1 /* $NetBSD: lubbock_machdep.c,v 1.4 2004/12/12 21:03:06 abs 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 */ 113 114 #include <sys/cdefs.h> 115 __KERNEL_RCSID(0, "$NetBSD: lubbock_machdep.c,v 1.4 2004/12/12 21:03:06 abs Exp $"); 116 117 #include "opt_ddb.h" 118 #include "opt_kgdb.h" 119 #include "opt_ipkdb.h" 120 #include "opt_pmap_debug.h" 121 #include "opt_md.h" 122 #include "opt_com.h" 123 #include "md.h" 124 #include "lcd.h" 125 126 #include <sys/param.h> 127 #include <sys/device.h> 128 #include <sys/systm.h> 129 #include <sys/kernel.h> 130 #include <sys/exec.h> 131 #include <sys/proc.h> 132 #include <sys/msgbuf.h> 133 #include <sys/reboot.h> 134 #include <sys/termios.h> 135 #include <sys/ksyms.h> 136 137 #include <uvm/uvm_extern.h> 138 139 #include <sys/conf.h> 140 #include <dev/cons.h> 141 #include <dev/md.h> 142 #include <dev/ic/smc91cxxreg.h> 143 144 #include <machine/db_machdep.h> 145 #include <ddb/db_sym.h> 146 #include <ddb/db_extern.h> 147 #ifdef KGDB 148 #include <sys/kgdb.h> 149 #endif 150 151 #include <machine/bootconfig.h> 152 #include <machine/bus.h> 153 #include <machine/cpu.h> 154 #include <machine/frame.h> 155 #include <arm/undefined.h> 156 157 #include <arm/arm32/machdep.h> 158 159 #include <arm/xscale/pxa2x0reg.h> 160 #include <arm/xscale/pxa2x0var.h> 161 #include <arm/xscale/pxa2x0_gpio.h> 162 #include <arm/sa11x0/sa1111_reg.h> 163 #include <evbarm/lubbock/lubbock_reg.h> 164 #include <evbarm/lubbock/lubbock_var.h> 165 166 /* Kernel text starts 2MB in from the bottom of the kernel address space. */ 167 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000) 168 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 169 170 /* 171 * The range 0xc1000000 - 0xccffffff is available for kernel VM space 172 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 173 */ 174 #define KERNEL_VM_SIZE 0x0C000000 175 176 177 /* 178 * Address to call from cpu_reset() to reset the machine. 179 * This is machine architecture dependant as it varies depending 180 * on where the ROM appears when you turn the MMU off. 181 */ 182 183 u_int cpu_reset_address = 0; 184 185 /* Define various stack sizes in pages */ 186 #define IRQ_STACK_SIZE 1 187 #define ABT_STACK_SIZE 1 188 #ifdef IPKDB 189 #define UND_STACK_SIZE 2 190 #else 191 #define UND_STACK_SIZE 1 192 #endif 193 194 BootConfig bootconfig; /* Boot config storage */ 195 char *boot_args = NULL; 196 char *boot_file = NULL; 197 198 vm_offset_t physical_start; 199 vm_offset_t physical_freestart; 200 vm_offset_t physical_freeend; 201 vm_offset_t physical_end; 202 u_int free_pages; 203 vm_offset_t pagetables_start; 204 int physmem = 0; 205 206 /*int debug_flags;*/ 207 #ifndef PMAP_STATIC_L1S 208 int max_processes = 64; /* Default number */ 209 #endif /* !PMAP_STATIC_L1S */ 210 211 /* Physical and virtual addresses for some global pages */ 212 pv_addr_t systempage; 213 pv_addr_t irqstack; 214 pv_addr_t undstack; 215 pv_addr_t abtstack; 216 pv_addr_t kernelstack; 217 pv_addr_t minidataclean; 218 219 vm_offset_t msgbufphys; 220 221 extern u_int data_abort_handler_address; 222 extern u_int prefetch_abort_handler_address; 223 extern u_int undefined_handler_address; 224 225 #ifdef PMAP_DEBUG 226 extern int pmap_debug_level; 227 #endif 228 229 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 230 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 231 #define KERNEL_PT_KERNEL_NUM 4 232 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 233 /* Page tables for mapping kernel VM */ 234 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 235 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 236 237 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 238 239 struct user *proc0paddr; 240 241 /* Prototypes */ 242 243 #if 0 244 void process_kernel_args(char *); 245 void parse_mi_bootargs(char *args); 246 #endif 