gumstix_machdep.c revision 1.23
1 /* $NetBSD: gumstix_machdep.c,v 1.23 2009/12/26 16:01:24 uebayasi Exp $ */ 2 /* 3 * Copyright (C) 2005, 2006, 2007 WIDE Project and SOUM Corporation. 4 * All rights reserved. 5 * 6 * Written by Takashi Kiyohara and Susumu Miki for WIDE Project and SOUM 7 * Corporation. 8 * 9 * Redistribution and use in source and binary forms, with or without 10 * modification, are permitted provided that the following conditions 11 * are met: 12 * 1. Redistributions of source code must retain the above copyright 13 * notice, this list of conditions and the following disclaimer. 14 * 2. Redistributions in binary form must reproduce the above copyright 15 * notice, this list of conditions and the following disclaimer in the 16 * documentation and/or other materials provided with the distribution. 17 * 3. Neither the name of the project nor the name of SOUM Corporation 18 * may be used to endorse or promote products derived from this software 19 * without specific prior written permission. 20 * 21 * THIS SOFTWARE IS PROVIDED BY THE PROJECT and SOUM CORPORATION ``AS IS'' 22 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 23 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 24 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE PROJECT AND SOUM CORPORATION 25 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 26 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 27 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 28 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 29 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 30 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 * POSSIBILITY OF SUCH DAMAGE. 32 */ 33 /* 34 * Copyright (c) 2002, 2003, 2004, 2005 Genetec Corporation. 35 * All rights reserved. 36 * 37 * Written by Hiroyuki Bessho for Genetec Corporation. 38 * 39 * Redistribution and use in source and binary forms, with or without 40 * modification, are permitted provided that the following conditions 41 * are met: 42 * 1. Redistributions of source code must retain the above copyright 43 * notice, this list of conditions and the following disclaimer. 44 * 2. Redistributions in binary form must reproduce the above copyright 45 * notice, this list of conditions and the following disclaimer in the 46 * documentation and/or other materials provided with the distribution. 47 * 3. The name of Genetec Corporation may not be used to endorse or 48 * promote products derived from this software without specific prior 49 * written permission. 50 * 51 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND 52 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 53 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 54 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION 55 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 56 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 57 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 58 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 59 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 60 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 61 * POSSIBILITY OF SUCH DAMAGE. 62 * 63 * Machine dependant functions for kernel setup for Genetec G4250EBX 64 * evaluation board. 65 * 66 * Based on iq80310_machhdep.c 67 */ 68 /* 69 * Copyright (c) 2001 Wasabi Systems, Inc. 70 * All rights reserved. 71 * 72 * Written by Jason R. Thorpe for Wasabi Systems, Inc. 73 * 74 * Redistribution and use in source and binary forms, with or without 75 * modification, are permitted provided that the following conditions 76 * are met: 77 * 1. Redistributions of source code must retain the above copyright 78 * notice, this list of conditions and the following disclaimer. 79 * 2. Redistributions in binary form must reproduce the above copyright 80 * notice, this list of conditions and the following disclaimer in the 81 * documentation and/or other materials provided with the distribution. 82 * 3. All advertising materials mentioning features or use of this software 83 * must display the following acknowledgement: 84 * This product includes software developed for the NetBSD Project by 85 * Wasabi Systems, Inc. 86 * 4. The name of Wasabi Systems, Inc. may not be used to endorse 87 * or promote products derived from this software without specific prior 88 * written permission. 