drivers/remoteproc/pru_rproc.c - platform/external/u-boot - Gitiles

 // SPDX-License-Identifier: GPL-2.0
 /*
  * PRU-RTU remoteproc driver for various SoCs
  *
  * Copyright (C) 2018 Texas Instruments Incorporated - https://www.ti.com/
  *	Keerthy <j-keerthy@ti.com>
  */

 #include <common.h>
 #include <dm.h>
 #include <elf.h>
 #include <dm/of_access.h>
 #include <remoteproc.h>
 #include <errno.h>
 #include <clk.h>
 #include <reset.h>
 #include <regmap.h>
 #include <syscon.h>
 #include <asm/io.h>
 #include <power-domain.h>
 #include <linux/pruss_driver.h>
 #include <dm/device_compat.h>

 /* PRU_ICSS_PRU_CTRL registers */
 #define PRU_CTRL_CTRL		0x0000
 #define PRU_CTRL_STS		0x0004
 #define PRU_CTRL_WAKEUP_EN	0x0008
 #define PRU_CTRL_CYCLE		0x000C
 #define PRU_CTRL_STALL		0x0010
 #define PRU_CTRL_CTBIR0		0x0020
 #define PRU_CTRL_CTBIR1		0x0024
 #define PRU_CTRL_CTPPR0		0x0028
 #define PRU_CTRL_CTPPR1		0x002C

 /* CTRL register bit-fields */
 #define CTRL_CTRL_SOFT_RST_N	BIT(0)
 #define CTRL_CTRL_EN		BIT(1)
 #define CTRL_CTRL_SLEEPING	BIT(2)
 #define CTRL_CTRL_CTR_EN	BIT(3)
 #define CTRL_CTRL_SINGLE_STEP	BIT(8)
 #define CTRL_CTRL_RUNSTATE	BIT(15)

 #define RPROC_FLAGS_SHIFT	16
 #define RPROC_FLAGS_NONE	0
 #define RPROC_FLAGS_ELF_PHDR	BIT(0 + RPROC_FLAGS_SHIFT)
 #define RPROC_FLAGS_ELF_SHDR	BIT(1 + RPROC_FLAGS_SHIFT)

 /**
  * enum pru_mem - PRU core memory range identifiers
  */
 enum pru_mem {
 	PRU_MEM_IRAM = 0,
 	PRU_MEM_CTRL,
 	PRU_MEM_DEBUG,
 	PRU_MEM_MAX,
 };

 struct pru_privdata {
 	phys_addr_t pru_iram;
 	phys_addr_t pru_ctrl;
 	phys_addr_t pru_debug;
 	fdt_size_t pru_iramsz;
 	fdt_size_t pru_ctrlsz;
 	fdt_size_t pru_debugsz;
 	const char *fw_name;
 	u32 iram_da;
 	u32 pdram_da;
 	u32 sdram_da;
 	u32 shrdram_da;
 	u32 bootaddr;
 	int id;
 	struct pruss *prusspriv;
 };

 static inline u32 pru_control_read_reg(struct pru_privdata *pru, unsigned int reg)
 {
 	return readl(pru->pru_ctrl + reg);
 }

 static inline
 void pru_control_write_reg(struct pru_privdata *pru, unsigned int reg, u32 val)
 {
 	writel(val, pru->pru_ctrl + reg);
 }

 static inline
 void pru_control_set_reg(struct pru_privdata *pru, unsigned int reg,
 			 u32 mask, u32 set)
 {
 	u32 val;

 	val = pru_control_read_reg(pru, reg);
 	val &= ~mask;
 	val |= (set & mask);
 	pru_control_write_reg(pru, reg, val);
 }

 /**
  * pru_rproc_set_ctable() - set the constant table index for the PRU
  * @rproc: the rproc instance of the PRU
  * @c: constant table index to set
  * @addr: physical address to set it to
  */
 static int pru_rproc_set_ctable(struct pru_privdata *pru, enum pru_ctable_idx c, u32 addr)
 {
 	unsigned int reg;
 	u32 mask, set;
 	u16 idx;
 	u16 idx_mask;

