Add IMP

18 files changed, 2344 insertions, 0 deletions

diff --git a/meta-rcar-gen3-adas/conf/layer.conf b/meta-rcar-gen3-adas/conf/layer.conf
index 6bbd590..76874e7 100644
--- a/meta-rcar-gen3-adas/conf/layer.conf
+++ b/meta-rcar-gen3-adas/conf/layer.conf
@@ -71,6 +71,12 @@ IMAGE_INSTALL_append_rcar-gen3 += " \
     ofono-tests \
 "
 
+# IMP
+IMAGE_INSTALL_append_rcar-gen3 += " \
+    kernel-module-uio-imp \
+    kernel-module-cmemdrv \
+"
+
 DISTRO_FEATURES_remove="x11"
 DISTRO_FEATURES_append = " surroundview "
 DISTRO_FEATURES_append = " opencv-sdk "
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/GPL-COPYING b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/GPL-COPYING
new file mode 100644
index 0000000..d159169
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/GPL-COPYING
@@ -0,0 +1,339 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
+
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+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
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diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/MIT-COPYING b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/MIT-COPYING
new file mode 100644
index 0000000..28e2a15
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/MIT-COPYING
@@ -0,0 +1,41 @@
+
+This software is Copyright (C) 2013 Renesas Electronics Corporation
+
+You may use, distribute and copy this software under the terms of the MIT
+license displayed below.
+
+-----------------------------------------------------------------------------
+
+ 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.
+
+ Alternatively, the contents of this file may be used under the terms of
+ the GNU General Public License Version 2 ("GPL") in which case the provisions
+ of GPL are applicable instead of those above.
+
+ If you wish to allow use of your version of this file only under the terms of
+ GPL, and not to allow others to use your version of this file under the terms
+ of the MIT license, indicate your decision by deleting the provisions above
+ and replace them with the notice and other provisions required by GPL as set
+ out in the file called "GPL-COPYING" included in this distribution. If you do
+ not delete the provisions above, a recipient may use your version of this file
+ under the terms of either the MIT license or GPL.
+
+-----------------------------------------------------------------------------
+
+ EXCEPT AS OTHERWISE STATED IN A NEGOTIATED AGREEMENT: (A) 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; AND (B) 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.
+
+-----------------------------------------------------------------------------
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/Makefile b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/Makefile
new file mode 100644
index 0000000..2e26bfb
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/Makefile
@@ -0,0 +1,14 @@
+obj-m := cmemdrv.o
+
+SRC := $(shell pwd)
+
+all:
+	$(MAKE) -C $(KERNEL_SRC) M=$(SRC)
+
+modules_install:
+	$(MAKE) -C $(KERNEL_SRC) M=$(SRC) modules_install
+
+clean:
+	rm -f *.o *~ core .depend .*.cmd *.ko *.mod.c
+	rm -f Module.markers Module.symvers modules.order
+	rm -rf .tmp_versions Modules.symvers
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/cmemdrv.c b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/cmemdrv.c
new file mode 100644
index 0000000..a5d4363
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/files/cmemdrv.c
@@ -0,0 +1,457 @@
+/*************************************************************************/ /*
+ Memory Driver (kernel module)
+
+ Copyright (C) 2015 - 2017 Renesas Electronics Corporation
+
+ License        Dual MIT/GPLv2
+
+ The contents of this file are subject to the MIT license as set out below.
+
+ 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.
+
+ Alternatively, the contents of this file may be used under the terms of
+ the GNU General Public License Version 2 ("GPL") in which case the provisions
+ of GPL are applicable instead of those above.
+
+ If you wish to allow use of your version of this file only under the terms of
+ GPL, and not to allow others to use your version of this file under the terms
+ of the MIT license, indicate your decision by deleting the provisions above
+ and replace them with the notice and other provisions required by GPL as set
+ out in the file called "GPL-COPYING" included in this distribution. If you do
+ not delete the provisions above, a recipient may use your version of this file
+ under the terms of either the MIT license or GPL.
+
+ This License is also included in this distribution in the file called
+ "MIT-COPYING".
+
+ EXCEPT AS OTHERWISE STATED IN A NEGOTIATED AGREEMENT: (A) 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; AND (B) 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.
+
+ GPLv2:
+ If you wish to use this file under the terms of GPL, following terms are
+ effective.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/ /*************************************************************************/
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/string.h>
+#include <linux/fs.h>
+#include <asm/uaccess.h>
+#include <linux/dma-mapping.h>
+#include <linux/slab.h>
+#include <linux/device.h>
+#include <linux/of_device.h>
+
+#define MAX_AREA_NUM 4
+#define DEFAULT_AREA_SIZE (16 * 1024 * 1024)
+
+#define PARAM_SET     1
+#define M_LOCK        3
+#define M_UNLOCK      4
+#define GET_PHYS_ADDR 5
+#define M_ALLOCATE    6
+#define M_UNALLOCATE  7
+#define TRY_CONV      8
+
+#define IOCTL_FROM_IMP_TO_CPU 0
+#define IOCTL_FROM_CPU_TO_IMP 1
+
+struct mem_area_data {
+	struct device *dev;
+	size_t size;
+	void *virt_ptr;
+	dma_addr_t phys_addr;
+};
+
+struct mem_access_data {
+	struct mem_area_data* area;
+	int start_offset;
+	int offset;
+	int width;
+	int height;
+	int stride;
+	int locked;
+	int tl;
+};
+
+static unsigned int bsize_count;
+static unsigned long bsize[MAX_AREA_NUM];
+module_param_array(bsize, ulong, &bsize_count, S_IRUGO);
+static int cached = 1;
+module_param(cached, int, S_IRUGO);
+
+#ifdef CFG_USE_FPGA
+static unsigned long cfg_bsize = 0;
+module_param(cfg_bsize, ulong, S_IRUGO);
+#endif
+
+static unsigned int cmem_major = 88;		// 0:auto
+module_param(cmem_major, uint, S_IRUGO);
+
+static struct class *cmem_class = NULL;
+static struct mem_area_data *cmem_areas[MAX_AREA_NUM];
+
+static int cv_v_to_p(unsigned long vaddr, unsigned long *paddr)
+{
+	struct vm_area_struct *vma;
+	unsigned long start, offset;
+	unsigned long pfn;
+	int ret;
+
+	*paddr = 0;
+
+	vma = find_vma(current->active_mm, vaddr);
+	if (vma == NULL)
+		return -EINVAL;
+
+	start = vaddr & PAGE_MASK;
