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Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +02001/*
2 * Remote Processor Framework
3 *
4 * Copyright(c) 2011 Texas Instruments, Inc.
5 * Copyright(c) 2011 Google, Inc.
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above copyright
15 * notice, this list of conditions and the following disclaimer in
16 * the documentation and/or other materials provided with the
17 * distribution.
18 * * Neither the name Texas Instruments nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
25 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
26 * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
27 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
28 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
29 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
30 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
31 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
32 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 */
34
35#ifndef REMOTEPROC_H
36#define REMOTEPROC_H
37
38#include <linux/types.h>
39#include <linux/kref.h>
40#include <linux/klist.h>
41#include <linux/mutex.h>
42#include <linux/virtio.h>
43#include <linux/completion.h>
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +010044#include <linux/idr.h>
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020045
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020046/**
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020047 * struct resource_table - firmware resource table header
48 * @ver: version number
49 * @num: number of resource entries
50 * @reserved: reserved (must be zero)
51 * @offset: array of offsets pointing at the various resource entries
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020052 *
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020053 * A resource table is essentially a list of system resources required
54 * by the remote processor. It may also include configuration entries.
55 * If needed, the remote processor firmware should contain this table
56 * as a dedicated ".resource_table" ELF section.
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020057 *
58 * Some resources entries are mere announcements, where the host is informed
59 * of specific remoteproc configuration. Other entries require the host to
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020060 * do something (e.g. allocate a system resource). Sometimes a negotiation
61 * is expected, where the firmware requests a resource, and once allocated,
62 * the host should provide back its details (e.g. address of an allocated
63 * memory region).
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020064 *
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020065 * The header of the resource table, as expressed by this structure,
66 * contains a version number (should we need to change this format in the
67 * future), the number of available resource entries, and their offsets
68 * in the table.
69 *
70 * Immediately following this header are the resource entries themselves,
71 * each of which begins with a resource entry header (as described below).
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020072 */
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020073struct resource_table {
74 u32 ver;
75 u32 num;
76 u32 reserved[2];
77 u32 offset[0];
78} __packed;
79
80/**
81 * struct fw_rsc_hdr - firmware resource entry header
82 * @type: resource type
83 * @data: resource data
84 *
85 * Every resource entry begins with a 'struct fw_rsc_hdr' header providing
86 * its @type. The content of the entry itself will immediately follow
87 * this header, and it should be parsed according to the resource type.
88 */
89struct fw_rsc_hdr {
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020090 u32 type;
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +020091 u8 data[0];
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +020092} __packed;
93
94/**
95 * enum fw_resource_type - types of resource entries
96 *
97 * @RSC_CARVEOUT: request for allocation of a physically contiguous
98 * memory region.
99 * @RSC_DEVMEM: request to iommu_map a memory-based peripheral.
100 * @RSC_TRACE: announces the availability of a trace buffer into which
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200101 * the remote processor will be writing logs.
102 * @RSC_VDEV: declare support for a virtio device, and serve as its
103 * virtio header.
Ohad Ben-Cohene12bc142012-01-31 16:07:27 +0200104 * @RSC_LAST: just keep this one at the end
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200105 *
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200106 * For more details regarding a specific resource type, please see its
107 * dedicated structure below.
Ohad Ben-Cohene12bc142012-01-31 16:07:27 +0200108 *
109 * Please note that these values are used as indices to the rproc_handle_rsc
110 * lookup table, so please keep them sane. Moreover, @RSC_LAST is used to
111 * check the validity of an index before the lookup table is accessed, so
112 * please update it as needed.
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200113 */
114enum fw_resource_type {
115 RSC_CARVEOUT = 0,
116 RSC_DEVMEM = 1,
117 RSC_TRACE = 2,
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200118 RSC_VDEV = 3,
119 RSC_LAST = 4,
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200120};
121
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200122#define FW_RSC_ADDR_ANY (0xFFFFFFFFFFFFFFFF)
123
124/**
125 * struct fw_rsc_carveout - physically contiguous memory request
126 * @da: device address
127 * @pa: physical address
128 * @len: length (in bytes)
129 * @flags: iommu protection flags
130 * @reserved: reserved (must be zero)
131 * @name: human-readable name of the requested memory region
132 *
133 * This resource entry requests the host to allocate a physically contiguous
134 * memory region.
135 *
136 * These request entries should precede other firmware resource entries,
137 * as other entries might request placing other data objects inside
138 * these memory regions (e.g. data/code segments, trace resource entries, ...).