 	/* pointer is 16 bit and index is 8-bit so mask out the rest */
 	idx_mask = (c >= PRU_C28) ? 0xFFFF : 0xFF;

 	/* ctable uses bit 8 and upwards only */
 	idx = (addr >> 8) & idx_mask;

 	/* configurable ctable (i.e. C24) starts at PRU_CTRL_CTBIR0 */
 	reg = PRU_CTRL_CTBIR0 + 4 * (c >> 1);
 	mask = idx_mask << (16 * (c & 1));
 	set = idx << (16 * (c & 1));

 	pru_control_set_reg(pru, reg, mask, set);

 	return 0;
 }

 /**
  * pru_start() - start the pru processor
  * @dev:	corresponding k3 remote processor device
  *
  * Return: 0 if all goes good, else appropriate error message.
  */
 static int pru_start(struct udevice *dev)
 {
 	struct pru_privdata *priv;
 	int val = 0;

 	priv = dev_get_priv(dev);

 	pru_rproc_set_ctable(priv, PRU_C28, 0x100 << 8);

 	val = CTRL_CTRL_EN | ((priv->bootaddr >> 2) << 16);
 	writel(val, priv->pru_ctrl + PRU_CTRL_CTRL);

 	return 0;
 }

 /**
  * pru_stop() - Stop pru processor
  * @dev:	corresponding k3 remote processor device
  *
  * Return: 0 if all goes good, else appropriate error message.
  */
 static int pru_stop(struct udevice *dev)
 {
 	struct pru_privdata *priv;
 	int val = 0;

 	priv = dev_get_priv(dev);

 	val = readl(priv->pru_ctrl + PRU_CTRL_CTRL);
 	val &= ~CTRL_CTRL_EN;
 	writel(val, priv->pru_ctrl + PRU_CTRL_CTRL);

 	return 0;
 }

 /**
  * pru_init() - Initialize the remote processor
  * @dev:	rproc device pointer
  *
  * Return: 0 if all went ok, else return appropriate error
  */
 static int pru_init(struct udevice *dev)
 {
 	return 0;
 }

 /*
  * Convert PRU device address (data spaces only) to kernel virtual address
  *
  * Each PRU has access to all data memories within the PRUSS, accessible at
  * different ranges. So, look through both its primary and secondary Data
  * RAMs as well as any shared Data RAM to convert a PRU device address to
  * kernel virtual address. Data RAM0 is primary Data RAM for PRU0 and Data
  * RAM1 is primary Data RAM for PRU1.
  */
 static void *pru_d_da_to_pa(struct pru_privdata *priv, u32 da, int len)
 {
 	u32 offset;
 	void *pa = NULL;
 	phys_addr_t dram0, dram1, shrdram2;
 	u32 dram0sz, dram1sz, shrdram2sz;

 	if (len <= 0)
 		return NULL;

 	dram0 = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM0].pa;
 	dram1 = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].pa;
 	shrdram2 = priv->prusspriv->mem_regions[PRUSS_MEM_SHRD_RAM2].pa;
 	dram0sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM0].size;
 	dram1sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].size;
 	shrdram2sz = priv->prusspriv->mem_regions[PRUSS_MEM_SHRD_RAM2].size;

