1 /* $NetBSD: arm32_boot.c,v 1.4 2013/06/12 07:14:26 matt 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 * Copyright (c) 2001 Wasabi Systems, Inc. 32 * All rights reserved. 33 * 34 * Written by Jason R. Thorpe for Wasabi Systems, Inc. 35 * 36 * Redistribution and use in source and binary forms, with or without 37 * modification, are permitted provided that the following conditions 38 * are met: 39 * 1. Redistributions of source code must retain the above copyright 40 * notice, this list of conditions and the following disclaimer. 41 * 2. Redistributions in binary form must reproduce the above copyright 42 * notice, this list of conditions and the following disclaimer in the 43 * documentation and/or other materials provided with the distribution. 44 * 3. All advertising materials mentioning features or use of this software 45 * must display the following acknowledgement: 46 * This product includes software developed for the NetBSD Project by 47 * Wasabi Systems, Inc. 48 * 4. The name of Wasabi Systems, Inc. may not be used to endorse 49 * or promote products derived from this software without specific prior 50 * written permission. 51 * 52 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND 53 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 54 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 55 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC 56 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 57 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 58 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 59 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 60 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 61 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 62 * POSSIBILITY OF SUCH DAMAGE. 63 * 64 * Copyright (c) 1997,1998 Mark Brinicombe. 65 * Copyright (c) 1997,1998 Causality Limited. 66 * All rights reserved. 67 * 68 * Redistribution and use in source and binary forms, with or without 69 * modification, are permitted provided that the following conditions 70 * are met: 71 * 1. Redistributions of source code must retain the above copyright 72 * notice, this list of conditions and the following disclaimer. 73 * 2. Redistributions in binary form must reproduce the above copyright 74 * notice, this list of conditions and the following disclaimer in the 75 * documentation and/or other materials provided with the distribution. 76 * 3. All advertising materials mentioning features or use of this software 77 * must display the following acknowledgement: 78 * This product includes software developed by Mark Brinicombe 79 * for the NetBSD Project. 80 * 4. The name of the company nor the name of the author may be used to 81 * endorse or promote products derived from this software without specific 82 * prior written permission. 83 * 84 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 85 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 86 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 87 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 88 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 89 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 90 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 91 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 92 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 93 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 94 * SUCH DAMAGE. 95 * 96 * Copyright (c) 2007 Microsoft 97 * All rights reserved. 98 * 99 * Redistribution and use in source and binary forms, with or without 100 * modification, are permitted provided that the following conditions 101 * are met: 102 * 1. Redistributions of source code must retain the above copyright 103 * notice, this list of conditions and the following disclaimer. 