armadillo9_machdep.c revision 1.42 1 /* $NetBSD: armadillo9_machdep.c,v 1.42 2025/10/03 14:05:11 thorpej Exp $ */
2
3 /*
4 * Copyright (c) 2001, 2002, 2003 Wasabi Systems, Inc.
5 * All rights reserved.
6 *
7 * Based on code written by Jason R. Thorpe and Steve C. Woodford for
8 * Wasabi Systems, Inc.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 * 1. Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * 2. Redistributions in binary form must reproduce the above copyright
16 * notice, this list of conditions and the following disclaimer in the
17 * documentation and/or other materials provided with the distribution.
18 * 3. All advertising materials mentioning features or use of this software
19 * must display the following acknowledgement:
20 * This product includes software developed for the NetBSD Project by
21 * Wasabi Systems, Inc.
22 * 4. The name of Wasabi Systems, Inc. may not be used to endorse
23 * or promote products derived from this software without specific prior
24 * written permission.
25 *
26 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND
27 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
28 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
29 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC
30 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
31 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
32 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
33 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
34 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
35 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
36 * POSSIBILITY OF SUCH DAMAGE.
37 */
38
39 /*
40 * Copyright (c) 1997,1998 Mark Brinicombe.
41 * Copyright (c) 1997,1998 Causality Limited.
42 * All rights reserved.
43 *
44 * Redistribution and use in source and binary forms, with or without
45 * modification, are permitted provided that the following conditions
46 * are met:
47 * 1. Redistributions of source code must retain the above copyright
48 * notice, this list of conditions and the following disclaimer.
49 * 2. Redistributions in binary form must reproduce the above copyright
50 * notice, this list of conditions and the following disclaimer in the
51 * documentation and/or other materials provided with the distribution.
52 * 3. All advertising materials mentioning features or use of this software
53 * must display the following acknowledgement:
54 * This product includes software developed by Mark Brinicombe
55 * for the NetBSD Project.
56 * 4. The name of the company nor the name of the author may be used to
57 * endorse or promote products derived from this software without specific
58 * prior written permission.
59 *
60 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
61 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
62 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
63 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
64 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
65 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
66 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
67 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
68 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
69 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
70 * SUCH DAMAGE.
71 *
72 * Machine dependent functions for kernel setup for Armadillo.
73 */
74
75 /* Armadillo-9 physical memory map
76 0000 0000 - 0fff ffff reserved
77 1000 0000 - 1000 000f I/O Control Register
78 1000 0010 - 11dd ffff reserved
79 1200 0000 - 1200 ffff PC/104 I/O space (8bit)
80 1201 0000 - 12ff ffff reserved
81 1300 0000 - 13ff ffff PC/104 Memory space (8bit)
82 1400 0000 - 1fff ffff reserved
83 2000 0000 - 21ff ffff reserved
84 2200 0000 - 2200 ffff PC/104 I/O space (16bit)
85 2201 0000 - 22ff ffff reserved
86 2300 0000 - 23ff ffff PC/104 Memory space (16bit)
87 2400 0000 - 2fff ffff reserved
88 3000 0000 - 3fff ffff reserved
89 4000 0000 - 43ff ffff Compact Flash I/O space
90 4400 0000 - 47ff ffff reserved
91 4800 0000 - 4bff ffff Compact Flash Attribute space
92 4c00 0000 - 4fff ffff Compact Flash memory space
93 5000 0000 - 5fff ffff reserved
