1 //==========================================================================
5 // HAL misc board support code for ARM9/INNOVATOR
7 //==========================================================================
8 //####ECOSGPLCOPYRIGHTBEGIN####
9 // -------------------------------------------
10 // This file is part of eCos, the Embedded Configurable Operating System.
11 // Copyright (C) 1998, 1999, 2000, 2001, 2002 Red Hat, Inc.
13 // eCos is free software; you can redistribute it and/or modify it under
14 // the terms of the GNU General Public License as published by the Free
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18 // WARRANTY; without even the implied warranty of MERCHANTABILITY or
19 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
22 // You should have received a copy of the GNU General Public License along
23 // with eCos; if not, write to the Free Software Foundation, Inc.,
24 // 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
26 // As a special exception, if other files instantiate templates or use macros
27 // or inline functions from this file, or you compile this file and link it
28 // with other works to produce a work based on this file, this file does not
29 // by itself cause the resulting work to be covered by the GNU General Public
30 // License. However the source code for this file must still be made available
31 // in accordance with section (3) of the GNU General Public License.
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34 // this file might be covered by the GNU General Public License.
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37 // at http://sources.redhat.com/ecos/ecos-license/
38 // -------------------------------------------
39 //####ECOSGPLCOPYRIGHTEND####
40 //==========================================================================
41 //#####DESCRIPTIONBEGIN####
43 // Author(s): Patrick Doyle <wpd@delcomsys.com>
44 // Contributors: Patrick Doyle <wpd@delcomsys.com>
46 // Purpose: HAL board support
47 // Description: Implementations of HAL board interfaces
49 //####DESCRIPTIONEND####
51 //==========================================================================
53 #include <pkgconf/hal.h>
54 #include <pkgconf/system.h>
55 #include CYGBLD_HAL_PLATFORM_H
57 #include <cyg/infra/cyg_type.h> // base types
58 #include <cyg/infra/cyg_trac.h> // tracing macros
59 #include <cyg/infra/cyg_ass.h> // assertion macros
61 #include <cyg/hal/hal_io.h> // IO macros
62 #include <cyg/hal/hal_arch.h> // Register state info
63 #include <cyg/hal/hal_diag.h>
64 #include <cyg/hal/hal_intr.h> // Interrupt names
65 #include <cyg/hal/hal_cache.h>
66 #include <cyg/hal/innovator.h> // Platform specifics
68 #include <cyg/infra/diag.h> // diag_printf
70 #include <string.h> // memset
72 // -------------------------------------------------------------------------
73 // MMU initialization:
75 // These structures are laid down in memory to define the translation
