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[netbsd-mini2440.git] / sys / arch / evbarm / osk5912 / osk5912_machdep.c

/*      $NetBSD$ */

/*
 * Machine dependent functions for kernel setup for TI OSK5912 board.
 * Based on lubbock_machdep.c which in turn was based on iq80310_machhdep.c
 *
 * Copyright (c) 2002, 2003, 2005  Genetec Corporation.  All rights reserved.
 * Written by Hiroyuki Bessho for Genetec Corporation.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. The name of Genetec Corporation may not be used to endorse or
 *    promote products derived from this software without specific prior
 *    written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY GENETEC CORPORATION ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL GENETEC CORPORATION
 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * Copyright (c) 2001 Wasabi Systems, Inc.
 * All rights reserved.
 *
 * Written by Jason R. Thorpe for Wasabi Systems, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. All advertising materials mentioning features or use of this software
 *    must display the following acknowledgement:
 *      This product includes software developed for the NetBSD Project by
 *      Wasabi Systems, Inc.
 * 4. The name of Wasabi Systems, Inc. may not be used to endorse
 *    or promote products derived from this software without specific prior
 *    written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY WASABI SYSTEMS, INC. ``AS IS'' AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL WASABI SYSTEMS, INC
 * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * Copyright (c) 1997,1998 Mark Brinicombe.
 * Copyright (c) 1997,1998 Causality Limited.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. All advertising materials mentioning features or use of this software
 *    must display the following acknowledgement:
 *      This product includes software developed by Mark Brinicombe
 *      for the NetBSD Project.
 * 4. The name of the company nor the name of the author may be used to
 *    endorse or promote products derived from this software without specific
 *    prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 *
 */

#include <sys/cdefs.h>
__KERNEL_RCSID(0, "$NetBSD$");

#include "opt_machdep.h"
#include "opt_ddb.h"
#include "opt_kgdb.h"
#include "opt_md.h"
#include "opt_com.h"
#include "md.h"

#include <sys/param.h>
#include <sys/device.h>
#include <sys/systm.h>
#include <sys/kernel.h>
#include <sys/exec.h>
#include <sys/proc.h>
#include <sys/msgbuf.h>
#include <sys/reboot.h>
#include <sys/termios.h>
#include <sys/ksyms.h>

#include <uvm/uvm_extern.h>

#include <sys/conf.h>
#include <dev/cons.h>
#include <dev/md.h>

#include <machine/db_machdep.h>
#include <ddb/db_sym.h>
#include <ddb/db_extern.h>
#ifdef KGDB
#include <sys/kgdb.h>
#endif

#include <machine/bootconfig.h>
#include <machine/bus.h>
#include <machine/cpu.h>
#include <machine/frame.h>
#include <arm/undefined.h>

#include <arm/arm32/machdep.h>

#include <arm/omap/omap_reg.h>
#include <arm/omap/omap_tipb.h>
#include <arm/omap/omap_com.h>

/*
 * The range 0xc1000000 - 0xccffffff is available for kernel VM space.
 */
#define KERNEL_VM_BASE          (KERNEL_BASE + 0x01000000)
#define KERNEL_VM_SIZE          0x0C000000


/*
 * Address to call from cpu_reset() to reset the machine.
 * This is machine architecture dependant as it varies depending
 * on where the ROM appears when you turn the MMU off.
 */

u_int cpu_reset_address = 0;

/* Define various stack sizes in pages */
#define IRQ_STACK_SIZE  1
#define ABT_STACK_SIZE  1
#define UND_STACK_SIZE  1

BootConfig bootconfig;          /* Boot config storage */
char *boot_args = NULL;
char *boot_file = NULL;

/* Physical address of the beginning of SDRAM. */
paddr_t physical_start;
/* Physical address of the first byte after the end of SDRAM. */
paddr_t physical_end;
/* Number of pages of memory. */

/* Same things, but for the free (unused by the kernel) memory. */
static paddr_t physical_freestart, physical_freeend;
static u_int free_pages;

