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freebsd-dev/sys/arm/at91/kb920x_machdep.c
Warner Losh 1248f2322b Import support for the Atmel AT91RM9200 CPU/Microcontroller. This SoC 
is a ARM920T based CPU with a bunch of built-in peripherals.  The
inital import supports the SPI bus, the TWI bus (although iicbus
integration is not complete), the uarts, the system timer and the
onboard ethernet.  Support for the Kwikbyte KB9202
(http://www.kwikbyte.com) board is also included, although there's no
reason why the 9200 and the 9201 wouldn't also work.  Primitive
support for running under the skyeye emulator is also provided
(although skyeye's support for the AT91RM9200 is a little weak).

The code has been structured so that other members of Atmel's arm family can
be supported in the future.  The AT91SAM9260 is not presently supported
due to lack of hardware.  The arm7tdmi families are also not supported
becasue they lack an MMU.

Many thanks to cognet@ for his help and assistance in bringing up this
board.  He did much of the vm work and wrote parts of the uart and
system timer code as well as the bus space implementation.

The system boots to single user w/o problem, although the serial
console is a little slow and the ethernet driver is still in flux.

This work was sponsored by Timing Solutions, Corporation.  I am
grateful to their support of the FreeBSD project in this manner.
2006-02-04 23:32:13 +00:00