 	/* PRU1 has its local RAM addresses reversed */
 	if (priv->id == 1) {
 		dram1 = dram0;
 		dram1sz = dram0sz;

 		dram0 =  priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].pa;
 		dram0sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].size;
 	}

 	if (da >= priv->pdram_da && da + len <= priv->pdram_da + dram0sz) {
 		offset = da - priv->pdram_da;
 		pa = (__force void *)(dram0 + offset);
 	} else if (da >= priv->sdram_da &&
 		   da + len <= priv->sdram_da + dram1sz) {
 		offset = da - priv->sdram_da;
 		pa = (__force void *)(dram1 + offset);
 	} else if (da >= priv->shrdram_da &&
 		   da + len <= priv->shrdram_da + shrdram2sz) {
 		offset = da - priv->shrdram_da;
 		pa = (__force void *)(shrdram2 + offset);
 	}

 	return pa;
 }

 /*
  * Convert PRU device address (instruction space) to kernel virtual address
  *
  * A PRU does not have an unified address space. Each PRU has its very own
  * private Instruction RAM, and its device address is identical to that of
  * its primary Data RAM device address.
  */
 static void *pru_i_da_to_pa(struct pru_privdata *priv, u32 da, int len)
 {
 	u32 offset;
 	void *pa = NULL;

 	if (len <= 0)
 		return NULL;

 	if (da >= priv->iram_da &&
 	    da + len <= priv->iram_da + priv->pru_iramsz) {
 		offset = da - priv->iram_da;
 		pa = (__force void *)(priv->pru_iram + offset);
 	}

 	return pa;
 }

 /* PRU-specific address translator */
 static void *pru_da_to_pa(struct pru_privdata *priv, u64 da, int len, u32 flags)
 {
 	void *pa;
 	u32 exec_flag;

 	exec_flag = ((flags & RPROC_FLAGS_ELF_SHDR) ? flags & SHF_EXECINSTR :
 		     ((flags & RPROC_FLAGS_ELF_PHDR) ? flags & PF_X : 0));

 	if (exec_flag)
 		pa = pru_i_da_to_pa(priv, da, len);
 	else
 		pa = pru_d_da_to_pa(priv, da, len);

 	return pa;
 }

 /*
  * Custom memory copy implementation for ICSSG PRU/RTU Cores
  *
  * The ICSSG PRU/RTU cores have a memory copying issue with IRAM memories, that
  * is not seen on previous generation SoCs. The data is reflected properly in
  * the IRAM memories only for integer (4-byte) copies. Any unaligned copies
  * result in all the other pre-existing bytes zeroed out within that 4-byte
  * boundary, thereby resulting in wrong text/code in the IRAMs. Also, the
  * IRAM memory port interface does not allow any 8-byte copies (as commonly
  * used by ARM64 memcpy implementation) and throws an exception. The DRAM
  * memory ports do not show this behavior. Use this custom copying function
  * to properly load the PRU/RTU firmware images on all memories for simplicity.
  *
  * TODO: Improve the function to deal with additional corner cases like
  * unaligned copy sizes or sub-integer trailing bytes when the need arises.
  */
 static int pru_rproc_memcpy(void *dest, void *src, size_t count)
 {
 	const int *s = src;
 	int *d = dest;
 	int size = count / 4;
 	int *tmp_src = NULL;

 	/* limited to 4-byte aligned addresses and copy sizes */
 	if ((long)dest % 4 || count % 4)
 		return -EINVAL;

 	/* src offsets in ELF firmware image can be non-aligned */
 	if ((long)src % 4) {
 		tmp_src = malloc(count);
 		if (!tmp_src)
 			return -ENOMEM;

 		memcpy(tmp_src, src, count);
 		s = tmp_src;
 	}

 	while (size--)
 		*d++ = *s++;

 	kfree(tmp_src);

 	return 0;
 }

 /**
  * pru_load() - Load pru firmware
  * @dev:	corresponding k3 remote processor device
  * @addr:	Address on the RAM from which firmware is to be loaded
  * @size:	Size of the pru firmware in bytes
  *
  * Return: 0 if all goes good, else appropriate error message.
  */
 static int pru_load(struct udevice *dev, ulong addr, ulong size)
 {
 	struct pru_privdata *priv;
 	Elf32_Ehdr *ehdr;
 	Elf32_Phdr *phdr;
 	int i, ret = 0;

 	priv = dev_get_priv(dev);

 	ehdr = (Elf32_Ehdr *)addr;
 	phdr = (Elf32_Phdr *)(addr + ehdr->e_phoff);

