arch/arm-native/kernel/platform_bcm2708.c

   1 /*
   2     Copyright © 2015-2016, 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 #include "tls.h"
  27 #include "io.h"
  28
  29 #include "exec_platform.h"
  30
  31 #define ARM_PERIIOBASE ((IPTR)__arm_arosintern.ARMI_PeripheralBase)
  32 #include <hardware/bcm2708.h>
  33 #include <hardware/bcm2708_boot.h>
  34 #include <hardware/pl011uart.h>
  35
  36 #define IRQBANK_POINTER(bank)   ((bank == 0) ? GPUIRQ_ENBL0 : (bank == 1) ? GPUIRQ_ENBL1 : ARMIRQ_ENBL)
  37
  38 #define IRQ_BANK1       0x00000100
  39 #define IRQ_BANK2       0x00000200
  40
  41 #undef D
  42 #define D(x) x
  43 #define DIRQ(x)
  44 #define DFIQ(x)
  45 #define DTIMER(x)
  46
  47 extern void mpcore_trampoline();
  48 extern uint32_t mpcore_end;
  49 extern uint32_t mpcore_pde;
  50 extern spinlock_t startup_lock;
  51
  52 extern void cpu_Register(void);
  53 extern void arm_flush_cache(uint32_t, uint32_t);
  54 #if defined(__AROSEXEC_SMP__)
  55 extern void handle_ipi(uint32_t, uint32_t);
  56
  57 struct cpu_ipidata
  58 {
  59     uint32_t    ipi_data[4];
  60 };
  61
  62 struct cpu_ipidata *bcm2708_cpuipid[4] = { 0, 0, 0, 0};
  63 #endif
  64
  65 static void bcm2708_init(APTR _kernelBase, APTR _sysBase)
  66 {
  67     struct ExecBase *SysBase = (struct ExecBase *)_sysBase;
  68     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
  69
  70     KrnSpinInit(&startup_lock);
  71
  72     D(bug("[Kernel:BCM2708] %s()\n", __PRETTY_FUNCTION__));
  73
  74     if (__arm_arosintern.ARMI_PeripheralBase == (APTR)BCM2836_PERIPHYSBASE)
  75     {
  76         void *trampoline_src = mpcore_trampoline;
  77         void *trampoline_dst = (void *)BOOTMEMADDR(bm_mctrampoline);
  78         uint32_t trampoline_length = (uintptr_t)&mpcore_end - (uintptr_t)mpcore_trampoline;
  79         uint32_t trampoline_data_offset = (uintptr_t)&mpcore_pde - (uintptr_t)mpcore_trampoline;
  80         int cpu;
  81         uint32_t *cpu_stack;
  82         uint32_t *cpu_fiq_stack;
  83         uint32_t tmp;
  84         tls_t   *__tls;
  85
  86         bug("[Kernel:BCM2708] Initialising Multicore System\n");
  87         D(bug("[Kernel:BCM2708] %s: Copy SMP trampoline from %p to %p (%d bytes)\n", __PRETTY_FUNCTION__, trampoline_src, trampoline_dst, trampoline_length));
  88
  89         bcopy(trampoline_src, trampoline_dst, trampoline_length);
  90
  91         D(bug("[Kernel:BCM2708] %s: Patching data for trampoline at offset %d\n", __PRETTY_FUNCTION__, trampoline_data_offset));
  92
  93         asm volatile ("mrc p15, 0, %0, c2, c0, 0":"=r"(tmp));
  94         ((uint32_t *)(trampoline_dst + trampoline_data_offset))[0] = tmp; // pde
  95         ((uint32_t *)(trampoline_dst + trampoline_data_offset))[1] = (uint32_t)cpu_Register;
  96
  97         for (cpu = 1; cpu < 4; cpu ++)
  98         {
  99             cpu_stack = (uint32_t *)AllocMem(AROS_STACKSIZE*sizeof(uint32_t), MEMF_CLEAR); /* MEMF_PRIVATE */
 100             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[2] = (uint32_t)&cpu_stack[AROS_STACKSIZE-sizeof(IPTR)];
 101
 102             cpu_fiq_stack = (uint32_t *)AllocMem(1024*sizeof(uint32_t), MEMF_CLEAR); /* MEMF_PRIVATE */
 103             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[4] = (uint32_t)&cpu_fiq_stack[1024-sizeof(IPTR)];
 104
 105
 106 #if defined(__AROSEXEC_SMP)