89 * 90 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND 91 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 92 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 93 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC 94 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 95 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 96 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 97 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 98 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 99 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 100 * POSSIBILITY OF SUCH DAMAGE. 101 */ 102 103 /* 104 * Copyright (c) 1997,1998 Mark Brinicombe. 105 * Copyright (c) 1997,1998 Causality Limited. 106 * All rights reserved. 107 * 108 * Redistribution and use in source and binary forms, with or without 109 * modification, are permitted provided that the following conditions 110 * are met: 111 * 1. Redistributions of source code must retain the above copyright 112 * notice, this list of conditions and the following disclaimer. 113 * 2. Redistributions in binary form must reproduce the above copyright 114 * notice, this list of conditions and the following disclaimer in the 115 * documentation and/or other materials provided with the distribution. 116 * 3. All advertising materials mentioning features or use of this software 117 * must display the following acknowledgement: 118 * This product includes software developed by Mark Brinicombe 119 * for the NetBSD Project. 120 * 4. The name of the company nor the name of the author may be used to 121 * endorse or promote products derived from this software without specific 122 * prior written permission. 123 * 124 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 125 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 126 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 127 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 128 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 129 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 130 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 131 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 132 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 133 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 134 * SUCH DAMAGE. 135 * 136 * Machine dependant functions for kernel setup for Intel IQ80310 evaluation 137 * boards using RedBoot firmware. 138 */ 139 140 #include "opt_ddb.h" 141 #include "opt_kgdb.h" 142 #include "opt_pmap_debug.h" 143 #include "opt_md.h" 144 #include "opt_modular.h" 145 #include "opt_com.h" 146 #include "md.h" 147 148 #include <sys/param.h> 149 #include <sys/device.h> 150 #include <sys/systm.h> 151 #include <sys/kernel.h> 152 #include <sys/exec.h> 153 #include <sys/proc.h> 154 #include <sys/msgbuf.h> 155 #include <sys/reboot.h> 156 #include <sys/termios.h> 157 #include <sys/ksyms.h> 158 159 #include <uvm/uvm_extern.h> 160 161 #include <sys/conf.h> 162 #include <dev/cons.h> 163 #include <dev/md.h> 164 165 #include <machine/db_machdep.h> 166 #include <ddb/db_sym.h> 167 #include <ddb/db_extern.h> 168 #ifdef KGDB 169 #include <sys/kgdb.h> 170 #endif 171 172 #include <machine/bootconfig.h> 173 #include <machine/bus.h> 174 #include <machine/cpu.h> 175 #include <machine/frame.h> 176 #include <arm/undefined.h> 177 178 #include <arm/arm32/machdep.h> 179 180 #include <arm/xscale/pxa2x0reg.h> 181 #include <arm/xscale/pxa2x0var.h> 182 #include <arm/xscale/pxa2x0_gpio.h> 183 #include <evbarm/gumstix/gumstixreg.h> 184 #include <evbarm/gumstix/gumstixvar.h> 185 186 /* Kernel text starts 2MB in from the bottom of the kernel address space. */ 187 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00200000) 188 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 189 190 /* 191 * The range 0xc1000000 - 0xccffffff is available for kernel VM space 192 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 193 */ 194 #define KERNEL_VM_SIZE 0x0C000000 195 196 197 /* 198 * Address to call from cpu_reset() to reset the machine. 