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/fsl_devices.h>
22 #include <linux/gfp.h>
23 #include <linux/gpio.h>
24 #include <linux/init.h>
25 #include <linux/interrupt.h>
26 #include <linux/leds.h>
27 #include <linux/memory.h>
28 #include <linux/mtd/physmap.h>
29 #include <linux/mtd/partitions.h>
30 #include <linux/platform_device.h>
31 #include <linux/regulator/machine.h>
32 #include <linux/mfd/mc13783.h>
33 #include <linux/spi/spi.h>
34 #include <linux/types.h>
36 #include <linux/usb/otg.h>
37 #include <linux/usb/ulpi.h>
39 #include <asm/mach-types.h>
40 #include <asm/mach/arch.h>
41 #include <asm/mach/time.h>
42 #include <asm/mach/map.h>
43 #include <mach/board-mx31moboard.h>
44 #include <mach/common.h>
45 #include <mach/hardware.h>
46 #include <mach/imx-uart.h>
47 #include <mach/iomux-mx3.h>
51 #include <mach/mxc_ehci.h>
52 #include <mach/mx3_camera.h>
54 #include <mach/ulpi.h>
58 static unsigned int moboard_pins[] = {
60 MX31_PIN_TXD1__TXD1, MX31_PIN_RXD1__RXD1,
61 MX31_PIN_CTS1__GPIO2_7,
63 MX31_PIN_PC_RST__CTS5, MX31_PIN_PC_VS2__RTS5,
64 MX31_PIN_PC_BVD2__TXD5, MX31_PIN_PC_BVD1__RXD5,
66 MX31_PIN_I2C_DAT__I2C1_SDA, MX31_PIN_I2C_CLK__I2C1_SCL,
68 MX31_PIN_DCD_DTE1__I2C2_SDA, MX31_PIN_RI_DTE1__I2C2_SCL,
70 MX31_PIN_SD1_DATA3__SD1_DATA3, MX31_PIN_SD1_DATA2__SD1_DATA2,
71 MX31_PIN_SD1_DATA1__SD1_DATA1, MX31_PIN_SD1_DATA0__SD1_DATA0,
72 MX31_PIN_SD1_CLK__SD1_CLK, MX31_PIN_SD1_CMD__SD1_CMD,
73 MX31_PIN_ATA_CS0__GPIO3_26, MX31_PIN_ATA_CS1__GPIO3_27,
75 MX31_PIN_GPIO1_0__GPIO1_0,
77 MX31_PIN_USBOTG_DATA0__USBOTG_DATA0,
78 MX31_PIN_USBOTG_DATA1__USBOTG_DATA1,
79 MX31_PIN_USBOTG_DATA2__USBOTG_DATA2,
80 MX31_PIN_USBOTG_DATA3__USBOTG_DATA3,
81 MX31_PIN_USBOTG_DATA4__USBOTG_DATA4,
82 MX31_PIN_USBOTG_DATA5__USBOTG_DATA5,
83 MX31_PIN_USBOTG_DATA6__USBOTG_DATA6,
84 MX31_PIN_USBOTG_DATA7__USBOTG_DATA7,
85 MX31_PIN_USBOTG_CLK__USBOTG_CLK, MX31_PIN_USBOTG_DIR__USBOTG_DIR,
86 MX31_PIN_USBOTG_NXT__USBOTG_NXT, MX31_PIN_USBOTG_STP__USBOTG_STP,
87 MX31_PIN_USB_OC__GPIO1_30,
89 MX31_PIN_USBH2_DATA0__USBH2_DATA0,
90 MX31_PIN_USBH2_DATA1__USBH2_DATA1,
91 MX31_PIN_STXD3__USBH2_DATA2, MX31_PIN_SRXD3__USBH2_DATA3,
92 MX31_PIN_SCK3__USBH2_DATA4, MX31_PIN_SFS3__USBH2_DATA5,
93 MX31_PIN_STXD6__USBH2_DATA6, MX31_PIN_SRXD6__USBH2_DATA7,
94 MX31_PIN_USBH2_CLK__USBH2_CLK, MX31_PIN_USBH2_DIR__USBH2_DIR,
95 MX31_PIN_USBH2_NXT__USBH2_NXT, MX31_PIN_USBH2_STP__USBH2_STP,
96 MX31_PIN_SCK6__GPIO1_25,
98 MX31_PIN_SVEN0__GPIO2_0, MX31_PIN_STX0__GPIO2_1,
99 MX31_PIN_SRX0__GPIO2_2, MX31_PIN_SIMPD0__GPIO2_3,
101 MX31_PIN_CSPI2_MOSI__MOSI, MX31_PIN_CSPI2_MISO__MISO,
102 MX31_PIN_CSPI2_SCLK__SCLK, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY,
103 MX31_PIN_CSPI2_SS0__SS0, MX31_PIN_CSPI2_SS2__SS2,
105 MX31_PIN_GPIO1_3__GPIO1_3,
107 MX31_PIN_CSPI3_MOSI__MOSI, MX31_PIN_CSPI3_MISO__MISO,
108 MX31_PIN_CSPI3_SCLK__SCLK, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY,
109 MX31_PIN_CSPI2_SS1__CSPI3_SS1,
112 static struct physmap_flash_data mx31moboard_flash_data = {
116 static struct resource mx31moboard_flash_resource = {
119 .flags = IORESOURCE_MEM,
122 static struct platform_device mx31moboard_flash = {
123 .name = "physmap-flash",
126 .platform_data = &mx31moboard_flash_data,
128 .resource = &mx31moboard_flash_resource,
132 static int moboard_uart0_init(struct platform_device *pdev)
