1/* $NetBSD: imx31lk_machdep.c,v 1.30 2023/04/20 08:28:04 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 1.30 2023/04/20 08:28:04 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_md.h" 120#include "opt_com.h" 121 122#include <sys/param.h> 123#include <sys/device.h> 124#include <sys/systm.h> 125#include <sys/kernel.h> 126#include <sys/exec.h> 127#include <sys/proc.h> 128#include <sys/msgbuf.h> 129#include <sys/reboot.h> 130#include <sys/termios.h> 131#include <sys/ksyms.h> 132#include <sys/bus.h> 133#include <sys/cpu.h> 134 135#include <uvm/uvm_extern.h> 136 137#include <sys/conf.h> 138#include <dev/cons.h> 139#include <dev/md.h> 140 141#include <machine/db_machdep.h> 142#include <ddb/db_sym.h> 143#include <ddb/db_extern.h> 144#ifdef KGDB 145#include <sys/kgdb.h> 146#endif 147 148#include <machine/bootconfig.h> 149#include <arm/locore.h> 150#include <arm/undefined.h> 151 152#include <arm/arm32/pte.h> 153#include <arm/arm32/machdep.h> 154 155#include <arm/imx/imx31reg.h> 156#include <arm/imx/imxuartreg.h> 157#include <arm/imx/imxuartvar.h> 158#include <evbarm/imx31/imx31lk_reg.h> 159 160/* Kernel text starts 1MB in from the bottom of the kernel address space. */ 161#define KERNEL_TEXT_BASE (KERNEL_BASE + 0x00100000) 162#define KERNEL_VM_BASE (KERNEL_BASE + 0x01000000) 163 164/* 165 * The range 0x81000000 - 0x8cffffff is available for kernel VM space 166 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff 167 */ 168#define KERNEL_VM_SIZE 0x0C000000 169 170BootConfig bootconfig; /* Boot config storage */ 171char *boot_args = NULL; 172char *boot_file = NULL; 173 174vaddr_t physical_start; 175vaddr_t physical_freestart; 176vaddr_t physical_freeend; 177vaddr_t physical_end; 178u_int free_pages; 179 180/*int debug_flags;*/ 181#ifndef PMAP_STATIC_L1S 182int max_processes = 64; /* Default number */ 183#endif /* !PMAP_STATIC_L1S */ 184 185paddr_t msgbufphys; 186 187#define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */ 188#define KERNEL_PT_KERNEL 1 /* Page table for mapping kernel */ 189#define KERNEL_PT_KERNEL_NUM 4 190#define KERNEL_PT_VMDATA (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM) 191 /* Page tables for mapping kernel VM */ 192#define KERNEL_PT_VMDATA_NUM 4 /* start with 16MB of KVM */ 193#define NUM_KERNEL_PTS (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM) 194 195pv_addr_t kernel_pt_table[NUM_KERNEL_PTS]; 196 197/* Prototypes */ 198 199#if 0 200void process_kernel_args(char *); 201#endif 202 203void imx31lk_consinit(int); 204void kgdb_port_init(void); 205void change_clock(uint32_t v); 206 207bs_protos(bs_notimpl); 208 209#include "com.h" 210#if NCOM > 0 211#include <dev/ic/comreg.h> 212#include <dev/ic/comvar.h> 213#endif 214 215#ifndef CONSPEED 216#define CONSPEED B115200 /* What RedBoot uses */ 217#endif 218#ifndef CONMODE 219#define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 220#endif 221 222int comcnspeed = CONSPEED; 223int comcnmode = CONMODE; 224 225/* 226 * void cpu_reboot(int howto, char *bootstr) 227 * 228 * Reboots the system 229 * 230 * Deal with any syncing, unmounting, dumping and shutdown hooks, 231 * then reset the CPU. 232 */ 233void 234cpu_reboot(int howto, char *bootstr) 235{ 236#ifdef DIAGNOSTIC 237 /* info */ 238 printf("boot: howto=%08x curproc=%p\n", howto, curproc); 239#endif 240 241 /* 242 * If we are still cold then hit the air brakes 243 * and crash to earth fast 244 */ 245 if (cold) { 246 doshutdownhooks(); 247 pmf_system_shutdown(boothowto); 248 printf("The operating system has halted.\n"); 249 printf("Please press any key to reboot.\n\n"); 250 cngetc(); 251 printf("rebooting...\n"); 252 cpu_reset(); 253 /*NOTREACHED*/ 254 } 255 256 /* Disable console buffering */ 257/* cnpollc(1);*/ 258 259 /* 260 * If RB_NOSYNC was not specified sync the discs. 261 * Note: Unless cold is set to 1 here, syslogd will die during the 262 * unmount. It looks like syslogd is getting woken up only to find 263 * that it cannot page part of the binary in as the filesystem has 264 * been unmounted. 265 */ 266 if (!