summaryrefslogtreecommitdiffstats
diff options
context:
space:
mode:
-rw-r--r--arch/arm/Kconfig3
-rw-r--r--arch/arm/include/asm/mach/udc_pxa2xx.h4
-rw-r--r--arch/arm/include/asm/processor.h4
-rw-r--r--arch/arm/kernel/perf_event.c2
-rw-r--r--arch/arm/mach-mx3/mach-mx31lilly.c33
-rw-r--r--arch/arm/mach-pxa/mioa701.c2
-rw-r--r--arch/arm/mach-pxa/z2.c26
-rw-r--r--arch/arm/mach-realview/Kconfig2
-rw-r--r--arch/arm/mach-realview/include/mach/barriers.h8
-rw-r--r--arch/arm/mach-realview/realview_eb.c3
-rw-r--r--arch/arm/mach-realview/realview_pb1176.c3
-rw-r--r--arch/arm/mach-realview/realview_pb11mp.c3
-rw-r--r--arch/arm/mach-realview/realview_pba8.c3
-rw-r--r--arch/arm/mach-realview/realview_pbx.c3
-rw-r--r--arch/arm/mach-vexpress/ct-ca9x4.c3
-rw-r--r--arch/arm/mm/Kconfig21
-rw-r--r--arch/arm/mm/cache-v6.S18
-rw-r--r--arch/arm/mm/dma-mapping.c18
-rw-r--r--arch/arm/plat-pxa/Makefile3
-rw-r--r--drivers/power/z2_battery.c12
20 files changed, 113 insertions, 61 deletions
diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index 1f254bd..98922f7 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -955,7 +955,8 @@ config XSCALE_PMU
default y
config CPU_HAS_PMU
- depends on CPU_V6 || CPU_V7 || XSCALE_PMU
+ depends on (CPU_V6 || CPU_V7 || XSCALE_PMU) && \
+ (!ARCH_OMAP3 || OMAP3_EMU)
default y
bool
diff --git a/arch/arm/include/asm/mach/udc_pxa2xx.h b/arch/arm/include/asm/mach/udc_pxa2xx.h
index f3eabf1..833306e 100644
--- a/arch/arm/include/asm/mach/udc_pxa2xx.h
+++ b/arch/arm/include/asm/mach/udc_pxa2xx.h
@@ -21,8 +21,8 @@ struct pxa2xx_udc_mach_info {
* here. Note that sometimes the signals go through inverters...
*/
bool gpio_vbus_inverted;
- u16 gpio_vbus; /* high == vbus present */
+ int gpio_vbus; /* high == vbus present */
bool gpio_pullup_inverted;
- u16 gpio_pullup; /* high == pullup activated */
+ int gpio_pullup; /* high == pullup activated */
};
diff --git a/arch/arm/include/asm/processor.h b/arch/arm/include/asm/processor.h
index 6a89567..7bed3da 100644
--- a/arch/arm/include/asm/processor.h
+++ b/arch/arm/include/asm/processor.h
@@ -91,7 +91,11 @@ extern void release_thread(struct task_struct *);
unsigned long get_wchan(struct task_struct *p);
+#if __LINUX_ARM_ARCH__ == 6
+#define cpu_relax() smp_mb()
+#else
#define cpu_relax() barrier()
+#endif
/*
* Create a new kernel thread
diff --git a/arch/arm/kernel/perf_event.c b/arch/arm/kernel/perf_event.c
index c457686..de12536 100644
--- a/arch/arm/kernel/perf_event.c
+++ b/arch/arm/kernel/perf_event.c
@@ -201,7 +201,7 @@ armpmu_event_update(struct perf_event *event,
{
int shift = 64 - 32;
s64 prev_raw_count, new_raw_count;
- s64 delta;
+ u64 delta;
again:
prev_raw_count = atomic64_read(&hwc->prev_count);
diff --git a/arch/arm/mach-mx3/mach-mx31lilly.c b/arch/arm/mach-mx3/mach-mx31lilly.c
index d3d5877..b2c7f51 100644
--- a/arch/arm/mach-mx3/mach-mx31lilly.c
+++ b/arch/arm/mach-mx3/mach-mx31lilly.c
@@ -115,6 +115,8 @@ static struct platform_device physmap_flash_device = {
/* USB */
+#if defined(CONFIG_USB_ULPI)
+
#define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
PAD_CTL_ODE_CMOS | PAD_CTL_100K_PU)
@@ -244,10 +246,20 @@ static struct mxc_usbh_platform_data usbh2_pdata = {
.flags = MXC_EHCI_POWER_PINS_ENABLED,
};
