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at91bus.c revision 1.10 
      1 /*	$NetBSD: at91bus.c,v 1.10 2009/12/26 16:01:23 uebayasi Exp $	*/
      2 
      3 /*
      4  * Copyright (c) 2007 Embedtronics Oy
      5  * All rights reserved.
      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  *
     16  * THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS
     17  * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
     18  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
     19  * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS
     20  * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     21  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     22  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     23  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     24  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     25  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     26  * POSSIBILITY OF SUCH DAMAGE.
     27  */
     28 
     29 #include <sys/cdefs.h>
     30 __KERNEL_RCSID(0, "$NetBSD: at91bus.c,v 1.10 2009/12/26 16:01:23 uebayasi Exp $");
     31 
     32 #include "opt_ddb.h"
     33 #include "opt_kgdb.h"
     34 #include "opt_pmap_debug.h"
     35 
     36 #include <sys/param.h>
     37 #include <sys/device.h>
     38 #include <sys/systm.h>
     39 #include <sys/kernel.h>
     40 #include <sys/exec.h>
     41 #include <sys/proc.h>
     42 #include <sys/msgbuf.h>
     43 #include <sys/reboot.h>
     44 #include <sys/termios.h>
     45 #include <sys/ksyms.h>
     46 
     47 #include <machine/bootconfig.h>
     48 #include <uvm/uvm_extern.h>
     49 
     50 #include <dev/cons.h>
     51 
     52 #include <machine/db_machdep.h>
     53 #include <ddb/db_sym.h>
     54 #include <ddb/db_extern.h>
     55 
     56 #include <machine/bus.h>
     57 #include <machine/cpu.h>
     58 #include <machine/frame.h>
     59 #include <arm/undefined.h>
     60 
     61 #include <arm/arm32/machdep.h>
     62 #include <arm/cpufunc.h>
     63 
     64 #include <arm/at91/at91var.h>
     65 #include <arm/at91/at91busvar.h>
     66 #include <arm/at91/at91dbgureg.h>
     67 
     68 //#include <dev/cons.h>
     69 #include <sys/termios.h>
     70 
     71 #include "locators.h"
     72 
     73 /* console stuff: */
     74 #ifndef	CONSPEED
     75 #define	CONSPEED B115200
     76 #endif
     77 
     78 #ifndef	CONMODE
     79 #define	CONMODE	((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
     80 #endif
     81 
     82 int cnspeed = CONSPEED;
     83 int cnmode = CONMODE;
     84 
     85 
     86 /* kernel mapping: */
     87 #define	KERNEL_BASE_PHYS	0x20200000
     88 #define	KERNEL_TEXT_BASE	(KERNEL_BASE + 0x00200000)
     89 #define	KERNEL_VM_BASE		(KERNEL_BASE + 0x01000000)
     90 #define	KERNEL_VM_SIZE		0x0C000000
     91 
     92 
     93 
     94 /* Define various stack sizes in pages */
     95 #define IRQ_STACK_SIZE	8
     96 #define ABT_STACK_SIZE	8
     97 #ifdef IPKDB
     98 #define UND_STACK_SIZE	16
     99 #else
    100 #define UND_STACK_SIZE	8
    101 #endif
    102 
    103 /* boot configuration: */
    104 vm_offset_t physical_start;
    105 vm_offset_t physical_freestart;
    106 vm_offset_t physical_freeend;
    107 vm_offset_t physical_freeend_low;
    108 vm_offset_t physical_end;
    109 u_int free_pages;
    110 
    111 /* Physical and virtual addresses for some global pages */
    112 pv_addr_t irqstack;
    113 pv_addr_t undstack;
    114 pv_addr_t abtstack;
    115 pv_addr_t kernelstack;
    116 
    117 vm_offset_t msgbufphys;
    118 
    119 //static struct arm32_dma_range dma_ranges[4];
    120 
    121 extern u_int data_abort_handler_address;
    122 extern u_int prefetch_abort_handler_address;
    123 extern u_int undefined_handler_address;
    124 
    125 #ifdef PMAP_DEBUG
    126 extern int pmap_debug_level;
    127 #endif
