diff options
Diffstat (limited to 'arch/arm/cpu/armv7')
| -rw-r--r-- | arch/arm/cpu/armv7/start.S | 12 | ||||
| -rw-r--r-- | arch/arm/cpu/armv7/tegra2/Makefile | 2 | ||||
| -rw-r--r-- | arch/arm/cpu/armv7/tegra2/ap20.c | 329 | ||||
| -rw-r--r-- | arch/arm/cpu/armv7/tegra2/ap20.h | 104 | ||||
| -rw-r--r-- | arch/arm/cpu/armv7/tegra2/lowlevel_init.S | 94 |
5 files changed, 540 insertions, 1 deletions
diff --git a/arch/arm/cpu/armv7/start.S b/arch/arm/cpu/armv7/start.S index 6387b8b..2929fc7 100644 --- a/arch/arm/cpu/armv7/start.S +++ b/arch/arm/cpu/armv7/start.S @@ -70,6 +70,18 @@ _end_vect: _TEXT_BASE: .word CONFIG_SYS_TEXT_BASE +#ifdef CONFIG_TEGRA2 +/* + * Tegra2 uses 2 separate CPUs - the AVP (ARM7TDMI) and the CPU (dual A9s). + * U-Boot runs on the AVP first, setting things up for the CPU (PLLs, + * muxes, clocks, clamps, etc.). Then the AVP halts, and expects the CPU + * to pick up its reset vector, which points here. + */ +.globl _armboot_start +_armboot_start: + .word _start +#endif + /* * These are defined in the board-specific linker script. */ diff --git a/arch/arm/cpu/armv7/tegra2/Makefile b/arch/arm/cpu/armv7/tegra2/Makefile index 687c887..f1ea915 100644 --- a/arch/arm/cpu/armv7/tegra2/Makefile +++ b/arch/arm/cpu/armv7/tegra2/Makefile @@ -28,7 +28,7 @@ include $(TOPDIR)/config.mk LIB = $(obj)lib$(SOC).o SOBJS := lowlevel_init.o -COBJS := board.o sys_info.o timer.o +COBJS := ap20.o board.o sys_info.o timer.o SRCS := $(SOBJS:.o=.S) $(COBJS:.o=.c) OBJS := $(addprefix $(obj),$(COBJS) $(SOBJS)) diff --git a/arch/arm/cpu/armv7/tegra2/ap20.c b/arch/arm/cpu/armv7/tegra2/ap20.c new file mode 100644 index 0000000..d3e6797 --- /dev/null +++ b/arch/arm/cpu/armv7/tegra2/ap20.c @@ -0,0 +1,329 @@ +/* +* (C) Copyright 2010-2011 +* NVIDIA Corporation <www.nvidia.com> +* +* See file CREDITS for list of people who contributed to this +* project. +* +* This program is free software; you can redistribute it and/or +* modify it under the terms of the GNU General Public License as +* published by the Free Software Foundation; either version 2 of +* the License, or (at your option) any later version. +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with this program; if not, write to the Free Software +* Foundation, Inc., 59 Temple Place, Suite 330, Boston, +* MA 02111-1307 USA +*/ + +#include "ap20.h" +#include <asm/io.h> +#include <asm/arch/tegra2.h> +#include <asm/arch/clk_rst.h> +#include <asm/arch/pmc.h> +#include <asm/arch/pinmux.h> +#include <asm/arch/scu.h> +#include <common.h> + +u32 s_first_boot = 1; + +static void enable_cpu_clock(int enable) +{ + struct clk_rst_ctlr *clkrst = (struct clk_rst_ctlr *)NV_PA_CLK_RST_BASE; + u32 reg, clk; + + /* + * NOTE: + * Regardless of whether the request is to enable or disable the CPU + * clock, every processor in the CPU complex except the master (CPU 0) + * will have it's clock stopped because the AVP only talks to the + * master. The AVP does not know (nor does it need to know) that there + * are multiple processors in the CPU complex. + */ + + if (enable) { + /* Wait until all clocks are stable */ + udelay(PLL_STABILIZATION_DELAY); + + writel(CCLK_BURST_POLICY, &clkrst->crc_cclk_brst_pol); + writel(SUPER_CCLK_DIVIDER, &clkrst->crc_super_cclk_div); + } + + /* Fetch the register containing the main CPU complex clock enable */ + reg = readl(&clkrst->crc_clk_out_enb_l); + reg |= CLK_ENB_CPU; + + /* + * Read the register containing the individual CPU clock enables and + * always stop the clock to CPU 1. + */ + clk = readl(&clkrst->crc_clk_cpu_cmplx); + clk |= CPU1_CLK_STP; + + if (enable) { + /* Unstop the CPU clock */ + clk &= ~CPU0_CLK_STP; + } else { + /* Stop the CPU clock */ + clk |= CPU0_CLK_STP; + } + + writel(clk, &clkrst->crc_clk_cpu_cmplx); + writel(reg, &clkrst->crc_clk_out_enb_l); +} + +static int is_cpu_powered(void) +{ + struct pmc_ctlr *pmc = (struct pmc_ctlr *)NV_PA_PMC_BASE; + + return (readl(&pmc->pmc_pwrgate_status) & CPU_PWRED) ? 1 : 0; +} + +static void remove_cpu_io_clamps(void) +{ + struct pmc_ctlr *pmc = (struct pmc_ctlr *)NV_PA_PMC_BASE; + u32 reg; + + /* Remove the clamps on the CPU I/O signals */ + reg = readl(&pmc->pmc_remove_clamping); + reg |= CPU_CLMP; + writel(reg, &pmc->pmc_remove_clamping); + + /* Give I/O signals time to stabilize */ + udelay(IO_STABILIZATION_DELAY); +} + +static void powerup_cpu(void) +{ + struct pmc_ctlr *pmc = (struct pmc_ctlr *)NV_PA_PMC_BASE; + u32 reg; + int timeout = IO_STABILIZATION_DELAY; + + if (!is_cpu_powered()) { + /* Toggle the CPU power state (OFF -> ON) */ + reg = readl(&pmc->pmc_pwrgate_toggle); + reg &= PARTID_CP; + reg |= START_CP; + writel(reg, &pmc->pmc_pwrgate_toggle); + + /* Wait for the power to come up */ + while (!is_cpu_powered()) { + if (timeout-- == 0) + printf("CPU failed to power up!\n"); + else + udelay(10); + } + + /* + * Remove the I/O clamps from CPU power partition. + * Recommended only on a Warm boot, if the CPU partition gets + * power gated. Shouldn't cause any harm when called after a + * cold boot according to HW, probably just redundant. + */ + remove_cpu_io_clamps(); + } +} + +static void enable_cpu_power_rail(void) +{ + struct pmc_ctlr *pmc = (struct pmc_ctlr *)NV_PA_PMC_BASE; + u32 reg; + + reg = readl(&pmc->pmc_cntrl); + reg |= CPUPWRREQ_OE; + writel(reg, &pmc->pmc_cntrl); + + /* + * The TI PMU65861C needs a 3.75ms delay between enabling + * the power rail and enabling the CPU clock. This delay + * between SM1EN and SM1 is for switching time + the ramp + * up of the voltage to the CPU (VDD_CPU from PMU). + */ + udelay(3750); +} + +static void reset_A9_cpu(int reset) +{ + struct clk_rst_ctlr *clkrst = (struct clk_rst_ctlr *)NV_PA_CLK_RST_BASE; + u32 reg, cpu; + + /* + * NOTE: Regardless of whether the request is to hold the CPU in reset + * or take it out of reset, every processor in the CPU complex + * except the master (CPU 0) will be held in reset because the + * AVP only talks to the master. The AVP does not know that there + * are multiple processors in the CPU complex. + */ + + /* Hold CPU 1 in reset */ + cpu = SET_DBGRESET1 | SET_DERESET1 | SET_CPURESET1; + writel(cpu, &clkrst->crc_cpu_cmplx_set); + + reg = readl(&clkrst->crc_rst_dev_l); + if (reset) { + /* Now place CPU0 into reset */ + cpu |= SET_DBGRESET0 | SET_DERESET0 | SET_CPURESET0; + writel(cpu, &clkrst->crc_cpu_cmplx_set); + + /* Enable master CPU reset */ + reg |= SWR_CPU_RST; + } else { + /* Take CPU0 out of reset */ + cpu = CLR_DBGRESET0 | CLR_DERESET0 | CLR_CPURESET0; + writel(cpu, &clkrst->crc_cpu_cmplx_clr); + + /* Disable master CPU reset */ + reg &= ~SWR_CPU_RST; + } + + writel(reg, &clkrst->crc_rst_dev_l); +} + +static void clock_enable_coresight(int enable) +{ + struct clk_rst_ctlr *clkrst = (struct clk_rst_ctlr *)NV_PA_CLK_RST_BASE; + u32 rst, clk, src; + + rst = readl(&clkrst->crc_rst_dev_u); + clk = readl(&clkrst->crc_clk_out_enb_u); + + if (enable) { + rst &= ~SWR_CSITE_RST; + clk |= CLK_ENB_CSITE; + } else { + rst |= SWR_CSITE_RST; + clk &= ~CLK_ENB_CSITE; + } + + writel(clk, &clkrst->crc_clk_out_enb_u); + writel(rst, &clkrst->crc_rst_dev_u); + + if (enable) { + /* + * Put CoreSight on PLLP_OUT0 (216 MHz) and divide it down by + * 1.5, giving an effective frequency of 144MHz. + * Set PLLP_OUT0 [bits31:30 = 00], and use a 7.1 divisor + * (bits 7:0), so 00000001b == 1.5 (n+1 + .5) + */ + src = CLK_DIVIDER(NVBL_PLLP_KHZ, 144000); + writel(src, &clkrst->crc_clk_src_csite); + + /* Unlock the CPU CoreSight interfaces */ + rst = 0xC5ACCE55; + writel(rst, CSITE_CPU_DBG0_LAR); + writel(rst, CSITE_CPU_DBG1_LAR); + } +} + +void start_cpu(u32 reset_vector) +{ + /* Enable VDD_CPU */ + enable_cpu_power_rail(); + + /* Hold the CPUs in reset */ + reset_A9_cpu(1); + + /* Disable the CPU clock */ + enable_cpu_clock(0); + + /* Enable CoreSight */ + clock_enable_coresight(1); + + /* + * Set the entry point for CPU execution from reset, + * if it's a non-zero value. + */ + if (reset_vector) + writel(reset_vector, EXCEP_VECTOR_CPU_RESET_VECTOR); + + /* Enable the CPU clock */ + enable_cpu_clock(1); + + /* If the CPU doesn't already have power, power it up */ + powerup_cpu(); + + /* Take the CPU out of reset */ + reset_A9_cpu(0); +} + + +void halt_avp(void) +{ + for (;;) { + writel((HALT_COP_EVENT_JTAG | HALT_COP_EVENT_IRQ_1 \ + | HALT_COP_EVENT_FIQ_1 | (FLOW_MODE_STOP<<29)), + FLOW_CTLR_HALT_COP_EVENTS); + } +} + +void enable_scu(void) +{ + struct scu_ctlr *scu = (struct scu_ctlr *)NV_PA_ARM_PERIPHBASE; + u32 reg; + + /* If SCU already setup/enabled, return */ + if (readl(&scu->scu_ctrl) & SCU_CTRL_ENABLE) + return; + + /* Invalidate all ways for all processors */ + writel(0xFFFF, &scu->scu_inv_all); + + /* Enable SCU - bit 0 */ + reg = readl(&scu->scu_ctrl); + reg |= SCU_CTRL_ENABLE; + writel(reg, &scu->scu_ctrl); +} + +void init_pmc_scratch(void) +{ + struct pmc_ctlr *const pmc = (struct pmc_ctlr *)NV_PA_PMC_BASE; + int i; + + /* SCRATCH0 is initialized by the boot ROM and shouldn't be cleared */ + for (i = 0; i < 23; i++) + writel(0, &pmc->pmc_scratch1+i); + + /* ODMDATA is for kernel use to determine RAM size, LP config, etc. */ + writel(CONFIG_SYS_BOARD_ODMDATA, &pmc->pmc_scratch20); +} + +void cpu_start(void) +{ + struct pmux_tri_ctlr *pmt = (struct pmux_tri_ctlr *)NV_PA_APB_MISC_BASE; + + /* enable JTAG */ + writel(0xC0, &pmt->pmt_cfg_ctl); + + if (s_first_boot) { + /* + * Need to set this before cold-booting, + * otherwise we'll end up in an infinite loop. + */ + s_first_boot = 