[PATCH v2 2/2] remoteproc: k3-r5: Extend support to R5F clusters on AM64x SoCs

Suman Anna
2021-03-27T14:32:46Z

The K3 AM64x SoC family has a revised R5F sub-system and contains a
subset of the R5F clusters present on J721E SoCs. The K3 AM64x SoCs
only have two dual-core Arm R5F clusters/subsystems with 2 R5F cores
each present within the MAIN voltage domain (MAIN_R5FSS0 & MAIN_R5FSS1).

The revised IP has the following distinct features:
1. The R5FSS IP supports a new "Single-CPU" mode instead of the LockStep
mode on existing SoCs (AM65x, J721E or J7200). This mode is similar
to LockStep-mode on J7200 SoCs in terms of TCM usage without the
fault-tolerant safety feature provided by the LockStep mode.

The Core1 TCMs are combined with the Core0 TCMs effectively doubling
the amount of TCMs available in Single-CPU mode. The LockStep-mode
on previous AM65x and J721E SoCs could only use the Core0 TCMs. These
combined TCMs appear contiguous at the respective Core0 TCM addresses.
The code though is executed only on a single CPU (on Core0), and as
such, requires the halt signal to be programmed only for Core0, while
the resets need to be managed for both the cores.

2. TCMs are auto-initialized during module power-up, and the behavior
is programmable through a MMR bit. This feature is the same as on
the recent J7200 SoCs.

Extend the support to these clusters in the K3 R5F remoteproc driver
using AM64x specific compatibles. New TI-SCI flags and a unique cluster
mode are also needed for the cluster mode detection on these SoCs. The
reset assert and deassert sequence of both the cores in Single-CPU mode
is agnostic of the order, so the same LockStep reset and release sequences
are re-used.

The integration of these clusters is very much similar to existing SoCs
otherwise.

Signed-off-by: Suman Anna <s-anna@ti.com>
---
v2:
- Address a minor comment from Mathieu to drop the unnecessary hunk
double-checking the dt ti,cluster-mode values in k3_r5_probe()
v1: https://patchwork.kernel.org/project/linux-remoteproc/patch/20210318215842.8196-3-s-anna@ti.com/

drivers/remoteproc/ti_k3_r5_remoteproc.c | 149 ++++++++++++++++++-----
1 file changed, 120 insertions(+), 29 deletions(-)

diff --git a/drivers/remoteproc/ti_k3_r5_remoteproc.c b/drivers/remoteproc/ti_k3_r5_remoteproc.c
index 5cf8d030a1f0..2975393ebacd 100644
--- a/drivers/remoteproc/ti_k3_r5_remoteproc.c
+++ b/drivers/remoteproc/ti_k3_r5_remoteproc.c
@@ -40,6 +40,8 @@
#define PROC_BOOT_CFG_FLAG_R5_ATCM_EN 0x00002000
/* Available from J7200 SoCs onwards */
#define PROC_BOOT_CFG_FLAG_R5_MEM_INIT_DIS 0x00004000
+/* Applicable to only AM64x SoCs */
+#define PROC_BOOT_CFG_FLAG_R5_SINGLE_CORE 0x00008000

/* R5 TI-SCI Processor Control Flags */
#define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT 0x00000001
@@ -49,6 +51,8 @@
#define PROC_BOOT_STATUS_FLAG_R5_WFI 0x00000002
#define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED 0x00000004
#define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED 0x00000100
+/* Applicable to only AM64x SoCs */
+#define PROC_BOOT_STATUS_FLAG_R5_SINGLECORE_ONLY 0x00000200

/**
* struct k3_r5_mem - internal memory structure
@@ -64,19 +68,29 @@ struct k3_r5_mem {
size_t size;
};

+/*
+ * All cluster mode values are not applicable on all SoCs. The following
+ * are the modes supported on various SoCs:
+ * Split mode : AM65x, J721E, J7200 and AM64x SoCs
+ * LockStep mode : AM65x, J721E and J7200 SoCs
+ * Single-CPU mode : AM64x SoCs only
+ */
enum cluster_mode {
CLUSTER_MODE_SPLIT = 0,
CLUSTER_MODE_LOCKSTEP,
+ CLUSTER_MODE_SINGLECPU,
};

