at91bus.c revision 1.2 1 1.2 matt /* $NetBSD: at91bus.c,v 1.2 2008/07/03 01:15:38 matt Exp $ */
2 1.2 matt
3 1.2 matt /*
4 1.2 matt * Copyright (c) 2007 Embedtronics Oy
5 1.2 matt * All rights reserved.
6 1.2 matt *
7 1.2 matt * Redistribution and use in source and binary forms, with or without
8 1.2 matt * modification, are permitted provided that the following conditions
9 1.2 matt * are met:
10 1.2 matt * 1. Redistributions of source code must retain the above copyright
11 1.2 matt * notice, this list of conditions and the following disclaimer.
12 1.2 matt * 2. Redistributions in binary form must reproduce the above copyright
13 1.2 matt * notice, this list of conditions and the following disclaimer in the
14 1.2 matt * documentation and/or other materials provided with the distribution.
15 1.2 matt * 3. All advertising materials mentioning features or use of this software
16 1.2 matt * must display the following acknowledgement:
17 1.2 matt * This product includes software developed by the NetBSD
18 1.2 matt * Foundation, Inc. and its contributors.
19 1.2 matt * 4. Neither the name of The NetBSD Foundation nor the names of its
20 1.2 matt * contributors may be used to endorse or promote products derived
21 1.2 matt * from this software without specific prior written permission.
22 1.2 matt *
23 1.2 matt * THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS
24 1.2 matt * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
25 1.2 matt * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
26 1.2 matt * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS
27 1.2 matt * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
28 1.2 matt * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
29 1.2 matt * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
30 1.2 matt * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
31 1.2 matt * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
32 1.2 matt * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 1.2 matt * POSSIBILITY OF SUCH DAMAGE.
34 1.2 matt */
35 1.2 matt
36 1.2 matt #include <sys/cdefs.h>
37 1.2 matt __KERNEL_RCSID(0, "$NetBSD: at91bus.c,v 1.2 2008/07/03 01:15:38 matt Exp $");
38 1.2 matt
39 1.2 matt #include "opt_ddb.h"
40 1.2 matt #include "opt_kgdb.h"
41 1.2 matt #include "opt_pmap_debug.h"
42 1.2 matt
43 1.2 matt #include <sys/param.h>
44 1.2 matt #include <sys/device.h>
45 1.2 matt #include <sys/systm.h>
46 1.2 matt #include <sys/kernel.h>
47 1.2 matt #include <sys/exec.h>
48 1.2 matt #include <sys/proc.h>
49 1.2 matt #include <sys/msgbuf.h>
50 1.2 matt #include <sys/reboot.h>
51 1.2 matt #include <sys/termios.h>
52 1.2 matt #include <sys/ksyms.h>
53 1.2 matt
54 1.2 matt #include <machine/bootconfig.h>
55 1.2 matt #include <uvm/uvm_extern.h>
56 1.2 matt
57 1.2 matt #include <dev/cons.h>
58 1.2 matt
59 1.2 matt #include <machine/db_machdep.h>
60 1.2 matt #include <ddb/db_sym.h>
61 1.2 matt #include <ddb/db_extern.h>
62 1.2 matt
63 1.2 matt #include <machine/bus.h>
64 1.2 matt #include <machine/cpu.h>
65 1.2 matt #include <machine/frame.h>
66 1.2 matt #include <arm/undefined.h>
67 1.2 matt
68 1.2 matt #include <arm/arm32/machdep.h>
69 1.2 matt #include <arm/cpufunc.h>
70 1.2 matt
71 1.2 matt #include <arm/at91/at91var.h>
72 1.2 matt #include <arm/at91/at91busvar.h>
