kopia lustrzana https://github.com/micropython/micropython
mimxrt: Add support for OpenAMP.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>pull/14120/head
iabdalkader
Damien George
rodzic
23d7a915c1
commit
87d821ab49
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@ -172,7 +172,8 @@ SRC_HAL_IMX_C += \
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$(MCU_DIR)/drivers/fsl_common_arm.c \
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$(MCU_DIR)/drivers/fsl_anatop_ai.c \
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$(MCU_DIR)/drivers/fsl_caam.c \
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$(MCU_DIR)/drivers/fsl_lpadc.c
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$(MCU_DIR)/drivers/fsl_lpadc.c \
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$(MCU_DIR)/drivers/fsl_mu.c
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else
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SRC_HAL_IMX_C += \
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$(MCU_DIR)/drivers/fsl_adc.c \
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@ -267,6 +268,17 @@ ifeq ($(MICROPY_BLUETOOTH_NIMBLE),1)
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SRC_C += mpnimbleport.c
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endif
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# Add mimxrt-specific implementation of libmetal (and optionally OpenAMP's rproc).
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# Note: libmetal code is generated via a pre-processor so ensure that runs first.
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ifeq ($(MICROPY_PY_OPENAMP),1)
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SRC_C += mpmetalport.c
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$(BUILD)/mpmetalport.o: $(BUILD)/openamp/metal/config.h
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ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
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SRC_C += mpremoteprocport.c
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$(BUILD)/mpremoteprocport.o: $(BUILD)/openamp/metal/config.h
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endif
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endif
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# Math library source files
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ifeq ($(MICROPY_FLOAT_IMPL),double)
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LIBM_SRC_C += $(SRC_LIB_LIBM_DBL_C)
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@ -13,6 +13,8 @@ MICROPY_HW_SDRAM_SIZE = 0x4000000 # 64MB
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MICROPY_PY_LWIP = 1
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MICROPY_PY_SSL = 1
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MICROPY_SSL_MBEDTLS = 1
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MICROPY_PY_OPENAMP = 1
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MICROPY_PY_OPENAMP_REMOTEPROC = 1
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FROZEN_MANIFEST ?= $(BOARD_DIR)/manifest.py
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@ -57,3 +57,7 @@ _gc_heap_end = ORIGIN(m_sdram) + LENGTH(m_sdram);
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_gc_heap_start = ORIGIN(m_ocrm);
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_gc_heap_end = ORIGIN(m_ocrm) + LENGTH(m_ocrm);
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#endif
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/* CM4 DTCM */
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_openamp_shm_region_start = 0x20220000;
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_openamp_shm_region_end = 0x20230000;
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@ -0,0 +1,111 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2024 Arduino SA
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* libmetal mimxrt port.
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*/
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#include "py/mperrno.h"
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#include "py/mphal.h"
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#include "fsl_common.h"
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#include "fsl_mu.h"
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#include CPU_HEADER_H
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#include "metal/sys.h"
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#include "metal/utilities.h"
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#include "metal/device.h"
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struct metal_state _metal;
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static mp_sched_node_t rproc_notify_node;
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#define IRQ_PRI_MU NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 10, 0)
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int metal_sys_init(const struct metal_init_params *params) {
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metal_unused(params);
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// Init MU.
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MU_Init(MUA);
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// Configure and enable MU IRQs.
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MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
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NVIC_SetPriority(MUA_IRQn, IRQ_PRI_MU);
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NVIC_EnableIRQ(MUA_IRQn);
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MU_EnableInterrupts(MUA, kMU_GenInt0InterruptEnable);
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#ifndef VIRTIO_USE_DCACHE
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// If cache management is not enabled, configure the MPU to disable caching
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// for the entire shared memory region.
