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//==========================================================================

//

//      innovator_misc.c

//

//      HAL misc board support code for ARM9/INNOVATOR

//

//==========================================================================

// ####ECOSGPLCOPYRIGHTBEGIN####                                            

// -------------------------------------------                              

// This file is part of eCos, the Embedded Configurable Operating System.   

// Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc.

//

// eCos 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 or (at your option) any later      

// version.                                                                 

//

// eCos 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 eCos; if not, write to the Free Software Foundation, Inc.,    

// 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.            

//

// As a special exception, if other files instantiate templates or use      

// macros or inline functions from this file, or you compile this file      

// and link it with other works to produce a work based on this file,       

// this file does not by itself cause the resulting work to be covered by   

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// must still be made available in accordance with section (3) of the GNU   

// General Public License v2.                                               

//

// This exception does not invalidate any other reasons why a work based    

// on this file might be covered by the GNU General Public License.         

// -------------------------------------------                              

// ####ECOSGPLCOPYRIGHTEND####                                              

//==========================================================================

//#####DESCRIPTIONBEGIN####

//

// Author(s):    Patrick Doyle <wpd@delcomsys.com>

// Contributors: Patrick Doyle <wpd@delcomsys.com>

// Date:         2002-12-17

// Purpose:      HAL board support

// Description:  Implementations of HAL board interfaces

//

//####DESCRIPTIONEND####

//

//==========================================================================

#include <pkgconf/hal.h>

#include <pkgconf/system.h>

#include CYGBLD_HAL_PLATFORM_H

#include <cyg/infra/cyg_type.h>         // base types

#include <cyg/infra/cyg_trac.h>         // tracing macros

#include <cyg/infra/cyg_ass.h>          // assertion macros

#include <cyg/hal/hal_io.h>             // IO macros

#include <cyg/hal/hal_arch.h>           // Register state info

#include <cyg/hal/hal_diag.h>

#include <cyg/hal/hal_intr.h>           // Interrupt names

#include <cyg/hal/hal_cache.h>

#include <cyg/hal/innovator.h>          // Platform specifics

#include <cyg/infra/diag.h>             // diag_printf

#include <string.h>                     // memset

// -------------------------------------------------------------------------

// MMU initialization:

// 

// These structures are laid down in memory to define the translation

// table.

// 

// ARM Translation Table Base Bit Masks

#define ARM_TRANSLATION_TABLE_MASK               0xFFFFC000

// ARM Domain Access Control Bit Masks

#define ARM_ACCESS_TYPE_NO_ACCESS(domain_num)    (0x0 << (domain_num)*2)

#define ARM_ACCESS_TYPE_CLIENT(domain_num)       (0x1 << (domain_num)*2)

#define ARM_ACCESS_TYPE_MANAGER(domain_num)      (0x3 << (domain_num)*2)

struct ARM_MMU_FIRST_LEVEL_FAULT {

    int id : 2;

    int sbz : 30;

};

#define ARM_MMU_FIRST_LEVEL_FAULT_ID 0x0

struct ARM_MMU_FIRST_LEVEL_PAGE_TABLE {

    int id : 2;

    int imp : 2;

    int domain : 4;

    int sbz : 1;

    int base_address : 23;

};

#define ARM_MMU_FIRST_LEVEL_PAGE_TABLE_ID 0x1

struct ARM_MMU_FIRST_LEVEL_SECTION {

    int id : 2;

    int b : 1;

    int c : 1;

    int imp : 1;

    int domain : 4;

    int sbz0 : 1;

    int ap : 2;

    int sbz1 : 8;

    int base_address : 12;

};

#define ARM_MMU_FIRST_LEVEL_SECTION_ID 0x2

struct ARM_MMU_FIRST_LEVEL_RESERVED {

    int id : 2;

    int sbz : 30;

};

#define ARM_MMU_FIRST_LEVEL_RESERVED_ID 0x3

#define ARM_MMU_FIRST_LEVEL_DESCRIPTOR_ADDRESS(ttb_base, table_index) \

   (unsigned long *)((unsigned long)(ttb_base) + ((table_index) << 2))

