1 /* $NetBSD: imx31lk_machdep.c,v 1.28 2020/04/18 11:00:39 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 1.28 2020/04/18 11:00:39 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 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 #define _A(a) ((a) & ~L1_S_OFFSET) 306 #define _S(s) (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1)) 307 308 static const struct pmap_devmap imx31lk_devmap[] = { 309 { 310 IMX31LITEKIT_UART1_VBASE, 311 _A(UART1_BASE), 312 _S(L1_S_SIZE), 313 VM_PROT_READ|VM_PROT_WRITE, 314 PTE_NOCACHE, 315 }, 316 {0, 0, 0, 0, 0 } 317 }; 318 319 #ifndef MEMSTART 320 #define MEMSTART 0x80000000 321 #endif 322 #ifndef MEMSIZE 323 #define MEMSIZE 0x8000000 324 #endif 325 326 /* 327 * vaddr_t initarm(...) 328 * 329 * Initial entry point on startup. This gets called before main() is 330 * entered. 331 * It should be responsible for setting up everything that must be 332 * in place when main is called. 333 * This includes 334 * Taking a copy of the boot configuration structure. 335 * Initialising the physical console so characters can be printed. 336 * Setting up page tables for the kernel 337 * Relocating the kernel to the bottom of physical memory 338 */ 339 vaddr_t 340 initarm(void *arg) 341 { 342 int loop; 343 int loop1; 344 vaddr_t l1pagetable; 345 346 disable_interrupts(I32_bit|F32_bit); 347 /* XXX move to imx31lk_start.S */ 348 349 /* Register devmap for devices we mapped in start */ 350 pmap_devmap_register(imx31lk_devmap); 351 352 #ifdef NOTYET 353 /* start 32.768 kHz OSC */ 354 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2); 355 /* Get ready for splfoo() */ 356 imx31_intr_bootstrap(IMX31_INTCTL_VBASE); 357 #endif 358 359 /* 360 * Heads up ... Setup the CPU / MMU / TLB functions 361 */ 362 if (set_cpufuncs()) 363 panic("cpu not recognized!"); 364 365 #if 0 366 /* Calibrate the delay loop. */ 367 #endif 368 369 consinit(); 370 371 #ifdef KGDB 372 kgdb_port_init(); 373 #endif 374 /* Talk to the user */ 375 printf("\nNetBSD/evbarm (imx31lk) booting ...\n"); 376 377 #if 0 378 /* 379 * Examine the boot args string for options we need to know about 380 * now. 381 */ 382 process_kernel_args((char *)nwbootinfo.bt_args); 383 #endif 384 385 printf("initarm: Configuring system ...\n"); 386 387 /* Fake bootconfig structure for the benefit of pmap.c */ 388 /* XXX must make the memory description h/w independent */ 389 bootconfig.dramblocks = 1; 390 bootconfig.dram[0].address = MEMSTART; 391 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE; 392 393 /* 394 * Set up the variables that define the availablilty of 395 * physical memory. For now, we're going to set 396 * physical_freeend to 0x80100000UL (where the kernel 397 * was loaded) and allocate the memory we need downwards. 398 * If we get too close to the page tables that LoLo 399 * set up, we will panic. We will update physical_freestart 400 * and physical_freeend later to reflect what pmap_bootstrap() 401 * wants to see. 402 * 403 * XXX pmap_bootstrap() needs an enema. 404 * (now that would be truly hardcore XXX) 405 */ 406 physical_start = bootconfig.dram[0].address; 407 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 408 409 physical_freestart = 0x800c0000UL; /* top of LoLo */ 410 physical_freeend = 0x80100000UL; /* base of kernel */ 411 412 physmem = (physical_end - physical_start) / PAGE_SIZE; 413 414 #ifdef VERBOSE_INIT_ARM 415 /* Tell the user about the memory */ 416 printf("physmemory: %"PRIuPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem, 417 physical_start, physical_end - 1); 418 #endif 419 420 /* 421 * Okay, the kernel starts 1MB in from the bottom of physical 422 * memory. We are going to allocate our bootstrap pages downwards 423 * from there. 424 * 425 * We need to allocate some fixed page tables to get the kernel 426 * going. We allocate one page directory and a number of page 427 * tables and store the physical addresses in the kernel_pt_table 428 * array. 429 * 430 * The kernel page directory must be on a 16K boundary. The page 431 * tables must be on 4K boundaries. What we do is allocate the 432 * page directory on the first 16K boundary that we encounter, and 433 * the page tables on 4K boundaries otherwise. Since we allocate 434 * at least 3 L2 page tables, we are guaranteed to encounter at 435 * least one 16K aligned region. 436 */ 437 438 #ifdef VERBOSE_INIT_ARM 439 printf("Allocating page tables\n"); 440 #endif 441 442 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 443 444 #ifdef VERBOSE_INIT_ARM 445 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 446 physical_freestart, free_pages, free_pages); 447 #endif 448 449 /* Define a macro to simplify memory allocation */ 450 #define valloc_pages(var, np) \ 451 alloc_pages((var).pv_pa, (np)); \ 452 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 453 454 #define alloc_pages(var, np) \ 455 physical_freeend -= ((np) * PAGE_SIZE); \ 456 if (physical_freeend < physical_freestart) \ 457 panic("initarm: out of memory"); \ 458 (var) = physical_freeend; \ 459 free_pages -= (np); \ 460 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 461 462 loop1 = 0; 463 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 464 /* Are we 16KB aligned for an L1 ? */ 465 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 466 && kernel_l1pt.pv_pa == 0) { 467 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 468 } else { 469 valloc_pages(kernel_pt_table[loop1], 470 L2_TABLE_SIZE / PAGE_SIZE); 471 ++loop1; 472 } 473 } 474 475 /* This should never be able to happen but better confirm that. */ 476 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 477 panic("initarm: Failed to align the kernel page directory"); 478 479 /* 480 * Allocate a page for the system page mapped to V0x00000000 481 * This page will just contain the system vectors and can be 482 * shared by all processes. 