drivers: remoteproc: Add Xilinx r5 remoteproc driver

This driver enables r5f dual core Real time Processing Unit subsystem
available on Xilinx Zynq Ultrascale MPSoC Platform. RPU subsystem
(cluster) can be configured in different modes e.g. split mode in which
two r5f cores work independent of each other and lock-step mode in which
both r5f cores execute same code clock-for-clock and notify if the
result is different.

The Xilinx r5 Remoteproc Driver boots the RPU cores via calls to the Xilinx
Platform Management Unit that handles the R5 configuration, memory access
and R5 lifecycle management. The interface to this manager is done in this
driver via zynqmp_pm_* function calls.
Signed-off-by: Ben Levinsky <ben.levinsky@amd.com>
Signed-off-by: Tanmay Shah <tanmay.shah@amd.com>
Reported-by: kernel test robot <lkp@intel.com>
Link: https://lore.kernel.org/r/20221114233940.2096237-7-tanmay.shah@amd.comSigned-off-by: Mathieu Poirier <mathieu.poirier@linaro.org>

drivers/remoteproc/Kconfig

@@ -352,6 +352,19 @@ config TI_K3_R5_REMOTEPROC
 	  It's safe to say N here if you're not interested in utilizing
 	  a slave processor.
 
+config XLNX_R5_REMOTEPROC
+	tristate "Xilinx R5 remoteproc support"
+	depends on PM && ARCH_ZYNQMP
+	select ZYNQMP_FIRMWARE
+	select RPMSG_VIRTIO
+	select MAILBOX
+	select ZYNQMP_IPI_MBOX
+	help
+	  Say y or m here to support Xilinx R5 remote processors via the remote
+	  processor framework.
+
+	  It's safe to say N if not interested in using RPU r5f cores.
+
 endif # REMOTEPROC
 
 endmenu

drivers/remoteproc/Makefile

@@ -38,3 +38,4 @@ obj-$(CONFIG_ST_SLIM_REMOTEPROC)	+= st_slim_rproc.o
 obj-$(CONFIG_STM32_RPROC)		+= stm32_rproc.o
 obj-$(CONFIG_TI_K3_DSP_REMOTEPROC)	+= ti_k3_dsp_remoteproc.o
 obj-$(CONFIG_TI_K3_R5_REMOTEPROC)	+= ti_k3_r5_remoteproc.o
+obj-$(CONFIG_XLNX_R5_REMOTEPROC)	+= xlnx_r5_remoteproc.o

drivers/remoteproc/xlnx_r5_remoteproc.c

+// SPDX-License-Identifier: GPL-2.0
+/*
+ * ZynqMP R5 Remote Processor driver
+ *
+ */
+
+#include <dt-bindings/power/xlnx-zynqmp-power.h>
+#include <linux/dma-mapping.h>
+#include <linux/firmware/xlnx-zynqmp.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/of_address.h>
+#include <linux/of_platform.h>
+#include <linux/of_reserved_mem.h>
+#include <linux/platform_device.h>
+#include <linux/remoteproc.h>
+#include <linux/slab.h>
+
+#include "remoteproc_internal.h"
+
+/*
+ * settings for RPU cluster mode which
+ * reflects possible values of xlnx,cluster-mode dt-property
+ */
+enum zynqmp_r5_cluster_mode {
+	SPLIT_MODE = 0, /* When cores run as separate processor */
+	LOCKSTEP_MODE = 1, /* cores execute same code in lockstep,clk-for-clk */
+	SINGLE_CPU_MODE = 2, /* core0 is held in reset and only core1 runs */
+};
+
+/**
+ * struct mem_bank_data - Memory Bank description
+ *
+ * @addr: Start address of memory bank
+ * @size: Size of Memory bank
+ * @pm_domain_id: Power-domains id of memory bank for firmware to turn on/off
+ * @bank_name: name of the bank for remoteproc framework
+ */
+struct mem_bank_data {
+	phys_addr_t addr;
+	size_t size;
+	u32 pm_domain_id;
+	char *bank_name;
+};
+
+/*
+ * Hardcoded TCM bank values. This will be removed once TCM bindings are
+ * accepted for system-dt specifications and upstreamed in linux kernel
+ */
+static const struct mem_bank_data zynqmp_tcm_banks[] = {
+	{0xffe00000UL, 0x10000UL, PD_R5_0_ATCM, "atcm0"}, /* TCM 64KB each */
+	{0xffe20000UL, 0x10000UL, PD_R5_0_BTCM, "btcm0"},
+	{0xffe90000UL, 0x10000UL, PD_R5_1_ATCM, "atcm1"},
+	{0xffeb0000UL, 0x10000UL, PD_R5_1_BTCM, "btcm1"},
+};
+
+/**
+ * struct zynqmp_r5_core
+ *
+ * @dev: device of RPU instance
+ * @np: device node of RPU instance
+ * @tcm_bank_count: number TCM banks accessible to this RPU
+ * @tcm_banks: array of each TCM bank data
+ * @rmem_count: Number of reserved mem regions