104 * 2. Redistributions in binary form must reproduce the above copyright 105 * notice, this list of conditions and the following disclaimer in the 106 * documentation and/or other materials provided with the distribution. 107 * 3. All advertising materials mentioning features or use of this software 108 * must display the following acknowledgement: 109 * This product includes software developed by Microsoft 110 * 111 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 112 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 113 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 114 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTERS BE LIABLE FOR ANY DIRECT, 115 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 116 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 117 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 118 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 119 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 120 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 121 * SUCH DAMAGE. 122 */ 123 124 #include <sys/cdefs.h> 125 126 __KERNEL_RCSID(1, "$NetBSD: arm32_boot.c,v 1.4 2013/06/12 07:14:26 matt Exp $"); 127 128 #include "opt_ddb.h" 129 #include "opt_kgdb.h" 130 131 #include <sys/param.h> 132 #include <sys/reboot.h> 133 #include <sys/cpu.h> 134 #include <sys/intr.h> 135 136 #include <uvm/uvm_extern.h> 137 138 #include <arm/undefined.h> 139 #include <arm/arm32/machdep.h> 140 141 #include <machine/db_machdep.h> 142 #include <ddb/db_extern.h> 143 144 #include <machine/bootconfig.h> 145 146 #ifdef KGDB 147 #include <sys/kgdb.h> 148 #endif 149 150 vaddr_t 151 initarm_common(vaddr_t kvm_base, vsize_t kvm_size, 152 const struct boot_physmem *bp, size_t nbp) 153 { 154 struct bootmem_info * const bmi = &bootmem_info; 155 156 #ifdef VERBOSE_INIT_ARM 157 printf("nfreeblocks = %u, free_pages = %d (%#x)\n", 158 bmi->bmi_nfreeblocks, bmi->bmi_freepages, 159 bmi->bmi_freepages); 160 #endif 161 162 /* 163 * Moved from cpu_startup() as data_abort_handler() references 164 * this during uvm init. 165 */ 166 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 167 168 #ifdef VERBOSE_INIT_ARM 169 printf("bootstrap done.\n"); 170 #endif 171 172 #ifdef VERBOSE_INIT_ARM 173 printf("vectors"); 174 #endif 175 arm32_vector_init(systempage.pv_va, ARM_VEC_ALL); 176 #ifdef VERBOSE_INIT_ARM 177 printf(" %#"PRIxVADDR"\n", vector_page); 178 #endif 179 180 /* 181 * Pages were allocated during the secondary bootstrap for the 182 * stacks for different CPU modes. 183 * We must now set the r13 registers in the different CPU modes to 184 * point to these stacks. 185 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 186 * of the stack memory. 187 */ 188 #ifdef VERBOSE_INIT_ARM 189 printf("init subsystems: stacks "); 190 #endif 191 set_stackptr(PSR_FIQ32_MODE, 192 fiqstack.pv_va + FIQ_STACK_SIZE * PAGE_SIZE); 193 set_stackptr(PSR_IRQ32_MODE, 194 irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 195 set_stackptr(PSR_ABT32_MODE, 196 abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 197 set_stackptr(PSR_UND32_MODE, 198 undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 199 200 /* 201 * Well we should set a data abort handler. 202 * Once things get going this will change as we will need a proper 203 * handler. 204 * Until then we will use a handler that just panics but tells us 205 * why. 206 * Initialisation of the vectors will just panic on a data abort. 