arch/arm/arm/arch.c

/*
 * Copyright (c) 2008-2015 Travis Geiselbrecht
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files
 * (the "Software"), to deal in the Software without restriction,
 * including without limitation the rights to use, copy, modify, merge,
 * publish, distribute, sublicense, and/or sell copies of the Software,
 * and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#include <debug.h>
#include <trace.h>
#include <stdlib.h>
#include <err.h>
#include <trace.h>
#include <stdio.h>
#include <reg.h>
#include <arch.h>
#include <arch/ops.h>
#include <arch/mmu.h>
#include <arch/arm.h>
#include <arch/arm/mmu.h>
#include <arch/mp.h>
#include <kernel/spinlock.h>
#include <kernel/thread.h>
#include <lk/main.h>
#include <lk/init.h>
#include <platform.h>
#include <target.h>
#include <kernel/thread.h>
#include <kernel/vm.h>

#define LOCAL_TRACE 0

#if WITH_DEV_TIMER_ARM_CORTEX_A9
#include <dev/timer/arm_cortex_a9.h>
#endif
#if WITH_DEV_INTERRUPT_ARM_GIC
#include <dev/interrupt/arm_gic.h>
#endif
#if WITH_DEV_CACHE_PL310
#include <dev/cache/pl310.h>
#endif

/* initial and abort stacks */
uint8_t abort_stack[ARCH_DEFAULT_STACK_SIZE *SMP_MAX_CPUS] __CPU_ALIGN;

static void arm_basic_setup(void);
static void spinlock_test(void);
static void spinlock_test_secondary(void);

#if WITH_SMP
/* smp boot lock */
spin_lock_t arm_boot_cpu_lock = 1;
volatile int secondaries_to_init = 0;
#endif

void arch_early_init(void)
{
    /* turn off the cache */
    arch_disable_cache(UCACHE);
#if WITH_DEV_CACHE_PL310
    pl310_set_enable(false);
#endif

    arm_basic_setup();

#if WITH_SMP && ARM_CPU_CORTEX_A9
    /* enable snoop control */
    addr_t scu_base = arm_read_cbar();
    *REG32(scu_base) |= (1<<0); /* enable SCU */
#endif

#if ARM_WITH_MMU
    arm_mmu_early_init();

    platform_init_mmu_mappings();
#endif

    /* turn the cache back on */
#if WITH_DEV_CACHE_PL310
    pl310_set_enable(true);
#endif
    arch_enable_cache(UCACHE);
}

void arch_init(void)
{
#if WITH_SMP
    arch_mp_init_percpu();

    LTRACEF("midr 0x%x\n", arm_read_midr());
    LTRACEF("sctlr 0x%x\n", arm_read_sctlr());
    LTRACEF("actlr 0x%x\n", arm_read_actlr());
#if ARM_CPU_CORTEX_A9
    LTRACEF("cbar 0x%x\n", arm_read_cbar());
#endif
    LTRACEF("mpidr 0x%x\n", arm_read_mpidr());
    LTRACEF("ttbcr 0x%x\n", arm_read_ttbcr());
    LTRACEF("ttbr0 0x%x\n", arm_read_ttbr0());
    LTRACEF("dacr 0x%x\n", arm_read_dacr());
#if ARM_CPU_CORTEX_A7
    LTRACEF("l2ctlr 0x%x\n", arm_read_l2ctlr());
    LTRACEF("l2ectlr 0x%x\n", arm_read_l2ectlr());
#endif

#if ARM_CPU_CORTEX_A9
    addr_t scu_base = arm_read_cbar();
    uint32_t scu_config = *REG32(scu_base + 4);
    secondaries_to_init = scu_config & 0x3;
#elif ARM_CPU_CORTEX_A7 || ARM_CPU_CORTEX_A15
    uint32_t l2ctlr = arm_read_l2ctlr();
    secondaries_to_init = (l2ctlr >> 24);
#else
    secondaries_to_init = SMP_MAX_CPUS - 1; /* TODO: get count from somewhere else, or add cpus as they boot */
#endif

    lk_init_secondary_cpus(secondaries_to_init);