 	/* go through the available ELF segments */
 	for (i = 0; i < ehdr->e_phnum; i++, phdr++) {
 		u32 da = phdr->p_paddr;
 		u32 memsz = phdr->p_memsz;
 		u32 filesz = phdr->p_filesz;
 		u32 offset = phdr->p_offset;
 		void *ptr;

 		if (phdr->p_type != PT_LOAD)
 			continue;

 		dev_dbg(dev, "phdr: type %d da 0x%x memsz 0x%x filesz 0x%x\n",
 			phdr->p_type, da, memsz, filesz);

 		if (filesz > memsz) {
 			dev_dbg(dev, "bad phdr filesz 0x%x memsz 0x%x\n",
 				filesz, memsz);
 			ret = -EINVAL;
 			break;
 		}

 		if (offset + filesz > size) {
 			dev_dbg(dev, "truncated fw: need 0x%x avail 0x%zx\n",
 				offset + filesz, size);
 			ret = -EINVAL;
 			break;
 		}

 		/* grab the kernel address for this device address */
 		ptr = pru_da_to_pa(priv, da, memsz,
 				   RPROC_FLAGS_ELF_PHDR | phdr->p_flags);
 		if (!ptr) {
 			dev_dbg(dev, "bad phdr da 0x%x mem 0x%x\n", da, memsz);
 			ret = -EINVAL;
 			break;
 		}

 		/* skip the memzero logic performed by remoteproc ELF loader */
 		if (!phdr->p_filesz)
 			continue;

 		ret = pru_rproc_memcpy(ptr,
 				       (void *)addr + phdr->p_offset, filesz);
 		if (ret) {
 			dev_dbg(dev, "PRU custom memory copy failed for da 0x%x memsz 0x%x\n",
 				da, memsz);
 			break;
 		}
 	}

 	priv->bootaddr = ehdr->e_entry;

 	return ret;
 }

 static const struct dm_rproc_ops pru_ops = {
 	.init = pru_init,
 	.start = pru_start,
 	.stop = pru_stop,
 	.load = pru_load,
 };

 static void pru_set_id(struct pru_privdata *priv, struct udevice *dev)
 {
 	u32 mask2 = 0x38000;

 	if (device_is_compatible(dev, "ti,am654-rtu"))
 		mask2 = 0x6000;

 	if (device_is_compatible(dev, "ti,am654-tx-pru"))
 		mask2 = 0xc000;

 	if ((priv->pru_iram & mask2) == mask2)
 		priv->id = 1;
 	else
 		priv->id = 0;
 }

 /**
  * pru_probe() - Basic probe
  * @dev:	corresponding k3 remote processor device
  *
  * Return: 0 if all goes good, else appropriate error message.
  */
 static int pru_probe(struct udevice *dev)
 {
 	struct pru_privdata *priv;
 	ofnode node;

 	node = dev_ofnode(dev);

 	priv = dev_get_priv(dev);
 	priv->prusspriv = dev_get_priv(dev->parent);

 	priv->pru_iram = devfdt_get_addr_size_index(dev, PRU_MEM_IRAM,
 						    &priv->pru_iramsz);
 	priv->pru_ctrl = devfdt_get_addr_size_index(dev, PRU_MEM_CTRL,
 						    &priv->pru_ctrlsz);
 	priv->pru_debug = devfdt_get_addr_size_index(dev, PRU_MEM_DEBUG,
 						     &priv->pru_debugsz);

 	priv->iram_da = 0;
 	priv->pdram_da = 0;
 	priv->sdram_da = 0x2000;
 	priv->shrdram_da = 0x10000;

 	pru_set_id(priv, dev);

 	return 0;
 }

 static const struct udevice_id pru_ids[] = {
 	{ .compatible = "ti,am654-pru"},
 	{ .compatible = "ti,am654-rtu"},
 	{ .compatible = "ti,am654-tx-pru" },
 	{}
 };

