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charset="utf-8" Describes the gpio rpmsg transport protocol over the rpmsg bus between the remote system and Linux. Signed-off-by: Shenwei Wang --- Documentation/driver-api/gpio/gpio-rpmsg.rst | 266 +++++++++++++++++++ Documentation/driver-api/gpio/index.rst | 1 + 2 files changed, 267 insertions(+) create mode 100644 Documentation/driver-api/gpio/gpio-rpmsg.rst diff --git a/Documentation/driver-api/gpio/gpio-rpmsg.rst b/Documentation/d= river-api/gpio/gpio-rpmsg.rst new file mode 100644 index 000000000000..abfde68c9b0a --- /dev/null +++ b/Documentation/driver-api/gpio/gpio-rpmsg.rst @@ -0,0 +1,266 @@ +.. SPDX-License-Identifier: GPL-2.0-or-later + +GPIO RPMSG (Remote Processor Messaging) Protocol +=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D + +The GPIO RPMSG transport protocol is used for communication and interaction +with GPIO controllers on remote processors via the RPMSG bus. + +Message Format +-------------- + +The RPMSG message consists of a 6-byte packet with the following layout: + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + |type |cmd |port |line | data | + +-----+-----+-----+-----+-----+----+ + +- **type (Message Type)**: The message type can be one of: + + - 0: GPIO_RPMSG_SEND + - 1: GPIO_RPMSG_REPLY + - 2: GPIO_RPMSG_NOTIFY + +- **cmd**: Command code, used for GPIO_RPMSG_SEND messages. + +- **port**: The GPIO port (bank) index. + +- **line**: The GPIO line (pin) index of the port. + +- **data**: See details in the command description below. + +- **reply err**: Error code from the remote core. + + - 0: Success + - 1: General error (Early remote software only returns this unclassified= error) + - 2: Not supported (A command is not supported by the remote firmware) + - 3: Resource not available (The resource is not allocated to Linux) + - 4: Resource busy (The resource is already in use) + - 5: Parameter error + + +GPIO Commands +------------- + +Commands are specified in the **Cmd** field for **GPIO_RPMSG_SEND** (Type= =3D0) messages. + +The SEND message is always sent from Linux to the remote firmware. Each +SEND corresponds to a single REPLY message. The GPIO driver should +serialize messages and determine whether a REPLY message is required. If a +REPLY message is expected but not received within the specified timeout +period (currently 1 second in the Linux driver), the driver should return +-ETIMEOUT. + +GET_DIRECTION (Cmd=3D2) +~~~~~~~~~~~~~~~~~~~~~ + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 2 |port |line | 0 | 0 | + +-----+-----+-----+-----+-----+----+ + +**Reply:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 1 | 2 |port |line | err | dir| + +-----+-----+-----+-----+-----+----+ + +- **err**: See above for definitions. + +- **dir**: Direction. + + - 0: None + - 1: Output + - 2: Input + +SET_DIRECTION (Cmd=3D3) +~~~~~~~~~~~~~~~~~~~~~ + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 3 |port |line | dir | 0 | + +-----+-----+-----+-----+-----+----+ + +- **dir**: Direction. + + - 0: None + - 1: Output + - 2: Input + +**Reply:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 1 | 3 |port |line | err | 0 | + +-----+-----+-----+-----+-----+----+ + +- **err**: See above for definitions. + + +GET_VALUE (Cmd=3D4) +~~~~~~~~~~~~~~~~~ + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 4 |port |line | 0 | 0 | + +-----+-----+-----+-----+-----+----+ + +**Reply:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 1 | 4 |port |line | err | val| + +-----+-----+-----+-----+-----+----+ + +- **err**: See above for definitions. + +- **val**: Line level. + + - 0: Low + - 1: High + +SET_VALUE (Cmd=3D5) +~~~~~~~~~~~~~~~~~ + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 5 |port |line | val | 0 | + +-----+-----+-----+-----+-----+----+ + +- **val**: Output level. + + - 0: Low + - 1: High + +**Reply:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 1 | 5 |port |line | err | 0 | + +-----+-----+-----+-----+-----+----+ + +- **err**: See above for definitions. + +SET_IRQ_TYPE (Cmd=3D6) +~~~~~~~~~~~~~~~~~~~~ + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 6 |port |line | val | wk | + +-----+-----+-----+-----+-----+----+ + +- **val**: IRQ types. + + - 0: Interrupt disabled + - 1: Rising edge trigger + - 2: Falling edge trigger + - 3: Both edge trigger + - 4: High level trigger + - 8: Low level trigger + +- **wk**: Wakeup enable. + + The remote system should always aim to stay in a power-efficient state by + shutting down or clock-gating