247 248 void consinit(void); 249 void kgdb_port_init(void); 250 void change_clock(uint32_t v); 251 252 bs_protos(bs_notimpl); 253 254 #include "com.h" 255 #if NCOM > 0 256 #include <dev/ic/comreg.h> 257 #include <dev/ic/comvar.h> 258 #endif 259 260 #ifndef CONSPEED 261 #define CONSPEED B115200 /* What RedBoot uses */ 262 #endif 263 #ifndef CONMODE 264 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 265 #endif 266 267 int comcnspeed = CONSPEED; 268 int comcnmode = CONMODE; 269 270 /* 271 * void cpu_reboot(int howto, char *bootstr) 272 * 273 * Reboots the system 274 * 275 * Deal with any syncing, unmounting, dumping and shutdown hooks, 276 * then reset the CPU. 277 */ 278 void 279 cpu_reboot(int howto, char *bootstr) 280 { 281 #ifdef DIAGNOSTIC 282 /* info */ 283 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 284 #endif 285 286 /* 287 * If we are still cold then hit the air brakes 288 * and crash to earth fast 289 */ 290 if (cold) { 291 doshutdownhooks(); 292 printf("The operating system has halted.\n"); 293 printf("Please press any key to reboot.\n\n"); 294 cngetc(); 295 printf("rebooting...\n"); 296 cpu_reset(); 297 /*NOTREACHED*/ 298 } 299 300 /* Disable console buffering */ 301 /* cnpollc(1);*/ 302 303 /* 304 * If RB_NOSYNC was not specified sync the discs. 305 * Note: Unless cold is set to 1 here, syslogd will die during the 306 * unmount. It looks like syslogd is getting woken up only to find 307 * that it cannot page part of the binary in as the filesystem has 308 * been unmounted. 309 */ 310 if (!(howto & RB_NOSYNC)) 311 bootsync(); 312 313 /* Say NO to interrupts */ 314 splhigh(); 315 316 /* Do a dump if requested. */ 317 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 318 dumpsys(); 319 320 /* Run any shutdown hooks */ 321 doshutdownhooks(); 322 323 /* Make sure IRQ's are disabled */ 324 IRQdisable; 325 326 if (howto & RB_HALT) { 327 printf("The operating system has halted.\n"); 328 printf("Please press any key to reboot.\n\n"); 329 cngetc(); 330 } 331 332 printf("rebooting...\n"); 333 cpu_reset(); 334 /*NOTREACHED*/ 335 } 336 337 static __inline 338 pd_entry_t * 339 read_ttb(void) 340 { 341 long ttb; 342 343 __asm __volatile("mrc p15, 0, %0, c2, c0, 0" : "=r" (ttb)); 344 345 346 return (pd_entry_t *)(ttb & ~((1<<14)-1)); 347 } 348 349 /* 350 * Mapping table for core kernel memory. These areas are mapped in 351 * init time at fixed virtual address with section mappings. 352 */ 353 struct l1_sec_map { 354 vaddr_t va; 355 vaddr_t pa; 356 vsize_t size; 357 int flags; 358 } l1_sec_table[] = { 359 { 360 LUBBOCK_OBIO_VBASE, 361 LUBBOCK_OBIO_PBASE, 362 LUBBOCK_OBIO_SIZE, 363 PTE_NOCACHE, 364 }, 365 { 366 LUBBOCK_GPIO_VBASE, 367 PXA2X0_GPIO_BASE, 368 PXA2X0_GPIO_SIZE, 369 PTE_NOCACHE, 370 }, 371 { 372 LUBBOCK_CLKMAN_VBASE, 373 PXA2X0_CLKMAN_BASE, 374 PXA2X0_CLKMAN_SIZE, 375 PTE_NOCACHE, 376 }, 377 { 378 LUBBOCK_INTCTL_VBASE, 379 PXA2X0_INTCTL_BASE, 380 PXA2X0_INTCTL_SIZE, 381 PTE_NOCACHE, 382 }, 383 {0, 0, 0, 0,} 384 }; 385 386 static void 387 map_io_area(paddr_t pagedir) 388 { 389 int loop; 390 391 /* 392 * Map devices we can map w/ section mappings. 393 */ 394 loop = 0; 395 while (l1_sec_table[loop].size) { 396 vm_size_t sz; 397 398 #ifdef VERBOSE_INIT_ARM 399 printf("%08lx -> %08lx @ %08lx\n", l1_sec_table[loop].pa, 400 l1_sec_table[loop].pa + l1_sec_table[loop].size - 1, 401 l1_sec_table[loop].va); 402 #endif 403 for (sz = 0; sz < l1_sec_table[loop].size; sz += L1_S_SIZE) 404 pmap_map_section(pagedir, l1_sec_table[loop].va + sz, 405 l1_sec_table[loop].pa + sz, 406 VM_PROT_READ|VM_PROT_WRITE, 407 l1_sec_table[loop].flags); 408 ++loop; 409 } 410 } 411 412 /* 413 * simple memory mapping function used in early bootstrap stage 414 * before pmap is initialized. 415 * size and cacheability are ignored and map one section with nocache. 