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ports/mimxrt: Add support for Open-AMP.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
1 parent 0596ea7 commit f6f8607

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‎ports/mimxrt/Makefile

Lines changed: 13 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -172,7 +172,8 @@ SRC_HAL_IMX_C += \
172172
$(MCU_DIR)/drivers/fsl_common_arm.c \
173173
$(MCU_DIR)/drivers/fsl_anatop_ai.c \
174174
$(MCU_DIR)/drivers/fsl_caam.c \
175-
$(MCU_DIR)/drivers/fsl_lpadc.c
175+
$(MCU_DIR)/drivers/fsl_lpadc.c \
176+
$(MCU_DIR)/drivers/fsl_mu.c
176177
else
177178
SRC_HAL_IMX_C += \
178179
$(MCU_DIR)/drivers/fsl_adc.c \
@@ -267,6 +268,17 @@ ifeq ($(MICROPY_BLUETOOTH_NIMBLE),1)
267268
SRC_C += mpnimbleport.c
268269
endif
269270

271+
# Add mimxrt-specific implementation of libmetal (and optionally OpenAMP's rproc).
272+
# Note: libmetal code is generated via a pre-processor so ensure that runs first.
273+
ifeq ($(MICROPY_PY_OPENAMP),1)
274+
SRC_C += mpmetalport.c
275+
$(BUILD)/mpmetalport.o: $(BUILD)/openamp/metal/config.h
276+
ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
277+
SRC_C += mpremoteprocport.c
278+
$(BUILD)/mpremoteprocport.o: $(BUILD)/openamp/metal/config.h
279+
endif
280+
endif
281+
270282
# Math library source files
271283
ifeq ($(MICROPY_FLOAT_IMPL),double)
272284
LIBM_SRC_C += $(SRC_LIB_LIBM_DBL_C)

‎ports/mimxrt/boards/MIMXRT1170_EVK/mpconfigboard.mk

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -13,6 +13,8 @@ MICROPY_HW_SDRAM_SIZE = 0x4000000 # 64MB
1313
MICROPY_PY_LWIP = 1
1414
MICROPY_PY_SSL = 1
1515
MICROPY_SSL_MBEDTLS = 1
16+
MICROPY_PY_OPENAMP = 1
17+
MICROPY_PY_OPENAMP_REMOTEPROC = 1
1618

1719
FROZEN_MANIFEST ?= $(BOARD_DIR)/manifest.py
1820

‎ports/mimxrt/boards/MIMXRT1176.ld

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -57,3 +57,7 @@ _gc_heap_end = ORIGIN(m_sdram) + LENGTH(m_sdram);
5757
_gc_heap_start = ORIGIN(m_ocrm);
5858
_gc_heap_end = ORIGIN(m_ocrm) + LENGTH(m_ocrm);
5959
#endif
60+
61+
/* CM4 DTCM */
62+
_openamp_shm_region_start = 0x20220000;
63+
_openamp_shm_region_end = 0x20230000;

