extmod/modopenamp_remoteproc: Add new OpenAMP RemoteProc class.

RemoteProc provides an API to load firmware and control remote processors.

Note: port-specific operations must be implemented to support this class.

Signed-off-by: iabdalkader <i.abdalkader@gmail.com>

6 files changed, 402 insertions, 0 deletions

diff --git a/extmod/extmod.mk b/extmod/extmod.mk
index 54689ef65..bf686fbbb 100644
--- a/extmod/extmod.mk
+++ b/extmod/extmod.mk
@@ -32,6 +32,8 @@ SRC_EXTMOD_C += \
 	extmod/modnetwork.c \
 	extmod/modonewire.c \
 	extmod/modopenamp.c \
+	extmod/modopenamp_remoteproc.c \
+	extmod/modopenamp_remoteproc_store.c \
 	extmod/modos.c \
 	extmod/modplatform.c\
 	extmod/modrandom.c \
@@ -529,6 +531,10 @@ include $(TOP)/extmod/libmetal/libmetal.mk
 INC += -I$(TOP)/$(OPENAMP_DIR)
 CFLAGS += -DMICROPY_PY_OPENAMP=1
 
+ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
+CFLAGS += -DMICROPY_PY_OPENAMP_REMOTEPROC=1
+endif
+
 CFLAGS_THIRDPARTY += \
     -I$(BUILD)/openamp \
     -I$(TOP)/$(OPENAMP_DIR) \
@@ -547,6 +553,16 @@ SRC_OPENAMP_C += $(addprefix $(OPENAMP_DIR)/lib/,\
 	virtio_mmio/virtio_mmio_drv.c \
 	)
 
+# OpenAMP's remoteproc source files.
+ifeq ($(MICROPY_PY_OPENAMP_REMOTEPROC),1)
+SRC_OPENAMP_C += $(addprefix $(OPENAMP_DIR)/lib/remoteproc/,\
+	elf_loader.c \
+	remoteproc.c \
+	remoteproc_virtio.c \
+	rsc_table_parser.c \
+	)
+endif # MICROPY_PY_OPENAMP_REMOTEPROC
+
 # Disable compiler warnings in OpenAMP (variables used only for assert).
 $(BUILD)/$(OPENAMP_DIR)/lib/rpmsg/rpmsg_virtio.o: CFLAGS += -Wno-unused-but-set-variable
 $(BUILD)/$(OPENAMP_DIR)/lib/virtio_mmio/virtio_mmio_drv.o: CFLAGS += -Wno-unused-but-set-variable
diff --git a/extmod/modopenamp.c b/extmod/modopenamp.c
index b0c834c28..eb19c4b73 100644
--- a/extmod/modopenamp.c
+++ b/extmod/modopenamp.c
@@ -77,6 +77,10 @@ static const char openamp_trace_buf[128];
 
 #define debug_printf(...)       // mp_printf(&mp_plat_print, __VA_ARGS__)
 
+#if MICROPY_PY_OPENAMP_REMOTEPROC
+extern mp_obj_type_t openamp_remoteproc_type;
+#endif
+
 static struct metal_device shm_device = {
     .name = METAL_SHM_NAME,
     // The number of IO regions is fixed and must match the number and
@@ -381,6 +385,9 @@ static const mp_rom_map_elem_t globals_dict_table[] = {
     { MP_ROM_QSTR(MP_QSTR_ENDPOINT_ADDR_ANY), MP_ROM_INT(RPMSG_ADDR_ANY) },
     { MP_ROM_QSTR(MP_QSTR_new_service_callback), MP_ROM_PTR(&openamp_new_service_callback_obj) },
     { MP_ROM_QSTR(MP_QSTR_Endpoint), MP_ROM_PTR(&endpoint_type) },
+    #if MICROPY_PY_OPENAMP_REMOTEPROC
+    { MP_ROM_QSTR(MP_QSTR_RemoteProc), MP_ROM_PTR(&openamp_remoteproc_type) },
+    #endif
 };
 static MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
 
diff --git a/extmod/modopenamp.h b/extmod/modopenamp.h
index 750f68929..8f677788f 100644
--- a/extmod/modopenamp.h
+++ b/extmod/modopenamp.h
@@ -47,6 +47,18 @@
 #define MICROPY_PY_OPENAMP_TRACE_BUF_ENABLE (1)
 #endif
 
