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/bcm2708_boot.h>
  19 #include <hardware/videocore.h>
  20
  21 #include "boot.h"
  22 #include "serialdebug.h"
  23 #include "bootconsole.h"
  24 #include "atags.h"
  25 #include "elf.h"
  26 #include "mmu.h"
  27
  28 #include "vc_mb.h"
  29 #include "vc_fb.h"
  30
  31 #define DBOOT(x) x
  32
  33 #undef ARM_PERIIOBASE
  34 #define ARM_PERIIOBASE (__arm_periiobase)
  35
  36 uint32_t __arm_periiobase;
  37
  38 extern void mem_init(void);
  39 extern unsigned int uartclock;
  40 extern unsigned int uartdivint;
  41 extern unsigned int uartdivfrac;
  42 extern unsigned int uartbaud;
  43
  44 asm("   .section .aros.startup      \n"
  45 "       .globl bootstrap            \n"
  46 "       .type bootstrap,%function   \n"
  47 "bootstrap:                         \n"
  48 "       cps     #0x13               \n" /* Should be in SVC (supervisor) mode already, but just incase.. */
  49 "       ldr     sp, tmp_stack_ptr   \n"
  50 "       b       boot                \n"
  51
  52 ".string \"$VER: arosraspi.img v40.45 (" __DATE__ ")\"" "\n\t\n\t"
  53 );
  54
  55 // The bootstrap tmp stack is re-used by the reset handler so we store it at this fixed location
  56 static __used void * tmp_stack_ptr __attribute__((used, section(".aros.startup"))) = (void *)(0x1000 - 16);
  57 static struct TagItem *boottag;
  58 static unsigned long *mem_upper;
  59 static void *pkg_image;
  60 static uint32_t pkg_size;
  61
  62 static void parse_atags(struct tag *tags)
  63 {
  64     struct tag *t = NULL;
  65
  66     kprintf("[BOOT] Parsing ATAGS\n");
  67
  68     for_each_tag(t, tags)
  69     {
  70         kprintf("[BOOT]   %08x: ", t->hdr.tag);
  71         switch (t->hdr.tag)
  72         {
  73             case 0:
  74                 kprintf("ATAG_NONE - Ignored\n");
  75                 break;
  76
  77             case ATAG_CORE:
  78                 kprintf("ATAG_CORE - Ignored\n");
  79                 break;
  80
  81             case ATAG_MEM:
  82                 kprintf("ATAG_MEM (%08x-%08x)\n", t->u.mem.start, t->u.mem.size + t->u.mem.start - 1);
  83                 boottag->ti_Tag = KRN_MEMLower;
  84                 if ((boottag->ti_Data = t->u.mem.start) == 0)
  85                     boottag->ti_Data = sizeof(struct bcm2708bootmem); // Skip the *reserved* space for the cpu vectors/boot tmp stack/kernel private data.
  86
  87                 boottag++;
  88                 boottag->ti_Tag = KRN_MEMUpper;
  89                 boottag->ti_Data = t->u.mem.start + t->u.mem.size;
  90
  91                 mem_upper = &boottag->ti_Data;
  92
  93                 boottag++;
  94
  95                 mmu_map_section(t->u.mem.start, t->u.mem.start, t->u.mem.size, 1, 1, 3, 1);
  96
  97                 break;
  98
  99             case ATAG_VIDEOTEXT:
 100                 kprintf("ATAG_VIDEOTEXT - Ignored\n");
 101                 break;
 102
 103             case ATAG_RAMDISK:
 104                 kprintf("ATAG_RAMDISK - Ignored\n");
 105                 break;
 106
 107             case ATAG_INITRD2:
 108                 kprintf("ATAG_INITRD2 (%08x-%08x)\n", t->u.initrd.start, t->u.initrd.size + t->u.initrd.start - 1);
 109                 pkg_image = (void *)t->u.initrd.start;
 110                 pkg_size = t->u.initrd.size;
 111                 break;
 112
 113             case ATAG_SERIAL:
 114                 kprintf("ATAG_SERIAL - Ignored\n");
 115                 break;
 116
 117             case ATAG_REVISION:
 118                 kprintf("ATAG_REVISION - Ignored\n");
 119                 break;
 120
 121             case ATAG_VIDEOLFB:
 122                 kprintf("ATAG_VIDEOLFB - Ignored\n");
 123                 break;
 124
 125             case ATAG_CMDLINE:
 126             {
 127                 char *cmdline = malloc(strlen(t->u.cmdline.cmdline) + 1);