‎ports/mimxrt/mpmetalport.c

Lines changed: 111 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,111 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2024 Arduino SA
7+
*
8+
* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
14+
*
15+
* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
17+
*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
23+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
24+
* THE SOFTWARE.
25+
*
26+
* libmetal mimxrt port.
27+
*/
28+
29+
#include "py/mperrno.h"
30+
#include "py/mphal.h"
31+
32+
#include "fsl_common.h"
33+
#include "fsl_mu.h"
34+
#include CPU_HEADER_H
35+
36+
#include "metal/sys.h"
37+
#include "metal/utilities.h"
38+
#include "metal/device.h"
39+
40+
struct metal_state _metal;
41+
static mp_sched_node_t rproc_notify_node;
42+
43+
#define IRQ_PRI_MU NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 10, 0)
44+
45+
int metal_sys_init(const struct metal_init_params *params) {
46+
metal_unused(params);
47+
48+
// Init MU.
49+
MU_Init(MUA);
50+
51+
// Configure and enable MU IRQs.
52+
MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
53+
NVIC_SetPriority(MUA_IRQn, IRQ_PRI_MU);
54+
NVIC_EnableIRQ(MUA_IRQn);
55+
MU_EnableInterrupts(MUA, kMU_GenInt0InterruptEnable);
56+
57+
#ifndef VIRTIO_USE_DCACHE
58+
// If cache management is not enabled, configure the MPU to disable caching
59+
// for the entire shared memory region.
60+
ARM_MPU_Disable();
61+
MPU->RBAR = ARM_MPU_RBAR(10, METAL_MPU_REGION_BASE);
62+
// Normal type, not shareable, non-cacheable
63+
MPU->RASR = ARM_MPU_RASR(0, ARM_MPU_AP_FULL, 1, 0, 0, 0, 0, METAL_MPU_REGION_SIZE);
64+
ARM_MPU_Enable(MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_HFNMIENA_Msk);
65+
#endif
66+
67+
metal_bus_register(&metal_generic_bus);
68+
return 0;
69+
}
70+
71+
void metal_sys_finish(void) {
72+
NVIC_DisableIRQ(MUA_IRQn);
73+
metal_bus_unregister(&metal_generic_bus);
74+
}
75+
76+
unsigned int sys_irq_save_disable(void) {
77+
return disable_irq();
78+
}
79+
80+
void sys_irq_restore_enable(unsigned int state) {
81+
enable_irq(state);
82+
}
83+
84+
void *metal_machine_io_mem_map(void *va, metal_phys_addr_t pa,
85+
size_t size, unsigned int flags) {
86+
metal_unused(pa);
87+
metal_unused(size);
88+
metal_unused(flags);
89+
return va;
90+
}
91+
92+
void metal_machine_cache_flush(void *addr, unsigned int len) {
93+
SCB_CleanDCache_by_Addr(addr, len);
94+
}
95+
96+
void metal_machine_cache_invalidate(void *addr, unsigned int len) {
97+
SCB_InvalidateDCache_by_Addr(addr, len);
98+
}
99+
100+
int metal_rproc_notify(void *priv, uint32_t id) {
101+
MU_TriggerInterrupts(MUA, kMU_GenInt0InterruptTrigger);
102+
return 0;
103+
}
104+
105+
void MUA_IRQHandler(void) {
106+
if (MU_GetStatusFlags(MUA) & kMU_GenInt0Flag) {
107+
MU_ClearStatusFlags(MUA, kMU_GenInt0Flag);
108+
mp_sched_schedule_node(&rproc_notify_node, openamp_remoteproc_notified);
109+
}
110+
__DSB();
111+
}

‎ports/mimxrt/mpmetalport.h

Lines changed: 73 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,73 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2024 Arduino SA
7+
*
8+
* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
14+
*
15+
* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
17+
*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
23+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
24+
* THE SOFTWARE.
25+
*
26+
* libmetal mimxrt port.
27+
*/
28+
#ifndef MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
29+
#define MICROPY_INCLUDED_MIMXRT_MPMETALPORT_H
30+
31+
#include <stdlib.h>
32+
#include "py/mphal.h"
33+
#include "py/runtime.h"
34+
35+
#define METAL_HAVE_STDATOMIC_H 0
36+
#define METAL_HAVE_FUTEX_H 0
37+
38+
#define METAL_MAX_DEVICE_REGIONS 2
39+
40+
// Set to 1 to enable the default log handler.
41+
#define METAL_LOG_HANDLER_ENABLE 0
42+
43+
#define metal_cpu_yield()
44+
45+
// Shared memory config
46+
#define METAL_SHM_NAME "OPENAMP_SHM"
47+
// Note 1K must be reserved at the start of the openamp
48+
// shared memory region, for the shared resource table.
49+
#define METAL_RSC_ADDR ((void *)_openamp_shm_region_start)
50+
#define METAL_RSC_SIZE (1024)
51+
52+
#define METAL_SHM_ADDR ((metal_phys_addr_t)(_openamp_shm_region_start + METAL_RSC_SIZE))
53+
#define METAL_SHM_SIZE ((size_t)(_openamp_shm_region_end - _openamp_shm_region_start - METAL_RSC_SIZE))
54+
55+
#define METAL_MPU_REGION_BASE ((uint32_t)_openamp_shm_region_start)
56+
#define METAL_MPU_REGION_SIZE (ARM_MPU_REGION_SIZE_64KB)
57+
58+
extern const char _openamp_shm_region_start[];
59+
extern const char _openamp_shm_region_end[];
60+
61+
int metal_rproc_notify(void *priv, uint32_t id);
62+
extern void openamp_remoteproc_notified(mp_sched_node_t *node);
63+
64+
static inline int __metal_sleep_usec(unsigned int usec) {
65+
mp_hal_delay_us(usec);
66+
return 0;
67+
}
68+
69+
static inline void metal_generic_default_poll(void) {
70+
MICROPY_EVENT_POLL_HOOK
71+
}
72+
73+
#endif // MICROPY_INCLUDED_MIMXRT_METAL_PORT_H