-static struct platform_device *devices[] __initdata = {
- &smsc91x_device,
- &physmap_flash_device,
-};
+static void lilly1131_usb_init(void)
+{
+ usbotg_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
+ USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
+ usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
+ USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
+
+ mxc_register_device(&mxc_usbh1, &usbh1_pdata);
+ mxc_register_device(&mxc_usbh2, &usbh2_pdata);
+}
+
+#else
+static inline void lilly1131_usb_init(void) {}
+#endif /* CONFIG_USB_ULPI */
/* SPI */
@@ -279,6 +291,11 @@ static struct spi_board_info mc13783_dev __initdata = {
.platform_data = &mc13783_pdata,
};
+static struct platform_device *devices[] __initdata = {
+ &smsc91x_device,
+ &physmap_flash_device,
+};
+
static int mx31lilly_baseboard;
core_param(mx31lilly_baseboard, mx31lilly_baseboard, int, 0444);
@@ -321,13 +338,7 @@ static void __init mx31lilly_board_init(void)
platform_add_devices(devices, ARRAY_SIZE(devices));
/* USB */
- usbotg_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
- USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
- usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
- USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
-
- mxc_register_device(&mxc_usbh1, &usbh1_pdata);
- mxc_register_device(&mxc_usbh2, &usbh2_pdata);
+ lilly1131_usb_init();
}
static void __init mx31lilly_timer_init(void)
diff --git a/arch/arm/mach-pxa/mioa701.c b/arch/arm/mach-pxa/mioa701.c
index d60db87..fa6a708 100644
--- a/arch/arm/mach-pxa/mioa701.c
+++ b/arch/arm/mach-pxa/mioa701.c
@@ -697,7 +697,7 @@ static struct i2c_board_info __initdata mioa701_pi2c_devices[] = {
};
/* Board I2C devices. */
-static struct i2c_board_info __initdata mioa701_i2c_devices[] = {
+static struct i2c_board_info mioa701_i2c_devices[] = {
{
I2C_BOARD_INFO("mt9m111", 0x5d),
},
diff --git a/arch/arm/mach-pxa/z2.c b/arch/arm/mach-pxa/z2.c
index f5d1ae3..d303c69 100644
--- a/arch/arm/mach-pxa/z2.c
+++ b/arch/arm/mach-pxa/z2.c
@@ -3,8 +3,9 @@
*
* Support for the Zipit Z2 Handheld device.
*
- * Author: Ken McGuire
- * Created: Jan 25, 2009
+ * Copyright (C) 2009-2010 Marek Vasut <marek.vasut@gmail.com>
+ *
+ * Based on research and code by: Ken McGuire
* Based on mainstone.c as modified for the Zipit Z2.
*
* This program is free software; you can redistribute it and/or modify
@@ -157,21 +158,14 @@ static struct mtd_partition z2_flash_parts[] = {
{
.name = "U-Boot Bootloader",
.offset = 0x0,
- .size = 0x20000,
- },
- {
- .name = "Linux Kernel",
- .offset = 0x20000,
- .size = 0x220000,
- },
- {
- .name = "Filesystem",
- .offset = 0x240000,
- .size = 0x5b0000,
- },
- {
+ .size = 0x40000,
+ }, {
.name = "U-Boot Environment",
- .offset = 0x7f0000,
+ .offset = 0x40000,
+ .size = 0x60000,
+ }, {
+ .name = "Flash",
+ .offset = 0x60000,
.size = MTDPART_SIZ_FULL,
},
};
diff --git a/arch/arm/mach-realview/Kconfig b/arch/arm/mach-realview/Kconfig
index ee5e392..b4575ae 100644
--- a/arch/arm/mach-realview/Kconfig
+++ b/arch/arm/mach-realview/Kconfig
@@ -18,6 +18,7 @@ config REALVIEW_EB_ARM11MP
bool "Support ARM11MPCore tile"
depends on MACH_REALVIEW_EB
select CPU_V6
+ select ARCH_HAS_BARRIERS if SMP
help
Enable support for the ARM11MPCore tile on the Realview platform.
