1 /* $NetBSD: g42xxeb_machdep.c,v 1.43 2024/05/13 00:08:06 msaitoh Exp $ */ 2 3 /* 4 * Copyright (c) 2002, 2003, 2004, 2005 Genetec Corporation. 5 * All rights reserved. 6 * 7 * Written by Hiroyuki Bessho for Genetec Corporation. 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions 11 * are met: 12 * 1. Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * 2. Redistributions in binary form must reproduce the above copyright 15 * notice, this list of conditions and the following disclaimer in the 16 * documentation and/or other materials provided with the distribution. 17 * 3. The name of Genetec Corporation may not be used to endorse or 18 * promote products derived from this software without specific prior 19 * written permission. 20 * 21 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND 22 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 23 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 24 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION 25 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 * POSSIBILITY OF SUCH DAMAGE. 32 * 33 * Machine dependent functions for kernel setup for Genetec G4250EBX 34 * evaluation board. 35 * 36 * Based on iq80310_machhdep.c 37 */ 38 /* 39 * Copyright (c) 2001 Wasabi Systems, Inc. 40 * All rights reserved. 41 * 42 * Written by Jason R. Thorpe for Wasabi Systems, Inc. 43 * 44 * Redistribution and use in source and binary forms, with or without 45 * modification, are permitted provided that the following conditions 46 * are met: 47 * 1. Redistributions of source code must retain the above copyright 48 * notice, this list of conditions and the following disclaimer. 49 * 2. Redistributions in binary form must reproduce the above copyright 50 * notice, this list of conditions and the following disclaimer in the 51 * documentation and/or other materials provided with the distribution. 52 * 3. All advertising materials mentioning features or use of this software 53 * must display the following acknowledgement: 54 * This product includes software developed for the NetBSD Project by 55 * Wasabi Systems, Inc. 56 * 4. The name of Wasabi Systems, Inc. may not be used to endorse 57 * or promote products derived from this software without specific prior 58 * written permission. 59 * 60 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND 61 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 62 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 63 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC 64 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 65 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 66 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 67 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 68 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 69 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 70 * POSSIBILITY OF SUCH DAMAGE. 71 */ 72 73 /* 74 * Copyright (c) 1997,1998 Mark Brinicombe. 75 * Copyright (c) 1997,1998 Causality Limited. 76 * All rights reserved. 77 * 78 * Redistribution and use in source and binary forms, with or without 79 * modification, are permitted provided that the following conditions 80 * are met: 81 * 1. Redistributions of source code must retain the above copyright 82 * notice, this list of conditions and the following disclaimer. 83 * 2. Redistributions in binary form must reproduce the above copyright 84 * notice, this list of conditions and the following disclaimer in the 85 * documentation and/or other materials provided with the distribution. 86 * 3. All advertising materials mentioning features or use of this software 87 * must display the following acknowledgement: 88 * This product includes software developed by Mark Brinicombe 89 * for the NetBSD Project. 