‎ports/mimxrt/mpremoteprocport.c

Lines changed: 164 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,164 @@
1+
/*
2+
* This file is part of the MicroPython project, http://micropython.org/
3+
*
4+
* The MIT License (MIT)
5+
*
6+
* Copyright (c) 2024 Arduino SA
7+
*
8+
* Permission is hereby granted, free of charge, to any person obtaining a copy
9+
* of this software and associated documentation files (the "Software"), to deal
10+
* in the Software without restriction, including without limitation the rights
11+
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12+
* copies of the Software, and to permit persons to whom the Software is
13+
* furnished to do so, subject to the following conditions:
14+
*
15+
* The above copyright notice and this permission notice shall be included in
16+
* all copies or substantial portions of the Software.
17+
*
18+
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19+
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20+
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21+
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22+
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
23+
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
24+
* THE SOFTWARE.
25+
*
26+
* modremoteproc mimxrt port.
27+
*/
28+
29+
#include <stdio.h>
30+
#include <stdint.h>
31+
32+
#include "py/obj.h"
33+
#include "py/runtime.h"
34+
35+
#include "fsl_common.h"
36+
#include "fsl_mu.h"
37+
38+
#include "metal/alloc.h"
39+
#include "metal/errno.h"
40+
#include "metal/io.h"
41+
#include "metal/sys.h"
42+
#include "metal/device.h"
43+
#include "metal/utilities.h"
44+
#include "extmod/modopenamp_remoteproc.h"
45+
46+
struct remoteproc *mp_openamp_remoteproc_init(struct remoteproc *rproc,
47+
const struct remoteproc_ops *ops, void *arg) {
48+
metal_log(METAL_LOG_DEBUG, "rproc_init()\n");
49+
50+
rproc->ops = ops;
51+
rproc->state = RPROC_OFFLINE;
52+
// Allocate the image store and save it in private data.
53+
rproc->priv = mp_openamp_remoteproc_store_alloc();
54+
return rproc;
55+
}
56+
57+
void *mp_openamp_remoteproc_mmap(struct remoteproc *rproc, metal_phys_addr_t *pa,
58+
metal_phys_addr_t *da, size_t size, unsigned int attribute,
59+
struct metal_io_region **io) {
60+
metal_log(METAL_LOG_DEBUG, "rproc_mmap(): pa 0x%p da 0x%p io 0x%p size %u\n", *pa, *da, *io, size);
61+
62+
struct remoteproc_mem *mem;
63+
metal_phys_addr_t lpa = *pa;
64+
metal_phys_addr_t lda = *da;
65+
66+
if (lda == METAL_BAD_PHYS) {
67+
return NULL;
68+
}
69+
70+
if (lpa == METAL_BAD_PHYS) {
71+
lpa = lda;
72+
}
73+
74+
if (lpa >= 0x1FFE0000 && lpa < 0x1FFFFFFF) {
75+
// Map CM4 ITCM to CM7 address space.
76+
lpa = 0x20200000 | (((uint32_t)lpa) & 0x1FFFF);
77+
metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
78+
} else if (lpa >= 0x20000000 && lpa < 0x20020000) {
