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/* * Remote Processor Framework * * Copyright(c) 2011 Texas Instruments, Inc. * Copyright(c) 2011 Google, Inc. * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * * Neither the name Texas Instruments nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #ifndef REMOTEPROC_H #define REMOTEPROC_H #include <linux/types.h> #include <linux/mutex.h> #include <linux/virtio.h> #include <linux/completion.h> #include <linux/idr.h> #include <linux/of.h> /** * struct resource_table - firmware resource table header * @ver: version number * @num: number of resource entries * @reserved: reserved (must be zero) * @offset: array of offsets pointing at the various resource entries * * A resource table is essentially a list of system resources required * by the remote processor. It may also include configuration entries. * If needed, the remote processor firmware should contain this table * as a dedicated ".resource_table" ELF section. * * Some resources entries are mere announcements, where the host is informed * of specific remoteproc configuration. Other entries require the host to * do something (e.g. allocate a system resource). Sometimes a negotiation * is expected, where the firmware requests a resource, and once allocated, * the host should provide back its details (e.g. address of an allocated * memory region). * * The header of the resource table, as expressed by this structure, * contains a version number (should we need to change this format in the * future), the number of available resource entries, and their offsets * in the table. * * Immediately following this header are the resource entries themselves, * each of which begins with a resource entry header (as described below). */ struct resource_table { u32 ver; u32 num; u32 reserved[2]; u32 offset[0]; } __packed; /** * struct fw_rsc_hdr - firmware resource entry header * @type: resource type * @data: resource data * * Every resource entry begins with a 'struct fw_rsc_hdr' header providing * its @type. The content of the entry itself will immediately follow * this header, and it should be parsed according to the resource type. */ struct fw_rsc_hdr { u32 type; u8 data[0]; } __packed; /** * enum fw_resource_type - types of resource entries * * @RSC_CARVEOUT: request for allocation of a physically contiguous * memory region. * @RSC_DEVMEM: request to iommu_map a memory-based peripheral. * @RSC_TRACE: announces the availability of a trace buffer into which * the remote processor will be writing logs. * @RSC_VDEV: declare support for a virtio device, and serve as its * virtio header. * @RSC_LAST: just keep this one at the end of standard resources * @RSC_VENDOR_START: start of the vendor specific resource types range * @RSC_VENDOR_END: end of the vendor specific resource types range * * For more details regarding a specific resource type, please see its * dedicated structure below. * * Please note that these values are used as indices to the rproc_handle_rsc * lookup table, so please keep them sane. Moreover, @RSC_LAST is used to * check the validity of an index before the lookup table is accessed, so * please update it as needed. */ enum fw_resource_type { RSC_CARVEOUT = 0, RSC_DEVMEM = 1, RSC_TRACE = 2, RSC_VDEV = 3, RSC_LAST = 4, RSC_VENDOR_START = 128, RSC_VENDOR_END = 512, }; #define FW_RSC_ADDR_ANY (-1) /** * struct fw_rsc_carveout - physically contiguous memory request * @da: device address * @pa: physical address * @len: length (in bytes) * @flags: iommu protection flags * @reserved: reserved (must be zero) * @name: human-readable name of the requested memory region * * This resource entry requests the host to allocate a physically contiguous * memory region. * * These request entries should precede other firmware resource entries, * as other entries might request placing other data objects inside * these memory regions (e.g. data/code segments, trace resource entries, ...). * * Allocating memory this way helps utilizing the reserved physical memory * (e.g. CMA) more efficiently, and also minimizes the number of TLB entries * needed to map it (in case @rproc is using an IOMMU). Reducing the TLB * pressure is important; it may have a substantial impact on performance. * * If the firmware is compiled with static addresses, then @da should specify * the expected device address of this memory region. If @da is set to * FW_RSC_ADDR_ANY, then the host will dynamically allocate it, and then * overwrite @da with the dynamically allocated address. * * We will always use @da to negotiate the device addresses, even if it * isn't using an iommu. In that case, though, it will obviously contain * physical addresses. * * Some remote processors needs to know the allocated physical address * even if they do use an iommu. This is needed, e.g., if they control * hardware accelerators which access the physical memory directly (this * is the case with OMAP4 for instance). In that case, the host will * overwrite @pa with the dynamically allocated physical address. * Generally we don't want to expose physical addresses if we don't have to * (remote processors are generally _not_ trusted), so we might want to * change this to happen _only_ when explicitly required by the hardware. * * @flags is used to provide IOMMU protection flags, and @name should * (optionally) contain a human readable name of this carveout region * (mainly for debugging purposes). */ struct fw_rsc_carveout { u32 da; u32 pa; u32 len; u32 flags; u32 reserved; u8 name[32]; } __packed; /** * struct fw_rsc_devmem - iommu mapping request * @da: device address * @pa: physical address * @len: length (in bytes) * @flags: iommu protection flags * @reserved: reserved (must be zero) * @name: human-readable name of the requested region to be mapped * * This resource entry requests the host to iommu map a physically contiguous * memory region. This is needed in case the remote processor requires * access to certain memory-based peripherals; _never_ use it to access * regular memory. * * This is obviously only needed if the remote processor is accessing memory * via an iommu. * * @da should specify the required device address, @pa should specify * the physical address we want to map, @len should specify the size of * the mapping and @flags is the IOMMU protection flags. As always, @name may * (optionally) contain a human readable name of this mapping (mainly for * debugging purposes). * * Note: at this point we just "trust" those devmem entries to contain valid * physical addresses, but this isn't safe and will be changed: eventually we * want remoteproc implementations to provide us ranges of physical addresses * the firmware is allowed to request, and not allow firmwares to request * access to physical addresses that are outside those ranges. */ struct fw_rsc_devmem { u32 da; u32 pa; u32 len; u32 flags; u32 reserved; u8 name[32]; } __packed; /** * struct fw_rsc_trace - trace buffer declaration * @da: device address * @len: length (in bytes) * @reserved: reserved (must be zero) * @name: human-readable name of the trace buffer * * This resource entry provides the host information about a trace buffer * into which the remote processor will write log messages. * * @da specifies the device address of the buffer, @len specifies * its size, and @name may contain a human readable name of the trace buffer. * * After booting the remote processor, the trace buffers are exposed to the * user via debugfs entries (called trace0, trace1, etc..). */ struct fw_rsc_trace { u32 da; u32 len; u32 reserved; u8 name[32]; } __packed; /** * struct fw_rsc_vdev_vring - vring descriptor entry * @da: device address * @align: the alignment between the consumer and producer parts of the vring * @num: num of buffers supported by this vring (must be power of two) * @notifyid is a unique rproc-wide notify index for this vring. This notify * index is used when kicking a remote processor, to let it know that this * vring is triggered. * @pa: physical address * * This descriptor is not a resource entry by itself; it is part of the * vdev resource type (see below). * * Note that @da should either contain the device address where * the remote processor is expecting the vring, or indicate that * dynamically allocation of the vring's device address is supported. */ struct fw_rsc_vdev_vring { u32 da; u32 align; u32 num; u32 notifyid; u32 pa; } __packed; /** * struct fw_rsc_vdev - virtio device header * @id: virtio device id (as in virtio_ids.h) * @notifyid is a unique rproc-wide notify index for this vdev. This notify * index is used when kicking a remote processor, to let it know that the * status/features of this vdev have changes. * @dfeatures specifies the virtio device features supported by the firmware * @gfeatures is a place holder used by the host to write back the * negotiated features that are supported by both sides. * @config_len is the size of the virtio config space of this vdev. The config * space lies in the resource table immediate after this vdev header. * @status is a place holder where the host will indicate its virtio progress. * @num_of_vrings indicates how many vrings are described in this vdev header * @reserved: reserved (must be zero) * @vring is an array of @num_of_vrings entries of 'struct fw_rsc_vdev_vring'. * * This resource is a virtio device header: it provides information about * the vdev, and is then used by the host and its peer remote processors * to negotiate and share certain virtio properties. * * By providing this resource entry, the firmware essentially asks remoteproc * to statically allocate a vdev upon registration of the rproc (dynamic vdev * allocation is not yet supported). * * Note: unlike virtualization systems, the term 'host' here means * the Linux side which is running remoteproc to control the remote * processors. We use the name 'gfeatures' to comply with virtio's terms, * though there isn't really any virtualized guest OS here: it's the host * which is responsible for negotiating the final features. * Yeah, it's a bit confusing. * * Note: immediately following this structure is the virtio config space for * this vdev (which is specific to the vdev; for more info, read the virtio * spec). the size of the config space is specified by @config_len. */ struct fw_rsc_vdev { u32 id; u32 notifyid; u32 dfeatures; u32 gfeatures; u32 config_len; u8 status; u8 num_of_vrings; u8 reserved[2]; struct fw_rsc_vdev_vring vring[0]; } __packed; struct rproc; /** * struct rproc_mem_entry - memory entry descriptor * @va: virtual address * @dma: dma address * @len: length, in bytes * @da: device address * @release: release associated memory * @priv: associated data * @name: associated memory region name (optional) * @node: list node * @rsc_offset: offset in resource table * @flags: iommu protection flags * @of_resm_idx: reserved memory phandle index * @alloc: specific memory allocator function */ struct rproc_mem_entry { void *va; dma_addr_t dma; int len; u32 da; void *priv; char name[32]; struct list_head node; u32 rsc_offset; u32 flags; u32 of_resm_idx; int (*alloc)(struct rproc *rproc, struct rproc_mem_entry *mem); int (*release)(struct rproc *rproc, struct rproc_mem_entry *mem); }; struct firmware; /** * enum rsc_handling_status - return status of rproc_ops handle_rsc hook * @RSC_HANDLED: resource was handled * @RSC_IGNORED: resource was ignored */ enum rsc_handling_status { RSC_HANDLED = 0, RSC_IGNORED = 1, }; /** * struct rproc_ops - platform-specific device handlers * @start: power on the device and boot it * @stop: power off the device * @kick: kick a virtqueue (virtqueue id given as a parameter) * @da_to_va: optional platform hook to perform address translations * @parse_fw: parse firmware to extract information (e.g. resource table) * @handle_rsc: optional platform hook to handle vendor resources. Should return * RSC_HANDLED if resource was handled, RSC_IGNORED if not handled and a * negative value on error * @load_rsc_table: load resource table from firmware image * @find_loaded_rsc_table: find the loaded resouce table * @load: load firmware to memory, where the remote processor * expects to find it * @sanity_check: sanity check the fw image * @get_boot_addr: get boot address to entry point specified in firmware */ struct rproc_ops { int (*start)(struct rproc *rproc); int (*stop)(struct rproc *rproc); void (*kick)(struct rproc *rproc, int vqid); void * (*da_to_va)(struct rproc *rproc, u64 da, int len); int (*parse_fw)(struct rproc *rproc, const struct firmware *fw); int (*handle_rsc)(struct rproc *rproc, u32 rsc_type, void *rsc, int offset, int avail); struct resource_table *(*find_loaded_rsc_table)( struct rproc *rproc, const struct firmware *fw); int (*load)(struct rproc *rproc, const struct firmware *fw); int (*sanity_check)(struct rproc *rproc, const struct firmware *fw); u32 (*get_boot_addr)(struct rproc *rproc, const struct firmware *fw); }; /** * enum rproc_state - remote processor states * @RPROC_OFFLINE: device is powered off * @RPROC_SUSPENDED: device is suspended; needs to be woken up to receive * a message. * @RPROC_RUNNING: device is up and running * @RPROC_CRASHED: device has crashed; need to start recovery * @RPROC_DELETED: device is deleted * @RPROC_LAST: just keep this one at the end * * Please note that the values of these states are used as indices * to rproc_state_string, a state-to-name lookup table, * so please keep the two synchronized. @RPROC_LAST is used to check * the validity of an index before the lookup table is accessed, so * please update it as needed too. */ enum rproc_state { RPROC_OFFLINE = 0, RPROC_SUSPENDED = 1, RPROC_RUNNING = 2, RPROC_CRASHED = 3, RPROC_DELETED = 4, RPROC_LAST = 5, }; /** * enum rproc_crash_type - remote processor crash types * @RPROC_MMUFAULT: iommu fault * @RPROC_WATCHDOG: watchdog bite * @RPROC_FATAL_ERROR fatal error * * Each element of the enum is used as an array index. So that, the value of * the elements should be always something sane. * * Feel free to add more types when needed. */ enum rproc_crash_type { RPROC_MMUFAULT, RPROC_WATCHDOG, RPROC_FATAL_ERROR, }; /** * struct rproc_dump_segment - segment info from ELF header * @node: list node related to the rproc segment list * @da: device address of the segment * @size: size of the segment * @priv: private data associated with the dump_segment * @dump: custom dump function to fill device memory segment associated * with coredump */ struct rproc_dump_segment { struct list_head node; dma_addr_t da; size_t size; void *priv; void (*dump)(struct rproc *rproc, struct rproc_dump_segment *segment, void *dest); loff_t offset; }; /** * struct rproc - represents a physical remote processor device * @node: list node of this rproc object * @domain: iommu domain * @name: human readable name of the rproc * @firmware: name of firmware file to be loaded * @priv: private data which belongs to the platform-specific rproc module * @ops: platform-specific start/stop rproc handlers * @dev: virtual device for refcounting and common remoteproc behavior * @power: refcount of users who need this rproc powered up * @state: state of the device * @lock: lock which protects concurrent manipulations of the rproc * @dbg_dir: debugfs directory of this rproc device * @traces: list of trace buffers * @num_traces: number of trace buffers * @carveouts: list of physically contiguous memory allocations * @mappings: list of iommu mappings