remoteproc: Introduce K3 remoteproc driver for R5F subsystem

SoCs with K3 architecture have an integrated Arm Cortex-R5F subsystem
that is comprised of dual-core Arm Cortex-R5F processor cores. This R5
subsytem can be configured at boot time to be either run in a LockStep
mode or in an Asymmetric Multi Processing (AMP) fashion in Split-mode.
This subsystem has each Tightly-Coupled Memory (TCM) internal memories
for each core split between two banks - TCMA and TCMB.

Add a remoteproc driver to support this subsystem to be able to load
and boot the R5 cores primarily in LockStep mode or split mode.

Signed-off-by: Lokesh Vutla <lokeshvutla@ti.com>
Signed-off-by: Suman Anna <s-anna@ti.com>

3 files changed, 827 insertions, 0 deletions

diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
index f54a245424..c2d59ba000 100644
--- a/drivers/remoteproc/Kconfig
+++ b/drivers/remoteproc/Kconfig
@@ -52,6 +52,16 @@ config REMOTEPROC_TI_K3_ARM64
 	  on various TI K3 family of SoCs through the remote processor
 	  framework.
 
+config REMOTEPROC_TI_K3_R5F
+	bool "TI K3 R5F remoteproc support"
+	select REMOTEPROC
+	depends on ARCH_K3
+	depends on TI_SCI_PROTOCOL
+	help
+	  Say y here to support TI's R5F remote processor subsystems
+	  on various TI K3 family of SoCs through the remote processor
+	  framework.
+
 config REMOTEPROC_TI_POWER
 	bool "Support for TI Power processor"
 	select REMOTEPROC
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
index 271ba55b09..9d247ba5e7 100644
--- a/drivers/remoteproc/Makefile
+++ b/drivers/remoteproc/Makefile
@@ -11,4 +11,5 @@ obj-$(CONFIG_K3_SYSTEM_CONTROLLER) += k3_system_controller.o
 obj-$(CONFIG_REMOTEPROC_SANDBOX) += sandbox_testproc.o
 obj-$(CONFIG_REMOTEPROC_STM32_COPRO) += stm32_copro.o
 obj-$(CONFIG_REMOTEPROC_TI_K3_ARM64) += ti_k3_arm64_rproc.o
+obj-$(CONFIG_REMOTEPROC_TI_K3_R5F) += ti_k3_r5f_rproc.o
 obj-$(CONFIG_REMOTEPROC_TI_POWER) += ti_power_proc.o
diff --git a/drivers/remoteproc/ti_k3_r5f_rproc.c b/drivers/remoteproc/ti_k3_r5f_rproc.c
new file mode 100644
index 0000000000..ae1e4b9e04
--- /dev/null
+++ b/drivers/remoteproc/ti_k3_r5f_rproc.c
@@ -0,0 +1,816 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Texas Instruments' K3 R5 Remoteproc driver
+ *
+ * Copyright (C) 2018-2019 Texas Instruments Incorporated - http://www.ti.com/
+ *	Lokesh Vutla <lokeshvutla@ti.com>
+ */
+
+#include <common.h>
+#include <dm.h>
+#include <remoteproc.h>
+#include <errno.h>
+#include <clk.h>
+#include <reset.h>
+#include <asm/io.h>
+#include <linux/kernel.h>
+#include <linux/soc/ti/ti_sci_protocol.h>
+#include "ti_sci_proc.h"
+
+/*
+ * R5F's view of this address can either be for ATCM or BTCM with the other
+ * at address 0x0 based on loczrama signal.