/* Physical and virtual addresses for some global pages */
pv_addr_t irqstack;
pv_addr_t undstack;
pv_addr_t abtstack;
pv_addr_t kernelstack;  /* stack for SVC mode */

/* Physical address of the message buffer. */
paddr_t msgbufphys;

extern u_int data_abort_handler_address;
extern u_int prefetch_abort_handler_address;
extern u_int undefined_handler_address;
extern char KERNEL_BASE_phys[];
extern char etext[], __data_start[], _edata[], __bss_start[], __bss_end__[];
extern char _end[];

#define KERNEL_PT_SYS           0       /* Page table for mapping proc0 zero page */
#define KERNEL_PT_KERNEL        1       /* Page table for mapping kernel */
#define KERNEL_PT_KERNEL_NUM    4
#define KERNEL_PT_VMDATA        (KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM)
                                        /* Page tables for mapping kernel VM */
#define KERNEL_PT_VMDATA_NUM    4       /* start with 16MB of KVM */
#define NUM_KERNEL_PTS          (KERNEL_PT_VMDATA + KERNEL_PT_VMDATA_NUM)

pv_addr_t kernel_pt_table[NUM_KERNEL_PTS];

/*
 * Macros to translate between physical and virtual for a subset of the
 * kernel address space.  *Not* for general use.
 */
#define KERNEL_BASE_PHYS ((paddr_t)&KERNEL_BASE_phys)
#define KERN_VTOPHYS(va) \
        ((paddr_t)((vaddr_t)va - KERNEL_BASE + KERNEL_BASE_PHYS))
#define KERN_PHYSTOV(pa) \
        ((vaddr_t)((paddr_t)pa - KERNEL_BASE_PHYS + KERNEL_BASE))

/* Prototypes */

void consinit(void);
#ifdef KGDB
static void kgdb_port_init(void);
#endif
static void setup_real_page_tables(void);
static void init_clocks(void);

bs_protos(bs_notimpl);

#include "com.h"
#if NCOM > 0
#include <dev/ic/comreg.h>
#include <dev/ic/comvar.h>
#endif

/*
 * void cpu_reboot(int howto, char *bootstr)
 *
 * Reboots the system
 *
 * Deal with any syncing, unmounting, dumping and shutdown hooks,
 * then reset the CPU.
 */
void
cpu_reboot(int howto, char *bootstr)
{
#ifdef DIAGNOSTIC
        /* info */
        printf("boot: howto=%08x curproc=%p\n", howto, curproc);
#endif

        /*
         * If we are still cold then hit the air brakes
         * and crash to earth fast
         */
        if (cold) {
                doshutdownhooks();
                pmf_system_shutdown(boothowto);
                printf("The operating system has halted.\n");
                printf("Please press any key to reboot.\n\n");
                cngetc();
                printf("rebooting...\n");
                cpu_reset();
                /*NOTREACHED*/
        }

        /* Disable console buffering */
/*      cnpollc(1);*/

        /*
         * If RB_NOSYNC was not specified sync the discs.
         * Note: Unless cold is set to 1 here, syslogd will die during the
         * unmount.  It looks like syslogd is getting woken up only to find
         * that it cannot page part of the binary in as the filesystem has
         * been unmounted.
         */
        if (!(howto & RB_NOSYNC))
                bootsync();

        /* Say NO to interrupts */
        splhigh();

        /* Do a dump if requested. */
        if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
                dumpsys();

        /* Run any shutdown hooks */
        doshutdownhooks();

        pmf_system_shutdown(boothowto);

