add OpenAMP driver

drivers/CMakeLists.txt

@@ -76,6 +76,7 @@
 add_subdirectory_ifdef(CONFIG_PTP_CLOCK ptp_clock)
 add_subdirectory_ifdef(CONFIG_PWM pwm)
 add_subdirectory_ifdef(CONFIG_REGULATOR regulator)
+add_subdirectory_ifdef(CONFIG_OPENAMP openamp)
 add_subdirectory_ifdef(CONFIG_RESET reset)
 add_subdirectory_ifdef(CONFIG_RETAINED_MEM retained_mem)
 add_subdirectory_ifdef(CONFIG_RTC rtc)
@@ -94,4 +95,4 @@
 add_subdirectory_ifdef(CONFIG_WATCHDOG watchdog)
 add_subdirectory_ifdef(CONFIG_WIFI wifi)
 add_subdirectory_ifdef(CONFIG_XEN xen)
 # zephyr-keep-sorted-stop

drivers/Kconfig

@@ -73,6 +73,7 @@
 source "drivers/ptp_clock/Kconfig"
 source "drivers/pwm/Kconfig"
 source "drivers/regulator/Kconfig"
+source "drivers/openamp/Kconfig"
 source "drivers/reset/Kconfig"
 source "drivers/retained_mem/Kconfig"
 source "drivers/rtc/Kconfig"
@@ -93,7 +94,7 @@
 source "drivers/watchdog/Kconfig"
 source "drivers/wifi/Kconfig"
 source "drivers/xen/Kconfig"
 # zephyr-keep-sorted-stop
 
 source "drivers/tee/Kconfig"
 

drivers/openamp/CMakeLists.txt

@@ -0,0 +1,14 @@
+# SPDX-License-Identifier: Apache-2.0
+if(CONFIG_RPMSG_VDEV OR CONFIG_OPENAMP_RESOURCE_TABLE)
+zephyr_library()
+zephyr_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+endif()
+
+if(CONFIG_RPMSG_VDEV)
+  zephyr_library_sources(rpmsg_virtio_device.c)
+endif()
+
+
+if(CONFIG_OPENAMP_RESOURCE_TABLE)
+  zephyr_library_sources(resource_table.c)
+endif()

drivers/openamp/Kconfig

@@ -0,0 +1,37 @@
+# Copyright (c) 2024 Maurer Systems GmbH
+# SPDX-License-Identifier: Apache-2.0
+
+config RPMSG_VDEV
+  bool "Support for RPMSG VirtualIO Device"
+  depends on OPENAMP
+
+if OPENAMP
+
+module = OPENAMP_DRIVER
+module-str = OPENAMP_DRIVER
+source "subsys/logging/Kconfig.template.log_config"
+
+config RPMSG_VDEV_INIT_PRIORITY
+  int "RPMSG VirtualIO Device initialization priority"
+  default 70
+  help
+    Set the priority for RPMSG VirtualIO Device init
+
+config RPMSG_VDEV_THREAD_PRIORITY
+  int "Thread priority"
+  default 10
+  help
+    Priority of the RPMSG VirtualIO Device |
+    thread used to process vrings.
+
+config RPMSG_VDEV_THREAD_STACK_SIZE
+  int "Thread stack size"
+  default 1024
+  help
+    Stack size of RPMSG VirtualIO Device thread.
+
+config OPENAMP_RESOURCE_TABLE
+  bool "Support for OpenaAMP Resource Table"
+
+
+endif # RPMSG_VDEV