    128 
    129 #define KERNEL_PT_SYS		0	/* L2 table for mapping vectors page */
    130 
    131 #define KERNEL_PT_KERNEL	1	/* L2 table for mapping kernel */
    132 #define	KERNEL_PT_KERNEL_NUM	4
    133 					/* L2 tables for mapping kernel VM */
    134 #define KERNEL_PT_VMDATA	(KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
    135 
    136 #define	KERNEL_PT_VMDATA_NUM	4	/* start with 16MB of KVM */
    137 #define NUM_KERNEL_PTS		(KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
    138 
    139 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
    140 
    141 /* prototypes: */
    142 void		consinit(void);
    143 static int	at91bus_match(device_t, cfdata_t, void *);
    144 static void	at91bus_attach(device_t, device_t, void *);
    145 static int	at91bus_search(device_t, cfdata_t,
    146 			       const int *, void *);
    147 static int	at91bus_print(void *, const char *);
    148 static int	at91bus_submatch(device_t, cfdata_t,
    149 				 const int *, void *);
    150 
    151 
    152 CFATTACH_DECL(at91bus, sizeof(struct at91bus_softc), at91bus_match, at91bus_attach, NULL, NULL);
    153 
    154 struct at91bus_clocks at91bus_clocks = {0};
    155 struct at91bus_softc *at91bus_sc = NULL;
    156 
    157 #include "opt_at91types.h"
    158 
    159 #ifdef	AT91RM9200
    160 #include <arm/at91/at91rm9200busvar.h>
    161 #endif
    162 
    163 #ifdef	AT91SAM9261
    164 #include <arm/at91/at91sam9261busvar.h>
    165 #endif
    166 
    167 static const struct {
    168 	u_int32_t	cidr;
    169 	const char *	name;
    170 	const struct at91bus_machdep *machdep;
    171 } at91_types[] = {
    172 	{
    173 		DBGU_CIDR_AT91RM9200,
    174 		"AT91RM9200"
    175 #ifdef	AT91RM9200
    176 		, &at91rm9200bus
    177 #endif
    178 	},
    179 	{
    180 		DBGU_CIDR_AT91SAM9260,
    181 		"AT91SAM9260"
    182 	},
    183 	{
    184 		DBGU_CIDR_AT91SAM9260,
    185 		"AT91SAM9261"
    186 #ifdef	AT91SAM9261
    187 		, &at91sam9261bus
    188 #endif
    189 	},
    190 	{
    191 		DBGU_CIDR_AT91SAM9260,
    192 		"AT91SAM9263"
    193 	},
    194 	{
    195 		0,
    196 		0,
    197 		0
    198 	}
    199 };
    200 
    201 u_int32_t at91_chip_id;
    202 static int at91_chip_ndx = -1;
    203 struct at91bus_machdep at91bus_machdep = { 0 };
    204 at91bus_tag_t at91bus_tag = 0;
    205 
    206 static int
    207 match_cid(void)
    208 {
    209 	u_int32_t		cidr;
    210 	int			i;
    211 
    212 	/* get chip id */
    213 	cidr = DBGUREG(DBGU_CIDR);
    214 	at91_chip_id = cidr;
    215 
    216 	/* do we know it? */
    217 	for (i = 0; at91_types[i].name; i++) {
    218 		if (cidr == at91_types[i].cidr)
    219 			return i;
    220 	}
    221 
    222 	return -1;
    223 }
    224 
    225 int
    226 at91bus_init(void)
    227 {
    228 	int i = at91_chip_ndx = match_cid();
    229 
    230 	if (i < 0)
    231 		panic("%s: unknown chip", __FUNCTION__);
    232 
    233 	if (!at91_types[i].machdep)
    234 		panic("%s: %s is not supported", __FUNCTION__, at91_types[i].name);
    235 
    236 	memcpy(&at91bus_machdep, at91_types[i].machdep, sizeof(at91bus_machdep));
    237 	at91bus_tag = &at91bus_machdep;
    238 
    239 	return 0;
    240 }
    241 
    242 u_int
    243 at91bus_setup(BootConfig *mem)
    244 {
    245 	int loop;
    246 	int loop1;
    247 	u_int l1pagetable;
    248 
    249 	consinit();
    250 
    251 #ifdef	VERBOSE_INIT_ARM
    252 	printf("\nNetBSD/AT91 booting ...\n");
    253 #endif
    254 
    255 	// setup the CPU / MMU / TLB functions:
    256 	if (set_cpufuncs())
    257 		panic("%s: cpu not recognized", __FUNCTION__);
    258 
    259 #ifdef	VERBOSE_INIT_ARM
    260 	printf("%s: configuring system...\n", __FUNCTION__);
    261 #endif
    262 
    263 	/*
    264 	 * Setup the variables that define the availability of
    265 	 * physical memory.
