This adds RK3576 NPU support to accel/rocket. RFC: the NPU brings up and
runs, but full inference is not correct yet, and I would rather get
feedback now than sit on it.

Tested on a Radxa ROCK 4D. The NPU probes, powers on, brings up its
IOMMUs, and runs jobs to completion (rocket + Mesa Teflon). Getting there
took a few fixes outside the driver too: a power-domain settle delay and
reset cycling (else a cold power-on throws an async SError), two rk_iommu
fixes for banks firmware leaves faulted, taking the full clock set on the
MMU nodes, and both NPU power domains on the core.

Not solved: only the first operation in a power session gives the right
answer. Every later one engages and DMAs its input, but the compute
output never lands, so the readback is the zero-point. I chased it
through the whole software surface (registers, IOMMU/TLB, cache,
power/clock/reset, dispatch) and it reproduces even with the driver
environment matched to the vendor's on the same kernel, so it looks to be
below software, in the fixed-function block. Traces available.

Two asks: review of the bring-up and the shared pmdomain/iommu changes;
and if anyone knows the RK3576 NPU internals, whether that
per-power-session arm can be driven from software at all.

The series is split by subsystem (binding, pmdomain, iommu, driver, DT).
The board DT keeps vdd_npu_s0 always-on for now; happy to switch to
proper runtime control if preferred.

I used Claude Opus 4.8 to help trim this series out of my debugging tree
and generate the diffs.

Jiaxing Hu (9):
  dt-bindings: npu: rockchip: add rockchip,rk3576-rknn-core
  pmdomain/rockchip: add optional per-domain power-on settle delay
  pmdomain/rockchip: cycle optional power-domain resets on power-on
  iommu/rockchip: skip orphaned-fault banks in rk_iommu_is_stall_active
  iommu/rockchip: skip orphaned-fault banks in CMD_ENABLE_STALL dispatch
  iommu/rockchip: take all DT clocks
  accel/rocket: add RK3576 NPU (RKNN) support
  arm64: dts: rockchip: rk3576: add NPU (RKNN) nodes
  arm64: dts: rockchip: rk3576-rock-4d: enable NPU

 .../npu/rockchip,rk3588-rknn-core.yaml        |   2 +-
 .../boot/dts/rockchip/rk3576-rock-4d.dts      |  16 ++
 arch/arm64/boot/dts/rockchip/rk3576.dtsi      |  78 ++++++++-
 drivers/accel/rocket/rocket_core.c            |  43 ++++-
 drivers/accel/rocket/rocket_core.h            |  22 ++-
 drivers/accel/rocket/rocket_device.c          |   4 +
 drivers/accel/rocket/rocket_drv.c             |   1 +
 drivers/accel/rocket/rocket_job.c             | 154 ++++++++++++++----
 drivers/iommu/rockchip-iommu.c                |  66 +++++---
 drivers/pmdomain/rockchip/pm-domains.c        |  68 +++++---
 10 files changed, 367 insertions(+), 87 deletions(-)

-- 
2.43.0