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nslu2_machdep.c revision 1.20
      1 /*	$NetBSD: nslu2_machdep.c,v 1.20 2012/07/29 00:07:09 matt Exp $	*/
      2 
      3 /*-
      4  * Copyright (c) 2006 The NetBSD Foundation, Inc.
      5  * All rights reserved.
      6  *
      7  * This code is derived from software contributed to The NetBSD Foundation
      8  * by Steve C. Woodford.
      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  *
     19  * THIS SOFTWARE IS PROVIDED BY THE NETBSD FOUNDATION, INC. AND CONTRIBUTORS
     20  * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
     21  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
     22  * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE FOUNDATION OR CONTRIBUTORS
     23  * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     24  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     25  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     26  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     27  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     28  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     29  * POSSIBILITY OF SUCH DAMAGE.
     30  */
     31 /*
     32  * Copyright (c) 2003
     33  *	Ichiro FUKUHARA <ichiro (at) ichiro.org>.
     34  * All rights reserved.
     35  *
     36  * Redistribution and use in source and binary forms, with or without
     37  * modification, are permitted provided that the following conditions
     38  * are met:
     39  * 1. Redistributions of source code must retain the above copyright
     40  *    notice, this list of conditions and the following disclaimer.
     41  * 2. Redistributions in binary form must reproduce the above copyright
     42  *    notice, this list of conditions and the following disclaimer in the
     43  *    documentation and/or other materials provided with the distribution.
     44  *
     45  * THIS SOFTWARE IS PROVIDED BY ICHIRO FUKUHARA ``AS IS'' AND ANY EXPRESS OR
     46  * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
     47  * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
     48  * IN NO EVENT SHALL ICHIRO FUKUHARA OR THE VOICES IN HIS HEAD BE LIABLE FOR
     49  * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
     50  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
     51  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
     52  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
     53  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
     54  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
     55  * SUCH DAMAGE.
     56  */
     57 /*
     58  * Copyright (c) 1997,1998 Mark Brinicombe.
     59  * Copyright (c) 1997,1998 Causality Limited.
     60  * All rights reserved.
     61  *
     62  * Redistribution and use in source and binary forms, with or without
     63  * modification, are permitted provided that the following conditions
     64  * are met:
     65  * 1. Redistributions of source code must retain the above copyright
     66  *    notice, this list of conditions and the following disclaimer.
     67  * 2. Redistributions in binary form must reproduce the above copyright
     68  *    notice, this list of conditions and the following disclaimer in the
     69  *    documentation and/or other materials provided with the distribution.
     70  * 3. All advertising materials mentioning features or use of this software
     71  *    must display the following acknowledgement:
     72  *	This product includes software developed by Mark Brinicombe
     73  *	for the NetBSD Project.
     74  * 4. The name of the company nor the name of the author may be used to
     75  *    endorse or promote products derived from this software without specific
     76  *    prior written permission.
     77  *
     78  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
     79  * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
     80  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
     81  * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
     82  * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
     83  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
     84  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
     85  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
     86  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
     87  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
     88  * SUCH DAMAGE.
     89  */
     90 
     91 /*
     92  * Machine dependent functions for kernel setup for Linksys NSLU2
     93  * using RedBoot firmware.
