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 "       .section .text              \n"
  52
  53 ".string \"$VER: arosraspi.img v40.45 (" __DATE__ ")\"" "\n\t\n\t"
  54 );
  55
  56 // The bootstrap tmp stack is re-used by the reset handler so we store it at this fixed location
  57 static __used void * tmp_stack_ptr __attribute__((used, section(".aros.startup"))) = (void *)(0x1000 - 16);
  58 static struct TagItem *boottag;
  59 static unsigned long *mem_upper;
  60 static void *pkg_image;
  61 static uint32_t pkg_size;
  62
  63 static void parse_atags(struct tag *tags)
  64 {
  65     struct tag *t = NULL;
  66
  67     kprintf("[BOOT] Parsing ATAGS\n");
  68
  69     for_each_tag(t, tags)
  70     {
  71         kprintf("[BOOT]   %08x: ", t->hdr.tag);
  72         switch (t->hdr.tag)
  73         {
  74             case 0:
  75                 kprintf("ATAG_NONE - Ignored\n");
  76                 break;
  77
  78             case ATAG_CORE:
  79                 kprintf("ATAG_CORE - Ignored\n");
  80                 break;
  81
  82             case ATAG_MEM:
  83                 kprintf("ATAG_MEM (%08x-%08x)\n", t->u.mem.start, t->u.mem.size + t->u.mem.start - 1);
  84                 boottag->ti_Tag = KRN_MEMLower;
  85                 if ((boottag->ti_Data = t->u.mem.start) < sizeof(struct bcm2708bootmem))
  86                     boottag->ti_Data = sizeof(struct bcm2708bootmem); // Skip the *reserved* space for the cpu vectors/boot tmp stack/kernel private data.
  87
  88                 boottag++;
  89                 boottag->ti_Tag = KRN_MEMUpper;
  90                 boottag->ti_Data = t->u.mem.start + t->u.mem.size;
  91
  92                 mem_upper = &boottag->ti_Data;
  93
  94                 boottag++;
  95
  96                 mmu_map_section(t->u.mem.start, t->u.mem.start, t->u.mem.size, 1, 1, 3, 1);
  97
  98                 break;
  99
 100             case ATAG_VIDEOTEXT:
 101                 kprintf("ATAG_VIDEOTEXT - Ignored\n");
 102                 break;
 103
 104             case ATAG_RAMDISK:
 105                 kprintf("ATAG_RAMDISK - Ignored\n");
 106                 break;
 107
 108             case ATAG_INITRD2:
 109                 kprintf("ATAG_INITRD2 (%08x-%08x)\n", t->u.initrd.start, t->u.initrd.size + t->u.initrd.start - 1);
 110                 pkg_image = (void *)t->u.initrd.start;
 111                 pkg_size = t->u.initrd.size;
 112                 break;
 113
 114             case ATAG_SERIAL:
 115                 kprintf("ATAG_SERIAL - Ignored\n");
 116                 break;
 117
 118             case ATAG_REVISION:
 119                 kprintf("ATAG_REVISION - Ignored\n");
 120                 break;
 121
 122             case ATAG_VIDEOLFB:
 123                 kprintf("ATAG_VIDEOLFB - Ignored\n");
 124                 break;
 125
 126             case ATAG_CMDLINE:
 127             {
 128                 char *cmdline = malloc(strlen(t->u.cmdline.cmdline) + 1);
 129                 strcpy(cmdline, t->u.cmdline.cmdline);
 130                 kprintf("ATAG_CMDLINE \"%s\"\n", cmdline);
 131
 132                 boottag->ti_Tag = KRN_CmdLine;
 133                 boottag->ti_Data = (intptr_t)cmdline;
 134                 boottag++;
 135             }
 136             break;
 137
 138             default:
 139                 kprintf("(UNKNOWN)...\n");
 140                 break;
 141         }
 142     }
 143 }
 144
 145 void query_vmem()
 146 {
 147     volatile unsigned int *vc_msg = (unsigned int *) BOOTMEMADDR(bm_mboxmsg);
 148
 149     kprintf("[BOOT] Query VC memory\n");
 150     vc_msg[0] = 8 * 4;
 151     vc_msg[1] = VCTAG_REQ;
 152     vc_msg[2] = VCTAG_GETVCRAM;
 153     vc_msg[3] = 8;
 154     vc_msg[4] = 0;
 155     vc_msg[5] = 0;
 156     vc_msg[6] = 0;
 157     vc_msg[7] = 0;
 158