+ */
+#define K3_R5_TCM_DEV_ADDR	0x41010000
+
+/* R5 TI-SCI Processor Configuration Flags */
+#define PROC_BOOT_CFG_FLAG_R5_DBG_EN			0x00000001
+#define PROC_BOOT_CFG_FLAG_R5_DBG_NIDEN			0x00000002
+#define PROC_BOOT_CFG_FLAG_R5_LOCKSTEP			0x00000100
+#define PROC_BOOT_CFG_FLAG_R5_TEINIT			0x00000200
+#define PROC_BOOT_CFG_FLAG_R5_NMFI_EN			0x00000400
+#define PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE		0x00000800
+#define PROC_BOOT_CFG_FLAG_R5_BTCM_EN			0x00001000
+#define PROC_BOOT_CFG_FLAG_R5_ATCM_EN			0x00002000
+#define PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR		0x10000000
+
+/* R5 TI-SCI Processor Control Flags */
+#define PROC_BOOT_CTRL_FLAG_R5_CORE_HALT		0x00000001
+
+/* R5 TI-SCI Processor Status Flags */
+#define PROC_BOOT_STATUS_FLAG_R5_WFE			0x00000001
+#define PROC_BOOT_STATUS_FLAG_R5_WFI			0x00000002
+#define PROC_BOOT_STATUS_FLAG_R5_CLK_GATED		0x00000004
+#define PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED	0x00000100
+
+#define NR_CORES	2
+
+enum cluster_mode {
+	CLUSTER_MODE_SPLIT = 0,
+	CLUSTER_MODE_LOCKSTEP,
+};
+
+/**
+ * struct k3_r5_mem - internal memory structure
+ * @cpu_addr: MPU virtual address of the memory region
+ * @bus_addr: Bus address used to access the memory region
+ * @dev_addr: Device address from remoteproc view
+ * @size: Size of the memory region
+ */
+struct k3_r5f_mem {
+	void __iomem *cpu_addr;
+	phys_addr_t bus_addr;
+	u32 dev_addr;
+	size_t size;
+};
+
+/**
+ * struct k3_r5f_core - K3 R5 core structure
+ * @dev: cached device pointer
+ * @cluster: pointer to the parent cluster.
+ * @reset: reset control handle
+ * @tsp: TI-SCI processor control handle
+ * @mem: Array of available internal memories
+ * @num_mem: Number of available memories
+ * @atcm_enable: flag to control ATCM enablement
+ * @btcm_enable: flag to control BTCM enablement
+ * @loczrama: flag to dictate which TCM is at device address 0x0
+ * @in_use: flag to tell if the core is already in use.
+ */
+struct k3_r5f_core {
+	struct udevice *dev;
+	struct k3_r5f_cluster *cluster;
+	struct reset_ctl reset;
+	struct ti_sci_proc tsp;
+	struct k3_r5f_mem *mem;
+	int num_mems;
+	u32 atcm_enable;
+	u32 btcm_enable;
+	u32 loczrama;
+	bool in_use;
+};
+
+/**
+ * struct k3_r5f_cluster - K3 R5F Cluster structure
+ * @mode: Mode to configure the Cluster - Split or LockStep
+ * @cores: Array of pointers to R5 cores within the cluster
+ */
+struct k3_r5f_cluster {
+	enum cluster_mode mode;
+	struct k3_r5f_core *cores[NR_CORES];
+};
+
+static bool is_primary_core(struct k3_r5f_core *core)
+{
+	return core == core->cluster->cores[0];
+}
+
+static int k3_r5f_proc_request(struct k3_r5f_core *core)
+{
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int i, ret;
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
+		for (i = 0; i < NR_CORES; i++) {
+			ret = ti_sci_proc_request(&cluster->cores[i]->tsp);
+			if (ret)
+				goto proc_release;
+		}
+	} else {
+		ret = ti_sci_proc_request(&core->tsp);
+	}
+
+	return 0;
+
+proc_release:
+	while (i >= 0) {
+		ti_sci_proc_release(&cluster->cores[i]->tsp);
+		i--;
+	}
+	return ret;
+}
+
+static void k3_r5f_proc_release(struct k3_r5f_core *core)
+{
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int i;
