arch/arm-raspi/boot/boot.c

   1 /*
   2     Copyright © 2013-2015, The AROS Development Team. All rights reserved.
   3     $Id$
   4
   5     Desc: boot.c
   6     Lang: english
   7  */
   8
   9 #include <inttypes.h>
  10 #include <asm/cpu.h>
  11 #include <utility/tagitem.h>
  12 #include <aros/macros.h>
  13 #include <string.h>
  14 #include <stdlib.h>
  15 #include <stdint.h>
  16
  17 #include <hardware/bcm2708.h>
  18 #include <hardware/videocore.h>
  19
  20 #include "boot.h"
  21 #include "serialdebug.h"
  22 #include "bootconsole.h"
  23 #include "atags.h"
  24 #include "elf.h"
  25 #include "mmu.h"
  26
  27 #include "vc_mb.h"
  28 #include "vc_fb.h"
  29
  30 #define DBOOT(x) x
  31
  32 #undef ARM_PERIIOBASE
  33 #define ARM_PERIIOBASE (__arm_periiobase)
  34
  35 uint32_t __arm_periiobase;
  36
  37 extern void mem_init(void);
  38 extern unsigned int uartclock;
  39 extern unsigned int uartdivint;
  40 extern unsigned int uartdivfrac;
  41 extern unsigned int uartbaud;
  42
  43 asm("   .section .aros.startup      \n"
  44 "       .globl bootstrap            \n"
  45 "       .type bootstrap,%function   \n"
  46 "bootstrap:                         \n"
  47 "       cps     #0x13               \n" /* Should be in SVC (supervisor) mode already, but just incase.. */
  48 "       ldr     sp, tmp_stack_ptr   \n"
  49 "       b       boot                \n"
  50
  51 ".string \"$VER: arosraspi.img v40.45 (" __DATE__ ")\"" "\n\t\n\t"
  52 );
  53
  54 // The bootstrap tmp stack is re-used by the reset handler so we store it at this fixed location
  55 static __used void * tmp_stack_ptr __attribute__((used, section(".aros.startup"))) = (void *)(0x1000 - 16);
  56 static struct TagItem *boottag;
  57 static unsigned long *mem_upper;
  58 static void *pkg_image;
  59 static uint32_t pkg_size;
  60
  61 static void parse_atags(struct tag *tags)
  62 {
  63     struct tag *t = NULL;
  64
  65     kprintf("[BOOT] Parsing ATAGS\n");
  66
  67     for_each_tag(t, tags)
  68     {
  69         kprintf("[BOOT]   %08x: ", t->hdr.tag);
  70         switch (t->hdr.tag)
  71         {
  72             case 0:
  73                 kprintf("ATAG_NONE - Ignored\n");
  74                 break;
  75
  76             case ATAG_CORE:
  77                 kprintf("ATAG_CORE - Ignored\n");
  78                 break;
  79
  80             case ATAG_MEM:
  81                 kprintf("ATAG_MEM (%08x-%08x)\n", t->u.mem.start, t->u.mem.size + t->u.mem.start - 1);
  82                 boottag->ti_Tag = KRN_MEMLower;
  83                 if ((boottag->ti_Data = t->u.mem.start) == 0)
  84                     boottag->ti_Data = 0x1000; // Skip the *reserved* space for the cpu vectors/boot tmp stack/kernel private data.
  85
  86                 boottag++;
  87                 boottag->ti_Tag = KRN_MEMUpper;
  88                 boottag->ti_Data = t->u.mem.start + t->u.mem.size;
  89
  90                 mem_upper = &boottag->ti_Data;
  91
  92                 boottag++;
  93
  94                 mmu_map_section(t->u.mem.start, t->u.mem.start, t->u.mem.size, 1, 1, 3, 1);
  95
  96                 break;
  97
  98             case ATAG_VIDEOTEXT:
  99                 kprintf("ATAG_VIDEOTEXT - Ignored\n");
 100                 break;
 101
 102             case ATAG_RAMDISK:
 103                 kprintf("ATAG_RAMDISK - Ignored\n");
 104                 break;
 105
 106             case ATAG_INITRD2:
 107                 kprintf("ATAG_INITRD2 (%08x-%08x)\n", t->u.initrd.start, t->u.initrd.size + t->u.initrd.start - 1);
 108                 pkg_image = (void *)t->u.initrd.start;
 109                 pkg_size = t->u.initrd.size;
 110                 break;
 111
 112             case ATAG_SERIAL:
 113                 kprintf("ATAG_SERIAL - Ignored\n");
 114                 break;
 115
 116             case ATAG_REVISION:
 117                 kprintf("ATAG_REVISION - Ignored\n");
 118                 break;
 119
 120             case ATAG_VIDEOLFB:
