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at91bus.c revision 1.17 
      1 /*	$NetBSD: at91bus.c,v 1.17 2013/08/18 15:58:19 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 1.17 2013/08/18 15:58:19 matt Exp $");
     31 
     32 #include "opt_ddb.h"
     33 #include "opt_kgdb.h"
     34 #include "opt_pmap_debug.h"
     35 #include "locators.h"
     36 
     37 /* Define various stack sizes in pages */
     38 #define IRQ_STACK_SIZE	8
     39 #define ABT_STACK_SIZE	8
     40 #ifdef IPKDB
     41 #define UND_STACK_SIZE	16
     42 #else
     43 #define UND_STACK_SIZE	8
     44 #endif
     45 
     46 #include <sys/param.h>
     47 #include <sys/device.h>
     48 #include <sys/systm.h>
     49 #include <sys/kernel.h>
     50 #include <sys/exec.h>
     51 #include <sys/proc.h>
     52 #include <sys/msgbuf.h>
     53 #include <sys/reboot.h>
     54 #include <sys/termios.h>
     55 #include <sys/ksyms.h>
     56 #include <sys/bus.h>
     57 #include <sys/cpu.h>
     58 #include <sys/termios.h>
     59 
     60 #include <uvm/uvm_extern.h>
     61 
     62 #include <dev/cons.h>
     63 
     64 #include <machine/db_machdep.h>
     65 #include <ddb/db_sym.h>
     66 #include <ddb/db_extern.h>
     67 
     68 #include <arm/locore.h>
     69 #include <arm/undefined.h>
     70 
     71 #include <arm/arm32/machdep.h>
     72 
     73 #include <arm/at91/at91var.h>
     74 #include <arm/at91/at91busvar.h>
     75 #include <arm/at91/at91dbgureg.h>
     76 
     77 #include <machine/bootconfig.h>
     78 
     79 /* console stuff: */
     80 #ifndef	CONSPEED
     81 #define	CONSPEED B115200
     82 #endif
     83 
     84 #ifndef	CONMODE
     85 #define	CONMODE	((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
     86 #endif
     87 
     88 int cnspeed = CONSPEED;
     89 int cnmode = CONMODE;
     90 
     91 
     92 /* kernel mapping: */
     93 #define	KERNEL_BASE_PHYS	0x20200000
     94 #define	KERNEL_TEXT_BASE	(KERNEL_BASE + 0x00200000)
     95 #define	KERNEL_VM_BASE		(KERNEL_BASE + 0x01000000)
     96 #define	KERNEL_VM_SIZE		0x0C000000
     97 
     98 
     99 
    100 /* boot configuration: */
    101 vm_offset_t physical_start;
    102 vm_offset_t physical_freestart;
    103 vm_offset_t physical_freeend;
    104 vm_offset_t physical_freeend_low;
    105 vm_offset_t physical_end;
    106 u_int free_pages;
    107 
    108 vm_offset_t msgbufphys;
    109 
    110 //static struct arm32_dma_range dma_ranges[4];
    111 
    112 #ifdef PMAP_DEBUG
    113 extern int pmap_debug_level;
    114 #endif
    115 
    116 #define KERNEL_PT_SYS		0	/* L2 table for mapping vectors page */
    117 
    118 #define KERNEL_PT_KERNEL	1	/* L2 table for mapping kernel */
    119 #define	KERNEL_PT_KERNEL_NUM	4
    120 					/* L2 tables for mapping kernel VM */
    121 #define KERNEL_PT_VMDATA	(KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
    122 
    123 #define	KERNEL_PT_VMDATA_NUM	4	/* start with 16MB of KVM */
    124 #define NUM_KERNEL_PTS		(KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
    125 
    126 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
    127 
    128 /* prototypes: */
    129 void		consinit(void);
    130 static int	at91bus_match(device_t, cfdata_t, void *);
    131 static void	at91bus_attach(device_t, device_t, void *);
