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nuttx/drivers/rptun/rptun.c

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/****************************************************************************
* drivers/rptun/rptun.c
*
* Copyright (C) 2017 Pinecone Inc. All rights reserved.
* Author: Guiding Li<liguiding@pinecone.net>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <inttypes.h>
#include <stdio.h>
#include <fcntl.h>
#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/rptun/openamp.h>
#include <nuttx/rptun/rptun.h>
#include <nuttx/signal.h>
#include <metal/utilities.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef MAX
# define MAX(a,b) ((a) > (b) ? (a) : (b))
#endif
#ifndef ALIGN_UP
# define ALIGN_UP(s, a) (((s) + (a) - 1) & ~((a) - 1))
#endif
/****************************************************************************
* Private Types
****************************************************************************/
struct rptun_priv_s
{
FAR struct rptun_dev_s *dev;
struct remoteproc rproc;
struct rpmsg_virtio_device vdev;
struct rpmsg_virtio_shm_pool shm_pool;
struct metal_list bind;
struct metal_list node;
int pid;
};
struct rptun_bind_s
{
char name[RPMSG_NAME_SIZE];
uint32_t dest;
struct metal_list node;
};
struct rptun_cb_s
{
FAR void *priv;
rpmsg_dev_cb_t device_created;
rpmsg_dev_cb_t device_destroy;
rpmsg_bind_cb_t ns_bind;
struct metal_list node;
};
struct rptun_store_s
{
struct file file;
FAR char *buf;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static FAR struct remoteproc *rptun_init(FAR struct remoteproc *rproc,
FAR struct remoteproc_ops *ops,
FAR void *arg);
static void rptun_remove(FAR struct remoteproc *rproc);
static int rptun_mmap(FAR struct remoteproc *rproc,
FAR metal_phys_addr_t *pa, FAR metal_phys_addr_t *da,
FAR void **va, size_t size, unsigned int attribute,
FAR struct metal_io_region **io_);
static int rptun_start(FAR struct remoteproc *rproc);
static int rptun_stop(FAR struct remoteproc *rproc);
static int rptun_notify(FAR struct remoteproc *rproc, uint32_t id);
static void rptun_ns_bind(FAR struct rpmsg_device *rdev,
FAR const char *name, uint32_t dest);
static int rptun_dev_start(FAR struct remoteproc *rproc);
static int rptun_dev_stop(FAR struct remoteproc *rproc);
static int rptun_dev_ioctl(FAR struct file *filep, int cmd,
unsigned long arg);
static int rptun_store_open(FAR void *store_, FAR const char *path,
FAR const void **img_data);
static void rptun_store_close(FAR void *store_);
static int rptun_store_load(FAR void *store_, size_t offset,
size_t size, FAR const void **data,
metal_phys_addr_t pa,
FAR struct metal_io_region *io,
char is_blocking);
static metal_phys_addr_t rptun_pa_to_da(FAR struct rptun_dev_s *dev,
metal_phys_addr_t pa);
static metal_phys_addr_t rptun_da_to_pa(FAR struct rptun_dev_s *dev,
metal_phys_addr_t da);
/****************************************************************************
* Private Data
****************************************************************************/
static struct remoteproc_ops g_rptun_ops =
{
.init = rptun_init,
.remove = rptun_remove,
.mmap = rptun_mmap,
.start = rptun_start,
.stop = rptun_stop,
.notify = rptun_notify,
};