/**
* struct k3_r5_soc_data - match data to handle SoC variations
* @tcm_is_double: flag to denote the larger unified TCMs in certain modes
* @tcm_ecc_autoinit: flag to denote the auto-initialization of TCMs for ECC
+ * @single_cpu_mode: flag to denote if SoC/IP supports Single-CPU mode
*/
struct k3_r5_soc_data {
bool tcm_is_double;
bool tcm_ecc_autoinit;
+ bool single_cpu_mode;
};

/**
@@ -369,6 +383,13 @@ static inline int k3_r5_core_run(struct k3_r5_core *core)
* applicable cores to allow loading into the TCMs. The .prepare() ops is
* invoked by remoteproc core before any firmware loading, and is followed
* by the .start() ops after loading to actually let the R5 cores run.
+ *
+ * The Single-CPU mode on applicable SoCs (eg: AM64x) only uses Core0 to
+ * execute code, but combines the TCMs from both cores. The resets for both
+ * cores need to be released to make this possible, as the TCMs are in general
+ * private to each core. Only Core0 needs to be unhalted for running the
+ * cluster in this mode. The function uses the same reset logic as LockStep
+ * mode for this (though the behavior is agnostic of the reset release order).
*/
static int k3_r5_rproc_prepare(struct rproc *rproc)
{
@@ -386,7 +407,9 @@ static int k3_r5_rproc_prepare(struct rproc *rproc)
return ret;
mem_init_dis = !!(cfg & PROC_BOOT_CFG_FLAG_R5_MEM_INIT_DIS);

- ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
+ /* Re-use LockStep-mode reset logic for Single-CPU mode */
+ ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU) ?
k3_r5_lockstep_release(cluster) : k3_r5_split_release(core);
if (ret) {
dev_err(dev, "unable to enable cores for TCM loading, ret = %d\n",
@@ -427,6 +450,12 @@ static int k3_r5_rproc_prepare(struct rproc *rproc)
* cores. The cores themselves are only halted in the .stop() ops, and the
* .unprepare() ops is invoked by the remoteproc core after the remoteproc is
* stopped.
+ *
+ * The Single-CPU mode on applicable SoCs (eg: AM64x) combines the TCMs from
+ * both cores. The access is made possible only with releasing the resets for
+ * both cores, but with only Core0 unhalted. This function re-uses the same
+ * reset assert logic as LockStep mode for this mode (though the behavior is
+ * agnostic of the reset assert order).
*/
static int k3_r5_rproc_unprepare(struct rproc *rproc)
{
@@ -436,7 +465,9 @@ static int k3_r5_rproc_unprepare(struct rproc *rproc)
struct device *dev = kproc->dev;
int ret;

- ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
+ /* Re-use LockStep-mode reset logic for Single-CPU mode */
+ ret = (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU) ?
k3_r5_lockstep_reset(cluster) : k3_r5_split_reset(core);
if (ret)
dev_err(dev, "unable to disable cores, ret = %d\n", ret);
@@ -455,6 +486,10 @@ static int k3_r5_rproc_unprepare(struct rproc *rproc)
* first followed by Core0. The Split-mode requires that Core0 to be maintained
* always in a higher power state that Core1 (implying Core1 needs to be started
* always only after Core0 is started).
+ *
+ * The Single-CPU mode on applicable SoCs (eg: AM64x) only uses Core0 to execute
+ * code, so only Core0 needs to be unhalted. The function uses the same logic
+ * flow as Split-mode for this.
*/
static int k3_r5_rproc_start(struct rproc *rproc)
{
@@ -539,6 +574,10 @@ static int k3_r5_rproc_start(struct rproc *rproc)
* Core0 to be maintained always in a higher power state that Core1 (implying
* Core1 needs to be stopped first before Core0).
*
+ * The Single-CPU mode on applicable SoCs (eg: AM64x) only uses Core0 to execute
+ * code, so only Core0 needs to be halted. The function uses the same logic
+ * flow as Split-mode for this.
+ *
* Note that the R5F halt operation in general is not effective when the R5F
* core is running, but is needed to make sure the core won't run after
* deasserting the reset the subsequent time. The asserting of reset can
@@ -665,7 +704,9 @@ static const struct rproc_ops k3_r5_rproc_ops = {
*
* Each R5FSS has a cluster-level setting for configuring the processor
* subsystem either in a safety/fault-tolerant LockStep mode or a performance
- * oriented Split mode. Each R5F core has a number of settings to either
+ * oriented Split mode on most SoCs. A fewer SoCs support a non-safety mode
+ * as an alternate for LockStep mode that exercises only a single R5F core
+ * called Single-CPU mode. Each R5F core has a number of settings to either
* enable/disable each of the TCMs, control which TCM appears at the R5F core's
* address 0x0. These settings need to be configured before the resets for the
* corresponding core are released. These settings are all protected and managed
@@ -677,11 +718,13 @@ static const struct rproc_ops k3_r5_rproc_ops = {
* the cores are halted before the .prepare() step.
*
* The function is called from k3_r5_cluster_rproc_init() and is invoked either
- * once (in LockStep mode) or twice (in Split mode). Support for LockStep-mode
- * is dictated by an eFUSE register bit, and the config settings retrieved from
- * DT are adjusted accordingly as per the permitted cluster mode. All cluster
- * level settings like Cluster mode and TEINIT (exception handling state
- * dictating ARM or Thumb mode) can only be set and retrieved using Core0.
+ * once (in LockStep mode or Single-CPU modes) or twice (in Split mode). Support
+ * for LockStep-mode is dictated by an eFUSE register bit, and the config
+ * settings retrieved from DT are adjusted accordingly as per the permitted
+ * cluster mode. Another eFUSE register bit dictates if the R5F cluster only
+ * supports a Single-CPU mode. All cluster level settings like Cluster mode and
+ * TEINIT (exception handling state dictating ARM or Thumb mode) can only be set
+ * and retrieved using Core0.
*
* The function behavior is different based on the cluster mode. The R5F cores
* are configured independently as per their individual settings in Split mode.
@@ -700,10 +743,16 @@ static int k3_r5_rproc_configure(struct k3_r5_rproc *kproc)
u32 set_cfg = 0, clr_cfg = 0;
u64 boot_vec = 0;
bool lockstep_en;
+ bool single_cpu;
int ret;

