path: root/sys/arch/armv7/omap/beagle_machdep.c

/*	$OpenBSD: beagle_machdep.c,v 1.2 2013/09/28 14:16:41 miod Exp $ */
/*	$NetBSD: lubbock_machdep.c,v 1.2 2003/07/15 00:25:06 lukem Exp $ */

/*
 * Copyright (c) 2002, 2003  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.
 *
 * Machine dependant functions for kernel setup for 
 * Intel DBPXA250 evaluation board (a.k.a. Lubbock).
 * Based on iq80310_machhdep.c
 */
/*
 * 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.
 *
 * Machine dependant functions for kernel setup for Intel IQ80310 evaluation
 * boards using RedBoot firmware.
 */

/*
 * DIP switches:
 *
 * S19: no-dot: set RB_KDB.  enter kgdb session.
 * S20: no-dot: set RB_SINGLE. don't go multi user mode.
 */

#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 <uvm/uvm_extern.h>

#include <sys/conf.h>
#include <sys/queue.h>
#include <sys/device.h>
#include <dev/cons.h>
#include <dev/ic/smc91cxxreg.h>

#include <machine/db_machdep.h>
#include <ddb/db_sym.h>
#include <ddb/db_extern.h>

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

#include <arm/armv7/armv7reg.h>
#include <arm/armv7/armv7var.h>

#include <arm/cortex/smc.h>
#include <machine/machine_reg.h>
#include <armv7/omap/omapvar.h>

#include "wsdisplay.h"

/* Kernel text starts 2MB in from the bottom of the kernel address space. */
#define	KERNEL_TEXT_BASE	(KERNEL_BASE + 0x00000000)
#define	KERNEL_VM_BASE		(KERNEL_BASE + 0x04000000)

/*
 * The range 0xc1000000 - 0xccffffff is available for kernel VM space
 * Core-logic registers and I/O mappings occupy 0xfd000000 - 0xffffffff
 */
/*
#define KERNEL_VM_SIZE		0x0C000000
*/
#define KERNEL_VM_SIZE		0x10000000


/*
 * 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
#ifdef IPKDB
#define UND_STACK_SIZE	2
#else
#define UND_STACK_SIZE	1
#endif

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

vaddr_t physical_start;
vaddr_t physical_freestart;
vaddr_t physical_freeend;
vaddr_t physical_end;
u_int free_pages;
vaddr_t pagetables_start;
int physmem = 0;

/*int debug_flags;*/
#ifndef PMAP_STATIC_L1S
int max_processes = 64;			/* Default number */
#endif	/* !PMAP_STATIC_L1S */

/* Physical and virtual addresses for some global pages */
pv_addr_t systempage;
pv_addr_t irqstack;
pv_addr_t undstack;
pv_addr_t abtstack;
extern pv_addr_t kernelstack;
pv_addr_t minidataclean;

vaddr_t msgbufphys;

extern u_int data_abort_handler_address;
extern u_int prefetch_abort_handler_address;
extern u_int undefined_handler_address;

#ifdef PMAP_DEBUG
extern int pmap_debug_level;
#endif

uint32_t	board_id;

#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	32
#define KERNEL_PT_VMDATA	(KERNEL_PT_KERNEL+KERNEL_PT_KERNEL_NUM)
				        /* Page tables for mapping kernel VM */
#define	KERNEL_PT_VMDATA_NUM	8	/* 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];

extern struct user *proc0paddr;

/*
 * safepri is a safe priority for sleep to set for a spin-wait
 * during autoconfiguration or after a panic.
 */
int   safepri = 0;

/* Prototypes */

void	omdog_reset(void);
void	beagle_powerdown(void);

char	bootargs[MAX_BOOT_STRING];
void	process_kernel_args(char *);

void	consinit(void);
void	early_clkman(u_int, int);
void	kgdb_port_init(void);
void	change_clock(uint32_t v);

bs_protos(bs_notimpl);