 U_BOOT_DRIVER(pru) = {
 	.name = "pru",
 	.of_match = pru_ids,
 	.id = UCLASS_REMOTEPROC,
 	.ops = &pru_ops,
 	.probe = pru_probe,
 	.priv_auto = sizeof(struct pru_privdata),
 };
	// SPDX-License-Identifier: GPL-2.0
	/*
	* PRU-RTU remoteproc driver for various SoCs
	*
	* Copyright (C) 2018 Texas Instruments Incorporated - https://www.ti.com/
	* Keerthy <j-keerthy@ti.com>
	*/

	#include <common.h>
	#include <dm.h>
	#include <elf.h>
	#include <dm/of_access.h>
	#include <remoteproc.h>
	#include <errno.h>
	#include <clk.h>
	#include <reset.h>
	#include <regmap.h>
	#include <syscon.h>
	#include <asm/io.h>
	#include <power-domain.h>
	#include <linux/pruss_driver.h>
	#include <dm/device_compat.h>

	/* PRU_ICSS_PRU_CTRL registers */
	#define PRU_CTRL_CTRL 0x0000
	#define PRU_CTRL_STS 0x0004
	#define PRU_CTRL_WAKEUP_EN 0x0008
	#define PRU_CTRL_CYCLE 0x000C
	#define PRU_CTRL_STALL 0x0010
	#define PRU_CTRL_CTBIR0 0x0020
	#define PRU_CTRL_CTBIR1 0x0024
	#define PRU_CTRL_CTPPR0 0x0028
	#define PRU_CTRL_CTPPR1 0x002C

	/* CTRL register bit-fields */
	#define CTRL_CTRL_SOFT_RST_N BIT(0)
	#define CTRL_CTRL_EN BIT(1)
	#define CTRL_CTRL_SLEEPING BIT(2)
	#define CTRL_CTRL_CTR_EN BIT(3)
	#define CTRL_CTRL_SINGLE_STEP BIT(8)
	#define CTRL_CTRL_RUNSTATE BIT(15)

	#define RPROC_FLAGS_SHIFT 16
	#define RPROC_FLAGS_NONE 0
	#define RPROC_FLAGS_ELF_PHDR BIT(0 + RPROC_FLAGS_SHIFT)
	#define RPROC_FLAGS_ELF_SHDR BIT(1 + RPROC_FLAGS_SHIFT)

	/**
	* enum pru_mem - PRU core memory range identifiers
	*/
	enum pru_mem {
	PRU_MEM_IRAM = 0,
	PRU_MEM_CTRL,
	PRU_MEM_DEBUG,
	PRU_MEM_MAX,
	};

	struct pru_privdata {
	phys_addr_t pru_iram;
	phys_addr_t pru_ctrl;
	phys_addr_t pru_debug;
	fdt_size_t pru_iramsz;
	fdt_size_t pru_ctrlsz;
	fdt_size_t pru_debugsz;
	const char *fw_name;
	u32 iram_da;
	u32 pdram_da;
	u32 sdram_da;
	u32 shrdram_da;
	u32 bootaddr;
	int id;
	struct pruss *prusspriv;
	};

	static inline u32 pru_control_read_reg(struct pru_privdata *pru, unsigned int reg)
	{
	return readl(pru->pru_ctrl + reg);
	}

	static inline
	void pru_control_write_reg(struct pru_privdata *pru, unsigned int reg, u32 val)
	{
	writel(val, pru->pru_ctrl + reg);
	}

	static inline
	void pru_control_set_reg(struct pru_privdata *pru, unsigned int reg,
	u32 mask, u32 set)
	{
	u32 val;

	val = pru_control_read_reg(pru, reg);
	val &= ~mask;
	val \|= (set & mask);
	pru_control_write_reg(pru, reg, val);
	}

