2 * Copyright (C) 2008 Valentin Longchamp, EPFL Mobots group
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 #include <linux/delay.h>
20 #include <linux/dma-mapping.h>
21 #include <linux/gfp.h>
22 #include <linux/gpio.h>
23 #include <linux/init.h>
24 #include <linux/interrupt.h>
25 #include <linux/leds.h>
26 #include <linux/memory.h>
27 #include <linux/mtd/physmap.h>
28 #include <linux/mtd/partitions.h>
29 #include <linux/platform_device.h>
30 #include <linux/regulator/machine.h>
31 #include <linux/mfd/mc13783.h>
32 #include <linux/spi/spi.h>
33 #include <linux/types.h>
35 #include <linux/usb/otg.h>
36 #include <linux/usb/ulpi.h>
38 #include <asm/mach-types.h>
39 #include <asm/mach/arch.h>
40 #include <asm/mach/time.h>
41 #include <asm/mach/map.h>
42 #include <mach/board-mx31moboard.h>
43 #include <mach/common.h>
44 #include <mach/hardware.h>
45 #include <mach/imx-uart.h>
46 #include <mach/iomux-mx3.h>
50 #include <mach/mxc_ehci.h>
51 #include <mach/mx3_camera.h>
53 #include <mach/ulpi.h>
57 static unsigned int moboard_pins[] = {
59 MX31_PIN_TXD1__TXD1, MX31_PIN_RXD1__RXD1,
60 MX31_PIN_CTS1__GPIO2_7,
62 MX31_PIN_PC_RST__CTS5, MX31_PIN_PC_VS2__RTS5,
63 MX31_PIN_PC_BVD2__TXD5, MX31_PIN_PC_BVD1__RXD5,
65 MX31_PIN_I2C_DAT__I2C1_SDA, MX31_PIN_I2C_CLK__I2C1_SCL,
67 MX31_PIN_DCD_DTE1__I2C2_SDA, MX31_PIN_RI_DTE1__I2C2_SCL,
69 MX31_PIN_SD1_DATA3__SD1_DATA3, MX31_PIN_SD1_DATA2__SD1_DATA2,
70 MX31_PIN_SD1_DATA1__SD1_DATA1, MX31_PIN_SD1_DATA0__SD1_DATA0,
71 MX31_PIN_SD1_CLK__SD1_CLK, MX31_PIN_SD1_CMD__SD1_CMD,
72 MX31_PIN_ATA_CS0__GPIO3_26, MX31_PIN_ATA_CS1__GPIO3_27,
74 MX31_PIN_GPIO1_0__GPIO1_0,
76 MX31_PIN_USBOTG_DATA0__USBOTG_DATA0,
77 MX31_PIN_USBOTG_DATA1__USBOTG_DATA1,
78 MX31_PIN_USBOTG_DATA2__USBOTG_DATA2,
79 MX31_PIN_USBOTG_DATA3__USBOTG_DATA3,
80 MX31_PIN_USBOTG_DATA4__USBOTG_DATA4,
81 MX31_PIN_USBOTG_DATA5__USBOTG_DATA5,
82 MX31_PIN_USBOTG_DATA6__USBOTG_DATA6,
83 MX31_PIN_USBOTG_DATA7__USBOTG_DATA7,
84 MX31_PIN_USBOTG_CLK__USBOTG_CLK, MX31_PIN_USBOTG_DIR__USBOTG_DIR,
85 MX31_PIN_USBOTG_NXT__USBOTG_NXT, MX31_PIN_USBOTG_STP__USBOTG_STP,
86 MX31_PIN_USB_OC__GPIO1_30,
88 MX31_PIN_USBH2_DATA0__USBH2_DATA0,
89 MX31_PIN_USBH2_DATA1__USBH2_DATA1,
90 MX31_PIN_STXD3__USBH2_DATA2, MX31_PIN_SRXD3__USBH2_DATA3,
91 MX31_PIN_SCK3__USBH2_DATA4, MX31_PIN_SFS3__USBH2_DATA5,
92 MX31_PIN_STXD6__USBH2_DATA6, MX31_PIN_SRXD6__USBH2_DATA7,
93 MX31_PIN_USBH2_CLK__USBH2_CLK, MX31_PIN_USBH2_DIR__USBH2_DIR,
94 MX31_PIN_USBH2_NXT__USBH2_NXT, MX31_PIN_USBH2_STP__USBH2_STP,
95 MX31_PIN_SCK6__GPIO1_25,
97 MX31_PIN_SVEN0__GPIO2_0, MX31_PIN_STX0__GPIO2_1,
98 MX31_PIN_SRX0__GPIO2_2, MX31_PIN_SIMPD0__GPIO2_3,
100 MX31_PIN_CSPI2_MOSI__MOSI, MX31_PIN_CSPI2_MISO__MISO,
101 MX31_PIN_CSPI2_SCLK__SCLK, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY,
102 MX31_PIN_CSPI2_SS0__SS0, MX31_PIN_CSPI2_SS2__SS2,
104 MX31_PIN_GPIO1_3__GPIO1_3,
106 MX31_PIN_CSPI3_MOSI__MOSI, MX31_PIN_CSPI3_MISO__MISO,
107 MX31_PIN_CSPI3_SCLK__SCLK, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY,
108 MX31_PIN_CSPI2_SS1__CSPI3_SS1,
111 static struct physmap_flash_data mx31moboard_flash_data = {
115 static struct resource mx31moboard_flash_resource = {
118 .flags = IORESOURCE_MEM,
121 static struct platform_device mx31moboard_flash = {
122 .name = "physmap-flash",
125 .platform_data = &mx31moboard_flash_data,
