1 # SPDX-License-Identifier: (GPL-2.0-only OR BS 1 # SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause)
2 %YAML 1.2 2 %YAML 1.2
3 --- 3 ---
4 $id: http://devicetree.org/schemas/remoteproc/ 4 $id: http://devicetree.org/schemas/remoteproc/ti,k3-r5f-rproc.yaml#
5 $schema: http://devicetree.org/meta-schemas/co 5 $schema: http://devicetree.org/meta-schemas/core.yaml#
6 6
7 title: TI K3 R5F processor subsystems 7 title: TI K3 R5F processor subsystems
8 8
9 maintainers: 9 maintainers:
10 - Suman Anna <s-anna@ti.com> 10 - Suman Anna <s-anna@ti.com>
11 11
12 description: | 12 description: |
13 The TI K3 family of SoCs usually have one or 13 The TI K3 family of SoCs usually have one or more dual-core Arm Cortex R5F
14 processor subsystems/clusters (R5FSS). The d 14 processor subsystems/clusters (R5FSS). The dual core cluster can be used
15 either in a LockStep mode providing safety/f 15 either in a LockStep mode providing safety/fault tolerance features or in a
16 Split mode providing two individual compute 16 Split mode providing two individual compute cores for doubling the compute
17 capacity on most SoCs. These are used togeth 17 capacity on most SoCs. These are used together with other processors present
18 on the SoC to achieve various system level g 18 on the SoC to achieve various system level goals.
19 19
20 AM64x SoCs do not support LockStep mode, but 20 AM64x SoCs do not support LockStep mode, but rather a new non-safety mode
21 called "Single-CPU" mode, where only Core0 i 21 called "Single-CPU" mode, where only Core0 is used, but with ability to use
22 Core1's TCMs as well. 22 Core1's TCMs as well.
23 23
24 AM62 SoC family support a single R5F core on 24 AM62 SoC family support a single R5F core only which runs Device Manager
25 firmware and can also be used as a remote pr 25 firmware and can also be used as a remote processor with IPC communication.
26 26
27 Each Dual-Core R5F sub-system is represented 27 Each Dual-Core R5F sub-system is represented as a single DTS node
28 representing the cluster, with a pair of chi 28 representing the cluster, with a pair of child DT nodes representing
29 the individual R5F cores. Each node has a nu 29 the individual R5F cores. Each node has a number of required or optional
30 properties that enable the OS running on the 30 properties that enable the OS running on the host processor to perform
31 the device management of the remote processo 31 the device management of the remote processor and to communicate with the
32 remote processor. 32 remote processor.
33 33
34 properties: 34 properties:
35 $nodename: 35 $nodename:
36 pattern: "^r5fss(@.*)?" 36 pattern: "^r5fss(@.*)?"
37 37
38 compatible: 38 compatible:
39 enum: 39 enum:
40 - ti,am62-r5fss 40 - ti,am62-r5fss
41 - ti,am64-r5fss 41 - ti,am64-r5fss
42 - ti,am654-r5fss 42 - ti,am654-r5fss
43 - ti,j7200-r5fss 43 - ti,j7200-r5fss
44 - ti,j721e-r5fss 44 - ti,j721e-r5fss
45 - ti,j721s2-r5fss 45 - ti,j721s2-r5fss
46 46
47 power-domains: 47 power-domains:
48 description: | 48 description: |
49 Should contain a phandle to a PM domain 49 Should contain a phandle to a PM domain provider node and an args
50 specifier containing the R5FSS device id 50 specifier containing the R5FSS device id value.
51 maxItems: 1 51 maxItems: 1
52 52
53 "#address-cells": 53 "#address-cells":
54 const: 1 54 const: 1
55 55
56 "#size-cells": 56 "#size-cells":
57 const: 1 57 const: 1
58 58
59 ranges: 59 ranges:
60 description: | 60 description: |
61 Standard ranges definition providing add 61 Standard ranges definition providing address translations for
62 local R5F TCM address spaces to bus addr 62 local R5F TCM address spaces to bus addresses.
63 63
64 # Optional properties: 64 # Optional properties:
65 # -------------------- 65 # --------------------
66 66
67 ti,cluster-mode: 67 ti,cluster-mode:
68 $ref: /schemas/types.yaml#/definitions/uin 68 $ref: /schemas/types.yaml#/definitions/uint32
69 description: | 69 description: |
70 Configuration Mode for the Dual R5F core 70 Configuration Mode for the Dual R5F cores within the R5F cluster.
71 For most SoCs (AM65x, J721E, J7200, J721 71 For most SoCs (AM65x, J721E, J7200, J721s2),
72 It should be either a value of 1 (LockSt 72 It should be either a value of 1 (LockStep mode) or 0 (Split mode) on
73 most SoCs (AM65x, J721E, J7200, J721s2), 73 most SoCs (AM65x, J721E, J7200, J721s2), default is LockStep mode if
74 omitted. 74 omitted.
