1 /* $NetBSD: lubbock_machdep.c,v 1.1 2003/06/18 10:51:15 bsh Exp $ */ 2 3 /* 4 * Copyright (c) 2002, 2003 Genetec Corporation. All rights reserved. 5 * Written by Hiroyuki Bessho for Genetec Corporation. 6 * 7 * Redistribution and use in source and binary forms, with or without 8 * modification, are permitted provided that the following conditions 9 * are met: 10 * 1. Redistributions of source code must retain the above copyright 11 * notice, this list of conditions and the following disclaimer. 12 * 2. Redistributions in binary form must reproduce the above copyright 13 * notice, this list of conditions and the following disclaimer in the 14 * documentation and/or other materials provided with the distribution. 15 * 3. The name of Genetec Corporation may not be used to endorse or 16 * promote products derived from this software without specific prior 17 * written permission. 18 * 19 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND 20 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 21 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 22 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION 23 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 * POSSIBILITY OF SUCH DAMAGE. 30 * 31 * Machine dependant functions for kernel setup for 32 * Intel DBPXA250 evaluation board (a.k.a. Lubbock). 33 * Based on iq80310_machhdep.c 34 */ 35 /* 36 * Copyright (c) 2001 Wasabi Systems, Inc. 37 * All rights reserved. 38 * 39 * Written by Jason R. Thorpe for Wasabi Systems, Inc. 40 * 41 * Redistribution and use in source and binary forms, with or without 42 * modification, are permitted provided that the following conditions 43 * are met: 44 * 1. Redistributions of source code must retain the above copyright 45 * notice, this list of conditions and the following disclaimer. 46 * 2. Redistributions in binary form must reproduce the above copyright 47 * notice, this list of conditions and the following disclaimer in the 48 * documentation and/or other materials provided with the distribution. 49 * 3. All advertising materials mentioning features or use of this software 50 * must display the following acknowledgement: 51 * This product includes software developed for the NetBSD Project by 52 * Wasabi Systems, Inc. 53 * 4. The name of Wasabi Systems, Inc. may not be used to endorse 54 * or promote products derived from this software without specific prior 55 * written permission. 56 * 57 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND 58 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 59 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 60 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC 61 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 62 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 63 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 64 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 65 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 66 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 67 * POSSIBILITY OF SUCH DAMAGE. 68 */ 69 70 /* 71 * Copyright (c) 1997,1998 Mark Brinicombe. 72 * Copyright (c) 1997,1998 Causality Limited. 73 * All rights reserved. 74 * 75 * Redistribution and use in source and binary forms, with or without 76 * modification, are permitted provided that the following conditions 77 * are met: 78 * 1. Redistributions of source code must retain the above copyright 79 * notice, this list of conditions and the following disclaimer. 80 * 2. Redistributions in binary form must reproduce the above copyright 81 * notice, this list of conditions and the following disclaimer in the 82 * documentation and/or other materials provided with the distribution. 83 * 3. All advertising materials mentioning features or use of this software 84 * must display the following acknowledgement: 85 * This product includes software developed by Mark Brinicombe 86 * for the NetBSD Project. 87 * 4. The name of the company nor the name of the author may be used to 88 * endorse or promote products derived from this software without specific 89 * prior written permission. 