drivers/openamp/resource_table.c

@@ -0,0 +1,224 @@
+/*
+ * Copyright (c) 2020 STMicroelectronics
+ * Copyright (c) 2024 Maurer Systems GmbH
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ * In addition to the standard ELF segments, most remote processors would
+ * also include a special section which we call "the resource table".
+ *
+ * The resource table contains system resources that the remote processor
+ * requires before it should be powered on, such as allocation of physically
+ * contiguous memory, or iommu mapping of certain on-chip peripherals.
+
+ * In addition to system resources, the resource table may also contain
+ * resource entries that publish the existence of supported features
+ * or configurations by the remote processor, such as trace buffers and
+ * supported virtio devices (and their configurations).
+
+ * Dependencies:
+ *   to be compliant with Linux kernel OS the resource table must be linked in a
+ *   specific section named ".resource_table".
+
+ * Related documentation:
+ *   https://www.kernel.org/doc/Documentation/remoteproc.txt
+ *   https://github.com/OpenAMP/open-amp/wiki/OpenAMP-Life-Cycle-Management
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/linker/devicetree_regions.h>
+
+#include <openamp/remoteproc.h>
+#include <openamp/virtio.h>
+
+LOG_MODULE_REGISTER(openamp_driver, CONFIG_OPENAMP_DRIVER_LOG_LEVEL);
+
+extern char ram_console_buf[];
+
+#define VRING_ALIGNMENT       16 /* fixed to match with Linux constraint */
+#define RPMSG_IPU_C0_FEATURES 1
+
+#define RESOURCE_TABLE_ATTR                                                                        \
+__attribute__((__section__(DT_PROP(VDEV_NODE, resource_table)))))
+#define __resource Z_GENERIC_SECTION(.resource_table)
+
+#define RESOURCE_TABLE_NODE DT_CHOSEN(openamp_resource_table)
+
+#define NUM_CARVEOUTS DT_PROP_LEN(RESOURCE_TABLE_NODE, carveouts)
+#define NUM_VDEVS     DT_PROP_LEN(RESOURCE_TABLE_NODE, vdevs)
+
+#define VDEV_INDEX(idx) vdev_##idx
+
+#define CARVEOUT_OFFSET(node_id, prop, idx) offsetof(struct fw_resource_table, carveouts[idx]),
+
+#define CARVEOUT_ENTRY(node_id, prop, idx)                                                         \
+	(struct fw_rsc_carveout){                                                                  \
+		.type = RSC_CARVEOUT,                                                              \
+		.da = DT_REG_ADDR(DT_PHANDLE_BY_IDX(node_id, prop, idx)),                          \
+		.pa = DT_REG_ADDR(DT_PHANDLE_BY_IDX(node_id, prop, idx)),                          \
+		.len = DT_REG_SIZE(DT_PHANDLE_BY_IDX(node_id, prop, idx)),                         \
+		.flags = 0,                                                                        \
+		.name = DT_PROP_BY_PHANDLE_IDX(node_id, carveouts, idx, zephyr_memory_region)},
+
+#define VRING_ENTRY(node_id, prop, idx, ...)                                                       \
+	.vrings[idx] = (struct fw_rsc_vdev_vring){                                                 \
+		.da = DT_PROP_BY_PHANDLE_IDX(node_id, prop, idx, device_address),                  \
+		.align = VRING_ALIGNMENT,                                                          \
+		.num = DT_PROP_BY_PHANDLE_IDX(node_id, prop, idx, num_buffers),                    \
+		.notifyid = DT_PROP_BY_PHANDLE_IDX(node_id, prop, idx, notify_id),                 \
+	},
+
+#define VDEV_ENTRY(node_id, prop, idx)                                                             \
+	.VDEV_INDEX(idx) = {                                                                       \
+		.vdev =                                                                            \
+			(struct fw_rsc_vdev){                                                      \
+				.type = RSC_VDEV,                                                  \
+				.id = DT_PROP_BY_PHANDLE_IDX(node_id, prop, idx, device_id),       \
+				.notifyid = 0,                                                     \
+				.dfeatures = RPMSG_IPU_C0_FEATURES,                                \
+				.gfeatures = 0,                                                    \
