1 /* $NetBSD: imx31lk_machdep.c,v 1.30 2023/04/20 08:28:04 skrll Exp $ */
2
3 /*
4 * Startup routines for the ZOOM iMX31 LITEKIT.
5 * Below you can trace the increasingly impressive lineage ;)
6 */
7
8 /*
9 * Copyright (c) 2002, 2003, 2005 Genetec Corporation. All rights reserved.
10 * Written by Hiroyuki Bessho for Genetec Corporation.
11 *
12 * Redistribution and use in source and binary forms, with or without
13 * modification, are permitted provided that the following conditions
14 * are met:
15 * 1. Redistributions of source code must retain the above copyright
16 * notice, this list of conditions and the following disclaimer.
17 * 2. Redistributions in binary form must reproduce the above copyright
18 * notice, this list of conditions and the following disclaimer in the
19 * documentation and/or other materials provided with the distribution.
20 * 3. The name of Genetec Corporation may not be used to endorse or
21 * promote products derived from this software without specific prior
22 * written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND
25 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
26 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
27 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION
28 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
29 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
30 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
31 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
32 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
33 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 * Machine dependent functions for kernel setup for
37 * Intel DBPXA250 evaluation board (a.k.a. Lubbock).
38 * Based on iq80310_machhdep.c
39 */
40 /*
41 * Copyright (c) 2001 Wasabi Systems, Inc.
42 * All rights reserved.
43 *
44 * Written by Jason R. Thorpe for Wasabi Systems, Inc.
45 *
46 * Redistribution and use in source and binary forms, with or without
47 * modification, are permitted provided that the following conditions
48 * are met:
49 * 1. Redistributions of source code must retain the above copyright
50 * notice, this list of conditions and the following disclaimer.
51 * 2. Redistributions in binary form must reproduce the above copyright
52 * notice, this list of conditions and the following disclaimer in the
53 * documentation and/or other materials provided with the distribution.
54 * 3. All advertising materials mentioning features or use of this software
55 * must display the following acknowledgement:
56 * This product includes software developed for the NetBSD Project by
57 * Wasabi Systems, Inc.
58 * 4. The name of Wasabi Systems, Inc. may not be used to endorse
59 * or promote products derived from this software without specific prior
60 * written permission.
61 *
62 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND
63 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
64 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
65 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC
66 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
67 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
68 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
69 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
70 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
71 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
72 * POSSIBILITY OF SUCH DAMAGE.
73 */
74
75 /*
76 * Copyright (c) 1997,1998 Mark Brinicombe.
77 * Copyright (c) 1997,1998 Causality Limited.
78 * All rights reserved.
79 *
80 * Redistribution and use in source and binary forms, with or without
81 * modification, are permitted provided that the following conditions
82 * are met:
83 * 1. Redistributions of source code must retain the above copyright
84 * notice, this list of conditions and the following disclaimer.
85 * 2. Redistributions in binary form must reproduce the above copyright
86 * notice, this list of conditions and the following disclaimer in the
87 * documentation and/or other materials provided with the distribution.
88 * 3. All advertising materials mentioning features or use of this software
89 * must display the following acknowledgement:
90 * This product includes software developed by Mark Brinicombe
91 * for the NetBSD Project.
92 * 4. The name of the company nor the name of the author may be used to
93 * endorse or promote products derived from this software without specific
94 * prior written permission.
95 *
96 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
97 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
98 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
99 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
100 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
101 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
102 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
103 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
104 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
105 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
106 * SUCH DAMAGE.
107 *
108 * Machine dependent functions for kernel setup for Intel IQ80310 evaluation
109 * boards using RedBoot firmware.