94 6000 0000 - 607f ffff Flash Memory (8MByte)
95 6080 0000 - 6fff ffff reserved
96 7000 0000 - 7fff ffff reserved
97 8000 0000 - 8008 ffff EP9315 Internal Register (AHB)
98 8009 0000 - 8009 3fff Internal Boot ROM (16kByte)
99 8009 4000 - 8009 ffff reserved
100 800a 0000 - 800f ffff EP9315 Internal Register (AHB)
101 8010 0000 - 807f ffff reserved
102 8080 0000 - 8094 ffff EP9315 Internal Register (APB)
103 8095 0000 - 8fff ffff reserved
104 9000 0000 - bfff ffff reserved
105 c000 0000 - c1ff ffff SDRAM (32MByte)
106 c200 0000 - c3ff ffff reserved
107 c400 0000 - c5ff ffff SDRAM (32MByte)
108 c600 0000 - cfff ffff reserved
109 d000 0000 - ffff ffff reserved
110 */
111
112 #include <sys/cdefs.h>
113 __KERNEL_RCSID(0, "$NetBSD: armadillo9_machdep.c,v 1.42 2025/10/03 14:05:11 thorpej Exp $");
114
115 #include "opt_arm_debug.h"
116 #include "opt_console.h"
117 #include "opt_ddb.h"
118 #include "opt_kgdb.h"
119
120 #include <sys/param.h>
121 #include <sys/device.h>
122 #include <sys/systm.h>
123 #include <sys/kernel.h>
124 #include <sys/exec.h>
125 #include <sys/proc.h>
126 #include <sys/msgbuf.h>
127 #include <sys/reboot.h>
128 #include <sys/termios.h>
129 #include <sys/ksyms.h>
130 #include <sys/bus.h>
131 #include <sys/cpu.h>
132
133 #include <net/if.h>
134 #include <net/if_ether.h>
135
136 #include <uvm/uvm_extern.h>
137
138 #include <dev/cons.h>
139
140 #include <machine/db_machdep.h>
141 #include <ddb/db_sym.h>
142 #include <ddb/db_extern.h>
143
144 #define DRAM_BLOCKS 4
145 #include <machine/bootconfig.h>
146 #include <machine/autoconf.h>
147 #include <arm/locore.h>
148 #include <arm/undefined.h>
149
150 /* Define various stack sizes in pages */
151 #define IRQ_STACK_SIZE 8
152 #define ABT_STACK_SIZE 8
153 #define UND_STACK_SIZE 8
154
155 #include <arm/arm32/machdep.h>
156
157 #include <arm/ep93xx/ep93xxreg.h>
158 #include <arm/ep93xx/ep93xxvar.h>
159
160 #include "epwdog.h"
161 #if NEPWDOG > 0
162 #include <arm/ep93xx/epwdogvar.h>
163 #endif
164 #include <arm/ep93xx/epwdogreg.h>
165
166 #include <dev/ic/comreg.h>
167 #include <dev/ic/comvar.h>
168
169 #include "epcom.h"
170 #if NEPCOM > 0
171 #include <arm/ep93xx/epcomvar.h>
172 #endif
173
174 #include "isa.h"
175 #if NISA > 0
176 #include <dev/isa/isareg.h>
177 #include <dev/isa/isavar.h>
178 #endif
179
180 #include <machine/isa_machdep.h>
181
182 #include <evbarm/armadillo/armadillo9reg.h>
183 #include <evbarm/armadillo/armadillo9var.h>
184
185 struct armadillo_model_t *armadillo_model = 0;
186 static struct armadillo_model_t armadillo_model_table[] = {
187 { DEVCFG_ARMADILLO9, "Armadillo-9" },
188 { DEVCFG_ARMADILLO210, "Armadillo-210" },
189 { 0, "Armadillo(unknown model)" } };
190
191 #include "ksyms.h"
192
193 /* Kernel text starts 2MB in from the bottom of the kernel address space. */
194 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000)
195 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000)
196
197 /*
198 * The range 0xc1000000 - 0xccffffff is available for kernel VM space
199 * Core-logic registers and I/O mappings occupy 0xf0000000 - 0xffffffff
200 */
201 #define KERNEL_VM_SIZE 0x0c000000
202
203
204 BootConfig bootconfig; /* Boot config storage */
205 char *boot_args = NULL;
206 char *boot_file = NULL;
207
208 vaddr_t physical_start;
209 vaddr_t physical_freestart;
210 vaddr_t physical_freeend;
211 vaddr_t physical_freeend_low;
212 vaddr_t physical_end;
213 u_int free_pages;
214
215 paddr_t msgbufphys;
216
217 static struct arm32_dma_range armadillo9_dma_ranges[4];
218
219 #if NISA > 0
220 extern void isa_armadillo9_init(u_int, u_int);
221 #endif
222
223 #define KERNEL_PT_SYS 0 /* L2 table for mapping vectors page */
224
225 #define KERNEL_PT_KERNEL 1 /* L2 table for mapping kernel */
226 #define KERNEL_PT_KERNEL_NUM 4
227 /* L2 tables for mapping kernel VM */
228 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
229
230 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */
231 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)
232
233 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];
234
235 /* Prototypes */
236
237 void consinit(void);
238 /*
239 * Define the default console speed for the machine.