+ * @rmem: reserved memory region nodes from device tree
+ * @rproc: rproc handle
+ * @pm_domain_id: RPU CPU power domain id
+ */
+struct zynqmp_r5_core {
+	struct device *dev;
+	struct device_node *np;
+	int tcm_bank_count;
+	struct mem_bank_data **tcm_banks;
+	int rmem_count;
+	struct reserved_mem **rmem;
+	struct rproc *rproc;
+	u32 pm_domain_id;
+};
+
+/**
+ * struct zynqmp_r5_cluster
+ *
+ * @dev: r5f subsystem cluster device node
+ * @mode: cluster mode of type zynqmp_r5_cluster_mode
+ * @core_count: number of r5 cores used for this cluster mode
+ * @r5_cores: Array of pointers pointing to r5 core
+ */
+struct zynqmp_r5_cluster {
+	struct device *dev;
+	enum  zynqmp_r5_cluster_mode mode;
+	int core_count;
+	struct zynqmp_r5_core **r5_cores;
+};
+
+/*
+ * zynqmp_r5_set_mode()
+ *
+ * set RPU cluster and TCM operation mode
+ *
+ * @r5_core: pointer to zynqmp_r5_core type object
+ * @fw_reg_val: value expected by firmware to configure RPU cluster mode
+ * @tcm_mode: value expected by fw to configure TCM mode (lockstep or split)
+ *
+ * Return: 0 for success and < 0 for failure
+ */
+static int zynqmp_r5_set_mode(struct zynqmp_r5_core *r5_core,
+			      enum rpu_oper_mode fw_reg_val,
+			      enum rpu_tcm_comb tcm_mode)
+{
+	int ret;
+
+	ret = zynqmp_pm_set_rpu_mode(r5_core->pm_domain_id, fw_reg_val);
+	if (ret < 0) {
+		dev_err(r5_core->dev, "failed to set RPU mode\n");
+		return ret;
+	}
+
+	ret = zynqmp_pm_set_tcm_config(r5_core->pm_domain_id, tcm_mode);
+	if (ret < 0)
+		dev_err(r5_core->dev, "failed to configure TCM\n");
+
+	return ret;
+}
+
+/*
+ * zynqmp_r5_rproc_start()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * Start R5 Core from designated boot address.
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int zynqmp_r5_rproc_start(struct rproc *rproc)
+{
+	struct zynqmp_r5_core *r5_core = rproc->priv;
+	enum rpu_boot_mem bootmem;
+	int ret;
+
+	/*
+	 * The exception vector pointers (EVP) refer to the base-address of
+	 * exception vectors (for reset, IRQ, FIQ, etc). The reset-vector
+	 * starts at the base-address and subsequent vectors are on 4-byte
+	 * boundaries.
+	 *
+	 * Exception vectors can start either from 0x0000_0000 (LOVEC) or
+	 * from 0xFFFF_0000 (HIVEC) which is mapped in the OCM (On-Chip Memory)
+	 *
+	 * Usually firmware will put Exception vectors at LOVEC.
+	 *
+	 * It is not recommend that you change the exception vector.
+	 * Changing the EVP to HIVEC will result in increased interrupt latency
+	 * and jitter. Also, if the OCM is secured and the Cortex-R5F processor
+	 * is non-secured, then the Cortex-R5F processor cannot access the
+	 * HIVEC exception vectors in the OCM.
+	 */
+	bootmem = (rproc->bootaddr >= 0xFFFC0000) ?
+		   PM_RPU_BOOTMEM_HIVEC : PM_RPU_BOOTMEM_LOVEC;
+
+	dev_dbg(r5_core->dev, "RPU boot addr 0x%llx from %s.", rproc->bootaddr,
+		bootmem == PM_RPU_BOOTMEM_HIVEC ? "OCM" : "TCM");
+
+	ret = zynqmp_pm_request_wake(r5_core->pm_domain_id, 1,
+				     bootmem, ZYNQMP_PM_REQUEST_ACK_NO);
+	if (ret)
+		dev_err(r5_core->dev,
+			"failed to start RPU = 0x%x\n", r5_core->pm_domain_id);
+	return ret;
+}
+
+/*
+ * zynqmp_r5_rproc_stop()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * Power down  R5 Core.
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int zynqmp_r5_rproc_stop(struct rproc *rproc)
+{
+	struct zynqmp_r5_core *r5_core = rproc->priv;
+	int ret;
+
+	ret = zynqmp_pm_force_pwrdwn(r5_core->pm_domain_id,
+				     ZYNQMP_PM_REQUEST_ACK_BLOCKING);
+	if (ret)
+		dev_err(r5_core->dev, "failed to stop remoteproc RPU %d\n", ret);
+
+	return ret;
+}
+
+/*
+ * zynqmp_r5_mem_region_map()
+ * @rproc: single R5 core's corresponding rproc instance
+ * @mem: mem descriptor to map reserved memory-regions
+ *
+ * Callback to map va for memory-region's carveout.
