1 /* $NetBSD: arm32_machdep.c,v 1.44 2004/03/24 15:34:47 atatat Exp $ */ 2 3 /*- 4 * SPDX-License-Identifier: BSD-4-Clause 5 * 6 * Copyright (c) 2004 Olivier Houchard 7 * Copyright (c) 1994-1998 Mark Brinicombe. 8 * Copyright (c) 1994 Brini. 9 * All rights reserved. 10 * 11 * This code is derived from software written for Brini by Mark Brinicombe 12 * 13 * Redistribution and use in source and binary forms, with or without 14 * modification, are permitted provided that the following conditions 15 * are met: 16 * 1. Redistributions of source code must retain the above copyright 17 * notice, this list of conditions and the following disclaimer. 18 * 2. Redistributions in binary form must reproduce the above copyright 19 * notice, this list of conditions and the following disclaimer in the 20 * documentation and/or other materials provided with the distribution. 21 * 3. All advertising materials mentioning features or use of this software 22 * must display the following acknowledgement: 23 * This product includes software developed by Mark Brinicombe 24 * for the NetBSD Project. 25 * 4. The name of the company nor the name of the author may be used to 26 * endorse or promote products derived from this software without specific 27 * prior written permission. 28 * 29 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED 30 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 31 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 32 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 33 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 34 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 35 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 36 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 37 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 38 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 39 * SUCH DAMAGE. 40 * 41 * Machine dependent functions for kernel setup 42 * 43 * Created : 17/09/94 44 * Updated : 18/04/01 updated for new wscons 45 */ 46 47 #include "opt_ddb.h" 48 #include "opt_kstack_pages.h" 49 #include "opt_platform.h" 50 #include "opt_sched.h" 51 52 #include <sys/param.h> 53 #include <sys/buf.h> 54 #include <sys/bus.h> 55 #include <sys/cons.h> 56 #include <sys/cpu.h> 57 #include <sys/devmap.h> 58 #include <sys/efi.h> 59 #include <sys/imgact.h> 60 #include <sys/kdb.h> 61 #include <sys/kernel.h> 62 #include <sys/ktr.h> 63 #include <sys/linker.h> 64 #include <sys/msgbuf.h> 65 #include <sys/physmem.h> 66 #include <sys/reboot.h> 67 #include <sys/rwlock.h> 68 #include <sys/sched.h> 69 #include <sys/syscallsubr.h> 70 #include <sys/sysent.h> 71 #include <sys/sysproto.h> 72 #include <sys/vmmeter.h> 73 74 #include <vm/vm_object.h> 75 #include <vm/vm_page.h> 76 #include <vm/vm_pager.h> 77 78 #include <machine/asm.h> 79 #include <machine/debug_monitor.h> 80 #include <machine/machdep.h> 81 #include <machine/metadata.h> 82 #include <machine/pcb.h> 83 #include <machine/platform.h> 84 #include <machine/sysarch.h> 85 #include <machine/undefined.h> 86 #include <machine/vfp.h> 87 #include <machine/vmparam.h> 88 89 #ifdef FDT 90 #include <dev/fdt/fdt_common.h> 91 #include <machine/ofw_machdep.h> 92 #endif 93 94 #ifdef DEBUG 95 #define debugf(fmt, args...) printf(fmt, ##args) 96 #else 97 #define debugf(fmt, args...) 98 #endif 99 100 #if defined(COMPAT_FREEBSD4) || defined(COMPAT_FREEBSD5) || \ 101 defined(COMPAT_FREEBSD6) || defined(COMPAT_FREEBSD7) || \ 102 defined(COMPAT_FREEBSD9) 103 #error FreeBSD/arm doesn't provide compatibility with releases prior to 10 104 #endif 105 106 107 #if __ARM_ARCH < 6 108 #error FreeBSD requires ARMv6 or later 109 #endif 110 111 struct pcpu __pcpu[MAXCPU]; 112 struct pcpu *pcpup = &__pcpu[0]; 113 114 static struct trapframe proc0_tf; 115 uint32_t cpu_reset_address = 0; 116 int cold = 1; 117 vm_offset_t vector_page; 118 119 /* The address at which the kernel was loaded. Set early in initarm(). */ 120 vm_paddr_t arm_physmem_kernaddr; 121 122 extern int *end; 123 124 #ifdef FDT 125 vm_paddr_t pmap_pa; 126 vm_offset_t systempage; 127 vm_offset_t irqstack; 128 vm_offset_t undstack; 129 vm_offset_t abtstack; 130 #endif /* FDT */ 131 132 #ifdef PLATFORM 133 static delay_func *delay_impl; 134 static void *delay_arg; 135 #endif 136 137 #if defined(SOCDEV_PA) 138 #if !defined(SOCDEV_VA) 139 #error SOCDEV_PA defined, but not SOCDEV_VA 140 #endif 141 uintptr_t socdev_va = SOCDEV_VA; 142 #endif 143 144 145 struct kva_md_info kmi; 146 /* 147 * arm32_vector_init: 148 * 149 * Initialize the vector page, and select whether or not to 150 * relocate the vectors. 151 * 152 * NOTE: We expect the vector page to be mapped at its expected 153 * destination. 154 */ 155 156 extern unsigned int page0[], page0_data[]; 157 void 158 arm_vector_init(vm_offset_t va, int which) 159 { 160 unsigned int *vectors = (int *) va; 161 unsigned int *vectors_data = vectors + (page0_data - page0); 162 int vec; 163 164 /* 165 * Loop through the vectors we're taking over, and copy the 166 * vector's insn and data word. 167 */ 168 for (vec = 0; vec < ARM_NVEC; vec++) { 169 if ((which & (1 << vec)) == 0) { 170 /* Don't want to take over this vector. */ 171 continue; 172 } 173 vectors[vec] = page0[vec]; 174 vectors_data[vec] = page0_data[vec]; 175 } 176 177 /* Now sync the vectors. */ 178 icache_sync(va, (ARM_NVEC * 2) * sizeof(u_int)); 179 180 vector_page = va; 181 } 182 183 static void 184 cpu_startup(void *dummy) 185 { 186 struct pcb *pcb = thread0.td_pcb; 187 const unsigned int mbyte = 1024 * 1024; 188 189 identify_arm_cpu(); 190 191 vm_ksubmap_init(&kmi); 192 193 /* 194 * Display the RAM layout. 195 */ 196 printf("real memory = %ju (%ju MB)\n", 197 (uintmax_t)arm32_ptob(realmem), 198 (uintmax_t)arm32_ptob(realmem) / mbyte); 199 printf("avail memory = %ju (%ju MB)\n", 200 (uintmax_t)arm32_ptob(vm_free_count()), 201 (uintmax_t)arm32_ptob(vm_free_count()) / mbyte); 202 if (bootverbose) { 203 physmem_print_tables(); 204 devmap_print_table(); 205 } 206 207 bufinit(); 208 vm_pager_bufferinit(); 209 pcb->pcb_regs.sf_sp = (u_int)thread0.td_kstack + 210 USPACE_SVC_STACK_TOP; 211 pmap_set_pcb_pagedir(kernel_pmap, pcb); 212 } 213 214 SYSINIT(cpu, SI_SUB_CPU, SI_ORDER_FIRST, cpu_startup, NULL); 215 216 /* 217 * Flush the D-cache for non-DMA I/O so that the I-cache can 218 * be made coherent later. 