110 */
111
112 #include <sys/cdefs.h>
113 __KERNEL_RCSID(0, "$NetBSD: imx31lk_machdep.c,v 1.30 2023/04/20 08:28:04 skrll Exp $");
114
115 #include "opt_arm_debug.h"
116 #include "opt_console.h"
117 #include "opt_ddb.h"
118 #include "opt_kgdb.h"
119 #include "opt_md.h"
120 #include "opt_com.h"
121
122 #include <sys/param.h>
123 #include <sys/device.h>
124 #include <sys/systm.h>
125 #include <sys/kernel.h>
126 #include <sys/exec.h>
127 #include <sys/proc.h>
128 #include <sys/msgbuf.h>
129 #include <sys/reboot.h>
130 #include <sys/termios.h>
131 #include <sys/ksyms.h>
132 #include <sys/bus.h>
133 #include <sys/cpu.h>
134
135 #include <uvm/uvm_extern.h>
136
137 #include <sys/conf.h>
138 #include <dev/cons.h>
139 #include <dev/md.h>
140
141 #include <machine/db_machdep.h>
142 #include <ddb/db_sym.h>
143 #include <ddb/db_extern.h>
144 #ifdef KGDB
145 #include <sys/kgdb.h>
146 #endif
147
148 #include <machine/bootconfig.h>
149 #include <arm/locore.h>
150 #include <arm/undefined.h>
151
152 #include <arm/arm32/pte.h>
153 #include <arm/arm32/machdep.h>
154
155 #include <arm/imx/imx31reg.h>
156 #include <arm/imx/imxuartreg.h>
157 #include <arm/imx/imxuartvar.h>
158 #include <evbarm/imx31/imx31lk_reg.h>
159
160 /* Kernel text starts 1MB in from the bottom of the kernel address space. */
161 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00100000)
162 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000)
163
164 /*
165 * The range 0x81000000 - 0x8cffffff is available for kernel VM space
166 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff
167 */
168 #define KERNEL_VM_SIZE 0x0C000000
169
170 BootConfig bootconfig; /* Boot config storage */
171 char *boot_args = NULL;
172 char *boot_file = NULL;
173
174 vaddr_t physical_start;
175 vaddr_t physical_freestart;
176 vaddr_t physical_freeend;
177 vaddr_t physical_end;
178 u_int free_pages;
179
180 /*int debug_flags;*/
181 #ifndef PMAP_STATIC_L1S
182 int max_processes = 64; /* Default number */
183 #endif /* !PMAP_STATIC_L1S */
184
185 paddr_t msgbufphys;
186
187 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */
188 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */
189 #define KERNEL_PT_KERNEL_NUM 4
190 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM)
191 /* Page tables for mapping kernel VM */
192 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */
193 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
194
195 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
196
197 /* Prototypes */
198
199 #if 0
200 void process_kernel_args(char *);
201 #endif
202
203 void imx31lk_consinit(int);
204 void kgdb_port_init(void);
205 void change_clock(uint32_t v);
206
207 bs_protos(bs_notimpl);
208
209 #include "com.h"
210 #if NCOM > 0
211 #include <dev/ic/comreg.h>
212 #include <dev/ic/comvar.h>
213 #endif
214
215 #ifndef CONSPEED
216 #define CONSPEED B115200 /* What RedBoot uses */
217 #endif
218 #ifndef CONMODE
219 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
220 #endif
221
222 int comcnspeed = CONSPEED;
223 int comcnmode = CONMODE;
224
225 /*
226 * void cpu_reboot(int howto, char *bootstr)
227 *
228 * Reboots the system
229 *
230 * Deal with any syncing, unmounting, dumping and shutdown hooks,
231 * then reset the CPU.
232 */
233 void
cpu_reboot(int howto,char * bootstr)234 cpu_reboot(int howto, char *bootstr)
235 {
236 #ifdef DIAGNOSTIC
237 /* info */
238 printf("boot: howto=%08x curproc=%p\n", howto, curproc);
239 #endif
240
241 /*
242 * If we are still cold then hit the air brakes
243 * and crash to earth fast
244 */
245 if (cold) {
246 doshutdownhooks();
247 pmf_system_shutdown(boothowto);
248 printf("The operating system has halted.\n");
249 printf("Please press any key to reboot.\n\n");
250 cngetc();
251 printf("rebooting...\n");
252 cpu_reset();
253 /*NOTREACHED*/
254 }
255
256 /* Disable console buffering */
257 /* cnpollc(1);*/
258
259 /*
260 * If RB_NOSYNC was not specified sync the discs.