+	ret = follow_pfn(vma, start, &pfn);
+	if (ret < 0)
+		return ret;
+
+	offset = offset_in_page(vaddr);
+	*paddr = (pfn << PAGE_SHIFT) + offset;
+
+	return 0;
+}
+
+static void do_tl(u64 *src, u64 *dst, unsigned int height, unsigned int step)
+{
+	unsigned int i;
+	int j;
+	unsigned int yaddr;
+	u64 *isrc, *idst, *isrcp, *idstp;
+
+	for (j = 0; j < height ; j += 2) {
+		yaddr = (j & ~0x1f) * step | ((j & 0x1f) << 7);
+		isrc = src + (yaddr >> 3);
+		idst = dst + (j * step >> 3);
+		for (i = 0; i < step >> 3; i += 16) {
+			idstp = idst + i;
+			isrcp = isrc + (i << 5);
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			idstp = idst + i + (step >> 3);
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+			*idstp++ = *isrcp++;
+
+			//idst[i] = isrc[((i >> 4) << 9) + (i & 0xf)];
+		}
+	}
+}
+
+static ssize_t dev_read(struct file *filep, char *buf, size_t len, loff_t *ppos)
+{
+	size_t count;
+	struct mem_access_data *p = filep->private_data;
+
+	if (p->tl) {
+		do_tl( (u64 *)(p->area->virt_ptr + p->offset + p->start_offset),
+		       (u64 *)buf, p->height, p->stride );
+		count = len;
+	} else {
+		count = copy_to_user(buf, p->area->virt_ptr + p->offset + p->start_offset, len);
+	}
+
+	return count;
+}
+
+static ssize_t dev_write(struct file *filep, const char *buf, size_t len, loff_t *ppos)
+{
+	size_t count;
+	struct mem_access_data *p = filep->private_data;
+
+	count = copy_from_user(p->area->virt_ptr + p->offset + p->start_offset, buf, len);
+
+	return count;
+}
+
+static long dev_ioctl(struct file *filep, unsigned int cmd, unsigned long arg)
+{
+	struct mem_access_data *p = filep->private_data;
+	struct device *dev = p->area->dev;
+	u32 offset, size, dir;
+
+	switch (cmd) {
+	case PARAM_SET :
+		p->width  = ((unsigned int *)arg)[0];
+		p->height = ((unsigned int *)arg)[1];
+		p->stride = ((unsigned int *)arg)[2];
+		p->tl     = ((unsigned int *)arg)[3];
+		p->offset = ((unsigned int *)arg)[4];
+		break;
+	case M_ALLOCATE :
+		break;
+	case M_LOCK :
+		if (cached) {
+			offset = ((unsigned int *)arg)[0];
+			size   = ((unsigned int *)arg)[1];
+			dir    = ((unsigned int *)arg)[2];
+			if (dir == IOCTL_FROM_IMP_TO_CPU)
+				dma_sync_single_for_device(dev, p->area->phys_addr + p->start_offset + offset, size, DMA_FROM_DEVICE);
+			else
+				dma_sync_single_for_device(dev, p->area->phys_addr + p->start_offset + offset, size, DMA_TO_DEVICE);
+		}
+		break;
+	case M_UNLOCK :
+		if (cached) {
+			offset = ((unsigned int *)arg)[0];
+			size   = ((unsigned int *)arg)[1];
+			dir    = ((unsigned int *)arg)[2];
+			if (dir == IOCTL_FROM_IMP_TO_CPU)
+				dma_sync_single_for_cpu(dev, p->area->phys_addr + p->start_offset + offset, size, DMA_FROM_DEVICE);
+			else
+				dma_sync_single_for_cpu(dev, p->area->phys_addr + p->start_offset + offset, size, DMA_TO_DEVICE);
+		}
+		break;
+	case M_UNALLOCATE :
+		break;
+	case GET_PHYS_ADDR :
+		*((unsigned int *)arg) = p->area->phys_addr;
+		break;
+	case TRY_CONV :
+		cv_v_to_p( ( (unsigned long *)arg )[0], (unsigned long *)arg + 1);
+		break;
+	default:
+		dev_warn(dev, "## unknown ioctl command %d\n", cmd);
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
+static int dev_mmap(struct file *filep, struct vm_area_struct *vma)
+{
+	struct mem_access_data *p = filep->private_data;
+	unsigned long off;
+	unsigned long start;
+
+	if (vma->vm_pgoff > (~0UL >> PAGE_SHIFT))
+		return -EINVAL;
+
+	off = vma->vm_pgoff << PAGE_SHIFT;
+	start = p->area->phys_addr;
+
+	if ((vma->vm_end - vma->vm_start + off) > p->area->size)
+		return -EINVAL;
+
+	off += start;
+	vma->vm_pgoff = off >> PAGE_SHIFT;
+	vma->vm_flags |= VM_DONTEXPAND | VM_DONTDUMP;
+	if (!cached)
+		vma->vm_page_prot = pgprot_noncached(vma->vm_page_prot);
+
+	return remap_pfn_range( vma,
+	                        vma->vm_start,
+	                        vma->vm_pgoff,
+	                        vma->vm_end - vma->vm_start,
+	                        vma->vm_page_prot ) ;
+}
+
+static int dev_open(struct inode *inode, struct file *filep)
+{
+	struct mem_access_data *mem_access_p;
+	int minor = iminor(inode);
+	struct mem_area_data* area = cmem_areas[minor];
+
+	mem_access_p = kzalloc(sizeof(*mem_access_p), GFP_KERNEL);
+	if (!mem_access_p)
+		return -ENOMEM;
+
+	dev_dbg(area->dev, "Device Open\n");
+	mem_access_p->area = area;
+	filep->private_data = mem_access_p;
+
+	return 0;
+}
+
+static int dev_rls(struct inode *inode, struct file *filep)
+{
+	struct mem_access_data *mem_access_p = filep->private_data;
+	kfree(mem_access_p);
+	return 0;
+}
+
+static struct file_operations fops = {
+	.owner          = THIS_MODULE,
+	.read           = dev_read,
+	.write          = dev_write,
+	.unlocked_ioctl = dev_ioctl,
+	.compat_ioctl   = dev_ioctl,
+	.mmap           = dev_mmap,
+	.open           = dev_open,
+	.release        = dev_rls,
+};
+
+static int cmemdrv_create_device(dev_t devt, size_t size)
+{
+	int ret;
+	struct mem_area_data *area;
+	struct device *dev;
+	void *virt_b_ptr;
+	dma_addr_t phy_b_addr;
+
+	dev = device_create(cmem_class, NULL, devt, NULL, "cmem%d", MINOR(devt));
+	if (IS_ERR(dev)) {
+		pr_err("cmem: unable to create device cmem%d\n", MINOR(devt));
+		return PTR_ERR(dev);
+	}
+
+	area = devm_kzalloc(dev, sizeof(*area), GFP_KERNEL);
+	if (!area) {
+		ret = -ENOMEM;
+		goto err;
+	}
+	area->dev = dev;
+
+#ifdef CONFIG_ARM64
+	{
+		struct device_node *np;
+		np = of_find_compatible_node(NULL, NULL, "shared-dma-pool");
+		of_dma_configure(dev, np);
+	}
+#endif
+
+	virt_b_ptr = dmam_alloc_coherent(dev, size + PAGE_SIZE, &phy_b_addr, GFP_KERNEL);
+	if (!virt_b_ptr) {
+		dev_err(dev, "Memory allocation failed.. (size:0x%zx)\n", size);
+		ret = -ENOMEM;
+		goto err;
+	}
+
+	area->virt_ptr = PTR_ALIGN(virt_b_ptr, PAGE_SIZE);
+	area->phys_addr = phy_b_addr + (area->virt_ptr - virt_b_ptr);
+	area->size = size;
+	cmem_areas[MINOR(devt)] = area;
+	dev_notice(dev, "Memory allocated.. 0x%08lx (size:0x%zx)\n", (unsigned long)area->phys_addr, size);
+
+	return 0;
+
+err:
+	device_destroy(cmem_class, devt);
+	return ret;
+}
+
+static int __init cmemdrv_init(void)
+{
+	int i = 0;
+	int ret;
+
+	if (bsize_count == 0)
+		bsize[bsize_count++] = DEFAULT_AREA_SIZE;	/* add default area */
+
+#ifdef CFG_USE_FPGA
+	if (cfg_bsize && bsize_count < MAX_AREA_NUM)
+		bsize[bsize_count++] = cfg_bsize;	/* for compatibility */
+#endif
+
+	ret = register_chrdev(cmem_major, "CMem", &fops);
+	if (ret < 0) {
+		pr_err("cmem: unable to get major %d\n", cmem_major);
+		return ret;
+	}
+	if (cmem_major == 0)
+		cmem_major = ret;
+
+	cmem_class = class_create(THIS_MODULE, "cmem");
+	if (IS_ERR(cmem_class)) {
+		pr_err("cmem: unable to create class\n");
+		ret = PTR_ERR(cmem_class);
