2018-05-06 21:58:06 +00:00
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// SPDX-License-Identifier: GPL-2.0+
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2016-01-28 08:55:04 +00:00
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/*
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* Copyright (C) 2016 Freescale Semiconductor, Inc.
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*/
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#include <common.h>
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2020-05-10 17:40:05 +00:00
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#include <log.h>
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2018-01-10 05:20:32 +00:00
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#include <asm/io.h>
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2018-01-10 05:20:33 +00:00
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#include <asm/mach-imx/sys_proto.h>
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2016-01-28 08:55:04 +00:00
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#include <command.h>
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2019-12-30 11:56:44 +00:00
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#include <elf.h>
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2018-01-10 05:20:33 +00:00
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#include <imx_sip.h>
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2020-05-11 07:15:21 +00:00
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#include <linux/arm-smccc.h>
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2018-01-03 13:52:39 +00:00
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#include <linux/compiler.h>
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2019-11-28 13:56:20 +00:00
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#include <cpu_func.h>
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2016-01-28 08:55:04 +00:00
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2022-04-29 08:03:11 +00:00
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/* Just to avoid build error */
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2022-12-13 04:46:06 +00:00
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#if IS_ENABLED(CONFIG_IMX8M)
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2022-04-29 08:03:11 +00:00
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#define SRC_M4C_NON_SCLR_RST_MASK BIT(0)
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#define SRC_M4_ENABLE_MASK BIT(0)
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#define SRC_M4_REG_OFFSET 0
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#endif
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2022-12-13 04:46:07 +00:00
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__weak const struct rproc_att *imx_bootaux_get_hostmap(void)
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{
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return NULL;
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}
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2021-03-11 17:18:07 +00:00
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static const struct rproc_att *get_host_mapping(unsigned long auxcore)
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{
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2022-12-13 04:46:07 +00:00
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const struct rproc_att *mmap = imx_bootaux_get_hostmap();
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2021-03-11 17:18:07 +00:00
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while (mmap && mmap->size) {
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if (mmap->da <= auxcore &&
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mmap->da + mmap->size > auxcore)
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return mmap;
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mmap++;
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}
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return NULL;
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}
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/*
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* A very simple elf loader for the auxilary core, assumes the image
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* is valid, returns the entry point address.
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* Translates load addresses in the elf file to the U-Boot address space.
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*/
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2023-06-15 10:09:19 +00:00
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static u32 load_elf_image_m_core_phdr(unsigned long addr, u32 *stack)
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2021-03-11 17:18:07 +00:00
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{
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Elf32_Ehdr *ehdr; /* ELF header structure pointer */
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Elf32_Phdr *phdr; /* Program header structure pointer */
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2022-04-29 08:03:13 +00:00
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int num = 0;
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2021-03-11 17:18:07 +00:00
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int i;
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ehdr = (Elf32_Ehdr *)addr;
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phdr = (Elf32_Phdr *)(addr + ehdr->e_phoff);
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/* Load each program header */
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for (i = 0; i < ehdr->e_phnum; ++i, ++phdr) {
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const struct rproc_att *mmap = get_host_mapping(phdr->p_paddr);
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void *dst, *src;
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if (phdr->p_type != PT_LOAD)
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continue;
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if (!mmap) {
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2022-04-29 08:03:12 +00:00
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printf("Invalid aux core address: %08x\n",
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2021-03-11 17:18:07 +00:00
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phdr->p_paddr);
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return 0;
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}
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2022-04-29 08:03:11 +00:00
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dst = (void *)(ulong)(phdr->p_paddr - mmap->da) + mmap->sa;
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2021-03-11 17:18:07 +00:00
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src = (void *)addr + phdr->p_offset;
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debug("Loading phdr %i to 0x%p (%i bytes)\n",
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i, dst, phdr->p_filesz);
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2022-04-29 08:03:13 +00:00
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if (phdr->p_filesz) {
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2021-03-11 17:18:07 +00:00
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memcpy(dst, src, phdr->p_filesz);
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2022-04-29 08:03:13 +00:00
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/* Stack in __isr_vector is the first section/word */
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if (!num)
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*stack = *(uint32_t *)src;
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num++;
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}
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2021-03-11 17:18:07 +00:00
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if (phdr->p_filesz != phdr->p_memsz)
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memset(dst + phdr->p_filesz, 0x00,
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phdr->p_memsz - phdr->p_filesz);
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flush_cache((unsigned long)dst &
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~(CONFIG_SYS_CACHELINE_SIZE - 1),
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ALIGN(phdr->p_filesz, CONFIG_SYS_CACHELINE_SIZE));
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}
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return ehdr->e_entry;
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}
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2019-12-30 11:56:44 +00:00
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int arch_auxiliary_core_up(u32 core_id, ulong addr)
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2016-01-28 08:55:04 +00:00
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{
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2023-06-15 10:09:19 +00:00
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u32 stack, pc;
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2018-01-10 05:20:32 +00:00
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2019-12-30 11:56:44 +00:00
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if (!addr)
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2018-01-10 05:20:32 +00:00
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return -EINVAL;
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2019-12-30 11:56:44 +00:00
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/*
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* handling ELF64 binaries
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* isn't supported yet.