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int zynqmp_r5_mem_region_map(struct rproc *rproc,
+				    struct rproc_mem_entry *mem)
+{
+	void __iomem *va;
+
+	va = ioremap_wc(mem->dma, mem->len);
+	if (IS_ERR_OR_NULL(va))
+		return -ENOMEM;
+
+	mem->va = (void *)va;
+
+	return 0;
+}
+
+/*
+ * zynqmp_r5_rproc_mem_unmap
+ * @rproc: single R5 core's corresponding rproc instance
+ * @mem: mem entry to unmap
+ *
+ * Unmap memory-region carveout
+ *
+ * return: always returns 0
+ */
+static int zynqmp_r5_mem_region_unmap(struct rproc *rproc,
+				      struct rproc_mem_entry *mem)
+{
+	iounmap((void __iomem *)mem->va);
+	return 0;
+}
+
+/*
+ * add_mem_regions_carveout()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * Construct rproc mem carveouts from memory-region property nodes
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int add_mem_regions_carveout(struct rproc *rproc)
+{
+	struct rproc_mem_entry *rproc_mem;
+	struct zynqmp_r5_core *r5_core;
+	struct reserved_mem *rmem;
+	int i, num_mem_regions;
+
+	r5_core = (struct zynqmp_r5_core *)rproc->priv;
+	num_mem_regions = r5_core->rmem_count;
+
+	for (i = 0; i < num_mem_regions; i++) {
+		rmem = r5_core->rmem[i];
+
+		if (!strncmp(rmem->name, "vdev0buffer", strlen("vdev0buffer"))) {
+			/* Init reserved memory for vdev buffer */
+			rproc_mem = rproc_of_resm_mem_entry_init(&rproc->dev, i,
+								 rmem->size,
+								 rmem->base,
+								 rmem->name);
+		} else {
+			/* Register associated reserved memory regions */
+			rproc_mem = rproc_mem_entry_init(&rproc->dev, NULL,
+							 (dma_addr_t)rmem->base,
+							 rmem->size, rmem->base,
+							 zynqmp_r5_mem_region_map,
+							 zynqmp_r5_mem_region_unmap,
+							 rmem->name);
+		}
+
+		if (!rproc_mem)
+			return -ENOMEM;
+
+		rproc_add_carveout(rproc, rproc_mem);
+
+		dev_dbg(&rproc->dev, "reserved mem carveout %s addr=%llx, size=0x%llx",
+			rmem->name, rmem->base, rmem->size);
+	}
+
+	return 0;
+}
+
+/*
+ * tcm_mem_unmap()
+ * @rproc: single R5 core's corresponding rproc instance
+ * @mem: tcm mem entry to unmap
+ *
+ * Unmap TCM banks when powering down R5 core.
+ *
+ * return always 0
+ */
+static int tcm_mem_unmap(struct rproc *rproc, struct rproc_mem_entry *mem)
+{
+	iounmap((void __iomem *)mem->va);
+
+	return 0;
+}
+
+/*
+ * tcm_mem_map()
+ * @rproc: single R5 core's corresponding rproc instance
+ * @mem: tcm memory entry descriptor
+ *
+ * Given TCM bank entry, this func setup virtual address for TCM bank
+ * remoteproc carveout. It also takes care of va to da address translation
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int tcm_mem_map(struct rproc *rproc,
+		       struct rproc_mem_entry *mem)
+{
+	void __iomem *va;
+
+	va = ioremap_wc(mem->dma, mem->len);
+	if (IS_ERR_OR_NULL(va))
+		return -ENOMEM;
+
+	/* Update memory entry va */
+	mem->va = (void *)va;
+
+	/* clear TCMs */
+	memset_io(va, 0, mem->len);
+
+	/*
+	 * The R5s expect their TCM banks to be at address 0x0 and 0x2000,
+	 * while on the Linux side they are at 0xffexxxxx.
+	 *
+	 * Zero out the high 12 bits of the address. This will give
+	 * expected values for TCM Banks 0A and 0B (0x0 and 0x20000).
+	 */
+	mem->da &= 0x000fffff;
+
+	/*
+	 * TCM Banks 1A and 1B still have to be translated.
+	 *
+	 * Below handle these two banks' absolute addresses (0xffe90000 and
+	 * 0xffeb0000) and convert to the expected relative addresses
+	 * (0x0 and 0x20000).
