drivers: Introduce a simplified remoteproc framework

Many System on Chip(SoC) solutions are complex with multiple processors
on the same die dedicated to either general purpose of specialized
functions. Many examples do exist in today's SoCs from various vendors.
Typical examples are micro controllers such as an ARM M3/M0 doing a
offload of specific function such as event integration or power
management or controlling camera etc.

Traditionally, the responsibility of loading up such a processor with a
firmware and communication has been with a High Level Operating
System(HLOS) such as Linux. However, there exists classes of products
where Linux would need to expect services from such a processor or the
delay of Linux and operating system being able to load up such a
firmware is unacceptable.

To address these needs, we need some minimal capability to load such a
system and ensure it is started prior to an Operating System(Linux or
any other) is started up.

NOTE: This is NOT meant to be a solve-all solution, instead, it tries to
address certain class of SoCs and products that need such a solution.

A very simple model is introduced here as part of the initial support
that supports microcontrollers with internal memory (no MMU, no
execution from external memory, or specific image format needs). This
basic framework can then (hopefully) be extensible to other complex SoC
processor support as need be.

Reviewed-by: Simon Glass <sjg@chromium.org>
Signed-off-by: Nishanth Menon <nm@ti.com>
Acked-by: Simon Glass <sjg@chromium.org>

3 files changed, 287 insertions, 0 deletions

diff --git a/common/Kconfig b/common/Kconfig
index 0d44993..0388a6c 100644
--- a/common/Kconfig
+++ b/common/Kconfig
@@ -350,6 +350,11 @@ config CMD_FPGA
 	help
 	  FPGA support.
 
+config CMD_REMOTEPROC
+	bool "remoteproc"
+	depends on REMOTEPROC
+	help
+	  Support for Remote Processor control
 endmenu
 
