1Remote Processor Messaging (rpmsg) Framework 2 3Note: this document describes the rpmsg bus and how to write rpmsg drivers. 4To learn how to add rpmsg support for new platforms, check out remoteproc.txt 5(also a resident of Documentation/). 6 71. Introduction 8 9Modern SoCs typically employ heterogeneous remote processor devices in 10asymmetric multiprocessing (AMP) configurations, which may be running 11different instances of operating system, whether it's Linux or any other 12flavor of real-time OS. 13 14OMAP4, for example, has dual Cortex-A9, dual Cortex-M3 and a C64x+ DSP. 15Typically, the dual cortex-A9 is running Linux in a SMP configuration, 16and each of the other three cores (two M3 cores and a DSP) is running 17its own instance of RTOS in an AMP configuration. 18 19Typically AMP remote processors employ dedicated DSP codecs and multimedia 20hardware accelerators, and therefore are often used to offload CPU-intensive 21multimedia tasks from the main application processor. 22 23These remote processors could also be used to control latency-sensitive 24sensors, drive random hardware blocks, or just perform background tasks 25while the main CPU is idling. 26 27Users of those remote processors can either be userland apps (e.g. multimedia 28frameworks talking with remote OMX components) or kernel drivers (controlling 29hardware accessible only by the remote processor, reserving kernel-controlled 30resources on behalf of the remote processor, etc..). 31 32Rpmsg is a virtio-based messaging bus that allows kernel drivers to communicate 33with remote processors available on the system. In turn, drivers could then 34expose appropriate user space interfaces, if needed. 35 36When writing a driver that exposes rpmsg communication to userland, please 37keep in mind that remote processors might have direct access to the 38system's physical memory and other sensitive hardware resources (e.g. on 39OMAP4, remote cores and hardware accelerators may have direct access to the 40physical memory, gpio banks, dma controllers, i2c bus, gptimers, mailbox 41devices, hwspinlocks, etc..). Moreover, those remote processors might be 42running RTOS where every task can access the entire memory/devices exposed 43to the processor. To minimize the risks of rogue (or buggy) userland code 44exploiting remote bugs, and by that taking over the system, it is often 45desired to limit userland to specific rpmsg channels (see definition below) 46it can send messages on, and if possible, minimize how much control 47it has over the content of the messages. 48 49Every rpmsg device is a communication channel with a remote processor (thus 50rpmsg devices are called channels). Channels are identified by a textual name 51and have a local ("source") rpmsg address, and remote ("destination") rpmsg 52address. 53 54When a driver starts listening on a channel, its rx callback is bound with 55a unique rpmsg local address (a 32-bit integer). This way when inbound messages 56arrive, the rpmsg core dispatches them to the appropriate driver according 57to their destination address (this is done by invoking the driver's rx handler 58with the payload of the inbound message). 59 60 612. User API 62 63 int rpmsg_send(struct rpmsg_channel *rpdev, void *data, int len); 64 - sends a message across to the remote processor on a given channel. 65 The caller should specify the channel, the data it wants to send, 66 and its length (in bytes). The message will be sent on the specified 67 channel, i.e. its source and destination address fields will be 68 set to the channel's src and dst addresses. 69 70 In case there are no TX buffers available, the function will block until 71 one becomes available (i.e. until the remote processor consumes 72 a tx buffer and puts it back on virtio's used descriptor ring), 73 or a timeout of 15 seconds elapses. When the latter happens, 74 -ERESTARTSYS is returned. 75 The function can only be called from a process context (for now). 76 Returns 0 on success and an appropriate error value on failure. 77 78 int rpmsg_sendto(struct rpmsg_channel *rpdev, void *data, int len, u32 dst); 79 - sends a message across to the remote processor on a given channel, 80 to a destination address provided by the caller. 81 The caller should specify the channel, the data it wants to send, 82 its length (in bytes), and an explicit destination address. 83 The message will then be sent to the remote processor to which the 84 channel belongs, using the channel's src address, and the user-provided 85 dst address (thus the channel's dst address will be ignored). 