416 */ 417 static vaddr_t section_free = LUBBOCK_VBASE_FREE; 418 419 static int 420 bootstrap_bs_map(void *t, bus_addr_t bpa, bus_size_t size, 421 int cacheable, bus_space_handle_t *bshp) 422 { 423 u_long startpa; 424 vaddr_t va; 425 pd_entry_t *pagedir = read_ttb(); 426 /* This assumes PA==VA for page directory */ 427 428 va = section_free; 429 section_free += L1_S_SIZE; 430 431 startpa = trunc_page(bpa); 432 pmap_map_section((vaddr_t)pagedir, va, startpa, 433 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 434 cpu_tlb_flushD(); 435 436 *bshp = (bus_space_handle_t)(va + (bpa - startpa)); 437 438 return(0); 439 } 440 441 static void 442 copy_io_area_map(pd_entry_t *new_pd) 443 { 444 pd_entry_t *cur_pd = read_ttb(); 445 vaddr_t va; 446 447 for (va = LUBBOCK_IO_AREA_VBASE; 448 (cur_pd[va>>L1_S_SHIFT] & L1_TYPE_MASK) == L1_TYPE_S; 449 va += L1_S_SIZE) { 450 451 new_pd[va>>L1_S_SHIFT] = cur_pd[va>>L1_S_SHIFT]; 452 } 453 } 454 455 456 457 /* 458 * u_int initarm(...) 459 * 460 * Initial entry point on startup. This gets called before main() is 461 * entered. 462 * It should be responsible for setting up everything that must be 463 * in place when main is called. 464 * This includes 465 * Taking a copy of the boot configuration structure. 466 * Initialising the physical console so characters can be printed. 467 * Setting up page tables for the kernel 468 * Relocating the kernel to the bottom of physical memory 469 */ 470 u_int 471 initarm(void *arg) 472 { 473 extern vaddr_t xscale_cache_clean_addr; 474 int loop; 475 int loop1; 476 u_int l1pagetable; 477 pv_addr_t kernel_l1pt; 478 paddr_t memstart; 479 psize_t memsize; 480 int led_data = 0; 481 #ifdef DIAGNOSTIC 482 extern vsize_t xscale_minidata_clean_size; /* used in KASSERT */ 483 #endif 484 struct bus_space tmp_bs_tag; 485 int (*map_func_save)(void *, bus_addr_t, bus_size_t, int, 486 bus_space_handle_t *); 487 #define LEDSTEP_P() ioreg_write(LUBBOCK_OBIO_PBASE+LUBBOCK_HEXLED, led_data++) 488 #define LEDSTEP() hex_led(led_data++) 489 490 /* use physical address until pagetable is set */ 491 LEDSTEP_P(); 492 493 /* start 32.768KHz OSC */ 494 ioreg_write(PXA2X0_CLKMAN_BASE + 0x08, 2); 495 496 /* 497 * Heads up ... Setup the CPU / MMU / TLB functions 498 */ 499 if (set_cpufuncs()) 500 panic("cpu not recognized!"); 501 LEDSTEP_P(); 502 503 /* Get ready for splfoo() */ 504 pxa2x0_intr_bootstrap(PXA2X0_INTCTL_BASE); 505 506 #if 0 507 /* Calibrate the delay loop. */ 508 #endif 509 510 /* 511 * Okay, RedBoot has provided us with the following memory map: 512 * 513 * Physical Address Range Description 514 * ----------------------- ---------------------------------- 515 * 0x00000000 - 0x01ffffff flash Memory (32MB) 516 * 0x04000000 - 0x05ffffff Application flash Memory (32MB) 517 * 0x08000000 - 0x080000ff I/O baseboard registers 518 * 0x0a000000 - 0x0a0fffff SRAM (1MB) 519 * 0x0c000000 - 0x0c0fffff Ethernet Controller 520 * 0x0e000000 - 0x0e0fffff Ethernet Controller (Attribute) 521 * 0x10000000 - 0x103fffff SA-1111 Companion Chip 522 * 0x14000000 - 0x17ffffff Expansion Card (64MB) 523 * 0x40000000 - 0x480fffff Processor Registers 524 * 0xa0000000 - 0xa3ffffff SDRAM Bank 0 (64MB) 525 * 526 * 527 * Virtual Address Range X C B Description 528 * ----------------------- - - - ---------------------------------- 529 * 0x00000000 - 0x00003fff N Y Y SDRAM 530 * 0x00004000 - 0x000fffff N Y N Boot ROM 531 * 0x00100000 - 0x01ffffff N N N Application Flash 532 * 0x04000000 - 0x05ffffff N N N Exp Application Flash 533 * 0x08000000 - 0x080fffff N N N I/O baseboard registers 534 * 0x0a000000 - 0x0a0fffff N N N SRAM 535 * 0x40000000 - 0x480fffff N N N Processor Registers 536 * 0xa0000000 - 0xa000ffff N Y N RedBoot SDRAM 537 * 0xa0017000 - 0xa3ffffff Y Y Y SDRAM 538 * 0xc0000000 - 0xcfffffff Y Y Y Cache Flush Region 539 * (done by this routine) 540 * 0xfd000000 - 0xfd0000ff N N N I/O baseboard registers 541 * 0xfd100000 - 0xfd2fffff N N N Processor Registers. 