Changes to ARMv7-A boot logic to handle the case where we execute out of NOR FLASH

7 files changed, 139 insertions, 70 deletions

diff --git a/nuttx/arch/arm/src/armv7-a/arm_head.S b/nuttx/arch/arm/src/armv7-a/arm_head.S
index 8007d6f60..5eebbdb48 100644
--- a/nuttx/arch/arm/src/armv7-a/arm_head.S
+++ b/nuttx/arch/arm/src/armv7-a/arm_head.S
@@ -189,22 +189,6 @@
  * containing both.
  */
 
-/* REVISIT:  This works now of the low vector case only because the RAM
- * sizes that we have been dealing with are less then 1MB so that both the
- * page table and the vector table are in the same 1MB RAM block.  But
- * this will certainly break later. Hence, the annoying warning.
- */
-
-#ifdef CONFIG_ARCH_LOWVECTORS
-#  warning REVISIT
-#endif
-
-//#ifndef CONFIG_ARCH_LOWVECTORS
-	.macro	mksection, section, pgtable
-	bic		\section, \pgtable, #0x000ff000
-	.endm
-//#endif
-
 /* This macro will modify r0, r1, r2 and r14 */
 
 #ifdef CONFIG_DEBUG
@@ -266,9 +250,9 @@ __start:
 	 */
 
 #ifndef CONFIG_IDENTITY_TEXTMAP
-	mksection r0, r4				/* r0=phys. base section */
+	ldr		r0, .LCptextbase		/* r0=phys. base address of .text section */
 	ldr		r1, .LCtextflags		/* R1=.text section MMU flags */
-	add		r3, r1, r0				/* r3=flags + base */
+	orr		r3, r1, r0				/* r3=flags + base */
 	str		r3, [r4, r0, lsr #18]	/* identity mapping */
 #endif
 
@@ -313,16 +297,6 @@ __start:
 
 #else /* CONFIG_PAGING */
 
-	/* Create identity mapping for first MB of the .text section if we have
-	 * no already done so.
-	 */
-
-#ifdef CONFIG_IDENTITY_TEXTMAP
-	mksection r0, r4				/* r0=phys. base section */
-	ldr		r1, .LCtextflags		/* R1=.text section MMU flags */
-	add		r3, r1, r0				/* r3=flags + base */
-#endif
-
 	/* Create a virtual single section mapping for the first MB of the .text
 	 * address space. Now, we have the first 1MB mapping to both physical and
 	 * virtual addresses.  The rest of the .text mapping will be completed in
@@ -332,14 +306,41 @@ __start:
 	 * r4 = Address of the base of the L1 table
 	 */
 
-	ldr		r2, .LCvpgtable			/* r2=virt. page table */
-	mksection r0, r2				/* r0=virt. base section */
-	str		r3, [r4, r0, lsr #18]	/* identity mapping */
+#ifdef CONFIG_IDENTITY_TEXTMAP
+	ldr		r0, .LCptextbase		/* r0=phys. base address of .text section */
+	ldr		r1, .LCtextflags		/* R1=.text section MMU flags */
+	orr		r3, r1, r0				/* r3=flags + base */
+#endif
+
+	ldr		r0, .LCvtextbase		/* r0=virtual base address of .text section */
+	str		r3, [r4, r0, lsr #18]	/* Save the L1 entry using vaddress as an index */
 
 	/* NOTE: No .data/.bss access should be attempted.  This temporary mapping
 	 * can only be assumed to cover the initial .text region.
 	 */
 
+#ifdef CONFIG_BOOT_RUNFROMFLASH
+	/* If we are executing from FLASH, then we will need an additional mapping
+	 * for the page table itself (otherwise, we will crash when we try to modify
+	 * the page table after turning the MMU on.
+	 *
+	 * Here we expect to have:
+	 * r4 = Address of the base of the L1 table
+	 *
+	 * REVISIT:  We might need this second mapping under certain conditions
+	 * when executing from RAM too.  When the RAM region is larger than 1MB
+	 * and the page table is in the high end of RAM, then the single mapping
+	 * above will not be sufficient.
+	 */
+
+	ldr		r0, .LCprambase			/* r0=phys. base address of the primary RAM region */
+	ldr		r1, .LCramflags			/* R1=MMU flags use with the primary RAM region */
+	orr		r3, r1, r0				/* r3=flags + base */
+
+	ldr		r0, .LCvrambase			/* r0=virtual base address of .text section */
+	str		r3, [r4, r0, lsr #18]	/* Save the L1 entry using vaddress as an index */
+
+#endif /* CONFIG_BOOT_RUNFROMFLASH */
 #endif /* CONFIG_PAGING */
 #endif /* CONFIG_ARCH_ROMPGTABLE */
 