+		goto err1;
+	}
+
+	for (i = 0; i < bsize_count; i++) {
+		ret = cmemdrv_create_device(MKDEV(cmem_major, i), bsize[i]);
+		if (ret < 0)
+			goto err2;
+	}
+
+	return 0;
+
+err2:
+	for (i--; i >= 0; i--)
+		device_destroy(cmem_class, MKDEV(cmem_major, i));
+
+	class_destroy(cmem_class);
+err1:
+	unregister_chrdev(cmem_major, "CMem");
+	return ret;
+}
+
+static void __exit cmemdrv_exit(void)
+{
+	int i;
+	for (i = 0; i < bsize_count; i++)
+		device_destroy(cmem_class, MKDEV(cmem_major, i));
+
+	class_destroy(cmem_class);
+	unregister_chrdev(cmem_major, "CMem");
+}
+
+module_init(cmemdrv_init)
+module_exit(cmemdrv_exit)
+
+MODULE_AUTHOR("RenesasElectronicsCorp.");
+MODULE_DESCRIPTION("Userspace I/O driver for image memory");
+MODULE_LICENSE("GPL v2");
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/kernel-module-cmemdrv_0.1.bb b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/kernel-module-cmemdrv_0.1.bb
new file mode 100644
index 0000000..c460c6f
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-cmemdrv/kernel-module-cmemdrv_0.1.bb
@@ -0,0 +1,24 @@
+SUMMARY = "Cache Memory Primitive Module"
+LICENSE = "GPLv2 & MIT"
+LIC_FILES_CHKSUM = " \
+    file://GPL-COPYING;md5=b234ee4d69f5fce4486a80fdaf4a4263 \
+    file://MIT-COPYING;md5=fea016ce2bdf2ec10080f69e9381d378 \
+    "
+
+inherit module
+
+PR = "r0"
+PV = "0.1"
+
+SRC_URI = " \
+    file://Makefile \
+    file://cmemdrv.c \
+    file://GPL-COPYING \
+    file://MIT-COPYING \
+    "
+
+S = "${WORKDIR}"
+
+KERNEL_MODULE_AUTOLOAD += "cmemdrv"
+KERNEL_MODULE_PROBECONF += "cmemdrv"
+module_conf_cmemdrv = "options cmemdrv bsize=0x7000000"
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/GPL-COPYING b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/GPL-COPYING
new file mode 100644
index 0000000..d159169
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/GPL-COPYING
@@ -0,0 +1,339 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The licenses for most software are designed to take away your
+freedom to share and change it.  By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
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+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
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+  When we speak of free software, we are referring to freedom, not
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+
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+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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+POSSIBILITY OF SUCH DAMAGES.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License along
+    with this program; if not, write to the Free Software Foundation, Inc.,
+    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) year name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/MIT-COPYING b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/MIT-COPYING
new file mode 100644
index 0000000..28e2a15
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/MIT-COPYING
@@ -0,0 +1,41 @@
+
+This software is Copyright (C) 2013 Renesas Electronics Corporation
+
+You may use, distribute and copy this software under the terms of the MIT
+license displayed below.
+
+-----------------------------------------------------------------------------
+
+ 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.
+
+ Alternatively, the contents of this file may be used under the terms of
+ the GNU General Public License Version 2 ("GPL") in which case the provisions
+ of GPL are applicable instead of those above.
+
+ If you wish to allow use of your version of this file only under the terms of
+ GPL, and not to allow others to use your version of this file under the terms
+ of the MIT license, indicate your decision by deleting the provisions above
+ and replace them with the notice and other provisions required by GPL as set
+ out in the file called "GPL-COPYING" included in this distribution. If you do
+ not delete the provisions above, a recipient may use your version of this file
+ under the terms of either the MIT license or GPL.
+
+-----------------------------------------------------------------------------
+
+ EXCEPT AS OTHERWISE STATED IN A NEGOTIATED AGREEMENT: (A) 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; AND (B) 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.
+
+-----------------------------------------------------------------------------
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/Makefile b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/Makefile
new file mode 100644
index 0000000..9d35e2a
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/Makefile
@@ -0,0 +1,14 @@
+obj-m := uio_imp.o
+
+SRC := $(shell pwd)
+
+all:
+	$(MAKE) -C $(KERNEL_SRC) M=$(SRC)
+
+modules_install:
+	$(MAKE) -C $(KERNEL_SRC) M=$(SRC) modules_install
+
+clean:
+	rm -f *.o *~ core .depend .*.cmd *.ko *.mod.c
+	rm -f Module.markers Module.symvers modules.order
+	rm -rf .tmp_versions Modules.symvers
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/uio_imp.c b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/uio_imp.c
new file mode 100644
index 0000000..ca90d2c
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/files/uio_imp.c
@@ -0,0 +1,559 @@
+/*************************************************************************/ /*
+ IMP Driver (kernel module)
+
+ Copyright (C) 2015 - 2017 Renesas Electronics Corporation
+
+ License        Dual MIT/GPLv2
+
+ The contents of this file are subject to the MIT license as set out below.
+
+ 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.
+
+ Alternatively, the contents of this file may be used under the terms of
+ the GNU General Public License Version 2 ("GPL") in which case the provisions
+ of GPL are applicable instead of those above.
+
+ If you wish to allow use of your version of this file only under the terms of
+ GPL, and not to allow others to use your version of this file under the terms
+ of the MIT license, indicate your decision by deleting the provisions above
+ and replace them with the notice and other provisions required by GPL as set
+ out in the file called "GPL-COPYING" included in this distribution. If you do
+ not delete the provisions above, a recipient may use your version of this file
+ under the terms of either the MIT license or GPL.
+
+ This License is also included in this distribution in the file called
+ "MIT-COPYING".
+
+ EXCEPT AS OTHERWISE STATED IN A NEGOTIATED AGREEMENT: (A) 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; AND (B) 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.
+
+ GPLv2:
+ If you wish to use this file under the terms of GPL, following terms are
+ effective.
