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at91bus.c revision 1.14 
      1 /*	$NetBSD: at91bus.c,v 1.14 2012/09/01 14:48:06 matt 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 1.14 2012/09/01 14:48:06 matt Exp $");
     31 
     32 #include "opt_ddb.h"
     33 #include "opt_kgdb.h"
     34 #include "opt_pmap_debug.h"
     35 
     36 /* Define various stack sizes in pages */
     37 #define IRQ_STACK_SIZE	8
     38 #define ABT_STACK_SIZE	8
     39 #ifdef IPKDB
     40 #define UND_STACK_SIZE	16
     41 #else
     42 #define UND_STACK_SIZE	8
     43 #endif
     44 
     45 #include <sys/param.h>
     46 #include <sys/device.h>
     47 #include <sys/systm.h>
     48 #include <sys/kernel.h>
     49 #include <sys/exec.h>
     50 #include <sys/proc.h>
     51 #include <sys/msgbuf.h>
     52 #include <sys/reboot.h>
     53 #include <sys/termios.h>
     54 #include <sys/ksyms.h>
     55 
     56 #include <machine/bootconfig.h>
     57 #include <uvm/uvm_extern.h>
     58 
     59 #include <dev/cons.h>
     60 
     61 #include <machine/db_machdep.h>
     62 #include <ddb/db_sym.h>
     63 #include <ddb/db_extern.h>
     64 
     65 #include <sys/bus.h>
     66 #include <machine/cpu.h>
     67 #include <machine/frame.h>
     68 #include <arm/undefined.h>
     69 
     70 #include <arm/arm32/machdep.h>
     71 #include <arm/cpufunc.h>
     72 
     73 #include <arm/at91/at91var.h>
     74 #include <arm/at91/at91busvar.h>
     75 #include <arm/at91/at91dbgureg.h>
     76 
     77 //#include <dev/cons.h>
     78 #include <sys/termios.h>
     79 
     80 #include "locators.h"
     81 
     82 /* console stuff: */
     83 #ifndef	CONSPEED
     84 #define	CONSPEED B115200
     85 #endif
     86 
     87 #ifndef	CONMODE
     88 #define	CONMODE	((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
     89 #endif
     90 
     91 int cnspeed = CONSPEED;
     92 int cnmode = CONMODE;
     93 
     94 
     95 /* kernel mapping: */
     96 #define	KERNEL_BASE_PHYS	0x20200000
     97 #define	KERNEL_TEXT_BASE	(KERNEL_BASE + 0x00200000)
     98 #define	KERNEL_VM_BASE		(KERNEL_BASE + 0x01000000)
     99 #define	KERNEL_VM_SIZE		0x0C000000
    100 
    101 
    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 vm_offset_t msgbufphys;
    112 
    113 //static struct arm32_dma_range dma_ranges[4];
    114 
    115 #ifdef PMAP_DEBUG
    116 extern int pmap_debug_level;
    117 #endif
    118 
    119 #define KERNEL_PT_SYS		0	/* L2 table for mapping vectors page */
    120 
    121 #define KERNEL_PT_KERNEL	1	/* L2 table for mapping kernel */
    122 #define	KERNEL_PT_KERNEL_NUM	4
    123 					/* L2 tables for mapping kernel VM */
    124 #define KERNEL_PT_VMDATA	(KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
    125 
    126 #define	KERNEL_PT_VMDATA_NUM	4	/* start with 16MB of KVM */
    127 #define NUM_KERNEL_PTS		(KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
    128 
    129 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
    130 
    131 /* prototypes: */
    132 void		consinit(void);
    133 static int	at91bus_match(device_t, cfdata_t, void *);
    134 static void	at91bus_attach(device_t, device_t, void *);
    135 static int	at91bus_search(device_t, cfdata_t,