199 * This is machine architecture dependant as it varies depending 200 * on where the ROM appears when you turn the MMU off. 201 */ 202 203 u_int cpu_reset_address = 0; 204 205 /* Define various stack sizes in pages */ 206 #define IRQ_STACK_SIZE 1 207 #define ABT_STACK_SIZE 1 208 #define UND_STACK_SIZE 1 209 210 BootConfig bootconfig; /* Boot config storage */ 211 static char bootargs[MAX_BOOT_STRING]; 212 char *boot_args = NULL; 213 214 uint32_t system_serial_high; 215 uint32_t system_serial_low; 216 217 vm_offset_t physical_start; 218 vm_offset_t physical_freestart; 219 vm_offset_t physical_freeend; 220 vm_offset_t physical_end; 221 u_int free_pages; 222 223 /*int debug_flags;*/ 224 #ifndef PMAP_STATIC_L1S 225 int max_processes = 64; /* Default number */ 226 #endif /* !PMAP_STATIC_L1S */ 227 228 /* Physical and virtual addresses for some global pages */ 229 pv_addr_t irqstack; 230 pv_addr_t undstack; 231 pv_addr_t abtstack; 232 pv_addr_t kernelstack; 233 pv_addr_t minidataclean; 234 235 vm_offset_t msgbufphys; 236 237 extern u_int data_abort_handler_address; 238 extern u_int prefetch_abort_handler_address; 239 extern u_int undefined_handler_address; 240 241 #ifdef PMAP_DEBUG 242 extern int pmap_debug_level; 243 #endif 244 245 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 246 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 247 #define KERNEL_PT_KERNEL_NUM 4 248 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 249 /* Page tables for mapping kernel VM */ 250 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 251 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 252 253 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 254 255 /* Prototypes */ 256 static void read_system_serial(void); 257 static void process_kernel_args(int, char *[]); 258 static void process_kernel_args_line(char *); 259 #ifdef KGDB 260 static void kgdb_port_init(void); 261 #endif 262 263 bs_protos(bs_notimpl); 264 265 #include "com.h" 266 #if NCOM > 0 267 #include <dev/ic/comreg.h> 268 #include <dev/ic/comvar.h> 269 #endif 270 271 #include "lcd.h" 272 273 #ifndef CONSPEED 274 #define CONSPEED B115200 /* It's a setting of the default of u-boot */ 275 #endif 276 #ifndef CONMODE 277 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 278 #endif 279 280 int comcnspeed = CONSPEED; 281 int comcnmode = CONMODE; 282 283 extern void gxio_config_pin(void); 284 extern void gxio_config_expansion(char *); 285 286 /* 287 * void cpu_reboot(int howto, char *bootstr) 288 * 289 * Deal with any syncing, unmounting, dumping and shutdown hooks, 290 * then reset the CPU. 291 */ 292 void 293 cpu_reboot(int howto, char *bootstr) 294 { 295 296 #ifdef DIAGNOSTIC 297 /* info */ 298 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 299 #endif 300 301 /* 302 * If we are still cold then hit the air brakes 303 * and crash to earth fast 304 */ 305 if (cold) { 306 doshutdownhooks(); 307 pmf_system_shutdown(boothowto); 308 printf("The operating system has halted.\n"); 309 printf("Please press any key to reboot.\n\n"); 310 cngetc(); 311 printf("rebooting...\n"); 312 cpu_reset(); 313 /*NOTREACHED*/ 314 } 315 316 /* 317 * If RB_NOSYNC was not specified sync the discs. 318 * Note: Unless cold is set to 1 here, syslogd will die during the 319 * unmount. It looks like syslogd is getting woken up only to find 320 * that it cannot page part of the binary in as the filesystem has 321 * been unmounted. 322 */ 323 if (!(howto & RB_NOSYNC)) 324 bootsync(); 325 326 /* Say NO to interrupts */ 327 splhigh(); 328 329 /* Do a dump if requested. */ 330 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 331 dumpsys(); 332 333 /* Run any shutdown hooks */ 334 doshutdownhooks(); 335 336 pmf_system_shutdown(boothowto); 337 338 /* Make sure IRQ's are disabled */ 339 IRQdisable; 340 341 if (howto & RB_HALT) { 342 printf("The operating system has halted.\n"); 343 printf("Please press any key to reboot.\n\n"); 344 cngetc(); 345 } 346 347 printf("rebooting...\n"); 348 cpu_reset(); 349 /*NOTREACHED*/ 350 } 351 352 static inline 353 pd_entry_t * 354 read_ttb(void) 355 { 356 long ttb; 357 358 __asm volatile("mrc p15, 0, %0, c2, c0, 0" : "=r" (ttb)); 359 360 361 return (pd_entry_t *)(ttb & ~((1<<14)-1)); 362 } 363 364 /* 365 * Static device mappings. These peripheral registers are mapped at 366 * fixed virtual addresses very early in initarm() so that we can use 367 * them while booting the kernel, and stay at the same address 368 * throughout whole kernel's life time. 369 * 370 * We use this table twice; once with bootstrap page table, and once 371 * with kernel's page table which we build up in initarm(). 372 * 373 * Since we map these registers into the bootstrap page table using 374 * pmap_devmap_bootstrap() which calls pmap_map_chunk(), we map 375 * registers segment-aligned and segment-rounded in order to avoid 376 * using the 2nd page tables. 