static const struct file_operations g_rptun_devops =
{
.ioctl = rptun_dev_ioctl,
};
static struct image_store_ops g_rptun_storeops =
{
.open = rptun_store_open,
.close = rptun_store_close,
.load = rptun_store_load,
.features = SUPPORT_SEEK,
};
static sem_t g_rptun_sem = SEM_INITIALIZER(1);
static METAL_DECLARE_LIST(g_rptun_cb);
static METAL_DECLARE_LIST(g_rptun_priv);
/****************************************************************************
* Private Functions
****************************************************************************/
static int rptun_thread(int argc, FAR char *argv[])
{
FAR struct rptun_priv_s *priv;
sigset_t set;
int ret;
priv = (FAR struct rptun_priv_s *)((uintptr_t)strtoul(argv[2], NULL, 0));
sigemptyset(&set);
nxsig_addset(&set, SIGUSR1);
nxsig_procmask(SIG_BLOCK, &set, NULL);
while (1)
{
ret = nxsig_timedwait(&set, NULL, NULL);
if (ret == SIGUSR1)
{
remoteproc_get_notification(&priv->rproc, RPTUN_NOTIFY_ALL);
}
}
return 0;
}
static int rptun_callback(FAR void *arg, uint32_t vqid)
{
FAR struct rptun_priv_s *priv = arg;
return nxsig_kill(priv->pid, SIGUSR1);
}
static FAR struct remoteproc *rptun_init(FAR struct remoteproc *rproc,
FAR struct remoteproc_ops *ops,
FAR void *arg)
{
rproc->ops = ops;
rproc->priv = arg;
return rproc;
}
static void rptun_remove(FAR struct remoteproc *rproc)
{
rproc->priv = NULL;
}
static int rptun_mmap(FAR struct remoteproc *rproc,
FAR metal_phys_addr_t *pa, FAR metal_phys_addr_t *da,
FAR void **va, size_t size, unsigned int attribute,
FAR struct metal_io_region **io_)
{
FAR struct rptun_priv_s *priv = rproc->priv;
FAR struct metal_io_region *io = metal_io_get_region();
if (*pa != METAL_BAD_PHYS)
{
*da = rptun_pa_to_da(priv->dev, *pa);
*va = metal_io_phys_to_virt(io, *pa);
if (!*va)
{
return -RPROC_EINVAL;
}
}
else if (*da != METAL_BAD_PHYS)
{
*pa = rptun_da_to_pa(priv->dev, *da);
*va = metal_io_phys_to_virt(io, *pa);
if (!*va)
{
return -RPROC_EINVAL;
}
}
else if (*va)
{
*pa = metal_io_virt_to_phys(io, *va);
if (*pa == METAL_BAD_PHYS)
{
return -RPROC_EINVAL;
}
*da = rptun_pa_to_da(priv->dev, *pa);
}
else
{
return -RPROC_EINVAL;
}
if (io_)
{
*io_ = io;
}
return 0;
}
static int rptun_start(FAR struct remoteproc *rproc)
{
FAR struct rptun_priv_s *priv = rproc->priv;
if (RPTUN_IS_MASTER(priv->dev))
{
return RPTUN_START(priv->dev);
}
return 0;
}
static int rptun_stop(FAR struct remoteproc *rproc)
{
FAR struct rptun_priv_s *priv = rproc->priv;
if (RPTUN_IS_MASTER(priv->dev))
{
return RPTUN_STOP(priv->dev);
}
return 0;
}
static int rptun_notify(FAR struct remoteproc *rproc, uint32_t id)
{
FAR struct rptun_priv_s *priv = rproc->priv;
RPTUN_NOTIFY(priv->dev, RPTUN_NOTIFY_ALL);
return 0;
}
static void *rptun_get_priv_by_rdev(FAR struct rpmsg_device *rdev)
{
struct rpmsg_virtio_device *rvdev;
struct virtio_device *vdev;
struct remoteproc_virtio *rpvdev;
struct remoteproc *rproc;
rvdev = metal_container_of(rdev, struct rpmsg_virtio_device, rdev);
vdev = rvdev->vdev;
if (!vdev)
{
return NULL;
}
rpvdev = metal_container_of(vdev, struct remoteproc_virtio, vdev);
rproc = rpvdev->priv;
if (!rproc)
{
return NULL;
}
return rproc->priv;
}
static void rptun_ns_bind(FAR struct rpmsg_device *rdev,
FAR const char *name, uint32_t dest)