127 .resource = &mx31moboard_flash_resource,
131 static int moboard_uart0_init(struct platform_device *pdev)
133 gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1), "uart0-cts-hack");
134 gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1), 0);
138 static struct imxuart_platform_data uart0_pdata = {
139 .init = moboard_uart0_init,
142 static struct imxuart_platform_data uart4_pdata = {
143 .flags = IMXUART_HAVE_RTSCTS,
146 static struct imxi2c_platform_data moboard_i2c0_pdata = {
150 static struct imxi2c_platform_data moboard_i2c1_pdata = {
154 static int moboard_spi1_cs[] = {
159 static struct spi_imx_master moboard_spi1_master = {
160 .chipselect = moboard_spi1_cs,
161 .num_chipselect = ARRAY_SIZE(moboard_spi1_cs),
164 static struct regulator_consumer_supply sdhc_consumers[] = {
166 .dev = &mxcsdhc_device0.dev,
167 .supply = "sdhc0_vcc",
170 .dev = &mxcsdhc_device1.dev,
171 .supply = "sdhc1_vcc",
175 static struct regulator_init_data sdhc_vreg_data = {
179 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
180 REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
181 .valid_modes_mask = REGULATOR_MODE_NORMAL |
186 .num_consumer_supplies = ARRAY_SIZE(sdhc_consumers),
187 .consumer_supplies = sdhc_consumers,
190 static struct regulator_consumer_supply cam_consumers[] = {
192 .dev = &mx3_camera.dev,
197 static struct regulator_init_data cam_vreg_data = {
201 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
202 REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
203 .valid_modes_mask = REGULATOR_MODE_NORMAL |
208 .num_consumer_supplies = ARRAY_SIZE(cam_consumers),
209 .consumer_supplies = cam_consumers,
212 static struct mc13783_regulator_init_data moboard_regulators[] = {
214 .id = MC13783_REGU_VMMC1,
215 .init_data = &sdhc_vreg_data,
218 .id = MC13783_REGU_VCAM,
219 .init_data = &cam_vreg_data,
223 static struct mc13783_platform_data moboard_pmic = {
224 .regulators = moboard_regulators,
225 .num_regulators = ARRAY_SIZE(moboard_regulators),
226 .flags = MC13783_USE_REGULATOR | MC13783_USE_RTC |
230 static struct spi_board_info moboard_spi_board_info[] __initdata = {
232 .modalias = "mc13783",
233 .irq = IOMUX_TO_IRQ(MX31_PIN_GPIO1_3),
234 .max_speed_hz = 300000,
237 .platform_data = &moboard_pmic,
242 static int moboard_spi2_cs[] = {
246 static struct spi_imx_master moboard_spi2_master = {
247 .chipselect = moboard_spi2_cs,
248 .num_chipselect = ARRAY_SIZE(moboard_spi2_cs),
251 #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
252 #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
254 static int moboard_sdhc1_get_ro(struct device *dev)
256 return !gpio_get_value(SDHC1_WP);
259 static int moboard_sdhc1_init(struct device *dev, irq_handler_t detect_irq,
264 ret = gpio_request(SDHC1_CD, "sdhc-detect");
268 gpio_direction_input(SDHC1_CD);
270 ret = gpio_request(SDHC1_WP, "sdhc-wp");
273 gpio_direction_input(SDHC1_WP);
275 ret = request_irq(gpio_to_irq(SDHC1_CD), detect_irq,
276 IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
277 "sdhc1-card-detect", data);
279 goto err_gpio_free_2;
291 static void moboard_sdhc1_exit(struct device *dev, void *data)
293 free_irq(gpio_to_irq(SDHC1_CD), data);
298 static struct imxmmc_platform_data sdhc1_pdata = {
299 .get_ro = moboard_sdhc1_get_ro,
300 .init = moboard_sdhc1_init,
301 .exit = moboard_sdhc1_exit,
