Support for NVIDIA's Tegra T210 SoCs
T210 is the latest chip in the Tegra family of SoCs from NVIDIA. It is an
ARM v8 dual-cluster (A57/A53) SoC, with any one of the clusters being active
at a given point in time.
This patch adds support to boot the Trusted Firmware on T210 SoCs. The patch
also adds support to boot secondary CPUs, enter/exit core power states for
all CPUs in the slow/fast clusters. The support to switch between clusters
is still not available in this patch and would be available later.
Signed-off-by: Varun Wadekar <vwadekar@nvidia.com>
diff --git a/plat/nvidia/tegra/common/drivers/flowctrl/flowctrl.c b/plat/nvidia/tegra/common/drivers/flowctrl/flowctrl.c
new file mode 100644
index 0000000..a36cf2d
--- /dev/null
+++ b/plat/nvidia/tegra/common/drivers/flowctrl/flowctrl.c
@@ -0,0 +1,243 @@
+/*
+ * Copyright (c) 2015, ARM Limited and Contributors. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without specific
+ * prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <arch_helpers.h>
+#include <assert.h>
+#include <debug.h>
+#include <mmio.h>
+#include <pmc.h>
+#include <cortex_a53.h>
+#include <flowctrl.h>
+#include <tegra_def.h>
+
+#define CLK_RST_DEV_L_SET 0x300
+#define CLK_RST_DEV_L_CLR 0x304
+#define CLK_BPMP_RST (1 << 1)
+
+#define EVP_BPMP_RESET_VECTOR 0x200
+
+static const uint64_t flowctrl_offset_cpu_csr[4] = {
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CPU0_CSR),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CPU1_CSR),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CPU1_CSR + 8),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CPU1_CSR + 16)
+};
+
+static const uint64_t flowctrl_offset_halt_cpu[4] = {
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_HALT_CPU0_EVENTS),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_HALT_CPU1_EVENTS),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_HALT_CPU1_EVENTS + 8),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_HALT_CPU1_EVENTS + 16)
+};
+
+static const uint64_t flowctrl_offset_cc4_ctrl[4] = {
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CC4_CORE0_CTRL),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CC4_CORE0_CTRL + 4),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CC4_CORE0_CTRL + 8),
+ (TEGRA_FLOWCTRL_BASE + FLOWCTRL_CC4_CORE0_CTRL + 12)
+};
+
+static inline void tegra_fc_cc4_ctrl(int cpu_id, uint32_t val)
+{
+ mmio_write_32(flowctrl_offset_cc4_ctrl[cpu_id], val);
+ val = mmio_read_32(flowctrl_offset_cc4_ctrl[cpu_id]);
+}
+
+static inline void tegra_fc_cpu_csr(int cpu_id, uint32_t val)
+{
+ mmio_write_32(flowctrl_offset_cpu_csr[cpu_id], val);
+ val = mmio_read_32(flowctrl_offset_cpu_csr[cpu_id]);
+}
+
+static inline void tegra_fc_halt_cpu(int cpu_id, uint32_t val)
+{
+ mmio_write_32(flowctrl_offset_halt_cpu[cpu_id], val);
+ val = mmio_read_32(flowctrl_offset_halt_cpu[cpu_id]);
+}
+
+static void tegra_fc_prepare_suspend(int cpu_id, uint32_t csr)
+{
+ uint32_t val;
+
+ val = FLOWCTRL_HALT_GIC_IRQ | FLOWCTRL_HALT_GIC_FIQ |
+ FLOWCTRL_HALT_LIC_IRQ | FLOWCTRL_HALT_LIC_FIQ |
+ FLOWCTRL_WAITEVENT;
+ tegra_fc_halt_cpu(cpu_id, val);
+
