board_hl200.c revision 155324
1169691Skan/*- 2169691Skan * Copyright (c) 1994-1998 Mark Brinicombe. 3169691Skan * Copyright (c) 1994 Brini. 4169691Skan * All rights reserved. 5169691Skan * 6169691Skan * This code is derived from software written for Brini by Mark Brinicombe 7169691Skan * 8169691Skan * Redistribution and use in source and binary forms, with or without 9169691Skan * modification, are permitted provided that the following conditions 10169691Skan * are met: 11169691Skan * 1. Redistributions of source code must retain the above copyright 12169691Skan * notice, this list of conditions and the following disclaimer. 13169691Skan * 2. Redistributions in binary form must reproduce the above copyright 14169691Skan * notice, this list of conditions and the following disclaimer in the 15169691Skan * documentation and/or other materials provided with the distribution. 16169691Skan * 3. All advertising materials mentioning features or use of this software 17169691Skan * must display the following acknowledgement: 18169691Skan * This product includes software developed by Brini. 19169691Skan * 4. The name of the company nor the name of the author may be used to 20169691Skan * endorse or promote products derived from this software without specific 21169691Skan * prior written permission. 22169691Skan * 23169691Skan * THIS SOFTWARE IS PROVIDED BY BRINI ``AS IS'' AND ANY EXPRESS OR IMPLIED 24169691Skan * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 25169691Skan * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 26169691Skan * IN NO EVENT SHALL BRINI OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 27169691Skan * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 28169691Skan * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 29169691Skan * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 30169691Skan * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 31169691Skan * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 32169691Skan * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 33169691Skan * SUCH DAMAGE. 34169691Skan * 35169691Skan * RiscBSD kernel project 36169691Skan * 37169691Skan * machdep.c 38169691Skan * 39169691Skan * Machine dependant functions for kernel setup 40169691Skan * 41169691Skan * This file needs a lot of work. 42169691Skan * 43169691Skan * Created : 17/09/94 44169691Skan */ 45169691Skan 46169691Skan#include "opt_msgbuf.h" 47169691Skan#include "opt_ddb.h" 48169691Skan 49169691Skan#include <sys/cdefs.h> 50169691Skan__FBSDID("$FreeBSD: head/sys/arm/at91/kb920x_machdep.c 155324 2006-02-04 23:32:13Z imp $"); 51169691Skan 52169691Skan#define _ARM32_BUS_DMA_PRIVATE 53169691Skan#include <sys/param.h> 54169691Skan#include <sys/systm.h> 55169691Skan#include <sys/sysproto.h> 56169691Skan#include <sys/signalvar.h> 57169691Skan#include <sys/imgact.h> 58169691Skan#include <sys/kernel.h> 59169691Skan#include <sys/ktr.h> 60169691Skan#include <sys/linker.h> 61169691Skan#include <sys/lock.h> 62169691Skan#include <sys/malloc.h> 63169691Skan#include <sys/mutex.h> 64169691Skan#include <sys/pcpu.h> 65169691Skan#include <sys/proc.h> 66169691Skan#include <sys/ptrace.h> 67169691Skan#include <sys/cons.h> 68169691Skan#include <sys/bio.h> 69169691Skan#include <sys/bus.h> 70169691Skan#include <sys/buf.h> 71169691Skan#include <sys/exec.h> 72169691Skan#include <sys/kdb.h> 73169691Skan#include <sys/msgbuf.h> 74169691Skan#include <machine/reg.h> 75169691Skan#include <machine/cpu.h> 76169691Skan 77169691Skan#include <vm/vm.h> 78169691Skan#include <vm/pmap.h> 79169691Skan#include <vm/vm.h> 80169691Skan#include <vm/vm_object.h> 81169691Skan#include <vm/vm_page.h> 82169691Skan#include <vm/vm_pager.h> 83169691Skan#include <vm/vm_map.h> 84169691Skan#include <vm/vnode_pager.h> 85169691Skan#include <machine/pmap.h> 86169691Skan#include <machine/vmparam.h> 87169691Skan#include <machine/pcb.h> 88169691Skan#include <machine/undefined.h> 89169691Skan#include <machine/machdep.h> 90169691Skan#include <machine/metadata.h> 91169691Skan#include <machine/armreg.h> 92169691Skan#include <machine/bus.h> 93169691Skan#include <sys/reboot.h> 94169691Skan 95169691Skan#include <arm/at91/at91rm92reg.h> 96169691Skan 97169691Skan#define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 