Merge branch 'feature/apm_support_esp32c6' into 'master'

apm: added support for APM on esp32c6

Closes IDF-5819 and IDF-5818

See merge request espressif/esp-idf!22157

components/esp_hw_support/dma/async_memcpy_impl_gdma.c

@@ -82,7 +82,7 @@ esp_err_t async_memcpy_impl_init(async_memcpy_impl_t *impl)
 #if SOC_APM_SUPPORTED
     // APM strategy: trusted mode
     // TODO: IDF-5354 GDMA for M2M usage only need read and write permissions, we should disable the execute permission by the APM controller
-    apm_ll_set_master_secure_mode(APM_LL_MASTER_GDMA + m2m_trigger.instance_id, APM_LL_SECURE_MODE_TEE);
+    apm_tee_ll_set_master_secure_mode(APM_LL_MASTER_GDMA + m2m_trigger.instance_id, APM_LL_SECURE_MODE_TEE);
 #endif // SOC_APM_SUPPORTED
 
     gdma_rx_event_callbacks_t cbs = {

components/hal/CMakeLists.txt

@@ -155,6 +155,10 @@ if(NOT BOOTLOADER_BUILD)
         list(APPEND srcs "${target}/pmu_hal.c")
     endif()
 
+    if(CONFIG_SOC_APM_SUPPORTED)
+        list(APPEND srcs "apm_hal.c")
+    endif()
+
     if(${target} STREQUAL "esp32")
         list(APPEND srcs
             "touch_sensor_hal.c"

components/hal/apm_hal.c

@@ -0,0 +1,80 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "hal/assert.h"
+#include "hal/apm_hal.h"
+#include "hal/apm_ll.h"
+
+void apm_tee_hal_set_master_secure_mode(apm_ll_master_id_t master_id, apm_ll_secure_mode_t sec_mode)
+{
+    apm_tee_ll_set_master_secure_mode(master_id, sec_mode);
+}
+
+void apm_tee_hal_clk_gating_enable(bool enable)
+{
+    apm_tee_ll_clk_gating_enable(enable);
+}
+
+void apm_hp_hal_region_filter_enable(uint32_t regn_num, bool enable)
+{
+    apm_hp_ll_region_filter_enable(regn_num, enable);
+}
+
+void apm_hp_hal_m_filter_enable(apm_ll_hp_access_path_t hp_m_path, bool enable)
+{
+    apm_hp_ll_m_filter_enable(hp_m_path, enable);
+}
+
+void apm_hp_hal_region_config(const apm_hp_hal_region_config_data_t *pms_data)
+{
+    HAL_ASSERT((!pms_data) || (pms_data->regn_num > APM_LL_HP_MAX_REGION_NUM));
+
+    apm_hp_ll_set_region_start_address(pms_data->regn_num, pms_data->regn_start_addr);
+    apm_hp_ll_set_region_end_address(pms_data->regn_num, pms_data->regn_end_addr);
+    apm_hp_ll_sec_mode_region_attr_config(pms_data->regn_num, pms_data->sec_mode, pms_data->regn_pms);
+}
+
+uint8_t apm_hp_hal_m_exception_status(apm_ll_hp_access_path_t hp_m_path)
+{
+    return apm_hp_ll_m_exception_status(hp_m_path);
+}
+
+void apm_hp_hal_m_exception_clear(apm_ll_hp_access_path_t hp_m_path)
+{
+    apm_hp_ll_m_exception_clear(hp_m_path);
+}
+
+void apm_hp_hal_get_m_exception_info(apm_hp_m_exception_info_t *excp_info)
+{
+    apm_hp_ll_get_m_exception_info(excp_info);
+}
+
+void apm_hp_hal_m_interrupt_enable(apm_ll_hp_access_path_t hp_m_path, bool enable)
+{
+    apm_hp_ll_m_interrupt_enable(hp_m_path, enable);
+}
+
+void apm_hp_hal_clk_gating_enable(bool enable)
+{
+    apm_hp_ll_clk_gating_enable(enable);
+}
+
+/* TBD: IDF-6759 */
+void apm_hp_hal_master_sec_mode_config(apm_hp_secure_mode_config_t *sec_mode_data)
+{
+    for (int i = 0; i < APM_LL_MASTER_MAX; i++) {
+        if (sec_mode_data->master_ids & (1 << i)) {
+            apm_tee_hal_set_master_secure_mode(i, sec_mode_data->sec_mode);
+        }
+    }
+    sec_mode_data->pms_data->sec_mode = sec_mode_data->sec_mode;
+    apm_hp_hal_region_config(sec_mode_data->pms_data);
+}
+
+void apm_hp_hal_reset_event_enable(bool enable)
+{
+    apm_hp_ll_reset_event_enable(enable);
+}

