imx31lk_machdep.c revision 1.16
1 /* $NetBSD: imx31lk_machdep.c,v 1.16 2012/09/22 00:33:39 matt Exp $ */ 2 3 /* 4 * Startup routines for the ZOOM iMX31 LITEKIT. 5 * Below you can trace the increasingly impressive lineage ;) 6 */ 7 8 /* 9 * Copyright (c) 2002, 2003, 2005 Genetec Corporation. All rights reserved. 10 * Written by Hiroyuki Bessho for Genetec Corporation. 11 * 12 * Redistribution and use in source and binary forms, with or without 13 * modification, are permitted provided that the following conditions 14 * are met: 15 * 1. Redistributions of source code must retain the above copyright 16 * notice, this list of conditions and the following disclaimer. 17 * 2. Redistributions in binary form must reproduce the above copyright 18 * notice, this list of conditions and the following disclaimer in the 19 * documentation and/or other materials provided with the distribution. 20 * 3. The name of Genetec Corporation may not be used to endorse or 21 * promote products derived from this software without specific prior 22 * written permission. 23 * 24 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND 25 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 26 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 27 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GENETEC CORPORATION 28 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 29 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 30 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 31 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 32 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 33 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 34 * POSSIBILITY OF SUCH DAMAGE. 35 * 36 * Machine dependent functions for kernel setup for 37 * Intel DBPXA250 evaluation board (a.k.a. Lubbock). 38 * Based on iq80310_machhdep.c 39 */ 40 /* 41 * Copyright (c) 2001 Wasabi Systems, Inc. 42 * All rights reserved. 43 * 44 * Written by Jason R. Thorpe for Wasabi Systems, Inc. 45 * 46 * Redistribution and use in source and binary forms, with or without 47 * modification, are permitted provided that the following conditions 48 * are met: 49 * 1. Redistributions of source code must retain the above copyright 50 * notice, this list of conditions and the following disclaimer. 51 * 2. Redistributions in binary form must reproduce the above copyright 52 * notice, this list of conditions and the following disclaimer in the 53 * documentation and/or other materials provided with the distribution. 54 * 3. All advertising materials mentioning features or use of this software 55 * must display the following acknowledgement: 56 * This product includes software developed for the NetBSD Project by 57 * Wasabi Systems, Inc. 58 * 4. The name of Wasabi Systems, Inc. may not be used to endorse 59 * or promote products derived from this software without specific prior 60 * written permission. 61 * 62 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND 63 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED 64 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 65 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL WASABI SYSTEMS, INC 66 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 67 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 68 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 69 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 70 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 71 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 72 * POSSIBILITY OF SUCH DAMAGE. 73 */ 74 75 /* 76 * Copyright (c) 1997,1998 Mark Brinicombe. 77 * Copyright (c) 1997,1998 Causality Limited. 78 * All rights reserved. 79 * 80 * Redistribution and use in source and binary forms, with or without 81 * modification, are permitted provided that the following conditions 82 * are met: 83 * 1. Redistributions of source code must retain the above copyright 84 * notice, this list of conditions and the following disclaimer. 85 * 2. Redistributions in binary form must reproduce the above copyright 86 * notice, this list of conditions and the following disclaimer in the 87 * documentation and/or other materials provided with the distribution. 88 * 3. All advertising materials mentioning features or use of this software 89 * must display the following acknowledgement: 90 * This product includes software developed by Mark Brinicombe 91 * for the NetBSD Project. 