261 * Note: Unless cold is set to 1 here, syslogd will die during the
262 * unmount. It looks like syslogd is getting woken up only to find
263 * that it cannot page part of the binary in as the filesystem has
264 * been unmounted.
265 */
266 if (!(howto & RB_NOSYNC))
267 bootsync();
268
269 /* Say NO to interrupts */
270 splhigh();
271
272 /* Do a dump if requested. */
273 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
274 dumpsys();
275
276 /* Run any shutdown hooks */
277 doshutdownhooks();
278
279 pmf_system_shutdown(boothowto);
280
281 /* Make sure IRQ's are disabled */
282 IRQdisable;
283
284 if (howto & RB_HALT) {
285 printf("The operating system has halted.\n");
286 printf("Please press any key to reboot.\n\n");
287 cngetc();
288 }
289
290 printf("rebooting...\n");
291 cpu_reset();
292 /*NOTREACHED*/
293 }
294
295 /*
296 * Static device mappings. These peripheral registers are mapped at
297 * fixed virtual addresses very early in imx31lk_start() so that we
298 * can use them while booting the kernel, and stay at the same address
299 * throughout whole kernel's life time.
300 *
301 * We use this table twice; once with bootstrap page table, and once
302 * with kernel's page table which we build up in initarm().
303 */
304
305 static const struct pmap_devmap imx31lk_devmap[] = {
306 DEVMAP_ENTRY(
307 IMX31LITEKIT_UART1_VBASE,
308 UART1_BASE,
309 L1_S_SIZE
310 ),
311 DEVMAP_ENTRY_END
312 };
313
314 #ifndef MEMSTART
315 #define MEMSTART 0x80000000
316 #endif
317 #ifndef MEMSIZE
318 #define MEMSIZE 0x8000000
319 #endif
320
321 /*
322 * vaddr_t initarm(...)
323 *
324 * Initial entry point on startup. This gets called before main() is
325 * entered.
326 * It should be responsible for setting up everything that must be
327 * in place when main is called.
328 * This includes
329 * Taking a copy of the boot configuration structure.
330 * Initialising the physical console so characters can be printed.
331 * Setting up page tables for the kernel
332 * Relocating the kernel to the bottom of physical memory
333 */
334 vaddr_t
initarm(void * arg)335 initarm(void *arg)
336 {
337 int loop;
338 int loop1;
339 vaddr_t l1pagetable;
340
341 disable_interrupts(I32_bit|F32_bit);
342 /* XXX move to imx31lk_start.S */
343
344 /* Register devmap for devices we mapped in start */
345 pmap_devmap_register(imx31lk_devmap);
346
347 #ifdef NOTYET
348 /* start 32.768 kHz OSC */
349 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2);
350 /* Get ready for splfoo() */
351 imx31_intr_bootstrap(IMX31_INTCTL_VBASE);
352 #endif
353
354 /*
355 * Heads up ... Setup the CPU / MMU / TLB functions
356 */
357 if (set_cpufuncs())
358 panic("cpu not recognized!");
359
360 #if 0
361 /* Calibrate the delay loop. */
362 #endif
363
364 consinit();
365
366 #ifdef KGDB
367 kgdb_port_init();
368 #endif
369 /* Talk to the user */
370 printf("\nNetBSD/evbarm (imx31lk) booting ...\n");
371
372 #if 0
373 /*
374 * Examine the boot args string for options we need to know about
375 * now.
376 */
377 process_kernel_args((char *)nwbootinfo.bt_args);
378 #endif
379
380 printf("initarm: Configuring system ...\n");
381
382 /* Fake bootconfig structure for the benefit of pmap.c */
383 /* XXX must make the memory description h/w independent */
384 bootconfig.dramblocks = 1;
385 bootconfig.dram[0].address = MEMSTART;
386 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE;
387
388 /*
389 * Set up the variables that define the availability of
390 * physical memory. For now, we're going to set
391 * physical_freeend to 0x80100000UL (where the kernel
392 * was loaded) and allocate the memory we need downwards.