components/hal/esp32c6/include/hal/apm_ll.h

@@ -7,14 +7,30 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "soc/pcr_reg.h"
 #include "soc/tee_reg.h"
-
-#define TEE_LL_MODE_CTRL_REG(master_id) (TEE_M0_MODE_CTRL_REG + 4 * (master_id))
+#include "soc/hp_apm_reg.h"
+#include "soc/hp_apm_struct.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#define TEE_LL_MODE_CTRL_REG(master_id) (TEE_M0_MODE_CTRL_REG + 4 * (master_id))
+#define APM_LL_REGION_ADDR_START_REG(regn_num) (HP_APM_REGION0_ADDR_START_REG + 0xC * (regn_num))
+#define APM_LL_REGION_ADDR_END_REG(regn_num) (HP_APM_REGION0_ADDR_END_REG + 0xC * (regn_num))
+#define APM_LL_REGION_ADDR_ATTR_REG(regn_num) (HP_APM_REGION0_PMS_ATTR_REG + 0xC * (regn_num))
+#define APM_LL_TEE_EXCP_STATUS_REG(sec_mode) (HP_APM_M0_STATUS_REG + 0x10 * (sec_mode))
+#define APM_LL_TEE_EXCP_CLR_REG(sec_mode) (HP_APM_M0_STATUS_CLR_REG + 0x10 * (sec_mode))
+#define APM_LL_TEE_EXCP_INFO0_REG(sec_mode) (HP_APM_M0_EXCEPTION_INFO0_REG + 0x10 * (sec_mode))
+
+#define APM_LL_HP_SEC_MODE_REGION_ATTR(sec_mode, regn_pms) ((regn_pms) << (4 * (sec_mode - 1)))
+#define APM_LL_HP_SEC_MODE_REGION_ATTR_V  0x00000003U
+#define APM_LL_HP_SEC_MODE_REGION_ATTR_M(sec_mode) (APM_LL_HP_SEC_MODE_REGION_ATTR_V << (4 * (sec_mode - 1)))
+
+#define APM_LL_HP_MAX_REGION_NUM 15
+#define APM_LL_MASTER_MAX        32
+
 /**
  * @brief APM Master ID
  */
@@ -46,17 +62,201 @@ typedef enum {
     APM_LL_SECURE_MODE_REE2 = 3, /* Rich execution environment mode2 (need to configure APM strategy for this mode) */
 } apm_ll_secure_mode_t;
 
+/**
+ * @brief APM HP access path
+ */
+typedef enum {
+    APM_LL_HP_ACCESS_PATH_M0 = 0x0,
+    APM_LL_HP_ACCESS_PATH_M1 = 0x1,
+    APM_LL_HP_ACCESS_PATH_M2 = 0x2,
+    APM_LL_HP_ACCESS_PATH_M3 = 0x3,
+} apm_ll_hp_access_path_t;
+
+/**
+ * @brief APM exception information
+ */
+typedef struct {
+    uint8_t  excp_id;
+    apm_ll_secure_mode_t sec_mode;
+    uint8_t excp_regn;
+    uint8_t excp_mode;
+    uint32_t excp_addr;
+} apm_hp_m_exception_info_t;
+
 /**
  * @brief Set secure mode
  *
  * @param master_id APM master ID
  * @param mode Secure mode
  */
-static inline void apm_ll_set_master_secure_mode(apm_ll_master_id_t master_id, apm_ll_secure_mode_t mode)
+static inline void apm_tee_ll_set_master_secure_mode(apm_ll_master_id_t master_id, apm_ll_secure_mode_t sec_mode)
 {
-    REG_WRITE(TEE_LL_MODE_CTRL_REG(master_id), mode);
+    REG_WRITE(TEE_LL_MODE_CTRL_REG(master_id), sec_mode);
 }
 