        /* Make sure IRQ's are disabled */
        IRQdisable;

        if (howto & RB_HALT) {
                printf("The operating system has halted.\n");
                printf("Please press any key to reboot.\n\n");
                cngetc();
        }

        printf("rebooting...\n");
        cpu_reset();
        /*NOTREACHED*/
}

/*
 * Static device mappings. These peripheral registers are mapped at
 * fixed virtual addresses very early in initarm() so that we can use
 * them while booting the kernel, and stay at the same address
 * throughout whole kernel's life time.
 *
 * We use this table twice; once with bootstrap page table, and once
 * with kernel's page table which we build up in initarm().
 *
 * Since we map these registers into the bootstrap page table using
 * pmap_devmap_bootstrap() which calls pmap_map_chunk(), we map
 * registers segment-aligned and segment-rounded in order to avoid
 * using the 2nd page tables.
 */

#define _A(a)   ((a) & ~L1_S_OFFSET)
#define _S(s)   (((s) + L1_S_SIZE - 1) & ~(L1_S_SIZE-1))

static const struct pmap_devmap devmap[] = {
        {
                /* Map the Texas Instruments Peripheral Bus VA==PA */
                .pd_va = _A(OMAP_TIPB_PBASE),
                .pd_pa = _A(OMAP_TIPB_PBASE),
                .pd_size = _S(OMAP_TIPB_SIZE),
                .pd_prot = VM_PROT_READ|VM_PROT_WRITE,
                .pd_cache = PTE_NOCACHE
        },
        {0}
};

#undef  _A
#undef  _S

/*
 * u_int initarm(...)
 *
 * Initial entry point on startup. This gets called before main() is
 * entered.
 * It should be responsible for setting up everything that must be
 * in place when main is called.
 * This includes
 *   Taking a copy of the boot configuration structure.
 *   Initialising the physical console so characters can be printed.
 *   Setting up page tables for the kernel
 *   Relocating the kernel to the bottom of physical memory
 */
u_int
initarm(void *arg)
{
        /*
         * When we enter here, we are using a temporary first level
         * translation table with section entries in it to cover the TIPB
         * peripherals and SDRAM.  The temporary first level translation table
         * is at the end of SDRAM.
         */

        /* Heads up ... Setup the CPU / MMU / TLB functions. */
        if (set_cpufuncs())
                panic("cpu not recognized!");

        init_clocks();

        /* The console is going to try to map things.  Give pmap a devmap. */
        pmap_devmap_register(devmap);
        consinit();
#ifdef KGDB
        kgdb_port_init();
#endif

#ifdef VERBOSE_INIT_ARM
        /* Talk to the user */
        printf("\nNetBSD/evbarm (OSK5912) booting ...\n");
#endif

#ifdef BOOT_ARGS
        char mi_bootargs[] = BOOT_ARGS;
        parse_mi_bootargs(mi_bootargs);
#endif

#ifdef VERBOSE_INIT_ARM
        printf("initarm: Configuring system ...\n");
#endif

        /*
         * Set up the variables that define the availability of physical
         * memory.
         */
        physical_start = KERNEL_BASE_PHYS;
        physical_end = physical_start + MEMSIZE_BYTES;
        physmem = MEMSIZE_BYTES / PAGE_SIZE;

        /* Fake bootconfig structure for the benefit of pmap.c. */
        bootconfig.dramblocks = 1;
        bootconfig.dram[0].address = physical_start;
        bootconfig.dram[0].pages = physmem;

        /*
         * Our kernel is at the beginning of memory, so set our free space to
         * all the memory after the kernel.
         */
        physical_freestart = KERN_VTOPHYS(round_page((vaddr_t) _end));
        physical_freeend = physical_end;
        free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;

        /*
         * This is going to do all the hard work of setting up the first and
         * and second level page tables.  Pages of memory will be allocated
         * and mapped for other structures that are required for system
         * operation.  When it returns, physical_freestart and free_pages will
         * have been updated to reflect the allocations that were made.  In
         * addition, kernel_l1pt, kernel_pt_table[], systempage, irqstack,
         * abtstack, undstack, kernelstack, msgbufphys will be set to point to
         * the memory that was allocated for them.
         */
        setup_real_page_tables();

        /*
         * Moved from cpu_startup() as data_abort_handler() references
         * this during uvm init.
         */
        uvm_lwp_setuarea(&lwp0, kernelstack.pv_va);