240 */
241 #if NEPCOM > 0
242 #ifndef CONSPEED
243 #define CONSPEED B115200
244 #endif /* ! CONSPEED */
245
246 #ifndef CONMODE
247 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
248 #endif
249
250 #ifndef CONUNIT
251 #define CONUNIT 0
252 #endif
253
254 int comcnspeed = CONSPEED;
255 int comcnmode = CONMODE;
256 const unsigned long comaddr[] = {
257 EP93XX_APB_UART1, EP93XX_APB_UART2 };
258 #endif
259
260 #if KGDB
261 #ifndef KGDB_DEVNAME
262 #error Must define KGDB_DEVNAME
263 #endif
264 const char kgdb_devname[] = KGDB_DEVNAME;
265
266 #ifndef KGDB_DEVADDR
267 #error Must define KGDB_DEVADDR
268 #endif
269 unsigned long kgdb_devaddr = KGDB_DEVADDR;
270
271 #ifndef KGDB_DEVRATE
272 #define KGDB_DEVRATE CONSPEED
273 #endif
274 int kgdb_devrate = KGDB_DEVRATE;
275
276 #ifndef KGDB_DEVMODE
277 #define KGDB_DEVMODE CONMODE
278 #endif
279 int kgdb_devmode = KGDB_DEVMODE;
280 #endif /* KGDB */
281
282 /*
283 * MAC address for the built-in Ethernet.
284 */
285 uint8_t armadillo9_ethaddr[ETHER_ADDR_LEN];
286
287 static void
288 armadillo9_device_register(device_t dev, void *aux)
289 {
290
291 /* MAC address for the built-in Ethernet. */
292 if (device_is_a(dev, "epe")) {
293 if (! device_setprop_data(dev, "mac-address",
294 armadillo9_ethaddr,
295 ETHER_ADDR_LEN)) {
296 printf("WARNING: unable to set mac-addr property "
297 "for %s\n", device_xname(dev));
298 }
299 }
300 }
301
302 /*
303 * void cpu_reboot(int howto, char *bootstr)
304 *
305 * Reboots the system
306 *
307 * Deal with any syncing, unmounting, dumping and shutdown hooks,
308 * then reset the CPU.
309 */
310 void
311 cpu_reboot(int howto, char *bootstr)
312 {
313 /*
314 * If we are still cold then hit the air brakes
315 * and crash to earth fast
316 */
317 if (cold) {
318 doshutdownhooks();
319 pmf_system_shutdown(boothowto);
320 printf("\r\n");
321 printf("The operating system has halted.\r\n");
322 printf("Please press any key to reboot.\r\n");
323 cngetc();
324 printf("\r\nrebooting...\r\n");
325 goto reset;
326 }
327
328 /* Disable console buffering */
329
330 /*
331 * If RB_NOSYNC was not specified sync the discs.
332 * Note: Unless cold is set to 1 here, syslogd will die during the
333 * unmount. It looks like syslogd is getting woken up only to find
334 * that it cannot page part of the binary in as the filesystem has
335 * been unmounted.
