Add a driver for Greybus nodes attached over a plain serial port. The node is registered with the software SVC (gb-softsvc), which handles the SVC protocol on behalf of the AP, so no dedicated coprocessor running SVC firmware is needed.
Greybus messages are carried over HDLC framing on the wire. Each frame carries a one-byte address (0x01 for Greybus) and control byte, followed by the 16-bit CPort ID and the Greybus message itself.
Port parameters are taken from the firmware node: "current-speed" if present, otherwise 115200, with flow control and parity disabled.
Since gb-uart-node imports types from gb-softsvc, Rust to Rust calling setup from nova-core [0] is being used.
[0]: https://lore.kernel.org/all/20260622-nova-exports-v5-0-6191773fc977@nvidia.c...
Signed-off-by: Ayush Singh ayush@beagleboard.org --- MAINTAINERS | 1 + drivers/greybus/.gitignore | 1 + drivers/greybus/Kconfig | 15 +++ drivers/greybus/Makefile | 10 ++ drivers/greybus/gb_uart_node.rs | 270 ++++++++++++++++++++++++++++++++++++++++ 5 files changed, 297 insertions(+)
diff --git a/MAINTAINERS b/MAINTAINERS index 521bc6c67979..5bdd500ef63e 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -11527,6 +11527,7 @@ M: Ayush Singh ayush@beagleboard.org L: greybus-dev@lists.linaro.org (moderated for non-subscribers) S: Maintained F: Documentation/devicetree/bindings/beagle/beagle,beagleconnect-freedom.yaml +F: drivers/greybus/gb_uart_node.rs
GREYBUS SUBSYSTEM M: Johan Hovold johan@kernel.org diff --git a/drivers/greybus/.gitignore b/drivers/greybus/.gitignore new file mode 100644 index 000000000000..ff9c4a3539b4 --- /dev/null +++ b/drivers/greybus/.gitignore @@ -0,0 +1 @@ +exports_gb_softsvc_generated.h diff --git a/drivers/greybus/Kconfig b/drivers/greybus/Kconfig index 709563f8c0ad..ce2030161f30 100644 --- a/drivers/greybus/Kconfig +++ b/drivers/greybus/Kconfig @@ -61,5 +61,20 @@ config GREYBUS_SOFTSVC To compile this code as a module, choose M here: the module will be called gb-softsvc.ko
+config GREYBUS_UART_NODE + tristate "Greybus UART node transport" + depends on GREYBUS_SOFTSVC + depends on RUST_SERIAL_DEV_BUS_ABSTRACTIONS + depends on RUST_GREYBUS_ABSTRACTIONS + select RUST_CRC_CCITT_ABSTRACTIONS + help + Select this option if you have a Greybus node connected over a + serial port. The node is registered with the software SVC, which + handles the SVC protocol on behalf of the AP, so no dedicated + coprocessor running SVC firmware is required. + + To compile this code as a module, choose M here: the module + will be called gb-uart-node.ko + endif # GREYBUS
diff --git a/drivers/greybus/Makefile b/drivers/greybus/Makefile index 0fa802fdf6ca..023f59c11e65 100644 --- a/drivers/greybus/Makefile +++ b/drivers/greybus/Makefile @@ -28,6 +28,12 @@ obj-$(CONFIG_GREYBUS_ES2) += gb-es2.o obj-$(CONFIG_GREYBUS_SOFTSVC) += gb-softsvc.o gb-softsvc-y += gb_softsvc.o gb_softsvc_exports.o
+obj-$(CONFIG_GREYBUS_UART_NODE) += gb-uart-node.o +gb-uart-node-y += gb_uart_node.o + +# Export Rust symbols from gb-softsvc only if gb-uart-node actually references them. +gb-softsvc-export-deps := $(if $(CONFIG_GREYBUS_UART_NODE),$(obj)/gb_uart_node.o) + rust_needed_exports = \ { $(if $(strip $(2)),$(NM) -u $(2);,) echo "__DEFINED_RUST_SYMBOLS__"; \ $(NM) -p --defined-only $(1); } | \ @@ -66,3 +72,7 @@ endif # Output gb_softsvc's crate metadata for use by gb_uart_node at compile time. RUSTFLAGS_gb_softsvc.o += \ --emit=metadata=$(objtree)/$(obj)/libgb_softsvc.rmeta + +# Allow gb_uart_node to import gb_softsvc's types. +$(obj)/gb_uart_node.o: $(obj)/gb_softsvc.o +RUSTFLAGS_gb_uart_node.o := -L $(objtree)/$(obj) --extern gb_softsvc diff --git a/drivers/greybus/gb_uart_node.rs b/drivers/greybus/gb_uart_node.rs new file mode 100644 index 000000000000..b38e776c3e85 --- /dev/null +++ b/drivers/greybus/gb_uart_node.rs @@ -0,0 +1,270 @@ +// SPDX-License-Identifier: GPL-2.0 + +//! Greybus UART Node driver + +use kernel::{ + alloc::Flags, + crc_ccitt::crc_ccitt, + device::{ + AsBusDevice, + Bound, + Core, // + }, + error::code, + new_spinlock, + of, // + prelude::*, + serdev, + sync::{ + aref::ARef, + Arc, + SpinLock, // + }, +}; + +use zerocopy::little_endian; +use zerocopy_derive::{ + FromBytes, + Immutable, + KnownLayout, // +}; + +/// Most greybus implementations will have a limit on greybus message length. The theoretical limit +/// is [`u16::MAX`], but the real limits are much more modest. 256 seems to be the limit I use on +/// most of my peers, but let's use 512 to be on safe side in kernel. The only real big request that +/// I frequently encounter is manifest_get. However, if camera protocol ends up being supported at +/// some point, this might need to be increased. +const HDLC_MAX_FRAME_LEN: usize = 512; +const HDLC_FRAME_HEADER_LEN: usize = + 2 * size_of_val(&HDLC_FRAME) + 2 * size_of::<u16>() + 2 * size_of::<u8>(); +const HDLC_MAX_MSG_LEN: usize = HDLC_MAX_FRAME_LEN - HDLC_FRAME_HEADER_LEN; + +const HDLC_FRAME: u8 = 0x7E; +const HDLC_ESC: u8 = 0x7D; +const HDLC_XOR: u8 = 0x20; +const HDLC_EXPECTED_CRC: u16 = 0xf0b8; + +const ADDRESS_GREYBUS: u8 = 0x01; + +#[repr(C, packed)] +#[derive(FromBytes, Immutable, KnownLayout)] +struct GreybusFrame { + cport: little_endian::U16, + msg: [u8], +} + +struct HdlcRx { + rx_buf: KVec<u8>, + rx_in_esc: bool, + rx_overflow: bool, + sdev: ARefserdev::Device, + node: gb_softsvc::Module, +} + +impl HdlcRx { + fn new(sdev: ARefserdev::Device, node: gb_softsvc::Module) -> Result<Self> { + Ok(Self { + node, + sdev, + rx_buf: KVec::with_capacity(HDLC_MAX_FRAME_LEN, GFP_KERNEL)?, + rx_in_esc: false, + rx_overflow: false, + }) + } + + fn frame_finish(&self) -> Result<()> { + if self.rx_buf.len() < 4 { + return Err(code::EFAULT); + } + + let crc = crc_ccitt(0xffff, &self.rx_buf); + if crc != HDLC_EXPECTED_CRC { + dev_warn!(self.sdev.as_ref(), "CRC failed {}", crc); + return Ok(()); + } + + let addr = self.rx_buf[0]; + let _ctrl = self.rx_buf[1]; + let payload = &self.rx_buf[2..self.rx_buf.len() - size_of::<u16>()]; + + match addr { + ADDRESS_GREYBUS => { + let frame = GreybusFrame::ref_from_bytes(payload).map_err(|_| code::EINVAL)?; + self.node.submit_message(0, frame.cport.into(), &frame.msg) + } + _ => Err(code::EINVAL), + } + } + + fn rx(&mut self, data: &[u8]) -> usize { + for i in data.iter() { + match *i { + HDLC_FRAME => { + if !self.rx_buf.is_empty() { + if let Err(e) = self.frame_finish() { + dev_warn!(self.sdev.as_ref(), "bad frame: {e:?}\n"); + } + } + + self.rx_buf.clear(); + self.rx_in_esc = false; + self.rx_overflow = false; + } + HDLC_ESC => self.rx_in_esc = true, + // Skip data if buffer has overflown. + _ if self.rx_overflow => {} + _ => { + let c = if self.rx_in_esc { *i ^ HDLC_XOR } else { *i }; + self.rx_in_esc = false; + + if self.rx_buf.push_within_capacity(c).is_err() { + dev_warn!