imx: imx9: Support booting m33 from Acore

Add bootaux command to support on-demand booting M33 from u-boot.
It kicks M33 via ATF by "bootaux 0x201e0000 0"

Signed-off-by: Peng Fan <peng.fan@nxp.com>

arch/arm/mach-imx/imx9/Makefile

@@ -5,3 +5,7 @@
 obj-y += lowlevel_init.o
 obj-y += soc.o clock.o clock_root.o trdc.o
 obj-$(CONFIG_AHAB_BOOT) += ahab.o
+
+#ifndef CONFIG_SPL_BUILD
+obj-y += imx_bootaux.o
+#endif

arch/arm/mach-imx/imx9/imx_bootaux.c

@@ -0,0 +1,133 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ * Copyright 2022 NXP
+ */
+
+#include <common.h>
+#include <command.h>
+#include <log.h>
+#include <imx_sip.h>
+#include <linux/arm-smccc.h>
+
+int arch_auxiliary_core_check_up(u32 core_id)
+{
+	struct arm_smccc_res res;
+
+	arm_smccc_smc(IMX_SIP_SRC, IMX_SIP_SRC_M4_STARTED, 0, 0,
+		      0, 0, 0, 0, &res);
+
+	return res.a0;
+}
+
+int arch_auxiliary_core_down(u32 core_id)
+{
+	struct arm_smccc_res res;
+
+	printf("## Stopping auxiliary core\n");
+
+	arm_smccc_smc(IMX_SIP_SRC, IMX_SIP_SRC_M4_STOP, 0, 0,
+		      0, 0, 0, 0, &res);
+
+	return 0;
+}
+
+int arch_auxiliary_core_up(u32 core_id, ulong addr)
+{
+	struct arm_smccc_res res;
+	u32 stack, pc;
+
+	if (!addr)
+		return -EINVAL;
+
+	stack = *(u32 *)addr;
+	pc = *(u32 *)(addr + 4);
+
+	printf("## Starting auxiliary core stack = 0x%08X, pc = 0x%08X...\n", stack, pc);
+
+	arm_smccc_smc(IMX_SIP_SRC, IMX_SIP_SRC_M4_START, 0, 0,
+		      0, 0, 0, 0, &res);
+
+	return 0;
+}
+
+/*
+ * To i.MX6SX and i.MX7D, the image supported by bootaux needs
+ * the reset vector at the head for the image, with SP and PC
+ * as the first two words.
+ *
+ * Per the cortex-M reference manual, the reset vector of M4/M7 needs
+ * to exist at 0x0 (TCMUL/IDTCM). The PC and SP are the first two addresses
+ * of that vector.  So to boot M4/M7, the A core must build the M4/M7's reset
+ * vector with getting the PC and SP from image and filling them to
+ * TCMUL/IDTCM. When M4/M7 is kicked, it will load the PC and SP by itself.
+ * The TCMUL/IDTCM is mapped to (MCU_BOOTROM_BASE_ADDR) at A core side for
+ * accessing the M4/M7 TCMUL/IDTCM.
+ */
+static int do_bootaux(struct cmd_tbl *cmdtp, int flag, int argc,
+		      char *const argv[])
+{
+	ulong addr;
+	int ret, up;
+	u32 core = 0;
+	u32 stop = 0;
+
+	if (argc < 2)
+		return CMD_RET_USAGE;
+
+	if (argc > 2)
+		core = simple_strtoul(argv[2], NULL, 10);
+
+	if (argc > 3)
+		stop = simple_strtoul(argv[3], NULL, 10);
+
+	up = arch_auxiliary_core_check_up(core);
+	if (up) {
+		printf("## Auxiliary core is already up\n");
+		return CMD_RET_SUCCESS;
+	}
+
+	addr = simple_strtoul(argv[1], NULL, 16);
+
+	if (!addr)
+		return CMD_RET_FAILURE;
+
+	ret = arch_auxiliary_core_up(core, addr);
+	if (ret)
+		return CMD_RET_FAILURE;
+
+	return CMD_RET_SUCCESS;
+}
+
+static int do_stopaux(struct cmd_tbl *cmdtp, int flag, int argc,
+		      char *const argv[])
+{
+	int ret, up;
+
+	up = arch_auxiliary_core_check_up(0);
+	if (!up) {
+		printf("## Auxiliary core is already down\n");
+		return CMD_RET_SUCCESS;
+	}
+
+	ret = arch_auxiliary_core_down(0);
+	if (ret)
+		return CMD_RET_FAILURE;
+
+	return CMD_RET_SUCCESS;
+}
+
+U_BOOT_CMD(
+	stopaux, CONFIG_SYS_MAXARGS, 1,	do_stopaux,
+	"Stop auxiliary core",
+	"<address> [<core>]\n"
+	"   - start auxiliary core [<core>] (default 0),\n"
+	"     at address <address>\n"
+);
+
+U_BOOT_CMD(
+	bootaux, CONFIG_SYS_MAXARGS, 1,	do_bootaux,
+	"Start auxiliary core",
+	"<address> [<core>]\n"
+	"   - start auxiliary core [<core>] (default 0),\n"
+	"     at address <address>\n"
+);

arch/arm/mach-imx/imx9/soc.c

@@ -131,6 +131,14 @@ static struct mm_region imx93_mem_map[] = {
 		.size = 0x100000UL,
 		.attrs = PTE_BLOCK_MEMTYPE(MT_NORMAL) |
 			 PTE_BLOCK_OUTER_SHARE
+	}, {
+		/* TCM */
+		.virt = 0x201c0000UL,
+		.phys = 0x201c0000UL,
+		.size = 0x80000UL,
+		.attrs = PTE_BLOCK_MEMTYPE(MT_DEVICE_NGNRNE) |
+			 PTE_BLOCK_NON_SHARE |
+			 PTE_BLOCK_PXN | PTE_BLOCK_UXN
 	}, {
 		/* OCRAM */
 		.virt = 0x20480000UL,
@@ -380,7 +388,7 @@ void soc_power_init(void)
 	disable_isolation();
 }
 
-static bool m33_is_rom_kicked(void)
+bool m33_is_rom_kicked(void)
 {
 	struct blk_ctrl_s_aonmix_regs *s_regs =
 			(struct blk_ctrl_s_aonmix_regs *)BLK_CTRL_S_ANOMIX_BASE_ADDR;

include/imx_sip.h

@@ -15,5 +15,6 @@
 #define IMX_SIP_SRC		0xC2000005
 #define IMX_SIP_SRC_M4_START	0x00
 #define IMX_SIP_SRC_M4_STARTED	0x01
+#define	IMX_SIP_SRC_M4_STOP	0x02
 
 #endif