1 /* $NetBSD: imx31lk_machdep.c,v 1.2 2008/04/27 18:58:46 matt 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 dependant 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 dependant 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 1.2 2008/04/27 18:58:46 matt Exp $"); 114 115 #include "opt_ddb.h" 116 #include "opt_kgdb.h" 117 #include "opt_ipkdb.h" 118 #include "opt_pmap_debug.h" 119 #include "opt_md.h" 120 #include "opt_com.h" 121 #include "md.h" 122 123 #include <sys/param.h> 124 #include <sys/device.h> 125 #include <sys/systm.h> 126 #include <sys/kernel.h> 127 #include <sys/exec.h> 128 #include <sys/proc.h> 129 #include <sys/msgbuf.h> 130 #include <sys/reboot.h> 131 #include <sys/termios.h> 132 #include <sys/ksyms.h> 133 134 #include <uvm/uvm_extern.h> 135 136 #include <sys/conf.h> 137 #include <dev/cons.h> 138 #include <dev/md.h> 139 140 #include <machine/db_machdep.h> 141 #include <ddb/db_sym.h> 142 #include <ddb/db_extern.h> 143 #ifdef KGDB 144 #include <sys/kgdb.h> 145 #endif 146 147 #include <machine/bootconfig.h> 148 #include <machine/bus.h> 149 #include <machine/cpu.h> 150 #include <machine/frame.h> 151 #include <arm/undefined.h> 152 153 #include <arm/arm32/pte.h> 154 #include <arm/arm32/machdep.h> 155 156 #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 169 170 171 /* 172 * Address to call from cpu_reset() to reset the machine. 173 * This is machine architecture dependant as it varies depending 174 * on where the ROM appears when you turn the MMU off. 175 */ 176 177 u_int cpu_reset_address = 0; 178 179 /* Define various stack sizes in pages */ 180 #define IRQ_STACK_SIZE 1 181 #define ABT_STACK_SIZE 1 182 #ifdef IPKDB 183 #define UND_STACK_SIZE 2 184 #else 185 #define UND_STACK_SIZE 1 186 #endif 187 188 BootConfig bootconfig; /* Boot config storage */ 189 char *boot_args = NULL; 190 char *boot_file = NULL; 191 192 vm_offset_t physical_start; 193 vm_offset_t physical_freestart; 194 vm_offset_t physical_freeend; 195 vm_offset_t physical_end; 196 u_int free_pages; 197 vm_offset_t pagetables_start; 198 int physmem = 0; 199 200 /*int debug_flags;*/ 201 #ifndef PMAP_STATIC_L1S 202 int max_processes = 64; /* Default number */ 203 #endif /* !PMAP_STATIC_L1S */ 204 205 /* Physical and virtual addresses for some global pages */ 206 pv_addr_t irqstack; 207 pv_addr_t undstack; 208 pv_addr_t abtstack; 209 pv_addr_t kernelstack; 210 211 vm_offset_t msgbufphys; 212 213 extern u_int data_abort_handler_address; 214 extern u_int prefetch_abort_handler_address; 215 extern u_int undefined_handler_address; 216 217 #ifdef PMAP_DEBUG 218 extern int pmap_debug_level; 219 #endif 220 221 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 222 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 223 #define KERNEL_PT_KERNEL_NUM 4 224 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 225 /* Page tables for mapping kernel VM */ 226 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 227 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 228 229 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 230 231 struct user *proc0paddr; 232 233 /* Prototypes */ 234 235 #if 0 236 void process_kernel_args(char *); 237 #endif 238 239 void imx31lk_consinit(int); 240 void kgdb_port_init(void); 241 void change_clock(uint32_t v); 242 243 bs_protos(bs_notimpl); 244 245 #include "com.h" 246 #if NCOM > 0 247 #include <dev/ic/comreg.h> 248 #include <dev/ic/comvar.h> 249 #endif 250 251 #ifndef CONSPEED 252 #define CONSPEED B115200 /* What RedBoot uses */ 253 #endif 254 #ifndef CONMODE 255 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 256 #endif 257 258 int comcnspeed = CONSPEED; 259 int comcnmode = CONMODE; 260 261 /* 262 * void cpu_reboot(int howto, char *bootstr) 263 * 264 * Reboots the system 265 * 266 * Deal with any syncing, unmounting, dumping and shutdown hooks, 267 * then reset the CPU. 268 */ 269 void 270 cpu_reboot(int howto, char *bootstr) 271 { 272 #ifdef DIAGNOSTIC 273 /* info */ 274 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 275 #endif 276 277 /* 278 * If we are still cold then hit the air brakes 279 * and crash to earth fast 280 */ 281 if (cold) { 282 doshutdownhooks(); 283 printf("The operating system has halted.\n"); 284 printf("Please press any key to reboot.\n\n"); 285 cngetc(); 286 printf("rebooting...