@@ -35,6 +36,7 @@ config MACH_REALVIEW_PB11MP
select CPU_V6
select ARM_GIC
select HAVE_PATA_PLATFORM
+ select ARCH_HAS_BARRIERS if SMP
help
Include support for the ARM(R) RealView MPCore Platform Baseboard.
PB11MPCore is a platform with an on-board ARM11MPCore and has
diff --git a/arch/arm/mach-realview/include/mach/barriers.h b/arch/arm/mach-realview/include/mach/barriers.h
new file mode 100644
index 0000000..0c5d749
--- /dev/null
+++ b/arch/arm/mach-realview/include/mach/barriers.h
@@ -0,0 +1,8 @@
+/*
+ * Barriers redefined for RealView ARM11MPCore platforms with L220 cache
+ * controller to work around hardware errata causing the outer_sync()
+ * operation to deadlock the system.
+ */
+#define mb() dsb()
+#define rmb() dmb()
+#define wmb() mb()
diff --git a/arch/arm/mach-realview/realview_eb.c b/arch/arm/mach-realview/realview_eb.c
index 422ccd7..4425018 100644
--- a/arch/arm/mach-realview/realview_eb.c
+++ b/arch/arm/mach-realview/realview_eb.c
@@ -32,6 +32,7 @@
#include <asm/leds.h>
#include <asm/mach-types.h>
#include <asm/pmu.h>
+#include <asm/pgtable.h>
#include <asm/hardware/gic.h>
#include <asm/hardware/cache-l2x0.h>
#include <asm/localtimer.h>
@@ -457,7 +458,7 @@ static void __init realview_eb_init(void)
MACHINE_START(REALVIEW_EB, "ARM-RealView EB")
/* Maintainer: ARM Ltd/Deep Blue Solutions Ltd */
- .phys_io = REALVIEW_EB_UART0_BASE,
+ .phys_io = REALVIEW_EB_UART0_BASE & SECTION_MASK,
.io_pg_offst = (IO_ADDRESS(REALVIEW_EB_UART0_BASE) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.fixup = realview_fixup,
diff --git a/arch/arm/mach-realview/realview_pb1176.c b/arch/arm/mach-realview/realview_pb1176.c
index 96568eb..099a1f1 100644
--- a/arch/arm/mach-realview/realview_pb1176.c
+++ b/arch/arm/mach-realview/realview_pb1176.c
@@ -32,6 +32,7 @@
#include <asm/leds.h>
#include <asm/mach-types.h>
#include <asm/pmu.h>
+#include <asm/pgtable.h>
#include <asm/hardware/gic.h>
#include <asm/hardware/cache-l2x0.h>
@@ -351,7 +352,7 @@ static void __init realview_pb1176_init(void)
MACHINE_START(REALVIEW_PB1176, "ARM-RealView PB1176")
/* Maintainer: ARM Ltd/Deep Blue Solutions Ltd */
- .phys_io = REALVIEW_PB1176_UART0_BASE,
+ .phys_io = REALVIEW_PB1176_UART0_BASE & SECTION_MASK,
.io_pg_offst = (IO_ADDRESS(REALVIEW_PB1176_UART0_BASE) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.fixup = realview_pb1176_fixup,
diff --git a/arch/arm/mach-realview/realview_pb11mp.c b/arch/arm/mach-realview/realview_pb11mp.c
index 7fbefbb..0e07a5c 100644
--- a/arch/arm/mach-realview/realview_pb11mp.c
+++ b/arch/arm/mach-realview/realview_pb11mp.c
@@ -32,6 +32,7 @@
#include <asm/leds.h>
#include <asm/mach-types.h>
#include <asm/pmu.h>
+#include <asm/pgtable.h>
#include <asm/hardware/gic.h>
#include <asm/hardware/cache-l2x0.h>
#include <asm/localtimer.h>
@@ -373,7 +374,7 @@ static void __init realview_pb11mp_init(void)