+// For ports that don't define a custom image store, this enables a generic
+// VFS-based image store that supports loading elf files from storage.
+#ifndef MICROPY_PY_OPENAMP_REMOTEPROC_STORE_ENABLE
+#define MICROPY_PY_OPENAMP_REMOTEPROC_STORE_ENABLE (1)
+#endif
+
+// Enable or disable support for loading elf files. This option saves
+// around 7KBs when disabled.
+#ifndef MICROPY_PY_OPENAMP_REMOTEPROC_ELFLD_ENABLE
+#define MICROPY_PY_OPENAMP_REMOTEPROC_ELFLD_ENABLE (1)
+#endif
+
 // The resource table is used for sharing the configuration of the virtio
 // device, vrings and other resources, between the host and remote cores.
 // The layout and address the table structure must match the one used in
diff --git a/extmod/modopenamp_remoteproc.c b/extmod/modopenamp_remoteproc.c
new file mode 100644
index 000000000..6f43c7154
--- /dev/null
+++ b/extmod/modopenamp_remoteproc.c
@@ -0,0 +1,175 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2023-2024 Arduino SA
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * OpenAMP's remoteproc class.
+ */
+
+#if MICROPY_PY_OPENAMP_REMOTEPROC
+
+#include "py/obj.h"
+#include "py/nlr.h"
+#include "py/runtime.h"
+#include "py/stream.h"
+#include "extmod/vfs.h"
+
+#include "metal/sys.h"
+#include "metal/alloc.h"
+#include "metal/errno.h"
+#include "metal/io.h"
+
+#include "openamp/open_amp.h"
+#include "openamp/remoteproc.h"
+#include "openamp/remoteproc_loader.h"
+
+#include "modopenamp.h"
+#include "modopenamp_remoteproc.h"
+
+#define DEBUG_printf(...)   // mp_printf(&mp_plat_print, __VA_ARGS__)
+
+#if !MICROPY_PY_OPENAMP
+#error "MICROPY_PY_OPENAMP_REMOTEPROC requires MICROPY_PY_OPENAMP"
+#endif
+
+typedef struct openamp_remoteproc_obj {
+    mp_obj_base_t base;
+    struct remoteproc rproc;
+} openamp_remoteproc_obj_t;
+
+const mp_obj_type_t openamp_remoteproc_type;
+
+// Port-defined image store operations.
+extern struct image_store_ops openamp_remoteproc_store_ops;
+
+// Port-defined remote-proc operations.
+const struct remoteproc_ops openamp_remoteproc_ops = {
+    .init = mp_openamp_remoteproc_init,
+    .mmap = mp_openamp_remoteproc_mmap,
+    .start = mp_openamp_remoteproc_start,
+    .stop = mp_openamp_remoteproc_stop,
+    .config = mp_openamp_remoteproc_config,
+    .remove = mp_openamp_remoteproc_remove,
+    .shutdown = mp_openamp_remoteproc_shutdown,
+};
+
+static mp_obj_t openamp_remoteproc_start(mp_obj_t self_in) {
+    openamp_remoteproc_obj_t *self = MP_OBJ_TO_PTR(self_in);
+
+    // Start the processor to run the application.
+    int error = remoteproc_start(&self->rproc);
+    if (error != 0) {
+        self->rproc.state = RPROC_ERROR;
+        mp_raise_OSError(error);
+    }
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(openamp_remoteproc_start_obj, openamp_remoteproc_start);
+
+static mp_obj_t openamp_remoteproc_stop(mp_obj_t self_in) {
+    openamp_remoteproc_obj_t *self = MP_OBJ_TO_PTR(self_in);
+
+    // Stop the processor, but the processor is not powered down.
+    int error = remoteproc_stop(&self->rproc);
+    if (error != 0) {
+        mp_raise_OSError(error);
+    }
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(openamp_remoteproc_stop_obj, openamp_remoteproc_stop);
+
+static mp_obj_t openamp_remoteproc_shutdown(mp_obj_t self_in) {
+    openamp_remoteproc_obj_t *self = MP_OBJ_TO_PTR(self_in);
+
+    // Shutdown the remoteproc and release its resources.
+    int error = remoteproc_shutdown(&self->rproc);
+    if (error != 0) {
+        mp_raise_OSError(error);
+    }
+    return mp_const_none;
+}
+static MP_DEFINE_CONST_FUN_OBJ_1(openamp_remoteproc_shutdown_obj, openamp_remoteproc_shutdown);
+
+mp_obj_t openamp_remoteproc_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
+    enum { ARG_entry };
+    static const mp_arg_t allowed_args[] = {
+        { MP_QSTR_entry, MP_ARG_OBJ | MP_ARG_REQUIRED,  {.u_rom_obj = MP_ROM_NONE } },