 
diff --git a/common/Makefile b/common/Makefile
index 491c565..8c7775a 100644
--- a/common/Makefile
+++ b/common/Makefile
@@ -154,6 +154,7 @@ obj-$(CONFIG_CMD_PXE) += cmd_pxe.o
 obj-$(CONFIG_CMD_READ) += cmd_read.o
 obj-$(CONFIG_CMD_REGINFO) += cmd_reginfo.o
 obj-$(CONFIG_CMD_REISER) += cmd_reiser.o
+obj-$(CONFIG_CMD_REMOTEPROC) += cmd_remoteproc.o
 obj-$(CONFIG_SANDBOX) += cmd_host.o
 obj-$(CONFIG_CMD_SATA) += cmd_sata.o
 obj-$(CONFIG_CMD_SF) += cmd_sf.o
diff --git a/common/cmd_remoteproc.c b/common/cmd_remoteproc.c
new file mode 100644
index 0000000..794a406
--- /dev/null
+++ b/common/cmd_remoteproc.c
@@ -0,0 +1,281 @@
+/*
+ * (C) Copyright 2015
+ * Texas Instruments Incorporated - http://www.ti.com/
+ * SPDX-License-Identifier:	GPL-2.0+
+ */
+#include <common.h>
+#include <command.h>
+#include <dm.h>
+#include <errno.h>
+#include <malloc.h>
+#include <remoteproc.h>
+
+/**
+ * print_remoteproc_list() - print all the remote processor devices
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int print_remoteproc_list(void)
+{
+	struct udevice *dev;
+	struct uclass *uc;
+	int ret;
+	char *type;
+
+	ret = uclass_get(UCLASS_REMOTEPROC, &uc);
+	if (ret) {
+		printf("Cannot find Remote processor class\n");
+		return ret;
+	}
+
+	uclass_foreach_dev(dev, uc) {
+		struct dm_rproc_uclass_pdata *uc_pdata;
+		const struct dm_rproc_ops *ops = rproc_get_ops(dev);
+
+		uc_pdata = dev_get_uclass_platdata(dev);
+
+		switch (uc_pdata->mem_type) {
+		case RPROC_INTERNAL_MEMORY_MAPPED:
+			type = "internal memory mapped";
+			break;
+		default:
+			type = "unknown";
+			break;
+		}
+		printf("%d - Name:'%s' type:'%s' supports: %s%s%s%s%s%s\n",
+		       dev->seq,
+		       uc_pdata->name,
+		       type,
+		       ops->load ? "load " : "",
+		       ops->start ? "start " : "",
+		       ops->stop ? "stop " : "",
+		       ops->reset ? "reset " : "",
+		       ops->is_running ? "is_running " : "",
+		       ops->ping ? "ping " : "");
+	}
+	return 0;
+}
+
+/**
+ * do_rproc_init() - do basic initialization
+ * @cmdtp:	unused
+ * @flag:	unused
+ * @argc:	unused
+ * @argv:	unused
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int do_rproc_init(cmd_tbl_t *cmdtp, int flag, int argc,
+			 char *const argv[])
+{
+	if (rproc_is_initialized()) {
+		printf("\tRemote Processors are already initialized\n");
+	} else {
+		if (!rproc_init())
+			return 0;
+		printf("Few Remote Processors failed to be initalized\n");
+	}
+
+	return CMD_RET_FAILURE;
+}
+
+/**
+ * do_remoteproc_list() - print list of remote proc devices.
+ * @cmdtp:	unused
+ * @flag:	unused
+ * @argc:	unused
+ * @argv:	unused
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int do_remoteproc_list(cmd_tbl_t *cmdtp, int flag, int argc,
+			      char *const argv[])
+{
+	if (!rproc_is_initialized()) {
+		printf("\t Remote Processors is not initialized\n");
+		return CMD_RET_USAGE;
+	}
+
+	if (print_remoteproc_list())
+		return CMD_RET_FAILURE;
+
+	return 0;
+}
+
+/**
+ * do_remoteproc_load() - Load a remote processor with binary image
+ * @cmdtp:	unused
+ * @flag:	unused
+ * @argc:	argument count for the load function
+ * @argv:	arguments for the load function
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int do_remoteproc_load(cmd_tbl_t *cmdtp, int flag, int argc,
+			      char *const argv[])
+{
+	ulong addr, size;
+	int id, ret;
+
+	if (argc != 4)
+		return CMD_RET_USAGE;
+
+	id = (int)simple_strtoul(argv[1], NULL, 3);
+	addr = simple_strtoul(argv[2], NULL, 16);
+
+	size = simple_strtoul(argv[3], NULL, 16);
+
+	if (!size) {
+		printf("\t Expect some size??\n");
+		return CMD_RET_USAGE;
+	}
+
+	if (!rproc_is_initialized()) {
+		printf("\tRemote Processors are not initialized\n");
+		return CMD_RET_USAGE;
+	}
+
+	ret = rproc_load(id, addr, size);
+	printf("Load Remote Processor %d with data@addr=0x%08lx %lu bytes:%s\n",
+	       id, addr, size, ret ? " Failed!" : " Success!");
+
+	return ret ? CMD_RET_FAILURE : 0;
+}
+
+/**
+ * do_remoteproc_wrapper() - wrapper for various  rproc commands
+ * @cmdtp:	unused
+ * @flag:	unused
+ * @argc:	argument count for the rproc command
+ * @argv:	arguments for the rproc command
+ *
+ * Most of the commands just take id as a parameter andinvoke various
+ * helper routines in remote processor core. by using a set of
+ * common checks, we can reduce the amount of code used for this.