 107             __tls =  (tls_t *)AllocMem(sizeof(tls_t) + sizeof(struct cpu_ipidata),  MEMF_CLEAR); /* MEMF_PRIVATE */
 108 #else
 109             __tls =  (tls_t *)AllocMem(sizeof(tls_t),  MEMF_CLEAR); /* MEMF_PRIVATE */
 110 #endif
 111             __tls->SysBase = _sysBase;
 112             __tls->KernelBase = _kernelBase;
 113             __tls->ThisTask = NULL;
 114             arm_flush_cache(((uint32_t)__tls) & ~63, 512);
 115             ((uint32_t *)(trampoline_dst + trampoline_data_offset))[3] = (uint32_t)__tls;
 116
 117             D(bug("[Kernel:BCM2708] %s: Attempting to wake CPU #%02d\n", __PRETTY_FUNCTION__, cpu));
 118             D(bug("[Kernel:BCM2708] %s: CPU #%02d Stack @ 0x%p (sp=0x%p)\n", __PRETTY_FUNCTION__, cpu, cpu_stack, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[2]));
 119             D(bug("[Kernel:BCM2708] %s: CPU #%02d FIQ Stack @ 0x%p (sp=0x%p)\n", __PRETTY_FUNCTION__, cpu, cpu_fiq_stack, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[4]));
 120             D(bug("[Kernel:BCM2708] %s: CPU #%02d TLS @ 0x%p\n", __PRETTY_FUNCTION__, cpu, ((uint32_t *)(trampoline_dst + trampoline_data_offset))[3]));
 121
 122             arm_flush_cache((uint32_t)trampoline_dst, 512);
 123
 124             /* Lock the startup spinlock */
 125             KrnSpinLock(&startup_lock, NULL, SPINLOCK_MODE_WRITE);
 126
 127             /* Wake up the cpu */
 128             wr32le(BCM2836_MAILBOX3_SET0 + (0x10 * cpu), (uint32_t)trampoline_dst);
 129
 130             dsb();
 131
 132             sev();
 133
 134             /*
 135              * Try to obtain spinlock again.
 136              * This should put this cpu to sleep since the lock was already obtained. Once the cpu startup
 137              * is ready, it will call KrnSpinUnLock() too
 138              */
 139             KrnSpinLock(&startup_lock, NULL, SPINLOCK_MODE_WRITE);
 140             KrnSpinUnLock(&startup_lock);
 141         }
 142     }
 143 }
 144
 145 static void bcm2708_init_cpu(APTR _kernelBase, APTR _sysBase)
 146 {
 147     struct ExecBase *SysBase = (struct ExecBase *)_sysBase;
 148     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
 149     (void)SysBase;
 150 #if defined(__AROSEXEC_SMP__)
 151     tls_t   *__tls = TLS_PTR_GET();
 152 #endif
 153     int cpunum = GetCPUNumber();
 154
 155     D(bug("[Kernel:BCM2708] %s(#%02d)\n", __PRETTY_FUNCTION__, cpunum));
 156
 157     /* Clear all pending FIQ sources on mailboxes */
 158     wr32le(BCM2836_MAILBOX0_CLR0 + (16 * cpunum), 0xffffffff);
 159     wr32le(BCM2836_MAILBOX1_CLR0 + (16 * cpunum), 0xffffffff);
 160     wr32le(BCM2836_MAILBOX2_CLR0 + (16 * cpunum), 0xffffffff);
 161     wr32le(BCM2836_MAILBOX3_CLR0 + (16 * cpunum), 0xffffffff);
 162
 163 #if defined(__AROSEXEC_SMP__)
 164     bcm2708_cpuipid[cpunum] = (unsigned int)__tls + sizeof(tls_t);
 165     D(bug("[Kernel:BCM2708] %s: CPU #%02d IPI data @ 0x%p\n", __PRETTY_FUNCTION__, cpunum, bcm2708_cpuipid[cpunum]));
 166
 167     // enable FIQ mailbox interupt
 168     wr32le(BCM2836_MAILBOX_INT_CTRL0 + (0x4 * cpunum), 0x10);
 169 #endif
 170 }
 171
 172 static unsigned int bcm2708_get_time(void)
 173 {
 174     return rd32le(SYSTIMER_CLO);
 175 }
 176
 177 static void bcm2708_irq_init(void)
 178 {
 179     // disable IRQ's
 180 //    wr32le(ARMFIQ_CTRL, 0);
 181
