source: rtems/c/src/lib/libbsp/m68k/uC5282/startup/bspstart.c @ 6ea100c1

/*
 *  BSP startup
 *
 *  This routine starts the application.  It includes application,
 *  board, and monitor specific initialization and configuration.
 *  The generic CPU dependent initialization has been performed
 *  before this routine is invoked.
 *
 *  Author: W. Eric Norum <norume@aps.anl.gov>
 *
 *  COPYRIGHT (c) 2005.
 *  On-Line Applications Research Corporation (OAR).
 *
 *  The license and distribution terms for this file may be
 *  found in the file LICENSE in this distribution or at
 *  http://www.rtems.com/license/LICENSE.
 * 
 *  $Id$
 */

#include <bsp.h>
#include <rtems/libio.h>
#include <rtems/error.h>
#include <rtems/libcsupport.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>
 
/*
 * Location of 'VME' access
 */
#define VME_ONE_BASE    0x30000000
#define VME_TWO_BASE    0x31000000

/*
 * CPU-space access
 * The NOP after writing the CACR is there to address the following issue as
 * described in "Device Errata MCF5282DE", Rev. 1.7, 09/2004:
 *
 * 6 Possible Cache Corruption after Setting  CACR[CINV]
 * 6.1 Description
 * The cache on the MCF5282 was enhanced to function as a unified data and
 * instruction cache, an instruction cache, or an operand cache.  The cache
 * function and organization is controlled by the cache control register (CACR).
 * The CINV (Bit 24 = cache invalidate) bit in the CACR causes a cache clear.
 * If the cache is configured as a unified cache and the CINV bit is set, the
 * scope of the cache clear is controlled by two other bits in the CACR,
 * INVI (BIT 21 = CINV instruction cache only) and INVD (BIT 20 = CINV data
 * cache only).  These bits allow the entire cache, just the instruction
 * portion of the cache, or just the data portion of the cache to be cleared.
 * If a write to the CACR is performed to clear the cache (CINV = BIT 24 set)
 * and only a partial clear will be done (INVI = BIT 21 or INVD = BIT 20 set),
 * then cache corruption may  occur.
 * 
 * 6.2 Workaround
 * All loads of the CACR that perform a cache clear operation (CINV = BIT 24)
 * should be followed immediately by a NOP instruction.  This avoids the cache
 * corruption problem.
 * DATECODES AFFECTED: All
 */
#define m68k_set_cacr_nop(_cacr) asm volatile ("movec %0,%%cacr\n\tnop" : : "d" (_cacr))
#define m68k_set_cacr(_cacr) asm volatile ("movec %0,%%cacr" : : "d" (_cacr))
#define m68k_set_acr0(_acr0) asm volatile ("movec %0,%%acr0" : : "d" (_acr0))
#define m68k_set_acr1(_acr1) asm volatile ("movec %0,%%acr1" : : "d" (_acr1))

/*
 * Read/write copy of cache registers
 *   Split instruction/data or instruction-only
 *   Allow CPUSHL to invalidate a cache line
 *   Enable buffered writes
 *   No burst transfers on non-cacheable accesses
 *   Default cache mode is *disabled* (cache only ACRx areas)
 */
uint32_t mcf5282_cacr_mode = MCF5XXX_CACR_CENB |
#ifndef RTEMS_MCF5282_BSP_ENABLE_DATA_CACHE
                             MCF5XXX_CACR_DISD |
#endif
                             MCF5XXX_CACR_DBWE |
                             MCF5XXX_CACR_DCM;
uint32_t mcf5282_acr0_mode = 0;
uint32_t mcf5282_acr1_mode = 0;
/*
 * Cannot be frozen
 */
void _CPU_cache_freeze_data(void) {}
void _CPU_cache_unfreeze_data(void) {}
void _CPU_cache_freeze_instruction(void) {}
void _CPU_cache_unfreeze_instruction(void) {}