219 */ 220 void 221 cpu_flush_dcache(void *ptr, size_t len) 222 { 223 224 dcache_wb_poc((vm_offset_t)ptr, (vm_paddr_t)vtophys(ptr), len); 225 } 226 227 /* Get current clock frequency for the given cpu id. */ 228 int 229 cpu_est_clockrate(int cpu_id, uint64_t *rate) 230 { 231 struct pcpu *pc; 232 233 pc = pcpu_find(cpu_id); 234 if (pc == NULL || rate == NULL) 235 return (EINVAL); 236 237 if (pc->pc_clock == 0) 238 return (EOPNOTSUPP); 239 240 *rate = pc->pc_clock; 241 242 return (0); 243 } 244 245 void 246 cpu_idle(int busy) 247 { 248 249 CTR2(KTR_SPARE2, "cpu_idle(%d) at %d", busy, curcpu); 250 spinlock_enter(); 251 if (!busy) 252 cpu_idleclock(); 253 if (!sched_runnable()) 254 cpu_sleep(0); 255 if (!busy) 256 cpu_activeclock(); 257 spinlock_exit(); 258 CTR2(KTR_SPARE2, "cpu_idle(%d) at %d done", busy, curcpu); 259 } 260 261 int 262 cpu_idle_wakeup(int cpu) 263 { 264 265 return (0); 266 } 267 268 void 269 cpu_initclocks(void) 270 { 271 272 #ifdef SMP 273 if (PCPU_GET(cpuid) == 0) 274 cpu_initclocks_bsp(); 275 else 276 cpu_initclocks_ap(); 277 #else 278 cpu_initclocks_bsp(); 279 #endif 280 } 281 282 #ifdef PLATFORM 283 void 284 arm_set_delay(delay_func *impl, void *arg) 285 { 286 287 KASSERT(impl != NULL, ("No DELAY implementation")); 288 delay_impl = impl; 289 delay_arg = arg; 290 } 291 292 void 293 DELAY(int usec) 294 { 295 296 TSENTER(); 297 delay_impl(usec, delay_arg); 298 TSEXIT(); 299 } 300 #endif 301 302 void 303 cpu_pcpu_init(struct pcpu *pcpu, int cpuid, size_t size) 304 { 305 306 pcpu->pc_mpidr = 0xffffffff; 307 } 308 309 void 310 spinlock_enter(void) 311 { 312 struct thread *td; 313 register_t cspr; 314 315 td = curthread; 316 if (td->td_md.md_spinlock_count == 0) { 317 cspr = disable_interrupts(PSR_I | PSR_F); 318 td->td_md.md_spinlock_count = 1; 319 td->td_md.md_saved_cspr = cspr; 320 critical_enter(); 321 } else 322 td->td_md.md_spinlock_count++; 323 } 324 325 void 326 spinlock_exit(void) 327 { 328 struct thread *td; 329 register_t cspr; 330 331 td = curthread; 332 cspr = td->td_md.md_saved_cspr; 333 td->td_md.md_spinlock_count--; 334 if (td->td_md.md_spinlock_count == 0) { 335 critical_exit(); 336 restore_interrupts(cspr); 337 } 338 } 339 340 /* 341 * Construct a PCB from a trapframe. This is called from kdb_trap() where 342 * we want to start a backtrace from the function that caused us to enter 343 * the debugger. We have the context in the trapframe, but base the trace 344 * on the PCB. The PCB doesn't have to be perfect, as long as it contains 345 * enough for a backtrace. 