; Copyright 2009 Castle Technology Ltd
;
; Licensed under the Apache License, Version 2.0 (the "License");
; you may not use this file except in compliance with the License.
; You may obtain a copy of the License at
;
; http://www.apache.org/licenses/LICENSE-2.0
;
; Unless required by applicable law or agreed to in writing, software
; distributed under the License is distributed on an "AS IS" BASIS,
; WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
; See the License for the specific language governing permissions and
; limitations under the License.
;
GET Hdr:ListOpts
GET Hdr:Macros
GET Hdr:System
GET Hdr:Machine.<Machine>
GET Hdr:HALSize.<HALSize>
GET Hdr:MEMM.VMSAv6
GET Hdr:Proc
GET Hdr:OSEntries
GET Hdr:HALEntries
GET Hdr:VIDCList
GET hdr.omap3530
GET hdr.StaticWS
GET hdr.UART
GET hdr.Post
GET hdr.SDRC
GET hdr.GPIO
AREA |!!!ROMStart|, CODE, READONLY, PIC
IMPORT rom_checkedout_ok
EXPORT HAL_Base
IMPORT HAL_DebugTX
IMPORT DebugHALPrint
IMPORT DebugHALPrintReg
; Using the DMA controller to relocate the ROM image is much faster than doing it with the CPU
GBLL Use_DMA_Copy
Use_DMA_Copy SETL {TRUE}
MACRO
CallOSM $entry, $reg
LDR ip, [v8, #$entry*4]
MOV lr, pc
ADD pc, v8, ip
MEND
; Jump table used to select board config on startup
; See board.s for ordering of configs, and therefore what entry corresponds to what board
HAL_Base
BL selectconfig
BL selectconfig
BL selectconfig
BL selectconfig
BL selectconfig
BL selectconfig
BL selectconfig
JumpTableEnd
ASSERT . - HAL_Base < 0x60
% 0x60 - (. - HAL_Base)
DCD 0 ; Empty - was ROMsize
B selectconfig_linux ; offset &64 - for booting as a uImage/Linux kernel. Uses Linux machine type ID to select board config.
ENTRY
selectconfig
; Get pointer to board config
ADR v1, HAL_Base+4
SUB v1, lr, v1
ADR a1, BoardConfigTable
MOV a2, #BoardConfig_Size>>2
MLA v1, a2, v1, a1
foundconfig
; v1 = board config
MSR CPSR_c, #F32_bit+I32_bit+SVC32_mode ; Get into SVC mode now, so we can write to sb without much fear of losing it (we may have been in FIQ)
[ Debug
; Announce ourselves if debug
ADR v2, HelloWorld
MOV sb, v1
10 LDRB a1, [v2], #1
CMP a1, #0
ADRNE lr, %BT10
BNE HAL_DebugTX
ADD v2, v1, #BoardConfig_Name
10 LDRB a1, [v2], #1
CMP a1, #0
ADRNE lr, %BT10
BNE HAL_DebugTX
MOV a1, #13
BL HAL_DebugTX
MOV a1, #10
BL HAL_DebugTX
]
; Now copy the config to SRAM
; We'll assume that the L3 interconnect has been correctly configured to give us access
LDR sb, =IntSRAM_Base
MOV a2, #BoardConfig_Size
10 SUBS a2, a2, #4
LDR a3, [v1, a2]
STR a3, [sb, a2]
BGT %BT10
[ DebugTiming
ADD sp, sb, #32768 ; Temp stack for debug code
; Ensure debug UART FIFO is enabled (assuming UART 3)
MOV a1, #0
STRB a1, UARTFCRSoftCopy+2
MOV a1, #2
STRB a1, [sb, #BoardConfig_NumUART] ; Hide UART from RO
MOV a2, #1
IMPORT HAL_UARTFIFOEnable
BL HAL_UARTFIFOEnable
DebugTimeNoMMU a1, "@ "
]
; Now do common init
B restart
[ Debug
HelloWorld DCB "OMAP3 HAL init",13,10,"Board config=",0
ALIGN
]
; Entry point for masquerading as a Linux kernel
; r0=0
; r1=machine type ID
; r2=ptr to tag list (linux/include/asm/setup.h)
selectconfig_linux
ADR v1, BoardConfigTable_End-BoardConfig_Size
ADR a3, BoardConfigTable
10
LDR a1, [v1, #BoardConfig_MachID]
CMP a1, a2
CMPNE v1, a3 ; If we can't find a config, abort and use default? (i.e. beagleboard)
BEQ foundconfig
SUB v1, v1, #BoardConfig_Size
B %BT10
LTORG
GET board.s
ASSERT ((JumpTableEnd-HAL_Base)/4) >= (BoardConfigTable_End-BoardConfigTable)/BoardConfig_Size ; If this fires, we need a bigger jump table!