98169691Skan#define KERNEL_PT_KERN 1 99169691Skan#define KERNEL_PT_KERN_NUM 8 100169691Skan#define KERNEL_PT_AFKERNEL KERNEL_PT_KERN + KERNEL_PT_KERN_NUM /* L2 table for mapping after kernel */ 101169691Skan#define KERNEL_PT_AFKERNEL_NUM 5 102169691Skan 103169691Skan/* this should be evenly divisable by PAGE_SIZE / L2_TABLE_SIZE_REAL (or 4) */ 104169691Skan#define NUM_KERNEL_PTS (KERNEL_PT_AFKERNEL + KERNEL_PT_AFKERNEL_NUM) 105169691Skan 106169691Skan/* Define various stack sizes in pages */ 107169691Skan#define IRQ_STACK_SIZE 1 108169691Skan#define ABT_STACK_SIZE 1 109169691Skan#define UND_STACK_SIZE 1 110169691Skan 111169691Skanextern u_int data_abort_handler_address; 112169691Skanextern u_int prefetch_abort_handler_address; 113169691Skanextern u_int undefined_handler_address; 114169691Skan 115169691Skanstruct pv_addr kernel_pt_table[NUM_KERNEL_PTS]; 116169691Skan 117169691Skanextern void *_end; 118169691Skan 119169691Skanextern vm_offset_t sa1_cache_clean_addr; 120169691Skan 121169691Skanextern int *end; 122169691Skan 123169691Skanstruct pcpu __pcpu; 124169691Skanstruct pcpu *pcpup = &__pcpu; 125169691Skan 126169691Skan/* Physical and virtual addresses for some global pages */ 127169691Skan 128169691Skanvm_paddr_t phys_avail[10]; 129169691Skanvm_paddr_t dump_avail[4]; 130169691Skanvm_offset_t physical_pages; 131169691Skanvm_offset_t clean_sva, clean_eva; 132169691Skan 133169691Skanstruct pv_addr systempage; 134169691Skanstruct pv_addr msgbufpv; 135169691Skanstruct pv_addr irqstack; 136169691Skanstruct pv_addr undstack; 137169691Skanstruct pv_addr abtstack; 138169691Skanstruct pv_addr kernelstack; 139169691Skanstruct pv_addr minidataclean; 140169691Skan 141169691Skanstatic struct trapframe proc0_tf; 142169691Skan 143169691Skan/* Static device mappings. */ 144169691Skanstatic const struct pmap_devmap kb920x_devmap[] = { 145169691Skan /* 146169691Skan * Map the on-board devices VA == PA so that we can access them 147169691Skan * with the MMU on or off. 148169691Skan */ 149169691Skan { 150169691Skan /* 151169691Skan * This at least maps the interrupt controller, the UART 152169691Skan * and the timer. Other devices should use newbus to 153169691Skan * map their memory anyway. 154169691Skan */ 155169691Skan 0xfff00000, 156169691Skan 0xfff00000, 157169691Skan 0x100000, 158169691Skan VM_PROT_READ|VM_PROT_WRITE, 159169691Skan PTE_NOCACHE, 160169691Skan }, 161169691Skan { 162169691Skan 0, 163169691Skan 0, 164169691Skan 0, 165169691Skan 0, 166169691Skan 0, 167169691Skan } 168169691Skan}; 169169691Skan 170169691Skan#define SDRAM_START 0xa0000000 171169691Skan 172169691Skan#ifdef DDB 173169691Skanextern vm_offset_t ksym_start, ksym_end; 174169691Skan#endif 175169691Skan 176169691Skanvoid * 177169691Skaninitarm(void *arg, void *arg2) 178169691Skan{ 179169691Skan struct pv_addr kernel_l1pt; 180169691Skan int loop; 181169691Skan u_int l1pagetable; 182169691Skan vm_offset_t freemempos; 183169691Skan vm_offset_t afterkern; 184169691Skan int i = 0; 185169691Skan uint32_t fake_preload[35]; 186169691Skan uint32_t memsize = 32 * 1024 * 1024; 187169691Skan 188169691Skan i = 0; 189169691Skan 190169691Skan set_cpufuncs(); 191169691Skan cninit(); 192169691Skan 193169691Skan fake_preload[i++] = MODINFO_NAME; 194169691Skan fake_preload[i++] = strlen("elf kernel") + 1; 195169691Skan strcpy((char*)&fake_preload[i++], "elf kernel"); 196169691Skan i += 2; 197169691Skan fake_preload[i++] = MODINFO_TYPE; 198169691Skan fake_preload[i++] = strlen("elf kernel") + 1; 199169691Skan strcpy((char*)&fake_preload[i++], "elf kernel"); 200169691Skan i += 2; 201169691Skan fake_preload[i++] = MODINFO_ADDR; 202169691Skan fake_preload[i++] = sizeof(vm_offset_t); 203169691Skan fake_preload[i++] = KERNBASE; 204169691Skan fake_preload[i++] = MODINFO_SIZE; 205169691Skan fake_preload[i++] = sizeof(uint32_t); 206169691Skan fake_preload[i++] = (uint32_t)&end - KERNBASE; 207169691Skan fake_preload[i++] = 0; 208169691Skan fake_preload[i] = 0; 209169691Skan preload_metadata = (void *)fake_preload; 210169691Skan 211169691Skan 212169691Skan pcpu_init(pcpup, 0, sizeof(struct pcpu)); 213169691Skan PCPU_SET(curthread, &thread0); 214169691Skan 215169691Skan#define KERNEL_TEXT_BASE (KERNBASE) 216169691Skan