arm64: IMX8 platform (Cortex-A53) support

Summary

   Support for imx8 platform, this is a very initialize version

Signed-off-by: qinwei1 <qinwei1@xiaomi.com>

arch/arm64/Kconfig

@@ -49,6 +49,14 @@ config ARCH_CHIP_FVP_ARMV8R
 	---help---
 		ARM FVP virt platform (ARMv8r)
 
+config ARCH_CHIP_IMX8
+	bool "NXP iMX.8 Platform (ARMv8a)"
+	select ARCH_HAVE_ADDRENV
+	select ARCH_HAVE_IRQTRIGGER
+	select ARCH_NEED_ADDRENV_MAPPING
+	---help---
+		NXP iMX.8 (ARMv8a) applications processors
+
 config ARCH_CHIP_ARM64_CUSTOM
 	bool "Custom ARM64 chip"
 	select ARCH_CHIP_CUSTOM
@@ -184,6 +192,7 @@ config ARCH_CHIP
 	default "a64"       if ARCH_CHIP_A64
 	default "qemu"      if ARCH_CHIP_QEMU
 	default "fvp-v8r"   if ARCH_CHIP_FVP_ARMV8R
+	default "imx8"      if ARCH_CHIP_IMX8
 
 config ARM_HAVE_NEON
 	bool
@@ -249,4 +258,9 @@ endif
 if ARCH_CHIP_FVP_ARMV8R
 source "arch/arm64/src/fvp-v8r/Kconfig"
 endif
+
+if ARCH_CHIP_IMX8
+source "arch/arm64/src/imx8/Kconfig"
+endif
+
 endif # ARCH_ARM64

arch/arm64/include/imx8/chip.h

@@ -0,0 +1,78 @@
+/****************************************************************************
+ * arch/arm64/include/imx8/chip.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_INCLUDE_IMX8_CHIP_H__
+#define __ARCH_ARM64_INCLUDE_IMX8_CHIP_H__
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Number of bytes in @p x kibibytes/mebibytes/gibibytes */
+
+#define KB(x)   ((x) << 10)
+#define MB(x)   (KB(x) << 10)
+#define GB(x)   (MB(UINT64_C(x)) << 10)
+
+#if defined(CONFIG_ARCH_CHIP_IMX8_QUADMAX)
+
+#if CONFIG_ARM_GIC_VERSION == 3 || CONFIG_ARM_GIC_VERSION == 4
+
+#define CONFIG_GICD_BASE          0x51a00000
+#define CONFIG_GICR_BASE          0x51b00000
+#define CONFIG_GICR_OFFSET        0x20000
+
+#else
+
+#error CONFIG_ARM_GIC_VERSION should be 2, 3 or 4
+
+#endif /* CONFIG_ARM_GIC_VERSION */
+
+#define CONFIG_RAMBANK1_ADDR      0x80000000
+#define CONFIG_RAMBANK1_SIZE      MB(128)
+
+#define CONFIG_DEVICEIO_BASEADDR  0x40000000
+#define CONFIG_DEVICEIO_SIZE      MB(512)
+#define CONFIG_LOAD_BASE          0x80280000
+
+#define MPID_TO_CLUSTER_ID(mpid)  ((mpid) & ~0xff)
+
+#endif
+
+/****************************************************************************
+ * Assembly Macros
+ ****************************************************************************/
+
+#ifdef __ASSEMBLY__
+
+.macro  get_cpu_id xreg0
+  mrs    \xreg0, mpidr_el1
+  ubfx   \xreg0, \xreg0, #0, #8
+.endm
+
+#endif /* __ASSEMBLY__ */
+
+#endif /* __ARCH_ARM64_INCLUDE_IMX8_CHIP_H */

arch/arm64/include/imx8/irq.h

@@ -0,0 +1,34 @@
+/****************************************************************************
+ * arch/arm64/include/imx8/irq.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/* This file should never be included directly but, rather,
+ * only indirectly through nuttx/irq.h
+ */
+
+#ifndef __ARCH_ARM64_INCLUDE_IMX8_IRQ_H__
+#define __ARCH_ARM64_INCLUDE_IMX8_IRQ_H__
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define NR_IRQS  512                 /* Total number of interrupts */
+
+#endif /* __ARCH_ARM64_INCLUDE_IMX8_IRQ_H__ */