90 * 91 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 92 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 93 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 94 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 95 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 96 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 97 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 98 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 99 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 100 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 101 * SUCH DAMAGE. 102 * 103 * Machine dependant functions for kernel setup for Intel IQ80310 evaluation 104 * boards using RedBoot firmware. 105 */ 106 107 /* 108 * DIP switches: 109 * 110 * S19: no-dot: set RB_KDB. enter kgdb session. 111 * S20: no-dot: set RB_SINGLE. don't go multi user mode. 112 */ 113 #include "opt_ddb.h" 114 #include "opt_kgdb.h" 115 #include "opt_ipkdb.h" 116 #include "opt_pmap_debug.h" 117 #include "opt_md.h" 118 #include "opt_com.h" 119 #include "md.h" 120 #include "lcd.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> 132 133 #include <uvm/uvm_extern.h> 134 135 #include <sys/conf.h> 136 #include <dev/cons.h> 137 #include <dev/md.h> 138 #include <dev/ic/smc91cxxreg.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/machdep.h> 154 155 #include <arm/xscale/pxa2x0reg.h> 156 #include <arm/xscale/pxa2x0var.h> 157 #include <arm/xscale/pxa2x0_gpio.h> 158 #include <arm/sa11x0/sa1111_reg.h> 159 #include <evbarm/lubbock/lubbock_reg.h> 160 #include <evbarm/lubbock/lubbock_var.h> 161 162 /* Kernel text starts 2MB in from the bottom of the kernel address space. */ 163 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000) 164 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 165 166 /* 167 * The range 0xc1000000 - 0xccffffff is available for kernel VM space 168 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 169 */ 170 #define KERNEL_VM_SIZE 0x0C000000 171 172 173 /* 174 * Address to call from cpu_reset() to reset the machine. 175 * This is machine architecture dependant as it varies depending 176 * on where the ROM appears when you turn the MMU off. 177 */ 178 179 u_int cpu_reset_address = 0; 180 181 /* Define various stack sizes in pages */ 182 #define IRQ_STACK_SIZE 1 183 #define ABT_STACK_SIZE 1 184 #ifdef IPKDB 185 #define UND_STACK_SIZE 2 186 #else 187 #define UND_STACK_SIZE 1 188 #endif 189 190 BootConfig bootconfig; /* Boot config storage */ 191 char *boot_args = NULL; 192 char *boot_file = NULL; 193 194 vm_offset_t physical_start; 195 vm_offset_t physical_freestart; 196 vm_offset_t physical_freeend; 197 vm_offset_t physical_end; 198 u_int free_pages; 199 vm_offset_t pagetables_start; 200 int physmem = 0; 201 202 /*int debug_flags;*/ 203 #ifndef PMAP_STATIC_L1S 204 int max_processes = 64; /* Default number */ 205 #endif /* !PMAP_STATIC_L1S */ 206 207 /* Physical and virtual addresses for some global pages */ 208 pv_addr_t systempage; 209 pv_addr_t irqstack; 210 pv_addr_t undstack; 211 pv_addr_t abtstack; 212 pv_addr_t kernelstack; 213 pv_addr_t minidataclean; 214 215 vm_offset_t msgbufphys; 216 217 extern u_int data_abort_handler_address; 218 extern u_int prefetch_abort_handler_address; 219 extern u_int undefined_handler_address; 220 221 #ifdef PMAP_DEBUG 222 extern int pmap_debug_level; 223 #endif 224 225 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 226 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 227 #define KERNEL_PT_KERNEL_NUM 4 228 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 229 /* Page tables for mapping kernel VM */ 230 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 231 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 232 233 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 234 235 struct user *proc0paddr; 236 237 /* Prototypes */ 238 239 #if 0 240 void process_kernel_args(char *); 241 void parse_mi_bootargs(char *args); 242 #endif 243 244 void consinit(void); 245 void kgdb_port_init(void); 246 void change_clock(uint32_t v); 247 248 bs_protos(bs_notimpl); 249 250 #include "com.h" 251 #if NCOM > 0 252 #include <dev/ic/comreg.h> 253 #include <dev/ic/comvar.h> 254 #endif 255 256 #ifndef CONSPEED 257 #define CONSPEED B115200 /* What RedBoot uses */ 258 #endif 259 #ifndef CONMODE 260 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 261 #endif 262 263 int comcnspeed = CONSPEED; 264 int comcnmode = CONMODE; 265 266 /* 267 * void cpu_reboot(int howto, char *bootstr) 268 * 269 * Reboots the system 270 * 271 * Deal with any syncing, unmounting, dumping and shutdown hooks, 272 * then reset the CPU. 273 */ 274 void 275 cpu_reboot(int howto, char *bootstr) 276 { 277 #ifdef DIAGNOSTIC 278 /* info */ 279 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 280 #endif 281 282 /* 283 * If we are still cold then hit the air brakes 284 * and crash to earth fast 285 */ 286 if (cold) { 287 doshutdownhooks(); 288 printf("The operating system has halted.