0; + cold_boot(); + } +} + +void tegra2_start() +{ + if (s_first_boot) { + /* Init Debug UART Port (115200 8n1) */ + uart_init(); + + /* Init PMC scratch memory */ + init_pmc_scratch(); + } + +#ifdef CONFIG_ENABLE_CORTEXA9 + /* take the mpcore out of reset */ + cpu_start(); + + /* configure cache */ + cache_configure(); +#endif +} diff --git a/arch/arm/cpu/armv7/tegra2/ap20.h b/arch/arm/cpu/armv7/tegra2/ap20.h new file mode 100644 index 0000000..49fe340 --- /dev/null +++ b/arch/arm/cpu/armv7/tegra2/ap20.h @@ -0,0 +1,104 @@ +/* + * (C) Copyright 2010-2011 + * NVIDIA Corporation <www.nvidia.com> + * + * See file CREDITS for list of people who contributed to this + * project. + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License as + * published by the Free Software Foundation; either version 2 of + * the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307 USA + */ +#include <asm/types.h> + +/* Stabilization delays, in usec */ +#define PLL_STABILIZATION_DELAY (300) +#define IO_STABILIZATION_DELAY (1000) + +#define NVBL_PLLP_KHZ (216000) + +#define PLLX_ENABLED (1 << 30) +#define CCLK_BURST_POLICY 0x20008888 +#define SUPER_CCLK_DIVIDER 0x80000000 + +/* Calculate clock fractional divider value from ref and target frequencies */ +#define CLK_DIVIDER(REF, FREQ) ((((REF) * 2) / FREQ) - 2) + +/* Calculate clock frequency value from reference and clock divider value */ +#define CLK_FREQUENCY(REF, REG) (((REF) * 2) / (REG + 2)) + +/* AVP/CPU ID */ +#define PG_UP_TAG_0_PID_CPU 0x55555555 /* CPU aka "a9" aka "mpcore" */ +#define PG_UP_TAG_0 0x0 + +#define CORESIGHT_UNLOCK 0xC5ACCE55; + +/* AP20-Specific Base Addresses */ + +/* AP20 Base physical address of SDRAM. */ +#define AP20_BASE_PA_SDRAM 0x00000000 +/* AP20 Base physical address of internal SRAM. */ +#define AP20_BASE_PA_SRAM 0x40000000 +/* AP20 Size of internal SRAM (256KB). */ +#define AP20_BASE_PA_SRAM_SIZE 0x00040000 +/* AP20 Base physical address of flash. */ +#define AP20_BASE_PA_NOR_FLASH 0xD0000000 +/* AP20 Base physical address of boot information table. */ +#define AP20_BASE_PA_BOOT_INFO AP20_BASE_PA_SRAM + +/* + * Super-temporary stacks for EXTREMELY early startup. The values chosen for + * these addresses must be valid on ALL SOCs because this value is used before + * we are able to differentiate between the SOC types. + * + * NOTE: The since CPU's stack will eventually be moved from IRAM to SDRAM, its + * stack is placed below the AVP stack. Once the CPU stack has been moved, + * the AVP is free to use the IRAM the CPU stack previously occupied if + * it should need to do so. + * + * NOTE: In multi-processor CPU complex configurations, each processor will have + * its own stack of size CPU_EARLY_BOOT_STACK_SIZE. CPU 0 will have a + * limit of CPU_EARLY_BOOT_STACK_LIMIT. Each successive CPU will have a + * stack limit that is CPU_EARLY_BOOT_STACK_SIZE less then the previous + * CPU. + */ + +/* Common AVP early boot stack limit */ +#define AVP_EARLY_BOOT_STACK_LIMIT \ + (AP20_BASE_PA_SRAM + (AP20_BASE_PA_SRAM_SIZE/2)) +/* Common AVP early boot stack size */ +#define AVP_EARLY_BOOT_STACK_SIZE 0x1000 +/* Common CPU early boot stack limit */ +#define