75 For AM64x SoCs, 75 For AM64x SoCs,
76 It should be either a value of 0 (Split 76 It should be either a value of 0 (Split mode) or 2 (Single-CPU mode) and
77 default is Split mode if omitted. 77 default is Split mode if omitted.
78 For AM62x SoCs, 78 For AM62x SoCs,
79 It should be set as 3 (Single-Core mode) 79 It should be set as 3 (Single-Core mode) which is also the default if
80 omitted. 80 omitted.
81 81
82 82
83 # R5F Processor Child Nodes: 83 # R5F Processor Child Nodes:
84 # ========================== 84 # ==========================
85 85
86 patternProperties: 86 patternProperties:
87 "^r5f@[a-f0-9]+$": 87 "^r5f@[a-f0-9]+$":
88 type: object 88 type: object
89 description: | 89 description: |
90 The R5F Sub-System device node should de 90 The R5F Sub-System device node should define two R5F child nodes, each
91 node representing a TI instantiation of 91 node representing a TI instantiation of the Arm Cortex R5F core. There
92 are some specific integration difference 92 are some specific integration differences for the IP like the usage of
93 a Region Address Translator (RAT) for tr 93 a Region Address Translator (RAT) for translating the larger SoC bus
94 addresses into a 32-bit address space fo 94 addresses into a 32-bit address space for the processor. For AM62x,
95 the R5F Sub-System device node should on 95 the R5F Sub-System device node should only define one R5F child node
96 as it has only one core available. 96 as it has only one core available.
97 97
98 Each R5F core has an associated 64 KB of 98 Each R5F core has an associated 64 KB of Tightly-Coupled Memory (TCM)
99 internal memories split between two bank 99 internal memories split between two banks - TCMA and TCMB (further
100 interleaved into two banks TCMB0 and TCM 100 interleaved into two banks TCMB0 and TCMB1). These memories (also called
101 ATCM and BTCM) provide read/write perfor 101 ATCM and BTCM) provide read/write performance on par with the core's L1
102 caches. Each of the TCMs can be enabled 102 caches. Each of the TCMs can be enabled or disabled independently and
103 either of them can be configured to appe 103 either of them can be configured to appear at that R5F's address 0x0.
104 104
105 The cores do not use an MMU, but has a R 105 The cores do not use an MMU, but has a Region Address Translator
106 (RAT) module that is accessible only fro 106 (RAT) module that is accessible only from the R5Fs for providing
107 translations between 32-bit CPU addresse 107 translations between 32-bit CPU addresses into larger system bus
108 addresses. Cache and memory access setti 108 addresses. Cache and memory access settings are provided through a
109 Memory Protection Unit (MPU), programmab 109 Memory Protection Unit (MPU), programmable only from the R5Fs.
110 110
111 $ref: /schemas/arm/keystone/ti,k3-sci-comm 111 $ref: /schemas/arm/keystone/ti,k3-sci-common.yaml#
112 112
113 properties: 113 properties:
114 compatible: 114 compatible:
115 enum: 115 enum:
116 - ti,am62-r5f 116 - ti,am62-r5f
117 - ti,am64-r5f 117 - ti,am64-r5f
118 - ti,am654-r5f 118 - ti,am654-r5f
119 - ti,j7200-r5f 119 - ti,j7200-r5f
120 - ti,j721e-r5f 120 - ti,j721e-r5f
121 - ti,j721s2-r5f 121 - ti,j721s2-r5f
122 122
123 reg: 123 reg:
124 items: 124 items:
125 - description: Address and Size of t 125 - description: Address and Size of the ATCM internal memory region
126 - description: Address and Size of t 126 - description: Address and Size of the BTCM internal memory region
127 127
128 reg-names: 128 reg-names:
129 items: 129 items:
130 - const: atcm 130 - const: atcm
131 - const: btcm 131 - const: btcm
132 132
133 resets: 133 resets:
134 description: | 134 description: |
135 Should contain the phandle to the re 135 Should contain the phandle to the reset controller node managing the
136 local resets for this device, and a 136 local resets for this device, and a reset specifier.