#define ARM_FIRST_LEVEL_PAGE_TABLE_SIZE 0x4000

#define ARM_MMU_SECTION(ttb_base, actual_base, virtual_base,              \

                        cacheable, bufferable, perm)                      \

    CYG_MACRO_START                                                       \

        register union ARM_MMU_FIRST_LEVEL_DESCRIPTOR desc;               \

                                                                          \

        desc.word = 0;                                                    \

        desc.section.id = ARM_MMU_FIRST_LEVEL_SECTION_ID;                 \

        desc.section.imp = 1;                                             \

        desc.section.domain = 0;                                          \

        desc.section.c = (cacheable);                                     \

        desc.section.b = (bufferable);                                    \

        desc.section.ap = (perm);                                         \

        desc.section.base_address = (actual_base);                        \

        *ARM_MMU_FIRST_LEVEL_DESCRIPTOR_ADDRESS(ttb_base, (virtual_base)) \

                            = desc.word;                                  \

    CYG_MACRO_END

#define X_ARM_MMU_SECTION(abase,vbase,size,cache,buff,access)      \

    { int i; int j = abase; int k = vbase;                         \

      for (i = size; i > 0 ; i--,j++,k++)                          \

      {                                                            \

        ARM_MMU_SECTION(ttb_base, j, k, cache, buff, access);      \

      }                                                            \

    }

union ARM_MMU_FIRST_LEVEL_DESCRIPTOR {

    unsigned long word;

    struct ARM_MMU_FIRST_LEVEL_FAULT fault;

    struct ARM_MMU_FIRST_LEVEL_PAGE_TABLE page_table;

    struct ARM_MMU_FIRST_LEVEL_SECTION section;

    struct ARM_MMU_FIRST_LEVEL_RESERVED reserved;

};

#define ARM_UNCACHEABLE                         0

#define ARM_CACHEABLE                           1

#define ARM_UNBUFFERABLE                        0

#define ARM_BUFFERABLE                          1

#define ARM_ACCESS_PERM_NONE_NONE               0

#define ARM_ACCESS_PERM_RO_NONE                 0

#define ARM_ACCESS_PERM_RO_RO                   0

#define ARM_ACCESS_PERM_RW_NONE                 1

#define ARM_ACCESS_PERM_RW_RO                   2

#define ARM_ACCESS_PERM_RW_RW                   3

void

hal_mmu_init(void)

{

    unsigned long ttb_base = INNOVATOR_SDRAM_PHYS_BASE + 0x4000;

    unsigned long i;

    // Set the TTB register

    asm volatile ("mcr  p15,0,%0,c2,c0,0" : : "r"(ttb_base) /*:*/);

    // Set the Domain Access Control Register

    i = ARM_ACCESS_TYPE_MANAGER(0)    |

        ARM_ACCESS_TYPE_NO_ACCESS(1)  |

        ARM_ACCESS_TYPE_NO_ACCESS(2)  |

        ARM_ACCESS_TYPE_NO_ACCESS(3)  |

        ARM_ACCESS_TYPE_NO_ACCESS(4)  |

        ARM_ACCESS_TYPE_NO_ACCESS(5)  |

        ARM_ACCESS_TYPE_NO_ACCESS(6)  |

        ARM_ACCESS_TYPE_NO_ACCESS(7)  |

        ARM_ACCESS_TYPE_NO_ACCESS(8)  |

        ARM_ACCESS_TYPE_NO_ACCESS(9)  |

        ARM_ACCESS_TYPE_NO_ACCESS(10) |

        ARM_ACCESS_TYPE_NO_ACCESS(11) |

        ARM_ACCESS_TYPE_NO_ACCESS(12) |

        ARM_ACCESS_TYPE_NO_ACCESS(13) |

        ARM_ACCESS_TYPE_NO_ACCESS(14) |

        ARM_ACCESS_TYPE_NO_ACCESS(15);

    asm volatile ("mcr  p15,0,%0,c3,c0,0" : : "r"(i) /*:*/);

    // First clear all TT entries - ie Set them to Faulting

    memset((void *)ttb_base, 0, ARM_FIRST_LEVEL_PAGE_TABLE_SIZE);

    //               Actual  Virtual  Size   Attributes                                                    Function

    //               Base     Base     MB      cached?           buffered?        access permissions

    //             xxx00000  xxx00000

    X_ARM_MMU_SECTION(0x000,  0x100,     4,  ARM_CACHEABLE,   ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // FLASH CS0

    X_ARM_MMU_SECTION(0x100,  0x000,    32,  ARM_CACHEABLE,   ARM_BUFFERABLE,   ARM_ACCESS_PERM_RW_RW); // SDRAM

    X_ARM_MMU_SECTION(0x080,  0x080,     1,  ARM_UNCACHEABLE, ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // FPGA