    /* in platforms where the cpus have already been started, go ahead and wake up all the
     * secondary cpus here.
     */
    dprintf(SPEW, "releasing %d secondary cpu%c\n", secondaries_to_init, secondaries_to_init != 1 ? 's' : ' ');

    /* release the secondary cpus */
    spin_unlock(&arm_boot_cpu_lock);

    /* flush the release of the lock, since the secondary cpus are running without cache on */
    arch_clean_cache_range((addr_t)&arm_boot_cpu_lock, sizeof(arm_boot_cpu_lock));

#if ARM_ARCH_WAIT_FOR_SECONDARIES
    /* wait for secondary cpus to boot before arm_mmu_init below, which will remove
     * temporary boot mappings
     * TODO: find a cleaner way to do this than this #define
     */
    while (secondaries_to_init > 0) {
        __asm__ volatile("wfe");
    }
#endif
#endif // WITH_SMP

    //spinlock_test();

#if ARM_WITH_MMU
    /* finish initializing the mmu */
    arm_mmu_init();
#endif
}

#if WITH_SMP
void arm_secondary_entry(uint asm_cpu_num)
{
    uint cpu = arch_curr_cpu_num();
    if (cpu != asm_cpu_num)
        return;

    arm_basic_setup();

    /* enable the local L1 cache */
    //arch_enable_cache(UCACHE);

    // XXX may not be safe, but just hard enable i and d cache here
    // at the moment cannot rely on arch_enable_cache not dumping the L2
    uint32_t sctlr = arm_read_sctlr();
    sctlr |= (1<<12) | (1<<2); // enable i and dcache
    arm_write_sctlr(sctlr);

    /* run early secondary cpu init routines up to the threading level */
    lk_init_level(LK_INIT_FLAG_SECONDARY_CPUS, LK_INIT_LEVEL_EARLIEST, LK_INIT_LEVEL_THREADING - 1);

    arch_mp_init_percpu();

    LTRACEF("cpu num %d\n", cpu);
    LTRACEF("sctlr 0x%x\n", arm_read_sctlr());
    LTRACEF("actlr 0x%x\n", arm_read_actlr());

    /* we're done, tell the main cpu we're up */
    atomic_add(&secondaries_to_init, -1);
    smp_mb();
    __asm__ volatile("sev");

    lk_secondary_cpu_entry();
}
#endif

static void arm_basic_setup(void)
{
    uint32_t sctlr = arm_read_sctlr();

    /* ARMV7 bits */
    sctlr &= ~(1<<10); /* swp disable */
    sctlr |=  (1<<11); /* enable program flow prediction */
    sctlr &= ~(1<<14); /* random cache/tlb replacement */
    sctlr &= ~(1<<25); /* E bit set to 0 on exception */
    sctlr &= ~(1<<30); /* no thumb exceptions */
    sctlr |=  (1<<22); /* enable unaligned access */
    sctlr &= ~(1<<1);  /* disable alignment abort */

    arm_write_sctlr(sctlr);

    uint32_t actlr = arm_read_actlr();
#if ARM_CPU_CORTEX_A9
    actlr |= (1<<2); /* enable dcache prefetch */
#if WITH_DEV_CACHE_PL310
    actlr |= (1<<7); /* L2 exclusive cache */
    actlr |= (1<<3); /* L2 write full line of zeroes */
    actlr |= (1<<1); /* L2 prefetch hint enable */
#endif
#if WITH_SMP
    /* enable smp mode, cache and tlb broadcast */
    actlr |= (1<<6) | (1<<0);
#endif
#endif // ARM_CPU_CORTEX_A9
#if ARM_CPU_CORTEX_A7
#if WITH_SMP
    /* enable smp mode */
    actlr |= (1<<6);
#endif
#endif // ARM_CPU_CORTEX_A7

    arm_write_actlr(actlr);

