imx31lk_machdep.c revision 1.26
1 /* $NetBSD: imx31lk_machdep.c,v 1.26 2019/07/16 14:41:45 skrll 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 1.26 2019/07/16 14:41:45 skrll Exp $"); 114 115 #include "opt_arm_debug.h" 116 #include "opt_console.h" 117 #include "opt_ddb.h" 118 #include "opt_kgdb.h" 119 #include "opt_pmap_debug.h" 120 #include "opt_md.h" 121 #include "opt_com.h" 122 123 #include <sys/param.h> 124 #include <sys/device.h> 125 #include <sys/systm.h> 126 #include <sys/kernel.h> 127 #include <sys/exec.h> 128 #include <sys/proc.h> 129 #include <sys/msgbuf.h> 130 #include <sys/reboot.h> 131 #include <sys/termios.h> 132 #include <sys/ksyms.h> 133 #include <sys/bus.h> 134 #include <sys/cpu.h> 135 136 #include <uvm/uvm_extern.h> 137 138 #include <sys/conf.h> 139 #include <dev/cons.h> 140 #include <dev/md.h> 141 142 #include <machine/db_machdep.h> 143 #include <ddb/db_sym.h> 144 #include <ddb/db_extern.h> 145 #ifdef KGDB 146 #include <sys/kgdb.h> 147 #endif 148 149 #include <machine/bootconfig.h> 150 #include <arm/locore.h> 151 #include <arm/undefined.h> 152 153 #include <arm/arm32/pte.h> 154 #include <arm/arm32/machdep.h> 155 156 #include <arm/imx/imx31reg.h> 157 #include <arm/imx/imxuartreg.h> 158 #include <arm/imx/imxuartvar.h> 159 #include <evbarm/imx31/imx31lk_reg.h> 160 161 /* Kernel text starts 1MB in from the bottom of the kernel address space. */ 162 #define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00100000) 163 #define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 164 165 /* 166 * The range 0x81000000 - 0x8cffffff is available for kernel VM space 167 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 168 */ 169 #define KERNEL_VM_SIZE 0x0C000000 170 171 BootConfig bootconfig; /* Boot config storage */ 172 char *boot_args = NULL; 173 char *boot_file = NULL; 174 175 vaddr_t physical_start; 176 vaddr_t physical_freestart; 177 vaddr_t physical_freeend; 178 vaddr_t physical_end; 179 u_int free_pages; 180 181 /*int debug_flags;*/ 182 #ifndef PMAP_STATIC_L1S 183 int max_processes = 64; /* Default number */ 184 #endif /* !PMAP_STATIC_L1S */ 185 186 paddr_t msgbufphys; 187 188 #ifdef PMAP_DEBUG 189 extern int pmap_debug_level; 190 #endif 191 192 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 193 #define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 194 #define KERNEL_PT_KERNEL_NUM 4 195 #define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 196 /* Page tables for mapping kernel VM */ 197 #define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 198 #define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 199 200 pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 201 202 /* Prototypes */ 203 204 #if 0 205 void process_kernel_args(char *); 206 #endif 207 208 void imx31lk_consinit(int); 209 void kgdb_port_init(void); 210 void change_clock(uint32_t v); 211 212 bs_protos(bs_notimpl); 213 214 #include "com.h" 215 #if NCOM > 0 216 #include <dev/ic/comreg.h> 217 #include <dev/ic/comvar.h> 218 #endif 219 220 #ifndef CONSPEED 221 #define CONSPEED B115200 /* What RedBoot uses */ 222 #endif 223 #ifndef CONMODE 224 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 225 #endif 226 227 int comcnspeed = CONSPEED; 228 int comcnmode = CONMODE; 229 230 /* 231 * void cpu_reboot(int howto, char *bootstr) 232 * 233 * Reboots the system 234 * 235 * Deal with any syncing, unmounting, dumping and shutdown hooks, 236 * then reset the CPU. 237 */ 238 void 239 cpu_reboot(int howto, char *bootstr) 240 { 241 #ifdef DIAGNOSTIC 242 /* info */ 243 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 244 #endif 245 246 /* 247 * If we are still cold then hit the air brakes 248 * and crash to earth fast 249 */ 250 if (cold) { 251 doshutdownhooks(); 252 pmf_system_shutdown(boothowto); 253 printf("The operating system has halted.\n"); 254 printf("Please press any key to reboot.\n\n"); 255 cngetc(); 256 printf("rebooting...\n"); 257 cpu_reset(); 258 /*NOTREACHED*/ 259 } 260 261 /* Disable console buffering */ 262 /* cnpollc(1);*/ 263 264 /* 265 * If RB_NOSYNC was not specified sync the discs. 