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[v2,00/21] RISC-V Kendryte K210 support improvements

Message ID 20201124043728.199852-1-damien.lemoal@wdc.com
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Series RISC-V Kendryte K210 support improvements | expand

Message

Damien Le Moal Nov. 24, 2020, 4:37 a.m. UTC 
This series of patches improves support for boards based on the Kendryte
K210 RISC-V dual core SoC. Minimal support for this SoC is already
included in the kernel. These patches complete it, enabling support for
most peripherals present on the SoC as well as introducing device trees
for the various K210 boards available on the market today from SiPeed
and Kendryte.

Pathes 1 to 4 are various fixes for riscv arch code and riscv
dependent devices. Of note here is patch 3 which fix system calls
execution in the no MMU case, and patch 4 which simplifies DTB builtin
handling.

Patch 5 fixes naming of directories and configuration options to use the
K210 SoC vendor name (Canaan) instead of its branding name (Kendryte).

The following patches 6 to 10 document device tree bindings for the SoC
drivers. These drivers implementation is provided in patches 11, 12 and
13, respectively implementing the SoC clock driver, SOC pin function
control and reset controller.

Patches 14 to 19 update the existing K210 device tree and add new
device tree files for several K210 based boards: MAIX Bit, MAIXDUINO,
MAIX Dock and MAIX Go boards from SiPeed and the KD233 development
board from Canaan.

Finally the last two patches updates the k210 nommu defconfig to include
the newly implemented drivers and provide a new default configuration
file enabling SD card support.

A lot of the work on the device tree and on the K210 drivers come from
the work by Sean Anderson for the U-Boot project support of the K210
SoC. Sean also helped with debugging many aspects of this series.

A tree with all patches applied is available here:
https://github.com/damien-lemoal/linux, k210-sysctl-v15 branch.
A demonstration of this series used on a SiPeed MAIX Dock
board together with an I2C servo controller can be seen here:
https://damien-lemoal.github.io/linux-robot-arm/#example

This tree was used to build userspace busybox environment image that is
then copied onto an SD card formatted with ext2:
https://github.com/damien-lemoal/buildroot
Of note is that running this userspace environment requires a revert of
commit 2217b982624680d19a80ebb4600d05c8586c4f96 introduced during the
5.9 development cycle. Without this revert, execution of the init
process fails. A problem with the riscv port of elf2flt is suspected but
not confirmed. I am now starting to investigate this problem.

Reviews and comments are as always much welcome.

Changes from v1:
* Improved DT bindings documentation
* SPI and GPIO patches removed from this series (and being processed
  directly through the relevant subsystems directly)
* Improved device trees
* Various cleanup and improvments of the drivers

Damien Le Moal (21):
  riscv: Fix kernel time_init()
  riscv: Fix sifive serial driver
  riscv: Enable interrupts during syscalls with M-Mode
  riscv: Fix builtin DTB handling
  riscv: Use vendor name for K210 SoC support
  dt-bindings: Add Canaan vendor prefix
  dt-binding: Document canaan,k210-clk bindings
  dt-bindings: Document canaan,k210-rst bindings
  dt-bindings: Document canaan,k210-fpioa bindings
  dt-binding: Document canaan,k210-sysctl bindings
  riscv: Add Canaan Kendryte K210 clock driver
  riscv: Add Canaan Kendryte K210 FPIOA driver
  riscv: Add Canaan Kendryte K210 reset controller
  riscv: Update Kendryte K210 device tree
  riscv: Add SiPeed MAIX BiT board device tree
  riscv: Add SiPeed MAIX DOCK board device tree
  riscv: Add SiPeed MAIX GO board device tree
  riscv: Add SiPeed MAIXDUINO board device tree
  riscv: Add Kendryte KD233 board device tree
  riscv: Update Canaan Kendryte K210 defconfig
  riscv: Add Canaan Kendryte K210 SD card defconfig

