Subject: [PATCH 5/8] remoteproc: new driver for TI PRU

From: [email-masked] (David Lechner)
Date: Sat, 23 Jun 2018 16:08:07 -0500

This adds a new remoteproc driver for TI Programmable Realtime Units
(PRUs).

This has been tested working on AM1808 (LEGO MINDSTORMS EV3) using the
sample rpmsg client driver.

Signed-off-by: David Lechner <[email-masked]>
---
 MAINTAINERS                       |   5 +
 drivers/remoteproc/Kconfig        |   7 +
 drivers/remoteproc/Makefile       |   1 +
 drivers/remoteproc/ti_pru_rproc.c | 660 ++++++++++++++++++++++++++++++
 4 files changed, 673 insertions(+)
 create mode 100644 drivers/remoteproc/ti_pru_rproc.c

diff --git a/MAINTAINERS b/MAINTAINERS
index edf3cf5ea691..06dea089d9ae 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -14288,6 +14288,11 @@ L:	netdev at vger.kernel.org
 S:	Maintained
 F:	drivers/net/ethernet/ti/netcp*
 
+TI PRU REMOTEPROC DRIVER
+R:	David Lechner <[email-masked]>
+F:	Documentation/devicetree/bindings/remoteproc/ti_pru_rproc.txt
+F:	drivers/remoteproc/ti_pru_rproc.c
+
 TI TAS571X FAMILY ASoC CODEC DRIVER
 M:	Kevin Cernekee <[email-masked]>
 L:	alsa-devel at alsa-project.org (moderated for non-subscribers)
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig
index cd1c168fd188..ae6e725e1755 100644
--- a/drivers/remoteproc/Kconfig
+++ b/drivers/remoteproc/Kconfig
@@ -158,6 +158,13 @@ config ST_REMOTEPROC
 config ST_SLIM_REMOTEPROC
 	tristate
 
+config TI_PRU_REMOTEPROC
+	tristate "TI Programmable Realtime Unit"
+	depends on ARCH_DAVINCI_DA8XX || SOC_AM33XX
+	help
+	  Say y here to support TI Programmable Runtime Units (PRUs) via the
+	  remote processor framework.
+
 endif # REMOTEPROC
 
 endmenu
diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile
index 02627ede8d4a..451efee5c8d3 100644
--- a/drivers/remoteproc/Makefile
+++ b/drivers/remoteproc/Makefile
@@ -23,3 +23,4 @@ qcom_wcnss_pil-y			+= qcom_wcnss.o
 qcom_wcnss_pil-y			+= qcom_wcnss_iris.o
 obj-$(CONFIG_ST_REMOTEPROC)		+= st_remoteproc.o
 obj-$(CONFIG_ST_SLIM_REMOTEPROC)	+= st_slim_rproc.o
+obj-$(CONFIG_TI_PRU_REMOTEPROC)		+= ti_pru_rproc.o
diff --git a/drivers/remoteproc/ti_pru_rproc.c b/drivers/remoteproc/ti_pru_rproc.c
new file mode 100644
index 000000000000..cd8302c318c9
--- /dev/null
+++ b/drivers/remoteproc/ti_pru_rproc.c
@@ -0,0 +1,660 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Copyright (C) 2018 David Lechner <[email-masked]>
+ *
+ * Remoteproc driver for TI Programmable Realtime Unit
+ */
+
+#include <linux/bitops.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/of_device.h>
+#include <linux/platform_data/ti-pruss.h>
+#include <linux/platform_device.h>
+#include <linux/pm_runtime.h>
+#include <linux/remoteproc.h>
+#include <linux/regmap.h>
+#include <linux/sizes.h>
+#include <linux/types.h>
+
+#include "remoteproc_internal.h"
+
+#define SZ_12K 0x3000
+
+/* control/status registers */
+#define TI_PRU_CS_CONTROL	0x0