483 */ 484 alloc_pages(systempage.pv_pa, 1); 485 486 /* Allocate stacks for all modes */ 487 valloc_pages(irqstack, IRQ_STACK_SIZE); 488 valloc_pages(abtstack, ABT_STACK_SIZE); 489 valloc_pages(undstack, UND_STACK_SIZE); 490 valloc_pages(kernelstack, UPAGES); 491 492 #ifdef VERBOSE_INIT_ARM 493 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 494 irqstack.pv_va); 495 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 496 abtstack.pv_va); 497 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 498 undstack.pv_va); 499 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 500 kernelstack.pv_va); 501 #endif 502 503 /* 504 * XXX Defer this to later so that we can reclaim the memory 505 * XXX used by the LoLo page tables. 506 */ 507 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 508 509 /* 510 * Ok we have allocated physical pages for the primary kernel 511 * page tables 512 */ 513 514 #ifdef VERBOSE_INIT_ARM 515 printf("Creating L1 page table at p0x%08lx v0x%08lx\n", 516 kernel_l1pt.pv_pa, kernel_l1pt.pv_va); 517 #endif 518 519 /* 520 * Now we start construction of the L1 page table 521 * We start by mapping the L2 page tables into the L1. 522 * This means that we can replace L1 mappings later on if necessary 523 */ 524 l1pagetable = kernel_l1pt.pv_pa; 525 526 /* Map the L2 pages tables in the L1 page table */ 527 pmap_link_l2pt(l1pagetable, 0x00000000, 528 &kernel_pt_table[KERNEL_PT_SYS]); 529 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 530 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 531 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 532 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 533 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 534 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 535 536 /* update the top of the kernel VM */ 537 pmap_curmaxkvaddr = 538 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 539 540 #ifdef VERBOSE_INIT_ARM 541 printf("Mapping kernel\n"); 542 #endif 543 544 /* Now we fill in the L2 pagetable for the kernel static code/data */ 545 #define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME) 546 { 547 extern char etext[], _end[]; 548 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE); 549 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE); 550 u_int logical; 551 552 553 printf("%s: etext %lx, _end %lx\n", 554 __func__, (uintptr_t)etext, (uintptr_t)_end); 555 printf("%s: textsize %#lx, totalsize %#lx\n", 556 __func__, textsize, totalsize); 557 558 logical = 0x00100000; /* offset of kernel in RAM */ 559 560 /* Map text section read-only. */ 561 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 562 physical_start + logical, textsize, 563 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE); 564 565 /* Map data and bss sections read-write. */ 566 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 567 physical_start + logical, totalsize - textsize, 568 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 569 } 570 571 #ifdef VERBOSE_INIT_ARM 572 printf("Constructing L2 page tables\n"); 573 #endif 574 575 /* Map the stack pages */ 576 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 577 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 578 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 579 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 580 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 581 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 582 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 583 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 584 585 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 586 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 587 588 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 589 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 590 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 591 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 592 } 593 594 /* Map the vector page. */ 595 #if 1 596 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 597 * cache-clean code there. */ 598 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 599 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 600 #else 601 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 602 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 603 #endif 604 605 /* 606 * map integrated peripherals at same address in l1pagetable 607 * so that we can continue to use console. 608 */ 609 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap); 610 611 /* 612 * Now we have the real page tables in place so we can switch to them. 613 * Once this is done we will be running with the REAL kernel page 614 * tables. 