	/**
	* pru_rproc_set_ctable() - set the constant table index for the PRU
	* @rproc: the rproc instance of the PRU
	* @c: constant table index to set
	* @addr: physical address to set it to
	*/
	static int pru_rproc_set_ctable(struct pru_privdata *pru, enum pru_ctable_idx c, u32 addr)
	{
	unsigned int reg;
	u32 mask, set;
	u16 idx;
	u16 idx_mask;

	/* pointer is 16 bit and index is 8-bit so mask out the rest */
	idx_mask = (c >= PRU_C28) ? 0xFFFF : 0xFF;

	/* ctable uses bit 8 and upwards only */
	idx = (addr >> 8) & idx_mask;

	/* configurable ctable (i.e. C24) starts at PRU_CTRL_CTBIR0 */
	reg = PRU_CTRL_CTBIR0 + 4 * (c >> 1);
	mask = idx_mask << (16 * (c & 1));
	set = idx << (16 * (c & 1));

	pru_control_set_reg(pru, reg, mask, set);

	return 0;
	}

	/**
	* pru_start() - start the pru processor
	* @dev: corresponding k3 remote processor device
	*
	* Return: 0 if all goes good, else appropriate error message.
	*/
	static int pru_start(struct udevice *dev)
	{
	struct pru_privdata *priv;
	int val = 0;

	priv = dev_get_priv(dev);

	pru_rproc_set_ctable(priv, PRU_C28, 0x100 << 8);

	val = CTRL_CTRL_EN \| ((priv->bootaddr >> 2) << 16);
	writel(val, priv->pru_ctrl + PRU_CTRL_CTRL);

	return 0;
	}

	/**
	* pru_stop() - Stop pru processor
	* @dev: corresponding k3 remote processor device
	*
	* Return: 0 if all goes good, else appropriate error message.
	*/
	static int pru_stop(struct udevice *dev)
	{
	struct pru_privdata *priv;
	int val = 0;

	priv = dev_get_priv(dev);

	val = readl(priv->pru_ctrl + PRU_CTRL_CTRL);
	val &= ~CTRL_CTRL_EN;
	writel(val, priv->pru_ctrl + PRU_CTRL_CTRL);

	return 0;
	}

	/**
	* pru_init() - Initialize the remote processor
	* @dev: rproc device pointer
	*
	* Return: 0 if all went ok, else return appropriate error
	*/
	static int pru_init(struct udevice *dev)
	{
	return 0;
	}

	/*
	* Convert PRU device address (data spaces only) to kernel virtual address
	*
	* Each PRU has access to all data memories within the PRUSS, accessible at
	* different ranges. So, look through both its primary and secondary Data
	* RAMs as well as any shared Data RAM to convert a PRU device address to
	* kernel virtual address. Data RAM0 is primary Data RAM for PRU0 and Data
	* RAM1 is primary Data RAM for PRU1.
	*/
	static void pru_d_da_to_pa(struct pru_privdata priv, u32 da, int len)
	{
	u32 offset;
	void *pa = NULL;
	phys_addr_t dram0, dram1, shrdram2;
	u32 dram0sz, dram1sz, shrdram2sz;

	if (len <= 0)
	return NULL;

	dram0 = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM0].pa;
	dram1 = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].pa;
	shrdram2 = priv->prusspriv->mem_regions[PRUSS_MEM_SHRD_RAM2].pa;
	dram0sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM0].size;
	dram1sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].size;
	shrdram2sz = priv->prusspriv->mem_regions[PRUSS_MEM_SHRD_RAM2].size;