377 */ 378 379 #define _A(a) ((a) & ~L1_S_OFFSET) 380 #define _S(s) (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1)) 381 382 static const struct pmap_devmap gumstix_devmap[] = { 383 { 384 GUMSTIX_GPIO_VBASE, 385 _A(PXA2X0_GPIO_BASE), 386 _S(PXA250_GPIO_SIZE), 387 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 388 }, 389 { 390 GUMSTIX_CLKMAN_VBASE, 391 _A(PXA2X0_CLKMAN_BASE), 392 _S(PXA2X0_CLKMAN_SIZE), 393 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 394 }, 395 { 396 GUMSTIX_INTCTL_VBASE, 397 _A(PXA2X0_INTCTL_BASE), 398 _S(PXA2X0_INTCTL_SIZE), 399 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 400 }, 401 { 402 GUMSTIX_FFUART_VBASE, 403 _A(PXA2X0_FFUART_BASE), 404 _S(4 * COM_NPORTS), 405 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 406 }, 407 { 408 GUMSTIX_STUART_VBASE, 409 _A(PXA2X0_STUART_BASE), 410 _S(4 * COM_NPORTS), 411 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 412 }, 413 { 414 GUMSTIX_BTUART_VBASE, 415 _A(PXA2X0_BTUART_BASE), 416 _S(4 * COM_NPORTS), 417 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 418 }, 419 { 420 GUMSTIX_HWUART_VBASE, 421 _A(PXA2X0_HWUART_BASE), 422 _S(4 * COM_NPORTS), 423 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 424 }, 425 { 426 GUMSTIX_LCDC_VBASE, 427 _A(PXA2X0_LCDC_BASE), 428 _S(4 * COM_NPORTS), 429 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE, 430 }, 431 {0, 0, 0, 0, 0} 432 }; 433 434 #undef _A 435 #undef _S 436 437 438 /* 439 * u_int initarm(...) 440 * 441 * Initial entry point on startup. This gets called before main() is 442 * entered. 443 * It should be responsible for setting up everything that must be 444 * in place when main is called. 445 * This includes 446 * Taking a copy of the boot configuration structure. 447 * Initialising the physical console so characters can be printed. 448 * Setting up page tables for the kernel 449 * Relocating the kernel to the bottom of physical memory 450 */ 451 u_int 452 initarm(void *arg) 453 { 454 extern vaddr_t xscale_cache_clean_addr; 455 extern uint32_t *u_boot_args[]; 456 extern uint32_t ram_size; 457 enum { r0 = 0, r1 = 1, r2 = 2, r3 = 3 }; /* args from u-boot */ 458 int loop; 459 int loop1; 460 u_int l1pagetable; 461 paddr_t memstart; 462 psize_t memsize; 463 #ifdef DIAGNOSTIC 464 extern vsize_t xscale_minidata_clean_size; /* used in KASSERT */ 465 #endif 466 467 /* map some peripheral registers at static I/O area */ 468 pmap_devmap_bootstrap((vaddr_t)read_ttb(), gumstix_devmap); 469 470 /* start 32.768kHz OSC */ 471 ioreg_write(GUMSTIX_CLKMAN_VBASE + CLKMAN_OSCC, OSCC_OON); 472 473 /* Get ready for splfoo() */ 474 pxa2x0_intr_bootstrap(GUMSTIX_INTCTL_VBASE); 475 476 /* 477 * Heads up ... Setup the CPU / MMU / TLB functions 478 */ 479 if (set_cpufuncs()) 480 panic("cpu not recognized!"); 481 482 /* 483 * U-Boot doesn't use the virtual memory. 484 * 485 * Physical Address Range Description 486 * ----------------------- ---------------------------------- 487 * 0x00000000 - 0x00ffffff flash Memory (16MB or 4MB) 488 * 0x40000000 - 0x480fffff Processor Registers 489 * 0xa0000000 - 0xa3ffffff SDRAM Bank 0 (64MB) 490 */ 491 492 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 493 494 /* setup GPIO for {FF,ST,HW}UART. */ 495 pxa2x0_gpio_bootstrap(GUMSTIX_GPIO_VBASE); 496 497 /* configure GPIOs. */ 498 gxio_config_pin(); 499 500 pxa2x0_clkman_bootstrap(GUMSTIX_CLKMAN_VBASE); 501 502 consinit(); 503 #ifdef KGDB 504 kgdb_port_init(); 505 #endif 506 507 /* Talk to the user */ 508 printf("\nNetBSD/evbarm (gumstix) booting ...\n"); 509 510 /* Read system serial */ 511 read_system_serial(); 512 513 /* 514 * Examine the boot args string for options we need to know about 515 * now. 516 */ 517 #define SDRAM_START 0xa0000000UL 518 if (((uint32_t)u_boot_args[r0] & 0xf0000000) != SDRAM_START) 519 /* Maybe r0 is 'argc'. We are booted by command 'go'. */ 520 process_kernel_args((int)u_boot_args[r0], 521 (char **)u_boot_args[r1]); 522 else 523 /* 524 * Maybe r3 is 'boot args string' of 'bootm'. This string is 525 * linely. 526 */ 527 process_kernel_args_line((char *)u_boot_args[r3]); 528 529 memstart = SDRAM_START; 530 memsize = ram_size; 531 532 #ifdef VERBOSE_INIT_ARM 533 printf("initarm: Configuring system ...\n"); 534 #endif 535 536 /* Fake bootconfig structure for the benefit of pmap.c */ 537 /* XXX must make the memory description h/w independent */ 538 bootconfig.dramblocks = 1; 539 bootconfig.dram[0].address = memstart; 540 bootconfig.dram[0].pages = memsize / PAGE_SIZE; 541 542 /* 543 * Set up the variables that define the availablilty of 544 * physical memory. For now, we're going to set 545 * physical_freestart to 0xa0200000 (where the kernel 546 * was loaded), and allocate the memory we need downwards. 