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/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_DTR_DCE1__GPIO2_8
, MX31_PIN_DSR_DCE1__GPIO2_9
,
101 MX31_PIN_RI_DCE1__GPIO2_10
, MX31_PIN_DCD_DCE1__GPIO2_11
,
103 MX31_PIN_CSPI2_MOSI__MOSI
, MX31_PIN_CSPI2_MISO__MISO
,
104 MX31_PIN_CSPI2_SCLK__SCLK
, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY
,
105 MX31_PIN_CSPI2_SS0__SS0
, MX31_PIN_CSPI2_SS2__SS2
,
107 MX31_PIN_GPIO1_3__GPIO1_3
,
109 MX31_PIN_CSPI3_MOSI__MOSI
, MX31_PIN_CSPI3_MISO__MISO
,
110 MX31_PIN_CSPI3_SCLK__SCLK
, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY
,
111 MX31_PIN_CSPI2_SS1__CSPI3_SS1
,
114 static struct physmap_flash_data mx31moboard_flash_data
= {
118 static struct resource mx31moboard_flash_resource
= {
121 .flags
= IORESOURCE_MEM
,
124 static struct platform_device mx31moboard_flash
= {
125 .name
= "physmap-flash",
128 .platform_data
= &mx31moboard_flash_data
,
130 .resource
= &mx31moboard_flash_resource
,
134 static int moboard_uart0_init(struct platform_device
*pdev
)
136 gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1
), "uart0-cts-hack");
137 gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1
), 0);
141 static struct imxuart_platform_data uart0_pdata
= {
142 .init
= moboard_uart0_init
,
145 static struct imxuart_platform_data uart4_pdata
= {
146 .flags
= IMXUART_HAVE_RTSCTS
,
149 static struct imxi2c_platform_data moboard_i2c0_pdata
= {
153 static struct imxi2c_platform_data moboard_i2c1_pdata
= {
157 static int moboard_spi1_cs
[] = {
162 static struct spi_imx_master moboard_spi1_master
= {
163 .chipselect
= moboard_spi1_cs
,
164 .num_chipselect
= ARRAY_SIZE(moboard_spi1_cs
),
167 static struct regulator_consumer_supply sdhc_consumers
[] = {
169 .dev
= &mxcsdhc_device0
.dev
,
170 .supply
= "sdhc0_vcc",
173 .dev
= &mxcsdhc_device1
.dev
,
174 .supply
= "sdhc1_vcc",
178 static struct regulator_init_data sdhc_vreg_data
= {
182 .valid_ops_mask
= REGULATOR_CHANGE_VOLTAGE
|
183 REGULATOR_CHANGE_MODE
| REGULATOR_CHANGE_STATUS
,
184 .valid_modes_mask
= REGULATOR_MODE_NORMAL
|
189 .num_consumer_supplies
= ARRAY_SIZE(sdhc_consumers
),
190 .consumer_supplies
= sdhc_consumers
,
193 static struct regulator_consumer_supply cam_consumers
[] = {
195 .dev
= &mx3_camera
.dev
,
200 static struct regulator_init_data cam_vreg_data
= {
204 .valid_ops_mask
= REGULATOR_CHANGE_VOLTAGE
|
205 REGULATOR_CHANGE_MODE
| REGULATOR_CHANGE_STATUS
,
206 .valid_modes_mask
= REGULATOR_MODE_NORMAL
|
211 .num_consumer_supplies
= ARRAY_SIZE(cam_consumers
),
212 .consumer_supplies
= cam_consumers
,
215 static struct mc13783_regulator_init_data moboard_regulators
[] = {
217 .id
= MC13783_REGU_VMMC1
,
218 .init_data
= &sdhc_vreg_data
,
221 .id
= MC13783_REGU_VCAM
,
222 .init_data
= &cam_vreg_data
,
226 static struct mc13783_platform_data moboard_pmic
= {
227 .regulators
= moboard_regulators
,
228 .num_regulators
= ARRAY_SIZE(moboard_regulators
),
229 .flags
= MC13783_USE_REGULATOR