    X_ARM_MMU_SECTION(0x200,  0x200,     1,  ARM_CACHEABLE,   ARM_BUFFERABLE,   ARM_ACCESS_PERM_RW_RW); // Internal SRAM

    X_ARM_MMU_SECTION(0xE00,  0xE00,   512,  ARM_UNCACHEABLE, ARM_UNBUFFERABLE, ARM_ACCESS_PERM_RW_RW); // Internal Peripherals

}

//----------------------------------------------------------------------------

// Platform specific initialization

void

plf_hardware_init(void)

{

#ifdef LATER

    // Disable PLD interrupts

    HAL_WRITE_UINT32(INNOVATOR_INT_MASK_CLEAR,

                     INNOVATOR_INT_SOURCE_P0 | INNOVATOR_INT_SOURCE_P1 |

                     INNOVATOR_INT_SOURCE_P2 | INNOVATOR_INT_SOURCE_P3 |

                     INNOVATOR_INT_SOURCE_P4 | INNOVATOR_INT_SOURCE_P5);

    // Make PLD0 generate IRQ

    HAL_WRITE_UINT32(INNOVATOR_INT_PRIORITY_0, 0);

#endif

    cyg_uint8 tmp;

    // This should be protected by some sort of #ifdef to test to see if

    // the ethernet has been enabled or not.  I'll add that later.

    HAL_READ_UINT8(0x0800000B, tmp);

    HAL_WRITE_UINT8(0x0800000B, tmp & ~1);

    HAL_DELAY_US(750);

}

// -------------------------------------------------------------------------

void

hal_clock_initialize(cyg_uint32 period)

{

#ifdef LATER

    cyg_uint32 cr;

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, 0);

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_PRE, CYGNUM_HAL_ARM_INNOVATOR_TIMER_PRESCALE - 1);

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_LIMIT, period);

    cr = INNOVATOR_TIMER_CR_MODE_HEARBEAT | INNOVATOR_TIMER_CR_IE;

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr);

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr | INNOVATOR_TIMER_CR_S);

    // Unmask timer 0 interrupt

    HAL_INTERRUPT_CONFIGURE( CYGNUM_HAL_INTERRUPT_RTC, 1, 1 );

    HAL_INTERRUPT_UNMASK( CYGNUM_HAL_INTERRUPT_RTC );

#endif

}

// This routine is called during a clock interrupt.

void

hal_clock_reset(cyg_uint32 vector, cyg_uint32 period)

{

#ifdef LATER

    cyg_uint32 cr;

    // Clear pending interrupt bit

    HAL_READ_UINT32(INNOVATOR_TIMER0_CR, cr);

    cr |= INNOVATOR_TIMER_CR_CI;

    HAL_WRITE_UINT32(INNOVATOR_TIMER0_CR, cr);

#endif

}

// Read the current value of the clock, returning the number of hardware

// "ticks" that have occurred (i.e. how far away the current value is from

// the start)

void

hal_clock_read(cyg_uint32 *pvalue)

{

#ifdef LATER

    cyg_uint32 ctr;

    HAL_READ_UINT32(INNOVATOR_TIMER0_READ, ctr);

    *pvalue = ctr;

#endif

}

//

// Delay for some number of micro-seconds

//

void

hal_delay_us(cyg_int32 usecs)

{

#ifdef LATER

    // Use timer 2 

    cyg_uint32 cr;

    // Divide by 1000000 in two steps to preserve precision.

    cyg_uint32 wait_clocks = ((CYGNUM_HAL_ARM_INNOVATOR_PERIPHERAL_CLOCK/100000)*usecs)/10;

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, 0);

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_PRE, 0);

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_LIMIT, wait_clocks);

    cr = INNOVATOR_TIMER_CR_MODE_ONE_SHOT|INNOVATOR_TIMER_CR_CI;

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, cr);

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, cr | INNOVATOR_TIMER_CR_S);

    // wait for start bit to clear

    do {

        HAL_READ_UINT32(INNOVATOR_TIMER1_CR, cr);

    } while ((INNOVATOR_TIMER_CR_S & cr) != 0);

    //clear interrupt flag

    HAL_WRITE_UINT32(INNOVATOR_TIMER1_CR, 0);

#else

#if 0

    volatile unsigned long long x;

    volatile unsigned long long loop_count = usecs / 10 + 1;

    for (x = 0; x < loop_count; x++) ;