 159     vcmb_write(VCMB_BASE, VCMB_PROPCHAN, vc_msg);
 160     vc_msg = vcmb_read(VCMB_BASE, VCMB_PROPCHAN);
 161
 162     kprintf("[BOOT] Base = %08x, Size = %08x\n", vc_msg[5], vc_msg[6]);
 163
 164     boottag->ti_Tag = KRN_VMEMLower;
 165     boottag->ti_Data = vc_msg[5];
 166     boottag++;
 167
 168     boottag->ti_Tag = KRN_VMEMUpper;
 169     boottag->ti_Data = vc_msg[5] + vc_msg[6];
 170     boottag++;
 171
 172     mmu_map_section(vc_msg[5], vc_msg[5], vc_msg[6], 1, 0, 3, 0);
 173 }
 174
 175 static const char bootstrapName[] = "Bootstrap/ARM BCM2708";
 176
 177 void boot(uintptr_t dummy, uintptr_t arch, struct tag * atags)
 178 {
 179     uint32_t tmp, initcr;
 180     int plus_board = 0;
 181     void (*entry)(struct TagItem *);
 182
 183     /*
 184      * Disable MMU, enable caches and branch prediction. Also enabled unaligned memory
 185      * access
 186      */
 187     asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(initcr));
 188     tmp = initcr;
 189     tmp &= ~1;                                  /* Disable MMU */
 190     tmp |= (1 << 2) | (1 << 12) | (1 << 11);    /* I and D caches, branch prediction */
 191     tmp = (tmp & ~2) | (1 << 22);               /* Unaligned access enable */
 192     asm volatile ("mcr p15, 0, %0, c1, c0, 0" : : "r"(tmp));
 193
 194     mmu_init();
 195
 196     /*
 197         Check processor type - armv6 is old raspberry pi with SOC IO base at 0x20000000.
 198         armv7 will be raspberry pi 2 with SOC IO base at 0x3f000000
 199      */
 200     asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r" (tmp));
 201
 202     tmp = (tmp >> 4) & 0xfff;
 203
 204     /* tmp == 7 means armv6 architecture. */
 205     if (tmp == 0xc07) /* armv7, also RaspberryPi 2 */
 206     {
 207         __arm_periiobase = BCM2836_PERIPHYSBASE;
 208         plus_board = 1;
 209
 210         /* prepare map for core boot vector(s) */
 211         mmu_map_section(0x40000000, 0x40000000, 0x100000, 0, 0, 3, 0);
 212     }
 213     else
 214     {
 215         __arm_periiobase = BCM2835_PERIPHYSBASE;
 216         /* Need to detect the plus board here in order to control LEDs properly */
 217     }
 218
 219     /* Prepare map for MMIO registers */
 220     mmu_map_section(__arm_periiobase, __arm_periiobase, ARM_PERIIOSIZE, 1, 0, 3, 0);
 221
 222     mem_init();
 223
 224     boottag = tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE;
 225
 226     /* first of all, store the arch for the kernel to use .. */
 227     boottag->ti_Tag = KRN_Platform;
 228     boottag->ti_Data = (IPTR)arch;
 229     boottag++;
 230
 231     /* Init LED */
 232     {
 233         if (plus_board)
 234         {
 235             /*
 236              * Either B+ or rpi2 board. Uses two leds (power and activity) on GPIOs
 237              * 47 and 35. Enable both leds as output and turn both of them off.
 238              *
 239              * The power led will be brought back up once AROS boots.
 240              */
 241
 242             tmp = *(volatile unsigned int *)GPFSEL4;
 243             tmp &= ~(7 << 21); // GPIO 47 = 001 - output
 244             tmp |= (1 << 21);
 245             *(volatile unsigned int *)GPFSEL4 = tmp;
 246
 247             tmp = *(volatile unsigned int *)GPFSEL3;
 248             tmp &= ~(7 << 15); // GPIO 35 = 001 - output
 249             tmp |= (1 << 15);
 250             *(volatile unsigned int *)GPFSEL3 = tmp;
 251
 252             /* LEDS off */
 253             *(volatile unsigned int *)GPCLR1 = (1 << (47-32));
 254             *(volatile unsigned int *)GPCLR1 = (1 << (35-32));
 255         }
 256         else
 257         {
 258             /*
 259              * Classic rpi board has only one controlable LED - activity on GPIO 16. Turn it
 260              * off now, kernel.resource will bring it back later.