90 * 4. The name of the company nor the name of the author may be used to 91 * endorse or promote products derived from this software without specific 92 * prior written permission. 93 * 94 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 95 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 96 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 97 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 98 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 99 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 100 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 101 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 102 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 103 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 104 * SUCH DAMAGE. 105 * 106 * Machine dependent functions for kernel setup for Intel IQ80310 evaluation 107 * boards using RedBoot firmware. 108 */ 109 110 #include "opt_arm_debug.h" 111 #include "opt_console.h" 112 #include "opt_ddb.h" 113 #include "opt_kgdb.h" 114 #include "opt_md.h" 115 #include "opt_com.h" 116 #include "lcd.h" 117 118 #include <sys/param.h> 119 #include <sys/device.h> 120 #include <sys/systm.h> 121 #include <sys/kernel.h> 122 #include <sys/exec.h> 123 #include <sys/proc.h> 124 #include <sys/msgbuf.h> 125 #include <sys/reboot.h> 126 #include <sys/termios.h> 127 #include <sys/ksyms.h> 128 #include <sys/bus.h> 129 #include <sys/cpu.h> 130 131 #include <uvm/uvm_extern.h> 132 133 #include <sys/conf.h> 134 #include <dev/cons.h> 135 #include <dev/md.h> 136 137 #include <machine/db_machdep.h> 138 #include <ddb/db_sym.h> 139 #include <ddb/db_extern.h> 140 #ifdef KGDB 141 #include <sys/kgdb.h> 142 #endif 143 144 #include <machine/bootconfig.h> 145 #include <arm/locore.h> 146 #include <arm/undefined.h> 147 148 #include <arm/arm32/machdep.h> 149 150 #include <arm/xscale/pxa2x0reg.h> 151 #include <arm/xscale/pxa2x0var.h> 152 #include <arm/xscale/pxa2x0_gpio.h> 153 #include <evbarm/g42xxeb/g42xxeb_reg.h> 154 #include <evbarm/g42xxeb/g42xxeb_var.h> 155 156 /* Kernel text starts 2MB in from the bottom of the kernel address space. */ 157 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000) 158 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 159 160 /* 161 * The range 0xc1000000 - 0xccffffff is available for kernel VM space 162 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 163 */ 164 #define KERNEL_VM_SIZE 0x0C000000 165 166 BootConfig bootconfig; /* Boot config storage */ 167 char *boot_args = NULL; 168 char *boot_file = NULL; 169 170 vaddr_t physical_start; 171 vaddr_t physical_freestart; 172 vaddr_t physical_freeend; 173 vaddr_t physical_end; 174 u_int free_pages; 175 176 /*int debug_flags;*/ 177 #ifndef PMAP_STATIC_L1S 178 int max_processes = 64; /* Default number */ 179 #endif /* !PMAP_STATIC_L1S */ 180 181 /* Physical and virtual addresses for some global pages */ 182 pv_addr_t minidataclean; 183 184 paddr_t msgbufphys; 185 186 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 187 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 188 #define KERNEL_PT_KERNEL_NUM 4 189 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 190 /* Page tables for mapping kernel VM */ 191 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 192 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 193 194 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 195 196 /* Prototypes */ 197 198 #if 0 199 void process_kernel_args(char *); 200 #endif 201 202 void consinit(void); 203 void kgdb_port_init(void); 204 void change_clock(uint32_t v); 205 206 bs_protos(bs_notimpl); 207 208 #include "com.h" 209 #if NCOM > 0 210 #include <dev/ic/comreg.h> 211 #include <dev/ic/comvar.h> 212 #endif 213 214 #ifndef CONSPEED 215 #define CONSPEED B115200 /* What RedBoot uses */ 216 #endif 217 #ifndef CONMODE 218 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 219 #endif 220 221 int comcnspeed = CONSPEED; 222 int comcnmode = CONMODE; 223 224 static struct pxa2x0_gpioconf boarddep_gpioconf[] = { 225 { 44, GPIO_ALT_FN_1_IN }, /* BTCST */ 226 { 45, GPIO_ALT_FN_2_OUT }, /* BTRST */ 227 228 { -1 } 229 }; 230 static struct pxa2x0_gpioconf *g42xxeb_gpioconf[] = { 231 pxa25x_com_btuart_gpioconf, 232 pxa25x_com_ffuart_gpioconf, 233 #if 0 234 pxa25x_com_stuart_gpioconf, 235 pxa25x_pxaacu_gpioconf, 236 #endif 237 boarddep_gpioconf, 238 NULL 239 }; 240 241 /* 242 * void cpu_reboot(int howto, char *bootstr) 243 * 244 * Reboots the system 245 * 246 * Deal with any syncing, unmounting, dumping and shutdown hooks, 247 * then reset the CPU. 248 */ 249 void 250 cpu_reboot(int howto, char *bootstr) 251 { 252 #ifdef DIAGNOSTIC 253 /* info */ 254 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 255 #endif 256 257 /* 258 * If we are still cold then hit the air brakes 259 * and crash to earth fast 260 */ 261 if (cold) { 262 doshutdownhooks(); 263 pmf_system_shutdown(boothowto); 264 printf("The operating system has halted.\n"); 265 printf("Please press any key to reboot.\n\n"); 266 cngetc(); 267 printf("rebooting...\n"); 268 cpu_reset(); 269 /*NOTREACHED*/ 270 } 271 272 /* Disable console buffering */ 273 /* cnpollc(1);*/ 274 275 /* 276 * If RB_NOSYNC was not specified sync the discs. 277 * Note: Unless cold is set to 1 here, syslogd will die during the 278 * unmount. It looks like syslogd is getting woken up only to find 279 * that it cannot page part of the binary in as the filesystem has 280 * been unmounted. 281 */ 282 if (!(howto & RB_NOSYNC)) 283 bootsync(); 284 285 /* Say NO to interrupts */ 286 splhigh(); 287 288 /* Do a dump if requested. */ 289 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 290 dumpsys(); 291 292 /* Run any shutdown hooks */ 293 doshutdownhooks(); 294 295 pmf_system_shutdown(boothowto); 296 297 /* Make sure IRQ's are disabled */ 298 IRQdisable; 299 300 if (howto & RB_HALT) { 301 printf("The operating system has halted.\n"); 302 printf("Please press any key to reboot.\n\n"); 303 cngetc(); 304 } 305 306 printf("rebooting...\n"); 307 cpu_reset(); 308 /*NOTREACHED*/ 309 } 310 311 static inline 312 pd_entry_t * 313 read_ttb(void) 314 { 315 long ttb; 316 317 __asm volatile("mrc p15, 0, %0, c2, c0, 0" : "=r" (ttb)); 318 319 320 return (pd_entry_t *)(ttb & ~((1<<14)-1)); 321 } 322 323 /* 324 * Static device mappings. These peripheral registers are mapped at 325 * fixed virtual addresses very early in initarm() so that we can use 326 * them while booting the kernel, and stay at the same address 327 * throughout whole kernel's life time. 328 * 329 * We use this table twice; once with bootstrap page table, and once 330 * with kernel's page table which we build up in initarm(). 331 * 332 * Since we map these registers into the bootstrap page table using 333 * pmap_devmap_bootstrap() which calls pmap_map_chunk(), we map 334 * registers segment-aligned and segment-rounded in order to avoid 335 * using the 2nd page tables. 336 */ 337 338 static const struct pmap_devmap g42xxeb_devmap[] = { 339 DEVMAP_ENTRY( 340 G42XXEB_PLDREG_VBASE, 341 G42XXEB_PLDREG_BASE, 342 G42XXEB_PLDREG_SIZE 343 ), 344 DEVMAP_ENTRY( 345 G42XXEB_GPIO_VBASE, 346 PXA2X0_GPIO_BASE, 347 PXA250_GPIO_SIZE 348 ), 349 DEVMAP_ENTRY( 350 G42XXEB_CLKMAN_VBASE, 351 PXA2X0_CLKMAN_BASE, 352 PXA2X0_CLKMAN_SIZE 353 ), 354 DEVMAP_ENTRY( 355 G42XXEB_INTCTL_VBASE, 356 PXA2X0_INTCTL_BASE, 357 PXA2X0_INTCTL_SIZE 358 ), 359 DEVMAP_ENTRY( 360 G42XXEB_FFUART_VBASE, 361 PXA2X0_FFUART_BASE, 362 4 * COM_NPORTS 363 ), 364 DEVMAP_ENTRY( 365 G42XXEB_BTUART_VBASE, 366 PXA2X0_BTUART_BASE, 367 4 * COM_NPORTS 368 ), 369 DEVMAP_ENTRY_END 370 }; 371 372 /* 373 * vaddr_t initarm(...) 