#ifdef VERBOSE_INIT_ARM
        printf("bootstrap done.\n");
#endif

        arm32_vector_init(ARM_VECTORS_LOW, ARM_VEC_ALL);

        /*
         * Pages were allocated during the secondary bootstrap for the
         * stacks for different CPU modes.
         * We must now set the r13 registers in the different CPU modes to
         * point to these stacks.
         * Since the ARM stacks use STMFD etc. we must set r13 to the top end
         * of the stack memory.
         */
#ifdef VERBOSE_INIT_ARM
        printf("init subsystems: stacks ");
#endif

        set_stackptr(PSR_IRQ32_MODE, irqstack.pv_va + IRQ_STACK_SIZE * PAGE_SIZE);
        set_stackptr(PSR_ABT32_MODE, abtstack.pv_va + ABT_STACK_SIZE * PAGE_SIZE);
        set_stackptr(PSR_UND32_MODE, undstack.pv_va + UND_STACK_SIZE * PAGE_SIZE);

        /*
         * Well we should set a data abort handler.
         * Once things get going this will change as we will need a proper
         * handler.
         * Until then we will use a handler that just panics but tells us
         * why.
         * Initialisation of the vectors will just panic on a data abort.
         * This just fills in a slightly better one.
         */
#ifdef VERBOSE_INIT_ARM
        printf("vectors ");
#endif
        data_abort_handler_address = (u_int)data_abort_handler;
        prefetch_abort_handler_address = (u_int)prefetch_abort_handler;
        undefined_handler_address = (u_int)undefinedinstruction_bounce;

        /* Initialise the undefined instruction handlers */
#ifdef VERBOSE_INIT_ARM
        printf("undefined ");
#endif
        undefined_init();

        /* Load memory into UVM. */
#ifdef VERBOSE_INIT_ARM
        printf("page ");
#endif
        uvm_setpagesize();        /* initialize PAGE_SIZE-dependent variables */
        uvm_page_physload(atop(physical_freestart), atop(physical_freeend),
            atop(physical_freestart), atop(physical_freeend),
            VM_FREELIST_DEFAULT);

        /* Boot strap pmap telling it where the kernel page table is */
#ifdef VERBOSE_INIT_ARM
        printf("pmap ");
#endif
        pmap_bootstrap(KERNEL_VM_BASE, KERNEL_VM_BASE + KERNEL_VM_SIZE);

#ifdef VERBOSE_INIT_ARM
        printf("done.\n");
#endif

#ifdef KGDB
        if (boothowto & RB_KDB) {
                kgdb_debug_init = 1;
                kgdb_connect(1);
        }
#endif

#ifdef DDB
        db_machine_init();

        /* Firmware doesn't load symbols. */
        ddb_init(0, NULL, NULL);

        if (boothowto & RB_KDB)
                Debugger();
#endif

        /* We return the new stack pointer address */
        return(kernelstack.pv_va + USPACE_SVC_STACK_TOP);
}

static void
init_clocks(void)
{
#define OMAP_MPU_BASE   0xFFFECE00
#define ARM_CKCTL               0x00
#define  ARM_TIMXO                      (1 << 12)
#define ARM_IDLECT1             0x04
#define  IDLTIM_ARM                     (1 << 9)
#define ARM_IDLECT2             0x08
#define  EN_TIMCK                       (1 << 7)

#define OMAP_ULPD_BASE          0xFFFE0800
#define CAM_CLK_CTRL            0x007C
#define SYSTEM_CLK_EN           (1 << 2)

#define SOFT_REQ_REG                    0x34
#define SOFT_UART3_DPLL_REQ             11
#define SOFT_UART2_DPLL_REQ             10
#define SOFT_UART1_DPLL_REQ             9

#define SOFT_DISABLE_REQ_REG    0x68
#define DIS_UART3_DPLL_REQ              9
#define DIS_UART2_DPLL_REQ              8
#define DIS_UART1_DPLL_REQ              7