core0 = list_first_entry(&cluster->cores, struct k3_r5_core, elem);
- core = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ? core0 : kproc->core;
+ if (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU) {
+ core = core0;
+ } else {
+ core = kproc->core;
+ }

ret = ti_sci_proc_get_status(core->tsp, &boot_vec, &cfg, &ctrl,
&stat);
@@ -713,23 +762,48 @@ static int k3_r5_rproc_configure(struct k3_r5_rproc *kproc)
dev_dbg(dev, "boot_vector = 0x%llx, cfg = 0x%x ctrl = 0x%x stat = 0x%x\n",
boot_vec, cfg, ctrl, stat);

+ /* check if only Single-CPU mode is supported on applicable SoCs */
+ if (cluster->soc_data->single_cpu_mode) {
+ single_cpu =
+ !!(stat & PROC_BOOT_STATUS_FLAG_R5_SINGLECORE_ONLY);
+ if (single_cpu && cluster->mode == CLUSTER_MODE_SPLIT) {
+ dev_err(cluster->dev, "split-mode not permitted, force configuring for single-cpu mode\n");
+ cluster->mode = CLUSTER_MODE_SINGLECPU;
+ }
+ goto config;
+ }
+
+ /* check conventional LockStep vs Split mode configuration */
lockstep_en = !!(stat & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED);
if (!lockstep_en && cluster->mode == CLUSTER_MODE_LOCKSTEP) {
dev_err(cluster->dev, "lockstep mode not permitted, force configuring for split-mode\n");
cluster->mode = CLUSTER_MODE_SPLIT;
}

+config:
/* always enable ARM mode and set boot vector to 0 */
boot_vec = 0x0;
if (core == core0) {
clr_cfg = PROC_BOOT_CFG_FLAG_R5_TEINIT;
- /*
- * LockStep configuration bit is Read-only on Split-mode _only_
- * devices and system firmware will NACK any requests with the
- * bit configured, so program it only on permitted devices
- */
- if (lockstep_en)
- clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
+ if (cluster->soc_data->single_cpu_mode) {
+ /*
+ * Single-CPU configuration bit can only be configured
+ * on Core0 and system firmware will NACK any requests
+ * with the bit configured, so program it only on
+ * permitted cores
+ */
+ if (cluster->mode == CLUSTER_MODE_SINGLECPU)
+ set_cfg = PROC_BOOT_CFG_FLAG_R5_SINGLE_CORE;
+ } else {
+ /*
+ * LockStep configuration bit is Read-only on Split-mode
+ * _only_ devices and system firmware will NACK any
+ * requests with the bit configured, so program it only
+ * on permitted devices
+ */
+ if (lockstep_en)
+ clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
+ }
}

