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.
15 #include <linux/delay.h>
16 #include <linux/dma-mapping.h>
17 #include <linux/gfp.h>
18 #include <linux/gpio.h>
19 #include <linux/init.h>
20 #include <linux/interrupt.h>
21 #include <linux/leds.h>
22 #include <linux/memory.h>
23 #include <linux/mtd/physmap.h>
24 #include <linux/mtd/partitions.h>
25 #include <linux/platform_device.h>
26 #include <linux/regulator/machine.h>
27 #include <linux/mfd/mc13783.h>
28 #include <linux/spi/spi.h>
29 #include <linux/types.h>
31 #include <linux/usb/otg.h>
32 #include <linux/usb/ulpi.h>
34 #include <asm/mach-types.h>
35 #include <asm/mach/arch.h>
36 #include <asm/mach/time.h>
37 #include <asm/mach/map.h>
38 #include <mach/board-mx31moboard.h>
39 #include <mach/common.h>
40 #include <mach/hardware.h>
41 #include <mach/iomux-mx3.h>
44 #include <mach/mxc_ehci.h>
45 #include <mach/mx3_camera.h>
47 #include <mach/ulpi.h>
49 #include "devices-imx31.h"
52 static unsigned int moboard_pins
[] = {
54 MX31_PIN_TXD1__TXD1
, MX31_PIN_RXD1__RXD1
,
55 MX31_PIN_CTS1__GPIO2_7
,
57 MX31_PIN_PC_RST__CTS5
, MX31_PIN_PC_VS2__RTS5
,
58 MX31_PIN_PC_BVD2__TXD5
, MX31_PIN_PC_BVD1__RXD5
,
60 MX31_PIN_I2C_DAT__I2C1_SDA
, MX31_PIN_I2C_CLK__I2C1_SCL
,
62 MX31_PIN_DCD_DTE1__I2C2_SDA
, MX31_PIN_RI_DTE1__I2C2_SCL
,
64 MX31_PIN_SD1_DATA3__SD1_DATA3
, MX31_PIN_SD1_DATA2__SD1_DATA2
,
65 MX31_PIN_SD1_DATA1__SD1_DATA1
, MX31_PIN_SD1_DATA0__SD1_DATA0
,
66 MX31_PIN_SD1_CLK__SD1_CLK
, MX31_PIN_SD1_CMD__SD1_CMD
,
67 MX31_PIN_ATA_CS0__GPIO3_26
, MX31_PIN_ATA_CS1__GPIO3_27
,
69 MX31_PIN_GPIO1_0__GPIO1_0
,
71 MX31_PIN_USBOTG_DATA0__USBOTG_DATA0
,
72 MX31_PIN_USBOTG_DATA1__USBOTG_DATA1
,
73 MX31_PIN_USBOTG_DATA2__USBOTG_DATA2
,
74 MX31_PIN_USBOTG_DATA3__USBOTG_DATA3
,
75 MX31_PIN_USBOTG_DATA4__USBOTG_DATA4
,
76 MX31_PIN_USBOTG_DATA5__USBOTG_DATA5
,
77 MX31_PIN_USBOTG_DATA6__USBOTG_DATA6
,
78 MX31_PIN_USBOTG_DATA7__USBOTG_DATA7
,
79 MX31_PIN_USBOTG_CLK__USBOTG_CLK
, MX31_PIN_USBOTG_DIR__USBOTG_DIR
,
80 MX31_PIN_USBOTG_NXT__USBOTG_NXT
, MX31_PIN_USBOTG_STP__USBOTG_STP
,
81 MX31_PIN_USB_OC__GPIO1_30
,
83 MX31_PIN_USBH2_DATA0__USBH2_DATA0
,
84 MX31_PIN_USBH2_DATA1__USBH2_DATA1
,
85 MX31_PIN_STXD3__USBH2_DATA2
, MX31_PIN_SRXD3__USBH2_DATA3
,
86 MX31_PIN_SCK3__USBH2_DATA4
, MX31_PIN_SFS3__USBH2_DATA5
,
87 MX31_PIN_STXD6__USBH2_DATA6
, MX31_PIN_SRXD6__USBH2_DATA7
,
88 MX31_PIN_USBH2_CLK__USBH2_CLK
, MX31_PIN_USBH2_DIR__USBH2_DIR
,
89 MX31_PIN_USBH2_NXT__USBH2_NXT
, MX31_PIN_USBH2_STP__USBH2_STP
,
90 MX31_PIN_SCK6__GPIO1_25
,
92 MX31_PIN_SVEN0__GPIO2_0
, MX31_PIN_STX0__GPIO2_1
,
93 MX31_PIN_SRX0__GPIO2_2
, MX31_PIN_SIMPD0__GPIO2_3
,
95 MX31_PIN_CSPI2_MOSI__MOSI
, MX31_PIN_CSPI2_MISO__MISO
,
96 MX31_PIN_CSPI2_SCLK__SCLK
, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY
,
97 MX31_PIN_CSPI2_SS0__SS0
, MX31_PIN_CSPI2_SS2__SS2
,
99 MX31_PIN_GPIO1_3__GPIO1_3
,
101 MX31_PIN_CSPI3_MOSI__MOSI
, MX31_PIN_CSPI3_MISO__MISO
,
102 MX31_PIN_CSPI3_SCLK__SCLK
, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY
,
103 MX31_PIN_CSPI2_SS1__CSPI3_SS1
,
106 static struct physmap_flash_data mx31moboard_flash_data
= {
110 static struct resource mx31moboard_flash_resource
= {
113 .flags
= IORESOURCE_MEM
,
116 static struct platform_device mx31moboard_flash
= {
117 .name
= "physmap-flash",
120 .platform_data
= &mx31moboard_flash_data
,
122 .resource
= &mx31moboard_flash_resource
,
126 static int moboard_uart0_init(struct platform_device
*pdev
)
128 int ret
= gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1
), "uart0-cts-hack");
132 ret
= gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1
), 0);
134 gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1
));
139 static void moboard_uart0_exit(struct platform_device
*pdev
)
141 gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1
));
144 static const struct imxuart_platform_data uart0_pdata __initconst
= {
145 .init
= moboard_uart0_init
,
146 .exit
= moboard_uart0_exit
,
149 static const struct imxuart_platform_data uart4_pdata __initconst
= {
150 .flags
= IMXUART_HAVE_RTSCTS
,
153 static const struct imxi2c_platform_data moboard_i2c0_data __initconst
= {
157 static const struct imxi2c_platform_data moboard_i2c1_data __initconst
= {
161 static int moboard_spi1_cs
[] = {
166 static const struct spi_imx_master moboard_spi1_pdata __initconst
= {
167 .chipselect
= moboard_spi1_cs
,
168 .num_chipselect
= ARRAY_SIZE(moboard_spi1_cs
),
171 static struct regulator_consumer_supply sdhc_consumers
[] = {
173 .dev
= &mxcsdhc_device0
.dev
,
174 .supply
= "sdhc0_vcc",
177 .dev
= &mxcsdhc_device1
.dev
,
178 .supply
= "sdhc1_vcc",
182 static struct regulator_init_data sdhc_vreg_data
= {
186 .valid_ops_mask
= REGULATOR_CHANGE_VOLTAGE
|
187 REGULATOR_CHANGE_MODE
| REGULATOR_CHANGE_STATUS
,
188 .valid_modes_mask
= REGULATOR_MODE_NORMAL
|
193 .num_consumer_supplies
= ARRAY_SIZE(sdhc_consumers
),
194 .consumer_supplies
= sdhc_consumers
,
197 static struct regulator_consumer_supply cam_consumers
[] = {
199 .dev
= &mx3_camera
.dev
,
204 static struct regulator_init_data cam_vreg_data
= {
208 .valid_ops_mask
= REGULATOR_CHANGE_VOLTAGE
|
209 REGULATOR_CHANGE_MODE
| REGULATOR_CHANGE_STATUS
,
210 .valid_modes_mask
= REGULATOR_MODE_NORMAL
|
215 .num_consumer_supplies
= ARRAY_SIZE(cam_consumers
),
216 .consumer_supplies
= cam_consumers
,
219 static struct mc13783_regulator_init_data moboard_regulators
[] = {
221 .id
= MC13783_REGU_VMMC1
,
222 .init_data
= &sdhc_vreg_data
,
225 .id
= MC13783_REGU_VCAM
,
226 .init_data
= &cam_vreg_data
,
230 static struct mc13783_led_platform_data moboard_led
[] = {
232 .id
= MC13783_LED_R1
,
233 .name
= "coreboard-led-4:red",
237 .id
= MC13783_LED_G1
,
238 .name
= "coreboard-led-4:green",
242 .id
= MC13783_LED_B1
,
243 .name
= "coreboard-led-4:blue",
247 .id
= MC13783_LED_R2
,
248 .name
= "coreboard-led-5:red",
252 .id
= MC13783_LED_G2
,
253 .name
= "coreboard-led-5:green",
257 .id
= MC13783_LED_B2
,
258 .name
= "coreboard-led-5:blue",
263 static struct mc13783_leds_platform_data moboard_leds
= {
264 .num_leds
= ARRAY_SIZE(moboard_led
),
266 .flags
= MC13783_LED_SLEWLIMTC
,
267 .abmode
= MC13783_LED_AB_DISABLED
,
268 .tc1_period
= MC13783_LED_PERIOD_10MS
,
269 .tc2_period
= MC13783_LED_PERIOD_10MS
,
272 static struct mc13783_platform_data moboard_pmic
= {
273 .regulators
= moboard_regulators
,
274 .num_regulators
= ARRAY_SIZE(moboard_regulators
),
275 .leds
= &moboard_leds
,
276 .flags
= MC13783_USE_REGULATOR
| MC13783_USE_RTC
|
277 MC13783_USE_ADC
| MC13783_USE_LED
,
280 static struct spi_board_info moboard_spi_board_info
[] __initdata
= {
282 .modalias
= "mc13783",
283 .irq
= IOMUX_TO_IRQ(MX31_PIN_GPIO1_3
),
284 .max_speed_hz
= 300000,
287 .platform_data
= &moboard_pmic
,
292 static int moboard_spi2_cs
[] = {
296 static const struct spi_imx_master moboard_spi2_pdata __initconst
= {
297 .chipselect
= moboard_spi2_cs
,
298 .num_chipselect
= ARRAY_SIZE(moboard_spi2_cs
),
301 #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
302 #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
304 static int moboard_sdhc1_get_ro(struct device
*dev
)