arch/arm64/src/imx8/Kconfig

@@ -0,0 +1,31 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+if ARCH_CHIP_IMX8
+
+menu "iMX.8 Chip Selection"
+
+choice
+	prompt "iMX.8 Core Configuration"
+	default ARCH_CHIP_IMX8_QUADMAX
+
+config ARCH_CHIP_IMX8_QUADMAX
+	bool "iMX.8 QuadMax Application Processor"
+	select ARCH_HAVE_MULTICPU
+	select ARMV8A_HAVE_GICv3
+	select ARCH_CORTEX_A53
+
+endchoice # iMX.8 Chip Selection
+
+endmenu # "iMX.8 Chip Selection"
+
+menu "iMX.8 Peripheral Selection"
+config IMX8_UART1
+	bool "UART1"
+	default n
+	select UART1_SERIALDRIVER
+endmenu # iMX Peripheral Selection
+
+endif # ARCH_CHIP_IMX8

arch/arm64/src/imx8/Make.defs

@@ -0,0 +1,32 @@
+############################################################################
+# arch/arm64/src/imx8/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include common/Make.defs
+
+# i.MX8-specific C source files
+
+CHIP_CSRCS  = imx8_boot.c
+
+ifeq ($(CONFIG_ARCH_CHIP_IMX8_QUADMAX),y)
+  CHIP_CSRCS += imx8qm_serial.c
+  ifeq ($(CONFIG_ARCH_EARLY_PRINT),y)
+    CHIP_ASRCS  = imx8qm_lowputc.S
+  endif
+endif

arch/arm64/src/imx8/chip.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ * arch/arm64/src/imx8/chip.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX8_CHIP_H
+#define __ARCH_ARM64_SRC_IMX8_CHIP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+#  include <nuttx/arch.h>
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Macro Definitions
+ ****************************************************************************/
+
+#endif /* __ARCH_ARM64_SRC_IMX8_CHIP_H */

arch/arm64/src/imx8/imx8_boot.c

@@ -0,0 +1,115 @@
+/****************************************************************************
+ * arch/arm64/src/imx8/imx8_boot.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/cache.h>
+#ifdef CONFIG_PAGING
+#  include <nuttx/page.h>
+#endif
+
+#include <arch/chip/chip.h>
+#include "arm64_arch.h"
+#include "arm64_internal.h"
+#include "arm64_mmu.h"
+#include "imx8_boot.h"
+#include "imx8_serial.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct arm_mmu_region g_mmu_regions[] =
+{
+    MMU_REGION_FLAT_ENTRY("DEVICE_REGION",
+                          CONFIG_DEVICEIO_BASEADDR, MB(512),
+                          MT_DEVICE_NGNRNE | MT_RW | MT_SECURE),
+
+    MMU_REGION_FLAT_ENTRY("DRAM0_S0",
+                          CONFIG_RAMBANK1_ADDR, MB(512),
+                          MT_NORMAL | MT_RW | MT_SECURE),
+};
+
+const struct arm_mmu_config g_mmu_config =
+{
+  .num_regions = nitems(g_mmu_regions),
+  .mmu_regions = g_mmu_regions,
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: arm64_el_init
+ *
+ * Description:
+ *   The function called from arm64_head.S at very early stage for these
+ * platform, it's use to:
+ *   - Handling special hardware initialize routine which is need to
+ *     run at high ELs
+ *   - Initialize system software such as hypervisor or security firmware
+ *     which is need to run at high ELs
+ *
+ ****************************************************************************/
+
+void arm64_el_init(void)
+{
+  write_sysreg(CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC, cntfrq_el0);
+
+  ARM64_ISB();
+}
+
+/****************************************************************************
+ * Name: arm64_chip_boot
+ *
+ * Description:
+ *   Complete boot operations started in arm64_head.S
+ *
+ ****************************************************************************/
+
+void arm64_chip_boot(void)
+{
+  /* MAP IO and DRAM, enable MMU. */
+
+  arm64_mmu_init(true);
+
+  /* Perform board-specific device initialization. This would include
+   * configuration of board specific resources such as GPIOs, LEDs, etc.
+   */
+
+  imx8_board_initialize();
+
+#ifdef USE_EARLYSERIALINIT
+  /* Perform early serial initialization if we are going to use the serial
+   * driver.
+   */
+
+  arm64_earlyserialinit();
+#endif
+}