547 * If we get too close to the L1 table that we set up, we 548 * will panic. We will update physical_freestart and 549 * physical_freeend later to reflect what pmap_bootstrap() 550 * wants to see. 551 * 552 * XXX pmap_bootstrap() needs an enema. 553 */ 554 physical_start = bootconfig.dram[0].address; 555 physical_end = physical_start + memsize; 556 557 physical_freestart = 0xa0009000UL; 558 physical_freeend = 0xa0200000UL; 559 560 physmem = (physical_end - physical_start) / PAGE_SIZE; 561 562 #ifdef VERBOSE_INIT_ARM 563 /* Tell the user about the memory */ 564 printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem, 565 physical_start, physical_end - 1); 566 #endif 567 568 /* 569 * Okay, the kernel starts 2MB in from the bottom of physical 570 * memory. We are going to allocate our bootstrap pages downwards 571 * from there. 572 * 573 * We need to allocate some fixed page tables to get the kernel 574 * going. We allocate one page directory and a number of page 575 * tables and store the physical addresses in the kernel_pt_table 576 * array. 577 * 578 * The kernel page directory must be on a 16K boundary. The page 579 * tables must be on 4K bounaries. What we do is allocate the 580 * page directory on the first 16K boundary that we encounter, and 581 * the page tables on 4K boundaries otherwise. Since we allocate 582 * at least 3 L2 page tables, we are guaranteed to encounter at 583 * least one 16K aligned region. 584 */ 585 586 #ifdef VERBOSE_INIT_ARM 587 printf("Allocating page tables\n"); 588 #endif 589 590 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 591 592 #ifdef VERBOSE_INIT_ARM 593 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 594 physical_freestart, free_pages, free_pages); 595 #endif 596 597 /* Define a macro to simplify memory allocation */ 598 #define valloc_pages(var, np) \ 599 alloc_pages((var).pv_pa, (np)); \ 600 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 601 602 #define alloc_pages(var, np) \ 603 physical_freeend -= ((np) * PAGE_SIZE); \ 604 if (physical_freeend < physical_freestart) \ 605 panic("initarm: out of memory"); \ 606 (var) = physical_freeend; \ 607 free_pages -= (np); \ 608 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 609 610 loop1 = 0; 611 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 612 /* Are we 16KB aligned for an L1 ? */ 613 if ((physical_freeend & (L1_TABLE_SIZE - 1)) == 0 && 614 kernel_l1pt.pv_pa == 0) { 615 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 616 } else { 617 valloc_pages(kernel_pt_table[loop1], 618 L2_TABLE_SIZE / PAGE_SIZE); 619 ++loop1; 620 } 621 } 622 623 /* This should never be able to happen but better confirm that. */ 624 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 625 panic("initarm: Failed to align the kernel page directory"); 626 627 /* 628 * Allocate a page for the system page mapped to V0x00000000 629 * This page will just contain the system vectors and can be 630 * shared by all processes. 631 */ 632 alloc_pages(systempage.pv_pa, 1); 633 634 /* Allocate stacks for all modes */ 635 valloc_pages(irqstack, IRQ_STACK_SIZE); 636 valloc_pages(abtstack, ABT_STACK_SIZE); 637 valloc_pages(undstack, UND_STACK_SIZE); 638 valloc_pages(kernelstack, UPAGES); 639 640 /* Allocate enough pages for cleaning the Mini-Data cache. */ 641 KASSERT(xscale_minidata_clean_size <= PAGE_SIZE); 642 valloc_pages(minidataclean, 1); 643 644 #ifdef VERBOSE_INIT_ARM 645 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 646 irqstack.pv_va); 647 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 648 abtstack.pv_va); 649 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 650 undstack.pv_va); 651 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 652 kernelstack.pv_va); 653 #endif 654 655 /* 656 * XXX Defer this to later so that we can reclaim the memory 657 * XXX used by the RedBoot page tables. 658 */ 659 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 660 661 /* 662 * Ok we have allocated physical pages for the primary kernel 663 * page tables 664 */ 665 666 #ifdef VERBOSE_INIT_ARM 667 printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa); 668 #endif 669 670 /* 671 * Now we start construction of the L1 page table 672 * We start by mapping the L2 page tables into the L1. 