 .../bindings/clock/canaan,k210-clk.yaml       |  55 +
 .../bindings/mfd/canaan,k210-sysctl.yaml      | 116 ++
 .../bindings/pinctrl/canaan,k210-fpioa.yaml   | 165 +++
 .../bindings/reset/canaan,k210-rst.yaml       |  40 +
 .../devicetree/bindings/vendor-prefixes.yaml  |   2 +
 arch/riscv/Kconfig.socs                       |  38 +-
 arch/riscv/Makefile                           |   2 +-
 arch/riscv/boot/dts/Makefile                  |   2 +-
 arch/riscv/boot/dts/canaan/Makefile           |   5 +
 arch/riscv/boot/dts/canaan/k210.dtsi          | 625 +++++++++++
 arch/riscv/boot/dts/canaan/k210_generic.dts   |  46 +
 arch/riscv/boot/dts/canaan/k210_kd233.dts     | 178 ++++
 arch/riscv/boot/dts/canaan/k210_maix_bit.dts  | 227 ++++
 arch/riscv/boot/dts/canaan/k210_maix_dock.dts | 229 ++++
 arch/riscv/boot/dts/canaan/k210_maix_go.dts   | 237 +++++
 arch/riscv/boot/dts/canaan/k210_maixduino.dts | 201 ++++
 arch/riscv/boot/dts/kendryte/Makefile         |   4 -
 arch/riscv/boot/dts/kendryte/k210.dts         |  23 -
 arch/riscv/boot/dts/kendryte/k210.dtsi        | 125 ---
 arch/riscv/configs/nommu_k210_defconfig       |  36 +-
 .../riscv/configs/nommu_k210_sdcard_defconfig |  90 ++
 arch/riscv/include/asm/soc.h                  |  38 -
 arch/riscv/kernel/entry.S                     |   9 +
 arch/riscv/kernel/soc.c                       |  27 -
 arch/riscv/kernel/time.c                      |   3 +
 arch/riscv/mm/init.c                          |   6 +-
 drivers/clk/Kconfig                           |   9 +
 drivers/clk/Makefile                          |   1 +
 drivers/clk/clk-k210.c                        | 959 +++++++++++++++++
 drivers/pinctrl/Kconfig                       |  13 +
 drivers/pinctrl/Makefile                      |   1 +
 drivers/pinctrl/pinctrl-k210.c                | 997 ++++++++++++++++++
 drivers/reset/Kconfig                         |   9 +
 drivers/reset/Makefile                        |   1 +
 drivers/reset/reset-k210.c                    | 150 +++
 drivers/soc/Kconfig                           |   2 +-
 drivers/soc/Makefile                          |   2 +-
 drivers/soc/canaan/Kconfig                    |   9 +
 drivers/soc/canaan/Makefile                   |   3 +
 drivers/soc/canaan/k210-sysctl.c              |  89 ++
 drivers/soc/kendryte/Kconfig                  |  14 -
 drivers/soc/kendryte/Makefile                 |   3 -
 drivers/soc/kendryte/k210-sysctl.c            | 260 -----
 drivers/tty/serial/sifive.c                   |   1 +
 include/dt-bindings/clock/k210-clk.h          |  61 +-
 include/dt-bindings/pinctrl/k210-fpioa.h      | 276 +++++
 include/dt-bindings/reset/k210-rst.h          |  42 +
 include/soc/canaan/k210-sysctl.h              |  43 +
 48 files changed, 4944 insertions(+), 530 deletions(-)
 create mode 100644 Documentation/devicetree/bindings/clock/canaan,k210-clk.yaml
 create mode 100644 Documentation/devicetree/bindings/mfd/canaan,k210-sysctl.yaml
 create mode 100644 Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml
 create mode 100644 Documentation/devicetree/bindings/reset/canaan,k210-rst.yaml
 create mode 100644 arch/riscv/boot/dts/canaan/Makefile
 create mode 100644 arch/riscv/boot/dts/canaan/k210.dtsi
 create mode 100644 arch/riscv/boot/dts/canaan/k210_generic.dts
 create mode 100644 arch/riscv/boot/dts/canaan/k210_kd233.dts
 create mode 100644 arch/riscv/boot/dts/canaan/k210_maix_bit.dts
 create mode 100644 arch/riscv/boot/dts/canaan/k210_maix_dock.dts
 create mode 100644 arch/riscv/boot/dts/canaan/k210_maix_go.dts
 create mode 100644 arch/riscv/boot/dts/canaan/k210_maixduino.dts
 delete mode 100644 arch/riscv/boot/dts/kendryte/Makefile
 delete mode 100644 arch/riscv/boot/dts/kendryte/k210.dts
 delete mode 100644 arch/riscv/boot/dts/kendryte/k210.dtsi
 create mode 100644 arch/riscv/configs/nommu_k210_sdcard_defconfig
 create mode 100644 drivers/clk/clk-k210.c
 create mode 100644 drivers/pinctrl/pinctrl-k210.c
 create mode 100644 drivers/reset/reset-k210.c
 create mode 100644 drivers/soc/canaan/Kconfig
 create mode 100644 drivers/soc/canaan/Makefile
 create mode 100644 drivers/soc/canaan/k210-sysctl.c
 delete mode 100644 drivers/soc/kendryte/Kconfig
 delete mode 100644 drivers/soc/kendryte/Makefile
 delete mode 100644 drivers/soc/kendryte/k210-sysctl.c
 create mode 100644 include/dt-bindings/pinctrl/k210-fpioa.h
 create mode 100644 include/dt-bindings/reset/k210-rst.h
 create mode 100644 include/soc/canaan/k210-sysctl.h