374 * 375 * Initial entry point on startup. This gets called before main() is 376 * entered. 377 * It should be responsible for setting up everything that must be 378 * in place when main is called. 379 * This includes 380 * Taking a copy of the boot configuration structure. 381 * Initialising the physical console so characters can be printed. 382 * Setting up page tables for the kernel 383 * Relocating the kernel to the bottom of physical memory 384 */ 385 vaddr_t 386 initarm(void *arg) 387 { 388 int loop; 389 int loop1; 390 u_int l1pagetable; 391 paddr_t memstart; 392 psize_t memsize; 393 int led_data = 1; 394 395 #define LEDSTEP_P() ioreg8_write(G42XXEB_PLDREG_BASE+G42XXEB_LED, led_data++) 396 #define LEDSTEP() pldreg8_write(G42XXEB_LED, led_data++); 397 398 /* use physical address until pagetable is set */ 399 LEDSTEP_P(); 400 401 /* map some peripheral registers at static I/O area */ 402 pmap_devmap_bootstrap((vaddr_t)read_ttb(), g42xxeb_devmap); 403 404 LEDSTEP_P(); 405 406 /* start 32.768 kHz OSC */ 407 ioreg_write(G42XXEB_CLKMAN_VBASE + 0x08, 2); 408 /* Get ready for splfoo() */ 409 pxa2x0_intr_bootstrap(G42XXEB_INTCTL_VBASE); 410 411 LEDSTEP(); 412 413 /* 414 * Heads up ... Setup the CPU / MMU / TLB functions 415 */ 416 if (set_cpufuncs()) 417 panic("cpu not recognized!"); 418 419 LEDSTEP(); 420 421 /* 422 * Okay, RedBoot has provided us with the following memory map: 423 * 424 * Physical Address Range Description 425 * ----------------------- ---------------------------------- 426 * 0x00000000 - 0x01ffffff flash Memory (32MB) 427 * 0x04000000 - 0x05ffffff Application flash Memory (32MB) 428 * 0x08000000 - 0x080000ff I/O baseboard registers 429 * 0x0c000000 - 0x0c0fffff Ethernet Controller 430 * 0x14000000 - 0x17ffffff Expansion Card (64MB) 431 * 0x40000000 - 0x480fffff Processor Registers 432 * 0xa0000000 - 0xa3ffffff SDRAM Bank 0 (64MB) 433 * 434 * 435 * Virtual Address Range X C B Description 436 * ----------------------- - - - ---------------------------------- 437 * 0x00000000 - 0x00003fff N Y Y SDRAM 438 * 0x00004000 - 0x01ffffff N Y N ROM 439 * 0x08000000 - 0x080fffff N N N I/O baseboard registers 440 * 0x0a000000 - 0x0a0fffff N N N SRAM 441 * 0x40000000 - 0x480fffff N N N Processor Registers 442 * 0xa0000000 - 0xa000ffff N Y N RedBoot SDRAM 443 * 0xa0017000 - 0xa3ffffff Y Y Y SDRAM 444 * 0xc0000000 - 0xcfffffff Y Y Y Cache Flush Region 445 * (done by this routine) 446 * 0xfd000000 - 0xfd0000ff N N N I/O baseboard registers 447 * 0xfd100000 - 0xfd3fffff N N N Processor Registers. 448 * 0xfd400000 - 0xfd4fffff N N N FF-UART 449 * 0xfd500000 - 0xfd5fffff N N N BT-UART 450 * 451 * RedBoot's first level page table is at 0xa0004000. There 452 * are also 2 second-level tables at 0xa0008000 and 453 * 0xa0008400. We will continue to use them until we switch to 454 * our pagetable by cpu_setttb(). 455 */ 456 457 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 458 459 LEDSTEP(); 460 461 /* setup GPIO for BTUART, in case bootloader doesn't take care of it */ 462 pxa2x0_gpio_bootstrap(G42XXEB_GPIO_VBASE); 463 pxa2x0_gpio_config(g42xxeb_gpioconf); 464 465 LEDSTEP(); 466 467 consinit(); 468 #ifdef KGDB 469 LEDSTEP(); 470 kgdb_port_init(); 471 #endif 472 473 LEDSTEP(); 474 475 /* Talk to the user */ 476 printf("\nNetBSD/evbarm (g42xxeb) booting ...\n"); 477 478 #if 0 479 /* 480 * Examine the boot args string for options we need to know about 481 * now. 482 */ 483 process_kernel_args((char *)nwbootinfo.bt_args); 484 #endif 485 486 memstart = 0xa0000000; 487 memsize = 0x04000000; /* 64MB */ 488 489 printf("initarm: Configuring system ...