 121                 kprintf("ATAG_VIDEOLFB - Ignored\n");
 122                 break;
 123
 124             case ATAG_CMDLINE:
 125             {
 126                 char *cmdline = malloc(strlen(t->u.cmdline.cmdline) + 1);
 127                 strcpy(cmdline, t->u.cmdline.cmdline);
 128                 kprintf("ATAG_CMDLINE \"%s\"\n", cmdline);
 129
 130                 boottag->ti_Tag = KRN_CmdLine;
 131                 boottag->ti_Data = (intptr_t)cmdline;
 132                 boottag++;
 133             }
 134             break;
 135
 136             default:
 137                 kprintf("(UNKNOWN)...\n");
 138                 break;
 139         }
 140     }
 141 }
 142
 143 void query_vmem()
 144 {
 145     volatile unsigned int *vc_msg = (unsigned int *) MESSAGE_BUFFER;
 146
 147     kprintf("[BOOT] Query VC memory\n");
 148     vc_msg[0] = 8 * 4;
 149     vc_msg[1] = VCTAG_REQ;
 150     vc_msg[2] = VCTAG_GETVCRAM;
 151     vc_msg[3] = 8;
 152     vc_msg[4] = 0;
 153     vc_msg[5] = 0;
 154     vc_msg[6] = 0;
 155     vc_msg[7] = 0;
 156
 157     vcmb_write(VCMB_BASE, VCMB_PROPCHAN, vc_msg);
 158     vc_msg = vcmb_read(VCMB_BASE, VCMB_PROPCHAN);
 159
 160     kprintf("[BOOT] Base = %08x, Size = %08x\n", vc_msg[5], vc_msg[6]);
 161
 162     boottag->ti_Tag = KRN_VMEMLower;
 163     boottag->ti_Data = vc_msg[5];
 164     boottag++;
 165
 166     boottag->ti_Tag = KRN_VMEMUpper;
 167     boottag->ti_Data = vc_msg[5] + vc_msg[6];
 168     boottag++;
 169
 170     mmu_map_section(vc_msg[5], vc_msg[5], vc_msg[6], 1, 0, 3, 0);
 171 }
 172
 173 static const char bootstrapName[] = "Bootstrap/ARM BCM2708";
 174
 175 void boot(uintptr_t dummy, uintptr_t arch, struct tag * atags)
 176 {
 177     uint32_t tmp, initcr;
 178     int plus_board = 0;
 179     void (*entry)(struct TagItem *);
 180
 181     /*
 182      * Disable MMU, enable caches and branch prediction. Also enabled unaligned memory
 183      * access
 184      */
 185     asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(initcr));
 186     tmp = initcr;
 187     tmp &= ~1;                                  /* Disable MMU */
 188     tmp |= (1 << 2) | (1 << 12) | (1 << 11);    /* I and D caches, branch prediction */
 189     tmp = (tmp & ~2) | (1 << 22);               /* Unaligned access enable */
 190     asm volatile ("mcr p15, 0, %0, c1, c0, 0" : : "r"(tmp));
 191
 192     mmu_init();
 193
 194     /*
 195         Check processor type - armv6 is old raspberry pi with SOC IO base at 0x20000000.
 196         armv7 will be raspberry pi 2 with SOC IO base at 0x3f000000
 197      */
 198     asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r" (tmp));
 199
 200     tmp = (tmp >> 4) & 0xfff;
 201
 202     /* tmp == 7 means armv6 architecture. */
 203     if (tmp == 0xc07) /* armv7, also RaspberryPi 2 */
 204     {
 205         __arm_periiobase = BCM2836_PERIPHYSBASE;
 206         plus_board = 1;
 207
 208         /* prepare map for core boot vector(s) */
 209         mmu_map_section(0x40000000, 0x40000000, 0x100000, 0, 0, 3, 0);
 210     }
 211     else
 212     {
 213         __arm_periiobase = BCM2835_PERIPHYSBASE;
 214         /* Need to detect the plus board here in order to control LEDs properly */
 215     }
 216
 217     /* Prepare map for MMIO registers */
 218     mmu_map_section(__arm_periiobase, __arm_periiobase, ARM_PERIIOSIZE, 1, 0, 3, 0);
 219
 220     mem_init();
 221
 222     boottag = tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE;
 223
 224     /* first of all, store the arch for the kernel to use .. */
 225     boottag->ti_Tag = KRN_Platform;
 226     boottag->ti_Data = (IPTR)arch;
 227     boottag++;
 228
 229     /* Init LED */
 230     {
 231         if (plus_board)
 232         {
 233             /*
 234              * Either B+ or rpi2 board. Uses two leds (power and activity) on GPIOs
 235              * 47 and 35. Enable both leds as output and turn both of them off.
 236              *
 237              * The power led will be brought back up once AROS boots.
