Add initial support for Altera SOCFPGA (heterogeneous ARM/FPGA) SoC family.

Include board configuration for Terasic SoCKit (Altera Cyclone V).

Sponsored by:	DARPA, AFRL

5 files changed, 364 insertions, 0 deletions

diff --git a/sys/arm/altera/socfpga/files.socfpga b/sys/arm/altera/socfpga/files.socfpga
new file mode 100644
index 0000000..654462d
--- /dev/null
+++ b/sys/arm/altera/socfpga/files.socfpga
@@ -0,0 +1,17 @@
+# $FreeBSD$
+
+kern/kern_clocksource.c				standard
+
+arm/arm/bus_space_generic.c			standard
+arm/arm/bus_space_asm_generic.S			standard
+arm/arm/cpufunc_asm_armv5.S			standard
+arm/arm/cpufunc_asm_arm10.S			standard
+arm/arm/cpufunc_asm_arm11.S			standard
+arm/arm/cpufunc_asm_armv7.S			standard
+
+arm/arm/bus_space-v6.c				standard
+arm/arm/gic.c					standard
+arm/arm/mpcore_timer.c				standard
+
+arm/altera/socfpga/socfpga_common.c		standard
+arm/altera/socfpga/socfpga_machdep.c		standard
diff --git a/sys/arm/altera/socfpga/socfpga_common.c b/sys/arm/altera/socfpga/socfpga_common.c
new file mode 100644
index 0000000..86d46e3
--- /dev/null
+++ b/sys/arm/altera/socfpga/socfpga_common.c
@@ -0,0 +1,83 @@
+/*-
+ * Copyright (c) 2014 Ruslan Bukin <br@bsdpad.com>
+ * All rights reserved.
+ *
+ * This software was developed by SRI International and the University of
+ * Cambridge Computer Laboratory under DARPA/AFRL contract (FA8750-10-C-0237)
+ * ("CTSRD"), as part of the DARPA CRASH research programme.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#include <sys/cdefs.h>
+__FBSDID("$FreeBSD$");
+
+#include <sys/param.h>
+#include <sys/systm.h>
+#include <sys/bus.h>
+#include <sys/kernel.h>
+
+#include <dev/fdt/fdt_common.h>
+#include <dev/ofw/openfirm.h>
+
+#include <machine/bus.h>
+#include <machine/fdt.h>
+
+#define	RESMAN_BASE	0xFFD05000
+#define	RESMAN_CTRL	0x4
+#define	SWWARMRSTREQ	(1 << 1)
+
+void
+cpu_reset(void)
+{
+	bus_addr_t vaddr;
+
+	if (bus_space_map(fdtbus_bs_tag, RESMAN_BASE, 0x10, 0, &vaddr) == 0) {
+		bus_space_write_4(fdtbus_bs_tag, vaddr,
+		    RESMAN_CTRL, SWWARMRSTREQ);
+	}
+
+	while (1);
+}
+
+struct fdt_fixup_entry fdt_fixup_table[] = {
+	{ NULL, NULL }
+};
+
+static int
+fdt_pic_decode_ic(phandle_t node, pcell_t *intr, int *interrupt, int *trig,
+    int *pol)
+{
+
+	if (!fdt_is_compatible(node, "arm,gic"))
+		return (ENXIO);
+
+	*interrupt = fdt32_to_cpu(intr[0]);
+	*trig = INTR_TRIGGER_CONFORM;
+	*pol = INTR_POLARITY_CONFORM;
+	return (0);
+}
+
+fdt_pic_decode_t fdt_pic_table[] = {
+	&fdt_pic_decode_ic,
+	NULL
+};
diff --git a/sys/arm/altera/socfpga/socfpga_machdep.c b/sys/arm/altera/socfpga/socfpga_machdep.c
new file mode 100644
index 0000000..b098663
--- /dev/null
+++ b/sys/arm/altera/socfpga/socfpga_machdep.c
@@ -0,0 +1,107 @@
+/*-
+ * Copyright (c) 2014 Ruslan Bukin <br@bsdpad.com>
+ * All rights reserved.
