/* * Copyright (C) 2008 Valentin Longchamp, EPFL Mobots group * * 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. */ #include <linux/delay.h> #include <linux/dma-mapping.h> #include <linux/gfp.h> #include <linux/gpio.h> #include <linux/init.h> #include <linux/interrupt.h> #include <linux/leds.h> #include <linux/memory.h> #include <linux/mtd/physmap.h> #include <linux/mtd/partitions.h> #include <linux/platform_device.h> #include <linux/regulator/machine.h> #include <linux/mfd/mc13783.h> #include <linux/spi/spi.h> #include <linux/types.h> #include <linux/usb/otg.h> #include <linux/usb/ulpi.h> #include <asm/mach-types.h> #include <asm/mach/arch.h> #include <asm/mach/time.h> #include <asm/mach/map.h> #include <mach/board-mx31moboard.h> #include <mach/common.h> #include <mach/hardware.h> #include <mach/iomux-mx3.h> #include <mach/ipu.h> #include <mach/mmc.h> #include <mach/mxc_ehci.h> #include <mach/mx3_camera.h> #include <mach/spi.h> #include <mach/ulpi.h> #include "devices-imx31.h" #include "devices.h" static unsigned int moboard_pins[] = { /* UART0 */ MX31_PIN_TXD1__TXD1, MX31_PIN_RXD1__RXD1, MX31_PIN_CTS1__GPIO2_7, /* UART4 */ MX31_PIN_PC_RST__CTS5, MX31_PIN_PC_VS2__RTS5, MX31_PIN_PC_BVD2__TXD5, MX31_PIN_PC_BVD1__RXD5, /* I2C0 */ MX31_PIN_I2C_DAT__I2C1_SDA, MX31_PIN_I2C_CLK__I2C1_SCL, /* I2C1 */ MX31_PIN_DCD_DTE1__I2C2_SDA, MX31_PIN_RI_DTE1__I2C2_SCL, /* SDHC1 */ MX31_PIN_SD1_DATA3__SD1_DATA3, MX31_PIN_SD1_DATA2__SD1_DATA2, MX31_PIN_SD1_DATA1__SD1_DATA1, MX31_PIN_SD1_DATA0__SD1_DATA0, MX31_PIN_SD1_CLK__SD1_CLK, MX31_PIN_SD1_CMD__SD1_CMD, MX31_PIN_ATA_CS0__GPIO3_26, MX31_PIN_ATA_CS1__GPIO3_27, /* USB reset */ MX31_PIN_GPIO1_0__GPIO1_0, /* USB OTG */ MX31_PIN_USBOTG_DATA0__USBOTG_DATA0, MX31_PIN_USBOTG_DATA1__USBOTG_DATA1, MX31_PIN_USBOTG_DATA2__USBOTG_DATA2, MX31_PIN_USBOTG_DATA3__USBOTG_DATA3, MX31_PIN_USBOTG_DATA4__USBOTG_DATA4, MX31_PIN_USBOTG_DATA5__USBOTG_DATA5, MX31_PIN_USBOTG_DATA6__USBOTG_DATA6, MX31_PIN_USBOTG_DATA7__USBOTG_DATA7, MX31_PIN_USBOTG_CLK__USBOTG_CLK, MX31_PIN_USBOTG_DIR__USBOTG_DIR, MX31_PIN_USBOTG_NXT__USBOTG_NXT, MX31_PIN_USBOTG_STP__USBOTG_STP, MX31_PIN_USB_OC__GPIO1_30, /* USB H2 */ MX31_PIN_USBH2_DATA0__USBH2_DATA0, MX31_PIN_USBH2_DATA1__USBH2_DATA1, MX31_PIN_STXD3__USBH2_DATA2, MX31_PIN_SRXD3__USBH2_DATA3, MX31_PIN_SCK3__USBH2_DATA4, MX31_PIN_SFS3__USBH2_DATA5, MX31_PIN_STXD6__USBH2_DATA6, MX31_PIN_SRXD6__USBH2_DATA7, MX31_PIN_USBH2_CLK__USBH2_CLK, MX31_PIN_USBH2_DIR__USBH2_DIR, MX31_PIN_USBH2_NXT__USBH2_NXT, MX31_PIN_USBH2_STP__USBH2_STP, MX31_PIN_SCK6__GPIO1_25, /* LEDs */ MX31_PIN_SVEN0__GPIO2_0, MX31_PIN_STX0__GPIO2_1, MX31_PIN_SRX0__GPIO2_2, MX31_PIN_SIMPD0__GPIO2_3, /* SPI1 */ MX31_PIN_CSPI2_MOSI__MOSI, MX31_PIN_CSPI2_MISO__MISO, MX31_PIN_CSPI2_SCLK__SCLK, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY, MX31_PIN_CSPI2_SS0__SS0, MX31_PIN_CSPI2_SS2__SS2, /* Atlas IRQ */ MX31_PIN_GPIO1_3__GPIO1_3, /* SPI2 */ MX31_PIN_CSPI3_MOSI__MOSI, MX31_PIN_CSPI3_MISO__MISO, MX31_PIN_CSPI3_SCLK__SCLK, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY, MX31_PIN_CSPI2_SS1__CSPI3_SS1, }; static struct physmap_flash_data mx31moboard_flash_data = { .width = 2, }; static struct resource mx31moboard_flash_resource = { .start = 0xa0000000, .end = 0xa1ffffff, .flags = IORESOURCE_MEM, }; static struct platform_device mx31moboard_flash = { .name = "physmap-flash", .id = 0, .dev = { .platform_data = &mx31moboard_flash_data, }, .resource = &mx31moboard_flash_resource, .num_resources = 1, }; static int moboard_uart0_init(struct platform_device *pdev) { int ret = gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1), "uart0-cts-hack"); if (ret) return ret; ret = gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1), 0); if (ret) gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1)); return ret; } static void moboard_uart0_exit(struct platform_device *pdev) { gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1)); } static const struct imxuart_platform_data uart0_pdata __initconst = { .init = moboard_uart0_init, .exit = moboard_uart0_exit, }; static const struct imxuart_platform_data uart4_pdata __initconst = { .flags = IMXUART_HAVE_RTSCTS, }; static const struct