{
FAR struct rptun_priv_s *priv = rptun_get_priv_by_rdev(rdev);
FAR struct rptun_bind_s *bind;
bind = kmm_malloc(sizeof(struct rptun_bind_s));
if (bind)
{
FAR struct metal_list *node;
FAR struct rptun_cb_s *cb;
bind->dest = dest;
strncpy(bind->name, name, RPMSG_NAME_SIZE);
nxsem_wait(&g_rptun_sem);
metal_list_add_tail(&priv->bind, &bind->node);
metal_list_for_each(&g_rptun_cb, node)
{
cb = metal_container_of(node, struct rptun_cb_s, node);
if (cb->ns_bind)
{
cb->ns_bind(rdev, cb->priv, name, dest);
}
}
nxsem_post(&g_rptun_sem);
}
}
static int rptun_dev_start(FAR struct remoteproc *rproc)
{
FAR struct rptun_priv_s *priv = rproc->priv;
FAR struct virtio_device *vdev;
FAR struct rptun_rsc_s *rsc;
FAR struct metal_list *node;
FAR struct rptun_cb_s *cb;
unsigned int role = RPMSG_REMOTE;
int ret;
ret = remoteproc_config(&priv->rproc, NULL);
if (ret)
{
return ret;
}
if (RPTUN_GET_FIRMWARE(priv->dev))
{
struct rptun_store_s store =
{
0
};
ret = remoteproc_load(rproc, RPTUN_GET_FIRMWARE(priv->dev),
&store, &g_rptun_storeops, NULL);
if (ret)
{
return ret;
}
rsc = rproc->rsc_table;
}
else
{
rsc = RPTUN_GET_RESOURCE(priv->dev);
if (!rsc)
{
return -EINVAL;
}
ret = remoteproc_set_rsc_table(rproc, (struct resource_table *)rsc,
sizeof(struct rptun_rsc_s));
if (ret)
{
return ret;
}
}
/* Update resource table on MASTER side */
if (RPTUN_IS_MASTER(priv->dev))
{
uint32_t tbsz;
uint32_t v0sz;
uint32_t v1sz;
uint32_t shbufsz;
metal_phys_addr_t da0;
metal_phys_addr_t da1;
uint32_t align0;
uint32_t align1;
FAR void *va0;
FAR void *va1;
FAR void *shbuf;
align0 = B2C(rsc->rpmsg_vring0.align);
align1 = B2C(rsc->rpmsg_vring1.align);
tbsz = ALIGN_UP(sizeof(struct rptun_rsc_s), MAX(align0, align1));
v0sz = ALIGN_UP(vring_size(rsc->rpmsg_vring0.num, align0), align0);
v1sz = ALIGN_UP(vring_size(rsc->rpmsg_vring1.num, align1), align1);
va0 = (char *)rsc + tbsz;
va1 = (char *)rsc + tbsz + v0sz;
da0 = da1 = METAL_BAD_PHYS;
remoteproc_mmap(rproc, NULL, &da0, &va0, v0sz, 0, NULL);
remoteproc_mmap(rproc, NULL, &da1, &va1, v1sz, 0, NULL);
rsc->rpmsg_vring0.da = da0;
rsc->rpmsg_vring1.da = da1;
shbuf = (FAR char *)rsc + tbsz + v0sz + v1sz;
shbufsz = rsc->config.txbuf_size * rsc->rpmsg_vring0.num +
rsc->config.rxbuf_size * rsc->rpmsg_vring1.num;
rpmsg_virtio_init_shm_pool(&priv->shm_pool, shbuf, shbufsz);
role = RPMSG_MASTER;
}
/* Remote proc create */
vdev = remoteproc_create_virtio(rproc, 0, role, NULL);
if (!vdev)
{
return -ENOMEM;
}
ret = rpmsg_init_vdev(&priv->vdev, vdev, rptun_ns_bind,
metal_io_get_region(), &priv->shm_pool);
if (ret)
{
remoteproc_remove_virtio(rproc, vdev);
return ret;
}
/* Remote proc start */
ret = remoteproc_start(rproc);
if (ret)
{
remoteproc_remove_virtio(rproc, vdev);
return ret;
}
nxsem_wait(&g_rptun_sem);
/* Add priv to list */
metal_list_add_tail(&g_rptun_priv, &priv->node);
/* Broadcast device_created to all registers */
metal_list_for_each(&g_rptun_cb, node)
{
cb = metal_container_of(node, struct rptun_cb_s, node);
if (cb->device_created)
{
cb->device_created(&priv->vdev.rdev, cb->priv);
}
}
nxsem_post(&g_rptun_sem);
/* Register callback to mbox for receiving remote message */
RPTUN_REGISTER_CALLBACK(priv->dev, rptun_callback, priv);