393 * If we get too close to the page tables that LoLo
394 * set up, we will panic. We will update physical_freestart
395 * and physical_freeend later to reflect what pmap_bootstrap()
396 * wants to see.
397 *
398 * XXX pmap_bootstrap() needs an enema.
399 * (now that would be truly hardcore XXX)
400 */
401 physical_start = bootconfig.dram[0].address;
402 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE);
403
404 physical_freestart = 0x800c0000UL; /* top of LoLo */
405 physical_freeend = 0x80100000UL; /* base of kernel */
406
407 physmem = (physical_end - physical_start) / PAGE_SIZE;
408
409 #ifdef VERBOSE_INIT_ARM
410 /* Tell the user about the memory */
411 printf("physmemory: %"PRIuPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem,
412 physical_start, physical_end - 1);
413 #endif
414
415 /*
416 * Okay, the kernel starts 1MB in from the bottom of physical
417 * memory. We are going to allocate our bootstrap pages downwards
418 * from there.
419 *
420 * We need to allocate some fixed page tables to get the kernel
421 * going. We allocate one page directory and a number of page
422 * tables and store the physical addresses in the kernel_pt_table
423 * array.
424 *
425 * The kernel page directory must be on a 16K boundary. The page
426 * tables must be on 4K boundaries. What we do is allocate the
427 * page directory on the first 16K boundary that we encounter, and
428 * the page tables on 4K boundaries otherwise. Since we allocate
429 * at least 3 L2 page tables, we are guaranteed to encounter at
430 * least one 16K aligned region.
431 */
432
433 #ifdef VERBOSE_INIT_ARM
434 printf("Allocating page tables\n");
435 #endif
436
437 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
438
439 #ifdef VERBOSE_INIT_ARM
440 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
441 physical_freestart, free_pages, free_pages);
442 #endif
443
444 /* Define a macro to simplify memory allocation */
445 #define valloc_pages(var, np) \
446 alloc_pages((var).pv_pa, (np)); \
447 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
448
449 #define alloc_pages(var, np) \
450 physical_freeend -= ((np) * PAGE_SIZE); \
451 if (physical_freeend < physical_freestart) \
452 panic("initarm: out of memory"); \
453 (var) = physical_freeend; \
454 free_pages -= (np); \
455 memset((char *)(var), 0, ((np) * PAGE_SIZE));
456
457 loop1 = 0;
458 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
459 /* Are we 16KB aligned for an L1 ? */
460 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
461 && kernel_l1pt.pv_pa == 0) {
462 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
463 } else {
464 valloc_pages(kernel_pt_table[loop1],
465 L2_TABLE_SIZE / PAGE_SIZE);
466 ++loop1;
467 }
468 }
469
470 /* This should never be able to happen but better confirm that. */
471 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
472 panic("initarm: Failed to align the kernel page directory");
473
474 /*
475 * Allocate a page for the system page mapped to V0x00000000
476 * This page will just contain the system vectors and can be
477 * shared by all processes.
478 */
479 alloc_pages(systempage.pv_pa, 1);
480
481 /* Allocate stacks for all modes */
482 valloc_pages(irqstack, IRQ_STACK_SIZE);
483 valloc_pages(abtstack, ABT_STACK_SIZE);
484 valloc_pages(undstack, UND_STACK_SIZE);
485 valloc_pages(kernelstack, UPAGES);
486
487 #ifdef VERBOSE_INIT_ARM
488 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
489 irqstack.pv_va);
490 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
491 abtstack.pv_va);
492 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
493 undstack.pv_va);
494 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
495 kernelstack.pv_va);
496 #endif
497
498 /*
499 * XXX Defer this to later so that we can reclaim the memory
500 * XXX used by the LoLo page tables.