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
+		for (i = 0; i < NR_CORES; i++)
+			ti_sci_proc_release(&cluster->cores[i]->tsp);
+	else
+		ti_sci_proc_release(&core->tsp);
+}
+
+static int k3_r5f_lockstep_release(struct k3_r5f_cluster *cluster)
+{
+	int ret, c;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	for (c = NR_CORES - 1; c >= 0; c--) {
+		ret = ti_sci_proc_power_domain_on(&cluster->cores[c]->tsp);
+		if (ret)
+			goto unroll_module_reset;
+	}
+
+	/* deassert local reset on all applicable cores */
+	for (c = NR_CORES - 1; c >= 0; c--) {
+		ret = reset_deassert(&cluster->cores[c]->reset);
+		if (ret)
+			goto unroll_local_reset;
+	}
+
+	return 0;
+
+unroll_local_reset:
+	while (c < NR_CORES) {
+		reset_assert(&cluster->cores[c]->reset);
+		c++;
+	}
+	c = 0;
+unroll_module_reset:
+	while (c < NR_CORES) {
+		ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp);
+		c++;
+	}
+
+	return ret;
+}
+
+static int k3_r5f_split_release(struct k3_r5f_core *core)
+{
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	ret = ti_sci_proc_power_domain_on(&core->tsp);
+	if (ret) {
+		dev_err(core->dev, "module-reset deassert failed, ret = %d\n",
+			ret);
+		return ret;
+	}
+
+	ret = reset_deassert(&core->reset);
+	if (ret) {
+		dev_err(core->dev, "local-reset deassert failed, ret = %d\n",
+			ret);
+		if (ti_sci_proc_power_domain_off(&core->tsp))
+			dev_warn(core->dev, "module-reset assert back failed\n");
+	}
+
+	return ret;
+}
+
+static int k3_r5f_prepare(struct udevice *dev)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int ret = 0;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
+		ret = k3_r5f_lockstep_release(cluster);
+	else
+		ret = k3_r5f_split_release(core);
+
+	if (ret)
+		dev_err(dev, "Unable to enable cores for TCM loading %d\n",
+			ret);
+
+	return ret;
+}
+
+static int k3_r5f_core_sanity_check(struct k3_r5f_core *core)
+{
+	struct k3_r5f_cluster *cluster = core->cluster;
+
+	if (core->in_use) {
+		dev_err(dev, "Invalid op: Trying to load/start on already running core %d\n",
+			core->tsp.proc_id);
+		return -EINVAL;
+	}
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !cluster->cores[1]) {
+		printf("Secondary core is not probed in this cluster\n");
+		return -EAGAIN;
+	}
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP && !is_primary_core(core)) {
+		dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
+			core->tsp.proc_id);
+		return -EINVAL;
+	}
+
+	if (cluster->mode == CLUSTER_MODE_SPLIT && !is_primary_core(core)) {
+		if (!core->cluster->cores[0]->in_use) {
+			dev_err(dev, "Invalid seq: Enable primary core before loading secondary core\n");
+			return -EINVAL;
+		}
+	}
+
+	return 0;
+}
+
+/**
+ * k3_r5f_load() - Load up the Remote processor image
+ * @dev:	rproc device pointer
+ * @addr:	Address at which image is available
+ * @size:	size of the image
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int k3_r5f_load(struct udevice *dev, ulong addr, ulong size)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	u32 boot_vector;
+	int ret;
+
+	dev_dbg(dev, "%s addr = 0x%lx, size = 0x%lx\n", __func__, addr, size);
+
+	ret = k3_r5f_core_sanity_check(core);
+	if (ret)
+		return ret;