return 0;
}
static int rptun_dev_stop(FAR struct remoteproc *rproc)
{
FAR struct rptun_priv_s *priv = rproc->priv;
FAR struct metal_list *node;
FAR struct rptun_cb_s *cb;
/* Unregister callback from mbox */
RPTUN_UNREGISTER_CALLBACK(priv->dev);
nxsem_wait(&g_rptun_sem);
/* Remove priv from list */
metal_list_del(&priv->node);
/* Broadcast device_destroy to all registers */
metal_list_for_each(&g_rptun_cb, node)
{
cb = metal_container_of(node, struct rptun_cb_s, node);
if (cb->device_destroy)
{
cb->device_destroy(&priv->vdev.rdev, cb->priv);
}
}
nxsem_post(&g_rptun_sem);
/* Remote proc stop and shutdown */
remoteproc_shutdown(rproc);
/* Remote proc remove */
remoteproc_remove_virtio(rproc, priv->vdev.vdev);
rpmsg_deinit_vdev(&priv->vdev);
/* Free bind list */
metal_list_for_each(&priv->bind, node)
{
struct rptun_bind_s *bind;
bind = metal_container_of(node, struct rptun_bind_s, node);
kmm_free(bind);
}
return 0;
}
static int rptun_dev_ioctl(FAR struct file *filep, int cmd,
unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct rptun_priv_s *priv = inode->i_private;
int ret = -ENOTTY;
switch (cmd)
{
case RPTUNIOC_START:
if (priv->rproc.state == RPROC_OFFLINE)
{
ret = rptun_dev_start(&priv->rproc);
}
break;
case RPTUNIOC_STOP:
if (priv->rproc.state != RPROC_OFFLINE)
{
ret = rptun_dev_stop(&priv->rproc);
}
break;
}
return ret;
}
static int rptun_store_open(FAR void *store_,
FAR const char *path,
FAR const void **img_data)
{
FAR struct rptun_store_s *store = store_;
int len = 0x100;
int ret;
ret = file_open(&store->file, path, O_RDONLY);
if (ret < 0)
{
return ret;
}
store->buf = kmm_malloc(len);
if (!store->buf)
{
file_close(&store->file);
return -ENOMEM;
}
*img_data = store->buf;
return file_read(&store->file, store->buf, len);
}
static void rptun_store_close(FAR void *store_)
{
FAR struct rptun_store_s *store = store_;
kmm_free(store->buf);
file_close(&store->file);
}
static int rptun_store_load(FAR void *store_, size_t offset,
size_t size, FAR const void **data,
metal_phys_addr_t pa,
FAR struct metal_io_region *io,
char is_blocking)
{
FAR struct rptun_store_s *store = store_;
FAR char *tmp;
if (pa == METAL_BAD_PHYS)
{
tmp = kmm_realloc(store->buf, size);
if (!tmp)
{
return -ENOMEM;
}
store->buf = tmp;
*data = tmp;
}
else
{
tmp = metal_io_phys_to_virt(io, pa);
if (!tmp)
{
return -EINVAL;
}
}
file_seek(&store->file, offset, SEEK_SET);
return file_read(&store->file, tmp, size);
}
static metal_phys_addr_t rptun_pa_to_da(FAR struct rptun_dev_s *dev,
metal_phys_addr_t pa)
{
FAR const struct rptun_addrenv_s *addrenv;
uint32_t i;
addrenv = RPTUN_GET_ADDRENV(dev);
if (!addrenv)
{
return pa;
}
for (i = 0; addrenv[i].size; i++)
{
if (pa - addrenv[i].pa < addrenv[i].size)
{
return addrenv[i].da + (pa - addrenv[i].pa);
}
}
return pa;
}
static metal_phys_addr_t rptun_da_to_pa(FAR struct rptun_dev_s *dev,
metal_phys_addr_t da)
{
FAR const struct rptun_addrenv_s *addrenv;
uint32_t i;
addrenv = RPTUN_GET_ADDRENV(dev);
if (!addrenv)
{
return da;
}
for (i = 0; addrenv[i].size; i++)
{
if (da - addrenv[i].da < addrenv[i].size)
{
return addrenv[i].pa + (da - addrenv[i].da);
}
}
return da;
}
/****************************************************************************