+	 */
+	if (mem->da == 0x90000 || mem->da == 0xB0000)
+		mem->da -= 0x90000;
+
+	/* if translated TCM bank address is not valid report error */
+	if (mem->da != 0x0 && mem->da != 0x20000) {
+		dev_err(&rproc->dev, "invalid TCM address: %x\n", mem->da);
+		return -EINVAL;
+	}
+	return 0;
+}
+
+/*
+ * add_tcm_carveout_split_mode()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * allocate and add remoteproc carveout for TCM memory in split mode
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int add_tcm_carveout_split_mode(struct rproc *rproc)
+{
+	struct rproc_mem_entry *rproc_mem;
+	struct zynqmp_r5_core *r5_core;
+	int i, num_banks, ret;
+	phys_addr_t bank_addr;
+	struct device *dev;
+	u32 pm_domain_id;
+	size_t bank_size;
+	char *bank_name;
+
+	r5_core = (struct zynqmp_r5_core *)rproc->priv;
+	dev = r5_core->dev;
+	num_banks = r5_core->tcm_bank_count;
+
+	/*
+	 * Power-on Each 64KB TCM,
+	 * register its address space, map and unmap functions
+	 * and add carveouts accordingly
+	 */
+	for (i = 0; i < num_banks; i++) {
+		bank_addr = r5_core->tcm_banks[i]->addr;
+		bank_name = r5_core->tcm_banks[i]->bank_name;
+		bank_size = r5_core->tcm_banks[i]->size;
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+
+		ret = zynqmp_pm_request_node(pm_domain_id,
+					     ZYNQMP_PM_CAPABILITY_ACCESS, 0,
+					     ZYNQMP_PM_REQUEST_ACK_BLOCKING);
+		if (ret < 0) {
+			dev_err(dev, "failed to turn on TCM 0x%x", pm_domain_id);
+			goto release_tcm_split;
+		}
+
+		dev_dbg(dev, "TCM carveout split mode %s addr=%llx, size=0x%lx",
+			bank_name, bank_addr, bank_size);
+
+		rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
+						 bank_size, bank_addr,
+						 tcm_mem_map, tcm_mem_unmap,
+						 bank_name);
+		if (!rproc_mem) {
+			ret = -ENOMEM;
+			zynqmp_pm_release_node(pm_domain_id);
+			goto release_tcm_split;
+		}
+
+		rproc_add_carveout(rproc, rproc_mem);
+	}
+
+	return 0;
+
+release_tcm_split:
+	/* If failed, Turn off all TCM banks turned on before */
+	for (i--; i >= 0; i--) {
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		zynqmp_pm_release_node(pm_domain_id);
+	}
+	return ret;
+}
+
+/*
+ * add_tcm_carveout_lockstep_mode()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * allocate and add remoteproc carveout for TCM memory in lockstep mode
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int add_tcm_carveout_lockstep_mode(struct rproc *rproc)
+{
+	struct rproc_mem_entry *rproc_mem;
+	struct zynqmp_r5_core *r5_core;
+	int i, num_banks, ret;
+	phys_addr_t bank_addr;
+	size_t bank_size = 0;
+	struct device *dev;
+	u32 pm_domain_id;
+	char *bank_name;
+
+	r5_core = (struct zynqmp_r5_core *)rproc->priv;
+	dev = r5_core->dev;
+
+	/* Go through zynqmp banks for r5 node */
+	num_banks = r5_core->tcm_bank_count;
+
+	/*
+	 * In lockstep mode, TCM is contiguous memory block
+	 * However, each TCM block still needs to be enabled individually.
+	 * So, Enable each TCM block individually, but add their size
+	 * to create contiguous memory region.
+	 */
+	bank_addr = r5_core->tcm_banks[0]->addr;
+	bank_name = r5_core->tcm_banks[0]->bank_name;
+
+	for (i = 0; i < num_banks; i++) {
+		bank_size += r5_core->tcm_banks[i]->size;
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+
+		/* Turn on each TCM bank individually */
+		ret = zynqmp_pm_request_node(pm_domain_id,
+					     ZYNQMP_PM_CAPABILITY_ACCESS, 0,
+					     ZYNQMP_PM_REQUEST_ACK_BLOCKING);
+		if (ret < 0) {
+			dev_err(dev, "failed to turn on TCM 0x%x", pm_domain_id);
+			goto release_tcm_lockstep;
+		}
+	}
+
+	dev_dbg(dev, "TCM add carveout lockstep mode %s addr=0x%llx, size=0x%lx",
+		bank_name, bank_addr, bank_size);
+
+	/* Register TCM address range, TCM map and unmap functions */
+	rproc_mem = rproc_mem_entry_init(dev, NULL, bank_addr,
+					 bank_size, bank_addr,
+					 tcm_mem_map, tcm_mem_unmap,
+					 bank_name);
+	if (!rproc_mem) {
+		ret = -ENOMEM;
+		goto release_tcm_lockstep;
+	}
+
+	/* If registration is success, add carveouts */
+	rproc_add_carveout(rproc, rproc_mem);
+
+	return 0;
+
+release_tcm_lockstep:
+	/* If failed, Turn off all TCM banks turned on before */
+	for (i--; i >= 0; i--) {
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		zynqmp_pm_release_node(pm_domain_id);
+	}
+	return ret;
+}
+
+/*
+ * add_tcm_banks()
+ * @rproc: single R5 core's corresponding rproc instance
+ *
+ * allocate and add remoteproc carveouts for TCM memory based on cluster mode
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int add_tcm_banks(struct rproc *rproc)
+{
+	struct zynqmp_r5_cluster *cluster;
+	struct zynqmp_r5_core *r5_core;
+	struct device *dev;
+
+	r5_core = (struct zynqmp_r5_core *)rproc->priv;
+	if (!r5_core)
+		return -EINVAL;
+
+	dev = r5_core->dev;
+
+	cluster = dev_get_drvdata(dev->parent);
+	if (!cluster) {
+		dev_err(dev->parent, "Invalid driver data\n");
+		return -EINVAL;
+	}
+
+	/*
+	 * In lockstep mode TCM banks are one contiguous memory region of 256Kb
+	 * In split mode, each TCM bank is 64Kb and not contiguous.