arch/arm64/src/imx8/imx8_boot.h

@@ -0,0 +1,81 @@
+/****************************************************************************
+ * arch/arm64/src/imx8/imx8_boot.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX8_IMX8_BOOT_H
+#define __ARCH_ARM64_SRC_IMX8_IMX8_BOOT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <arch/chip/chip.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC  62500000
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: imx8_board_initialize
+ *
+ * Description:
+ *   All i.MX8 architectures must provide the following entry point.  This
+ *   entry point is called in the initialization phase -- after
+ *   imx_memory_initialize and after all memory has been configured and
+ *   mapped but before any devices have been initialized.
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void imx8_board_initialize(void);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __ARCH_ARM64_SRC_IMX8_IMX8_BOOT_H */

arch/arm64/src/imx8/imx8_serial.h

@@ -0,0 +1,105 @@
+/****************************************************************************
+ * arch/arm64/src/imx8/imx8_serial.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX8_IMX8_SERIAL_H
+#define __ARCH_ARM64_SRC_IMX8_IMX8_SERIAL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "arm64_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Inline Functions
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef CONFIG_ARCH_CHIP_IMX8_QUADMAX
+#define SPI_OFFSET                  32
+#define CONFIG_IMX8QM_UART1_BASE    0x5a060000
+#define CONFIG_IMX8QM_UART1_IRQ     (SPI_OFFSET + 345)
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: imx_earlyserialinit
+ *
+ * Description:
+ *   Performs the low level UART initialization early in debug so that the
+ *   serial console will be available during bootup.  This must be called
+ *   before arm_serialinit.
+ *
+ ****************************************************************************/
+
+#ifdef USE_EARLYSERIALINIT
+void imx8_earlyserialinit(void);
+
+#endif
+
+/****************************************************************************
+ * Name: uart_earlyserialinit
+ *
+ * Description:
+ *   Performs the low level UART initialization early in debug so that the
+ *   serial console will be available during bootup.  This must be called
+ *   before arm_serialinit.
+ *
+ ****************************************************************************/
+
+#if defined(USE_EARLYSERIALINIT) && defined(IMX8_HAVE_UART)
+void uart_earlyserialinit(void);
+
+#endif
+
+/****************************************************************************
+ * Name: uart_serialinit
+ *
+ * Description:
+ *   Register the UART serial console and serial ports.  This assumes that
+ *   uart_earlyserialinit was called previously.
+ *
+ ****************************************************************************/
+
+#ifdef IMX8_HAVE_UART
+void uart_serialinit(void);
+
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __ARCH_ARM_SRC_IMX6_IMX_SERIAL_H */

arch/arm64/src/imx8/imx8qm_lowputc.S

@@ -0,0 +1,89 @@
+/****************************************************************************
+ * arch/arm64/src/imx8/imx8_lowputs.S
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************
+ *
+ *    DESCRIPTION
+ *       Wrapper for early printk
+ *
+ ***************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "arm64_macro.inc"
+
+/****************************************************************************
+ * Public Symbols
+ ****************************************************************************/
+
+    .file    "imx8qm_lowputc.S"
+
+/****************************************************************************
+ * Assembly Macros
+ ****************************************************************************/
+
+/* 32-bit register definition for imx8qm uart*/
+#define UART1_BASE_ADDRESS 0x5a060000
+
+#define UARTSTAT          (0x14)
+#define UARTDATA          (0x1C)
+#define UARTSTAT_TDRE     (1 << 23)
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/* PL011 UART initialization */
+
+GTEXT(arm64_earlyprintinit)
+SECTION_FUNC(text, arm64_earlyprintinit)
+    /* Already initialized in bootloader */
+    ret
+
+/* i.MX8QM wait LPUART to be ready to transmit
+ * rb: register which contains the UART base address
+ * rc: scratch register
+ */
+.macro early_uart_ready xb, c
+1:
+    ldr   w\c, [\xb, #UARTSTAT]   /* <- Flag register */
+    tst   w\c, #UARTSTAT_TDRE     /* Check FIFO EMPTY bit */
+    beq   1b                      /* Wait for the UART to be ready */
+.endm
+
+/* i.MX8QM LPUART transmit character
+ * rb: register which contains the UART base address
+ * rt: register which contains the character to transmit */
+.macro early_uart_transmit xb, wt
+    str   \wt, [\xb, #UARTDATA]  /* -> Data Register */
+.endm
+
+/*
+ * Print a character on the UART - this function is called by C
+ * x0: character to print
+ */
+GTEXT(arm64_lowputc)
+SECTION_FUNC(text, arm64_lowputc)
+    ldr   x15, =UART1_BASE_ADDRESS
+    early_uart_ready x15, 1
+    early_uart_transmit x15, w0
+    ret