#if ENABLE_CYCLE_COUNTER && ARM_ISA_ARMV7
    /* enable the cycle count register */
    uint32_t en;
    __asm__ volatile("mrc	p15, 0, %0, c9, c12, 0" : "=r" (en));
    en &= ~(1<<3); /* cycle count every cycle */
    en |= 1; /* enable all performance counters */
    __asm__ volatile("mcr	p15, 0, %0, c9, c12, 0" :: "r" (en));

    /* enable cycle counter */
    en = (1<<31);
    __asm__ volatile("mcr	p15, 0, %0, c9, c12, 1" :: "r" (en));
#endif

#if ARM_WITH_VFP
    /* enable cp10 and cp11 */
    uint32_t val = arm_read_cpacr();
    val |= (3<<22)|(3<<20);
    arm_write_cpacr(val);

    /* set enable bit in fpexc */
    __asm__ volatile("mrc  p10, 7, %0, c8, c0, 0" : "=r" (val));
    val |= (1<<30);
    __asm__ volatile("mcr  p10, 7, %0, c8, c0, 0" :: "r" (val));

    /* make sure the fpu starts off disabled */
    arm_fpu_set_enable(false);
#endif

    /* set the vector base to our exception vectors so we don't need to double map at 0 */
#if ARM_ISA_ARMV7
    arm_write_vbar(KERNEL_BASE + KERNEL_LOAD_OFFSET);
#endif
}

void arch_quiesce(void)
{
#if ENABLE_CYCLE_COUNTER
#if ARM_ISA_ARMV7
    /* disable the cycle count and performance counters */
    uint32_t en;
    __asm__ volatile("mrc	p15, 0, %0, c9, c12, 0" : "=r" (en));
    en &= ~1; /* disable all performance counters */
    __asm__ volatile("mcr	p15, 0, %0, c9, c12, 0" :: "r" (en));

    /* disable cycle counter */
    en = 0;
    __asm__ volatile("mcr	p15, 0, %0, c9, c12, 1" :: "r" (en));
#endif
#if ARM_CPU_ARM1136
    /* disable the cycle count and performance counters */
    uint32_t en;
    __asm__ volatile("mrc	p15, 0, %0, c15, c12, 0" : "=r" (en));
    en &= ~1; /* disable all performance counters */
    __asm__ volatile("mcr	p15, 0, %0, c15, c12, 0" :: "r" (en));
#endif
#endif

    uint32_t actlr = arm_read_actlr();
#if ARM_CPU_CORTEX_A9
    actlr = 0; /* put the aux control register back to default */
#endif // ARM_CPU_CORTEX_A9
    arm_write_actlr(actlr);
}

#if ARM_ISA_ARMV7
/* virtual to physical translation */
status_t arm_vtop(addr_t va, addr_t *pa)
{
    spin_lock_saved_state_t irqstate;

    arch_interrupt_save(&irqstate, SPIN_LOCK_FLAG_INTERRUPTS);

    arm_write_ats1cpr(va & ~(PAGE_SIZE-1));
    uint32_t par = arm_read_par();

    arch_interrupt_restore(irqstate, SPIN_LOCK_FLAG_INTERRUPTS);

    if (par & 1)
        return ERR_NOT_FOUND;

    if (pa) {
        *pa = (par & 0xfffff000) | (va & 0xfff);
    }

    return NO_ERROR;
}
#endif

void arch_chain_load(void *entry, ulong arg0, ulong arg1, ulong arg2, ulong arg3)
{
    LTRACEF("entry %p, args 0x%lx 0x%lx 0x%lx 0x%lx\n", entry, arg0, arg1, arg2, arg3);

    /* we are going to shut down the system, start by disabling interrupts */
    arch_disable_ints();

    /* give target and platform a chance to put hardware into a suitable
     * state for chain loading.
     */
    target_quiesce();
    platform_quiesce();

    paddr_t entry_pa;
    paddr_t loader_pa;

#if WITH_KERNEL_VM
    /* get the physical address of the entry point we're going to branch to */
    if (arm_vtop((addr_t)entry, &entry_pa) < 0) {
        panic("error translating entry physical address\n");
    }

    /* add the low bits of the virtual address back */
    entry_pa |= ((addr_t)entry & 0xfff);