\n"); 289 printf("Please press any key to reboot.\n\n"); 290 cngetc(); 291 printf("rebooting...\n"); 292 cpu_reset(); 293 /*NOTREACHED*/ 294 } 295 296 /* Disable console buffering */ 297 /* cnpollc(1);*/ 298 299 /* 300 * If RB_NOSYNC was not specified sync the discs. 301 * Note: Unless cold is set to 1 here, syslogd will die during the 302 * unmount. It looks like syslogd is getting woken up only to find 303 * that it cannot page part of the binary in as the filesystem has 304 * been unmounted. 305 */ 306 if (!(howto & RB_NOSYNC)) 307 bootsync(); 308 309 /* Say NO to interrupts */ 310 splhigh(); 311 312 /* Do a dump if requested. */ 313 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 314 dumpsys(); 315 316 /* Run any shutdown hooks */ 317 doshutdownhooks(); 318 319 /* Make sure IRQ's are disabled */ 320 IRQdisable; 321 322 if (howto & RB_HALT) { 323 printf("The operating system has halted.\n"); 324 printf("Please press any key to reboot.\n\n"); 325 cngetc(); 326 } 327 328 printf("rebooting...\n"); 329 cpu_reset(); 330 /*NOTREACHED*/ 331 } 332 333 static __inline 334 pd_entry_t * 335 read_ttb(void) 336 { 337 long ttb; 338 339 __asm __volatile("mrc p15, 0, %0, c2, c0, 0" : "=r" (ttb)); 340 341 342 return (pd_entry_t *)(ttb & ~((1<<14)-1)); 343 } 344 345 /* 346 * Mapping table for core kernel memory. These areas are mapped in 347 * init time at fixed virtual address with section mappings. 348 */ 349 struct l1_sec_map { 350 vaddr_t va; 351 vaddr_t pa; 352 vsize_t size; 353 int flags; 354 } l1_sec_table[] = { 355 { 356 LUBBOCK_OBIO_VBASE, 357 LUBBOCK_OBIO_PBASE, 358 LUBBOCK_OBIO_SIZE, 359 PTE_NOCACHE, 360 }, 361 { 362 LUBBOCK_GPIO_VBASE, 363 PXA2X0_GPIO_BASE, 364 PXA2X0_GPIO_SIZE, 365 PTE_NOCACHE, 366 }, 367 { 368 LUBBOCK_CLKMAN_VBASE, 369 PXA2X0_CLKMAN_BASE, 370 PXA2X0_CLKMAN_SIZE, 371 PTE_NOCACHE, 372 }, 373 { 374 LUBBOCK_INTCTL_VBASE, 375 PXA2X0_INTCTL_BASE, 376 PXA2X0_INTCTL_SIZE, 377 PTE_NOCACHE, 378 }, 379 {0, 0, 0, 0,} 380 }; 381 382 static void 383 map_io_area(paddr_t pagedir) 384 { 385 int loop; 386 387 /* 388 * Map devices we can map w/ section mappings. 389 */ 390 loop = 0; 391 while (l1_sec_table[loop].size) { 392 vm_size_t sz; 393 394 #ifdef VERBOSE_INIT_ARM 395 printf("%08lx -> %08lx @ %08lx\n", l1_sec_table[loop].pa, 396 l1_sec_table[loop].pa + l1_sec_table[loop].size - 1, 397 l1_sec_table[loop].va); 398 #endif 399 for (sz = 0; sz < l1_sec_table[loop].size; sz += L1_S_SIZE) 400 pmap_map_section(pagedir, l1_sec_table[loop].va + sz, 401 l1_sec_table[loop].pa + sz, 402 VM_PROT_READ|VM_PROT_WRITE, 403 l1_sec_table[loop].flags); 404 ++loop; 405 } 406 } 407 408 /* 409 * simple memory mapping function used in early bootstrap stage 410 * before pmap is initialized. 411 * size and cacheability are ignored and map one section with nocache. 412 */ 413 static vaddr_t section_free = LUBBOCK_VBASE_FREE; 414 415 static int 416 bootstrap_bs_map(void *t, bus_addr_t bpa, bus_size_t size, 417 int cacheable, bus_space_handle_t *bshp) 418 { 419 u_long startpa; 420 vaddr_t va; 421 pd_entry_t *pagedir = read_ttb(); 422 /* This assumes PA==VA for page directory */ 423 424 va = section_free; 425 section_free += L1_S_SIZE; 426 427 startpa = trunc_page(bpa); 428 pmap_map_section((vaddr_t)pagedir, va, startpa, 429 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 430 cpu_tlb_flushD(); 431 432 *bshp = (bus_space_handle_t)(va + (bpa - startpa)); 433 434 return(0); 435 } 436 437 static void 438 copy_io_area_map(pd_entry_t *new_pd) 439 { 440 pd_entry_t *cur_pd = read_ttb(); 441 vaddr_t va; 442 443 for (va = LUBBOCK_IO_AREA_VBASE; 444 (cur_pd[va>>L1_S_SHIFT] & L1_TYPE_MASK) == L1_TYPE_S; 445 va += L1_S_SIZE) { 446 447 new_pd[va>>L1_S_SHIFT] = cur_pd[va>>L1_S_SHIFT]; 448 } 449 } 450 451 452 453 /* 454 * u_int initarm(...) 455 * 456 * Initial entry point on startup. This gets called before main() is 457 * entered. 458 * It should be responsible for setting up everything that must be 459 * in place when main is called. 