     94  */
     95 
     96 #include <sys/cdefs.h>
     97 __KERNEL_RCSID(0, "$NetBSD: nslu2_machdep.c,v 1.20 2012/07/29 00:07:09 matt Exp $");
     98 
     99 #include "opt_ddb.h"
    100 #include "opt_kgdb.h"
    101 #include "opt_pmap_debug.h"
    102 
    103 #include <sys/param.h>
    104 #include <sys/device.h>
    105 #include <sys/systm.h>
    106 #include <sys/kernel.h>
    107 #include <sys/exec.h>
    108 #include <sys/proc.h>
    109 #include <sys/msgbuf.h>
    110 #include <sys/reboot.h>
    111 #include <sys/termios.h>
    112 #include <sys/ksyms.h>
    113 
    114 #include <uvm/uvm_extern.h>
    115 
    116 #include <dev/cons.h>
    117 
    118 #include <machine/db_machdep.h>
    119 #include <ddb/db_sym.h>
    120 #include <ddb/db_extern.h>
    121 
    122 #include <machine/bootconfig.h>
    123 #include <sys/bus.h>
    124 #include <machine/cpu.h>
    125 #include <machine/frame.h>
    126 #include <arm/undefined.h>
    127 
    128 #include <arm/arm32/machdep.h>
    129 
    130 #include <arm/xscale/ixp425reg.h>
    131 #include <arm/xscale/ixp425var.h>
    132 #include <arm/xscale/ixp425_sipvar.h>
    133 
    134 #include <evbarm/nslu2/nslu2reg.h>
    135 
    136 #include "com.h"
    137 #if NCOM > 0
    138 #include <dev/ic/comreg.h>
    139 #include <dev/ic/comvar.h>
    140 #endif
    141 
    142 #include "ksyms.h"
    143 
    144 /* Kernel text starts 2MB in from the bottom of the kernel address space. */
    145 #define	KERNEL_TEXT_BASE	(KERNEL_BASE + 0x00200000)
    146 #define	KERNEL_VM_BASE		(KERNEL_BASE + 0x01000000)
    147 
    148 /*
    149  * The range 0xc1000000 - 0xccffffff is available for kernel VM space
    150  * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff
    151  */
    152 #define	KERNEL_VM_SIZE		0x0C000000
    153 
    154 
    155 /*
    156  * Address to call from cpu_reset() to reset the machine.
    157  * This is machine architecture dependent as it varies depending
    158  * on where the ROM appears when you turn the MMU off.
    159  */
    160 
    161 u_int cpu_reset_address = 0x00000000;
    162 
    163 /* Define various stack sizes in pages */
    164 #define IRQ_STACK_SIZE	1
    165 #define ABT_STACK_SIZE	1
    166 #define UND_STACK_SIZE	1
    167 
    168 BootConfig bootconfig;		/* Boot config storage */
    169 char *boot_args = NULL;
    170 char *boot_file = NULL;
    171 
    172 vm_offset_t physical_start;
    173 vm_offset_t physical_freestart;
    174 vm_offset_t physical_freeend;
    175 vm_offset_t physical_end;
    176 u_int free_pages;
    177 
    178 /* Physical and virtual addresses for some global pages */
    179 pv_addr_t minidataclean;
    180 
    181 vm_offset_t msgbufphys;
    182 
    183 extern int end;
    184 
    185 #ifdef PMAP_DEBUG
    186 extern int pmap_debug_level;
    187 #endif
    188 
    189 #define KERNEL_PT_SYS		0	/* L2 table for mapping zero page */
    190 
    191 #define KERNEL_PT_KERNEL	1	/* L2 table for mapping kernel */
    192 #define	KERNEL_PT_KERNEL_NUM	4
    193 #define	KERNEL_PT_IO		(KERNEL_PT_KERNEL + KERNEL_PT_KERNEL_NUM)
    194 					/* L2 tables for mapping kernel VM */
    195 #define KERNEL_PT_VMDATA	(KERNEL_PT_IO + 1)
    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 void	consinit(void);
    204 u_int	cpu_get_control(void);
    205 
    206 /*
    207  * Define the default console speed for the board.  This is generally
    208  * what the firmware provided with the board defaults to.