92 * 4. The name of the company nor the name of the author may be used to 93 * endorse or promote products derived from this software without specific 94 * prior written permission. 95 * 96 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 97 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 98 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 99 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 100 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 101 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 102 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 103 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 104 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 105 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 106 * SUCH DAMAGE. 107 * 108 * Machine dependent functions for kernel setup for Intel IQ80310 evaluation 109 * boards using RedBoot firmware. 110 */ 111 112 #include <sys/cdefs.h> 113 __KERNEL_RCSID(0, "$NetBSD: imx31lk_machdep.c,v 1.16 2012/09/22 00:33:39 matt Exp $"); 114 115 #include "opt_ddb.h" 116 #include "opt_kgdb.h" 117 #include "opt_ipkdb.h" 118 #include "opt_pmap_debug.h" 119 #include "opt_md.h" 120 #include "opt_com.h" 121 122 #include <sys/param.h> 123 #include <sys/device.h> 124 #include <sys/systm.h> 125 #include <sys/kernel.h> 126 #include <sys/exec.h> 127 #include <sys/proc.h> 128 #include <sys/msgbuf.h> 129 #include <sys/reboot.h> 130 #include <sys/termios.h> 131 #include <sys/ksyms.h> 132 133 #include <uvm/uvm_extern.h> 134 135 #include <sys/conf.h> 136 #include <dev/cons.h> 137 #include <dev/md.h> 138 139 #include <machine/db_machdep.h> 140 #include <ddb/db_sym.h> 141 #include <ddb/db_extern.h> 142 #ifdef KGDB 143 #include <sys/kgdb.h> 144 #endif 145 146 #include <machine/bootconfig.h> 147 #include <sys/bus.h> 148 #include <machine/cpu.h> 149 #include <machine/frame.h> 150 #include <arm/undefined.h> 151 152 #include <arm/arm32/pte.h> 153 #include <arm/arm32/machdep.h> 154 155 #include <arm/imx/imx31reg.h> 156 #include <arm/imx/imxuartreg.h> 157 #include <arm/imx/imxuartvar.h> 158 #include <evbarm/imx31/imx31lk_reg.h> 159 160 /* Kernel text starts 1MB in from the bottom of the kernel address space. */ 161 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00100000) 162 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 163 164 /* 165 * The range 0x81000000 - 0x8cffffff is available for kernel VM space 166 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 167 */ 168 #define KERNEL_VM_SIZE 0x0C000000 169 170 BootConfig bootconfig; /* Boot config storage */ 171 char *boot_args = NULL; 172 char *boot_file = NULL; 173 174 vm_offset_t physical_start; 175 vm_offset_t physical_freestart; 176 vm_offset_t physical_freeend; 177 vm_offset_t physical_end; 178 u_int free_pages; 179 180 /*int debug_flags;*/ 181 #ifndef PMAP_STATIC_L1S 182 int max_processes = 64; /* Default number */ 183 #endif /* !PMAP_STATIC_L1S */ 184 185 vm_offset_t msgbufphys; 186 187 #ifdef PMAP_DEBUG 188 extern int pmap_debug_level; 189 #endif 190 191 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 192 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 193 #define KERNEL_PT_KERNEL_NUM 4 194 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 195 /* Page tables for mapping kernel VM */ 196 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 197 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 198 199 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 200 201 /* Prototypes */ 202 203 #if 0 204 void process_kernel_args(char *); 205 #endif 206 207 void imx31lk_consinit(int); 208 void kgdb_port_init(void); 209 void change_clock(uint32_t v); 210 211 bs_protos(bs_notimpl); 212 213 #include "com.h" 214 #if NCOM > 0 215 #include <dev/ic/comreg.h> 216 #include <dev/ic/comvar.h> 217 #endif 218 219 #ifndef CONSPEED 220 #define CONSPEED B115200 /* What RedBoot uses */ 221 #endif 222 #ifndef CONMODE 223 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 224 #endif 225 226 int comcnspeed = CONSPEED; 227 int comcnmode = CONMODE; 228 229 /* 230 * void cpu_reboot(int howto, char *bootstr) 231 * 232 * Reboots the system 233 * 234 * Deal with any syncing, unmounting, dumping and shutdown hooks, 235 * then reset the CPU. 236 */ 237 void 238 cpu_reboot(int howto, char *bootstr) 239 { 240 #ifdef DIAGNOSTIC 241 /* info */ 242 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 243 #endif 244 245 /* 246 * If we are still cold then hit the air brakes 247 * and crash to earth fast 248 */ 249 if (cold) { 250 doshutdownhooks(); 251 pmf_system_shutdown(boothowto); 252 printf("The operating system has halted.