460 * This includes 461 * Taking a copy of the boot configuration structure. 462 * Initialising the physical console so characters can be printed. 463 * Setting up page tables for the kernel 464 * Relocating the kernel to the bottom of physical memory 465 */ 466 u_int 467 initarm(void *arg) 468 { 469 extern vaddr_t xscale_cache_clean_addr; 470 int loop; 471 int loop1; 472 u_int l1pagetable; 473 pv_addr_t kernel_l1pt; 474 paddr_t memstart; 475 psize_t memsize; 476 int led_data = 0; 477 #ifdef DIAGNOSTIC 478 extern vsize_t xscale_minidata_clean_size; /* used in KASSERT */ 479 #endif 480 struct bus_space tmp_bs_tag; 481 int (*map_func_save)(void *, bus_addr_t, bus_size_t, int, 482 bus_space_handle_t *); 483 #define LEDSTEP_P() ioreg_write(LUBBOCK_OBIO_PBASE+LUBBOCK_HEXLED, led_data++) 484 #define LEDSTEP() hex_led(led_data++) 485 486 /* use physical address until pagetable is set */ 487 LEDSTEP_P(); 488 489 /* start 32.768KHz OSC */ 490 ioreg_write(PXA2X0_CLKMAN_BASE + 0x08, 2); 491 492 /* 493 * Heads up ... Setup the CPU / MMU / TLB functions 494 */ 495 if (set_cpufuncs()) 496 panic("cpu not recognized!"); 497 LEDSTEP_P(); 498 499 /* Get ready for splfoo() */ 500 pxa2x0_intr_bootstrap(PXA2X0_INTCTL_BASE); 501 502 #if 0 503 /* Calibrate the delay loop. */ 504 #endif 505 506 /* 507 * Okay, RedBoot has provided us with the following memory map: 508 * 509 * Physical Address Range Description 510 * ----------------------- ---------------------------------- 511 * 0x00000000 - 0x01ffffff flash Memory (32MB) 512 * 0x04000000 - 0x05ffffff Application flash Memory (32MB) 513 * 0x08000000 - 0x080000ff I/O baseboard registers 514 * 0x0a000000 - 0x0a0fffff SRAM (1MB) 515 * 0x0c000000 - 0x0c0fffff Ethernet Controller 516 * 0x0e000000 - 0x0e0fffff Ethernet Controller (Attribute) 517 * 0x10000000 - 0x103fffff SA-1111 Companion Chip 518 * 0x14000000 - 0x17ffffff Expansion Card (64MB) 519 * 0x40000000 - 0x480fffff Processor Registers 520 * 0xa0000000 - 0xa3ffffff SDRAM Bank 0 (64MB) 521 * 522 * 523 * Virtual Address Range X C B Description 524 * ----------------------- - - - ---------------------------------- 525 * 0x00000000 - 0x00003fff N Y Y SDRAM 526 * 0x00004000 - 0x000fffff N Y N Boot ROM 527 * 0x00100000 - 0x01ffffff N N N Application Flash 528 * 0x04000000 - 0x05ffffff N N N Exp Application Flash 529 * 0x08000000 - 0x080fffff N N N I/O baseboard registers 530 * 0x0a000000 - 0x0a0fffff N N N SRAM 531 * 0x40000000 - 0x480fffff N N N Processor Registers 532 * 0xa0000000 - 0xa000ffff N Y N RedBoot SDRAM 533 * 0xa0017000 - 0xa3ffffff Y Y Y SDRAM 534 * 0xc0000000 - 0xcfffffff Y Y Y Cache Flush Region 535 * (done by this routine) 536 * 0xfd000000 - 0xfd0000ff N N N I/O baseboard registers 537 * 0xfd100000 - 0xfd2fffff N N N Processor Registers. 538 * 539 * The first level page table is at 0xa0004000. There are also 540 * 2 second-level tables at 0xa0008000 and 0xa0008400. 541 * 542 */ 543 544 { 545 /* 546 * Tweak RedBoot's pagetable so that we can access to 547 * some registers at same VA before and after installing 548 * our page table. 549 */ 550 paddr_t ttb = (paddr_t)read_ttb(); 551 552 map_io_area(ttb); 553 cpu_tlb_flushD(); 554 } 555 556 /* setup GPIO for BTUART, in case bootloader doesn't take care of it */ 557 pxa2x0_gpio_bootstrap(LUBBOCK_GPIO_VBASE); 558 pxa2x0_gpio_set_function(42, GPIO_ALT_FN_1_IN); 559 pxa2x0_gpio_set_function(43, GPIO_ALT_FN_2_OUT); 560 pxa2x0_gpio_set_function(44, GPIO_ALT_FN_1_IN); 561 pxa2x0_gpio_set_function(45, GPIO_ALT_FN_2_OUT); 562 563 /* turn on clock to UART block. 564 XXX: this should not be done here. */ 565 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, CKEN_FFUART|CKEN_BTUART | 566 ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN)); 567 568 LEDSTEP(); 569 570 tmp_bs_tag = pxa2x0_bs_tag; 571 tmp_bs_tag.bs_map = bootstrap_bs_map; 572 map_func_save = pxa2x0_a4x_bs_tag.bs_map; 573 pxa2x0_a4x_bs_tag.bs_map = bootstrap_bs_map; 574 575 LEDSTEP(); 576 577 578 consinit(); 579 LEDSTEP(); 580 #ifdef KGDB 581 kgdb_port_init(); 582 LEDSTEP(); 583 #endif 584 585 586 /* Talk to the user */ 587 printf("\nNetBSD/evbarm (lubbock) booting ...\n"); 588 589 /* Tweak memory controller */ 590 { 591 /* Modify access timing for CS3 (91c96) */ 592 593 uint32_t tmp = 594 ioreg_read(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1); 595 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1, 596 (tmp & 0xffff) | (0x3881<<16)); 597 /* RRR=3, RDN=8, RDF=8 598 * XXX: can be faster? 