542 * 543 * The first level page table is at 0xa0004000. There are also 544 * 2 second-level tables at 0xa0008000 and 0xa0008400. 545 * 546 */ 547 548 { 549 /* 550 * Tweak RedBoot's pagetable so that we can access to 551 * some registers at same VA before and after installing 552 * our page table. 553 */ 554 paddr_t ttb = (paddr_t)read_ttb(); 555 556 map_io_area(ttb); 557 cpu_tlb_flushD(); 558 } 559 560 /* setup GPIO for BTUART, in case bootloader doesn't take care of it */ 561 pxa2x0_gpio_bootstrap(LUBBOCK_GPIO_VBASE); 562 pxa2x0_gpio_set_function(42, GPIO_ALT_FN_1_IN); 563 pxa2x0_gpio_set_function(43, GPIO_ALT_FN_2_OUT); 564 pxa2x0_gpio_set_function(44, GPIO_ALT_FN_1_IN); 565 pxa2x0_gpio_set_function(45, GPIO_ALT_FN_2_OUT); 566 567 /* turn on clock to UART block. 568 XXX: this should not be done here. */ 569 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, CKEN_FFUART|CKEN_BTUART | 570 ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN)); 571 572 LEDSTEP(); 573 574 tmp_bs_tag = pxa2x0_bs_tag; 575 tmp_bs_tag.bs_map = bootstrap_bs_map; 576 map_func_save = pxa2x0_a4x_bs_tag.bs_map; 577 pxa2x0_a4x_bs_tag.bs_map = bootstrap_bs_map; 578 579 LEDSTEP(); 580 581 582 consinit(); 583 LEDSTEP(); 584 #ifdef KGDB 585 kgdb_port_init(); 586 LEDSTEP(); 587 #endif 588 589 590 /* Talk to the user */ 591 printf("\nNetBSD/evbarm (lubbock) booting ...\n"); 592 593 /* Tweak memory controller */ 594 { 595 /* Modify access timing for CS3 (91c96) */ 596 597 uint32_t tmp = 598 ioreg_read(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1); 599 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MSC1, 600 (tmp & 0xffff) | (0x3881<<16)); 601 /* RRR=3, RDN=8, RDF=8 602 * XXX: can be faster? 603 */ 604 } 605 606 607 /* Initialize for PCMCIA/CF sockets */ 608 { 609 uint32_t tmp; 610 611 /* Activate two sockets. 612 XXX: This code segment should be moved to 613 pcmcia MD attach routine. 614 XXX: These bits should be toggled based on 615 existene of PCMCIA/CF cards 616 */ 617 ioreg_write(PXA2X0_MEMCTL_BASE+MEMCTL_MECR, 618 MECR_NOS|MECR_CIT); 619 620 tmp = ioreg_read(LUBBOCK_SACC_PBASE+SACCSBI_SKCR); 621 ioreg_write(LUBBOCK_SACC_PBASE+SACCSBI_SKCR, 622 (tmp & ~(1<<4)) | (1<<0)); 623 } 624 625 #if 0 626 /* 627 * Examine the boot args string for options we need to know about 628 * now. 629 */ 630 process_kernel_args((char *)nwbootinfo.bt_args); 631 #endif 632 633 { 634 int processor_card_id; 635 636 processor_card_id = 0x000f & 637 ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_MISCRD); 638 switch(processor_card_id){ 639 case 0: 640 /* Cotulla */ 641 memstart = 0xa0000000; 642 memsize = 0x04000000; /* 64MB */ 643 break; 644 case 1: 645 /* XXX: Sabiani */ 646 memstart = 0xa0000000; 647 memsize = 0x04000000; /* 64MB */ 648 break; 649 default: 650 /* XXX: Unknown */ 651 memstart = 0xa0000000; 652 memsize = 0x04000000; /* 64MB */ 653 } 654 } 655 656 printf("initarm: Configuring system ...\n"); 657 658 /* Fake bootconfig structure for the benefit of pmap.c */ 659 /* XXX must make the memory description h/w independant */ 660 bootconfig.dramblocks = 1; 661 bootconfig.dram[0].address = memstart; 662 bootconfig.dram[0].pages = memsize / PAGE_SIZE; 663 664 /* 665 * Set up the variables that define the availablilty of 666 * physical memory. For now, we're going to set 667 * physical_freestart to 0xa0200000 (where the kernel 668 * was loaded), and allocate the memory we need downwards. 669 * If we get too close to the page tables that RedBoot 670 * set up, we will panic. We will update physical_freestart 671 * and physical_freeend later to reflect what pmap_bootstrap() 672 * wants to see. 673 * 674 * XXX pmap_bootstrap() needs an enema. 