\n"); 253 printf("Please press any key to reboot.\n\n"); 254 cngetc(); 255 printf("rebooting...\n"); 256 cpu_reset(); 257 /*NOTREACHED*/ 258 } 259 260 /* Disable console buffering */ 261 /* cnpollc(1);*/ 262 263 /* 264 * If RB_NOSYNC was not specified sync the discs. 265 * Note: Unless cold is set to 1 here, syslogd will die during the 266 * unmount. It looks like syslogd is getting woken up only to find 267 * that it cannot page part of the binary in as the filesystem has 268 * been unmounted. 269 */ 270 if (!(howto & RB_NOSYNC)) 271 bootsync(); 272 273 /* Say NO to interrupts */ 274 splhigh(); 275 276 /* Do a dump if requested. */ 277 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 278 dumpsys(); 279 280 /* Run any shutdown hooks */ 281 doshutdownhooks(); 282 283 pmf_system_shutdown(boothowto); 284 285 /* Make sure IRQ's are disabled */ 286 IRQdisable; 287 288 if (howto & RB_HALT) { 289 printf("The operating system has halted.\n"); 290 printf("Please press any key to reboot.\n\n"); 291 cngetc(); 292 } 293 294 printf("rebooting...\n"); 295 cpu_reset(); 296 /*NOTREACHED*/ 297 } 298 299 /* 300 * Static device mappings. These peripheral registers are mapped at 301 * fixed virtual addresses very early in imx31lk_start() so that we 302 * can use them while booting the kernel, and stay at the same address 303 * throughout whole kernel's life time. 304 * 305 * We use this table twice; once with bootstrap page table, and once 306 * with kernel's page table which we build up in initarm(). 307 */ 308 309 #define _A(a) ((a) & ~L1_S_OFFSET) 310 #define _S(s) (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1)) 311 312 static const struct pmap_devmap imx31lk_devmap[] = { 313 { 314 IMX31LITEKIT_UART1_VBASE, 315 _A(UART1_BASE), 316 _S(L1_S_SIZE), 317 VM_PROT_READ|VM_PROT_WRITE, 318 PTE_NOCACHE, 319 }, 320 {0, 0, 0, 0, 0 } 321 }; 322 323 #ifndef MEMSTART 324 #define MEMSTART 0x80000000 325 #endif 326 #ifndef MEMSIZE 327 #define MEMSIZE 0x8000000 328 #endif 329 330 /* 331 * u_int initarm(...) 332 * 333 * Initial entry point on startup. This gets called before main() is 334 * entered. 335 * It should be responsible for setting up everything that must be 336 * in place when main is called. 337 * This includes 338 * Taking a copy of the boot configuration structure. 339 * Initialising the physical console so characters can be printed. 340 * Setting up page tables for the kernel 341 * Relocating the kernel to the bottom of physical memory 342 */ 343 u_int 344 initarm(void *arg) 345 { 346 int loop; 347 int loop1; 348 vaddr_t l1pagetable; 349 350 disable_interrupts(I32_bit|F32_bit); 351 /* XXX move to imx31lk_start.S */ 352 353 /* Register devmap for devices we mapped in start */ 354 pmap_devmap_register(imx31lk_devmap); 355 356 #ifdef NOTYET 357 /* start 32.768 kHz OSC */ 358 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2); 359 /* Get ready for splfoo() */ 360 imx31_intr_bootstrap(IMX31_INTCTL_VBASE); 361 #endif 362 363 /* 364 * Heads up ... Setup the CPU / MMU / TLB functions 365 */ 366 if (set_cpufuncs()) 367 panic("cpu not recognized!"); 368 369 #if 0 370 /* Calibrate the delay loop. */ 371 #endif 372 373 consinit(); 374 375 #ifdef KGDB 376 kgdb_port_init(); 377 #endif 378 /* Talk to the user */ 379 printf("\nNetBSD/evbarm (imx31lk) booting ...\n"); 380 381 #if 0 382 /* 383 * Examine the boot args string for options we need to know about 384 * now. 385 */ 386 process_kernel_args((char *)nwbootinfo.bt_args); 387 #endif 388 389 printf("initarm: Configuring system ...\n"); 390 391 /* Fake bootconfig structure for the benefit of pmap.c */ 392 /* XXX must make the memory description h/w independent */ 393 bootconfig.dramblocks = 1; 394 bootconfig.dram[0].address = MEMSTART; 395 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE; 396 397 /* 398 * Set up the variables that define the availablilty of 399 * physical memory. For now, we're going to set 400 * physical_freeend to 0x80100000UL (where the kernel 401 * was loaded) and allocate the memory we need downwards. 