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/ /*************************************************************************/
+
+#include <linux/platform_device.h>
+#include <linux/uio_driver.h>
+#include <linux/module.h>
+#include <linux/interrupt.h>
+#include <linux/pm_runtime.h>
+#include <linux/slab.h>
+#include <linux/io.h>
+#include <linux/dma-mapping.h>
+#include <linux/irq.h>
+#include <linux/irqdomain.h>
+
+#include <linux/of.h>
+#include <linux/of_platform.h>
+#include <linux/of_address.h>
+#include <linux/of_irq.h>
+
+#define DRIVER_NAME "uio_imp"
+#define DRIVER_VER "0.0"
+
+#define LUIO_DEVICE_IMP     0
+#define LUIO_DEVICE_IMPSC   1
+#define LUIO_DEVICE_IMPDES  2
+#define LUIO_DEVICE_IMRLSX  3
+#define LUIO_DEVICE_IMRX    4
+#define LUIO_DEVICE_MEM     5
+#define LUIO_DEVICE_VSP     6
+#define LUIO_DEVICE_IMPDMAC 7
+
+#define IMP_INTERNAL_REG_SIZE 0x1000
+#define IMP_NUM_DIST_HWIRQ 32
+
+static int bsize = 7 * 1024 * 1024;
+module_param(bsize, uint, S_IRUGO);
+
+static bool clear_int = 0;
+module_param(clear_int, bool, S_IRUGO);
+
+struct imp_dev_data {
+	int dtype;
+	irqreturn_t (*handler)(int irq, struct uio_info *dev_info);
+	void (*sreset)(struct uio_info *info);
+	const char *name;
+};
+
+struct uio_imp_platdata {
+	struct uio_info *uioinfo;
+	struct platform_device *pdev;
+	const struct imp_dev_data *dev_data;
+
+	struct irq_chip irq_chip;
+	struct irq_domain *irq_domain;
+	unsigned int domain_irq[IMP_NUM_DIST_HWIRQ];
+	int max_hwirq;
+};
+
+static unsigned int ReadReg(struct uio_info *info,
+			unsigned long reg_offs)
+{
+	return ioread32(info->mem[0].internal_addr + reg_offs);
+}
+
+static void WriteReg(struct uio_info *info,
+			unsigned long reg_offs, u32 data)
+{
+	iowrite32(data, info->mem[0].internal_addr + reg_offs);
+}
+
+static irqreturn_t imp_handler(int irq, struct uio_info *dev_info)
+{
+	u32 stat = ReadReg(dev_info, 0x10);
+
+	if (clear_int && (stat & 0x00000020)) {
+		/* clear INT state */
+		WriteReg(dev_info, 0x10, 0x00000020);
+		return IRQ_NONE;
+	}
+
+	if (stat != 0) {
+		/* mask all interrupts */
+		WriteReg(dev_info, 0x14, ReadReg(dev_info, 0x14) & 0x0fffffff);
+
+		return IRQ_HANDLED;
+	} else {
+		return IRQ_NONE;
+	}
+}
+
+static void imp_sreset(struct uio_info *info)
+{
+	/* software reset */
+	WriteReg(info, 0x08, 0x80000000);
+	WriteReg(info, 0x08, 0x00000000);
+	ReadReg(info, 0x08);
+
+	/* 32bit addressing mode */
+	WriteReg(info, 0x08, 0x00000001);
+
+	/* mask all interrupts */
+	WriteReg(info, 0x14, 0);
+}
+
+static irqreturn_t impsc_handler(int irq, struct uio_info *dev_info)
+{
+	u32 stat = ReadReg(dev_info, 0x14);
+
+	if (clear_int && (stat & 0x00000004)) {
+		/* clear INT state */
+		WriteReg(dev_info, 0x18, 0x00000004);
+		return IRQ_NONE;
+	}
+
+	if (stat != 0) {
+		/* mask all interrupts */
+		WriteReg(dev_info, 0x20, 0xffffffff);
+
+		return IRQ_HANDLED;
+	} else {
+		return IRQ_NONE;
+	}
+}
+
+static void impsc_sreset(struct uio_info *info)
+{
+	/* software reset */
+	WriteReg(info, 0x08, 0x00000001);
+	WriteReg(info, 0x08, 0x00000000);
+	ReadReg(info, 0x08);
+
+	/* mask all interrupts */
+	WriteReg(info, 0x20, 0xffffffff);
+}
+
+static irqreturn_t impdist_handler(int irq, struct uio_info *dev_info)
+{
+	unsigned int bit;
+	unsigned long stat;
+	struct uio_imp_platdata *priv = dev_info->priv;
+
+	stat = ReadReg(dev_info, 0x100); /* sr */
+	stat &= ~ReadReg(dev_info, 0x10c); /* imr */
+
+	if (stat & 0x100)
+		stat |= ReadReg(dev_info, 0x110); /* g0intsel */
+	if (stat & 0x200)
+		stat |= ReadReg(dev_info, 0x114); /* g1intsel */
+	if (stat & 0x400)
+		stat |= ReadReg(dev_info, 0x118); /* g2intsel */
+	stat &= ~0x700;
+
+	if (!stat)
+		return IRQ_NONE;
+
+	for_each_set_bit(bit, &stat, IMP_NUM_DIST_HWIRQ)
+		generic_handle_irq(priv->domain_irq[bit]);
+
+	return IRQ_HANDLED;
+}
+
+static void impdist_irq_enable(struct irq_data *d)
+{
+	struct uio_imp_platdata *priv = irq_data_get_irq_chip_data(d);
+	int hw_irq = irqd_to_hwirq(d);
+	unsigned int d_var;
+
+	d_var = ReadReg(priv->uioinfo, 0x10c) & ~BIT(hw_irq);
+	WriteReg(priv->uioinfo, 0x10c, d_var);
+}
+
+static void impdist_irq_disable(struct irq_data *d)
+{
+	struct uio_imp_platdata *priv = irq_data_get_irq_chip_data(d);
+	int hw_irq = irqd_to_hwirq(d);
+	unsigned int d_var;
+
+	d_var = ReadReg(priv->uioinfo, 0x10c) | BIT(hw_irq);
+	WriteReg(priv->uioinfo, 0x10c, d_var);
+}
+
+static int impdist_irq_domain_map(struct irq_domain *h, unsigned int virq,
+			       irq_hw_number_t hw)
+{
+	struct uio_imp_platdata *priv = h->host_data;
+
+	dev_dbg(&priv->pdev->dev, "impdist_irq_domain_map: virq=%d, hw=%d\n", virq, (int)hw);
+	priv->domain_irq[hw] = virq;
+	irq_set_chip_data(virq, priv);
+	irq_set_chip_and_handler(virq, &priv->irq_chip, handle_simple_irq);
+	return 0;
+}
+
+static struct irq_domain_ops impdist_irq_domain_ops = {
+	.map	= impdist_irq_domain_map,
+};
+
+static void impdist_sreset(struct uio_info *info)
+{
+	WriteReg(info, 0x500, 0);
+}
+
+static irqreturn_t impdmac_handler(int irq, struct uio_info *dev_info)
+{
+	u32 stat = ReadReg(dev_info, 0x08);
+
+	if (clear_int && (stat & 0x00000040)) {
+		/* clear INT state */
+		WriteReg(dev_info, 0x0c, 0x00000040);
+		return IRQ_NONE;
+	}
+
+	if (stat != 0) {
+		/* mask all interrupts */
+		WriteReg(dev_info, 0x14, 0xffffffff);
+
+		return IRQ_HANDLED;
+	} else {
+		return IRQ_NONE;
+	}
+}
+
+static void impdmac_sreset(struct uio_info *info)
+{
+	/* software reset */
+	WriteReg(info, 0x04, 0x80000000);
+	WriteReg(info, 0x04, 0x00000000);
+	ReadReg(info, 0x04);
+
+	/* mask all interrupts */
+	WriteReg(info, 0x14, 0xffffffff);
+}
+
+static const struct imp_dev_data imp_dev_data_legacy = {
+	.dtype = LUIO_DEVICE_IMP,
+	.handler = imp_handler,
+	.sreset = imp_sreset,
+};
+static const struct imp_dev_data imp_dev_data_shader = {
+	.dtype = LUIO_DEVICE_IMPSC,
+	.handler = impsc_handler,
+	.sreset = impsc_sreset,
+};
+static const struct imp_dev_data imp_dev_data_distributer = {
+	.dtype = LUIO_DEVICE_IMPDES,
+	.handler = impdist_handler,
+	.sreset = impdist_sreset,
+};
+static const struct imp_dev_data imp_dev_data_memory = {