675 */ 676 physical_start = bootconfig.dram[0].address; 677 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 678 679 physical_freestart = 0xa0009000UL; 680 physical_freeend = 0xa0200000UL; 681 682 physmem = (physical_end - physical_start) / PAGE_SIZE; 683 684 #ifdef VERBOSE_INIT_ARM 685 /* Tell the user about the memory */ 686 printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem, 687 physical_start, physical_end - 1); 688 #endif 689 690 /* 691 * Okay, the kernel starts 2MB in from the bottom of physical 692 * memory. We are going to allocate our bootstrap pages downwards 693 * from there. 694 * 695 * We need to allocate some fixed page tables to get the kernel 696 * going. We allocate one page directory and a number of page 697 * tables and store the physical addresses in the kernel_pt_table 698 * array. 699 * 700 * The kernel page directory must be on a 16K boundary. The page 701 * tables must be on 4K boundaries. What we do is allocate the 702 * page directory on the first 16K boundary that we encounter, and 703 * the page tables on 4K boundaries otherwise. Since we allocate 704 * at least 3 L2 page tables, we are guaranteed to encounter at 705 * least one 16K aligned region. 706 */ 707 708 #ifdef VERBOSE_INIT_ARM 709 printf("Allocating page tables\n"); 710 #endif 711 712 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 713 714 #ifdef VERBOSE_INIT_ARM 715 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 716 physical_freestart, free_pages, free_pages); 717 #endif 718 719 /* Define a macro to simplify memory allocation */ 720 #define valloc_pages(var, np) \ 721 alloc_pages((var).pv_pa, (np)); \ 722 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 723 724 #define alloc_pages(var, np) \ 725 physical_freeend -= ((np) * PAGE_SIZE); \ 726 if (physical_freeend < physical_freestart) \ 727 panic("initarm: out of memory"); \ 728 (var) = physical_freeend; \ 729 free_pages -= (np); \ 730 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 731 732 loop1 = 0; 733 kernel_l1pt.pv_pa = 0; 734 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 735 /* Are we 16KB aligned for an L1 ? */ 736 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 737 && kernel_l1pt.pv_pa == 0) { 738 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 739 } else { 740 valloc_pages(kernel_pt_table[loop1], 741 L2_TABLE_SIZE / PAGE_SIZE); 742 ++loop1; 743 } 744 } 745 746 /* This should never be able to happen but better confirm that. */ 747 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 748 panic("initarm: Failed to align the kernel page directory"); 749 750 LEDSTEP(); 751 752 /* 753 * Allocate a page for the system page mapped to V0x00000000 754 * This page will just contain the system vectors and can be 755 * shared by all processes. 756 */ 757 alloc_pages(systempage.pv_pa, 1); 758 759 /* Allocate stacks for all modes */ 760 valloc_pages(irqstack, IRQ_STACK_SIZE); 761 valloc_pages(abtstack, ABT_STACK_SIZE); 762 valloc_pages(undstack, UND_STACK_SIZE); 763 valloc_pages(kernelstack, UPAGES); 764 765 /* Allocate enough pages for cleaning the Mini-Data cache. */ 766 KASSERT(xscale_minidata_clean_size <= PAGE_SIZE); 767 valloc_pages(minidataclean, 1); 768 769 #ifdef VERBOSE_INIT_ARM 770 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 771 irqstack.pv_va); 772 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 773 abtstack.pv_va); 774 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 775 undstack.pv_va); 776 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 777 kernelstack.pv_va); 778 #endif 779 780 /* 781 * XXX Defer this to later so that we can reclaim the memory 782 * XXX used by the RedBoot page tables. 783 */ 784 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 785 786 /* 787 * Ok we have allocated physical pages for the primary kernel 788 * page tables 789 */ 790 791 #ifdef VERBOSE_INIT_ARM 792 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa); 793 #endif 794 795 /* 796 * Now we start construction of the L1 page table 797 * We start by mapping the L2 page tables into the L1. 