+ *
+ * This software was developed by SRI International and the University of
+ * Cambridge Computer Laboratory under DARPA/AFRL contract (FA8750-10-C-0237)
+ * ("CTSRD"), as part of the DARPA CRASH research programme.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#include "opt_ddb.h"
+#include "opt_platform.h"
+
+#include <sys/cdefs.h>
+__FBSDID("$FreeBSD$");
+
+#define	_ARM32_BUS_DMA_PRIVATE
+#include <sys/param.h>
+#include <sys/systm.h>
+#include <sys/bus.h>
+
+#include <vm/vm.h>
+
+#include <machine/armreg.h>
+#include <machine/bus.h>
+#include <machine/devmap.h>
+#include <machine/machdep.h>
+#include <machine/platform.h>
+
+vm_offset_t
+platform_lastaddr(void)
+{
+
+	return (arm_devmap_lastaddr());
+}
+
+void
+platform_probe_and_attach(void)
+{
+
+}
+
+void
+platform_gpio_init(void)
+{
+
+}
+
+void
+platform_late_init(void)
+{
+
+}
+
+int
+platform_devmap_init(void)
+{
+
+	/* UART */
+	arm_devmap_add_entry(0xffc00000, 0x100000);
+
+	/*
+	 * USB OTG
+	 *
+	 * We use static device map for USB due to some bug in the Altera
+	 * which throws Translation Fault (P) exception on high load.
+	 * It might be caused due to some power save options being turned
+	 * on or something else.
+	 */
+	arm_devmap_add_entry(0xffb00000, 0x100000);
+
+	return (0);
+}
+
+struct arm32_dma_range *
+bus_dma_get_range(void)
+{
+
+	return (NULL);
+}
+
+int
+bus_dma_get_range_nb(void)
+{
+
+	return (0);
+}
diff --git a/sys/arm/altera/socfpga/std.socfpga b/sys/arm/altera/socfpga/std.socfpga
new file mode 100644
index 0000000..c6607a5
--- /dev/null
+++ b/sys/arm/altera/socfpga/std.socfpga
@@ -0,0 +1,21 @@
+# $FreeBSD$
+
+makeoption	ARM_LITTLE_ENDIAN
+
+cpu		CPU_CORTEXA
+machine		arm armv6
+
+options		PHYSADDR=0x00000000
+
+makeoptions	KERNPHYSADDR=0x00f00000
+options		KERNPHYSADDR=0x00f00000
+
+makeoptions	KERNVIRTADDR=0xc0f00000
+options		KERNVIRTADDR=0xc0f00000
+
+options		ARM_L2_PIPT
+
+options		IPI_IRQ_START=0
+options		IPI_IRQ_END=15
+
+files		"../altera/socfpga/files.socfpga"
diff --git a/sys/arm/conf/SOCKIT b/sys/arm/conf/SOCKIT
new file mode 100644
index 0000000..e524f30
--- /dev/null
+++ b/sys/arm/conf/SOCKIT
@@ -0,0 +1,136 @@
+# Kernel configuration for Terasic SoCKit (Altera Cyclone V SoC).
+#
+# For more information on this file, please read the config(5) manual page,
+# and/or the handbook section on Kernel Configuration Files:
+#
+#    http://www.FreeBSD.org/doc/en_US.ISO8859-1/books/handbook/kernelconfig-config.html
+#
+# The handbook is also available locally in /usr/share/doc/handbook
+# if you've installed the doc distribution, otherwise always see the
+# FreeBSD World Wide Web server (http://www.FreeBSD.org/) for the
+# latest information.
+#
+# An exhaustive list of options and more detailed explanations of the
+# device lines is also present in the ../../conf/NOTES and NOTES files.
+# If you are in doubt as to the purpose or necessity of a line, check first
+# in NOTES.
