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>

3 files changed, 457 insertions, 0 deletions

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();
+}