599 */ 600 } 601 602 603 /* Initialize for PCMCIA/CF sockets */ 604 { 605 uint32_t tmp; 606 607 /* Activate two sockets. 608 XXX: This code segment should be moved to 609 pcmcia MD attach routine. 610 XXX: These bits should be toggled based on 611 existene of PCMCIA/CF cards 612 */ 613 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MECR, 614 MECR_NOS|MECR_CIT); 615 616 tmp = ioreg_read(LUBBOCK_SACC_PBASE+SACCSBI_SKCR); 617 ioreg_write(LUBBOCK_SACC_PBASE+SACCSBI_SKCR, 618 (tmp & ~(1<<4)) | (1<<0)); 619 } 620 621 #if 0 622 /* 623 * Examine the boot args string for options we need to know about 624 * now. 625 */ 626 process_kernel_args((char *)nwbootinfo.bt_args); 627 #endif 628 629 { 630 int processor_card_id; 631 632 processor_card_id = 0x000f & 633 ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_MISCRD); 634 switch(processor_card_id){ 635 case 0: 636 /* Cotulla */ 637 memstart = 0xa0000000; 638 memsize = 0x04000000; /* 64MB */ 639 break; 640 case 1: 641 /* XXX: Sabiani */ 642 memstart = 0xa0000000; 643 memsize = 0x04000000; /* 64MB */ 644 break; 645 default: 646 /* XXX: Unknown */ 647 memstart = 0xa0000000; 648 memsize = 0x04000000; /* 64MB */ 649 } 650 } 651 652 printf("initarm: Configuring system ...\n"); 653 654 /* Fake bootconfig structure for the benefit of pmap.c */ 655 /* XXX must make the memory description h/w independant */ 656 bootconfig.dramblocks = 1; 657 bootconfig.dram[0].address = memstart; 658 bootconfig.dram[0].pages = memsize / PAGE_SIZE; 659 660 /* 661 * Set up the variables that define the availablilty of 662 * physical memory. For now, we're going to set 663 * physical_freestart to 0xa0200000 (where the kernel 664 * was loaded), and allocate the memory we need downwards. 665 * If we get too close to the page tables that RedBoot 666 * set up, we will panic. We will update physical_freestart 667 * and physical_freeend later to reflect what pmap_bootstrap() 668 * wants to see. 669 * 670 * XXX pmap_bootstrap() needs an enema. 671 */ 672 physical_start = bootconfig.dram[0].address; 673 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 674 675 physical_freestart = 0xa0009000UL; 676 physical_freeend = 0xa0200000UL; 677 678 physmem = (physical_end - physical_start) / PAGE_SIZE; 679 680 #ifdef VERBOSE_INIT_ARM 681 /* Tell the user about the memory */ 682 printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem, 683 physical_start, physical_end - 1); 684 #endif 685 686 /* 687 * Okay, the kernel starts 2MB in from the bottom of physical 688 * memory. We are going to allocate our bootstrap pages downwards 689 * from there. 690 * 691 * We need to allocate some fixed page tables to get the kernel 692 * going. We allocate one page directory and a number of page 693 * tables and store the physical addresses in the kernel_pt_table 694 * array. 695 * 696 * The kernel page directory must be on a 16K boundary. The page 697 * tables must be on 4K bounaries. What we do is allocate the 698 * page directory on the first 16K boundary that we encounter, and 699 * the page tables on 4K boundaries otherwise. Since we allocate 700 * at least 3 L2 page tables, we are guaranteed to encounter at 701 * least one 16K aligned region. 702 */ 703 704 #ifdef VERBOSE_INIT_ARM 705 printf("Allocating page tables\n"); 706 #endif 707 708 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 709 710 #ifdef VERBOSE_INIT_ARM 711 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 712 physical_freestart, free_pages, free_pages); 713 #endif 714 715 /* Define a macro to simplify memory allocation */ 716 #define valloc_pages(var, np) \ 717 alloc_pages((var).pv_pa, (np)); \ 718 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 719 720 #define alloc_pages(var, np) \ 721 physical_freeend -= ((np) * PAGE_SIZE); \ 722 if (physical_freeend < physical_freestart) \ 723 panic("initarm: out of memory"); \ 724 (var) = physical_freeend; \ 725 free_pages -= (np); \ 726 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 727 728 loop1 = 0; 729 kernel_l1pt.pv_pa = 0; 730 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 731 /* Are we 16KB aligned for an L1 ? */ 732 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 733 && kernel_l1pt.pv_pa == 0) { 734 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 735 } else { 736 valloc_pages(kernel_pt_table[loop1], 737 L2_TABLE_SIZE / PAGE_SIZE); 738 ++loop1; 739 } 740 } 741 742 /* This should never be able to happen but better confirm that. */ 743 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 744 panic("initarm: Failed to align the kernel page directory"); 745 746 LEDSTEP(); 747 748 /* 749 * Allocate a page for the system page mapped to V0x00000000 750 * This page will just contain the system vectors and can be 751 * shared by all processes. 