+	.dtype = LUIO_DEVICE_MEM,
+};
+static const struct imp_dev_data imp_dev_data_dmac = {
+	.dtype = LUIO_DEVICE_IMPDMAC,
+	.handler = impdmac_handler,
+	.sreset = impdmac_sreset,
+};
+
+static const struct of_device_id of_imp_match[] = {
+	{ .compatible = "renesas,impx4-legacy",      .data = &imp_dev_data_legacy      },
+	{ .compatible = "renesas,impx4-shader",      .data = &imp_dev_data_shader      },
+	{ .compatible = "renesas,impx4-distributer", .data = &imp_dev_data_distributer },
+	{ .compatible = "renesas,impx4-memory",      .data = &imp_dev_data_memory      },
+	{ .compatible = "renesas,impx5-dmac",        .data = &imp_dev_data_dmac        },
+	{ /* Terminator */ },
+};
+MODULE_DEVICE_TABLE(of, of_imp_match);
+
+static int uio_imp_open(struct uio_info *info, struct inode *inode)
+{
+	struct uio_imp_platdata *priv = info->priv;
+
+	/* software reset */
+	if (priv->dev_data->sreset)
+		priv->dev_data->sreset(info);
+
+	return 0;
+}
+
+static int uio_imp_release(struct uio_info *info, struct inode *inode)
+{
+	return 0;
+}
+
+static int uio_imp_probe(struct platform_device *pdev)
+{
+	struct uio_info *uioinfo;
+	struct uio_imp_platdata *priv;
+	const struct imp_dev_data *dev_data;
+	struct resource *res;
+	struct uio_mem *uiomem;
+	int ret = -EINVAL;
+
+	/* alloc uioinfo for one device */
+	uioinfo = devm_kzalloc(&pdev->dev, sizeof(*uioinfo),
+			       GFP_KERNEL);
+	if (!uioinfo) {
+		dev_err(&pdev->dev, "unable to kmalloc\n");
+		return -ENOMEM;
+	}
+
+	if (pdev->dev.of_node) {
+		const struct of_device_id *match;
+		match = of_match_node(of_imp_match, pdev->dev.of_node);
+		if (!match)
+			return ret;
+
+		dev_data = match->data;
+		uioinfo->name = pdev->dev.of_node->name;
+		uioinfo->version = DRIVER_VER;
+	} else {
+		dev_data = pdev->dev.platform_data;
+		uioinfo->name = dev_data->name;
+		uioinfo->version = DRIVER_VER;
+	}
+
+	if (!dev_data) {
+		dev_err(&pdev->dev, "missing platform_data\n");
+		return ret;
+	}
+
+	priv = devm_kzalloc(&pdev->dev, sizeof(*priv), GFP_KERNEL);
+	if (!priv) {
+		dev_err(&pdev->dev, "unable to kmalloc\n");
+		return -ENOMEM;
+	}
+
+	priv->uioinfo = uioinfo;
+	priv->pdev = pdev;
+	priv->dev_data = dev_data;
+
+	/* MEM */
+	uiomem = &uioinfo->mem[0];
+	res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
+
+	if (res) {
+		uiomem->memtype = UIO_MEM_PHYS;
+		uiomem->addr = res->start;
+		uiomem->size = resource_size(res);
+		uiomem->name = res->name;
+
+		/* If reg[1] is shown, use it as internnal addr.
+		   Otherwise, use reg[0]. */
+		res = platform_get_resource(pdev, IORESOURCE_MEM, 1);
+		if (res)
+			uiomem->internal_addr = devm_ioremap_nocache(&pdev->dev,
+					res->start, resource_size(res));
+		else
+			uiomem->internal_addr = devm_ioremap_nocache(&pdev->dev,
+					uiomem->addr, IMP_INTERNAL_REG_SIZE);
+
+		if (!uiomem->internal_addr) {
+			dev_err(&pdev->dev, "unable to ioremap\n");
+			return -ENOMEM;
+		}
+	} else if (dev_data->dtype == LUIO_DEVICE_MEM) {
+		/* allocate physically-contiguous memory */
+		int buffer_size = bsize;
+		dev_info(&pdev->dev, "Allocating Buffer size = %d\n", buffer_size);
+		uiomem->memtype = UIO_MEM_PHYS;
+		uiomem->size = buffer_size;
+		uiomem->name = "mem";
+
+		uiomem->internal_addr = dmam_alloc_coherent(&pdev->dev,
+				buffer_size, &uiomem->addr, GFP_KERNEL);
+		if (!uiomem->internal_addr) {
+			dev_err(&pdev->dev, "unable to dma_alloc_coherent\n");
+			return -ENOMEM;
+		}
+	} else {
+		dev_err(&pdev->dev, "missing memory map\n");
+		return -EINVAL;
+	}
+
+	/* IRQ */
+	if (dev_data->handler) {
+		if (pdev->dev.of_node)
+			uioinfo->irq = irq_of_parse_and_map(pdev->dev.of_node, 0);
+		else {
+			ret = platform_get_irq(pdev, 0);
+			if (ret >= 0)
+				uioinfo->irq = ret;
+			else if (ret != -ENXIO) {
+				dev_err(&pdev->dev, "failed to get IRQ\n");
+				return ret;
+			}
+		}
+		if (uioinfo->irq) {
+			uioinfo->handler = dev_data->handler;
+			if (dev_data->dtype != LUIO_DEVICE_IMPDES)
+				uioinfo->irq_flags = IRQF_SHARED;
+		}
+	}
+	dev_dbg(&pdev->dev, "irq = %d\n", (int)uioinfo->irq);
+
+	/* irq demuxing on distributer handler */
+	if (uioinfo->irq && dev_data->dtype == LUIO_DEVICE_IMPDES) {
+		struct irq_chip *irq_chip = &priv->irq_chip;
+		irq_chip->name = uioinfo->name;
+		irq_chip->irq_mask = impdist_irq_disable;
+		irq_chip->irq_unmask = impdist_irq_enable;
+		irq_chip->irq_enable = impdist_irq_enable;
+		irq_chip->irq_disable = impdist_irq_disable;
+		irq_chip->flags = IRQCHIP_SKIP_SET_WAKE;
+
+		priv->irq_domain = irq_domain_add_simple(pdev->dev.of_node,
+					IMP_NUM_DIST_HWIRQ, 0,
+					&impdist_irq_domain_ops, priv);
+		if (!priv->irq_domain) {
+			dev_err(&pdev->dev, "cannot initialize irq domain\n");
+			ret = -ENXIO;
+			goto err1;
+		}
+	}
+
+	pm_runtime_enable(&pdev->dev);
+	pm_runtime_get_sync(&priv->pdev->dev);
+
+#ifdef CFG_USE_FPGA
+		dev_info(&pdev->dev, "%s(0x%08lx)\n",
+				uioinfo->name, (unsigned long)uiomem->addr);
+#else
+	/* software reset */
+	if (dev_data->sreset)
+		dev_data->sreset(uioinfo);
+
+	/* print hardware version */
+	if (uiomem->internal_addr && dev_data->dtype != LUIO_DEVICE_MEM) {
+		unsigned int vcr0 = ReadReg(uioinfo, 0x0);
+		unsigned int vcr1 = ReadReg(uioinfo, 0x4);
+		dev_info(&pdev->dev, "%s(0x%08lx): VCR = 0x%08x, 0x%08x\n",
+				uioinfo->name, (unsigned long)uiomem->addr, vcr0, vcr1);
+	}
+#endif /* CFG_USE_FPGA */
+
+	uioinfo->open = uio_imp_open;
+	uioinfo->release = uio_imp_release;
+	uioinfo->priv = priv;
+
+	ret = uio_register_device(&pdev->dev, priv->uioinfo);
+	if (ret) {
+		dev_err(&pdev->dev, "unable to register uio device\n");
+		goto err2;
+	}
+
+	platform_set_drvdata(pdev, priv);
+	return 0;
+
+err2:
+	pm_runtime_put_sync(&priv->pdev->dev);
+	pm_runtime_disable(&pdev->dev);
+	if (priv->irq_domain)
+		irq_domain_remove(priv->irq_domain);
+
+err1:
+	if (pdev->dev.of_node && uioinfo->irq)
+		irq_dispose_mapping(uioinfo->irq);
+
+	return ret;
+}
+
+static int uio_imp_remove(struct platform_device *pdev)
+{
+	struct uio_imp_platdata *priv = platform_get_drvdata(pdev);
+
+	uio_unregister_device(priv->uioinfo);
