The preferred methord to reboot RPi4 is PSCI. If it is not available,
touching the watchdog is required to be able to reboot the board.

The implementation is based on
drivers/watchdog/bcm2835_wdt.c:__bcm2835_restart in Linux v5.9-rc7.

Signed-off-by: Stefano Stabellini <stefano.stabellini@xilinx.com>
CC: roman@zededa.com
---
Changes in v2:
- improve commit message
- add Linux baseline to the commit message to be able to do comparisons
- order #includes alphabetically
- fix alignment of #defines values
- printk instead of dprintk for the "Cannot read watchdog register address" message
- uint32_t instead of u32
- newline after void __iomem *base = rpi4_map_watchdog();
---
 xen/arch/arm/platforms/brcm-raspberry-pi.c | 61 ++++++++++++++++++++++
 1 file changed, 61 insertions(+)

diff --git a/xen/arch/arm/platforms/brcm-raspberry-pi.c b/xen/arch/arm/platforms/brcm-raspberry-pi.c
index f5ae58a7d5..1a51732da5 100644
--- a/xen/arch/arm/platforms/brcm-raspberry-pi.c
+++ b/xen/arch/arm/platforms/brcm-raspberry-pi.c
@@ -17,6 +17,10 @@
  * GNU General Public License for more details.
  */
 
+#include <xen/delay.h>
+#include <xen/mm.h>
+#include <xen/vmap.h>
+#include <asm/io.h>
 #include <asm/platform.h>
 
 static const char *const rpi4_dt_compat[] __initconst =
@@ -37,12 +41,69 @@ static const struct dt_device_match rpi4_blacklist_dev[] __initconst =
      * The aux peripheral also shares a page with the aux UART.
      */
     DT_MATCH_COMPATIBLE("brcm,bcm2835-aux"),
+    /* Special device used for rebooting */
+    DT_MATCH_COMPATIBLE("brcm,bcm2835-pm"),
     { /* sentinel */ },
 };
 
+
+#define PM_PASSWORD                 0x5a000000
+#define PM_RSTC                     0x1c
+#define PM_WDOG                     0x24
+#define PM_RSTC_WRCFG_FULL_RESET    0x00000020
+#define PM_RSTC_WRCFG_CLR           0xffffffcf
+
+static void __iomem *rpi4_map_watchdog(void)
+{
+    void __iomem *base;
+    struct dt_device_node *node;
+    paddr_t start, len;
+    int ret;
+
+    node = dt_find_compatible_node(NULL, NULL, "brcm,bcm2835-pm");
+    if ( !node )
+        return NULL;
+
+    ret = dt_device_get_address(node, 0, &start, &len);
+    if ( ret )
+    {
+        printk("Cannot read watchdog register address\n");
+        return NULL;
+    }
+
+    base = ioremap_nocache(start & PAGE_MASK, PAGE_SIZE);
+    if ( !base )
+    {
+        dprintk(XENLOG_ERR, "Unable to map watchdog register!\n");
+        return NULL;
+    }
+
+    return base;
+}
+
+static void rpi4_reset(void)
+{
+    uint32_t val;
+    void __iomem *base = rpi4_map_watchdog();
+
+    if ( !base )
+        return;
+
+    /* use a timeout of 10 ticks (~150us) */
+    writel(10 | PM_PASSWORD, base + PM_WDOG);
+    val = readl(base + PM_RSTC);
+    val &= PM_RSTC_WRCFG_CLR;
+    val |= PM_PASSWORD | PM_RSTC_WRCFG_FULL_RESET;
+    writel(val, base + PM_RSTC);
+
+    /* No sleeping, possibly atomic. */
+    mdelay(1);
+}
+
 PLATFORM_START(rpi4, "Raspberry Pi 4")
     .compatible     = rpi4_dt_compat,
     .blacklist_dev  = rpi4_blacklist_dev,
+    .reset = rpi4_reset,
     .dma_bitsize    = 30,
 PLATFORM_END
 
-- 
2.17.1

Hi Stefano,

On 02/10/2020 21:47, Stefano Stabellini wrote:
> The preferred methord to reboot RPi4 is PSCI. If it is not available,

s/methord/method/

> +
> +#define PM_PASSWORD                 0x5a000000
> +#define PM_RSTC                     0x1c
> +#define PM_WDOG                     0x24
> +#define PM_RSTC_WRCFG_FULL_RESET    0x00000020
> +#define PM_RSTC_WRCFG_CLR           0xffffffcf
> +
> +static void __iomem *rpi4_map_watchdog(void)
> +{
> +    void __iomem *base;
> +    struct dt_device_node *node;
> +    paddr_t start, len;
> +    int ret;
> +
> +    node = dt_find_compatible_node(NULL, NULL, "brcm,bcm2835-pm");
> +    if ( !node )
> +        return NULL;
> +
> +    ret = dt_device_get_address(node, 0, &start, &len);
> +    if ( ret )
> +    {
> +        printk("Cannot read watchdog register address\n");
> +        return NULL;
> +    }
> +
> +    base = ioremap_nocache(start & PAGE_MASK, PAGE_SIZE);
> +    if ( !base )
> +    {
> +        dprintk(XENLOG_ERR, "Unable to map watchdog register!\n");

NIT: I would suggest to use printk() rather than dprintk. It would be 
useful for a normal user to know that we didn't manage to reset the 
platform and why.

Acked-by: Julien Grall <jgrall@amazon.com>

Cheers,

-- 
Julien Grall