+/**
+ * @brief TEE controller clock auto gating enable
+ *
+ * @param enable Flag for HP clock auto gating enable/disable
+ */
+static inline void apm_tee_ll_clk_gating_enable(bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(TEE_CLOCK_GATE_REG, TEE_CLK_EN);
+    } else {
+        REG_CLR_BIT(TEE_CLOCK_GATE_REG, TEE_CLK_EN);
+    }
+}
+
+/**
+ * @brief enable/disable HP Region access permission filter
+ *
+ * @param regn_num Memory Region number
+ * @param enable Flag for Region access filter enable/disable
+ */
+static inline void apm_hp_ll_region_filter_enable(uint32_t regn_num, bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(HP_APM_REGION_FILTER_EN_REG, BIT(regn_num));
+    } else {
+        REG_CLR_BIT(HP_APM_REGION_FILTER_EN_REG, BIT(regn_num));
+    }
+}
+
+/**
+ * @brief enable/disable HP access path(M[0:3])
+ *
+ * @param hp_m_path HP access path
+ * @param enable    Flag for HP M path filter enable/disable
+ */
+static inline void apm_hp_ll_m_filter_enable(apm_ll_hp_access_path_t hp_m_path, bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(HP_APM_FUNC_CTRL_REG, BIT(hp_m_path));
+    } else {
+        REG_CLR_BIT(HP_APM_FUNC_CTRL_REG, BIT(hp_m_path));
+    }
+}
+
+/**
+ * @brief HP Region start address configuration
+ *
+ * @param regn_num HP Region number to be configured
+ * @param addr     Region start address
+ */
+static inline void apm_hp_ll_set_region_start_address(uint32_t regn_num, uint32_t addr)
+{
+    REG_WRITE(APM_LL_REGION_ADDR_START_REG(regn_num), addr);
+}
+
+/**
+ * @brief HP Region end address configuration
+ *
+ * @param regn_num HP Region number to be configured
+ * @param addr     Region end address
+ */
+static inline void apm_hp_ll_set_region_end_address(uint32_t regn_num, uint32_t addr)
+{
+    REG_WRITE(APM_LL_REGION_ADDR_END_REG(regn_num), addr);
+}
+
+/**
+ * @brief HP Region pms attributes configuration
+ *
+ * @param regn_num Region number to be configured
+ * @param sec_mode Secure mode of the Master
+ * @param regn_pms XWR permissions for the given secure mode and Region number
+ */
+static inline void apm_hp_ll_sec_mode_region_attr_config(uint32_t regn_num, apm_ll_secure_mode_t sec_mode, uint32_t regn_pms)
+{
+    uint32_t val = 0;
+    val = REG_READ(APM_LL_REGION_ADDR_ATTR_REG(regn_num));
+    val &= ~APM_LL_HP_SEC_MODE_REGION_ATTR_M(sec_mode);
+    val |= APM_LL_HP_SEC_MODE_REGION_ATTR(sec_mode, regn_pms);
+    REG_WRITE(APM_LL_REGION_ADDR_ATTR_REG(regn_num), val);
+}
+
+/**
+ * @brief Get HP access path(M[0:3]) exception status
+ *
+ * @param hp_m_path HP access path