@@ -520,14 +521,30 @@ __start:
  * PC_Relative Data
  ****************************************************************************/
 
-	/* Most addresses are virtual address */
-	
+	/* The virtual start address of the second phase boot logic */
+
 	.type	.LCvstart, %object
 .LCvstart:
 	.long	.Lvstart
 	.size	.LCvstart, . -.LCvstart
 
 #ifndef CONFIG_ARCH_ROMPGTABLE
+	/* The aligned, physical base address of the .text section */
+
+	.type	.LCptextbase, %object
+.LCptextbase:
+	.long	NUTTX_TEXT_PADDR & 0xfff00000
+	.size	.LCptextbase, . -.LCptextbase
+
+	/* The aligned, virtual base address of the .text section */
+
+	.type	.LCvtextbase, %object
+.LCvtextbase:
+	.long	NUTTX_TEXT_VADDR & 0xfff00000
+	.size	.LCvtextbase, . -.LCvtextbase
+
+	/* The MMU flags used with the .text mapping */
+
 	.type	.LCtextflags, %object
 .LCtextflags:
 #ifdef CONFIG_BOOT_RUNFROMFLASH
@@ -536,14 +553,44 @@ __start:
 	.long	MMU_MEMFLAGS			/* MMU flags for text section in RAM */
 #endif
 	.size	.LCtextflags, . -.LCtextflags
+
+#if !defined(CONFIG_PAGING)
+#ifdef CONFIG_BOOT_RUNFROMFLASH
+	/* The physical base address of the primary RAM region */
+
+	.type	.LCprambase, %object
+.LCprambase:
+	.long	NUTTX_RAM_PADDR & 0xfff00000
+	.size	.LCprambase, . -.LCprambase
+
+	/* The virtual base address of the primary RAM region */
+
+	.type	.LCvrambase, %object
+.LCvrambase:
+	.long	NUTTX_RAM_VADDR & 0xfff00000
+	.size	.LCvrambase, . -.LCvrambase
+
+	/* The MMU flags used with the primary RAM region */
+
+	.type	.LCramflags, %object
+.LCramflags:
+	.long	MMU_MEMFLAGS			/* MMU flags for RAM section */
+	.size	.LCramflags, . -.LCramflags
+#endif
+#endif
+
 #endif
 
+	/* The physical base address of the page table */
+
 	.type	.LCppgtable, %object
 .LCppgtable:
 	.long	PGTABLE_BASE_PADDR		/* Physical start of page table */
 	.size	.LCppgtable, . -.LCppgtable
 
 #ifndef CONFIG_ARCH_ROMPGTABLE
+	/* The virtual base address of the page table */
+
 	.type	.LCvpgtable, %object
 .LCvpgtable:
 	.long	PGTABLE_BASE_VADDR		/* Virtual start of page table */
@@ -609,11 +656,10 @@ __start:
 
 #ifndef CONFIG_ARCH_ROMPGTABLE
 #ifndef CONFIG_IDENTITY_TEXTMAP
-	ldr		r4, .LCvpgtable			/* r4=virtual page table */
-	ldr		r1, .LCppgtable			/* r1=phys. page table */
-	mksection r3, r1				/* r2=phys. base addr */
+	ldr		r4, .LCvpgtable			/* r4=virtual page table base address */
+	ldr		r3, .LCvtextbase		/* r0=virtual base address of .text section */
 	mov		r0, #0					/* flags + base = 0 */
-	str		r0, [r4, r3, lsr #18]	/* Undo identity mapping */
+	str		r3, [r4, r3, lsr #18]	/* identity mapping */
 #endif
 
 #if defined(CONFIG_PAGING)
@@ -640,7 +686,7 @@ __start:
 #ifdef CONFIG_IDENTITY_TEXTMAP
 	ldr		r4, .LCvpgtable			/* r4=virtual page table */
 #endif
-	ldr		r3, .LCnuttxptext		/* r3=Aligned Nuttx start address (physical) */
+	ldr		r3, .LCptextbase		/* r3=Aligned Nuttx start address (physical) */
 