    136 			       const int *, void *);
    137 static int	at91bus_print(void *, const char *);
    138 static int	at91bus_submatch(device_t, cfdata_t,
    139 				 const int *, void *);
    140 
    141 
    142 CFATTACH_DECL_NEW(at91bus, sizeof(struct at91bus_softc),
    143 	at91bus_match, at91bus_attach, NULL, NULL);
    144 
    145 struct at91bus_clocks at91bus_clocks = {0};
    146 struct at91bus_softc *at91bus_sc = NULL;
    147 
    148 #include "opt_at91types.h"
    149 
    150 #ifdef	AT91RM9200
    151 #include <arm/at91/at91rm9200busvar.h>
    152 #endif
    153 
    154 #ifdef	AT91SAM9260
    155 #include <arm/at91/at91sam9260busvar.h>
    156 #endif
    157 
    158 #ifdef	AT91SAM9261
    159 #include <arm/at91/at91sam9261busvar.h>
    160 #endif
    161 
    162 static const struct {
    163 	u_int32_t	cidr;
    164 	const char *	name;
    165 	const struct at91bus_machdep *machdep;
    166 } at91_types[] = {
    167 	{
    168 		DBGU_CIDR_AT91RM9200,
    169 		"AT91RM9200"
    170 #ifdef	AT91RM9200
    171 		, &at91rm9200bus
    172 #endif
    173 	},
    174 	{
    175 		DBGU_CIDR_AT91SAM9260,
    176 		"AT91SAM9260"
    177 #ifdef	AT91SAM9260
    178 		, &at91sam9260bus
    179 #endif
    180 	},
    181 	{
    182 		DBGU_CIDR_AT91SAM9260,
    183 		"AT91SAM9261"
    184 #ifdef	AT91SAM9261
    185 		, &at91sam9261bus
    186 #endif
    187 	},
    188 	{
    189 		DBGU_CIDR_AT91SAM9263,
    190 		"AT91SAM9263"
    191 	},
    192 	{
    193 		0,
    194 		0,
    195 		0
    196 	}
    197 };
    198 
    199 u_int32_t at91_chip_id;
    200 static int at91_chip_ndx = -1;
    201 struct at91bus_machdep at91bus_machdep = { 0 };
    202 at91bus_tag_t at91bus_tag = 0;
    203 
    204 static int
    205 match_cid(void)
    206 {
    207 	u_int32_t		cidr;
    208 	int			i;
    209 
    210 	/* get chip id */
    211 	cidr = DBGUREG(DBGU_CIDR);
    212 	at91_chip_id = cidr;
    213 
    214 	/* do we know it? */
    215 	for (i = 0; at91_types[i].name; i++) {
    216 		if (cidr == at91_types[i].cidr)
    217 			return i;
    218 	}
    219 
    220 	return -1;
    221 }
    222 
    223 int
    224 at91bus_init(void)
    225 {
    226 	int i = at91_chip_ndx = match_cid();
    227 
    228 	if (i < 0)
    229 		panic("%s: unknown chip", __FUNCTION__);
    230 
    231 	if (!at91_types[i].machdep)
    232 		panic("%s: %s is not supported", __FUNCTION__, at91_types[i].name);
    233 
    234 	memcpy(&at91bus_machdep, at91_types[i].machdep, sizeof(at91bus_machdep));
    235 	at91bus_tag = &at91bus_machdep;
    236 
    237 	return 0;
    238 }
    239 
    240 u_int
    241 at91bus_setup(BootConfig *mem)
    242 {
    243 	int loop;
    244 	int loop1;
    245 	u_int l1pagetable;
    246 
    247 	consinit();
    248 
    249 #ifdef	VERBOSE_INIT_ARM
    250 	printf("\nNetBSD/AT91 booting ...\n");
    251 #endif
    252 
    253 	// setup the CPU / MMU / TLB functions:
    254 	if (set_cpufuncs())
    255 		panic("%s: cpu not recognized", __FUNCTION__);
    256 
    257 #ifdef	VERBOSE_INIT_ARM
    258 	printf("%s: configuring system...\n", __FUNCTION__);
    259 #endif
    260 
    261 	/*
    262 	 * Setup the variables that define the availability of
    263 	 * physical memory.
