Add Linux remoteproc between two processes

Introduce a remoteproc driver for the RPMsg between
two Linux processes.

Signed-off-by: Wendy Liang <jliang@xilinx.com>

diff --git a/lib/remoteproc/drivers/CMakeLists.txt b/lib/remoteproc/drivers/CMakeLists.txt
index 8fe435847ef7cf54190de8a90003992266ee296e..15028ee3a9746bf6ce64b844f433b99ff1c0837a 100644 (file)
--- a/lib/remoteproc/drivers/CMakeLists.txt
+++ b/lib/remoteproc/drivers/CMakeLists.txt
@@ -10,3 +10,7 @@ endif ("${MACHINE}" STREQUAL "zynq7")
 if ("${MACHINE}" STREQUAL "zynqmp")
   collect (PROJECT_LIB_SOURCES zynqmp_remoteproc_r5.c)
 endif ("${MACHINE}" STREQUAL "zynqmp")
 if ("${MACHINE}" STREQUAL "zynqmp")
   collect (PROJECT_LIB_SOURCES zynqmp_remoteproc_r5.c)
 endif ("${MACHINE}" STREQUAL "zynqmp")

+
+if ("${PROJECT_SYSTEM}" STREQUAL "linux")
+  collect (PROJECT_LIB_SOURCES linux_remoteproc.c)
+endif ("${PROJECT_SYSTEM}" STREQUAL "linux")