+ */
+static inline uint8_t apm_hp_ll_m_exception_status(apm_ll_hp_access_path_t hp_m_path)
+{
+    return REG_READ(APM_LL_TEE_EXCP_STATUS_REG(hp_m_path));
+}
+
+/**
+ * @brief Clear HP access path(M[0:3]) exception
+ *
+ * @param hp_m_path HP access path
+ */
+static inline void apm_hp_ll_m_exception_clear(apm_ll_hp_access_path_t hp_m_path)
+{
+    REG_SET_BIT(APM_LL_TEE_EXCP_CLR_REG(hp_m_path), HP_APM_M0_REGION_STATUS_CLR);
+}
+
+/**
+ * @brief Get HP access path(M[0:3]) exception information
+ *
+ * @param excp_info Exception related information like addr,
+ * region, sec_mode and master id
+ */
+static inline void apm_hp_ll_get_m_exception_info(apm_hp_m_exception_info_t *excp_info)
+{
+    excp_info->excp_id = REG_GET_FIELD(APM_LL_TEE_EXCP_INFO0_REG(excp_info->sec_mode), HP_APM_M0_EXCEPTION_ID);
+    excp_info->excp_mode = REG_GET_FIELD(APM_LL_TEE_EXCP_INFO0_REG(excp_info->sec_mode), HP_APM_M0_EXCEPTION_MODE);
+    excp_info->excp_regn = REG_GET_FIELD(APM_LL_TEE_EXCP_INFO0_REG(excp_info->sec_mode), HP_APM_M0_EXCEPTION_REGION);
+    excp_info->excp_addr = REG_READ(HP_APM_M0_EXCEPTION_INFO1_REG);
+}
+
+/**
+ * @brief Interrupt enable for access path(M[0:3])
+ *
+ * @param hp_m_path HP access path
+ * @param enable    Flag for access path interrupt enable/disable
+ */
+static inline void apm_hp_ll_m_interrupt_enable(apm_ll_hp_access_path_t hp_m_path, bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(HP_APM_INT_EN_REG, BIT(hp_m_path));
+    } else {
+        REG_CLR_BIT(HP_APM_INT_EN_REG, BIT(hp_m_path));
+    }
+}
+
+/**
+ * @brief HP clock auto gating enable
+ *
+ * @param enable   Flag for HP clock auto gating enable/disable
+ */
+static inline void apm_hp_ll_clk_gating_enable(bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(HP_APM_CLOCK_GATE_REG, HP_APM_CLK_EN);
+    } else {
+        REG_CLR_BIT(HP_APM_CLOCK_GATE_REG, HP_APM_CLK_EN);
+    }
+}
+
+/**
+ * @brief APM/TEE/HP System Reg reset event bypass enable
+ *
+ * Disable: tee_reg/apm_reg/hp_system_reg will not only be reset by power-reset,
+ * but also some reset events.
+ * Enable: tee_reg/apm_reg/hp_system_reg will only be reset by power-reset.
+ * Some reset events will be bypassed.
+ *
+ * @param enable   Flag for event bypass enable/disable
+ */
+static inline void apm_hp_ll_reset_event_enable(bool enable)
+{
+    if (enable) {
+        REG_SET_BIT(PCR_RESET_EVENT_BYPASS_REG, PCR_RESET_EVENT_BYPASS_APM);
+    } else {
+        REG_CLR_BIT(PCR_RESET_EVENT_BYPASS_REG, PCR_RESET_EVENT_BYPASS_APM);
+    }
+}
 #ifdef __cplusplus
 }
 #endif