752 */ 753 alloc_pages(systempage.pv_pa, 1); 754 755 /* Allocate stacks for all modes */ 756 valloc_pages(irqstack, IRQ_STACK_SIZE); 757 valloc_pages(abtstack, ABT_STACK_SIZE); 758 valloc_pages(undstack, UND_STACK_SIZE); 759 valloc_pages(kernelstack, UPAGES); 760 761 /* Allocate enough pages for cleaning the Mini-Data cache. */ 762 KASSERT(xscale_minidata_clean_size <= PAGE_SIZE); 763 valloc_pages(minidataclean, 1); 764 765 #ifdef VERBOSE_INIT_ARM 766 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 767 irqstack.pv_va); 768 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 769 abtstack.pv_va); 770 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 771 undstack.pv_va); 772 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 773 kernelstack.pv_va); 774 #endif 775 776 /* 777 * XXX Defer this to later so that we can reclaim the memory 778 * XXX used by the RedBoot page tables. 779 */ 780 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 781 782 /* 783 * Ok we have allocated physical pages for the primary kernel 784 * page tables 785 */ 786 787 #ifdef VERBOSE_INIT_ARM 788 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa); 789 #endif 790 791 /* 792 * Now we start construction of the L1 page table 793 * We start by mapping the L2 page tables into the L1. 794 * This means that we can replace L1 mappings later on if necessary 795 */ 796 l1pagetable = kernel_l1pt.pv_pa; 797 798 /* Map the L2 pages tables in the L1 page table */ 799 pmap_link_l2pt(l1pagetable, 0x00000000, 800 &kernel_pt_table[KERNEL_PT_SYS]); 801 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 802 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 803 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 804 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 805 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 806 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 807 808 /* update the top of the kernel VM */ 809 pmap_curmaxkvaddr = 810 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 811 812 #ifdef VERBOSE_INIT_ARM 813 printf("Mapping kernel\n"); 814 #endif 815 816 /* Now we fill in the L2 pagetable for the kernel static code/data */ 817 { 818 extern char etext[], _end[]; 819 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE; 820 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE; 821 u_int logical; 822 823 textsize = (textsize + PGOFSET) & ~PGOFSET; 824 totalsize = (totalsize + PGOFSET) & ~PGOFSET; 825 826 logical = 0x00200000; /* offset of kernel in RAM */ 827 828 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 829 physical_start + logical, textsize, 830 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 831 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 832 physical_start + logical, totalsize - textsize, 833 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 834 } 835 836 #ifdef VERBOSE_INIT_ARM 837 printf("Constructing L2 page tables\n"); 838 #endif 839 840 /* Map the stack pages */ 841 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 842 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 843 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 844 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 845 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 846 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 847 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 848 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 849 850 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 851 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 852 853 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 854 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 855 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 856 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 857 } 858 859 /* Map the Mini-Data cache clean area. */ 860 xscale_setup_minidata(l1pagetable, minidataclean.pv_va, 861 minidataclean.pv_pa); 862 863 /* Map the vector page. */ 864 #if 1 865 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 866 * cache-clean code there. */ 867 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 868 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 869 #else 870 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 871 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 872 #endif 873 874 /* 875 * map integrated peripherals at same address in l1pagetable 876 * so that we can continue to use console. 