1 | /** |
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2 | * @file |
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3 | * |
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4 | * @ingroup arm_start |
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5 | * |
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6 | * @brief Rasberry Pi startup code. |
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7 | */ |
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8 | |
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9 | /* |
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10 | * Copyright (c) 2013. Hesham AL-Matary |
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11 | * Copyright (c) 2013 by Alan Cudmore |
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12 | * based on work by: |
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13 | * Copyright (c) 2009 |
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14 | * embedded brains GmbH |
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15 | * Obere Lagerstr. 30 |
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16 | * D-82178 Puchheim |
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17 | * Germany |
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18 | * <rtems@embedded-brains.de> |
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19 | * |
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20 | * The license and distribution terms for this file may be |
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21 | * found in the file LICENSE in this distribution or at |
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22 | * http://www.rtems.org/license/LICENSE |
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23 | */ |
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24 | |
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25 | #include <bspopts.h> |
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26 | #include <bsp/start.h> |
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27 | #include <bsp/raspberrypi.h> |
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28 | #include <libcpu/arm-cp15.h> |
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29 | #include <bsp.h> |
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30 | #include <bsp/bootcard.h> |
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31 | #include <bsp/linker-symbols.h> |
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32 | #include <bsp/arm-cp15-start.h> |
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33 | |
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34 | #include <rtems/sysinit.h> |
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35 | |
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36 | #ifdef RTEMS_SMP |
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37 | #include <rtems/score/smp.h> |
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38 | #endif |
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39 | |
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40 | #if defined(HAS_UBOOT) && !defined(BSP_DISABLE_UBOOT_WORK_AREA_CONFIG) |
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41 | #define USE_UBOOT |
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42 | #endif |
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43 | |
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44 | #ifdef USE_UBOOT |
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45 | #include <bsp/u-boot.h> |
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46 | #else |
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47 | #include <bsp/vc.h> |
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48 | #endif |
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49 | |
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50 | BSP_START_DATA_SECTION static arm_cp15_start_section_config |
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51 | raspberrypi_mmu_config_table[] = { |
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52 | ARMV7_CP15_START_DEFAULT_SECTIONS, |
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53 | { |
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54 | .begin = RPI_PERIPHERAL_BASE, |
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55 | .end = RPI_PERIPHERAL_BASE + RPI_PERIPHERAL_SIZE, |
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56 | .flags = ARMV7_MMU_DEVICE |
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57 | } |
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58 | #if (BSP_IS_RPI2 == 1) |
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59 | /* Core local peripherals area - timer, mailboxes */ |
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60 | , { |
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61 | .begin = BCM2836_CORE_LOCAL_PERIPH_BASE, |
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62 | .end = BCM2836_CORE_LOCAL_PERIPH_BASE + BCM2836_CORE_LOCAL_PERIPH_SIZE, |
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63 | .flags = ARMV7_MMU_DEVICE |
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64 | } |
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65 | #endif |
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66 | }; |
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67 | |
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68 | void BSP_START_TEXT_SECTION bsp_start_hook_0(void) |
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69 | { |
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70 | uint32_t sctlr_val; |
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71 | #ifdef RTEMS_SMP |
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72 | uint32_t cpu_index_self = _SMP_Get_current_processor(); |
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73 | #endif /* RTEMS_SMP */ |
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74 | |
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75 | sctlr_val = arm_cp15_get_control(); |
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76 | |
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77 | /* |
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78 | * Current U-boot loader seems to start kernel image |
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79 | * with I and D caches on and MMU enabled. |
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80 | * If RTEMS application image finds that cache is on |
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81 | * during startup then disable caches. |
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82 | */ |
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83 | if (sctlr_val & (ARM_CP15_CTRL_I | ARM_CP15_CTRL_C | ARM_CP15_CTRL_M)) { |
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84 | if (sctlr_val & (ARM_CP15_CTRL_C | ARM_CP15_CTRL_M)) { |
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85 | /* |
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86 | * If the data cache is on then ensure that it is clean |
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87 | * before switching off to be extra carefull. |
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88 | */ |
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89 | #ifdef RTEMS_SMP |
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90 | if (cpu_index_self != 0) { |
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91 | arm_cp15_data_cache_clean_level(0); |
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92 | arm_cp15_cache_invalidate_level(0, 0); |
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93 | } else |
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94 | #endif /* RTEMS_SMP */ |
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95 | { |
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96 | rtems_cache_flush_entire_data(); |
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97 | rtems_cache_invalidate_entire_data(); |
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98 | } |
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99 | } |
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100 | arm_cp15_flush_prefetch_buffer(); |
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101 | sctlr_val &= ~(ARM_CP15_CTRL_I | ARM_CP15_CTRL_C | ARM_CP15_CTRL_M | ARM_CP15_CTRL_A); |
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102 | arm_cp15_set_control(sctlr_val); |
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103 | } |
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104 | #ifdef RTEMS_SMP |