402 * If we get too close to the page tables that LoLo 403 * set up, we will panic. We will update physical_freestart 404 * and physical_freeend later to reflect what pmap_bootstrap() 405 * wants to see. 406 * 407 * XXX pmap_bootstrap() needs an enema. 408 * (now that would be truly hardcore XXX) 409 */ 410 physical_start = bootconfig.dram[0].address; 411 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 412 413 physical_freestart = 0x800c0000UL; /* top of LoLo */ 414 physical_freeend = 0x80100000UL; /* base of kernel */ 415 416 physmem = (physical_end - physical_start) / PAGE_SIZE; 417 418 #ifdef VERBOSE_INIT_ARM 419 /* Tell the user about the memory */ 420 printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem, 421 physical_start, physical_end - 1); 422 #endif 423 424 /* 425 * Okay, the kernel starts 1MB in from the bottom of physical 426 * memory. We are going to allocate our bootstrap pages downwards 427 * from there. 428 * 429 * We need to allocate some fixed page tables to get the kernel 430 * going. We allocate one page directory and a number of page 431 * tables and store the physical addresses in the kernel_pt_table 432 * array. 433 * 434 * The kernel page directory must be on a 16K boundary. The page 435 * tables must be on 4K boundaries. What we do is allocate the 436 * page directory on the first 16K boundary that we encounter, and 437 * the page tables on 4K boundaries otherwise. Since we allocate 438 * at least 3 L2 page tables, we are guaranteed to encounter at 439 * least one 16K aligned region. 440 */ 441 442 #ifdef VERBOSE_INIT_ARM 443 printf("Allocating page tables\n"); 444 #endif 445 446 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 447 448 #ifdef VERBOSE_INIT_ARM 449 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 450 physical_freestart, free_pages, free_pages); 451 #endif 452 453 /* Define a macro to simplify memory allocation */ 454 #define valloc_pages(var, np) \ 455 alloc_pages((var).pv_pa, (np)); \ 456 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 457 458 #define alloc_pages(var, np) \ 459 physical_freeend -= ((np) * PAGE_SIZE); \ 460 if (physical_freeend < physical_freestart) \ 461 panic("initarm: out of memory"); \ 462 (var) = physical_freeend; \ 463 free_pages -= (np); \ 464 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 465 466 loop1 = 0; 467 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 468 /* Are we 16KB aligned for an L1 ? */ 469 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 470 && kernel_l1pt.pv_pa == 0) { 471 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 472 } else { 473 valloc_pages(kernel_pt_table[loop1], 474 L2_TABLE_SIZE / PAGE_SIZE); 475 ++loop1; 476 } 477 } 478 479 /* This should never be able to happen but better confirm that. */ 480 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 481 panic("initarm: Failed to align the kernel page directory"); 482 483 /* 484 * Allocate a page for the system page mapped to V0x00000000 485 * This page will just contain the system vectors and can be 486 * shared by all processes. 487 */ 488 alloc_pages(systempage.pv_pa, 1); 489 490 /* Allocate stacks for all modes */ 491 valloc_pages(irqstack, IRQ_STACK_SIZE); 492 valloc_pages(abtstack, ABT_STACK_SIZE); 493 valloc_pages(undstack, UND_STACK_SIZE); 494 valloc_pages(kernelstack, UPAGES); 495 496 #ifdef VERBOSE_INIT_ARM 497 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 498 irqstack.pv_va); 499 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 500 abtstack.pv_va); 501 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 502 undstack.pv_va); 503 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 504 kernelstack.pv_va); 505 #endif 506 507 /* 508 * XXX Defer this to later so that we can reclaim the memory 509 * XXX used by the LoLo page tables. 510 */ 511 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 512 513 /* 514 * Ok we have allocated physical pages for the primary kernel 515 * page tables 516 */ 517 518 #ifdef VERBOSE_INIT_ARM 519 printf("Creating L1 page table at p0x%08lx v0x%08lx\n", 520 kernel_l1pt.pv_pa, kernel_l1pt.pv_va); 521 #endif 522 523 /* 524 * Now we start construction of the L1 page table 525 * We start by mapping the L2 page tables into the L1. 