1 /* $NetBSD: lubbock_machdep.c,v 1.46 2024/02/20 23:36:02 andvar Exp $ */
2
3 /*
4 * Copyright (c) 2002, 2003, 2005 Genetec Corporation. All rights reserved.
5 * Written by Hiroyuki Bessho for Genetec Corporation.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 * 1. Redistributions of source code must retain the above copyright
11 * notice, this list of conditions and the following disclaimer.
12 * 2. Redistributions in binary form must reproduce the above copyright
13 * notice, this list of conditions and the following disclaimer in the
14 * documentation and/or other materials provided with the distribution.
15 * 3. The name of Genetec Corporation may not be used to endorse or
16 * promote products derived from this software without specific prior
17 * written permission.
18 *
19 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND
20 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
21 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
22 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION
23 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
24 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
25 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
26 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
28 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
29 * POSSIBILITY OF SUCH DAMAGE.
30 *
31 * Machine dependent functions for kernel setup for
32 * Intel DBPXA250 evaluation board (a.k.a. Lubbock).
33 * Based on iq80310_machhdep.c
34 */
35 /*
36 * Copyright (c) 2001 Wasabi Systems, Inc.
37 * All rights reserved.
38 *
39 * Written by Jason R. Thorpe for Wasabi Systems, Inc.
40 *
41 * Redistribution and use in source and binary forms, with or without
42 * modification, are permitted provided that the following conditions
43 * are met:
44 * 1. Redistributions of source code must retain the above copyright
45 * notice, this list of conditions and the following disclaimer.
46 * 2. Redistributions in binary form must reproduce the above copyright
47 * notice, this list of conditions and the following disclaimer in the
48 * documentation and/or other materials provided with the distribution.
49 * 3. All advertising materials mentioning features or use of this software
50 * must display the following acknowledgement:
51 * This product includes software developed for the NetBSD Project by
52 * Wasabi Systems, Inc.
53 * 4. The name of Wasabi Systems, Inc. may not be used to endorse
54 * or promote products derived from this software without specific prior
55 * written permission.
56 *
57 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND
58 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
59 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
60 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC
61 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
62 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
63 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
64 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
65 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
66 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
67 * POSSIBILITY OF SUCH DAMAGE.
68 */
69
70 /*
71 * Copyright (c) 1997,1998 Mark Brinicombe.
72 * Copyright (c) 1997,1998 Causality Limited.
73 * All rights reserved.
74 *
75 * Redistribution and use in source and binary forms, with or without
76 * modification, are permitted provided that the following conditions
77 * are met:
78 * 1. Redistributions of source code must retain the above copyright
79 * notice, this list of conditions and the following disclaimer.
80 * 2. Redistributions in binary form must reproduce the above copyright
81 * notice, this list of conditions and the following disclaimer in the
82 * documentation and/or other materials provided with the distribution.
83 * 3. All advertising materials mentioning features or use of this software
84 * must display the following acknowledgement:
85 * This product includes software developed by Mark Brinicombe
86 * for the NetBSD Project.
87 * 4. The name of the company nor the name of the author may be used to
88 * endorse or promote products derived from this software without specific
89 * prior written permission.
90 *
91 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
92 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
93 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
94 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
95 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
96 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
97 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
98 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
99 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
100 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
101 * SUCH DAMAGE.
102 *
103 * Machine dependent functions for kernel setup for Intel IQ80310 evaluation
104 * boards using RedBoot firmware.
105 */
106
107 /*
108 * DIP switches:
109 *
110 * S19: no-dot: set RB_KDB. enter kgdb session.
111 * S20: no-dot: set RB_SINGLE. don't go multi user mode.