    209  */
    210 #ifndef CONSPEED
    211 #define CONSPEED B115200
    212 #endif /* ! CONSPEED */
    213 
    214 #ifndef CONUNIT
    215 #define	CONUNIT	0
    216 #endif
    217 
    218 #ifndef CONMODE
    219 #define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB)) | CS8) /* 8N1 */
    220 #endif
    221 
    222 int comcnspeed = CONSPEED;
    223 int comcnmode = CONMODE;
    224 int comcnunit = CONUNIT;
    225 
    226 #if KGDB
    227 #ifndef KGDB_DEVNAME
    228 #error Must define KGDB_DEVNAME
    229 #endif
    230 const char kgdb_devname[] = KGDB_DEVNAME;
    231 
    232 #ifndef KGDB_DEVADDR
    233 #error Must define KGDB_DEVADDR
    234 #endif
    235 unsigned long kgdb_devaddr = KGDB_DEVADDR;
    236 
    237 #ifndef KGDB_DEVRATE
    238 #define KGDB_DEVRATE	CONSPEED
    239 #endif
    240 int kgdb_devrate = KGDB_DEVRATE;
    241 
    242 #ifndef KGDB_DEVMODE
    243 #define KGDB_DEVMODE	CONMODE
    244 #endif
    245 int kgdb_devmode = KGDB_DEVMODE;
    246 #endif /* KGDB */
    247 
    248 /*
    249  * void cpu_reboot(int howto, char *bootstr)
    250  *
    251  * Reboots the system
    252  *
    253  * Deal with any syncing, unmounting, dumping and shutdown hooks,
    254  * then reset the CPU.
    255  */
    256 void
    257 cpu_reboot(int howto, char *bootstr)
    258 {
    259 
    260 #ifdef DIAGNOSTIC
    261 	/* info */
    262 	printf("boot: howto=%08x curproc=%p\n", howto, curproc);
    263 #endif
    264 
    265 	/*
    266 	 * If we are still cold then hit the air brakes
    267 	 * and crash to earth fast
    268 	 */
    269 	if (cold) {
    270 		doshutdownhooks();
    271 		pmf_system_shutdown(boothowto);
    272 		printf("The operating system has halted.\n");
    273 		printf("Please press any key to reboot.\n\n");
    274 		cngetc();
    275 		goto reset;
    276 	}
    277 
    278 	/* Disable console buffering */
    279 
    280 	/*
    281 	 * If RB_NOSYNC was not specified sync the discs.
    282 	 * Note: Unless cold is set to 1 here, syslogd will die during the
    283 	 * unmount.  It looks like syslogd is getting woken up only to find
    284 	 * that it cannot page part of the binary in as the filesystem has
    285 	 * been unmounted.
    286 	 */
    287 	if (!(howto & RB_NOSYNC))
    288 		bootsync();
    289 
    290 	/* Say NO to interrupts */
    291 	splhigh();
    292 
    293 	/* Do a dump if requested. */
    294 	if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
    295 		dumpsys();
    296 
    297 	/* Run any shutdown hooks */
    298 	doshutdownhooks();
    299 
    300 	pmf_system_shutdown(boothowto);
    301 
    302 	/* Make sure IRQ's are disabled */
    303 	IRQdisable;
    304 
    305 	if ((howto & (RB_HALT | RB_POWERDOWN)) == RB_HALT) {
    306 		printf("The operating system has halted.\n");
    307 		printf("Please press any key to reboot.\n\n");
    308 		cngetc();
    309 	}
    310 
    311  reset:
    312 	/*
    313 	 * Make really really sure that all interrupts are disabled,
    314 	 */
    315 	(void) disable_interrupts(I32_bit | F32_bit);
    316 
    317 	if (howto & RB_POWERDOWN) {
    318 		uint32_t reg;