137 maxItems: 1 137 maxItems: 1
138 138
139 firmware-name: 139 firmware-name:
140 description: | 140 description: |
141 Should contain the name of the defau 141 Should contain the name of the default firmware image
142 file located on the firmware search 142 file located on the firmware search path
143 143
144 # The following properties are mandatory for R 144 # The following properties are mandatory for R5F Core0 in both LockStep and Split
145 # modes, and are mandatory for R5F Core1 _only 145 # modes, and are mandatory for R5F Core1 _only_ in Split mode. They are unused for
146 # R5F Core1 in LockStep mode: 146 # R5F Core1 in LockStep mode:
147 147
148 mboxes: 148 mboxes:
149 description: | 149 description: |
150 OMAP Mailbox specifier denoting the 150 OMAP Mailbox specifier denoting the sub-mailbox, to be used for
151 communication with the remote proces 151 communication with the remote processor. This property should match
152 with the sub-mailbox node used in th 152 with the sub-mailbox node used in the firmware image.
153 maxItems: 1 153 maxItems: 1
154 154
155 memory-region: 155 memory-region:
156 description: | 156 description: |
157 phandle to the reserved memory nodes 157 phandle to the reserved memory nodes to be associated with the
158 remoteproc device. There should be a 158 remoteproc device. There should be at least two reserved memory nodes
159 defined. The reserved memory nodes s 159 defined. The reserved memory nodes should be carveout nodes, and
160 should be defined with a "no-map" pr 160 should be defined with a "no-map" property as per the bindings in
161 Documentation/devicetree/bindings/re 161 Documentation/devicetree/bindings/reserved-memory/reserved-memory.txt
162 minItems: 2 162 minItems: 2
163 maxItems: 8 163 maxItems: 8
164 items: 164 items:
165 - description: region used for dynam 165 - description: region used for dynamic DMA allocations like vrings and
166 vring buffers 166 vring buffers
167 - description: region reserved for f 167 - description: region reserved for firmware image sections
168 additionalItems: true 168 additionalItems: true
169 169
170 170
171 # Optional properties: 171 # Optional properties:
172 # -------------------- 172 # --------------------
173 # The following properties are optional proper 173 # The following properties are optional properties for each of the R5F cores:
174 174
175 ti,atcm-enable: 175 ti,atcm-enable:
176 $ref: /schemas/types.yaml#/definitions 176 $ref: /schemas/types.yaml#/definitions/uint32
177 enum: [0, 1] 177 enum: [0, 1]
178 description: | 178 description: |
179 R5F core configuration mode dictatin 179 R5F core configuration mode dictating if ATCM should be enabled. The
180 R5F address of ATCM is dictated by t 180 R5F address of ATCM is dictated by ti,loczrama property. Should be
181 either a value of 1 (enabled) or 0 ( 181 either a value of 1 (enabled) or 0 (disabled), default is disabled
182 if omitted. Recommended to enable it 182 if omitted. Recommended to enable it for maximizing TCMs.
183 183
184 ti,btcm-enable: 184 ti,btcm-enable:
185 $ref: /schemas/types.yaml#/definitions 185 $ref: /schemas/types.yaml#/definitions/uint32
186 enum: [0, 1] 186 enum: [0, 1]
187 description: | 187 description: |
188 R5F core configuration mode dictatin 188 R5F core configuration mode dictating if BTCM should be enabled. The
189 R5F address of BTCM is dictated by t 189 R5F address of BTCM is dictated by ti,loczrama property. Should be
190 either a value of 1 (enabled) or 0 ( 190 either a value of 1 (enabled) or 0 (disabled), default is enabled if
191 omitted. 191 omitted.
192 192
193 ti,loczrama: 193 ti,loczrama:
194 $ref: /schemas/types.yaml#/definitions 194 $ref: /schemas/types.yaml#/definitions/uint32
195 enum: [0, 1] 195 enum: [0, 1]
196 description: | 196 description: |
197 R5F core configuration mode dictatin 197 R5F core configuration mode dictating which TCM should appear at
198 address 0 (from core's view). Should 198 address 0 (from core's view). Should be either a value of 1 (ATCM
199 at 0x0) or 0 (BTCM at 0x0), default 199 at 0x0) or 0 (BTCM at 0x0), default value is 1 if omitted.