336 */
337 if (!(howto & RB_NOSYNC))
338 bootsync();
339
340 /* Say NO to interrupts */
341 splhigh();
342
343 /* Do a dump if requested. */
344 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
345 dumpsys();
346
347 /* Run any shutdown hooks */
348 doshutdownhooks();
349
350 pmf_system_shutdown(boothowto);
351
352 /* Make sure IRQ's are disabled */
353 IRQdisable;
354
355 if (howto & RB_HALT) {
356 printf("\r\n");
357 printf("The operating system has halted.\r\n");
358 printf("Please press any key to reboot.\r\n");
359 cngetc();
360 }
361
362 printf("\r\nrebooting...\r\n");
363 reset:
364 /*
365 * Make really really sure that all interrupts are disabled,
366 * and poke the Internal Bus and Peripheral Bus reset lines.
367 */
368 (void) disable_interrupts(I32_bit|F32_bit);
369 #if NEPWDOG > 0
370 epwdog_reset();
371 #else
372 {
373 uint32_t ctrl = EP93XX_APB_VBASE + EP93XX_APB_WDOG + EP93XX_WDOG_Ctrl;
374 uint32_t val = EP93XX_WDOG_ENABLE;
375 __asm volatile (
376 "str %1, [%0]\n"
377 :
378 : "r" (ctrl), "r" (val)
379 );
380 }
381 #endif
382 for (;;);
383 }
384
385 /* Static device mappings. */
386 static const struct pmap_devmap armadillo9_devmap[] = {
387 {
388 EP93XX_AHB_VBASE,
389 EP93XX_AHB_HWBASE,
390 EP93XX_AHB_SIZE,
391 VM_PROT_READ|VM_PROT_WRITE,
392 PTE_NOCACHE,
393 },
394
395 {
396 EP93XX_APB_VBASE,
397 EP93XX_APB_HWBASE,
398 EP93XX_APB_SIZE,
399 VM_PROT_READ|VM_PROT_WRITE,
400 PTE_NOCACHE,
401 },
402
403 {
404 EP93XX_PCMCIA0_VBASE,
405 EP93XX_PCMCIA0_HWBASE,
406 EP93XX_PCMCIA_SIZE,
407 VM_PROT_READ|VM_PROT_WRITE,
408 PTE_NOCACHE,
409 },
410
411 /*
412 * IO8 and IO16 space *must* be mapped contiguously with
413 * IO8_VA == IO16_VA - 64 Mbytes. ISA busmap driver depends
414 * on that!
415 */
416 {
417 ARMADILLO9_IO8_VBASE,
418 ARMADILLO9_IO8_HWBASE,
419 ARMADILLO9_IO8_SIZE,
420 VM_PROT_READ|VM_PROT_WRITE,
421 PTE_NOCACHE,
422 },
423
424 {
425 ARMADILLO9_IO16_VBASE,
426 ARMADILLO9_IO16_HWBASE,
427 ARMADILLO9_IO16_SIZE,
428 VM_PROT_READ|VM_PROT_WRITE,
429 PTE_NOCACHE,
430 },
431
432 {
433 0,
434 0,
435 0,
436 0,
437 0,
438 }
439 };
440
441 /*
442 * vaddr_t initarm(...)
443 *
444 * Initial entry point on startup. This gets called before main() is
445 * entered.
446 * It should be responsible for setting up everything that must be
447 * in place when main is called.
448 * This includes
449 * Taking a copy of the boot configuration structure.
450 * Initialising the physical console so characters can be printed.
451 * Setting up page tables for the kernel
452 * Initialising interrupt controllers to a sane default state
453 */
454 vaddr_t
455 initarm(void *arg)
456 {
457 int loop;
458 int loop1;
459 u_int l1pagetable;
460 struct bootparam_tag *bootparam_p;
461 unsigned long devcfg;
462
463 /*
464 * Since we map the on-board devices VA==PA, and the kernel
465 * is running VA==PA, it's possible for us to initialize
466 * the console now.