/*
 * Write-through data cache -- flushes are unnecessary
 */
void _CPU_cache_flush_1_data_line(const void *d_addr) {}
void _CPU_cache_flush_entire_data(void) {}

void _CPU_cache_enable_instruction(void)
{
    rtems_interrupt_level level;

    rtems_interrupt_disable(level);
    mcf5282_cacr_mode &= ~MCF5XXX_CACR_DIDI;
    m68k_set_cacr(mcf5282_cacr_mode);
    rtems_interrupt_enable(level);
}

void _CPU_cache_disable_instruction(void)
{
    rtems_interrupt_level level;

    rtems_interrupt_disable(level);
    mcf5282_cacr_mode |= MCF5XXX_CACR_DIDI;
    m68k_set_cacr(mcf5282_cacr_mode);
    rtems_interrupt_enable(level);
}

void _CPU_cache_invalidate_entire_instruction(void)
{
    m68k_set_cacr_nop(mcf5282_cacr_mode | MCF5XXX_CACR_CINV | MCF5XXX_CACR_INVI);
}

void _CPU_cache_invalidate_1_instruction_line(const void *addr)
{
    /*
     * Top half of cache is I-space
     */
    addr = (void *)((int)addr | 0x400);
    asm volatile ("cpushl %%bc,(%0)" :: "a" (addr));
}

void _CPU_cache_enable_data(void)
{
#ifdef RTEMS_MCF5282_BSP_ENABLE_DATA_CACHE
    rtems_interrupt_level level;

    rtems_interrupt_disable(level);
    mcf5282_cacr_mode &= ~MCF5XXX_CACR_CENB;
    m68k_set_cacr(mcf5282_cacr_mode);
    rtems_interrupt_enable(level);
#endif
}

void _CPU_cache_disable_data(void)
{
#ifdef RTEMS_MCF5282_BSP_ENABLE_DATA_CACHE
    rtems_interrupt_level level;

    rtems_interrupt_disable(level);
    rtems_interrupt_disable(level);
    mcf5282_cacr_mode |= MCF5XXX_CACR_CENB;
    m68k_set_cacr(mcf5282_cacr_mode);
    rtems_interrupt_enable(level);
#endif
}

void _CPU_cache_invalidate_entire_data(void)
{
#ifdef RTEMS_MCF5282_BSP_ENABLE_DATA_CACHE
    m68k_set_cacr_nop(mcf5282_cacr_mode | MCF5XXX_CACR_CINV | MCF5XXX_CACR_INVD);
#endif
}

void _CPU_cache_invalidate_1_data_line(const void *addr)
{
#ifdef RTEMS_MCF5282_BSP_ENABLE_DATA_CACHE
    /*
     * Bottom half of cache is D-space
     */
    addr = (void *)((int)addr & ~0x400);
    asm volatile ("cpushl %%bc,(%0)" :: "a" (addr));
#endif
}

/*
 *  Use the shared implementations of the following routines
 */
void bsp_libc_init( void *, uint32_t, int );
void bsp_pretasking_hook(void);         /* m68k version */

/*
 * The Arcturus boot ROM prints exception information improperly
 * so use this default exception handler instead.  This one also
 * prints a call backtrace
 */
static void handler(int pc)
{
    int level;
    static volatile int reent;
    extern char _RamSize[];

    rtems_interrupt_disable(level);
    if (reent++) bsp_reset(0);
    {
    int *p = &pc;
    int info = p[-1];
    int pc = p[0];
    int format = (info >> 28) & 0xF;
    int faultStatus = ((info >> 24) & 0xC) | ((info >> 16) & 0x3);
    int vector = (info >> 18) & 0xFF;
    int statusRegister = info & 0xFFFF;
    int *fp;

    printk("\n\nPC:%x  SR:%x  VEC:%x  FORMAT:%x  STATUS:%x\n", pc,
                                                               statusRegister,
                                                               vector,
                                                               format,
                                                               faultStatus);
    fp = &p[-2];
    for(;;) {
        int *nfp = (int *)*fp;
        if ((nfp <= fp)
         || ((char *)nfp >= _RamSize)
         || ((char *)(nfp[1]) >= _RamSize))
            break;
        printk("FP:%x -> %x    PC:%x\n", fp, nfp, nfp[1]);
        fp = nfp;
    }
    }
    rtems_task_suspend(0);
    rtems_panic("done");
}

/*
 *  bsp_start
 *
 *  This routine does the bulk of the system initialisation.
 */
void bsp_start( void )
{
  int i;
  extern char _WorkspaceBase[];
  extern char _RamBase[], _RamSize[];
  extern unsigned long  _M68k_Ramsize;