 182     wr32le(ARMIRQ_DIBL, ~0);
 183     wr32le(GPUIRQ_DIBL0, ~0);
 184     wr32le(GPUIRQ_DIBL1, ~0);
 185 }
 186
 187 static void bcm2708_send_ipi(uint32_t ipi, uint32_t ipi_data, uint32_t cpumask)
 188 {
 189     int cpu;
 190
 191     for (cpu = 0; cpu < 4; cpu++)
 192     {
 193 #if defined(__AROSEXEC_SMP__)
 194         int mbno = 0;
 195         if ((cpumask & (1 << cpu)) && bcm2708_cpuipid[cpu])
 196         {
 197             /* TODO:  check which mailbox is available and use it */
 198             bcm2708_cpuipid[cpu]->ipi_data[mbno] = ipi_data;
 199             wr32le(BCM2836_MAILBOX0_SET0 + 4 * mbno + (0x10 * cpu), ipi);
 200         }
 201 #endif
 202     }
 203 }
 204
 205 static void bcm2708_irq_enable(int irq)
 206 {
 207     int bank = IRQ_BANK(irq);
 208     unsigned int reg;
 209
 210     reg = (unsigned int)IRQBANK_POINTER(bank);
 211
 212     DIRQ(bug("[Kernel:BCM2708] Enabling irq %d [bank %d, reg 0x%p]\n", irq, bank, reg));
 213
 214     wr32le(reg, IRQ_MASK(irq));
 215
 216     DIRQ(bug("[Kernel:BCM2708] irqmask=%08x\n", rd32le(reg)));
 217 }
 218
 219 static void bcm2708_irq_disable(int irq)
 220 {
 221     int bank = IRQ_BANK(irq);
 222     unsigned int reg;
 223
 224     reg = (unsigned int)IRQBANK_POINTER(bank) + 0x0c;
 225
 226     DIRQ(bug("[Kernel:BCM2708] Disabling irq %d [bank %d, reg 0x%p]\n", irq, bank, reg));
 227
 228     wr32le(reg, IRQ_MASK(irq));
 229
 230     DIRQ(bug("[Kernel:BCM2708] irqmask=%08x\n", rd32le(reg)));
 231 }
 232
 233 static void bcm2708_irq_process()
 234 {
 235     unsigned int pendingarm, pending0, pending1, irq;
 236
 237     for(;;)
 238     {
 239         pendingarm = rd32le(ARMIRQ_PEND);
 240         pending0 = rd32le(GPUIRQ_PEND0);
 241         pending1 = rd32le(GPUIRQ_PEND1);
 242
 243         if (!(pendingarm || pending0 || pending1))
 244             break;
 245
 246         DIRQ(bug("[Kernel:BCM2708] PendingARM %08x\n", pendingarm));
 247         DIRQ(bug("[Kernel:BCM2708] Pending0 %08x\n", pending0));
 248         DIRQ(bug("[Kernel:BCM2708] Pending1 %08x\n", pending1));
 249
 250         if (pendingarm & ~(IRQ_BANK1 | IRQ_BANK2))
 251         {
 252             for (irq = (2 << 5); irq < ((2 << 5) + 8); irq++)
 253             {
 254                 if (pendingarm & (1 << (irq - (2 << 5))))
 255                 {
 256                     DIRQ(bug("[Kernel:BCM2708] Handling IRQ %d ..\n", irq));
 257                     krnRunIRQHandlers(KernelBase, irq);
 258                 }
 259             }
 260         }
 261
 262         if (pending0)
 263         {
 264             for (irq = (0 << 5); irq < ((0 << 5) + 32); irq++)
 265             {
 266                 if (pending0 & (1 << (irq - (0 << 5))))
 267                 {
 268                     DIRQ(bug("[Kernel:BCM2708] Handling IRQ %d ..\n", irq));
 269                     krnRunIRQHandlers(KernelBase, irq);
 270                 }
 271             }
 272         }
 273
 274         if (pending1)
 275         {
 276             for (irq = (1 << 5); irq < ((1 << 5) + 32); irq++)
 277             {
 278                 if (pending1 & (1 << (irq - (1 << 5))))
 279                 {
 280                     DIRQ(bug("[Kernel:BCM2708] Handling IRQ %d ..\n", irq));
 281                     krnRunIRQHandlers(KernelBase, irq);
 282                 }
 283             }
 284         }
