arch/arm-native/kernel/platform_bcm2708.c

   1 /*
   2     Copyright © 2015, The AROS Development Team. All rights reserved.
   3     $Id$
   4 */
   5
   6 #include <aros/types/spinlock_s.h>
   7 #include <aros/kernel.h>
   8 #include <aros/symbolsets.h>
   9
  10 #include "kernel_base.h"
  11
  12 #include <proto/kernel.h>
  13 #include <proto/exec.h>
  14
  15 #include <inttypes.h>
  16 #include <hardware/intbits.h>
  17
  18 #include <strings.h>
  19
  20 #include "kernel_intern.h"
  21 #include "kernel_debug.h"
  22 #include "kernel_cpu.h"
  23 #include "kernel_interrupts.h"
  24 #include "kernel_intr.h"
  25 #include "kernel_fb.h"
  26
  27 #include "exec_platform.h"
  28
  29 #define ARM_PERIIOBASE __arm_arosintern.ARMI_PeripheralBase
  30 #include <hardware/bcm2708.h>
  31 #include <hardware/bcm2708_boot.h>
  32 #include <hardware/pl011uart.h>
  33
  34 #define IRQBANK_POINTER(bank)   ((bank == 0) ? GPUIRQ_ENBL0 : (bank == 1) ? GPUIRQ_ENBL1 : ARMIRQ_ENBL)
  35
  36 #define IRQ_BANK1       0x00000100
  37 #define IRQ_BANK2       0x00000200
  38
  39 #define D(x) x
  40 #define DIRQ(x)
  41 #define DFIQ(x)
  42 #define DTIMER(x)
  43
  44 extern void mpcore_trampoline();
  45 extern uint32_t mpcore_end;
  46 extern uint32_t mpcore_pde;
  47 extern spinlock_t startup_lock;
  48
  49 extern void cpu_Register(void);
  50 extern void arm_flush_cache(uint32_t, uint32_t);
  51 #if defined(__AROSEXEC_SMP__)
  52 extern void handle_ipi(uint32_t, uint32_t);
  53
  54 struct cpu_ipidata
  55 {
  56     uint32_t    ipi_data[4];
  57 };
  58
  59 struct cpu_ipidata *bcm2708_cpuipid[4] = { 0, 0, 0, 0};
  60 #endif
  61
  62 static void bcm2708_init(APTR _kernelBase, APTR _sysBase)
  63 {
  64     struct ExecBase *SysBase = (struct ExecBase *)_sysBase;
  65     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
  66
  67     KrnSpinInit(&startup_lock);
  68
  69     D(bug("[KRN:BCM2708] %s()\n", __PRETTY_FUNCTION__));
  70
  71     if (__arm_arosintern.ARMI_PeripheralBase == (APTR)BCM2836_PERIPHYSBASE)
  72     {
  73         void *trampoline_src = mpcore_trampoline;
  74         void *trampoline_dst = (void *)BOOTMEMADDR(bm_mctrampoline);
  75         uint32_t trampoline_length = (uintptr_t)&mpcore_end - (uintptr_t)mpcore_trampoline;
  76         uint32_t trampoline_data_offset = (uintptr_t)&mpcore_pde - (uintptr_t)mpcore_trampoline;
  77         int cpu;
  78         uint32_t *cpu_stack;
  79         uint32_t *cpu_fiq_stack;
  80         uint32_t tmp;
  81         tls_t   *__tls;
  82
  83         bug("[KRN:BCM2708] Initialising Multicore System\n");