  _M68k_Ramsize = (unsigned long)_RamSize;      /* RAM size set in linker script */

  /*
   *  Allocate the memory for the RTEMS Work Space.  This can come from
   *  a variety of places: hard coded address, malloc'ed from outside
   *  RTEMS world (e.g. simulator or primitive memory manager), or (as
   *  typically done by stock BSPs) by subtracting the required amount
   *  of work space from the last physical address on the CPU board.
   */

    /*
     * Set up default exception handler
     */
    for (i = 2 ; i < 256 ; i++)
        if (i != (32+2)) /* Catch all but bootrom system calls */
            *((void (**)(int))(i * 4)) = handler;

  /*
   *  Need to "allocate" the memory for the RTEMS Workspace and
   *  tell the RTEMS configuration where it is.  This memory is
   *  not malloc'ed.  It is just "pulled from the air".
   */

  Configuration.work_space_start = (void *)_WorkspaceBase;

  /*
   * Invalidate the cache and disable it
   */
  m68k_set_acr0(mcf5282_acr0_mode);
  m68k_set_acr1(mcf5282_acr1_mode);
  m68k_set_cacr_nop(MCF5XXX_CACR_CINV);

  /*
   * Cache SDRAM
   */
  mcf5282_acr0_mode = MCF5XXX_ACR_AB((uint32_t)_RamBase)     |
                      MCF5XXX_ACR_AM((uint32_t)_RamSize-1)   |
                      MCF5XXX_ACR_EN                         |
                      MCF5XXX_ACR_BWE                        |
                      MCF5XXX_ACR_SM_IGNORE;
  m68k_set_acr0(mcf5282_acr0_mode);

  /*
   * Enable the cache
   */
  m68k_set_cacr(mcf5282_cacr_mode);

  /*
   * Set up CS* space (fake 'VME')
   *   Two A24/D16 spaces, supervisor data acces
   */
  MCF5282_CS1_CSAR = MCF5282_CS_CSAR_BA(VME_ONE_BASE);
  MCF5282_CS1_CSMR = MCF5282_CS_CSMR_BAM_16M | 
                     MCF5282_CS_CSMR_CI |
                     MCF5282_CS_CSMR_SC |
                     MCF5282_CS_CSMR_UC |
                     MCF5282_CS_CSMR_UD |
                     MCF5282_CS_CSMR_V;
  MCF5282_CS1_CSCR = MCF5282_CS_CSCR_PS_16;
  MCF5282_CS2_CSAR = MCF5282_CS_CSAR_BA(VME_TWO_BASE);
  MCF5282_CS2_CSMR = MCF5282_CS_CSMR_BAM_16M | 
                     MCF5282_CS_CSMR_CI |
                     MCF5282_CS_CSMR_SC |
                     MCF5282_CS_CSMR_UC |
                     MCF5282_CS_CSMR_UD |
                     MCF5282_CS_CSMR_V;
  MCF5282_CS2_CSCR = MCF5282_CS_CSCR_PS_16;
  MCF5282_GPIO_PJPAR |= 0x06;
}

uint32_t bsp_get_CPU_clock_speed(void)
{
  extern char _CPUClockSpeed[];
  return( (uint32_t)_CPUClockSpeed);
}

/*
 * Interrupt controller allocation
 */
rtems_status_code
bsp_allocate_interrupt(int level, int priority)
{
  static char used[7];
  rtems_interrupt_level l;
  rtems_status_code ret = RTEMS_RESOURCE_IN_USE;

  if ((level < 1) || (level > 7) || (priority < 0) || (priority > 7))
    return RTEMS_INVALID_NUMBER;
  rtems_interrupt_disable(l);
  if ((used[level-1] & (1 << priority)) == 0) {
    used[level-1] |= (1 << priority);
    ret = RTEMS_SUCCESSFUL;
  }
  rtems_interrupt_enable(l);
  return ret;
}

/*
 * Arcturus bootloader system calls
 */
#define syscall_return(type, ret)                      \
do {                                                   \
   if ((unsigned long)(ret) >= (unsigned long)(-64)) { \
      errno = -(ret);                                  \
      ret = -1;                                        \
   }                                                   \
   return (type)(ret);                                 \
} while (0)