Comments

Geert Uytterhoeven Nov. 24, 2020, 9:48 a.m. UTC | #1 
Hi Damien,

On Tue, Nov 24, 2020 at 5:40 AM Damien Le Moal <damien.lemoal@wdc.com> wrote:
> Document the device tree bindings for the Canaan Kendryte K210 SoC
> Fully Programmable IO Array (FPIOA) pinctrl driver in
> Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml. The
> new header file include/dt-bindings/pinctrl/k210-fpioa.h is added to
> define all 256 possible pin functions of the SoC IO pins, as well as
> macros simplifying the definition of pin functions in a device tree.
>
> Signed-off-by: Damien Le Moal <damien.lemoal@wdc.com>

Thanks for your patch!

> --- /dev/null
> +++ b/Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml

> +  canaan,k210-sysctl-power:
> +    $ref: /schemas/types.yaml#/definitions/phandle-array
> +    description: |
> +      phandle of the K210 system controller node and offset of the its

of its

> +      power domain control register.

Your k210-sysctl-v15 branch has a bogus trailing space here.

> +
> +patternProperties:

> +  '-pins$':
> +    type: object
> +    $ref: /schemas/pinctrl/pincfg-node.yaml
> +    description:
> +      FPIOA client devices use sub-nodes to define the desired
> +      configuration of pins. Client device sub-nodes use the
> +      properties below.
> +
> +    properties:

> +      input-schmitt: true
> +
> +      input-schmitt-enable: true

Do you need both?
Documentation/devicetree/bindings/pinctrl/pincfg-node.yaml documents
input-schmitt-enable and input-schmitt-disable, but not input-schmitt.

> +
> +      intput-polarity-invert:

input-polarity-invert

> +        description:
> +          Enable or disable pin input polarity inversion.

Still, this is a non-standard property.  Do you need it, or can this be
handled by the software GPIO_ACTIVE_LOW flag?

> +      output-polarity-invert:
> +        description:
> +          Enable or disable pin output polarity inversion.

Same comment as for input.