MACHINE_START(REALVIEW_PB11MP, "ARM-RealView PB11MPCore")
/* Maintainer: ARM Ltd/Deep Blue Solutions Ltd */
- .phys_io = REALVIEW_PB11MP_UART0_BASE,
+ .phys_io = REALVIEW_PB11MP_UART0_BASE & SECTION_MASK,
.io_pg_offst = (IO_ADDRESS(REALVIEW_PB11MP_UART0_BASE) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.fixup = realview_fixup,
diff --git a/arch/arm/mach-realview/realview_pba8.c b/arch/arm/mach-realview/realview_pba8.c
index d3c113b..ac2f06f 100644
--- a/arch/arm/mach-realview/realview_pba8.c
+++ b/arch/arm/mach-realview/realview_pba8.c
@@ -31,6 +31,7 @@
#include <asm/leds.h>
#include <asm/mach-types.h>
#include <asm/pmu.h>
+#include <asm/pgtable.h>
#include <asm/hardware/gic.h>
#include <asm/mach/arch.h>
@@ -323,7 +324,7 @@ static void __init realview_pba8_init(void)
MACHINE_START(REALVIEW_PBA8, "ARM-RealView PB-A8")
/* Maintainer: ARM Ltd/Deep Blue Solutions Ltd */
- .phys_io = REALVIEW_PBA8_UART0_BASE,
+ .phys_io = REALVIEW_PBA8_UART0_BASE & SECTION_MASK,
.io_pg_offst = (IO_ADDRESS(REALVIEW_PBA8_UART0_BASE) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.fixup = realview_fixup,
diff --git a/arch/arm/mach-realview/realview_pbx.c b/arch/arm/mach-realview/realview_pbx.c
index a235ba3..08fd683 100644
--- a/arch/arm/mach-realview/realview_pbx.c
+++ b/arch/arm/mach-realview/realview_pbx.c
@@ -31,6 +31,7 @@
#include <asm/mach-types.h>
#include <asm/pmu.h>
#include <asm/smp_twd.h>
+#include <asm/pgtable.h>
#include <asm/hardware/gic.h>
#include <asm/hardware/cache-l2x0.h>
@@ -409,7 +410,7 @@ static void __init realview_pbx_init(void)
MACHINE_START(REALVIEW_PBX, "ARM-RealView PBX")
/* Maintainer: ARM Ltd/Deep Blue Solutions Ltd */
- .phys_io = REALVIEW_PBX_UART0_BASE,
+ .phys_io = REALVIEW_PBX_UART0_BASE & SECTION_MASK,
.io_pg_offst = (IO_ADDRESS(REALVIEW_PBX_UART0_BASE) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.fixup = realview_pbx_fixup,
diff --git a/arch/arm/mach-vexpress/ct-ca9x4.c b/arch/arm/mach-vexpress/ct-ca9x4.c
index 9b11eed..6353459 100644
--- a/arch/arm/mach-vexpress/ct-ca9x4.c
+++ b/arch/arm/mach-vexpress/ct-ca9x4.c
@@ -10,6 +10,7 @@
#include <linux/amba/clcd.h>
#include <asm/clkdev.h>
+#include <asm/pgtable.h>
#include <asm/hardware/arm_timer.h>
#include <asm/hardware/cache-l2x0.h>
#include <asm/hardware/gic.h>
@@ -236,7 +237,7 @@ static void ct_ca9x4_init(void)
}
MACHINE_START(VEXPRESS, "ARM-Versatile Express CA9x4")
- .phys_io = V2M_UART0,
+ .phys_io = V2M_UART0 & SECTION_MASK,
.io_pg_offst = (__MMIO_P2V(V2M_UART0) >> 18) & 0xfffc,
.boot_params = PHYS_OFFSET + 0x00000100,
.map_io = ct_ca9x4_map_io,
diff --git a/arch/arm/mm/Kconfig b/arch/arm/mm/Kconfig
index 346ae14..101105e 100644
--- a/arch/arm/mm/Kconfig
+++ b/arch/arm/mm/Kconfig
@@ -735,6 +735,25 @@ config NEEDS_SYSCALL_FOR_CMPXCHG
Forget about fast user space cmpxchg support.