(howto & RB_NOSYNC)) 267 bootsync(); 268 269 /* Say NO to interrupts */ 270 splhigh(); 271 272 /* Do a dump if requested. */ 273 if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP) 274 dumpsys(); 275 276 /* Run any shutdown hooks */ 277 doshutdownhooks(); 278 279 pmf_system_shutdown(boothowto); 280 281 /* Make sure IRQ's are disabled */ 282 IRQdisable; 283 284 if (howto & RB_HALT) { 285 printf("The operating system has halted.\n"); 286 printf("Please press any key to reboot.\n\n"); 287 cngetc(); 288 } 289 290 printf("rebooting...\n"); 291 cpu_reset(); 292 /*NOTREACHED*/ 293} 294 295/* 296 * Static device mappings. These peripheral registers are mapped at 297 * fixed virtual addresses very early in imx31lk_start() so that we 298 * can use them while booting the kernel, and stay at the same address 299 * throughout whole kernel's life time. 300 * 301 * We use this table twice; once with bootstrap page table, and once 302 * with kernel's page table which we build up in initarm(). 303 */ 304 305static const struct pmap_devmap imx31lk_devmap[] = { 306 DEVMAP_ENTRY( 307 IMX31LITEKIT_UART1_VBASE, 308 UART1_BASE, 309 L1_S_SIZE 310 ), 311 DEVMAP_ENTRY_END 312}; 313 314#ifndef MEMSTART 315#define MEMSTART 0x80000000 316#endif 317#ifndef MEMSIZE 318#define MEMSIZE 0x8000000 319#endif 320 321/* 322 * vaddr_t initarm(...) 323 * 324 * Initial entry point on startup. This gets called before main() is 325 * entered. 326 * It should be responsible for setting up everything that must be 327 * in place when main is called. 328 * This includes 329 * Taking a copy of the boot configuration structure. 330 * Initialising the physical console so characters can be printed. 331 * Setting up page tables for the kernel 332 * Relocating the kernel to the bottom of physical memory 333 */ 334vaddr_t 335initarm(void *arg) 336{ 337 int loop; 338 int loop1; 339 vaddr_t l1pagetable; 340 341 disable_interrupts(I32_bit|F32_bit); 342 /* XXX move to imx31lk_start.S */ 343 344 /* Register devmap for devices we mapped in start */ 345 pmap_devmap_register(imx31lk_devmap); 346 347#ifdef NOTYET 348 /* start 32.768 kHz OSC */ 349 ioreg_write(VIPER_CLKMAN_VBASE + 0x08, 2); 350 /* Get ready for splfoo() */ 351 imx31_intr_bootstrap(IMX31_INTCTL_VBASE); 352#endif 353 354 /* 355 * Heads up ... Setup the CPU / MMU / TLB functions 356 */ 357 if (set_cpufuncs()) 358 panic("cpu not recognized!"); 359 360#if 0 361 /* Calibrate the delay loop. */ 362#endif 363 364 consinit(); 365 366#ifdef KGDB 367 kgdb_port_init(); 368#endif 369 /* Talk to the user */ 370 printf("\nNetBSD/evbarm (imx31lk) booting ...\n"); 371 372#if 0 373 /* 374 * Examine the boot args string for options we need to know about 375 * now. 376 */ 377 process_kernel_args((char *)nwbootinfo.bt_args); 378#endif 379 380 printf("initarm: Configuring system ...\n"); 381 382 /* Fake bootconfig structure for the benefit of pmap.c */ 383 /* XXX must make the memory description h/w independent */ 384 bootconfig.dramblocks = 1; 385 bootconfig.dram[0].address = MEMSTART; 386 bootconfig.dram[0].pages = MEMSIZE / PAGE_SIZE; 387 388 /* 389 * Set up the variables that define the availability of 390 * physical memory. For now, we're going to set 391 * physical_freeend to 0x80100000UL (where the kernel 392 * was loaded) and allocate the memory we need downwards. 393 * If we get too close to the page tables that LoLo 394 * set up, we will panic. We will update physical_freestart 395 * and physical_freeend later to reflect what pmap_bootstrap() 396 * wants to see. 397 * 398 * XXX pmap_bootstrap() needs an enema. 399 * (now that would be truly hardcore XXX) 400 */ 401 physical_start = bootconfig.dram[0].address; 402 physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE); 403 404 physical_freestart = 0x800c0000UL; /* top of LoLo */ 405 physical_freeend = 0x80100000UL; /* base of kernel */ 406 407 physmem = (physical_end - physical_start) / PAGE_SIZE; 408 409#ifdef VERBOSE_INIT_ARM 410 /* Tell the user about the memory */ 411 printf("physmemory: %"PRIuPSIZE" pages at 0x%08lx -> 0x%08lx\n", physmem, 412 physical_start, physical_end - 1); 413#endif 414 415 /* 416 * Okay, the kernel starts 1MB in from the bottom of physical 417 * memory. We are going to allocate our bootstrap pages downwards 418 * from there. 