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freebsd-dev/sys/arm/at91/kb920x_machdep.c

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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 "opt_at91.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>
#include <arm/at91/at91_piovar.h>
#include <arm/at91/at91_pio_rm9200.h>
#define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */
#define KERNEL_PT_KERN 1
#define KERNEL_PT_KERN_NUM 22
#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 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.
*/
0xdff00000,
0xfff00000,
0x100000,
VM_PROT_READ|VM_PROT_WRITE,
PTE_NOCACHE,
},
/*
* We can't just map the OHCI registers VA == PA, because
* AT91RM92_OHCI_BASE belongs to the userland address space.
* We could just choose a different virtual address, but a better
* solution would probably be to just use pmap_mapdev() to allocate
* KVA, as we don't need the OHCI controller before the vm
* initialization is done. However, the AT91 resource allocation
* system doesn't know how to use pmap_mapdev() yet.
*/
#if 0
{
/*
* Add the ohci controller, and anything else that might be
* on this chip select for a VA/PA mapping.
*/
AT91RM92_OHCI_BASE,
AT91RM92_OHCI_BASE,
AT91RM92_OHCI_SIZE,
VM_PROT_READ|VM_PROT_WRITE,
PTE_NOCACHE,
},
#endif
{
0,
0,
0,
0,
0,
}
};
#define SDRAM_START 0xa0000000
#ifdef DDB
extern vm_offset_t ksym_start, ksym_end;
#endif
static long
ramsize(void)
{
uint32_t *SDRAMC = (uint32_t *)(AT91RM92_BASE + AT91RM92_SDRAMC_BASE);
uint32_t cr, mr;
int banks, rows, cols, bw;
cr = SDRAMC[AT91RM92_SDRAMC_CR / 4];
mr = SDRAMC[AT91RM92_SDRAMC_MR / 4];
bw = (mr & AT91RM92_SDRAMC_MR_DBW_16) ? 1 : 2;
banks = (cr & AT91RM92_SDRAMC_CR_NB_4) ? 2 : 1;
rows = ((cr & AT91RM92_SDRAMC_CR_NR_MASK) >> 2) + 11;
cols = (cr & AT91RM92_SDRAMC_CR_NC_MASK) + 8;
return (1 << (cols + rows + banks + bw));
}
static long
board_init(void)
{
/*
* Since the USART supprots RS-485 multidrop mode, it allows the
* TX pins to float. However, for RS-232 operations, we don't want
* these pins to float. Instead, they should be pulled up to avoid
* mismatches. Linux does something similar when it configures the
* TX lines. This implies that we also allow the RX lines to float
* rather than be in the state they are left in by the boot loader.
* Since they are input pins, I think that this is the right thing
* to do.
*/
/* PIOA's A periph: Turn USART 0 and 2's TX/RX pins */
at91_pio_use_periph_a(AT91RM92_PIOA_BASE,
AT91C_PA18_RXD0 | AT91C_PA22_RXD2, 0);
at91_pio_use_periph_a(AT91RM92_PIOA_BASE,
AT91C_PA17_TXD0 | AT91C_PA23_TXD2, 1);
/* PIOA's B periph: Turn USART 3's TX/RX pins */
at91_pio_use_periph_b(AT91RM92_PIOA_BASE, AT91C_PA6_RXD3, 0);
at91_pio_use_periph_b(AT91RM92_PIOA_BASE, AT91C_PA5_TXD3, 1);
#ifdef AT91_TSC
/* We're using TC0's A1 and A2 input */
at91_pio_use_periph_b(AT91RM92_PIOA_BASE,
AT91C_PA19_TIOA1 | AT91C_PA21_TIOA2, 0);
#endif
/* PIOB's A periph: Turn USART 1's TX/RX pins */
at91_pio_use_periph_a(AT91RM92_PIOB_BASE, AT91C_PB21_RXD1, 0);
at91_pio_use_periph_a(AT91RM92_PIOB_BASE, AT91C_PB20_TXD1, 1);
/* Pin assignment */
#ifdef AT91_TSC
/* Assert PA24 low -- talk to rubidium */
at91_pio_use_gpio(AT91RM92_PIOA_BASE, AT91C_PIO_PA24);
at91_pio_gpio_output(AT91RM92_PIOA_BASE, AT91C_PIO_PA24, 0);
at91_pio_gpio_clear(AT91RM92_PIOA_BASE, AT91C_PIO_PA24);
at91_pio_use_gpio(AT91RM92_PIOB_BASE,
AT91C_PIO_PB16 | AT91C_PIO_PB17 | AT91C_PIO_PB18 | AT91C_PIO_PB19);
#endif
return (ramsize());
}
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;
uint32_t fake_preload[35];
uint32_t memsize;
vm_offset_t lastaddr;
#ifdef DDB
vm_offset_t zstart = 0, zend = 0;
#endif
i = 0;
set_cpufuncs();
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;
#ifdef DDB
if (*(uint32_t *)KERNVIRTADDR == MAGIC_TRAMP_NUMBER) {
fake_preload[i++] = MODINFO_METADATA|MODINFOMD_SSYM;
fake_preload[i++] = sizeof(vm_offset_t);
fake_preload[i++] = *(uint32_t *)(KERNVIRTADDR + 4);
fake_preload[i++] = MODINFO_METADATA|MODINFOMD_ESYM;
fake_preload[i++] = sizeof(vm_offset_t);
fake_preload[i++] = *(uint32_t *)(KERNVIRTADDR + 8);
lastaddr = *(uint32_t *)(KERNVIRTADDR + 8);
zend = lastaddr;
zstart = *(uint32_t *)(KERNVIRTADDR + 4);
ksym_start = zstart;
ksym_end = zend;
} else
#endif
lastaddr = (vm_offset_t)&end;
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 = (lastaddr + 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_HIGH,
&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)(lastaddr) - KERNBASE) + PAGE_SIZE) & ~(PAGE_SIZE - 1),
VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
afterkern = round_page((lastaddr + 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_HIGH, 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));
cninit();
memsize = board_init();
physmem = memsize / PAGE_SIZE;
/*
* 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_HIGH, ARM_VEC_ALL);
pmap_curmaxkvaddr = afterkern + 0x100000 * (KERNEL_PT_KERN_NUM - 1);
/*
* ARM_USE_SMALL_ALLOC uses dump_avail, so it must be filled before
* calling pmap_bootstrap.
*/
dump_avail[0] = KERNPHYSADDR;
dump_avail[1] = KERNPHYSADDR + memsize;
dump_avail[2] = 0;
dump_avail[3] = 0;
pmap_bootstrap(freemempos,
KERNVIRTADDR + 3 * memsize,
&kernel_l1pt);
msgbufp = (void*)msgbufpv.pv_va;
msgbufinit(msgbufp, MSGBUF_SIZE);
mutex_init();
i = 0;
phys_avail[0] = virtual_avail - KERNVIRTADDR + KERNPHYSADDR;
phys_avail[1] = KERNPHYSADDR + memsize;
phys_avail[2] = 0;
phys_avail[3] = 0;
/* Do basic tuning, hz etc */
init_param1();
init_param2(physmem);
avail_end = KERNPHYSADDR + memsize - 1;
kdb_init();
return ((void *)(kernelstack.pv_va + USPACE_SVC_STACK_TOP -
sizeof(struct pcb)));
}
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