        /* For now, just hack up the clocking as needed to get things working. */
        *(volatile uint32_t *)(OMAP_MPU_BASE + ARM_IDLECT2) |= EN_TIMCK;
        *(volatile uint32_t *)(OMAP_MPU_BASE + ARM_IDLECT1) &= ~IDLTIM_ARM;
        *(volatile uint32_t *)(OMAP_MPU_BASE + ARM_CKCTL) &= ~ARM_TIMXO;


        /*
         * Note: The SYSTEM_CLK_EN bit of the CAM_CLK_CTRL register must be set
         * to 1, for GPIO interrupt generation to work.
         */
        *(volatile uint32_t *)(OMAP_ULPD_BASE + CAM_CLK_CTRL) |= SYSTEM_CLK_EN;

        /*
         * Issue the software request for the UART clocks.  The bootloader probably
         * already did UART1 but might not have done UART3.
         */

        *(volatile uint16_t *)(OMAP_ULPD_BASE + SOFT_REQ_REG) |=
                (1 << SOFT_UART1_DPLL_REQ) | (1 << SOFT_UART3_DPLL_REQ);
        *(volatile uint16_t *)(OMAP_ULPD_BASE + SOFT_DISABLE_REQ_REG) &=
                ~((1 << DIS_UART1_DPLL_REQ) | (1 << DIS_UART3_DPLL_REQ));

}

#ifndef CONSADDR
#error Specify the address of the console UART with the CONSADDR option.
#endif
#ifndef CONSPEED
#define CONSPEED 115200
#endif
#ifndef CONMODE
#define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
#endif

static const vaddr_t consaddr = CONSADDR;
static const int conspeed = CONSPEED;
static const int conmode = CONMODE;

void
consinit(void)
{
        static int consinit_called = 0;

        if (consinit_called != 0)
                return;

        consinit_called = 1;

        bus_space_handle_t bh;
        if (bus_space_map(&omap_a4x_bs_tag, consaddr, OMAP_COM_SIZE, 0, &bh))
                panic("Serial console can not be mapped.");

        /*
         * The TRM says the mode should be disabled while dll and dlh are
         * being changed so we disable before attaching, then enable.
         */
        bus_space_write_1(&omap_a4x_bs_tag, bh,
                          OMAP_COM_MDR1, OMAP_COM_MDR1_MODE_DISABLE);

        if (comcnattach(&omap_a4x_bs_tag, consaddr, conspeed,
                        OMAP_COM_FREQ, COM_TYPE_NORMAL, conmode))
                panic("Serial console can not be initialized.");

        bus_space_write_1(&omap_a4x_bs_tag, bh,
                          OMAP_COM_MDR1, OMAP_COM_MDR1_MODE_UART_16X);

        bus_space_unmap(&omap_a4x_bs_tag, bh, OMAP_COM_SIZE);
}

#ifdef KGDB
#ifndef KGDB_DEVADDR
#error Specify the address of the kgdb UART with the KGDB_DEVADDR option.
#endif
#ifndef KGDB_DEVRATE
#define KGDB_DEVRATE 115200
#endif

#ifndef KGDB_DEVMODE
#define KGDB_DEVMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
#endif
static const vaddr_t comkgdbaddr = KGDB_DEVADDR;
static const int comkgdbspeed = KGDB_DEVRATE;
static const int comkgdbmode = KGDB_DEVMODE;

void
static kgdb_port_init(void)
{
        static int kgdbsinit_called = 0;

        if (kgdbsinit_called != 0)
                return;

        kgdbsinit_called = 1;

        bus_space_handle_t bh;
        if (bus_space_map(&omap_a4x_bs_tag, comkgdbaddr, OMAP_COM_SIZE, 0, &bh))
                panic("kgdb port can not be mapped.");