    319 
    320 		printf("powering down...\n\r");
    321 		/* Delay to allow the UART's Tx FIFO to drain */
    322 		delay(50000);
    323 
    324 #define	GPRD(r)		*((volatile uint32_t *)(IXP425_GPIO_VBASE+(r)))
    325 #define	GPWR(r,v)	*((volatile uint32_t *)(IXP425_GPIO_VBASE+(r))) = (v)
    326 
    327 		/*
    328 		 * Power-down pin requires a short pulse
    329 		 */
    330 		reg = GPRD(IXP425_GPIO_GPOUTR);
    331 		reg |= 1u << GPIO_POWER_OFF;
    332 		GPWR(IXP425_GPIO_GPOUTR, reg);
    333 
    334 		delay(1000);
    335 
    336 		reg = GPRD(IXP425_GPIO_GPOUTR);
    337 		reg &= ~(1u << GPIO_POWER_OFF);
    338 		GPWR(IXP425_GPIO_GPOUTR, reg);
    339 
    340 		delay(500000);
    341 		printf("POWER OFF FAILED! TRYING TO REBOOT INSTEAD\n\r");
    342 	}
    343 
    344 	printf("rebooting...\n\r");
    345 
    346 #define	WDWR(r,v) *((volatile uint32_t *)(IXP425_OST_WDOG_VBASE+(r))) = (v)
    347 	/* Force a watchdog reset */
    348 	WDWR(IXP425_OST_WDOG_KEY, OST_WDOG_KEY_MAJICK);
    349 	WDWR(IXP425_OST_WDOG_ENAB, OST_WDOG_ENAB_RST_ENA);
    350 	WDWR(IXP425_OST_WDOG, 0x1000);
    351 	WDWR(IXP425_OST_WDOG_ENAB,
    352 	    OST_WDOG_ENAB_RST_ENA | OST_WDOG_ENAB_CNT_ENA);
    353 
    354 	delay(500000);
    355 
    356 	/* ...and if that didn't work, just croak. */
    357 	printf("RESET FAILED!\n");
    358 
    359 	for (;;);
    360 }
    361 
    362 /* Static device mappings. */
    363 static const struct pmap_devmap nslu2_devmap[] = {
    364 	/* Physical/Virtual address for I/O space */
    365 	{
    366 		IXP425_IO_VBASE,
    367 		IXP425_IO_HWBASE,
    368 		IXP425_IO_SIZE,
    369 		VM_PROT_READ|VM_PROT_WRITE,
    370 		PTE_NOCACHE,
    371 	},
    372 
    373 	/* Expansion Bus */
    374 	{
    375 		IXP425_EXP_VBASE,
    376 		IXP425_EXP_HWBASE,
    377 		IXP425_EXP_SIZE,
    378 		VM_PROT_READ|VM_PROT_WRITE,
    379 		PTE_NOCACHE,
    380 	},
    381 
    382 	/* IXP425 PCI Configuration */
    383 	{
    384 		IXP425_PCI_VBASE,
    385 		IXP425_PCI_HWBASE,
    386 		IXP425_PCI_SIZE,
    387 		VM_PROT_READ|VM_PROT_WRITE,
    388 		PTE_NOCACHE,
    389 	},
    390 
    391 	/* SDRAM Controller */
    392 	{
    393 		IXP425_MCU_VBASE,
    394 		IXP425_MCU_HWBASE,
    395 		IXP425_MCU_SIZE,
    396 		VM_PROT_READ|VM_PROT_WRITE,
    397 		PTE_NOCACHE,
    398 	},
    399 
    400 	/* PCI Memory Space */
    401 	{
    402 		IXP425_PCI_MEM_VBASE,
    403 		IXP425_PCI_MEM_HWBASE,
    404 		IXP425_PCI_MEM_SIZE,
    405 		VM_PROT_READ|VM_PROT_WRITE,
    406 		PTE_NOCACHE,
    407 	},
    408 
    409 	/* Flash memory */
    410 	{
    411 		NSLU2_FLASH_VBASE,
    412 		NSLU2_FLASH_HWBASE,
    413 		NSLU2_FLASH_SIZE,
    414 		VM_PROT_READ|VM_PROT_WRITE,
    415 		PTE_NOCACHE,
    416 	},
    417 
    418 	{
    419 		0,
    420 		0,
    421 		0,
    422 		0,
    423 		0,
    424 	}
    425 };
    426 
    427 /*
    428  * u_int initarm(...)
    429  *
    430  * Initial entry point on startup. This gets called before main() is
    431  * entered.
    432  * It should be responsible for setting up everything that must be
    433  * in place when main is called.