112 */
113
114 #include <sys/cdefs.h>
115 __KERNEL_RCSID(0, "$NetBSD: lubbock_machdep.c,v 1.46 2024/02/20 23:36:02 andvar Exp $");
116
117 #include "opt_arm_debug.h"
118 #include "opt_console.h"
119 #include "opt_ddb.h"
120 #include "opt_kgdb.h"
121 #include "opt_md.h"
122 #include "opt_com.h"
123 #include "lcd.h"
124
125 #include <sys/param.h>
126 #include <sys/device.h>
127 #include <sys/systm.h>
128 #include <sys/kernel.h>
129 #include <sys/exec.h>
130 #include <sys/proc.h>
131 #include <sys/msgbuf.h>
132 #include <sys/reboot.h>
133 #include <sys/termios.h>
134 #include <sys/ksyms.h>
135 #include <sys/bus.h>
136 #include <sys/cpu.h>
137 #include <sys/conf.h>
138
139 #include <uvm/uvm_extern.h>
140
141 #include <dev/cons.h>
142 #include <dev/md.h>
143 #include <dev/ic/smc91cxxreg.h>
144
145 #include <machine/db_machdep.h>
146 #include <ddb/db_sym.h>
147 #include <ddb/db_extern.h>
148 #ifdef KGDB
149 #include <sys/kgdb.h>
150 #endif
151
152 #include <machine/bootconfig.h>
153 #include <arm/locore.h>
154 #include <arm/undefined.h>
155
156 #include <arm/arm32/machdep.h>
157
158 #include <arm/xscale/pxa2x0reg.h>
159 #include <arm/xscale/pxa2x0var.h>
160 #include <arm/xscale/pxa2x0_gpio.h>
161 #include <arm/sa11x0/sa1111_reg.h>
162 #include <evbarm/lubbock/lubbock_reg.h>
163 #include <evbarm/lubbock/lubbock_var.h>
164
165 /* Kernel text starts 2MB in from the bottom of the kernel address space. */
166 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000)
167 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000)
168
169 /*
170 * The range 0xc1000000 - 0xccffffff is available for kernel VM space
171 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff
172 */
173 #define KERNEL_VM_SIZE 0x0C000000
174
175 BootConfig bootconfig; /* Boot config storage */
176 char *boot_args = NULL;
177 char *boot_file = NULL;
178
179 vaddr_t physical_start;
180 vaddr_t physical_freestart;
181 vaddr_t physical_freeend;
182 vaddr_t physical_end;
183 u_int free_pages;
184
185 /*int debug_flags;*/
186 #ifndef PMAP_STATIC_L1S
187 int max_processes = 64; /* Default number */
188 #endif /* !PMAP_STATIC_L1S */
189
190 /* Physical and virtual addresses for some global pages */
191 pv_addr_t minidataclean;
192
193 paddr_t msgbufphys;
194
195 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */
196 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */
197 #define KERNEL_PT_KERNEL_NUM 4
198 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM)
199 /* Page tables for mapping kernel VM */
200 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */
201 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
202
203 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
204
205 /* Prototypes */
206
207 #if 0
208 void process_kernel_args(char *);
209 #endif
210
211 void consinit(void);
212 void kgdb_port_init(void);
213 void change_clock(uint32_t v);
214
215 bs_protos(bs_notimpl);
216
217 #include "com.h"
218 #if NCOM > 0
219 #include <dev/ic/comreg.h>
220 #include <dev/ic/comvar.h>
221 #endif
222
223 #ifndef CONSPEED
224 #define CONSPEED B115200 /* What RedBoot uses */
225 #endif
226 #ifndef CONMODE
227 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
228 #endif
229
230 int comcnspeed = CONSPEED;
231 int comcnmode = CONMODE;
232
233 static struct pxa2x0_gpioconf boarddep_gpioconf[] = {
234 { 44, GPIO_ALT_FN_1_IN }, /* BTCST */
235 { 45, GPIO_ALT_FN_2_OUT }, /* BTRST */
236
237 { 29, GPIO_ALT_FN_1_IN }, /* SDATA_IN0 */
238
239 { -1 }
240 };
241 static struct pxa2x0_gpioconf *lubbock_gpioconf[] = {
242 pxa25x_com_btuart_gpioconf,
243 pxa25x_com_ffuart_gpioconf,
244 #if 0
245 pxa25x_com_stuart_gpioconf,
246 #endif
247 pxa25x_pcic_gpioconf,
248 pxa25x_pxaacu_gpioconf,
249 boarddep_gpioconf,
250 NULL
251 };
252
253 /*
254 * void cpu_reboot(int howto, char *bootstr)
255 *
256 * Reboots the system
257 *
258 * Deal with any syncing, unmounting, dumping and shutdown hooks,
259 * then reset the CPU.