79 // ARM Translation Table Base Bit Masks
80 #define ARM_TRANSLATION_TABLE_MASK 0xFFFFC000
82 // ARM Domain Access Control Bit Masks
83 #define ARM_ACCESS_TYPE_NO_ACCESS(domain_num) (0x0 << (domain_num)*2)
84 #define ARM_ACCESS_TYPE_CLIENT(domain_num) (0x1 << (domain_num)*2)
85 #define ARM_ACCESS_TYPE_MANAGER(domain_num) (0x3 << (domain_num)*2)
87 struct ARM_MMU_FIRST_LEVEL_FAULT {
91 #define ARM_MMU_FIRST_LEVEL_FAULT_ID 0x0
93 struct ARM_MMU_FIRST_LEVEL_PAGE_TABLE {
98 int base_address : 23;
100 #define ARM_MMU_FIRST_LEVEL_PAGE_TABLE_ID 0x1
102 struct ARM_MMU_FIRST_LEVEL_SECTION {
111 int base_address : 12;
113 #define ARM_MMU_FIRST_LEVEL_SECTION_ID 0x2
115 struct ARM_MMU_FIRST_LEVEL_RESERVED {
119 #define ARM_MMU_FIRST_LEVEL_RESERVED_ID 0x3
121 #define ARM_MMU_FIRST_LEVEL_DESCRIPTOR_ADDRESS(ttb_base, table_index) \
122 (unsigned long *)((unsigned long)(ttb_base) + ((table_index) << 2))
124 #define ARM_FIRST_LEVEL_PAGE_TABLE_SIZE 0x4000
126 #define ARM_MMU_SECTION(ttb_base, actual_base, virtual_base, \
127 cacheable, bufferable, perm) \
129 register union ARM_MMU_FIRST_LEVEL_DESCRIPTOR desc; \
132 desc.section.id = ARM_MMU_FIRST_LEVEL_SECTION_ID; \
133 desc.section.imp = 1; \
134 desc.section.domain = 0; \
135 desc.section.c = (cacheable); \
136 desc.section.b = (bufferable); \
137 desc.section.ap = (perm); \
138 desc.section.base_address = (actual_base); \
139 *ARM_MMU_FIRST_LEVEL_DESCRIPTOR_ADDRESS(ttb_base, (virtual_base)) \
143 #define X_ARM_MMU_SECTION(abase,vbase,size,cache,buff,access) \
144 { int i; int j = abase; int k = vbase; \
145 for (i = size; i > 0 ; i--,j++,k++) \
147 ARM_MMU_SECTION(ttb_base, j, k, cache, buff, access); \
151 union ARM_MMU_FIRST_LEVEL_DESCRIPTOR {
153 struct ARM_MMU_FIRST_LEVEL_FAULT fault;
154 struct ARM_MMU_FIRST_LEVEL_PAGE_TABLE page_table;
155 struct ARM_MMU_FIRST_LEVEL_SECTION section;
156 struct ARM_MMU_FIRST_LEVEL_RESERVED reserved;
159 #define ARM_UNCACHEABLE 0
160 #define ARM_CACHEABLE 1
161 #define ARM_UNBUFFERABLE 0
162 #define ARM_BUFFERABLE 1
164 #define ARM_ACCESS_PERM_NONE_NONE 0
165 #define ARM_ACCESS_PERM_RO_NONE 0
166 #define ARM_ACCESS_PERM_RO_RO 0
167 #define ARM_ACCESS_PERM_RW_NONE 1
168 #define ARM_ACCESS_PERM_RW_RO 2
169 #define ARM_ACCESS_PERM_RW_RW 3
174 unsigned long ttb_base = INNOVATOR_SDRAM_PHYS_BASE + 0x4000;
177 // Set the TTB register
178 asm volatile ("mcr p15,0,%0,c2,c0,0" : : "r"(ttb_base) /*:*/);
180 // Set the Domain Access Control Register
181 i = ARM_ACCESS_TYPE_MANAGER(0) |
182 ARM_ACCESS_TYPE_NO_ACCESS(1) |
183 ARM_ACCESS_TYPE_NO_ACCESS(2) |
184 ARM_ACCESS_TYPE_NO_ACCESS(3) |
185 ARM_ACCESS_TYPE_NO_ACCESS(4) |
186 ARM_ACCESS_TYPE_NO_ACCESS(5) |
187 ARM_ACCESS_TYPE_NO_ACCESS(6) |
188 ARM_ACCESS_TYPE_NO_ACCESS(7) |
189 ARM_ACCESS_TYPE_NO_ACCESS(8) |
190 ARM_ACCESS_TYPE_NO_ACCESS(9) |
191 ARM_ACCESS_TYPE_NO_ACCESS(10) |
192 ARM_ACCESS_TYPE_NO_ACCESS(11) |
193 ARM_ACCESS_TYPE_NO_ACCESS(12) |
194 ARM_ACCESS_TYPE_NO_ACCESS(13) |
195 ARM_ACCESS_TYPE_NO_ACCESS(14) |