    434  * This includes
    435  *   Taking a copy of the boot configuration structure.
    436  *   Initialising the physical console so characters can be printed.
    437  *   Setting up page tables for the kernel
    438  *   Relocating the kernel to the bottom of physical memory
    439  */
    440 u_int
    441 initarm(void *arg)
    442 {
    443 	extern vaddr_t xscale_cache_clean_addr;
    444 #ifdef DIAGNOSTIC
    445 	extern vsize_t xscale_minidata_clean_size;
    446 #endif
    447 	int loop;
    448 	int loop1;
    449 	u_int kerneldatasize;
    450 	u_int l1pagetable;
    451 	u_int freemempos;
    452 	uint32_t reg;
    453 
    454 	/*
    455 	 * Make sure the power-down GPIO pin is configured correctly, as
    456 	 * cpu_reboot() may be called early on (e.g. from within ddb(9)).
    457 	 */
    458 	/* Pin is active-high, so make sure it's driven low */
    459 	reg = GPRD(IXP425_GPIO_GPOUTR);
    460 	reg &= ~(1u << GPIO_POWER_OFF);
    461 	GPWR(IXP425_GPIO_GPOUTR, reg);
    462 
    463 	/* Set as output */
    464 	reg = GPRD(IXP425_GPIO_GPOER);
    465 	reg &= ~(1u << GPIO_POWER_OFF);
    466 	GPWR(IXP425_GPIO_GPOER, reg);
    467 
    468 	/*
    469 	 * Since we map v0xf0000000 == p0xc8000000, it's possible for
    470 	 * us to initialize the console now.
    471 	 */
    472 	consinit();
    473 
    474 #ifdef VERBOSE_INIT_ARM
    475 	/* Talk to the user */
    476 	printf("\nNetBSD/evbarm (Linksys NSLU2) booting ...\n");
    477 #endif
    478 
    479 	/*
    480 	 * Heads up ... Setup the CPU / MMU / TLB functions
    481 	 */
    482 	if (set_cpufuncs())
    483 		panic("cpu not recognized!");
    484 
    485 	/* XXX overwrite bootconfig to hardcoded values */
    486 	bootconfig.dramblocks = 1;
    487 	bootconfig.dram[0].address = 0x10000000;
    488 	bootconfig.dram[0].pages = ixp425_sdram_size() / PAGE_SIZE;
    489 
    490 	kerneldatasize = (u_int32_t)&end - (u_int32_t)KERNEL_TEXT_BASE;
    491 
    492 #ifdef VERBOSE_INIT_ARM
    493         printf("kernsize=0x%x\n", kerneldatasize);
    494 #endif
    495         kerneldatasize = ((kerneldatasize - 1) & ~(PAGE_SIZE * 4 - 1)) + PAGE_SIZE * 8;
    496 
    497 	/*
    498 	 * Set up the variables that define the availablilty of
    499 	 * physical memory.  For now, we're going to set
    500 	 * physical_freestart to 0x10200000 (where the kernel
    501 	 * was loaded), and allocate the memory we need downwards.
    502 	 * If we get too close to the L1 table that we set up, we
    503 	 * will panic.  We will update physical_freestart and
    504 	 * physical_freeend later to reflect what pmap_bootstrap()
    505 	 * wants to see.
    506 	 *
    507 	 * XXX pmap_bootstrap() needs an enema.