260 */
261 void
cpu_reboot(int howto,char * bootstr)262 cpu_reboot(int howto, char *bootstr)
263 {
264 #ifdef DIAGNOSTIC
265 /* info */
266 printf("boot: howto=%08x curproc=%p\n", howto, curproc);
267 #endif
268
269 /*
270 * If we are still cold then hit the air brakes
271 * and crash to earth fast
272 */
273 if (cold) {
274 doshutdownhooks();
275 pmf_system_shutdown(boothowto);
276 printf("The operating system has halted.\n");
277 printf("Please press any key to reboot.\n\n");
278 cngetc();
279 printf("rebooting...\n");
280 cpu_reset();
281 /*NOTREACHED*/
282 }
283
284 /* Disable console buffering */
285 /* cnpollc(1);*/
286
287 /*
288 * If RB_NOSYNC was not specified sync the discs.
289 * Note: Unless cold is set to 1 here, syslogd will die during the
290 * unmount. It looks like syslogd is getting woken up only to find
291 * that it cannot page part of the binary in as the filesystem has
292 * been unmounted.
293 */
294 if (!(howto & RB_NOSYNC))
295 bootsync();
296
297 /* Say NO to interrupts */
298 splhigh();
299
300 /* Do a dump if requested. */
301 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
302 dumpsys();
303
304 /* Run any shutdown hooks */
305 doshutdownhooks();
306
307 pmf_system_shutdown(boothowto);
308
309 /* Make sure IRQ's are disabled */
310 IRQdisable;
311
312 if (howto & RB_HALT) {
313 printf("The operating system has halted.\n");
314 printf("Please press any key to reboot.\n\n");
315 cngetc();
316 }
317
318 printf("rebooting...\n");
319 cpu_reset();
320 /*NOTREACHED*/
321 }
322
323 static inline
324 pd_entry_t *
read_ttb(void)325 read_ttb(void)
326 {
327 long ttb;
328
329 __asm volatile("mrc p15, 0, %0, c2, c0, 0" : "=r" (ttb));
330
331
332 return (pd_entry_t *)(ttb & ~((1<<14)-1));
333 }
334
335 /*
336 * Static device mappings. These peripheral registers are mapped at
337 * fixed virtual addresses very early in initarm() so that we can use
338 * them while booting the kernel, and stay at the same address
339 * throughout whole kernel's life time.
340 *
341 * We use this table twice; once with bootstrap page table, and once
342 * with kernel's page table which we build up in initarm().
343 *
344 * Since we map these registers into the bootstrap page table using
345 * pmap_devmap_bootstrap() which calls pmap_map_chunk(), we map
346 * registers segment-aligned and segment-rounded in order to avoid
347 * using the 2nd page tables.
348 */
349
350 static const struct pmap_devmap lubbock_devmap[] = {
351 DEVMAP_ENTRY(
352 LUBBOCK_OBIO_VBASE,
353 LUBBOCK_OBIO_PBASE,
354 LUBBOCK_OBIO_SIZE
355 ),
356 DEVMAP_ENTRY(
357 LUBBOCK_GPIO_VBASE,
358 PXA2X0_GPIO_BASE,
359 PXA250_GPIO_SIZE
360 ),
361 DEVMAP_ENTRY(
362 LUBBOCK_CLKMAN_VBASE,
363 PXA2X0_CLKMAN_BASE,
364 PXA2X0_CLKMAN_SIZE
365 ),
366 DEVMAP_ENTRY(
367 LUBBOCK_INTCTL_VBASE,
368 PXA2X0_INTCTL_BASE,
369 PXA2X0_INTCTL_SIZE
370 ),
371 DEVMAP_ENTRY(
372 LUBBOCK_FFUART_VBASE,
373 PXA2X0_FFUART_BASE,
374 4 * COM_NPORTS
375 ),
376 DEVMAP_ENTRY(
377 LUBBOCK_BTUART_VBASE,
378 PXA2X0_BTUART_BASE,
379 4 * COM_NPORTS
380 ),
381
382 DEVMAP_ENTRY_END
383 };
384
385 /*
386 * vaddr_t initarm(...)
387 *
388 * Initial entry point on startup. This gets called before main() is
389 * entered.
390 * It should be responsible for setting up everything that must be
391 * in place when main is called.
392 * This includes
393 * Taking a copy of the boot configuration structure.
394 * Initialising the physical console so characters can be printed.