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

#ifndef CONSPEED
#define CONSPEED B115200	/* What u-boot */
#endif
#ifndef CONMODE
#define CONMODE ((TTYDEF_CFLAG & ~(CSIZE | CSTOPB | PARENB)) | CS8) /* 8N1 */
#endif

int comcnspeed = CONSPEED;
int comcnmode = CONMODE;

/*
 *
 */
void
beagle_powerdown(void)
{

	/*
	pxa2x0_watchdog_boot();
	*/
}

/*
 * void boot(int howto, char *bootstr)
 *
 * Reboots the system
 *
 * Deal with any syncing, unmounting, dumping and shutdown hooks,
 * then reset the CPU.
 */
void
boot(int howto)
{
#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();
		if (!TAILQ_EMPTY(&alldevs))
			config_suspend(TAILQ_FIRST(&alldevs), DVACT_POWERDOWN);
		if ((howto & (RB_HALT | RB_USERREQ)) != RB_USERREQ) {
			printf("The operating system has halted.\n");
			printf("Please press any key to reboot.\n\n");
			cngetc();
		}
		printf("rebooting...\n");
		delay(500000);
		omdog_reset();
		printf("reboot failed; spinning\n");
		while(1);
		/*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(howto);

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

	/* Do a dump if requested. */
	if ((howto & (RB_DUMP | RB_HALT)) == RB_DUMP)
		dumpsys();
	
	/* Run any shutdown hooks */
	doshutdownhooks();
	if (!TAILQ_EMPTY(&alldevs))
		config_suspend(TAILQ_FIRST(&alldevs), DVACT_POWERDOWN);

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

	if (howto & RB_HALT) {
		if (howto & RB_POWERDOWN) {

			printf("\nAttempting to power down...\n");
			delay(500000);
			beagle_powerdown();
		}

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

	printf("rebooting...\n");
	delay(500000);
	omdog_reset();
	printf("reboot failed; spinning\n");
	while(1);
	/*NOTREACHED*/
}

static __inline
pd_entry_t *
read_ttb(void)
{
  long ttb;

  __asm __volatile("mrc	p15, 0, %0, c2, c0, 0" : "=r" (ttb));


  return (pd_entry_t *)(ttb & ~((1<<14)-1));
}

#if 1
#define VERBOSE_INIT_ARM
#endif

/*
 * simple memory mapping function used in early bootstrap stage
 * before pmap is initialized.
 * size and cacheability are ignored and map one section with nocache.
 */
static vaddr_t section_free = 0xfd000000; /* XXX - huh */

int bootstrap_bs_map(void *t, bus_addr_t bpa, bus_size_t size,
    int flags, bus_space_handle_t *bshp);
int
bootstrap_bs_map(void *t, bus_addr_t bpa, bus_size_t size,
    int flags, bus_space_handle_t *bshp)
{
	u_long startpa;
	vaddr_t va;
	pd_entry_t *pagedir = read_ttb();
	/* This assumes PA==VA for page directory */

	va = section_free;
	section_free += L1_S_SIZE;

	/*
	startpa = trunc_page(bpa);
	*/
	startpa = bpa & ~L1_S_OFFSET;
	pmap_map_section((vaddr_t)pagedir, va, startpa, 
	    VM_PROT_READ | VM_PROT_WRITE, PTE_NOCACHE);
	cpu_tlb_flushD();

	*bshp = (bus_space_handle_t)(va + (bpa - startpa));

	return(0);
}

static void
copy_io_area_map(pd_entry_t *new_pd)
{
	pd_entry_t *cur_pd = read_ttb();
	vaddr_t va;

	for (va = MACHINE_IO_AREA_VBASE;
	     (cur_pd[va>>L1_S_SHIFT] & L1_TYPE_MASK) == L1_TYPE_S;
	     va += L1_S_SIZE) {

		new_pd[va>>L1_S_SHIFT] = cur_pd[va>>L1_S_SHIFT];
		if (va == (ARM_VECTORS_HIGH & ~(0x00400000 - 1)))
			break; /* STUPID */