\n"); 490 491 /* Fake bootconfig structure for the benefit of pmap.c */ 492 /* XXX must make the memory description h/w independent */ 493 bootconfig.dramblocks = 1; 494 bootconfig.dram[0].address = memstart; 495 bootconfig.dram[0].pages = memsize / PAGE_SIZE; 496 497 /* 498 * Set up the variables that define the availability of 499 * physical memory. For now, we're going to set 500 * physical_freestart to 0xa0200000 (where the kernel 501 * was loaded), and allocate the memory we need downwards. 502 * If we get too close to the L1 table that we set up, we 503 * will panic. We will update physical_freestart and 504 * physical_freeend later to reflect what pmap_bootstrap() 505 * wants to see. 506 * 507 * XXX pmap_bootstrap() needs an enema. 508 */ 509 physical_start = bootconfig.dram[0].address; 510 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 511 512 physical_freestart = 0xa0009000UL; 513 physical_freeend = 0xa0200000UL; 514 515 physmem = (physical_end - physical_start) / PAGE_SIZE; 516 517 #ifdef VERBOSE_INIT_ARM 518 /* Tell the user about the memory */ 519 printf("physmemory: 0x%"PRIxPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem, 520 physical_start, physical_end - 1); 521 #endif 522 523 /* 524 * Okay, the kernel starts 2MB in from the bottom of physical 525 * memory. We are going to allocate our bootstrap pages downwards 526 * from there. 527 * 528 * We need to allocate some fixed page tables to get the kernel 529 * going. We allocate one page directory and a number of page 530 * tables and store the physical addresses in the kernel_pt_table 531 * array. 532 * 533 * The kernel page directory must be on a 16K boundary. The page 534 * tables must be on 4K boundaries. What we do is allocate the 535 * page directory on the first 16K boundary that we encounter, and 536 * the page tables on 4K boundaries otherwise. Since we allocate 537 * at least 3 L2 page tables, we are guaranteed to encounter at 538 * least one 16K aligned region. 539 */ 540 541 #ifdef VERBOSE_INIT_ARM 542 printf("Allocating page tables\n"); 543 #endif 544 545 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 546 547 #ifdef VERBOSE_INIT_ARM 548 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 549 physical_freestart, free_pages, free_pages); 550 #endif 551 552 /* Define a macro to simplify memory allocation */ 553 #define valloc_pages(var, np) \ 554 alloc_pages((var).pv_pa, (np)); \ 555 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 556 557 #define alloc_pages(var, np) \ 558 physical_freeend -= ((np) * PAGE_SIZE); \ 559 if (physical_freeend < physical_freestart) \ 560 panic("initarm: out of memory"); \ 561 (var) = physical_freeend; \ 562 free_pages -= (np); \ 563 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 564 565 loop1 = 0; 566 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 567 /* Are we 16KB aligned for an L1 ? */ 568 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 569 && kernel_l1pt.pv_pa == 0) { 570 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 571 } else { 572 valloc_pages(kernel_pt_table[loop1], 573 L2_TABLE_SIZE / PAGE_SIZE); 574 ++loop1; 575 } 576 } 577 578 /* This should never be able to happen but better confirm that. */ 579 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 580 panic("initarm: Failed to align the kernel page directory"); 581 582 LEDSTEP(); 583 584 /* 585 * Allocate a page for the system page mapped to V0x00000000 586 * This page will just contain the system vectors and can be 587 * shared by all processes. 