395 * Setting up page tables for the kernel
396 * Relocating the kernel to the bottom of physical memory
397 */
398 vaddr_t
initarm(void * arg)399 initarm(void *arg)
400 {
401 int loop;
402 int loop1;
403 u_int l1pagetable;
404 paddr_t memstart;
405 psize_t memsize;
406 int led_data = 0;
407 #define LEDSTEP_P() ioreg_write(LUBBOCK_OBIO_PBASE+LUBBOCK_HEXLED, led_data++)
408 #define LEDSTEP() hex_led(led_data++)
409
410 /* use physical address until pagetable is set */
411 LEDSTEP_P();
412
413 /* map some peripheral registers at static I/O area */
414 pmap_devmap_bootstrap((vaddr_t)read_ttb(), lubbock_devmap);
415
416 LEDSTEP_P();
417
418 /* start 32.768 kHz OSC */
419 ioreg_write(LUBBOCK_CLKMAN_VBASE + 0x08, 2);
420 /* Get ready for splfoo() */
421 pxa2x0_intr_bootstrap(LUBBOCK_INTCTL_VBASE);
422
423 LEDSTEP();
424
425 /*
426 * Heads up ... Setup the CPU / MMU / TLB functions
427 */
428 if (set_cpufuncs())
429 panic("cpu not recognized!");
430
431 LEDSTEP();
432
433
434 #if 0
435 /* Calibrate the delay loop. */
436 #endif
437
438 /*
439 * Okay, RedBoot has provided us with the following memory map:
440 *
441 * Physical Address Range Description
442 * ----------------------- ----------------------------------
443 * 0x00000000 - 0x01ffffff flash Memory (32MB)
444 * 0x04000000 - 0x05ffffff Application flash Memory (32MB)
445 * 0x08000000 - 0x080000ff I/O baseboard registers
446 * 0x0a000000 - 0x0a0fffff SRAM (1MB)
447 * 0x0c000000 - 0x0c0fffff Ethernet Controller
448 * 0x0e000000 - 0x0e0fffff Ethernet Controller (Attribute)
449 * 0x10000000 - 0x103fffff SA-1111 Companion Chip
450 * 0x14000000 - 0x17ffffff Expansion Card (64MB)
451 * 0x40000000 - 0x480fffff Processor Registers
452 * 0xa0000000 - 0xa3ffffff SDRAM Bank 0 (64MB)
453 *
454 *
455 * Virtual Address Range X C B Description
456 * ----------------------- - - - ----------------------------------
457 * 0x00000000 - 0x00003fff N Y Y SDRAM
458 * 0x00004000 - 0x000fffff N Y N Boot ROM
459 * 0x00100000 - 0x01ffffff N N N Application Flash
460 * 0x04000000 - 0x05ffffff N N N Exp Application Flash
461 * 0x08000000 - 0x080fffff N N N I/O baseboard registers
462 * 0x0a000000 - 0x0a0fffff N N N SRAM
463 * 0x40000000 - 0x480fffff N N N Processor Registers
464 * 0xa0000000 - 0xa000ffff N Y N RedBoot SDRAM
465 * 0xa0017000 - 0xa3ffffff Y Y Y SDRAM
466 * 0xc0000000 - 0xcfffffff Y Y Y Cache Flush Region
467 * (done by this routine)
468 * 0xfd000000 - 0xfd0000ff N N N I/O baseboard registers
469 * 0xfd100000 - 0xfd3fffff N N N Processor Registers.
470 * 0xfd400000 - 0xfd4fffff N N N FF-UART
471 * 0xfd500000 - 0xfd5fffff N N N BT-UART
472 *
473 * RedBoot's first level page table is at 0xa0004000. There
474 * are also 2 second-level tables at 0xa0008000 and
475 * 0xa0008400. We will continue to use them until we switch to
476 * our pagetable by cpu_setttb().
477 *
478 */
479
480 /* setup GPIO for BTUART, in case bootloader doesn't take care of it */
481 pxa2x0_gpio_bootstrap(LUBBOCK_GPIO_VBASE);
482 pxa2x0_gpio_config(lubbock_gpioconf);
483
484 /* turn on clock to UART block.