	}
}

void parse_uboot_tags(void *);

/*
 * 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 *arg0, void *arg1, void *arg2)
{
	int loop;
	int loop1;
	u_int l1pagetable;
	pv_addr_t kernel_l1pt;
	paddr_t memstart;
	psize_t memsize;
	extern void omap4_smc_call(uint32_t, uint32_t);

#if 0
	int led_data = 0;
#endif
	/* early bus_space_map support */
	struct bus_space tmp_bs_tag;
	int	(*map_func_save)(void *, bus_addr_t, bus_size_t, int, 
	    bus_space_handle_t *);

	board_id = (uint32_t)arg1;

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

	switch (board_id) {
	case BOARD_ID_OMAP4_PANDA:
		/* disable external L2 cache */
		omap4_smc_call(0x102, 0);
		break;
	}

#if 0
	/* Calibrate the delay loop. */
#endif

	/*
	 * Temporarily replace bus_space_map() functions so that
	 * console devices can get mapped.
	 *
	 * Note that this relies upon the fact that both regular
	 * and a4x bus_space tags use the same map function.
	 */
#if defined(CPU_ARMv7) 
	tmp_bs_tag = armv7_bs_tag;
	map_func_save = armv7_bs_tag.bs_map;
	armv7_bs_tag.bs_map = bootstrap_bs_map;
	armv7_a4x_bs_tag.bs_map = bootstrap_bs_map;
#endif
	tmp_bs_tag.bs_map = bootstrap_bs_map;

	/* setup a serial console for very early boot */
	consinit();

	/* Talk to the user */
	printf("\nOpenBSD/beagle booting ...\n");

	printf("arg0 %p arg1 %p arg2 %p\n", arg0, arg1, arg2);
	parse_uboot_tags(arg2);

	/*
	 * Examine the boot args string for options we need to know about
	 * now.
	 */
	process_kernel_args(bootconfig.bootstring);
#ifdef RAMDISK_HOOKS
        boothowto |= RB_DFLTROOT;
#endif /* RAMDISK_HOOKS */


	/* normally u-boot will set up bootconfig.dramblocks */
	if (bootconfig.dramblocks == 0) {
		uint32_t sdrc_mcfg_0, sdrc_mcfg_1, memsize0, memsize1;
		sdrc_mcfg_0 = *(uint32_t *)0x6d000080;
		sdrc_mcfg_1 = *(uint32_t *)0x6d0000b0;
		memsize0 = (((sdrc_mcfg_0 >> 8))&0x3ff) * (2 * 1024 * 1024);
		memsize1 = (((sdrc_mcfg_1 >> 8))&0x3ff) * (2 * 1024 * 1024);
		memsize = memsize0 + memsize1;

		memstart = SDRAM_START;
		memsize =  0x02000000; /* 32MB */
		/* Fake bootconfig structure for the benefit of pmap.c */
		/* XXX must make the memory description h/w independant */
		bootconfig.dram[0].address = memstart;
		bootconfig.dram[0].pages = memsize0 / PAGE_SIZE;
		bootconfig.dramblocks = 1;
		if (memsize1 != 0) {
			bootconfig.dram[1].address = bootconfig.dram[0].address
			    + memsize0; /* XXX */
			bootconfig.dram[1].pages = memsize1 / PAGE_SIZE;
			bootconfig.dramblocks++; /* both banks populated */
		}
	} else {
		/* doesn't deal with multiple segments, hopefully u-boot collaped them into one */
		memstart = bootconfig.dram[0].address;
		memsize = bootconfig.dram[0].pages * PAGE_SIZE;
		printf("memory size derived from u-boot\n");
		for (loop = 0; loop < bootconfig.dramblocks; loop++) {
			printf("bootconf.mem[%d].address = %08x pages %d/0x%08x\n",
			    loop, bootconfig.dram[0].address, bootconfig.dram[0].pages,
			        bootconfig.dram[0].pages * PAGE_SIZE);
		}
	}