CPU_EARLY_BOOT_STACK_LIMIT \ + (AVP_EARLY_BOOT_STACK_LIMIT - AVP_EARLY_BOOT_STACK_SIZE) +/* Common CPU early boot stack size */ +#define CPU_EARLY_BOOT_STACK_SIZE 0x1000 + +#define EXCEP_VECTOR_CPU_RESET_VECTOR (NV_PA_EVP_BASE + 0x100) +#define CSITE_CPU_DBG0_LAR (NV_PA_CSITE_BASE + 0x10FB0) +#define CSITE_CPU_DBG1_LAR (NV_PA_CSITE_BASE + 0x12FB0) + +#define FLOW_CTLR_HALT_COP_EVENTS (NV_PA_FLOW_BASE + 4) +#define FLOW_MODE_STOP 2 +#define HALT_COP_EVENT_JTAG (1 << 28) +#define HALT_COP_EVENT_IRQ_1 (1 << 11) +#define HALT_COP_EVENT_FIQ_1 (1 << 9) + +/* Prototypes */ + +void tegra2_start(void); +void uart_init(void); +void udelay(unsigned long); +void cold_boot(void); +void cache_configure(void); diff --git a/arch/arm/cpu/armv7/tegra2/lowlevel_init.S b/arch/arm/cpu/armv7/tegra2/lowlevel_init.S index 7f15746..f24a2ff 100644 --- a/arch/arm/cpu/armv7/tegra2/lowlevel_init.S +++ b/arch/arm/cpu/armv7/tegra2/lowlevel_init.S @@ -26,6 +26,7 @@ #include <config.h> #include <version.h> + _TEXT_BASE: .word CONFIG_SYS_TEXT_BASE @ sdram load addr from config file @@ -58,8 +59,101 @@ lowlevel_init: mov pc, lr @ back to arch calling code + +.globl startup_cpu +startup_cpu: + @ Initialize the AVP, clocks, and memory controller + @ SDRAM is guaranteed to be on at this point + + ldr r0, =cold_boot @ R0 = reset vector for CPU + bl start_cpu @ start the CPU + + @ Transfer control to the AVP code + bl halt_avp + + @ Should never get here +_loop_forever2: + b _loop_forever2 + +.globl cache_configure +cache_configure: + stmdb r13!,{r14} + @ invalidate instruction cache + mov r1, #0 + mcr p15, 0, r1, c7, c5, 0 + + @ invalidate the i&d tlb entries + mcr p15, 0, r1, c8, c5, 0 + mcr p15, 0, r1, c8, c6, 0 + + @ enable instruction cache + mrc p15, 0, r1, c1, c0, 0 + orr r1, r1, #(1<<12) + mcr p15, 0, r1, c1, c0, 0 + + bl enable_scu + + @ enable SMP mode and FW for CPU0, by writing to Auxiliary Ctl reg + mrc p15, 0, r0, c1, c0, 1 + orr r0, r0, #0x41 + mcr p15, 0, r0, c1, c0, 1 + + @ Now flush the Dcache + mov r0, #0 + @ 256 cache lines + mov r1, #256 + +invalidate_loop: + add r1, r1, #-1 + mov r0, r1, lsl #5 + @ invalidate d-cache using line (way0) + mcr p15, 0, r0, c7, c6, 2 + + orr r2, r0, #(1<<30) + @ invalidate d-cache using line (way1) + mcr p15, 0, r2, c7, c6, 2 + + orr r2, r0, #(2<<30) + @ invalidate d-cache using line (way2) + mcr p15, 0, r2, c7, c6, 2 + + orr r2, r0, #(3<<30) + @ invalidate d-cache using line (way3) + mcr p15, 0, r2, c7, c6, 2 + cmp r1, #0 + bne invalidate_loop + + @ FIXME: should have ap20's L2 disabled too? +invalidate_done: + ldmia r13!,{pc} + +.globl cold_boot +cold_boot: + msr cpsr_c, #0xD3 + @ Check current processor: CPU or AVP? + @ If CPU, go to CPU boot code, else continue on AVP path + + ldr r0, =NV_PA_PG_UP_BASE + ldr r1, [r0] + ldr r2, =PG_UP_TAG_AVP + + @ are we the CPU? + ldr sp, CPU_STACK + cmp r1, r2 + @ yep, we are the CPU + bne _armboot_start + + @ AVP initialization follows this path + ldr sp, AVP_STACK + @ Init AVP and start CPU + b startup_cpu + @ the literal pools origin .ltorg SRAM_STACK: .word LOW_LEVEL_SRAM_STACK +AVP_STACK: + .word EARLY_AVP_STACK +CPU_STACK: + .word EARLY_CPU_STACK |