
> + *
> + * This function is used to clear the irq associated with a watchdog timer. The
> + * The function is called by the OMAP remoteproc upon a watchdog event on the
> + * remote processor to clear the interrupt status of the watchdog timer.
> + */
> +static inline void omap_rproc_ack_timer_irq(struct omap_rproc_timer *timer)
> +{
> + timer->timer_ops->write_status(timer->odt, OMAP_TIMER_INT_OVERFLOW);
> +}
> +
> +/**
> + * omap_rproc_watchdog_isr() - Watchdog ISR handler for remoteproc device
> + * @irq: IRQ number associated with a watchdog timer
> + * @data: IRQ handler data
> + *
> + * This ISR routine executes the required necessary low-level code to
> + * acknowledge a watchdog timer interrupt. There can be multiple watchdog
> + * timers associated with a rproc (like IPUs which have 2 watchdog timers,
> + * one per Cortex M3/M4 core), so a lookup has to be performed to identify
> + * the timer to acknowledge its interrupt.
> + *
> + * The function also invokes rproc_report_crash to report the watchdog event
> + * to the remoteproc driver core, to trigger a recovery.
> + *
> + * Return: IRQ_HANDLED on success, otherwise IRQ_NONE
> + */
> +static irqreturn_t omap_rproc_watchdog_isr(int irq, void *data)
> +{
> + struct rproc *rproc = data;
> + struct omap_rproc *oproc = rproc->priv;
> + struct device *dev = rproc->dev.parent;
> + struct omap_rproc_timer *timers = oproc->timers;
> + struct omap_rproc_timer *wd_timer = NULL;
> + int num_timers = oproc->num_timers + oproc->num_wd_timers;
> + int i;
> +
> + for (i = oproc->num_timers; i < num_timers; i++) {
> + if (timers[i].irq > 0 && irq == timers[i].irq) {
> + wd_timer = &timers[i];
> + break;
> + }
> + }
> +
> + if (!wd_timer) {
> + dev_err(dev, "invalid timer\n");
> + return IRQ_NONE;
> + }
> +
> + omap_rproc_ack_timer_irq(wd_timer);
> +
> + rproc_report_crash(rproc, RPROC_WATCHDOG);
> +
> + return IRQ_HANDLED;
> +}
> +
> /**
> * omap_rproc_enable_timers() - enable the timers for a remoteproc
> * @rproc: handle of a remote processor
> @@ -242,19 +320,26 @@ static int omap_rproc_enable_timers(struct rproc *rproc, bool configure)
> struct omap_rproc_timer *timers = oproc->timers;
> struct device *dev = rproc->dev.parent;
> struct device_node *np = NULL;
> + int num_timers = oproc->num_timers + oproc->num_wd_timers;
>
> - if (!oproc->num_timers)
> + if (!num_timers)
> return 0;
>
> if (!configure)
> goto start_timers;
>
> - for (i = 0; i < oproc->num_timers; i++) {
> - np = of_parse_phandle(dev->of_node, "ti,timers", i);
> + for (i = 0; i < num_timers; i++) {
> + if (i < oproc->num_timers)
> + np = of_parse_phandle(dev->of_node, "ti,timers", i);
> + else
> + np = of_parse_phandle(dev->of_node,
> + "ti,watchdog-timers",
> + (i - oproc->num_timers));
> if (!np) {
> ret = -ENXIO;
> dev_err(dev, "device node lookup for timer at index %d failed: %d\n",
> - i, ret);
> + i < oproc->num_timers ? i :
> + i - oproc->num_timers, ret);
> goto free_timers;
> }
>
> @@ -277,12 +362,14 @@ static int omap_rproc_enable_timers(struct rproc *rproc, bool configure)
> if (!timer_ops || !timer_ops->request_by_node ||
> !timer_ops->set_source || !timer_ops->set_load ||
> !timer_ops->free || !timer_ops->start ||
> - !timer_ops->stop) {
> + !timer_ops->stop || !timer_ops->get_irq ||
> + !timer_ops->write_status) {
> ret = -EINVAL;
> dev_err(dev, "device does not have required timer ops\n");
> goto put_node;
> }
>
> + timers[i].irq = -1;
> timers[i].timer_ops = timer_ops;
> ret = omap_rproc_request_timer(dev, np, &timers[i]);
> if (ret) {
> @@ -291,10 +378,33 @@ static int omap_rproc_enable_timers(struct rproc *rproc, bool configure)
> goto put_node;
> }
> of_node_put(np);
> +
> + if (i >= oproc->num_timers) {

We already have num_wd_timers and oproc->timers is allocated via
devm_kcalloc()... I think the code would be much easier to ready and maintain
if watchdog timers where held in their own array.