73 1.2 matt #include <arm/at91/at91dbgureg.h>
74 1.2 matt
75 1.2 matt //#include <dev/cons.h>
76 1.2 matt #include <sys/termios.h>
77 1.2 matt
78 1.2 matt #include "locators.h"
79 1.2 matt
80 1.2 matt /* console stuff: */
81 1.2 matt #ifndef CONSPEED
82 1.2 matt #define CONSPEED B115200
83 1.2 matt #endif
84 1.2 matt
85 1.2 matt #ifndef CONMODE
86 1.2 matt #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
87 1.2 matt #endif
88 1.2 matt
89 1.2 matt int cnspeed = CONSPEED;
90 1.2 matt int cnmode = CONMODE;
91 1.2 matt
92 1.2 matt
93 1.2 matt /* kernel mapping: */
94 1.2 matt #define KERNEL_BASE_PHYS 0x20200000
95 1.2 matt #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000)
96 1.2 matt #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000)
97 1.2 matt #define KERNEL_VM_SIZE 0x0C000000
98 1.2 matt
99 1.2 matt
100 1.2 matt
101 1.2 matt /* Define various stack sizes in pages */
102 1.2 matt #define IRQ_STACK_SIZE 8
103 1.2 matt #define ABT_STACK_SIZE 8
104 1.2 matt #ifdef IPKDB
105 1.2 matt #define UND_STACK_SIZE 16
106 1.2 matt #else
107 1.2 matt #define UND_STACK_SIZE 8
108 1.2 matt #endif
109 1.2 matt
110 1.2 matt /* boot configuration: */
111 1.2 matt vm_offset_t physical_start;
112 1.2 matt vm_offset_t physical_freestart;
113 1.2 matt vm_offset_t physical_freeend;
114 1.2 matt vm_offset_t physical_freeend_low;
115 1.2 matt vm_offset_t physical_end;
116 1.2 matt u_int free_pages;
117 1.2 matt int physmem = 0;
118 1.2 matt
119 1.2 matt /* Physical and virtual addresses for some global pages */
120 1.2 matt pv_addr_t irqstack;
121 1.2 matt pv_addr_t undstack;
122 1.2 matt pv_addr_t abtstack;
123 1.2 matt pv_addr_t kernelstack;
124 1.2 matt
125 1.2 matt vm_offset_t msgbufphys;
126 1.2 matt
127 1.2 matt //static struct arm32_dma_range dma_ranges[4];
128 1.2 matt
129 1.2 matt extern u_int data_abort_handler_address;
130 1.2 matt extern u_int prefetch_abort_handler_address;
131 1.2 matt extern u_int undefined_handler_address;
132 1.2 matt
133 1.2 matt #ifdef PMAP_DEBUG
134 1.2 matt extern int pmap_debug_level;
135 1.2 matt #endif
136 1.2 matt
137 1.2 matt #define KERNEL_PT_SYS 0 /* L2 table for mapping vectors page */
138 1.2 matt
139 1.2 matt #define KERNEL_PT_KERNEL 1 /* L2 table for mapping kernel */
140 1.2 matt #define KERNEL_PT_KERNEL_NUM 4
141 1.2 matt /* L2 tables for mapping kernel VM */
142 1.2 matt #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
143 1.2 matt
144 1.2 matt #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */
145 1.2 matt #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
146 1.2 matt
147 1.2 matt pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
148 1.2 matt
149 1.2 matt struct user *proc0paddr;
150 1.2 matt
151 1.2 matt
152 1.2 matt /* prototypes: */
153 1.2 matt void consinit(void);
154 1.2 matt static int at91bus_match(device_t, cfdata_t, void *);
155 1.2 matt static void at91bus_attach(device_t, device_t, void *);
156 1.2 matt static int at91bus_search(device_t, cfdata_t,
157 1.2 matt const int *, void *);
158 1.2 matt static int at91bus_print(void *, const char *);
159 1.2 matt static int at91bus_submatch(device_t, cfdata_t,
160 1.2 matt const int *, void *);
161 1.2 matt
162 1.2 matt