    264 	 */
    265 	physical_start = mem->dram[0].address;
    266 	physical_end = mem->dram[0].address + mem->dram[0].pages * PAGE_SIZE;
    267 
    268 	physical_freestart = mem->dram[0].address + 0x9000ULL;
    269 	physical_freeend = KERNEL_BASE_PHYS;
    270 	physmem = (physical_end - physical_start) / PAGE_SIZE;
    271 
    272 #ifdef	VERBOSE_INIT_ARM
    273 	printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
    274 	       physical_start, physical_end - 1);
    275 #endif
    276 
    277 	free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
    278 
    279 #ifdef	VERBOSE_INIT_ARM
    280 	printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
    281 	       physical_freestart, free_pages, free_pages);
    282 #endif
    283 	/* Define a macro to simplify memory allocation */
    284 #define	valloc_pages(var, np)				\
    285 	alloc_pages((var).pv_pa, (np));			\
    286 	(var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
    287 
    288 #define alloc_pages(var, np)				\
    289 	physical_freeend -= ((np) * PAGE_SIZE);		\
    290 	if (physical_freeend < physical_freestart)	\
    291 		panic("initarm: out of memory");	\
    292 	(var) = physical_freeend;			\
    293 	free_pages -= (np);				\
    294 	memset((char *)(var), 0, ((np) * PAGE_SIZE));
    295 
    296 	loop1 = 0;
    297 	for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
    298 		/* Are we 16KB aligned for an L1 ? */
    299 		if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
    300 		    && kernel_l1pt.pv_pa == 0) {
    301 			valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
    302 		} else {
    303 			valloc_pages(kernel_pt_table[loop1],
    304 			    L2_TABLE_SIZE / PAGE_SIZE);
    305 			++loop1;
    306 		}
    307 	}
    308 
    309 	/* This should never be able to happen but better confirm that. */
    310 	if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
    311 		panic("initarm: Failed to align the kernel page directory");
    312 
    313 	/*
    314 	 * Allocate a page for the system vectors page
    315 	 */
    316 	valloc_pages(systempage, 1);
    317 	systempage.pv_va = 0x00000000;
    318 
    319 	/* Allocate stacks for all modes */
    320 	valloc_pages(irqstack, IRQ_STACK_SIZE);
    321 	valloc_pages(abtstack, ABT_STACK_SIZE);
    322 	valloc_pages(undstack, UND_STACK_SIZE);
    323 	valloc_pages(kernelstack, UPAGES);
    324 
    325 #ifdef VERBOSE_INIT_ARM
    326 	printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
    327 	    irqstack.pv_va);
    328 	printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
    329 	    abtstack.pv_va);
    330 	printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
    331 	    undstack.pv_va);
    332 	printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
    333 	    kernelstack.pv_va);
    334 #endif
    335 
    336 	alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
    337 
    338 	/*
    339 	 * Ok we have allocated physical pages for the primary kernel
    340 	 * page tables.  Save physical_freeend for when we give whats left
    341 	 * of memory below 2Mbyte to UVM.
    342 	 */
    343 
    344 	physical_freeend_low = physical_freeend;
    345 
    346 #ifdef VERBOSE_INIT_ARM
    347 	printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
    348 #endif
    349 
    350 	/*
    351 	 * Now we start construction of the L1 page table
    352 	 * We start by mapping the L2 page tables into the L1.