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/*-
* Copyright (c) 1994-1998 Mark Brinicombe.
* Copyright (c) 1994 Brini.
* All rights reserved.
*
* This code is derived from software written for Brini by Mark Brinicombe
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. All advertising materials mentioning features or use of this software
* must display the following acknowledgement:
* This product includes software developed by Brini.
* 4. The name of the company nor the name of the author may be used to
* endorse or promote products derived from this software without specific
* prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY BRINI ``AS IS'' AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL BRINI OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* RiscBSD kernel project
*
* machdep.c
*
* Machine dependant functions for kernel setup
*
* This file needs a lot of work.
*
* Created : 17/09/94
*/
#include "opt_msgbuf.h"
#include "opt_ddb.h"
#include <sys/cdefs.h>
__FBSDID("$FreeBSD$");
#define _ARM32_BUS_DMA_PRIVATE
#include <sys/param.h>
#include <sys/systm.h>
#include <sys/sysproto.h>
#include <sys/signalvar.h>
#include <sys/imgact.h>
#include <sys/kernel.h>
#include <sys/ktr.h>
#include <sys/linker.h>
#include <sys/lock.h>
#include <sys/malloc.h>
#include <sys/mutex.h>
#include <sys/pcpu.h>
#include <sys/proc.h>
#include <sys/ptrace.h>
#include <sys/cons.h>
#include <sys/bio.h>
#include <sys/bus.h>
#include <sys/buf.h>
#include <sys/exec.h>
#include <sys/kdb.h>
#include <sys/msgbuf.h>
#include <machine/reg.h>
#include <machine/cpu.h>
#include <vm/vm.h>
#include <vm/pmap.h>
#include <vm/vm.h>
#include <vm/vm_object.h>
#include <vm/vm_page.h>
#include <vm/vm_pager.h>
#include <vm/vm_map.h>
#include <vm/vnode_pager.h>
#include <machine/pmap.h>
#include <machine/vmparam.h>
#include <machine/pcb.h>
#include <machine/undefined.h>
#include <machine/machdep.h>
#include <machine/metadata.h>
#include <machine/armreg.h>
#include <machine/bus.h>
#include <sys/reboot.h>
#include <arm/at91/at91rm92reg.h>
#define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */
#define KERNEL_PT_KERN 1
#define KERNEL_PT_KERN_NUM 8
#define KERNEL_PT_AFKERNEL KERNEL_PT_KERN + KERNEL_PT_KERN_NUM /* L2 table for mapping after kernel */
#define KERNEL_PT_AFKERNEL_NUM 5
/* this should be evenly divisable by PAGE_SIZE / L2_TABLE_SIZE_REAL (or 4) */
#define NUM_KERNEL_PTS (KERNEL_PT_AFKERNEL + KERNEL_PT_AFKERNEL_NUM)
/* Define various stack sizes in pages */
#define IRQ_STACK_SIZE 1
#define ABT_STACK_SIZE 1
#define UND_STACK_SIZE 1
extern u_int data_abort_handler_address;
extern u_int prefetch_abort_handler_address;
extern u_int undefined_handler_address;
struct pv_addr kernel_pt_table[NUM_KERNEL_PTS];
extern void *_end;
extern vm_offset_t sa1_cache_clean_addr;
extern int *end;
struct pcpu __pcpu;
struct pcpu *pcpup = &__pcpu;
/* Physical and virtual addresses for some global pages */
vm_paddr_t phys_avail[10];
vm_paddr_t dump_avail[4];
vm_offset_t physical_pages;
vm_offset_t clean_sva, clean_eva;
struct pv_addr systempage;
struct pv_addr msgbufpv;
struct pv_addr irqstack;
struct pv_addr undstack;
struct pv_addr abtstack;
struct pv_addr kernelstack;
struct pv_addr minidataclean;
static struct trapframe proc0_tf;
/* Static device mappings. */
static const struct pmap_devmap kb920x_devmap[] = {
/*
* Map the on-board devices VA == PA so that we can access them
* with the MMU on or off.
*/
{
/*
* This at least maps the interrupt controller, the UART
* and the timer. Other devices should use newbus to
* map their memory anyway.
*/
0xfff00000,
0xfff00000,
0x100000,
VM_PROT_READ|VM_PROT_WRITE,
PTE_NOCACHE,
},
{
0,
0,
0,
0,
0,
}
};
#define SDRAM_START 0xa0000000
#ifdef DDB
extern vm_offset_t ksym_start, ksym_end;
#endif
void *
initarm(void *arg, void *arg2)
{
struct pv_addr kernel_l1pt;
int loop;
u_int l1pagetable;
vm_offset_t freemempos;
vm_offset_t afterkern;
int i = 0;
uint32_t fake_preload[35];
uint32_t memsize = 32 * 1024 * 1024;
i = 0;
set_cpufuncs();
cninit();
fake_preload[i++] = MODINFO_NAME;
fake_preload[i++] = strlen("elf kernel") + 1;
strcpy((char*)&fake_preload[i++], "elf kernel");
i += 2;
fake_preload[i++] = MODINFO_TYPE;
fake_preload[i++] = strlen("elf kernel") + 1;
strcpy((char*)&fake_preload[i++], "elf kernel");
i += 2;
fake_preload[i++] = MODINFO_ADDR;
fake_preload[i++] = sizeof(vm_offset_t);
fake_preload[i++] = KERNBASE;
fake_preload[i++] = MODINFO_SIZE;
fake_preload[i++] = sizeof(uint32_t);
fake_preload[i++] = (uint32_t)&end - KERNBASE;
fake_preload[i++] = 0;
fake_preload[i] = 0;
preload_metadata = (void *)fake_preload;
pcpu_init(pcpup, 0, sizeof(struct pcpu));
PCPU_SET(curthread, &thread0);
#define KERNEL_TEXT_BASE (KERNBASE)
freemempos = ((vm_offset_t)&end + PAGE_MASK) & ~PAGE_MASK;
/* Define a macro to simplify memory allocation */
#define valloc_pages(var, np) \
alloc_pages((var).pv_va, (np)); \
(var).pv_pa = (var).pv_va + (KERNPHYSADDR - KERNVIRTADDR);
#define alloc_pages(var, np) \
(var) = freemempos; \
freemempos += (np * PAGE_SIZE); \