	/*
	 * Set up the variables that define the availablilty of
	 * physical memory.  For now, we're going to set
	 * physical_freestart to 0xa0200000 (where the kernel
	 * was loaded), and allocate the memory we need downwards.
	 * If we get too close to the page tables that RedBoot
	 * set up, we will panic.  We will update physical_freestart
	 * and physical_freeend later to reflect what pmap_bootstrap()
	 * wants to see.
	 *
	 * XXX pmap_bootstrap() needs an enema.
	 */
	physical_start = bootconfig.dram[0].address;
	physical_end = physical_start + (bootconfig.dram[0].pages * PAGE_SIZE);

	{
		extern char _end[];
		physical_freestart = (((unsigned long)_end - KERNEL_TEXT_BASE +0xfff) & ~0xfff) + memstart;
		physical_freeend = memstart+memsize;
	}

	physmem = (physical_end - physical_start) / PAGE_SIZE;

#ifdef DEBUG
	/* Tell the user about the memory */
	printf("physmemory: %d pages at 0x%08lx -> 0x%08lx\n", physmem,
	    physical_start, physical_end - 1);
#endif

	/*
	 * Okay, the kernel starts 2MB in from the bottom of physical
	 * memory.  We are going to allocate our bootstrap pages downwards
	 * from there.
	 *
	 * We need to allocate some fixed page tables to get the kernel
	 * going.  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 bounaries.  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

	free_pages = (physical_freeend - physical_freestart) / PAGE_SIZE;

#ifdef VERBOSE_INIT_ARM
	printf("freestart = 0x%08lx, free_pages = %d (0x%08x)\n",
	       physical_freestart, free_pages, free_pages);
#endif

	/* Define a macro to simplify memory allocation */
#define	valloc_pages(var, np)				\
	alloc_pages((var).pv_pa, (np));			\
	(var).pv_va = KERNEL_BASE + (var).pv_pa - physical_start;

#define alloc_pages(var, np)				\
	(var) = physical_freestart ;			\
	physical_freestart += ((np) * PAGE_SIZE);	\
	if (physical_freeend < physical_freestart)	\
		panic("initarm: out of memory");	\
	free_pages -= (np);				\
	memset((char *)(var), 0, ((np) * PAGE_SIZE));

	loop1 = 0;
	kernel_l1pt.pv_pa = 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[loop1],
			    L2_TABLE_SIZE / PAGE_SIZE);
			++loop1;
		}
	}

	/* 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.
	 */
	vector_page = ARM_VECTORS_HIGH;
	alloc_pages(systempage.pv_pa, 1);
	systempage.pv_va = vector_page;

	/* 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 enough pages for cleaning the Mini-Data cache. */

#ifdef VERBOSE_INIT_ARM
	printf("IRQ stack: p0x%08lx v0x%08lx\n", irqstack.pv_pa,
	    irqstack.pv_va); 
	printf("ABT stack: p0x%08lx v0x%08lx\n", abtstack.pv_pa,
	    abtstack.pv_va); 
	printf("UND stack: p0x%08lx v0x%08lx\n", undstack.pv_pa,
	    undstack.pv_va); 
	printf("SVC stack: p0x%08lx v0x%08lx\n", kernelstack.pv_pa,
	    kernelstack.pv_va); 
#endif

	/*
	 * XXX Defer this to later so that we can reclaim the memory
	 * XXX used by the RedBoot page tables.
	 */
	alloc_pages(msgbufphys, round_page(MSGBUFSIZE) / PAGE_SIZE);

	/*
	 * 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
	 */
	l1pagetable = kernel_l1pt.pv_pa;