  84         D(bug("[KRN:BCM2708] %s: Copy SMP trampoline from %p to %p (%d bytes)\n", __PRETTY_FUNCTION__, trampoline_src, trampoline_dst, trampoline_length));
  85
  86         bcopy(trampoline_src, trampoline_dst, trampoline_length);
  87
  88         D(bug("[KRN:BCM2708] %s: Patching data for trampoline at offset %d\n", __PRETTY_FUNCTION__, trampoline_data_offset));
  89
  90         asm volatile ("mrc p15, 0, %0, c2, c0, 0":"=r"(tmp));
  91         ((uint32_t *)(trampoline_dst + trampoline_data_offset))[0] = tmp; // pde
  92         ((uint32_t *)(trampoline_dst + trampoline_data_offset))[1] = (uint32_t)cpu_Register;
  93
  94         for (cpu = 1; cpu < 4; cpu ++)
  95         {
  96             cpu_stack = (uint32_t *)AllocMem(AROS_STACKSIZE*sizeof(uint32_t), MEMF_CLEAR); /* MEMF_PRIVATE */
  97             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[2] = (uint32_t)&cpu_stack[AROS_STACKSIZE-sizeof(IPTR)];
  98
  99             cpu_fiq_stack = (uint32_t *)AllocMem(1024*sizeof(uint32_t), MEMF_CLEAR); /* MEMF_PRIVATE */
 100             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[4] = (uint32_t)&cpu_fiq_stack[1024-sizeof(IPTR)];
 101
 102             __tls =  (tls_t *)AllocMem(sizeof(tls_t) + sizeof(struct cpu_ipidata),  MEMF_CLEAR); /* MEMF_PRIVATE */
 103             __tls->SysBase = _sysBase;
 104             __tls->KernelBase = _kernelBase;
 105             __tls->ThisTask = NULL;
 106             arm_flush_cache(((uint32_t)__tls) & ~63, 512);
 107             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[3] = (uint32_t)__tls;
 108
 109             D(bug("[KRN:BCM2708] %s: Attempting to wake CPU #%d\n", __PRETTY_FUNCTION__, cpu));
 110             D(bug("[KRN:BCM2708] %s: CPU #%d Stack @ 0x%p (sp=0x%p)\n", __PRETTY_FUNCTION__, cpu, cpu_stack, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[2]));
 111             D(bug("[KRN:BCM2708] %s: CPU #%d FIQ Stack @ 0x%p (sp=0x%p)\n", __PRETTY_FUNCTION__, cpu, cpu_fiq_stack, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[4]));
 112             D(bug("[KRN:BCM2708] %s: CPU #%d TLS @ 0x%p\n", __PRETTY_FUNCTION__, cpu, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[3]));
 113
 114             arm_flush_cache((uint32_t)trampoline_dst, 512);
 115
 116             /* Lock the startup spinlock */
 117             KrnSpinLock(&startup_lock, SPINLOCK_MODE_WRITE);
 118
 119             /* Wake up the cpu */
 120             *((uint32_t *)(BCM2836_MAILBOX3_SET0 + (0x10 * cpu))) = (uint32_t)trampoline_dst;
 121
 122             /*
 123                  * Try to obtain spinlock again.