\n"); 287 cpu_reset(); 288 /*NOTREACHED*/ 289 } 290 291 /* Disable console buffering */ 292 /* cnpollc(1);*/ 293 294 /* 295 * If RB_NOSYNC was not specified sync the discs. 296 * Note: Unless cold is set to 1 here, syslogd will die during the 297 * unmount. It looks like syslogd is getting woken up only to find 298 * that it cannot page part of the binary in as the filesystem has 299 * been unmounted. 300 */ 301 if (!(howto & RB_NOSYNC)) 302 bootsync(); 303 304 /* Say NO to interrupts */ 305 splhigh(); 306 307 /* Do a dump if requested. */ 308 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 309 dumpsys(); 310 311 /* Run any shutdown hooks */ 312 doshutdownhooks(); 313 314 /* Make sure IRQ's are disabled */ 315 IRQdisable; 316 317 if (howto & RB_HALT) { 318 printf("The operating system has halted.\n"); 319 printf("Please press any key to reboot.\n\n"); 320 cngetc(); 321 } 322 323 printf("rebooting...\n"); 324 cpu_reset(); 325 /*NOTREACHED*/ 326 } 327 328 /* 329 * Static device mappings. These peripheral registers are mapped at 330 * fixed virtual addresses very early in imx31lk_start() so that we 331 * can use them while booting the kernel, and stay at the same address 332 * throughout whole kernel's life time. 333 * 334 * We use this table twice; once with bootstrap page table, and once 335 * with kernel's page table which we build up in initarm(). 336 */ 337 338 #define _A(a) ((a) & ~L1_S_OFFSET) 339 #define _S(s) (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1)) 340 341 static const struct pmap_devmap imx31lk_devmap[] = { 342 { 343 IMX31LITEKIT_UART1_VBASE, 344 _A(IMX_UART1_BASE), 345 _S(L1_S_SIZE), 346 VM_PROT_READ|VM_PROT_WRITE, 347 PTE_NOCACHE, 348 }, 349 {0, 0, 0, 0, 0 } 350 }; 351 352 #ifndef MEMSTART 353 #define MEMSTART 0x80000000 354 #endif 355 #ifndef MEMSIZE 356 #define MEMSIZE 0x8000000 357 #endif 358 359 /* 360 * u_int initarm(...) 361 * 362 * Initial entry point on startup. This gets called before main() is 363 * entered. 364 * It should be responsible for setting up everything that must be 365 * in place when main is called. 366 * This includes 367 * Taking a copy of the boot configuration structure. 368 * Initialising the physical console so characters can be printed. 369 * Setting up page tables for the kernel 370 * Relocating the kernel to the bottom of physical memory 371 */ 372 u_int 373 initarm(void *arg) 374 { 375 int loop; 376 int loop1; 377 vaddr_t l1pagetable; 378 379 disable_interrupts(I32_bit|F32_bit); 380 /* XXX move to imx31lk_start.S */ 381 382 /* Register devmap for devices we mapped in start */ 383 pmap_devmap_register(imx31lk_devmap); 384 385 #ifdef NOTYET 386 /* start 32.768 kHz OSC */ 387 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2); 388 /* Get ready for splfoo() */ 389 imx31_intr_bootstrap(IMX31_INTCTL_VBASE); 390 #endif 391 392 /* 393 * Heads up ... Setup the CPU / MMU / TLB functions 394 */ 395 if (set_cpufuncs()) 396 panic("cpu not recognized!"); 397 398 #if 0 399 /* Calibrate the delay loop. */ 400 #endif 401 402 imx31lk_consinit(1); 403 404 #ifdef KGDB 405 kgdb_port_init(); 406 #endif 407 /* Talk to the user */ 408 printf("\nNetBSD/evbarm (imx31lk) booting ...\n"); 409 410 #if 0 411 /* 412 * Examine the boot args string for options we need to know about 413 * now. 414 */ 415 process_kernel_args((char *)nwbootinfo.bt_args); 416 #endif 417 418 printf("initarm: Configuring system ...\n"); 419 420 /* Fake bootconfig structure for the benefit of pmap.c */ 421 /* XXX must make the memory description h/w independent */ 422 bootconfig.dramblocks = 1; 423 bootconfig.dram[0].address = MEMSTART; 424 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE; 425 426 /* 427 * Set up the variables that define the availablilty of 428 * physical memory. For now, we're going to set 429 * physical_freeend to 0x80100000UL (where the kernel 430 * was loaded) and allocate the memory we need downwards. 431 * If we get too close to the page tables that LoLo 432 * set up, we will panic. We will update physical_freestart 433 * and physical_freeend later to reflect what pmap_bootstrap() 434 * wants to see. 435 * 436 * XXX pmap_bootstrap() needs an enema. 