the GPIO blocks that aren't in use. Since + the remoteproc driver is responsible for managing the power states of the + remote firmware, the GPIO driver does not require to know the firmware's + running states. + + When the wakeup bit is set, the remote firmware should configure the line + as a wakeup source. The firmware should send the notification message to + Linux after it is woken from the GPIO line. + + - 0: Disable wakeup from GPIO + - 1: Enable wakeup from GPIO + +**Reply:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 1 | 6 |port |line | err | 0 | + +-----+-----+-----+-----+-----+----+ + +- **err**: See above for definitions. + +NOTIFY_REPLY (Cmd=3D10) +~~~~~~~~~~~~~~~~~~~~~ +The reply message for the notification is optional. The remote firmware can +implement it to simulate the interrupt acknowledgment behavior. + +**Request:** + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 0 | 10 |port |line |level| 0 | + +-----+-----+-----+-----+-----+----+ + +- **port**: The GPIO port (bank) index. + +- **line**: The GPIO line (pin) index of the port. + +- **level**: GPIO line status. + +Notification Message +-------------------- + +Notifications are sent by the remote core and they have +**Type=3D2 (GPIO_RPMSG_NOTIFY)**: + +When a GPIO line asserts an interrupt on the remote processor, the firmware +should immediately mask the corresponding interrupt source and send a +notification message to the Linux. Upon completion of the interrupt +handling on the Linux side, the driver should issue a +command **SET_IRQ_TYPE** to the firmware to unmask the interrupt. + +A Notification message can arrive between a SEND and its REPLY message, +and the driver is expected to handle this scenario. + +.. code-block:: none + + +-----+-----+-----+-----+-----+----+ + |0x00 |0x01 |0x02 |0x03 |0x04 |0x05| + | 2 | 0 |port |line |type | 0 | + +-----+-----+-----+-----+-----+----+ + +- **port**: The GPIO port (bank) index. + +- **line**: The GPIO line (pin) index of the port. + +- **type**: Optional parameter to indicate the trigger event type. + diff --git a/Documentation/driver-api/gpio/index.rst b/Documentation/driver= -api/gpio/index.rst index bee58f709b9a..e5eb1f82f01f 100644 --- a/Documentation/driver-api/gpio/index.rst +++ b/Documentation/driver-api/gpio/index.rst @@ -16,6 +16,7 @@ Contents: drivers-on-gpio bt8xxgpio pca953x + gpio-rpmsg =20 Core =3D=3D=3D=3D --=20 2.43.0 From nobody Thu Apr 2 12:20:43 2026 Received: from DUZPR83CU001.outbound.protection.outlook.com (mail-northeuropeazon11012009.outbound.protection.outlook.com [52.101.66.9]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 305D239769C; 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charset="utf-8" Remote processors may announce multiple GPIO controllers over an RPMSG channel. These GPIO controllers may require corresponding device tree nodes, especially when acting as providers, to supply phandles for their consumers. Define an RPMSG node to work as a container for a group of RPMSG channels under the imx_rproc node. Each subnode within "rpmsg" represents an individual RPMSG channel. The name of each subnode corresponds to the channel name as defined by the remote processor. All remote devices associated with a given channel are defined as child nodes under the corresponding channel node. Signed-off-by: Shenwei Wang --- .../devicetree/bindings/gpio/gpio-rpmsg.yaml | 55 +++++++++++++++++++ .../bindings/remoteproc/fsl,imx-rproc.yaml | 53 ++++++++++++++++++ 2 files changed, 108 insertions(+) create mode 100644 Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml diff --git a/Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml b/Docum= entation/devicetree/bindings/gpio/gpio-rpmsg.yaml new file mode 100644 index 000000000000..6c78b6850321 --- /dev/null +++ b/Documentation/devicetree/bindings/gpio/gpio-rpmsg.yaml @@ -0,0 +1,55 @@ +# SPDX-License-Identifier: (GPL-2.0-only OR BSD-2-Clause) +%YAML 1.2 +--- +$id: http://devicetree.org/schemas/gpio/gpio-rpmsg.yaml# +$schema: http://devicetree.org/meta-schemas/core.yaml# + +title: Generic RPMSG GPIO Controller + +maintainers: + - Shenwei Wang + +description: + On an AMP platform, some GPIO controllers are exposed by the remote proc= essor + through the RPMSG bus. The RPMSG GPIO transport protocol defines the pac= ket + structure and communication flow between Linux and the remote firmware. = Those + controllers are managed via this transport protocol. For more details of= the + protocol, check the document