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/* | ||
* 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. | ||
* | ||
* libmetal mimxrt port. | ||
*/ | ||
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#include "py/mperrno.h" | ||
#include "py/mphal.h" | ||
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#include "fsl_common.h" | ||
#include "fsl_mu.h" | ||
#include CPU_HEADER_H | ||
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#include "metal/sys.h" | ||
#include "metal/utilities.h" | ||
#include "metal/device.h" | ||
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struct metal_state _metal; | ||
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) { | ||
metal_unused(params); | ||
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// Init MU. | ||
MU_Init(MUA); | ||
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// Configure and enable MU IRQs. | ||
MU_ClearStatusFlags(MUA, kMU_GenInt0Flag); | ||
NVIC_SetPriority(MUA_IRQn, IRQ_PRI_MU); | ||
NVIC_EnableIRQ(MUA_IRQn); | ||
MU_EnableInterrupts(MUA, kMU_GenInt0InterruptEnable); | ||
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#ifndef VIRTIO_USE_DCACHE | ||
// If cache management is not enabled, configure the MPU to disable caching | ||
// for the entire shared memory region. | ||
ARM_MPU_Disable(); | ||
MPU->RBAR = ARM_MPU_RBAR(10, METAL_MPU_REGION_BASE); | ||
// Normal type, not shareable, non-cacheable | ||
MPU->RASR = ARM_MPU_RASR(0, ARM_MPU_AP_FULL, 1, 0, 0, 0, 0, METAL_MPU_REGION_SIZE); | ||
ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_HFNMIENA_Msk); | ||
#endif | ||
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metal_bus_register(&metal_generic_bus); | ||
return 0; | ||
} | ||
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void metal_sys_finish(void) { | ||
NVIC_DisableIRQ(MUA_IRQn); | ||
metal_bus_unregister(&metal_generic_bus); | ||
} | ||
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unsigned int sys_irq_save_disable(void) { | ||
return disable_irq(); | ||
} | ||
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void sys_irq_restore_enable(unsigned int state) { | ||
enable_irq(state); | ||
} | ||
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void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa, | ||
size_t size, unsigned int flags) { | ||
metal_unused(pa); | ||
metal_unused(size); | ||
metal_unused(flags); | ||
return va; | ||
} | ||
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void metal_machine_cache_flush(void *addr, unsigned int len) { | ||
SCB_CleanDCache_by_Addr(addr, len); | ||
} | ||
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void metal_machine_cache_invalidate(void *addr, unsigned int len) { | ||
SCB_InvalidateDCache_by_Addr(addr, len); | ||
} | ||
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int metal_rproc_notify(void *priv, uint32_t id) { | ||
MU_TriggerInterrupts(MUA, kMU_GenInt0InterruptTrigger); | ||
return 0; | ||
} | ||
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void MUA_IRQHandler(void) { | ||
if (MU_GetStatusFlags(MUA) & kMU_GenInt0Flag) { | ||
MU_ClearStatusFlags(MUA, kMU_GenInt0Flag); | ||
mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified); | ||
} | ||
__DSB(); | ||
} |
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/* | ||
* 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. | ||
* | ||
* libmetal mimxrt port. | ||
*/ | ||
#ifndef MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H | ||
#define MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H | ||
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#include <stdlib.h> | ||
#include "py/mphal.h" | ||
#include "py/runtime.h" | ||
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#define METAL_HAVE_STDATOMIC_H 0 | ||
#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. | ||
#define METAL_LOG_HANDLER_ENABLE 0 | ||
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#define metal_cpu_yield() | ||
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// Shared memory config | ||
#define METAL_SHM_NAME "OPENAMP_SHM" | ||
// Note 1K must be reserved at the start of the openamp | ||
// shared memory region, for the shared resource table. | ||
#define METAL_RSC_ADDR ((void *)_openamp_shm_region_start) | ||
#define METAL_RSC_SIZE (1024) | ||
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#define METAL_SHM_ADDR ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE)) | ||
#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) | ||
#define METAL_MPU_REGION_SIZE (ARM_MPU_REGION_SIZE_64KB) | ||
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extern const char _openamp_shm_region_start[]; | ||
extern const char _openamp_shm_region_end[]; | ||
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int metal_rproc_notify(void *priv, uint32_t id); | ||
extern void openamp_remoteproc_notified(mp_sched_node_t *node); | ||
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static inline int __metal_sleep_usec(unsigned int usec) { | ||
mp_hal_delay_us(usec); | ||
return 0; | ||
} | ||
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static inline void metal_generic_default_poll(void) { | ||
MICROPY_EVENT_POLL_HOOK | ||
} | ||
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#endif // MICROPY_INCLUDED_MIMXRT_METAL_PORT_H |
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@@ -0,0 +1,161 @@ | ||
/* | ||
* 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. | ||
*/ | ||
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#include "py/obj.h" | ||
#include "py/runtime.h" | ||
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#include "fsl_common.h" | ||
#include "fsl_mu.h" | ||
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#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" | ||
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struct remoteproc *mp_openamp_remoteproc_init(struct remoteproc *rproc, | ||
const struct remoteproc_ops *ops, void *arg) { | ||
metal_log(METAL_LOG_DEBUG, "rproc_init()\n"); | ||
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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; | ||
} | ||
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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); | ||
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struct remoteproc_mem *mem; | ||
metal_phys_addr_t lpa = *pa; | ||
metal_phys_addr_t lda = *da; | ||
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if (lda == METAL_BAD_PHYS) { | ||
return NULL; | ||
} | ||
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if (lpa == METAL_BAD_PHYS) { | ||
lpa = lda; | ||
} | ||
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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); | ||
} | ||
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mem = metal_allocate_memory(sizeof(*mem)); | ||
if (!mem) { | ||
return NULL; | ||
} | ||
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*io = metal_allocate_memory(sizeof(struct metal_io_region)); | ||
if (!*io) { | ||
metal_free_memory(mem); | ||
return NULL; | ||
} | ||
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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, | ||
sizeof(metal_phys_addr_t) << 3, attribute, NULL); | ||
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remoteproc_add_mem(rproc, mem); | ||
*pa = lpa; | ||
*da = lda; | ||
return metal_io_phys_to_virt(*io, mem->pa); | ||
} | ||
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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; | ||
} | ||
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// 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); | ||
} | ||
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unsigned long offset = 0; | ||
struct metal_io_region *io = remoteproc_get_io_with_da(rproc, rproc->bootaddr, &offset); | ||
if (!io) { | ||
return -1; | ||
} | ||
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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; | ||
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SRC->CTRL_M4CORE = SRC_CTRL_M4CORE_SW_RESET_MASK; | ||
SRC->SCR |= SRC_SCR_BT_RELEASE_M4_MASK; | ||
return 0; | ||
} | ||
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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; | ||
} | ||
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int mp_openamp_remoteproc_config(struct remoteproc *rproc, void *data) { | ||
metal_log(METAL_LOG_DEBUG, "rproc_config()\n"); | ||
(void)rproc; | ||
return 0; | ||
} | ||
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void mp_openamp_remoteproc_remove(struct remoteproc *rproc) { | ||
metal_log(METAL_LOG_DEBUG, "rproc_remove()\n"); | ||
(void)rproc; | ||
} | ||
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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; | ||
} |