139 *
140 * Allocating memory this way helps utilizing the reserved physical memory
141 * (e.g. CMA) more efficiently, and also minimizes the number of TLB entries
142 * needed to map it (in case @rproc is using an IOMMU). Reducing the TLB
143 * pressure is important; it may have a substantial impact on performance.
144 *
145 * If the firmware is compiled with static addresses, then @da should specify
146 * the expected device address of this memory region. If @da is set to
147 * FW_RSC_ADDR_ANY, then the host will dynamically allocate it, and then
148 * overwrite @da with the dynamically allocated address.
149 *
150 * We will always use @da to negotiate the device addresses, even if it
151 * isn't using an iommu. In that case, though, it will obviously contain
152 * physical addresses.
153 *
154 * Some remote processors needs to know the allocated physical address
155 * even if they do use an iommu. This is needed, e.g., if they control
156 * hardware accelerators which access the physical memory directly (this
157 * is the case with OMAP4 for instance). In that case, the host will
158 * overwrite @pa with the dynamically allocated physical address.
159 * Generally we don't want to expose physical addresses if we don't have to
160 * (remote processors are generally _not_ trusted), so we might want to
161 * change this to happen _only_ when explicitly required by the hardware.
162 *
163 * @flags is used to provide IOMMU protection flags, and @name should
164 * (optionally) contain a human readable name of this carveout region
165 * (mainly for debugging purposes).
166 */
167struct fw_rsc_carveout {
168 u32 da;
169 u32 pa;
170 u32 len;
171 u32 flags;
172 u32 reserved;
173 u8 name[32];
174} __packed;
175
176/**
177 * struct fw_rsc_devmem - iommu mapping request
178 * @da: device address
179 * @pa: physical address
180 * @len: length (in bytes)
181 * @flags: iommu protection flags
182 * @reserved: reserved (must be zero)
183 * @name: human-readable name of the requested region to be mapped
184 *
185 * This resource entry requests the host to iommu map a physically contiguous
186 * memory region. This is needed in case the remote processor requires
187 * access to certain memory-based peripherals; _never_ use it to access
188 * regular memory.
189 *
190 * This is obviously only needed if the remote processor is accessing memory
191 * via an iommu.
192 *
193 * @da should specify the required device address, @pa should specify
194 * the physical address we want to map, @len should specify the size of
195 * the mapping and @flags is the IOMMU protection flags. As always, @name may
196 * (optionally) contain a human readable name of this mapping (mainly for
197 * debugging purposes).
198 *
199 * Note: at this point we just "trust" those devmem entries to contain valid
200 * physical addresses, but this isn't safe and will be changed: eventually we
201 * want remoteproc implementations to provide us ranges of physical addresses
202 * the firmware is allowed to request, and not allow firmwares to request
203 * access to physical addresses that are outside those ranges.
204 */
205struct fw_rsc_devmem {
206 u32 da;
207 u32 pa;
208 u32 len;
209 u32 flags;
210 u32 reserved;
211 u8 name[32];
212} __packed;
213
214/**
215 * struct fw_rsc_trace - trace buffer declaration
216 * @da: device address
217 * @len: length (in bytes)
218 * @reserved: reserved (must be zero)
219 * @name: human-readable name of the trace buffer
220 *
221 * This resource entry provides the host information about a trace buffer
222 * into which the remote processor will write log messages.
223 *
224 * @da specifies the device address of the buffer, @len specifies
225 * its size, and @name may contain a human readable name of the trace buffer.
226 *
227 * After booting the remote processor, the trace buffers are exposed to the
228 * user via debugfs entries (called trace0, trace1, etc..).
229 */
230struct fw_rsc_trace {
231 u32 da;
232 u32 len;
233 u32 reserved;
234 u8 name[32];
235} __packed;
236
237/**
238 * struct fw_rsc_vdev_vring - vring descriptor entry
239 * @da: device address
240 * @align: the alignment between the consumer and producer parts of the vring
241 * @num: num of buffers supported by this vring (must be power of two)
242 * @notifyid is a unique rproc-wide notify index for this vring. This notify
243 * index is used when kicking a remote processor, to let it know that this
244 * vring is triggered.
245 * @reserved: reserved (must be zero)
246 *
247 * This descriptor is not a resource entry by itself; it is part of the
248 * vdev resource type (see below).
249 *
250 * Note that @da should either contain the device address where
251 * the remote processor is expecting the vring, or indicate that
252 * dynamically allocation of the vring's device address is supported.