below. + Documentation/driver-api/gpio/gpio-rpmsg.rst + +properties: + compatible: + oneOf: + - items: + - enum: + - fsl,rpmsg-gpio + - const: rpmsg-gpio + - const: rpmsg-gpio + + reg: + description: + The reg property represents the index of the GPIO controllers. Since + the driver manages controllers on a remote system, this index tells + the remote system which controller to operate. + maxItems: 1 + + "#gpio-cells": + const: 2 + + gpio-controller: true + + interrupt-controller: true + + "#interrupt-cells": + const: 2 + +required: + - compatible + - reg + - "#gpio-cells" + - "#interrupt-cells" + +allOf: + - $ref: /schemas/gpio/gpio.yaml# + +unevaluatedProperties: false diff --git a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yam= l b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml index ce8ec0119469..88281ffc18ca 100644 --- a/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml +++ b/Documentation/devicetree/bindings/remoteproc/fsl,imx-rproc.yaml @@ -85,6 +85,34 @@ properties: This property is to specify the resource id of the remote processor = in SoC which supports SCFW =20 + rpmsg: + type: object + additionalProperties: false + description: + Represents the RPMSG bus between Linux and the remote system. Contai= ns + a group of RPMSG channel devices running on the bus. + + properties: + rpmsg-io-channel: + type: object + additionalProperties: false + properties: + '#address-cells': + const: 1 + + '#size-cells': + const: 0 + + patternProperties: + "gpio@[0-9a-f]+$": + type: object + $ref: /schemas/gpio/gpio-rpmsg.yaml# + unevaluatedProperties: false + + required: + - '#address-cells' + - '#size-cells' + required: - compatible =20 @@ -147,5 +175,30 @@ examples: &mu 3 1>; memory-region =3D <&vdev0buffer>, <&vdev0vring0>, <&vdev0vring1>, <&= rsc_table>; syscon =3D <&src>; + + rpmsg { + rpmsg-io-channel { + #address-cells =3D <1>; + #size-cells =3D <0>; + + gpio@0 { + compatible =3D "rpmsg-gpio"; + reg =3D <0>; + gpio-controller; + #gpio-cells =3D <2>; + #interrupt-cells =3D <2>; + interrupt-controller; + }; + + gpio@1 { + compatible =3D "rpmsg-gpio"; + reg =3D <1>; + gpio-controller; + #gpio-cells =3D <2>; + #interrupt-cells =3D <2>; + interrupt-controller; + }; + }; + }; }; ... --=20 2.43.0 From nobody Thu Apr 2 12:20:43 2026 Received: from OSPPR02CU001.outbound.protection.outlook.com (mail-norwayeastazon11013028.outbound.protection.outlook.com [40.107.159.28]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id AA2641A683D; 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charset="utf-8" On an AMP platform, the system may include two processors: - An MCU running an RTOS - An MPU running Linux These processors communicate via the RPMSG protocol. The driver implements the standard GPIO interface, allowing the Linux side to control GPIO controllers which reside in the remote processor via RPMSG protocol. Cc: Bartosz Golaszewski Cc: Andrew Lunn Signed-off-by: Shenwei Wang --- drivers/gpio/Kconfig | 17 ++ drivers/gpio/Makefile | 1 + drivers/gpio/gpio-rpmsg.c | 596 ++++++++++++++++++++++++++++++++++++++ 3 files changed, 614 insertions(+) create mode 100644 drivers/gpio/gpio-rpmsg.c diff --git a/drivers/gpio/Kconfig b/drivers/gpio/Kconfig index b45fb799e36c..cff0fda8a283 100644 --- a/drivers/gpio/Kconfig +++ b/drivers/gpio/Kconfig @@ -1892,6 +1892,23 @@ config GPIO_SODAVILLE =20 endmenu =20 +menu "RPMSG GPIO drivers" + depends on RPMSG + +config GPIO_RPMSG + tristate "Generic RPMSG GPIO support" + depends on OF && REMOTEPROC + select GPIOLIB_IRQCHIP + default REMOTEPROC + help + Say yes here to support the generic GPIO functions over the RPMSG + bus. Currently supported devices: i.MX7ULP, i.MX8ULP, i.MX8x, and + i.MX9x. + + If unsure, say N. + +endmenu + menu "SPI GPIO expanders" depends on SPI_MASTER =20 diff --git a/drivers/gpio/Makefile b/drivers/gpio/Makefile index c05f7d795c43..501aba56ad68 100644 --- a/drivers/gpio/Makefile +++ b/drivers/gpio/Makefile @@ -158,6 +158,7 @@ obj-$(CONFIG_GPIO_RDC321X) +=3D gpio-rdc321x.o obj-$(CONFIG_GPIO_REALTEK_OTTO) +=3D gpio-realtek-otto.o obj-$(CONFIG_GPIO_REG) +=3D gpio-reg.o obj-$(CONFIG_GPIO_ROCKCHIP) +=3D gpio-rockchip.o +obj-$(CONFIG_GPIO_RPMSG) +=3D gpio-rpmsg.o obj-$(CONFIG_GPIO_RTD) +=3D gpio-rtd.o obj-$(CONFIG_ARCH_SA1100) +=3D gpio-sa1100.o obj-$(CONFIG_GPIO_SAMA5D2_PIOBU) +=3D gpio-sama5d2-piobu.o diff --git a/drivers/gpio/gpio-rpmsg.c b/drivers/gpio/gpio-rpmsg.c new file mode 100644 index 000000000000..9c609b55bc14 --- /dev/null +++ b/drivers/gpio/gpio-rpmsg.c @@ -0,0 +1,596 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * Copyright 2026 NXP + * + * The driver exports a standard gpiochip interface to control + * the GPIO controllers via RPMSG on a remote processor. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define MAX_PORT_PER_CHANNEL 10 +#define GPIOS_PER_PORT_DEFAULT 32 +#define RPMSG_TIMEOUT 1000 + +/* GPIO RPMSG Type */ +#define GPIO_RPMSG_SEND 0 +#define GPIO_RPMSG_REPLY 1 +#define GPIO_RPMSG_NOTIFY 2 + +struct rpmsg_gpio_packet { + u8 type; /* Message type */ + u8 cmd; /* Command code */ + u8 port_idx; + u8 line; + u8 val1; + u8 val2; +}; + +struct rpmsg_gpio_line { + u8 irq_shutdown; + u8 irq_unmask; + u8 irq_mask; + u32 irq_wake_enable; + u32 irq_type; + struct rpmsg_gpio_packet msg; +}; + +struct rpmsg_gpio_info { + struct rpmsg_device *rpdev; + struct rpmsg_gpio_packet *reply_msg; + struct completion cmd_complete; + struct mutex lock; + void **port_store; +}; + +struct rpmsg_gpio_port { + struct gpio_chip gc; + struct rpmsg_gpio_line lines[GPIOS_PER_PORT_DEFAULT]; + struct rpmsg_gpio_info info; + u32 ngpios; + u32 idx; +}; + +struct rpmsg_gpio_fixed_up { + int (*send_fixed_up)(struct rpmsg_gpio_info *info, struct rpmsg_gpio_pack= et *msg); + struct rpmsg_gpio_packet *(*recv_fixed_up)(struct rpmsg_device *rpdev, vo= id *data); +}; + +/* + * @rproc_name: the name of the remote proc. + * @recv_pkt: a pointer to the received packet for protocol fix up. + * @protocol_fixed_up: optional callbacks to handle protocol mismatches. + * @channel_devices: an array of the devices related to the rpdev. + */ +struct rpdev_drvdata { + const char *rproc_name; + void *recv_pkt; + struct rpmsg_gpio_fixed_up *protocol_fixed_up; + void *channel_devices[MAX_PORT_PER_CHANNEL]; +}; + +static int rpmsg_gpio_send_message(struct rpmsg_gpio_port *port, + struct rpmsg_gpio_packet *msg, + bool sync) +{ + struct rpmsg_gpio_info *info =3D &port->info; + struct rpdev_drvdata *drvdata; + int ret; + + drvdata =3D dev_get_drvdata(&info->rpdev->dev); + reinit_completion(&info->cmd_complete); + + if (drvdata->protocol_fixed_up) + ret =3D drvdata->protocol_fixed_up->send_fixed_up(info, msg); + else + ret =3D rpmsg_send(info->rpdev->ept, msg, sizeof(*msg)); + + if (ret) { + dev_err(&info->rpdev->dev, "rpmsg_send failed: %d\n", ret); + return ret; + } + + if (sync) { + ret =3D wait_for_completion_timeout(&info->cmd_complete, + msecs_to_jiffies(RPMSG_TIMEOUT)); + if (ret =3D=3D 0) { + dev_err(&info->rpdev->dev, "rpmsg_send timeout!\n"); + return -ETIMEDOUT; + } + + if (info->reply_msg->val1 !=3D 0) { + dev_err(&info->rpdev->dev, "remote core replies an error: %d!\n", + info->reply_msg->val1); + return -EINVAL; + } + + /* copy the reply message */ + memcpy(&port->lines[info->reply_msg->line].msg, + info->reply_msg, sizeof(*info->reply_msg)); + } + + return 0; +} + +static struct rpmsg_gpio_packet * +rpmsg_gpio_msg_init_common(struct rpmsg_gpio_port *port, unsigned int line= , u8 cmd) +{ + struct rpmsg_gpio_packet *msg =3D &port->lines[line].msg; + + memset(msg, 0, sizeof(struct rpmsg_gpio_packet)); + msg->type =3D GPIO_RPMSG_SEND; + msg->cmd =3D cmd; + msg->port_idx =3D port->idx; + msg->line =3D line; + + return msg; +} + +static int rpmsg_gpio_get(struct gpio_chip *gc, unsigned int line) +{ + struct rpmsg_gpio_port *port =3D gpiochip_get_data(gc); + struct rpmsg_gpio_packet *msg; + int ret; + + guard(mutex)(&port->info.lock); + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_GET_VALUE); + + ret =3D rpmsg_gpio_send_message(port, msg, true); + if (!ret) + ret =3D !!port->lines[line].msg.val2; + + return ret; +} + +static int rpmsg_gpio_get_direction(struct gpio_chip *gc, unsigned int lin= e) +{ + struct rpmsg_gpio_port *port =3D gpiochip_get_data(gc); + struct rpmsg_gpio_packet *msg; + int ret; + + guard(mutex)(&port->info.lock); + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_GET_DIRECT= ION); + + ret =3D rpmsg_gpio_send_message(port, msg, true); + if (ret) + return ret; + + switch (port->lines[line].msg.val2) { + case VIRTIO_GPIO_DIRECTION_IN: + return GPIO_LINE_DIRECTION_IN; + case VIRTIO_GPIO_DIRECTION_OUT: + return GPIO_LINE_DIRECTION_OUT; + default: + break; + } + + return -EINVAL; +} + +static int rpmsg_gpio_direction_input(struct gpio_chip *gc, unsigned int l= ine) +{ + struct rpmsg_gpio_port *port =3D gpiochip_get_data(gc); + struct rpmsg_gpio_packet *msg; + + guard(mutex)(&port->info.lock); + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_SET_DIRECT= ION); + msg->val1 =3D VIRTIO_GPIO_DIRECTION_IN; + + return