207 * This just fills in a slightly better one. 208 */ 209 #ifdef VERBOSE_INIT_ARM 210 printf("vectors "); 211 #endif 212 data_abort_handler_address = (u_int)data_abort_handler; 213 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 214 undefined_handler_address = (u_int)undefinedinstruction_bounce; 215 216 /* Initialise the undefined instruction handlers */ 217 #ifdef VERBOSE_INIT_ARM 218 printf("undefined "); 219 #endif 220 undefined_init(); 221 222 /* Load memory into UVM. */ 223 #ifdef VERBOSE_INIT_ARM 224 printf("page "); 225 #endif 226 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 227 228 #ifdef VERBOSE_INIT_ARM 229 printf("pmap_physload "); 230 #endif 231 KASSERT(bp != NULL || nbp == 0); 232 KASSERT(bp == NULL || nbp != 0); 233 234 for (size_t i = 0; i < bmi->bmi_nfreeblocks; i++) { 235 pv_addr_t * const pv = &bmi->bmi_freeblocks[i]; 236 paddr_t start = atop(pv->pv_pa); 237 const paddr_t end = start + atop(pv->pv_size); 238 239 while (start < end) { 240 int vm_freelist = VM_FREELIST_DEFAULT; 241 paddr_t segend = end; 242 /* 243 * This assumes the bp list is sorted in ascending 244 * order. 245 */ 246 for (size_t j = 0; j < nbp; j++) { 247 paddr_t bp_start = bp[j].bp_start; 248 paddr_t bp_end = bp_start + bp[j].bp_pages; 249 if (start < bp_start) { 250 if (segend > bp_start) { 251 segend = bp_start; 252 } 253 break; 254 } 255 if (start < bp_end) { 256 if (segend > bp_end) { 257 segend = bp_end; 258 } 259 vm_freelist = bp[j].bp_freelist; 260 break; 261 } 262 } 263 264 uvm_page_physload(start, segend, start, segend, 265 vm_freelist); 266 start = segend; 267 } 268 } 269 270 /* Boot strap pmap telling it where the kernel page table is */ 271 #ifdef VERBOSE_INIT_ARM 272 printf("pmap "); 273 #endif 274 pmap_bootstrap(kvm_base, kvm_base + kvm_size); 275 276 #ifdef __HAVE_MEMORY_DISK__ 277 md_root_setconf(memory_disk, sizeof memory_disk); 278 #endif 279 280 #ifdef BOOTHOWTO 281 boothowto |= BOOTHOWTO; 282 #endif 283 284 #ifdef KGDB 285 if (boothowto & RB_KDB) { 286 kgdb_debug_init = 1; 287 kgdb_connect(1); 288 } 289 #endif 290 291 #ifdef DDB 292 db_machine_init(); 293 ddb_init(0, NULL, NULL); 294 295 if (boothowto & RB_KDB) 296 Debugger(); 297 #endif 298 299 #ifdef VERBOSE_INIT_ARM 300 printf("done.\n"); 301 #endif 302 303 /* We return the new stack pointer address */ 304 return kernelstack.pv_va + USPACE_SVC_STACK_TOP; 305 } 306 307 #ifdef MULTIPROCESSOR 308 /* 309 * When we are called, the MMU and caches are on and we are running on the stack 310 * of the idlelwp for this cpu. 311 */ 312 void 313 cpu_hatch(struct cpu_info *ci, cpuid_t cpuid, void (*md_cpu_init)(struct cpu_info *)) 314 { 315 KASSERT(cpu_index(ci) == cpuid); 316 317 /* 318 * Raise our IPL to the max 319 */ 320 splhigh(); 321 322 printf("%s(%s): ", __func__, ci->ci_data.cpu_name); 323 324 /* 325 * Make sure we have the right vector page. 326 */ 327 printf(" vectors"); 328 arm32_vector_init(systempage.pv_va, ARM_VEC_ALL); 329 330 /* 331 * Initialize the stack for each mode (we are already running on the SVC32 332 * stack of the idlelwp). 333 */ 334 printf(" stacks"); 335 set_stackptr(PSR_FIQ32_MODE, 336 fiqstack.pv_va + cpu_index(ci) * FIQ_STACK_SIZE * PAGE_SIZE); 337 set_stackptr(PSR_IRQ32_MODE, 338 irqstack.pv_va + cpu_index(ci) * IRQ_STACK_SIZE * PAGE_SIZE); 339 set_stackptr(PSR_ABT32_MODE, 340 abtstack.pv_va + cpu_index(ci) * ABT_STACK_SIZE * PAGE_SIZE); 341 set_stackptr(PSR_UND32_MODE, 342 undstack.pv_va + cpu_index(ci) * UND_STACK_SIZE * PAGE_SIZE); 343 344 #if 0 345 /* 346 * Now that we are going to apart of the kernel, 347 * take out the kernel lock. 348 */ 349 printf(" kernel_lock"); 350 KERNEL_LOCK(1, NULL); 351 #endif 352 #ifdef CPU_CORTEX 353 if (CPU_ID_CORTEX_P(ci->ci_arm_cpuid)) { 354 /* 355 * Start and reset the PMC Cycle Counter. 356 */ 357 armreg_pmcr_write(ARM11_PMCCTL_E|ARM11_PMCCTL_P|ARM11_PMCCTL_C); 358 armreg_pmcntenset_write(CORTEX_CNTENS_C); 359 } 360 #endif 361 362 printf(" interrupts"); 363 /* 364 * Let the interrupts do what they need to on this CPU. 365 */ 366 intr_cpu_init(ci); 367 368 printf(" md(%p)", md_cpu_init); 369 if (md_cpu_init != NULL) 370 (*md_cpu_init)(ci); 371 372 #if 0 373 /* 374 * Tell the MI code we are alive! 375 */ 376 printf(" mi_cpu"); 377 mi_cpu_running(ci); 378 #endif 379 380 printf(" done!\n"); 381 } 382 #endif /* MULTIPROCESSOR */ 383