#else

    volatile cyg_uint32 *CNTL_TIMER = (volatile cyg_uint32 *)(0xFFFEC500 + 0x00);

    volatile cyg_uint32 *LOAD_TIM   = (volatile cyg_uint32 *)(0xFFFEC500 + 0x04);

    volatile cyg_uint32 *READ_TIM   = (volatile cyg_uint32 *)(0xFFFEC500 + 0x08);

    cyg_uint32 timer_val, prev_val;

    int too_long = 0;

    if (usecs <= 0) {

      return;

    } else if (usecs > 357913941) {

      /* Clamp at MAX_INT32 / 6 */

      usecs = 357913941;

    }

    /* Enable the clock and halt the timer */

    HAL_WRITE_UINT32(CNTL_TIMER, 0x00000020);

    /* Load the timer */

    HAL_WRITE_UINT32(LOAD_TIM, 6 * usecs);

    /* Start the timer */

    HAL_READ_UINT32(READ_TIM, prev_val);

    HAL_WRITE_UINT32(CNTL_TIMER, 0x00000021);

    /* Wait for it to load (but not too long) */

    do {

      HAL_READ_UINT32(READ_TIM, timer_val);

      if (++too_long >= 100) {

        break;

      }

    } while (timer_val == prev_val);

    /* Wait for it to count down to zero */

    do {

      HAL_READ_UINT32(READ_TIM, timer_val);

    } while (timer_val > 0);

#endif

#endif

}

// -------------------------------------------------------------------------

// This routine is called to respond to a hardware interrupt (IRQ).  It

// should interrogate the hardware and return the IRQ vector number.

int

hal_IRQ_handler(void)

{

#ifdef LATER

    int vec;

    cyg_uint32 isr;

    HAL_READ_UINT32(INNOVATOR_INT_REQUEST_STATUS, isr);

    for (vec = CYGNUM_HAL_INTERRUPT_PLD_0;

         vec <= CYGNUM_HAL_INTERRUPT_FAST_COMMS; vec++) {

        if (isr & (1<<vec)) {

            return vec;

        }

    }

#endif

    return CYGNUM_HAL_INTERRUPT_NONE;

}

//----------------------------------------------------------------------------

// Interrupt control

//

void

hal_interrupt_mask(int vector)

{

#ifdef LATER

    CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&

               vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");

    HAL_WRITE_UINT32(INNOVATOR_INT_MASK_CLEAR, 1<<vector);

#endif

}

void

hal_interrupt_unmask(int vector)

{

#ifdef LATER

    CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&

               vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");

    HAL_WRITE_UINT32(INNOVATOR_INT_MASK_SET, 1<<vector);

#endif

}

void

hal_interrupt_acknowledge(int vector)

{

#ifdef LATER

    CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&

               vector >= CYGNUM_HAL_ISR_MIN , "Invalid vector");

#endif

}

void

hal_interrupt_configure(int vector, int level, int up)

{

#ifdef LATER

    CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&

               vector >= CYGNUM_HAL_ISR_MIN, "Invalid vector");

    CYG_ASSERT(level || up, "Cannot do falling edge");

#endif

}

void

hal_interrupt_set_level(int vector, int level)

{

#ifdef LATER

    cyg_uint32 reg;

    CYG_ASSERT(vector <= CYGNUM_HAL_ISR_MAX &&

               vector >= CYGNUM_HAL_ISR_MIN, "Invalid vector");

    CYG_ASSERT(level <= 63 && level >= 0, "Invalid level");

    HAL_READ_UINT32(INNOVATOR_INT_PRIORITY_0+4*vector, reg);

    reg &= ~INNOVATOR_INT_PRIORITY_LVL_mask;

    reg |= (level & INNOVATOR_INT_PRIORITY_LVL_mask);

    HAL_WRITE_UINT32(INNOVATOR_INT_PRIORITY_0+4*vector, reg);

#endif

}

#include CYGHWR_MEMORY_LAYOUT_H

typedef void code_fun(void);

void innovator_program_new_stack(void *func)

{

    register CYG_ADDRESS stack_ptr asm("sp");

    register CYG_ADDRESS old_stack asm("r4");

    register code_fun *new_func asm("r0");

    old_stack = stack_ptr;

    stack_ptr = CYGMEM_REGION_ram + CYGMEM_REGION_ram_SIZE - sizeof(CYG_ADDRESS);

    new_func = (code_fun*)func;

    new_func();

    stack_ptr = old_stack;

    return;

}