 124                  * This should put this cpu to sleep since the locked was already obtained. Once the cpu startup
 125                  * is ready, it will call KrnSpinUnLock too
 126                  */
 127                 KrnSpinLock(&startup_lock, SPINLOCK_MODE_WRITE);
 128                 KrnSpinUnLock(&startup_lock);
 129         }
 130     }
 131 }
 132
 133 static void bcm2708_init_cpu(APTR _kernelBase, APTR _sysBase)
 134 {
 135     struct ExecBase *SysBase = (struct ExecBase *)_sysBase;
 136     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
 137 #if defined(__AROSEXEC_SMP__)
 138     tls_t   *__tls = TLS_PTR_GET();
 139 #endif
 140     int cpunum = GetCPUNumber();
 141
 142     D(bug("[KRN:BCM2708] %s(%d)\n", __PRETTY_FUNCTION__, cpunum));
 143
 144     /* Clear all pending FIQ sources on mailboxes */
 145     *((uint32_t *)(BCM2836_MAILBOX0_CLR0 + (16 * cpunum))) = 0xffffffff;
 146     *((uint32_t *)(BCM2836_MAILBOX1_CLR0 + (16 * cpunum))) = 0xffffffff;
 147     *((uint32_t *)(BCM2836_MAILBOX2_CLR0 + (16 * cpunum))) = 0xffffffff;
 148     *((uint32_t *)(BCM2836_MAILBOX3_CLR0 + (16 * cpunum))) = 0xffffffff;
 149
 150 #if defined(__AROSEXEC_SMP__)
 151     bcm2708_cpuipid[cpunum] = (unsigned int)__tls + sizeof(tls_t);
 152     D(bug("[KRN:BCM2708] %s: cpu #%d IPI data @ 0x%p\n", __PRETTY_FUNCTION__, cpunum, bcm2708_cpuipid[cpunum]));
 153
 154     // enable FIQ mailbox interupt
 155     *((uint32_t *)(BCM2836_MAILBOX_INT_CTRL0 + (0x4 * cpunum))) = 0x10;
 156 #endif
 157 }
 158
 159 static unsigned int bcm2807_get_time(void)
 160 {
 161     return *((volatile unsigned int *)(SYSTIMER_CLO));
 162 }
 163
 164 static void bcm2807_irq_init(void)
 165 {
 166     // disable IRQ's
 167 //    *(volatile unsigned int *)ARMFIQ_CTRL = 0;
 168
 169     *(volatile unsigned int *)ARMIRQ_DIBL = ~0;
 170     *(volatile unsigned int *)GPUIRQ_DIBL0 = ~0;
 171     *(volatile unsigned int *)GPUIRQ_DIBL1 = ~0;
 172 }
 173
 174 static void bcm2807_send_ipi(uint32_t ipi, uint32_t ipi_data, uint32_t cpumask)
 175 {
 176     int cpu, mbno = 0;
 177
 178     for (cpu = 0; cpu < 4; cpu++)
 179     {
 180 #if defined(__AROSEXEC_SMP__)
 181         if ((cpumask & (1 << cpu)) && bcm2708_cpuipid[cpu])
 182         {
 183             /* TODO:  check which mailbox is available and use it */
 184             bcm2708_cpuipid[cpu]->ipi_data[mbno] = ipi_data;
 185             *((uint32_t *)(BCM2836_MAILBOX0_SET0 + (0x10 * cpu))) = ipi;
 186         }
 187 #endif
 188     }
 189 }
 190
 191 static void bcm2807_irq_enable(int irq)
 192 {
 193     int bank = IRQ_BANK(irq);
 194     unsigned int reg;
 195
 196     reg = (unsigned int)IRQBANK_POINTER(bank);
 197
 198     DIRQ(bug("[KRN:BCM2708] Enabling irq %d [bank %d, reg 0x%p]\n", irq, bank, reg));
 199
 200     *((volatile unsigned int *)reg) = IRQ_MASK(irq);
 201
 202     DIRQ(bug("[KRN:BCM2708] irqmask=%08x\n", *((volatile unsigned int *)reg)));
 203 }
 204
 205 static void bcm2807_irq_disable(int irq)
 206 {
 207     int bank = IRQ_BANK(irq);
 208     unsigned int reg;