163 1.2 matt CFATTACH_DECL(at91bus, sizeof(struct at91bus_softc), at91bus_match, at91bus_attach, NULL, NULL);
164 1.2 matt
165 1.2 matt struct at91bus_clocks at91bus_clocks = {0};
166 1.2 matt struct at91bus_softc *at91bus_sc = NULL;
167 1.2 matt
168 1.2 matt #include "opt_at91types.h"
169 1.2 matt
170 1.2 matt #ifdef AT91RM9200
171 1.2 matt #include <arm/at91/at91rm9200busvar.h>
172 1.2 matt #endif
173 1.2 matt
174 1.2 matt #ifdef AT91SAM9261
175 1.2 matt #include <arm/at91/at91sam9261busvar.h>
176 1.2 matt #endif
177 1.2 matt
178 1.2 matt static const struct {
179 1.2 matt u_int32_t cidr;
180 1.2 matt const char * name;
181 1.2 matt const struct at91bus_machdep *machdep;
182 1.2 matt } at91_types[] = {
183 1.2 matt {
184 1.2 matt DBGU_CIDR_AT91RM9200,
185 1.2 matt "AT91RM9200"
186 1.2 matt #ifdef AT91RM9200
187 1.2 matt , &at91rm9200bus
188 1.2 matt #endif
189 1.2 matt },
190 1.2 matt {
191 1.2 matt DBGU_CIDR_AT91SAM9260,
192 1.2 matt "AT91SAM9260"
193 1.2 matt },
194 1.2 matt {
195 1.2 matt DBGU_CIDR_AT91SAM9260,
196 1.2 matt "AT91SAM9261"
197 1.2 matt #ifdef AT91SAM9261
198 1.2 matt , &at91sam9261bus
199 1.2 matt #endif
200 1.2 matt },
201 1.2 matt {
202 1.2 matt DBGU_CIDR_AT91SAM9260,
203 1.2 matt "AT91SAM9263"
204 1.2 matt },
205 1.2 matt {
206 1.2 matt 0,
207 1.2 matt 0,
208 1.2 matt 0
209 1.2 matt }
210 1.2 matt };
211 1.2 matt
212 1.2 matt u_int32_t at91_chip_id;
213 1.2 matt static int at91_chip_ndx = -1;
214 1.2 matt struct at91bus_machdep at91bus_machdep = { 0 };
215 1.2 matt at91bus_tag_t at91bus_tag = 0;
216 1.2 matt
217 1.2 matt static int
218 1.2 matt match_cid(void)
219 1.2 matt {
220 1.2 matt u_int32_t cidr;
221 1.2 matt int i;
222 1.2 matt
223 1.2 matt /* get chip id */
224 1.2 matt cidr = DBGUREG(DBGU_CIDR);
225 1.2 matt at91_chip_id = cidr;
226 1.2 matt
227 1.2 matt /* do we know it? */
228 1.2 matt for (i = 0; at91_types[i].name; i++) {
229 1.2 matt if (cidr == at91_types[i].cidr)
230 1.2 matt return i;
231 1.2 matt }
232 1.2 matt
233 1.2 matt return -1;
234 1.2 matt }
235 1.2 matt
236 1.2 matt int
237 1.2 matt at91bus_init(void)
238 1.2 matt {
239 1.2 matt int i = at91_chip_ndx = match_cid();
240 1.2 matt
241 1.2 matt if (i < 0)
242 1.2 matt panic("%s: unknown chip", __FUNCTION__);
243 1.2 matt
244 1.2 matt if (!at91_types[i].machdep)
245 1.2 matt panic("%s: %s is not supported", __FUNCTION__, at91_types[i].name);
246 1.2 matt
247 1.2 matt memcpy(&at91bus_machdep, at91_types[i].machdep, sizeof(at91bus_machdep));
248 1.2 matt at91bus_tag = &at91bus_machdep;
249 1.2 matt
250 1.2 matt return 0;
251 1.2 matt }
252 1.2 matt
253 1.2 matt u_int
254 1.2 matt at91bus_setup(BootConfig *mem)
255 1.2 matt {
256 1.2 matt int loop;
257 1.2 matt int loop1;
258 1.2 matt u_int l1pagetable;
259 1.2 matt
260 1.2 matt consinit();
261 1.2 matt
262 1.2 matt #ifdef VERBOSE_INIT_ARM
263 1.2 matt printf("\nNetBSD/AT91 booting ...\n");
264 1.2 matt #endif
265 1.2 matt
266 1.2 matt // setup the CPU / MMU / TLB functions:
267 1.2 matt if (set_cpufuncs())
268 1.2 matt panic("%s: cpu not recognized", __FUNCTION__);
269 1.2 matt
270 1.2 matt #ifdef VERBOSE_INIT_ARM
271 1.2 matt printf("%s: configuring system...\n", __FUNCTION__);
272 1.2 matt #endif
273 1.2 matt
274 1.2 matt /*
275 1.2 matt * Setup the variables that define the availability of
276 1.2 matt * physical memory.