877 */ 878 copy_io_area_map((pd_entry_t *)l1pagetable); 879 880 /* 881 * Give the XScale global cache clean code an appropriately 882 * sized chunk of unmapped VA space starting at 0xff000000 883 * (our device mappings end before this address). 884 */ 885 xscale_cache_clean_addr = 0xff000000U; 886 887 /* 888 * Now we have the real page tables in place so we can switch to them. 889 * Once this is done we will be running with the REAL kernel page 890 * tables. 891 */ 892 893 /* 894 * Update the physical_freestart/physical_freeend/free_pages 895 * variables. 896 */ 897 { 898 extern char _end[]; 899 900 physical_freestart = physical_start + 901 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 902 KERNEL_BASE); 903 physical_freeend = physical_end; 904 free_pages = 905 (physical_freeend - physical_freestart) / PAGE_SIZE; 906 } 907 908 /* Switch tables */ 909 #ifdef VERBOSE_INIT_ARM 910 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 911 physical_freestart, free_pages, free_pages); 912 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 913 #endif 914 915 LEDSTEP(); 916 917 /* set new intc register address so that splfoo() doesn't 918 touch illegal address. */ 919 pxa2x0_intr_bootstrap(LUBBOCK_INTCTL_VBASE); 920 921 LEDSTEP(); 922 923 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 924 setttb(kernel_l1pt.pv_pa); 925 cpu_tlb_flushID(); 926 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 927 LEDSTEP(); 928 929 /* 930 * Moved from cpu_startup() as data_abort_handler() references 931 * this during uvm init 932 */ 933 proc0paddr = (struct user *)kernelstack.pv_va; 934 lwp0.l_addr = proc0paddr; 935 936 #ifdef VERBOSE_INIT_ARM 937 printf("bootstrap done.\n"); 938 #endif 939 940 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 941 942 /* 943 * Pages were allocated during the secondary bootstrap for the 944 * stacks for different CPU modes. 945 * We must now set the r13 registers in the different CPU modes to 946 * point to these stacks. 947 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 948 * of the stack memory. 949 */ 950 printf("init subsystems: stacks "); 951 952 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 953 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 954 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 955 956 /* 957 * Well we should set a data abort handler. 958 * Once things get going this will change as we will need a proper 959 * handler. 960 * Until then we will use a handler that just panics but tells us 961 * why. 962 * Initialisation of the vectors will just panic on a data abort. 963 * This just fills in a slighly better one. 964 */ 965 printf("vectors "); 966 data_abort_handler_address = (u_int)data_abort_handler; 967 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 968 undefined_handler_address = (u_int)undefinedinstruction_bounce; 969 970 /* Initialise the undefined instruction handlers */ 971 printf("undefined "); 972 undefined_init(); 973 974 /* Load memory into UVM. */ 975 printf("page "); 976 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 977 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 978 atop(physical_freestart), atop(physical_freeend), 979 VM_FREELIST_DEFAULT); 980 981 /* Boot strap pmap telling it where the kernel page table is */ 982 printf("pmap "); 983 LEDSTEP(); 984 pmap_bootstrap((pd_entry_t *)kernel_l1pt.pv_va, KERNEL_VM_BASE, 985 KERNEL_VM_BASE + KERNEL_VM_SIZE); 986 LEDSTEP(); 987 988 #ifdef __HAVE_MEMORY_DISK__ 989 md_root_setconf(memory_disk, sizeof memory_disk); 990 #endif 991 992 { 993 uint16_t sw = ioreg16_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW); 994 995 if (0 == (sw & (1<<13))) /* check S19 */ 996 boothowto |= RB_KDB; 997 if (0 == (sw & (1<<12))) /* S20 */ 998 boothowto |= RB_SINGLE; 999 } 1000 1001 