+#define TI_PRU_CS_STATUS	0x4
+#define TI_PRU_CS_WAKEUP	0x8
+#define TI_PRU_CS_CYCLECNT	0xc
+
+/* control register bits */
+#define TI_PRU_CONTROL_PCRESETVAL	GENMASK(31, 16)
+#define TI_PRU_CONTROL_RUNSTATE		BIT(15)
+#define TI_PRU_CONTROL_SINGLESTEP	BIT(8)
+#define TI_PRU_CONTROL_COUNTENABLE	BIT(3)
+#define TI_PRU_CONTROL_SLEEPING		BIT(2)
+#define TI_PRU_CONTROL_ENABLE		BIT(1)
+#define TI_PRU_CONTROL_SOFTRESET	BIT(0)
+
+/* status bits */
+#define TI_PRU_STATUS_PCOUNTER		GENMASK(15, 0)
+
+/* interrupt controller registers */
+#define TI_PRU_INTC_GLBLEN		0x10
+#define TI_PRU_INTC_STATIDXSET		0x20
+#define TI_PRU_INTC_STATIDXCLR		0x24
+#define TI_PRU_INTC_ENIDXSET		0x28
+#define TI_PRU_INTC_HSTINTENIDXSET	0x34
+#define TI_PRU_INTC_CHANMAP0		0x400
+#define TI_PRU_INTC_POLARITY0		0xd00
+#define TI_PRU_INTC_TYPE0		0xd80
+#define TI_PRU_INTC_HOSTMAP0		0x800
+
+/* config registers */
+#define TI_PRU_CFG_SYSCFG		0x4
+
+/* syscfg bits */
+#define TI_PRU_SYSCFG_SUB_MWAIT			BIT(5)
+#define TI_PRU_SYSCFG_STANDBY_INIT		BIT(4)
+#define TI_PRU_SYSCFG_STANDBY_MODE_MASK		GENMASK(3, 2)
+#define TI_PRU_SYSCFG_STANDBY_MODE_SMART	(2 << 2)
+#define TI_PRU_SYSCFG_IDLE_MODE_MASK		GENMASK(1, 0)
+#define TI_PRU_SYSCFG_IDLE_MODE_SMART		(2 << 0)
+
+enum ti_pru {
+	TI_PRU0,
+	TI_PRU1,
+	NUM_TI_PRU
+};
+
+enum ti_pru_type {
+	TI_PRU_TYPE_AM18XX,
+	TI_PRU_TYPE_AM335X,
+	NUM_TI_PRU_TYPE
+};
+
+enum ti_pru_evtout {
+	TI_PRU_EVTOUT0,
+	TI_PRU_EVTOUT1,
+	TI_PRU_EVTOUT2,
+	TI_PRU_EVTOUT3,
+	TI_PRU_EVTOUT4,
+	TI_PRU_EVTOUT5,
+	TI_PRU_EVTOUT6,
+	TI_PRU_EVTOUT7,
+	NUM_TI_PRU_EVTOUT
+};
+
+struct ti_pru_mem_region {
+	off_t offset;
+	size_t size;
+};
+
+/**
+ * ti_pru_shared_info - common init info for the PRUSS
+ * @ram: shared RAM, if present
+ * @intc: interrupt controller
+ * @cfg: configuration registers, if present
+ */
+struct ti_pru_shared_info {
+	struct ti_pru_mem_region ram;
+	struct ti_pru_mem_region intc;
+	struct ti_pru_mem_region cfg;
+};
+
+/**
+ * ti_pru_info - init info each individual PRU
+ * @ram: PRU RAM
+ * @ctrl: PRU control/status registers
+ * @dbg: PRU dbg registers
+ * @inst: instruction RAM
+ * @vq_arm_to_pru_event: The index of the PRU system event interrupt used
+ *                       used by the ARM for kicking the PRU
+ * @vq_pru_to_arm_event: The index of the PRU system event interrupt used
+ *                       used by the PRU for kicking the ARM
+ */
+struct ti_pru_info {
+	struct ti_pru_mem_region ram;
+	struct ti_pru_mem_region ctrl;
+	struct ti_pru_mem_region dbg;
+	struct ti_pru_mem_region inst;
+	int vq_arm_to_pru_event;
+	int vq_pru_to_arm_event;
+};
+
+struct ti_pru_device_info {
+	struct ti_pru_shared_info shared;
+	struct ti_pru_info pru[NUM_TI_PRU];
+};
+
+static const struct ti_pru_device_info ti_pru_devices[NUM_TI_PRU_TYPE] = {
+	[TI_PRU_TYPE_AM18XX] = {
+		.shared = {
+			.intc	= { .offset = 0x4000,	.size = SZ_12K,	},
+		},
+		.pru[TI_PRU0] = {
