freertos: add freertos support [1/1]

PD#SWPL-71741
PD#SWPL-128739

Problem:
1 add freertos support
2 rtos mipi irq miss frequently when booting kernel

Solution:
1 add freertos support
2 mark gic distributor disable

Verify:
C2 T7

Change-Id: Ib2b18fbcb026afa8df7654eac90355f080e9a74b
Signed-off-by: wanwei.jiang <wanwei.jiang@amlogic.com>

arch/arm/kernel/smp.c

@@ -48,6 +48,10 @@
 #include <asm/mach/arch.h>
 #include <asm/mpu.h>
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+#include <linux/amlogic/freertos.h>
+#endif
+
 #define CREATE_TRACE_POINTS
 #include <trace/events/ipi.h>
 
@@ -76,6 +80,9 @@ enum ipi_msg_type {
 	IPI_IRQ_WORK,
 	IPI_COMPLETION,
 	NR_IPI,
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	IPI_FREERTOS = NR_IPI,
+#endif
 	/*
 	 * CPU_BACKTRACE is special and not included in NR_IPI
 	 * or tracable with trace_ipi_*
@@ -687,6 +694,13 @@ static void do_handle_IPI(int ipinr)
 		break;
 
 	case IPI_CPU_BACKTRACE:
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS_NOFITIER) && IS_ENABLED(CONFIG_AMLOGIC_FREERTOS_C3)
+		call_freertos_notifiers(1, NULL);
+#endif
+		if (!freertos_finish())
+			break;
+#endif
 		printk_deferred_enter();
 		nmi_cpu_backtrace(get_irq_regs());
 		printk_deferred_exit();
@@ -771,6 +785,14 @@ void smp_send_reschedule(int cpu)
 	smp_cross_call(cpumask_of(cpu), IPI_RESCHEDULE);
 }
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS_IPI_SEND)
+void arch_send_ipi_rtos(int cpu)
+{
+	smp_cross_call(cpumask_of(cpu), IPI_FREERTOS);
+}
+EXPORT_SYMBOL(arch_send_ipi_rtos);
+#endif
+
 void smp_send_stop(void)
 {
 	unsigned long timeout;

arch/arm64/kernel/smp.c

@@ -59,6 +59,10 @@
 #undef CREATE_TRACE_POINTS
 #include <trace/hooks/debug.h>
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+#include <linux/amlogic/freertos.h>
+#endif
+
 DEFINE_PER_CPU_READ_MOSTLY(int, cpu_number);
 EXPORT_PER_CPU_SYMBOL(cpu_number);
 EXPORT_TRACEPOINT_SYMBOL_GPL(ipi_raise);
@@ -82,6 +86,9 @@ enum ipi_msg_type {
 	IPI_TIMER,
 	IPI_IRQ_WORK,
 	IPI_WAKEUP,
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	IPI_FREERTOS = 7,
+#endif
 	NR_IPI
 };
 
@@ -810,6 +817,9 @@ static const char *ipi_types[NR_IPI] __tracepoint_string = {
 	[IPI_TIMER]		= "Timer broadcast interrupts",
 	[IPI_IRQ_WORK]		= "IRQ work interrupts",
 	[IPI_WAKEUP]		= "CPU wake-up interrupts",
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	[IPI_FREERTOS]		= "CPU freertos interrupts",
+#endif
 };
 
 static void smp_cross_call(const struct cpumask *target, unsigned int ipinr);
@@ -856,6 +866,13 @@ void arch_irq_work_raise(void)
 }
 #endif
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS_IPI_SEND)
+void arch_send_ipi_rtos(int cpu)
+{
+	smp_cross_call(cpumask_of(cpu), IPI_FREERTOS);
+}
+#endif
+
 static void local_cpu_stop(void)
 {
 	set_cpu_online(smp_processor_id(), false);
@@ -949,6 +966,12 @@ static void do_handle_IPI(int ipinr)
 		break;
 #endif
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	case IPI_FREERTOS:
+		freertos_finish();
+		break;
+#endif
+
 	default:
 		pr_crit("CPU%u: Unknown IPI message 0x%x\n", cpu, ipinr);
 		break;

drivers/irqchip/irq-gic-common.c

@@ -10,6 +10,10 @@
 
 #include "irq-gic-common.h"
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+#include <linux/amlogic/freertos.h>
+#endif
+
 static DEFINE_RAW_SPINLOCK(irq_controller_lock);
 
 void gic_enable_of_quirks(const struct device_node *np,
@@ -94,30 +98,62 @@ void gic_dist_config(void __iomem *base, int gic_irqs,
 		     void (*sync_access)(void))
 {
 	unsigned int i;
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	u32 tmp;
+#endif
 