    266 	 */
    267 	physical_start = mem->dram[0].address;
    268 	physical_end = mem->dram[0].address + mem->dram[0].pages * PAGE_SIZE;
    269 
    270 	physical_freestart = mem->dram[0].address + 0x9000ULL;
    271 	physical_freeend = KERNEL_BASE_PHYS;
    272 	physmem = (physical_end - physical_start) / PAGE_SIZE;
    273 
    274 #ifdef	VERBOSE_INIT_ARM
    275 	printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
    276 	       physical_start, physical_end - 1);
    277 #endif
    278 
    279 	free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
    280 
    281 #ifdef	VERBOSE_INIT_ARM
    282 	printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
    283 	       physical_freestart, free_pages, free_pages);
    284 #endif
    285 	/* Define a macro to simplify memory allocation */
    286 #define	valloc_pages(var, np)				\
    287 	alloc_pages((var).pv_pa, (np));			\
    288 	(var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
    289 
    290 #define alloc_pages(var, np)				\
    291 	physical_freeend -= ((np) * PAGE_SIZE);		\
    292 	if (physical_freeend < physical_freestart)	\
    293 		panic("initarm: out of memory");	\
    294 	(var) = physical_freeend;			\
    295 	free_pages -= (np);				\
    296 	memset((char *)(var), 0, ((np) * PAGE_SIZE));
    297 
    298 	loop1 = 0;
    299 	for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
    300 		/* Are we 16KB aligned for an L1 ? */
    301 		if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
    302 		    && kernel_l1pt.pv_pa == 0) {
    303 			valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
    304 		} else {
    305 			valloc_pages(kernel_pt_table[loop1],
    306 			    L2_TABLE_SIZE / PAGE_SIZE);
    307 			++loop1;
    308 		}
    309 	}
    310 
    311 	/* This should never be able to happen but better confirm that. */
    312 	if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
    313 		panic("initarm: Failed to align the kernel page directory");
    314 
    315 	/*
    316 	 * Allocate a page for the system vectors page
    317 	 */
    318 	valloc_pages(systempage, 1);
    319 	systempage.pv_va = 0x00000000;
    320 
    321 	/* Allocate stacks for all modes */
    322 	valloc_pages(irqstack, IRQ_STACK_SIZE);
    323 	valloc_pages(abtstack, ABT_STACK_SIZE);
    324 	valloc_pages(undstack, UND_STACK_SIZE);
    325 	valloc_pages(kernelstack, UPAGES);
    326 
    327 #ifdef VERBOSE_INIT_ARM
    328 	printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
    329 	    irqstack.pv_va);
    330 	printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
    331 	    abtstack.pv_va);
    332 	printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
    333 	    undstack.pv_va);
    334 	printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
    335 	    kernelstack.pv_va);
    336 #endif
    337 
    338 	alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
    339 
    340 	/*
    341 	 * Ok we have allocated physical pages for the primary kernel
    342 	 * page tables.  Save physical_freeend for when we give whats left
    343 	 * of memory below 2Mbyte to UVM.
    344 	 */
    345 
    346 	physical_freeend_low = physical_freeend;
    347 
    348 #ifdef VERBOSE_INIT_ARM
    349 	printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
    350 #endif
    351 
    352 	/*
    353 	 * Now we start construction of the L1 page table
    354 	 * We start by mapping the L2 page tables into the L1.
