Added BeagleBoard BSP

Coding done in course of GSoC2012.

Commit edited to be brought up-to-date with mainline by
Ben Gras <beng@shrike-systems.com>.

1 files changed, 366 insertions, 0 deletions

diff --git a/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c b/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c
new file mode 100644
index 0000000000..4538b0c2d9
--- /dev/null
+++ b/c/src/lib/libbsp/arm/beagle/startup/bspstarthooks.c
@@ -0,0 +1,366 @@
+/**
+ * @file
+ *
+ * @ingroup beagle
+ *
+ * @brief Startup code.
+ */
+
+/*
+ * Copyright (c) 2012 Claas Ziemke. All rights reserved.
+ *
+ *  Claas Ziemke
+ *  Kernerstrasse 11
+ *  70182 Stuttgart
+ *  Germany
+ *  <claas.ziemke@gmx.net>
+ *
+ * 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.
+ */
+
+#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;
+
+    // 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);
+}*/
+
+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
+}