+			.ram	= { .offset = 0x0000,	.size = SZ_512,	},
+			.ctrl	= { .offset = 0x7000,	.size = SZ_1K,	},
+			.dbg	= { .offset = 0x7400,	.size = SZ_1K,	},
+			.inst	= { .offset = 0x8000,	.size = SZ_4K,	},
+			.vq_arm_to_pru_event = 32,
+			.vq_pru_to_arm_event = 33,
+		},
+		.pru[TI_PRU1] = {
+			.ram	= { .offset = 0x2000,	.size = SZ_512,	},
+			.ctrl	= { .offset = 0x7800,	.size = SZ_1K,	},
+			.dbg	= { .offset = 0x7c00,	.size = SZ_1K,	},
+			.inst	= { .offset = 0xc000,	.size = SZ_4K,	},
+			.vq_arm_to_pru_event = 34,
+			.vq_pru_to_arm_event = 35,
+		},
+	},
+	[TI_PRU_TYPE_AM335X] = {
+		.shared = {
+			.ram	= { .offset = 0x10000,	.size = SZ_12K,	},
+			.intc	= { .offset = 0x20000,	.size = SZ_8K,	},
+			.cfg	= { .offset = 0x26000,	.size = SZ_8K,	},
+		},
+		.pru[TI_PRU0] = {
+			.ram	= { .offset = 0x00000,	.size = SZ_8K,	},
+			.ctrl	= { .offset = 0x22000,	.size = SZ_1K,	},
+			.dbg	= { .offset = 0x22400,	.size = SZ_1K,	},
+			.inst	= { .offset = 0x34000,	.size = SZ_8K,	},
+			.vq_arm_to_pru_event = 16,
+			.vq_pru_to_arm_event = 17,
+		},
+		.pru[TI_PRU1] = {
+			.ram	= { .offset = 0x02000,	.size = SZ_8K,	},
+			.ctrl	= { .offset = 0x24000,	.size = SZ_1K,	},
+			.dbg	= { .offset = 0x24400,	.size = SZ_1K,	},
+			.inst	= { .offset = 0x38000,	.size = SZ_8K,	},
+			.vq_arm_to_pru_event = 18,
+			.vq_pru_to_arm_event = 19,
+		},
+	},
+};
+
+/**
+ * ti_pru_shared_data - private platform driver data
+ * @info: init info common to both PRU cores
+ * @dev: the platform device
+ * @base: the mapped memory region of the PRUSS
+ * @intc: regmap of the interrupt controller
+ * @cfg: regmap of configuration registers
+ * @pru: per-PRU core data
+ */
+struct ti_pru_shared_data {
+	const struct ti_pru_shared_info *info;
+	struct device *dev;
+	void __iomem *base;
+	struct regmap *intc;
+	struct regmap *cfg;
+	struct rproc *pru[NUM_TI_PRU];
+};
+
+/**
+ * ti_pru_data - private data for each PRU core
+ * @info: static init info
+ * @shared: pointer to the shared data struct
+ * @ctrl: regmap of the PRU control/status register
+ * @vq_irq: interrupt used for rpmsg
+ */
+struct ti_pru_data {
+	const struct ti_pru_info *info;
+	struct ti_pru_shared_data *shared;
+	struct regmap *ctrl;
+	int vq_irq;
+};
+
+static int ti_pru_rproc_start(struct rproc *rproc)
+{
+	struct ti_pru_data *pru = rproc->priv;
+	u32 val;
+
+	val = (rproc->bootaddr >> 2) << (ffs(TI_PRU_CONTROL_PCRESETVAL) - 1);
+	val |= TI_PRU_CONTROL_ENABLE;
+
+	return regmap_write(pru->ctrl, TI_PRU_CS_CONTROL, val);
+}
+
+static int ti_pru_rproc_stop(struct rproc *rproc)
+{
+	struct ti_pru_data *pru = rproc->priv;
+	u32 mask;
+
+	mask = TI_PRU_CONTROL_ENABLE;
+
+	return regmap_write_bits(pru->ctrl, TI_PRU_CS_CONTROL, mask, 0);
+}
+
+static void ti_pru_rproc_kick(struct rproc *rproc, int vqid)
+{
+	struct ti_pru_data *pru = rproc->priv;
+	struct ti_pru_shared_data *shared = pru->shared;
+	u32 val;
+
+	val = pru->info->vq_arm_to_pru_event;
+