196 ARM_ACCESS_TYPE_NO_ACCESS(15);
197 asm volatile ("mcr p15,0,%0,c3,c0,0" : : "r"(i) /*:*/);
199 // First clear all TT entries - ie Set them to Faulting
200 memset((void *)ttb_base, 0, ARM_FIRST_LEVEL_PAGE_TABLE_SIZE);
202 // Actual Virtual Size Attributes Function
203 // Base Base MB cached? buffered? access permissions
205 X_ARM_MMU_SECTION(0x000, 0x100, 4, ARM_CACHEABLE, ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // FLASH CS0
206 X_ARM_MMU_SECTION(0x100, 0x000, 32, ARM_CACHEABLE, ARM_BUFFERABLE, ARM_ACCESS_PERM_RW_RW); // SDRAM
207 X_ARM_MMU_SECTION(0x080, 0x080, 1, ARM_UNCACHEABLE, ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // FPGA
208 X_ARM_MMU_SECTION(0x200, 0x200, 1, ARM_CACHEABLE, ARM_BUFFERABLE, ARM_ACCESS_PERM_RW_RW); // Internal SRAM
209 X_ARM_MMU_SECTION(0xE00, 0xE00, 512, ARM_UNCACHEABLE, ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // Internal Peripherals
212 //----------------------------------------------------------------------------
213 // Platform specific initialization
216 plf_hardware_init(void)
219 // Disable PLD interrupts
220 HAL_WRITE_UINT32(INNOVATOR_INT_MASK_CLEAR,
221 INNOVATOR_INT_SOURCE_P0 | INNOVATOR_INT_SOURCE_P1 |
222 INNOVATOR_INT_SOURCE_P2 | INNOVATOR_INT_SOURCE_P3 |
223 INNOVATOR_INT_SOURCE_P4 | INNOVATOR_INT_SOURCE_P5);
224 // Make PLD0 generate IRQ
225 HAL_WRITE_UINT32(INNOVATOR_INT_PRIORITY_0, 0);
228 // This should be protected by some sort of #ifdef to test to see if
229 // the ethernet has been enabled or not. I'll add that later.
230 HAL_READ_UINT8(0x0800000B, tmp);
231 HAL_WRITE_UINT8(0x0800000B, tmp & ~1);
236 // -------------------------------------------------------------------------
238 hal_clock_initialize(cyg_uint32 period)
243 HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, 0);
244 HAL_WRITE_UINT32(INNOVATOR_TIMER0_PRE, CYGNUM_HAL_ARM_INNOVATOR_TIMER_PRESCALE - 1);
245 HAL_WRITE_UINT32(INNOVATOR_TIMER0_LIMIT, period);
246 cr = INNOVATOR_TIMER_CR_MODE_HEARBEAT | INNOVATOR_TIMER_CR_IE;
247 HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr);
248 HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr | INNOVATOR_TIMER_CR_S);
250 // Unmask timer 0 interrupt
251 HAL_INTERRUPT_CONFIGURE( CYGNUM_HAL_INTERRUPT_RTC, 1, 1 );
252 HAL_INTERRUPT_UNMASK( CYGNUM_HAL_INTERRUPT_RTC );
256 // This routine is called during a clock interrupt.
258 hal_clock_reset(cyg_uint32 vector, cyg_uint32 period)
263 // Clear pending interrupt bit
264 HAL_READ_UINT32(INNOVATOR_TIMER0_CR, cr);
265 cr |= INNOVATOR_TIMER_CR_CI;
266 HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr);
270 // Read the current value of the clock, returning the number of hardware
271 // "ticks" that have occurred (i.e. how far away the current value is from
275 hal_clock_read(cyg_uint32 *pvalue)
280 HAL_READ_UINT32(INNOVATOR_TIMER0_READ, ctr);
286 // Delay for some number of micro-seconds
289 hal_delay_us(cyg_int32 usecs)
294 // Divide by 1000000 in two steps to preserve precision.