253 */
254struct fw_rsc_vdev_vring {
255 u32 da;
256 u32 align;
257 u32 num;
258 u32 notifyid;
259 u32 reserved;
260} __packed;
261
262/**
263 * struct fw_rsc_vdev - virtio device header
264 * @id: virtio device id (as in virtio_ids.h)
265 * @notifyid is a unique rproc-wide notify index for this vdev. This notify
266 * index is used when kicking a remote processor, to let it know that the
267 * status/features of this vdev have changes.
268 * @dfeatures specifies the virtio device features supported by the firmware
269 * @gfeatures is a place holder used by the host to write back the
270 * negotiated features that are supported by both sides.
271 * @config_len is the size of the virtio config space of this vdev. The config
272 * space lies in the resource table immediate after this vdev header.
273 * @status is a place holder where the host will indicate its virtio progress.
274 * @num_of_vrings indicates how many vrings are described in this vdev header
275 * @reserved: reserved (must be zero)
276 * @vring is an array of @num_of_vrings entries of 'struct fw_rsc_vdev_vring'.
277 *
278 * This resource is a virtio device header: it provides information about
279 * the vdev, and is then used by the host and its peer remote processors
280 * to negotiate and share certain virtio properties.
281 *
282 * By providing this resource entry, the firmware essentially asks remoteproc
283 * to statically allocate a vdev upon registration of the rproc (dynamic vdev
284 * allocation is not yet supported).
285 *
286 * Note: unlike virtualization systems, the term 'host' here means
287 * the Linux side which is running remoteproc to control the remote
288 * processors. We use the name 'gfeatures' to comply with virtio's terms,
289 * though there isn't really any virtualized guest OS here: it's the host
290 * which is responsible for negotiating the final features.
291 * Yeah, it's a bit confusing.
292 *
293 * Note: immediately following this structure is the virtio config space for
294 * this vdev (which is specific to the vdev; for more info, read the virtio
295 * spec). the size of the config space is specified by @config_len.
296 */
297struct fw_rsc_vdev {
298 u32 id;
299 u32 notifyid;
300 u32 dfeatures;
301 u32 gfeatures;
302 u32 config_len;
303 u8 status;
304 u8 num_of_vrings;
305 u8 reserved[2];
306 struct fw_rsc_vdev_vring vring[0];
307} __packed;
308
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200309/**
310 * struct rproc_mem_entry - memory entry descriptor
311 * @va: virtual address
312 * @dma: dma address
313 * @len: length, in bytes
314 * @da: device address
315 * @priv: associated data
316 * @node: list node
317 */
318struct rproc_mem_entry {
319 void *va;
320 dma_addr_t dma;
321 int len;
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200322 u32 da;
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200323 void *priv;
324 struct list_head node;
325};
326
327struct rproc;
328
329/**
330 * struct rproc_ops - platform-specific device handlers
331 * @start: power on the device and boot it
332 * @stop: power off the device
333 * @kick: kick a virtqueue (virtqueue id given as a parameter)
334 */
335struct rproc_ops {
336 int (*start)(struct rproc *rproc);
337 int (*stop)(struct rproc *rproc);
338 void (*kick)(struct rproc *rproc, int vqid);
339};
340
341/**
342 * enum rproc_state - remote processor states
343 * @RPROC_OFFLINE: device is powered off
344 * @RPROC_SUSPENDED: device is suspended; needs to be woken up to receive
345 * a message.
346 * @RPROC_RUNNING: device is up and running
347 * @RPROC_CRASHED: device has crashed; need to start recovery
348 * @RPROC_LAST: just keep this one at the end
349 *
350 * Please note that the values of these states are used as indices
351 * to rproc_state_string, a state-to-name lookup table,
352 * so please keep the two synchronized. @RPROC_LAST is used to check
353 * the validity of an index before the lookup table is accessed, so
354 * please update it as needed too.