266 * Note: Unless cold is set to 1 here, syslogd will die during the 267 * unmount. It looks like syslogd is getting woken up only to find 268 * that it cannot page part of the binary in as the filesystem has 269 * been unmounted. 270 */ 271 if (!(howto & RB_NOSYNC)) 272 bootsync(); 273 274 /* Say NO to interrupts */ 275 splhigh(); 276 277 /* Do a dump if requested. */ 278 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 279 dumpsys(); 280 281 /* Run any shutdown hooks */ 282 doshutdownhooks(); 283 284 pmf_system_shutdown(boothowto); 285 286 /* Make sure IRQ's are disabled */ 287 IRQdisable; 288 289 if (howto & RB_HALT) { 290 printf("The operating system has halted.\n"); 291 printf("Please press any key to reboot.\n\n"); 292 cngetc(); 293 } 294 295 printf("rebooting...\n"); 296 cpu_reset(); 297 /*NOTREACHED*/ 298 } 299 300 /* 301 * Static device mappings. These peripheral registers are mapped at 302 * fixed virtual addresses very early in imx31lk_start() so that we 303 * can use them while booting the kernel, and stay at the same address 304 * throughout whole kernel's life time. 305 * 306 * We use this table twice; once with bootstrap page table, and once 307 * with kernel's page table which we build up in initarm(). 308 */ 309 310 #define _A(a) ((a) & ~L1_S_OFFSET) 311 #define _S(s) (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1)) 312 313 static const struct pmap_devmap imx31lk_devmap[] = { 314 { 315 IMX31LITEKIT_UART1_VBASE, 316 _A(UART1_BASE), 317 _S(L1_S_SIZE), 318 VM_PROT_READ|VM_PROT_WRITE, 319 PTE_NOCACHE, 320 }, 321 {0, 0, 0, 0, 0 } 322 }; 323 324 #ifndef MEMSTART 325 #define MEMSTART 0x80000000 326 #endif 327 #ifndef MEMSIZE 328 #define MEMSIZE 0x8000000 329 #endif 330 331 /* 332 * vaddr_t initarm(...) 333 * 334 * Initial entry point on startup. This gets called before main() is 335 * entered. 336 * It should be responsible for setting up everything that must be 337 * in place when main is called. 338 * This includes 339 * Taking a copy of the boot configuration structure. 340 * Initialising the physical console so characters can be printed. 341 * Setting up page tables for the kernel 342 * Relocating the kernel to the bottom of physical memory 343 */ 344 vaddr_t 345 initarm(void *arg) 346 { 347 int loop; 348 int loop1; 349 vaddr_t l1pagetable; 350 351 disable_interrupts(I32_bit|F32_bit); 352 /* XXX move to imx31lk_start.S */ 353 354 /* Register devmap for devices we mapped in start */ 355 pmap_devmap_register(imx31lk_devmap); 356 357 #ifdef NOTYET 358 /* start 32.768 kHz OSC */ 359 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2); 360 /* Get ready for splfoo() */ 361 imx31_intr_bootstrap(IMX31_INTCTL_VBASE); 362 #endif 363 364 /* 365 * Heads up ... Setup the CPU / MMU / TLB functions 366 */ 367 if (set_cpufuncs()) 368 panic("cpu not recognized!"); 369 370 #if 0 371 /* Calibrate the delay loop. */ 372 #endif 373 374 consinit(); 375 376 #ifdef KGDB 377 kgdb_port_init(); 378 #endif 379 /* Talk to the user */ 380 printf("\nNetBSD/evbarm (imx31lk) booting ...\n"); 381 382 #if 0 383 /* 384 * Examine the boot args string for options we need to know about 385 * now. 386 */ 387 process_kernel_args((char *)nwbootinfo.bt_args); 388 #endif 389 390 printf("initarm: Configuring system ...\n"); 391 392 /* Fake bootconfig structure for the benefit of pmap.c */ 393 /* XXX must make the memory description h/w independent */ 394 bootconfig.dramblocks = 1; 395 bootconfig.dram[0].address = MEMSTART; 396 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE; 397 398 /* 399 * Set up the variables that define the availablilty of 400 * physical memory. For now, we're going to set 401 * physical_freeend to 0x80100000UL (where the kernel 402 * was loaded) and allocate the memory we need downwards. 403 * If we get too close to the page tables that LoLo 404 * set up, we will panic. We will update physical_freestart 405 * and physical_freeend later to reflect what pmap_bootstrap() 406 * wants to see. 407 * 408 * XXX pmap_bootstrap() needs an enema. 