BSP for several Beagle products

Specifically the beagleboard, beagleboard xM, beaglebone, beaglebone black.

More info on these targets: http://www.beagleboard.org/

This commit forms a basic BSP by combining Claas's work with
    . new clock and irq code and definitions for
      beagle targets (beagleboard and beaglebones), mostly
      reused from the Minix codebase, thus making
      irqs, ticks and non-polled console mode work too
    . new timer code for ns timing with high timer resolution,
      24MHz on the AM335X and 13MHz on the DM37XX
    . select the console uart based on target at configure time
    . removing all the lpc32xx-specific macros and code and
      other unused code and definitions that the beagle bsp
      was based on
    . re-using some standard functions instead of lpc32xx versions
    . fixed some whitespace problem in preinstall.am
    . fixed some compile warnings
    . configure MMU: set 1MB sections directly in the TTBR,
  just to show the difference between cacheable RAM and
  non-cacheable device memory and invalid ranges; this lets us
  turn on caches and not rely on boot loader MMU configuration.
  Verified to work when MMU is initially either on or off when
  RTEMS gets control.

Thanks for testing, commentary, improvements and fixes to Chris Johns,
Brandon Matthews, Matt Carberry, Romain Bornet, AZ technology and others.

Signed-Off-By: Ben Gras <beng@shrike-systems.com>

1 files changed, 13 insertions, 347 deletions

diff --git a/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c b/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c
index 4538b0c2d9..2efa3042a8 100644
--- a/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c
+++ b/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c
@@ -1,366 +1,32 @@
-/**
- * @file
- *
- * @ingroup beagle
- *
- * @brief Startup code.
- */
-
 /*
- * Copyright (c) 2012 Claas Ziemke. All rights reserved.
+ * Copyright (c) 2013 embedded brains GmbH.  All rights reserved.
  *
- *  Claas Ziemke
- *  Kernerstrasse 11
- *  70182 Stuttgart
+ *  embedded brains GmbH
+ *  Dornierstr. 4
+ *  82178 Puchheim
  *  Germany
- *  <claas.ziemke@gmx.net>
+ *  <info@embedded-brains.de>
  *
  * The license and distribution terms for this file may be
  * found in the file LICENSE in this distribution or at
- * http://www.rtems.com/license/LICENSE.
+ * http://www.rtems.org/license/LICENSE.
  */
 