| MC13783_USE_RTC
|
233 static struct spi_board_info moboard_spi_board_info
[] __initdata
= {
235 .modalias
= "mc13783",
236 .irq
= IOMUX_TO_IRQ(MX31_PIN_GPIO1_3
),
237 .max_speed_hz
= 300000,
240 .platform_data
= &moboard_pmic
,
245 static int moboard_spi2_cs
[] = {
249 static struct spi_imx_master moboard_spi2_master
= {
250 .chipselect
= moboard_spi2_cs
,
251 .num_chipselect
= ARRAY_SIZE(moboard_spi2_cs
),
254 #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
255 #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
257 static int moboard_sdhc1_get_ro(struct device
*dev
)
259 return !gpio_get_value(SDHC1_WP
);
262 static int moboard_sdhc1_init(struct device
*dev
, irq_handler_t detect_irq
,
267 ret
= gpio_request(SDHC1_CD
, "sdhc-detect");
271 gpio_direction_input(SDHC1_CD
);
273 ret
= gpio_request(SDHC1_WP
, "sdhc-wp");
276 gpio_direction_input(SDHC1_WP
);
278 ret
= request_irq(gpio_to_irq(SDHC1_CD
), detect_irq
,
279 IRQF_TRIGGER_RISING
| IRQF_TRIGGER_FALLING
,
280 "sdhc1-card-detect", data
);
282 goto err_gpio_free_2
;
294 static void moboard_sdhc1_exit(struct device
*dev
, void *data
)
296 free_irq(gpio_to_irq(SDHC1_CD
), data
);
301 static struct imxmmc_platform_data sdhc1_pdata
= {
302 .get_ro
= moboard_sdhc1_get_ro
,
303 .init
= moboard_sdhc1_init
,
304 .exit
= moboard_sdhc1_exit
,
308 * this pin is dedicated for all mx31moboard systems, so we do it here
310 #define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
312 static void usb_xcvr_reset(void)
314 gpio_request(USB_RESET_B
, "usb-reset");
315 gpio_direction_output(USB_RESET_B
, 0);
317 gpio_set_value(USB_RESET_B
, 1);
320 #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
321 PAD_CTL_ODE_CMOS | PAD_CTL_100K_PU)
323 #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
325 static void moboard_usbotg_init(void)
327 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0
, USB_PAD_CFG
);
328 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1
, USB_PAD_CFG
);
329 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2
, USB_PAD_CFG
);
330 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3
, USB_PAD_CFG
);
331 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4
, USB_PAD_CFG
);
332 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5
, USB_PAD_CFG
);
333 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6
, USB_PAD_CFG
);
334 mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7
, USB_PAD_CFG
);
335 mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK
, USB_PAD_CFG
);
336 mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR
, USB_PAD_CFG
);
337 mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT
, USB_PAD_CFG
);
338 mxc_iomux_set_pad(MX31_PIN_USBOTG_STP
, USB_PAD_CFG
);
340 gpio_request(OTG_EN_B
, "usb-udc-en");
341 gpio_direction_output(OTG_EN_B
, 0);
344 static struct fsl_usb2_platform_data usb_pdata
= {
345 .operating_mode
= FSL_USB2_DR_DEVICE
,
346 .phy_mode
= FSL_USB2_PHY_ULPI
,