409 * (now that would be truly hardcore XXX) 410 */ 411 physical_start = bootconfig.dram[0].address; 412 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 413 414 physical_freestart = 0x800c0000UL; /* top of LoLo */ 415 physical_freeend = 0x80100000UL; /* base of kernel */ 416 417 physmem = (physical_end - physical_start) / PAGE_SIZE; 418 419 #ifdef VERBOSE_INIT_ARM 420 /* Tell the user about the memory */ 421 printf("physmemory: %"PRIuPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem, 422 physical_start, physical_end - 1); 423 #endif 424 425 /* 426 * Okay, the kernel starts 1MB in from the bottom of physical 427 * memory. We are going to allocate our bootstrap pages downwards 428 * from there. 429 * 430 * We need to allocate some fixed page tables to get the kernel 431 * going. We allocate one page directory and a number of page 432 * tables and store the physical addresses in the kernel_pt_table 433 * array. 434 * 435 * The kernel page directory must be on a 16K boundary. The page 436 * tables must be on 4K boundaries. What we do is allocate the 437 * page directory on the first 16K boundary that we encounter, and 438 * the page tables on 4K boundaries otherwise. Since we allocate 439 * at least 3 L2 page tables, we are guaranteed to encounter at 440 * least one 16K aligned region. 441 */ 442 443 #ifdef VERBOSE_INIT_ARM 444 printf("Allocating page tables\n"); 445 #endif 446 447 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 448 449 #ifdef VERBOSE_INIT_ARM 450 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 451 physical_freestart, free_pages, free_pages); 452 #endif 453 454 /* Define a macro to simplify memory allocation */ 455 #define valloc_pages(var, np) \ 456 alloc_pages((var).pv_pa, (np)); \ 457 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 458 459 #define alloc_pages(var, np) \ 460 physical_freeend -= ((np) * PAGE_SIZE); \ 461 if (physical_freeend < physical_freestart) \ 462 panic("initarm: out of memory"); \ 463 (var) = physical_freeend; \ 464 free_pages -= (np); \ 465 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 466 467 loop1 = 0; 468 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 469 /* Are we 16KB aligned for an L1 ? */ 470 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 471 && kernel_l1pt.pv_pa == 0) { 472 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 473 } else { 474 valloc_pages(kernel_pt_table[loop1], 475 L2_TABLE_SIZE / PAGE_SIZE); 476 ++loop1; 477 } 478 } 479 480 /* This should never be able to happen but better confirm that. */ 481 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 482 panic("initarm: Failed to align the kernel page directory"); 483 484 /* 485 * Allocate a page for the system page mapped to V0x00000000 486 * This page will just contain the system vectors and can be 487 * shared by all processes. 488 */ 489 alloc_pages(systempage.pv_pa, 1); 490 491 /* Allocate stacks for all modes */ 492 valloc_pages(irqstack, IRQ_STACK_SIZE); 493 valloc_pages(abtstack, ABT_STACK_SIZE); 494 valloc_pages(undstack, UND_STACK_SIZE); 495 valloc_pages(kernelstack, UPAGES); 496 497 #ifdef VERBOSE_INIT_ARM 498 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 499 irqstack.pv_va); 500 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 501 abtstack.pv_va); 502 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 503 undstack.pv_va); 504 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 505 kernelstack.pv_va); 506 #endif 507 508 /* 509 * XXX Defer this to later so that we can reclaim the memory 510 * XXX used by the LoLo page tables. 511 */ 512 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 513 514 /* 515 * Ok we have allocated physical pages for the primary kernel 516 * page tables 517 */ 518 519 #ifdef VERBOSE_INIT_ARM 520 printf("Creating L1 page table at p0x%08lx v0x%08lx\n", 521 kernel_l1pt.pv_pa, kernel_l1pt.pv_va); 522 #endif 523 524 /* 525 * Now we start construction of the L1 page table 526 * We start by mapping the L2 page tables into the L1. 