355 */
356enum rproc_state {
357 RPROC_OFFLINE = 0,
358 RPROC_SUSPENDED = 1,
359 RPROC_RUNNING = 2,
360 RPROC_CRASHED = 3,
361 RPROC_LAST = 4,
362};
363
364/**
365 * struct rproc - represents a physical remote processor device
366 * @node: klist node of this rproc object
367 * @domain: iommu domain
368 * @name: human readable name of the rproc
369 * @firmware: name of firmware file to be loaded
370 * @priv: private data which belongs to the platform-specific rproc module
371 * @ops: platform-specific start/stop rproc handlers
Ohad Ben-Cohenb5ab5e22012-05-30 22:01:25 +0300372 * @dev: virtual device for refcounting and common remoteproc behavior
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200373 * @refcount: refcount of users that have a valid pointer to this rproc
374 * @power: refcount of users who need this rproc powered up
375 * @state: state of the device
376 * @lock: lock which protects concurrent manipulations of the rproc
377 * @dbg_dir: debugfs directory of this rproc device
378 * @traces: list of trace buffers
379 * @num_traces: number of trace buffers
380 * @carveouts: list of physically contiguous memory allocations
381 * @mappings: list of iommu mappings we initiated, needed on shutdown
382 * @firmware_loading_complete: marks e/o asynchronous firmware loading
383 * @bootaddr: address of first instruction to boot rproc with (optional)
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100384 * @rvdevs: list of remote virtio devices
385 * @notifyids: idr for dynamically assigning rproc-wide unique notify ids
Ohad Ben-Cohenb5ab5e22012-05-30 22:01:25 +0300386 * @index: index of this rproc device
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200387 */
388struct rproc {
389 struct klist_node node;
390 struct iommu_domain *domain;
391 const char *name;
392 const char *firmware;
393 void *priv;
394 const struct rproc_ops *ops;
Ohad Ben-Cohenb5ab5e22012-05-30 22:01:25 +0300395 struct device dev;
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200396 struct kref refcount;
397 atomic_t power;
398 unsigned int state;
399 struct mutex lock;
400 struct dentry *dbg_dir;
401 struct list_head traces;
402 int num_traces;
403 struct list_head carveouts;
404 struct list_head mappings;
405 struct completion firmware_loading_complete;
Ohad Ben-Cohenfd2c15e2012-02-01 21:56:16 +0200406 u32 bootaddr;
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100407 struct list_head rvdevs;
408 struct idr notifyids;
Ohad Ben-Cohenb5ab5e22012-05-30 22:01:25 +0300409 int index;
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100410};
411
412/* we currently support only two vrings per rvdev */
413#define RVDEV_NUM_VRINGS 2
414
415/**
416 * struct rproc_vring - remoteproc vring state
417 * @va: virtual address
418 * @dma: dma address
419 * @len: length, in bytes
420 * @da: device address
Ohad Ben-Cohen63140e02012-02-29 14:42:13 +0200421 * @align: vring alignment
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100422 * @notifyid: rproc-specific unique vring index
423 * @rvdev: remote vdev
424 * @vq: the virtqueue of this vring
425 */
426struct rproc_vring {
427 void *va;
428 dma_addr_t dma;
429 int len;
430 u32 da;
Ohad Ben-Cohen63140e02012-02-29 14:42:13 +0200431 u32 align;
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100432 int notifyid;
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200433 struct rproc_vdev *rvdev;
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100434 struct virtqueue *vq;
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200435};
436
437/**
438 * struct rproc_vdev - remoteproc state for a supported virtio device
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100439 * @node: list node
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200440 * @rproc: the rproc handle
441 * @vdev: the virio device
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200442 * @vring: the vrings for this vdev
443 * @dfeatures: virtio device features
444 * @gfeatures: virtio guest features
445 */
446struct rproc_vdev {
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100447 struct list_head node;
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200448 struct rproc *rproc;
449 struct virtio_device vdev;
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100450 struct rproc_vring vring[RVDEV_NUM_VRINGS];
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200451 unsigned long dfeatures;
452 unsigned long gfeatures;
453};
454
455struct rproc *rproc_get_by_name(const char *name);
456void rproc_put(struct rproc *rproc);
457
458struct rproc *rproc_alloc(struct device *dev, const char *name,
459 const struct rproc_ops *ops,
460 const char *firmware, int len);
461void rproc_free(struct rproc *rproc);
462int rproc_register(struct rproc *rproc);
463int rproc_unregister(struct rproc *rproc);
464
465int rproc_boot(struct rproc *rproc);
466void rproc_shutdown(struct rproc *rproc);
467
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100468static inline struct rproc_vdev *vdev_to_rvdev(struct virtio_device *vdev)
469{
470 return container_of(vdev, struct rproc_vdev, vdev);
471}
472
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200473static inline struct rproc *vdev_to_rproc(struct virtio_device *vdev)
474{
Ohad Ben-Cohen7a186942012-02-13 22:30:39 +0100475 struct rproc_vdev *rvdev = vdev_to_rvdev(vdev);
Ohad Ben-Cohen400e64d2011-10-20 16:52:46 +0200476
477 return rvdev->rproc;
478}
479
480#endif /* REMOTEPROC_H */