	/* PRU1 has its local RAM addresses reversed */
	if (priv->id == 1) {
	dram1 = dram0;
	dram1sz = dram0sz;

	dram0 = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].pa;
	dram0sz = priv->prusspriv->mem_regions[PRUSS_MEM_DRAM1].size;
	}

	if (da >= priv->pdram_da && da + len <= priv->pdram_da + dram0sz) {
	offset = da - priv->pdram_da;
	pa = (__force void *)(dram0 + offset);
	} else if (da >= priv->sdram_da &&
	da + len <= priv->sdram_da + dram1sz) {
	offset = da - priv->sdram_da;
	pa = (__force void *)(dram1 + offset);
	} else if (da >= priv->shrdram_da &&
	da + len <= priv->shrdram_da + shrdram2sz) {
	offset = da - priv->shrdram_da;
	pa = (__force void *)(shrdram2 + offset);
	}

	return pa;
	}

	/*
	* Convert PRU device address (instruction space) to kernel virtual address
	*
	* A PRU does not have an unified address space. Each PRU has its very own
	* private Instruction RAM, and its device address is identical to that of
	* its primary Data RAM device address.
	*/
	static void pru_i_da_to_pa(struct pru_privdata priv, u32 da, int len)
	{
	u32 offset;
	void *pa = NULL;

	if (len <= 0)
	return NULL;

	if (da >= priv->iram_da &&
	da + len <= priv->iram_da + priv->pru_iramsz) {
	offset = da - priv->iram_da;
	pa = (__force void *)(priv->pru_iram + offset);
	}

	return pa;
	}

	/* PRU-specific address translator */
	static void pru_da_to_pa(struct pru_privdata priv, u64 da, int len, u32 flags)
	{
	void *pa;
	u32 exec_flag;

	exec_flag = ((flags & RPROC_FLAGS_ELF_SHDR) ? flags & SHF_EXECINSTR :
	((flags & RPROC_FLAGS_ELF_PHDR) ? flags & PF_X : 0));

	if (exec_flag)
	pa = pru_i_da_to_pa(priv, da, len);
	else
	pa = pru_d_da_to_pa(priv, da, len);

	return pa;
	}

	/*
	* Custom memory copy implementation for ICSSG PRU/RTU Cores
	*
	* The ICSSG PRU/RTU cores have a memory copying issue with IRAM memories, that
	* is not seen on previous generation SoCs. The data is reflected properly in
	* the IRAM memories only for integer (4-byte) copies. Any unaligned copies
	* result in all the other pre-existing bytes zeroed out within that 4-byte
	* boundary, thereby resulting in wrong text/code in the IRAMs. Also, the
	* IRAM memory port interface does not allow any 8-byte copies (as commonly
	* used by ARM64 memcpy implementation) and throws an exception. The DRAM
	* memory ports do not show this behavior. Use this custom copying function
	* to properly load the PRU/RTU firmware images on all memories for simplicity.
	*
	* TODO: Improve the function to deal with additional corner cases like
	* unaligned copy sizes or sub-integer trailing bytes when the need arises.
	*/
	static int pru_rproc_memcpy(void dest, void src, size_t count)
	{
	const int *s = src;
	int *d = dest;
	int size = count / 4;
	int *tmp_src = NULL;

	/* limited to 4-byte aligned addresses and copy sizes */
	if ((long)dest % 4 \|\| count % 4)
	return -EINVAL;

	/* src offsets in ELF firmware image can be non-aligned */
	if ((long)src % 4) {
	tmp_src = malloc(count);
	if (!tmp_src)
	return -ENOMEM;

	memcpy(tmp_src, src, count);
	s = tmp_src;
	}

	while (size--)
	d++ = s++;

	kfree(tmp_src);

	return 0;
	}

	/**
	* pru_load() - Load pru firmware
	* @dev: corresponding k3 remote processor device
	* @addr: Address on the RAM from which firmware is to be loaded
	* @size: Size of the pru firmware in bytes
	*
	* Return: 0 if all goes good, else appropriate error message.
	*/
	static int pru_load(struct udevice *dev, ulong addr, ulong size)
	{
	struct pru_privdata *priv;
	Elf32_Ehdr *ehdr;
	Elf32_Phdr *phdr;
	int i, ret = 0;

	priv = dev_get_priv(dev);

	ehdr = (Elf32_Ehdr *)addr;
	phdr = (Elf32_Phdr *)(addr + ehdr->e_phoff);