467 */
468 consinit();
469
470 /* identify model */
471 devcfg = *((volatile unsigned long*)(EP93XX_APB_HWBASE
472 + EP93XX_APB_SYSCON
473 + EP93XX_SYSCON_DeviceCfg));
474 for (armadillo_model = &armadillo_model_table[0];
475 armadillo_model->devcfg; armadillo_model++)
476 if (devcfg == armadillo_model->devcfg)
477 break;
478
479 /* Talk to the user */
480 printf("\nNetBSD/%s booting ...\n", armadillo_model->name);
481
482 /* set some informations from bootloader */
483 bootparam_p = (struct bootparam_tag *)bootparam;
484 bootconfig.dramblocks = 0;
485 while (bootparam_p->hdr.tag != BOOTPARAM_TAG_NONE) {
486 switch (bootparam_p->hdr.tag) {
487 case BOOTPARAM_TAG_MEM:
488 if (bootconfig.dramblocks < DRAM_BLOCKS) {
489 #ifdef VERBOSE_INIT_ARM
490 printf("dram[%d]: address=0x%08lx, size=0x%08lx\n",
491 bootconfig.dramblocks,
492 bootparam_p->u.mem.start,
493 bootparam_p->u.mem.size);
494 #endif
495 bootconfig.dram[bootconfig.dramblocks].address =
496 bootparam_p->u.mem.start;
497 bootconfig.dram[bootconfig.dramblocks].pages =
498 bootparam_p->u.mem.size / PAGE_SIZE;
499 bootconfig.dramblocks++;
500 }
501 break;
502 case BOOTPARAM_TAG_CMDLINE:
503 #ifdef VERBOSE_INIT_ARM
504 printf("cmdline: %s\n", bootparam_p->u.cmdline.cmdline);
505 #endif
506 parse_mi_bootargs(bootparam_p->u.cmdline.cmdline);
507 break;
508 }
509 bootparam_p = bootparam_tag_next(bootparam_p);
510 }
511
512 /*
513 * Heads up ... Setup the CPU / MMU / TLB functions
514 */
515 if (set_cpufuncs())
516 panic("cpu not recognized!");
517
518 #ifdef VERBOSE_INIT_ARM
519 printf("initarm: Configuring system ...\n");
520 #endif
521 /*
522 * Set up the variables that define the availability of
523 * physical memory. For now, we're going to set
524 * physical_freestart to 0xc0200000 (where the kernel
525 * was loaded), and allocate the memory we need downwards.
526 * If we get too close to the L1 table that we set up, we
527 * will panic. We will update physical_freestart and
528 * physical_freeend later to reflect what pmap_bootstrap()
529 * wants to see.
530 *
531 * XXX pmap_bootstrap() needs an enema.
532 */
533 physical_start = bootconfig.dram[0].address;
534 physical_end = bootconfig.dram[0].address
535 + (bootconfig.dram[0].pages * PAGE_SIZE);
536
537 physical_freestart = 0xc0018000UL;
538 physical_freeend = 0xc0200000UL;
539
540 physmem = (physical_end - physical_start) / PAGE_SIZE;
541
542 #ifdef VERBOSE_INIT_ARM
543 /* Tell the user about the memory */
544 printf("physmemory: 0x%"PRIxPSIZE" pages at "
545 "0x%08"PRIxPADDR" -> 0x%08"PRIxPADDR"\n",
546 physmem, physical_start, physical_end - 1);
547 #endif
548
549 /*
550 * Okay, the kernel starts 2MB in from the bottom of physical
551 * memory. We are going to allocate our bootstrap pages downwards
552 * from there.
553 *
554 * We need to allocate some fixed page tables to get the kernel
555 * going. We allocate one page directory and a number of page
556 * tables and store the physical addresses in the kernel_pt_table
557 * array.