305 * this pin is dedicated for all mx31moboard systems, so we do it here
307 #define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
308 #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
311 #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
312 #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
314 static void usb_xcvr_reset(void)
316 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
317 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
318 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2, USB_PAD_CFG | PAD_CTL_100K_PD);
319 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3, USB_PAD_CFG | PAD_CTL_100K_PD);
320 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4, USB_PAD_CFG | PAD_CTL_100K_PD);
321 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5, USB_PAD_CFG | PAD_CTL_100K_PD);
322 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6, USB_PAD_CFG | PAD_CTL_100K_PD);
323 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7, USB_PAD_CFG | PAD_CTL_100K_PD);
324 mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
325 mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
326 mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
327 mxc_iomux_set_pad(MX31_PIN_USBOTG_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
329 mxc_iomux_set_gpr(MUX_PGP_UH2, true);
330 mxc_iomux_set_pad(MX31_PIN_USBH2_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
331 mxc_iomux_set_pad(MX31_PIN_USBH2_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
332 mxc_iomux_set_pad(MX31_PIN_USBH2_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
333 mxc_iomux_set_pad(MX31_PIN_USBH2_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
334 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
335 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
336 mxc_iomux_set_pad(MX31_PIN_SRXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
337 mxc_iomux_set_pad(MX31_PIN_STXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
338 mxc_iomux_set_pad(MX31_PIN_SFS3, USB_PAD_CFG | PAD_CTL_100K_PD);
339 mxc_iomux_set_pad(MX31_PIN_SCK3, USB_PAD_CFG | PAD_CTL_100K_PD);
340 mxc_iomux_set_pad(MX31_PIN_SRXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
341 mxc_iomux_set_pad(MX31_PIN_STXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
343 gpio_request(OTG_EN_B, "usb-udc-en");
344 gpio_direction_output(OTG_EN_B, 0);
345 gpio_request(USBH2_EN_B, "usbh2-en");
346 gpio_direction_output(USBH2_EN_B, 0);
348 gpio_request(USB_RESET_B, "usb-reset");
349 gpio_direction_output(USB_RESET_B, 0);
351 gpio_set_value(USB_RESET_B, 1);
355 #if defined(CONFIG_USB_ULPI)
357 static struct mxc_usbh_platform_data usbh2_pdata = {
358 .portsc = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
359 .flags = MXC_EHCI_POWER_PINS_ENABLED,
362 static int __init moboard_usbh2_init(void)
364 usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
365 USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
367 return mxc_register_device(&mxc_usbh2, &usbh2_pdata);
370 static inline int moboard_usbh2_init(void) { return 0; }
374 static struct gpio_led mx31moboard_leds[] = {
376 .name = "coreboard-led-0:red:running",
377 .default_trigger = "heartbeat",
378 .gpio = IOMUX_TO_GPIO(MX31_PIN_SVEN0),
380 .name = "coreboard-led-1:red",
381 .gpio = IOMUX_TO_GPIO(MX31_PIN_STX0),