526 * This means that we can replace L1 mappings later on if necessary 527 */ 528 l1pagetable = kernel_l1pt.pv_pa; 529 530 /* Map the L2 pages tables in the L1 page table */ 531 pmap_link_l2pt(l1pagetable, 0x00000000, 532 &kernel_pt_table[KERNEL_PT_SYS]); 533 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 534 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 535 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 536 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 537 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 538 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 539 540 /* update the top of the kernel VM */ 541 pmap_curmaxkvaddr = 542 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 543 544 #ifdef VERBOSE_INIT_ARM 545 printf("Mapping kernel\n"); 546 #endif 547 548 /* Now we fill in the L2 pagetable for the kernel static code/data */ 549 #define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME) 550 { 551 extern char etext[], _end[]; 552 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE); 553 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE); 554 u_int logical; 555 556 557 printf("%s: etext %lx, _end %lx\n", 558 __func__, (uintptr_t)etext, (uintptr_t)_end); 559 printf("%s: textsize %#lx, totalsize %#lx\n", 560 __func__, textsize, totalsize); 561 562 logical = 0x00100000; /* offset of kernel in RAM */ 563 564 /* Map text section read-only. */ 565 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 566 physical_start + logical, textsize, 567 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE); 568 569 /* Map data and bss sections read-write. */ 570 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 571 physical_start + logical, totalsize - textsize, 572 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 573 } 574 575 #ifdef VERBOSE_INIT_ARM 576 printf("Constructing L2 page tables\n"); 577 #endif 578 579 /* Map the stack pages */ 580 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 581 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 582 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 583 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 584 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 585 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 586 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 587 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 588 589 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 590 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 591 592 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 593 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 594 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 595 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 596 } 597 598 /* Map the vector page. */ 599 #if 1 600 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 601 * cache-clean code there. */ 602 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 603 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 604 #else 605 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 606 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 607 #endif 608 609 /* 610 * map integrated peripherals at same address in l1pagetable 611 * so that we can continue to use console. 612 */ 613 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap); 614 615 /* 616 * Now we have the real page tables in place so we can switch to them. 617 * Once this is done we will be running with the REAL kernel page 618 * tables. 619 */ 620 621 /* 622 * Update the physical_freestart/physical_freeend/free_pages 623 * variables. 624 */ 625 { 626 extern char _end[]; 627 628 physical_freestart = physical_start + 629 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 630 KERNEL_BASE); 631 physical_freeend = physical_end; 632 free_pages = 633 (physical_freeend - physical_freestart) / PAGE_SIZE; 634 } 635 636 /* Switch tables */ 637 #ifdef VERBOSE_INIT_ARM 638 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 639 physical_freestart, free_pages, free_pages); 640 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 641 #endif 642 643 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 644 cpu_setttb(kernel_l1pt.pv_pa, true); 645 cpu_tlb_flushID(); 646 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 647 //imx31lk_consinit(2); 648 649 /* 650 * Moved from cpu_startup() as data_abort_handler() references 651 * this during uvm init 652 */ 653 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 654 655 #ifdef VERBOSE_INIT_ARM 656 printf("bootstrap done.