346 */ 347 void 348 makectx(struct trapframe *tf, struct pcb *pcb) 349 { 350 pcb->pcb_regs.sf_r4 = tf->tf_r4; 351 pcb->pcb_regs.sf_r5 = tf->tf_r5; 352 pcb->pcb_regs.sf_r6 = tf->tf_r6; 353 pcb->pcb_regs.sf_r7 = tf->tf_r7; 354 pcb->pcb_regs.sf_r8 = tf->tf_r8; 355 pcb->pcb_regs.sf_r9 = tf->tf_r9; 356 pcb->pcb_regs.sf_r10 = tf->tf_r10; 357 pcb->pcb_regs.sf_r11 = tf->tf_r11; 358 pcb->pcb_regs.sf_r12 = tf->tf_r12; 359 pcb->pcb_regs.sf_pc = tf->tf_pc; 360 pcb->pcb_regs.sf_lr = tf->tf_usr_lr; 361 pcb->pcb_regs.sf_sp = tf->tf_usr_sp; 362 } 363 364 void 365 pcpu0_init(void) 366 { 367 set_curthread(&thread0); 368 pcpu_init(pcpup, 0, sizeof(struct pcpu)); 369 pcpup->pc_mpidr = cp15_mpidr_get() & 0xFFFFFF; 370 PCPU_SET(curthread, &thread0); 371 } 372 373 /* 374 * Initialize proc0 375 */ 376 void 377 init_proc0(vm_offset_t kstack) 378 { 379 proc_linkup0(&proc0, &thread0); 380 thread0.td_kstack = kstack; 381 thread0.td_kstack_pages = kstack_pages; 382 thread0.td_pcb = (struct pcb *)(thread0.td_kstack + 383 thread0.td_kstack_pages * PAGE_SIZE) - 1; 384 thread0.td_pcb->pcb_flags = 0; 385 thread0.td_pcb->pcb_fpflags = 0; 386 thread0.td_pcb->pcb_vfpcpu = -1; 387 thread0.td_pcb->pcb_vfpstate.fpscr = VFPSCR_DN; 388 thread0.td_pcb->pcb_vfpsaved = &thread0.td_pcb->pcb_vfpstate; 389 thread0.td_frame = &proc0_tf; 390 pcpup->pc_curpcb = thread0.td_pcb; 391 } 392 393 void 394 set_stackptrs(int cpu) 395 { 396 397 set_stackptr(PSR_IRQ32_MODE, 398 irqstack + ((IRQ_STACK_SIZE * PAGE_SIZE) * (cpu + 1))); 399 set_stackptr(PSR_ABT32_MODE, 400 abtstack + ((ABT_STACK_SIZE * PAGE_SIZE) * (cpu + 1))); 401 set_stackptr(PSR_UND32_MODE, 402 undstack + ((UND_STACK_SIZE * PAGE_SIZE) * (cpu + 1))); 403 } 404 405 static void 406 arm_kdb_init(void) 407 { 408 409 kdb_init(); 410 #ifdef KDB 411 if (boothowto & RB_KDB) 412 kdb_enter(KDB_WHY_BOOTFLAGS, "Boot flags requested debugger"); 413 #endif 414 } 415 416 #ifdef FDT 417 void * 418 initarm(struct arm_boot_params *abp) 419 { 420 struct mem_region mem_regions[FDT_MEM_REGIONS]; 421 vm_paddr_t lastaddr; 422 vm_offset_t dtbp, kernelstack, dpcpu; 423 char *env; 424 void *kmdp; 425 int err_devmap, mem_regions_sz; 426 phandle_t root; 427 char dts_version[255]; 428 #ifdef EFI 429 struct efi_map_header *efihdr; 430 #endif 431 432 /* get last allocated physical address */ 433 arm_physmem_kernaddr = abp->abp_physaddr; 434 lastaddr = parse_boot_param(abp) - KERNVIRTADDR + arm_physmem_kernaddr; 435 436 set_cpufuncs(); 437 cpuinfo_init(); 438 439 /* 440 * Find the dtb passed in by the boot loader. 441 */ 442 kmdp = preload_search_by_type("elf kernel"); 443 dtbp = MD_FETCH(kmdp, MODINFOMD_DTBP, vm_offset_t); 444 #if defined(FDT_DTB_STATIC) 445 /* 446 * In case the device tree blob was not retrieved (from metadata) try 447 * to use the statically embedded one. 448 */ 449 if (dtbp == (vm_offset_t)NULL) 450 dtbp = (vm_offset_t)&fdt_static_dtb; 451 #endif 452 453 if (OF_install(OFW_FDT, 0) == FALSE) 454 panic("Cannot install FDT"); 455 456 if (OF_init((void *)dtbp) != 0) 457 panic("OF_init failed with the found device tree"); 458 459 #if defined(LINUX_BOOT_ABI) 460 arm_parse_fdt_bootargs(); 461 #endif 462 463 #ifdef EFI 464 efihdr = (struct efi_map_header *)preload_search_info(kmdp, 465 MODINFO_METADATA | MODINFOMD_EFI_MAP); 466 if (efihdr != NULL) { 467 arm_add_efi_map_entries(efihdr, mem_regions, &mem_regions_sz); 468 } else 469 #endif 470 { 471 /* Grab physical memory