437 * (now that would be truly hardcore XXX) 438 */ 439 physical_start = bootconfig.dram[0].address; 440 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 441 442 physical_freestart = 0x800c0000UL; /* top of LoLo */ 443 physical_freeend = 0x80100000UL; /* base of kernel */ 444 445 physmem = (physical_end - physical_start) / PAGE_SIZE; 446 447 #ifdef VERBOSE_INIT_ARM 448 /* Tell the user about the memory */ 449 printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem, 450 physical_start, physical_end - 1); 451 #endif 452 453 /* 454 * Okay, the kernel starts 1MB in from the bottom of physical 455 * memory. We are going to allocate our bootstrap pages downwards 456 * from there. 457 * 458 * We need to allocate some fixed page tables to get the kernel 459 * going. We allocate one page directory and a number of page 460 * tables and store the physical addresses in the kernel_pt_table 461 * array. 462 * 463 * The kernel page directory must be on a 16K boundary. The page 464 * tables must be on 4K boundaries. What we do is allocate the 465 * page directory on the first 16K boundary that we encounter, and 466 * the page tables on 4K boundaries otherwise. Since we allocate 467 * at least 3 L2 page tables, we are guaranteed to encounter at 468 * least one 16K aligned region. 469 */ 470 471 #ifdef VERBOSE_INIT_ARM 472 printf("Allocating page tables\n"); 473 #endif 474 475 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 476 477 #ifdef VERBOSE_INIT_ARM 478 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 479 physical_freestart, free_pages, free_pages); 480 #endif 481 482 /* Define a macro to simplify memory allocation */ 483 #define valloc_pages(var, np) \ 484 alloc_pages((var).pv_pa, (np)); \ 485 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 486 487 #define alloc_pages(var, np) \ 488 physical_freeend -= ((np) * PAGE_SIZE); \ 489 if (physical_freeend < physical_freestart) \ 490 panic("initarm: out of memory"); \ 491 (var) = physical_freeend; \ 492 free_pages -= (np); \ 493 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 494 495 loop1 = 0; 496 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 497 /* Are we 16KB aligned for an L1 ? */ 498 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 499 && kernel_l1pt.pv_pa == 0) { 500 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 501 } else { 502 valloc_pages(kernel_pt_table[loop1], 503 L2_TABLE_SIZE / PAGE_SIZE); 504 ++loop1; 505 } 506 } 507 508 /* This should never be able to happen but better confirm that. */ 509 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 510 panic("initarm: Failed to align the kernel page directory"); 511 512 /* 513 * Allocate a page for the system page mapped to V0x00000000 514 * This page will just contain the system vectors and can be 515 * shared by all processes. 516 */ 517 alloc_pages(systempage.pv_pa, 1); 518 519 /* Allocate stacks for all modes */ 520 valloc_pages(irqstack, IRQ_STACK_SIZE); 521 valloc_pages(abtstack, ABT_STACK_SIZE); 522 valloc_pages(undstack, UND_STACK_SIZE); 523 valloc_pages(kernelstack, UPAGES); 524 525 #ifdef VERBOSE_INIT_ARM 526 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 527 irqstack.pv_va); 528 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 529 abtstack.pv_va); 530 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 531 undstack.pv_va); 532 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 533 kernelstack.pv_va); 534 #endif 535 536 /* 537 * XXX Defer this to later so that we can reclaim the memory 538 * XXX used by the LoLo page tables. 539 */ 540 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 541 542 /* 543 * Ok we have allocated physical pages for the primary kernel 544 * page tables 545 */ 546 547 #ifdef VERBOSE_INIT_ARM 548 printf("Creating L1 page table at p0x%08lx v0x%08lx\n", 549 kernel_l1pt.pv_pa, kernel_l1pt.pv_va); 550 #endif 551 552 /* 553 * Now we start construction of the L1 page table 554 * We start by mapping the L2 page tables into the L1. 