485 XXX: this should not be done here. */
486 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, CKEN_FFUART|CKEN_BTUART |
487 ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN));
488
489 LEDSTEP();
490
491 consinit();
492 LEDSTEP();
493 #ifdef KGDB
494 kgdb_port_init();
495 LEDSTEP();
496 #endif
497
498
499 /* Talk to the user */
500 printf("\nNetBSD/evbarm (lubbock) booting ...\n");
501
502 /* Tweak memory controller */
503 {
504 /* Modify access timing for CS3 (91c96) */
505
506 uint32_t tmp =
507 ioreg_read(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1);
508 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1,
509 (tmp & 0xffff) | (0x3881<<16));
510 /* RRR=3, RDN=8, RDF=8
511 * XXX: can be faster?
512 */
513 }
514
515
516 /* Initialize for PCMCIA/CF sockets */
517 {
518 uint32_t tmp;
519
520 /* Activate two sockets.
521 XXX: This code segment should be moved to
522 pcmcia MD attach routine.
523 XXX: These bits should be toggled based on
524 existene of PCMCIA/CF cards
525 */
526 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MECR,
527 MECR_NOS|MECR_CIT);
528
529 tmp = ioreg_read(LUBBOCK_SACC_PBASE+SACCSBI_SKCR);
530 ioreg_write(LUBBOCK_SACC_PBASE+SACCSBI_SKCR,
531 (tmp & ~(1<<4)) | (1<<0));
532 }
533
534 #if 0
535 /*
536 * Examine the boot args string for options we need to know about
537 * now.
538 */
539 process_kernel_args((char *)nwbootinfo.bt_args);
540 #endif
541
542 {
543 int processor_card_id;
544
545 processor_card_id = 0x000f &
546 ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_MISCRD);
547 switch(processor_card_id){
548 case 0:
549 /* Cotulla */
550 memstart = 0xa0000000;
551 memsize = 0x04000000; /* 64MB */
552 break;
553 case 1:
554 /* XXX: Sabiani */
555 memstart = 0xa0000000;
556 memsize = 0x04000000; /* 64MB */
557 break;
558 default:
559 /* XXX: Unknown */
560 memstart = 0xa0000000;
561 memsize = 0x04000000; /* 64MB */
562 }
563 }
564
565 printf("initarm: Configuring system ...\n");
566
567 /* Fake bootconfig structure for the benefit of pmap.c */
568 /* XXX must make the memory description h/w independent */
569 bootconfig.dramblocks = 1;
570 bootconfig.dram[0].address = memstart;
571 bootconfig.dram[0].pages = memsize / PAGE_SIZE;
572
573 /*
574 * Set up the variables that define the availability of
575 * physical memory. For now, we're going to set
576 * physical_freestart to 0xa0200000 (where the kernel
577 * was loaded), and allocate the memory we need downwards.
578 * If we get too close to the page tables that RedBoot
579 * set up, we will panic. We will update physical_freestart
580 * and physical_freeend later to reflect what pmap_bootstrap()
581 * wants to see.
582 *
583 * XXX pmap_bootstrap() needs an enema.
584 */
585 physical_start = bootconfig.dram[0].address;
586 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE);
587
588 physical_freestart = 0xa0009000UL;
589 physical_freeend = 0xa0200000UL;
590
591 physmem = (physical_end - physical_start) / PAGE_SIZE;
592
593 #ifdef VERBOSE_INIT_ARM
594 /* Tell the user about the memory */
595 printf("physmemory: 0x%"PRIxPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem,
596 physical_start, physical_end - 1);
597 #endif
598
599 /*
600 * Okay, the kernel starts 2MB in from the bottom of physical
601 * memory. We are going to allocate our bootstrap pages downwards
602 * from there.
603 *
604 * We need to allocate some fixed page tables to get the kernel
605 * going. We allocate one page directory and a number of page
606 * tables and store the physical addresses in the kernel_pt_table
607 * array.
608 *
609 * The kernel page directory must be on a 16K boundary. The page
610 * tables must be on 4K boundaries. What we do is allocate the
611 * page directory on the first 16K boundary that we encounter, and
612 * the page tables on 4K boundaries otherwise. Since we allocate
613 * at least 3 L2 page tables, we are guaranteed to encounter at
614 * least one 16K aligned region.