134 gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1), "uart0-cts-hack");
135 gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1), 0);
139 static struct imxuart_platform_data uart0_pdata = {
140 .init = moboard_uart0_init,
143 static struct imxuart_platform_data uart4_pdata = {
144 .flags = IMXUART_HAVE_RTSCTS,
147 static struct imxi2c_platform_data moboard_i2c0_pdata = {
151 static struct imxi2c_platform_data moboard_i2c1_pdata = {
155 static int moboard_spi1_cs[] = {
160 static struct spi_imx_master moboard_spi1_master = {
161 .chipselect = moboard_spi1_cs,
162 .num_chipselect = ARRAY_SIZE(moboard_spi1_cs),
165 static struct regulator_consumer_supply sdhc_consumers[] = {
167 .dev = &mxcsdhc_device0.dev,
168 .supply = "sdhc0_vcc",
171 .dev = &mxcsdhc_device1.dev,
172 .supply = "sdhc1_vcc",
176 static struct regulator_init_data sdhc_vreg_data = {
180 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
181 REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
182 .valid_modes_mask = REGULATOR_MODE_NORMAL |
187 .num_consumer_supplies = ARRAY_SIZE(sdhc_consumers),
188 .consumer_supplies = sdhc_consumers,
191 static struct regulator_consumer_supply cam_consumers[] = {
193 .dev = &mx3_camera.dev,
198 static struct regulator_init_data cam_vreg_data = {
202 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
203 REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
204 .valid_modes_mask = REGULATOR_MODE_NORMAL |
209 .num_consumer_supplies = ARRAY_SIZE(cam_consumers),
210 .consumer_supplies = cam_consumers,
213 static struct mc13783_regulator_init_data moboard_regulators[] = {
215 .id = MC13783_REGU_VMMC1,
216 .init_data = &sdhc_vreg_data,
219 .id = MC13783_REGU_VCAM,
220 .init_data = &cam_vreg_data,
224 static struct mc13783_platform_data moboard_pmic = {
225 .regulators = moboard_regulators,
226 .num_regulators = ARRAY_SIZE(moboard_regulators),
227 .flags = MC13783_USE_REGULATOR | MC13783_USE_RTC |
231 static struct spi_board_info moboard_spi_board_info[] __initdata = {
233 .modalias = "mc13783",
234 .irq = IOMUX_TO_IRQ(MX31_PIN_GPIO1_3),
235 .max_speed_hz = 300000,
238 .platform_data = &moboard_pmic,
243 static int moboard_spi2_cs[] = {
247 static struct spi_imx_master moboard_spi2_master = {
248 .chipselect = moboard_spi2_cs,
249 .num_chipselect = ARRAY_SIZE(moboard_spi2_cs),
252 #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
253 #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
255 static int moboard_sdhc1_get_ro(struct device *dev)
257 return !gpio_get_value(SDHC1_WP);
260 static int moboard_sdhc1_init(struct device *dev, irq_handler_t detect_irq,
265 ret = gpio_request(SDHC1_CD, "sdhc-detect");
269 gpio_direction_input(SDHC1_CD);
271 ret = gpio_request(SDHC1_WP, "sdhc-wp");
274 gpio_direction_input(SDHC1_WP);
276 ret = request_irq(gpio_to_irq(SDHC1_CD), detect_irq,
277 IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
278 "sdhc1-card-detect", data);
280 goto err_gpio_free_2;
292 static void moboard_sdhc1_exit(struct device *dev, void *data)
294 free_irq(gpio_to_irq(SDHC1_CD), data);
299 static struct imxmmc_platform_data sdhc1_pdata = {
300 .get_ro = moboard_sdhc1_get_ro,
301 .init = moboard_sdhc1_init,
302 .exit = moboard_sdhc1_exit,
306 * this pin is dedicated for all mx31moboard systems, so we do it here
308 #define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