\n"); 657 #endif 658 659 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 660 661 /* 662 * Pages were allocated during the secondary bootstrap for the 663 * stacks for different CPU modes. 664 * We must now set the r13 registers in the different CPU modes to 665 * point to these stacks. 666 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 667 * of the stack memory. 668 */ 669 printf("init subsystems: stacks "); 670 671 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 672 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 673 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 674 675 /* 676 * Well we should set a data abort handler. 677 * Once things get going this will change as we will need a proper 678 * handler. 679 * Until then we will use a handler that just panics but tells us 680 * why. 681 * Initialisation of the vectors will just panic on a data abort. 682 * This just fills in a slightly better one. 683 */ 684 printf("vectors "); 685 data_abort_handler_address = (u_int)data_abort_handler; 686 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 687 undefined_handler_address = (u_int)undefinedinstruction_bounce; 688 689 /* Initialise the undefined instruction handlers */ 690 printf("undefined "); 691 undefined_init(); 692 693 /* Load memory into UVM. */ 694 printf("page "); 695 uvm_setpagesize(); /* initialize PAGE_SIZE-dependent variables */ 696 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 697 atop(physical_freestart), atop(physical_freeend), 698 VM_FREELIST_DEFAULT); 699 700 /* Boot strap pmap telling it where the kernel page table is */ 701 printf("pmap "); 702 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 703 704 #ifdef __HAVE_MEMORY_DISK__ 705 md_root_setconf(memory_disk, sizeof memory_disk); 706 #endif 707 708 #ifdef IPKDB 709 /* Initialise ipkdb */ 710 ipkdb_init(); 711 if (boothowto & RB_KDB) 712 ipkdb_connect(0); 713 #endif 714 715 #ifdef KGDB 716 if (boothowto & RB_KDB) { 717 kgdb_debug_init = 1; 718 kgdb_connect(1); 719 } 720 #endif 721 722 #ifdef DDB 723 printf("ddb "); 724 db_machine_init(); 725 726 /* Firmware doesn't load symbols. */ 727 ddb_init(0, NULL, NULL); 728 729 if (boothowto & RB_KDB) 730 Debugger(); 731 #endif 732 /* We return the new stack pointer address */ 733 return(kernelstack.pv_va + USPACE_SVC_STACK_TOP); 734 } 735 736 #if 0 737 void 738 process_kernel_args(char *args) 739 { 740 741 boothowto = 0; 742 743 /* Make a local copy of the bootargs */ 744 strncpy(bootargs, args, MAX_BOOT_STRING); 745 746 args = bootargs; 747 boot_file = bootargs; 748 749 /* Skip the kernel image filename */ 750 while (*args != ' ' && *args != 0) 751 ++args; 752 753 if (*args != 0) 754 *args++ = 0; 755 756 while (*args == ' ') 757 ++args; 758 759 boot_args = args; 760 761 printf("bootfile: %s\n", boot_file); 762 printf("bootargs: %s\n", boot_args); 763 764 parse_mi_bootargs(boot_args); 765 } 766 #endif 767 768 #ifdef KGDB 769 #ifndef KGDB_DEVNAME 770 #define KGDB_DEVNAME "ffuart" 771 #endif 772 const char kgdb_devname[] = KGDB_DEVNAME; 773 774 #if (NCOM > 0) 775 #ifndef KGDB_DEVMODE 776 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 777 #endif 778 int comkgdbmode = KGDB_DEVMODE; 779 #endif /* NCOM */ 780 781 #endif /* KGDB */ 782 783 784 #if 0 785 void 786 imx31lk_consinit(int phase) 787 { 788 static int ophase = 0; 789 intptr_t bh; 790 791 if (ophase != phase) { 792 ophase = phase; 793 switch (phase) { 794 case 1: 795 imxuart_init(0, UART1_BASE); 796 break; 797 case 2: 798 bh = IMX31LITEKIT_UART1_VBASE; 799 bh |= (UART1_BASE & ~_A(UART1_BASE)); 800 imxuart_init(0, bh); 801 break; 802 } 803 } 804 } 805 #endif 806 807 void 808 consinit(void) 809 { 810 // imx31lk_consinit(2); 811 } 812 813 #ifdef KGDB 814 void 815 kgdb_port_init(void) 816 { 817 #if (NCOM > 0) && defined(COM_PXA2X0) 818 paddr_t paddr = 0; 819 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN); 820 821 if (0 == strcmp(kgdb_devname, "ffuart")) { 822 paddr = PXA2X0_FFUART_BASE; 823 ckenreg |= CKEN_FFUART; 824 } 825 else if (0 == strcmp(kgdb_devname, "btuart")) { 826 paddr = PXA2X0_BTUART_BASE; 827 ckenreg |= CKEN_BTUART; 828 } 829 830 if (paddr && 831 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr, 832 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 833 834 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 835 } 836 #endif 837 } 838 #endif 839
Indexes created Thu Oct 02 10:09:58 GMT 2025