798 * This means that we can replace L1 mappings later on if necessary 799 */ 800 l1pagetable = kernel_l1pt.pv_pa; 801 802 /* Map the L2 pages tables in the L1 page table */ 803 pmap_link_l2pt(l1pagetable, 0x00000000, 804 &kernel_pt_table[KERNEL_PT_SYS]); 805 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 806 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 807 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 808 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 809 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 810 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 811 812 /* update the top of the kernel VM */ 813 pmap_curmaxkvaddr = 814 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 815 816 #ifdef VERBOSE_INIT_ARM 817 printf("Mapping kernel\n"); 818 #endif 819 820 /* Now we fill in the L2 pagetable for the kernel static code/data */ 821 { 822 extern char etext[], _end[]; 823 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE; 824 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE; 825 u_int logical; 826 827 textsize = (textsize + PGOFSET) & ~PGOFSET; 828 totalsize = (totalsize + PGOFSET) & ~PGOFSET; 829 830 logical = 0x00200000; /* offset of kernel in RAM */ 831 832 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 833 physical_start + logical, textsize, 834 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 835 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 836 physical_start + logical, totalsize - textsize, 837 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 838 } 839 840 #ifdef VERBOSE_INIT_ARM 841 printf("Constructing L2 page tables\n"); 842 #endif 843 844 /* Map the stack pages */ 845 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 846 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 847 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 848 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 849 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 850 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 851 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 852 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 853 854 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 855 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 856 857 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 858 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 859 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 860 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 861 } 862 863 /* Map the Mini-Data cache clean area. */ 864 xscale_setup_minidata(l1pagetable, minidataclean.pv_va, 865 minidataclean.pv_pa); 866 867 /* Map the vector page. */ 868 #if 1 869 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 870 * cache-clean code there. */ 871 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 872 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 873 #else 874 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 875 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 876 #endif 877 878 /* 879 * map integrated peripherals at same address in l1pagetable 880 * so that we can continue to use console. 881 */ 882 copy_io_area_map((pd_entry_t *)l1pagetable); 883 884 /* 885 * Give the XScale global cache clean code an appropriately 886 * sized chunk of unmapped VA space starting at 0xff000000 887 * (our device mappings end before this address). 888 */ 889 xscale_cache_clean_addr = 0xff000000U; 890 891 /* 892 * Now we have the real page tables in place so we can switch to them. 893 * Once this is done we will be running with the REAL kernel page 894 * tables. 895 */ 896 897 /* 898 * Update the physical_freestart/physical_freeend/free_pages 899 * variables. 