#define syscall_1(type,name,d1type,d1)                      \
type bsp_##name(d1type d1)                                  \
{                                                           \
   long ret;                                                \
   register long __d1 __asm__ ("%d1") = (long)d1;           \
   __asm__ __volatile__ ("move.l %1,%%d0\n\t"               \
                         "trap #2\n\t"                      \
                         "move.l %%d0,%0"                   \
                         : "=g" (ret)                       \
                         : "i" (SysCode_##name), "d" (__d1) \
                         : "d0" );                          \
   syscall_return(type,ret);                                \
}

#define syscall_2(type,name,d1type,d1,d2type,d2)            \
type bsp_##name(d1type d1, d2type d2)                       \
{                                                           \
   long ret;                                                \
   register long __d1 __asm__ ("%d1") = (long)d1;           \
   register long __d2 __asm__ ("%d2") = (long)d2;           \
   __asm__ __volatile__ ("move.l %1,%%d0\n\t"               \
                         "trap #2\n\t"                      \
                         "move.l %%d0,%0"                   \
                         : "=g" (ret)                       \
                         : "i" (SysCode_##name), "d" (__d1),\
                                                 "d" (__d2) \
                         : "d0" );                          \
   syscall_return(type,ret);                                \
}

#define syscall_3(type,name,d1type,d1,d2type,d2,d3type,d3)  \
type bsp_##name(d1type d1, d2type d2, d3type d3)            \
{                                                           \
   long ret;                                                \
   register long __d1 __asm__ ("%d1") = (long)d1;           \
   register long __d2 __asm__ ("%d2") = (long)d2;           \
   register long __d3 __asm__ ("%d3") = (long)d3;           \
   __asm__ __volatile__ ("move.l %1,%%d0\n\t"               \
                         "trap #2\n\t"                      \
                         "move.l %%d0,%0"                   \
                         : "=g" (ret)                       \
                         : "i" (SysCode_##name), "d" (__d1),\
                                                 "d" (__d2),\
                                                 "d" (__d3) \
                         : "d0" );                          \
   syscall_return(type,ret);                                \
}

#define SysCode_reset              0 /* reset */
#define SysCode_program            5 /* program flash memory */
#define SysCode_gethwaddr         12 /* get hardware address */
#define SysCode_getbenv           14 /* get bootloader environment variable */
#define SysCode_setbenv           15 /* set bootloader environment variable */
#define SysCode_flash_erase_range 19 /* erase a section of flash */
#define SysCode_flash_write_range 20 /* write a section of flash */
syscall_1(int, reset, int, flags)
syscall_1(unsigned const char *, gethwaddr, int, a)
syscall_1(const char *, getbenv, const char *, a)
syscall_1(int, setbenv, const char *, a)
syscall_2(int, program, bsp_mnode_t *, chain, int, flags)
syscall_3(int, flash_erase_range, volatile unsigned short *, flashptr, int, start, int, end);
syscall_3(int, flash_write_range, volatile unsigned short *, flashptr, bsp_mnode_t *, chain, int, offset);

/*
 * 'Extended BSP' routines
 * Should move to cpukit/score/cpu/m68k/cpu.c someday.
 */

rtems_status_code bspExtInit(void) { return RTEMS_SUCCESSFUL; }
int BSP_enableVME_int_lvl(unsigned int level) { return 0; }
int BSP_disableVME_int_lvl(unsigned int level) { return 0; }

/*
 * 'VME' interrupt support
 * Interrupt vectors 192-255 are set aside for use by external logic which
 * drives IRQ1*.  The actual interrupt source is read from the external
 * logic at FPGA_IRQ_INFO.  The most-significant bit of the least-significant
 * byte read from this location is set as long as the external logic has
 * interrupts to be serviced.  The least-significant six bits indicate the
 * interrupt source within the external logic and are used to select the
 * specified interupt handler.
 */
#define NVECTOR 256
#define FPGA_VECTOR (64+1)  /* IRQ1* pin connected to external FPGA */
#define FPGA_IRQ_INFO    *((vuint16 *)(0x31000000 + 0xfffffe))

static struct handlerTab {
  BSP_VME_ISR_t func;
  void         *arg;
} handlerTab[NVECTOR];