rpmsg_gpio_send_message(port, msg, true); +} + +static int rpmsg_gpio_set(struct gpio_chip *gc, unsigned int line, int val) +{ + struct rpmsg_gpio_port *port =3D gpiochip_get_data(gc); + struct rpmsg_gpio_packet *msg; + + guard(mutex)(&port->info.lock); + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_SET_VALUE); + msg->val1 =3D val; + + return rpmsg_gpio_send_message(port, msg, true); +} + +static int rpmsg_gpio_direction_output(struct gpio_chip *gc, unsigned int = line, int val) +{ + struct rpmsg_gpio_port *port =3D gpiochip_get_data(gc); + struct rpmsg_gpio_packet *msg; + int ret; + + guard(mutex)(&port->info.lock); + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_SET_DIRECT= ION); + msg->val1 =3D VIRTIO_GPIO_DIRECTION_OUT; + + ret =3D rpmsg_gpio_send_message(port, msg, true); + if (ret) + return ret; + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_SET_VALUE); + msg->val1 =3D val; + + return rpmsg_gpio_send_message(port, msg, true); +} + +static int gpio_rpmsg_irq_set_type(struct irq_data *d, u32 type) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + u32 line =3D d->hwirq; + int ret =3D 0; + + switch (type) { + case IRQ_TYPE_EDGE_RISING: + type =3D VIRTIO_GPIO_IRQ_TYPE_EDGE_RISING; + irq_set_handler_locked(d, handle_simple_irq); + break; + case IRQ_TYPE_EDGE_FALLING: + type =3D VIRTIO_GPIO_IRQ_TYPE_EDGE_FALLING; + irq_set_handler_locked(d, handle_simple_irq); + break; + case IRQ_TYPE_EDGE_BOTH: + type =3D VIRTIO_GPIO_IRQ_TYPE_EDGE_BOTH; + irq_set_handler_locked(d, handle_simple_irq); + break; + case IRQ_TYPE_LEVEL_LOW: + type =3D VIRTIO_GPIO_IRQ_TYPE_LEVEL_LOW; + irq_set_handler_locked(d, handle_level_irq); + break; + case IRQ_TYPE_LEVEL_HIGH: + type =3D VIRTIO_GPIO_IRQ_TYPE_LEVEL_HIGH; + irq_set_handler_locked(d, handle_level_irq); + break; + default: + ret =3D -EINVAL; + irq_set_handler_locked(d, handle_bad_irq); + break; + } + + port->lines[line].irq_type =3D type; + + return ret; +} + +static int gpio_rpmsg_irq_set_wake(struct irq_data *d, u32 enable) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + u32 line =3D d->hwirq; + + port->lines[line].irq_wake_enable =3D enable; + + return 0; +} + +/* + * This unmask/mask function is invoked in two situations: + * - when an interrupt is being set up, and + * - after an interrupt has occurred. + * + * The GPIO driver does not access hardware registers directly. + * Instead, it caches all relevant information locally, and then sends + * the accumulated state to the remote system at this stage. + */ +static void gpio_rpmsg_unmask_irq(struct irq_data *d) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + u32 line =3D d->hwirq; + + port->lines[line].irq_unmask =3D 1; +} + +static void gpio_rpmsg_mask_irq(struct irq_data *d) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + u32 line =3D d->hwirq; + + /* + * When an interrupt occurs, the remote system masks the interrupt + * and then sends a notification to Linux. After Linux processes + * that notification, it sends an RPMsg command back to the remote + * system to unmask the interrupt again. + */ + port->lines[line].irq_mask =3D 1; +} + +static void gpio_rpmsg_irq_shutdown(struct irq_data *d) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + u32 line =3D d->hwirq; + + port->lines[line].irq_shutdown =3D 1; +} + +static void gpio_rpmsg_irq_bus_lock(struct irq_data *d) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + + mutex_lock(&port->info.lock); +} + +static void gpio_rpmsg_irq_bus_sync_unlock(struct irq_data *d) +{ + struct rpmsg_gpio_port *port =3D irq_data_get_irq_chip_data(d); + struct rpmsg_gpio_packet *msg; + u32 line =3D d->hwirq; + + /* + * For mask irq, do nothing here. + * The remote system will mask interrupt after an interrupt occurs, + * and then send a notification to Linux system. After Linux system + * handles the notification, it sends an rpmsg back to the remote + * system to unmask this interrupt again. + */ + if (port->lines[line].irq_mask && !port->lines[line].irq_unmask) { + port->lines[line].irq_mask =3D 0; + mutex_unlock(&port->info.lock); + return; + } + + msg =3D rpmsg_gpio_msg_init_common(port, line, VIRTIO_GPIO_MSG_IRQ_TYPE); + + if (port->lines[line].irq_shutdown) { + port->lines[line].irq_shutdown =3D 0; + msg->val1 =3D VIRTIO_GPIO_IRQ_TYPE_NONE; + msg->val2 =3D 0; + } else { + /* if irq type is not set, use low level trigger as default. */ + msg->val1 =3D port->lines[line].irq_type; + if (!msg->val1) + msg->val1 =3D VIRTIO_GPIO_IRQ_TYPE_LEVEL_LOW; + if (port->lines[line].irq_unmask) { + msg->val2 =3D 0; + port->lines[line].irq_unmask =3D 0; + } else /* irq set wake */ + msg->val2 =3D port->lines[line].irq_wake_enable; + } + + rpmsg_gpio_send_message(port, msg, false); + mutex_unlock(&port->info.lock); +} + +static const struct irq_chip gpio_rpmsg_irq_chip =3D { + .irq_mask =3D gpio_rpmsg_mask_irq, + .irq_unmask =3D gpio_rpmsg_unmask_irq, + .irq_set_wake =3D gpio_rpmsg_irq_set_wake, + .irq_set_type =3D gpio_rpmsg_irq_set_type, + .irq_shutdown =3D gpio_rpmsg_irq_shutdown, + .irq_bus_lock =3D gpio_rpmsg_irq_bus_lock, + .irq_bus_sync_unlock =3D gpio_rpmsg_irq_bus_sync_unlock, + .flags =3D IRQCHIP_IMMUTABLE, +}; + +static void rpmsg_gpio_remove_action(void *data) +{ + struct rpmsg_gpio_port *port =3D data; + + port->info.port_store[port->idx] =3D NULL; +} + +static int rpmsg_gpiochip_register(struct rpmsg_device *rpdev, struct devi= ce_node *np) +{ + struct rpdev_drvdata *drvdata =3D dev_get_drvdata(&rpdev->dev); + struct rpmsg_gpio_port *port; + struct gpio_irq_chip *girq; + struct gpio_chip *gc; + int ret; + + port =3D devm_kzalloc(&rpdev->dev, sizeof(*port), GFP_KERNEL); + if (!port) + return -ENOMEM; + + ret =3D of_property_read_u32(np, "reg", &port->idx); + if (ret) + return ret; + + if (port->idx >=3D MAX_PORT_PER_CHANNEL) + return -EINVAL; + + ret =3D devm_mutex_init(&rpdev->dev, &port->info.lock); + if (ret) + return ret; + + ret =3D of_property_read_u32(np, "ngpios", &port->ngpios); + if (ret || port->ngpios > GPIOS_PER_PORT_DEFAULT) + port->ngpios =3D GPIOS_PER_PORT_DEFAULT; + + port->info.reply_msg =3D devm_kzalloc(&rpdev->dev, + sizeof(struct rpmsg_gpio_packet), + GFP_KERNEL); + if (!port->info.reply_msg) + return -ENOMEM; + + init_completion(&port->info.cmd_complete); + port->info.port_store =3D drvdata->channel_devices; + port->info.port_store[port->idx] =3D port; + port->info.rpdev =3D rpdev; + + gc =3D &port->gc; + gc->owner =3D THIS_MODULE; + gc->parent =3D &rpdev->dev; + gc->fwnode =3D of_fwnode_handle(np); + gc->ngpio =3D port->ngpios; + gc->base =3D -1; + gc->label =3D devm_kasprintf(&rpdev->dev, GFP_KERNEL, "%s-gpio%d", + drvdata->rproc_name, port->idx); + + gc->direction_input =3D rpmsg_gpio_direction_input; + gc->direction_output =3D rpmsg_gpio_direction_output; + gc->get_direction =3D rpmsg_gpio_get_direction; + gc->get =3D rpmsg_gpio_get; + gc->set =3D rpmsg_gpio_set; + + girq =3D &gc->irq; + gpio_irq_chip_set_chip(girq, &gpio_rpmsg_irq_chip); + girq->parent_handler =3D NULL; + girq->num_parents =3D 0; + girq->parents =3D NULL; + girq->chip->name =3D devm_kasprintf(&rpdev->dev, GFP_KERNEL, "%s-gpio%d", + drvdata->rproc_name, port->idx); + + ret =3D devm_add_action_or_reset(&rpdev->dev, rpmsg_gpio_remove_action, p= ort); + if (ret) + return ret; + + return devm_gpiochip_add_data(&rpdev->dev, gc, port); +} + +static const char *rpmsg_get_rproc_node_name(struct rpmsg_device *rpdev) +{ + const char *name =3D NULL; + struct device_node *np; + struct rproc *rproc; + + rproc =3D rproc_get_by_child(&rpdev->dev); + if (!rproc) + return NULL; + + np =3D of_node_get(rproc->dev.of_node); + if (!np && rproc->dev.parent) + np =3D of_node_get(rproc->dev.parent->of_node); + + if (np) { + name =3D devm_kstrdup(&rpdev->dev, np->name, GFP_KERNEL); + of_node_put(np); + } + + return name; +} + +static struct device_node * +rpmsg_get_channel_ofnode(struct rpmsg_device *rpdev, char *chan_name) +{ + struct device_node *np_chan =3D NULL, *np; + struct rproc *rproc; + + rproc =3D rproc_get_by_child(&rpdev->dev); + if (!rproc) + return NULL; + + np =3D of_node_get(rproc->dev.of_node); + if (!np && rproc->dev.parent) + np =3D of_node_get(rproc->dev.parent->of_node); + + /* The of_node_put() is performed by of_find_node_by_name(). */ + if (np) + np_chan =3D of_find_node_by_name(np, chan_name); + + return np_chan; +} + +static int rpmsg_gpio_channel_callback(struct rpmsg_device *rpdev, void *d= ata, + int len, void *priv, u32 src) +{ + struct rpmsg_gpio_packet *msg =3D data; + struct rpmsg_gpio_port *port =3D NULL; + struct rpdev_drvdata *drvdata; + + drvdata =3D dev_get_drvdata(&rpdev->dev); + if (drvdata && drvdata->protocol_fixed_up) + msg =3D drvdata->protocol_fixed_up->recv_fixed_up(rpdev, data); + + if (!msg || !drvdata) + return -EINVAL; + + if (msg->port_idx < MAX_PORT_PER_CHANNEL) + port =3D drvdata->channel_devices[msg->port_idx]; + + if (!port || msg->line >=3D port->ngpios) { + dev_err(&rpdev->dev, "wrong port index or line number. port:%d line:%d\n= ", + msg->port_idx, msg->line); + return -EINVAL; + } + + if (msg->type =3D=3D GPIO_RPMSG_REPLY) { + *port->info.reply_msg =3D *msg; + complete(&port->info.cmd_complete); + } else if (msg->type =3D=3D GPIO_RPMSG_NOTIFY) { + generic_handle_domain_irq_safe(port->gc.irq.domain, msg->line); + } else { + dev_err(&rpdev->dev, "wrong command type (0x%x)\n", msg->type); + } + + return 0; +} + +static int rpmsg_gpio_channel_probe(struct rpmsg_device *rpdev) +{ + struct device *dev =3D &rpdev->dev; + struct rpdev_drvdata *drvdata; + struct device_node *np; + int ret =3D -ENODEV; + + if (!dev->of_node) { + np =3D rpmsg_get_channel_ofnode(rpdev, rpdev->id.name); + if (np) { + dev->of_node =3D np; + set_primary_fwnode(dev, of_fwnode_handle(np)); + } + return -EPROBE_DEFER; + } + + drvdata =3D devm_kzalloc(dev, sizeof(*drvdata), GFP_KERNEL); + if (!drvdata) + return -ENOMEM; + + drvdata->rproc_name =3D rpmsg_get_rproc_node_name(rpdev); + drvdata->protocol_fixed_up =3D (struct rpmsg_gpio_fixed_up *)rpdev->id.dr= iver_data; + dev_set_drvdata(dev, drvdata); + + for_each_child_of_node_scoped(dev->of_node, child) { + if (!of_device_is_available(child)) + continue; + + if (!of_match_node(dev->driver->of_match_table, child)) + continue; + + ret =3D rpmsg_gpiochip_register(rpdev, child); + if (ret < 0) + break; + } + + return ret; +} + +static const struct of_device_id rpmsg_gpio_dt_ids[] =3D { + { .compatible =3D "rpmsg-gpio" }, + { /* sentinel */ } +}; + +static struct rpmsg_device_id rpmsg_gpio_channel_id_table[] =3D { + { .name =3D "rpmsg-io" }, + { }, +}; +MODULE_DEVICE_TABLE(rpmsg, rpmsg_gpio_channel_id_table); + +static struct rpmsg_driver rpmsg_gpio_channel_client =3D { + .callback =3D rpmsg_gpio_channel_callback, + .id_table =3D rpmsg_gpio_channel_id_table, + .probe =3D rpmsg_gpio_channel_probe, + .drv =3D { + .name =3D KBUILD_MODNAME, + .of_match_table =3D rpmsg_gpio_dt_ids, + }, +}; +module_rpmsg_driver(rpmsg_gpio_channel_client); + +MODULE_AUTHOR("Shenwei Wang "); +MODULE_DESCRIPTION("generic rpmsg gpio driver"); +MODULE_LICENSE("GPL"); --=20 2.43.0 From nobody Thu Apr 2 12:20:43 2026 Received: from DU2PR03CU002.outbound.protection.outlook.com (mail-northeuropeazon11011045.outbound.protection.outlook.com [52.101.65.45]) (using TLSv1.2 with cipher ECDHE-RSA-AES256-GCM-SHA384 (256/256 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 718503CE4BD; Fri, 13 Mar 2026 19:58:58 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; 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charset="utf-8" Implement fixed-up message handlers to maintain compatibility with existing i.MX devices that rely on the NXP legacy RPMSG firmware and its transport protocol. This ensures backward compatibility and preserves functionality for deployed NXP systems. Signed-off-by: Shenwei Wang --- drivers/gpio/Kconfig | 15 ++++ drivers/gpio/gpio-rpmsg.c | 147 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 162 insertions(+) diff --git a/drivers/gpio/Kconfig b/drivers/gpio/Kconfig index cff0fda8a283..cd0ac5bf4443 100644 --- a/drivers/gpio/Kconfig +++ b/drivers/gpio/Kconfig @@ -1907,6 +1907,21 @@ config GPIO_RPMSG =20 If unsure, say N. =20 +if GPIO_RPMSG + +config GPIO_RPMSG_NXP_LEGACY + bool "Support for the NXP legacy firmware" + depends on GPIO_RPMSG && ARCH_MXC + default y + help + Enable support for the legacy NXP firmware protocol used by older + i.MX products. This option provides compatibility for systems + that still rely on the nxp legacy message format and allows + existing deployments to continue functioning without requiring + firmware changes. + +endif + endmenu =20 menu "SPI GPIO expanders" diff --git a/drivers/gpio/gpio-rpmsg.c b/drivers/gpio/gpio-rpmsg.c index 9c609b55bc14..be263c09a1f0 100644 --- a/drivers/gpio/gpio-rpmsg.c +++ b/drivers/gpio/gpio-rpmsg.c @@ -84,6 +84,147 @@ struct rpdev_drvdata { void *channel_devices[MAX_PORT_PER_CHANNEL]; }; =20 +#ifdef CONFIG_GPIO_RPMSG_NXP_LEGACY +/* NXP I.MX Legacy GPIO RPMSG protocol */ +#define IMX_RPMSG_CONFIG_INPUT 0 +#define IMX_RPMSG_CONFIG_OUTPUT 1 +#define IMX_RPMSG_GET_LEVEL 2 +#define IMX_RPMSG_GET_DIRECTION 3 +#define IMX_RPMSG_CMD_UNKNOWN 0x7F + +#define IMX_RPMSG_TRI_LOW_LEVEL 4 +#define IMX_RPMSG_TRI_HIGH_LEVEL 5 + +#define IMX_RPMSG_ID 5 +#define IMX_RPMSG_VENDOR 1 +#define IMX_RPMSG_VERSION 0 + +struct rpmsg_gpio_nxp_packet { + u8 id; /* Message ID Code */ + u8 vendor; /* Vendor ID number */ + u8 version; /* Protocol version number */ + u8 type; /* Message type */ + u8 cmd; /* Command code */ + u8 reserved[5]; + u8 line; + u8 port_idx; + u8 