+	regmap_write(shared->intc, TI_PRU_INTC_STATIDXSET, val);
+}
+
+static void *ti_pru_rproc_da_to_va(struct rproc *rproc, u64 da, int len, int map)
+{
+	struct ti_pru_data *pru = rproc->priv;
+	struct ti_pru_shared_data *shared = pru->shared;
+
+	if (map == 0) {
+		if (da + len > pru->info->inst.size)
+			return ERR_PTR(-EINVAL);
+
+		return shared->base + pru->info->inst.offset + da;
+	}
+
+	if (map == 1) {
+		if (da + len > pru->info->ram.size)
+			return ERR_PTR(-EINVAL);
+
+		return shared->base + pru->info->ram.offset + da;
+	}
+
+	return ERR_PTR(-EINVAL);
+}
+
+static const struct rproc_ops ti_pru_rproc_ops = {
+	.start = ti_pru_rproc_start,
+	.stop = ti_pru_rproc_stop,
+	.kick = ti_pru_rproc_kick,
+	.da_to_va = ti_pru_rproc_da_to_va,
+};
+
+static struct regmap_config ti_pru_ctrl_regmap_config = {
+	.reg_bits = 32,
+	.val_bits = 32,
+	.reg_stride = 4,
+	.max_register = 0x2c,
+};
+
+static struct regmap_config ti_pru_intc_regmap_config = {
+	.reg_bits = 32,
+	.val_bits = 32,
+	.reg_stride = 4,
+	.max_register = 0x1500,
+};
+
+static struct regmap_config ti_pru_cfg_regmap_config = {
+	.reg_bits = 32,
+	.val_bits = 32,
+	.reg_stride = 4,
+	.max_register = 0x40,
+};
+
+static const struct of_device_id ti_pru_rproc_of_match[] = {
+	{
+		.compatible = "ti,da850-pru-rproc",
+		.data = &ti_pru_devices[TI_PRU_TYPE_AM18XX]
+	},
+	{
+		.compatible = "ti,am3352-pru-rproc",
+		.data = &ti_pru_devices[TI_PRU_TYPE_AM335X]
+	},
+	{ },
+};
+MODULE_DEVICE_TABLE(of, ti_pru_rproc_of_match);
+
+static irqreturn_t ti_pru_handle_vq_irq(int irq, void *p)
+{
+	struct rproc *rproc = p;
+	struct ti_pru_data *pru = rproc->priv;
+
+	regmap_write(pru->shared->intc, TI_PRU_INTC_STATIDXCLR,
+		     pru->info->vq_pru_to_arm_event);
+
+	return IRQ_WAKE_THREAD;
+}
+
+static irqreturn_t ti_pru_vq_irq_thread(int irq, void *p)
+{
+	struct rproc *rproc = p;
+
+	rproc_vq_interrupt(rproc, 0);
+	rproc_vq_interrupt(rproc, 1);
+
+	return IRQ_HANDLED;
+}
+
+static void ti_pru_free_rproc(void *data)
+{
+	struct rproc *rproc = data;
+
+	rproc_free(rproc);
+}
+
+static struct rproc *ti_pru_init_one_rproc(struct ti_pru_shared_data *shared,
+					   const struct ti_pru_info *info,
+					   enum ti_pru id)
+{
+	struct device *dev = shared->dev;
+	struct platform_device *pdev = to_platform_device(dev);
+	const char *name;
+	char irq_name[16];
+	struct rproc *rproc;
+	struct ti_pru_data *pru;
+	int err;
+
+	name = devm_kasprintf(dev, GFP_KERNEL, "pru%u", id);
+	if (!name)
+		return ERR_PTR(-ENOMEM);
+
+	rproc = rproc_alloc(dev, name, &ti_pru_rproc_ops, NULL, sizeof(*pru));
+	if (!rproc)
+		return ERR_PTR(-ENOMEM);
+
+	devm_add_action(dev, ti_pru_free_rproc, rproc);
+
+	/* don't auto-boot for now - bad firmware can lock up the system */
+	rproc->auto_boot = false;
+
+	pru = rproc->priv;
+	pru->info = info;
+	pru->shared = shared;
+
+	snprintf(irq_name, 16, "%s-vq", name);
+
+	pru->vq_irq = platform_get_irq_byname(pdev, irq_name);