    132 static int	at91bus_search(device_t, cfdata_t,
    133 			       const int *, void *);
    134 static int	at91bus_print(void *, const char *);
    135 static int	at91bus_submatch(device_t, cfdata_t,
    136 				 const int *, void *);
    137 
    138 
    139 CFATTACH_DECL_NEW(at91bus, sizeof(struct at91bus_softc),
    140 	at91bus_match, at91bus_attach, NULL, NULL);
    141 
    142 struct at91bus_clocks at91bus_clocks = {0};
    143 struct at91bus_softc *at91bus_sc = NULL;
    144 
    145 #include "opt_at91types.h"
    146 
    147 #ifdef	AT91RM9200
    148 #include <arm/at91/at91rm9200busvar.h>
    149 #endif
    150 
    151 #ifdef	AT91SAM9260
    152 #include <arm/at91/at91sam9260busvar.h>
    153 #endif
    154 
    155 #ifdef	AT91SAM9261
    156 #include <arm/at91/at91sam9261busvar.h>
    157 #endif
    158 
    159 static const struct {
    160 	uint32_t	cidr;
    161 	const char *	name;
    162 	const struct at91bus_machdep *machdep;
    163 } at91_types[] = {
    164 	{
    165 		DBGU_CIDR_AT91RM9200,
    166 		"AT91RM9200"
    167 #ifdef	AT91RM9200
    168 		, &at91rm9200bus
    169 #endif
    170 	},
    171 	{
    172 		DBGU_CIDR_AT91SAM9260,
    173 		"AT91SAM9260"
    174 #ifdef	AT91SAM9260
    175 		, &at91sam9260bus
    176 #endif
    177 	},
    178 	{
    179 		DBGU_CIDR_AT91SAM9260,
    180 		"AT91SAM9261"
    181 #ifdef	AT91SAM9261
    182 		, &at91sam9261bus
    183 #endif
    184 	},
    185 	{
    186 		DBGU_CIDR_AT91SAM9263,
    187 		"AT91SAM9263"
    188 	},
    189 	{
    190 		0,
    191 		0,
    192 		0
    193 	}
    194 };
    195 
    196 uint32_t at91_chip_id;
    197 static int at91_chip_ndx = -1;
    198 struct at91bus_machdep at91bus_machdep = { 0 };
    199 at91bus_tag_t at91bus_tag = 0;
    200 
    201 static int
    202 match_cid(void)
    203 {
    204 	uint32_t		cidr;
    205 	int			i;
    206 
    207 	/* get chip id */
    208 	cidr = DBGUREG(DBGU_CIDR);
    209 	at91_chip_id = cidr;
    210 
    211 	/* do we know it? */
    212 	for (i = 0; at91_types[i].name; i++) {
    213 		if (cidr == at91_types[i].cidr)
    214 			return i;
    215 	}
    216 
    217 	return -1;
    218 }
    219 
    220 int
    221 at91bus_init(void)
    222 {
    223 	int i = at91_chip_ndx = match_cid();
    224 
    225 	if (i < 0)
    226 		panic("%s: unknown chip", __FUNCTION__);
    227 
    228 	if (!at91_types[i].machdep)
    229 		panic("%s: %s is not supported", __FUNCTION__, at91_types[i].name);
    230 
    231 	memcpy(&at91bus_machdep, at91_types[i].machdep, sizeof(at91bus_machdep));
    232 	at91bus_tag = &at91bus_machdep;
    233 
    234 	return 0;
    235 }
    236 
    237 u_int
    238 at91bus_setup(BootConfig *mem)
    239 {
    240 	int loop;
    241 	int loop1;
    242 	u_int l1pagetable;
    243 
    244 	consinit();
    245 
    246 #ifdef	VERBOSE_INIT_ARM
    247 	printf("\nNetBSD/AT91 booting ...\n");
    248 #endif
    249 
    250 	// setup the CPU / MMU / TLB functions:
    251 	if (set_cpufuncs())
    252 		panic("%s: cpu not recognized", __FUNCTION__);
    253 
    254 #ifdef	VERBOSE_INIT_ARM
    255 	printf("%s: configuring system...\n", __FUNCTION__);
    256 #endif
    257 
    258 	/*
    259 	 * Setup the variables that define the availability of
    260 	 * physical memory.