        /*
         * The TRM says the mode should be disabled while dll and dlh are
         * being changed so we disable before attaching, then enable.
         */
        bus_space_write_1(&omap_a4x_bs_tag, bh,
                          OMAP_COM_MDR1, OMAP_COM_MDR1_MODE_DISABLE);

        if (com_kgdb_attach(&omap_a4x_bs_tag, comkgdbaddr, comkgdbspeed,
                        OMAP_COM_FREQ, COM_TYPE_NORMAL, comkgdbmode))
                panic("KGDB uart can not be initialized.");

        bus_space_write_1(&omap_a4x_bs_tag, bh,
                          OMAP_COM_MDR1, OMAP_COM_MDR1_MODE_UART_16X);

        bus_space_unmap(&omap_a4x_bs_tag, bh, OMAP_COM_SIZE);
}
#endif

static void
setup_real_page_tables(void)
{
        /*
         * We need to allocate some fixed page tables to get the kernel going.
         *
         * We are going to allocate our bootstrap pages from the beginning of
         * the free space that we just calculated.  We allocate one page
         * directory and a number of page tables and store the physical
         * addresses in the kernel_pt_table array.
         *
         * The kernel page directory must be on a 16K boundary.  The page
         * tables must be on 4K boundaries.  What we do is allocate the
         * page directory on the first 16K boundary that we encounter, and
         * the page tables on 4K boundaries otherwise.  Since we allocate
         * at least 3 L2 page tables, we are guaranteed to encounter at
         * least one 16K aligned region.
         */

#ifdef VERBOSE_INIT_ARM
        printf("Allocating page tables\n");
#endif

        /*
         * Define a macro to simplify memory allocation.  As we allocate the
         * memory, make sure that we don't walk over our temporary first level
         * translation table.
         */
#define valloc_pages(var, np)                                           \
        (var).pv_pa = physical_freestart;                               \
        physical_freestart += ((np) * PAGE_SIZE);                       \
        if (physical_freestart > (physical_freeend - L1_TABLE_SIZE))    \
                panic("initarm: out of memory");                        \
        free_pages -= (np);                                             \
        (var).pv_va = KERN_PHYSTOV((var).pv_pa);                        \
        memset((char *)(var).pv_va, 0, ((np) * PAGE_SIZE));

        int loop, pt_index;

        pt_index = 0;
        kernel_l1pt.pv_pa = 0;
        kernel_l1pt.pv_va = 0;
        for (loop = 0; loop <= NUM_KERNEL_PTS; ++loop) {
                /* Are we 16KB aligned for an L1 ? */
                if ((physical_freestart & (L1_TABLE_SIZE - 1)) == 0
                    && kernel_l1pt.pv_pa == 0) {
                        valloc_pages(kernel_l1pt, L1_TABLE_SIZE / PAGE_SIZE);
                } else {
                        valloc_pages(kernel_pt_table[pt_index],
                            L2_TABLE_SIZE / PAGE_SIZE);
                        ++pt_index;
                }
        }

        /* This should never be able to happen but better confirm that. */
        if (!kernel_l1pt.pv_pa || (kernel_l1pt.pv_pa & (L1_TABLE_SIZE-1)) != 0)
                panic("initarm: Failed to align the kernel page directory");

        /*
         * Allocate a page for the system page mapped to V0x00000000
         * This page will just contain the system vectors and can be
         * shared by all processes.
         */
        valloc_pages(systempage, 1);
        systempage.pv_va = 0x00000000;

        /* Allocate stacks for all modes */
        valloc_pages(irqstack, IRQ_STACK_SIZE);
        valloc_pages(abtstack, ABT_STACK_SIZE);
        valloc_pages(undstack, UND_STACK_SIZE);
        valloc_pages(kernelstack, UPAGES);

        /* Allocate the message buffer. */
        pv_addr_t msgbuf;
        int msgbuf_pgs = round_page(MSGBUFSIZE) / PAGE_SIZE;
        valloc_pages(msgbuf, msgbuf_pgs);
        msgbufphys = msgbuf.pv_pa;