	/* Map the L2 pages tables in the L1 page table */
	pmap_link_l2pt(l1pagetable, vector_page & ~(0x00400000 - 1),
	    &kernel_pt_table[KERNEL_PT_SYS]);

	for (loop = 0; loop < KERNEL_PT_KERNEL_NUM; loop++)
		pmap_link_l2pt(l1pagetable, KERNEL_BASE + loop * 0x00400000,
		    &kernel_pt_table[KERNEL_PT_KERNEL + loop]);

	for (loop = 0; loop < KERNEL_PT_VMDATA_NUM; loop++)
		pmap_link_l2pt(l1pagetable, 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 */
	{
		extern char etext[], _end[];
		size_t textsize = (u_int32_t) etext - KERNEL_TEXT_BASE;
		size_t totalsize = (u_int32_t) _end - KERNEL_TEXT_BASE;
		u_int logical;

		textsize = (textsize + PGOFSET) & ~PGOFSET;
		totalsize = (totalsize + PGOFSET) & ~PGOFSET;
		
		logical = 0x00000000;	/* offset of kernel in RAM */

		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
		    physical_start + logical, textsize,
		    VM_PROT_READ|VM_PROT_WRITE|VM_PROT_EXECUTE, PTE_CACHE);
		logical += pmap_map_chunk(l1pagetable, KERNEL_BASE + logical,
		    physical_start + logical, 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(l1pagetable, irqstack.pv_va, irqstack.pv_pa,
	    IRQ_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
	pmap_map_chunk(l1pagetable, abtstack.pv_va, abtstack.pv_pa,
	    ABT_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
	pmap_map_chunk(l1pagetable, undstack.pv_va, undstack.pv_pa,
	    UND_STACK_SIZE * PAGE_SIZE, VM_PROT_READ|VM_PROT_WRITE, PTE_CACHE);
	pmap_map_chunk(l1pagetable, kernelstack.pv_va, kernelstack.pv_pa,
	    UPAGES * PAGE_SIZE, VM_PROT_READ | VM_PROT_WRITE, PTE_CACHE);

	pmap_map_chunk(l1pagetable, 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(l1pagetable, 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 Mini-Data cache clean area. */

	/* Map the vector page. */
#if 0
	/* MULTI-ICE requires that page 0 is NC/NB so that it can download the
	 * cache-clean code there.  */
	pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
	    VM_PROT_READ|VM_PROT_WRITE|VM_PROT_EXECUTE, PTE_NOCACHE);
#else
	pmap_map_entry(l1pagetable, vector_page, systempage.pv_pa,
	    VM_PROT_READ|VM_PROT_WRITE|VM_PROT_EXECUTE, PTE_CACHE);
#endif

	/*
	 * map integrated peripherals at same address in l1pagetable
	 * so that we can continue to use console.
	 */
	copy_io_area_map((pd_entry_t *)l1pagetable);


	/*
	 * 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.
	 */

	/* be a client to all domains */
	cpu_domains(0x55555555);
	/* Switch tables */

	cpu_domains((DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2)) | DOMAIN_CLIENT);
	setttb(kernel_l1pt.pv_pa);
	cpu_tlb_flushID();
	cpu_domains(DOMAIN_CLIENT << (PMAP_DOMAIN_KERNEL*2));

	/*
	 * Moved from cpu_startup() as data_abort_handler() references
	 * this during uvm init
	 */
	proc0paddr = (struct user *)kernelstack.pv_va;
	proc0.p_addr = proc0paddr;

	arm32_vector_init(vector_page, 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.
	 */

	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 slighly better one.
	 */

	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), 0);

	/* Boot strap pmap telling it where the kernel page table is */
#ifdef VERBOSE_INIT_ARM
	printf("pmap ");
#endif
	pmap_bootstrap((pd_entry_t *)kernel_l1pt.pv_va, KERNEL_VM_BASE,
	    KERNEL_VM_BASE + KERNEL_VM_SIZE);