501 */
502 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
503
504 /*
505 * Ok we have allocated physical pages for the primary kernel
506 * page tables
507 */
508
509 #ifdef VERBOSE_INIT_ARM
510 printf("Creating L1 page table at p0x%08lx v0x%08lx\n",
511 kernel_l1pt.pv_pa, kernel_l1pt.pv_va);
512 #endif
513
514 /*
515 * Now we start construction of the L1 page table
516 * We start by mapping the L2 page tables into the L1.
517 * This means that we can replace L1 mappings later on if necessary
518 */
519 l1pagetable = kernel_l1pt.pv_pa;
520
521 /* Map the L2 pages tables in the L1 page table */
522 pmap_link_l2pt(l1pagetable, 0x00000000,
523 &kernel_pt_table[KERNEL_PT_SYS]);
524 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
525 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
526 &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
527 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
528 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
529 &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
530
531 /* update the top of the kernel VM */
532 pmap_curmaxkvaddr =
533 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
534
535 #ifdef VERBOSE_INIT_ARM
536 printf("Mapping kernel\n");
537 #endif
538
539 /* Now we fill in the L2 pagetable for the kernel static code/data */
540 #define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME)
541 {
542 extern char etext[], _end[];
543 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE);
544 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE);
545 u_int logical;
546
547
548 printf("%s: etext %lx, _end %lx\n",
549 __func__, (uintptr_t)etext, (uintptr_t)_end);
550 printf("%s: textsize %#lx, totalsize %#lx\n",
551 __func__, textsize, totalsize);
552
553 logical = 0x00100000; /* offset of kernel in RAM */
554
555 /* Map text section read-only. */
556 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
557 physical_start + logical, textsize,
558 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE);
559
560 /* Map data and bss sections read-write. */
561 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
562 physical_start + logical, totalsize - textsize,
563 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
564 }
565
566 #ifdef VERBOSE_INIT_ARM
567 printf("Constructing L2 page tables\n");
568 #endif
569
570 /* Map the stack pages */
571 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
572 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
573 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
574 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
575 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
576 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
577 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
578 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE);
579
580 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
581 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE);
582
583 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
584 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
585 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
586 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
587 }
588
589 /* Map the vector page. */
590 #if 1
591 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the
592 * cache-clean code there. */
593 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
594 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE);
595 #else
596 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
597 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
598 #endif
599
600 /*
601 * map integrated peripherals at same address in l1pagetable
602 * so that we can continue to use console.
603 */
604 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap);
605
606 /*
607 * Now we have the real page tables in place so we can switch to them.
608 * Once this is done we will be running with the REAL kernel page
609 * tables.
610 */
611
612 /*
613 * Update the physical_freestart/physical_freeend/free_pages
614 * variables.
615 */
616 {
617 extern char _end[];
618
619 physical_freestart = physical_start +
620 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
621 KERNEL_BASE);
622 physical_freeend = physical_end;
623 free_pages =
624 (physical_freeend - physical_freestart) / PAGE_SIZE;
625 }
626
627 /* Switch tables */
628 #ifdef VERBOSE_INIT_ARM
629 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
630 physical_freestart, free_pages, free_pages);
631 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa);
632 #endif
633
634 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
635 cpu_setttb(kernel_l1pt.pv_pa, true);
636 cpu_tlb_flushID();
637 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
638 //imx31lk_consinit(2);
639
640 /*
641 * Moved from cpu_startup() as data_abort_handler() references
642 * this during uvm init
643 */
644 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
645
646 #ifdef VERBOSE_INIT_ARM
647 printf("bootstrap done.\n");
648 #endif
649
650 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
651
652 /*
653 * Pages were allocated during the secondary bootstrap for the
654 * stacks for different CPU modes.
655 * We must now set the r13 registers in the different CPU modes to
656 * point to these stacks.
657 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
658 * of the stack memory.
659 */
660 printf("init subsystems: stacks ");
661
662 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
663 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
664 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
665
666 /*
667 * Well we should set a data abort handler.
668 * Once things get going this will change as we will need a proper
669 * handler.
670 * Until then we will use a handler that just panics but tells us
671 * why.
672 * Initialisation of the vectors will just panic on a data abort.