+	 * We add memory carveouts accordingly.
+	 */
+	if (cluster->mode == SPLIT_MODE)
+		return add_tcm_carveout_split_mode(rproc);
+	else if (cluster->mode == LOCKSTEP_MODE)
+		return add_tcm_carveout_lockstep_mode(rproc);
+
+	return -EINVAL;
+}
+
+/*
+ * zynqmp_r5_parse_fw()
+ * @rproc: single R5 core's corresponding rproc instance
+ * @fw: ptr to firmware to be loaded onto r5 core
+ *
+ * get resource table if available
+ *
+ * return 0 on success, otherwise non-zero value on failure
+ */
+static int zynqmp_r5_parse_fw(struct rproc *rproc, const struct firmware *fw)
+{
+	int ret;
+
+	ret = rproc_elf_load_rsc_table(rproc, fw);
+	if (ret == -EINVAL) {
+		/*
+		 * resource table only required for IPC.
+		 * if not present, this is not necessarily an error;
+		 * for example, loading r5 hello world application
+		 * so simply inform user and keep going.
+		 */
+		dev_info(&rproc->dev, "no resource table found.\n");
+		ret = 0;
+	}
+	return ret;
+}
+
+/**
+ * zynqmp_r5_rproc_prepare()
+ * adds carveouts for TCM bank and reserved memory regions
+ *
+ * @rproc: Device node of each rproc
+ *
+ * Return: 0 for success else < 0 error code
+ */
+static int zynqmp_r5_rproc_prepare(struct rproc *rproc)
+{
+	int ret;
+
+	ret = add_tcm_banks(rproc);
+	if (ret) {
+		dev_err(&rproc->dev, "failed to get TCM banks, err %d\n", ret);
+		return ret;
+	}
+
+	ret = add_mem_regions_carveout(rproc);
+	if (ret) {
+		dev_err(&rproc->dev, "failed to get reserve mem regions %d\n", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+/**
+ * zynqmp_r5_rproc_unprepare()
+ * Turns off TCM banks using power-domain id
+ *
+ * @rproc: Device node of each rproc
+ *
+ * Return: always 0
+ */
+static int zynqmp_r5_rproc_unprepare(struct rproc *rproc)
+{
+	struct zynqmp_r5_core *r5_core;
+	u32 pm_domain_id;
+	int i;
+
+	r5_core = (struct zynqmp_r5_core *)rproc->priv;
+
+	for (i = 0; i < r5_core->tcm_bank_count; i++) {
+		pm_domain_id = r5_core->tcm_banks[i]->pm_domain_id;
+		if (zynqmp_pm_release_node(pm_domain_id))
+			dev_warn(r5_core->dev,
+				 "can't turn off TCM bank 0x%x", pm_domain_id);
+	}
+
+	return 0;
+}
+
+static const struct rproc_ops zynqmp_r5_rproc_ops = {
+	.prepare	= zynqmp_r5_rproc_prepare,
+	.unprepare	= zynqmp_r5_rproc_unprepare,
+	.start		= zynqmp_r5_rproc_start,
+	.stop		= zynqmp_r5_rproc_stop,
+	.load		= rproc_elf_load_segments,
+	.parse_fw	= zynqmp_r5_parse_fw,
+	.find_loaded_rsc_table = rproc_elf_find_loaded_rsc_table,
+	.sanity_check	= rproc_elf_sanity_check,
+	.get_boot_addr	= rproc_elf_get_boot_addr,
+};
+
+/**
+ * zynqmp_r5_add_rproc_core()
+ * Allocate and add struct rproc object for each r5f core
+ * This is called for each individual r5f core
+ *
+ * @cdev: Device node of each r5 core
+ *
+ * Return: zynqmp_r5_core object for success else error code pointer
+ */
+static struct zynqmp_r5_core *zynqmp_r5_add_rproc_core(struct device *cdev)
+{
+	struct zynqmp_r5_core *r5_core;
+	struct rproc *r5_rproc;
+	int ret;
+
+	/* Set up DMA mask */
+	ret = dma_set_coherent_mask(cdev, DMA_BIT_MASK(32));
+	if (ret)
+		return ERR_PTR(ret);
+
+	/* Allocate remoteproc instance */
+	r5_rproc = rproc_alloc(cdev, dev_name(cdev),
+			       &zynqmp_r5_rproc_ops,
+			       NULL, sizeof(struct zynqmp_r5_core));
+	if (!r5_rproc) {
+		dev_err(cdev, "failed to allocate memory for rproc instance\n");
+		return ERR_PTR(-ENOMEM);
+	}
+
+	r5_rproc->auto_boot = false;
+	r5_core = (struct zynqmp_r5_core *)r5_rproc->priv;
+	r5_core->dev = cdev;
+	r5_core->np = dev_of_node(cdev);
+	if (!r5_core->np) {
+		dev_err(cdev, "can't get device node for r5 core\n");
+		ret = -EINVAL;
+		goto free_rproc;
+	}
+
+	/* Add R5 remoteproc core */
+	ret = rproc_add(r5_rproc);
+	if (ret) {
+		dev_err(cdev, "failed to add r5 remoteproc\n");
+		goto free_rproc;
+	}
+
+	r5_core->rproc = r5_rproc;
+	return r5_core;
+
+free_rproc:
+	rproc_free(r5_rproc);
+	return ERR_PTR(ret);
+}
+
+/**
+ * zynqmp_r5_get_tcm_node()
+ * Ideally this function should parse tcm node and store information
+ * in r5_core instance. For now, Hardcoded TCM information is used.