 #include <bsp.h>
 #include <bsp/start.h>
-#include <bsp/beagle.h>
-#include <bsp/linker-symbols.h>
-#include <bsp/uart-output-char.h>
-#include <libcpu/arm-cp15.h>
-
-#ifdef BEAGLE_DISABLE_READ_WRITE_DATA_CACHE
-  #define BEAGLE_MMU_READ_WRITE_DATA BEAGLE_MMU_READ_WRITE
-#else
-  #define BEAGLE_MMU_READ_WRITE_DATA BEAGLE_MMU_READ_WRITE_CACHED
-#endif
-
-#ifdef BEAGLE_DISABLE_READ_ONLY_PROTECTION
-  #define BEAGLE_MMU_READ_ONLY_DATA BEAGLE_MMU_READ_WRITE_CACHED
-  #define BEAGLE_MMU_CODE BEAGLE_MMU_READ_WRITE_CACHED
-#else
-  #define BEAGLE_MMU_READ_ONLY_DATA BEAGLE_MMU_READ_ONLY_CACHED
-  #define BEAGLE_MMU_CODE BEAGLE_MMU_READ_ONLY_CACHED
-#endif
-
-//LINKER_SYMBOL(beagle_translation_table_base);
-
-static BSP_START_TEXT_SECTION void clear_bss(void)
-{
-  const int *end = (const int *) bsp_section_bss_end;
-  int *out = (int *) bsp_section_bss_begin;
-
-  /* Clear BSS */
-  while (out != end) {
-    *out = 0;
-    ++out;
-  }
-}
-
-/*#ifndef BEAGLE_DISABLE_MMU
-  typedef struct {
-    uint32_t begin;
-    uint32_t end;
-    uint32_t flags;
-  } beagle_mmu_config;
-
-  static const BSP_START_DATA_SECTION beagle_mmu_config
-    beagle_mmu_config_table [] = {
-    {
-      .begin = (uint32_t) bsp_section_fast_text_begin,
-      .end = (uint32_t) bsp_section_fast_text_end,
-      .flags = BEAGLE_MMU_CODE
-    }, {
-      .begin = (uint32_t) bsp_section_fast_data_begin,
-      .end = (uint32_t) bsp_section_fast_data_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-#ifdef BEAGLE_SCRATCH_AREA_SIZE
-    }, {
-      .begin = (uint32_t) &beagle_scratch_area [0],
-      .end = (uint32_t) &beagle_scratch_area [BEAGLE_SCRATCH_AREA_SIZE],
-      .flags = BEAGLE_MMU_READ_ONLY_DATA
-#endif
-    }, {
-      .begin = (uint32_t) bsp_section_start_begin,
-      .end = (uint32_t) bsp_section_start_end,
-      .flags = BEAGLE_MMU_CODE
-    }, {
-      .begin = (uint32_t) bsp_section_vector_begin,
-      .end = (uint32_t) bsp_section_vector_end,
-      .flags = BEAGLE_MMU_READ_WRITE_CACHED
-    }, {
-      .begin = (uint32_t) bsp_section_text_begin,
-      .end = (uint32_t) bsp_section_text_end,
-      .flags = BEAGLE_MMU_CODE
-    }, {
-      .begin = (uint32_t) bsp_section_rodata_begin,
-      .end = (uint32_t) bsp_section_rodata_end,
-      .flags = BEAGLE_MMU_READ_ONLY_DATA
-    }, {
-      .begin = (uint32_t) bsp_section_data_begin,
-      .end = (uint32_t) bsp_section_data_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-    }, {
-      .begin = (uint32_t) bsp_section_bss_begin,
-      .end = (uint32_t) bsp_section_bss_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-    }, {
-      .begin = (uint32_t) bsp_section_work_begin,
-      .end = (uint32_t) bsp_section_work_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-    }, {
-      .begin = (uint32_t) bsp_section_stack_begin,
-      .end = (uint32_t) bsp_section_stack_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-    }, {
-      .begin = 0x0U,
-      .end = 0x100000U,
-      .flags = BEAGLE_MMU_READ_ONLY_CACHED
-    }, {
-      .begin = 0x20000000U,
-      .end = 0x200c0000U,
