2 * Copyright (c) 1994-1998 Mark Brinicombe.
3 * Copyright (c) 1994 Brini.
6 * This code is derived from software written for Brini by Mark Brinicombe
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
11 * 1. Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * 2. Redistributions in binary form must reproduce the above copyright
14 * notice, this list of conditions and the following disclaimer in the
15 * documentation and/or other materials provided with the distribution.
16 * 3. All advertising materials mentioning features or use of this software
17 * must display the following acknowledgement:
18 * This product includes software developed by Brini.
19 * 4. The name of the company nor the name of the author may be used to
20 * endorse or promote products derived from this software without specific
21 * prior written permission.
23 * THIS SOFTWARE IS PROVIDED BY BRINI ``AS IS'' AND ANY EXPRESS OR IMPLIED
24 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
25 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
26 * IN NO EVENT SHALL BRINI OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
27 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
28 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
29 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
30 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
32 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
35 * RiscBSD kernel project
39 * Machine dependant functions for kernel setup
41 * This file needs a lot of work.
46 #include <sys/cdefs.h>
47 __FBSDID("$FreeBSD$");
49 #define _ARM32_BUS_DMA_PRIVATE
50 #include <sys/param.h>
51 #include <sys/systm.h>
52 #include <sys/sysproto.h>
53 #include <sys/signalvar.h>
54 #include <sys/imgact.h>
55 #include <sys/kernel.h>
57 #include <sys/linker.h>
59 #include <sys/malloc.h>
60 #include <sys/mutex.h>
63 #include <sys/ptrace.h>
70 #include <sys/msgbuf.h>
71 #include <machine/reg.h>
72 #include <machine/cpu.h>
76 #include <vm/vm_object.h>
77 #include <vm/vm_page.h>
78 #include <vm/vm_pager.h>
79 #include <vm/vm_map.h>
80 #include <vm/vnode_pager.h>
81 #include <machine/pmap.h>
82 #include <machine/vmparam.h>
83 #include <machine/pcb.h>
84 #include <machine/undefined.h>
85 #include <machine/machdep.h>
86 #include <machine/metadata.h>
87 #include <machine/armreg.h>
88 #include <machine/bus.h>
89 #include <sys/reboot.h>
91 #include <arm/at91/at91board.h>
92 #include <arm/at91/at91rm92reg.h>
93 #include <arm/at91/at91_piovar.h>
94 #include <arm/at91/at91_pio_rm9200.h>
96 #define KERNEL_PT_SYS 0 /* Page table for mapping proc0 zero page */
97 #define KERNEL_PT_KERN 1
98 #define KERNEL_PT_KERN_NUM 22
99 #define KERNEL_PT_AFKERNEL KERNEL_PT_KERN + KERNEL_PT_KERN_NUM /* L2 table for mapping after kernel */
100 #define KERNEL_PT_AFKERNEL_NUM 5
102 /* this should be evenly divisable by PAGE_SIZE / L2_TABLE_SIZE_REAL (or 4) */
103 #define NUM_KERNEL_PTS (KERNEL_PT_AFKERNEL + KERNEL_PT_AFKERNEL_NUM)
105 /* Define various stack sizes in pages */
106 #define IRQ_STACK_SIZE 1
107 #define ABT_STACK_SIZE 1
108 #define UND_STACK_SIZE 1
110 extern u_int data_abort_handler_address;
111 extern u_int prefetch_abort_handler_address;
112 extern u_int undefined_handler_address;
114 struct pv_addr kernel_pt_table[NUM_KERNEL_PTS];
121 struct pcpu *pcpup = &__pcpu;
123 /* Physical and virtual addresses for some global pages */
125 vm_paddr_t phys_avail[10];
126 vm_paddr_t dump_avail[4];
127 vm_offset_t physical_pages;
129 struct pv_addr systempage;
130 struct pv_addr msgbufpv;
131 struct pv_addr irqstack;
132 struct pv_addr undstack;
133 struct pv_addr abtstack;
134 struct pv_addr kernelstack;
136 static void *boot_arg1;
137 static void *boot_arg2;
139 static struct trapframe proc0_tf;
141 /* Static device mappings. */
142 static const struct pmap_devmap at91rm9200_devmap[] = {
144 * Map the on-board devices VA == PA so that we can access them
145 * with the MMU on or off.
149 * This at least maps the interrupt controller, the UART
150 * and the timer. Other devices should use newbus to
151 * map their memory anyway.
156 VM_PROT_READ|VM_PROT_WRITE,
160 * We can't just map the OHCI registers VA == PA, because
161 * AT91RM92_OHCI_BASE belongs to the userland address space.