555 * This means that we can replace L1 mappings later on if necessary 556 */ 557 l1pagetable = kernel_l1pt.pv_pa; 558 559 /* Map the L2 pages tables in the L1 page table */ 560 pmap_link_l2pt(l1pagetable, 0x00000000, 561 &kernel_pt_table[KERNEL_PT_SYS]); 562 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 563 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 564 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 565 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 566 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 567 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 568 569 /* update the top of the kernel VM */ 570 pmap_curmaxkvaddr = 571 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 572 573 #ifdef VERBOSE_INIT_ARM 574 printf("Mapping kernel\n"); 575 #endif 576 577 /* Now we fill in the L2 pagetable for the kernel static code/data */ 578 #define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME) 579 { 580 extern char etext[], _end[]; 581 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE); 582 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE); 583 u_int logical; 584 585 586 printf("%s: etext %lx, _end %lx\n", 587 __FUNCTION__, (uintptr_t)etext, (uintptr_t)_end); 588 printf("%s: textsize %#lx, totalsize %#lx\n", 589 __FUNCTION__, textsize, totalsize); 590 591 logical = 0x00100000; /* offset of kernel in RAM */ 592 593 /* Map text section read-only. */ 594 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 595 physical_start + logical, textsize, 596 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE); 597 598 /* Map data and bss sections read-write. */ 599 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 600 physical_start + logical, totalsize - textsize, 601 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 602 } 603 604 #ifdef VERBOSE_INIT_ARM 605 printf("Constructing L2 page tables\n"); 606 #endif 607 608 /* Map the stack pages */ 609 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 610 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 611 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 612 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 613 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 614 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 615 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 616 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 617 618 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 619 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 620 621 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 622 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 623 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 624 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 625 } 626 627 /* Map the vector page. */ 628 #if 1 629 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 630 * cache-clean code there. */ 631 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 632 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 633 #else 634 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 635 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 636 #endif 637 638 /* 639 * map integrated peripherals at same address in l1pagetable 640 * so that we can continue to use console. 641 */ 642 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap); 643 644 /* 645 * Now we have the real page tables in place so we can switch to them. 646 * Once this is done we will be running with the REAL kernel page 647 * tables. 648 */ 649 650 /* 651 * Update the physical_freestart/physical_freeend/free_pages 652 * variables. 653 */ 654 { 655 extern char _end[]; 656 657 physical_freestart = physical_start + 658 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 659 KERNEL_BASE); 660 physical_freeend = physical_end; 661 free_pages = 662 (physical_freeend - physical_freestart) / PAGE_SIZE; 663 } 664 665 /* Switch tables */ 666 #ifdef VERBOSE_INIT_ARM 667 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 668 physical_freestart, free_pages, free_pages); 669 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 670 #endif 671 672 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 673 setttb(kernel_l1pt.pv_pa); 674 cpu_tlb_flushID(); 675 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 676 imx31lk_consinit(2); 677 678 /* 679 * Moved from cpu_startup() as data_abort_handler() references 680 * this during uvm init 681 */ 682 proc0paddr = (struct user *)kernelstack.pv_va; 683 lwp0.l_addr = proc0paddr; 684 685 #ifdef VERBOSE_INIT_ARM 686 printf("bootstrap done.\n"); 687 #endif 688 689 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 690 691 /* 692 * Pages were allocated during the secondary bootstrap for the 693 * stacks for different CPU modes. 694 * We must now set the r13 registers in the different CPU modes to 695 * point to these stacks. 696 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 697 * of the stack memory. 