    353 	 * This means that we can replace L1 mappings later on if necessary
    354 	 */
    355 	l1pagetable = kernel_l1pt.pv_pa;
    356 
    357 	/* Map the L2 pages tables in the L1 page table */
    358 	pmap_link_l2pt(l1pagetable, 0x00000000, &kernel_pt_table[KERNEL_PT_SYS]);
    359 	for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
    360 		pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
    361 		    &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
    362 	for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
    363 		pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
    364 		    &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
    365 
    366 	/* update the top of the kernel VM */
    367 	pmap_curmaxkvaddr =
    368 	    KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
    369 
    370 #ifdef VERBOSE_INIT_ARM
    371 	printf("Mapping kernel\n");
    372 #endif
    373 
    374 	/* Now we fill in the L2 pagetable for the kernel static code/data */
    375 	{
    376 		extern char etext[], _end[];
    377 		size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
    378 		size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
    379 		u_int logical;
    380 
    381 		textsize = (textsize + PGOFSET) & ~PGOFSET;
    382 		totalsize = (totalsize + PGOFSET) & ~PGOFSET;
    383 
    384 		logical = KERNEL_BASE_PHYS - mem->dram[0].address;	/* offset of kernel in RAM */
    385 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    386 		    physical_start + logical, textsize,
    387 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    388 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    389 		    physical_start + logical, totalsize - textsize,
    390 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    391 	}
    392 
    393 #ifdef VERBOSE_INIT_ARM
    394 	printf("Constructing L2 page tables\n");
    395 #endif
    396 
    397 	/* Map the stack pages */
    398 	pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
    399 	    IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    400 	pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
    401 	    ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    402 	pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
    403 	    UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    404 	pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
    405 	    UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    406 
    407 	pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
    408 	    L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    409 
    410 	for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
    411 		pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
    412 		    kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
    413 		    VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    414 	}
    415 
    416 	/* Map the vector page. */
    417 	pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa,
    418 		       VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    419 
    420 	/* Map the statically mapped devices. */
    421 	pmap_devmap_bootstrap(l1pagetable, at91_devmap());
    422 
    423 	/*
    424 	 * Update the physical_freestart/physical_freeend/free_pages
    425 	 * variables.
    426 	 */
    427 	{
    428 		extern char _end[];
    429 
    430 		physical_freestart = physical_start +
    431 		    (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
    432 		     KERNEL_BASE);
    433 		physical_freeend = physical_end;
    434 		free_pages =
    435 		    (physical_freeend - physical_freestart) / PAGE_SIZE;
    436 	}
    437 
    438 	/*
    439 	 * Now we have the real page tables in place so we can switch to them.
    440 	 * Once this is done we will be running with the REAL kernel page
    441 	 * tables.
    442 	 */
    443 
    444 	/* Switch tables */
    445 #ifdef VERBOSE_INIT_ARM
    446 	printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
    447 	       physical_freestart, free_pages, free_pages);
    448 	printf("switching to new L1 page table  @%#lx...", kernel_l1pt.pv_pa);
    449 #endif
    450 	cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
    451 	cpu_setttb(kernel_l1pt.pv_pa);
    452 	cpu_tlb_flushID();
    453 	cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
    454 
    455 	/*
    456 	 * Moved from cpu_startup() as data_abort_handler() references
    457 	 * this during uvm init
    458 	 */
    459 	uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
    460 
    461 #ifdef VERBOSE_INIT_ARM
    462 	printf("done!\n");
    463 #endif
    464 
    465 #ifdef VERBOSE_INIT_ARM
    466 	printf("bootstrap done.\n");
    467 #endif
    468 
    469 	/* @@@@ check this out: @@@ */
    470 	arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
    471 
    472 	/*
    473 	 * Pages were allocated during the secondary bootstrap for the
    474 	 * stacks for different CPU modes.
    475 	 * We must now set the r13 registers in the different CPU modes to
    476 	 * point to these stacks.
    477 	 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
    478 	 * of the stack memory.
    479 	 */
    480 #ifdef VERBOSE_INIT_ARM
    481 	printf("init subsystems: stacks ");
    482 #endif
    483 
    484 	set_stackptr(PSR_IRQ32_MODE,
    485 	    irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
    486 	set_stackptr(PSR_ABT32_MODE,
    487 	    abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
    488 	set_stackptr(PSR_UND32_MODE,
    489 	    undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
    490 
    491 	/*
    492 	 * Well we should set a data abort handler.
    493 	 * Once things get going this will change as we will need a proper
    494 	 * handler.
    495 	 * Until then we will use a handler that just panics but tells us
    496 	 * why.
    497 	 * Initialisation of the vectors will just panic on a data abort.
    498 	 * This just fills in a slightly better one.