277 1.2 matt */
278 1.2 matt physical_start = mem->dram[0].address;
279 1.2 matt physical_end = mem->dram[0].address + mem->dram[0].pages * PAGE_SIZE;
280 1.2 matt
281 1.2 matt physical_freestart = mem->dram[0].address + 0x9000ULL;
282 1.2 matt physical_freeend = KERNEL_BASE_PHYS;
283 1.2 matt physmem = (physical_end - physical_start) / PAGE_SIZE;
284 1.2 matt
285 1.2 matt #ifdef VERBOSE_INIT_ARM
286 1.2 matt printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
287 1.2 matt physical_start, physical_end - 1);
288 1.2 matt #endif
289 1.2 matt
290 1.2 matt free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
291 1.2 matt
292 1.2 matt #ifdef VERBOSE_INIT_ARM
293 1.2 matt printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
294 1.2 matt physical_freestart, free_pages, free_pages);
295 1.2 matt #endif
296 1.2 matt /* Define a macro to simplify memory allocation */
297 1.2 matt #define valloc_pages(var, np) \
298 1.2 matt alloc_pages((var).pv_pa, (np)); \
299 1.2 matt (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
300 1.2 matt
301 1.2 matt #define alloc_pages(var, np) \
302 1.2 matt physical_freeend -= ((np) * PAGE_SIZE); \
303 1.2 matt if (physical_freeend < physical_freestart) \
304 1.2 matt panic("initarm: out of memory"); \
305 1.2 matt (var) = physical_freeend; \
306 1.2 matt free_pages -= (np); \
307 1.2 matt memset((char *)(var), 0, ((np) * PAGE_SIZE));
308 1.2 matt
309 1.2 matt loop1 = 0;
310 1.2 matt for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
311 1.2 matt /* Are we 16KB aligned for an L1 ? */
312 1.2 matt if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
313 1.2 matt && kernel_l1pt.pv_pa == 0) {
314 1.2 matt valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
315 1.2 matt } else {
316 1.2 matt valloc_pages(kernel_pt_table[loop1],
317 1.2 matt L2_TABLE_SIZE / PAGE_SIZE);
318 1.2 matt ++loop1;
319 1.2 matt }
320 1.2 matt }
321 1.2 matt
322 1.2 matt /* This should never be able to happen but better confirm that. */
323 1.2 matt if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
324 1.2 matt panic("initarm: Failed to align the kernel page directory");
325 1.2 matt
326 1.2 matt /*
327 1.2 matt * Allocate a page for the system vectors page
328 1.2 matt */
329 1.2 matt valloc_pages(systempage, 1);
330 1.2 matt systempage.pv_va = 0x00000000;
331 1.2 matt
332 1.2 matt /* Allocate stacks for all modes */
333 1.2 matt valloc_pages(irqstack, IRQ_STACK_SIZE);
334 1.2 matt valloc_pages(abtstack, ABT_STACK_SIZE);
335 1.2 matt valloc_pages(undstack, UND_STACK_SIZE);
336 1.2 matt valloc_pages(kernelstack, UPAGES);
337 1.2 matt
338 1.2 matt #ifdef VERBOSE_INIT_ARM
339 1.2 matt printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
340 1.2 matt irqstack.pv_va);
341 1.2 matt printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
342 1.2 matt abtstack.pv_va);
343 1.2 matt printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
344 1.2 matt undstack.pv_va);
345 1.2 matt printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
346 1.2 matt kernelstack.pv_va);
347 1.2 matt #endif
348 1.2 matt
349 1.2 matt alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
350 1.2 matt
351 1.2 matt /*
352 1.2 matt * Ok we have allocated physical pages for the primary kernel
353 1.2 matt * page tables. Save physical_freeend for when we give whats left
354 1.2 matt * of memory below 2Mbyte to UVM.
355 1.2 matt */
356 1.2 matt
357 1.2 matt physical_freeend_low = physical_freeend;
358 1.2 matt
359 1.2 matt #ifdef VERBOSE_INIT_ARM
360 1.2 matt printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
361 1.2 matt #endif
362 1.2 matt
363 1.2 matt /*
364 1.2 matt * Now we start construction of the L1 page table
365 1.2 matt * We start by mapping the L2 page tables into the L1.