    508 	 */
    509 	physical_start = bootconfig.dram[0].address;
    510 	physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE);
    511 
    512 	physical_freestart = physical_start
    513                 + (KERNEL_TEXT_BASE - KERNEL_BASE) + kerneldatasize;
    514         physical_freeend = physical_end;
    515 
    516 	physmem = (physical_end - physical_start) / PAGE_SIZE;
    517 
    518 	/* Tell the user about the memory */
    519 #ifdef VERBOSE_INIT_ARM
    520 	printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
    521 	    physical_start, physical_end - 1);
    522 
    523 	printf("Allocating page tables\n");
    524 #endif
    525 	free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;
    526 
    527 	freemempos = 0x10000000;
    528 
    529 #ifdef VERBOSE_INIT_ARM
    530         printf("physical_start = 0x%08lx, physical_end = 0x%08lx\n",
    531                 physical_start, physical_end);
    532 #endif
    533 
    534 	/* Define a macro to simplify memory allocation */
    535 #define	valloc_pages(var, np)				\
    536 	alloc_pages((var).pv_pa, (np));			\
    537 	(var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;
    538 
    539 #if 0
    540 #define alloc_pages(var, np)				\
    541 	physical_freeend -= ((np) * PAGE_SIZE);		\
    542 	if (physical_freeend < physical_freestart)	\
    543 		panic("initarm: out of memory");	\
    544 	(var) = physical_freeend;			\
    545 	free_pages -= (np);				\
    546 	memset((char *)(var), 0, ((np) * PAGE_SIZE));
    547 #else
    548 #define alloc_pages(var, np)				\
    549         (var) = freemempos;                             \
    550         memset((char *)(var), 0, ((np) * PAGE_SIZE));   \
    551         freemempos += (np) * PAGE_SIZE;
    552 #endif
    553 
    554 	loop1 = 0;
    555 	for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
    556 		/* Are we 16KB aligned for an L1 ? */
    557 		if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0
    558 		    && kernel_l1pt.pv_pa == 0) {
    559 			valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
    560 		} else {
    561 			valloc_pages(kernel_pt_table[loop1],
    562 			    L2_TABLE_SIZE / PAGE_SIZE);
    563 			++loop1;
    564 		}
    565 	}
    566 
    567 	/* This should never be able to happen but better confirm that. */
    568 	if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
    569 		panic("initarm: Failed to align the kernel page directory");
    570 
    571 	/*
    572 	 * Allocate a page for the system page.
    573 	 * This page will just contain the system vectors and can be
    574 	 * shared by all processes.
    575 	 */
    576 	alloc_pages(systempage.pv_pa, 1);
    577 
    578 	/* Allocate stacks for all modes */
    579 	valloc_pages(irqstack, IRQ_STACK_SIZE);
    580 	valloc_pages(abtstack, ABT_STACK_SIZE);
    581 	valloc_pages(undstack, UND_STACK_SIZE);
    582 	valloc_pages(kernelstack, UPAGES);
    583 
    584 	/* Allocate enough pages for cleaning the Mini-Data cache. */
    585 	KASSERT(xscale_minidata_clean_size <= PAGE_SIZE);
    586 	valloc_pages(minidataclean, 1);
    587 
    588 #ifdef VERBOSE_INIT_ARM
    589 	printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
    590 	    irqstack.pv_va);
    591 	printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
    592 	    abtstack.pv_va);
    593 	printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
    594 	    undstack.pv_va);
    595 	printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
    596 	    kernelstack.pv_va);
    597 #endif
    598 
    599 	/*
    600 	 * XXX Defer this to later so that we can reclaim the memory
    601 	 * XXX used by the RedBoot page tables.
    602 	 */
    603 	alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);
    604 
    605 	/*
    606 	 * Ok we have allocated physical pages for the primary kernel
    607 	 * page tables
    608 	 */
    609 
    610 #ifdef VERBOSE_INIT_ARM
    611 	printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
    612 #endif
    613 
    614 	/*
    615 	 * Now we start construction of the L1 page table
    616 	 * We start by mapping the L2 page tables into the L1.