    499 	 */
    500 #ifdef VERBOSE_INIT_ARM
    501 	printf("vectors ");
    502 #endif
    503 	data_abort_handler_address = (u_int)data_abort_handler;
    504 	prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
    505 	undefined_handler_address = (u_int)undefinedinstruction_bounce;
    506 
    507 	/* Initialise the undefined instruction handlers */
    508 #ifdef VERBOSE_INIT_ARM
    509 	printf("undefined ");
    510 #endif
    511 	undefined_init();
    512 
    513 	/* Load memory into UVM. */
    514 #ifdef VERBOSE_INIT_ARM
    515 	printf("page ");
    516 #endif
    517 	uvm_setpagesize();	/* initialize PAGE_SIZE-dependent variables */
    518 	uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
    519 	    atop(physical_freestart), atop(physical_freeend),
    520 	    VM_FREELIST_DEFAULT);
    521 	uvm_page_physload(atop(physical_start), atop(physical_freeend_low),
    522 	    atop(physical_start), atop(physical_freeend_low),
    523 	    VM_FREELIST_DEFAULT);
    524 
    525 	/* Boot strap pmap telling it where the kernel page table is */
    526 #ifdef VERBOSE_INIT_ARM
    527 	printf("pmap ");
    528 #endif
    529 	pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
    530 
    531 	/* Setup the IRQ system */
    532 #ifdef VERBOSE_INIT_ARM
    533 	printf("irq ");
    534 #endif
    535 	at91_intr_init();
    536 
    537 #ifdef VERBOSE_INIT_ARM
    538 	printf("done.\n");
    539 #endif
    540 
    541 #ifdef BOOTHOWTO
    542 	boothowto = BOOTHOWTO;
    543 #endif
    544 	boothowto = AB_VERBOSE | AB_DEBUG; // @@@@
    545 
    546 #ifdef IPKDB
    547 	/* Initialise ipkdb */
    548 	ipkdb_init();
    549 	if (boothowto & RB_KDB)
    550 		ipkdb_connect(0);
    551 #endif
    552 
    553 #ifdef DDB
    554 	db_machine_init();
    555 	if (boothowto & RB_KDB)
    556 		Debugger();
    557 #endif
    558 #if 0
    559 	printf("test data abort...\n");
    560 	*((volatile uint32_t*)(0x1234567F)) = 0xdeadbeef;
    561 #endif
    562 
    563 #ifdef VERBOSE_INIT_ARM
    564   	printf("%s: returning new stack pointer 0x%lX\n", __FUNCTION__, (kernelstack.pv_va + USPACE_SVC_STACK_TOP));
    565 #endif
    566 
    567 	/* We return the new stack pointer address */
    568 	return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
    569 }
    570 
    571 static int
    572 at91bus_match(device_t parent, cfdata_t match, void *aux)
    573 {
    574 	// we could detect the device here...
    575 	if (strcmp(match->cf_name, "at91bus") == 0)
    576 		return 1;
    577 	return 0;
    578 }
    579 
    580 static device_t
    581 at91bus_found(device_t self, bus_addr_t addr, int pid)
    582 {
    583 	int locs[AT91BUSCF_NLOCS];
    584 	struct at91bus_attach_args sa;
    585 	struct at91bus_softc *sc;
    586 
    587 	memset(&locs, 0, sizeof(locs));
    588 	memset(&sa, 0, sizeof(sa));
    589 
    590 	locs[AT91BUSCF_ADDR] = addr;
    591 	locs[AT91BUSCF_PID]  = pid;
    592 
    593 	sc = device_private(self);
    594 	sa.sa_iot = sc->sc_iot;
    595 	sa.sa_dmat = sc->sc_dmat;
    596 	sa.sa_addr = addr;
    597 	sa.sa_size = 1;
    598 	sa.sa_pid = pid;
    599 
    600 	return config_found_sm_loc(self, "at91bus", locs, &sa,
    601 				   at91bus_print, at91bus_submatch);
    602 }
    603 
    604 static void
    605 at91bus_attach(device_t parent, device_t self, void *aux)
    606 {
    607 	struct at91bus_softc	*sc;
    608 
    609 	if (at91_chip_ndx < 0)
