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h-nagallapraneethbajjuri
h-nagalla
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feat(U-Boot): Add support for PRU early boot
Add PRU core to early boot supported remote cores for SITARA devices. Signed-off-by: Hari Nagalla <hnagalla@ti.com>
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‎source/linux/Foundational_Components/U-Boot/UG-RemoteProc.rst‎

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@@ -5,11 +5,20 @@ This section documents how to initialize, load, start and stop remote cores from
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Following remotecores support is available in U-boot for K3 devices. However the actual remote
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cores deployed depends on the specific SoC used:
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- Cortex-R5F in Lockstep more
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- Cortex-R5F in split mode
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- Cortex-M4F
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- C66x DSP
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- C71x DSP
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.. ifconfig:: CONFIG_sdk in ('SITARA')
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- Cortex-R5F in split mode
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- Cortex-R5F in single core mode
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- Corext-M4F
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- C71x DSP
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- PRU core
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.. ifconfig:: not CONFIG_sdk in ('SITARA')
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- Cortex-R5F in Lockstep mode
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- Cortex-R5F in split mode
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- C71x DSP
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- C66x DSP
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Initialization
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^^^^^^^^^^^^^^^
@@ -31,18 +40,44 @@ The below command will initialize just the given remote core
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The below command lists all the available/initialized remotecores in a system.
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.. code-block:: console
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.. ifconfig:: not CONFIG_sdk in ('SITARA')
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.. code-block:: console
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=> rproc list
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0 - Name:'r5f@41000000' type:'internal memory mapped' supports: load start stop reset
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1 - Name:'r5f@41400000' type:'internal memory mapped' supports: load start stop reset
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2 - Name:'r5f@5c00000' type:'internal memory mapped' supports: load start stop reset
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3 - Name:'r5f@5d00000' type:'internal memory mapped' supports: load start stop reset
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4 - Name:'r5f@5e00000' type:'internal memory mapped' supports: load start stop reset
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5 - Name:'r5f@5f00000' type:'internal memory mapped' supports: load start stop reset
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6 - Name:'dsp@4d80800000' type:'internal memory mapped' supports: load start stop reset
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7 - Name:'dsp@4d81800000' type:'internal memory mapped' supports: load start stop reset
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8 - Name:'dsp@64800000' type:'internal memory mapped' supports: load start stop reset
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.. ifconfig:: CONFIG_sdk in ('SITARA')
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=> rproc list
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0 - Name:'r5f@41000000' type:'internal memory mapped' supports: load start stop reset
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1 - Name:'r5f@41400000' type:'internal memory mapped' supports: load start stop reset
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2 - Name:'r5f@5c00000' type:'internal memory mapped' supports: load start stop reset
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3 - Name:'r5f@5d00000' type:'internal memory mapped' supports: load start stop reset
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4 - Name:'r5f@5e00000' type:'internal memory mapped' supports: load start stop reset
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5 - Name:'r5f@5f00000' type:'internal memory mapped' supports: load start stop reset
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6 - Name:'dsp@4d80800000' type:'internal memory mapped' supports: load start stop reset
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7 - Name:'dsp@4d81800000' type:'internal memory mapped' supports: load start stop reset
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8 - Name:'dsp@64800000' type:'internal memory mapped' supports: load start stop reset
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.. code-block:: console
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=> rproc list
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0 - Name:'m4fss@5000000-bus@4000000' type:'internal memory mapped' supports: load start stop
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1 - Name:'r5f@78000000-r5fss@78000000' type:'internal memory mapped' supports: load start stop reset
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2 - Name:'r5f@78200000-r5fss@78000000' type:'internal memory mapped' supports: load start stop reset
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3 - Name:'r5f@78400000-r5fss@78400000' type:'internal memory mapped' supports: load start stop reset
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4 - Name:'r5f@78600000-r5fss@78400000' type:'internal memory mapped' supports: load start stop reset
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5 - Name:'pru@34000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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6 - Name:'rtu@4000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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7 - Name:'txpru@a000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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8 - Name:'pru@38000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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9 - Name:'rtu@6000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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10 - Name:'txpru@c000-icssg@30000000' type:'internal memory mapped' supports: load start stop
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11 - Name:'pru@34000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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12 - Name:'rtu@4000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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13 - Name:'txpru@a000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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14 - Name:'pru@38000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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15 - Name:'rtu@6000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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16 - Name:'txpru@c000-icssg@30080000' type:'internal memory mapped' supports: load start stop
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Loading
@@ -51,13 +86,24 @@ Loading
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Once Initialized, remotecores can be loaded with a relevant image. Make sure
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image is loaded only after initializing the core.
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.. code-block:: console
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.. ifconfig:: not CONFIG_sdk in ('SITARA')
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.. code-block:: console
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=> load mmc 1:2 0x90000000 /lib/firmware/j7-main-r5f0_0-fw
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2536540 bytes read in 112 ms (21.6 MiB/s)
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=> rproc load 2 0x90000000 0x${filesize}
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Load Remote Processor 2 with data@addr=0x90000000 2536540 bytes: Success!
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=> load mmc 1:2 0x90000000 /lib/firmware/j7-main-r5f0_0-fw
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2536540 bytes read in 112 ms (21.6 MiB/s)
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=> rproc load 2 0x90000000 0x${filesize}
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Load Remote Processor 2 with data@addr=0x90000000 2536540 bytes: Success!
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.. ifconfig:: CONFIG_sdk in ('SITARA')
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.. code-block:: console
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=> load mmc 1:2 0x90000000 /lib/firmware/am64-mcu-m4f0_0-fw-sec
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90036 bytes read in 13 ms (6.6 MiB/s)
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=> rproc load 0 0x90000000 0x${filesize}
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Authentication passed
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Load Remote Processor 0 with data@addr=0x90000000 90036 bytes: Success!
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Starting
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^^^^^^^^^
@@ -80,6 +126,42 @@ A running remotecore can be stopped using the following command.
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Make sure all the commands are run in the above given sequence. Currently IPC
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is not supported in U-boot.
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.. ifconfig:: CONFIG_sdk in ('SITARA')
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PRU Core Attachment
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^^^^^^^^^^^^^^^^^^^
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After the PRU core is booted from U-Boot, it is in detached state. Verify the state
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from linux console using the below command:
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.. code-block:: console
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root@am64xx-evm:~# cat /sys/class/remoteproc/remoteproc5/state
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detached
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To attach to the PRU core, use the below command:
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.. code-block:: console
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echo "start" > /sys/class/remoteproc/remoteproc5/state
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Upon successful attachment, the kernel will display messages like below:
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.. code-block:: console
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[ 203.179065] remoteproc remoteproc5: attaching to 30034000.pru
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[ 203.198898] virtio_rpmsg_bus virtio5: rpmsg host is online
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[ 203.198942] virtio_rpmsg_bus virtio5: creating channel rpmsg-raw addr 0x1e
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[ 203.199828] rproc-virtio rproc-virtio.7.auto: registered virtio5 (type 7)
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[ 203.199849] remoteproc remoteproc5: remote processor 30034000.pru is now attached
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Verify PRU core state from linux console :
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.. code-block:: console
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root@am64xx-evm:~# cat /sys/class/remoteproc/remoteproc5/state
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attached
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Lockstep and Split mode
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^^^^^^^^^^^^^^^^^^^^^^^
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