LEDSTEP(); 1002 1003 #ifdef IPKDB 1004 /* Initialise ipkdb */ 1005 ipkdb_init(); 1006 if (boothowto & RB_KDB) 1007 ipkdb_connect(0); 1008 #endif 1009 1010 #ifdef KGDB 1011 if (boothowto & RB_KDB) { 1012 kgdb_debug_init = 1; 1013 kgdb_connect(1); 1014 } 1015 #endif 1016 1017 #ifdef DDB 1018 db_machine_init(); 1019 1020 /* Firmware doesn't load symbols. */ 1021 ddb_init(0, NULL, NULL); 1022 1023 if (boothowto & RB_KDB) 1024 Debugger(); 1025 #endif 1026 1027 pxa2x0_a4x_bs_tag.bs_map = map_func_save ; 1028 1029 /* We return the new stack pointer address */ 1030 return(kernelstack.pv_va + USPACE_SVC_STACK_TOP); 1031 } 1032 1033 #if 0 1034 void 1035 process_kernel_args(char *args) 1036 { 1037 1038 boothowto = 0; 1039 1040 /* Make a local copy of the bootargs */ 1041 strncpy(bootargs, args, MAX_BOOT_STRING); 1042 1043 args = bootargs; 1044 boot_file = bootargs; 1045 1046 /* Skip the kernel image filename */ 1047 while (*args != ' ' && *args != 0) 1048 ++args; 1049 1050 if (*args != 0) 1051 *args++ = 0; 1052 1053 while (*args == ' ') 1054 ++args; 1055 1056 boot_args = args; 1057 1058 printf("bootfile: %s\n", boot_file); 1059 printf("bootargs: %s\n", boot_args); 1060 1061 parse_mi_bootargs(boot_args); 1062 } 1063 #endif 1064 1065 #ifdef KGDB 1066 #ifndef KGDB_DEVNAME 1067 #define KGDB_DEVNAME "ffuart" 1068 #endif 1069 const char kgdb_devname[] = KGDB_DEVNAME; 1070 1071 #if (NCOM > 0) 1072 #ifndef KGDB_DEVMODE 1073 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 1074 #endif 1075 int comkgdbmode = KGDB_DEVMODE; 1076 #endif /* NCOM */ 1077 1078 #endif /* KGDB */ 1079 1080 1081 void 1082 consinit(void) 1083 { 1084 static int consinit_called = 0; 1085 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN); 1086 #if 0 1087 char *console = CONSDEVNAME; 1088 #endif 1089 1090 if (consinit_called != 0) 1091 return; 1092 1093 consinit_called = 1; 1094 1095 #if NCOM > 0 1096 1097 #ifdef FFUARTCONSOLE 1098 /* Check switch. */ 1099 if (0 == (ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW) & (1<<15))) { 1100 /* We don't use FF serial when S17=no-dot position */ 1101 } 1102 #ifdef KGDB 1103 else if (0 == strcmp(kgdb_devname, "ffuart")) { 1104 /* port is reserved for kgdb */ 1105 } 1106 #endif 1107 else if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_FFUART_BASE, 1108 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1109 #if 0 1110 /* XXX: can't call pxa2x0_clkman_config yet */ 1111 pxa2x0_clkman_config(CKEN_FFUART, 1); 1112 #else 1113 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, 1114 ckenreg|CKEN_FFUART); 1115 #endif 1116 1117 return; 1118 } 1119 #endif /* FFUARTCONSOLE */ 1120 1121 #ifdef BTUARTCONSOLE 1122 #ifdef KGDB 1123 if (0 == strcmp(kgdb_devname, "btuart")) { 1124 /* port is reserved for kgdb */ 1125 } else 1126 #endif 1127 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_BTUART_BASE, 1128 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1129 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, 1130 ckenreg|CKEN_BTUART); 1131 return; 1132 } 1133 #endif /* BTUARTCONSOLE */ 1134 1135 1136 #endif /* NCOM */ 1137 1138 } 1139 1140 #ifdef KGDB 1141 void 1142 kgdb_port_init(void) 1143 { 1144 #if (NCOM > 0) && defined(COM_PXA2X0) 1145 paddr_t paddr = 0; 1146 enum pxa2x0_uart_id uart_id; 1147 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN); 1148 1149 if (0 == strcmp(kgdb_devname, "ffuart")) { 1150 paddr = PXA2X0_FFUART_BASE; 1151 clenreg |= CKEN_FFUART; 1152 } 1153 else if (0 == strcmp(kgdb_devname, "btuart")) { 1154 paddr = PXA2X0_BTUART_BASE; 1155 clenreg |= CKEN_BTUART; 1156 } 1157 1158 if (paddr && 1159 0 == com_kgdb_attach_pxa2x0(&pxa2x0_a4x_bs_tag, paddr, 1160 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 1161 1162 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 1163 } 1164 #endif 1165 } 1166 #endif 1167 1168 #if 0 1169 /* 1170 * display a number in hex LED. 1171 * a digit is blank when the corresponding bit in arg blank is 1 1172 */ 1173 unsigned short led_control_value = 0; 1174 1175 void 1176 hex_led_blank(uint32_t value, int blank) 1177 { 1178 int save = disable_interrupts(I32_bit); 1179 1180 ioreg_write(LUBBOCK_OBIO_VBASE+0x10, value); 1181 led_control_value = (led_control_value & 0xff) 1182 | ((blank & 0xff)<<8); 1183 ioreg_write(LUBBOCK_OBIO_VBASE+0x40, led_control_value); 1184 restore_interrupts(save); 1185 } 1186 #endif 1187