615 */
616
617 #ifdef VERBOSE_INIT_ARM
618 printf("Allocating page tables\n");
619 #endif
620
621 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
622
623 #ifdef VERBOSE_INIT_ARM
624 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
625 physical_freestart, free_pages, free_pages);
626 #endif
627
628 /* Define a macro to simplify memory allocation */
629 #define valloc_pages(var, np) \
630 alloc_pages((var).pv_pa, (np)); \
631 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
632
633 #define alloc_pages(var, np) \
634 physical_freeend -= ((np) * PAGE_SIZE); \
635 if (physical_freeend < physical_freestart) \
636 panic("initarm: out of memory"); \
637 (var) = physical_freeend; \
638 free_pages -= (np); \
639 memset((char *)(var), 0, ((np) * PAGE_SIZE));
640
641 loop1 = 0;
642 kernel_l1pt.pv_pa = 0;
643 kernel_l1pt.pv_va = 0;
644 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
645 /* Are we 16KB aligned for an L1 ? */
646 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
647 && kernel_l1pt.pv_pa == 0) {
648 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
649 } else {
650 valloc_pages(kernel_pt_table[loop1],
651 L2_TABLE_SIZE / PAGE_SIZE);
652 ++loop1;
653 }
654 }
655
656 /* This should never be able to happen but better confirm that. */
657 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
658 panic("initarm: Failed to align the kernel page directory");
659
660 LEDSTEP();
661
662 /*
663 * Allocate a page for the system page mapped to V0x00000000
664 * This page will just contain the system vectors and can be
665 * shared by all processes.
666 */
667 alloc_pages(systempage.pv_pa, 1);
668
669 /* Allocate stacks for all modes */
670 valloc_pages(irqstack, IRQ_STACK_SIZE);
671 valloc_pages(abtstack, ABT_STACK_SIZE);
672 valloc_pages(undstack, UND_STACK_SIZE);
673 valloc_pages(kernelstack, UPAGES);
674
675 /* Allocate enough pages for cleaning the Mini-Data cache. */
676 KASSERT(xscale_minidata_clean_size <= PAGE_SIZE);
677 valloc_pages(minidataclean, 1);
678
679 #ifdef VERBOSE_INIT_ARM
680 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
681 irqstack.pv_va);
682 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
683 abtstack.pv_va);
684 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
685 undstack.pv_va);
686 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
687 kernelstack.pv_va);
688 #endif
689
690 /*
691 * XXX Defer this to later so that we can reclaim the memory
692 * XXX used by the RedBoot page tables.
693 */
694 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
695
696 /*
697 * Ok we have allocated physical pages for the primary kernel
698 * page tables
699 */
700
701 #ifdef VERBOSE_INIT_ARM
702 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
703 #endif
704
705 /*
706 * Now we start construction of the L1 page table
707 * We start by mapping the L2 page tables into the L1.
708 * This means that we can replace L1 mappings later on if necessary
709 */
710 l1pagetable = kernel_l1pt.pv_pa;
711
712 /* Map the L2 pages tables in the L1 page table */
713 pmap_link_l2pt(l1pagetable, 0x00000000,
714 &kernel_pt_table[KERNEL_PT_SYS]);
715 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
716 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
717 &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
718 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
719 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
720 &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
721
722 /* update the top of the kernel VM */
723 pmap_curmaxkvaddr =
724 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
725
726 #ifdef VERBOSE_INIT_ARM
727 printf("Mapping kernel\n");
728 #endif
729
730 /* Now we fill in the L2 pagetable for the kernel static code/data */
731 {
732 extern char etext[], _end[];
733 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
734 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
735 u_int logical;
736
737 textsize = (textsize + PGOFSET) & ~PGOFSET;
738 totalsize = (totalsize + PGOFSET) & ~PGOFSET;
739
740 logical = 0x00200000; /* offset of kernel in RAM */
741
742 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
743 physical_start + logical, textsize,
744 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
745 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
746 physical_start + logical, totalsize - textsize,
747 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
748 }
749
750 #ifdef VERBOSE_INIT_ARM
751 printf("Constructing L2 page tables\n");
752 #endif
753
754 /* Map the stack pages */
755 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
756 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
757 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
758 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
759 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
760 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
761 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
762 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE);
763
764 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
765 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE);
766
767 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
768 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
769 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
770 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
771 }
772
773 /* Map the Mini-Data cache clean area. */
774 xscale_setup_minidata(l1pagetable, minidataclean.pv_va,
775 minidataclean.pv_pa);
776
777 /* Map the vector page. */
778 #if 1
779 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the
780 * cache-clean code there. */
781 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
782 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE);
783 #else
784 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
785 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
786 #endif
787
788 /*
789 * map integrated peripherals at same address in l1pagetable
790 * so that we can continue to use console.