+	pm_runtime_put_sync(&priv->pdev->dev);
+	pm_runtime_disable(&pdev->dev);
+
+	if (priv->irq_domain)
+		irq_domain_remove(priv->irq_domain);
+
+	if (pdev->dev.of_node && priv->uioinfo->irq)
+		irq_dispose_mapping(priv->uioinfo->irq);
+
+	return 0;
+}
+
+static int uio_imp_runtime_nop(struct device *dev)
+{
+	return 0;
+}
+
+static const struct dev_pm_ops uio_imp_dev_pm_ops = {
+	.runtime_suspend = uio_imp_runtime_nop,
+	.runtime_resume = uio_imp_runtime_nop,
+};
+
+static struct platform_driver uio_imp = {
+	.probe = uio_imp_probe,
+	.remove = uio_imp_remove,
+	.driver = {
+		.name = DRIVER_NAME,
+		.pm = &uio_imp_dev_pm_ops,
+		.of_match_table = of_match_ptr(of_imp_match),
+	},
+};
+
+module_platform_driver(uio_imp);
+
+MODULE_AUTHOR("RenesasElectronicsCorp.");
+MODULE_DESCRIPTION("Userspace I/O driver for IMP");
+MODULE_LICENSE("GPL v2");
diff --git a/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/kernel-module-uio-imp_0.1.bb b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/kernel-module-uio-imp_0.1.bb
new file mode 100644
index 0000000..1000b7d
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/kernel-module-uio-imp/kernel-module-uio-imp_0.1.bb
@@ -0,0 +1,27 @@
+SUMMARY = "IMP Primitive Driver Module"
+LICENSE = "GPLv2 & MIT"
+LIC_FILES_CHKSUM = " \
+    file://GPL-COPYING;md5=b234ee4d69f5fce4486a80fdaf4a4263 \
+    file://MIT-COPYING;md5=fea016ce2bdf2ec10080f69e9381d378 \
+    "
+
+inherit module
+
+PR = "r0"
+PV = "0.1"
+
+SRC_URI = " \
+    file://Makefile \
+    file://uio_imp.c \
+    file://GPL-COPYING \
+    file://MIT-COPYING \
+    "
+
+S = "${WORKDIR}"
+
+KERNEL_MODULE_AUTOLOAD += "uio_imp"
+KERNEL_MODULE_PROBECONF += "uio_imp"
+
+module_conf_uio_imp = ""
+module_conf_uio_imp_r8a7795 = "options uio_imp clear_int"
+module_conf_uio_imp_r8a7796 = "options uio_imp clear_int"
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0049-clk-r8a779x-add-IMP-clock.patch b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0049-clk-r8a779x-add-IMP-clock.patch
new file mode 100644
index 0000000..a7cf942
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0049-clk-r8a779x-add-IMP-clock.patch
@@ -0,0 +1,59 @@
+From 9075957822c829026acfb5e8982a77f895a7a640 Mon Sep 17 00:00:00 2001
+From: Vladimir Barinov <vladimir.barinov@cogentembedded.com>
+Date: Mon, 27 Nov 2017 16:53:06 +0300
+Subject: [PATCH] clk: r8a779x: add IMP clock
+
+This adds IMP clock sources for Gen3 SoCs
+
+Signed-off-by: Vladimir Barinov <vladimir.barinov@cogentembedded.com>
+---
+ drivers/clk/renesas/r8a7795-cpg-mssr.c | 1 +
+ drivers/clk/renesas/r8a7796-cpg-mssr.c | 1 +
+ drivers/clk/renesas/r8a7797-cpg-mssr.c | 7 +++++++
+ 3 files changed, 9 insertions(+)
+
+diff --git a/drivers/clk/renesas/r8a7795-cpg-mssr.c b/drivers/clk/renesas/r8a7795-cpg-mssr.c
+index bc10df3..9061f7f 100644
+--- a/drivers/clk/renesas/r8a7795-cpg-mssr.c
++++ b/drivers/clk/renesas/r8a7795-cpg-mssr.c
+@@ -234,6 +234,7 @@ enum clk_ids {
+ 	DEF_MOD("imr2",			 821,	R8A7795_CLK_S2D1),
+ 	DEF_MOD("imr1",			 822,	R8A7795_CLK_S2D1),
+ 	DEF_MOD("imr0",			 823,	R8A7795_CLK_S2D1),
++	DEF_MOD("imp",			 824,	R8A7795_CLK_S1D1),
+ 	DEF_MOD("gpio7",		 905,	R8A7795_CLK_S3D4),
+ 	DEF_MOD("gpio6",		 906,	R8A7795_CLK_S3D4),
+ 	DEF_MOD("gpio5",		 907,	R8A7795_CLK_S3D4),
+diff --git a/drivers/clk/renesas/r8a7796-cpg-mssr.c b/drivers/clk/renesas/r8a7796-cpg-mssr.c
+index 819d3c6..e886d8a 100644
+--- a/drivers/clk/renesas/r8a7796-cpg-mssr.c
++++ b/drivers/clk/renesas/r8a7796-cpg-mssr.c
+@@ -204,6 +204,7 @@ enum clk_ids {
+ 	DEF_MOD("vin1",			 810,	R8A7796_CLK_S0D2),
+ 	DEF_MOD("vin0",			 811,	R8A7796_CLK_S0D2),
+ 	DEF_MOD("etheravb",		 812,	R8A7796_CLK_S0D6),
++	DEF_MOD("imp",			 824,	R8A7796_CLK_S1D1),
+ 	DEF_MOD("gpio7",		 905,	R8A7796_CLK_S3D4),
+ 	DEF_MOD("gpio6",		 906,	R8A7796_CLK_S3D4),
+ 	DEF_MOD("gpio5",		 907,	R8A7796_CLK_S3D4),
+diff --git a/drivers/clk/renesas/r8a7797-cpg-mssr.c b/drivers/clk/renesas/r8a7797-cpg-mssr.c
+index 29dfe4a..6655592 100644
+--- a/drivers/clk/renesas/r8a7797-cpg-mssr.c
++++ b/drivers/clk/renesas/r8a7797-cpg-mssr.c
+@@ -129,6 +129,13 @@ enum clk_ids {
+ 	DEF_MOD("imr2",			 821,	R8A7797_CLK_S2D1),
+ 	DEF_MOD("imr1",			 822,	R8A7797_CLK_S2D1),
+ 	DEF_MOD("imr0",			 823,	R8A7797_CLK_S2D1),
++	DEF_MOD("imp3",			 824,	R8A7797_CLK_S1D1),
++	DEF_MOD("imp2",			 825,	R8A7797_CLK_S1D1),
++	DEF_MOD("imp1",			 826,	R8A7797_CLK_S1D1),
++	DEF_MOD("imp0",			 827,	R8A7797_CLK_S1D1),
++	DEF_MOD("imp-ocv1",		 828,	R8A7797_CLK_S1D1),
++	DEF_MOD("imp-ocv0",		 829,	R8A7797_CLK_S1D1),
++	DEF_MOD("impram",		 830,	R8A7797_CLK_S1D1),
+ 	DEF_MOD("gpio5",		 907,	R8A7797_CLK_CP),
+ 	DEF_MOD("gpio4",		 908,	R8A7797_CLK_CP),
+ 	DEF_MOD("gpio3",		 909,	R8A7797_CLK_CP),
+-- 
+1.9.1
+
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0050-arm64-dts-renesas-r8a779x-add-IMP-nodes.patch b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0050-arm64-dts-renesas-r8a779x-add-IMP-nodes.patch
new file mode 100644
index 0000000..316f182
--- /dev/null
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/0050-arm64-dts-renesas-r8a779x-add-IMP-nodes.patch
@@ -0,0 +1,418 @@
+From 9dcc1345c0b04ebab6e5b9f676881716bf985753 Mon Sep 17 00:00:00 2001
+From: Vladimir Barinov <vladimir.barinov@cogentembedded.com>
+Date: Tue, 28 Nov 2017 14:47:12 +0300
+Subject: [PATCH] arm64: dts: renesas: r8a779x: add IMP nodes
+
+This adds IMP resource nodes for Gen3 SoCs
+
+Signed-off-by: Vladimir Barinov <vladimir.barinov@cogentembedded.com>
+---
+ arch/arm64/boot/dts/renesas/r8a7795-es1.dtsi | 98 +++++++++++++++++++++++++++
+ arch/arm64/boot/dts/renesas/r8a7795.dtsi     | 98 +++++++++++++++++++++++++++
+ arch/arm64/boot/dts/renesas/r8a7796.dtsi     | 62 +++++++++++++++++
+ arch/arm64/boot/dts/renesas/r8a7797.dtsi     | 99 ++++++++++++++++++++++++++++
+ 4 files changed, 357 insertions(+)
+
+diff --git a/arch/arm64/boot/dts/renesas/r8a7795-es1.dtsi b/arch/arm64/boot/dts/renesas/r8a7795-es1.dtsi
+index b3f3102..e15af8c 100644
+--- a/arch/arm64/boot/dts/renesas/r8a7795-es1.dtsi
++++ b/arch/arm64/boot/dts/renesas/r8a7795-es1.dtsi
+@@ -2794,6 +2794,104 @@