527 * This means that we can replace L1 mappings later on if necessary 528 */ 529 l1pagetable = kernel_l1pt.pv_pa; 530 531 /* Map the L2 pages tables in the L1 page table */ 532 pmap_link_l2pt(l1pagetable, 0x00000000, 533 &kernel_pt_table[KERNEL_PT_SYS]); 534 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 535 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 536 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 537 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 538 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 539 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 540 541 /* update the top of the kernel VM */ 542 pmap_curmaxkvaddr = 543 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 544 545 #ifdef VERBOSE_INIT_ARM 546 printf("Mapping kernel\n"); 547 #endif 548 549 /* Now we fill in the L2 pagetable for the kernel static code/data */ 550 #define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME) 551 { 552 extern char etext[], _end[]; 553 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE); 554 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE); 555 u_int logical; 556 557 558 printf("%s: etext %lx, _end %lx\n", 559 __func__, (uintptr_t)etext, (uintptr_t)_end); 560 printf("%s: textsize %#lx, totalsize %#lx\n", 561 __func__, textsize, totalsize); 562 563 logical = 0x00100000; /* offset of kernel in RAM */ 564 565 /* Map text section read-only. */ 566 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 567 physical_start + logical, textsize, 568 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE); 569 570 /* Map data and bss sections read-write. */ 571 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 572 physical_start + logical, totalsize - textsize, 573 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 574 } 575 576 #ifdef VERBOSE_INIT_ARM 577 printf("Constructing L2 page tables\n"); 578 #endif 579 580 /* Map the stack pages */ 581 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 582 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 583 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 584 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 585 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 586 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 587 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 588 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 589 590 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 591 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 592 593 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 594 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 595 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 596 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 597 } 598 599 /* Map the vector page. */ 600 #if 1 601 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 602 * cache-clean code there. */ 603 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 604 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 605 #else 606 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 607 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 608 #endif 609 610 /* 611 * map integrated peripherals at same address in l1pagetable 612 * so that we can continue to use console. 613 */ 614 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap); 615 616 /* 617 * Now we have the real page tables in place so we can switch to them. 618 * Once this is done we will be running with the REAL kernel page 619 * tables. 620 */ 621 622 /* 623 * Update the physical_freestart/physical_freeend/free_pages 624 * variables. 625 */ 626 { 627 extern char _end[]; 628 629 physical_freestart = physical_start + 630 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 631 KERNEL_BASE); 632 physical_freeend = physical_end; 633 free_pages = 634 (physical_freeend - physical_freestart) / PAGE_SIZE; 635 } 636 637 /* Switch tables */ 638 #ifdef VERBOSE_INIT_ARM 639 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 640 physical_freestart, free_pages, free_pages); 641 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 642 #endif 643 644 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 645 cpu_setttb(kernel_l1pt.pv_pa, true); 646 cpu_tlb_flushID(); 647 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 648 //imx31lk_consinit(2); 649 650 /* 651 * Moved from cpu_startup() as data_abort_handler() references 652 * this during uvm init 653 */ 654 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 655 656 #ifdef VERBOSE_INIT_ARM 657 printf("bootstrap done.