615 */ 616 617 /* 618 * Update the physical_freestart/physical_freeend/free_pages 619 * variables. 620 */ 621 { 622 extern char _end[]; 623 624 physical_freestart = physical_start + 625 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 626 KERNEL_BASE); 627 physical_freeend = physical_end; 628 free_pages = 629 (physical_freeend - physical_freestart) / PAGE_SIZE; 630 } 631 632 /* Switch tables */ 633 #ifdef VERBOSE_INIT_ARM 634 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 635 physical_freestart, free_pages, free_pages); 636 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 637 #endif 638 639 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 640 cpu_setttb(kernel_l1pt.pv_pa, true); 641 cpu_tlb_flushID(); 642 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 643 //imx31lk_consinit(2); 644 645 /* 646 * Moved from cpu_startup() as data_abort_handler() references 647 * this during uvm init 648 */ 649 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 650 651 #ifdef VERBOSE_INIT_ARM 652 printf("bootstrap done.\n"); 653 #endif 654 655 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 656 657 /* 658 * Pages were allocated during the secondary bootstrap for the 659 * stacks for different CPU modes. 660 * We must now set the r13 registers in the different CPU modes to 661 * point to these stacks. 662 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 663 * of the stack memory. 664 */ 665 printf("init subsystems: stacks "); 666 667 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 668 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 669 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 670 671 /* 672 * Well we should set a data abort handler. 673 * Once things get going this will change as we will need a proper 674 * handler. 675 * Until then we will use a handler that just panics but tells us 676 * why. 677 * Initialisation of the vectors will just panic on a data abort. 678 * This just fills in a slightly better one. 679 */ 680 printf("vectors "); 681 data_abort_handler_address = (u_int)data_abort_handler; 682 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 683 undefined_handler_address = (u_int)undefinedinstruction_bounce; 684 685 /* Initialise the undefined instruction handlers */ 686 printf("undefined "); 687 undefined_init(); 688 689 /* Load memory into UVM. */ 690 printf("page "); 691 uvm_md_init(); 692 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 693 atop(physical_freestart), atop(physical_freeend), 694 VM_FREELIST_DEFAULT); 695 696 /* Boot strap pmap telling it where managed kernel virtual memory is */ 697 printf("pmap "); 698 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 699 700 #ifdef __HAVE_MEMORY_DISK__ 701 md_root_setconf(memory_disk, sizeof memory_disk); 702 #endif 703 704 #ifdef KGDB 705 if (boothowto & RB_KDB) { 706 kgdb_debug_init = 1; 707 kgdb_connect(1); 708 } 709 #endif 710 711 #ifdef DDB 712 printf("ddb "); 713 db_machine_init(); 714 715 /* Firmware doesn't load symbols. */ 716 ddb_init(0, NULL, NULL); 717 718 if (boothowto & RB_KDB) 719 Debugger(); 720 #endif 721 /* We return the new stack pointer address */ 722 return kernelstack.pv_va + USPACE_SVC_STACK_TOP; 723 } 724 725 #if 0 726 void 727 process_kernel_args(char *args) 728 { 729 730 boothowto = 0; 731 732 /* Make a local copy of the bootargs */ 733 strncpy(bootargs, args, MAX_BOOT_STRING); 734 735 args = bootargs; 736 boot_file = bootargs; 737 738 /* Skip the kernel image filename */ 739 while (*args != ' ' && *args != 0) 740 ++args; 741 742 if (*args != 0) 743 *args++ = 0; 744 745 while (*args == ' ') 746 ++args; 747 748 boot_args = args; 749 750 printf("bootfile: %s\n", boot_file); 751 printf("bootargs: %s\n", boot_args); 752 753 parse_mi_bootargs(boot_args); 754 } 755 #endif 756 757 #ifdef KGDB 758 #ifndef KGDB_DEVNAME 759 #define KGDB_DEVNAME "ffuart" 760 #endif 761 const char kgdb_devname[] = KGDB_DEVNAME; 762 763 #if (NCOM > 0) 764 #ifndef KGDB_DEVMODE 765 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 766 #endif 767 int comkgdbmode = KGDB_DEVMODE; 768 #endif /* NCOM */ 769 770 #endif /* KGDB */ 771 772 773 #if 0 774 void 775 imx31lk_consinit(int phase) 776 { 777 static int ophase = 0; 778 intptr_t bh; 779 780 if (ophase != phase) { 781 ophase = phase; 782 switch (phase) { 783 case 1: 784 imxuart_init(0, UART1_BASE); 785 break; 786 case 2: 787 bh = IMX31LITEKIT_UART1_VBASE; 788 bh |= (UART1_BASE & ~_A(UART1_BASE)); 789 imxuart_init(0, bh); 790 break; 791 } 792 } 793 } 794 #endif 795 796 void 797 consinit(void) 798 { 799 // imx31lk_consinit(2); 800 } 801 802 #ifdef KGDB 803 void 804 kgdb_port_init(void) 805 { 806 #if (NCOM > 0) && defined(COM_PXA2X0) 807 paddr_t paddr = 0; 808 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN); 809 810 if (0 == strcmp(kgdb_devname, "ffuart")) { 811 paddr = PXA2X0_FFUART_BASE; 812 ckenreg |= CKEN_FFUART; 813 } 814 else if (0 == strcmp(kgdb_devname, "btuart")) { 815 paddr = PXA2X0_BTUART_BASE; 816 ckenreg |= CKEN_BTUART; 817 } 818 819 if (paddr && 820 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr, 821 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 822 823 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 824 } 825 #endif 826 } 827 #endif 828