310 static void usb_xcvr_reset(void)
312 gpio_request(USB_RESET_B, "usb-reset");
313 gpio_direction_output(USB_RESET_B, 0);
315 gpio_set_value(USB_RESET_B, 1);
318 #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
319 PAD_CTL_ODE_CMOS | PAD_CTL_100K_PU)
321 #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
323 static void moboard_usbotg_init(void)
325 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0, USB_PAD_CFG);
326 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1, USB_PAD_CFG);
327 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2, USB_PAD_CFG);
328 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3, USB_PAD_CFG);
329 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4, USB_PAD_CFG);
330 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5, USB_PAD_CFG);
331 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6, USB_PAD_CFG);
332 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7, USB_PAD_CFG);
333 mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK, USB_PAD_CFG);
334 mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR, USB_PAD_CFG);
335 mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT, USB_PAD_CFG);
336 mxc_iomux_set_pad(MX31_PIN_USBOTG_STP, USB_PAD_CFG);
338 gpio_request(OTG_EN_B, "usb-udc-en");
339 gpio_direction_output(OTG_EN_B, 0);
342 static struct fsl_usb2_platform_data usb_pdata = {
343 .operating_mode = FSL_USB2_DR_DEVICE,
344 .phy_mode = FSL_USB2_PHY_ULPI,
347 #if defined(CONFIG_USB_ULPI)
349 #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
351 static int moboard_usbh2_hw_init(struct platform_device *pdev)
355 mxc_iomux_set_gpr(MUX_PGP_UH2, true);
357 mxc_iomux_set_pad(MX31_PIN_USBH2_CLK, USB_PAD_CFG);
358 mxc_iomux_set_pad(MX31_PIN_USBH2_DIR, USB_PAD_CFG);
359 mxc_iomux_set_pad(MX31_PIN_USBH2_NXT, USB_PAD_CFG);
360 mxc_iomux_set_pad(MX31_PIN_USBH2_STP, USB_PAD_CFG);
361 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0, USB_PAD_CFG);
362 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1, USB_PAD_CFG);
363 mxc_iomux_set_pad(MX31_PIN_SRXD6, USB_PAD_CFG);
364 mxc_iomux_set_pad(MX31_PIN_STXD6, USB_PAD_CFG);
365 mxc_iomux_set_pad(MX31_PIN_SFS3, USB_PAD_CFG);
366 mxc_iomux_set_pad(MX31_PIN_SCK3, USB_PAD_CFG);
367 mxc_iomux_set_pad(MX31_PIN_SRXD3, USB_PAD_CFG);
368 mxc_iomux_set_pad(MX31_PIN_STXD3, USB_PAD_CFG);
370 ret = gpio_request(USBH2_EN_B, "usbh2-en");
373 gpio_direction_output(USBH2_EN_B, 0);
378 static int moboard_usbh2_hw_exit(struct platform_device *pdev)
380 gpio_free(USBH2_EN_B);
384 static struct mxc_usbh_platform_data usbh2_pdata = {
385 .init = moboard_usbh2_hw_init,
386 .exit = moboard_usbh2_hw_exit,
387 .portsc = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
388 .flags = MXC_EHCI_POWER_PINS_ENABLED,
391 static int __init moboard_usbh2_init(void)
393 usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
394 USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_EXT);
396 return mxc_register_device(&mxc_usbh2, &usbh2_pdata);
399 static inline int moboard_usbh2_init(void) { return 0; }
403 static struct gpio_led mx31moboard_leds[] = {
405 .name = "coreboard-led-0:red:running",
406 .default_trigger = "heartbeat",
407 .gpio = IOMUX_TO_GPIO(MX31_PIN_SVEN0),
409 .name = "coreboard-led-1:red",
410 .gpio = IOMUX_TO_GPIO(MX31_PIN_STX0),
412 .name = "coreboard-led-2:red",