588 */ 589 alloc_pages(systempage.pv_pa, 1); 590 591 /* Allocate stacks for all modes */ 592 valloc_pages(irqstack, IRQ_STACK_SIZE); 593 valloc_pages(abtstack, ABT_STACK_SIZE); 594 valloc_pages(undstack, UND_STACK_SIZE); 595 valloc_pages(kernelstack, UPAGES); 596 597 /* Allocate enough pages for cleaning the Mini-Data cache. */ 598 KASSERT(xscale_minidata_clean_size <= PAGE_SIZE); 599 valloc_pages(minidataclean, 1); 600 601 #ifdef VERBOSE_INIT_ARM 602 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 603 irqstack.pv_va); 604 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 605 abtstack.pv_va); 606 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 607 undstack.pv_va); 608 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 609 kernelstack.pv_va); 610 #endif 611 612 /* 613 * XXX Defer this to later so that we can reclaim the memory 614 * XXX used by the RedBoot page tables. 615 */ 616 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 617 618 /* 619 * Ok we have allocated physical pages for the primary kernel 620 * page tables 621 */ 622 623 #ifdef VERBOSE_INIT_ARM 624 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa); 625 #endif 626 627 /* 628 * Now we start construction of the L1 page table 629 * We start by mapping the L2 page tables into the L1. 630 * This means that we can replace L1 mappings later on if necessary 631 */ 632 l1pagetable = kernel_l1pt.pv_pa; 633 634 /* Map the L2 pages tables in the L1 page table */ 635 pmap_link_l2pt(l1pagetable, 0x00000000, 636 &kernel_pt_table[KERNEL_PT_SYS]); 637 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 638 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 639 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 640 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 641 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 642 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 643 644 /* update the top of the kernel VM */ 645 pmap_curmaxkvaddr = 646 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 647 648 #ifdef VERBOSE_INIT_ARM 649 printf("Mapping kernel\n"); 650 #endif 651 652 /* Now we fill in the L2 pagetable for the kernel static code/data */ 653 { 654 extern char etext[], _end[]; 655 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE; 656 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE; 657 u_int logical; 658 659 textsize = (textsize + PGOFSET) & ~PGOFSET; 660 totalsize = (totalsize + PGOFSET) & ~PGOFSET; 661 662 logical = 0x00200000; /* offset of kernel in RAM */ 663 664 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 665 physical_start + logical, textsize, 666 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 667 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 668 physical_start + logical, totalsize - textsize, 669 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 670 } 671 672 #ifdef VERBOSE_INIT_ARM 673 printf("Constructing L2 page tables\n"); 674 #endif 675 676 /* Map the stack pages */ 677 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 678 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 679 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 680 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 681 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 682 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 683 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 684 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 685 686 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 687 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 688 689 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 690 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 691 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 692 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 693 } 694 695 /* Map the Mini-Data cache clean area. */ 696 xscale_setup_minidata(l1pagetable, minidataclean.pv_va, 697 minidataclean.pv_pa); 698 699 /* Map the vector page. */ 700 #if 1 701 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 702 * cache-clean code there. */ 703 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 704 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 705 #else 706 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 707 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 708 #endif 709 710 /* 711 * map integrated peripherals at same address in l1pagetable 712 * so that we can continue to use console. 