+ val = FLOWCTRL_CSR_INTR_FLAG | FLOWCTRL_CSR_EVENT_FLAG |
+ FLOWCTRL_CSR_ENABLE | (FLOWCTRL_WAIT_WFI_BITMAP << cpu_id);
+ tegra_fc_cpu_csr(cpu_id, val | csr);
+}
+
+/*******************************************************************************
+ * Suspend the current CPU
+ ******************************************************************************/
+void tegra_fc_cpu_idle(uint32_t mpidr)
+{
+ int cpu = mpidr & MPIDR_CPU_MASK;
+
+ VERBOSE("CPU%d powering down...\n", cpu);
+ tegra_fc_prepare_suspend(cpu, 0);
+}
+
+/*******************************************************************************
+ * Suspend the current CPU cluster
+ ******************************************************************************/
+void tegra_fc_cluster_idle(uint32_t mpidr)
+{
+ int cpu = mpidr & MPIDR_CPU_MASK;
+ uint32_t val;
+
+ VERBOSE("Entering cluster idle state...\n");
+
+ tegra_fc_cc4_ctrl(cpu, 0);
+
+ /* hardware L2 flush is faster for A53 only */
+ tegra_fc_write_32(FLOWCTRL_L2_FLUSH_CONTROL,
+ !!MPIDR_AFFLVL1_VAL(mpidr));
+
+ /* suspend the CPU cluster */
+ val = FLOWCTRL_PG_CPU_NONCPU << FLOWCTRL_ENABLE_EXT;
+ tegra_fc_prepare_suspend(cpu, val);
+}
+
+/*******************************************************************************
+ * Power down the current CPU cluster
+ ******************************************************************************/
+void tegra_fc_cluster_powerdn(uint32_t mpidr)
+{
+ int cpu = mpidr & MPIDR_CPU_MASK;
+ uint32_t val;
+
+ VERBOSE("Entering cluster powerdn state...\n");
+
+ tegra_fc_cc4_ctrl(cpu, 0);
+
+ /* hardware L2 flush is faster for A53 only */
+ tegra_fc_write_32(FLOWCTRL_L2_FLUSH_CONTROL,
+ read_midr() == CORTEX_A53_MIDR);
+
+ /* power down the CPU cluster */
+ val = FLOWCTRL_TURNOFF_CPURAIL << FLOWCTRL_ENABLE_EXT;
+ tegra_fc_prepare_suspend(cpu, val);
+}
+
+/*******************************************************************************
+ * Suspend the entire SoC
+ ******************************************************************************/
+void tegra_fc_soc_powerdn(uint32_t mpidr)
+{
+ int cpu = mpidr & MPIDR_CPU_MASK;
+ uint32_t val;
+
+ VERBOSE("Entering SoC powerdn state...\n");
+
+ tegra_fc_cc4_ctrl(cpu, 0);
+
+ tegra_fc_write_32(FLOWCTRL_L2_FLUSH_CONTROL, 1);
+
+ val = FLOWCTRL_TURNOFF_CPURAIL << FLOWCTRL_ENABLE_EXT;
+ tegra_fc_prepare_suspend(cpu, val);
+
+ /* overwrite HALT register */
+ tegra_fc_halt_cpu(cpu, FLOWCTRL_WAITEVENT);
+}
+
+/*******************************************************************************
+ * Power up the CPU
+ ******************************************************************************/
+void tegra_fc_cpu_on(int cpu)
+{
+ tegra_fc_cpu_csr(cpu, FLOWCTRL_CSR_ENABLE);
+ tegra_fc_halt_cpu(cpu, FLOWCTRL_WAITEVENT | FLOWCTRL_HALT_SCLK);
+}
+
+/*******************************************************************************
+ * Power down the CPU
+ ******************************************************************************/
+void tegra_fc_cpu_off(int cpu)
+{
+ uint32_t val;
+
+ /*
+ * Flow controller powers down the CPU during wfi. The CPU would be
+ * powered on when it receives any interrupt.
