[Motion-PRO] Preliminary support for the Motion-PRO board.
diff --git a/board/motionpro/Makefile b/board/motionpro/Makefile
new file mode 100644
index 0000000..698ead1
--- /dev/null
+++ b/board/motionpro/Makefile
@@ -0,0 +1,50 @@
+#
+# (C) Copyright 2003-2007
+# Wolfgang Denk, DENX Software Engineering, wd@denx.de.
+#
+# See file CREDITS for list of people who contributed to this
+# project.
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License as
+# published by the Free Software Foundation; either version 2 of
+# the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston,
+# MA 02111-1307 USA
+#
+
+include $(TOPDIR)/config.mk
+
+LIB = $(obj)lib$(BOARD).a
+
+COBJS := $(BOARD).o
+
+SRCS := $(SOBJS:.o=.S) $(COBJS:.o=.c)
+OBJS := $(addprefix $(obj),$(COBJS))
+SOBJS := $(addprefix $(obj),$(SOBJS))
+
+$(LIB): $(obj).depend $(OBJS)
+ $(AR) $(ARFLAGS) $@ $(OBJS)
+
+clean:
+ rm -f $(SOBJS) $(OBJS)
+
+distclean: clean
+ rm -f $(LIB) core *.bak .depend
+
+#########################################################################
+
+# defines $(obj).depend target
+include $(SRCTREE)/rules.mk
+
+sinclude $(obj).depend
+
+#########################################################################
diff --git a/board/motionpro/config.mk b/board/motionpro/config.mk
new file mode 100644
index 0000000..e7934d2
--- /dev/null
+++ b/board/motionpro/config.mk
@@ -0,0 +1,30 @@
+#
+# (C) Copyright 2006-2007
+# Wolfgang Denk, DENX Software Engineering, wd@denx.de.
+#
+# See file CREDITS for list of people who contributed to this
+# project.
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License as
+# published by the Free Software Foundation; either version 2 of
+# the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston,
+# MA 02111-1307 USA
+#
+
+#
+# Promess Motion-PRO
+#
+
+TEXT_BASE = 0xfff00000
+
+PLATFORM_CPPFLAGS += -DTEXT_BASE=$(TEXT_BASE) -I$(TOPDIR)/board
diff --git a/board/motionpro/motionpro.c b/board/motionpro/motionpro.c
new file mode 100644
index 0000000..95576ed
--- /dev/null
+++ b/board/motionpro/motionpro.c
@@ -0,0 +1,171 @@
+/*
+ * (C) Copyright 2003-2007
+ * Wolfgang Denk, DENX Software Engineering, wd@denx.de.
+ *
+ * modified for Promess PRO - by Andy Joseph, andy@promessdev.com
+ * modified for Promess PRO-Motion - by Robert McCullough, rob@promessdev.com
+ * modified by Chris M. Tumas 6/20/06 Change CAS latency to 2 from 3
+ * Also changed the refresh for 100Mhz operation
+ *
+ * See file CREDITS for list of people who contributed to this
+ * project.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston,
+ * MA 02111-1307 USA
+ */
+
+#include <common.h>
+#include <mpc5xxx.h>
+
+
+/* Kollmorgen DPR initialization data */
+struct init_elem {
+ unsigned long addr;
+ unsigned len;
+ char *data;
+ } init_seq[] = {
+ {0x500003F2, 2, "\x86\x00"}, /* HW parameter */
+ {0x500003F0, 2, "\x00\x00"},
+ {0x500003EC, 4, "\x00\x80\xc1\x52"}, /* Magic word */
+ };
+
+/*
+ * Initialize Kollmorgen DPR
+ */
+static void kollmorgen_init(void)
+{
+ unsigned i, j;
+ vu_char *p;
+
+ for (i = 0; i < sizeof(init_seq) / sizeof(struct init_elem); ++i) {
+ p = (vu_char *)init_seq[i].addr;
+ for (j = 0; j < init_seq[i].len; ++j)
+ *(p + j) = *(init_seq[i].data + j);
+ }
+
+ printf("DPR: Kollmorgen DPR initialized\n");
+}
+
+
+/*
+ * Early board initalization.
+ */
+int board_early_init_r(void)
+{
+ /* Now, when we are in RAM, disable Boot Chipselect and enable CS0 */
+ *(vu_long *)MPC5XXX_ADDECR &= ~(1 << 25);
+ *(vu_long *)MPC5XXX_ADDECR |= (1 << 16);
+
+ /* Initialize Kollmorgen DPR */
+ kollmorgen_init();
+
+ return 0;
+}
+
+
+#ifndef CFG_RAMBOOT
+/*
+ * Helper function to initialize SDRAM controller.
+ */
+static void sdram_start (int hi_addr)
+{
+ long hi_addr_bit = hi_addr ? 0x01000000 : 0;
+
+ /* unlock mode register */
+ *(vu_long *)MPC5XXX_SDRAM_CTRL = SDRAM_CONTROL | 0x80000000 |
+ hi_addr_bit;
+
+ /* precharge all banks */
+ *(vu_long *)MPC5XXX_SDRAM_CTRL = SDRAM_CONTROL | 0x80000002 |
+ hi_addr_bit;
+
+ /* auto refresh */
+ *(vu_long *)MPC5XXX_SDRAM_CTRL = SDRAM_CONTROL | 0x80000004 |
+ hi_addr_bit;
+
+ /* auto refresh, second time */
+ *(vu_long *)MPC5XXX_SDRAM_CTRL = SDRAM_CONTROL | 0x80000004 |
+ hi_addr_bit;
+
+ /* set mode register */
+ *(vu_long *)MPC5XXX_SDRAM_MODE = SDRAM_MODE;
+
+ /* normal operation */
+ *(vu_long *)MPC5XXX_SDRAM_CTRL = SDRAM_CONTROL | hi_addr_bit;
+}
+#endif /* !CFG_RAMBOOT */
+
+
+/*
+ * Initalize SDRAM - configure SDRAM controller, detect memory size.