+	if (pru->vq_irq < 0) {
+		dev_err(&rproc->dev, "failed to get vq IRQ\n");
+		return ERR_PTR(pru->vq_irq);
+	}
+
+	err = devm_request_threaded_irq(&rproc->dev, pru->vq_irq,
+					ti_pru_handle_vq_irq,
+					ti_pru_vq_irq_thread, 0, name, rproc);
+	if (err < 0) {
+		dev_err(&rproc->dev, "failed to request vq IRQ\n");
+		return ERR_PTR(err);
+	}
+
+	pru->ctrl = devm_regmap_init_mmio(&rproc->dev,
+					  shared->base + info->ctrl.offset,
+					  &ti_pru_ctrl_regmap_config);
+	if (IS_ERR(pru->ctrl)) {
+		dev_err(&rproc->dev, "failed to init ctrl regmap\n");
+		return ERR_CAST(pru->ctrl);
+	}
+
+	return rproc;
+}
+
+/**
+ * ti_pru_init_intc_polarity - configure polarity interrupt event
+ * @intc: the interrtup controller regmap
+ * @event: the source event
+ */
+static void ti_pru_init_intc_polarity(struct regmap *intc, int event)
+{
+	int offset, shift, mask;
+
+	/* 32 events per register */
+	offset = event / 32 * 4;
+	shift = event % 32;
+	mask = 1 << shift;
+
+	/* polarity is always high (1) */
+	regmap_write_bits(intc, TI_PRU_INTC_POLARITY0 + offset, mask, ~0);
+}
+
+/**
+ * ti_pru_init_intc_type - configure type of interrupt event
+ * @intc: the interrtup controller regmap
+ * @event: the source event
+ */
+static void ti_pru_init_intc_type(struct regmap *intc, int event)
+{
+	int offset, shift, mask;
+
+	/* 32 events per register */
+	offset = event / 32 * 4;
+	shift = event % 32;
+	mask = 1 << shift;
+
+	/* type is always pulse (0) */
+	regmap_write_bits(intc, TI_PRU_INTC_TYPE0 + offset, mask, 0);
+}
+
+/**
+ * ti_pru_init_intc_channel_map - configure interrupt event to channel mapping
+ * @intc: the interrtup controller regmap
+ * @event: the source event
+ * @ch: the channel to be assigned to the event
+ */
+static void ti_pru_init_intc_channel_map(struct regmap *intc, int event, int ch)
+{
+	int offset, shift, mask, val;
+
+	/* 4 channels per 32-bit register */
+	offset = event / 4 * 4;
+	shift = event % 4 * 8;
+	mask = 0xff << shift;
+	val = ch << shift;
+
+	regmap_write_bits(intc, TI_PRU_INTC_CHANMAP0 + offset, mask, val);
+}
+
+/**
+ * ti_pru_init_intc_host_map - configure interrupt channel to host mapping
+ * @intc: the interrtup controller regmap
+ * @ch: the source channel
+ * @host: the host interrupt to be assigned to the channel
+ */
+static void ti_pru_init_intc_host_map(struct regmap *intc, int ch, int host)
+{
+	int offset, shift, mask, val;
+
+	/* 4 hosts per 32-bit register */
+	offset = ch / 4 * 4;
+	shift = ch % 4 * 8;
+	mask = 0xff << shift;
+	val = host << shift;
+
+	regmap_write_bits(intc, TI_PRU_INTC_HOSTMAP0 + offset, mask, val);
+}
+
+static void ti_pru_init_intc(struct regmap *intc,
+			     const struct ti_pru_device_info *info)
+{
+	int arm_to_pru0 = info->pru[TI_PRU0].vq_arm_to_pru_event;
+	int arm_to_pru1 = info->pru[TI_PRU1].vq_arm_to_pru_event;
+	int pru0_to_arm = info->pru[TI_PRU0].vq_pru_to_arm_event;