	/* go through the available ELF segments */
	for (i = 0; i < ehdr->e_phnum; i++, phdr++) {
	u32 da = phdr->p_paddr;
	u32 memsz = phdr->p_memsz;
	u32 filesz = phdr->p_filesz;
	u32 offset = phdr->p_offset;
	void *ptr;

	if (phdr->p_type != PT_LOAD)
	continue;

	dev_dbg(dev, "phdr: type %d da 0x%x memsz 0x%x filesz 0x%x\n",
	phdr->p_type, da, memsz, filesz);

	if (filesz > memsz) {
	dev_dbg(dev, "bad phdr filesz 0x%x memsz 0x%x\n",
	filesz, memsz);
	ret = -EINVAL;
	break;
	}

	if (offset + filesz > size) {
	dev_dbg(dev, "truncated fw: need 0x%x avail 0x%zx\n",
	offset + filesz, size);
	ret = -EINVAL;
	break;
	}

	/* grab the kernel address for this device address */
	ptr = pru_da_to_pa(priv, da, memsz,
	RPROC_FLAGS_ELF_PHDR \| phdr->p_flags);
	if (!ptr) {
	dev_dbg(dev, "bad phdr da 0x%x mem 0x%x\n", da, memsz);
	ret = -EINVAL;
	break;
	}

	/* skip the memzero logic performed by remoteproc ELF loader */
	if (!phdr->p_filesz)
	continue;

	ret = pru_rproc_memcpy(ptr,
	(void *)addr + phdr->p_offset, filesz);
	if (ret) {
	dev_dbg(dev, "PRU custom memory copy failed for da 0x%x memsz 0x%x\n",
	da, memsz);
	break;
	}
	}

	priv->bootaddr = ehdr->e_entry;

	return ret;
	}

	static const struct dm_rproc_ops pru_ops = {
	.init = pru_init,
	.start = pru_start,
	.stop = pru_stop,
	.load = pru_load,
	};

	static void pru_set_id(struct pru_privdata priv, struct udevice dev)
	{
	u32 mask2 = 0x38000;

	if (device_is_compatible(dev, "ti,am654-rtu"))
	mask2 = 0x6000;

	if (device_is_compatible(dev, "ti,am654-tx-pru"))
	mask2 = 0xc000;

	if ((priv->pru_iram & mask2) == mask2)
	priv->id = 1;
	else
	priv->id = 0;
	}

	/**
	* pru_probe() - Basic probe
	* @dev: corresponding k3 remote processor device
	*
	* Return: 0 if all goes good, else appropriate error message.
	*/
	static int pru_probe(struct udevice *dev)
	{
	struct pru_privdata *priv;
	ofnode node;

	node = dev_ofnode(dev);

	priv = dev_get_priv(dev);
	priv->prusspriv = dev_get_priv(dev->parent);

	priv->pru_iram = devfdt_get_addr_size_index(dev, PRU_MEM_IRAM,
	&priv->pru_iramsz);
	priv->pru_ctrl = devfdt_get_addr_size_index(dev, PRU_MEM_CTRL,
	&priv->pru_ctrlsz);
	priv->pru_debug = devfdt_get_addr_size_index(dev, PRU_MEM_DEBUG,
	&priv->pru_debugsz);

	priv->iram_da = 0;
	priv->pdram_da = 0;
	priv->sdram_da = 0x2000;
	priv->shrdram_da = 0x10000;

	pru_set_id(priv, dev);

	return 0;
	}

	static const struct udevice_id pru_ids[] = {
	{ .compatible = "ti,am654-pru"},
	{ .compatible = "ti,am654-rtu"},
	{ .compatible = "ti,am654-tx-pru" },
	{}
	};

	U_BOOT_DRIVER(pru) = {
	.name = "pru",
	.of_match = pru_ids,
	.id = UCLASS_REMOTEPROC,
	.ops = &pru_ops,
	.probe = pru_probe,
	.priv_auto = sizeof(struct pru_privdata),
	};