366 1.2 matt * This means that we can replace L1 mappings later on if necessary
367 1.2 matt */
368 1.2 matt l1pagetable = kernel_l1pt.pv_pa;
369 1.2 matt
370 1.2 matt /* Map the L2 pages tables in the L1 page table */
371 1.2 matt pmap_link_l2pt(l1pagetable, 0x00000000, &kernel_pt_table[KERNEL_PT_SYS]);
372 1.2 matt for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
373 1.2 matt pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
374 1.2 matt &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
375 1.2 matt for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
376 1.2 matt pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
377 1.2 matt &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
378 1.2 matt
379 1.2 matt /* update the top of the kernel VM */
380 1.2 matt pmap_curmaxkvaddr =
381 1.2 matt KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
382 1.2 matt
383 1.2 matt #ifdef VERBOSE_INIT_ARM
384 1.2 matt printf("Mapping kernel\n");
385 1.2 matt #endif
386 1.2 matt
387 1.2 matt /* Now we fill in the L2 pagetable for the kernel static code/data */
388 1.2 matt {
389 1.2 matt extern char etext[], _end[];
390 1.2 matt size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
391 1.2 matt size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
392 1.2 matt u_int logical;
393 1.2 matt
394 1.2 matt textsize = (textsize + PGOFSET) & ~PGOFSET;
395 1.2 matt totalsize = (totalsize + PGOFSET) & ~PGOFSET;
396 1.2 matt
397 1.2 matt logical = KERNEL_BASE_PHYS - mem->dram[0].address; /* offset of kernel in RAM */
398 1.2 matt logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
399 1.2 matt physical_start + logical, textsize,
400 1.2 matt VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
401 1.2 matt logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
402 1.2 matt physical_start + logical, totalsize - textsize,
403 1.2 matt VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
404 1.2 matt }
405 1.2 matt
406 1.2 matt #ifdef VERBOSE_INIT_ARM
407 1.2 matt printf("Constructing L2 page tables\n");
408 1.2 matt #endif
409 1.2 matt
410 1.2 matt /* Map the stack pages */
411 1.2 matt pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
412 1.2 matt IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
413 1.2 matt pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
414 1.2 matt ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
415 1.2 matt pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
416 1.2 matt UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
417 1.2 matt pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
418 1.2 matt UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
419 1.2 matt
420 1.2 matt pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
421 1.2 matt L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
422 1.2 matt
423 1.2 matt for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
424 1.2 matt pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
425 1.2 matt kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
426 1.2 matt VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
427 1.2 matt }
428 1.2 matt
429 1.2 matt /* Map the vector page. */
430 1.2 matt pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa,
431 1.2 matt VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
432 1.2 matt
433 1.2 matt /* Map the statically mapped devices. */
434 1.2 matt pmap_devmap_bootstrap(l1pagetable, at91_devmap());
435 1.2 matt
436 1.2 matt /*
437 1.2 matt * Update the physical_freestart/physical_freeend/free_pages
438 1.2 matt * variables.
439 1.2 matt */
440 1.2 matt {
441 1.2 matt extern char _end[];
442 1.2 matt
443 1.2 matt physical_freestart = physical_start +
444 1.2 matt (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
445 1.2 matt KERNEL_BASE);
446 1.2 matt physical_freeend = physical_end;
447 1.2 matt free_pages =
448 1.2 matt (physical_freeend - physical_freestart) / PAGE_SIZE;
449 1.2 matt }
450 1.2 matt
451 1.2 matt /*
452 1.2 matt * Now we have the real page tables in place so we can switch to them.
453 1.2 matt * Once this is done we will be running with the REAL kernel page
454 1.2 matt * tables.
455 1.2 matt */
456 1.2 matt
457 1.2 matt /* Switch tables */
458 1.2 matt #ifdef VERBOSE_INIT_ARM
459 1.2 matt printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
460 1.2 matt physical_freestart, free_pages, free_pages);
461 1.2 matt printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa);
462 1.2 matt #endif
463 1.2 matt cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
464 1.2 matt setttb(kernel_l1pt.pv_pa);
465 1.2 matt cpu_tlb_flushID();
466 1.2 matt cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
467 1.2 matt
468 1.2 matt /*
469 1.2 matt * Moved from cpu_startup() as data_abort_handler() references
470 1.2 matt * this during uvm init
471 1.2 matt */
472 1.2 matt proc0paddr = (struct user *)kernelstack.pv_va;
473 1.2 matt lwp0.l_addr = proc0paddr;
474 1.2 matt
475 1.2 matt #ifdef VERBOSE_INIT_ARM
476 1.2 matt printf("done!\n");
477 1.2 matt #endif
478 1.2 matt
479 1.2 matt #ifdef VERBOSE_INIT_ARM
480 1.2 matt printf("bootstrap done.\n");
481 1.2 matt #endif
482 1.2 matt
483 1.2 matt /* @@@@ check this out: @@@ */
484 1.2 matt arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
485 1.2 matt
486 1.2 matt /*
487 1.2 matt * Pages were allocated during the secondary bootstrap for the
488 1.2 matt * stacks for different CPU modes.