if (core->atcm_enable)
@@ -894,12 +968,12 @@ static void k3_r5_reserved_mem_exit(struct k3_r5_rproc *kproc)
* cores are usable in Split-mode, but only the Core0 TCMs can be used in
* LockStep-mode. The newer revisions of the R5FSS IP maximizes these TCMs by
* leveraging the Core1 TCMs as well in certain modes where they would have
- * otherwise been unusable (Eg: LockStep-mode on J7200 SoCs). This is done by
- * making a Core1 TCM visible immediately after the corresponding Core0 TCM.
- * The SoC memory map uses the larger 64 KB sizes for the Core0 TCMs, and the
- * dts representation reflects this increased size on supported SoCs. The Core0
- * TCM sizes therefore have to be adjusted to only half the original size in
- * Split mode.
+ * otherwise been unusable (Eg: LockStep-mode on J7200 SoCs, Single-CPU mode on
+ * AM64x SoCs). This is done by making a Core1 TCM visible immediately after the
+ * corresponding Core0 TCM. The SoC memory map uses the larger 64 KB sizes for
+ * the Core0 TCMs, and the dts representation reflects this increased size on
+ * supported SoCs. The Core0 TCM sizes therefore have to be adjusted to only
+ * half the original size in Split mode.
*/
static void k3_r5_adjust_tcm_sizes(struct k3_r5_rproc *kproc)
{
@@ -909,6 +983,7 @@ static void k3_r5_adjust_tcm_sizes(struct k3_r5_rproc *kproc)
struct k3_r5_core *core0;

if (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU ||
!cluster->soc_data->tcm_is_double)
return;

@@ -987,8 +1062,9 @@ static int k3_r5_cluster_rproc_init(struct platform_device *pdev)
goto err_add;
}

- /* create only one rproc in lockstep mode */
- if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
+ /* create only one rproc in lockstep mode or single-cpu mode */
+ if (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU)
break;
}

@@ -1020,11 +1096,12 @@ static void k3_r5_cluster_rproc_exit(void *data)
struct rproc *rproc;

/*
- * lockstep mode has only one rproc associated with first core, whereas
- * split-mode has two rprocs associated with each core, and requires
- * that core1 be powered down first
+ * lockstep mode and single-cpu modes have only one rproc associated
+ * with first core, whereas split-mode has two rprocs associated with
+ * each core, and requires that core1 be powered down first
*/
- core = (cluster->mode == CLUSTER_MODE_LOCKSTEP) ?
+ core = (cluster->mode == CLUSTER_MODE_LOCKSTEP ||
+ cluster->mode == CLUSTER_MODE_SINGLECPU) ?
list_first_entry(&cluster->cores, struct k3_r5_core, elem) :
list_last_entry(&cluster->cores, struct k3_r5_core, elem);

@@ -1396,7 +1473,12 @@ static int k3_r5_probe(struct platform_device *pdev)
return -ENOMEM;

cluster->dev = dev;
- cluster->mode = CLUSTER_MODE_LOCKSTEP;
+ /*
+ * default to most common efuse configurations - Split-mode on AM64x
+ * and LockStep-mode on all others
+ */
+ cluster->mode = data->single_cpu_mode ?
+ CLUSTER_MODE_SPLIT : CLUSTER_MODE_LOCKSTEP;
cluster->soc_data = data;
INIT_LIST_HEAD(&cluster->cores);

@@ -1450,17 +1532,26 @@ static int k3_r5_probe(struct platform_device *pdev)
static const struct k3_r5_soc_data am65_j721e_soc_data = {
.tcm_is_double = false,
.tcm_ecc_autoinit = false,
+ .single_cpu_mode = false,
};

static const struct k3_r5_soc_data j7200_soc_data = {
.tcm_is_double = true,
.tcm_ecc_autoinit = true,
+ .single_cpu_mode = false,
+};
+
+static const struct k3_r5_soc_data am64_soc_data = {
+ .tcm_is_double = true,
+ .tcm_ecc_autoinit = true,
+ .single_cpu_mode = true,
};

static const struct of_device_id k3_r5_of_match[] = {
{ .compatible = "ti,am654-r5fss", .data = &am65_j721e_soc_data, },
{ .compatible = "ti,j721e-r5fss", .data = &am65_j721e_soc_data, },
{ .compatible = "ti,j7200-r5fss", .data = &j7200_soc_data, },
+ { .compatible = "ti,am64-r5fss", .data = &am64_soc_data, },
{ /* sentinel */ },
};
MODULE_DEVICE_TABLE(of, k3_r5_of_match);
--
2.30.1