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ARM_MPU_Disable();
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MPU->RBAR = ARM_MPU_RBAR(10, METAL_MPU_REGION_BASE);
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// Normal type, not shareable, non-cacheable
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MPU->RASR = ARM_MPU_RASR(0, ARM_MPU_AP_FULL, 1, 0, 0, 0, 0, METAL_MPU_REGION_SIZE);
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ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_HFNMIENA_Msk);
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#endif
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metal_bus_register(&metal_generic_bus);
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return 0;
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}
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void metal_sys_finish(void) {
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NVIC_DisableIRQ(MUA_IRQn);
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metal_bus_unregister(&metal_generic_bus);
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}
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unsigned int sys_irq_save_disable(void) {
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return disable_irq();
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}
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void sys_irq_restore_enable(unsigned int state) {
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enable_irq(state);
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}
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void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa,
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size_t size, unsigned int flags) {
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metal_unused(pa);
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metal_unused(size);
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metal_unused(flags);
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return va;
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}
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void metal_machine_cache_flush(void *addr, unsigned int len) {
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SCB_CleanDCache_by_Addr(addr, len);
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}
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void metal_machine_cache_invalidate(void *addr, unsigned int len) {
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SCB_InvalidateDCache_by_Addr(addr, len);
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}
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int metal_rproc_notify(void *priv, uint32_t id) {
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MU_TriggerInterrupts(MUA, kMU_GenInt0InterruptTrigger);
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return 0;
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}
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void MUA_IRQHandler(void) {
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if (MU_GetStatusFlags(MUA) & kMU_GenInt0Flag) {
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MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
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mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified);
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}
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__DSB();
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}
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@ -0,0 +1,73 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2024 Arduino SA
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
|
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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||||
*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* libmetal mimxrt port.
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*/
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#ifndef MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
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#define MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
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#include <stdlib.h>
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#include "py/mphal.h"
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#include "py/runtime.h"
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#define METAL_HAVE_STDATOMIC_H 0
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#define METAL_HAVE_FUTEX_H 0
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#define METAL_MAX_DEVICE_REGIONS 2
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// Set to 1 to enable the default log handler.
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#define METAL_LOG_HANDLER_ENABLE 0
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#define metal_cpu_yield()
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// Shared memory config
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#define METAL_SHM_NAME "OPENAMP_SHM"
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// Note 1K must be reserved at the start of the openamp
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// shared memory region, for the shared resource table.
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#define METAL_RSC_ADDR ((void *)_openamp_shm_region_start)
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#define METAL_RSC_SIZE (1024)
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#define METAL_SHM_ADDR ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE))
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#define METAL_SHM_SIZE ((size_t)(_openamp_shm_region_end - _openamp_shm_region_start - METAL_RSC_SIZE))
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#define METAL_MPU_REGION_BASE ((uint32_t)_openamp_shm_region_start)
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#define METAL_MPU_REGION_SIZE (ARM_MPU_REGION_SIZE_64KB)
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extern const char _openamp_shm_region_start[];
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extern const char _openamp_shm_region_end[];
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int metal_rproc_notify(void *priv, uint32_t id);
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extern void openamp_remoteproc_notified(mp_sched_node_t *node);
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static inline int __metal_sleep_usec(unsigned int usec) {
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mp_hal_delay_us(usec);
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return 0;
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}
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static inline void metal_generic_default_poll(void) {
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MICROPY_EVENT_POLL_HOOK
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}
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#endif // MICROPY_INCLUDED_MIMXRT_METAL_PORT_H
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@ -0,0 +1,161 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2024 Arduino SA
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
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* copies of the Software, and to permit persons to whom the Software is
|
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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||||
*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* modremoteproc mimxrt port.
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*/
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#include "py/obj.h"
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#include "py/runtime.h"
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#include "fsl_common.h"
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#include "fsl_mu.h"
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#include "metal/alloc.h"
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#include "metal/errno.h"
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#include "metal/io.h"
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#include "metal/sys.h"
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#include "metal/device.h"
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#include "metal/utilities.h"
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#include "extmod/modopenamp_remoteproc.h"
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struct remoteproc *mp_openamp_remoteproc_init(struct remoteproc *rproc,
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const struct remoteproc_ops *ops, void *arg) {
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metal_log(METAL_LOG_DEBUG, "rproc_init()\n");
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rproc->ops = ops;
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rproc->state = RPROC_OFFLINE;
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// Allocate the image store and save it in private data.