558 *
559 * The kernel page directory must be on a 16K boundary. The page
560 * tables must be on 4K boundaries. What we do is allocate the
561 * page directory on the first 16K boundary that we encounter, and
562 * the page tables on 4K boundaries otherwise. Since we allocate
563 * at least 3 L2 page tables, we are guaranteed to encounter at
564 * least one 16K aligned region.
565 */
566
567 #ifdef VERBOSE_INIT_ARM
568 printf("Allocating page tables\n");
569 #endif
570
571 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
572
573 #ifdef VERBOSE_INIT_ARM
574 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
575 physical_freestart, free_pages, free_pages);
576 #endif
577
578 /* Define a macro to simplify memory allocation */
579 #define valloc_pages(var, np) \
580 alloc_pages((var).pv_pa, (np)); \
581 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
582
583 #define alloc_pages(var, np) \
584 physical_freeend -= ((np) * PAGE_SIZE); \
585 if (physical_freeend < physical_freestart) \
586 panic("initarm: out of memory"); \
587 (var) = physical_freeend; \
588 free_pages -= (np); \
589 memset((char *)(var), 0, ((np) * PAGE_SIZE));
590
591 loop1 = 0;
592 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
593 /* Are we 16KB aligned for an L1 ? */
594 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
595 && kernel_l1pt.pv_pa == 0) {
596 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
597 } else {
598 valloc_pages(kernel_pt_table[loop1],
599 L2_TABLE_SIZE / PAGE_SIZE);
600 ++loop1;
601 }
602 }
603
604 /* This should never be able to happen but better confirm that. */
605 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
606 panic("initarm: Failed to align the kernel page directory");
607
608 /*
609 * Allocate a page for the system vectors page
610 */
611 alloc_pages(systempage.pv_pa, 1);
612
613 /* Allocate stacks for all modes */
614 valloc_pages(irqstack, IRQ_STACK_SIZE);
615 valloc_pages(abtstack, ABT_STACK_SIZE);
616 valloc_pages(undstack, UND_STACK_SIZE);
617 valloc_pages(kernelstack, UPAGES);
618
619 #ifdef VERBOSE_INIT_ARM
620 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
621 irqstack.pv_va);
622 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
623 abtstack.pv_va);
624 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
625 undstack.pv_va);
626 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
627 kernelstack.pv_va);
628 #endif
629
630 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
631
632 /*
633 * Ok we have allocated physical pages for the primary kernel
634 * page tables. Save physical_freeend for when we give whats left
635 * of memory below 2Mbyte to UVM.
636 */
637
638 physical_freeend_low = physical_freeend;
639
640 #ifdef VERBOSE_INIT_ARM
641 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
642 #endif
643
644 /*
645 * Now we start construction of the L1 page table
646 * We start by mapping the L2 page tables into the L1.
647 * This means that we can replace L1 mappings later on if necessary
648 */
649 l1pagetable = kernel_l1pt.pv_pa;
650
651 /* Map the L2 pages tables in the L1 page table */
652 pmap_link_l2pt(l1pagetable, ARM_VECTORS_HIGH & ~(0x00400000 - 1),
653 &kernel_pt_table[KERNEL_PT_SYS]);
654 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
655 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
656 &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
657 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
658 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
659 &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
660
661 /* update the top of the kernel VM */
662 pmap_curmaxkvaddr =
663 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
664
665 #ifdef VERBOSE_INIT_ARM
666 printf("Mapping kernel\n");
667 #endif
668
669 /* Now we fill in the L2 pagetable for the kernel static code/data */
670 {
671 extern char etext[], _end[];
672 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
673 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
674 u_int logical;
675
676 textsize = (textsize + PGOFSET) & ~PGOFSET;
677 totalsize = (totalsize + PGOFSET) & ~PGOFSET;
678
679 logical = 0x00200000; /* offset of kernel in RAM */
680 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
681 physical_start + logical, textsize,
682 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
683 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
684 physical_start + logical, totalsize - textsize,
685 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
686 }
687
688 #ifdef VERBOSE_INIT_ARM
689 printf("Constructing L2 page tables\n");
690 #endif
691
692 /* Map the stack pages */
693 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
694 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
695 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
696 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
697 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
698 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
699 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
700 UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
701
702 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
703 L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
704
705 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
706 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
707 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
708 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
709 }
710
711 /* Map the vector page. */
712 pmap_map_entry(l1pagetable, ARM_VECTORS_HIGH, systempage.pv_pa,
713 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
714
715 /* Map the statically mapped devices. */
716 pmap_devmap_bootstrap(l1pagetable, armadillo9_devmap);
717
718 /*
719 * Update the physical_freestart/physical_freeend/free_pages
720 * variables.
