记录:rk3568适配开源GPU驱动（panfrost）

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RK3568开发板上应用Mesa 3D 本次采用的开发板为扬帆“竞”开发板，扬帆“竞”采用瑞芯微RK3568（Cortex-A55）四核64位超强CPU，搭载OpenHarmony最新操作系统，主频最高达2.0GHz。采用 Mali-G52 GPU，支持4K、H.265/H.264视频解码。OpenHarmony最新版本的L2标准版图形子系统相比之前版本有着非常大的改动，使用了全新设计的框架，并使用Render Service替换了原来的Weston。图形栈整体上分为三层，从上到下依次为接口层、框架层和引擎层。阅读详情

rk3568采用的GPU是Mali-G52，该型号的GPU已在5.10内核的panfrost驱动中被支持。下面记录下移植过程。
1.内核dts修改：
kernel 5.10: arch/arm64/boot/dts/rockchip/rk3568.dtsi

        gpu: gpu@fde60000 {
   
   
                compatible = "rockchip,rk3568-mali", "arm,mali-bifrost";
                reg = <0x0 0xfde60000 0x0 0x4000>;

                interrupts = <GIC_SPI 40 IRQ_TYPE_LEVEL_HIGH>,
                             <GIC_SPI 41 IRQ_TYPE_LEVEL_HIGH>,
                             <GIC_SPI 39 IRQ_TYPE_LEVEL_HIGH>;
                interrupt-names = "job", "mmu", "gpu";

                upthreshold = <40>;
                downdifferential = <10>;

                clocks = <&scmi_clk 1>, <&cru CLK_GPU>;
                clock-names = "gpu", "bus";
                power-domains = <&power RK3568_PD_GPU>;
                #cooling-cells = <2>;
                operating-points-v2 = <&gpu_opp_table>;

                status = "disabled";
                gpu_power_model: power-model {
   
   
                        compatible = "simple-power-model";
                        leakage-range= <5 15>;
                        ls = <(-24002) 22823 0>;
                        static-coefficient = <100000>;
                        dynamic-coefficient = <953>;
                        ts = <(-108890) 63610 (-1355) 20>;
                        thermal-zone = "gpu-thermal";
                };
        };
        gpu_opp_table: opp-table2 {
   
   
                compatible = "operating-points-v2";

                mbist-vmin = <825000 900000 950000>;
                nvmem-cells = <&gpu_leakage>, <&core_pvtm