components/hal/include/hal/apm_hal.h

@@ -0,0 +1,134 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#include "hal/apm_ll.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Region configuration data.
+ */
+typedef struct {
+    apm_ll_secure_mode_t sec_mode;
+    uint32_t regn_num;
+    uint32_t regn_start_addr;
+    uint32_t regn_end_addr;
+    uint32_t regn_pms;
+} apm_hp_hal_region_config_data_t;
+
+/**
+ * @brief Secure mode(TEE/REE[0:2] configuration data.
+ */
+typedef struct {
+    apm_ll_secure_mode_t sec_mode;             /* Secure mode to be configured TEE/REE[0:2]. */
+    uint32_t master_ids;                       /* Bit mask for masters to be part of this secure mode. */
+    apm_hp_hal_region_config_data_t *pms_data; /* Region configuration data. */
+} apm_hp_secure_mode_config_t;
+
+/**
+ * @brief Set secure mode
+ *
+ * @param master_id APM master ID
+ * @param sec_mode Secure mode
+ */
+void apm_tee_hal_set_master_secure_mode(apm_ll_master_id_t master_id, apm_ll_secure_mode_t sec_mode);
+
+/**
+ * @brief TEE controller clock auto gating enable
+ *
+ * @param enable Flag for HP clock auto gating enable/disable
+ */
+void apm_tee_hal_clk_gating_enable(bool enable);
+
+/**
+ * @brief enable/disable HP Region access permission filter
+ *
+ * @param regn_num Memory Region number
+ * @param enable Flag for Region access filter enable/disable
+ */
+void apm_hp_hal_region_filter_enable(uint32_t regn_num, bool enable);
+
+/**
+ * @brief enable/disable HP access path(M[0:3])
+ *
+ * @param hp_m_path HP access path
+ * @param enable    Flag for HP M path filter enable/disable
+ */
+void apm_hp_hal_m_filter_enable(apm_ll_hp_access_path_t hp_m_path, bool enable);
+
+/**
+ * @brief Region configuration
+ *
+ * @param pms_data Region configuration data
+ */
+void apm_hp_hal_region_config(const apm_hp_hal_region_config_data_t *pms_data);
+
+/**
+ * @brief Get HP access path(M[0:3]) exception status
+ *
+ * @param hp_m_path HP access path
+ */
+uint8_t apm_hp_hal_m_exception_status(apm_ll_hp_access_path_t hp_m_path);
+
+/**
+ * @brief Clear HP access path(M[0:3]) exception
+ *
+ * @param hp_m_path HP access path
+ */
+void apm_hp_hal_m_exception_clear(apm_ll_hp_access_path_t hp_m_path);
+
+/**
+ * @brief Get HP access path(M[0:3]) exception information
+ *
+ * @param excp_info Exception related information like addr,
+ * region, sec_mode and master id
+ */
+void apm_hp_hal_get_m_exception_info(apm_hp_m_exception_info_t *excp_info);
+
+/**
+ * @brief Interrupt enable for access path(M[0:3])
+ *
+ * @param hp_m_path HP access path
+ * @param enable    Flag for access path interrupt enable/disable
+ */
+void apm_hp_hal_m_interrupt_enable(apm_ll_hp_access_path_t hp_m_path, bool enable);
+
+/**
+ * @brief HP clock auto gating enable
+ *
+ * @param enable   Flag for HP clock auto gating enable/disable
+ */
+void apm_hp_hal_clk_gating_enable(bool enable);
+
+/**
+ * @brief TEE/REE execution environment configuration.
+ *
+ * This API will be called from TEE mode initialization code which is
+ * responsible to setup TEE/REE execution environment.
+ * It includes, allocation of all bus masters, memory ranges and other
+ * peripherals to the given secure mode.
+ * All this information should be passed by the TEE mode initialization code.
+ */
+void apm_hp_hal_master_sec_mode_config(apm_hp_secure_mode_config_t *sec_mode_data);
+
+/**
+ * @brief APM/TEE/HP System Reg reset event bypass enable
+ *
+ * Disable: tee_reg/apm_reg/hp_system_reg will not only be reset by power-reset,
+ * but also some reset events.
+ * Enable: tee_reg/apm_reg/hp_system_reg will only be reset by power-reset.
+ * Some reset events will be bypassed.
+ *
+ * @param enable   Flag for event bypass enable/disable
+ */
+void apm_hp_hal_reset_event_enable(bool enable);
+
+#ifdef __cplusplus
+}
+#endif

components/hal/include/hal/apm_types.h

@@ -0,0 +1,23 @@
+/*
+ * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief APM Region PMS authority
+ */
+typedef enum {
+    APM_REGION_PMS_X = 0x1, /*!< Region executive authority. */
+    APM_REGION_PMS_W = 0x2, /*!< Region write authority. */
+    APM_REGION_PMS_R = 0x4, /*!< Region read authority. */
+} apm_region_pms_t;
+
+#ifdef __cplusplus
+}
+#endif

components/soc/esp32h2/include/soc/Kconfig.soc_caps.in

@@ -99,10 +99,6 @@ config SOC_BOD_SUPPORTED
     bool
     default y
 
-config SOC_APM_SUPPORTED
-    bool
-    default y
-
 config SOC_XTAL_SUPPORT_32M
     bool
     default y

components/soc/esp32h2/include/soc/soc_caps.h

@@ -62,7 +62,7 @@
 // #define SOC_FLASH_ENC_SUPPORTED         1 // TODO: IDF-6282
 // #define SOC_SECURE_BOOT_SUPPORTED       1 // TODO: IDF-6281
 #define SOC_BOD_SUPPORTED               1
-#define SOC_APM_SUPPORTED               1
+// #define SOC_APM_SUPPORTED               1 // TODO: IDF-6277
 
 /*-------------------------- XTAL CAPS ---------------------------------------*/
 #define SOC_XTAL_SUPPORT_32M            1