413 .gpio = IOMUX_TO_GPIO(MX31_PIN_SRX0),
415 .name = "coreboard-led-3:red",
416 .gpio = IOMUX_TO_GPIO(MX31_PIN_SIMPD0),
420 static struct gpio_led_platform_data mx31moboard_led_pdata = {
421 .num_leds = ARRAY_SIZE(mx31moboard_leds),
422 .leds = mx31moboard_leds,
425 static struct platform_device mx31moboard_leds_device = {
429 .platform_data = &mx31moboard_led_pdata,
433 static struct ipu_platform_data mx3_ipu_data = {
434 .irq_base = MXC_IPU_IRQ_START,
437 static struct platform_device *devices[] __initdata = {
439 &mx31moboard_leds_device,
442 static struct mx3_camera_pdata camera_pdata = {
443 .dma_dev = &mx3_ipu.dev,
444 .flags = MX3_CAMERA_DATAWIDTH_8 | MX3_CAMERA_DATAWIDTH_10,
448 #define CAMERA_BUF_SIZE (4*1024*1024)
450 static int __init mx31moboard_cam_alloc_dma(const size_t buf_size)
452 dma_addr_t dma_handle;
456 if (buf_size < 2 * 1024 * 1024)
459 buf = dma_alloc_coherent(NULL, buf_size, &dma_handle, GFP_KERNEL);
461 pr_err("%s: cannot allocate camera buffer-memory\n", __func__);
465 memset(buf, 0, buf_size);
467 dma = dma_declare_coherent_memory(&mx3_camera.dev,
468 dma_handle, dma_handle, buf_size,
469 DMA_MEMORY_MAP | DMA_MEMORY_EXCLUSIVE);
471 /* The way we call dma_declare_coherent_memory only a malloc can fail */
472 return dma & DMA_MEMORY_MAP ? 0 : -ENOMEM;
475 static int mx31moboard_baseboard;
476 core_param(mx31moboard_baseboard, mx31moboard_baseboard, int, 0444);
479 * Board specific initialization.
481 static void __init mxc_board_init(void)
483 mxc_iomux_setup_multiple_pins(moboard_pins, ARRAY_SIZE(moboard_pins),
486 platform_add_devices(devices, ARRAY_SIZE(devices));
488 mxc_register_device(&mxc_uart_device0, &uart0_pdata);
490 mxc_register_device(&mxc_uart_device4, &uart4_pdata);
492 mxc_register_device(&mxc_i2c_device0, &moboard_i2c0_pdata);
493 mxc_register_device(&mxc_i2c_device1, &moboard_i2c1_pdata);
495 mxc_register_device(&mxc_spi_device1, &moboard_spi1_master);
496 mxc_register_device(&mxc_spi_device2, &moboard_spi2_master);
498 gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3), "pmic-irq");
499 gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3));
500 spi_register_board_info(moboard_spi_board_info,
501 ARRAY_SIZE(moboard_spi_board_info));
503 mxc_register_device(&mxcsdhc_device0, &sdhc1_pdata);
505 mxc_register_device(&mx3_ipu, &mx3_ipu_data);
506 if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE))
507 mxc_register_device(&mx3_camera, &camera_pdata);
511 moboard_usbotg_init();
512 mxc_register_device(&mxc_otg_udc_device, &usb_pdata);
513 moboard_usbh2_init();
515 switch (mx31moboard_baseboard) {
519 mx31moboard_devboard_init();
522 mx31moboard_marxbot_init();
525 mx31moboard_smartbot_init();
528 printk(KERN_ERR "Illegal mx31moboard_baseboard type %d\n",
529 mx31moboard_baseboard);
533 static void __init mx31moboard_timer_init(void)
535 mx31_clocks_init(26000000);
538 struct sys_timer mx31moboard_timer = {
539 .init = mx31moboard_timer_init,
542 MACHINE_START(MX31MOBOARD, "EPFL Mobots mx31moboard")
543 /* Maintainer: Valentin Longchamp, EPFL Mobots group */
544 .phys_io = MX31_AIPS1_BASE_ADDR,
545 .io_pg_offst = (MX31_AIPS1_BASE_ADDR_VIRT >> 18) & 0xfffc,
546 .boot_params = MX3x_PHYS_OFFSET + 0x100,
547 .map_io = mx31_map_io,
548 .init_irq = mx31_init_irq,
549 .init_machine = mxc_board_init,
550 .timer = &mx31moboard_timer,