Gr{oetje,eeting}s,

                        Geert

--
Geert Uytterhoeven -- There's lots of Linux beyond ia32 -- geert@linux-m68k.org

In personal conversations with technical people, I call myself a hacker. But
when I'm talking to journalists I just say "programmer" or something like that.
                                -- Linus Torvalds
Geert Uytterhoeven Nov. 26, 2020, 10:42 a.m. UTC | #2 
Hi Damien,

On Tue, Nov 24, 2020 at 11:05 AM Damien Le Moal <Damien.LeMoal@wdc.com> wrote:
> On 2020/11/24 18:49, Geert Uytterhoeven wrote:
> > On Tue, Nov 24, 2020 at 5:40 AM Damien Le Moal <damien.lemoal@wdc.com> wrote:
> >> Document the device tree bindings for the Canaan Kendryte K210 SoC
> >> Fully Programmable IO Array (FPIOA) pinctrl driver in
> >> Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml. The
> >> new header file include/dt-bindings/pinctrl/k210-fpioa.h is added to
> >> define all 256 possible pin functions of the SoC IO pins, as well as
> >> macros simplifying the definition of pin functions in a device tree.
> >>
> >> Signed-off-by: Damien Le Moal <damien.lemoal@wdc.com>
> >
> > Thanks for your patch!
> >
> >> --- /dev/null
> >> +++ b/Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml
> >
> >> +  canaan,k210-sysctl-power:
> >> +    $ref: /schemas/types.yaml#/definitions/phandle-array
> >> +    description: |
> >> +      phandle of the K210 system controller node and offset of the its
> >
> > of its
> >
> >> +      power domain control register.
> >
> > Your k210-sysctl-v15 branch has a bogus trailing space here.
>
> Oops. Forgot to push the fixed up patches. Just did it now (forced update
> k210-sysctl-v15).

$ make dt_binding_check
DT_SCHEMA_FILES=Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml
Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml:59:1:
[error] syntax error: found character '\t' that cannot start any token
(syntax)

DT binding files should use spaces, not TABs.

Gr{oetje,eeting}s,

                        Geert
Damien Le Moal Nov. 26, 2020, 10:52 a.m. UTC | #3 
On 2020/11/26 19:43, Geert Uytterhoeven wrote:
> Hi Damien,
> 
> On Tue, Nov 24, 2020 at 11:05 AM Damien Le Moal <Damien.LeMoal@wdc.com> wrote:
>> On 2020/11/24 18:49, Geert Uytterhoeven wrote:
>>> On Tue, Nov 24, 2020 at 5:40 AM Damien Le Moal <damien.lemoal@wdc.com> wrote:
>>>> Document the device tree bindings for the Canaan Kendryte K210 SoC
>>>> Fully Programmable IO Array (FPIOA) pinctrl driver in
>>>> Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml. The
>>>> new header file include/dt-bindings/pinctrl/k210-fpioa.h is added to
>>>> define all 256 possible pin functions of the SoC IO pins, as well as
>>>> macros simplifying the definition of pin functions in a device tree.
>>>>
>>>> Signed-off-by: Damien Le Moal <damien.lemoal@wdc.com>
>>>
>>> Thanks for your patch!
>>>
>>>> --- /dev/null
>>>> +++ b/Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml
>>>
>>>> +  canaan,k210-sysctl-power:
>>>> +    $ref: /schemas/types.yaml#/definitions/phandle-array
>>>> +    description: |
>>>> +      phandle of the K210 system controller node and offset of the its
>>>
>>> of its
>>>
>>>> +      power domain control register.
>>>
>>> Your k210-sysctl-v15 branch has a bogus trailing space here.
>>
>> Oops. Forgot to push the fixed up patches. Just did it now (forced update
>> k210-sysctl-v15).
> 
> $ make dt_binding_check
> DT_SCHEMA_FILES=Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml
> Documentation/devicetree/bindings/pinctrl/canaan,k210-fpioa.yaml:59:1:
> [error] syntax error: found character '\t' that cannot start any token
> (syntax)
> 
> DT binding files should use spaces, not TABs.

Arrg... emacs again... Need to configure it properly to use spaces for yaml
files. Will fix this in v3. Thanks !

> 
> Gr{oetje,eeting}s,
> 
>                         Geert
>