 	/*
 	 * Set all global interrupts to be level triggered, active low.
 	 */
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	for (i = 32; i < gic_irqs; i += 16) {
+		tmp = readl_relaxed(base + GIC_DIST_CONFIG + i / 4);
+		tmp = freertos_get_irqregval
+			(GICD_INT_ACTLOW_LVLTRIG, tmp, i, 16);
+		writel_relaxed(tmp, base + GIC_DIST_CONFIG + i / 4);
+	}
+#else
 	for (i = 32; i < gic_irqs; i += 16)
 		writel_relaxed(GICD_INT_ACTLOW_LVLTRIG,
 					base + GIC_DIST_CONFIG + i / 4);
+#endif
 
 	/*
 	 * Set priority on all global interrupts.
 	 */
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	for (i = 32; i < gic_irqs; i += 4) {
+		tmp = readl_relaxed(base + GIC_DIST_PRI + i);
+		tmp = freertos_get_irqregval
+			(GICD_INT_DEF_PRI_X4, tmp, i, 4);
+		writel_relaxed(tmp, base + GIC_DIST_PRI + i);
+	}
+#else
 	for (i = 32; i < gic_irqs; i += 4)
 		writel_relaxed(GICD_INT_DEF_PRI_X4, base + GIC_DIST_PRI + i);
+#endif
 
 	/*
 	 * Deactivate and disable all SPIs. Leave the PPI and SGIs
 	 * alone as they are in the redistributor registers on GICv3.
 	 */
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	for (i = 32; i < gic_irqs; i += 32) {
+		writel_relaxed
+			(freertos_get_irqregval(GICD_INT_EN_CLR_X32, 0, i, 32),
+			 base + GIC_DIST_ACTIVE_CLEAR + i / 8);
+		writel_relaxed
+			(freertos_get_irqregval(GICD_INT_EN_CLR_X32, 0, i, 32),
+			 base + GIC_DIST_ENABLE_CLEAR + i / 8);
+	}
+#else
 	for (i = 32; i < gic_irqs; i += 32) {
 		writel_relaxed(GICD_INT_EN_CLR_X32,
 			       base + GIC_DIST_ACTIVE_CLEAR + i / 8);
 		writel_relaxed(GICD_INT_EN_CLR_X32,
 			       base + GIC_DIST_ENABLE_CLEAR + i / 8);
 	}
+#endif
 
 	if (sync_access)
 		sync_access();

drivers/irqchip/irq-gic.c

@@ -48,6 +48,10 @@
 
 #include "irq-gic-common.h"
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+#include <linux/amlogic/freertos.h>
+#endif
+
 #ifdef CONFIG_ARM64
 #include <asm/cpufeature.h>
 
@@ -466,15 +470,21 @@ static void gic_cpu_if_up(struct gic_chip_data *gic)
 	writel_relaxed(bypass | mode | GICC_ENABLE, cpu_base + GIC_CPU_CTRL);
 }
 
-
 static void gic_dist_init(struct gic_chip_data *gic)
 {
 	unsigned int i;
 	u32 cpumask;
 	unsigned int gic_irqs = gic->gic_irqs;
 	void __iomem *base = gic_data_dist_base(gic);
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	u32 tmp;
+#endif
 
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	/*disable gic distributor will result in freertos lost interrupt*/
+#else
 	writel_relaxed(GICD_DISABLE, base + GIC_DIST_CTRL);
+#endif
 
 	/*
 	 * Set all global interrupts to this CPU only.
@@ -482,8 +492,16 @@ static void gic_dist_init(struct gic_chip_data *gic)
 	cpumask = gic_get_cpumask(gic);
 	cpumask |= cpumask << 8;
 	cpumask |= cpumask << 16;
+#if IS_ENABLED(CONFIG_AMLOGIC_FREERTOS)
+	for (i = 32; i < gic_irqs; i += 4) {
+		tmp = readl_relaxed(base + GIC_DIST_TARGET + i * 4 / 4);
+		tmp = freertos_get_irqregval(cpumask, tmp, i, 4);
+		writel_relaxed(tmp, base + GIC_DIST_TARGET + i * 4 / 4);
+	}
+#else
 	for (i = 32; i < gic_irqs; i += 4)
 		writel_relaxed(cpumask, base + GIC_DIST_TARGET + i * 4 / 4);
+#endif
 
 	gic_dist_config(base, gic_irqs, NULL);