+ * This approach is used as TCM bindings for system-dt is being developed
+ *
+ * @cluster: pointer to zynqmp_r5_cluster type object
+ *
+ * Return: 0 for success and < 0 error code for failure.
+ */
+static int zynqmp_r5_get_tcm_node(struct zynqmp_r5_cluster *cluster)
+{
+	struct device *dev = cluster->dev;
+	struct zynqmp_r5_core *r5_core;
+	int tcm_bank_count, tcm_node;
+	int i, j;
+
+	tcm_bank_count = ARRAY_SIZE(zynqmp_tcm_banks);
+
+	/* count per core tcm banks */
+	tcm_bank_count = tcm_bank_count / cluster->core_count;
+
+	/*
+	 * r5 core 0 will use all of TCM banks in lockstep mode.
+	 * In split mode, r5 core0 will use 128k and r5 core1 will use another
+	 * 128k. Assign TCM banks to each core accordingly
+	 */
+	tcm_node = 0;
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+		r5_core->tcm_banks = devm_kcalloc(dev, tcm_bank_count,
+						  sizeof(struct mem_bank_data *),
+						  GFP_KERNEL);
+		if (!r5_core->tcm_banks)
+			return -ENOMEM;
+
+		for (j = 0; j < tcm_bank_count; j++) {
+			/*
+			 * Use pre-defined TCM reg values.
+			 * Eventually this should be replaced by values
+			 * parsed from dts.
+			 */
+			r5_core->tcm_banks[j] =
+				(struct mem_bank_data *)&zynqmp_tcm_banks[tcm_node];
+			tcm_node++;
+		}
+
+		r5_core->tcm_bank_count = tcm_bank_count;
+	}
+
+	return 0;
+}
+
+/**
+ * zynqmp_r5_get_mem_region_node()
+ * parse memory-region property and get reserved mem regions
+ *
+ * @r5_core: pointer to zynqmp_r5_core type object
+ *
+ * Return: 0 for success and error code for failure.
+ */
+static int zynqmp_r5_get_mem_region_node(struct zynqmp_r5_core *r5_core)
+{
+	struct device_node *np, *rmem_np;
+	struct reserved_mem **rmem;
+	int res_mem_count, i;
+	struct device *dev;
+
+	dev = r5_core->dev;
+	np = r5_core->np;
+
+	res_mem_count = of_property_count_elems_of_size(np, "memory-region",
+							sizeof(phandle));
+	if (res_mem_count <= 0) {
+		dev_warn(dev, "failed to get memory-region property %d\n",
+			 res_mem_count);
+		return 0;
+	}
+
+	rmem = devm_kcalloc(dev, res_mem_count,
+			    sizeof(struct reserved_mem *), GFP_KERNEL);
+	if (!rmem)
+		return -ENOMEM;
+
+	for (i = 0; i < res_mem_count; i++) {
+		rmem_np = of_parse_phandle(np, "memory-region", i);
+		if (!rmem_np)
+			goto release_rmem;
+
+		rmem[i] = of_reserved_mem_lookup(rmem_np);
+		if (!rmem[i]) {
+			of_node_put(rmem_np);
+			goto release_rmem;
+		}
+
+		of_node_put(rmem_np);
+	}
+
+	r5_core->rmem_count = res_mem_count;
+	r5_core->rmem = rmem;
+	return 0;
+
+release_rmem:
+	return -EINVAL;
+}
+
+/*
+ * zynqmp_r5_core_init()
+ * Create and initialize zynqmp_r5_core type object
+ *
+ * @cluster: pointer to zynqmp_r5_cluster type object
+ * @fw_reg_val: value expected by firmware to configure RPU cluster mode
+ * @tcm_mode: value expected by fw to configure TCM mode (lockstep or split)
+ *
+ * Return: 0 for success and error code for failure.