 261              */
 262
 263             tmp = *(volatile unsigned int *)GPFSEL1;
 264             tmp &= ~(7 << 18); // GPIO 16 = 001 - output
 265             tmp |= (1 << 18);
 266             *(volatile unsigned int *)GPFSEL1 = tmp;
 267
 268             *(volatile unsigned int *)GPSET0 = (1 << 16);
 269         }
 270     }
 271
 272     serInit();
 273
 274     boottag->ti_Tag = KRN_BootLoader;
 275     boottag->ti_Data = (IPTR)bootstrapName;
 276     boottag++;
 277
 278     if (vcfb_init())
 279     {
 280         boottag->ti_Tag = KRN_FuncPutC;
 281         boottag->ti_Data = (IPTR)fb_Putc;
 282         boottag++;
 283     }
 284
 285     kprintf("[BOOT] AROS %s\n", bootstrapName);
 286
 287     DBOOT({
 288         kprintf("[BOOT] UART clock speed: %d\n", uartclock);
 289         kprintf("[BOOT] using %d.%d divisor for %d baud\n", uartdivint, uartdivfrac, uartbaud);
 290
 291         asm volatile ("mrc p15, 0, %0, c1, c0, 0" : "=r"(tmp));
 292         kprintf("[BOOT] control register init:%08x, now:%08x\n", initcr, tmp);
 293
 294         asm volatile ("mrc p15, 0, %0, c0, c0, 0" : "=r"(tmp));
 295         kprintf("[BOOT] main id register: %08x\n", tmp);
 296     })
 297
 298     parse_atags(atags);
 299     query_vmem();
 300
 301     kprintf("[BOOT] Bootstrap @ %08x-%08x\n", &__bootstrap_start, &__bootstrap_end);
 302
 303     boottag->ti_Tag = KRN_ProtAreaStart;
 304     boottag->ti_Data = (IPTR)&__bootstrap_start;
 305     boottag++;
 306
 307     boottag->ti_Tag = KRN_ProtAreaEnd;
 308     boottag->ti_Data = (IPTR)&__bootstrap_end;
 309     boottag++;
 310
 311     kprintf("[BOOT] Topmost address for kernel: %p\n", *mem_upper);
 312
 313     if (mem_upper)
 314     {
 315         *mem_upper = *mem_upper & ~4095;
 316
 317         unsigned long kernel_phys = *mem_upper;
 318         unsigned long kernel_virt = kernel_phys;
 319
 320         unsigned long total_size_ro, total_size_rw;
 321         uint32_t size_ro, size_rw;
 322
 323         /* Calculate total size of kernel and modules */
 324         getElfSize(&_binary_core_bin_start, &size_rw, &size_ro);
 325
 326         total_size_ro = size_ro = (size_ro + 4095) & ~4095;
 327         total_size_rw = size_rw = (size_rw + 4095) & ~4095;
 328
 329         if (pkg_image && pkg_size)
 330         {
 331             uint8_t *base = pkg_image;
 332
 333             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 334             {
 335                 getElfSize(base, &size_rw, &size_ro);
 336
 337                 total_size_ro += (size_ro + 4095) & ~4095;
 338                 total_size_rw += (size_rw + 4095) & ~4095;
 339             }
 340             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 341             {
 342                 uint8_t *file = base+4;
 343                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 344                 const uint8_t *file_end = base+total_length;
 345                 uint32_t len, cnt = 0;
 346
 347                 file = base + 8;
 348
 349                 while(file < file_end)
 350                 {
 351                     const char *filename = remove_path(file+4);
 352
 353                     /* get text length */
 354                     len = AROS_BE2LONG(*(uint32_t*)file);
 355
 356                     file += len + 5;
 357
 358                     len = AROS_BE2LONG(*(uint32_t *)file);
 359                     file += 4;
 360
 361                     /* load it */
 362                     getElfSize(file, &size_rw, &size_ro);
 363
 364                     total_size_ro += (size_ro + 4095) & ~4095;
 365                     total_size_rw += (size_rw + 4095) & ~4095;
 366
 367                     /* go to the next file */
 368                     file += len;
 369                     cnt++;
 370                 }
 371             }
 372         }
 373
 374         total_size_ro = (total_size_ro + 1024*1024-1) & 0xfff00000;
 375         total_size_rw = (total_size_rw + 1024*1024-1) & 0xfff00000;
 376
 377         kernel_phys = *mem_upper - total_size_ro - total_size_rw;
 378         kernel_virt = 0xf8000000;
 379
 380         kprintf("[BOOT] Physical address of kernel: %p\n", kernel_phys);