698 */ 699 printf("init subsystems: stacks "); 700 701 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 702 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 703 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 704 705 /* 706 * Well we should set a data abort handler. 707 * Once things get going this will change as we will need a proper 708 * handler. 709 * Until then we will use a handler that just panics but tells us 710 * why. 711 * Initialisation of the vectors will just panic on a data abort. 712 * This just fills in a slightly better one. 713 */ 714 printf("vectors "); 715 data_abort_handler_address = (u_int)data_abort_handler; 716 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 717 undefined_handler_address = (u_int)undefinedinstruction_bounce; 718 719 /* Initialise the undefined instruction handlers */ 720 printf("undefined "); 721 undefined_init(); 722 723 /* Load memory into UVM. */ 724 printf("page "); 725 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 726 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 727 atop(physical_freestart), atop(physical_freeend), 728 VM_FREELIST_DEFAULT); 729 730 /* Boot strap pmap telling it where the kernel page table is */ 731 printf("pmap "); 732 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 733 734 #ifdef __HAVE_MEMORY_DISK__ 735 md_root_setconf(memory_disk, sizeof memory_disk); 736 #endif 737 738 #ifdef IPKDB 739 /* Initialise ipkdb */ 740 ipkdb_init(); 741 if (boothowto & RB_KDB) 742 ipkdb_connect(0); 743 #endif 744 745 #ifdef KGDB 746 if (boothowto & RB_KDB) { 747 kgdb_debug_init = 1; 748 kgdb_connect(1); 749 } 750 #endif 751 752 #ifdef DDB 753 printf("ddb "); 754 db_machine_init(); 755 756 /* Firmware doesn't load symbols. */ 757 ddb_init(0, NULL, NULL); 758 759 if (boothowto & RB_KDB) 760 Debugger(); 761 #endif 762 /* We return the new stack pointer address */ 763 return(kernelstack.pv_va + USPACE_SVC_STACK_TOP); 764 } 765 766 #if 0 767 void 768 process_kernel_args(char *args) 769 { 770 771 boothowto = 0; 772 773 /* Make a local copy of the bootargs */ 774 strncpy(bootargs, args, MAX_BOOT_STRING); 775 776 args = bootargs; 777 boot_file = bootargs; 778 779 /* Skip the kernel image filename */ 780 while (*args != ' ' && *args != 0) 781 ++args; 782 783 if (*args != 0) 784 *args++ = 0; 785 786 while (*args == ' ') 787 ++args; 788 789 boot_args = args; 790 791 printf("bootfile: %s\n", boot_file); 792 printf("bootargs: %s\n", boot_args); 793 794 parse_mi_bootargs(boot_args); 795 } 796 #endif 797 798 #ifdef KGDB 799 #ifndef KGDB_DEVNAME 800 #define KGDB_DEVNAME "ffuart" 801 #endif 802 const char kgdb_devname[] = KGDB_DEVNAME; 803 804 #if (NCOM > 0) 805 #ifndef KGDB_DEVMODE 806 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 807 #endif 808 int comkgdbmode = KGDB_DEVMODE; 809 #endif /* NCOM */ 810 811 #endif /* KGDB */ 812 813 814 void 815 imx31lk_consinit(int phase) 816 { 817 static int ophase = 0; 818 intptr_t bh; 819 820 if (ophase != phase) { 821 ophase = phase; 822 switch (phase) { 823 case 1: 824 imxuart_init(0, IMX_UART1_BASE); 825 break; 826 case 2: 827 bh = IMX31LITEKIT_UART1_VBASE; 828 bh |= (IMX_UART1_BASE & ~_A(IMX_UART1_BASE)); 829 imxuart_init(0, bh); 830 break; 831 } 832 } 833 } 834 835 void 836 consinit(void) 837 { 838 imx31lk_consinit(2); 839 } 840 841 void consinit_test(void); 842 void 843 consinit_test(void) 844 { 845 imxuart_softc_t *sc, softc; 846 extern int imxuart_puts(imxuart_softc_t *sc, const char *s); 847 848 printf("\n%s start\n", __FUNCTION__); 849 sc = &softc; 850 sc->sc_init_cnt = 0; 851 imxuart_init(sc, IMX_UART1_BASE); 852 imxuart_puts(sc, "test1\r\n"); 853 imxuart_init(sc, 854 IMX31LITEKIT_UART1_VBASE|(IMX_UART1_BASE & ~_A(IMX_UART1_BASE))); 855 imxuart_puts(sc, "test2\r\n"); 856 printf("%s done\n", __FUNCTION__); 857 } 858 859 #ifdef KGDB 860 void 861 kgdb_port_init(void) 862 { 863 #if (NCOM > 0) && defined(COM_PXA2X0) 864 paddr_t paddr = 0; 865 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN); 866 867 if (0 == strcmp(kgdb_devname, "ffuart")) { 868 paddr = PXA2X0_FFUART_BASE; 869 ckenreg |= CKEN_FFUART; 870 } 871 else if (0 == strcmp(kgdb_devname, "btuart")) { 872 paddr = PXA2X0_BTUART_BASE; 873 ckenreg |= CKEN_BTUART; 874 } 875 876 if (paddr && 877 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr, 878 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 879 880 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 881 } 882 #endif 883 } 884 #endif 885