 285     }
 286 }
 287
 288 static void bcm2708_fiq_process()
 289 {
 290     int cpunum = GetCPUNumber();
 291     uint32_t fiq, fiq_data;
 292     int mbno;
 293
 294     DFIQ(bug("[Kernel:BCM2708] %s(%d)\n", __PRETTY_FUNCTION__, cpunum));
 295
 296     fiq = rd32le(BCM2836_FIQ_PEND0 + (0x4 * cpunum));
 297
 298     DFIQ(bug("[Kernel:BCM2708] %s: CPU #%02d FIQ %x\n", __PRETTY_FUNCTION__, cpunum, fiq));
 299
 300     if (fiq)
 301     {
 302         for (mbno=0; mbno < 4; mbno++)
 303         {
 304             if (fiq & (0x10 << mbno))
 305             {
 306                 fiq_data = rd32le(BCM2836_MAILBOX0_CLR0 + 4 * mbno + (16 * cpunum));
 307                 (void)fiq_data;
 308                 DFIQ(bug("[Kernel:BCM2708] %s: Mailbox%d: FIQ Data %08x\n", __PRETTY_FUNCTION__, mbno, fiq_data));
 309 #if defined(__AROSEXEC_SMP__)
 310                 if (bcm2708_cpuipid[cpunum])
 311                     handle_ipi(fiq_data, bcm2708_cpuipid[cpunum]->ipi_data[0]);
 312 #endif
 313                 wr32le(BCM2836_MAILBOX0_CLR0 + 4 * mbno + (16 * cpunum), 0xffffffff);
 314             }
 315         }
 316     }
 317 }
 318
 319 static void bcm2708_toggle_led(int LED, int state)
 320 {
 321     if (__arm_arosintern.ARMI_PeripheralBase == (APTR)BCM2836_PERIPHYSBASE)
 322     {
 323         int pin = 35;
 324         IPTR gpiofunc = GPCLR1;
 325
 326         if (LED == ARM_LED_ACTIVITY)
 327             pin = 47;
 328
 329         if (state == ARM_LED_ON)
 330             gpiofunc = GPSET1;
 331
 332         wr32le(gpiofunc, (1 << (pin-32)));
 333     }
 334     else
 335     {
 336         // RasPi 1 only allows us to toggle the activity LED
 337         if (state)
 338             wr32le(GPCLR0, (1 << 16));
 339         else
 340             wr32le(GPSET0, (1 << 16));
 341     }
 342 }
 343
 344 /* Use system timer 3 for our scheduling heartbeat */
 345 #define VBLANK_TIMER            3
 346 #define VBLANK_INTERVAL         (1000000 / 50)
 347
 348 static void bcm2708_gputimer_handler(unsigned int timerno, void *unused1)
 349 {
 350     unsigned int stc;
 351
 352     DTIMER(bug("[Kernel:BCM2708] %s(%d)\n", __PRETTY_FUNCTION__, timerno));
 353
 354     /* Acknowledge our timer interrupt */
 355     wr32le(SYSTIMER_CS, 1 << timerno);
 356
 357     /* Signal the Exec VBlankServer */
 358     if (SysBase && (IDNESTCOUNT_GET /*SysBase->IDNestCnt*/ < 0)) {
 359         core_Cause(INTB_VERTB, 1L << INTB_VERTB);
 360     }
 361
 362     /* Refresh our timer interrupt */
 363     stc = rd32le(SYSTIMER_CLO);
 364     stc += VBLANK_INTERVAL;
 365     wr32le(SYSTIMER_C0 + (timerno * 4), stc);
 366
 367     DTIMER(bug("[BCM2708] %s: Done..\n", __PRETTY_FUNCTION__));
 368 }
 369
 370 static APTR bcm2708_init_gputimer(APTR _kernelBase)
 371 {
 372     struct KernelBase *KernelBase = (struct KernelBase *)_kernelBase;
 373     struct IntrNode *GPUTimerHandle;
 374     unsigned int stc;
 375
 376     DTIMER(bug("[Kernel:BCM2708] %s(%012p)\n", __PRETTY_FUNCTION__, KernelBase));
 377
 378     if ((GPUTimerHandle = AllocMem(sizeof(struct IntrNode), MEMF_PUBLIC|MEMF_CLEAR)) != NULL)
 379     {
 380         DTIMER(bug("[Kernel:BCM2708] %s: IntrNode @ 0x%p:\n", __PRETTY_FUNCTION__, GPUTimerHandle));
 381         DTIMER(bug("[Kernel:BCM2708] %s: Using GPUTimer %d for VBlank\n", __PRETTY_FUNCTION__, VBLANK_TIMER));