306 return !gpio_get_value(SDHC1_WP
);
309 static int moboard_sdhc1_init(struct device
*dev
, irq_handler_t detect_irq
,
314 ret
= gpio_request(SDHC1_CD
, "sdhc-detect");
318 gpio_direction_input(SDHC1_CD
);
320 ret
= gpio_request(SDHC1_WP
, "sdhc-wp");
323 gpio_direction_input(SDHC1_WP
);
325 ret
= request_irq(gpio_to_irq(SDHC1_CD
), detect_irq
,
326 IRQF_TRIGGER_RISING
| IRQF_TRIGGER_FALLING
,
327 "sdhc1-card-detect", data
);
329 goto err_gpio_free_2
;
341 static void moboard_sdhc1_exit(struct device
*dev
, void *data
)
343 free_irq(gpio_to_irq(SDHC1_CD
), data
);
348 static struct imxmmc_platform_data sdhc1_pdata
= {
349 .get_ro
= moboard_sdhc1_get_ro
,
350 .init
= moboard_sdhc1_init
,
351 .exit
= moboard_sdhc1_exit
,
355 * this pin is dedicated for all mx31moboard systems, so we do it here
357 #define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
358 #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
361 #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
362 #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
364 static void usb_xcvr_reset(void)
366 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
367 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
368 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
369 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
370 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
371 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
372 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
373 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
374 mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
375 mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
376 mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
377 mxc_iomux_set_pad(MX31_PIN_USBOTG_STP
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
379 mxc_iomux_set_gpr(MUX_PGP_UH2
, true);
380 mxc_iomux_set_pad(MX31_PIN_USBH2_CLK
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
381 mxc_iomux_set_pad(MX31_PIN_USBH2_DIR
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
382 mxc_iomux_set_pad(MX31_PIN_USBH2_NXT
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
383 mxc_iomux_set_pad(MX31_PIN_USBH2_STP
, USB_PAD_CFG
| PAD_CTL_100K_PU
);
384 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
385 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
386 mxc_iomux_set_pad(MX31_PIN_SRXD6
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
387 mxc_iomux_set_pad(MX31_PIN_STXD6
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
388 mxc_iomux_set_pad(MX31_PIN_SFS3
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
389 mxc_iomux_set_pad(MX31_PIN_SCK3
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
390 mxc_iomux_set_pad(MX31_PIN_SRXD3
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
391 mxc_iomux_set_pad(MX31_PIN_STXD3
, USB_PAD_CFG
| PAD_CTL_100K_PD
);
393 gpio_request(OTG_EN_B
, "usb-udc-en");
394 gpio_direction_output(OTG_EN_B
, 0);
395 gpio_request(USBH2_EN_B
, "usbh2-en");
396 gpio_direction_output(USBH2_EN_B
, 0);
398 gpio_request(USB_RESET_B
, "usb-reset");
399 gpio_direction_output(USB_RESET_B
, 0);
401 gpio_set_value(USB_RESET_B
, 1);
405 #if defined(CONFIG_USB_ULPI)
407 static struct mxc_usbh_platform_data usbh2_pdata
= {
408 .portsc
= MXC_EHCI_MODE_ULPI
| MXC_EHCI_UTMI_8BIT
,
409 .flags
= MXC_EHCI_POWER_PINS_ENABLED
,
412 static int __init
moboard_usbh2_init(void)
414 usbh2_pdata
.otg
= otg_ulpi_create(&mxc_ulpi_access_ops
,
415 ULPI_OTG_DRVVBUS
| ULPI_OTG_DRVVBUS_EXT
);
417 return mxc_register_device(&mxc_usbh2