79+
// Map CM4 DTCM to CM7 address space.
80+
lpa = 0x20220000 | (((uint32_t)lpa) & 0x1FFFF);
81+
metal_log(METAL_LOG_DEBUG, "rproc_mmap(): remap 0x%p -> 0x%p\n", lda, lpa);
82+
}
83+
84+
mem = metal_allocate_memory(sizeof(*mem));
85+
if (!mem) {
86+
return NULL;
87+
}
88+
89+
*io = metal_allocate_memory(sizeof(struct metal_io_region));
90+
if (!*io) {
91+
metal_free_memory(mem);
92+
return NULL;
93+
}
94+
95+
remoteproc_init_mem(mem, NULL, lpa, lda, size, *io);
96+
97+
metal_io_init(*io, (void *)lpa, &mem->pa, size,
98+
sizeof(metal_phys_addr_t) << 3, attribute, NULL);
99+
100+
remoteproc_add_mem(rproc, mem);
101+
*pa = lpa;
102+
*da = lda;
103+
return metal_io_phys_to_virt(*io, mem->pa);
104+
}
105+
106+
int mp_openamp_remoteproc_start(struct remoteproc *rproc) {
107+
metal_log(METAL_LOG_DEBUG, "rproc_start()\n");
108+
if (SRC->SCR & SRC_SCR_BT_RELEASE_M4_MASK) {
109+
// The CM4 core is already running.
110+
metal_log(METAL_LOG_DEBUG, "rproc_start(): CM4 core is already booted.\n");
111+
return -1;
112+
}
113+
114+
// Flush M7 cache.
115+
struct metal_list *node;
116+
metal_list_for_each(&rproc->mems, node) {
117+
struct remoteproc_mem *mem;
118+
mem = metal_container_of(node, struct remoteproc_mem, node);
119+
metal_log(METAL_LOG_DEBUG, "rproc_start() clean: pa 0x%p size %u\n", (uint32_t *)mem->pa, mem->size);
120+
SCB_CleanDCache_by_Addr((uint32_t *)mem->pa, mem->size);
121+
}
122+
123+
unsigned long offset = 0;
124+
struct metal_io_region *io = remoteproc_get_io_with_da(rproc, rproc->bootaddr, &offset);
125+
if (!io) {
126+
return -1;
127+
}
128+
129+
IOMUXC_LPSR_GPR->GPR0 = IOMUXC_LPSR_GPR_GPR0_CM4_INIT_VTOR_LOW(((uint32_t)io->virt) >> 3);
130+
(void)IOMUXC_LPSR_GPR->GPR0;
131+
IOMUXC_LPSR_GPR->GPR1 = IOMUXC_LPSR_GPR_GPR1_CM4_INIT_VTOR_HIGH(((uint32_t)io->virt) >> 16);
132+
(void)IOMUXC_LPSR_GPR->GPR1;
133+
134+
SRC->CTRL_M4CORE = SRC_CTRL_M4CORE_SW_RESET_MASK;
135+
SRC->SCR |= SRC_SCR_BT_RELEASE_M4_MASK;
136+
return 0;
137+
}
138+
139+
int mp_openamp_remoteproc_stop(struct remoteproc *rproc) {
140+
metal_log(METAL_LOG_DEBUG, "rproc_stop()\n");
141+
if (rproc->state == RPROC_RUNNING) {
142+
NVIC_SystemReset();
143+
}
144+
return 0;
145+
}
146+
147+
int mp_openamp_remoteproc_config(struct remoteproc *rproc, void *data) {
148+
metal_log(METAL_LOG_DEBUG, "rproc_config()\n");
149+
(void)rproc;
150+
return 0;
151+
}
152+
153+
void mp_openamp_remoteproc_remove(struct remoteproc *rproc) {
154+
metal_log(METAL_LOG_DEBUG, "rproc_remove()\n");
155+
(void)rproc;
156+
}
157+
158+
int mp_openamp_remoteproc_shutdown(struct remoteproc *rproc) {
159+
metal_log(METAL_LOG_DEBUG, "rproc_shutdown()\n");
160+
if (rproc->state == RPROC_RUNNING) {
161+
NVIC_SystemReset();
162+
}
163+
return 0;
164+
}

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