200 200
201 sram: 201 sram:
202 $ref: /schemas/types.yaml#/definitions 202 $ref: /schemas/types.yaml#/definitions/phandle-array
203 minItems: 1 203 minItems: 1
204 maxItems: 4 204 maxItems: 4
205 items: 205 items:
206 maxItems: 1 206 maxItems: 1
207 description: | 207 description: |
208 phandles to one or more reserved on- 208 phandles to one or more reserved on-chip SRAM regions. The regions
209 should be defined as child nodes of 209 should be defined as child nodes of the respective SRAM node, and
210 should be defined as per the generic 210 should be defined as per the generic bindings in,
211 Documentation/devicetree/bindings/sr 211 Documentation/devicetree/bindings/sram/sram.yaml
212 212
213 required: 213 required:
214 - compatible 214 - compatible
215 - reg 215 - reg
216 - reg-names 216 - reg-names
217 - ti,sci 217 - ti,sci
218 - ti,sci-dev-id 218 - ti,sci-dev-id
219 - ti,sci-proc-ids 219 - ti,sci-proc-ids
220 - resets 220 - resets
221 - firmware-name 221 - firmware-name
222 222
223 unevaluatedProperties: false 223 unevaluatedProperties: false
224 224
225 allOf: 225 allOf:
226 - if: 226 - if:
227 properties: 227 properties:
228 compatible: 228 compatible:
229 enum: 229 enum:
230 - ti,am64-r5fss 230 - ti,am64-r5fss
231 then: 231 then:
232 properties: 232 properties:
233 ti,cluster-mode: 233 ti,cluster-mode:
234 enum: [0, 2] 234 enum: [0, 2]
235 235
236 - if: 236 - if:
237 properties: 237 properties:
238 compatible: 238 compatible:
239 enum: 239 enum:
240 - ti,am654-r5fss 240 - ti,am654-r5fss
241 - ti,j7200-r5fss 241 - ti,j7200-r5fss
242 - ti,j721e-r5fss 242 - ti,j721e-r5fss
243 - ti,j721s2-r5fss 243 - ti,j721s2-r5fss
244 then: 244 then:
245 properties: 245 properties:
246 ti,cluster-mode: 246 ti,cluster-mode:
247 enum: [0, 1] 247 enum: [0, 1]
248 248
249 - if: 249 - if:
250 properties: 250 properties:
251 compatible: 251 compatible:
252 enum: 252 enum:
253 - ti,am62-r5fss 253 - ti,am62-r5fss
254 then: 254 then:
255 properties: 255 properties:
256 ti,cluster-mode: 256 ti,cluster-mode:
257 enum: [3] 257 enum: [3]
258 258
259 required: 259 required:
260 - compatible 260 - compatible
261 - power-domains 261 - power-domains
262 - "#address-cells" 262 - "#address-cells"
263 - "#size-cells" 263 - "#size-cells"
264 - ranges 264 - ranges
265 265
266 additionalProperties: false 266 additionalProperties: false
267 267
268 examples: 268 examples:
269 - | 269 - |
270 soc { 270 soc {
271 #address-cells = <2>; 271 #address-cells = <2>;
272 #size-cells = <2>; 272 #size-cells = <2>;
273 273
274 mailbox0: mailbox-0 { 274 mailbox0: mailbox-0 {
275 #mbox-cells = <1>; 275 #mbox-cells = <1>;
276 }; 276 };
277 277
278 mailbox1: mailbox-1 { 278 mailbox1: mailbox-1 {
279 #mbox-cells = <1>; 279 #mbox-cells = <1>;
280 }; 280 };
281 281
282 bus@100000 { 282 bus@100000 {
283 compatible = "simple-bus"; 283 compatible = "simple-bus";
284 #address-cells = <2>; 284 #address-cells = <2>;
285 #size-cells = <2>; 285 #size-cells = <2>;
286 ranges = <0x00 0x00100000 0x00 0x0 286 ranges = <0x00 0x00100000 0x00 0x00100000 0x00 0x00020000>, /* ctrl mmr */
287 <0x00 0x41000000 0x00 0x4 287 <0x00 0x41000000 0x00 0x41000000 0x00 0x00020000>,
288 <0x00 0x41400000 0x00 0x4 288 <0x00 0x41400000 0x00 0x41400000 0x00 0x00020000>,