diff --git a/lib/remoteproc/drivers/linux_remoteproc.c b/lib/remoteproc/drivers/linux_remoteproc.c
new file mode 100644 (file)
index 0000000..79157f1
--- /dev/null
+++ b/lib/remoteproc/drivers/linux_remoteproc.c
@@ -0,0 +1,346 @@
+/*
+ * Copyright (c) 2014, Mentor Graphics Corporation
+ * All rights reserved.
+ * Copyright (c) 2016 Xilinx, Inc.
+ *
+ * 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 of Mentor Graphics Corporation 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 HOLDER 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.
+ */
+
+/**************************************************************************
+ * FILE NAME
+ *
+ *       zynqmp_remoteproc_r5.c
+ *
+ * DESCRIPTION
+ *
+ *       This file is the Implementation of IPC hardware layer interface
+ *       for Xilinx Zynq UltraScale+ MPSoC system.
+ *
+ **************************************************************************/
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <poll.h>
+#include <metal/io.h>
+#include <metal/device.h>
+#include <metal/utilities.h>
+#include <metal/atomic.h>
+#include <metal/irq.h>
+#include <metal/cpu.h>
+#include <metal/alloc.h>
+#include <metal/shmem.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include "openamp/hil.h"
+#include "openamp/virtqueue.h"
+
+#define MAX_VRING_MEM_SIZE 0x20000
+#define _rproc_wait() metal_cpu_yield()
+
+#define UNIX_PREFIX "unix:"
+#define UNIXS_PREFIX "unixs:"
+
+struct vring_ipi_info {
+       /* Socket file path */
+       char *path;
+       int fd;
+       struct metal_io_region *vring_io;
+       atomic_int sync;
+};
+
+/*--------------------------- Declare Functions ------------------------ */
+static int _ipi_handler(int vect_id, void *data);
+static int _enable_interrupt(struct proc_vring *vring_hw);
+static void _notify(struct hil_proc *proc, struct proc_intr *intr_info);
+static int _boot_cpu(struct hil_proc *proc, unsigned int load_addr);
+static void _shutdown_cpu(struct hil_proc *proc);
+static int _poll(struct hil_proc *proc, int nonblock);
+static int _initialize(struct hil_proc *proc);
+static void _release(struct hil_proc *proc);
+
+/*--------------------------- Globals ---------------------------------- */
+struct hil_platform_ops linux_proc_ops = {
+       .enable_interrupt     = _enable_interrupt,
+       .notify               = _notify,
+       .boot_cpu             = _boot_cpu,
+       .shutdown_cpu         = _shutdown_cpu,
+       .poll                 = _poll,
+       .initialize    = _initialize,
+       .release    = _release,
+};
+
+static int sk_unix_client(const char *descr)
+{
+       struct sockaddr_un addr;
+       int fd;
+
+       fd = socket(AF_UNIX, SOCK_STREAM, 0);
+
+       memset(&addr, 0, sizeof addr);
+       addr.sun_family = AF_UNIX;
+       strncpy(addr.sun_path, descr + strlen(UNIX_PREFIX),
+               sizeof addr.sun_path);
+       if (connect(fd, (struct sockaddr *)&addr, sizeof(addr)) >= 0) {
+               printf("connected to %s\n", descr + strlen(UNIX_PREFIX));
+               return fd;
+       }
+
+       close(fd);
+       return -1;
+}
+
+static int sk_unix_server(const char *descr)
+{
+       struct sockaddr_un addr;
+       int fd, nfd;
+
+       fd = socket(AF_UNIX, SOCK_STREAM, 0);
+
+       addr.sun_family = AF_UNIX;
+       strncpy(addr.sun_path, descr + strlen(UNIXS_PREFIX),
+               sizeof addr.sun_path);
+       unlink(addr.sun_path);
+       if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+               goto fail;
+       }
+
+       listen(fd, 5);
+       printf("Waiting for connection on %s\n", addr.sun_path);
+       nfd = accept(fd, NULL, NULL);
+       close(fd);
+       return nfd;
+fail:
+       close(fd);
+       return -1;
+}
+
+static int event_open(const char *descr)
+{
+       int fd = -1;
+       int i;
+
+       if (descr == NULL) {
+               return fd;
+       }
+
+       if (memcmp(UNIX_PREFIX, descr, strlen(UNIX_PREFIX)) == 0) {
+               /* UNIX.  Retry to connect a few times to give the peer a
+               * chance to setup.  */
+               for (i = 0; i < 100 && fd == -1; i++) {
+                       fd = sk_unix_client(descr);
+                       if (fd == -1)
+                               usleep(i * 10 * 1000);
+               }
+       }
+       if (memcmp(UNIXS_PREFIX, descr, strlen(UNIXS_PREFIX)) == 0) {
+               /* UNIX.  */
+               fd = sk_unix_server(descr);
+       }
+       printf("Open IPI: %s\n", descr);
+       return fd;
+}
+
+static int _ipi_handler(int vect_id, void *data)
+{
+       (void) vect_id;
+       (void) data;
+       char dummy_buf[32];
+       struct proc_vring *vring_hw = (struct proc_vring *)(data);
+       struct vring_ipi_info *ipi =
+               (struct vring_ipi_info *)(vring_hw->intr_info.data);
+       read(vect_id, dummy_buf, sizeof(dummy_buf));
+       atomic_flag_clear(&ipi->sync);
+       return 0;
+}
+
+static int _enable_interrupt(struct proc_vring *vring_hw)
+{
+       struct vring_ipi_info *ipi = vring_hw->intr_info.data;
+
+       ipi->fd = event_open(ipi->path);
+       if (ipi->fd < 0) {
+               fprintf(stderr, "ERROR: Failed to open sock %s for IPI.\n",
+                       ipi->path);
+               return -1;
+       }
+
+       vring_hw->intr_info.vect_id = ipi->fd;
+
+       /* Register ISR */