713 */ 714 pmap_devmap_bootstrap(l1pagetable, g42xxeb_devmap); 715 716 /* 717 * Give the XScale global cache clean code an appropriately 718 * sized chunk of unmapped VA space starting at 0xff000000 719 * (our device mappings end before this address). 720 */ 721 xscale_cache_clean_addr = 0xff000000U; 722 723 /* 724 * Now we have the real page tables in place so we can switch to them. 725 * Once this is done we will be running with the REAL kernel page 726 * tables. 727 */ 728 729 /* 730 * Update the physical_freestart/physical_freeend/free_pages 731 * variables. 732 */ 733 { 734 extern char _end[]; 735 736 physical_freestart = physical_start + 737 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 738 KERNEL_BASE); 739 physical_freeend = physical_end; 740 free_pages = 741 (physical_freeend - physical_freestart) / PAGE_SIZE; 742 } 743 744 /* Switch tables */ 745 #ifdef VERBOSE_INIT_ARM 746 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 747 physical_freestart, free_pages, free_pages); 748 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 749 #endif 750 LEDSTEP(); 751 752 cpu_setttb(kernel_l1pt.pv_pa, true); 753 cpu_tlb_flushID(); 754 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 755 LEDSTEP(); 756 757 /* 758 * Moved from cpu_startup() as data_abort_handler() references 759 * this during uvm init 760 */ 761 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 762 763 #ifdef VERBOSE_INIT_ARM 764 printf("bootstrap done.\n"); 765 #endif 766 767 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 768 769 /* 770 * Pages were allocated during the secondary bootstrap for the 771 * stacks for different CPU modes. 772 * We must now set the r13 registers in the different CPU modes to 773 * point to these stacks. 774 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 775 * of the stack memory. 776 */ 777 #ifdef VERBOSE_INIT_ARM 778 printf("init subsystems: stacks "); 779 #endif 780 781 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 782 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 783 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 784 785 /* 786 * Well we should set a data abort handler. 787 * Once things get going this will change as we will need a proper 788 * handler. 789 * Until then we will use a handler that just panics but tells us 790 * why. 791 * Initialisation of the vectors will just panic on a data abort. 792 * This just fills in a slightly better one. 793 */ 794 #ifdef VERBOSE_INIT_ARM 795 printf("vectors "); 796 #endif 797 data_abort_handler_address = (u_int)data_abort_handler; 798 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 799 undefined_handler_address = (u_int)undefinedinstruction_bounce; 800 801 /* Initialise the undefined instruction handlers */ 802 #ifdef VERBOSE_INIT_ARM 803 printf("undefined "); 804 #endif 805 undefined_init(); 806 807 /* Load memory into UVM. */ 808 #ifdef VERBOSE_INIT_ARM 809 printf("page "); 810 #endif 811 uvm_md_init(); 812 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 813 atop(physical_freestart), atop(physical_freeend), 814 VM_FREELIST_DEFAULT); 815 816 /* Boot strap pmap telling it where managed kernel virtual memory is */ 817 #ifdef VERBOSE_INIT_ARM 818 