(self.sdev.as_ref(), "buffer overflow. Dropping frame"); + + self.rx_overflow = true; + self.rx_buf.clear(); + } + } + } + } + + data.len() + } +} + +struct GbNode { + sdev: ARefserdev::Device, +} + +impl GbNode { + const fn new(sdev: ARefserdev::Device) -> Self { + Self { sdev } + } + + fn fill_buf(mut crc: u16, data: &[u8], buf: &mut KVec<u8>) -> Result<u16> { + for i in data { + crc = crc_ccitt(crc, &[*i]); + if *i == HDLC_ESC || *i == HDLC_FRAME { + buf.push_within_capacity(HDLC_ESC) + .map_err(|_| code::E2BIG)?; + buf.push_within_capacity(i ^ HDLC_XOR) + .map_err(|_| code::E2BIG)?; + } else { + buf.push_within_capacity(*i).map_err(|_| code::E2BIG)?; + } + } + + Ok(crc) + } +} + +impl gb_softsvc::InterfaceOps for GbNode { + fn write(&self, data: &[u8], cport: u16, gfp_mask: Flags) -> Result<()> { + // SAFETY: `GbNode` only exists while its serdev driver is bound, so the device is in the + // `Bound` state for the duration of this call. + let bound: &serdev::Device<Bound> = + unsafe { serdev::Device::from_device(self.sdev.as_ref().as_bound()) }; + + // Drop messages which are bigger than what is supported. + if data.len() > HDLC_MAX_MSG_LEN { + return Err(code::E2BIG); + } + + let mut buf = KVec::with_capacity(HDLC_MAX_FRAME_LEN, gfp_mask)?; + + let mut crc = 0xffff; + + buf.push_within_capacity(HDLC_FRAME) + .map_err(|_| code::E2BIG)?; + + crc = Self::fill_buf(crc, &[ADDRESS_GREYBUS, 0x03], &mut buf)?; + crc = Self::fill_buf(crc, &cport.to_le_bytes(), &mut buf)?; + crc = Self::fill_buf(crc, data, &mut buf)?; + + crc ^= 0xffff; + Self::fill_buf(crc, &crc.to_le_bytes(), &mut buf)?; + + buf.push_within_capacity(HDLC_FRAME) + .map_err(|_| code::E2BIG)?; + + // A short count means the wait was interrupted by a signal after part of the frame was + // accepted. The rest is never sent; the receiver drops the truncated frame on the next + // flag, but the message itself was not sent. + if bound.write_all(&buf, 0)? != buf.len() { + return Err(code::EINTR); + } + + Ok(()) + } +} + +#[pin_data] +struct GbUartNode { + #[pin] + rx: SpinLock<HdlcRx>, +} + +impl GbUartNode { + fn init(sdev: &serdev::Device<Core<'_>>) -> Result<HdlcRx> { + if sdev + .set_baudrate( + sdev.as_ref() + .fwnode() + .and_then(|fwnode| fwnode.property_read(c"current-speed").optional()) + .unwrap_or(115200), + ) + .is_err() + { + return Err(EINVAL); + } + sdev.set_flow_control(false); + sdev.set_parity(serdev::Parity::None)?; + + let node = gb_softsvc::Module::new(&[Arc::new(GbNode::new(sdev.into()), GFP_KERNEL)?])?; + + HdlcRx::new(sdev.into(), node) + } +} + +kernel::of_device_table!( + OF_TABLE, + <GbUartNode as serdev::Driver>::IdInfo, + [(of::DeviceId::new(c"beagle,beagleconnect-freedom"), ())] +); + +#[vtable] +impl serdev::Driver for GbUartNode { + type IdInfo = (); + type Data<'bound> = Self; + const OF_ID_TABLE: Option<of::IdTableSelf::IdInfo> = Some(&OF_TABLE); + + fn probe<'bound>( + sdev: &'bound serdev::Device<Core<'_>>, + _info: Option<&'bound Self::IdInfo>, + ) -> impl PinInit<Self, Error> + 'bound { + dev_dbg!(sdev.as_ref(), "Probe gb_uart_node.\n"); + + try_pin_init!(Self { + rx <- new_spinlock!(Self::init(sdev)?, "gb_uart_node::rx"), + }? Error) + } + + fn receive<'bound>( + _sdev: &'bound serdev::Device<Bound>, + this: Pin<&Self>, + data: &[u8], + ) -> usize { + if let Some(mut guard) = this.rx.try_lock() { + return guard.rx(data); + } + + 0 + } +} + +kernel::module_serdev_device_driver! { + type: GbUartNode, + name: "gb_uart_node", + authors: ["Ayush Singh ayush@beagleboard.org"], + description: "Greybus node connected over UART", + license: "GPL v2", +}