721 */
722 {
723 extern char _end[];
724
725 physical_freestart = physical_start +
726 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
727 KERNEL_BASE);
728 physical_freeend = physical_end;
729 free_pages =
730 (physical_freeend - physical_freestart) / PAGE_SIZE;
731 }
732
733 /*
734 * Now we have the real page tables in place so we can switch to them.
735 * Once this is done we will be running with the REAL kernel page
736 * tables.
737 */
738
739 /* Switch tables */
740 #ifdef VERBOSE_INIT_ARM
741 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
742 physical_freestart, free_pages, free_pages);
743 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa);
744 #endif
745 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
746 cpu_setttb(kernel_l1pt.pv_pa, true);
747 cpu_tlb_flushID();
748 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
749
750 /*
751 * Moved from cpu_startup() as data_abort_handler() references
752 * this during uvm init
753 */
754 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
755
756 #ifdef VERBOSE_INIT_ARM
757 printf("done!\n");
758 #endif
759
760 #ifdef VERBOSE_INIT_ARM
761 printf("bootstrap done.\n");
762 #endif
763
764 arm32_vector_init(ARM_VECTORS_HIGH, ARM_VEC_ALL);
765
766 /*
767 * Pages were allocated during the secondary bootstrap for the
768 * stacks for different CPU modes.
769 * We must now set the r13 registers in the different CPU modes to
770 * point to these stacks.
771 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
772 * of the stack memory.
773 */
774 #ifdef VERBOSE_INIT_ARM
775 printf("init subsystems: stacks ");
776 #endif
777
778 set_stackptr(PSR_IRQ32_MODE,
779 irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
780 set_stackptr(PSR_ABT32_MODE,
781 abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
782 set_stackptr(PSR_UND32_MODE,
783 undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
784
785 /*
786 * Well we should set a data abort handler.
787 * Once things get going this will change as we will need a proper
788 * handler.
789 * Until then we will use a handler that just panics but tells us
790 * why.
791 * Initialisation of the vectors will just panic on a data abort.
792 * This just fills in a slightly better one.