+ */
+ val = FLOWCTRL_CSR_INTR_FLAG | FLOWCTRL_CSR_EVENT_FLAG |
+ FLOWCTRL_CSR_ENABLE | (FLOWCTRL_WAIT_WFI_BITMAP << cpu);
+ tegra_fc_cpu_csr(cpu, val);
+ tegra_fc_halt_cpu(cpu, FLOWCTRL_WAITEVENT);
+ tegra_fc_cc4_ctrl(cpu, 0);
+}
+
+/*******************************************************************************
+ * Inform the BPMP that we have completed the cluster power up
+ ******************************************************************************/
+void tegra_fc_lock_active_cluster(void)
+{
+ uint32_t val;
+
+ val = tegra_fc_read_32(FLOWCTRL_BPMP_CLUSTER_CONTROL);
+ val |= FLOWCTRL_BPMP_CLUSTER_PWRON_LOCK;
+ tegra_fc_write_32(FLOWCTRL_BPMP_CLUSTER_CONTROL, val);
+ val = tegra_fc_read_32(FLOWCTRL_BPMP_CLUSTER_CONTROL);
+}
+
+/*******************************************************************************
+ * Reset BPMP processor
+ ******************************************************************************/
+void tegra_fc_reset_bpmp(void)
+{
+ uint32_t val;
+
+ /* halt BPMP */
+ tegra_fc_write_32(FLOWCTRL_HALT_BPMP_EVENTS, FLOWCTRL_WAITEVENT);
+
+ /* Assert BPMP reset */
+ mmio_write_32(TEGRA_CAR_RESET_BASE + CLK_RST_DEV_L_SET, CLK_BPMP_RST);
+
+ /* Restore reset address (stored in PMC_SCRATCH39) */
+ val = tegra_pmc_read_32(PMC_SCRATCH39);
+ mmio_write_32(TEGRA_EVP_BASE + EVP_BPMP_RESET_VECTOR, val);
+ while (val != mmio_read_32(TEGRA_EVP_BASE + EVP_BPMP_RESET_VECTOR))
+ ; /* wait till value reaches EVP_BPMP_RESET_VECTOR */
+
+ /* Wait for 2us before de-asserting the reset signal. */
+ val = mmio_read_32(TEGRA_TMRUS_BASE);
+ val += 2;
+ while (val > mmio_read_32(TEGRA_TMRUS_BASE))
+ ; /* wait for 2us */
+
+ /* De-assert BPMP reset */
+ mmio_write_32(TEGRA_CAR_RESET_BASE + CLK_RST_DEV_L_CLR, CLK_BPMP_RST);
+
+ /* Un-halt BPMP */
+ tegra_fc_write_32(FLOWCTRL_HALT_BPMP_EVENTS, 0);
+}
diff --git a/plat/nvidia/tegra/common/drivers/memctrl/memctrl.c b/plat/nvidia/tegra/common/drivers/memctrl/memctrl.c
new file mode 100644
index 0000000..9a8ba66
--- /dev/null
+++ b/plat/nvidia/tegra/common/drivers/memctrl/memctrl.c
@@ -0,0 +1,92 @@
+/*
+ * Copyright (c) 2015, ARM Limited and Contributors. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without specific
+ * prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <assert.h>
+#include <debug.h>
+#include <mmio.h>
+#include <memctrl.h>
+#include <tegra_def.h>
+
+/*
+ * Init SMMU.
+ */
+void tegra_memctrl_setup(void)
+{
+ /*
+ * Setup the Memory controller to allow only secure accesses to
+ * the TZDRAM carveout
+ */
+ INFO("Configuring SMMU\n");
+
+ /* allow translations for all MC engines */
+ tegra_mc_write_32(MC_SMMU_TRANSLATION_ENABLE_0_0,
+ (unsigned int)MC_SMMU_TRANSLATION_ENABLE);
+ tegra_mc_write_32(MC_SMMU_TRANSLATION_ENABLE_1_0,
+ (unsigned int)MC_SMMU_TRANSLATION_ENABLE);
+ tegra_mc_write_32(MC_SMMU_TRANSLATION_ENABLE_2_0,
+ (unsigned int)MC_SMMU_TRANSLATION_ENABLE);
+ tegra_mc_write_32(MC_SMMU_TRANSLATION_ENABLE_3_0,
+ (unsigned int)MC_SMMU_TRANSLATION_ENABLE);
+ tegra_mc_write_32(MC_SMMU_TRANSLATION_ENABLE_4_0,
+ (unsigned int)MC_SMMU_TRANSLATION_ENABLE);
+
+ tegra_mc_write_32(MC_SMMU_ASID_SECURITY_0, MC_SMMU_ASID_SECURITY);
+
+ tegra_mc_write_32(MC_SMMU_TLB_CONFIG_0, MC_SMMU_TLB_CONFIG_0_RESET_VAL);
+ tegra_mc_write_32(MC_SMMU_PTC_CONFIG_0, MC_SMMU_PTC_CONFIG_0_RESET_VAL);
+
+ /* flush PTC and TLB */
+ tegra_mc_write_32(MC_SMMU_PTC_FLUSH_0, MC_SMMU_PTC_FLUSH_ALL);
+ (void)tegra_mc_read_32(MC_SMMU_CONFIG_0); /* read to flush writes */
+ tegra_mc_write_32(MC_SMMU_TLB_FLUSH_0, MC_SMMU_TLB_FLUSH_ALL);
+
+ /* enable SMMU */
+ tegra_mc_write_32(MC_SMMU_CONFIG_0,
+ MC_SMMU_CONFIG_0_SMMU_ENABLE_ENABLE);
+ (void)tegra_mc_read_32(MC_SMMU_CONFIG_0); /* read to flush writes */
+}
+
+/*
+ * Secure the BL31 DRAM aperture.