freemempos = ((vm_offset_t)&end + PAGE_MASK) & ~PAGE_MASK; 217169691Skan /* Define a macro to simplify memory allocation */ 218169691Skan#define valloc_pages(var, np) \ 219169691Skan alloc_pages((var).pv_va, (np)); \ 220169691Skan (var).pv_pa = (var).pv_va + (KERNPHYSADDR - KERNVIRTADDR); 221169691Skan 222169691Skan#define alloc_pages(var, np) \ 223169691Skan (var) = freemempos; \ 224169691Skan freemempos += (np * PAGE_SIZE); \ 225169691Skan memset((char *)(var), 0, ((np) * PAGE_SIZE)); 226169691Skan 227169691Skan while (((freemempos - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) != 0) 228169691Skan freemempos += PAGE_SIZE; 229169691Skan valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 230169691Skan for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 231169691Skan if (!(loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL))) { 232169691Skan valloc_pages(kernel_pt_table[loop], 233169691Skan L2_TABLE_SIZE / PAGE_SIZE); 234169691Skan } else { 235169691Skan kernel_pt_table[loop].pv_va = freemempos - 236169691Skan (loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL)) * 237169691Skan L2_TABLE_SIZE_REAL; 238169691Skan kernel_pt_table[loop].pv_pa = 239169691Skan kernel_pt_table[loop].pv_va - KERNVIRTADDR + 240169691Skan KERNPHYSADDR; 241169691Skan } 242169691Skan i++; 243169691Skan } 244169691Skan /* 245169691Skan * Allocate a page for the system page mapped to V0x00000000 246169691Skan * This page will just contain the system vectors and can be 247169691Skan * shared by all processes. 248169691Skan */ 249169691Skan valloc_pages(systempage, 1); 250169691Skan 251169691Skan /* Allocate stacks for all modes */ 252169691Skan valloc_pages(irqstack, IRQ_STACK_SIZE); 253169691Skan valloc_pages(abtstack, ABT_STACK_SIZE); 254169691Skan valloc_pages(undstack, UND_STACK_SIZE); 255169691Skan valloc_pages(kernelstack, KSTACK_PAGES); 256169691Skan alloc_pages(minidataclean.pv_pa, 1); 257169691Skan valloc_pages(msgbufpv, round_page(MSGBUF_SIZE) / PAGE_SIZE); 258169691Skan /* 259169691Skan * Now we start construction of the L1 page table 260169691Skan * We start by mapping the L2 page tables into the L1. 261169691Skan * This means that we can replace L1 mappings later on if necessary 262169691Skan */ 263169691Skan l1pagetable = kernel_l1pt.pv_va; 264169691Skan 265169691Skan /* Map the L2 pages tables in the L1 page table */ 266169691Skan pmap_link_l2pt(l1pagetable, ARM_VECTORS_LOW, 267169691Skan &kernel_pt_table[KERNEL_PT_SYS]); 268169691Skan for (i = 0; i < KERNEL_PT_KERN_NUM; i++) 269169691Skan pmap_link_l2pt(l1pagetable, KERNBASE + i * 0x100000, 270169691Skan &kernel_pt_table[KERNEL_PT_KERN + i]); 271169691Skan pmap_map_chunk(l1pagetable, KERNBASE, KERNPHYSADDR, 272169691Skan (((uint32_t)(&end) - KERNBASE) + PAGE_SIZE) & ~(PAGE_SIZE - 1), 273169691Skan VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 274169691Skan afterkern = round_page(((vm_offset_t)&end + L1_S_SIZE) & ~(L1_S_SIZE 275169691Skan - 1)); 276169691Skan for (i = 0; i < KERNEL_PT_AFKERNEL_NUM; i++) { 277169691Skan pmap_link_l2pt(l1pagetable, afterkern + i * 0x00100000, 278169691Skan &kernel_pt_table[KERNEL_PT_AFKERNEL + i]); 279169691Skan } 280169691Skan pmap_map_entry(l1pagetable, afterkern, minidataclean.pv_pa, 281169691Skan VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 282169691Skan 283169691Skan 284169691Skan /* Map the vector page. */ 285169691Skan pmap_map_entry(l1pagetable, ARM_VECTORS_LOW, systempage.pv_pa, 286169691Skan VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 287169691Skan /* Map the stack pages */ 288169691Skan pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 289169691Skan IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 290169691Skan pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 291169691Skan ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 292169691Skan pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 293169691Skan UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 294169691Skan pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 295169691Skan KSTACK_PAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 296169691Skan 297169691Skan pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 298169691Skan