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feat(U-Boot): Add support for PRU early boot #721

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124 changes: 103 additions & 21 deletions source/linux/Foundational_Components/U-Boot/UG-RemoteProc.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,20 @@ This section documents how to initialize, load, start and stop remote cores from
Following remotecores support is available in U-boot for K3 devices. However the actual remote
cores deployed depends on the specific SoC used:

- Cortex-R5F in Lockstep more
- Cortex-R5F in split mode
- Cortex-M4F
- C66x DSP
- C71x DSP
.. ifconfig:: CONFIG_sdk in ('SITARA')

- Cortex-R5F in split mode
- Cortex-R5F in single core mode
- Corext-M4F
- C71x DSP
- PRU core

.. ifconfig:: not CONFIG_sdk in ('SITARA')

- Cortex-R5F in Lockstep mode
- Cortex-R5F in split mode
- C71x DSP
- C66x DSP

Initialization
^^^^^^^^^^^^^^^
Expand All @@ -31,18 +40,44 @@ The below command will initialize just the given remote core

The below command lists all the available/initialized remotecores in a system.

.. code-block:: console
.. ifconfig:: not CONFIG_sdk in ('SITARA')

.. code-block:: console

=> rproc list
0 - Name:'r5f@41000000' type:'internal memory mapped' supports: load start stop reset
1 - Name:'r5f@41400000' type:'internal memory mapped' supports: load start stop reset
2 - Name:'r5f@5c00000' type:'internal memory mapped' supports: load start stop reset
3 - Name:'r5f@5d00000' type:'internal memory mapped' supports: load start stop reset
4 - Name:'r5f@5e00000' type:'internal memory mapped' supports: load start stop reset
5 - Name:'r5f@5f00000' type:'internal memory mapped' supports: load start stop reset
6 - Name:'dsp@4d80800000' type:'internal memory mapped' supports: load start stop reset
7 - Name:'dsp@4d81800000' type:'internal memory mapped' supports: load start stop reset
8 - Name:'dsp@64800000' type:'internal memory mapped' supports: load start stop reset


.. ifconfig:: CONFIG_sdk in ('SITARA')

=> rproc list
0 - Name:'r5f@41000000' type:'internal memory mapped' supports: load start stop reset
1 - Name:'r5f@41400000' type:'internal memory mapped' supports: load start stop reset
2 - Name:'r5f@5c00000' type:'internal memory mapped' supports: load start stop reset
3 - Name:'r5f@5d00000' type:'internal memory mapped' supports: load start stop reset
4 - Name:'r5f@5e00000' type:'internal memory mapped' supports: load start stop reset
5 - Name:'r5f@5f00000' type:'internal memory mapped' supports: load start stop reset
6 - Name:'dsp@4d80800000' type:'internal memory mapped' supports: load start stop reset
7 - Name:'dsp@4d81800000' type:'internal memory mapped' supports: load start stop reset
8 - Name:'dsp@64800000' type:'internal memory mapped' supports: load start stop reset
.. code-block:: console

=> rproc list
0 - Name:'m4fss@5000000-bus@4000000' type:'internal memory mapped' supports: load start stop
1 - Name:'r5f@78000000-r5fss@78000000' type:'internal memory mapped' supports: load start stop reset
2 - Name:'r5f@78200000-r5fss@78000000' type:'internal memory mapped' supports: load start stop reset
3 - Name:'r5f@78400000-r5fss@78400000' type:'internal memory mapped' supports: load start stop reset
4 - Name:'r5f@78600000-r5fss@78400000' type:'internal memory mapped' supports: load start stop reset
5 - Name:'pru@34000-icssg@30000000' type:'internal memory mapped' supports: load start stop
6 - Name:'rtu@4000-icssg@30000000' type:'internal memory mapped' supports: load start stop
7 - Name:'txpru@a000-icssg@30000000' type:'internal memory mapped' supports: load start stop
8 - Name:'pru@38000-icssg@30000000' type:'internal memory mapped' supports: load start stop
9 - Name:'rtu@6000-icssg@30000000' type:'internal memory mapped' supports: load start stop
10 - Name:'txpru@c000-icssg@30000000' type:'internal memory mapped' supports: load start stop
11 - Name:'pru@34000-icssg@30080000' type:'internal memory mapped' supports: load start stop
12 - Name:'rtu@4000-icssg@30080000' type:'internal memory mapped' supports: load start stop
13 - Name:'txpru@a000-icssg@30080000' type:'internal memory mapped' supports: load start stop
14 - Name:'pru@38000-icssg@30080000' type:'internal memory mapped' supports: load start stop
15 - Name:'rtu@6000-icssg@30080000' type:'internal memory mapped' supports: load start stop
16 - Name:'txpru@c000-icssg@30080000' type:'internal memory mapped' supports: load start stop


Loading
Expand All @@ -51,13 +86,24 @@ Loading
Once Initialized, remotecores can be loaded with a relevant image. Make sure
image is loaded only after initializing the core.

.. code-block:: console
.. ifconfig:: not CONFIG_sdk in ('SITARA')

.. code-block:: console

=> load mmc 1:2 0x90000000 /lib/firmware/j7-main-r5f0_0-fw
2536540 bytes read in 112 ms (21.6 MiB/s)
=> rproc load 2 0x90000000 0x${filesize}
Load Remote Processor 2 with data@addr=0x90000000 2536540 bytes: Success!
=> load mmc 1:2 0x90000000 /lib/firmware/j7-main-r5f0_0-fw
2536540 bytes read in 112 ms (21.6 MiB/s)
=> rproc load 2 0x90000000 0x${filesize}
Load Remote Processor 2 with data@addr=0x90000000 2536540 bytes: Success!

.. ifconfig:: CONFIG_sdk in ('SITARA')

.. code-block:: console

=> load mmc 1:2 0x90000000 /lib/firmware/am64-mcu-m4f0_0-fw-sec
90036 bytes read in 13 ms (6.6 MiB/s)
=> rproc load 0 0x90000000 0x${filesize}
Authentication passed
Load Remote Processor 0 with data@addr=0x90000000 90036 bytes: Success!

Starting
^^^^^^^^^
Expand All @@ -80,6 +126,42 @@ A running remotecore can be stopped using the following command.
Make sure all the commands are run in the above given sequence. Currently IPC
is not supported in U-boot.

.. ifconfig:: CONFIG_sdk in ('SITARA')

PRU Core Attachment
^^^^^^^^^^^^^^^^^^^

After the PRU core is booted from U-Boot, it is in detached state. Verify the state
from linux console using the below command:

.. code-block:: console

root@am64xx-evm:~# cat /sys/class/remoteproc/remoteproc5/state
detached

To attach to the PRU core, use the below command:

.. code-block:: console

echo "start" > /sys/class/remoteproc/remoteproc5/state

Upon successful attachment, the kernel will display messages like below:

.. code-block:: console

[ 203.179065] remoteproc remoteproc5: attaching to 30034000.pru
[ 203.198898] virtio_rpmsg_bus virtio5: rpmsg host is online
[ 203.198942] virtio_rpmsg_bus virtio5: creating channel rpmsg-raw addr 0x1e
[ 203.199828] rproc-virtio rproc-virtio.7.auto: registered virtio5 (type 7)
[ 203.199849] remoteproc remoteproc5: remote processor 30034000.pru is now attached

Verify PRU core state from linux console :

.. code-block:: console

root@am64xx-evm:~# cat /sys/class/remoteproc/remoteproc5/state
attached

Lockstep and Split mode
^^^^^^^^^^^^^^^^^^^^^^^

Expand Down
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