+       metal_irq_register(ipi->fd, _ipi_handler,
+                               NULL, vring_hw);
+       return 0;
+}
+
+static void _notify(struct hil_proc *proc, struct proc_intr *intr_info)
+{
+
+       (void)proc;
+       struct vring_ipi_info *ipi = (struct vring_ipi_info *)(intr_info->data);
+       if (ipi == NULL)
+               return;
+
+       char dummy = 1;
+       send(ipi->fd, &dummy, 1, MSG_NOSIGNAL);
+       //printf("%s:%d\n", __func__, ipi->fd);
+}
+
+static int _boot_cpu(struct hil_proc *proc, unsigned int load_addr)
+{
+       (void)proc;
+       (void)load_addr;
+       return -1;
+}
+
+static void _shutdown_cpu(struct hil_proc *proc)
+{
+       (void)proc;
+       return;
+}
+
+static int _poll(struct hil_proc *proc, int nonblock)
+{
+       (void) nonblock;
+       struct proc_vring *vring;
+       struct vring_ipi_info *ipi;
+       unsigned int flags;
+
+       //struct pollfd fds[32];
+       //char dummy_buf[32];
+       int num_vrings = proc->vdev.num_vrings;
+       int ret = 0;
+       int notified;
+       //int r;
+       int i;
+
+       assert(proc);
+       //assert(num_vrings <= (int)(sizeof(fds)/sizeof(fds[0])));
+
+       notified = 0;
+       while (1) {
+               for (i = 0; i < num_vrings; i++) {
+                       vring = &proc->vdev.vring_info[i];
+                       ipi = (struct vring_ipi_info *)(vring->intr_info.data);
+                       flags = metal_irq_save_disable();
+                       if (!(atomic_flag_test_and_set(&ipi->sync))) {
+                               metal_irq_restore_enable(flags);
+                               virtqueue_notification(vring->vq);
+                               notified = 1;
+                       } else {
+                               metal_irq_restore_enable(flags);
+                       }
+               }
+               if (notified)
+                       return 0;
+               if (nonblock)
+                       return -EAGAIN;
+               _rproc_wait();
+       }
+       return ret;
+}
+
+/**
+ * @brief   _adjust_vring_io - Adjust the vring I/O region to map to the
+ *                             specified start device address.
+ * @param[in] io - vring I/O region
+ * @param[in] start_phy - start device address of the vring, this is
+ *                            not the actual physical address.
+ * @return adjusted I/O region
+ */
+static struct metal_io_region *_create_vring_io(struct metal_io_region *in_io,
+                                               int start_phy)
+{
+       struct metal_io_region *io = 0;
+       metal_phys_addr_t *phys;
+       io = metal_allocate_memory(sizeof(struct metal_io_region));
+       if (!io) {
+               fprintf(stderr, "ERROR: Failed to allocation I/O for vring.\n");
+               return NULL;
+       }
+       phys = metal_allocate_memory(sizeof(metal_phys_addr_t));
+       if (!phys) {
+               fprintf(stderr, "ERROR: Failed to allocation phys for vring.\n");
+               metal_free_memory(io);
+               return NULL;
+       }
+       *phys = (metal_phys_addr_t)start_phy;
+       metal_io_init(io, in_io->virt, phys, in_io->size, -1, 0, NULL);
+       return io;
+}
+
+static int _initialize(struct hil_proc *proc)
+{
+       struct proc_vring *vring;
+       struct vring_ipi_info *ipi;
+       struct metal_io_region *io;
+       int i;
+       if (proc) {
+               for (i = 0; i < 2; i++) {
+                       vring = &proc->vdev.vring_info[i];
+                       ipi = (struct vring_ipi_info *)vring->intr_info.data;
+                       if (ipi && !ipi->vring_io && vring->io) {
+                               io = _create_vring_io(vring->io, 0);
+                               if (!io)
+                                       return -1;
+                               ipi->vring_io = vring->io;
+                               vring->io = io;
+                               atomic_store(&ipi->sync, 1);
+                       }
+               }
+       }
+       return 0;
+}
+
+static void _release(struct hil_proc *proc)
+{
+       struct proc_vring *vring;
+       struct vring_ipi_info *ipi;
+       int i;
+       if (proc) {
+               for (i = 0; i < 2; i++) {
+                       vring = &proc->vdev.vring_info[i];
+                       ipi = (struct vring_ipi_info *)vring->intr_info.data;
+                       if (ipi) {
+                               if (ipi->fd >= 0) {
+                                       metal_irq_register(ipi->fd, 0, NULL,
+                                               vring);
+                                       close(ipi->fd);
+                               }
+                               if (ipi->vring_io) {
+                                       metal_free_memory(
+                                               (void *)vring->io->physmap);
+                                       metal_free_memory(vring->io);
+                                       vring->io = NULL;
+                                       if (ipi->vring_io->ops.close)
+                                               ipi->vring_io->ops.close(
+                                                       ipi->vring_io);
+                                       ipi->vring_io = NULL;
+                               }
+                       }
+               }
+       }
+}
+