349 #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
351 static int moboard_usbh2_hw_init(struct platform_device
*pdev
)
353 int ret
= gpio_request(USBH2_EN_B
, "usbh2-en");
357 mxc_iomux_set_gpr(MUX_PGP_UH2
, true);
359 mxc_iomux_set_pad(MX31_PIN_USBH2_CLK
, USB_PAD_CFG
);
360 mxc_iomux_set_pad(MX31_PIN_USBH2_DIR
, USB_PAD_CFG
);
361 mxc_iomux_set_pad(MX31_PIN_USBH2_NXT
, USB_PAD_CFG
);
362 mxc_iomux_set_pad(MX31_PIN_USBH2_STP
, USB_PAD_CFG
);
363 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0
, USB_PAD_CFG
);
364 mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1
, USB_PAD_CFG
);
365 mxc_iomux_set_pad(MX31_PIN_SRXD6
, USB_PAD_CFG
);
366 mxc_iomux_set_pad(MX31_PIN_STXD6
, USB_PAD_CFG
);
367 mxc_iomux_set_pad(MX31_PIN_SFS3
, USB_PAD_CFG
);
368 mxc_iomux_set_pad(MX31_PIN_SCK3
, USB_PAD_CFG
);
369 mxc_iomux_set_pad(MX31_PIN_SRXD3
, USB_PAD_CFG
);
370 mxc_iomux_set_pad(MX31_PIN_STXD3
, USB_PAD_CFG
);
372 gpio_direction_output(USBH2_EN_B
, 0);
377 static int moboard_usbh2_hw_exit(struct platform_device
*pdev
)
379 gpio_free(USBH2_EN_B
);
383 static struct mxc_usbh_platform_data usbh2_pdata
= {
384 .init
= moboard_usbh2_hw_init
,
385 .exit
= moboard_usbh2_hw_exit
,
386 .portsc
= MXC_EHCI_MODE_ULPI
| MXC_EHCI_UTMI_8BIT
,
387 .flags
= MXC_EHCI_POWER_PINS_ENABLED
,
390 static int __init
moboard_usbh2_init(void)
392 usbh2_pdata
.otg
= otg_ulpi_create(&mxc_ulpi_access_ops
,
393 USB_OTG_DRV_VBUS
| USB_OTG_DRV_VBUS_EXT
);
395 return mxc_register_device(&mx31_usbh2
, &usbh2_pdata
);
399 static struct gpio_led mx31moboard_leds
[] = {
401 .name
= "coreboard-led-0:red:running",
402 .default_trigger
= "heartbeat",
403 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SVEN0
),
405 .name
= "coreboard-led-1:red",
406 .gpio
= IOMUX_TO_GPIO(MX31_PIN_STX0
),
408 .name
= "coreboard-led-2:red",
409 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SRX0
),
411 .name
= "coreboard-led-3:red",
412 .gpio
= IOMUX_TO_GPIO(MX31_PIN_SIMPD0
),
416 static struct gpio_led_platform_data mx31moboard_led_pdata
= {
417 .num_leds
= ARRAY_SIZE(mx31moboard_leds
),
418 .leds
= mx31moboard_leds
,
421 static struct platform_device mx31moboard_leds_device
= {
425 .platform_data
= &mx31moboard_led_pdata
,
429 #define SEL0 IOMUX_TO_GPIO(MX31_PIN_DTR_DCE1)
430 #define SEL1 IOMUX_TO_GPIO(MX31_PIN_DSR_DCE1)
431 #define SEL2 IOMUX_TO_GPIO(MX31_PIN_RI_DCE1)
432 #define SEL3 IOMUX_TO_GPIO(MX31_PIN_DCD_DCE1)
434 static void mx31moboard_init_sel_gpios(void)
436 if (!gpio_request(SEL0
, "sel0")) {
437 gpio_direction_input(SEL0
);
438 gpio_export(SEL0
, true);
441 if (!gpio_request(SEL1
, "sel1")) {
442 gpio_direction_input(SEL1
);
443 gpio_export(SEL1
, true);
446 if (!gpio_request(SEL2
, "sel2")) {
447 gpio_direction_input(SEL2
);
448 gpio_export(SEL2
, true);
451 if (!gpio_request(SEL3
, "sel3")) {
452 gpio_direction_input(SEL3
);
453 gpio_export(SEL3
, true);
457 static struct ipu_platform_data mx3_ipu_data
= {
458 .irq_base