900 */ 901 { 902 extern char _end[]; 903 904 physical_freestart = physical_start + 905 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 906 KERNEL_BASE); 907 physical_freeend = physical_end; 908 free_pages = 909 (physical_freeend - physical_freestart) / PAGE_SIZE; 910 } 911 912 /* Switch tables */ 913 #ifdef VERBOSE_INIT_ARM 914 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 915 physical_freestart, free_pages, free_pages); 916 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 917 #endif 918 919 LEDSTEP(); 920 921 /* set new intc register address so that splfoo() doesn't 922 touch illegal address. */ 923 pxa2x0_intr_bootstrap(LUBBOCK_INTCTL_VBASE); 924 925 LEDSTEP(); 926 927 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 928 setttb(kernel_l1pt.pv_pa); 929 cpu_tlb_flushID(); 930 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 931 LEDSTEP(); 932 933 /* 934 * Moved from cpu_startup() as data_abort_handler() references 935 * this during uvm init 936 */ 937 proc0paddr = (struct user *)kernelstack.pv_va; 938 lwp0.l_addr = proc0paddr; 939 940 #ifdef VERBOSE_INIT_ARM 941 printf("bootstrap done.\n"); 942 #endif 943 944 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 945 946 /* 947 * Pages were allocated during the secondary bootstrap for the 948 * stacks for different CPU modes. 949 * We must now set the r13 registers in the different CPU modes to 950 * point to these stacks. 951 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 952 * of the stack memory. 953 */ 954 printf("init subsystems: stacks "); 955 956 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 957 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 958 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 959 960 /* 961 * Well we should set a data abort handler. 962 * Once things get going this will change as we will need a proper 963 * handler. 964 * Until then we will use a handler that just panics but tells us 965 * why. 966 * Initialisation of the vectors will just panic on a data abort. 967 * This just fills in a slightly better one. 968 */ 969 printf("vectors "); 970 data_abort_handler_address = (u_int)data_abort_handler; 971 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 972 undefined_handler_address = (u_int)undefinedinstruction_bounce; 973 974 /* Initialise the undefined instruction handlers */ 975 printf("undefined "); 976 undefined_init(); 977 978 /* Load memory into UVM. */ 979 printf("page "); 980 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 981 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 982 atop(physical_freestart), atop(physical_freeend), 983 VM_FREELIST_DEFAULT); 984 985 /* Boot strap pmap telling it where the kernel page table is */ 986 printf("pmap "); 987 LEDSTEP(); 988 pmap_bootstrap((pd_entry_t *)kernel_l1pt.pv_va, KERNEL_VM_BASE, 989 KERNEL_VM_BASE + KERNEL_VM_SIZE); 990 LEDSTEP(); 991 992 #ifdef __HAVE_MEMORY_DISK__ 993 md_root_setconf(memory_disk, sizeof memory_disk); 994 #endif 995 996 { 997 uint16_t sw = ioreg16_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW); 998 999 if (0 == (sw & (1<<13))) /* check S19 */ 1000 boothowto |= RB_KDB; 1001 if (0 == (sw & (1<<12))) /* S20 */ 1002 boothowto |= RB_SINGLE; 1003 } 1004 1005 LEDSTEP(); 1006 1007 #ifdef IPKDB 1008 /* Initialise ipkdb */ 1009 ipkdb_init(); 1010 if (boothowto & RB_KDB) 1011 ipkdb_connect(0); 1012 #endif 1013 1014 #ifdef KGDB 1015 if (boothowto & RB_KDB) { 1016 kgdb_debug_init = 1; 1017 kgdb_connect(1); 1018 } 1019 #endif 1020 1021 #ifdef DDB 1022 db_machine_init(); 1023 1024 /* Firmware doesn't load symbols. */ 1025 ddb_init(0, NULL, NULL); 1026 1027 if (boothowto & RB_KDB) 1028 Debugger(); 1029 #endif 1030 1031 pxa2x0_a4x_bs_tag.bs_map = map_func_save ; 1032 1033 /* We return the new stack pointer address */ 1034 