673 * This just fills in a slightly better one.
674 */
675 printf("vectors ");
676 data_abort_handler_address = (u_int)data_abort_handler;
677 prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
678 undefined_handler_address = (u_int)undefinedinstruction_bounce;
679
680 /* Initialise the undefined instruction handlers */
681 printf("undefined ");
682 undefined_init();
683
684 /* Load memory into UVM. */
685 printf("page ");
686 uvm_md_init();
687 uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
688 atop(physical_freestart), atop(physical_freeend),
689 VM_FREELIST_DEFAULT);
690
691 /* Boot strap pmap telling it where managed kernel virtual memory is */
692 printf("pmap ");
693 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
694
695 #ifdef __HAVE_MEMORY_DISK__
696 md_root_setconf(memory_disk, sizeof memory_disk);
697 #endif
698
699 #ifdef KGDB
700 if (boothowto & RB_KDB) {
701 kgdb_debug_init = 1;
702 kgdb_connect(1);
703 }
704 #endif
705
706 #ifdef DDB
707 printf("ddb ");
708 db_machine_init();
709
710 /* Firmware doesn't load symbols. */
711 ddb_init(0, NULL, NULL);
712
713 if (boothowto & RB_KDB)
714 Debugger();
715 #endif
716 /* We return the new stack pointer address */
717 return kernelstack.pv_va + USPACE_SVC_STACK_TOP;
718 }
719
720 #if 0
721 void
722 process_kernel_args(char *args)
723 {
724
725 boothowto = 0;
726
727 /* Make a local copy of the bootargs */
728 strncpy(bootargs, args, MAX_BOOT_STRING);
729
730 args = bootargs;
731 boot_file = bootargs;
732
733 /* Skip the kernel image filename */
734 while (*args != ' ' && *args != 0)
735 ++args;
736
737 if (*args != 0)
738 *args++ = 0;
739
740 while (*args == ' ')
741 ++args;
742
743 boot_args = args;
744
745 printf("bootfile: %s\n", boot_file);
746 printf("bootargs: %s\n", boot_args);
747
748 parse_mi_bootargs(boot_args);
749 }
750 #endif
751
752 #ifdef KGDB
753 #ifndef KGDB_DEVNAME
754 #define KGDB_DEVNAME "ffuart"
755 #endif
756 const char kgdb_devname[] = KGDB_DEVNAME;
757
758 #if (NCOM > 0)
759 #ifndef KGDB_DEVMODE
760 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
761 #endif
762 int comkgdbmode = KGDB_DEVMODE;
763 #endif /* NCOM */
764
765 #endif /* KGDB */
766
767
768 #if 0
769 void
770 imx31lk_consinit(int phase)
771 {
772 static int ophase = 0;
773 intptr_t bh;
774
775 if (ophase != phase) {
776 ophase = phase;
777 switch (phase) {
778 case 1:
779 imxuart_init(0, UART1_BASE);
780 break;
781 case 2:
782 bh = IMX31LITEKIT_UART1_VBASE;
783 bh |= (UART1_BASE & ~_A(UART1_BASE));
784 imxuart_init(0, bh);
785 break;
786 }
787 }
788 }
789 #endif
790
791 void
consinit(void)792 consinit(void)
793 {
794 // imx31lk_consinit(2);
795 }
796
797 #ifdef KGDB
798 void
kgdb_port_init(void)799 kgdb_port_init(void)
800 {
801 #if (NCOM > 0) && defined(COM_PXA2X0)
802 paddr_t paddr = 0;
803 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN);
804
805 if (0 == strcmp(kgdb_devname, "ffuart")) {
806 paddr = PXA2X0_FFUART_BASE;
807 ckenreg |= CKEN_FFUART;
808 }
809 else if (0 == strcmp(kgdb_devname, "btuart")) {
810 paddr = PXA2X0_BTUART_BASE;
811 ckenreg |= CKEN_BTUART;
812 }
813
814 if (paddr &&
815 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr,
816 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) {
817
818 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg);
819 }
820 #endif
821 }
822 #endif
823