+	int pru1_to_arm = info->pru[TI_PRU1].vq_pru_to_arm_event;
+
+	/* set polarity of system events */
+	ti_pru_init_intc_polarity(intc, arm_to_pru0);
+	ti_pru_init_intc_polarity(intc, arm_to_pru1);
+	ti_pru_init_intc_polarity(intc, pru0_to_arm);
+	ti_pru_init_intc_polarity(intc, pru1_to_arm);
+
+	/* set type of system events */
+	ti_pru_init_intc_type(intc, arm_to_pru0);
+	ti_pru_init_intc_type(intc, arm_to_pru1);
+	ti_pru_init_intc_type(intc, pru0_to_arm);
+	ti_pru_init_intc_type(intc, pru1_to_arm);
+
+	/* map system events to channels */
+	ti_pru_init_intc_channel_map(intc, arm_to_pru0, 0);
+	ti_pru_init_intc_channel_map(intc, arm_to_pru1, 1);
+	ti_pru_init_intc_channel_map(intc, pru0_to_arm, 2);
+	ti_pru_init_intc_channel_map(intc, pru1_to_arm, 3);
+
+	/* map channels to host interrupts */
+	ti_pru_init_intc_host_map(intc, 0, 0); /* ARM to PRU0 */
+	ti_pru_init_intc_host_map(intc, 1, 1); /* ARM to PRU1 */
+	ti_pru_init_intc_host_map(intc, 2, 2); /* PRU0 to ARM */
+	ti_pru_init_intc_host_map(intc, 3, 3); /* PRU1 to ARM */
+
+	/* clear system interrupts */
+	regmap_write(intc, TI_PRU_INTC_STATIDXCLR, arm_to_pru0);
+	regmap_write(intc, TI_PRU_INTC_STATIDXCLR, arm_to_pru1);
+	regmap_write(intc, TI_PRU_INTC_STATIDXCLR, pru0_to_arm);
+	regmap_write(intc, TI_PRU_INTC_STATIDXCLR, pru1_to_arm);
+
+	/* enable host interrupts for kicking */
+	regmap_write(intc, TI_PRU_INTC_HSTINTENIDXSET, 0); /* ARM to PRU0 */
+	regmap_write(intc, TI_PRU_INTC_HSTINTENIDXSET, 1); /* ARM to PRU1 */
+	regmap_write(intc, TI_PRU_INTC_HSTINTENIDXSET, 2); /* PRU0 to ARM */
+	regmap_write(intc, TI_PRU_INTC_HSTINTENIDXSET, 3); /* PRU1 to ARM */
+
+	/* enable system events for kicking */
+	regmap_write(intc, TI_PRU_INTC_ENIDXSET, arm_to_pru0);
+	regmap_write(intc, TI_PRU_INTC_ENIDXSET, arm_to_pru1);
+	regmap_write(intc, TI_PRU_INTC_ENIDXSET, pru0_to_arm);
+	regmap_write(intc, TI_PRU_INTC_ENIDXSET, pru1_to_arm);
+
+	/* enable all interrupts */
+	regmap_write_bits(intc, TI_PRU_INTC_GLBLEN, 1, 1);
+}
+
+static int ti_pru_rproc_probe(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+	struct ti_pruss_platform_data *pdata = dev_get_platdata(dev);
+	const struct of_device_id *of_id;
+	const struct ti_pru_device_info *info;
+	struct ti_pru_shared_data *shared;
+	struct resource *res;
+	int err;
+
+	of_id = of_match_device(ti_pru_rproc_of_match, dev);
+	if (!of_id || !of_id->data)
+		return -EINVAL;
+
+	info = of_id->data;
+
+	shared = devm_kzalloc(dev, sizeof(*shared), GFP_KERNEL);
+
+	platform_set_drvdata(pdev, shared);
+
+	shared->info = &info->shared;
+	shared->dev = dev;
+
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+	shared->base = devm_ioremap_resource(dev, res);
+	if (IS_ERR(shared->base)) {
+		dev_err(dev, "failed to ioremap resource\n");
+		return PTR_ERR(shared->base);
+	}
+
+	shared->intc = devm_regmap_init_mmio(dev,
+				shared->base + shared->info->intc.offset,
+				&ti_pru_intc_regmap_config);
+	if (IS_ERR(shared->intc)) {