= MXC_IPU_IRQ_START
,
461 static struct platform_device
*devices
[] __initdata
= {
463 &mx31moboard_leds_device
,
466 static struct mx3_camera_pdata camera_pdata
= {
467 .dma_dev
= &mx3_ipu
.dev
,
468 .flags
= MX3_CAMERA_DATAWIDTH_8
| MX3_CAMERA_DATAWIDTH_10
,
472 #define CAMERA_BUF_SIZE (4*1024*1024)
474 static int __init
mx31moboard_cam_alloc_dma(const size_t buf_size
)
476 dma_addr_t dma_handle
;
480 if (buf_size
< 2 * 1024 * 1024)
483 buf
= dma_alloc_coherent(NULL
, buf_size
, &dma_handle
, GFP_KERNEL
);
485 pr_err("%s: cannot allocate camera buffer-memory\n", __func__
);
489 memset(buf
, 0, buf_size
);
491 dma
= dma_declare_coherent_memory(&mx3_camera
.dev
,
492 dma_handle
, dma_handle
, buf_size
,
493 DMA_MEMORY_MAP
| DMA_MEMORY_EXCLUSIVE
);
495 /* The way we call dma_declare_coherent_memory only a malloc can fail */
496 return dma
& DMA_MEMORY_MAP
? 0 : -ENOMEM
;
499 static int mx31moboard_baseboard
;
500 core_param(mx31moboard_baseboard
, mx31moboard_baseboard
, int, 0444);
503 * Board specific initialization.
505 static void __init
mxc_board_init(void)
507 mxc_iomux_setup_multiple_pins(moboard_pins
, ARRAY_SIZE(moboard_pins
),
510 platform_add_devices(devices
, ARRAY_SIZE(devices
));
512 mxc_register_device(&mxc_uart_device0
, &uart0_pdata
);
514 mxc_register_device(&mxc_uart_device4
, &uart4_pdata
);
516 mx31moboard_init_sel_gpios();
518 mxc_register_device(&mxc_i2c_device0
, &moboard_i2c0_pdata
);
519 mxc_register_device(&mxc_i2c_device1
, &moboard_i2c1_pdata
);
521 mxc_register_device(&mxc_spi_device1
, &moboard_spi1_master
);
522 mxc_register_device(&mxc_spi_device2
, &moboard_spi2_master
);
524 gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3
), "pmic-irq");
525 gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3
));
526 spi_register_board_info(moboard_spi_board_info
,
527 ARRAY_SIZE(moboard_spi_board_info
));
529 mxc_register_device(&mxcsdhc_device0
, &sdhc1_pdata
);
531 mxc_register_device(&mx3_ipu
, &mx3_ipu_data
);
532 if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE
))
533 mxc_register_device(&mx3_camera
, &camera_pdata
);
537 moboard_usbotg_init();
538 mxc_register_device(&mxc_otg_udc_device
, &usb_pdata
);
539 moboard_usbh2_init();
541 switch (mx31moboard_baseboard
) {
545 mx31moboard_devboard_init();
548 mx31moboard_marxbot_init();
551 printk(KERN_ERR
"Illegal mx31moboard_baseboard type %d\n",
552 mx31moboard_baseboard
);
556 static void __init
mx31moboard_timer_init(void)
558 mx31_clocks_init(26000000);
561 struct sys_timer mx31moboard_timer
= {
562 .init
= mx31moboard_timer_init
,
565 MACHINE_START(MX31MOBOARD
, "EPFL Mobots mx31moboard")
566 /* Maintainer: Valentin Longchamp, EPFL Mobots group */
567 .phys_io
= AIPS1_BASE_ADDR
,
568 .io_pg_offst
= ((AIPS1_BASE_ADDR_VIRT
) >> 18) & 0xfffc,
569 .boot_params
= PHYS_OFFSET
+ 0x100,
570 .map_io
= mx31_map_io
,
571 .init_irq
= mx31_init_irq
,
572 .init_machine
= mxc_board_init
,
573 .timer
= &mx31moboard_timer
,