+ 			};
+ 		};
+ 
++		imp_distributer: impdes0 {
++			compatible = "renesas,impx4-distributer";
++			reg = <0 0xffa00000 0 0x4000>;
++			interrupts = <GIC_SPI 439 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++			interrupt-controller;
++			#interrupt-cells = <1>;
++		};
++
++		imp0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff900000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <0>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp1 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff920000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <1>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp2 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff940000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <2>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp3 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff960000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <3>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsc0 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff980000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <4>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsc1 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff990000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <5>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsl0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff9c0000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <12>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impdm0 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa10000 0 0x4000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <16>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impc0 {
++			compatible = "renesas,impx4-memory";
++			reg = <0 0xffa40000 0 0x20000>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imprtt {
++			compatible = "renesas,impx5-rtt";
++			reg = <0 0xff8d0000 0 0x1000>,
++				<0 0xe6150000 0 0x1000>;
++			interrupts = <GIC_SPI 393 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
+ 		imrlx4_ch0: imr-lx4@fe860000 {
+ 			compatible = "renesas,imr-lx4";
+ 			reg = <0 0xfe860000 0 0x2000>;
+diff --git a/arch/arm64/boot/dts/renesas/r8a7795.dtsi b/arch/arm64/boot/dts/renesas/r8a7795.dtsi
+index 02c5931..8ba4cec 100644
+--- a/arch/arm64/boot/dts/renesas/r8a7795.dtsi
++++ b/arch/arm64/boot/dts/renesas/r8a7795.dtsi
+@@ -2790,6 +2790,104 @@
+ 			};
+ 		};
+ 
++		imp_distributer: impdes0 {
++			compatible = "renesas,impx4-distributer";
++			reg = <0 0xffa00000 0 0x4000>;
++			interrupts = <GIC_SPI 439 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++			interrupt-controller;
++			#interrupt-cells = <1>;
++		};
++
++		imp0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff900000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <0>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp1 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff920000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <1>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp2 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff940000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <2>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imp3 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff960000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <3>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsc0 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff980000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <4>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsc1 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff990000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <5>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impsl0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff9c0000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <12>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impdm0 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa10000 0 0x4000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <16>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		impc0 {
++			compatible = "renesas,impx4-memory";
++			reg = <0 0xffa40000 0 0x20000>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
++		imprtt {
++			compatible = "renesas,impx5-rtt";
++			reg = <0 0xff8d0000 0 0x1000>,
++				<0 0xe6150000 0 0x1000>;
++			interrupts = <GIC_SPI 393 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7795_PD_A3IR>;
++		};
++
+ 		imrlx4_ch0: imr-lx4@fe860000 {
+ 			compatible = "renesas,imr-lx4";
+ 			reg = <0 0xfe860000 0 0x2000>;
+diff --git a/arch/arm64/boot/dts/renesas/r8a7796.dtsi b/arch/arm64/boot/dts/renesas/r8a7796.dtsi
+index b94d9e0..7c19f35 100644
+--- a/arch/arm64/boot/dts/renesas/r8a7796.dtsi
++++ b/arch/arm64/boot/dts/renesas/r8a7796.dtsi
+@@ -2531,5 +2531,67 @@
+ 				};
+ 			};
+ 		};
++
++		imp_distributer: impdes0 {
++			compatible = "renesas,impx4-distributer";
++			reg = <0 0xffa00000 0 0x4000>;
++			interrupts = <GIC_SPI 439 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++			interrupt-controller;
++			#interrupt-cells = <1>;
++		};
++
++		imp0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff900000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <0>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
++
++		imp1 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff920000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <1>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
++
++		impsc0 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff980000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <4>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
++
++		impdm0 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa10000 0 0x4000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <16>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
++
++		impc0 {
++			compatible = "renesas,impx4-memory";
++			reg = <0 0xffa40000 0 0x20000>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
++
++		imprtt {
++			compatible = "renesas,impx5-rtt";
++			reg = <0 0xff8d0000 0 0x1000>,