 	/* Now setup the page tables for our normal mapped execution region.
 	 * We round NUTTX_TEXT_VADDR down to the nearest megabyte boundary.
@@ -676,7 +722,7 @@ __start:
 
 	/* Get R3 = Value of RAM L1 page table entry */
 
-	ldr		r3, .LCnuttxpram		/* r3=Aligned Nuttx RAM address (physical) */
+	ldr		r3, .LCprambase			/* r3=Aligned Nuttx RAM address (physical) */
 	ldr		r1, .LCramflags			/* R1=.bss/.data section MMU flags */
 	add		r3, r3, r1				/* r3=flags + base */
 
@@ -759,25 +805,6 @@ __start:
 	.long	_ebss+CONFIG_IDLETHREAD_STACKSIZE-4
 	.size	.Linitparms, . -.Linitparms
 
-#if !defined(CONFIG_PAGING)
-	.type	.LCnuttxptext, %object
-.LCnuttxptext:
-	.long	NUTTX_TEXT_PADDR & 0xfff00000
-	.size	.LCnuttxptext, . -.LCnuttxptext
-
-#ifdef CONFIG_BOOT_RUNFROMFLASH
-	.type	.LCramflags, %object
-.LCramflags:
-	.long	MMU_MEMFLAGS			/* MMU flags for RAM section */
-	.size	.LCramflags, . -.LCramflags
-
-	.type	.LCnuttxpram, %object
-.LCnuttxpram:
-	.long	NUTTX_RAM_PADDR & 0xfff00000
-	.size	.LCnuttxpram, . -.LCnuttxpram
-#endif
-#endif
-
 #ifdef CONFIG_PAGING
 
 	.type	.Ldataspan, %object
diff --git a/nuttx/arch/arm/src/armv7-a/sctlr.h b/nuttx/arch/arm/src/armv7-a/sctlr.h
index 07959ef45..c0a53dbb9 100644
--- a/nuttx/arch/arm/src/armv7-a/sctlr.h
+++ b/nuttx/arch/arm/src/armv7-a/sctlr.h
@@ -285,7 +285,7 @@ static inline unsigned int cp15_rdsctlr(void)
   unsigned int sctlr;
   __asm__ __volatile__
     (
-      "\tmrc p15, 0, %0, c1, c0, 0"
+      "\tmrc p15, 0, %0, c1, c0, 0\n"
       : "=r" (sctlr)
       :
       : "memory"
@@ -298,7 +298,7 @@ static inline void cp15_wrsctlr(unsigned int sctlr)
 {
   __asm__ __volatile__
     (
-      "\tmcr p15, 0, $0, c1, c0, 0\n"
+      "\tmcr p15, 0, %0, c1, c0, 0\n"
       "\tnop\n"
       "\tnop\n"
       "\tnop\n"
diff --git a/nuttx/configs/sama5d3x-ek/Kconfig b/nuttx/configs/sama5d3x-ek/Kconfig
index 58f94967e..5f977fe16 100644
--- a/nuttx/configs/sama5d3x-ek/Kconfig
+++ b/nuttx/configs/sama5d3x-ek/Kconfig
@@ -11,6 +11,18 @@ config SAMA5_NOR_MAIN
 	depends on SAMA5_BOOT_ISRAM
 	---help---
 		nor_main is a tiny program that runs in ISRAM.  nor_main will enable
-		NOR flash then jump to the program in NOR flash
+		NOR flash then either (1) jump to the program in NOR flash or (2)
+		wait for you to break in with GDB to debug the NOR program.
+
+config SAMA5_NOR_START
+	bool "Start NOR program"
+	default n
+	depends on SAMA5_NOR_MAIN
+	---help---
+		The default behavior of the NOR boot program is to initialize the
+		NOR FLASH at CS0, then patiently wait for you to break into the
+		program with GDB.  An alternative behvior is enabled with this
+		option:  If SAMA5_NOR_START is defined, then it will not wait but
+		will, instead, immediately start the program in NOR FLASH.
 
 endif
diff --git a/nuttx/configs/sama5d3x-ek/README.txt b/nuttx/configs/sama5d3x-ek/README.txt
index e20c0b221..98c716ae9 100644
--- a/nuttx/configs/sama5d3x-ek/README.txt
+++ b/nuttx/configs/sama5d3x-ek/README.txt
@@ -699,6 +699,20 @@ Configurations
     STATUS:
       2013-7-28:  This configuration was verified functional.
 