419 * 420 * We need to allocate some fixed page tables to get the kernel 421 * going. We allocate one page directory and a number of page 422 * tables and store the physical addresses in the kernel_pt_table 423 * array. 424 * 425 * The kernel page directory must be on a 16K boundary. The page 426 * tables must be on 4K boundaries. What we do is allocate the 427 * page directory on the first 16K boundary that we encounter, and 428 * the page tables on 4K boundaries otherwise. Since we allocate 429 * at least 3 L2 page tables, we are guaranteed to encounter at 430 * least one 16K aligned region. 431 */ 432 433#ifdef VERBOSE_INIT_ARM 434 printf("Allocating page tables\n"); 435#endif 436 437 free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE; 438 439#ifdef VERBOSE_INIT_ARM 440 printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n", 441 physical_freestart, free_pages, free_pages); 442#endif 443 444 /* Define a macro to simplify memory allocation */ 445#define valloc_pages(var, np) \ 446 alloc_pages((var).pv_pa, (np)); \ 447 (var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start; 448 449#define alloc_pages(var, np) \ 450 physical_freeend -= ((np) * PAGE_SIZE); \ 451 if (physical_freeend < physical_freestart) \ 452 panic("initarm: out of memory"); \ 453 (var) = physical_freeend; \ 454 free_pages -= (np); \ 455 memset((char *)(var), 0, ((np) * PAGE_SIZE)); 456 457 loop1 = 0; 458 for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) { 459 /* Are we 16KB aligned for an L1 ? */ 460 if (((physical_freeend - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) == 0 461 && kernel_l1pt.pv_pa == 0) { 462 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE); 463 } else { 464 valloc_pages(kernel_pt_table[loop1], 465 L2_TABLE_SIZE / PAGE_SIZE); 466 ++loop1; 467 } 468 } 469 470 /* This should never be able to happen but better confirm that. */ 471 if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0) 472 panic("initarm: Failed to align the kernel page directory"); 473 474 /* 475 * Allocate a page for the system page mapped to V0x00000000 476 * This page will just contain the system vectors and can be 477 * shared by all processes. 478 */ 479 alloc_pages(systempage.pv_pa, 1); 480 481 /* Allocate stacks for all modes */ 482 valloc_pages(irqstack, IRQ_STACK_SIZE); 483 valloc_pages(abtstack, ABT_STACK_SIZE); 484 valloc_pages(undstack, UND_STACK_SIZE); 485 valloc_pages(kernelstack, UPAGES); 486 487#ifdef VERBOSE_INIT_ARM 488 printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa, 489 irqstack.pv_va); 490 printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa, 491 abtstack.pv_va); 492 printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa, 493 undstack.pv_va); 494 printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa, 495 kernelstack.pv_va); 496#endif 497 498 /* 499 * XXX Defer this to later so that we can reclaim the memory 500 * XXX used by the LoLo page tables. 501 */ 502 alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE); 503 504 /* 505 * Ok we have allocated physical pages for the primary kernel 506 * page tables 507 */ 508 509#ifdef VERBOSE_INIT_ARM 510 printf("Creating L1 page table at p0x%08lx v0x%08lx\n", 511 kernel_l1pt.pv_pa, kernel_l1pt.pv_va); 512#endif 513 514 /* 515 * Now we start construction of the L1 page table 516 * We start by mapping the L2 page tables into the L1. 