+
+	ret = k3_r5f_proc_request(core);
+	if (ret)
+		return ret;
+
+	ret = k3_r5f_prepare(dev);
+	if (ret) {
+		dev_err(dev, "R5f prepare failed for core %d\n",
+			core->tsp.proc_id);
+		goto proc_release;
+	}
+
+	/* Zero out TCMs so that ECC can be effective on all TCM addresses */
+	if (core->atcm_enable)
+		memset(core->mem[0].cpu_addr, 0x00, core->mem[0].size);
+	if (core->btcm_enable)
+		memset(core->mem[1].cpu_addr, 0x00, core->mem[1].size);
+
+	ret = rproc_elf_load_image(dev, addr, size);
+	if (ret < 0) {
+		dev_err(dev, "Loading elf failedi %d\n", ret);
+		goto proc_release;
+	}
+
+	boot_vector = rproc_elf_get_boot_addr(dev, addr);
+
+	dev_dbg(dev, "%s: Boot vector = 0x%x\n", __func__, boot_vector);
+
+	ret = ti_sci_proc_set_config(&core->tsp, boot_vector, 0, 0);
+
+proc_release:
+	k3_r5f_proc_release(core);
+
+	return ret;
+}
+
+static int k3_r5f_core_halt(struct k3_r5f_core *core)
+{
+	int ret;
+
+	ret = ti_sci_proc_set_control(&core->tsp,
+				      PROC_BOOT_CTRL_FLAG_R5_CORE_HALT, 0);
+	if (ret)
+		dev_err(core->dev, "Core %d failed to stop\n",
+			core->tsp.proc_id);
+
+	return ret;
+}
+
+static int k3_r5f_core_run(struct k3_r5f_core *core)
+{
+	int ret;
+
+	ret = ti_sci_proc_set_control(&core->tsp,
+				      0, PROC_BOOT_CTRL_FLAG_R5_CORE_HALT);
+	if (ret) {
+		dev_err(core->dev, "Core %d failed to start\n",
+			core->tsp.proc_id);
+		return ret;
+	}
+
+	return 0;
+}
+
+/**
+ * k3_r5f_start() - Start the remote processor
+ * @dev:	rproc device pointer
+ *
+ * Return: 0 if all went ok, else return appropriate error
+ */
+static int k3_r5f_start(struct udevice *dev)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int ret, c;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	ret = k3_r5f_core_sanity_check(core);
+	if (ret)
+		return ret;
+
+	ret = k3_r5f_proc_request(core);
+	if (ret)
+		return ret;
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
+		if (is_primary_core(core)) {
+			for (c = NR_CORES - 1; c >= 0; c--) {
+				ret = k3_r5f_core_run(cluster->cores[c]);
+				if (ret)
+					goto unroll_core_run;
+			}
+		} else {
+			dev_err(dev, "Invalid op: Trying to start secondary core %d in lockstep mode\n",
+				core->tsp.proc_id);
+			ret = -EINVAL;
+			goto proc_release;
+		}
+	} else {
+		ret = k3_r5f_core_run(core);
+		if (ret)
+			goto proc_release;
+	}
+
+	core->in_use = true;
+
+	k3_r5f_proc_release(core);
+	return 0;
+
+unroll_core_run:
+	while (c < NR_CORES) {
+		k3_r5f_core_halt(cluster->cores[c]);
+		c++;
+	}
+proc_release:
+	k3_r5f_proc_release(core);
+
+	return ret;
+}
+
+static int k3_r5f_split_reset(struct k3_r5f_core *core)
+{
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	if (reset_assert(&core->reset))
+		ret = -EINVAL;
+
+	if (ti_sci_proc_power_domain_off(&core->tsp))
+		ret = -EINVAL;
+
+	return ret;
+}
+
+static int k3_r5f_lockstep_reset(struct k3_r5f_cluster *cluster)
+{
+	int ret = 0, c;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	for (c = 0; c < NR_CORES; c++)
+		if (reset_assert(&cluster->cores[c]->reset))
+			ret = -EINVAL;
+
+	/* disable PSC modules on all applicable cores */
+	for (c = 0; c < NR_CORES; c++)
+		if (ti_sci_proc_power_domain_off(&cluster->cores[c]->tsp))
+			ret = -EINVAL;