295 cyg_uint32 wait_clocks = ((CYGNUM_HAL_ARM_INNOVATOR_PERIPHERAL_CLOCK/100000)*usecs)/10;
297 HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, 0);
298 HAL_WRITE_UINT32(INNOVATOR_TIMER1_PRE, 0);
299 HAL_WRITE_UINT32(INNOVATOR_TIMER1_LIMIT, wait_clocks);
300 cr = INNOVATOR_TIMER_CR_MODE_ONE_SHOT|INNOVATOR_TIMER_CR_CI;
301 HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, cr);
302 HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, cr | INNOVATOR_TIMER_CR_S);
304 // wait for start bit to clear
306 HAL_READ_UINT32(INNOVATOR_TIMER1_CR, cr);
307 } while ((INNOVATOR_TIMER_CR_S & cr) != 0);
309 //clear interrupt flag
310 HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, 0);
313 volatile unsigned long long x;
314 volatile unsigned long long loop_count = usecs / 10 + 1;
316 for (x = 0; x < loop_count; x++) ;
318 volatile cyg_uint32 *CNTL_TIMER = (volatile cyg_uint32 *)(0xFFFEC500 + 0x00);
319 volatile cyg_uint32 *LOAD_TIM = (volatile cyg_uint32 *)(0xFFFEC500 + 0x04);
320 volatile cyg_uint32 *READ_TIM = (volatile cyg_uint32 *)(0xFFFEC500 + 0x08);
321 cyg_uint32 timer_val, prev_val;
326 } else if (usecs > 357913941) {
327 /* Clamp at MAX_INT32 / 6 */
330 /* Enable the clock and halt the timer */
331 HAL_WRITE_UINT32(CNTL_TIMER, 0x00000020);
334 HAL_WRITE_UINT32(LOAD_TIM, 6 * usecs);
336 /* Start the timer */
337 HAL_READ_UINT32(READ_TIM, prev_val);
338 HAL_WRITE_UINT32(CNTL_TIMER, 0x00000021);
340 /* Wait for it to load (but not too long) */
342 HAL_READ_UINT32(READ_TIM, timer_val);
343 if (++too_long >= 100) {
346 } while (timer_val == prev_val);
348 /* Wait for it to count down to zero */
350 HAL_READ_UINT32(READ_TIM, timer_val);
351 } while (timer_val > 0);
356 // -------------------------------------------------------------------------
358 // This routine is called to respond to a hardware interrupt (IRQ). It
359 // should interrogate the hardware and return the IRQ vector number.
361 hal_IRQ_handler(void)
367 HAL_READ_UINT32(INNOVATOR_INT_REQUEST_STATUS, isr);
368 for (vec = CYGNUM_HAL_INTERRUPT_PLD_0;
369 vec <= CYGNUM_HAL_INTERRUPT_FAST_COMMS; vec++) {
370 if (isr & (1<<vec)) {
375 return CYGNUM_HAL_INTERRUPT_NONE;
378 //----------------------------------------------------------------------------
382 hal_interrupt_mask(int vector)
385 CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&
386 vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");
388 HAL_WRITE_UINT32(INNOVATOR_INT_MASK_CLEAR, 1<<vector);
393 hal_interrupt_unmask(int vector)
396 CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&
397 vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");
399 HAL_WRITE_UINT32(INNOVATOR_INT_MASK_SET, 1<<vector);
404 hal_interrupt_acknowledge(int vector)
407 CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&
408 vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");
414 hal_interrupt_configure(int vector, int level, int up)
417 CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&
418 vector >= CYGNUM_HAL_ISR_MIN, "Invalid vector");
419 CYG_ASSERT(level || up, "Cannot do falling edge");
424 hal_interrupt_set_level(int vector, int level)
428 CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&
429 vector >= CYGNUM_HAL_ISR_MIN, "Invalid vector");
430 CYG_ASSERT(level <= 63 && level >= 0, "Invalid level");
432 HAL_READ_UINT32(INNOVATOR_INT_PRIORITY_0+4*vector, reg);
433 reg &= ~INNOVATOR_INT_PRIORITY_LVL_mask;
434 reg |= (level & INNOVATOR_INT_PRIORITY_LVL_mask);
435 HAL_WRITE_UINT32(INNOVATOR_INT_PRIORITY_0+4*vector, reg);
439 #include CYGHWR_MEMORY_LAYOUT_H
440 typedef void code_fun(void);
441 void innovator_program_new_stack(void *func)
443 register CYG_ADDRESS stack_ptr asm("sp");
444 register CYG_ADDRESS old_stack asm("r4");
445 register code_fun *new_func asm("r0");
446 old_stack = stack_ptr;
447 stack_ptr = CYGMEM_REGION_ram + CYGMEM_REGION_ram_SIZE - sizeof(CYG_ADDRESS);
448 new_func = (code_fun*)func;
450 stack_ptr = old_stack;