791 */
792 pmap_devmap_bootstrap(l1pagetable, lubbock_devmap);
793
794 /*
795 * Give the XScale global cache clean code an appropriately
796 * sized chunk of unmapped VA space starting at 0xff000000
797 * (our device mappings end before this address).
798 */
799 xscale_cache_clean_addr = 0xff000000U;
800
801 /*
802 * Now we have the real page tables in place so we can switch to them.
803 * Once this is done we will be running with the REAL kernel page
804 * tables.
805 */
806
807 /*
808 * Update the physical_freestart/physical_freeend/free_pages
809 * variables.
810 */
811 {
812 extern char _end[];
813
814 physical_freestart = physical_start +
815 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
816 KERNEL_BASE);
817 physical_freeend = physical_end;
818 free_pages =
819 (physical_freeend - physical_freestart) / PAGE_SIZE;
820 }
821
822 /* Switch tables */
823 #ifdef VERBOSE_INIT_ARM
824 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
825 physical_freestart, free_pages, free_pages);
826 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa);
827 #endif
828
829 LEDSTEP();
830
831 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
832 cpu_setttb(kernel_l1pt.pv_pa, true);
833 cpu_tlb_flushID();
834 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
835 LEDSTEP();
836
837 /*
838 * Moved from cpu_startup() as data_abort_handler() references
839 * this during uvm init
840 */
841 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
842
843 #ifdef VERBOSE_INIT_ARM
844 printf("bootstrap done.\n");
845 #endif
846
847 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
848
849 /*
850 * Pages were allocated during the secondary bootstrap for the
851 * stacks for different CPU modes.
852 * We must now set the r13 registers in the different CPU modes to
853 * point to these stacks.
854 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
855 * of the stack memory.
856 */
857 printf("init subsystems: stacks ");
858
859 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
860 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
861 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
862
863 /*
864 * Well we should set a data abort handler.
865 * Once things get going this will change as we will need a proper
866 * handler.
867 * Until then we will use a handler that just panics but tells us
868 * why.
869 * Initialisation of the vectors will just panic on a data abort.
870 * This just fills in a slightly better one.
871 */
872 printf("vectors ");
873 data_abort_handler_address = (u_int)data_abort_handler;
874 prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
875 undefined_handler_address = (u_int)undefinedinstruction_bounce;
876
877 /* Initialise the undefined instruction handlers */
878 printf("undefined ");
879 undefined_init();
880
881 /* Load memory into UVM. */
882 printf("page ");
883 uvm_md_init();
884 uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
885 atop(physical_freestart), atop(physical_freeend),
886 VM_FREELIST_DEFAULT);
887
888 /* Boot strap pmap telling it where managed kernel virtual memory is */
889 printf("pmap ");
890 LEDSTEP();
891 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
892 LEDSTEP();
893
894 #ifdef __HAVE_MEMORY_DISK__
895 md_root_setconf(memory_disk, sizeof memory_disk);
896 #endif
897
898 {
899 uint16_t sw = ioreg16_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW);
900
901 if (0 == (sw & (1<<13))) /* check S19 */
902 boothowto |= RB_KDB;
903 if (0 == (sw & (1<<12))) /* S20 */
904 boothowto |= RB_SINGLE;
905 }
906
907 LEDSTEP();
908
909 #ifdef KGDB
910 if (boothowto & RB_KDB) {
911 kgdb_debug_init = 1;
912 kgdb_connect(1);
913 }
914 #endif
915
916 #ifdef DDB
917 db_machine_init();
918
919 /* Firmware doesn't load symbols. */
920 ddb_init(0, NULL, NULL);
921
922 if (boothowto & RB_KDB)