86 87 In case there are no TX buffers available, the function will block until 88 one becomes available (i.e. until the remote processor consumes 89 a tx buffer and puts it back on virtio's used descriptor ring), 90 or a timeout of 15 seconds elapses. When the latter happens, 91 -ERESTARTSYS is returned. 92 The function can only be called from a process context (for now). 93 Returns 0 on success and an appropriate error value on failure. 94 95 int rpmsg_send_offchannel(struct rpmsg_channel *rpdev, u32 src, u32 dst, 96 void *data, int len); 97 - sends a message across to the remote processor, using the src and dst 98 addresses provided by the user. 99 The caller should specify the channel, the data it wants to send, 100 its length (in bytes), and explicit source and destination addresses. 101 The message will then be sent to the remote processor to which the 102 channel belongs, but the channel's src and dst addresses will be 103 ignored (and the user-provided addresses will be used instead). 104 105 In case there are no TX buffers available, the function will block until 106 one becomes available (i.e. until the remote processor consumes 107 a tx buffer and puts it back on virtio's used descriptor ring), 108 or a timeout of 15 seconds elapses. When the latter happens, 109 -ERESTARTSYS is returned. 110 The function can only be called from a process context (for now). 111 Returns 0 on success and an appropriate error value on failure. 112 113 int rpmsg_trysend(struct rpmsg_channel *rpdev, void *data, int len); 114 - sends a message across to the remote processor on a given channel. 115 The caller should specify the channel, the data it wants to send, 116 and its length (in bytes). The message will be sent on the specified 117 channel, i.e. its source and destination address fields will be 118 set to the channel's src and dst addresses. 119 120 In case there are no TX buffers available, the function will immediately 121 return -ENOMEM without waiting until one becomes available. 122 The function can only be called from a process context (for now). 123 Returns 0 on success and an appropriate error value on failure. 124 125 int rpmsg_trysendto(struct rpmsg_channel *rpdev, void *data, int len, u32 dst) 126 - sends a message across to the remote processor on a given channel, 127 to a destination address provided by the user. 128 The user should specify the channel, the data it wants to send, 129 its length (in bytes), and an explicit destination address. 130 The message will then be sent to the remote processor to which the 131 channel belongs, using the channel's src address, and the user-provided 132 dst address (thus the channel's dst address will be ignored). 133 134 In case there are no TX buffers available, the function will immediately 135 return -ENOMEM without waiting until one becomes available. 136 The function can only be called from a process context (for now). 137 Returns 0 on success and an appropriate error value on failure. 138 139 int rpmsg_trysend_offchannel(struct rpmsg_channel *rpdev, u32 src, u32 dst, 140 void *data, int len); 141 - sends a message across to the remote processor, using source and 142 destination addresses provided by the user. 143 The user should specify the channel, the data it wants to send, 144 its length (in bytes), and explicit source and destination addresses. 145 The message will then be sent to the remote processor to which the 146 channel belongs, but the channel's src and dst addresses will be 147 ignored (and the user-provided addresses will be used instead). 148 149 In case there are no TX buffers available, the function will immediately 150 return -ENOMEM without waiting until one becomes available. 151 The function can only be called from a process context (for now). 152 Returns 0 on success and an appropriate error value on failure. 153 154 struct rpmsg_endpoint *rpmsg_create_ept(struct rpmsg_channel *rpdev, 155 void (*cb)(struct rpmsg_channel *, void *, int, void *, u32), 156 void *priv, u32 addr); 157 - every rpmsg address in the system is bound to an rx callback (so when 158 inbound messages arrive, they are dispatched by the rpmsg bus using the 159 appropriate callback handler) by means of an rpmsg_endpoint struct. 160 161 This function allows drivers to create such an endpoint, and by that, 162 bind a callback, and possibly some private data too, to an rpmsg address 163 (either one that is known in advance, or one that will be dynamically 164 assigned for them). 165 166 Simple rpmsg drivers need not call rpmsg_create_ept, because an endpoint 167 is already created for them when they are probed by the rpmsg bus 168 (using the rx callback they provide when they registered to the rpmsg bus). 