 209
 210     reg = (unsigned int)IRQBANK_POINTER(bank) + 0x0c;
 211
 212     DIRQ(bug("[KRN:BCM2708] Disabling irq %d [bank %d, reg 0x%p]\n", irq, bank, reg));
 213
 214     *((volatile unsigned int *)reg) = IRQ_MASK(irq);
 215
 216     DIRQ(bug("[KRN:BCM2708] irqmask=%08x\n", *((volatile unsigned int *)reg)));
 217 }
 218
 219 static void bcm2807_irq_process()
 220 {
 221     unsigned int pendingarm, pending0, pending1, irq;
 222
 223     for(;;)
 224     {
 225         pendingarm = *((volatile unsigned int *)(ARMIRQ_PEND));
 226         pending0 = *((volatile unsigned int *)(GPUIRQ_PEND0));
 227         pending1 = *((volatile unsigned int *)(GPUIRQ_PEND1));
 228
 229         if (!(pendingarm || pending0 || pending1))
 230             break;
 231
 232         DIRQ(bug("[KRN:BCM2708] PendingARM %08x\n", pendingarm));
 233         DIRQ(bug("[KRN:BCM2708] Pending0 %08x\n", pending0));
 234         DIRQ(bug("[KRN:BCM2708] Pending1 %08x\n", pending1));
 235
 236         if (pendingarm & ~(IRQ_BANK1 | IRQ_BANK2))
 237         {
 238             for (irq = (2 << 5); irq < ((2 << 5) + 8); irq++)
 239             {
 240                 if (pendingarm & (1 << (irq - (2 << 5))))
 241                 {
 242                     DIRQ(bug("[KRN:BCM2708] Handling IRQ %d ..\n", irq));
 243                     krnRunIRQHandlers(KernelBase, irq);
 244                 }
 245             }
 246         }
 247
 248         if (pending0)
 249         {
 250             for (irq = (0 << 5); irq < ((0 << 5) + 32); irq++)
 251             {
 252                 if (pending0 & (1 << (irq - (0 << 5))))
 253                 {
 254                     DIRQ(bug("[KRN:BCM2708] Handling IRQ %d ..\n", irq));
 255                     krnRunIRQHandlers(KernelBase, irq);
 256                 }
 257             }
 258         }
 259
 260         if (pending1)
 261         {
 262             for (irq = (1 << 5); irq < ((1 << 5) + 32); irq++)
 263             {
 264                 if (pending1 & (1 << (irq - (1 << 5))))
 265                 {
 266                     DIRQ(bug("[KRN:BCM2708] Handling IRQ %d ..\n", irq));
 267                     krnRunIRQHandlers(KernelBase, irq);
 268                 }
 269             }
 270         }
 271     }
 272 }
 273
 274 static void bcm2807_fiq_process()
 275 {
 276     int cpunum = GetCPUNumber();
 277     uint32_t fiq, fiq_data;
 278     int mbno;
 279
 280     DFIQ(bug("[KRN:BCM2708] %s(%d)\n", __PRETTY_FUNCTION__, cpunum));
 281
 282     fiq = *((uint32_t *)(BCM2836_FIQ_PEND0 + (0x4 * cpunum)));
 283
 284     DFIQ(bug("[KRN:BCM2708] %s: CPU #%d FIQ %x\n", __PRETTY_FUNCTION__, cpunum, fiq));
 285
 286     if (fiq)
 287     {
 288         for (mbno=0; mbno < 4; mbno++)
 289         {
 290             if (fiq & (0x10 << mbno))
 291             {
 292                 fiq_data = *((uint32_t *)(BCM2836_MAILBOX0_CLR0 + 4 * mbno + (16 * cpunum)));
 293                 DFIQ(bug("[KRN:BCM2708] %s: Mailbox%d: FIQ Data %08x\n", __PRETTY_FUNCTION__, mbno, fiq_data));
 294 #if defined(__AROSEXEC_SMP__)