+ */
+long int initdram (int board_type)
+{
+ ulong dramsize = 0;
+#ifndef CFG_RAMBOOT
+ ulong test1, test2;
+
+ /* configure SDRAM start/end for detection */
+ *(vu_long *)MPC5XXX_SDRAM_CS0CFG = 0x0000001e; /* 2G at 0x0 */
+ *(vu_long *)MPC5XXX_SDRAM_CS1CFG = 0x80000000; /* disabled */
+
+ /* setup config registers */
+ *(vu_long *)MPC5XXX_SDRAM_CONFIG1 = SDRAM_CONFIG1;
+ *(vu_long *)MPC5XXX_SDRAM_CONFIG2 = SDRAM_CONFIG2;
+
+ sdram_start(0);
+ test1 = get_ram_size((long *)CFG_SDRAM_BASE, 0x80000000);
+ sdram_start(1);
+ test2 = get_ram_size((long *)CFG_SDRAM_BASE, 0x80000000);
+ if (test1 > test2) {
+ sdram_start(0);
+ dramsize = test1;
+ } else {
+ dramsize = test2;
+ }
+
+ /* memory smaller than 1MB is impossible */
+ if (dramsize < (1 << 20))
+ dramsize = 0;
+
+ /* set SDRAM CS0 size according to the amount of RAM found */
+ if (dramsize > 0)
+ *(vu_long *)MPC5XXX_SDRAM_CS0CFG = 0x13 +
+ __builtin_ffs(dramsize >> 20) - 1;
+ else
+ *(vu_long *)MPC5XXX_SDRAM_CS0CFG = 0; /* disabled */
+
+ /* let SDRAM CS1 start right after CS0 and disable it */
+ *(vu_long *) MPC5XXX_SDRAM_CS1CFG = dramsize;
+
+#else /* !CFG_RAMBOOT */
+ /* retrieve size of memory connected to SDRAM CS0 */
+ dramsize = *(vu_long *)MPC5XXX_SDRAM_CS0CFG & 0xFF;
+ if (dramsize >= 0x13)
+ dramsize = (1 << (dramsize - 0x13)) << 20;
+ else
+ dramsize = 0;
+#endif /* CFG_RAMBOOT */
+
+ /* return total ram size */
+ return dramsize;
+}
+
+
+int checkboard (void)
+{
+ puts("Board: Promess Motion-PRO board\n");
+ return 0;
+}
diff --git a/board/motionpro/u-boot.lds b/board/motionpro/u-boot.lds
new file mode 100644
index 0000000..8fa9c0f
--- /dev/null
+++ b/board/motionpro/u-boot.lds
@@ -0,0 +1,123 @@
+/*
+ * (C) Copyright 2003-2007
+ * Wolfgang Denk, DENX Software Engineering, wd@denx.de.
+ *
+ * See file CREDITS for list of people who contributed to this
+ * project.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston,
+ * MA 02111-1307 USA
+ */
+
+OUTPUT_ARCH(powerpc)
+SEARCH_DIR(/lib); SEARCH_DIR(/usr/lib); SEARCH_DIR(/usr/local/lib); SEARCH_DIR(/usr/local/powerpc-any-elf/lib);
+SECTIONS
+{
+ /* Read-only sections, merged into text segment: */
+ . = + SIZEOF_HEADERS;
+ .interp : { *(.interp) }
+ .hash : { *(.hash) }
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+ .init : { *(.init) }
+ .plt : { *(.plt) }
+ .text :
+ {
+ cpu/mpc5xxx/start.o (.text)
+ *(.text)
+ *(.fixup)
+ *(.got1)
+ . = ALIGN(16);
+ *(.rodata)
+ *(.rodata1)
+ *(.rodata.str1.4)
+ *(.eh_frame)
+ }
+ .fini : { *(.fini) } =0
+ .ctors : { *(.ctors) }
+ .dtors : { *(.dtors) }
+
+ /* Read-write section, merged into data segment: */
+ . = (. + 0x0FFF) & 0xFFFFF000;
+ _erotext = .;
+ PROVIDE (erotext = .);
+ .reloc :
+ {
+ *(.got)
+ _GOT2_TABLE_ = .;
+ *(.got2)
+ _FIXUP_TABLE_ = .;
+ *(.fixup)
+ }
+ __got2_entries = (_FIXUP_TABLE_ - _GOT2_TABLE_) >> 2;
+ __fixup_entries = (. - _FIXUP_TABLE_) >> 2;
+
+ .data :
+ {
+ *(.data)
+ *(.data1)
+ *(.sdata)
+ *(.sdata2)
+ *(.dynamic)
+ CONSTRUCTORS
+ }
+ _edata = .;
+ PROVIDE (edata = .);
+
+ . = .;
+ __u_boot_cmd_start = .;
+ .u_boot_cmd : { *(.u_boot_cmd) }
+ __u_boot_cmd_end = .;
+
+
+ . = .;
+ __start___ex_table = .;
+ __ex_table : { *(__ex_table) }
+ __stop___ex_table = .;
+
+ . = ALIGN(4096);
+ __init_begin = .;
+ .text.init : { *(.text.init) }
+ .data.init : { *(.data.init) }
+ . = ALIGN(4096);
+ __init_end = .;
+
+ __bss_start = .;
+ .bss :
+ {
+ *(.sbss) *(.scommon)
+ *(.dynbss)
+ *(.bss)
+ *(COMMON)
+ }
+ _end = . ;
+ PROVIDE (end = .);
+}