+    };
+
+    // Parse args.
+    mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
+    mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
+
+    openamp_remoteproc_obj_t *self = mp_obj_malloc_with_finaliser(openamp_remoteproc_obj_t, &openamp_remoteproc_type);
+
+    // Make sure OpenAMP is initialized.
+    if (MP_STATE_PORT(virtio_device) == NULL) {
+        openamp_init();
+    }
+
+    // Create a remoteproc instance.
+    // NOTE: ports should use rproc->priv to allocate the image store,
+    // which gets passed to remoteproc_load(), and all of the store ops.
+    remoteproc_init(&self->rproc, &openamp_remoteproc_ops, NULL);
+
+    // Configure the remote before loading applications (optional).
+    int error = remoteproc_config(&self->rproc, NULL);
+    if (error != 0) {
+        mp_raise_OSError(error);
+    }
+
+    if (mp_obj_is_int(args[ARG_entry].u_obj)) {
+        self->rproc.bootaddr = mp_obj_get_int(args[ARG_entry].u_obj);
+    } else {
+        #if MICROPY_PY_OPENAMP_REMOTEPROC_ELFLD_ENABLE
+        // Load firmware.
+        const char *path = mp_obj_str_get_str(args[ARG_entry].u_obj);
+        int error = remoteproc_load(&self->rproc, path, self->rproc.priv, &openamp_remoteproc_store_ops, NULL);
+        if (error != 0) {
+            mp_raise_OSError(error);
+        }
+        #else
+        mp_raise_TypeError(MP_ERROR_TEXT("loading firmware is not supported."));
+        #endif
+    }
+    return MP_OBJ_FROM_PTR(self);
+}
+
+static const mp_rom_map_elem_t openamp_remoteproc_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_RemoteProc) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&openamp_remoteproc_shutdown_obj) },
+    { MP_ROM_QSTR(MP_QSTR_start), MP_ROM_PTR(&openamp_remoteproc_start_obj) },
+    { MP_ROM_QSTR(MP_QSTR_stop), MP_ROM_PTR(&openamp_remoteproc_stop_obj) },
+    { MP_ROM_QSTR(MP_QSTR_shutdown), MP_ROM_PTR(&openamp_remoteproc_shutdown_obj) },
+};
+static MP_DEFINE_CONST_DICT(openamp_remoteproc_dict, openamp_remoteproc_dict_table);
+
+MP_DEFINE_CONST_OBJ_TYPE(
+    openamp_remoteproc_type,
+    MP_QSTR_RemoteProc,
+    MP_TYPE_FLAG_NONE,
+    make_new, openamp_remoteproc_make_new,
+    locals_dict, &openamp_remoteproc_dict
+    );
+
+#endif // MICROPY_PY_OPENAMP_REMOTEPROC
diff --git a/extmod/modopenamp_remoteproc.h b/extmod/modopenamp_remoteproc.h
new file mode 100644
index 000000000..9bc2b0706
--- /dev/null
+++ b/extmod/modopenamp_remoteproc.h
@@ -0,0 +1,46 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2023-2024 Arduino SA
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * OpenAMP's remoteproc class.
+ */
+#ifndef MICROPY_INCLUDED_MODOPENAMP_REMOTEPROC_H
+#define MICROPY_INCLUDED_MODOPENAMP_REMOTEPROC_H
+
+#include "openamp/remoteproc.h"
+#include "openamp/remoteproc_loader.h"
+
+void *mp_openamp_remoteproc_store_alloc(void);
+struct remoteproc *mp_openamp_remoteproc_init(struct remoteproc *rproc,
+    const struct remoteproc_ops *ops, void *arg);
+void *mp_openamp_remoteproc_mmap(struct remoteproc *rproc, metal_phys_addr_t *pa,
+    metal_phys_addr_t *da, size_t size, unsigned int attribute,
+    struct metal_io_region **io);
+int mp_openamp_remoteproc_start(struct remoteproc *rproc);
+int mp_openamp_remoteproc_stop(struct remoteproc *rproc);
+int mp_openamp_remoteproc_config(struct remoteproc *rproc, void *data);
+void mp_openamp_remoteproc_remove(struct remoteproc *rproc);
+int mp_openamp_remoteproc_shutdown(struct remoteproc *rproc);
+
+#endif // MICROPY_INCLUDED_MODOPENAMP_REMOTEPROC_H
diff --git a/extmod/modopenamp_remoteproc_store.c b/extmod/modopenamp_remoteproc_store.c
new file mode 100644
index 000000000..857c13346
--- /dev/null
+++ b/extmod/modopenamp_remoteproc_store.c
@@ -0,0 +1,146 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2023-2024 Arduino SA