+
+	return ret;
+}
+
+static int k3_r5f_unprepare(struct udevice *dev)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
+		if (is_primary_core(core))
+			ret = k3_r5f_lockstep_reset(cluster);
+	} else {
+		ret = k3_r5f_split_reset(core);
+	}
+
+	if (ret)
+		dev_warn(dev, "Unable to enable cores for TCM loading %d\n",
+			 ret);
+
+	return 0;
+}
+
+static int k3_r5f_stop(struct udevice *dev)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	struct k3_r5f_cluster *cluster = core->cluster;
+	int c, ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	ret = k3_r5f_proc_request(core);
+	if (ret)
+		return ret;
+
+	core->in_use = false;
+
+	if (cluster->mode == CLUSTER_MODE_LOCKSTEP) {
+		if (is_primary_core(core)) {
+			for (c = 0; c < NR_CORES; c++)
+				k3_r5f_core_halt(cluster->cores[c]);
+		} else {
+			dev_err(dev, "Invalid op: Trying to stop secondary core in lockstep mode\n");
+			ret = -EINVAL;
+			goto proc_release;
+		}
+	} else {
+		k3_r5f_core_halt(core);
+	}
+
+	ret = k3_r5f_unprepare(dev);
+proc_release:
+	k3_r5f_proc_release(core);
+	return ret;
+}
+
+static void *k3_r5f_da_to_va(struct udevice *dev, ulong da, ulong size)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	void __iomem *va = NULL;
+	phys_addr_t bus_addr;
+	u32 dev_addr, offset;
+	ulong mem_size;
+	int i;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	if (size <= 0)
+		return NULL;
+
+	for (i = 0; i < core->num_mems; i++) {
+		bus_addr = core->mem[i].bus_addr;
+		dev_addr = core->mem[i].dev_addr;
+		mem_size = core->mem[i].size;
+
+		if (da >= bus_addr && (da + size) <= (bus_addr + mem_size)) {
+			offset = da - bus_addr;
+			va = core->mem[i].cpu_addr + offset;
+			return (__force void *)va;
+		}
+
+		if (da >= dev_addr && (da + size) <= (dev_addr + mem_size)) {
+			offset = da - dev_addr;
+			va = core->mem[i].cpu_addr + offset;
+			return (__force void *)va;
+		}
+	}
+
+	/* Assume it is DDR region and return da */
+	return map_physmem(da, size, MAP_NOCACHE);
+}
+
+static int k3_r5f_init(struct udevice *dev)
+{
+	return 0;
+}
+
+static int k3_r5f_reset(struct udevice *dev)
+{
+	return 0;
+}
+
+static const struct dm_rproc_ops k3_r5f_rproc_ops = {
+	.init = k3_r5f_init,
+	.reset = k3_r5f_reset,
+	.start = k3_r5f_start,
+	.stop = k3_r5f_stop,
+	.load = k3_r5f_load,
+	.device_to_virt = k3_r5f_da_to_va,
+};
+
+static int k3_r5f_rproc_configure(struct k3_r5f_core *core)
+{
+	struct k3_r5f_cluster *cluster = core->cluster;
+	u32 set_cfg = 0, clr_cfg = 0, cfg, ctrl, sts;
+	u64 boot_vec = 0;
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	ret = ti_sci_proc_request(&core->tsp);
+	if (ret < 0)
+		return ret;
+
+	/* Do not touch boot vector now. Load will take care of it. */
+	clr_cfg |= PROC_BOOT_CFG_FLAG_GEN_IGN_BOOTVECTOR;
+
+	ret = ti_sci_proc_get_status(&core->tsp, &boot_vec, &cfg, &ctrl, &sts);
+	if (ret)
+		goto out;
+
+	/* Sanity check for Lockstep mode */
+	if (cluster->mode && is_primary_core(core) &&
+	    !(sts & PROC_BOOT_STATUS_FLAG_R5_LOCKSTEP_PERMITTED)) {
+		dev_err(core->dev, "LockStep mode not permitted on this device\n");
+		ret = -EINVAL;
+		goto out;
+	}
+
+	/* Primary core only configuration */
+	if (is_primary_core(core)) {