+ */
+static int zynqmp_r5_core_init(struct zynqmp_r5_cluster *cluster,
+			       enum rpu_oper_mode fw_reg_val,
+			       enum rpu_tcm_comb tcm_mode)
+{
+	struct device *dev = cluster->dev;
+	struct zynqmp_r5_core *r5_core;
+	int ret, i;
+
+	ret = zynqmp_r5_get_tcm_node(cluster);
+	if (ret < 0) {
+		dev_err(dev, "can't get tcm node, err %d\n", ret);
+		return ret;
+	}
+
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+
+		ret = zynqmp_r5_get_mem_region_node(r5_core);
+		if (ret)
+			dev_warn(dev, "memory-region prop failed %d\n", ret);
+
+		/* Initialize r5 cores with power-domains parsed from dts */
+		ret = of_property_read_u32_index(r5_core->np, "power-domains",
+						 1, &r5_core->pm_domain_id);
+		if (ret) {
+			dev_err(dev, "failed to get power-domains property\n");
+			return ret;
+		}
+
+		ret = zynqmp_r5_set_mode(r5_core, fw_reg_val, tcm_mode);
+		if (ret) {
+			dev_err(dev, "failed to set r5 cluster mode %d, err %d\n",
+				cluster->mode, ret);
+			return ret;
+		}
+	}
+
+	return 0;
+}
+
+/*
+ * zynqmp_r5_cluster_init()
+ * Create and initialize zynqmp_r5_cluster type object
+ *
+ * @cluster: pointer to zynqmp_r5_cluster type object
+ *
+ * Return: 0 for success and error code for failure.
+ */
+static int zynqmp_r5_cluster_init(struct zynqmp_r5_cluster *cluster)
+{
+	enum zynqmp_r5_cluster_mode cluster_mode = LOCKSTEP_MODE;
+	struct device *dev = cluster->dev;
+	struct device_node *dev_node = dev_of_node(dev);
+	struct platform_device *child_pdev;
+	struct zynqmp_r5_core **r5_cores;
+	enum rpu_oper_mode fw_reg_val;
+	struct device **child_devs;
+	struct device_node *child;
+	enum rpu_tcm_comb tcm_mode;
+	int core_count, ret, i;
+
+	ret = of_property_read_u32(dev_node, "xlnx,cluster-mode", &cluster_mode);
+
+	/*
+	 * on success returns 0, if not defined then returns -EINVAL,
+	 * In that case, default is LOCKSTEP mode. Other than that
+	 * returns relative error code < 0.
+	 */
+	if (ret != -EINVAL && ret != 0) {
+		dev_err(dev, "Invalid xlnx,cluster-mode property\n");
+		return ret;
+	}
+
+	/*
+	 * For now driver only supports split mode and lockstep mode.
+	 * fail driver probe if either of that is not set in dts.
+	 */
+	if (cluster_mode == LOCKSTEP_MODE) {
+		tcm_mode = PM_RPU_TCM_COMB;
+		fw_reg_val = PM_RPU_MODE_LOCKSTEP;
+	} else if (cluster_mode == SPLIT_MODE) {
+		tcm_mode = PM_RPU_TCM_SPLIT;
+		fw_reg_val = PM_RPU_MODE_SPLIT;
+	} else {
+		dev_err(dev, "driver does not support cluster mode %d\n", cluster_mode);
+		return -EINVAL;
+	}
+
+	/*
+	 * Number of cores is decided by number of child nodes of
+	 * r5f subsystem node in dts. If Split mode is used in dts
+	 * 2 child nodes are expected.
+	 * In lockstep mode if two child nodes are available,
+	 * only use first child node and consider it as core0
+	 * and ignore core1 dt node.
+	 */
+	core_count = of_get_available_child_count(dev_node);
+	if (core_count == 0) {
+		dev_err(dev, "Invalid number of r5 cores %d", core_count);
+		return -EINVAL;
+	} else if (cluster_mode == SPLIT_MODE && core_count != 2) {
+		dev_err(dev, "Invalid number of r5 cores for split mode\n");
+		return -EINVAL;
+	} else if (cluster_mode == LOCKSTEP_MODE && core_count == 2) {
+		dev_warn(dev, "Only r5 core0 will be used\n");
+		core_count = 1;
+	}
+
+	child_devs = kcalloc(core_count, sizeof(struct device *), GFP_KERNEL);
+	if (!child_devs)
+		return -ENOMEM;
+
+	r5_cores = kcalloc(core_count,
+			   sizeof(struct zynqmp_r5_core *), GFP_KERNEL);
+	if (!r5_cores) {
+		kfree(child_devs);
+		return -ENOMEM;
+	}
+
+	i = 0;
+	for_each_available_child_of_node(dev_node, child) {
+		child_pdev = of_find_device_by_node(child);
+		if (!child_pdev) {
+			of_node_put(child);
+			ret = -ENODEV;
+			goto release_r5_cores;
+		}
+
+		child_devs[i] = &child_pdev->dev;
+
+		/* create and add remoteproc instance of type struct rproc */
+		r5_cores[i] = zynqmp_r5_add_rproc_core(&child_pdev->dev);
+		if (IS_ERR(r5_cores[i])) {
+			of_node_put(child);
+			ret = PTR_ERR(r5_cores[i]);
+			r5_cores[i] = NULL;
+			goto release_r5_cores;
+		}
+
+		/*
+		 * If two child nodes are available in dts in lockstep mode,
+		 * then ignore second child node.