673 * This means that we can replace L1 mappings later on if necessary 674 */ 675 l1pagetable = kernel_l1pt.pv_va; 676 677 /* Map the L2 pages tables in the L1 page table */ 678 pmap_link_l2pt(l1pagetable, 0x00000000, 679 &kernel_pt_table[KERNEL_PT_SYS]); 680 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 681 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 682 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 683 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 684 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 685 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 686 687 /* update the top of the kernel VM */ 688 pmap_curmaxkvaddr = 689 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 690 691 #ifdef VERBOSE_INIT_ARM 692 printf("Mapping kernel\n"); 693 #endif 694 695 /* Now we fill in the L2 pagetable for the kernel static code/data */ 696 { 697 extern char etext[], _end[]; 698 size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE; 699 size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE; 700 u_int logical; 701 702 textsize = (textsize + PGOFSET) & ~PGOFSET; 703 totalsize = (totalsize + PGOFSET) & ~PGOFSET; 704 705 logical = 0x00200000; /* offset of kernel in RAM */ 706 707 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 708 physical_start + logical, textsize, 709 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 710 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 711 physical_start + logical, totalsize - textsize, 712 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 713 } 714 715 #ifdef VERBOSE_INIT_ARM 716 printf("Constructing L2 page tables\n"); 717 #endif 718 719 /* Map the stack pages */ 720 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 721 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 722 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 723 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 724 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 725 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 726 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 727 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 728 729 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 730 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 731 732 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 733 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 734 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 735 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 736 } 737 738 /* Map the Mini-Data cache clean area. */ 739 xscale_setup_minidata(l1pagetable, minidataclean.pv_va, 740 minidataclean.pv_pa); 741 742 /* Map the vector page. */ 743 #if 1 744 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 745 * cache-clean code there. */ 746 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 747 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 748 #else 749 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 750 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 751 #endif 752 753 /* 754 * map integrated peripherals at same address in l1pagetable 755 * so that we can continue to use console. 756 */ 757 pmap_devmap_bootstrap(l1pagetable, gumstix_devmap); 758 759 /* 760 * Give the XScale global cache clean code an appropriately 761 * sized chunk of unmapped VA space starting at 0xff000000 762 * (our device mappings end before this address). 763 */ 764 xscale_cache_clean_addr = 0xff000000U; 765 766 /* 767 * Now we have the real page tables in place so we can switch to them. 768 * Once this is done we will be running with the REAL kernel page 769 * tables. 770 */ 771 772 /* 773 * Update the physical_freestart/physical_freeend/free_pages 774 * variables. 775 */ 776 { 777 extern char _end[]; 778 779 physical_freestart = physical_start + 780 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 781 KERNEL_BASE); 782 physical_freeend = physical_end; 783 free_pages = 784 (physical_freeend - physical_freestart) / PAGE_SIZE; 785 } 786 787 /* Switch tables */ 788 #ifdef VERBOSE_INIT_ARM 789 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 790 physical_freestart, free_pages, free_pages); 791 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 792 #endif 793 794 cpu_setttb(kernel_l1pt.pv_pa); 795 cpu_tlb_flushID(); 796 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 797 798 /* 799 * Moved from cpu_startup() as data_abort_handler() references 800 * this during uvm init 801 */ 802 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 803 804 #ifdef VERBOSE_INIT_ARM 805 printf("bootstrap done.