517 * This means that we can replace L1 mappings later on if necessary 518 */ 519 l1pagetable = kernel_l1pt.pv_pa; 520 521 /* Map the L2 pages tables in the L1 page table */ 522 pmap_link_l2pt(l1pagetable, 0x00000000, 523 &kernel_pt_table[KERNEL_PT_SYS]); 524 for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++) 525 pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000, 526 &kernel_pt_table[KERNEL_PT_KERNEL + loop]); 527 for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++) 528 pmap_link_l2pt(l1pagetable, KERNEL_VM_BASE + loop * 0x00400000, 529 &kernel_pt_table[KERNEL_PT_VMDATA + loop]); 530 531 /* update the top of the kernel VM */ 532 pmap_curmaxkvaddr = 533 KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000); 534 535#ifdef VERBOSE_INIT_ARM 536 printf("Mapping kernel\n"); 537#endif 538 539 /* Now we fill in the L2 pagetable for the kernel static code/data */ 540#define round_L_page(x) (((x) + L2_L_OFFSET) & L2_L_FRAME) 541 { 542 extern char etext[], _end[]; 543 size_t textsize = round_L_page((size_t)etext - KERNEL_TEXT_BASE); 544 size_t totalsize = round_L_page((size_t)_end - KERNEL_TEXT_BASE); 545 u_int logical; 546 547 548printf("%s: etext %lx, _end %lx\n", 549 __func__, (uintptr_t)etext, (uintptr_t)_end); 550printf("%s: textsize %#lx, totalsize %#lx\n", 551 __func__, textsize, totalsize); 552 553 logical = 0x00100000; /* offset of kernel in RAM */ 554 555 /* Map text section read-only. */ 556 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 557 physical_start + logical, textsize, 558 VM_PROT_READ|VM_PROT_EXECUTE, PTE_CACHE); 559 560 /* Map data and bss sections read-write. */ 561 logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical, 562 physical_start + logical, totalsize - textsize, 563 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 564 } 565 566#ifdef VERBOSE_INIT_ARM 567 printf("Constructing L2 page tables\n"); 568#endif 569 570 /* Map the stack pages */ 571 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa, 572 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 573 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa, 574 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 575 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa, 576 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 577 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa, 578 UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE); 579 580 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa, 581 L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE); 582 583 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) { 584 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va, 585 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE, 586 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE); 587 } 588 589 /* Map the vector page. */ 590#if 1 591 /* MULTI-ICE requires that page 0 is NC/NB so that it can download the 592 * cache-clean code there. */ 593 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 594 VM_PROT_READ|VM_PROT_WRITE, PTE_NOCACHE); 595#else 596 pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa, 597 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE); 598#endif 599 600 /* 601 * map integrated peripherals at same address in l1pagetable 602 * so that we can continue to use console. 603 */ 604 pmap_devmap_bootstrap(l1pagetable, imx31lk_devmap); 605 606 /* 607 * Now we have the real page tables in place so we can switch to them. 608 * Once this is done we will be running with the REAL kernel page 609 * tables. 610 */ 611 612 /* 613 * Update the physical_freestart/physical_freeend/free_pages 614 * variables. 615 */ 616 { 617 extern char _end[]; 618 619 physical_freestart = physical_start + 620 (((((uintptr_t) _end) + PGOFSET) & ~PGOFSET) - 621 KERNEL_BASE); 622 physical_freeend = physical_end; 623 free_pages = 624 (physical_freeend - physical_freestart) / PAGE_SIZE; 625 } 626 627 /* Switch tables */ 628#ifdef VERBOSE_INIT_ARM 629 printf("freestart = 0x%08lx, free_pages = %d (0x%x)\n", 630 physical_freestart, free_pages, free_pages); 631 printf("switching to new L1 page table @%#lx...", kernel_l1pt.pv_pa); 632#endif 633 634 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT); 635 cpu_setttb(kernel_l1pt.pv_pa, true); 636 cpu_tlb_flushID(); 637 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)); 638 //imx31lk_consinit(2); 639 640 /* 641 * Moved from cpu_startup() as data_abort_handler() references 642 * this during uvm init 643 */ 644 uvm_lwp_setuarea(&lwp0, kernelstack.pv_va); 645 646#ifdef VERBOSE_INIT_ARM 647 printf("bootstrap done.\n"); 648#endif 649 650 arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL); 651 652 /* 653 * Pages were allocated during the secondary bootstrap for the 654 * stacks for different CPU modes. 