489 1.2 matt * We must now set the r13 registers in the different CPU modes to
490 1.2 matt * point to these stacks.
491 1.2 matt * Since the ARM stacks use STMFD etc. we must set r13 to the top end
492 1.2 matt * of the stack memory.
493 1.2 matt */
494 1.2 matt #ifdef VERBOSE_INIT_ARM
495 1.2 matt printf("init subsystems: stacks ");
496 1.2 matt #endif
497 1.2 matt
498 1.2 matt set_stackptr(PSR_IRQ32_MODE,
499 1.2 matt irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
500 1.2 matt set_stackptr(PSR_ABT32_MODE,
501 1.2 matt abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
502 1.2 matt set_stackptr(PSR_UND32_MODE,
503 1.2 matt undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
504 1.2 matt
505 1.2 matt /*
506 1.2 matt * Well we should set a data abort handler.
507 1.2 matt * Once things get going this will change as we will need a proper
508 1.2 matt * handler.
509 1.2 matt * Until then we will use a handler that just panics but tells us
510 1.2 matt * why.
511 1.2 matt * Initialisation of the vectors will just panic on a data abort.
512 1.2 matt * This just fills in a slightly better one.
513 1.2 matt */
514 1.2 matt #ifdef VERBOSE_INIT_ARM
515 1.2 matt printf("vectors ");
516 1.2 matt #endif
517 1.2 matt data_abort_handler_address = (u_int)data_abort_handler;
518 1.2 matt prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
519 1.2 matt undefined_handler_address = (u_int)undefinedinstruction_bounce;
520 1.2 matt
521 1.2 matt /* Initialise the undefined instruction handlers */
522 1.2 matt #ifdef VERBOSE_INIT_ARM
523 1.2 matt printf("undefined ");
524 1.2 matt #endif
525 1.2 matt undefined_init();
526 1.2 matt
527 1.2 matt /* Load memory into UVM. */
528 1.2 matt #ifdef VERBOSE_INIT_ARM
529 1.2 matt printf("page ");
530 1.2 matt #endif
531 1.2 matt uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */
532 1.2 matt uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
533 1.2 matt atop(physical_freestart), atop(physical_freeend),
534 1.2 matt VM_FREELIST_DEFAULT);
535 1.2 matt uvm_page_physload(atop(physical_start), atop(physical_freeend_low),
536 1.2 matt atop(physical_start), atop(physical_freeend_low),
537 1.2 matt VM_FREELIST_DEFAULT);
538 1.2 matt
539 1.2 matt /* Boot strap pmap telling it where the kernel page table is */
540 1.2 matt #ifdef VERBOSE_INIT_ARM
541 1.2 matt printf("pmap ");
542 1.2 matt #endif
543 1.2 matt pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
544 1.2 matt
545 1.2 matt /* Setup the IRQ system */
546 1.2 matt #ifdef VERBOSE_INIT_ARM
547 1.2 matt printf("irq ");
548 1.2 matt #endif
549 1.2 matt at91_intr_init();
550 1.2 matt
551 1.2 matt #ifdef VERBOSE_INIT_ARM
552 1.2 matt printf("done.\n");
553 1.2 matt #endif
554 1.2 matt
555 1.2 matt #ifdef BOOTHOWTO
556 1.2 matt boothowto = BOOTHOWTO;
557 1.2 matt #endif
558 1.2 matt boothowto = AB_VERBOSE | AB_DEBUG; // @@@@
559 1.2 matt
560 1.2 matt #ifdef IPKDB
561 1.2 matt /* Initialise ipkdb */
562 1.2 matt ipkdb_init();
563 1.2 matt if (boothowto & RB_KDB)
564 1.2 matt ipkdb_connect(0);
565 1.2 matt #endif
566 1.2 matt
567 1.2 matt #if NKSYMS || defined(DDB) || defined(LKM)
568 1.2 matt /* Firmware doesn't load symbols. */
569 1.2 matt ksyms_init(0, NULL, NULL);
570 1.2 matt #endif
571 1.2 matt
572 1.2 matt #ifdef DDB
573 1.2 matt db_machine_init();
574 1.2 matt if (boothowto & RB_KDB)
575 1.2 matt Debugger();
576 1.2 matt #endif
577 1.2 matt #if 0
578 1.2 matt printf("test data abort...\n");
579 1.2 matt *((volatile uint32_t*)(0x1234567F)) = 0xdeadbeef;
580 1.2 matt #endif
581 1.2 matt
582 1.2 matt #ifdef VERBOSE_INIT_ARM
583 1.2 matt printf("%s: returning new stack pointer 0x%lX\n", __FUNCTION__, (kernelstack.pv_va + USPACE_SVC_STACK_TOP));
584 1.2 matt #endif
585 1.2 matt
586 1.2 matt /* We return the new stack pointer address */
587 1.2 matt return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
588 1.2 matt }
589 1.2 matt
590 1.2 matt static int
591 1.2 matt at91bus_match(device_t parent, cfdata_t match, void *aux)
592 1.2 matt {
593 1.2 matt // we could detect the device here...