    355 	 * This means that we can replace L1 mappings later on if necessary
    356 	 */
    357 	l1pagetable = kernel_l1pt.pv_pa;
    358 
    359 	/* Map the L2 pages tables in the L1 page table */
    360 	pmap_link_l2pt(l1pagetable, 0x00000000, &kernel_pt_table[KERNEL_PT_SYS]);
    361 	for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
    362 		pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
    363 		    &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
    364 	for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
    365 		pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
    366 		    &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
    367 
    368 	/* update the top of the kernel VM */
    369 	pmap_curmaxkvaddr =
    370 	    KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
    371 
    372 #ifdef VERBOSE_INIT_ARM
    373 	printf("Mapping kernel\n");
    374 #endif
    375 
    376 	/* Now we fill in the L2 pagetable for the kernel static code/data */
    377 	{
    378 		extern char etext[], _end[];
    379 		size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
    380 		size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
    381 		u_int logical;
    382 
    383 		textsize = (textsize + PGOFSET) & ~PGOFSET;
    384 		totalsize = (totalsize + PGOFSET) & ~PGOFSET;
    385 
    386 		logical = KERNEL_BASE_PHYS - mem->dram[0].address;	/* offset of kernel in RAM */
    387 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    388 		    physical_start + logical, textsize,
    389 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    390 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    391 		    physical_start + logical, totalsize - textsize,
    392 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    393 	}
    394 
    395 #ifdef VERBOSE_INIT_ARM
    396 	printf("Constructing L2 page tables\n");
    397 #endif
    398 
    399 	/* Map the stack pages */
    400 	pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
    401 	    IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    402 	pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
    403 	    ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    404 	pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
    405 	    UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    406 	pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
    407 	    UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    408 
    409 	pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
    410 	    L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    411 
    412 	for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
    413 		pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
    414 		    kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
    415 		    VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    416 	}
    417 
    418 	/* Map the vector page. */
    419 	pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa,
    420 		       VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    421 
    422 	/* Map the statically mapped devices. */
    423 	pmap_devmap_bootstrap(l1pagetable, at91_devmap());
    424 
    425 	/*
    426 	 * Update the physical_freestart/physical_freeend/free_pages
    427 	 * variables.
    428 	 */
    429 	{
    430 		extern char _end[];
    431 
    432 		physical_freestart = physical_start +
    433 		    (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
    434 		     KERNEL_BASE);
    435 		physical_freeend = physical_end;
    436 		free_pages =
    437 		    (physical_freeend - physical_freestart) / PAGE_SIZE;
    438 	}
    439 
    440 	/*
    441 	 * Now we have the real page tables in place so we can switch to them.
    442 	 * Once this is done we will be running with the REAL kernel page
    443 	 * tables.
    444 	 */
    445 
    446 	/* Switch tables */
    447 #ifdef VERBOSE_INIT_ARM
    448 	printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
    449 	       physical_freestart, free_pages, free_pages);
    450 	printf("switching to new L1 page table  @%#lx...", kernel_l1pt.pv_pa);
    451 #endif
    452 	cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
    453 	cpu_setttb(kernel_l1pt.pv_pa);
    454 	cpu_tlb_flushID();
    455 	cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
    456 
    457 	/*
    458 	 * Moved from cpu_startup() as data_abort_handler() references
    459 	 * this during uvm init
    460 	 */
    461 	uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
    462 
    463 #ifdef VERBOSE_INIT_ARM
    464 	printf("done!\n");
    465 #endif
    466 
    467 #ifdef VERBOSE_INIT_ARM
    468 	printf("bootstrap done.\n");
    469 #endif
    470 
    471 	/* @@@@ check this out: @@@ */
    472 	arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
    473 
    474 	/*
    475 	 * Pages were allocated during the secondary bootstrap for the
    476 	 * stacks for different CPU modes.
    477 	 * We must now set the r13 registers in the different CPU modes to
    478 	 * point to these stacks.
    479 	 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
    480 	 * of the stack memory.
    481 	 */
    482 #ifdef VERBOSE_INIT_ARM
    483 	printf("init subsystems: stacks ");
    484 #endif
    485 
    486 	set_stackptr(PSR_IRQ32_MODE,
    487 	    irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
    488 	set_stackptr(PSR_ABT32_MODE,
    489 	    abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
    490 	set_stackptr(PSR_UND32_MODE,
    491 	    undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
    492 
    493 	/*
    494 	 * Well we should set a data abort handler.
    495 	 * Once things get going this will change as we will need a proper
    496 	 * handler.