655 * We must now set the r13 registers in the different CPU modes to 656 * point to these stacks. 657 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 658 * of the stack memory. 659 */ 660 printf("init subsystems: stacks "); 661 662 set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE); 663 set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE); 664 set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE); 665 666 /* 667 * Well we should set a data abort handler. 668 * Once things get going this will change as we will need a proper 669 * handler. 670 * Until then we will use a handler that just panics but tells us 671 * why. 672 * Initialisation of the vectors will just panic on a data abort. 673 * This just fills in a slightly better one. 674 */ 675 printf("vectors "); 676 data_abort_handler_address = (u_int)data_abort_handler; 677 prefetch_abort_handler_address = (u_int)prefetch_abort_handler; 678 undefined_handler_address = (u_int)undefinedinstruction_bounce; 679 680 /* Initialise the undefined instruction handlers */ 681 printf("undefined "); 682 undefined_init(); 683 684 /* Load memory into UVM. */ 685 printf("page "); 686 uvm_md_init(); 687 uvm_page_physload(atop(physical_freestart), atop(physical_freeend), 688 atop(physical_freestart), atop(physical_freeend), 689 VM_FREELIST_DEFAULT); 690 691 /* Boot strap pmap telling it where managed kernel virtual memory is */ 692 printf("pmap "); 693 pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE); 694 695#ifdef __HAVE_MEMORY_DISK__ 696 md_root_setconf(memory_disk, sizeof memory_disk); 697#endif 698 699#ifdef KGDB 700 if (boothowto & RB_KDB) { 701 kgdb_debug_init = 1; 702 kgdb_connect(1); 703 } 704#endif 705 706#ifdef DDB 707 printf("ddb "); 708 db_machine_init(); 709 710 /* Firmware doesn't load symbols. */ 711 ddb_init(0, NULL, NULL); 712 713 if (boothowto & RB_KDB) 714 Debugger(); 715#endif 716 /* We return the new stack pointer address */ 717 return kernelstack.pv_va + USPACE_SVC_STACK_TOP; 718} 719 720#if 0 721void 722process_kernel_args(char *args) 723{ 724 725 boothowto = 0; 726 727 /* Make a local copy of the bootargs */ 728 strncpy(bootargs, args, MAX_BOOT_STRING); 729 730 args = bootargs; 731 boot_file = bootargs; 732 733 /* Skip the kernel image filename */ 734 while (*args != ' ' && *args != 0) 735 ++args; 736 737 if (*args != 0) 738 *args++ = 0; 739 740 while (*args == ' ') 741 ++args; 742 743 boot_args = args; 744 745 printf("bootfile: %s\n", boot_file); 746 printf("bootargs: %s\n", boot_args); 747 748 parse_mi_bootargs(boot_args); 749} 750#endif 751 752#ifdef KGDB 753#ifndef KGDB_DEVNAME 754#define KGDB_DEVNAME "ffuart" 755#endif 756const char kgdb_devname[] = KGDB_DEVNAME; 757 758#if (NCOM > 0) 759#ifndef KGDB_DEVMODE 760#define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */ 761#endif 762int comkgdbmode = KGDB_DEVMODE; 763#endif /* NCOM */ 764 765#endif /* KGDB */ 766 767 768#if 0 769void 770imx31lk_consinit(int phase) 771{ 772 static int ophase = 0; 773 intptr_t bh; 774 775 if (ophase != phase) { 776 ophase = phase; 777 switch (phase) { 778 case 1: 779 imxuart_init(0, UART1_BASE); 780 break; 781 case 2: 782 bh = IMX31LITEKIT_UART1_VBASE; 783 bh |= (UART1_BASE & ~_A(UART1_BASE)); 784 imxuart_init(0, bh); 785 break; 786 } 787 } 788} 789#endif 790 791void 792consinit(void) 793{ 794 // imx31lk_consinit(2); 795} 796 797#ifdef KGDB 798void 799kgdb_port_init(void) 800{ 801#if (NCOM > 0) && defined(COM_PXA2X0) 802 paddr_t paddr = 0; 803 uint32_t ckenreg = ioreg_read(VIPER_CLKMAN_VBASE+CLKMAN_CKEN); 804 805 if (0 == strcmp(kgdb_devname, "ffuart")) { 806 paddr = PXA2X0_FFUART_BASE; 807 ckenreg |= CKEN_FFUART; 808 } 809 else if (0 == strcmp(kgdb_devname, "btuart")) { 810 paddr = PXA2X0_BTUART_BASE; 811 ckenreg |= CKEN_BTUART; 812 } 813 814 if (paddr && 815 0 == com_kgdb_attach(&imx31_a4x_bs_tag, paddr, 816 kgdb_rate, PXA2X0_COM_FREQ, COM_TYPE_PXA2x0, comkgdbmode)) { 817 818 ioreg_write(VIPER_CLKMAN_VBASE+CLKMAN_CKEN, ckenreg); 819 } 820#endif 821} 822#endif 823