 238              */
 239
 240             tmp = *(volatile unsigned int *)GPFSEL4;
 241             tmp &= ~(7 << 21); // GPIO 47 = 001 - output
 242             tmp |= (1 << 21);
 243             *(volatile unsigned int *)GPFSEL4 = tmp;
 244
 245             tmp = *(volatile unsigned int *)GPFSEL3;
 246             tmp &= ~(7 << 15); // GPIO 35 = 001 - output
 247             tmp |= (1 << 15);
 248             *(volatile unsigned int *)GPFSEL3 = tmp;
 249
 250             /* LEDS off */
 251             *(volatile unsigned int *)GPCLR1 = (1 << (47-32));
 252             *(volatile unsigned int *)GPCLR1 = (1 << (35-32));
 253         }
 254         else
 255         {
 256             /*
 257              * Classic rpi board has only one controlable LED - activity on GPIO 16. Turn it
 258              * off now, kernel.resource will bring it back later.
 259              */
 260
 261             tmp = *(volatile unsigned int *)GPFSEL1;
 262             tmp &= ~(7 << 18); // GPIO 16 = 001 - output
 263             tmp |= (1 << 18);
 264             *(volatile unsigned int *)GPFSEL1 = tmp;
 265
 266             *(volatile unsigned int *)GPSET0 = (1 << 16);
 267         }
 268     }
 269
 270     serInit();
 271
 272     boottag->ti_Tag = KRN_BootLoader;
 273     boottag->ti_Data = (IPTR)bootstrapName;
 274     boottag++;
 275
 276     if (vcfb_init())
 277     {
 278         boottag->ti_Tag = KRN_FuncPutC;
 279         boottag->ti_Data = (IPTR)fb_Putc;
 280         boottag++;
 281     }
 282
 283     kprintf("[BOOT] AROS %s\n", bootstrapName);
 284
 285     DBOOT({
 286         kprintf("[BOOT] UART clock speed: %d\n", uartclock);
 287         kprintf("[BOOT] using %d.%d divisor for %d baud\n", uartdivint, uartdivfrac, uartbaud);
 288
 289         asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(tmp));
 290         kprintf("[BOOT] control register init:%08x, now:%08x\n", initcr, tmp);
 291
 292         asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r"(tmp));
 293         kprintf("[BOOT] main id register: %08x\n", tmp);
 294     })
 295
 296     parse_atags(atags);
 297     query_vmem();
 298
 299     kprintf("[BOOT] Bootstrap @ %08x-%08x\n", &__bootstrap_start, &__bootstrap_end);
 300
 301     boottag->ti_Tag = KRN_ProtAreaStart;
 302     boottag->ti_Data = (IPTR)&__bootstrap_start;
 303     boottag++;
 304
 305     boottag->ti_Tag = KRN_ProtAreaEnd;
 306     boottag->ti_Data = (IPTR)&__bootstrap_end;
 307     boottag++;
 308
 309     kprintf("[BOOT] Topmost address for kernel: %p\n", *mem_upper);
 310
 311     if (mem_upper)
 312     {
 313         *mem_upper = *mem_upper & ~4095;
 314
 315         unsigned long kernel_phys = *mem_upper;
 316         unsigned long kernel_virt = kernel_phys;
 317
 318         unsigned long total_size_ro, total_size_rw;
 319         uint32_t size_ro, size_rw;
 320
 321         /* Calculate total size of kernel and modules */
 322         getElfSize(&_binary_core_bin_start, &size_rw, &size_ro);
 323
 324         total_size_ro = size_ro = (size_ro + 4095) & ~4095;
 325         total_size_rw = size_rw = (size_rw + 4095) & ~4095;
 326
 327         if (pkg_image && pkg_size)
 328         {
 329             uint8_t *base = pkg_image;
 330
 331             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 332             {
 333                 getElfSize(base, &size_rw, &size_ro);
 334
 335                 total_size_ro += (size_ro + 4095) & ~4095;
 336                 total_size_rw += (size_rw + 4095) & ~4095;
 337             }
 338             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 339             {
 340                 uint8_t *file = base+4;
 341                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 342                 const uint8_t *file_end = base+total_length;
 343                 uint32_t len, cnt = 0;
 344
 345                 file = base + 8;
 346
 347                 while(file < file_end)
 348                 {
 349                     const char *filename = remove_path(file+4);
 350
 351                     /* get text length */
 352                     len = AROS_BE2LONG(*(uint32_t*)file);
 353
 354                     file += len + 5;
 355
 356                     len = AROS_BE2LONG(*(uint32_t *)file);
 357                     file += 4;
 358
 359                     /* load it */
 360                     getElfSize(file, &size_rw, &size_ro);
 361
 362                     total_size_ro += (size_ro + 4095) & ~4095;
 363                     total_size_rw += (size_rw + 4095) & ~4095;
 364
 365                     /* go to the next file */
 366                     file += len;
 367                     cnt++;