594 1.2 matt if (strcmp(match->cf_name, "at91bus") == 0)
595 1.2 matt return 1;
596 1.2 matt return 0;
597 1.2 matt }
598 1.2 matt
599 1.2 matt static device_t
600 1.2 matt at91bus_found(device_t self, bus_addr_t addr, int pid)
601 1.2 matt {
602 1.2 matt int locs[AT91BUSCF_NLOCS];
603 1.2 matt struct at91bus_attach_args sa;
604 1.2 matt struct at91bus_softc *sc;
605 1.2 matt
606 1.2 matt memset(&locs, 0, sizeof(locs));
607 1.2 matt memset(&sa, 0, sizeof(sa));
608 1.2 matt
609 1.2 matt locs[AT91BUSCF_ADDR] = addr;
610 1.2 matt locs[AT91BUSCF_PID] = pid;
611 1.2 matt
612 1.2 matt sc = (struct at91bus_softc*) self;
613 1.2 matt sa.sa_iot = sc->sc_iot;
614 1.2 matt sa.sa_dmat = sc->sc_dmat;
615 1.2 matt sa.sa_addr = addr;
616 1.2 matt sa.sa_size = 1;
617 1.2 matt sa.sa_pid = pid;
618 1.2 matt
619 1.2 matt return config_found_sm_loc(self, "at91bus", locs, &sa,
620 1.2 matt at91bus_print, at91bus_submatch);
621 1.2 matt }
622 1.2 matt
623 1.2 matt static void
624 1.2 matt at91bus_attach(device_t parent, device_t self, void *aux)
625 1.2 matt {
626 1.2 matt struct at91bus_softc *sc;
627 1.2 matt
628 1.2 matt if (at91_chip_ndx < 0)
629 1.2 matt panic("%s: at91bus_init() has not been called!", __FUNCTION__);
630 1.2 matt
631 1.2 matt sc = (struct at91bus_softc*) self;
632 1.2 matt
633 1.2 matt /* initialize bus space and bus dma things... */
634 1.2 matt sc->sc_iot = &at91_bs_tag;
635 1.2 matt sc->sc_dmat = at91_bus_dma_init(&at91_bd_tag);
636 1.2 matt
637 1.2 matt if (at91bus_sc == NULL)
638 1.2 matt at91bus_sc = sc;
639 1.2 matt
640 1.2 matt printf(": %s, sclk %u.%03u kHz, mclk %u.%03u MHz, pclk %u.%03u MHz, mstclk %u.%03u, plla %u.%03u, pllb %u.%03u MHz\n",
641 1.2 matt at91_types[at91_chip_ndx].name,
642 1.2 matt AT91_SCLK / 1000U, AT91_SCLK % 1000U,
643 1.2 matt AT91_MCLK / 1000000U, (AT91_MCLK / 1000U) % 1000U,
644 1.2 matt AT91_PCLK / 1000000U, (AT91_PCLK / 1000U) % 1000U,
645 1.2 matt AT91_MSTCLK / 1000000U, (AT91_MSTCLK / 1000U) % 1000U,
646 1.2 matt AT91_PLLACLK / 1000000U, (AT91_PLLACLK / 1000U) % 1000U,
647 1.2 matt AT91_PLLBCLK / 1000000U, (AT91_PLLBCLK / 1000U) % 1000U);
648 1.2 matt
649 1.2 matt /*
650 1.2 matt * Attach devices
651 1.2 matt */
652 1.2 matt at91_search_peripherals(self, at91bus_found);
653 1.2 matt
654 1.2 matt
655 1.2 matt struct at91bus_attach_args sa;
656 1.2 matt memset(&sa, 0, sizeof(sa));
657 1.2 matt sa.sa_iot = sc->sc_iot;
658 1.2 matt sa.sa_dmat = sc->sc_dmat;
659 1.2 matt config_search_ia(at91bus_search, self, "at91bus", &sa);
660 1.2 matt }
661 1.2 matt
662 1.2 matt int
663 1.2 matt at91bus_submatch(parent, cf, ldesc, aux)