 128                 strcpy(cmdline, t->u.cmdline.cmdline);
 129                 kprintf("ATAG_CMDLINE \"%s\"\n", cmdline);
 130
 131                 boottag->ti_Tag = KRN_CmdLine;
 132                 boottag->ti_Data = (intptr_t)cmdline;
 133                 boottag++;
 134             }
 135             break;
 136
 137             default:
 138                 kprintf("(UNKNOWN)...\n");
 139                 break;
 140         }
 141     }
 142 }
 143
 144 void query_vmem()
 145 {
 146     volatile unsigned int *vc_msg = (unsigned int *) BOOTMEMADDR(bm_mboxmsg);
 147
 148     kprintf("[BOOT] Query VC memory\n");
 149     vc_msg[0] = 8 * 4;
 150     vc_msg[1] = VCTAG_REQ;
 151     vc_msg[2] = VCTAG_GETVCRAM;
 152     vc_msg[3] = 8;
 153     vc_msg[4] = 0;
 154     vc_msg[5] = 0;
 155     vc_msg[6] = 0;
 156     vc_msg[7] = 0;
 157
 158     vcmb_write(VCMB_BASE, VCMB_PROPCHAN, vc_msg);
 159     vc_msg = vcmb_read(VCMB_BASE, VCMB_PROPCHAN);
 160
 161     kprintf("[BOOT] Base = %08x, Size = %08x\n", vc_msg[5], vc_msg[6]);
 162
 163     boottag->ti_Tag = KRN_VMEMLower;
 164     boottag->ti_Data = vc_msg[5];
 165     boottag++;
 166
 167     boottag->ti_Tag = KRN_VMEMUpper;
 168     boottag->ti_Data = vc_msg[5] + vc_msg[6];
 169     boottag++;
 170
 171     mmu_map_section(vc_msg[5], vc_msg[5], vc_msg[6], 1, 0, 3, 0);
 172 }
 173
 174 static const char bootstrapName[] = "Bootstrap/ARM BCM2708";
 175
 176 void boot(uintptr_t dummy, uintptr_t arch, struct tag * atags)
 177 {
 178     uint32_t tmp, initcr;
 179     int plus_board = 0;
 180     void (*entry)(struct TagItem *);
 181
 182     /*
 183      * Disable MMU, enable caches and branch prediction. Also enabled unaligned memory
 184      * access
 185      */
 186     asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(initcr));
 187     tmp = initcr;
 188     tmp &= ~1;                                  /* Disable MMU */
 189     tmp |= (1 << 2) | (1 << 12) | (1 << 11);    /* I and D caches, branch prediction */
 190     tmp = (tmp & ~2) | (1 << 22);               /* Unaligned access enable */
 191     asm volatile ("mcr p15, 0, %0, c1, c0, 0" : : "r"(tmp));
 192
 193     mmu_init();
 194
 195     /*
 196         Check processor type - armv6 is old raspberry pi with SOC IO base at 0x20000000.
 197         armv7 will be raspberry pi 2 with SOC IO base at 0x3f000000
 198      */
 199     asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r" (tmp));
 200
 201     tmp = (tmp >> 4) & 0xfff;
 202
 203     /* tmp == 7 means armv6 architecture. */
 204     if (tmp == 0xc07) /* armv7, also RaspberryPi 2 */
 205     {
 206         __arm_periiobase = BCM2836_PERIPHYSBASE;
 207         plus_board = 1;
 208
 209         /* prepare map for core boot vector(s) */
 210         mmu_map_section(0x40000000, 0x40000000, 0x100000, 0, 0, 3, 0);
 211     }
 212     else
 213     {
 214         __arm_periiobase = BCM2835_PERIPHYSBASE;
 215         /* Need to detect the plus board here in order to control LEDs properly */
 216     }
 217
 218     /* Prepare map for MMIO registers */
 219     mmu_map_section(__arm_periiobase, __arm_periiobase, ARM_PERIIOSIZE, 1, 0, 3, 0);
 220
 221     mem_init();
 222
 223     boottag = tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE;
 224
 225     /* first of all, store the arch for the kernel to use .. */
 226     boottag->ti_Tag = KRN_Platform;
 227     boottag->ti_Data = (IPTR)arch;
 228     boottag++;
 229
 230     /* Init LED */
 231     {
 232         if (plus_board)
 233         {
 234             /*
 235              * Either B+ or rpi2 board. Uses two leds (power and activity) on GPIOs
 236              * 47 and 35. Enable both leds as output and turn both of them off.
 237              *
 238              * The power led will be brought back up once AROS boots.