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*/
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if (valid_elf_image(addr)) {
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2022-04-29 08:03:13 +00:00
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pc = load_elf_image_m_core_phdr(addr, &stack);
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2019-12-30 11:56:44 +00:00
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if (!pc)
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return CMD_RET_FAILURE;
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2018-01-10 05:20:32 +00:00
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2022-12-13 04:46:06 +00:00
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if (!IS_ENABLED(CONFIG_ARM64))
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2022-04-29 08:03:13 +00:00
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stack = 0x0;
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2019-12-30 11:56:44 +00:00
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} else {
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/*
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* Assume binary file with vector table at the beginning.
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* Cortex-M4 vector tables start with the stack pointer (SP)
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* and reset vector (initial PC).
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*/
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stack = *(u32 *)addr;
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pc = *(u32 *)(addr + 4);
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}
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2022-04-29 08:03:11 +00:00
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2023-06-15 10:09:19 +00:00
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printf("## Starting auxiliary core stack = 0x%08X, pc = 0x%08X...\n",
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2019-11-28 13:56:19 +00:00
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stack, pc);
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2023-06-15 10:09:18 +00:00
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/* Set the stack and pc to MCU bootROM */
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writel(stack, MCU_BOOTROM_BASE_ADDR);
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writel(pc, MCU_BOOTROM_BASE_ADDR + 4);
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2018-01-10 05:20:32 +00:00
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2019-11-28 13:56:20 +00:00
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flush_dcache_all();
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2023-06-15 10:09:18 +00:00
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/* Enable MCU */
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2022-12-13 04:46:06 +00:00
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if (IS_ENABLED(CONFIG_IMX8M)) {
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2023-06-15 10:09:18 +00:00
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arm_smccc_smc(IMX_SIP_SRC, IMX_SIP_SRC_MCU_START, 0, 0, 0, 0, 0, 0, NULL);
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2022-04-29 08:03:11 +00:00
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} else {
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clrsetbits_le32(SRC_BASE_ADDR + SRC_M4_REG_OFFSET,
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SRC_M4C_NON_SCLR_RST_MASK, SRC_M4_ENABLE_MASK);
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}
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2018-01-10 05:20:32 +00:00
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return 0;
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2016-01-28 08:55:04 +00:00
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}
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2018-01-10 05:20:32 +00:00
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int arch_auxiliary_core_check_up(u32 core_id)
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2016-01-28 08:55:04 +00:00
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{
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2020-05-11 07:15:21 +00:00
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struct arm_smccc_res res;
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2018-01-10 05:20:32 +00:00
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unsigned int val;
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2022-12-13 04:46:06 +00:00
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if (IS_ENABLED(CONFIG_IMX8M)) {
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2023-06-15 10:09:18 +00:00
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arm_smccc_smc(IMX_SIP_SRC, IMX_SIP_SRC_MCU_STARTED, 0, 0, 0, 0, 0, 0, &res);
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2022-04-29 08:03:11 +00:00
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return res.a0;
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}
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2018-01-10 05:20:32 +00:00
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val = readl(SRC_BASE_ADDR + SRC_M4_REG_OFFSET);
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if (val & SRC_M4C_NON_SCLR_RST_MASK)
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return 0; /* assert in reset */
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return 1;
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2016-01-28 08:55:04 +00:00
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}
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/*
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* To i.MX6SX and i.MX7D, the image supported by bootaux needs
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* the reset vector at the head for the image, with SP and PC
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* as the first two words.
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*
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2023-06-15 10:09:18 +00:00
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* Per the cortex-M reference manual, the reset vector of M4/M7 needs
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* to exist at 0x0 (TCMUL/IDTCM). The PC and SP are the first two addresses
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* of that vector. So to boot M4/M7, the A core must build the M4/M7's reset
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2016-01-28 08:55:04 +00:00
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* vector with getting the PC and SP from image and filling them to
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2023-06-15 10:09:18 +00:00
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* TCMUL/IDTCM. When M4/M7 is kicked, it will load the PC and SP by itself.
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* The TCMUL/IDTCM is mapped to (MCU_BOOTROM_BASE_ADDR) at A core side for
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* accessing the M4/M7 TCMUL/IDTCM.
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2016-01-28 08:55:04 +00:00
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*/
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2020-05-10 17:40:03 +00:00
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static int do_bootaux(struct cmd_tbl *cmdtp, int flag, int argc,
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char *const argv[])
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2016-01-28 08:55:04 +00:00
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{
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ulong addr;
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int ret, up;
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if (argc < 2)
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return CMD_RET_USAGE;
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up = arch_auxiliary_core_check_up(0);
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if (up) {
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printf("## Auxiliary core is already up\n");
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return CMD_RET_SUCCESS;
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}
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2021-07-24 15:03:29 +00:00
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addr = hextoul(argv[1], NULL);
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2016-01-28 08:55:04 +00:00
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2019-11-28 13:56:19 +00:00
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if (!addr)
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return CMD_RET_FAILURE;
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2016-01-28 08:55:04 +00:00
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ret = arch_auxiliary_core_up(0, addr);
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if (ret)
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return CMD_RET_FAILURE;
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return CMD_RET_SUCCESS;
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}
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U_BOOT_CMD(
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bootaux, CONFIG_SYS_MAXARGS, 1, do_bootaux,
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"Start auxiliary core",
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""
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);
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