memset((char *)(var), 0, ((np) * PAGE_SIZE));
while (((freemempos - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) != 0)
freemempos += PAGE_SIZE;
valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
if (!(loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL))) {
valloc_pages(kernel_pt_table[loop],
L2_TABLE_SIZE / PAGE_SIZE);
} else {
kernel_pt_table[loop].pv_va = freemempos -
(loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL)) *
L2_TABLE_SIZE_REAL;
kernel_pt_table[loop].pv_pa =
kernel_pt_table[loop].pv_va - KERNVIRTADDR +
KERNPHYSADDR;
}
i++;
}
/*
* Allocate a page for the system page mapped to V0x00000000
* This page will just contain the system vectors and can be
* shared by all processes.
*/
valloc_pages(systempage, 1);
/* Allocate stacks for all modes */
valloc_pages(irqstack, IRQ_STACK_SIZE);
valloc_pages(abtstack, ABT_STACK_SIZE);
valloc_pages(undstack, UND_STACK_SIZE);
valloc_pages(kernelstack, KSTACK_PAGES);
alloc_pages(minidataclean.pv_pa, 1);
valloc_pages(msgbufpv, round_page(MSGBUF_SIZE) / PAGE_SIZE);
/*
* Now we start construction of the L1 page table
* We start by mapping the L2 page tables into the L1.
* This means that we can replace L1 mappings later on if necessary
*/
l1pagetable = kernel_l1pt.pv_va;
/* Map the L2 pages tables in the L1 page table */
pmap_link_l2pt(l1pagetable, ARM_VECTORS_LOW,
&kernel_pt_table[KERNEL_PT_SYS]);
for (i = 0; i < KERNEL_PT_KERN_NUM; i++)
pmap_link_l2pt(l1pagetable, KERNBASE + i * 0x100000,
&kernel_pt_table[KERNEL_PT_KERN + i]);
pmap_map_chunk(l1pagetable, KERNBASE, KERNPHYSADDR,
(((uint32_t)(&end) - KERNBASE) + PAGE_SIZE) & ~(PAGE_SIZE - 1),
VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
afterkern = round_page(((vm_offset_t)&end + L1_S_SIZE) & ~(L1_S_SIZE
- 1));
for (i = 0; i < KERNEL_PT_AFKERNEL_NUM; i++) {
pmap_link_l2pt(l1pagetable, afterkern + i * 0x00100000,
&kernel_pt_table[KERNEL_PT_AFKERNEL + i]);
}
pmap_map_entry(l1pagetable, afterkern, minidataclean.pv_pa,
VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
/* Map the vector page. */
pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa,
VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
/* Map the stack pages */
pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
KSTACK_PAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
pmap_map_chunk(l1pagetable, msgbufpv.pv_va, msgbufpv.pv_pa,
MSGBUF_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
}
pmap_devmap_bootstrap(l1pagetable, kb920x_devmap);
cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
setttb(kernel_l1pt.pv_pa);
cpu_tlb_flushID();
cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
/*
* Pages were allocated during the secondary bootstrap for the
* stacks for different CPU modes.
* We must now set the r13 registers in the different CPU modes to
* point to these stacks.
* Since the ARM stacks use STMFD etc. we must set r13 to the top end
* of the stack memory.
*/
cpu_control(CPU_CONTROL_MMU_ENABLE, CPU_CONTROL_MMU_ENABLE);
set_stackptr(PSR_IRQ32_MODE,
irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
set_stackptr(PSR_ABT32_MODE,
abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
set_stackptr(PSR_UND32_MODE,
undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
/*
* We must now clean the cache again....
* Cleaning may be done by reading new data to displace any
* dirty data in the cache. This will have happened in setttb()
* but since we are boot strapping the addresses used for the read
* may have just been remapped and thus the cache could be out
* of sync. A re-clean after the switch will cure this.
* After booting there are no gross reloations of the kernel thus
* this problem will not occur after initarm().
*/
cpu_idcache_wbinv_all();
/* Set stack for exception handlers */
data_abort_handler_address = (u_int)data_abort_handler;
prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
undefined_handler_address = (u_int)undefinedinstruction_bounce;
undefined_init();
proc_linkup(&proc0, &ksegrp0, &thread0);
thread0.td_kstack = kernelstack.pv_va;
thread0.td_pcb = (struct pcb *)
(thread0.td_kstack + KSTACK_PAGES * PAGE_SIZE) - 1;
thread0.td_pcb->pcb_flags = 0;
thread0.td_frame = &proc0_tf;
pcpup->pc_curpcb = thread0.td_pcb;
arm_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);
pmap_curmaxkvaddr = afterkern + 0x100000 * (KERNEL_PT_KERN_NUM - 1);
pmap_bootstrap(freemempos,
KERNVIRTADDR + 3 * memsize,
&kernel_l1pt);
msgbufp = (void*)msgbufpv.pv_va;
msgbufinit(msgbufp, MSGBUF_SIZE);
mutex_init();
i = 0;
dump_avail[0] = KERNPHYSADDR;
dump_avail[1] = KERNPHYSADDR + memsize;
dump_avail[2] = 0;
dump_avail[3] = 0;
phys_avail[0] = freemempos - KERNVIRTADDR + KERNPHYSADDR;
phys_avail[1] = KERNPHYSADDR + memsize;
phys_avail[2] = 0;
phys_avail[3] = 0;
/* Do basic tuning, hz etc */
init_param1();
init_param2(memsize / PAGE_SIZE);
avail_end = KERNPHYSADDR + memsize - 1;
kdb_init();
boothowto = RB_SINGLE;
return ((void *)(kernelstack.pv_va + USPACE_SVC_STACK_TOP -
sizeof(struct pcb)));
}
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