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * OpenAMP's remoteproc store.
+ */
+
+#if MICROPY_PY_OPENAMP_REMOTEPROC
+
+#include "py/obj.h"
+#include "py/nlr.h"
+#include "py/runtime.h"
+#include "py/stream.h"
+#include "extmod/vfs.h"
+
+#include "metal/sys.h"
+#include "metal/alloc.h"
+#include "metal/errno.h"
+#include "metal/io.h"
+
+#include "openamp/remoteproc.h"
+#include "openamp/remoteproc_loader.h"
+
+#include "modopenamp.h"
+#include "modopenamp_remoteproc.h"
+
+#if MICROPY_PY_OPENAMP_REMOTEPROC_STORE_ENABLE
+
+#define DEBUG_printf(...)   // mp_printf(&mp_plat_print, __VA_ARGS__)
+
+// Note the initial file buffer size needs to be at least 512 to read
+// enough of the elf headers on the first call to store_open(), and on
+// subsequent calls to store functions, it gets reallocated if needed.
+#define RPROC_FILE_STORE_BUF_SIZE   (1024)
+
+typedef struct openamp_remoteproc_filestore {
+    size_t len;
+    uint8_t *buf;
+    mp_obj_t file;
+} openamp_remoteproc_filestore_t;
+
+void *mp_openamp_remoteproc_store_alloc(void) {
+    // Allocate an rproc filestore.
+    openamp_remoteproc_filestore_t *fstore;
+    fstore = metal_allocate_memory(sizeof(openamp_remoteproc_filestore_t));
+    fstore->len = RPROC_FILE_STORE_BUF_SIZE;
+    fstore->buf = metal_allocate_memory(RPROC_FILE_STORE_BUF_SIZE);
+    return fstore;
+}
+
+static int openamp_remoteproc_store_open(void *store, const char *path, const void **image_data) {
+    DEBUG_printf("store_open(): %s\n", path);
+    mp_obj_t args[2] = {
+        mp_obj_new_str(path, strlen(path)),
+        MP_OBJ_NEW_QSTR(MP_QSTR_rb),
+    };
+
+    openamp_remoteproc_filestore_t *fstore = store;
+    fstore->file = mp_vfs_open(MP_ARRAY_SIZE(args), args, (mp_map_t *)&mp_const_empty_map);
+
+    int error = 0;
+    mp_uint_t bytes = mp_stream_read_exactly(fstore->file, fstore->buf, RPROC_FILE_STORE_BUF_SIZE, &error);
+    if (error != 0 || bytes != RPROC_FILE_STORE_BUF_SIZE) {
+        return -EINVAL;
+    }
+    *image_data = fstore->buf;
+    return bytes;
+}
+
+static void openamp_remoteproc_store_close(void *store) {
+    DEBUG_printf("store_close()\n");
+    openamp_remoteproc_filestore_t *fstore = store;
+    mp_stream_close(fstore->file);
+    metal_free_memory(fstore->buf);
+    metal_free_memory(fstore);
+}
+
+static int openamp_remoteproc_store_load(void *store, size_t offset, size_t size,
+    const void **data, metal_phys_addr_t pa,
+    struct metal_io_region *io,
+    char is_blocking) {
+
+    int error = 0;
+    openamp_remoteproc_filestore_t *fstore = store;
+
+    if (mp_stream_seek(fstore->file, offset, MP_SEEK_SET, &error) == -1) {
+        return -EINVAL;
+    }
+
+    if (pa == METAL_BAD_PHYS) {
+        if (size > fstore->len) {
+            // Note tracked allocs don't support realloc.
+            fstore->len = size;
+            fstore->buf = metal_allocate_memory(size);
+            DEBUG_printf("store_load() realloc to %lu\n", fstore->len);
+        }
+        *data = fstore->buf;
+        DEBUG_printf("store_load(): pa 0x%lx offset %u size %u \n", (uint32_t)pa, offset, size);
+    } else {
+        void *va = metal_io_phys_to_virt(io, pa);
+        if (va == NULL) {
+            return -EINVAL;
+        }
+        *data = va;
+        DEBUG_printf("store_load(): pa 0x%lx va 0x%p offset %u size %u \n", (uint32_t)pa, va, offset, size);
+    }
+
+    mp_uint_t bytes = mp_stream_read_exactly(fstore->file, (void *)*data, size, &error);
+    if (bytes != size || error != 0) {
+        return -EINVAL;
+    }
+
+    return bytes;
+}
+
+const struct image_store_ops openamp_remoteproc_store_ops = {
+    .open = openamp_remoteproc_store_open,
+    .close = openamp_remoteproc_store_close,
+    .load = openamp_remoteproc_store_load,
+    .features = SUPPORT_SEEK,
+};
+
+#endif // MICROPY_PY_OPENAMP_REMOTEPROC_STORE_ENABLE
+
+#endif // MICROPY_PY_OPENAMP_REMOTEPROC