#ifdef IPKDB
	/* Initialise ipkdb */
	ipkdb_init();
	if (boothowto & RB_KDB)
		ipkdb_connect(0);
#endif

	/*
	 * Restore proper bus_space operation, now that pmap is initialized.
	 */
#if defined(CPU_ARMv7) 
	armv7_bs_tag.bs_map = map_func_save;
	armv7_a4x_bs_tag.bs_map = map_func_save;
#endif

#ifdef DDB
	db_machine_init();

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

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

	switch (board_id) {
	case BOARD_ID_OMAP3_BEAGLE:
		printf("board type: beagle\n");
		break;
	case BOARD_ID_AM335X_BEAGLEBONE:
		printf("board type: beaglebone\n");
		break;
	case BOARD_ID_OMAP3_OVERO:
		printf("board type: overo\n");
		break;
	case BOARD_ID_OMAP4_PANDA:
		printf("board type: panda\n");
		break;
	default:
		printf("board type %x unknown", board_id);
	}

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


void
process_kernel_args(char *args)
{
	char *cp = args;

	if (cp == NULL) {
		boothowto = RB_AUTOBOOT;
		return;
	}

	boothowto = 0;

	/* Make a local copy of the bootargs */
	strncpy(bootargs, cp, MAX_BOOT_STRING - sizeof(int));

	cp = bootargs;
	boot_file = bootargs;

	/* Skip the kernel image filename */
	while (*cp != ' ' && *cp != 0)
		++cp;

	if (*cp != 0)
		*cp++ = 0;

	while (*cp == ' ')
		++cp;

	boot_args = cp;

	printf("bootfile: %s\n", boot_file);
	printf("bootargs: %s\n", boot_args);

	/* Setup pointer to boot flags */
	while (*cp != '-')
		if (*cp++ == '\0')
			return;

	for (;*++cp;) {
		int fl;

		fl = 0;
		switch(*cp) {
		case 'a':
			fl |= RB_ASKNAME;
			break;
		case 'c':
			fl |= RB_CONFIG;
			break;
		case 'd':
			fl |= RB_KDB;
			break;
		case 's':
			fl |= RB_SINGLE;
			break;
		default:
			printf("unknown option `%c'\n", *cp);
			break;
		}
		boothowto |= fl;
	}
}


void
consinit(void)
{
	static int consinit_called = 0;
#if NCOM > 0
	paddr_t paddr;
#endif
		
	if (consinit_called != 0)
		return;   
		
	consinit_called = 1;

#if NCOM > 0
	switch (board_id) {
	case BOARD_ID_OMAP3_BEAGLE:
	case BOARD_ID_OMAP3_OVERO:
		paddr = 0x49020000; 
		break;
	case BOARD_ID_AM335X_BEAGLEBONE:
		paddr = 0x44E09000; /* UART0 */
		break;
	case BOARD_ID_OMAP4_PANDA:
		paddr = 0x48020000; 
		break;
	default:
		panic("board type %x unknown", board_id);
		/* XXX - HELP */
	}
	comcnattach(&armv7_a4x_bs_tag, paddr, comcnspeed, 48000000, comcnmode);
	comdefaultrate = comcnspeed;
#endif /* NCOM */
}


//int glass_console = 0;

void
board_startup(void)
{
        if (boothowto & RB_CONFIG) {
#ifdef BOOT_CONFIG
		user_config();
#else
		printf("kernel does not support -c; continuing..\n");
#endif
	}
}

void
platform_smc_write(bus_space_tag_t iot, bus_space_handle_t ioh, bus_size_t off,
    uint32_t op, uint32_t val)
{
	extern void omap4_smc_call(uint32_t, uint32_t);

	switch (op) {
	case 0x100:	/* PL310 DEBUG */
	case 0x102:	/* PL310 CTL */
		break;
	default:
		panic("platform_smc_write: invalid operation %d", op);
	}

	omap4_smc_call(op, val);
}