        /*
         * Ok we have allocated physical pages for the primary kernel
         * page tables
         */

#ifdef VERBOSE_INIT_ARM
        printf("Creating L1 page table at 0x%08lx\n", kernel_l1pt.pv_pa);
#endif

        /*
         * Now we start construction of the L1 page table
         * We start by mapping the L2 page tables into the L1.
         * This means that we can replace L1 mappings later on if necessary
         */
        vaddr_t l1_va = kernel_l1pt.pv_va;
        paddr_t l1_pa = kernel_l1pt.pv_pa;

        /* Map the L2 pages tables in the L1 page table */
        pmap_link_l2pt(l1_va, 0x00000000, &kernel_pt_table[KERNEL_PT_SYS]);
        for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
                pmap_link_l2pt(l1_va, KERNEL_BASE + loop * 0x00400000,
                               &kernel_pt_table[KERNEL_PT_KERNEL + loop]);
        for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
                pmap_link_l2pt(l1_va, KERNEL_VM_BASE + loop * 0x00400000,
                               &kernel_pt_table[KERNEL_PT_VMDATA + loop]);

        /* update the top of the kernel VM */
        pmap_curmaxkvaddr =
            KERNEL_VM_BASE + (KERNEL_PT_VMDATA_NUM * 0x00400000);

#ifdef VERBOSE_INIT_ARM
        printf("Mapping kernel\n");
#endif

        /* Now we fill in the L2 pagetable for the kernel static code/data */
        size_t textsize = round_page((uintptr_t) etext - KERNEL_BASE);
        size_t totalsize = round_page((uintptr_t) _end - KERNEL_BASE);
        u_int offset = 0;       /* offset of kernel in RAM */

        /* Map text section read-only. */
        offset += pmap_map_chunk(l1_va, KERNEL_BASE + offset,
                                 physical_start + offset, textsize,
                                 VM_PROT_READ, PTE_CACHE);
        /* Map data and bss sections read-write. */
        offset += pmap_map_chunk(l1_va, KERNEL_BASE + offset,
                                 physical_start + offset, totalsize - textsize,
                                 VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);

#ifdef VERBOSE_INIT_ARM
        printf("Constructing L2 page tables\n");
#endif

        /* Map the stack pages */
        pmap_map_chunk(l1_va, irqstack.pv_va, irqstack.pv_pa,
            IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
        pmap_map_chunk(l1_va, abtstack.pv_va, abtstack.pv_pa,
            ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
        pmap_map_chunk(l1_va, undstack.pv_va, undstack.pv_pa,
            UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
        pmap_map_chunk(l1_va, kernelstack.pv_va, kernelstack.pv_pa,
            UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE);

        pmap_map_chunk(l1_va, kernel_l1pt.pv_va, kernel_l1pt.pv_pa,
            L1_TABLE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_PAGETABLE);

        for (loop = 0; loop < NUM_KERNEL_PTS; ++loop) {
                pmap_map_chunk(l1_va, kernel_pt_table[loop].pv_va,
                               kernel_pt_table[loop].pv_pa, L2_TABLE_SIZE,
                               VM_PROT_READ|VM_PROT_WRITE, PTE_PAGETABLE);
        }

        /* Map the vector page. */
        pmap_map_entry(l1_va, ARM_VECTORS_LOW, systempage.pv_pa,
                       VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);

        /*
         * Map integrated peripherals at same address in first level page
         * table so that we can continue to use console.
         */
        pmap_devmap_bootstrap(l1_va, devmap);