regions information from device tree. */ 472 if (fdt_get_mem_regions(mem_regions, &mem_regions_sz,NULL) != 0) 473 panic("Cannot get physical memory regions"); 474 } 475 physmem_hardware_regions(mem_regions, mem_regions_sz); 476 477 /* Grab reserved memory regions information from device tree. */ 478 if (fdt_get_reserved_regions(mem_regions, &mem_regions_sz) == 0) 479 physmem_exclude_regions(mem_regions, mem_regions_sz, 480 EXFLAG_NODUMP | EXFLAG_NOALLOC); 481 482 /* 483 * Set TEX remapping registers. 484 * Setup kernel page tables and switch to kernel L1 page table. 485 */ 486 pmap_set_tex(); 487 pmap_bootstrap_prepare(lastaddr); 488 489 /* 490 * If EARLY_PRINTF support is enabled, we need to re-establish the 491 * mapping after pmap_bootstrap_prepare() switches to new page tables. 492 * Note that we can only do the remapping if the VA is outside the 493 * kernel, now that we have real virtual (not VA=PA) mappings in effect. 494 * Early printf does not work between the time pmap_set_tex() does 495 * cp15_prrr_set() and this code remaps the VA. 496 */ 497 #if defined(EARLY_PRINTF) && defined(SOCDEV_PA) && defined(SOCDEV_VA) && SOCDEV_VA < KERNBASE 498 pmap_preboot_map_attr(SOCDEV_PA, SOCDEV_VA, 1024 * 1024, 499 VM_PROT_READ | VM_PROT_WRITE, VM_MEMATTR_DEVICE); 500 #endif 501 502 /* 503 * Now that proper page tables are installed, call cpu_setup() to enable 504 * instruction and data caches and other chip-specific features. 505 */ 506 cpu_setup(); 507 508 /* Platform-specific initialisation */ 509 platform_probe_and_attach(); 510 pcpu0_init(); 511 512 /* Do basic tuning, hz etc */ 513 init_param1(); 514 515 /* 516 * Allocate a page for the system page mapped to 0xffff0000 517 * This page will just contain the system vectors and can be 518 * shared by all processes. 519 */ 520 systempage = pmap_preboot_get_pages(1); 521 522 /* Map the vector page. */ 523 pmap_preboot_map_pages(systempage, ARM_VECTORS_HIGH, 1); 524 if (virtual_end >= ARM_VECTORS_HIGH) 525 virtual_end = ARM_VECTORS_HIGH - 1; 526 527 /* Allocate dynamic per-cpu area. */ 528 dpcpu = pmap_preboot_get_vpages(DPCPU_SIZE / PAGE_SIZE); 529 dpcpu_init((void *)dpcpu, 0); 530 531 /* Allocate stacks for all modes */ 532 irqstack = pmap_preboot_get_vpages(IRQ_STACK_SIZE * MAXCPU); 533 abtstack = pmap_preboot_get_vpages(ABT_STACK_SIZE * MAXCPU); 534 undstack = pmap_preboot_get_vpages(UND_STACK_SIZE * MAXCPU ); 535 kernelstack = pmap_preboot_get_vpages(kstack_pages); 536 537 /* Allocate message buffer. */ 538 msgbufp = (void *)pmap_preboot_get_vpages( 539 round_page(msgbufsize) / PAGE_SIZE); 540 541 /* 542 * Pages were allocated during the secondary bootstrap for the 543 * stacks for different CPU modes. 544 * We must now set the r13 registers in the different CPU modes to 545 * point to these stacks. 546 * Since the ARM stacks use STMFD etc. we must set r13 to the top end 547 * of the stack memory. 