 382
 383         GPUTimerHandle->in_Handler = bcm2708_gputimer_handler;
 384         GPUTimerHandle->in_HandlerData = (void *)VBLANK_TIMER;
 385         GPUTimerHandle->in_HandlerData2 = KernelBase;
 386         GPUTimerHandle->in_type = it_interrupt;
 387         GPUTimerHandle->in_nr = IRQ_TIMER0 + VBLANK_TIMER;
 388
 389         ADDHEAD(&KernelBase->kb_Interrupts[IRQ_TIMER0 + VBLANK_TIMER], &GPUTimerHandle->in_Node);
 390
 391         DTIMER(bug("[Kernel:BCM2708] %s: Enabling Hardware IRQ.. \n", __PRETTY_FUNCTION__));
 392
 393         stc = rd32le(SYSTIMER_CLO);
 394         stc += VBLANK_INTERVAL;
 395         wr32le(SYSTIMER_CS, 1 << VBLANK_TIMER);
 396         wr32le(SYSTIMER_C0 + (VBLANK_TIMER * 4), stc);
 397
 398         ictl_enable_irq(IRQ_TIMER0 + VBLANK_TIMER, KernelBase);
 399     }
 400
 401     DTIMER(bug("[Kernel:BCM2708] %s: Done.. \n", __PRETTY_FUNCTION__));
 402
 403     return GPUTimerHandle;
 404 }
 405
 406 static inline void bcm2708_ser_waitout()
 407 {
 408     while(1)
 409     {
 410        if ((rd32le(PL011_0_BASE + PL011_FR) & PL011_FR_TXFF) == 0) break;
 411     }
 412 }
 413
 414 static void bcm2708_ser_putc(uint8_t chr)
 415 {
 416     bcm2708_ser_waitout();
 417
 418     if (chr == '\n')
 419     {
 420         wr32le(PL011_0_BASE + PL011_DR, '\r');
 421         bcm2708_ser_waitout();
 422     }
 423     wr32le(PL011_0_BASE + PL011_DR, chr);
 424 }
 425
 426 static int bcm2708_ser_getc(void)
 427 {
 428     if ((rd32le(PL011_0_BASE + PL011_FR) & PL011_FR_RXFE) == 0)
 429         return (int)rd32le(PL011_0_BASE + PL011_DR);
 430
 431     return -1;
 432 }
 433
 434 static IPTR bcm2708_probe(struct ARM_Implementation *krnARMImpl, struct TagItem *msg)
 435 {
 436     void *bootPutC = NULL;
 437
 438     while(msg->ti_Tag != TAG_DONE)
 439     {
 440         switch (msg->ti_Tag)
 441         {
 442         case KRN_FuncPutC:
 443             bootPutC = (void *)msg->ti_Data;
 444             break;
 445         }
 446         msg++;
 447     }
 448
 449     if (krnARMImpl->ARMI_Platform != 0xc42)
 450         return FALSE;
 451
 452     if (krnARMImpl->ARMI_Family == 7)
 453     {
 454         /*  bcm2836 uses armv7 */
 455         krnARMImpl->ARMI_PeripheralBase = (APTR)BCM2836_PERIPHYSBASE;
 456         krnARMImpl->ARMI_InitCore = &bcm2708_init_cpu;
 457         krnARMImpl->ARMI_FIQProcess = &bcm2708_fiq_process;
 458         krnARMImpl->ARMI_SendIPI = &bcm2708_send_ipi;
 459     }
 460     else
 461         krnARMImpl->ARMI_PeripheralBase = (APTR)BCM2835_PERIPHYSBASE;
 462
 463     krnARMImpl->ARMI_GetTime = &bcm2708_get_time;
 464     krnARMImpl->ARMI_InitTimer = &bcm2708_init_gputimer;
 465     krnARMImpl->ARMI_LED_Toggle = &bcm2708_toggle_led;
 466
 467     krnARMImpl->ARMI_SerPutChar = &bcm2708_ser_putc;
 468     krnARMImpl->ARMI_SerGetChar = &bcm2708_ser_getc;
 469     if ((krnARMImpl->ARMI_PutChar = bootPutC) != NULL)
 470             krnARMImpl->ARMI_PutChar(0xFF); // Clear the display
 471
 472     krnARMImpl->ARMI_IRQInit = &bcm2708_irq_init;
 473     krnARMImpl->ARMI_IRQEnable = &bcm2708_irq_enable;
 474     krnARMImpl->ARMI_IRQDisable = &bcm2708_irq_disable;
 475     krnARMImpl->ARMI_IRQProcess = &bcm2708_irq_process;
 476
 477     krnARMImpl->ARMI_Init = &bcm2708_init;
 478
 479     return TRUE;
 480 }
 481
 482 ADD2SET(bcm2708_probe, ARMPLATFORMS, 0);