-      .flags = BEAGLE_MMU_READ_WRITE
-    }, {
-      .begin = 0x30000000U,
-      .end = 0x32000000U,
-      .flags = BEAGLE_MMU_READ_WRITE
-    }, {
-      .begin = 0x40000000U,
-      .end = 0x40100000U,
-      .flags = BEAGLE_MMU_READ_WRITE
-    }, {
-      .begin = (uint32_t) beagle_magic_zero_begin,
-      .end = (uint32_t) beagle_magic_zero_end,
-      .flags = BEAGLE_MMU_READ_WRITE_DATA
-    }
-  };
-
-  static BSP_START_TEXT_SECTION void set_translation_table_entries(
-    uint32_t *ttb,
-    const beagle_mmu_config *config
-  )
-  {
-    uint32_t i = ARM_MMU_SECT_GET_INDEX(config->begin);
-    uint32_t iend =
-      ARM_MMU_SECT_GET_INDEX(ARM_MMU_SECT_MVA_ALIGN_UP(config->end));
-
-    if (config->begin != config->end) {
-      while (i < iend) {
-        ttb [i] = (i << ARM_MMU_SECT_BASE_SHIFT) | config->flags;
-        ++i;
-      }
-    }
-  }
-
-  static BSP_START_TEXT_SECTION void
-    setup_translation_table_and_enable_mmu(uint32_t ctrl)
-  {
-    uint32_t const dac =
-      ARM_CP15_DAC_DOMAIN(BEAGLE_MMU_CLIENT_DOMAIN, ARM_CP15_DAC_CLIENT);
-    uint32_t *const ttb = (uint32_t *) beagle_translation_table_base;
-    size_t const config_entry_count =
-      sizeof(beagle_mmu_config_table) / sizeof(beagle_mmu_config_table [0]);
-    size_t i = 0;
-
-    arm_cp15_set_domain_access_control(dac);
-    arm_cp15_set_translation_table_base(ttb);
-
-    // Initialize translation table with invalid entries
-    for (i = 0; i < ARM_MMU_TRANSLATION_TABLE_ENTRY_COUNT; ++i) {
-      ttb [i] = 0;
-    }
-
-    for (i = 0; i < config_entry_count; ++i) {
-      set_translation_table_entries(ttb, &beagle_mmu_config_table [i]);
-    }
-
-    // Enable MMU and cache
-    ctrl |= ARM_CP15_CTRL_I | ARM_CP15_CTRL_C | ARM_CP15_CTRL_M;
-    arm_cp15_set_control(ctrl);
-  }
-#endif*/
-
-/*static BSP_START_TEXT_SECTION void setup_mmu_and_cache(void)
-{
-  uint32_t ctrl = 0;
-
-  // Disable MMU and cache, basic settings
-  ctrl = arm_cp15_get_control();
-  ctrl &= ~(ARM_CP15_CTRL_I | ARM_CP15_CTRL_R | ARM_CP15_CTRL_C
-    | ARM_CP15_CTRL_V | ARM_CP15_CTRL_M);
-  ctrl |= ARM_CP15_CTRL_S | ARM_CP15_CTRL_A;
-  arm_cp15_set_control(ctrl);
-
-  arm_cp15_cache_invalidate();
-  arm_cp15_tlb_invalidate();
-
-  #ifndef BEAGLE_DISABLE_MMU
-    //setup_translation_table_and_enable_mmu(ctrl);
-  #endif
-}*/
-
-/*BSP_START_TEXT_SECTION bool beagle_start_pll_setup(
-  uint32_t hclkpll_ctrl,
-  uint32_t hclkdiv_ctrl,
-  bool force
-)
-{
-  uint32_t pwr_ctrl = BEAGLE_PWR_CTRL;
-  bool settings_ok =
-    ((BEAGLE_HCLKPLL_CTRL ^ hclkpll_ctrl) & BSP_MSK32(1, 16)) == 0
-      && ((BEAGLE_HCLKDIV_CTRL ^ hclkdiv_ctrl) & BSP_MSK32(0, 8)) == 0;
-
-  if ((pwr_ctrl & PWR_NORMAL_RUN_MODE) == 0 || (!settings_ok && force)) {
-    // Disable HCLK PLL output
-    BEAGLE_PWR_CTRL = pwr_ctrl & ~PWR_NORMAL_RUN_MODE;
-
-    // Configure HCLK PLL
-    BEAGLE_HCLKPLL_CTRL = hclkpll_ctrl;
-    while ((BEAGLE_HCLKPLL_CTRL & HCLK_PLL_LOCK) == 0) {
-      // Wait
-    }
-
-    // Setup HCLK divider
-    BEAGLE_HCLKDIV_CTRL = hclkdiv_ctrl;
+#include <bsp/arm-cp15-start.h>
+#include <bsp/arm-a8core-start.h>
 