    617 	 * This means that we can replace L1 mappings later on if necessary
    618 	 */
    619 	l1pagetable = kernel_l1pt.pv_pa;
    620 
    621 	/* Map the L2 pages tables in the L1 page table */
    622 	pmap_link_l2pt(l1pagetable, ARM_VECTORS_HIGH & ~(0x00400000 - 1),
    623 	    &kernel_pt_table[KERNEL_PT_SYS]);
    624 	for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
    625 		pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
    626 		    &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
    627 	for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
    628 		pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000,
    629 		    &kernel_pt_table[KERNEL_PT_VMDATA + loop]);
    630 
    631 	/* update the top of the kernel VM */
    632 	pmap_curmaxkvaddr =
    633 	    KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);
    634 
    635 	pmap_link_l2pt(l1pagetable, IXP425_IO_VBASE,
    636 	    &kernel_pt_table[KERNEL_PT_IO]);
    637 
    638 #ifdef VERBOSE_INIT_ARM
    639 	printf("Mapping kernel\n");
    640 #endif
    641 
    642 	/* Now we fill in the L2 pagetable for the kernel static code/data */
    643 	{
    644 		extern char etext[], _end[];
    645 		size_t textsize = (uintptr_t) etext - KERNEL_TEXT_BASE;
    646 		size_t totalsize = (uintptr_t) _end - KERNEL_TEXT_BASE;
    647 		u_int logical;
    648 
    649 		textsize = (textsize + PGOFSET) & ~PGOFSET;
    650 		totalsize = (totalsize + PGOFSET) & ~PGOFSET;
    651 
    652 		logical = 0x00200000;	/* offset of kernel in RAM */
    653 
    654 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    655 		    physical_start + logical, textsize,
    656 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    657 		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
    658 		    physical_start + logical, totalsize - textsize,
    659 		    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    660 	}
    661 
    662 #ifdef VERBOSE_INIT_ARM
    663 	printf("Constructing L2 page tables\n");
    664 #endif
    665 
    666 	/* Map the stack pages */
    667 	pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
    668 	    IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    669 	pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
    670 	    ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    671 	pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
    672 	    UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    673 	pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
    674 	    UPAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    675 
    676 	pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
    677 	    L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    678 
    679 	for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
    680 		pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
    681 		    kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
    682 		    VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
    683 	}
    684 
    685 	/* Map the Mini-Data cache clean area. */
    686 	xscale_setup_minidata(l1pagetable, minidataclean.pv_va,
    687 	    minidataclean.pv_pa);
    688 
    689 	/* Map the vector page. */
    690 	pmap_map_entry(l1pagetable, ARM_VECTORS_HIGH, systempage.pv_pa,
    691 	    VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
    692 
    693         /*
    694          * Map the IXP425 registers
    695          */
    696 	pmap_devmap_bootstrap(l1pagetable, nslu2_devmap);
    697 
    698 	/*
    699 	 * Give the XScale global cache clean code an appropriately
    700 	 * sized chunk of unmapped VA space starting at 0xff000000
    701 	 * (our device mappings end before this address).
    702 	 */
    703 	xscale_cache_clean_addr = 0xff000000U;
    704 
    705 	/*
    706 	 * Now we have the real page tables in place so we can switch to them.
    707 	 * Once this is done we will be running with the REAL kernel page
    708 	 * tables.
    709 	 */
    710 
    711 	/*
    712 	 * Update the physical_freestart/physical_freeend/free_pages
    713 	 * variables.
    714 	 */
    715 	{
    716 		extern char _end[];
    717 
    718 		physical_freestart = physical_start +
    719 		    (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) -
    720 		     KERNEL_BASE);
    721 		physical_freeend = physical_end;
    722 		free_pages =
    723 		    (physical_freeend - physical_freestart) / PAGE_SIZE;
    724 	}
    725 
    726 	/* Switch tables */
    727 #ifdef VERBOSE_INIT_ARM
    728 	printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n",
    729 	       physical_freestart, free_pages, free_pages);
    730 	printf("switching to new L1 page table  @%#lx...", kernel_l1pt.pv_pa);
    731 #endif
    732 	cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
    733 	cpu_setttb(kernel_l1pt.pv_pa);
    734 	cpu_tlb_flushID();
    735 	cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
    736 
    737 	/*
    738 	 * Moved from cpu_startup() as data_abort_handler() references
    739 	 * this during uvm init
    740 	 */
    741 	uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);
    742 
    743 #ifdef VERBOSE_INIT_ARM
    744 	printf("bootstrap done.\n");
    745 #endif
    746 
    747 	arm32_vector_init(ARM_VECTORS_HIGH, ARM_VEC_ALL);
    748 
    749 	/*
    750 	 * Pages were allocated during the secondary bootstrap for the
    751 	 * stacks for different CPU modes.