+#
+# $FreeBSD$
+
+ident		SOCKIT
+include 	"../altera/socfpga/std.socfpga"
+
+makeoptions	MODULES_OVERRIDE=""
+
+makeoptions	DEBUG=-g		# Build kernel with gdb(1) debug symbols
+makeoptions	WERROR="-Werror"
+
+options 	HZ=100
+options 	SCHED_4BSD		# 4BSD scheduler
+options 	INET			# InterNETworking
+options 	INET6			# IPv6 communications protocols
+options 	GEOM_PART_BSD		# BSD partition scheme
+options 	GEOM_PART_MBR		# MBR partition scheme
+options 	GEOM_PART_GPT		# GUID partition tables
+options 	TMPFS			# Efficient memory filesystem
+options 	FFS			# Berkeley Fast Filesystem
+options 	SOFTUPDATES
+options 	UFS_ACL			# Support for access control lists
+options 	UFS_DIRHASH		# Improve performance on big directories
+options 	MSDOSFS			# MSDOS Filesystem
+options 	CD9660			# ISO 9660 Filesystem
+options 	PROCFS			# Process filesystem (requires PSEUDOFS)
+options 	PSEUDOFS		# Pseudo-filesystem framework
+options 	COMPAT_43		# Compatible with BSD 4.3 [KEEP THIS!]
+options 	SCSI_DELAY=5000		# Delay (in ms) before probing SCSI
+options 	KTRACE
+options 	SYSVSHM			# SYSV-style shared memory
+options 	SYSVMSG			# SYSV-style message queues
+options 	SYSVSEM			# SYSV-style semaphores
+options 	_KPOSIX_PRIORITY_SCHEDULING # Posix P1003_1B real-time extensions
+options 	KBD_INSTALL_CDEV
+options 	PREEMPTION
+options 	FREEBSD_BOOT_LOADER
+options 	VFP			# vfp/neon
+
+#options 	SMP
+
+# Debugging
+makeoptions	DEBUG=-g		# Build kernel with gdb(1) debug symbols
+options 	BREAK_TO_DEBUGGER
+#options 	VERBOSE_SYSINIT		# Enable verbose sysinit messages
+options 	KDB
+options 	DDB			# Enable the kernel debugger
+options 	INVARIANTS		# Enable calls of extra sanity checking
+options 	INVARIANT_SUPPORT	# Extra sanity checks of internal structures, required by INVARIANTS
+#options 	WITNESS			# Enable checks to detect deadlocks and cycles
+#options 	WITNESS_SKIPSPIN	# Don't run witness on spinlocks for speed
+#options 	DIAGNOSTIC
+
+# NFS support
+options 	NFSCL			# Network Filesystem Client
+options 	NFSLOCKD		# Network Lock Manager
+options 	NFS_ROOT		# NFS usable as /, requires NFSCLIENT
+
+# Uncomment this for NFS root
+#options 	NFS_ROOT		# NFS usable as /, requires NFSCL
+#options 	BOOTP_NFSROOT
+#options 	BOOTP_COMPAT
+#options 	BOOTP
+#options 	BOOTP_NFSV3
+#options 	BOOTP_WIRED_TO=ue0
+
+device		mmc			# mmc/sd bus
+device		mmcsd			# mmc/sd flash cards
+device		sdhci			# generic sdhci
+
+options 	ROOTDEVNAME=\"ufs:/dev/da0\"
+
+# Pseudo devices
+
+device		loop
+device		random
+device		pty
+device		md
+device		gpio
+
+# USB support
+options 	USB_HOST_ALIGN=64	# Align usb buffers to cache line size.
+device		usb
+options 	USB_DEBUG
+#options 	USB_REQ_DEBUG
+#options 	USB_VERBOSE
+#device		musb
+device		dwcotg
+
+device		umass
+device		scbus			# SCSI bus (required for ATA/SCSI)
+device		da			# Direct Access (disks)
+device		pass
+
+# Serial ports
+device		uart
+device		uart_ns8250
+
+# I2C (TWSI)
+device		iic
+device		iicbus
+
+# SPI
+device		spibus
+
+# Ethernet
+device		ether
+device		mii
+device		smsc
+device		smscphy
+
+# USB ethernet support, requires miibus
+device		miibus
+device		axe			# ASIX Electronics USB Ethernet
+device		bpf			# Berkeley packet filter
+
+#FDT
+options 	FDT
+options 	FDT_DTB_STATIC
+makeoptions	FDT_DTS_FILE=socfpga-sockit.dts