+		/* always enable ARM mode */
+		clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TEINIT;
+		if (cluster->mode == CLUSTER_MODE_LOCKSTEP)
+			set_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
+		else
+			clr_cfg |= PROC_BOOT_CFG_FLAG_R5_LOCKSTEP;
+	}
+
+	if (core->atcm_enable)
+		set_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
+	else
+		clr_cfg |= PROC_BOOT_CFG_FLAG_R5_ATCM_EN;
+
+	if (core->btcm_enable)
+		set_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
+	else
+		clr_cfg |= PROC_BOOT_CFG_FLAG_R5_BTCM_EN;
+
+	if (core->loczrama)
+		set_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
+	else
+		clr_cfg |= PROC_BOOT_CFG_FLAG_R5_TCM_RSTBASE;
+
+	ret = k3_r5f_core_halt(core);
+	if (ret)
+		goto out;
+
+	ret = ti_sci_proc_set_config(&core->tsp, boot_vec, set_cfg, clr_cfg);
+out:
+	ti_sci_proc_release(&core->tsp);
+	return ret;
+}
+
+static int ti_sci_proc_of_to_priv(struct udevice *dev, struct ti_sci_proc *tsp)
+{
+	u32 ids[2];
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	tsp->sci = ti_sci_get_by_phandle(dev, "ti,sci");
+	if (IS_ERR(tsp->sci)) {
+		dev_err(dev, "ti_sci get failed: %ld\n", PTR_ERR(tsp->sci));
+		return PTR_ERR(tsp->sci);
+	}
+
+	ret = dev_read_u32_array(dev, "ti,sci-proc-ids", ids, 2);
+	if (ret) {
+		dev_err(dev, "Proc IDs not populated %d\n", ret);
+		return ret;
+	}
+
+	tsp->ops = &tsp->sci->ops.proc_ops;
+	tsp->proc_id = ids[0];
+	tsp->host_id = ids[1];
+	tsp->dev_id = dev_read_u32_default(dev, "ti,sci-dev-id",
+					   TI_SCI_RESOURCE_NULL);
+	if (tsp->dev_id == TI_SCI_RESOURCE_NULL) {
+		dev_err(dev, "Device ID not populated %d\n", ret);
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static int k3_r5f_of_to_priv(struct k3_r5f_core *core)
+{
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	core->atcm_enable = dev_read_u32_default(core->dev, "atcm-enable", 0);
+	core->btcm_enable = dev_read_u32_default(core->dev, "btcm-enable", 1);
+	core->loczrama = dev_read_u32_default(core->dev, "loczrama", 1);
+
+	ret = ti_sci_proc_of_to_priv(core->dev, &core->tsp);
+	if (ret)
+		return ret;
+
+	ret = reset_get_by_index(core->dev, 0, &core->reset);
+	if (ret) {
+		dev_err(core->dev, "Reset lines not available: %d\n", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+static int k3_r5f_core_of_get_memories(struct k3_r5f_core *core)
+{
+	static const char * const mem_names[] = {"atcm", "btcm"};
+	struct udevice *dev = core->dev;
+	int i;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	core->num_mems = ARRAY_SIZE(mem_names);
+	core->mem = calloc(core->num_mems, sizeof(*core->mem));
+	if (!core->mem)
+		return -ENOMEM;
+
+	for (i = 0; i < core->num_mems; i++) {
+		core->mem[i].bus_addr = dev_read_addr_size_name(dev,
+								mem_names[i],
+					(fdt_addr_t *)&core->mem[i].size);
+		if (core->mem[i].bus_addr == FDT_ADDR_T_NONE) {
+			dev_err(dev, "%s bus address not found\n",
+				mem_names[i]);
+			return -EINVAL;
+		}
+		core->mem[i].cpu_addr = map_physmem(core->mem[i].bus_addr,
+						    core->mem[i].size,
+						    MAP_NOCACHE);
+		if (!strcmp(mem_names[i], "atcm")) {
+			core->mem[i].dev_addr = core->loczrama ?
+							0 : K3_R5_TCM_DEV_ADDR;
+		} else {
+			core->mem[i].dev_addr = core->loczrama ?