793 */
794 #ifdef VERBOSE_INIT_ARM
795 printf("vectors ");
796 #endif
797 data_abort_handler_address = (u_int)data_abort_handler;
798 prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
799 undefined_handler_address = (u_int)undefinedinstruction_bounce;
800
801 /* Initialise the undefined instruction handlers */
802 #ifdef VERBOSE_INIT_ARM
803 printf("undefined ");
804 #endif
805 undefined_init();
806
807 /* Load memory into UVM. */
808 #ifdef VERBOSE_INIT_ARM
809 printf("page ");
810 #endif
811 uvm_md_init();
812 uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
813 atop(physical_freestart), atop(physical_freeend),
814 VM_FREELIST_DEFAULT);
815 uvm_page_physload(atop(0xc0000000), atop(physical_freeend_low),
816 atop(0xc0000000), atop(physical_freeend_low),
817 VM_FREELIST_DEFAULT);
818 physmem = bootconfig.dram[0].pages;
819 for (loop = 1; loop < bootconfig.dramblocks; ++loop) {
820 size_t start = bootconfig.dram[loop].address;
821 size_t size = bootconfig.dram[loop].pages * PAGE_SIZE;
822 uvm_page_physload(atop(start), atop(start + size),
823 atop(start), atop(start + size),
824 VM_FREELIST_DEFAULT);
825 physmem += bootconfig.dram[loop].pages;
826 }
827
828 /* Boot strap pmap telling it where managed kernel virtual memory is */
829 #ifdef VERBOSE_INIT_ARM
830 printf("pmap ");
831 #endif
832 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
833
834 /* Setup the IRQ system */
835 #ifdef VERBOSE_INIT_ARM
836 printf("irq ");
837 #endif
838 ep93xx_intr_init();
839 #if NISA > 0
840 isa_intr_init();
841
842 #ifdef VERBOSE_INIT_ARM
843 printf("isa ");
844 #endif
845 isa_armadillo9_init(ARMADILLO9_IO16_VBASE + ARMADILLO9_ISAIO,
846 ARMADILLO9_IO16_VBASE + ARMADILLO9_ISAMEM);
847 #endif
848
849 #ifdef VERBOSE_INIT_ARM
850 printf("done.\n");
851 #endif
852
853 #ifdef BOOTHOWTO
854 boothowto = BOOTHOWTO;
855 #endif
856
857 #ifdef DDB
858 db_machine_init();
859 if (boothowto & RB_KDB)
860 Debugger();
861 #endif
862
863 /* We have our own device_register() */
864 evbarm_device_register = armadillo9_device_register;
865
866 /* We return the new stack pointer address */
867 return kernelstack.pv_va + USPACE_SVC_STACK_TOP;
868 }
869
870 void
871 consinit(void)
872 {
873 static int consinit_called;
874 #if NEPCOM > 0
875 bus_space_handle_t ioh;
876 #endif
877
878 if (consinit_called != 0)
879 return;
880
881 consinit_called = 1;
882
883 /*
884 * Console devices are already mapped in VA. Our devmap reflects
885 * this, so register it now so drivers can map the console
886 * device.
887 */
888 pmap_devmap_register(armadillo9_devmap);
889
890 #if NEPCOM > 0
891 bus_space_map(&ep93xx_bs_tag, EP93XX_APB_HWBASE + comaddr[CONUNIT],
892 EP93XX_APB_UART_SIZE, 0, &ioh);
893 if (epcomcnattach(&ep93xx_bs_tag, EP93XX_APB_HWBASE + comaddr[CONUNIT],
894 ioh, comcnspeed, comcnmode))
895 {
896 panic("can't init serial console");
897 }
898 #else
899 panic("serial console not configured");
900 #endif
901 #if KGDB
902 #if NEPCOM > 0
903 if (strcmp(kgdb_devname, "epcom") == 0) {
904 epcom_kgdb_attach(&ep93xx_bs_tag, kgdb_devaddr, kgdb_devrate,
905 kgdb_devmode);
906 }
907 #endif /* NEPCOM > 0 */
908 #endif /* KGDB */
909 }
910
911
912 bus_dma_tag_t
913 ep93xx_bus_dma_init(struct arm32_bus_dma_tag *dma_tag_template)
914 {
915 int i;
916 struct arm32_bus_dma_tag *dmat;
917
918 for (i = 0; i < bootconfig.dramblocks; i++) {
919 armadillo9_dma_ranges[i].dr_sysbase = bootconfig.dram[i].address;
920 armadillo9_dma_ranges[i].dr_busbase = bootconfig.dram[i].address;
921 armadillo9_dma_ranges[i].dr_len = bootconfig.dram[i].pages *
922 PAGE_SIZE;
923 }
924
925 dmat = dma_tag_template;
926
927 dmat->_ranges = armadillo9_dma_ranges;
928 dmat->_nranges = bootconfig.dramblocks;
929
930 return dmat;
931 }
932