\n"); 806 #endif 807 808 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 809 810 /* 811 * Pages were allocated during the secondary bootstrap for the 812 * stacks for different CPU modes. 813 * We must now set the r13 registers in the different CPU modes to 814 * point to these stacks. 815 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 816 * of the stack memory. 817 */ 818 #ifdef VERBOSE_INIT_ARM 819 printf("init subsystems: stacks "); 820 #endif 821 822 set_stackptr(PSR_IRQ32_MODE, 823 irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 824 set_stackptr(PSR_ABT32_MODE, 825 abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 826 set_stackptr(PSR_UND32_MODE, 827 undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 828 829 /* 830 * Well we should set a data abort handler. 831 * Once things get going this will change as we will need a proper 832 * handler. 833 * Until then we will use a handler that just panics but tells us 834 * why. 835 * Initialisation of the vectors will just panic on a data abort. 836 * This just fills in a slighly better one. 837 */ 838 #ifdef VERBOSE_INIT_ARM 839 printf("vectors "); 840 #endif 841 data_abort_handler_address = (u_int)data_abort_handler; 842 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 843 undefined_handler_address = (u_int)undefinedinstruction_bounce; 844 845 /* Initialise the undefined instruction handlers */ 846 #ifdef VERBOSE_INIT_ARM 847 printf("undefined "); 848 #endif 849 undefined_init(); 850 851 /* Load memory into UVM. */ 852 #ifdef VERBOSE_INIT_ARM 853 printf("page "); 854 #endif 855 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 856 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 857 atop(physical_freestart), atop(physical_freeend), 858 VM_FREELIST_DEFAULT); 859 860 /* Boot strap pmap telling it where the kernel page table is */ 861 #ifdef VERBOSE_INIT_ARM 862 printf("pmap "); 863 #endif 864 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 865 866 #ifdef __HAVE_MEMORY_DISK__ 867 md_root_setconf(memory_disk, sizeof memory_disk); 868 #endif 869 870 #ifdef BOOTHOWTO 871 boothowto |= BOOTHOWTO; 872 #endif 873 874 #ifdef KGDB 875 if (boothowto & RB_KDB) { 876 kgdb_debug_init = 1; 877 kgdb_connect(1); 878 } 879 #endif 880 881 #if NKSYMS || defined(DDB) || defined(MODULAR) 882 /* Firmware doesn't load symbols. */ 883 ddb_init(0, NULL, NULL); 884 #endif 885 886 #ifdef DDB 887 db_machine_init(); 888 if (boothowto & RB_KDB) 889 Debugger(); 890 #endif 891 892 /* We return the new stack pointer address */ 893 return(kernelstack.pv_va + USPACE_SVC_STACK_TOP); 894 } 895 896 static void 897 read_system_serial(void) 898 { 899 #define GUMSTIX_SYSTEM_SERIAL_ADDR 0 900 #define GUMSTIX_SYSTEM_SERIAL_SIZE 8 901 #define FLASH_OFFSET_INTEL_PROTECTION 0x81 902 #define FLASH_OFFSET_USER_PROTECTION 0x85 903 #define FLASH_CMD_READ_ID 0x90 904 #define FLASH_CMD_RESET 0xff 905 int i; 906 char system_serial[GUMSTIX_SYSTEM_SERIAL_SIZE], *src; 907 char x; 908 909 src = (char *)(FLASH_OFFSET_USER_PROTECTION * 2 /*word*/); 910 *(volatile uint16_t *)0 = FLASH_CMD_READ_ID; 911 memcpy(system_serial, 912 src + GUMSTIX_SYSTEM_SERIAL_ADDR, sizeof (system_serial)); 913 *(volatile uint16_t *)0 = FLASH_CMD_RESET; 914 915 for (i = 1, x = system_serial[0]; i < sizeof (system_serial); i++) 916 x &= system_serial[i]; 917 if (x == 0xff) { 918 src = (char *)(FLASH_OFFSET_INTEL_PROTECTION * 2 /*word*/); 919 *(volatile uint16_t *)0 = FLASH_CMD_READ_ID; 920 memcpy(system_serial, 921 src + GUMSTIX_SYSTEM_SERIAL_ADDR, sizeof (system_serial)); 922 *(volatile uint16_t *)0 = FLASH_CMD_RESET; 923 924 /* 925 * XXXX: Don't need ??? 