+							K3_R5_TCM_DEV_ADDR : 0;
+		}
+
+		dev_dbg(dev, "memory %8s: bus addr %pa size 0x%zx va %p da 0x%x\n",
+			mem_names[i], &core->mem[i].bus_addr,
+			core->mem[i].size, core->mem[i].cpu_addr,
+			core->mem[i].dev_addr);
+	}
+
+	return 0;
+}
+
+/**
+ * k3_r5f_probe() - Basic probe
+ * @dev:	corresponding k3 remote processor device
+ *
+ * Return: 0 if all goes good, else appropriate error message.
+ */
+static int k3_r5f_probe(struct udevice *dev)
+{
+	struct k3_r5f_cluster *cluster = dev_get_priv(dev->parent);
+	struct k3_r5f_core *core = dev_get_priv(dev);
+	bool r_state;
+	int ret;
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	core->dev = dev;
+	ret = k3_r5f_of_to_priv(core);
+	if (ret)
+		return ret;
+
+	core->cluster = cluster;
+	/* Assume Primary core gets probed first */
+	if (!cluster->cores[0])
+		cluster->cores[0] = core;
+	else
+		cluster->cores[1] = core;
+
+	ret = k3_r5f_core_of_get_memories(core);
+	if (ret) {
+		dev_err(dev, "Rproc getting internal memories failed\n");
+		return ret;
+	}
+
+	ret = core->tsp.sci->ops.dev_ops.is_on(core->tsp.sci, core->tsp.dev_id,
+					       &r_state, &core->in_use);
+	if (ret)
+		return ret;
+
+	if (core->in_use) {
+		dev_info(dev, "Core %d is already in use. No rproc commands work\n",
+			 core->tsp.proc_id);
+		return 0;
+	}
+
+	/* Make sure Local reset is asserted. Redundant? */
+	reset_assert(&core->reset);
+
+	ret = k3_r5f_rproc_configure(core);
+	if (ret) {
+		dev_err(dev, "rproc configure failed %d\n", ret);
+		return ret;
+	}
+
+	dev_dbg(dev, "Remoteproc successfully probed\n");
+
+	return 0;
+}
+
+static int k3_r5f_remove(struct udevice *dev)
+{
+	struct k3_r5f_core *core = dev_get_priv(dev);
+
+	free(core->mem);
+
+	ti_sci_proc_release(&core->tsp);
+
+	return 0;
+}
+
+static const struct udevice_id k3_r5f_rproc_ids[] = {
+	{ .compatible = "ti,am654-r5f"},
+	{ .compatible = "ti,j721e-r5f"},
+	{}
+};
+
+U_BOOT_DRIVER(k3_r5f_rproc) = {
+	.name = "k3_r5f_rproc",
+	.of_match = k3_r5f_rproc_ids,
+	.id = UCLASS_REMOTEPROC,
+	.ops = &k3_r5f_rproc_ops,
+	.probe = k3_r5f_probe,
+	.remove = k3_r5f_remove,
+	.priv_auto_alloc_size = sizeof(struct k3_r5f_core),
+};
+
+static int k3_r5f_cluster_probe(struct udevice *dev)
+{
+	struct k3_r5f_cluster *cluster = dev_get_priv(dev);
+
+	dev_dbg(dev, "%s\n", __func__);
+
+	cluster->mode = dev_read_u32_default(dev, "lockstep-mode",
+					     CLUSTER_MODE_LOCKSTEP);
+
+	if (device_get_child_count(dev) != 2) {
+		dev_err(dev, "Invalid number of R5 cores");
+		return -EINVAL;
+	}
+
+	dev_dbg(dev, "%s: Cluster successfully probed in %s mode\n",
+		__func__, cluster->mode ? "lockstep" : "split");
+
+	return 0;
+}
+
+static const struct udevice_id k3_r5fss_ids[] = {
+	{ .compatible = "ti,am654-r5fss"},
+	{ .compatible = "ti,j721e-r5fss"},
+	{}
+};
+
+U_BOOT_DRIVER(k3_r5fss) = {
+	.name = "k3_r5fss",
+	.of_match = k3_r5fss_ids,
+	.id = UCLASS_MISC,
+	.probe = k3_r5f_cluster_probe,
+	.priv_auto_alloc_size = sizeof(struct k3_r5f_cluster),
+};