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int do_remoteproc_wrapper(cmd_tbl_t *cmdtp, int flag, int argc,
+				 char *const argv[])
+{
+	int id, ret = CMD_RET_USAGE;
+
+	if (argc != 2)
+		return CMD_RET_USAGE;
+
+	id = (int)simple_strtoul(argv[1], NULL, 3);
+
+	if (!rproc_is_initialized()) {
+		printf("\tRemote Processors are not initialized\n");
+		return CMD_RET_USAGE;
+	}
+
+	if (!strcmp(argv[0], "start")) {
+		ret = rproc_start(id);
+	} else if (!strcmp(argv[0], "stop")) {
+		ret = rproc_stop(id);
+	} else if (!strcmp(argv[0], "reset")) {
+		ret = rproc_reset(id);
+	} else if (!strcmp(argv[0], "is_running")) {
+		ret = rproc_is_running(id);
+		if (!ret) {
+			printf("Remote processor is Running\n");
+		} else if (ret == 1) {
+			printf("Remote processor is NOT Running\n");
+			ret = 0;
+		}
+		/* Else error.. */
+	} else if (!strcmp(argv[0], "ping")) {
+		ret = rproc_ping(id);
+		if (!ret) {
+			printf("Remote processor responds 'Pong'\n");
+		} else if (ret == 1) {
+			printf("No response from Remote processor\n");
+			ret = 0;
+		}
+		/* Else error.. */
+	}
+
+	if (ret < 0)
+		printf("Operation Failed with error (%d)\n", ret);
+
+	return ret ? CMD_RET_FAILURE : 0;
+}
+
+static cmd_tbl_t cmd_remoteproc_sub[] = {
+	U_BOOT_CMD_MKENT(init, 0, 1, do_rproc_init,
+			 "Enumerate and initialize all processors", ""),
+	U_BOOT_CMD_MKENT(list, 0, 1, do_remoteproc_list,
+			 "list remote processors", ""),
+	U_BOOT_CMD_MKENT(load, 5, 1, do_remoteproc_load,
+			 "Load remote processor with provided image",
+			 "<id> [addr] [size]\n"
+			 "- id: ID of the remote processor(see 'list' cmd)\n"
+			 "- addr: Address in memory of the image to loadup\n"
+			 "- size: Size of the image to loadup\n"),
+	U_BOOT_CMD_MKENT(start, 1, 1, do_remoteproc_wrapper,
+			 "Start remote processor",
+			 "id - ID of the remote processor (see 'list' cmd)\n"),
+	U_BOOT_CMD_MKENT(stop, 1, 1, do_remoteproc_wrapper,
+			 "Stop remote processor",
+			 "id - ID of the remote processor (see 'list' cmd)\n"),
+	U_BOOT_CMD_MKENT(reset, 1, 1, do_remoteproc_wrapper,
+			 "Reset remote processor",
+			 "id - ID of the remote processor (see 'list' cmd)\n"),
+	U_BOOT_CMD_MKENT(is_running, 1, 1, do_remoteproc_wrapper,
+			 "Check to see if remote processor is running\n",
+			 "id - ID of the remote processor (see 'list' cmd)\n"),
+	U_BOOT_CMD_MKENT(ping, 1, 1, do_remoteproc_wrapper,
+			 "Ping to communicate with remote processor\n",
+			 "id - ID of the remote processor (see 'list' cmd)\n"),
+};
+
+/**
+ * do_remoteproc() - (replace: short desc)
+ * @cmdtp:	unused
+ * @flag:	unused
+ * @argc:	argument count
+ * @argv:	argument list
+ *
+ * parses up the command table to invoke the correct command.
+ *
+ * Return: 0 if no error, else returns appropriate error value.
+ */
+static int do_remoteproc(cmd_tbl_t *cmdtp, int flag, int argc,
+			 char *const argv[])
+{
+	cmd_tbl_t *c = NULL;
+
+	/* Strip off leading 'rproc' command argument */
+	argc--;
+	argv++;
+
+	if (argc)
+		c = find_cmd_tbl(argv[0], cmd_remoteproc_sub,
+				 ARRAY_SIZE(cmd_remoteproc_sub));
+	if (c)
+		return c->cmd(cmdtp, flag, argc, argv);
+
+	return CMD_RET_USAGE;
+}
+
+U_BOOT_CMD(rproc, 5, 1, do_remoteproc,
+	   "Control operation of remote processors in an SoC",
+	   " [init|list|load|start|stop|reset|is_running|ping]\n"
+	   "\t\t Where:\n"
+	   "\t\t[addr] is a memory address\n"
+	   "\t\t<id> is a numerical identifier for the remote processor\n"
+	   "\t\t     provided by 'list' command.\n"
+	   "\t\tNote: Remote processors must be initalized prior to usage\n"
+	   "\t\tNote: Services are dependent on the driver capability\n"
+	   "\t\t      'list' command shows the capability of each device\n"
+	   "\n\tSubcommands:\n"
+	   "\tinit   - Enumerate and initalize the remote processors\n"
+	   "\tlist   - list available remote processors\n"
+	   "\tload <id> [addr] [size]- Load the remote processor with binary\n"
+	   "\t		  image stored at address [addr] in memory\n"
+	   "\tstart <id>	- Start the remote processor(must be loaded)\n"
+	   "\tstop <id>	- Stop the remote processor\n"
+	   "\treset <id>	- Reset the remote processor\n"
+	   "\tis_running <id> - Reports if the remote processor is running\n"
+	   "\tping <id>	- Ping the remote processor for communication\n");