162 * We could just choose a different virtual address, but a better
163 * solution would probably be to just use pmap_mapdev() to allocate
164 * KVA, as we don't need the OHCI controller before the vm
165 * initialization is done. However, the AT91 resource allocation
166 * system doesn't know how to use pmap_mapdev() yet.
170 * Add the ohci controller, and anything else that might be
171 * on this chip select for a VA/PA mapping.
174 AT91RM92_OHCI_PA_BASE,
176 VM_PROT_READ|VM_PROT_WRITE,
180 /* CompactFlash controller. */
184 VM_PROT_READ|VM_PROT_WRITE,
199 uint32_t *SDRAMC = (uint32_t *)(AT91RM92_BASE + AT91RM92_SDRAMC_BASE);
201 int banks, rows, cols, bw;
203 cr = SDRAMC[AT91RM92_SDRAMC_CR / 4];
204 mr = SDRAMC[AT91RM92_SDRAMC_MR / 4];
205 bw = (mr & AT91RM92_SDRAMC_MR_DBW_16) ? 1 : 2;
206 banks = (cr & AT91RM92_SDRAMC_CR_NB_4) ? 2 : 1;
207 rows = ((cr & AT91RM92_SDRAMC_CR_NR_MASK) >> 2) + 11;
208 cols = (cr & AT91RM92_SDRAMC_CR_NC_MASK) + 8;
209 return (1 << (cols + rows + banks + bw));
213 initarm(void *arg, void *arg2)
215 struct pv_addr kernel_l1pt;
216 struct pv_addr dpcpu;
219 vm_offset_t freemempos;
220 vm_offset_t afterkern;
222 vm_offset_t lastaddr;
227 lastaddr = fake_preload_metadata();
228 pcpu_init(pcpup, 0, sizeof(struct pcpu));
229 PCPU_SET(curthread, &thread0);
231 /* Do basic tuning, hz etc */
234 freemempos = (lastaddr + PAGE_MASK) & ~PAGE_MASK;
235 /* Define a macro to simplify memory allocation */
236 #define valloc_pages(var, np) \
237 alloc_pages((var).pv_va, (np)); \
238 (var).pv_pa = (var).pv_va + (KERNPHYSADDR - KERNVIRTADDR);
240 #define alloc_pages(var, np) \
241 (var) = freemempos; \
242 freemempos += (np * PAGE_SIZE); \
243 memset((char *)(var), 0, ((np) * PAGE_SIZE));
245 while (((freemempos - L1_TABLE_SIZE) & (L1_TABLE_SIZE - 1)) != 0)
246 freemempos += PAGE_SIZE;
247 valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
248 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
249 if (!(loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL))) {
250 valloc_pages(kernel_pt_table[loop],
251 L2_TABLE_SIZE / PAGE_SIZE);
253 kernel_pt_table[loop].pv_va = freemempos -
254 (loop % (PAGE_SIZE / L2_TABLE_SIZE_REAL)) *
256 kernel_pt_table[loop].pv_pa =
257 kernel_pt_table[loop].pv_va - KERNVIRTADDR +
263 * Allocate a page for the system page mapped to V0x00000000
264 * This page will just contain the system vectors and can be
265 * shared by all processes.
267 valloc_pages(systempage, 1);
269 /* Allocate dynamic per-cpu area. */
270 valloc_pages(dpcpu, DPCPU_SIZE / PAGE_SIZE);
271 dpcpu_init((void *)dpcpu.pv_va, 0);
273 /* Allocate stacks for all modes */
274 valloc_pages(irqstack, IRQ_STACK_SIZE);
275 valloc_pages(abtstack, ABT_STACK_SIZE);
276 valloc_pages(undstack, UND_STACK_SIZE);
277 valloc_pages(kernelstack, KSTACK_PAGES);
278 valloc_pages(msgbufpv, round_page(msgbufsize) / PAGE_SIZE);
281 * Now we start construction of the L1 page table
282 * We start by mapping the L2 page tables into the L1.