* Public Functions
****************************************************************************/
FAR const char *rpmsg_get_cpuname(FAR struct rpmsg_device *rdev)
{
FAR struct rptun_priv_s *priv = rptun_get_priv_by_rdev(rdev);
return RPTUN_GET_CPUNAME(priv->dev);
}
int rpmsg_register_callback(FAR void *priv_,
rpmsg_dev_cb_t device_created,
rpmsg_dev_cb_t device_destroy,
rpmsg_bind_cb_t ns_bind)
{
FAR struct metal_list *node;
FAR struct metal_list *bnode;
FAR struct rptun_cb_s *cb;
cb = kmm_zalloc(sizeof(struct rptun_cb_s));
if (!cb)
{
return -ENOMEM;
}
cb->priv = priv_;
cb->device_created = device_created;
cb->device_destroy = device_destroy;
cb->ns_bind = ns_bind;
nxsem_wait(&g_rptun_sem);
metal_list_add_tail(&g_rptun_cb, &cb->node);
metal_list_for_each(&g_rptun_priv, node)
{
struct rptun_priv_s *priv;
priv = metal_container_of(node, struct rptun_priv_s, node);
if (device_created)
{
device_created(&priv->vdev.rdev, priv_);
}
if (ns_bind)
{
metal_list_for_each(&priv->bind, bnode)
{
struct rptun_bind_s *bind;
bind = metal_container_of(bnode, struct rptun_bind_s, node);
ns_bind(&priv->vdev.rdev, priv_, bind->name, bind->dest);
}
}
}
nxsem_post(&g_rptun_sem);
return 0;
}
void rpmsg_unregister_callback(FAR void *priv_,
rpmsg_dev_cb_t device_created,
rpmsg_dev_cb_t device_destroy,
rpmsg_bind_cb_t ns_bind)
{
FAR struct metal_list *node;
FAR struct metal_list *pnode;
nxsem_wait(&g_rptun_sem);
metal_list_for_each(&g_rptun_cb, node)
{
struct rptun_cb_s *cb = NULL;
cb = metal_container_of(node, struct rptun_cb_s, node);
if (cb->priv == priv_ &&
cb->device_created == device_created &&
cb->device_destroy == device_destroy &&
cb->ns_bind == ns_bind)
{
if (device_destroy)
{
metal_list_for_each(&g_rptun_priv, pnode)
{
struct rptun_priv_s *priv;
priv = metal_container_of(pnode,
struct rptun_priv_s, node);
device_destroy(&priv->vdev.rdev, priv_);
}
}
metal_list_del(&cb->node);
kmm_free(cb);
}
}
nxsem_post(&g_rptun_sem);
}
int rptun_initialize(FAR struct rptun_dev_s *dev)
{
struct metal_init_params params = METAL_INIT_DEFAULTS;
FAR struct rptun_priv_s *priv;
FAR char *argv[3];
char arg1[16];
char name[32];
int ret;
ret = metal_init(&params);
if (ret)
{
return ret;
}
priv = kmm_zalloc(sizeof(struct rptun_priv_s));
if (priv == NULL)
{
return -ENOMEM;
}
snprintf(arg1, 16, "0x%" PRIxPTR, (uintptr_t)priv);
argv[0] = (void *)RPTUN_GET_CPUNAME(dev);
argv[1] = arg1;
argv[2] = NULL;
ret = kthread_create("rptun",
CONFIG_RPTUN_PRIORITY,
CONFIG_RPTUN_STACKSIZE,
rptun_thread,
argv);
if (ret < 0)
{
kmm_free(priv);
return ret;
}
priv->pid = ret;
priv->dev = dev;
metal_list_init(&priv->bind);
remoteproc_init(&priv->rproc, &g_rptun_ops, priv);
if (RPTUN_IS_AUTOSTART(dev))
{
rptun_dev_start(&priv->rproc);
}
snprintf(name, 32, "/dev/rptun/%s", RPTUN_GET_CPUNAME(dev));
return register_driver(name, &g_rptun_devops, 0666, priv);
}
int rptun_boot(FAR const char *cpuname)
{
struct file file;
char name[32];
int ret;
if (!cpuname)
{
return -EINVAL;
}
snprintf(name, 32, "/dev/rptun/%s", cpuname);
ret = file_open(&file, name, 0, 0);
if (ret)
{
return ret;
}
ret = file_ioctl(&file, RPTUNIOC_START, 0);
file_close(&file);
return ret;
}
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