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beagleboard rev c3:
cortex-a8 cpu: arm v7-a arch. rev 3, 500MHz, dual-issue
OMAP3530-GP rev 2, CPU-OPP2 L3-165MHz
OMAP3 Beagle board + LPDDR/NAND
DRAM: 256 MB
NAND: 256 MiB
Board revision C
Serial #784200230000000004013f790401d018
igepv2 board:
cortex-a8 cpu: arm v7-a arch. rev 3, 720MHz, dual-issue
OMAP3530-GP ES3.1, CPU-OPP2 L3-165MHz
IGEP v2.x rev. B + LPDDR/ONENAND
DRAM: 512 MB
Muxed OneNAND(DDP) 512MB 1.8V 16-bit (0x58)
OneNAND version = 0x0031
Chip support all block unlock
Chip has 2 plane
Scanning device for bad blocks
Bad eraseblock 3134 at 0x187c0000
Bad eraseblock 3135 at 0x187e0000
OneNAND: 512 MB
omap3530 SoC
CORE_CLK runs at 26MHz
see spruf98d from ti.com (/public/doc/ti/omap35x.ref.spruf98d.pdf)
separate i & d tlbs, each 32 entries
can invalidate i, d or both tlbs by { all, mva, or asid match }
i & d L1 caches, 16K each, 4 ways, 64 sets, 64-byte lines
i is VIPT, d is PIPT
no `test and clean D & U all' operations
no prefetching, no cache maintenance
can invalidate i, d or both cache but not D & U all
can invalidate entire i-cache only
can clean or invalidate by set and way data/unified cache
unified L2 PIPT cache, 256K, 8 ways, 512 sets, 64-byte lines
no hardware cache coherence
l3 interconnect firewalls are all off at boot time, except for a bit of
secure ram
sram at 0x40200000 size 1MB
l4 interconnect firewalls seem to be sane at boot time
___
The state of the Beagleboard/IGEPv2 (TI OMAP35 SoC, Cortex-A8) port.
Plan 9 runs on the IGEPv2 and Gumstix Overo boards.
On the Beagleboard, Plan 9 is not yet usable but it gets as far as
trying to access the USB ethernet (since the Beagleboard has no
built-in ethernet and must use USB ethernet).
IGEP & Gumstix Ethernet
The smsc9221 ethernet consumes a lot of system time. The design
decision to use fifos rather than buffer rings and to not incorporate
dma into the ethernet controller is probably responsible. With only a
single core, running the 9221 consumes a lot of the available CPU
time. It's probably worth trying to use the system dma controller again.
USB
The ohci and ehci controllers are seen, but no devices yet.
There are four USB errata that need to be looked into for the igepv2
(silicon 3.1) at least. From the omap3530 errata (rev e):
- 3.1.1.130 only one usb dma channel (rx or tx) can be active
at one time: use interrupt mode instead
- 3.1.1.144 otg soft reset doesn't work right
- 3.1.1.183 ohci and ehci controllers cannot work concurrently
- §3.1.3 usb limitations: all ports must be configured to identical speeds
(high vs full/low)
Flash
access to nand flash would be handy for nvram and paqfs file systems.
In the flash, x-loader occupies up to 0x20000, then u-boot from
0x80000 to 0x1e0000, and there's a linux kernel after that (if you
care). The beagle's flash chip is a micron pop 2Gb nand
mt29f2g16abdhc-et (physical marking jw256), and the igep's is a
samsung onenand.
VFPv3 Floating Point
The Cortex-A8 has VFPv3 floating point, which uses different opcodes
than 5c/5l currently generate. New 5c or 5l is in the works.
Video
The display subsystem for omap3 (dss) is divided into 3 parts, called lcd,
video and dsi (ignoring the various accelerators). The system only
supports the lcd via dvi interface so far because it's the only one we
have been able to test. 1280x1024x16 is the default resolution, this
might be changed. Writing to /dev/dssctl (e.g., echo 1024x768x16
>/dev/dssctl) changes the resolution. Currently the system does not
use the rfbi since it seems like an unnecessary optimisation at this
point. Per Odlund wrote the first draft of the video driver for a
Google Summer of Code project.
Stray Interrupts
IRQs 56 and 57 are I2C. 83, 86 and 94 are MMC.
___
The code is fairly heavy-handed with the use of barrier instructions
(BARRIERS in assembler, coherence in C), partly in reaction to bad
experience doing Power PC ports, but also just as precautions against
modern processors, which may feel free to execute instructions out of
order or some time later, store to memory out of order or some time
later, otherwise break the model of traditional sequential processors,
or any combination of the above.
___
There are a few rough edges:
- the clock.c scheduling rate (HZ) is quite approximate. The OMAP
timers are complex, but one could eventually do better (or just let
timesync compensate).
- User processes are limited to 512MB virtual (mainly by the IGEPv2 Ethernet
being at 0x2c000000), which isn't a problem since Beagleboards only
have 256MB of dram and IGEPv2s have 512MB, and we don't want to swap.
- might use ucalloc.c to allocate uncached scratch space for generated code
in coproc.c.
- the C implementation of cache primitives failed with mmu off; still true?
- unlock, setup: protect module register target APE (PM_RT) per spruf98c §1.6.7
- setup mpp (multi-purpose pins)?
___
memory map (mostly from omap35x ref)
hex addr size what
----
0 16MB physical address of flash registers, buffers
20000000 16MB virtual address of flash registers, buffers
2c000000 ? smc 9221 ethernet
38000000 16MB 256MB (beagle) or 512MB (igep) nand flash mapped here
40000000 112K boot rom, top of user space
40200000 64K sram
48000000 16MB L4 core
48002000 8K system control (scm)
48004000 16K clock manager
48040000 8K L4-core config
48050000 4K graphics
48062000 4K usb tll
48064000 1K usb uhh_config
48064400 1K ohci
48064800 1K ehci
4806a000 8K 8250 uart0
4806c000 8K 8250 uart1
48086000 4K gptimer10
48088000 4K gptimer11
4809c000 8K mmc/sd goo
480ab000 8K hs usb otg
480ad000 8K mmc/sd goo
480b4000 8K mmc/sd goo
480c7000 device intr controller
48200000 2K intr ctlr (intc)
48300000 256K L4-wakeup
48304000 4K gptimer12
48318000 8K gptimer1
49000000 1MB L4 peripherals
49020000 8K 8250 uart2 (with exposed connector for console)
49032000 4K gptimer2
49034000 4K gptimer3
⋯
49040000 4K gptimer9
49050000 8K gpio2
⋯
49058000 8K gpio6
50000000 64K graphics accelerator
68000000 1K L3 config (rt)
68004000 1K L3 hs usb host
68004400 1K L3 hs usb otg
68005400 1K L3 graphics
68006800 1K L4-core config
68010000 L3 protection mechanism
6e000000 ? gpmc
80000000 256MB dram on beagle
512MB dram on igep
c0000000 1GB kernel virtual space, mapped to 80000000
apparently the vector address (0 or 0xffff0000) is virtual,
so we're expected to map it to ram.