283 * This means that we can replace L1 mappings later on if necessary
285 l1pagetable = kernel_l1pt.pv_va;
287 /* Map the L2 pages tables in the L1 page table */
288 pmap_link_l2pt(l1pagetable, ARM_VECTORS_HIGH,
289 &kernel_pt_table[KERNEL_PT_SYS]);
290 for (i = 0; i < KERNEL_PT_KERN_NUM; i++)
291 pmap_link_l2pt(l1pagetable, KERNBASE + i * L1_S_SIZE,
292 &kernel_pt_table[KERNEL_PT_KERN + i]);
293 pmap_map_chunk(l1pagetable, KERNBASE, PHYSADDR,
294 (((uint32_t)lastaddr - KERNBASE) + PAGE_SIZE) & ~(PAGE_SIZE - 1),
295 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
296 afterkern = round_page((lastaddr + L1_S_SIZE) & ~(L1_S_SIZE - 1));
297 for (i = 0; i < KERNEL_PT_AFKERNEL_NUM; i++) {
298 pmap_link_l2pt(l1pagetable, afterkern + i * L1_S_SIZE,
299 &kernel_pt_table[KERNEL_PT_AFKERNEL + i]);
302 /* Map the vector page. */
303 pmap_map_entry(l1pagetable, ARM_VECTORS_HIGH, systempage.pv_pa,
304 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
306 /* Map the DPCPU pages */
307 pmap_map_chunk(l1pagetable, dpcpu.pv_va, dpcpu.pv_pa, DPCPU_SIZE,
308 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
310 /* Map the stack pages */
311 pmap_map_chunk(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
312 IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
313 pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
314 ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
315 pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
316 UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
317 pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
318 KSTACK_PAGES * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
320 pmap_map_chunk(l1pagetable, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
321 L1_TABLE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
322 pmap_map_chunk(l1pagetable, msgbufpv.pv_va, msgbufpv.pv_pa,
323 msgbufsize, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
325 for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
326 pmap_map_chunk(l1pagetable, kernel_pt_table[loop].pv_va,
327 kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
328 VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
331 pmap_devmap_bootstrap(l1pagetable, at91rm9200_devmap);
332 cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
333 setttb(kernel_l1pt.pv_pa);
335 cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));
337 memsize = board_init();
338 physmem = memsize / PAGE_SIZE;
341 * Pages were allocated during the secondary bootstrap for the
342 * stacks for different CPU modes.
343 * We must now set the r13 registers in the different CPU modes to
344 * point to these stacks.
345 * Since the ARM stacks use STMFD etc. we must set r13 to the top end
346 * of the stack memory.
348 cpu_control(CPU_CONTROL_MMU_ENABLE, CPU_CONTROL_MMU_ENABLE);
349 set_stackptr(PSR_IRQ32_MODE,
350 irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
351 set_stackptr(PSR_ABT32_MODE,
352 abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
353 set_stackptr(PSR_UND32_MODE,
354 undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);
357 * We must now clean the cache again....
358 * Cleaning may be done by reading new data to displace any
359 * dirty data in the cache. This will have happened in setttb()
360 * but since we are boot strapping the addresses used for the read
361 * may have just been remapped and thus the cache could be out
362 * of sync. A re-clean after the switch will cure this.
363 * After booting there are no gross relocations of the kernel thus
364 * this problem will not occur after initarm().
366 cpu_idcache_wbinv_all();
368 /* Set stack for exception handlers */
370 data_abort_handler_address = (u_int)data_abort_handler;
371 prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
372 undefined_handler_address = (u_int)undefinedinstruction_bounce;
375 proc_linkup0(&proc0, &thread0);
376 thread0.td_kstack = kernelstack.pv_va;
377 thread0.td_pcb = (struct pcb *)
378 (thread0.td_kstack + KSTACK_PAGES * PAGE_SIZE) - 1;
379 thread0.td_pcb->pcb_flags = 0;
380 thread0.td_frame = &proc0_tf;
381 pcpup->pc_curpcb = thread0.td_pcb;
383 arm_vector_init(ARM_VECTORS_HIGH, ARM_VEC_ALL);
385 pmap_curmaxkvaddr = afterkern + L1_S_SIZE * (KERNEL_PT_KERN_NUM - 1);
388 * ARM_USE_SMALL_ALLOC uses dump_avail, so it must be filled before
389 * calling pmap_bootstrap.
391 dump_avail[0] = PHYSADDR;
392 dump_avail[1] = PHYSADDR + memsize;
396 pmap_bootstrap(freemempos,
397 KERNVIRTADDR + 3 * memsize,
399 msgbufp = (void*)msgbufpv.pv_va;
400 msgbufinit(msgbufp, msgbufsize);
404 #if PHYSADDR != KERNPHYSADDR
405 phys_avail[i++] = PHYSADDR;
406 phys_avail[i++] = KERNPHYSADDR;
408 phys_avail[i++] = virtual_avail - KERNVIRTADDR + KERNPHYSADDR;
409 phys_avail[i++] = PHYSADDR + memsize;
412 init_param2(physmem);
414 return ((void *)(kernelstack.pv_va + USPACE_SVC_STACK_TOP -
415 sizeof(struct pcb)));