 239              */
 240
 241             tmp = *(volatile unsigned int *)GPFSEL4;
 242             tmp &= ~(7 << 21); // GPIO 47 = 001 - output
 243             tmp |= (1 << 21);
 244             *(volatile unsigned int *)GPFSEL4 = tmp;
 245
 246             tmp = *(volatile unsigned int *)GPFSEL3;
 247             tmp &= ~(7 << 15); // GPIO 35 = 001 - output
 248             tmp |= (1 << 15);
 249             *(volatile unsigned int *)GPFSEL3 = tmp;
 250
 251             /* LEDS off */
 252             *(volatile unsigned int *)GPCLR1 = (1 << (47-32));
 253             *(volatile unsigned int *)GPCLR1 = (1 << (35-32));
 254         }
 255         else
 256         {
 257             /*
 258              * Classic rpi board has only one controlable LED - activity on GPIO 16. Turn it
 259              * off now, kernel.resource will bring it back later.
 260              */
 261
 262             tmp = *(volatile unsigned int *)GPFSEL1;
 263             tmp &= ~(7 << 18); // GPIO 16 = 001 - output
 264             tmp |= (1 << 18);
 265             *(volatile unsigned int *)GPFSEL1 = tmp;
 266
 267             *(volatile unsigned int *)GPSET0 = (1 << 16);
 268         }
 269     }
 270
 271     serInit();
 272
 273     boottag->ti_Tag = KRN_BootLoader;
 274     boottag->ti_Data = (IPTR)bootstrapName;
 275     boottag++;
 276
 277     if (vcfb_init())
 278     {
 279         boottag->ti_Tag = KRN_FuncPutC;
 280         boottag->ti_Data = (IPTR)fb_Putc;
 281         boottag++;
 282     }
 283
 284     kprintf("[BOOT] AROS %s\n", bootstrapName);
 285
 286     DBOOT({
 287         kprintf("[BOOT] UART clock speed: %d\n", uartclock);
 288         kprintf("[BOOT] using %d.%d divisor for %d baud\n", uartdivint, uartdivfrac, uartbaud);
 289
 290         asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(tmp));
 291         kprintf("[BOOT] control register init:%08x, now:%08x\n", initcr, tmp);
 292
 293         asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r"(tmp));
 294         kprintf("[BOOT] main id register: %08x\n", tmp);
 295     })
 296
 297     parse_atags(atags);
 298     query_vmem();
 299
 300     kprintf("[BOOT] Bootstrap @ %08x-%08x\n", &__bootstrap_start, &__bootstrap_end);
 301
 302     boottag->ti_Tag = KRN_ProtAreaStart;
 303     boottag->ti_Data = (IPTR)&__bootstrap_start;
 304     boottag++;
 305
 306     boottag->ti_Tag = KRN_ProtAreaEnd;
 307     boottag->ti_Data = (IPTR)&__bootstrap_end;
 308     boottag++;
 309
 310     kprintf("[BOOT] Topmost address for kernel: %p\n", *mem_upper);
 311
 312     if (mem_upper)
 313     {
 314         *mem_upper = *mem_upper & ~4095;
 315
 316         unsigned long kernel_phys = *mem_upper;
 317         unsigned long kernel_virt = kernel_phys;
 318
 319         unsigned long total_size_ro, total_size_rw;
 320         uint32_t size_ro, size_rw;
 321
 322         /* Calculate total size of kernel and modules */
 323         getElfSize(&_binary_core_bin_start, &size_rw, &size_ro);
 324
 325         total_size_ro = size_ro = (size_ro + 4095) & ~4095;
 326         total_size_rw = size_rw = (size_rw + 4095) & ~4095;
 327
 328         if (pkg_image && pkg_size)
 329         {
 330             uint8_t *base = pkg_image;
 331
 332             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 333             {
 334                 getElfSize(base, &size_rw, &size_ro);
 335
 336                 total_size_ro += (size_ro + 4095) & ~4095;
 337                 total_size_rw += (size_rw + 4095) & ~4095;
 338             }
 339             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 340             {
 341                 uint8_t *file = base+4;
 342                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 343                 const uint8_t *file_end = base+total_length;
 344                 uint32_t len, cnt = 0;
 345
 346                 file = base + 8;
 347
 348                 while(file < file_end)
 349                 {
 350                     const char *filename = remove_path(file+4);
 351
 352                     /* get text length */
 353                     len = AROS_BE2LONG(*(uint32_t*)file);
 354
 355                     file += len + 5;
 356
 357                     len = AROS_BE2LONG(*(uint32_t *)file);
 358                     file += 4;
 359
 360                     /* load it */
 361                     getElfSize(file, &size_rw, &size_ro);
 362
 363                     total_size_ro += (size_ro + 4095) & ~4095;
 364                     total_size_rw += (size_rw + 4095) & ~4095;
 365
 366                     /* go to the next file */
