micropython/ports/mimxrt/mpremoteprocport.c

/*
 * This file is part of the MicroPython project, http://micropython.org/
 *
 * The MIT License (MIT)
 *
 * Copyright (c) 2024 Arduino SA
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * 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:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * 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
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 *
 * modremoteproc mimxrt port.
 */

#include "py/obj.h"
#include "py/runtime.h"

#include "fsl_common.h"
#include "fsl_mu.h"

#include "metal/alloc.h"
#include "metal/errno.h"
#include "metal/io.h"
#include "metal/sys.h"
#include "metal/device.h"
#include "metal/utilities.h"
#include "extmod/modopenamp_remoteproc.h"

struct remoteproc *mp_openamp_remoteproc_init(struct remoteproc *rproc,
    const struct remoteproc_ops *ops, void *arg) {
    metal_log(METAL_LOG_DEBUG, "rproc_init()\n");

    rproc->ops = ops;
    rproc->state = RPROC_OFFLINE;
    // Allocate the image store and save it in private data.
    rproc->priv = mp_openamp_remoteproc_store_alloc();
    return rproc;
}

void *mp_openamp_remoteproc_mmap(struct remoteproc *rproc, metal_phys_addr_t *pa,
    metal_phys_addr_t *da, size_t size, unsigned int attribute,
    struct metal_io_region **io) {
    metal_log(METAL_LOG_DEBUG, "rproc_mmap(): pa 0x%p da 0x%p io 0x%p size %u\n", *pa, *da, *io, size);

    struct remoteproc_mem *mem;
    metal_phys_addr_t lpa = *pa;
    metal_phys_addr_t lda = *da;

    if (lda == METAL_BAD_PHYS) {
        return NULL;
    }

    if (lpa == METAL_BAD_PHYS) {
        lpa = lda;
    }

    if (lpa >= 0x1FFE0000 && lpa < 0x1FFFFFFF) {
        // Map CM4 ITCM to CM7 address space.
        lpa = 0x20200000 | (((uint32_t)lpa) & 0x1FFFF);
        metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
    } else if (lpa >= 0x20000000 && lpa < 0x20020000) {
        // Map CM4 DTCM to CM7 address space.
        lpa = 0x20220000 | (((uint32_t)lpa) & 0x1FFFF);
        metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
    }

    mem = metal_allocate_memory(sizeof(*mem));
    if (!mem) {
        return NULL;
    }

    *io = metal_allocate_memory(sizeof(struct metal_io_region));
    if (!*io) {
        metal_free_memory(mem);
        return NULL;
    }

    remoteproc_init_mem(mem, NULL, lpa, lda, size, *io);

    metal_io_init(*io, (void *)lpa, &mem->pa, size,
        sizeof(metal_phys_addr_t) << 3, attribute, NULL);

    remoteproc_add_mem(rproc, mem);
    *pa = lpa;
    *da = lda;
    return metal_io_phys_to_virt(*io, mem->pa);
}

int mp_openamp_remoteproc_start(struct remoteproc *rproc) {
    metal_log(METAL_LOG_DEBUG, "rproc_start()\n");
    if (SRC->SCR & SRC_SCR_BT_RELEASE_M4_MASK) {
        // The CM4 core is already running.
        metal_log(METAL_LOG_DEBUG, "rproc_start(): CM4 core is already booted.\n");
        return -1;
    }

    // Flush M7 cache.
    struct metal_list *node;
    metal_list_for_each(&rproc->mems, node) {
        struct remoteproc_mem *mem;
        mem = metal_container_of(node, struct remoteproc_mem, node);
        metal_log(METAL_LOG_DEBUG, "rproc_start() clean: pa 0x%p size %u\n", (uint32_t *)mem->pa, mem->size);
        SCB_CleanDCache_by_Addr((uint32_t *)mem->pa, mem->size);
    }

    unsigned long offset = 0;
    struct metal_io_region *io = remoteproc_get_io_with_da(rproc, rproc->bootaddr, &offset);
    if (!io) {
        return -1;
    }

    IOMUXC_LPSR_GPR->GPR0 = IOMUXC_LPSR_GPR_GPR0_CM4_INIT_VTOR_LOW(((uint32_t)io->virt) >> 3);
    (void)IOMUXC_LPSR_GPR->GPR0;
    IOMUXC_LPSR_GPR->GPR1 = IOMUXC_LPSR_GPR_GPR1_CM4_INIT_VTOR_HIGH(((uint32_t)io->virt) >> 16);
    (void)IOMUXC_LPSR_GPR->GPR1;

    SRC->CTRL_M4CORE = SRC_CTRL_M4CORE_SW_RESET_MASK;
    SRC->SCR |= SRC_SCR_BT_RELEASE_M4_MASK;
    return 0;
}

int mp_openamp_remoteproc_stop(struct remoteproc *rproc) {
    metal_log(METAL_LOG_DEBUG, "rproc_stop()\n");
    if (rproc->state == RPROC_RUNNING) {
        NVIC_SystemReset();
    }
    return 0;
}

int mp_openamp_remoteproc_config(struct remoteproc *rproc, void *data) {
    metal_log(METAL_LOG_DEBUG, "rproc_config()\n");
    (void)rproc;
    return 0;
}

void mp_openamp_remoteproc_remove(struct remoteproc *rproc) {
    metal_log(METAL_LOG_DEBUG, "rproc_remove()\n");
    (void)rproc;
}

int mp_openamp_remoteproc_shutdown(struct remoteproc *rproc) {
    metal_log(METAL_LOG_DEBUG, "rproc_shutdown()\n");
    if (rproc->state == RPROC_RUNNING) {
        NVIC_SystemReset();
    }
    return 0;
}