return(kernelstack.pv_va + USPACE_SVC_STACK_TOP); 1035 } 1036 1037 #if 0 1038 void 1039 process_kernel_args(char *args) 1040 { 1041 1042 boothowto = 0; 1043 1044 /* Make a local copy of the bootargs */ 1045 strncpy(bootargs, args, MAX_BOOT_STRING); 1046 1047 args = bootargs; 1048 boot_file = bootargs; 1049 1050 /* Skip the kernel image filename */ 1051 while (*args != ' ' && *args != 0) 1052 ++args; 1053 1054 if (*args != 0) 1055 *args++ = 0; 1056 1057 while (*args == ' ') 1058 ++args; 1059 1060 boot_args = args; 1061 1062 printf("bootfile: %s\n", boot_file); 1063 printf("bootargs: %s\n", boot_args); 1064 1065 parse_mi_bootargs(boot_args); 1066 } 1067 #endif 1068 1069 #ifdef KGDB 1070 #ifndef KGDB_DEVNAME 1071 #define KGDB_DEVNAME "ffuart" 1072 #endif 1073 const char kgdb_devname[] = KGDB_DEVNAME; 1074 1075 #if (NCOM > 0) 1076 #ifndef KGDB_DEVMODE 1077 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 1078 #endif 1079 int comkgdbmode = KGDB_DEVMODE; 1080 #endif /* NCOM */ 1081 1082 #endif /* KGDB */ 1083 1084 1085 void 1086 consinit(void) 1087 { 1088 static int consinit_called = 0; 1089 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN); 1090 #if 0 1091 char *console = CONSDEVNAME; 1092 #endif 1093 1094 if (consinit_called != 0) 1095 return; 1096 1097 consinit_called = 1; 1098 1099 #if NCOM > 0 1100 1101 #ifdef FFUARTCONSOLE 1102 /* Check switch. */ 1103 if (0 == (ioreg_read(LUBBOCK_OBIO_VBASE+LUBBOCK_USERSW) & (1<<15))) { 1104 /* We don't use FF serial when S17=no-dot position */ 1105 } 1106 #ifdef KGDB 1107 else if (0 == strcmp(kgdb_devname, "ffuart")) { 1108 /* port is reserved for kgdb */ 1109 } 1110 #endif 1111 else if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_FFUART_BASE, 1112 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1113 #if 0 1114 /* XXX: can't call pxa2x0_clkman_config yet */ 1115 pxa2x0_clkman_config(CKEN_FFUART, 1); 1116 #else 1117 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, 1118 ckenreg|CKEN_FFUART); 1119 #endif 1120 1121 return; 1122 } 1123 #endif /* FFUARTCONSOLE */ 1124 1125 #ifdef BTUARTCONSOLE 1126 #ifdef KGDB 1127 if (0 == strcmp(kgdb_devname, "btuart")) { 1128 /* port is reserved for kgdb */ 1129 } else 1130 #endif 1131 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_BTUART_BASE, 1132 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1133 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, 1134 ckenreg|CKEN_BTUART); 1135 return; 1136 } 1137 #endif /* BTUARTCONSOLE */ 1138 1139 1140 #endif /* NCOM */ 1141 1142 } 1143 1144 #ifdef KGDB 1145 void 1146 kgdb_port_init(void) 1147 { 1148 #if (NCOM > 0) && defined(COM_PXA2X0) 1149 paddr_t paddr = 0; 1150 enum pxa2x0_uart_id uart_id; 1151 uint32_t ckenreg = ioreg_read(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN); 1152 1153 if (0 == strcmp(kgdb_devname, "ffuart")) { 1154 paddr = PXA2X0_FFUART_BASE; 1155 clenreg |= CKEN_FFUART; 1156 } 1157 else if (0 == strcmp(kgdb_devname, "btuart")) { 1158 paddr = PXA2X0_BTUART_BASE; 1159 clenreg |= CKEN_BTUART; 1160 } 1161 1162 if (paddr && 1163 0 == com_kgdb_attach_pxa2x0(&pxa2x0_a4x_bs_tag, paddr, 1164 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 1165 1166 ioreg_write(LUBBOCK_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 1167 } 1168 #endif 1169 } 1170 #endif 1171 1172 #if 0 1173 /* 1174 * display a number in hex LED. 1175 * a digit is blank when the corresponding bit in arg blank is 1 1176 */ 1177 unsigned short led_control_value = 0; 1178 1179 void 1180 hex_led_blank(uint32_t value, int blank) 1181 { 1182 int save = disable_interrupts(I32_bit); 1183 1184 ioreg_write(LUBBOCK_OBIO_VBASE+0x10, value); 1185 led_control_value = (led_control_value & 0xff) 1186 | ((blank & 0xff)<<8); 1187 ioreg_write(LUBBOCK_OBIO_VBASE+0x40, led_control_value); 1188 restore_interrupts(save); 1189 } 1190 #endif 1191