\n"); 658 #endif 659 660 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 661 662 /* 663 * Pages were allocated during the secondary bootstrap for the 664 * stacks for different CPU modes. 665 * We must now set the r13 registers in the different CPU modes to 666 * point to these stacks. 667 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 668 * of the stack memory. 669 */ 670 printf("init subsystems: stacks "); 671 672 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 673 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 674 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 675 676 /* 677 * Well we should set a data abort handler. 678 * Once things get going this will change as we will need a proper 679 * handler. 680 * Until then we will use a handler that just panics but tells us 681 * why. 682 * Initialisation of the vectors will just panic on a data abort. 683 * This just fills in a slightly better one. 684 */ 685 printf("vectors "); 686 data_abort_handler_address = (u_int)data_abort_handler; 687 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 688 undefined_handler_address = (u_int)undefinedinstruction_bounce; 689 690 /* Initialise the undefined instruction handlers */ 691 printf("undefined "); 692 undefined_init(); 693 694 /* Load memory into UVM. */ 695 printf("page "); 696 uvm_md_init(); 697 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 698 atop(physical_freestart), atop(physical_freeend), 699 VM_FREELIST_DEFAULT); 700 701 /* Boot strap pmap telling it where managed kernel virtual memory is */ 702 printf("pmap "); 703 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 704 705 #ifdef __HAVE_MEMORY_DISK__ 706 md_root_setconf(memory_disk, sizeof memory_disk); 707 #endif 708 709 #ifdef KGDB 710 if (boothowto & RB_KDB) { 711 kgdb_debug_init = 1; 712 kgdb_connect(1); 713 } 714 #endif 715 716 #ifdef DDB 717 printf("ddb "); 718 db_machine_init(); 719 720 /* Firmware doesn't load symbols. */ 721 ddb_init(0, NULL, NULL); 722 723 if (boothowto & RB_KDB) 724 Debugger(); 725 #endif 726 /* We return the new stack pointer address */ 727 return kernelstack.pv_va + USPACE_SVC_STACK_TOP; 728 } 729 730 #if 0 731 void 732 process_kernel_args(char *args) 733 { 734 735 boothowto = 0; 736 737 /* Make a local copy of the bootargs */ 738 strncpy(bootargs, args, MAX_BOOT_STRING); 739 740 args = bootargs; 741 boot_file = bootargs; 742 743 /* Skip the kernel image filename */ 744 while (*args != ' ' && *args != 0) 745 ++args; 746 747 if (*args != 0) 748 *args++ = 0; 749 750 while (*args == ' ') 751 ++args; 752 753 boot_args = args; 754 755 printf("bootfile: %s\n", boot_file); 756 printf("bootargs: %s\n", boot_args); 757 758 parse_mi_bootargs(boot_args); 759 } 760 #endif 761 762 #ifdef KGDB 763 #ifndef KGDB_DEVNAME 764 #define KGDB_DEVNAME "ffuart" 765 #endif 766 const char kgdb_devname[] = KGDB_DEVNAME; 767 768 #if (NCOM > 0) 769 #ifndef KGDB_DEVMODE 770 #define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 771 #endif 772 int comkgdbmode = KGDB_DEVMODE; 773 #endif /* NCOM */ 774 775 #endif /* KGDB */ 776 777 778 #if 0 779 void 780 imx31lk_consinit(int phase) 781 { 782 static int ophase = 0; 783 intptr_t bh; 784 785 if (ophase != phase) { 786 ophase = phase; 787 switch (phase) { 788 case 1: 789 imxuart_init(0, UART1_BASE); 790 break; 791 case 2: 792 bh = IMX31LITEKIT_UART1_VBASE; 793 bh |= (UART1_BASE & ~_A(UART1_BASE)); 794 imxuart_init(0, bh); 795 break; 796 } 797 } 798 } 799 #endif 800 801 void 802 consinit(void) 803 { 804 // imx31lk_consinit(2); 805 } 806 807 #ifdef KGDB 808 void 809 kgdb_port_init(void) 810 { 811 #if (NCOM > 0) && defined(COM_PXA2X0) 812 paddr_t paddr = 0; 813 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN); 814 815 if (0 == strcmp(kgdb_devname, "ffuart")) { 816 paddr = PXA2X0_FFUART_BASE; 817 ckenreg |= CKEN_FFUART; 818 } 819 else if (0 == strcmp(kgdb_devname, "btuart")) { 820 paddr = PXA2X0_BTUART_BASE; 821 ckenreg |= CKEN_BTUART; 822 } 823 824 if (paddr && 825 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr, 826 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 827 828 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 829 } 830 #endif 831 } 832 #endif 833
Indexes created Thu Oct 02 14:10:14 GMT 2025