548 */ 549 set_stackptrs(0); 550 mutex_init(); 551 552 /* Establish static device mappings. */ 553 err_devmap = platform_devmap_init(); 554 devmap_bootstrap(0, NULL); 555 vm_max_kernel_address = platform_lastaddr(); 556 557 /* 558 * Only after the SOC registers block is mapped we can perform device 559 * tree fixups, as they may attempt to read parameters from hardware. 560 */ 561 OF_interpret("perform-fixup", 0); 562 platform_gpio_init(); 563 cninit(); 564 565 /* 566 * If we made a mapping for EARLY_PRINTF after pmap_bootstrap_prepare(), 567 * undo it now that the normal console printf works. 568 */ 569 #if defined(EARLY_PRINTF) && defined(SOCDEV_PA) && defined(SOCDEV_VA) && SOCDEV_VA < KERNBASE 570 pmap_kremove(SOCDEV_VA); 571 #endif 572 573 debugf("initarm: console initialized\n"); 574 debugf(" arg1 kmdp = 0x%08x\n", (uint32_t)kmdp); 575 debugf(" boothowto = 0x%08x\n", boothowto); 576 debugf(" dtbp = 0x%08x\n", (uint32_t)dtbp); 577 debugf(" lastaddr1: 0x%08x\n", lastaddr); 578 arm_print_kenv(); 579 580 env = kern_getenv("kernelname"); 581 if (env != NULL) 582 strlcpy(kernelname, env, sizeof(kernelname)); 583 584 if (err_devmap != 0) 585 printf("WARNING: could not fully configure devmap, error=%d\n", 586 err_devmap); 587 588 platform_late_init(); 589 590 root = OF_finddevice("/"); 591 if (OF_getprop(root, "freebsd,dts-version", dts_version, sizeof(dts_version)) > 0) { 592 if (strcmp(LINUX_DTS_VERSION, dts_version) != 0) 593 printf("WARNING: DTB version is %s while kernel expects %s, " 594 "please update the DTB in the ESP\n", 595 dts_version, 596 LINUX_DTS_VERSION); 597 } else { 598 printf("WARNING: Cannot find freebsd,dts-version property, " 599 "cannot check DTB compliance\n"); 600 } 601 602 /* 603 * We must now clean the cache again.... 604 * Cleaning may be done by reading new data to displace any 605 * dirty data in the cache. This will have happened in cpu_setttb() 606 * but since we are boot strapping the addresses used for the read 607 * may have just been remapped and thus the cache could be out 608 * of sync. A re-clean after the switch will cure this. 609 * After booting there are no gross relocations of the kernel thus 610 * this problem will not occur after initarm(). 611 */ 612 /* Set stack for exception handlers */ 613 undefined_init(); 614 init_proc0(kernelstack); 615 arm_vector_init(ARM_VECTORS_HIGH, ARM_VEC_ALL); 616 enable_interrupts(PSR_A); 617 pmap_bootstrap(0); 618 619 /* Exclude the kernel (and all the things we allocated which immediately 620 * follow the kernel) from the VM allocation pool but not from crash 621 * dumps. virtual_avail is a global variable which tracks the kva we've 622 * "allocated" while setting up pmaps. 623 * 624 * Prepare the list of physical memory available to the vm subsystem. 625 */ 626 physmem_exclude_region(abp->abp_physaddr, 627 pmap_preboot_get_pages(0) - abp->abp_physaddr, EXFLAG_NOALLOC); 628 physmem_init_kernel_globals(); 629 630 init_param2(physmem); 631 /* Init message buffer. */ 632 msgbufinit(msgbufp, msgbufsize); 633 dbg_monitor_init(); 634 arm_kdb_init(); 635 /* Apply possible BP hardening. */ 636 cpuinfo_init_bp_hardening(); 637 return ((void *)STACKALIGN(thread0.td_pcb)); 638 639 } 640 #endif /* FDT */ 641