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rproc->priv = mp_openamp_remoteproc_store_alloc();
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return rproc;
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}
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void *mp_openamp_remoteproc_mmap(struct remoteproc *rproc, metal_phys_addr_t *pa,
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metal_phys_addr_t *da, size_t size, unsigned int attribute,
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struct metal_io_region **io) {
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metal_log(METAL_LOG_DEBUG, "rproc_mmap(): pa 0x%p da 0x%p io 0x%p size %u\n", *pa, *da, *io, size);
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struct remoteproc_mem *mem;
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metal_phys_addr_t lpa = *pa;
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metal_phys_addr_t lda = *da;
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if (lda == METAL_BAD_PHYS) {
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return NULL;
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}
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if (lpa == METAL_BAD_PHYS) {
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lpa = lda;
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}
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if (lpa >= 0x1FFE0000 && lpa < 0x1FFFFFFF) {
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// Map CM4 ITCM to CM7 address space.
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lpa = 0x20200000 | (((uint32_t)lpa) & 0x1FFFF);
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metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
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} else if (lpa >= 0x20000000 && lpa < 0x20020000) {
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// Map CM4 DTCM to CM7 address space.
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lpa = 0x20220000 | (((uint32_t)lpa) & 0x1FFFF);
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metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
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}
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mem = metal_allocate_memory(sizeof(*mem));
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if (!mem) {
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return NULL;
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}
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*io = metal_allocate_memory(sizeof(struct metal_io_region));
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if (!*io) {
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metal_free_memory(mem);
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return NULL;
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}
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remoteproc_init_mem(mem, NULL, lpa, lda, size, *io);
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metal_io_init(*io, (void *)lpa, &mem->pa, size,
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sizeof(metal_phys_addr_t) << 3, attribute, NULL);
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remoteproc_add_mem(rproc, mem);
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*pa = lpa;
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*da = lda;
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return metal_io_phys_to_virt(*io, mem->pa);
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}
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int mp_openamp_remoteproc_start(struct remoteproc *rproc) {
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metal_log(METAL_LOG_DEBUG, "rproc_start()\n");
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if (SRC->SCR & SRC_SCR_BT_RELEASE_M4_MASK) {
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// The CM4 core is already running.
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metal_log(METAL_LOG_DEBUG, "rproc_start(): CM4 core is already booted.\n");
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return -1;
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}
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// Flush M7 cache.
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struct metal_list *node;
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metal_list_for_each(&rproc->mems, node) {
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struct remoteproc_mem *mem;
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mem = metal_container_of(node, struct remoteproc_mem, node);
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metal_log(METAL_LOG_DEBUG, "rproc_start() clean: pa 0x%p size %u\n", (uint32_t *)mem->pa, mem->size);
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SCB_CleanDCache_by_Addr((uint32_t *)mem->pa, mem->size);
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}
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unsigned long offset = 0;
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struct metal_io_region *io = remoteproc_get_io_with_da(rproc, rproc->bootaddr, &offset);
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if (!io) {
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return -1;
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}
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IOMUXC_LPSR_GPR->GPR0 = IOMUXC_LPSR_GPR_GPR0_CM4_INIT_VTOR_LOW(((uint32_t)io->virt) >> 3);
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(void)IOMUXC_LPSR_GPR->GPR0;
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IOMUXC_LPSR_GPR->GPR1 = IOMUXC_LPSR_GPR_GPR1_CM4_INIT_VTOR_HIGH(((uint32_t)io->virt) >> 16);
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(void)IOMUXC_LPSR_GPR->GPR1;
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SRC->CTRL_M4CORE = SRC_CTRL_M4CORE_SW_RESET_MASK;
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SRC->SCR |= SRC_SCR_BT_RELEASE_M4_MASK;
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return 0;
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}
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int mp_openamp_remoteproc_stop(struct remoteproc *rproc) {
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metal_log(METAL_LOG_DEBUG, "rproc_stop()\n");
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if (rproc->state == RPROC_RUNNING) {
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NVIC_SystemReset();
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}
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return 0;
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}
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int mp_openamp_remoteproc_config(struct remoteproc *rproc, void *data) {
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metal_log(METAL_LOG_DEBUG, "rproc_config()\n");
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(void)rproc;
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return 0;
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}
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void mp_openamp_remoteproc_remove(struct remoteproc *rproc) {
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metal_log(METAL_LOG_DEBUG, "rproc_remove()\n");
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(void)rproc;
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}
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int mp_openamp_remoteproc_shutdown(struct remoteproc *rproc) {
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metal_log(METAL_LOG_DEBUG, "rproc_shutdown()\n");
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if (rproc->state == RPROC_RUNNING) {
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NVIC_SystemReset();
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}
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return 0;
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}
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