> + timers[i].irq = omap_rproc_get_timer_irq(&timers[i]);
> + if (timers[i].irq < 0) {
> + dev_err(dev, "get_irq for timer %p failed: %d\n",
> + np, timers[i].irq);
> + ret = -EBUSY;
> + goto free_timers;
> + }
> +
> + ret = request_irq(timers[i].irq,
> + omap_rproc_watchdog_isr, IRQF_SHARED,
> + "rproc-wdt", rproc);
> + if (ret) {
> + dev_err(dev, "error requesting irq for timer %p\n",
> + np);
> + omap_rproc_release_timer(&timers[i]);
> + timers[i].odt = NULL;
> + timers[i].timer_ops = NULL;
> + timers[i].irq = -1;
> + goto free_timers;
> + }
> + }
> }
>
> start_timers:
> - for (i = 0; i < oproc->num_timers; i++) {
> + for (i = 0; i < num_timers; i++) {
> ret = omap_rproc_start_timer(&timers[i]);
> if (ret) {
> dev_err(dev, "start timer %p failed failed: %d\n", np,
> @@ -316,9 +426,12 @@ static int omap_rproc_enable_timers(struct rproc *rproc, bool configure)
> of_node_put(np);
> free_timers:
> while (i--) {
> + if (i >= oproc->num_timers)
> + free_irq(timers[i].irq, rproc);
> omap_rproc_release_timer(&timers[i]);
> timers[i].odt = NULL;
> timers[i].timer_ops = NULL;
> + timers[i].irq = -1;
> }
>
> return ret;
> @@ -341,16 +454,20 @@ static int omap_rproc_disable_timers(struct rproc *rproc, bool configure)
> int i;
> struct omap_rproc *oproc = rproc->priv;
> struct omap_rproc_timer *timers = oproc->timers;
> + int num_timers = oproc->num_timers + oproc->num_wd_timers;
>
> - if (!oproc->num_timers)
> + if (!num_timers)
> return 0;
>
> - for (i = 0; i < oproc->num_timers; i++) {
> + for (i = 0; i < num_timers; i++) {
> omap_rproc_stop_timer(&timers[i]);
> if (configure) {
> + if (i >= oproc->num_timers)
> + free_irq(timers[i].irq, rproc);
> omap_rproc_release_timer(&timers[i]);
> timers[i].odt = NULL;
> timers[i].timer_ops = NULL;
> + timers[i].irq = -1;
> }
> }
>
> @@ -1097,6 +1214,7 @@ static int omap_rproc_probe(struct platform_device *pdev)
> struct omap_rproc *oproc;
> struct rproc *rproc;
> const char *firmware;
> + int num_timers;
> int ret;
> struct reset_control *reset;
>
> @@ -1149,8 +1267,19 @@ static int omap_rproc_probe(struct platform_device *pdev)
> oproc->num_timers = 0;
> }
>
> - if (oproc->num_timers) {
> - oproc->timers = devm_kcalloc(&pdev->dev, oproc->num_timers,
> +#ifdef CONFIG_OMAP_REMOTEPROC_WATCHDOG
> + oproc->num_wd_timers =
> + of_count_phandle_with_args(np, "ti,watchdog-timers", NULL);
> + if (oproc->num_wd_timers <= 0) {
> + dev_dbg(&pdev->dev, "device does not have watchdog timers, status = %d\n",
> + oproc->num_wd_timers);
> + oproc->num_wd_timers = 0;
> + }
> +#endif

Please turn this into a function with the implementation conditional on the
#ifdef.

> +
> + if (oproc->num_timers || oproc->num_wd_timers) {
> + num_timers = oproc->num_timers + oproc->num_wd_timers;
> + oproc->timers = devm_kcalloc(&pdev->dev, num_timers,
> sizeof(*oproc->timers),
> GFP_KERNEL);
> if (!oproc->timers) {
> @@ -1158,8 +1287,8 @@ static int omap_rproc_probe(struct platform_device *pdev)
> goto free_rproc;
> }
>
> - dev_dbg(&pdev->dev, "device has %d tick timers\n",
> - oproc->num_timers);
> + dev_dbg(&pdev->dev, "device has %d tick timers and %d watchdog timers\n",
> + oproc->num_timers, oproc->num_wd_timers);
> }
>
> init_completion(&oproc->pm_comp);
> --
> 2.17.1
>
> --
> Texas Instruments Finland Oy, Porkkalankatu 22, 00180 Helsinki. Y-tunnus/Business ID: 0615521-4. Kotipaikka/Domicile: Helsinki