169 170 So things should just work for simple drivers: they already have an 171 endpoint, their rx callback is bound to their rpmsg address, and when 172 relevant inbound messages arrive (i.e. messages which their dst address 173 equals to the src address of their rpmsg channel), the driver's handler 174 is invoked to process it. 175 176 That said, more complicated drivers might do need to allocate 177 additional rpmsg addresses, and bind them to different rx callbacks. 178 To accomplish that, those drivers need to call this function. 179 Drivers should provide their channel (so the new endpoint would bind 180 to the same remote processor their channel belongs to), an rx callback 181 function, an optional private data (which is provided back when the 182 rx callback is invoked), and an address they want to bind with the 183 callback. If addr is RPMSG_ADDR_ANY, then rpmsg_create_ept will 184 dynamically assign them an available rpmsg address (drivers should have 185 a very good reason why not to always use RPMSG_ADDR_ANY here). 186 187 Returns a pointer to the endpoint on success, or NULL on error. 188 189 void rpmsg_destroy_ept(struct rpmsg_endpoint *ept); 190 - destroys an existing rpmsg endpoint. user should provide a pointer 191 to an rpmsg endpoint that was previously created with rpmsg_create_ept(). 192 193 int register_rpmsg_driver(struct rpmsg_driver *rpdrv); 194 - registers an rpmsg driver with the rpmsg bus. user should provide 195 a pointer to an rpmsg_driver struct, which contains the driver's 196 ->probe() and ->remove() functions, an rx callback, and an id_table 197 specifying the names of the channels this driver is interested to 198 be probed with. 199 200 void unregister_rpmsg_driver(struct rpmsg_driver *rpdrv); 201 - unregisters an rpmsg driver from the rpmsg bus. user should provide 202 a pointer to a previously-registered rpmsg_driver struct. 203 Returns 0 on success, and an appropriate error value on failure. 204 205 2063. Typical usage 207 208The following is a simple rpmsg driver, that sends an "hello!" message 209on probe(), and whenever it receives an incoming message, it dumps its 210content to the console. 211 212#include <linux/kernel.h> 213#include <linux/module.h> 214#include <linux/rpmsg.h> 215 216static void rpmsg_sample_cb(struct rpmsg_channel *rpdev, void *data, int len, 217 void *priv, u32 src) 218{ 219 print_hex_dump(KERN_INFO, "incoming message:", DUMP_PREFIX_NONE, 220 16, 1, data, len, true); 221} 222 223static int rpmsg_sample_probe(struct rpmsg_channel *rpdev) 224{ 225 int err; 226 227 dev_info(&rpdev->dev, "chnl: 0x%x -> 0x%x\n", rpdev->src, rpdev->dst); 228 229 /* send a message on our channel */ 230 err = rpmsg_send(rpdev, "hello!", 6); 231 if (err) { 232 pr_err("rpmsg_send failed: %d\n", err); 233 return err; 234 } 235 236 return 0; 237} 238 239static void rpmsg_sample_remove(struct rpmsg_channel *rpdev) 240{ 241 dev_info(&rpdev->dev, "rpmsg sample client driver is removed\n"); 242} 243 244static struct rpmsg_device_id rpmsg_driver_sample_id_table[] = { 245 { .name = "rpmsg-client-sample" }, 246 { }, 247}; 248MODULE_DEVICE_TABLE(rpmsg, rpmsg_driver_sample_id_table); 249 250static struct rpmsg_driver rpmsg_sample_client = { 251 .drv.name = KBUILD_MODNAME, 252 .drv.owner = THIS_MODULE, 253 .id_table = rpmsg_driver_sample_id_table, 254 .probe = rpmsg_sample_probe, 255 .callback = rpmsg_sample_cb, 256 .remove = rpmsg_sample_remove, 257}; 258 259static int __init init(void) 260{ 261 return register_rpmsg_driver(&rpmsg_sample_client); 262} 263module_init(init); 264 265static void __exit fini(void) 266{ 267 unregister_rpmsg_driver(&rpmsg_sample_client); 268} 269module_exit(fini); 270 271Note: a similar sample which can be built and loaded can be found 272in samples/rpmsg/. 273 2744. Allocations of rpmsg channels: 275 276At this point we only support dynamic allocations of rpmsg channels. 277 278This is possible only with remote processors that have the VIRTIO_RPMSG_F_NS 279virtio device feature set. This feature bit means that the remote 280processor supports dynamic name service announcement messages. 281 282When this feature is enabled, creation of rpmsg devices (i.e. channels) 283is completely dynamic: the remote processor announces the existence of a 284remote rpmsg service by sending a name service message (which contains 285the name and rpmsg addr of the remote service, see struct rpmsg_ns_msg). 286 287This message is then handled by the rpmsg bus, which in turn dynamically 288creates and registers an rpmsg channel (which represents the remote service). 289If/when a relevant rpmsg driver is registered, it will be immediately probed 290by the bus, and can then start sending messages to the remote service. 291 292The plan is also to add static creation of rpmsg channels via the virtio 293config space, but it's not implemented yet. 294