val1; + u8 val2; +}; + +static struct rpmsg_gpio_packet * +rpmsg_gpio_imx_recv_fixed_up(struct rpmsg_device *rpdev, void *data) +{ + struct rpmsg_gpio_nxp_packet *imx_msg =3D data; + struct rpmsg_gpio_packet *msg; + struct rpdev_drvdata *drvdata; + + if (!imx_msg) + return NULL; + + drvdata =3D dev_get_drvdata(&rpdev->dev); + if (!drvdata->recv_pkt) + drvdata->recv_pkt =3D devm_kzalloc(&rpdev->dev, sizeof(*msg), GFP_ATOMIC= ); + + if (!drvdata->recv_pkt) + return NULL; + + msg =3D drvdata->recv_pkt; + + msg->type =3D imx_msg->type; + msg->cmd =3D imx_msg->cmd; + msg->port_idx =3D imx_msg->port_idx; + msg->line =3D imx_msg->line; + msg->val1 =3D imx_msg->val1; + msg->val2 =3D imx_msg->val2; + + switch (imx_msg->cmd) { + case IMX_RPMSG_GET_LEVEL: + msg->cmd =3D VIRTIO_GPIO_MSG_GET_VALUE; + break; + + case IMX_RPMSG_GET_DIRECTION: + msg->cmd =3D VIRTIO_GPIO_MSG_GET_DIRECTION; + break; + + case IMX_RPMSG_CONFIG_OUTPUT: + msg->cmd =3D VIRTIO_GPIO_MSG_SET_DIRECTION; + msg->val2 =3D VIRTIO_GPIO_DIRECTION_OUT; + break; + + case IMX_RPMSG_CONFIG_INPUT: + msg->cmd =3D VIRTIO_GPIO_MSG_SET_DIRECTION; + msg->val2 =3D VIRTIO_GPIO_DIRECTION_IN; + break; + + default: + break; + } + + return msg; +} + +static const int imx_std_cmd_map[] =3D { + IMX_RPMSG_CMD_UNKNOWN, + IMX_RPMSG_CMD_UNKNOWN, /* VIRTIO_GPIO_MSG_GET_NAMES */ + IMX_RPMSG_GET_DIRECTION, /* VIRTIO_GPIO_MSG_GET_DIRECTION */ + IMX_RPMSG_CONFIG_INPUT, /* VIRTIO_GPIO_MSG_SET_DIRECTION */ + IMX_RPMSG_GET_LEVEL, /* VIRTIO_GPIO_MSG_GET_VALUE */ + IMX_RPMSG_CONFIG_OUTPUT, /* VIRTIO_GPIO_MSG_SET_VALUE */ + IMX_RPMSG_CONFIG_INPUT /* VIRTIO_GPIO_MSG_IRQ_TYPE */ +}; + +static int rpmsg_gpio_imx_send_fixed_up(struct rpmsg_gpio_info *info, + struct rpmsg_gpio_packet *msg) +{ + struct rpmsg_gpio_nxp_packet imx_msg; + + if (msg->cmd >=3D ARRAY_SIZE(imx_std_cmd_map)) + return -EINVAL; + + imx_msg.id =3D IMX_RPMSG_ID; + imx_msg.vendor =3D IMX_RPMSG_VENDOR; + imx_msg.version =3D IMX_RPMSG_VERSION; + imx_msg.type =3D msg->type; + imx_msg.cmd =3D imx_std_cmd_map[msg->cmd]; + imx_msg.port_idx =3D msg->port_idx; + imx_msg.line =3D msg->line; + imx_msg.val1 =3D msg->val1; + imx_msg.val2 =3D msg->val2; + + switch (msg->cmd) { + case VIRTIO_GPIO_MSG_IRQ_TYPE: + switch (msg->val1) { + case VIRTIO_GPIO_IRQ_TYPE_LEVEL_HIGH: + imx_msg.val1 =3D IMX_RPMSG_TRI_HIGH_LEVEL; + break; + case VIRTIO_GPIO_IRQ_TYPE_LEVEL_LOW: + imx_msg.val1 =3D IMX_RPMSG_TRI_LOW_LEVEL; + break; + default: + break; + } + break; + + case VIRTIO_GPIO_MSG_SET_DIRECTION: + imx_msg.val1 =3D 0; + if (msg->val1 =3D=3D VIRTIO_GPIO_DIRECTION_OUT) + imx_msg.cmd =3D IMX_RPMSG_CONFIG_OUTPUT; + break; + + default: + break; + } + + return rpmsg_send(info->rpdev->ept, &imx_msg, sizeof(imx_msg)); +} + +static const struct rpmsg_gpio_fixed_up imx_fixed_up_data =3D { + .recv_fixed_up =3D rpmsg_gpio_imx_recv_fixed_up, + .send_fixed_up =3D rpmsg_gpio_imx_send_fixed_up, +}; +#endif + static int rpmsg_gpio_send_message(struct rpmsg_gpio_port *port, struct rpmsg_gpio_packet *msg, bool sync) @@ -576,6 +717,12 @@ static const struct of_device_id rpmsg_gpio_dt_ids[] = =3D { =20 static struct rpmsg_device_id rpmsg_gpio_channel_id_table[] =3D { { .name =3D "rpmsg-io" }, +#ifdef CONFIG_GPIO_RPMSG_NXP_LEGACY + { + .name =3D "rpmsg-io-channel", + .driver_data =3D (kernel_ulong_t)&imx_fixed_up_data + }, +#endif { }, }; 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charset="utf-8" Add the RPMSG bus node along with its GPIO subnodes to the device tree. Enable remote device communication and GPIO control via RPMSG on the i.MX platform. Signed-off-by: Shenwei Wang --- arch/arm64/boot/dts/freescale/imx8ulp.dtsi | 25 ++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/arch/arm64/boot/dts/freescale/imx8ulp.dtsi b/arch/arm64/boot/d= ts/freescale/imx8ulp.dtsi index 9b5d98766512..ad1ef00a1e3d 100644 --- a/arch/arm64/boot/dts/freescale/imx8ulp.dtsi +++ b/arch/arm64/boot/dts/freescale/imx8ulp.dtsi @@ -191,6 +191,31 @@ scmi_sensor: protocol@15 { cm33: remoteproc-cm33 { compatible =3D "fsl,imx8ulp-cm33"; status =3D "disabled"; + + rpmsg { + rpmsg-io-channel { + #address-cells =3D <1>; + #size-cells =3D <0>; + + rpmsg_gpioa: gpio@0 { + compatible =3D "rpmsg-gpio"; + reg =3D <0>; + gpio-controller; + #gpio-cells =3D <2>; + #interrupt-cells =3D <2>; + interrupt-controller; + }; + + rpmsg_gpiob: gpio@1 { + compatible =3D "rpmsg-gpio"; + reg =3D <1>; + gpio-controller; + #gpio-cells =3D <2>; + #interrupt-cells =3D <2>; + interrupt-controller; + }; + }; + }; }; =20 soc: soc@0 { --=20 2.43.0