+ *
+ * phys_base = physical base of TZDRAM aperture
+ * size_in_bytes = size of aperture in bytes
+ */
+void tegra_memctrl_tzdram_setup(uint64_t phys_base, uint32_t size_in_bytes)
+{
+ /*
+ * Setup the Memory controller to allow only secure accesses to
+ * the TZDRAM carveout
+ */
+ INFO("Configuring TrustZone DRAM Memory Carveout\n");
+
+ tegra_mc_write_32(MC_SECURITY_CFG0_0, phys_base);
+ tegra_mc_write_32(MC_SECURITY_CFG1_0, size_in_bytes >> 20);
+}
diff --git a/plat/nvidia/tegra/common/drivers/pmc/pmc.c b/plat/nvidia/tegra/common/drivers/pmc/pmc.c
new file mode 100644
index 0000000..5796ac7
--- /dev/null
+++ b/plat/nvidia/tegra/common/drivers/pmc/pmc.c
@@ -0,0 +1,122 @@
+/*
+ * Copyright (c) 2015, ARM Limited and Contributors. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without specific
+ * prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <arch_helpers.h>
+#include <assert.h>
+#include <debug.h>
+#include <mmio.h>
+#include <pmc.h>
+#include <tegra_def.h>
+
+/* Module IDs used during power ungate procedure */
+static const int pmc_cpu_powergate_id[4] = {
+ 0, /* CPU 0 */
+ 9, /* CPU 1 */
+ 10, /* CPU 2 */
+ 11 /* CPU 3 */
+};
+
+/*******************************************************************************
+ * Power ungate CPU to start the boot process. CPU reset vectors must be
+ * populated before calling this function.
+ ******************************************************************************/
+void tegra_pmc_cpu_on(int cpu)
+{
+ uint32_t val;
+
+ /*
+ * The PMC deasserts the START bit when it starts the power
+ * ungate process. Loop till no power toggle is in progress.
+ */
+ do {
+ val = tegra_pmc_read_32(PMC_PWRGATE_TOGGLE);
+ } while (val & PMC_TOGGLE_START);
+
+ /*
+ * Start the power ungate procedure
+ */
+ val = pmc_cpu_powergate_id[cpu] | PMC_TOGGLE_START;
+ tegra_pmc_write_32(PMC_PWRGATE_TOGGLE, val);
+
+ /*
+ * The PMC deasserts the START bit when it starts the power
+ * ungate process. Loop till powergate START bit is asserted.
+ */
+ do {
+ val = tegra_pmc_read_32(PMC_PWRGATE_TOGGLE);
+ } while (val & (1 << 8));
+
+ /* loop till the CPU is power ungated */
+ do {
+ val = tegra_pmc_read_32(PMC_PWRGATE_STATUS);
+ } while ((val & (1 << pmc_cpu_powergate_id[cpu])) == 0);
+}
+
+/*******************************************************************************
+ * Setup CPU vectors for resume from deep sleep
+ ******************************************************************************/
+void tegra_pmc_cpu_setup(uint64_t reset_addr)
+{
+ uint32_t val;
+
+ tegra_pmc_write_32(PMC_SECURE_SCRATCH34, (reset_addr & 0xFFFFFFFF) | 1);
+ val = reset_addr >> 32;
+ tegra_pmc_write_32(PMC_SECURE_SCRATCH35, val & 0x7FF);
+}
+
+/*******************************************************************************
+ * Lock CPU vectors to restrict further writes
+ ******************************************************************************/
+void tegra_pmc_lock_cpu_vectors(void)
+{
+ uint32_t val;
+
+ /* lock PMC_SECURE_SCRATCH34/35 */
+ val = tegra_pmc_read_32(PMC_SECURE_DISABLE3);
+ val |= (PMC_SECURE_DISABLE3_WRITE34_ON |
+ PMC_SECURE_DISABLE3_WRITE35_ON);
+ tegra_pmc_write_32(PMC_SECURE_DISABLE3, val);
+}
+
+/*******************************************************************************
+ * Restart the system
+ ******************************************************************************/
+__dead2 void tegra_pmc_system_reset(void)
+{
+ uint32_t reg;
+
+ reg = tegra_pmc_read_32(PMC_CONFIG);
+ reg |= 0x10; /* restart */
+ tegra_pmc_write_32(PMC_CONFIG, reg);
+ wfi();
+
+ ERROR("Tegra System Reset: operation not handled.\n");
+ panic();
+}