 368                 }
 369             }
 370         }
 371
 372         total_size_ro = (total_size_ro + 1024*1024-1) & 0xfff00000;
 373         total_size_rw = (total_size_rw + 1024*1024-1) & 0xfff00000;
 374
 375         kernel_phys = *mem_upper - total_size_ro - total_size_rw;
 376         kernel_virt = 0xf8000000;
 377
 378         kprintf("[BOOT] Physical address of kernel: %p\n", kernel_phys);
 379         kprintf("[BOOT] Virtual address of kernel: %p\n", kernel_virt);
 380
 381         *mem_upper = kernel_phys;
 382
 383         DBOOT(kprintf("[BOOT] Topmost memory address: %p\n", *mem_upper));
 384
 385         /* Unmap memory at physical location of kernel. In future this has to be eventually changed */
 386         mmu_unmap_section(kernel_phys, total_size_ro + total_size_rw);
 387
 388         /* map kernel memory for user access */
 389         mmu_map_section(kernel_phys, kernel_virt, total_size_ro, 1, 1, 2, 1);
 390         mmu_map_section(kernel_phys + total_size_ro, kernel_virt + total_size_ro, total_size_rw, 1, 1, 3, 1);
 391
 392         entry = (void (*)(struct TagItem))kernel_virt;
 393
 394         initAllocator(kernel_phys, kernel_phys  + total_size_ro, kernel_virt - kernel_phys);
 395
 396         boottag->ti_Tag = KRN_KernelLowest;
 397         boottag->ti_Data = kernel_virt;
 398         boottag++;
 399
 400         boottag->ti_Tag = KRN_KernelHighest;
 401         boottag->ti_Data = kernel_virt + ((total_size_ro + 4095) & ~4095) + ((total_size_rw + 4095) & ~4095);
 402         boottag++;
 403
 404         boottag->ti_Tag = KRN_KernelPhysLowest;
 405         boottag->ti_Data = kernel_phys;
 406         boottag++;
 407
 408         loadElf(&_binary_core_bin_start);
 409
 410         if (pkg_image && pkg_size)
 411         {
 412             uint8_t *base = pkg_image;
 413
 414             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 415             {
 416                 kprintf("[BOOT] Kernel image is ELF file\n");
 417
 418                 getElfSize(base, &size_rw, &size_ro);
 419
 420                 total_size_ro += (size_ro + 4095) & ~4095;
 421                 total_size_rw += (size_rw + 4095) & ~4095;
 422             }
 423             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 424             {
 425                 kprintf("[BOOT] Kernel image is a package:\n");
 426
 427                 uint8_t *file = base+4;
 428                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 429                 const uint8_t *file_end = base+total_length;
 430                 uint32_t len, cnt = 0;
 431
 432                 kprintf("[BOOT] Package size: %dKB", total_length >> 10);
 433
 434                 file = base + 8;
 435
 436                 while(file < file_end)
 437                 {
 438                     const char *filename = remove_path(file+4);
 439
 440                     /* get text length */
 441                     len = AROS_BE2LONG(*(uint32_t*)file);
 442                     /* display the file name */
 443                     if (cnt % 4 == 0)
 444                         kprintf("\n[BOOT]    %s", filename);
 445                     else
 446                         kprintf(", %s", filename);
 447
 448                     file += len + 5;
 449
 450                     len = AROS_BE2LONG(*(uint32_t *)file);
 451                     file += 4;
 452
 453                     /* load it */
 454                     loadElf(file);
 455
 456                     total_size_ro += (size_ro + 4095) & ~4095;
 457                     total_size_rw += (size_rw + 4095) & ~4095;
 458
 459                     /* go to the next file */
 460                     file += len;
 461                     cnt++;
 462                 }
 463                 kprintf("\n");
 464             }
 465         }
 466
 467         arm_flush_cache(kernel_phys, total_size_ro + total_size_rw);
 468
 469         boottag->ti_Tag = KRN_KernelBss;
 470         boottag->ti_Data = (IPTR)tracker;
 471         boottag++;
 472     }
 473
 474     boottag->ti_Tag = TAG_DONE;
 475     boottag->ti_Data = 0;
 476
 477     kprintf("[BOOT] Kernel taglist contains %d entries\n", ((intptr_t)boottag - (intptr_t)(tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE))/sizeof(struct TagItem));
 478     kprintf("[BOOT] Bootstrap wasted %d bytes of memory for kernels use\n", mem_used()   );
 479
 480     mmu_load();
 481
 482     kprintf("[BOOT] Heading over to AROS kernel @ %08x\n", entry);
 483
 484     entry((struct TagItem *)(tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE));
 485
 486     kprintf("[BOOT] Back? Something wrong happened...\n");
 487
 488     while(1);
 489 }