    497 	 * Until then we will use a handler that just panics but tells us
    498 	 * why.
    499 	 * Initialisation of the vectors will just panic on a data abort.
    500 	 * This just fills in a slightly better one.
    501 	 */
    502 #ifdef VERBOSE_INIT_ARM
    503 	printf("vectors ");
    504 #endif
    505 	data_abort_handler_address = (u_int)data_abort_handler;
    506 	prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
    507 	undefined_handler_address = (u_int)undefinedinstruction_bounce;
    508 
    509 	/* Initialise the undefined instruction handlers */
    510 #ifdef VERBOSE_INIT_ARM
    511 	printf("undefined ");
    512 #endif
    513 	undefined_init();
    514 
    515 	/* Load memory into UVM. */
    516 #ifdef VERBOSE_INIT_ARM
    517 	printf("page ");
    518 #endif
    519 	uvm_setpagesize();	/* initialize PAGE_SIZE-dependent variables */
    520 	uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
    521 	    atop(physical_freestart), atop(physical_freeend),
    522 	    VM_FREELIST_DEFAULT);
    523 	uvm_page_physload(atop(physical_start), atop(physical_freeend_low),
    524 	    atop(physical_start), atop(physical_freeend_low),
    525 	    VM_FREELIST_DEFAULT);
    526 
    527 	/* Boot strap pmap telling it where the kernel page table is */
    528 #ifdef VERBOSE_INIT_ARM
    529 	printf("pmap ");
    530 #endif
    531 	pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
    532 
    533 	/* Setup the IRQ system */
    534 #ifdef VERBOSE_INIT_ARM
    535 	printf("irq ");
    536 #endif
    537 	at91_intr_init();
    538 
    539 #ifdef VERBOSE_INIT_ARM
    540 	printf("done.\n");
    541 #endif
    542 
    543 #ifdef BOOTHOWTO
    544 	boothowto = BOOTHOWTO;
    545 #endif
    546 	boothowto = AB_VERBOSE | AB_DEBUG; // @@@@
    547 
    548 #ifdef IPKDB
    549 	/* Initialise ipkdb */
    550 	ipkdb_init();
    551 	if (boothowto & RB_KDB)
    552 		ipkdb_connect(0);
    553 #endif
    554 
    555 #ifdef DDB
    556 	db_machine_init();
    557 	if (boothowto & RB_KDB)
    558 		Debugger();
    559 #endif
    560 #if 0
    561 	printf("test data abort...\n");
    562 	*((volatile uint32_t*)(0x1234567F)) = 0xdeadbeef;
    563 #endif
    564 
    565 #ifdef VERBOSE_INIT_ARM
    566   	printf("%s: returning new stack pointer 0x%lX\n", __FUNCTION__, (kernelstack.pv_va + USPACE_SVC_STACK_TOP));
    567 #endif
    568 
    569 	/* We return the new stack pointer address */
    570 	return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
    571 }
    572 
    573 static int
    574 at91bus_match(device_t parent, cfdata_t match, void *aux)
    575 {
    576 	// we could detect the device here...