 295                 if (bcm2708_cpuipid[cpunum])
 296                     handle_ipi(fiq_data, bcm2708_cpuipid[cpunum]->ipi_data[0]);
 297 #endif
 298                 *((uint32_t *)(BCM2836_MAILBOX0_CLR0 + 4 * mbno + (16 * cpunum))) = 0xffffffff;
 299             }
 300         }
 301     }
 302 }
 303
 304 static void bcm2708_toggle_led(int LED, int state)
 305 {
 306     if (__arm_arosintern.ARMI_PeripheralBase == (APTR)BCM2836_PERIPHYSBASE)
 307     {
 308         int pin = 35;
 309         APTR gpiofunc = GPCLR1;
 310
 311         if (LED == ARM_LED_ACTIVITY)
 312             pin = 47;
 313
 314         if (state == ARM_LED_ON)
 315             gpiofunc = GPSET1;
 316
 317         *(volatile unsigned int *)gpiofunc = (1 << (pin-32));
 318     }
 319     else
 320     {
 321         // RasPi 1 only allows us to toggle the activity LED
 322         if (state)
 323             *(volatile unsigned int *)GPCLR0 = (1 << 16);
 324         else
 325             *(volatile unsigned int *)GPSET0 = (1 << 16);
 326     }
 327 }
 328
 329 /* Use system timer 3 for our scheduling heartbeat */
 330 #define VBLANK_TIMER            3
 331 #define VBLANK_INTERVAL         (1000000 / 50)
 332
 333 static void bcm2708_gputimer_handler(unsigned int timerno, void *unused1)
 334 {
 335     unsigned int stc;
 336
 337     DTIMER(bug("[KRN:BCM2708] %s(%d)\n", __PRETTY_FUNCTION__, timerno));
 338
 339     /* Aknowledge our timer interrupt */
 340     *((volatile unsigned int *)(SYSTIMER_CS)) = 1 << timerno;
 341
 342     /* Signal the Exec VBlankServer */
 343     if (SysBase && (SysBase->IDNestCnt < 0)) {
 344         core_Cause(INTB_VERTB, 1L << INTB_VERTB);
 345     }
 346
 347     /* Refresh our timer interrupt */
 348     stc = *((volatile unsigned int *)(SYSTIMER_CLO));
 349     stc += VBLANK_INTERVAL;
 350     *((volatile unsigned int *)(SYSTIMER_C0 + (timerno * 4))) = stc;
 351
 352     DTIMER(bug("[BCM2708] %s: Done..\n", __PRETTY_FUNCTION__));
 353 }
 354
 355 static APTR bcm2708_init_gputimer(APTR _kernelBase)
 356 {
 357     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
 358     struct IntrNode *GPUTimerHandle;
 359     unsigned int stc;
 360
 361     DTIMER(bug("[KRN:BCM2708] %s(%012p)\n", __PRETTY_FUNCTION__, KernelBase));
 362
 363     if ((GPUTimerHandle = AllocMem(sizeof(struct IntrNode), MEMF_PUBLIC|MEMF_CLEAR)) != NULL)
 364     {
 365         DTIMER(bug("[KRN:BCM2708] %s: IntrNode @ 0x%p:\n", __PRETTY_FUNCTION__, GPUTimerHandle));
 366         DTIMER(bug("[KRN:BCM2708] %s: Using GPUTimer %d for VBlank\n", __PRETTY_FUNCTION__, VBLANK_TIMER));
 367
 368         GPUTimerHandle->in_Handler = bcm2708_gputimer_handler;
 369         GPUTimerHandle->in_HandlerData = (void *)VBLANK_TIMER;
 370         GPUTimerHandle->in_HandlerData2 = KernelBase;
 371         GPUTimerHandle->in_type = it_interrupt;
 372         GPUTimerHandle->in_nr = IRQ_TIMER0 + VBLANK_TIMER;
 373
 374         ADDHEAD(&KernelBase->kb_Interrupts[IRQ_TIMER0 + VBLANK_TIMER], &GPUTimerHandle->in_Node);
 375