664 1.2 matt device_t parent;
665 1.2 matt cfdata_t cf;
666 1.2 matt const int *ldesc;
667 1.2 matt void *aux;
668 1.2 matt {
669 1.2 matt struct at91bus_attach_args *sa = aux;
670 1.2 matt
671 1.2 matt if (cf->cf_loc[AT91BUSCF_ADDR] == ldesc[AT91BUSCF_ADDR]
672 1.2 matt && cf->cf_loc[AT91BUSCF_PID] == ldesc[AT91BUSCF_PID]) {
673 1.2 matt sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
674 1.2 matt sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
675 1.2 matt sa->sa_pid = cf->cf_loc[AT91BUSCF_PID];
676 1.2 matt return (config_match(parent, cf, aux));
677 1.2 matt } else
678 1.2 matt return (0);
679 1.2 matt }
680 1.2 matt
681 1.2 matt int
682 1.2 matt at91bus_search(parent, cf, ldesc, aux)
683 1.2 matt device_t parent;
684 1.2 matt cfdata_t cf;
685 1.2 matt const int *ldesc;
686 1.2 matt void *aux;
687 1.2 matt {
688 1.2 matt struct at91bus_attach_args *sa = aux;
689 1.2 matt
690 1.2 matt sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
691 1.2 matt sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
692 1.2 matt sa->sa_pid = cf->cf_loc[AT91BUSCF_PID];
693 1.2 matt
694 1.2 matt if (config_match(parent, cf, aux) > 0)
695 1.2 matt config_attach(parent, cf, aux, at91bus_print);
696 1.2 matt
697 1.2 matt return (0);
698 1.2 matt }
699 1.2 matt
700 1.2 matt static int
701 1.2 matt at91bus_print(aux, name)
702 1.2 matt void *aux;
703 1.2 matt const char *name;
704 1.2 matt {
705 1.2 matt struct at91bus_attach_args *sa = (struct at91bus_attach_args*)aux;
706 1.2 matt
707 1.2 matt if (name)
708 1.2 matt aprint_normal("%s at %s", sa->sa_pid >= 0 ? at91_peripheral_name(sa->sa_pid) : "device", name);
709 1.2 matt
710 1.2 matt if (sa->sa_size)
711 1.2 matt aprint_normal(" at addr 0x%lx", sa->sa_addr);
712 1.2 matt if (sa->sa_size > 1)
713 1.2 matt aprint_normal("-0x%lx", sa->sa_addr + sa->sa_size - 1);
714 1.2 matt if (sa->sa_pid >= 0)
715 1.2 matt aprint_normal(" pid %d", sa->sa_pid);
716 1.2 matt
717 1.2 matt return (UNCONF);
718 1.2 matt }
719 1.2 matt
720 1.2 matt void consinit(void)
721 1.2 matt {
722 1.2 matt static int consinit_called;
723 1.2 matt
724 1.2 matt if (consinit_called != 0)
725 1.2 matt return;
726 1.2 matt
727 1.2 matt consinit_called = 1;
728 1.2 matt
729 1.2 matt if (at91_chip_ndx < 0)
730 1.2 matt panic("%s: at91_init() has not been called!", __FUNCTION__);
731 1.2 matt
732 1.2 matt // call machine specific bus initialization code
733 1.2 matt (*at91bus_tag->init)(&at91bus_clocks);
734 1.2 matt
735 1.2 matt // attach console
736 1.2 matt (*at91bus_tag->attach_cn)(&at91_bs_tag, cnspeed, cnmode);
737 1.2 matt }
738