BSP_VME_ISR_t
BSP_getVME_isr(unsigned long vector, void **pusrArg)
{
  if (vector >= NVECTOR)
    return (BSP_VME_ISR_t)NULL;
  if (pusrArg)
    *pusrArg = handlerTab[vector].arg;
  return handlerTab[vector].func;
}

static rtems_isr
fpga_trampoline (rtems_vector_number v)
{
  /*
   * Handle FPGA interrupts until all have been consumed
   */
  int loopcount = 0;
  while (((v = FPGA_IRQ_INFO) & 0x80) != 0) {
    v = 192 + (v & 0x3f);
    if (++loopcount >= 50) {
      rtems_interrupt_level level;
      rtems_interrupt_disable(level);
      printk("\nTOO MANY FPGA INTERRUPTS (LAST WAS 0x%x) -- DISABLING ALL FPGA INTERRUPTS.\n", v & 0x3f);
      MCF5282_INTC0_IMRL |= MCF5282_INTC_IMRL_INT1;
      rtems_interrupt_enable(level);
      return;
    }
    if (handlerTab[v].func)  {
      (*handlerTab[v].func)(handlerTab[v].arg, (unsigned long)v);
    }
    else {
      rtems_interrupt_level level;
      rtems_vector_number nv;
      rtems_interrupt_disable(level);
      printk("\nSPURIOUS FPGA INTERRUPT (0x%x).\n", v & 0x3f);
      if ((((nv = FPGA_IRQ_INFO) & 0x80) != 0)
          && ((nv & 0x3f) == (v & 0x3f))) {
        printk("DISABLING ALL FPGA INTERRUPTS.\n");
        MCF5282_INTC0_IMRL |= MCF5282_INTC_IMRL_INT1;
      }
      rtems_interrupt_enable(level);
      return;
    }
  }
}

static rtems_isr
trampoline (rtems_vector_number v)
{
    if (handlerTab[v].func) 
        (*handlerTab[v].func)(handlerTab[v].arg, (unsigned long)v);
}

static void
enable_irq(unsigned source)
{
rtems_interrupt_level level;
  rtems_interrupt_disable(level);
  if (source >= 32)
    MCF5282_INTC0_IMRH &= ~(1 << (source - 32));
  else
    MCF5282_INTC0_IMRL &= ~((1 << source) |
        MCF5282_INTC_IMRL_MASKALL);
  rtems_interrupt_enable(level);
}

static void
disable_irq(unsigned source)
{
rtems_interrupt_level level;

  rtems_interrupt_disable(level);
  if (source >= 32)
    MCF5282_INTC0_IMRH |= (1 << (source - 32));
  else
    MCF5282_INTC0_IMRL |= (1 << source);
  rtems_interrupt_enable(level);
}

void
BSP_enable_irq_at_pic(rtems_vector_number v)
{
int                   source = v - 64;

  if ( source > 0 && source < 64 ) {
    enable_irq(source);
  }
}

void
BSP_disable_irq_at_pic(rtems_vector_number v)
{
int                   source = v - 64;

  if ( source > 0 && source < 64 ) {
    disable_irq(source);
  }
}

int
BSP_irq_is_enabled_at_pic(rtems_vector_number v)
{
int                   source = v - 64;

  if ( source > 0 && source < 64 ) {
    return ! ((source >= 32) ?
      MCF5282_INTC0_IMRH & (1 << (source - 32)) :
      MCF5282_INTC0_IMRL & (1 << source));
  }
  return -1;
}


static int
init_intc0_bit(unsigned long vector)
{
rtems_interrupt_level level;