    LTRACEF("entry pa 0x%lx\n", entry_pa);

    /* figure out the mapping for the chain load routine */
    if (arm_vtop((addr_t)&arm_chain_load, &loader_pa) < 0) {
        panic("error translating loader physical address\n");
    }

    /* add the low bits of the virtual address back */
    loader_pa |= ((addr_t)&arm_chain_load & 0xfff);

    paddr_t loader_pa_section = ROUNDDOWN(loader_pa, SECTION_SIZE);

    LTRACEF("loader address %p, phys 0x%lx, surrounding large page 0x%lx\n",
            &arm_chain_load, loader_pa, loader_pa_section);

    /* using large pages, map around the target location */
    arch_mmu_map(&vmm_get_kernel_aspace()->arch_aspace, loader_pa_section, loader_pa_section, (2 * SECTION_SIZE / PAGE_SIZE), 0);
#else
    /* for non vm case, just branch directly into it */
    entry_pa = (paddr_t)entry;
    loader_pa = (paddr_t)&arm_chain_load;
#endif

    LTRACEF("disabling instruction/data cache\n");
    arch_disable_cache(UCACHE);
#if WITH_DEV_CACHE_PL310
    pl310_set_enable(false);
#endif

    /* put the booting cpu back into close to a default state */
    arch_quiesce();

    LTRACEF("branching to physical address of loader\n");

    /* branch to the physical address version of the chain loader routine */
    void (*loader)(paddr_t entry, ulong, ulong, ulong, ulong) __NO_RETURN = (void *)loader_pa;
    loader(entry_pa, arg0, arg1, arg2, arg3);
}

static spin_lock_t lock = 0;

static void spinlock_test(void)
{
    TRACE_ENTRY;

    spin_lock_saved_state_t state;
    spin_lock_irqsave(&lock, state);

    TRACEF("cpu0: i have the lock\n");
    spin(1000000);
    TRACEF("cpu0: releasing it\n");

    spin_unlock_irqrestore(&lock, state);

    spin(1000000);
}

static void spinlock_test_secondary(void)
{
    TRACE_ENTRY;

    spin(500000);
    spin_lock_saved_state_t state;
    spin_lock_irqsave(&lock, state);

    TRACEF("cpu1: i have the lock\n");
    spin(250000);
    TRACEF("cpu1: releasing it\n");

    spin_unlock_irqrestore(&lock, state);
}

/* switch to user mode, set the user stack pointer to user_stack_top, put the svc stack pointer to the top of the kernel stack */
void arch_enter_uspace(vaddr_t entry_point, vaddr_t user_stack_top, uint32_t flags, ulong arg0)
{
    user_stack_top = ROUNDDOWN(user_stack_top, 8);

    thread_t *ct = get_current_thread();

    vaddr_t kernel_stack_top = (uintptr_t)ct->stack + ct->stack_size;
    kernel_stack_top = ROUNDDOWN(kernel_stack_top, 8);

    uint32_t spsr = CPSR_MODE_USR;
    spsr |= (entry_point & 1) ? CPSR_THUMB : 0;

    arch_disable_ints();

    __asm__ volatile(
        "mov    r0, %[arg0];"
        "ldmia  %[ustack], { sp }^;"
        "msr	spsr, %[spsr];"
        "mov	sp, %[kstack];"
        "mov    lr, %[entry];"
        "mov    r1, #0;"
        "mov    r2, #0;"
        "mov    r3, #0;"
        "mov    r4, #0;"
        "mov    r5, #0;"
        "mov    r6, #0;"
        "mov    r7, #0;"
        "mov    r8, #0;"
        "mov    r9, #0;"
        "mov    r10, #0;"
        "mov    r11, #0;"
        "mov    r12, #0;"
        "movs   pc, lr;"
        :
        : [arg0]"r"(arg0),
        [ustack]"r"(&user_stack_top),
        [kstack]"r"(kernel_stack_top),
        [entry]"r"(entry_point),
        [spsr]"r"(spsr)
        : "r0", "memory");
    __UNREACHABLE;
}