    261 	 */
    262 	physical_start = mem->dram[0].address;
    263 	physical_end = mem->dram[0].address + mem->dram[0].pages * PAGE_SIZE;
    264 
    265 	physical_freestart = mem->dram[0].address + 0x9000ULL;
    266 	physical_freeend = KERNEL_BASE_PHYS;
    267 	physmem = (physical_end - physical_start) / PAGE_SIZE;
    268 
    269 #ifdef	VERBOSE_INIT_ARM
    270 	printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
    271 	       physical_start, physical_end - 1);
    272 #endif
    273 
    274 	free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
    275 
    276 #ifdef	VERBOSE_INIT_ARM
    277 	printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
    278 	       physical_freestart, free_pages, free_pages);
    279 #endif
    280 	/* Define a macro to simplify memory allocation */
    281 #define	valloc_pages(var, np)				\
    282 	alloc_pages((var).pv_pa, (np));			\
    283 	(var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
    284 
    285 #define alloc_pages(var, np)				\
    286 	physical_freeend -= ((np) * PAGE_SIZE);		\
    287 	if (physical_freeend < physical_freestart)	\
    288 		panic("initarm: out of memory");	\
    289 	(var) = physical_freeend;			\
    290 	free_pages -= (np);				\
    291 	memset((char *)(var), 0, ((np) * PAGE_SIZE));
    292 
    293 	loop1 = 0;
    294 	for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
    295 		/* Are we 16KB aligned for an L1 ? */
    296 		if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
    297 		    && kernel_l1pt.pv_pa == 0) {
    298 			valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
    299 		} else {
    300 			valloc_pages(kernel_pt_table[loop1],
    301 			    L2_TABLE_SIZE / PAGE_SIZE);
    302 			++loop1;
    303 		}
    304 	}
    305 
    306 	/* This should never be able to happen but better confirm that. */
    307 	if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
    308 		panic("initarm: Failed to align the kernel page directory");
    309 
    310 	/*
    311 	 * Allocate a page for the system vectors page
    312 	 */
    313 	valloc_pages(systempage, 1);
    314 	systempage.pv_va = 0x00000000;
    315 
    316 	/* Allocate stacks for all modes */
    317 	valloc_pages(irqstack, IRQ_STACK_SIZE);
    318 	valloc_pages(abtstack, ABT_STACK_SIZE);
    319 	valloc_pages(undstack, UND_STACK_SIZE);
    320 	valloc_pages(kernelstack, UPAGES);
    321 
    322 #ifdef VERBOSE_INIT_ARM
    323 	printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
    324 	    irqstack.pv_va);
    325 	printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
    326 	    abtstack.pv_va);
    327 	printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
    328 	    undstack.pv_va);
    329 	printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
    330 	    kernelstack.pv_va);
    331 #endif
    332 
    333 	alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
    334 
    335 	/*
    336 	 * Ok we have allocated physical pages for the primary kernel
    337 	 * page tables.  Save physical_freeend for when we give whats left
    338 	 * of memory below 2Mbyte to UVM.
    339 	 */
    340 
    341 	physical_freeend_low = physical_freeend;
    342 
    343 #ifdef VERBOSE_INIT_ARM
    344 	printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
    345 #endif
    346 
    347 	/*
    348 	 * Now we start construction of the L1 page table
    349 	 * We start by mapping the L2 page tables into the L1.