, &usbh2_pdata
);
420 static inline int moboard_usbh2_init(void) { return 0; }
424 static struct gpio_led mx31moboard_leds
[] = {
426 .name
= "coreboard-led-0:red:running",
427 .default_trigger
= "heartbeat",
428 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SVEN0
),
430 .name
= "coreboard-led-1:red",
431 .gpio
= IOMUX_TO_GPIO(MX31_PIN_STX0
),
433 .name
= "coreboard-led-2:red",
434 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SRX0
),
436 .name
= "coreboard-led-3:red",
437 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SIMPD0
),
441 static struct gpio_led_platform_data mx31moboard_led_pdata
= {
442 .num_leds
= ARRAY_SIZE(mx31moboard_leds
),
443 .leds
= mx31moboard_leds
,
446 static struct platform_device mx31moboard_leds_device
= {
450 .platform_data
= &mx31moboard_led_pdata
,
454 static struct ipu_platform_data mx3_ipu_data
= {
455 .irq_base
= MXC_IPU_IRQ_START
,
458 static struct platform_device
*devices
[] __initdata
= {
460 &mx31moboard_leds_device
,
463 static struct mx3_camera_pdata camera_pdata
= {
464 .dma_dev
= &mx3_ipu
.dev
,
465 .flags
= MX3_CAMERA_DATAWIDTH_8
| MX3_CAMERA_DATAWIDTH_10
,
469 #define CAMERA_BUF_SIZE (4*1024*1024)
471 static int __init
mx31moboard_cam_alloc_dma(const size_t buf_size
)
473 dma_addr_t dma_handle
;
477 if (buf_size
< 2 * 1024 * 1024)
480 buf
= dma_alloc_coherent(NULL
, buf_size
, &dma_handle
, GFP_KERNEL
);
482 pr_err("%s: cannot allocate camera buffer-memory\n", __func__
);
486 memset(buf
, 0, buf_size
);
488 dma
= dma_declare_coherent_memory(&mx3_camera
.dev
,
489 dma_handle
, dma_handle
, buf_size
,
490 DMA_MEMORY_MAP
| DMA_MEMORY_EXCLUSIVE
);
492 /* The way we call dma_declare_coherent_memory only a malloc can fail */
493 return dma
& DMA_MEMORY_MAP
? 0 : -ENOMEM
;
496 static int mx31moboard_baseboard
;
497 core_param(mx31moboard_baseboard
, mx31moboard_baseboard
, int, 0444);
500 * Board specific initialization.
502 static void __init
mxc_board_init(void)
504 mxc_iomux_setup_multiple_pins(moboard_pins
, ARRAY_SIZE(moboard_pins
),
507 platform_add_devices(devices
, ARRAY_SIZE(devices
));
509 imx31_add_imx_uart0(&uart0_pdata
);
510 imx31_add_imx_uart4(&uart4_pdata
);
512 imx31_add_imx_i2c0(&moboard_i2c0_data
);
513 imx31_add_imx_i2c1(&moboard_i2c1_data
);
515 imx31_add_spi_imx1(&moboard_spi1_pdata
);
516 imx31_add_spi_imx2(&moboard_spi2_pdata
);
518 gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3
), "pmic-irq");
519 gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3
));
520 spi_register_board_info(moboard_spi_board_info
,
521 ARRAY_SIZE(moboard_spi_board_info
));
523 mxc_register_device(&mxcsdhc_device0
, &sdhc1_pdata
);
525 mxc_register_device(&mx3_ipu
, &mx3_ipu_data
);
526 if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE
))
527 mxc_register_device(&mx3_camera
, &camera_pdata
);
531 moboard_usbh2_init();
533 switch (mx31moboard_baseboard
) {
537 mx31moboard_devboard_init();
540 mx31moboard_marxbot_init();
544 mx31moboard_smartbot_init(mx31moboard_baseboard
);
547 printk(KERN_ERR
"Illegal mx31moboard_baseboard type %d\n",
548 mx31moboard_baseboard
);
552 static void __init
mx31moboard_timer_init(void)
554 mx31_clocks_init(26000000);
557 struct sys_timer mx31moboard_timer
= {
558 .init
= mx31moboard_timer_init
,
561 MACHINE_START(MX31MOBOARD
, "EPFL Mobots mx31moboard")
562 /* Maintainer: Valentin Longchamp, EPFL Mobots group */
563 .boot_params
= MX3x_PHYS_OFFSET
+ 0x100,
564 .map_io
= mx31_map_io
,
565 .init_irq
= mx31_init_irq
,
566 .init_machine
= mxc_board_init
,
567 .timer
= &mx31moboard_timer
,