923 Debugger();
924 #endif
925
926 /* We return the new stack pointer address */
927 return kernelstack.pv_va + USPACE_SVC_STACK_TOP;
928 }
929
930 #if 0
931 void
932 process_kernel_args(char *args)
933 {
934
935 boothowto = 0;
936
937 /* Make a local copy of the bootargs */
938 strncpy(bootargs, args, MAX_BOOT_STRING);
939
940 args = bootargs;
941 boot_file = bootargs;
942
943 /* Skip the kernel image filename */
944 while (*args != ' ' && *args != 0)
945 ++args;
946
947 if (*args != 0)
948 *args++ = 0;
949
950 while (*args == ' ')
951 ++args;
952
953 boot_args = args;
954
955 printf("bootfile: %s\n", boot_file);
956 printf("bootargs: %s\n", boot_args);
957
958 parse_mi_bootargs(boot_args);
959 }
960 #endif
961
962 #ifdef KGDB
963 #ifndef KGDB_DEVNAME
964 #define KGDB_DEVNAME "ffuart"
965 #endif
966 const char kgdb_devname[] = KGDB_DEVNAME;
967
968 #if (NCOM > 0)
969 #ifndef KGDB_DEVMODE
970 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
971 #endif
972 int comkgdbmode = KGDB_DEVMODE;
973 #endif /* NCOM */
974
975 #endif /* KGDB */
976
977
978 void
consinit(void)979 consinit(void)
980 {
981 static int consinit_called = 0;
982 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN);
983 #if 0
984 char *console = CONSDEVNAME;
985 #endif
986
987 if (consinit_called != 0)
988 return;
989
990 consinit_called = 1;
991
992 #if NCOM > 0
993
994 #ifdef FFUARTCONSOLE
995 /* Check switch. */
996 if (0 == (ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW) & (1<<15))) {
997 /* We don't use FF serial when S17=no-dot position */
998 }
999 #ifdef KGDB
1000 else if (0 == strcmp(kgdb_devname, "ffuart")) {
1001 /* port is reserved for kgdb */
1002 }
1003 #endif
1004 else if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_FFUART_BASE,
1005 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) {
1006 #if 0
1007 /* XXX: can't call pxa2x0_clkman_config yet */
1008 pxa2x0_clkman_config(CKEN_FFUART, 1);
1009 #else
1010 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN,
1011 ckenreg|CKEN_FFUART);
1012 #endif
1013
1014 return;
1015 }
1016 #endif /* FFUARTCONSOLE */
1017
1018 #ifdef BTUARTCONSOLE
1019 #ifdef KGDB
1020 if (0 == strcmp(kgdb_devname, "btuart")) {
1021 /* port is reserved for kgdb */
1022 } else
1023 #endif
1024 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_BTUART_BASE,
1025 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) {
1026 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN,
1027 ckenreg|CKEN_BTUART);
1028 return;
1029 }
1030 #endif /* BTUARTCONSOLE */
1031
1032
1033 #endif /* NCOM */
1034
1035 }
1036
1037 #ifdef KGDB
1038 void
kgdb_port_init(void)1039 kgdb_port_init(void)
1040 {
1041 #if (NCOM > 0) && defined(COM_PXA2X0)
1042 paddr_t paddr = 0;
1043 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN);
1044
1045 if (0 == strcmp(kgdb_devname, "ffuart")) {
1046 paddr = PXA2X0_FFUART_BASE;
1047 ckenreg |= CKEN_FFUART;
1048 }
1049 else if (0 == strcmp(kgdb_devname, "btuart")) {
1050 paddr = PXA2X0_BTUART_BASE;
1051 ckenreg |= CKEN_BTUART;
1052 }
1053
1054 if (paddr &&
1055 0 == com_kgdb_attach(&pxa2x0_a4x_bs_tag, paddr,
1056 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) {
1057
1058 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg);
1059 }
1060 #endif
1061 }
1062 #endif
1063
1064 #if 0
1065 /*
1066 * display a number in hex LED.
1067 * a digit is blank when the corresponding bit in arg blank is 1
1068 */
1069 unsigned short led_control_value = 0;
1070
1071 void
1072 hex_led_blank(uint32_t value, int blank)
1073 {
1074 int save = disable_interrupts(I32_bit);
1075
1076 ioreg_write(LUBBOCK_OBIO_VBASE+0x10, value);
1077 led_control_value = (led_control_value & 0xff)
1078 | ((blank & 0xff)<<8);
1079 ioreg_write(LUBBOCK_OBIO_VBASE+0x40, led_control_value);
1080 restore_interrupts(save);
1081 }
1082 #endif
1083