    /*
     * Find an unused level/priority if this is an on-chip (INTC0)
     * source and this is the first time the source is being used.
     * Interrupt sources 1 through 7 are fixed level/priority
     */

    if ((vector >= 65) && (vector <= 127)) {
        int l, p;
        int source = vector - 64;
        static unsigned char installed[8];

        rtems_interrupt_disable(level);
        if (installed[source/8] & (1 << (source % 8))) {
            rtems_interrupt_enable(level);
            return 0;
        }
        installed[source/8] |= (1 << (source % 8));
        rtems_interrupt_enable(level);
        for (l = 1 ; l < 7 ; l++) {
            for (p = 0 ; p < 8 ; p++) {
                if ((source < 8)
                 || (bsp_allocate_interrupt(l,p) == RTEMS_SUCCESSFUL)) {
                    if (source < 8)
                        MCF5282_EPORT_EPIER |= 1 << source;
                    else
                        *(&MCF5282_INTC0_ICR1 + (source - 1)) = 
                                                       MCF5282_INTC_ICR_IL(l) |
                                                       MCF5282_INTC_ICR_IP(p);
          enable_irq(source);
                    return 0;
                }
            }
        }
        return -1;
    }
  return 0;
}

int
BSP_installVME_isr(unsigned long vector, BSP_VME_ISR_t handler, void *usrArg)
{
  rtems_isr_entry old_handler;
  rtems_interrupt_level level;

  /*
   * Register the handler information
   */
  if (vector >= NVECTOR)
    return -1;
  handlerTab[vector].func = handler;
  handlerTab[vector].arg = usrArg;

  /*
   * If this is an external FPGA ('VME') vector set up the real IRQ.
   */
  if ((vector >= 192) && (vector <= 255)) {
    int i;
    static volatile int setupDone;
    rtems_interrupt_disable(level);
    if (setupDone) {
      rtems_interrupt_enable(level);
      return 0;
    }
    setupDone = 1;
    rtems_interrupt_catch(fpga_trampoline, FPGA_VECTOR, &old_handler);
    i = init_intc0_bit(FPGA_VECTOR);
    rtems_interrupt_enable(level);
    return i;
  }

  /*
   * Make the connection between the interrupt and the local handler
   */
  rtems_interrupt_catch(trampoline, vector, &old_handler);

  return init_intc0_bit(vector);
}

int
BSP_removeVME_isr(unsigned long vector, BSP_VME_ISR_t handler, void *usrArg)
{
  if (vector >= NVECTOR)
    return -1;
  if ((handlerTab[vector].func != handler)
     || (handlerTab[vector].arg != usrArg))
    return -1;
  handlerTab[vector].func = (BSP_VME_ISR_t)NULL;
  return 0;
}

int
BSP_vme2local_adrs(unsigned am, unsigned long vmeaddr, unsigned long *plocaladdr)
{
  unsigned long offset;

  switch (am) {
    default:    return -1;
    case VME_AM_SUP_SHORT_IO: offset = 0x31FF0000; break; /* A16/D16 */
    case VME_AM_STD_SUP_DATA: offset = 0x30000000; break; /* A24/D16 */
    case VME_AM_EXT_SUP_DATA: offset = 0x31000000; break; /* A32/D32 */
  }
  *plocaladdr = vmeaddr + offset;
  return 0;
}

void
rtems_bsp_reset_cause(char *buf, size_t capacity)
{
  int bit, rsr;
  size_t i;
  const char *cp;
    
  if (buf == NULL)
    return;
  if (capacity)
    buf[0] = '\0';
  rsr = MCF5282_RESET_RSR;
  for (i = 0, bit = 0x80 ; bit != 0 ; bit >>= 1) {
    if (rsr & bit) {
      switch (bit) {
        case MCF5282_RESET_RSR_LVD:  cp = "Low voltage";        break;
        case MCF5282_RESET_RSR_SOFT: cp = "Software reset";     break;
        case MCF5282_RESET_RSR_WDR:  cp = "Watchdog reset";     break;
        case MCF5282_RESET_RSR_POR:  cp = "Power-on reset";     break;
        case MCF5282_RESET_RSR_EXT:  cp = "External reset";     break;
        case MCF5282_RESET_RSR_LOC:  cp = "Loss of clock";      break;
        case MCF5282_RESET_RSR_LOL:  cp = "Loss of lock";       break;
        default:                     cp = "??";                 break;
      }
      i += snprintf(buf+i, capacity-i, cp); 
      if (i >= capacity)
        break;
      rsr &= ~bit;
      if (rsr == 0)
        break;
      i += snprintf(buf+i, capacity-i, ", "); 
      if (i >= capacity)
        break;
    }
  }
}