    350 	 * This means that we can replace L1 mappings later on if necessary
    351 	 */
    352 	l1pagetable = kernel_l1pt.pv_pa;
    353 
    354 	/* Map the L2 pages tables in the L1 page table */
    355 	pmap_link_l2pt(l1pagetable, 0x00000000, &kernel_pt_table[KERNEL_PT_SYS]);
    356 	for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
    357 		pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
    358 		    &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
    359 	for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
    360 		pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
    361 		    &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
    362 
    363 	/* update the top of the kernel VM */
    364 	pmap_curmaxkvaddr =
    365 	    KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
    366 
    367 #ifdef VERBOSE_INIT_ARM
    368 	printf("Mapping kernel\n");
    369 #endif
    370 
    371 	/* Now we fill in the L2 pagetable for the kernel static code/data */
    372 	{
    373 		extern char etext[], _end[];
    374 		size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
    375 		size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
    376 		u_int logical;
    377 
    378 		textsize = (textsize + PGOFSET) & ~PGOFSET;
    379 		totalsize = (totalsize + PGOFSET) & ~PGOFSET;
    380 
    381 		logical = KERNEL_BASE_PHYS - mem->dram[0].address;	/* offset of kernel in RAM */
    382 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    383 		    physical_start + logical, textsize,
    384 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    385 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    386 		    physical_start + logical, totalsize - textsize,
    387 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    388 	}
    389 
    390 #ifdef VERBOSE_INIT_ARM
    391 	printf("Constructing L2 page tables\n");
    392 #endif
    393 
    394 	/* Map the stack pages */
    395 	pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
    396 	    IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    397 	pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
    398 	    ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    399 	pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
    400 	    UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    401 	pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
    402 	    UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    403 
    404 	pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
    405 	    L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    406 
    407 	for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
    408 		pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
    409 		    kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
    410 		    VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    411 	}
    412 
    413 	/* Map the vector page. */
    414 	pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa,
    415 		       VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    416 
    417 	/* Map the statically mapped devices. */
    418 	pmap_devmap_bootstrap(l1pagetable, at91_devmap());
    419 
    420 	/*
    421 	 * Update the physical_freestart/physical_freeend/free_pages
    422 	 * variables.
    423 	 */
    424 	{
    425 		extern char _end[];
    426 
    427 		physical_freestart = physical_start +
    428 		    (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
    429 		     KERNEL_BASE);
    430 		physical_freeend = physical_end;
    431 		free_pages =
    432 		    (physical_freeend - physical_freestart) / PAGE_SIZE;
    433 	}
    434 
    435 	/*
    436 	 * Now we have the real page tables in place so we can switch to them.
    437 	 * Once this is done we will be running with the REAL kernel page
    438 	 * tables.
    439 	 */
    440 
    441 	/* Switch tables */
    442 #ifdef VERBOSE_INIT_ARM
    443 	printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
    444 	       physical_freestart, free_pages, free_pages);
    445 	printf("switching to new L1 page table  @%#lx...", kernel_l1pt.pv_pa);
    446 #endif
    447 	cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
    448 	cpu_setttb(kernel_l1pt.pv_pa, true);
    449 	cpu_tlb_flushID();
    450 	cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
    451 
    452 	/*
    453 	 * Moved from cpu_startup() as data_abort_handler() references
    454 	 * this during uvm init
    455 	 */
    456 	uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
    457 
    458 #ifdef VERBOSE_INIT_ARM
    459 	printf("done!\n");
    460 #endif
    461 
    462 #ifdef VERBOSE_INIT_ARM
    463 	printf("bootstrap done.\n");
    464 #endif
    465 
    466 	/* @@@@ check this out: @@@ */
    467 	arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
    468 
    469 	/*
    470 	 * Pages were allocated during the secondary bootstrap for the
    471 	 * stacks for different CPU modes.
    472 	 * We must now set the r13 registers in the different CPU modes to
    473 	 * point to these stacks.
    474 	 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
    475 	 * of the stack memory.
    476 	 */
    477 #ifdef VERBOSE_INIT_ARM
    478 	printf("init subsystems: stacks ");
    479 #endif
    480 
    481 	set_stackptr(PSR_IRQ32_MODE,
    482 	    irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
    483 	set_stackptr(PSR_ABT32_MODE,
    484 	    abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
    485 	set_stackptr(PSR_UND32_MODE,
    486 	    undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
    487 
    488 	/*
    489 	 * Well we should set a data abort handler.
    490 	 * Once things get going this will change as we will need a proper
    491 	 * handler.
    492 	 * Until then we will use a handler that just panics but tells us
    493 	 * why.
    494 	 * Initialisation of the vectors will just panic on a data abort.
    495 	 * This just fills in a slightly better one.