383 .name = "coreboard-led-2:red",
384 .gpio = IOMUX_TO_GPIO(MX31_PIN_SRX0),
386 .name = "coreboard-led-3:red",
387 .gpio = IOMUX_TO_GPIO(MX31_PIN_SIMPD0),
391 static struct gpio_led_platform_data mx31moboard_led_pdata = {
392 .num_leds = ARRAY_SIZE(mx31moboard_leds),
393 .leds = mx31moboard_leds,
396 static struct platform_device mx31moboard_leds_device = {
400 .platform_data = &mx31moboard_led_pdata,
404 static struct ipu_platform_data mx3_ipu_data = {
405 .irq_base = MXC_IPU_IRQ_START,
408 static struct platform_device *devices[] __initdata = {
410 &mx31moboard_leds_device,
413 static struct mx3_camera_pdata camera_pdata = {
414 .dma_dev = &mx3_ipu.dev,
415 .flags = MX3_CAMERA_DATAWIDTH_8 | MX3_CAMERA_DATAWIDTH_10,
419 #define CAMERA_BUF_SIZE (4*1024*1024)
421 static int __init mx31moboard_cam_alloc_dma(const size_t buf_size)
423 dma_addr_t dma_handle;
427 if (buf_size < 2 * 1024 * 1024)
430 buf = dma_alloc_coherent(NULL, buf_size, &dma_handle, GFP_KERNEL);
432 pr_err("%s: cannot allocate camera buffer-memory\n", __func__);
436 memset(buf, 0, buf_size);
438 dma = dma_declare_coherent_memory(&mx3_camera.dev,
439 dma_handle, dma_handle, buf_size,
440 DMA_MEMORY_MAP | DMA_MEMORY_EXCLUSIVE);
442 /* The way we call dma_declare_coherent_memory only a malloc can fail */
443 return dma & DMA_MEMORY_MAP ? 0 : -ENOMEM;
446 static int mx31moboard_baseboard;
447 core_param(mx31moboard_baseboard, mx31moboard_baseboard, int, 0444);
450 * Board specific initialization.
452 static void __init mxc_board_init(void)
454 mxc_iomux_setup_multiple_pins(moboard_pins, ARRAY_SIZE(moboard_pins),
457 platform_add_devices(devices, ARRAY_SIZE(devices));
459 mxc_register_device(&mxc_uart_device0, &uart0_pdata);
461 mxc_register_device(&mxc_uart_device4, &uart4_pdata);
463 mxc_register_device(&mxc_i2c_device0, &moboard_i2c0_pdata);
464 mxc_register_device(&mxc_i2c_device1, &moboard_i2c1_pdata);
466 mxc_register_device(&mxc_spi_device1, &moboard_spi1_master);
467 mxc_register_device(&mxc_spi_device2, &moboard_spi2_master);
469 gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3), "pmic-irq");
470 gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3));
471 spi_register_board_info(moboard_spi_board_info,
472 ARRAY_SIZE(moboard_spi_board_info));
474 mxc_register_device(&mxcsdhc_device0, &sdhc1_pdata);
476 mxc_register_device(&mx3_ipu, &mx3_ipu_data);
477 if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE))
478 mxc_register_device(&mx3_camera, &camera_pdata);
482 moboard_usbh2_init();
484 switch (mx31moboard_baseboard) {
488 mx31moboard_devboard_init();
491 mx31moboard_marxbot_init();
495 mx31moboard_smartbot_init(mx31moboard_baseboard);
498 printk(KERN_ERR "Illegal mx31moboard_baseboard type %d\n",
499 mx31moboard_baseboard);
503 static void __init mx31moboard_timer_init(void)
505 mx31_clocks_init(26000000);
508 struct sys_timer mx31moboard_timer = {
509 .init = mx31moboard_timer_init,
512 MACHINE_START(MX31MOBOARD, "EPFL Mobots mx31moboard")
513 /* Maintainer: Valentin Longchamp, EPFL Mobots group */
514 .phys_io = MX31_AIPS1_BASE_ADDR,
515 .io_pg_offst = (MX31_AIPS1_BASE_ADDR_VIRT >> 18) & 0xfffc,
516 .boot_params = MX3x_PHYS_OFFSET + 0x100,
517 .map_io = mx31_map_io,
518 .init_irq = mx31_init_irq,
519 .init_machine = mxc_board_init,
520 .timer = &mx31moboard_timer,