 381         kprintf("[BOOT] Virtual address of kernel: %p\n", kernel_virt);
 382
 383         *mem_upper = kernel_phys;
 384
 385         DBOOT(kprintf("[BOOT] Topmost memory address: %p\n", *mem_upper));
 386
 387         /* Unmap memory at physical location of kernel. In future this has to be eventually changed */
 388         mmu_unmap_section(kernel_phys, total_size_ro + total_size_rw);
 389
 390         /* map kernel memory for user access */
 391         mmu_map_section(kernel_phys, kernel_virt, total_size_ro, 1, 1, 2, 1);
 392         mmu_map_section(kernel_phys + total_size_ro, kernel_virt + total_size_ro, total_size_rw, 1, 1, 3, 1);
 393
 394         entry = (void (*)(struct TagItem))kernel_virt;
 395
 396         initAllocator(kernel_phys, kernel_phys  + total_size_ro, kernel_virt - kernel_phys);
 397
 398         boottag->ti_Tag = KRN_KernelLowest;
 399         boottag->ti_Data = kernel_virt;
 400         boottag++;
 401
 402         boottag->ti_Tag = KRN_KernelHighest;
 403         boottag->ti_Data = kernel_virt + ((total_size_ro + 4095) & ~4095) + ((total_size_rw + 4095) & ~4095);
 404         boottag++;
 405
 406         boottag->ti_Tag = KRN_KernelPhysLowest;
 407         boottag->ti_Data = kernel_phys;
 408         boottag++;
 409
 410         loadElf(&_binary_core_bin_start);
 411
 412         if (pkg_image && pkg_size)
 413         {
 414             uint8_t *base = pkg_image;
 415
 416             if (base[0] == 0x7f && base[1] == 'E' && base[2] == 'L' && base[3] == 'F')
 417             {
 418                 kprintf("[BOOT] Kernel image is ELF file\n");
 419
 420                 getElfSize(base, &size_rw, &size_ro);
 421
 422                 total_size_ro += (size_ro + 4095) & ~4095;
 423                 total_size_rw += (size_rw + 4095) & ~4095;
 424             }
 425             else if (base[0] == 'P' && base[1] == 'K' && base[2] == 'G' && base[3] == 0x01)
 426             {
 427                 kprintf("[BOOT] Kernel image is a package:\n");
 428
 429                 uint8_t *file = base+4;
 430                 uint32_t total_length = AROS_BE2LONG(*(uint32_t*)file); /* Total length of the module */
 431                 const uint8_t *file_end = base+total_length;
 432                 uint32_t len, cnt = 0;
 433
 434                 kprintf("[BOOT] Package size: %dKB", total_length >> 10);
 435
 436                 file = base + 8;
 437
 438                 while(file < file_end)
 439                 {
 440                     const char *filename = remove_path(file+4);
 441
 442                     /* get text length */
 443                     len = AROS_BE2LONG(*(uint32_t*)file);
 444                     /* display the file name */
 445                     if (cnt % 4 == 0)
 446                         kprintf("\n[BOOT]    %s", filename);
 447                     else
 448                         kprintf(", %s", filename);
 449
 450                     file += len + 5;
 451
 452                     len = AROS_BE2LONG(*(uint32_t *)file);
 453                     file += 4;
 454
 455                     /* load it */
 456                     loadElf(file);
 457
 458                     total_size_ro += (size_ro + 4095) & ~4095;
 459                     total_size_rw += (size_rw + 4095) & ~4095;
 460
 461                     /* go to the next file */
 462                     file += len;
 463                     cnt++;
 464                 }
 465                 kprintf("\n");
 466             }
 467         }
 468
 469         arm_flush_cache(kernel_phys, total_size_ro + total_size_rw);
 470
 471         boottag->ti_Tag = KRN_KernelBss;
 472         boottag->ti_Data = (IPTR)tracker;
 473         boottag++;
 474     }
 475
 476     boottag->ti_Tag = TAG_DONE;
 477     boottag->ti_Data = 0;
 478
 479     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));
 480     kprintf("[BOOT] Bootstrap wasted %d bytes of memory for kernels use\n", mem_used()   );
 481
 482     mmu_load();
 483
 484     kprintf("[BOOT] Heading over to AROS kernel @ %08x\n", entry);
 485
 486     entry((struct TagItem *)(tmp_stack_ptr - BOOT_STACK_SIZE - BOOT_TAGS_SIZE));
 487
 488     kprintf("[BOOT] Back? Something wrong happened...\n");
 489
 490     while(1);
 491 }