printf("pmap "); 819 #endif 820 LEDSTEP(); 821 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 822 LEDSTEP(); 823 824 #ifdef __HAVE_MEMORY_DISK__ 825 md_root_setconf(memory_disk, sizeof memory_disk); 826 #endif 827 828 #ifdef BOOTHOWTO 829 boothowto |= BOOTHOWTO; 830 #endif 831 832 { 833 uint8_t sw = pldreg8_read(G42XXEB_DIPSW); 834 835 if (0 == (sw & (1<<0))) 836 boothowto ^= RB_KDB; 837 if (0 == (sw & (1<<1))) 838 boothowto ^= RB_SINGLE; 839 } 840 841 LEDSTEP(); 842 843 #ifdef KGDB 844 if (boothowto & RB_KDB) { 845 kgdb_debug_init = 1; 846 kgdb_connect(1); 847 } 848 #endif 849 850 #ifdef DDB 851 db_machine_init(); 852 853 /* Firmware doesn't load symbols. */ 854 ddb_init(0, NULL, NULL); 855 856 if (boothowto & RB_KDB) 857 Debugger(); 858 #endif 859 860 pldreg8_write(G42XXEB_LED, 0); 861 862 /* We return the new stack pointer address */ 863 return kernelstack.pv_va + USPACE_SVC_STACK_TOP; 864 } 865 866 #if 0 867 void 868 process_kernel_args(char *args) 869 { 870 871 boothowto = 0; 872 873 /* Make a local copy of the bootargs */ 874 strncpy(bootargs, args, MAX_BOOT_STRING); 875 876 args = bootargs; 877 boot_file = bootargs; 878 879 /* Skip the kernel image filename */ 880 while (*args != ' ' && *args != 0) 881 ++args; 882 883 if (*args != 0) 884 *args++ = 0; 885 886 while (*args == ' ') 887 ++args; 888 889 boot_args = args; 890 891 printf("bootfile: %s\n", boot_file); 892 printf("bootargs: %s\n", boot_args); 893 894 parse_mi_bootargs(boot_args); 895 } 896 #endif 897 898 #ifdef KGDB 899 #ifndef KGDB_DEVNAME 900 #define KGDB_DEVNAME "ffuart" 901 #endif 902 const char kgdb_devname[] = KGDB_DEVNAME; 903 904 #if (NCOM > 0) 905 #ifndef KGDB_DEVMODE 906 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 907 #endif 908 int comkgdbmode = KGDB_DEVMODE; 909 #endif /* NCOM */ 910 911 #endif /* KGDB */ 912 913 914 void 915 consinit(void) 916 { 917 static int consinit_called = 0; 918 uint32_t ckenreg = ioreg_read(G42XXEB_CLKMAN_VBASE+CLKMAN_CKEN); 919 #if 0 920 char *console = CONSDEVNAME; 921 #endif 922 923 if (consinit_called != 0) 924 return; 925 926 consinit_called = 1; 927 928 #if NCOM > 0 929 930 #ifdef FFUARTCONSOLE 931 #ifdef KGDB 932 if (0 == strcmp(kgdb_devname, "ffuart")){ 933 /* port is reserved for kgdb */ 934 } else 935 #endif 936 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_FFUART_BASE, 937 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 938 #if 0 939 pxa2x0_clkman_config(CKEN_FFUART, 1); 940 #else 941 ioreg_write(G42XXEB_CLKMAN_VBASE+CLKMAN_CKEN, 942 ckenreg|CKEN_FFUART); 943 #endif 944 945 return; 946 } 947 #endif /* FFUARTCONSOLE */ 948 949 #ifdef BTUARTCONSOLE 950 #ifdef KGDB 951 if (0 == strcmp(kgdb_devname, "btuart")) { 952 /* port is reserved for kgdb */ 953 } else 954 #endif 955 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_BTUART_BASE, 956 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 957 ioreg_write(G42XXEB_CLKMAN_VBASE+CLKMAN_CKEN, 958 ckenreg|CKEN_BTUART); 959 return; 960 } 961 #endif /* BTUARTCONSOLE */ 962 963 964 #endif /* NCOM */ 965 966 } 967 968 #ifdef KGDB 969 void 970 kgdb_port_init(void) 971 { 972 #if (NCOM > 0) && defined(COM_PXA2X0) 973 paddr_t paddr = 0; 974 uint32_t ckenreg = ioreg_read(G42XXEB_CLKMAN_VBASE+CLKMAN_CKEN); 975 976 if (0 == strcmp(kgdb_devname, "ffuart")) { 977 paddr = PXA2X0_FFUART_BASE; 978 ckenreg |= CKEN_FFUART; 979 } 980 else if (0 == strcmp(kgdb_devname, "btuart")) { 981 paddr = PXA2X0_BTUART_BASE; 982 ckenreg |= CKEN_BTUART; 983 } 984 985 if (paddr && 986 0 == com_kgdb_attach(&pxa2x0_a4x_bs_tag, paddr, 987 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 988 989 ioreg_write(G42XXEB_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 990 991 } 992 993 #endif 994 } 995 #endif 996 997