-    // Enable HCLK PLL output
-    BEAGLE_PWR_CTRL = pwr_ctrl | PWR_NORMAL_RUN_MODE;
-  }
-
-  return settings_ok;
-}*/
-
-#if BEAGLE_OSCILLATOR_MAIN != 13000000U
-  #error "unexpected main oscillator frequency"
-#endif
-
-/*static BSP_START_TEXT_SECTION void setup_pll(void)
-{
-  uint32_t hclkpll_ctrl = BEAGLE_HCLKPLL_CTRL_INIT_VALUE;
-  uint32_t hclkdiv_ctrl = BEAGLE_HCLKDIV_CTRL_INIT_VALUE;
-
-  beagle_start_pll_setup(hclkpll_ctrl, hclkdiv_ctrl, false);
-}*/
+#include <bsp/uart-output-char.h>
 
 BSP_START_TEXT_SECTION void bsp_start_hook_0(void)
 {
-  //setup_pll();
-  //setup_mmu_and_cache();
-}
-
-/*static BSP_START_TEXT_SECTION void stop_dma_activities(void)
-{
-  #ifdef BEAGLE_STOP_GPDMA
-    BEAGLE_DO_STOP_GPDMA;
-  #endif
-
-  #ifdef BEAGLE_STOP_ETHERNET
-    BEAGLE_DO_STOP_ETHERNET;
-  #endif
-
-  #ifdef BEAGLE_STOP_USB
-    BEAGLE_DO_STOP_USB;
-  #endif
-}*/
-
-static BSP_START_TEXT_SECTION void setup_uarts(void)
-{
-  uint32_t uartclk_ctrl = 0;
-
-  #ifdef BEAGLE_CONFIG_U3CLK
-    uartclk_ctrl |= 1U << 0;
-    BEAGLE_U3CLK = BEAGLE_CONFIG_U3CLK;
-  #endif
-  #ifdef BEAGLE_CONFIG_U4CLK
-    uartclk_ctrl |= 1U << 1;
-    BEAGLE_U4CLK = BEAGLE_CONFIG_U4CLK;
-  #endif
-  #ifdef BEAGLE_CONFIG_U5CLK
-    uartclk_ctrl |= 1U << 2;
-    BEAGLE_U5CLK = BEAGLE_CONFIG_U5CLK;
-  #endif
-  #ifdef BEAGLE_CONFIG_U6CLK
-    uartclk_ctrl |= 1U << 3;
-    BEAGLE_U6CLK = BEAGLE_CONFIG_U6CLK;
-  #endif
-
-  #ifdef BEAGLE_CONFIG_UART_CLKMODE
-    BEAGLE_UART_CLKMODE = BEAGLE_CONFIG_UART_CLKMODE;
-  #endif
-
-  BEAGLE_UARTCLK_CTRL = uartclk_ctrl;
-  BEAGLE_UART_CTRL = 0x0;
-  BEAGLE_UART_LOOP = 0x0;
-
-  #ifdef BEAGLE_CONFIG_U5CLK
-    // Clock is already set in BEAGLE_U5CLK
-    BSP_CONSOLE_UART_INIT(0x01);
-  #endif
 }
 
-/*static BSP_START_TEXT_SECTION void setup_timer(void)
-{
-  volatile beagle_timer *timer = BEAGLE_STANDARD_TIMER;
-
-  BEAGLE_TIMCLK_CTRL1 = (1U << 2) | (1U << 3);
-
-  timer->tcr = BEAGLE_TIMER_TCR_RST;
-  timer->ctcr = 0x0;
-  timer->pr = 0x0;
-  timer->ir = 0xff;
-  timer->mcr = 0x0;
-  timer->ccr = 0x0;
-  timer->tcr = BEAGLE_TIMER_TCR_EN;
-}*/
-
 BSP_START_TEXT_SECTION void bsp_start_hook_1(void)
 {
-  //stop_dma_activities();
-  setup_uarts();
-  //setup_timer();
-
-  // Copy .text section
-  arm_cp15_instruction_cache_invalidate();
-  bsp_start_memcpy(
-    (int *) bsp_section_text_begin,
-    (const int *) bsp_section_text_load_begin,
-    (size_t) bsp_section_text_size
-  );
-
-  // Copy .rodata section
-  arm_cp15_instruction_cache_invalidate();
-  bsp_start_memcpy(
-    (int *) bsp_section_rodata_begin,
-    (const int *) bsp_section_rodata_load_begin,
-    (size_t) bsp_section_rodata_size
-  );
-
-  // Copy .data section
-  arm_cp15_instruction_cache_invalidate();
-  bsp_start_memcpy(
-    (int *) bsp_section_data_begin,
-    (const int *) bsp_section_data_load_begin,
-    (size_t) bsp_section_data_size
-  );
-
-  // Copy .fast_text section
-  arm_cp15_instruction_cache_invalidate();
-  bsp_start_memcpy(
-    (int *) bsp_section_fast_text_begin,
-    (const int *) bsp_section_fast_text_load_begin,
-    (size_t) bsp_section_fast_text_size
-  );
-
-  // Copy .fast_data section
-  arm_cp15_instruction_cache_invalidate();
-  bsp_start_memcpy(
-    (int *) bsp_section_fast_data_begin,
-    (const int *) bsp_section_fast_data_load_begin,
-    (size_t) bsp_section_fast_data_size
-  );
-
-  // Clear .bss section
-  clear_bss();
-
-
-
-  // At this point we can use objects outside the .start section
+  arm_a8core_start_hook_1();
+  bsp_start_copy_sections();
+  beagle_setup_mmu_and_cache();
+  bsp_start_clear_bss();
 }