 376         DTIMER(bug("[KRN:BCM2708] %s: Enabling Hardware IRQ.. \n", __PRETTY_FUNCTION__));
 377
 378         stc = *((volatile unsigned int *)(SYSTIMER_CLO));
 379         stc += VBLANK_INTERVAL;
 380         *((volatile unsigned int *)(SYSTIMER_CS)) = (1 << VBLANK_TIMER);
 381         *((volatile unsigned int *)(SYSTIMER_C0 + (VBLANK_TIMER * 4))) = stc;
 382
 383         ictl_enable_irq(IRQ_TIMER0 + VBLANK_TIMER, KernelBase);
 384     }
 385
 386     DTIMER(bug("[KRN:BCM2708] %s: Done.. \n", __PRETTY_FUNCTION__));
 387
 388     return GPUTimerHandle;
 389 }
 390
 391 static inline void bcm2708_ser_waitout()
 392 {
 393     while(1)
 394     {
 395        if ((*(volatile uint32_t *)(PL011_0_BASE + PL011_FR) & PL011_FR_TXFF) == 0) break;
 396     }
 397 }
 398
 399 static void bcm2708_ser_putc(uint8_t chr)
 400 {
 401     bcm2708_ser_waitout();
 402
 403     if (chr == '\n')
 404     {
 405         *(volatile uint32_t *)(PL011_0_BASE + PL011_DR) = '\r';
 406         bcm2708_ser_waitout();
 407     }
 408     *(volatile uint32_t *)(PL011_0_BASE + PL011_DR) = chr;
 409 }
 410
 411 static int bcm2708_ser_getc(void)
 412 {
 413     if ((*(volatile uint32_t *)(PL011_0_BASE + PL011_FR) & PL011_FR_RXFE) == 0)
 414         return (int)*(volatile uint32_t *)(PL011_0_BASE + PL011_DR);
 415
 416     return -1;
 417 }
 418
 419 static IPTR bcm2708_probe(struct ARM_Implementation *krnARMImpl, struct TagItem *msg)
 420 {
 421     void *bootPutC = NULL;
 422
 423     while(msg->ti_Tag != TAG_DONE)
 424     {
 425         switch (msg->ti_Tag)
 426         {
 427         case KRN_FuncPutC:
 428             bootPutC = (void *)msg->ti_Data;
 429             break;
 430         }
 431         msg++;
 432     }
 433
 434     if (krnARMImpl->ARMI_Platform != 0xc42)
 435         return FALSE;
 436
 437     if (krnARMImpl->ARMI_Family == 7)
 438     {
 439         /*  bcm2836 uses armv7 */
 440         krnARMImpl->ARMI_PeripheralBase = (APTR)BCM2836_PERIPHYSBASE;
 441         krnARMImpl->ARMI_InitCore = &bcm2708_init_cpu;
 442         krnARMImpl->ARMI_FIQProcess = &bcm2807_fiq_process;
 443         krnARMImpl->ARMI_SendIPI = &bcm2807_send_ipi;
 444     }
 445     else
 446         krnARMImpl->ARMI_PeripheralBase = (APTR)BCM2835_PERIPHYSBASE;
 447
 448     krnARMImpl->ARMI_GetTime = &bcm2807_get_time;
 449     krnARMImpl->ARMI_InitTimer = &bcm2708_init_gputimer;
 450     krnARMImpl->ARMI_LED_Toggle = &bcm2708_toggle_led;
 451
 452     krnARMImpl->ARMI_SerPutChar = &bcm2708_ser_putc;
 453     krnARMImpl->ARMI_SerGetChar = &bcm2708_ser_getc;
 454     if ((krnARMImpl->ARMI_PutChar = bootPutC) != NULL)
 455             krnARMImpl->ARMI_PutChar(0xFF); // Clear the display
 456
 457     krnARMImpl->ARMI_IRQInit = &bcm2807_irq_init;
 458     krnARMImpl->ARMI_IRQEnable = &bcm2807_irq_enable;
 459     krnARMImpl->ARMI_IRQDisable = &bcm2807_irq_disable;
 460     krnARMImpl->ARMI_IRQProcess = &bcm2807_irq_process;
 461
 462     krnARMImpl->ARMI_Init = &bcm2708_init;
 463
 464     return TRUE;
 465 }
 466
 467 ADD2SET(bcm2708_probe, ARMPLATFORMS, 0);