    496 	 */
    497 #ifdef VERBOSE_INIT_ARM
    498 	printf("vectors ");
    499 #endif
    500 	data_abort_handler_address = (u_int)data_abort_handler;
    501 	prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
    502 	undefined_handler_address = (u_int)undefinedinstruction_bounce;
    503 
    504 	/* Initialise the undefined instruction handlers */
    505 #ifdef VERBOSE_INIT_ARM
    506 	printf("undefined ");
    507 #endif
    508 	undefined_init();
    509 
    510 	/* Load memory into UVM. */
    511 #ifdef VERBOSE_INIT_ARM
    512 	printf("page ");
    513 #endif
    514 	uvm_setpagesize();	/* initialize PAGE_SIZE-dependent variables */
    515 	uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
    516 	    atop(physical_freestart), atop(physical_freeend),
    517 	    VM_FREELIST_DEFAULT);
    518 	uvm_page_physload(atop(physical_start), atop(physical_freeend_low),
    519 	    atop(physical_start), atop(physical_freeend_low),
    520 	    VM_FREELIST_DEFAULT);
    521 
    522 	/* Boot strap pmap telling it where the kernel page table is */
    523 #ifdef VERBOSE_INIT_ARM
    524 	printf("pmap ");
    525 #endif
    526 	pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
    527 
    528 	/* Setup the IRQ system */
    529 #ifdef VERBOSE_INIT_ARM
    530 	printf("irq ");
    531 #endif
    532 	at91_intr_init();
    533 
    534 #ifdef VERBOSE_INIT_ARM
    535 	printf("done.\n");
    536 #endif
    537 
    538 #ifdef BOOTHOWTO
    539 	boothowto = BOOTHOWTO;
    540 #endif
    541 	boothowto = AB_VERBOSE | AB_DEBUG; // @@@@
    542 
    543 #ifdef IPKDB
    544 	/* Initialise ipkdb */
    545 	ipkdb_init();
    546 	if (boothowto & RB_KDB)
    547 		ipkdb_connect(0);
    548 #endif
    549 
    550 #ifdef DDB
    551 	db_machine_init();
    552 	if (boothowto & RB_KDB)
    553 		Debugger();
    554 #endif
    555 #if 0
    556 	printf("test data abort...\n");
    557 	*((volatile uint32_t*)(0x1234567F)) = 0xdeadbeef;
    558 #endif
    559 
    560 #ifdef VERBOSE_INIT_ARM
    561   	printf("%s: returning new stack pointer 0x%lX\n", __FUNCTION__, (kernelstack.pv_va + USPACE_SVC_STACK_TOP));
    562 #endif
    563 
    564 	/* We return the new stack pointer address */
    565 	return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
    566 }
    567 
    568 static int
    569 at91bus_match(device_t parent, cfdata_t match, void *aux)
    570 {
    571 	// we could detect the device here...
    572 	if (strcmp(match->cf_name, "at91bus") == 0)
    573 		return 1;
    574 	return 0;
    575 }
    576 
    577 static device_t
    578 at91bus_found(device_t self, bus_addr_t addr, int pid)
    579 {
    580 	int locs[AT91BUSCF_NLOCS];
    581 	struct at91bus_attach_args sa;
    582 	struct at91bus_softc *sc;
    583 
    584 	memset(&locs, 0, sizeof(locs));
    585 	memset(&sa, 0, sizeof(sa));
    586 
    587 	locs[AT91BUSCF_ADDR] = addr;
    588 	locs[AT91BUSCF_PID]  = pid;
    589 
    590 	sc = device_private(self);
    591 	sa.sa_iot = sc->sc_iot;
    592 	sa.sa_dmat = sc->sc_dmat;
    593 	sa.sa_addr = addr;
    594 	sa.sa_size = 1;
    595 	sa.sa_pid = pid;
    596 
    597 	return config_found_sm_loc(self, "at91bus", locs, &sa,
    598 				   at91bus_print, at91bus_submatch);
    599 }
    600 
    601 static void
    602 at91bus_attach(device_t parent, device_t self, void *aux)
    603 {
    604 	struct at91bus_softc	*sc;
    605 
    606 	if (at91_chip_ndx < 0)