+		 */
+		if (cluster_mode == LOCKSTEP_MODE) {
+			of_node_put(child);
+			break;
+		}
+
+		i++;
+	}
+
+	cluster->mode = cluster_mode;
+	cluster->core_count = core_count;
+	cluster->r5_cores = r5_cores;
+
+	ret = zynqmp_r5_core_init(cluster, fw_reg_val, tcm_mode);
+	if (ret < 0) {
+		dev_err(dev, "failed to init r5 core err %d\n", ret);
+		cluster->core_count = 0;
+		cluster->r5_cores = NULL;
+
+		/*
+		 * at this point rproc resources for each core are allocated.
+		 * adjust index to free resources in reverse order
+		 */
+		i = core_count - 1;
+		goto release_r5_cores;
+	}
+
+	kfree(child_devs);
+	return 0;
+
+release_r5_cores:
+	while (i >= 0) {
+		put_device(child_devs[i]);
+		if (r5_cores[i]) {
+			of_reserved_mem_device_release(r5_cores[i]->dev);
+			rproc_del(r5_cores[i]->rproc);
+			rproc_free(r5_cores[i]->rproc);
+		}
+		i--;
+	}
+	kfree(r5_cores);
+	kfree(child_devs);
+	return ret;
+}
+
+static void zynqmp_r5_cluster_exit(void *data)
+{
+	struct platform_device *pdev = (struct platform_device *)data;
+	struct zynqmp_r5_cluster *cluster;
+	struct zynqmp_r5_core *r5_core;
+	int i;
+
+	cluster = (struct zynqmp_r5_cluster *)platform_get_drvdata(pdev);
+	if (!cluster)
+		return;
+
+	for (i = 0; i < cluster->core_count; i++) {
+		r5_core = cluster->r5_cores[i];
+		of_reserved_mem_device_release(r5_core->dev);
+		put_device(r5_core->dev);
+		rproc_del(r5_core->rproc);
+		rproc_free(r5_core->rproc);
+	}
+
+	kfree(cluster->r5_cores);
+	kfree(cluster);
+	platform_set_drvdata(pdev, NULL);
+}
+
+/*
+ * zynqmp_r5_remoteproc_probe()
+ * parse device-tree, initialize hardware and allocate required resources
+ * and remoteproc ops
+ *
+ * @pdev: domain platform device for R5 cluster
+ *
+ * Return: 0 for success and < 0 for failure.
+ */
+static int zynqmp_r5_remoteproc_probe(struct platform_device *pdev)
+{
+	struct zynqmp_r5_cluster *cluster;
+	struct device *dev = &pdev->dev;
+	int ret;
+
+	cluster = kzalloc(sizeof(*cluster), GFP_KERNEL);
+	if (!cluster)
+		return -ENOMEM;
+
+	cluster->dev = dev;
+
+	ret = devm_of_platform_populate(dev);
+	if (ret) {
+		dev_err_probe(dev, ret, "failed to populate platform dev\n");
+		kfree(cluster);
+		return ret;
+	}
+
+	/* wire in so each core can be cleaned up at driver remove */
+	platform_set_drvdata(pdev, cluster);
+
+	ret = zynqmp_r5_cluster_init(cluster);
+	if (ret) {
+		kfree(cluster);
+		platform_set_drvdata(pdev, NULL);
+		dev_err_probe(dev, ret, "Invalid r5f subsystem device tree\n");
+		return ret;
+	}
+
+	ret = devm_add_action_or_reset(dev, zynqmp_r5_cluster_exit, pdev);
+	if (ret)
+		return ret;
+
+	return 0;
+}
+
+/* Match table for OF platform binding */
+static const struct of_device_id zynqmp_r5_remoteproc_match[] = {
+	{ .compatible = "xlnx,zynqmp-r5fss", },
+	{ /* end of list */ },
+};
+MODULE_DEVICE_TABLE(of, zynqmp_r5_remoteproc_match);
+
+static struct platform_driver zynqmp_r5_remoteproc_driver = {
+	.probe = zynqmp_r5_remoteproc_probe,
+	.driver = {
+		.name = "zynqmp_r5_remoteproc",
+		.of_match_table = zynqmp_r5_remoteproc_match,
+	},
+};
+module_platform_driver(zynqmp_r5_remoteproc_driver);
+
+MODULE_DESCRIPTION("Xilinx R5F remote processor driver");
+MODULE_AUTHOR("Xilinx Inc.");
+MODULE_LICENSE("GPL");