It is just not possible.
+config DMA_CACHE_RWFO
+ bool "Enable read/write for ownership DMA cache maintenance"
+ depends on CPU_V6 && SMP
+ default y
+ help
+ The Snoop Control Unit on ARM11MPCore does not detect the
+ cache maintenance operations and the dma_{map,unmap}_area()
+ functions may leave stale cache entries on other CPUs. By
+ enabling this option, Read or Write For Ownership in the ARMv6
+ DMA cache maintenance functions is performed. These LDR/STR
+ instructions change the cache line state to shared or modified
+ so that the cache operation has the desired effect.
+
+ Note that the workaround is only valid on processors that do
+ not perform speculative loads into the D-cache. For such
+ processors, if cache maintenance operations are not broadcast
+ in hardware, other workarounds are needed (e.g. cache
+ maintenance broadcasting in software via FIQ).
+
config OUTER_CACHE
bool
@@ -794,6 +813,8 @@ config ARM_L1_CACHE_SHIFT
config ARM_DMA_MEM_BUFFERABLE
bool "Use non-cacheable memory for DMA" if CPU_V6 && !CPU_V7
+ depends on !(MACH_REALVIEW_PB1176 || REALVIEW_EB_ARM11MP || \
+ MACH_REALVIEW_PB11MP)
default y if CPU_V6 || CPU_V7
help
Historically, the kernel has used strongly ordered mappings to
diff --git a/arch/arm/mm/cache-v6.S b/arch/arm/mm/cache-v6.S
index e46ecd8..86aa689 100644
--- a/arch/arm/mm/cache-v6.S
+++ b/arch/arm/mm/cache-v6.S
@@ -211,8 +211,9 @@ v6_dma_inv_range:
mcrne p15, 0, r1, c7, c15, 1 @ clean & invalidate unified line
#endif
1:
-#ifdef CONFIG_SMP
- str r0, [r0] @ write for ownership
+#ifdef CONFIG_DMA_CACHE_RWFO
+ ldr r2, [r0] @ read for ownership
+ str r2, [r0] @ write for ownership
#endif
#ifdef HARVARD_CACHE
mcr p15, 0, r0, c7, c6, 1 @ invalidate D line
@@ -234,7 +235,7 @@ v6_dma_inv_range:
v6_dma_clean_range:
bic r0, r0, #D_CACHE_LINE_SIZE - 1
1:
-#ifdef CONFIG_SMP
+#ifdef CONFIG_DMA_CACHE_RWFO
ldr r2, [r0] @ read for ownership
#endif
#ifdef HARVARD_CACHE
@@ -257,7 +258,7 @@ v6_dma_clean_range:
ENTRY(v6_dma_flush_range)
bic r0, r0, #D_CACHE_LINE_SIZE - 1
1:
-#ifdef CONFIG_SMP
+#ifdef CONFIG_DMA_CACHE_RWFO
ldr r2, [r0] @ read for ownership
str r2, [r0] @ write for ownership
#endif
@@ -283,9 +284,13 @@ ENTRY(v6_dma_map_area)
add r1, r1, r0
teq r2, #DMA_FROM_DEVICE
beq v6_dma_inv_range
+#ifndef CONFIG_DMA_CACHE_RWFO
+ b v6_dma_clean_range
+#else
teq r2, #DMA_TO_DEVICE
beq v6_dma_clean_range
b v6_dma_flush_range
+#endif
ENDPROC(v6_dma_map_area)
/*
@@ -295,6 +300,11 @@ ENDPROC(v6_dma_map_area)
* - dir - DMA direction
*/
ENTRY(v6_dma_unmap_area)