926 * gumstix_serial_hash(system_serial); 927 */ 928 } 929 system_serial_high = system_serial[0] << 24 | system_serial[1] << 16 | 930 system_serial[2] << 8 | system_serial[3]; 931 system_serial_low = system_serial[4] << 24 | system_serial[5] << 16 | 932 system_serial[6] << 8 | system_serial[7]; 933 934 printf("system serial: 0x"); 935 for (i = 0; i < sizeof (system_serial); i++) 936 printf("%02x", system_serial[i]); 937 printf("\n"); 938 } 939 940 static const char busheader_name[] = "busheader="; 941 static void 942 process_kernel_args(int argc, char *argv[]) 943 { 944 int gxio_configured = 0, i, j; 945 946 boothowto = 0; 947 948 for (i = 1, j = 0; i < argc; i++) { 949 if (!strncmp(argv[i], busheader_name, strlen(busheader_name))) { 950 /* configure for GPIOs of busheader side */ 951 gxio_config_expansion(argv[i] + strlen(busheader_name)); 952 gxio_configured = 1; 953 continue; 954 } 955 if (j == MAX_BOOT_STRING) { 956 *(bootargs + j) = '\0'; 957 continue; 958 } 959 if (j != 0) 960 *(bootargs + j++) = ' '; 961 strncpy(bootargs + j, argv[i], MAX_BOOT_STRING - j); 962 j += strlen(argv[i]); 963 } 964 boot_args = bootargs; 965 966 parse_mi_bootargs(boot_args); 967 968 if (!gxio_configured) 969 gxio_config_expansion(NULL); 970 } 971 972 static void 973 process_kernel_args_line(char *args) 974 { 975 int i; 976 char expansion[256], *p, c; 977 978 boothowto = 0; 979 980 strncpy(bootargs, args, sizeof(bootargs)); 981 p = strstr(bootargs, busheader_name); 982 if (p == NULL) 983 gxio_config_expansion(NULL); 984 else { 985 i = 0; 986 do { 987 c = *(p + strlen(busheader_name) + i); 988 if (c == ' ') 989 c = '\0'; 990 expansion[i++] = c; 991 } while (c != '\0'); 992 gxio_config_expansion(expansion); 993 strcpy(p, p + i); 994 } 995 boot_args = bootargs; 996 997 parse_mi_bootargs(boot_args); 998 } 999 1000 #ifdef KGDB 1001 #ifndef KGDB_DEVNAME 1002 #define KGDB_DEVNAME "ffuart" 1003 #endif 1004 const char kgdb_devname[] = KGDB_DEVNAME; 1005 1006 #ifndef KGDB_DEVRATE 1007 #define KGDB_DEVRATE CONSPEED 1008 #endif 1009 int kgdb_devrate = KGDB_DEVRATE; 1010 1011 #if (NCOM > 0) 1012 #ifndef KGDB_DEVMODE 1013 #define KGDB_DEVMODE CONMODE 1014 #endif 1015 int comkgdbmode = KGDB_DEVMODE; 1016 #endif /* NCOM */ 1017 1018 #endif /* KGDB */ 1019 1020 1021 void 1022 consinit(void) 1023 { 1024 static int consinit_called = 0; 1025 1026 if (consinit_called != 0) 1027 return; 1028 1029 consinit_called = 1; 1030 1031 #if NCOM > 0 1032 1033 #ifdef FFUARTCONSOLE 1034 #ifdef KGDB 1035 if (0 == strcmp(kgdb_devname, "ffuart")){ 1036 /* port is reserved for kgdb */ 1037 } else 1038 #endif 1039 { 1040 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_FFUART_BASE, 1041 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1042 pxa2x0_clkman_config(CKEN_FFUART, 1); 1043 return; 1044 } 1045 } 1046 #endif /* FFUARTCONSOLE */ 1047 1048 #ifdef STUARTCONSOLE 1049 #ifdef KGDB 1050 if (0 == strcmp(kgdb_devname, "stuart")) { 1051 /* port is reserved for kgdb */ 1052 } else 1053 #endif 1054 { 1055 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_STUART_BASE, 1056 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1057 pxa2x0_clkman_config(CKEN_STUART, 1); 1058 return; 1059 } 1060 } 1061 #endif /* STUARTCONSOLE */ 1062 1063 #ifdef BTUARTCONSOLE 1064 #ifdef KGDB 1065 if (0 == strcmp(kgdb_devname, "btuart")) { 1066 /* port is reserved for kgdb */ 1067 } else 1068 #endif 1069 { 1070 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_BTUART_BASE, 1071 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1072 pxa2x0_clkman_config(CKEN_BTUART, 1); 1073 return; 1074 } 1075 } 1076 #endif /* BTUARTCONSOLE */ 1077 1078 #ifdef HWUARTCONSOLE 1079 #ifdef KGDB 1080 if (0 == strcmp(kgdb_devname, "hwuart")) { 1081 /* port is reserved for kgdb */ 1082 } else 1083 #endif 1084 { 1085 if (0 == comcnattach(&pxa2x0_a4x_bs_tag, PXA2X0_HWUART_BASE, 1086 comcnspeed, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comcnmode)) { 1087 pxa2x0_clkman_config(CKEN_HWUART, 1); 1088 return; 1089 } 1090 } 1091 #endif /* HWUARTCONSOLE */ 1092 1093 #endif /* NCOM */ 1094 1095 #if NLCD > 0 1096 gxlcd_cnattach(); 1097 #endif 1098 } 1099 1100 #ifdef KGDB 1101 static void 1102 kgdb_port_init(void) 1103 { 1104 #if (NCOM > 0) && defined(COM_PXA2X0) 1105 paddr_t paddr = 0; 1106 int cken = 0; 1107 1108 if (0 == strcmp(kgdb_devname, "ffuart")) { 1109 paddr = PXA2X0_FFUART_BASE; 1110 cken = CKEN_FFUART; 1111 } else if (0 == strcmp(kgdb_devname, "stuart")) { 1112 paddr = PXA2X0_STUART_BASE; 1113 cken = CKEN_STUART; 1114 } else if (0 == strcmp(kgdb_devname, "btuart")) { 1115 paddr = PXA2X0_BTUART_BASE; 1116 cken = CKEN_BTUART; 1117 } else if (0 == strcmp(kgdb_devname, "hwuart")) { 1118 paddr = PXA2X0_HWUART_BASE; 1119 cken = CKEN_HWUART; 1120 } 1121 1122 if (paddr && 1123 0 == com_kgdb_attach(&pxa2x0_a4x_bs_tag, paddr, 1124 kgdb_devrate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 1125 1126 pxa2x0_clkman_config(cken, 1); 1127 } 1128 1129 #endif 1130 } 1131 #endif 1132
Indexes created Fri Oct 03 02:09:57 GMT 2025