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105 | if (cpu_index_self != 0) { |
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106 | arm_cp15_cache_invalidate_level(0, 0); |
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107 | } else |
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108 | #endif /* RTEMS_SMP */ |
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109 | { |
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110 | rtems_cache_invalidate_entire_data(); |
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111 | } |
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112 | rtems_cache_invalidate_entire_instruction(); |
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113 | arm_cp15_branch_predictor_invalidate_all(); |
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114 | arm_cp15_tlb_invalidate(); |
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115 | arm_cp15_flush_prefetch_buffer(); |
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116 | |
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117 | /* Clear Translation Table Base Control Register */ |
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118 | arm_cp15_set_translation_table_base_control_register(0); |
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119 | |
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120 | /* Clear Secure or Non-secure Vector Base Address Register */ |
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121 | arm_cp15_set_vector_base_address(bsp_vector_table_begin); |
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122 | |
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123 | #ifdef RTEMS_SMP |
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124 | if (cpu_index_self == 0) { |
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125 | rpi_ipi_initialize(); |
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126 | } else { |
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127 | rpi_start_rtems_on_secondary_processor(); |
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128 | } |
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129 | #endif |
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130 | } |
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131 | |
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132 | BSP_START_TEXT_SECTION static uintptr_t raspberrypi_get_ram_end(void) |
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133 | { |
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134 | uintptr_t ram_end; |
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135 | |
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136 | #ifdef USE_UBOOT |
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137 | ram_end = (uintptr_t) bsp_uboot_board_info.bi_memstart + |
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138 | bsp_uboot_board_info.bi_memsize; |
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139 | #else |
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140 | bcm2835_get_arm_memory_entries spec; |
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141 | |
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142 | if (bcm2835_mailbox_get_arm_memory( &spec ) >= 0) { |
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143 | ram_end = spec.base + spec.size; |
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144 | } else { |
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145 | /* Use the workspace end from the linker command file for fallback. */ |
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146 | ram_end = (uintptr_t) bsp_section_work_end; |
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147 | } |
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148 | #endif |
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149 | |
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150 | return ram_end; |
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151 | } |
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152 | |
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153 | BSP_START_TEXT_SECTION static void bsp_memory_management_initialize(void) |
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154 | { |
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155 | uintptr_t ram_end = raspberrypi_get_ram_end(); |
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156 | uint32_t ctrl = arm_cp15_get_control(); |
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157 | |
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158 | ctrl |= ARM_CP15_CTRL_AFE | ARM_CP15_CTRL_S | ARM_CP15_CTRL_XP; |
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159 | |
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160 | raspberrypi_mmu_config_table[ARMV7_CP15_START_WORKSPACE_ENTRY_INDEX].end = |
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161 | ram_end; |
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162 | |
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163 | arm_cp15_start_setup_translation_table_and_enable_mmu_and_cache( |
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164 | ctrl, |
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165 | (uint32_t *) bsp_translation_table_base, |
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166 | ARM_MMU_DEFAULT_CLIENT_DOMAIN, |
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167 | &raspberrypi_mmu_config_table[0], |
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168 | RTEMS_ARRAY_SIZE(raspberrypi_mmu_config_table) |
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169 | ); |
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170 | } |
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171 | |
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172 | void BSP_START_TEXT_SECTION bsp_start_hook_1(void) |
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173 | { |
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174 | bsp_start_copy_sections(); |
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175 | bsp_memory_management_initialize(); |
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176 | bsp_start_clear_bss(); |
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177 | |
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178 | rpi_video_init(); |
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179 | } |
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180 | |
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181 | static Memory_Area _Memory_Areas[1]; |
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182 | |
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183 | static void bsp_memory_initialize(void) |
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184 | { |
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185 | _Memory_Initialize( |
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186 | &_Memory_Areas[0], |
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187 | (void *) |
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188 | raspberrypi_mmu_config_table[ARMV7_CP15_START_WORKSPACE_ENTRY_INDEX].begin, |
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189 | (void *) |
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190 | raspberrypi_mmu_config_table[ARMV7_CP15_START_WORKSPACE_ENTRY_INDEX].end |
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191 | ); |
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192 | } |
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193 | |
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194 | RTEMS_SYSINIT_ITEM( |
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195 | bsp_memory_initialize, |
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196 | RTEMS_SYSINIT_MEMORY, |
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197 | RTEMS_SYSINIT_ORDER_MIDDLE |
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198 | ); |
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199 | |
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200 | static const Memory_Information _Memory_Information = |
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201 | MEMORY_INFORMATION_INITIALIZER(_Memory_Areas); |
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202 | |
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203 | const Memory_Information *_Memory_Get(void) |
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204 | { |
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205 | return &_Memory_Information; |
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206 | } |
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