    752 	 * We must now set the r13 registers in the different CPU modes to
    753 	 * point to these stacks.
    754 	 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
    755 	 * of the stack memory.
    756 	 */
    757 #ifdef VERBOSE_INIT_ARM
    758 	printf("init subsystems: stacks ");
    759 #endif
    760 
    761 	set_stackptr(PSR_IRQ32_MODE,
    762 	    irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
    763 	set_stackptr(PSR_ABT32_MODE,
    764 	    abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
    765 	set_stackptr(PSR_UND32_MODE,
    766 	    undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
    767 
    768 	/*
    769 	 * Well we should set a data abort handler.
    770 	 * Once things get going this will change as we will need a proper
    771 	 * handler.
    772 	 * Until then we will use a handler that just panics but tells us
    773 	 * why.
    774 	 * Initialisation of the vectors will just panic on a data abort.
    775 	 * This just fills in a slightly better one.
    776 	 */
    777 #ifdef VERBOSE_INIT_ARM
    778 	printf("vectors ");
    779 #endif
    780 	data_abort_handler_address = (u_int)data_abort_handler;
    781 	prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
    782 	undefined_handler_address = (u_int)undefinedinstruction_bounce;
    783 
    784 	/* Initialise the undefined instruction handlers */
    785 #ifdef VERBOSE_INIT_ARM
    786 	printf("undefined ");
    787 #endif
    788 	undefined_init();
    789 
    790 	/* Load memory into UVM. */
    791 #ifdef VERBOSE_INIT_ARM
    792 	printf("page ");
    793 #endif
    794 	uvm_setpagesize();	/* initialize PAGE_SIZE-dependent variables */
    795 	uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
    796 	    atop(physical_freestart), atop(physical_freeend),
    797 	    VM_FREELIST_DEFAULT);
    798 
    799 	/* Boot strap pmap telling it where the kernel page table is */
    800 #ifdef VERBOSE_INIT_ARM
    801 	printf("pmap ");
    802 #endif
    803 	pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);
    804 
    805 	/* Setup the IRQ system */
    806 #ifdef VERBOSE_INIT_ARM
    807 	printf("irq ");
    808 #endif
    809 	ixp425_intr_init();
    810 #ifdef VERBOSE_INIT_ARM
    811 	printf("\nAll initialize done!\nNow Starting NetBSD, Hear we go!\n");
    812 #endif
    813 
    814 #ifdef BOOTHOWTO
    815 	boothowto = BOOTHOWTO;
    816 #endif
    817 
    818 #ifdef DDB
    819 	db_machine_init();
    820 	if (boothowto & RB_KDB)
    821 		Debugger();
    822 #endif
    823 
    824 	/* We return the new stack pointer address */
    825 	return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
    826 }
    827 
    828 /*
    829  * consinit
    830  */
    831 void
    832 consinit(void)
    833 {
    834 	static int consinit_called;
    835 	static const bus_addr_t addrs[2] = {
    836 		IXP425_UART0_HWBASE, IXP425_UART1_HWBASE
    837 	};
    838 
    839 	if (consinit_called != 0)
    840 		return;
    841 
    842 	consinit_called = 1;
    843 
    844 	pmap_devmap_register(nslu2_devmap);
    845 
    846 	if (comcnattach(&ixp425_a4x_bs_tag, addrs[comcnunit],
    847 	    comcnspeed, IXP425_UART_FREQ, COM_TYPE_PXA2x0, comcnmode))
    848 		panic("can't init serial console (UART%d)", comcnunit);
    849 }
    850