    610 		panic("%s: at91bus_init() has not been called!", __FUNCTION__);
    611 
    612 	sc = device_private(self);
    613 
    614         /* initialize bus space and bus dma things... */
    615 	sc->sc_iot = &at91_bs_tag;
    616         sc->sc_dmat = at91_bus_dma_init(&at91_bd_tag);
    617 
    618 	if (at91bus_sc == NULL)
    619 		at91bus_sc = sc;
    620 
    621 	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",
    622 	       at91_types[at91_chip_ndx].name,
    623 	       AT91_SCLK / 1000U, AT91_SCLK % 1000U,
    624 	       AT91_MCLK / 1000000U, (AT91_MCLK / 1000U) % 1000U,
    625 	       AT91_PCLK / 1000000U, (AT91_PCLK / 1000U) % 1000U,
    626 	       AT91_MSTCLK / 1000000U, (AT91_MSTCLK / 1000U) % 1000U,
    627 	       AT91_PLLACLK / 1000000U, (AT91_PLLACLK / 1000U) % 1000U,
    628 	       AT91_PLLBCLK / 1000000U, (AT91_PLLBCLK / 1000U) % 1000U);
    629 
    630 	/*
    631 	 *  Attach devices
    632 	 */
    633 	at91_search_peripherals(self, at91bus_found);
    634 
    635 
    636 	struct at91bus_attach_args sa;
    637 	memset(&sa, 0, sizeof(sa));
    638 	sa.sa_iot = sc->sc_iot;
    639 	sa.sa_dmat = sc->sc_dmat;
    640 	config_search_ia(at91bus_search, self, "at91bus", &sa);
    641 }
    642 
    643 int
    644 at91bus_submatch(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    645 {
    646 	struct at91bus_attach_args *sa = aux;
    647 
    648 	if (cf->cf_loc[AT91BUSCF_ADDR] == ldesc[AT91BUSCF_ADDR]
    649 	    && cf->cf_loc[AT91BUSCF_PID] == ldesc[AT91BUSCF_PID]) {
    650 		sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    651 		sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    652 		sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    653 		return (config_match(parent, cf, aux));
    654 	} else
    655 		return (0);
    656 }
    657 
    658 int
    659 at91bus_search(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    660 {
    661 	struct at91bus_attach_args *sa = aux;
    662 
    663 	sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    664 	sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    665 	sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    666 
    667 	if (config_match(parent, cf, aux) > 0)
    668 		config_attach(parent, cf, aux, at91bus_print);
    669 
    670 	return (0);
    671 }
    672 
    673 static int
    674 at91bus_print(void *aux, const char *name)
    675 {
    676         struct at91bus_attach_args *sa = (struct at91bus_attach_args*)aux;
    677 
    678 	if (name)
    679 		aprint_normal("%s at %s", sa->sa_pid >= 0 ? at91_peripheral_name(sa->sa_pid) : "device", name);
    680 
    681 	if (sa->sa_size)
    682 		aprint_normal(" at addr 0x%lx", sa->sa_addr);
    683 	if (sa->sa_size > 1)
    684 		aprint_normal("-0x%lx", sa->sa_addr + sa->sa_size - 1);
    685 	if (sa->sa_pid >= 0)
    686 		aprint_normal(" pid %d", sa->sa_pid);
    687 
    688 	return (UNCONF);
    689 }
    690 
    691 void	consinit(void)
    692 {
    693 	static int consinit_called;
    694 
    695 	if (consinit_called != 0)
    696 		return;
    697 
    698 	consinit_called = 1;
    699 
    700 	if (at91_chip_ndx < 0)
    701 		panic("%s: at91_init() has not been called!", __FUNCTION__);
    702 
    703 	// call machine specific bus initialization code
    704 	(*at91bus_tag->init)(&at91bus_clocks);
    705 
    706 	// attach console
    707 	(*at91bus_tag->attach_cn)(&at91_bs_tag, cnspeed, cnmode);
    708 }
    709