+  norboot:
+    This is a little program to help debug of code in NOR flash.  It
+    does the following:
+
+    - It enables and configures NOR FLASH, then
+    - Waits for you to break in with GDB.
+
+    At that point, you can set the PC and begin executing from NOR FLASH
+    under debug control.
+
+    NOTES:
+    1. This program derives from the hello configuration.  All of the
+       notes there apply to this configuration as well.
+
   ostest:
     This configuration directory, performs a simple OS test using
     examples/ostest.
diff --git a/nuttx/configs/sama5d3x-ek/ostest/defconfig b/nuttx/configs/sama5d3x-ek/ostest/defconfig
index 929087221..5d1010ad1 100644
--- a/nuttx/configs/sama5d3x-ek/ostest/defconfig
+++ b/nuttx/configs/sama5d3x-ek/ostest/defconfig
@@ -228,8 +228,8 @@ CONFIG_BOOT_RUNFROMFLASH=y
 CONFIG_RAM_START=0x00304000
 CONFIG_RAM_VSTART=0x00304000
 CONFIG_RAM_SIZE=114688
-CONFIG_FLASH_START=0x1000000
-CONFIG_FLASH_VSTART=0x1000000
+CONFIG_FLASH_START=0x10000000
+CONFIG_FLASH_VSTART=0x10000000
 CONFIG_FLASH_SIZE=134217728
 
 #
diff --git a/nuttx/configs/sama5d3x-ek/src/Makefile b/nuttx/configs/sama5d3x-ek/src/Makefile
index 940bdbb5c..1ae5ae4cf 100644
--- a/nuttx/configs/sama5d3x-ek/src/Makefile
+++ b/nuttx/configs/sama5d3x-ek/src/Makefile
@@ -73,11 +73,11 @@ ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
 ifeq ($(WINTOOL),y)
   CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}"
   CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/common}"
-  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
+  CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-a}"
 else
   CFLAGS += -I$(ARCH_SRCDIR)/chip
   CFLAGS += -I$(ARCH_SRCDIR)/common
-  CFLAGS += -I$(ARCH_SRCDIR)/armv7-m
+  CFLAGS += -I$(ARCH_SRCDIR)/armv7-a
 endif
 
 all: libboard$(LIBEXT)
diff --git a/nuttx/configs/sama5d3x-ek/src/nor_main.c b/nuttx/configs/sama5d3x-ek/src/nor_main.c
index 3c90b8a77..96d881dfb 100644
--- a/nuttx/configs/sama5d3x-ek/src/nor_main.c
+++ b/nuttx/configs/sama5d3x-ek/src/nor_main.c
@@ -43,6 +43,7 @@
 #include <debug.h>
 
 #include "up_arch.h"
+#include "sctlr.h"
 #include "sam_periphclks.h"
 #include "chip/sam_hsmc.h"
 
@@ -114,18 +115,33 @@ int nor_main(int argc, char *argv)
            HSMC_MODE_TDFCYCLES(1);
   putreg32(regval, SAM_HSMC_MODE(HSMC_CS0));
 
+  /* Disable the caches and the MMU.  Disabling the MMU should be safe here
+   * because there is a 1-to-1 identity mapping between the physical and
+   * virtual addressing.
+   */
+
+#if 0 /* Causes a crash */
+  printf("Disabling the caches and the MMU\n");
+  regval  = cp15_rdsctlr();
+  regval &= ~(SCTLR_M | SCTLR_C | SCTLR_I);
+  cp15_wrsctlr(regval);
+#endif
+
+#ifdef SAMA5_NOR_START
   /* Then jump into NOR flash */
 
-#if 1
-  printf("Waiting for GDB halt\n");
-  fflush(stdout);
-  for (;;);
-#else
   printf("Jumping to NOR flash on CS0\n");
   fflush(stdout);
   usleep(500*1000);
 
   NOR_ENTRY();
+#else
+  /* Or just wait patiently for the user to break in with GDB. */
+
+  printf("Waiting for GDB halt\n");
+  fflush(stdout);
+  for (;;);
 #endif
+
   return 0; /* NOR_ENTRY() should not return */
 }