    577 	if (strcmp(match->cf_name, "at91bus") == 0)
    578 		return 1;
    579 	return 0;
    580 }
    581 
    582 static device_t
    583 at91bus_found(device_t self, bus_addr_t addr, int pid)
    584 {
    585 	int locs[AT91BUSCF_NLOCS];
    586 	struct at91bus_attach_args sa;
    587 	struct at91bus_softc *sc;
    588 
    589 	memset(&locs, 0, sizeof(locs));
    590 	memset(&sa, 0, sizeof(sa));
    591 
    592 	locs[AT91BUSCF_ADDR] = addr;
    593 	locs[AT91BUSCF_PID]  = pid;
    594 
    595 	sc = (struct at91bus_softc*) self;
    596 	sa.sa_iot = sc->sc_iot;
    597 	sa.sa_dmat = sc->sc_dmat;
    598 	sa.sa_addr = addr;
    599 	sa.sa_size = 1;
    600 	sa.sa_pid = pid;
    601 
    602 	return config_found_sm_loc(self, "at91bus", locs, &sa,
    603 				   at91bus_print, at91bus_submatch);
    604 }
    605 
    606 static void
    607 at91bus_attach(device_t parent, device_t self, void *aux)
    608 {
    609 	struct at91bus_softc	*sc;
    610 
    611 	if (at91_chip_ndx < 0)
    612 		panic("%s: at91bus_init() has not been called!", __FUNCTION__);
    613 
    614 	sc = (struct at91bus_softc*) self;
    615 
    616         /* initialize bus space and bus dma things... */
    617 	sc->sc_iot = &at91_bs_tag;
    618         sc->sc_dmat = at91_bus_dma_init(&at91_bd_tag);
    619 
    620 	if (at91bus_sc == NULL)
    621 		at91bus_sc = sc;
    622 
    623 	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",
    624 	       at91_types[at91_chip_ndx].name,
    625 	       AT91_SCLK / 1000U, AT91_SCLK % 1000U,
    626 	       AT91_MCLK / 1000000U, (AT91_MCLK / 1000U) % 1000U,
    627 	       AT91_PCLK / 1000000U, (AT91_PCLK / 1000U) % 1000U,
    628 	       AT91_MSTCLK / 1000000U, (AT91_MSTCLK / 1000U) % 1000U,
    629 	       AT91_PLLACLK / 1000000U, (AT91_PLLACLK / 1000U) % 1000U,
    630 	       AT91_PLLBCLK / 1000000U, (AT91_PLLBCLK / 1000U) % 1000U);
    631 
    632 	/*
    633 	 *  Attach devices
    634 	 */
    635 	at91_search_peripherals(self, at91bus_found);
    636 
    637 
    638 	struct at91bus_attach_args sa;
    639 	memset(&sa, 0, sizeof(sa));
    640 	sa.sa_iot = sc->sc_iot;
    641 	sa.sa_dmat = sc->sc_dmat;
    642 	config_search_ia(at91bus_search, self, "at91bus", &sa);
    643 }
    644 
    645 int
    646 at91bus_submatch(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    647 {
    648 	struct at91bus_attach_args *sa = aux;
    649 
    650 	if (cf->cf_loc[AT91BUSCF_ADDR] == ldesc[AT91BUSCF_ADDR]
    651 	    && cf->cf_loc[AT91BUSCF_PID] == ldesc[AT91BUSCF_PID]) {
    652 		sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    653 		sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    654 		sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    655 		return (config_match(parent, cf, aux));
    656 	} else
    657 		return (0);
    658 }
    659 
    660 int
    661 at91bus_search(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    662 {
    663 	struct at91bus_attach_args *sa = aux;
    664 
    665 	sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    666 	sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    667 	sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    668 
    669 	if (config_match(parent, cf, aux) > 0)
    670 		config_attach(parent, cf, aux, at91bus_print);
    671 
    672 	return (0);
    673 }
    674 
    675 static int
    676 at91bus_print(void *aux, const char *name)
    677 {
    678         struct at91bus_attach_args *sa = (struct at91bus_attach_args*)aux;
    679 
    680 	if (name)
    681 		aprint_normal("%s at %s", sa->sa_pid >= 0 ? at91_peripheral_name(sa->sa_pid) : "device", name);
    682 
    683 	if (sa->sa_size)
    684 		aprint_normal(" at addr 0x%lx", sa->sa_addr);
    685 	if (sa->sa_size > 1)
    686 		aprint_normal("-0x%lx", sa->sa_addr + sa->sa_size - 1);
    687 	if (sa->sa_pid >= 0)
    688 		aprint_normal(" pid %d", sa->sa_pid);
    689 
    690 	return (UNCONF);
    691 }
    692 
    693 void	consinit(void)
    694 {
    695 	static int consinit_called;
    696 
    697 	if (consinit_called != 0)
    698 		return;
    699 
    700 	consinit_called = 1;
    701 
    702 	if (at91_chip_ndx < 0)
    703 		panic("%s: at91_init() has not been called!", __FUNCTION__);
    704 
    705 	// call machine specific bus initialization code
    706 	(*at91bus_tag->init)(&at91bus_clocks);
    707 
    708 	// attach console
    709 	(*at91bus_tag->attach_cn)(&at91_bs_tag, cnspeed, cnmode);
    710 }
    711