+		dev_err(dev, "failed to init intc regmap\n");
+		return PTR_ERR(shared->intc);
+	}
+
+	if (shared->info->cfg.size) {
+		shared->cfg = devm_regmap_init_mmio(dev,
+			shared->base + shared->info->cfg.offset,
+			&ti_pru_cfg_regmap_config);
+		if (IS_ERR(shared->cfg)) {
+			dev_err(dev, "failed to init cfg regmap\n");
+			return PTR_ERR(shared->cfg);
+		}
+	}
+
+	shared->pru[TI_PRU0] = ti_pru_init_one_rproc(shared, &info->pru[TI_PRU0],
+						     TI_PRU0);
+	if (IS_ERR(shared->pru[TI_PRU0]))
+		return PTR_ERR(shared->pru[TI_PRU0]);
+
+	shared->pru[TI_PRU1] = ti_pru_init_one_rproc(shared, &info->pru[TI_PRU1],
+						     TI_PRU1);
+	if (IS_ERR(shared->pru[TI_PRU1]))
+		return PTR_ERR(shared->pru[TI_PRU1]);
+
+	pm_runtime_enable(dev);
+
+	err = pm_runtime_get_sync(dev);
+	if (err < 0)
+		goto err_pm_runtime_disable;
+
+	if (pdata) {
+		err = pdata->deassert_reset(pdev, pdata->reset_name);
+		if (err < 0) {
+			dev_err(dev, "Failed to reset pruss\n");
+			goto err_pm_runtime_put;
+		}
+	}
+
+	if (shared->cfg) {
+		int mask, val;
+
+		mask = TI_PRU_SYSCFG_IDLE_MODE_MASK | TI_PRU_SYSCFG_STANDBY_MODE_MASK;
+		val = TI_PRU_SYSCFG_IDLE_MODE_SMART | TI_PRU_SYSCFG_STANDBY_MODE_SMART;
+		regmap_write_bits(shared->cfg, TI_PRU_CFG_SYSCFG, mask, val);
+
+		mask = TI_PRU_SYSCFG_STANDBY_INIT;
+		val = 0;
+		regmap_write_bits(shared->cfg, TI_PRU_CFG_SYSCFG, mask, val);
+
+		err = regmap_read_poll_timeout(shared->cfg, TI_PRU_CFG_SYSCFG,
+				val, !(val & TI_PRU_SYSCFG_SUB_MWAIT), 5, 50);
+		if (err < 0) {
+			dev_err(dev, "timeout while enabling pruss\n");
+			goto err_pm_runtime_put;
+		}
+	}
+
+	ti_pru_init_intc(shared->intc, info);
+
+	err = rproc_add(shared->pru[TI_PRU0]);
+	if (err < 0)
+		goto err_assert_reset;
+
+	err = rproc_add(shared->pru[TI_PRU1]);
+	if (err < 0)
+		goto err_del_pru0;
+
+	return 0;
+
+err_del_pru0:
+	rproc_del(shared->pru[TI_PRU0]);
+err_assert_reset:
+	if (pdata)
+		pdata->assert_reset(pdev, pdata->reset_name);
+err_pm_runtime_put:
+	pm_runtime_put(dev);
+err_pm_runtime_disable:
+	pm_runtime_disable(dev);
+
+	return err;
+}
+
+static int ti_pru_rproc_remove(struct platform_device *pdev)
+{
+	struct device *dev = &pdev->dev;
+	struct ti_pruss_platform_data *pdata = dev_get_platdata(dev);
+	struct ti_pru_shared_data *shared = platform_get_drvdata(pdev);
+
+	rproc_del(shared->pru[TI_PRU1]);
+	rproc_del(shared->pru[TI_PRU0]);
+	if (pdata)
+		pdata->assert_reset(pdev, pdata->reset_name);
+	pm_runtime_put(dev);
+	pm_runtime_disable(dev);
+
+	return 0;
+}
+
+static struct platform_driver ti_pru_rproc_driver = {
+	.probe	= ti_pru_rproc_probe,
+	.remove	= ti_pru_rproc_remove,
+	.driver	= {
+		.name = "ti-pru-rproc",
+		.of_match_table = ti_pru_rproc_of_match,
+	},
+};
+module_platform_driver(ti_pru_rproc_driver);
+
+MODULE_AUTHOR("David Lechner <[email-masked]>");
+MODULE_LICENSE("GPL v2");
+MODULE_DESCRIPTION("Remoteproc driver for TI PRU");
-- 
2.17.1