++				<0 0xe6150000 0 0x1000>;
++			interrupts = <GIC_SPI 393 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7796_PD_A3IR>;
++		};
+ 	};
+ };
+diff --git a/arch/arm64/boot/dts/renesas/r8a7797.dtsi b/arch/arm64/boot/dts/renesas/r8a7797.dtsi
+index 1be93e8..232eb19 100644
+--- a/arch/arm64/boot/dts/renesas/r8a7797.dtsi
++++ b/arch/arm64/boot/dts/renesas/r8a7797.dtsi
+@@ -970,6 +970,105 @@
+ 			status = "okay";
+ 		};
+ 
++		imp_distributer: impdes0 {
++			compatible = "renesas,impx4-distributer";
++			reg = <0 0xffa00000 0 0x4000>;
++			interrupts = <GIC_SPI 281 IRQ_TYPE_LEVEL_HIGH>;
++			clocks = <&cpg CPG_MOD 830>;
++			power-domains = <&sysc R8A7797_PD_A3IR>;
++			interrupt-controller;
++			#interrupt-cells = <1>;
++		};
++
++		imp0 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff900000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <0>;
++			clocks = <&cpg CPG_MOD 827>;
++			power-domains = <&sysc R8A7797_PD_A2IR0>;
++		};
++
++		imp1 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff920000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <1>;
++			clocks = <&cpg CPG_MOD 826>;
++			power-domains = <&sysc R8A7797_PD_A2IR1>;
++		};
++
++		imp2 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff940000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <2>;
++			clocks = <&cpg CPG_MOD 825>;
++			power-domains = <&sysc R8A7797_PD_A2IR2>;
++		};
++
++		imp3 {
++			compatible = "renesas,impx4-legacy";
++			reg = <0 0xff960000 0 0x20000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <3>;
++			clocks = <&cpg CPG_MOD 824>;
++			power-domains = <&sysc R8A7797_PD_A2IR3>;
++		};
++
++		impsc0 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff980000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <4>;
++			clocks = <&cpg CPG_MOD 829>;
++			power-domains = <&sysc R8A7797_PD_A2SC0>;
++		};
++
++		impsc1 {
++			compatible = "renesas,impx4-shader";
++			reg = <0 0xff990000 0 0x10000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <5>;
++			clocks = <&cpg CPG_MOD 828>;
++			power-domains = <&sysc R8A7797_PD_A2SC1>;
++		};
++
++		impdm0 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa10000 0 0x1000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <16>;
++			clocks = <&cpg CPG_MOD 830>;
++			power-domains = <&sysc R8A7797_PD_A3IR>;
++		};
++
++		impdm1 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa10000 0 0x1000>,
++			      <0 0xffa10800 0 0x0800>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <17>;
++			clocks = <&cpg CPG_MOD 830>;
++			power-domains = <&sysc R8A7797_PD_A3IR>;
++		};
++
++		imppsc0 {
++			compatible = "renesas,impx5-dmac";
++			reg = <0 0xffa20000 0 0x4000>;
++			interrupt-parent = <&imp_distributer>;
++			interrupts = <12>;
++			clocks = <&cpg CPG_MOD 830>;
++			power-domains = <&sysc R8A7797_PD_A3IR>;
++		};
++
++		impc0 {
++			compatible = "renesas,impx4-memory";
++			reg = <0 0xed000000 0 0x100000>;
++			clocks = <&cpg CPG_MOD 830>;
++			power-domains = <&sysc R8A7797_PD_A3IR>;
++		};
++
+ 		imrlx4_ch0: imr-lx4@fe860000 {
+ 			compatible = "renesas,imr-lx4";
+ 			reg = <0 0xfe860000 0 0x2000>;
+-- 
+1.9.1
+
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/eagle.cfg b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/eagle.cfg
index b856d48..9796ba5 100644
--- a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/eagle.cfg
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/eagle.cfg
@@ -26,3 +26,4 @@ CONFIG_INPUT_TOUCHSCREEN=y
 CONFIG_TOUCHSCREEN_PROPERTIES=y
 CONFIG_HID_MULTITOUCH=y
 CONFIG_SERIAL_SH_SCI_DMA=y
+CONFIG_UIO=y
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/salvator-x.cfg b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/salvator-x.cfg
index 29425e5..a42b74c 100644
--- a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/salvator-x.cfg
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/salvator-x.cfg
@@ -29,3 +29,4 @@ CONFIG_INPUT_TOUCHSCREEN=y
 CONFIG_TOUCHSCREEN_PROPERTIES=y
 CONFIG_HID_MULTITOUCH=y
 CONFIG_SERIAL_SH_SCI_DMA=y
+CONFIG_UIO=y
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/ulcb.cfg b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/ulcb.cfg
index b52636a..4e24c06 100644
--- a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/ulcb.cfg
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/ulcb.cfg
@@ -78,3 +78,4 @@ CONFIG_AIM_NETWORK=y
 CONFIG_AIM_SOUND=y
 CONFIG_AIM_V4L2=y
 CONFIG_HDM_DIM2=y
+CONFIG_UIO=y
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/v3msk.cfg b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/v3msk.cfg
index 0d06354..211da49 100644
--- a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/v3msk.cfg
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas/v3msk.cfg
@@ -30,3 +30,4 @@ CONFIG_INPUT_TOUCHSCREEN=y
 CONFIG_TOUCHSCREEN_PROPERTIES=y
 CONFIG_HID_MULTITOUCH=y
 CONFIG_SERIAL_SH_SCI_DMA=y
+CONFIG_UIO=y
diff --git a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas_4.9.bbappend b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas_4.9.bbappend
index c1b71e7..0b4d393 100644
--- a/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas_4.9.bbappend
+++ b/meta-rcar-gen3-adas/recipes-kernel/linux/linux-renesas_4.9.bbappend
@@ -49,6 +49,8 @@ SRC_URI_append = " \
     file://0046-arm64-dts-renesas-r8a779x-add-mlp-nodes.patch \
     ${@base_conditional("KF_ENABLE_SD3", "1", " file://0047-arm64-dts-renesas-ulcb-kf-enable-sd3.patch", "", d)} \
     ${@base_conditional("KF_ENABLE_MOST", "1", " file://0048-arm64-dts-renesas-ulcb-kf-enable-most.patch", "", d)} \
+    file://0049-clk-r8a779x-add-IMP-clock.patch \
+    file://0050-arm64-dts-renesas-r8a779x-add-IMP-nodes.patch \
     ${@base_conditional("LVDSCAMERA_FIRST4_TYPE1", "1", " file://0050-arm64-dts-Gen3-view-boards-TYPE1-first-4-cameras.patch", "", d)} \
     ${@base_conditional("LVDSCAMERA_SECOND4_TYPE1", "1", " file://0051-arm64-dts-Gen3-view-boards-TYPE1-second-4-cameras.patch", "", d)} \
     ${@base_conditional("LVDSCAMERA_FIRST4_TYPE2", "1", " file://0052-arm64-dts-Gen3-view-boards-TYPE2-first-4-cameras.patch", "", d)} \