289 <0x00 0x41c00000 0x00 0x4 289 <0x00 0x41c00000 0x00 0x41c00000 0x00 0x00080000>;
290 290
291 bus@28380000 { 291 bus@28380000 {
292 compatible = "simple-bus"; 292 compatible = "simple-bus";
293 #address-cells = <2>; 293 #address-cells = <2>;
294 #size-cells = <2>; 294 #size-cells = <2>;
295 ranges = <0x00 0x28380000 0x00 295 ranges = <0x00 0x28380000 0x00 0x28380000 0x00 0x03880000>, /* MCU NAVSS */
296 <0x00 0x41000000 0x00 296 <0x00 0x41000000 0x00 0x41000000 0x00 0x00020000>, /* MCU R5F Core0 */
297 <0x00 0x41400000 0x00 297 <0x00 0x41400000 0x00 0x41400000 0x00 0x00020000>, /* MCU R5F Core1 */
298 <0x00 0x41c00000 0x00 298 <0x00 0x41c00000 0x00 0x41c00000 0x00 0x00080000>; /* MCU SRAM */
299 299
300 /* AM65x MCU R5FSS node */ 300 /* AM65x MCU R5FSS node */
301 mcu_r5fss0: r5fss@41000000 { 301 mcu_r5fss0: r5fss@41000000 {
302 compatible = "ti,am654-r5f 302 compatible = "ti,am654-r5fss";
303 power-domains = <&k3_pds 1 303 power-domains = <&k3_pds 129>;
304 ti,cluster-mode = <1>; 304 ti,cluster-mode = <1>;
305 #address-cells = <1>; 305 #address-cells = <1>;
306 #size-cells = <1>; 306 #size-cells = <1>;
307 ranges = <0x41000000 0x00 307 ranges = <0x41000000 0x00 0x41000000 0x20000>,
308 <0x41400000 0x00 308 <0x41400000 0x00 0x41400000 0x20000>;
309 309
310 mcu_r5f0: r5f@41000000 { 310 mcu_r5f0: r5f@41000000 {
311 compatible = "ti,am654 311 compatible = "ti,am654-r5f";
312 reg = <0x41000000 0x00 312 reg = <0x41000000 0x00008000>,
313 <0x41010000 0x00 313 <0x41010000 0x00008000>;
314 reg-names = "atcm", "b 314 reg-names = "atcm", "btcm";
315 ti,sci = <&dmsc>; 315 ti,sci = <&dmsc>;
316 ti,sci-dev-id = <159>; 316 ti,sci-dev-id = <159>;
317 ti,sci-proc-ids = <0x0 317 ti,sci-proc-ids = <0x01 0xFF>;
318 resets = <&k3_reset 15 318 resets = <&k3_reset 159 1>;
319 firmware-name = "am65x 319 firmware-name = "am65x-mcu-r5f0_0-fw";
320 ti,atcm-enable = <1>; 320 ti,atcm-enable = <1>;
321 ti,btcm-enable = <1>; 321 ti,btcm-enable = <1>;
322 ti,loczrama = <1>; 322 ti,loczrama = <1>;
323 mboxes = <&mailbox0 &m 323 mboxes = <&mailbox0 &mbox_mcu_r5fss0_core0>;
324 memory-region = <&mcu_ 324 memory-region = <&mcu_r5fss0_core0_dma_memory_region>,
325 <&mcu_ 325 <&mcu_r5fss0_core0_memory_region>;
326 sram = <&mcu_r5fss0_co 326 sram = <&mcu_r5fss0_core0_sram>;
327 }; 327 };
328 328
329 mcu_r5f1: r5f@41400000 { 329 mcu_r5f1: r5f@41400000 {
330 compatible = "ti,am654 330 compatible = "ti,am654-r5f";
331 reg = <0x41400000 0x00 331 reg = <0x41400000 0x00008000>,
332 <0x41410000 0x00 332 <0x41410000 0x00008000>;
333 reg-names = "atcm", "b 333 reg-names = "atcm", "btcm";
334 ti,sci = <&dmsc>; 334 ti,sci = <&dmsc>;
335 ti,sci-dev-id = <245>; 335 ti,sci-dev-id = <245>;
336 ti,sci-proc-ids = <0x0 336 ti,sci-proc-ids = <0x02 0xFF>;
337 resets = <&k3_reset 24 337 resets = <&k3_reset 245 1>;
338 firmware-name = "am65x 338 firmware-name = "am65x-mcu-r5f0_1-fw";
339 ti,atcm-enable = <1>; 339 ti,atcm-enable = <1>;
340 ti,btcm-enable = <1>; 340 ti,btcm-enable = <1>;
341 ti,loczrama = <1>; 341 ti,loczrama = <1>;
342 mboxes = <&mailbox1 &m 342 mboxes = <&mailbox1 &mbox_mcu_r5fss0_core1>;
343 }; 343 };
344 }; 344 };
345 }; 345 };
346 }; 346 };
347 }; 347 };
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