    607 		panic("%s: at91bus_init() has not been called!", __FUNCTION__);
    608 
    609 	sc = device_private(self);
    610 
    611         /* initialize bus space and bus dma things... */
    612 	sc->sc_iot = &at91_bs_tag;
    613         sc->sc_dmat = at91_bus_dma_init(&at91_bd_tag);
    614 
    615 	if (at91bus_sc == NULL)
    616 		at91bus_sc = sc;
    617 
    618 	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",
    619 	       at91_types[at91_chip_ndx].name,
    620 	       AT91_SCLK / 1000U, AT91_SCLK % 1000U,
    621 	       AT91_MCLK / 1000000U, (AT91_MCLK / 1000U) % 1000U,
    622 	       AT91_PCLK / 1000000U, (AT91_PCLK / 1000U) % 1000U,
    623 	       AT91_MSTCLK / 1000000U, (AT91_MSTCLK / 1000U) % 1000U,
    624 	       AT91_PLLACLK / 1000000U, (AT91_PLLACLK / 1000U) % 1000U,
    625 	       AT91_PLLBCLK / 1000000U, (AT91_PLLBCLK / 1000U) % 1000U);
    626 
    627 	/*
    628 	 *  Attach devices
    629 	 */
    630 	at91_search_peripherals(self, at91bus_found);
    631 
    632 
    633 	struct at91bus_attach_args sa;
    634 	memset(&sa, 0, sizeof(sa));
    635 	sa.sa_iot = sc->sc_iot;
    636 	sa.sa_dmat = sc->sc_dmat;
    637 	config_search_ia(at91bus_search, self, "at91bus", &sa);
    638 }
    639 
    640 int
    641 at91bus_submatch(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    642 {
    643 	struct at91bus_attach_args *sa = aux;
    644 
    645 	if (cf->cf_loc[AT91BUSCF_ADDR] == ldesc[AT91BUSCF_ADDR]
    646 	    && cf->cf_loc[AT91BUSCF_PID] == ldesc[AT91BUSCF_PID]) {
    647 		sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    648 		sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    649 		sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    650 		return (config_match(parent, cf, aux));
    651 	} else
    652 		return (0);
    653 }
    654 
    655 int
    656 at91bus_search(device_t parent, cfdata_t cf, const int *ldesc, void *aux)
    657 {
    658 	struct at91bus_attach_args *sa = aux;
    659 
    660 	sa->sa_addr = cf->cf_loc[AT91BUSCF_ADDR];
    661 	sa->sa_size = cf->cf_loc[AT91BUSCF_SIZE];
    662 	sa->sa_pid  = cf->cf_loc[AT91BUSCF_PID];
    663 
    664 	if (config_match(parent, cf, aux) > 0)
    665 		config_attach(parent, cf, aux, at91bus_print);
    666 
    667 	return (0);
    668 }
    669 
    670 static int
    671 at91bus_print(void *aux, const char *name)
    672 {
    673         struct at91bus_attach_args *sa = (struct at91bus_attach_args*)aux;
    674 
    675 	if (name)
    676 		aprint_normal("%s at %s", sa->sa_pid >= 0 ? at91_peripheral_name(sa->sa_pid) : "device", name);
    677 
    678 	if (sa->sa_size)
    679 		aprint_normal(" at addr 0x%lx", sa->sa_addr);
    680 	if (sa->sa_size > 1)
    681 		aprint_normal("-0x%lx", sa->sa_addr + sa->sa_size - 1);
    682 	if (sa->sa_pid >= 0)
    683 		aprint_normal(" pid %d", sa->sa_pid);
    684 
    685 	return (UNCONF);
    686 }
    687 
    688 void	consinit(void)
    689 {
    690 	static int consinit_called;
    691 
    692 	if (consinit_called != 0)
    693 		return;
    694 
    695 	consinit_called = 1;
    696 
    697 	if (at91_chip_ndx < 0)
    698 		panic("%s: at91_init() has not been called!", __FUNCTION__);
    699 
    700 	// call machine specific bus initialization code
    701 	(*at91bus_tag->init)(&at91bus_clocks);
    702 
    703 	// attach console
    704 	(*at91bus_tag->attach_cn)(&at91_bs_tag, cnspeed, cnmode);
    705 }
    706