+#ifndef CONFIG_DMA_CACHE_RWFO
+ add r1, r1, r0
+ teq r2, #DMA_TO_DEVICE
+ bne v6_dma_inv_range
+#endif
mov pc, lr
ENDPROC(v6_dma_unmap_area)
diff --git a/arch/arm/mm/dma-mapping.c b/arch/arm/mm/dma-mapping.c
index 13fa536..9e7742f 100644
--- a/arch/arm/mm/dma-mapping.c
+++ b/arch/arm/mm/dma-mapping.c
@@ -24,15 +24,6 @@
#include <asm/tlbflush.h>
#include <asm/sizes.h>
-/* Sanity check size */
-#if (CONSISTENT_DMA_SIZE % SZ_2M)
-#error "CONSISTENT_DMA_SIZE must be multiple of 2MiB"
-#endif
-
-#define CONSISTENT_OFFSET(x) (((unsigned long)(x) - CONSISTENT_BASE) >> PAGE_SHIFT)
-#define CONSISTENT_PTE_INDEX(x) (((unsigned long)(x) - CONSISTENT_BASE) >> PGDIR_SHIFT)
-#define NUM_CONSISTENT_PTES (CONSISTENT_DMA_SIZE >> PGDIR_SHIFT)
-
static u64 get_coherent_dma_mask(struct device *dev)
{
u64 mask = ISA_DMA_THRESHOLD;
@@ -123,6 +114,15 @@ static void __dma_free_buffer(struct page *page, size_t size)
}
#ifdef CONFIG_MMU
+/* Sanity check size */
+#if (CONSISTENT_DMA_SIZE % SZ_2M)
+#error "CONSISTENT_DMA_SIZE must be multiple of 2MiB"
+#endif
+
+#define CONSISTENT_OFFSET(x) (((unsigned long)(x) - CONSISTENT_BASE) >> PAGE_SHIFT)
+#define CONSISTENT_PTE_INDEX(x) (((unsigned long)(x) - CONSISTENT_BASE) >> PGDIR_SHIFT)
+#define NUM_CONSISTENT_PTES (CONSISTENT_DMA_SIZE >> PGDIR_SHIFT)
+
/*
* These are the page tables (2MB each) covering uncached, DMA consistent allocations
*/
diff --git a/arch/arm/plat-pxa/Makefile b/arch/arm/plat-pxa/Makefile
index 6187edf..a17cc0c 100644
--- a/arch/arm/plat-pxa/Makefile
+++ b/arch/arm/plat-pxa/Makefile
@@ -2,8 +2,9 @@
# Makefile for code common across different PXA processor families
#
-obj-y := dma.o pmu.o
+obj-y := dma.o
+obj-$(CONFIG_ARCH_PXA) += pmu.o
obj-$(CONFIG_GENERIC_GPIO) += gpio.o
obj-$(CONFIG_PXA3xx) += mfp.o
obj-$(CONFIG_ARCH_MMP) += mfp.o
diff --git a/drivers/power/z2_battery.c b/drivers/power/z2_battery.c
index 9cca465..85064a9 100644
--- a/drivers/power/z2_battery.c
+++ b/drivers/power/z2_battery.c
@@ -9,19 +9,13 @@
*
*/
-#include <linux/init.h>
-#include <linux/kernel.h>
#include <linux/module.h>
-#include <linux/platform_device.h>
-#include <linux/power_supply.h>
-#include <linux/i2c.h>
-#include <linux/spinlock.h>
-#include <linux/interrupt.h>
#include <linux/gpio.h>
+#include <linux/i2c.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
-#include <asm/irq.h>
-#include <asm/mach/irq.h>
+#include <linux/power_supply.h>
+#include <linux/slab.h>
#include <linux/z2_battery.h>
#define Z2_DEFAULT_NAME "Z2"
OpenPOWER on IntegriCloud