we initiated, needed on shutdown * @bootaddr: address of first instruction to boot rproc with (optional) * @rvdevs: list of remote virtio devices * @subdevs: list of subdevices, to following the running state * @notifyids: idr for dynamically assigning rproc-wide unique notify ids * @index: index of this rproc device * @crash_handler: workqueue for handling a crash * @crash_cnt: crash counter * @recovery_disabled: flag that state if recovery was disabled * @max_notifyid: largest allocated notify id. * @table_ptr: pointer to the resource table in effect * @cached_table: copy of the resource table * @table_sz: size of @cached_table * @has_iommu: flag to indicate if remote processor is behind an MMU * @auto_boot: flag to indicate if remote processor should be auto-started * @dump_segments: list of segments in the firmware * @nb_vdev: number of vdev currently handled by rproc */ struct rproc { struct list_head node; struct iommu_domain *domain; const char *name; char *firmware; void *priv; struct rproc_ops *ops; struct device dev; atomic_t power; unsigned int state; struct mutex lock; struct dentry *dbg_dir; struct list_head traces; int num_traces; struct list_head carveouts; struct list_head mappings; u32 bootaddr; struct list_head rvdevs; struct list_head subdevs; struct idr notifyids; int index; struct work_struct crash_handler; unsigned int crash_cnt; bool recovery_disabled; int max_notifyid; struct resource_table *table_ptr; struct resource_table *cached_table; size_t table_sz; bool has_iommu; bool auto_boot; struct list_head dump_segments; int nb_vdev; }; /** * struct rproc_subdev - subdevice tied to a remoteproc * @node: list node related to the rproc subdevs list * @prepare: prepare function, called before the rproc is started * @start: start function, called after the rproc has been started * @stop: stop function, called before the rproc is stopped; the @crashed * parameter indicates if this originates from a recovery * @unprepare: unprepare function, called after the rproc has been stopped */ struct rproc_subdev { struct list_head node; int (*prepare)(struct rproc_subdev *subdev); int (*start)(struct rproc_subdev *subdev); void (*stop)(struct rproc_subdev *subdev, bool crashed); void (*unprepare)(struct rproc_subdev *subdev); }; /* we currently support only two vrings per rvdev */ #define RVDEV_NUM_VRINGS 2 /** * struct rproc_vring - remoteproc vring state * @va: virtual address * @len: length, in bytes * @da: device address * @align: vring alignment * @notifyid: rproc-specific unique vring index * @rvdev: remote vdev * @vq: the virtqueue of this vring */ struct rproc_vring { void *va; int len; u32 da; u32 align; int notifyid; struct rproc_vdev *rvdev; struct virtqueue *vq; }; /** * struct rproc_vdev - remoteproc state for a supported virtio device * @refcount: reference counter for the vdev and vring allocations * @subdev: handle for registering the vdev as a rproc subdevice * @id: virtio device id (as in virtio_ids.h) * @node: list node * @rproc: the rproc handle * @vdev: the virio device * @vring: the vrings for this vdev * @rsc_offset: offset of the vdev's resource entry * @index: vdev position versus other vdev declared in resource table */ struct rproc_vdev { struct kref refcount; struct rproc_subdev subdev; struct device dev; unsigned int id; struct list_head node; struct rproc *rproc; struct rproc_vring vring[RVDEV_NUM_VRINGS]; u32 rsc_offset; u32 index; }; struct rproc *rproc_get_by_phandle(phandle phandle); struct rproc *rproc_get_by_child(struct device *dev); struct rproc *rproc_alloc(struct device *dev, const char *name, const struct rproc_ops *ops, const char *firmware, int len); void rproc_put(struct rproc *rproc); int rproc_add(struct rproc *rproc); int rproc_del(struct rproc *rproc); void rproc_free(struct rproc *rproc); void rproc_add_carveout(struct rproc *rproc, struct rproc_mem_entry *mem); struct rproc_mem_entry * rproc_mem_entry_init(struct device *dev, void *va, dma_addr_t dma, int len, u32 da, int (*alloc)(struct rproc *, struct rproc_mem_entry *), int (*release)(struct rproc *, struct rproc_mem_entry *), const char *name, ...); struct rproc_mem_entry * rproc_of_resm_mem_entry_init(struct device *dev, u32 of_resm_idx, int len, u32 da, const char *name, ...); int rproc_boot(struct rproc *rproc); void rproc_shutdown(struct rproc *rproc); void rproc_report_crash(struct rproc *rproc, enum rproc_crash_type type); int rproc_coredump_add_segment(struct rproc *rproc, dma_addr_t da, size_t size); int rproc_coredump_add_custom_segment(struct rproc *rproc, dma_addr_t da, size_t size, void (*dumpfn)(struct rproc *rproc, struct rproc_dump_segment *segment, void *dest), void *priv); static inline struct rproc_vdev *vdev_to_rvdev(struct virtio_device *vdev) { return container_of(vdev->dev.parent, struct rproc_vdev, dev); } static inline struct rproc *vdev_to_rproc(struct virtio_device *vdev) { struct rproc_vdev *rvdev = vdev_to_rvdev(vdev); return rvdev->rproc; } void rproc_add_subdev(struct rproc *rproc, struct rproc_subdev *subdev); void rproc_remove_subdev(struct rproc *rproc, struct rproc_subdev *subdev); #endif /* REMOTEPROC_H */