#ifdef VERBOSE_INIT_ARM
        /* Tell the user about where all the bits and pieces live. */
        printf("%22s       Physical              Virtual        Num\n", " ");
        printf("%22s Starting    Ending    Starting    Ending   Pages\n", " ");

        static const char mem_fmt[] =
            "%20s: 0x%08lx 0x%08lx 0x%08lx 0x%08lx %d\n";
        static const char mem_fmt_nov[] =
            "%20s: 0x%08lx 0x%08lx                       %d\n";

        printf(mem_fmt, "SDRAM", physical_start, physical_end-1,
            KERN_PHYSTOV(physical_start), KERN_PHYSTOV(physical_end-1),
            physmem);
        printf(mem_fmt, "text section",
               KERN_VTOPHYS(KERNEL_BASE), KERN_VTOPHYS(etext-1),
               (vaddr_t)KERNEL_BASE, (vaddr_t)etext-1,
               (int)(textsize / PAGE_SIZE));
        printf(mem_fmt, "data section",
               KERN_VTOPHYS(__data_start), KERN_VTOPHYS(_edata),
               (vaddr_t)__data_start, (vaddr_t)_edata,
               (int)((round_page((vaddr_t)_edata)
                      - trunc_page((vaddr_t)__data_start)) / PAGE_SIZE));
        printf(mem_fmt, "bss section",
               KERN_VTOPHYS(__bss_start), KERN_VTOPHYS(__bss_end__),
               (vaddr_t)__bss_start, (vaddr_t)__bss_end__,
               (int)((round_page((vaddr_t)__bss_end__)
                      - trunc_page((vaddr_t)__bss_start)) / PAGE_SIZE));
        printf(mem_fmt, "L1 page directory",
            kernel_l1pt.pv_pa, kernel_l1pt.pv_pa + L1_TABLE_SIZE - 1,
            kernel_l1pt.pv_va, kernel_l1pt.pv_va + L1_TABLE_SIZE - 1,
            L1_TABLE_SIZE / PAGE_SIZE);
        printf(mem_fmt, "Exception Vectors",
            systempage.pv_pa, systempage.pv_pa + PAGE_SIZE - 1,
            (vaddr_t)ARM_VECTORS_LOW, (vaddr_t)ARM_VECTORS_LOW + PAGE_SIZE - 1,
            1);
        printf(mem_fmt, "IRQ stack",
            irqstack.pv_pa, irqstack.pv_pa + (IRQ_STACK_SIZE * PAGE_SIZE) - 1,
            irqstack.pv_va, irqstack.pv_va + (IRQ_STACK_SIZE * PAGE_SIZE) - 1,
            IRQ_STACK_SIZE);
        printf(mem_fmt, "ABT stack",
            abtstack.pv_pa, abtstack.pv_pa + (ABT_STACK_SIZE * PAGE_SIZE) - 1,
            abtstack.pv_va, abtstack.pv_va + (ABT_STACK_SIZE * PAGE_SIZE) - 1,
            ABT_STACK_SIZE);
        printf(mem_fmt, "UND stack",
            undstack.pv_pa, undstack.pv_pa + (UND_STACK_SIZE * PAGE_SIZE) - 1,
            undstack.pv_va, undstack.pv_va + (UND_STACK_SIZE * PAGE_SIZE) - 1,
            UND_STACK_SIZE);
        printf(mem_fmt, "SVC stack",
            kernelstack.pv_pa, kernelstack.pv_pa + (UPAGES * PAGE_SIZE) - 1,
            kernelstack.pv_va, kernelstack.pv_va + (UPAGES * PAGE_SIZE) - 1,
            UPAGES);
        printf(mem_fmt_nov, "Message Buffer",
            msgbufphys, msgbufphys + msgbuf_pgs * PAGE_SIZE - 1, msgbuf_pgs);
        printf(mem_fmt, "Free Memory", physical_freestart, physical_freeend-1,
            KERN_PHYSTOV(physical_freestart), KERN_PHYSTOV(physical_freeend-1),
            free_pages);
#endif

        /*
         * Now we have the real page tables in place so we can switch to them.
         * Once this is done we will be running with the REAL kernel page
         * tables.
         */

        /* Switch tables */
#ifdef VERBOSE_INIT_ARM
        printf("switching to new L1 page table  @%#lx...", l1_pa);
#endif

        cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
        cpu_setttb(l1_pa);
        cpu_tlb_flushID();
        cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));

}