 367                     file += len;
 368                     cnt++;
 369                 }
 370             }
 371         }
 372
 373         total_size_ro = (total_size_ro + 1024*1024-1) & 0xfff00000;
 374         total_size_rw = (total_size_rw + 1024*1024-1) & 0xfff00000;
 375
 376         kernel_phys = *mem_upper - total_size_ro - total_size_rw;
 377         kernel_virt = 0xf8000000;
 378
 379         kprintf("[BOOT] Physical address of kernel: %p\n", kernel_phys);
 380         kprintf("[BOOT] Virtual address of kernel: %p\n", kernel_virt);
 381
 382         *mem_upper = kernel_phys;
 383
 384         DBOOT(kprintf("[BOOT] Topmost memory address: %p\n", *mem_upper));
 385
 386         /* Unmap memory at physical location of kernel. In future this has to be eventually changed */
 387         mmu_unmap_section(kernel_phys, total_size_ro + total_size_rw);
 388
 389         /* map kernel memory for user access */
 390         mmu_map_section(kernel_phys, kernel_virt, total_size_ro, 1, 1, 2, 1);
 391         mmu_map_section(kernel_phys + total_size_ro, kernel_virt + total_size_ro, total_size_rw, 1, 1, 3, 1);
 392
 393         entry = (void (*)(struct TagItem))kernel_virt;
 394
 395         initAllocator(kernel_phys, kernel_phys  + total_size_ro, kernel_virt - kernel_phys);
 396
 397         boottag->ti_Tag = KRN_KernelLowest;
 398         boottag->ti_Data = kernel_virt;
 399         boottag++;
 400
 401         boottag->ti_Tag = KRN_KernelHighest;
 402         boottag->ti_Data = kernel_virt + ((total_size_ro + 4095) & ~4095) + ((total_size_rw + 4095) & ~4095);
 403         boottag++;
 404
 405         boottag->ti_Tag = KRN_KernelPhysLowest;
 406         boottag->ti_Data = kernel_phys;
 407         boottag++;
 408
 409         loadElf(&_binary_core_bin_start);
 410
 411         if (pkg_image && pkg_size)
 412         {
 413             uint8_t *base = pkg_image;
 414
 415             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 416             {
 417                 kprintf("[BOOT] Kernel image is ELF file\n");
 418
 419                 getElfSize(base, &size_rw, &size_ro);
 420
 421                 total_size_ro += (size_ro + 4095) & ~4095;
 422                 total_size_rw += (size_rw + 4095) & ~4095;
 423             }
 424             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 425             {
 426                 kprintf("[BOOT] Kernel image is a package:\n");
 427
 428                 uint8_t *file = base+4;
 429                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 430                 const uint8_t *file_end = base+total_length;
 431                 uint32_t len, cnt = 0;
 432
 433                 kprintf("[BOOT] Package size: %dKB", total_length >> 10);
 434
 435                 file = base + 8;
 436
 437                 while(file < file_end)
 438                 {
 439                     const char *filename = remove_path(file+4);
 440
 441                     /* get text length */
 442                     len = AROS_BE2LONG(*(uint32_t*)file);
 443                     /* display the file name */
 444                     if (cnt % 4 == 0)
 445                         kprintf("\n[BOOT]    %s", filename);
 446                     else
 447                         kprintf(", %s", filename);
 448
 449                     file += len + 5;
 450
 451                     len = AROS_BE2LONG(*(uint32_t *)file);
 452                     file += 4;
 453
 454                     /* load it */
 455                     loadElf(file);
 456
 457                     total_size_ro += (size_ro + 4095) & ~4095;
 458                     total_size_rw += (size_rw + 4095) & ~4095;
 459
 460                     /* go to the next file */
 461                     file += len;
 462                     cnt++;
 463                 }
 464                 kprintf("\n");
 465             }
 466         }
 467
 468         arm_flush_cache(kernel_phys, total_size_ro + total_size_rw);
 469
 470         boottag->ti_Tag = KRN_KernelBss;
 471         boottag->ti_Data = (IPTR)tracker;
 472         boottag++;
 473     }
 474
 475     boottag->ti_Tag = TAG_DONE;
 476     boottag->ti_Data = 0;
 477
 478     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));
 479     kprintf("[BOOT] Bootstrap wasted %d bytes of memory for kernels use\n", mem_used()   );
 480
 481     mmu_load();
 482
 483     kprintf("[BOOT] Heading over to AROS kernel @ %08x\n", entry);
 484
 485     entry((struct TagItem *)(tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE));
 486
 487     kprintf("[BOOT] Back? Something wrong happened...\n");
 488
 489     while(1);
 490 }