; ------------------------------------------------------------------------------
; Perform some Cortex-A8 specific CPU setup
; Then start looking for RAM
; In: sb = board config ptr
restart
DebugChar a3,a4,48
MSR CPSR_c, #F32_bit+I32_bit+SVC32_mode
DebugChar a3,a4,49
ADRL v1, HAL_Base + OSROM_HALSize ; v1 -> RISC OS image
LDR v8, [v1, #OSHdr_Entries]
ADD v8, v8, v1 ; v8 -> RISC OS entry table
; Ensure CPU is set up
MOV a1, #0
CallOSM OS_InitARM
DebugChar a3,a4,50
; Initialise RAM
BL init_ram
; The first 4K of the first registered block of RAM is used by RISC OS's init code, and also contains the stack
; To keep things simple and safe, we'll relocate the HAL and OS image to the top end of RAM
; Although with the beagleboard we know we'll be booted from RAM, this code has been written so that it should work if running from ROM
; First, identify the top end of RAM
; Then check if we intersect it
; If we do, first copy ourselves down
; Then copy ourselves up
[ Use_DMA_Copy
; We'll use DMA for extra speed, so start by resetting the DMA controller
LDR v5, =L4_sDMA
MOV v1, #2
STR v1, [v5, #DMA4_OCP_SYSCONFIG]
5
LDR v1, [v5, #DMA4_SYSSTATUS]
TST v1, #1
BEQ %BT5
; Set a sensible FIFO budget (as per SDMACReset)
LDR a2, =&100080
STR a2, [v5, #DMA4_GCR]
; Configure channel 0 for the right settings
ADD v5, v5, #DMA4_i
LDR v1, [v5, #DMA4_CLNK_CTRLi]
BIC v1, v1, #&8000 ; Disable channel linking
STR v1, [v5, #DMA4_CLNK_CTRLi]
MOV v1, #1<<4
STR v1, [v5, #DMA4_CICRi] ; frame end interrupt enabled
LDR v1, =&2E1C2 ; 32bit elements, 64 byte bursts with packing, last write non-posted
STR v1, [v5, #DMA4_CSDPi]
MOV v1, #1
STR v1, [v5, #DMA4_CFNi] ; 1 frame
]
relocate_code
DebugChar a1,a2,66
BL get_end_of_ram
DebugChar v1,v2,67
; How big are we?
ADRL v1, HAL_Base + OSROM_HALSize
LDR v2, [v1, #OSHdr_ImageSize]
LDR lr, [v1, #OSHdr_Flags]
TST lr, #OSHdrFlag_SupportsCompression
LDRNE lr, [v1, #OSHdr_CompressedSize]
MOVEQ lr, v2
SUB v1, v1, #OSROM_HALSize ; Start of HAL
ADD v2, v2, #OSROM_HALSize ; Size of HAL+OS
ADD lr, lr, #OSROM_HALSize ; Size of compressed HAL+OS
ADD v3, v1, lr ; End of OS
MOV v4, a1 ; End of RAM
SUB v5, v4, v2 ; New start address of HAL
CMP v1, v5
BEQ %FT10 ; No copy needed
CMP v1, v4
BHI %FT20 ; We're in some ROM above RAM. OK to continue with copy.
CMP v3, v5
BLS %FT20 ; We're in some ROM/RAM below our copy destination. OK to continue with copy.
; Else we currently overlap the area we want to copy ourselves into.
SUB v5, v1, lr ; Copy the HAL+OS to just before itself. TODO - This will fail with big ROMs (128MB beagleboard with >42MB ROM size)
20
[ Use_DMA_Copy
; Transfer everything in one DMA frame; this gives us a max ROM size of 64MB-4 bytes
LDR a3, =L4_sDMA+DMA4_i
LDR a1, [a3, #DMA4_CSRi]
STR a1, [a3, #DMA4_CSRi] ; Clear status register
MOV a1, lr, LSR #2
STR a1, [a3, #DMA4_CENi]
STR v5, [a3, #DMA4_CDSAi]
STR v1, [a3, #DMA4_CSSAi]
LDR a1, =&805080 ; Enable channel with post-increment source & destination, prefetch
STR a1, [a3, #DMA4_CCRi]
; Wait for copy to complete
30
LDR a1, [a3, #DMA4_CSRi]
TST a1, #1<<4
BEQ %BT30
; Make doubly sure that it's finished by checking WR_ACTIVE/RD_ACTIVE
40
LDR a1, [a3, #DMA4_CCRi]
TST a1, #&600
BNE %BT40
|
MOV a1, v5
MOV a2, v1 ; Copy source
MOV a3, lr
30
LDR a4, [a2], #4
SUBS a3, a3, #4
STR a4, [a1], #4
BGT %BT30
]
; Invalidate I-cache, branch predictors
MOV a1, #0
MCR p15, 0, a1, c7, c5, 0
MCR p15, 0, a1, c7, c5, 6
DSB SY ; Wait for I-cache invalidation to complete
ISB SY ; Wait for branch predictor invalidation to complete?
DebugChar a1,a2,68
; Jump to our new copy
ADR a1, relocate_code ; Keep things simple by just running through the same code again
SUB a2, v5, v1
ADD a1, a1, a2 ; relocate our branch target
ADD v8, v8, a2 ; Update OS entry table ptr
MOV pc, a1
10
; Copy completed OK.
; v2 = size of HAL+OS
; v4 = end of OS/RAM
; v5 = start of HAL
; v8 = OS entry table ptr
DebugChar a1,a2,69
DebugTimeNoMMU a1, "ROM relocated @ "
; Clear RAM up to v5
MOV a1, v5
BL clear_ram
DebugChar a1,a2,70
DebugTimeNoMMU a1, "RAM cleared @ "
; TODO - NEON seems to be on by default, need to work out how to turn it off before I can test code to turn it on!
; ; Enable power to the NEON unit, if present
; LDR a1, =&4800244C ; 'control OMAP status register'
; LDR a1, [a1]
; TST a1, #1<<4
; BNE %FT10
;; ; NEON is available, make sure it's turned on
; ; Enable CP10/CP11 access
; MRC p15, 0, a1, c1, c0, 2
; ORR a1, a1, #&F<<20
; MCR p15, 0, a1, c1, c0, 2
; ISB SY
; ; Now enable the unit
; MOV a1, #1<<30 ; EN bit
; DCI &EEE80A10 ; VMSR FPEXC, a1
B rom_checkedout_ok
GET RAM.s
LTORG
END