+				.config_len = 0,                                                   \
+				.status = 0,                                                       \
+				.num_of_vrings = DT_PROP_LEN(                                      \
+					DT_PHANDLE_BY_IDX(node_id, prop, idx), vrings),            \
+			},                                                                         \
+		DT_FOREACH_PROP_ELEM_VARGS(DT_PHANDLE_BY_IDX(node_id, prop, idx), vrings,          \
+					   VRING_ENTRY)},
+
+#define VDEV_FIELD(node_id, prop, idx)                                                             \
+	struct {                                                                                   \
+		struct fw_rsc_vdev vdev;                                                           \
+		struct fw_rsc_vdev_vring                                                           \
+			vrings[DT_PROP_LEN(DT_PHANDLE_BY_IDX(node_id, prop, idx), vrings)];        \
+	} vdev_##idx;
+
+#define FOREACH_CARVEOUT(fn)
+#define CARVEOUT_ENTRIES FOREACH_CARVEOUT(CARVEOUT_ENTRY)
+
+enum rsc_table_entries {
+#if NUM_CARVEOUTS > 0
+	RSC_TABLE_CARVEOUT_ENTRIES = NUM_CARVEOUTS - 1,
+#endif
+#if NUM_VDEVS > 0
+	RSC_TABLE_VDEV_ENTRY = NUM_CARVEOUTS + NUM_VDEVS - 1,
+#endif
+#if defined(CONFIG_RAM_CONSOLE)
+	RSC_TABLE_TRACE_ENTRY,
+#endif
+	RSC_TABLE_NUM_ENTRIES
+};
+
+#define VRING_FIELD(node_id, prop, idx) vdev_##idx;
+
+//__resource
+
+#define VDEV_OFFSET(node_id, prop, idx)     offsetof(struct fw_resource_table, vdev_##idx),
+#define CARVEOUT_OFFSET(node_id, prop, idx) offsetof(struct fw_resource_table, carveouts[idx]),
+
+struct fw_resource_table {
+	struct resource_table hdr;
+	uint32_t offset[RSC_TABLE_NUM_ENTRIES];
+#if NUM_CARVEOUTS > 0
+	struct fw_rsc_carveout carveouts[NUM_CARVEOUTS];
+#endif
+	DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, vdevs, VDEV_FIELD)
+#if defined(CONFIG_RAM_CONSOLE)
+	struct fw_rsc_trace cm_trace;
+#endif
+} METAL_PACKED_END __aligned(8) resource_table __resource = {
+	.hdr =
+		{
+			.ver = 1,
+			.num = RSC_TABLE_NUM_ENTRIES,
+		},
+
+	.offset =
+		{
+			DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, carveouts, CARVEOUT_OFFSET)
+				DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, vdevs, VDEV_OFFSET)
+
+#if defined(CONFIG_RAM_CONSOLE)
+					offsetof(struct fw_resource_table, cm_trace),
+#endif
+		},
+
+#if NUM_CARVEOUTS > 0
+	.carveouts = {DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, carveouts, CARVEOUT_ENTRY)},
+#endif
+	DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, vdevs, VDEV_ENTRY)
+
+#if defined(CONFIG_RAM_CONSOLE)
+		.cm_trace =
+		{
+			.type = RSC_TRACE,
+			.da = (uint32_t)ram_console_buf,
+			.len = CONFIG_RAM_CONSOLE_BUFFER_SIZE,
+			.name = "Zephyr_log",
+		},
+#endif
+} ;
+
+#if NUM_VDEVS > 0
+#define VDEV_LUT_ENTRY(node_id, prop, idx)                                                         \
+	{.index = DT_REG_ADDR(DT_PHANDLE_BY_IDX(node_id, prop, idx)),                              \
+	 &resource_table.VDEV_INDEX(idx).vdev},
+
+static struct {
+	unsigned int index;
+	struct fw_rsc_vdev *vdev;
+} vdev_lut[] = {DT_FOREACH_PROP_ELEM(RESOURCE_TABLE_NODE, vdevs, VDEV_LUT_ENTRY)};
+#endif
+
+void *openamp_get_rsc_table(void)
+{
+	return &resource_table;
+}
+
+size_t openamp_get_rsc_table_size(void)
+{
+	return sizeof(resource_table);
+}
+
+struct fw_rsc_carveout *openamp_get_carveout_by_name(const char *name)
+{
+#if NUM_CARVEOUTS > 0
+	struct fw_resource_table *rsc_table = &resource_table;
+
+	for (int i = 0; i < NUM_CARVEOUTS; i++) {
+		if (strcmp(rsc_table->carveouts[i].name, name) == 0) {
+			return &rsc_table->carveouts[i];
+		}
+	}
+#endif
+	return NULL;
+}
+
+struct fw_rsc_carveout *openamp_get_carveout_by_index(unsigned int idx)
+{
+#if NUM_CARVEOUTS > 0
+	struct fw_resource_table *rsc_table = &resource_table;
+
+	if (idx >= NUM_CARVEOUTS) {
+		return NULL;
+	}
+
+	return &rsc_table->carveouts[idx];
+#else
+	return NULL;
+#endif
+}
+
+struct fw_rsc_vdev *openamp_get_vdev(unsigned int idx)
+{
+#if NUM_VDEVS > 0
+	for (int i = 0; i < NUM_VDEVS; i++) {
+		if (vdev_lut[i].index == idx) {
+			return vdev_lut[i].vdev;
+		}
+	}
+#endif
+	return NULL;
+}