L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 299169691Skan pmap_map_chunk(l1pagetable, msgbufpv.pv_va, msgbufpv.pv_pa, 300169691Skan MSGBUF_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 301169691Skan 302169691Skan 303169691Skan for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 304169691Skan pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 305169691Skan kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 306169691Skan VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 307169691Skan } 308169691Skan 309169691Skan pmap_devmap_bootstrap(l1pagetable, kb920x_devmap); 310169691Skan cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 311169691Skan setttb(kernel_l1pt.pv_pa); 312169691Skan cpu_tlb_flushID(); 313169691Skan cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 314169691Skan 315169691Skan /* 316169691Skan * Pages were allocated during the secondary bootstrap for the 317169691Skan * stacks for different CPU modes. 318169691Skan * We must now set the r13 registers in the different CPU modes to 319169691Skan * point to these stacks. 320169691Skan * Since the ARM stacks use STMFD etc. we must set r13 to the top end 321169691Skan * of the stack memory. 322169691Skan */ 323169691Skan 324169691Skan cpu_control(CPU_CONTROL_MMU_ENABLE, CPU_CONTROL_MMU_ENABLE); 325169691Skan set_stackptr(PSR_IRQ32_MODE, 326169691Skan irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 327169691Skan set_stackptr(PSR_ABT32_MODE, 328169691Skan abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 329169691Skan set_stackptr(PSR_UND32_MODE, 330169691Skan undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 331169691Skan 332169691Skan 333169691Skan 334169691Skan /* 335169691Skan * We must now clean the cache again.... 336169691Skan * Cleaning may be done by reading new data to displace any 337169691Skan * dirty data in the cache. This will have happened in setttb() 338169691Skan * but since we are boot strapping the addresses used for the read 339169691Skan * may have just been remapped and thus the cache could be out 340169691Skan * of sync. A re-clean after the switch will cure this. 341169691Skan * After booting there are no gross reloations of the kernel thus 342169691Skan * this problem will not occur after initarm(). 343169691Skan */ 344169691Skan cpu_idcache_wbinv_all(); 345169691Skan 346169691Skan /* Set stack for exception handlers */ 347169691Skan 348169691Skan data_abort_handler_address = (u_int)data_abort_handler; 349169691Skan prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 350169691Skan undefined_handler_address = (u_int)undefinedinstruction_bounce; 351169691Skan undefined_init(); 352169691Skan 353169691Skan proc_linkup(&proc0, &ksegrp0, &thread0); 354169691Skan thread0.td_kstack = kernelstack.pv_va; 355169691Skan thread0.td_pcb = (struct pcb *) 356169691Skan (thread0.td_kstack + KSTACK_PAGES * PAGE_SIZE) - 1; 357169691Skan thread0.td_pcb->pcb_flags = 0; 358169691Skan thread0.td_frame = &proc0_tf; 359169691Skan pcpup->pc_curpcb = thread0.td_pcb; 360169691Skan 361169691Skan arm_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 362169691Skan 363169691Skan pmap_curmaxkvaddr = afterkern + 0x100000 * (KERNEL_PT_KERN_NUM - 1); 364169691Skan pmap_bootstrap(freemempos, 365169691Skan KERNVIRTADDR + 3 * memsize, 366169691Skan &kernel_l1pt); 367169691Skan msgbufp = (void*)msgbufpv.pv_va; 368169691Skan msgbufinit(msgbufp, MSGBUF_SIZE); 369169691Skan mutex_init(); 370169691Skan 371169691Skan i = 0; 372169691Skan dump_avail[0] = KERNPHYSADDR; 373169691Skan dump_avail[1] = KERNPHYSADDR + memsize; 374169691Skan dump_avail[2] = 0; 375169691Skan dump_avail[3] = 0; 376169691Skan 377169691Skan phys_avail[0] = freemempos - KERNVIRTADDR + KERNPHYSADDR; 378169691Skan phys_avail[1] = KERNPHYSADDR + memsize; 379169691Skan phys_avail[2] = 0; 380169691Skan phys_avail[3] = 0; 381169691Skan /* Do basic tuning, hz etc */ 382169691Skan init_param1(); 383169691Skan init_param2(memsize / PAGE_SIZE); 384169691Skan avail_end = KERNPHYSADDR + memsize - 1; 385169691Skan kdb_init(); 386169691Skan boothowto = RB_SINGLE; 387169691Skan return ((void *)(kernelstack.pv_va + USPACE_SVC_STACK_TOP - 388169691Skan sizeof(struct pcb))); 389169691Skan} 390169691Skan