imxi2c_platform_data moboard_i2c0_data __initconst = { .bitrate = 400000, }; static const struct imxi2c_platform_data moboard_i2c1_data __initconst = { .bitrate = 100000, }; static int moboard_spi1_cs[] = { MXC_SPI_CS(0), MXC_SPI_CS(2), }; static const struct spi_imx_master moboard_spi1_pdata __initconst = { .chipselect = moboard_spi1_cs, .num_chipselect = ARRAY_SIZE(moboard_spi1_cs), }; static struct regulator_consumer_supply sdhc_consumers[] = { { .dev = &mxcsdhc_device0.dev, .supply = "sdhc0_vcc", }, { .dev = &mxcsdhc_device1.dev, .supply = "sdhc1_vcc", }, }; static struct regulator_init_data sdhc_vreg_data = { .constraints = { .min_uV = 2700000, .max_uV = 3000000, .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE | REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS, .valid_modes_mask = REGULATOR_MODE_NORMAL | REGULATOR_MODE_FAST, .always_on = 0, .boot_on = 1, }, .num_consumer_supplies = ARRAY_SIZE(sdhc_consumers), .consumer_supplies = sdhc_consumers, }; static struct regulator_consumer_supply cam_consumers[] = { { .dev = &mx3_camera.dev, .supply = "cam_vcc", }, }; static struct regulator_init_data cam_vreg_data = { .constraints = { .min_uV = 2700000, .max_uV = 3000000, .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE | REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS, .valid_modes_mask = REGULATOR_MODE_NORMAL | REGULATOR_MODE_FAST, .always_on = 0, .boot_on = 1, }, .num_consumer_supplies = ARRAY_SIZE(cam_consumers), .consumer_supplies = cam_consumers, }; static struct mc13783_regulator_init_data moboard_regulators[] = { { .id = MC13783_REGU_VMMC1, .init_data = &sdhc_vreg_data, }, { .id = MC13783_REGU_VCAM, .init_data = &cam_vreg_data, }, }; static struct mc13783_led_platform_data moboard_led[] = { { .id = MC13783_LED_R1, .name = "coreboard-led-4:red", .max_current = 2, }, { .id = MC13783_LED_G1, .name = "coreboard-led-4:green", .max_current = 2, }, { .id = MC13783_LED_B1, .name = "coreboard-led-4:blue", .max_current = 2, }, { .id = MC13783_LED_R2, .name = "coreboard-led-5:red", .max_current = 3, }, { .id = MC13783_LED_G2, .name = "coreboard-led-5:green", .max_current = 3, }, { .id = MC13783_LED_B2, .name = "coreboard-led-5:blue", .max_current = 3, }, }; static struct mc13783_leds_platform_data moboard_leds = { .num_leds = ARRAY_SIZE(moboard_led), .led = moboard_led, .flags = MC13783_LED_SLEWLIMTC, .abmode = MC13783_LED_AB_DISABLED, .tc1_period = MC13783_LED_PERIOD_10MS, .tc2_period = MC13783_LED_PERIOD_10MS, }; static struct mc13783_platform_data moboard_pmic = { .regulators = moboard_regulators, .num_regulators = ARRAY_SIZE(moboard_regulators), .leds = &moboard_leds, .flags = MC13783_USE_REGULATOR | MC13783_USE_RTC | MC13783_USE_ADC | MC13783_USE_LED, }; static struct spi_board_info moboard_spi_board_info[] __initdata = { { .modalias = "mc13783", .irq = IOMUX_TO_IRQ(MX31_PIN_GPIO1_3), .max_speed_hz = 300000, .bus_num = 1, .chip_select = 0, .platform_data = &moboard_pmic, .mode = SPI_CS_HIGH, }, }; static int moboard_spi2_cs[] = { MXC_SPI_CS(1), }; static const struct spi_imx_master moboard_spi2_pdata __initconst = { .chipselect = moboard_spi2_cs, .num_chipselect = ARRAY_SIZE(moboard_spi2_cs), }; #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0) #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1) static int moboard_sdhc1_get_ro(struct device *dev) { return !gpio_get_value(SDHC1_WP); } static int moboard_sdhc1_init(struct device *dev, irq_handler_t detect_irq, void *data) { int ret; ret = gpio_request(SDHC1_CD, "sdhc-detect"); if (ret) return ret; gpio_direction_input(SDHC1_CD); ret = gpio_request(SDHC1_WP, "sdhc-wp"); if (ret) goto err_gpio_free; gpio_direction_input(SDHC1_WP); ret = request_irq(gpio_to_irq(SDHC1_CD), detect_irq, IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING, "sdhc1-card-detect", data); if (ret) goto err_gpio_free_2; return 0; err_gpio_free_2: gpio_free(SDHC1_WP); err_gpio_free: gpio_free(SDHC1_CD); return ret; } static void moboard_sdhc1_exit(struct device *dev, void *data) { free_irq(gpio_to_irq(SDHC1_CD), data); gpio_free(SDHC1_WP); gpio_free(SDHC1_CD); } static struct imxmmc_platform_data sdhc1_pdata = { .get_ro = moboard_sdhc1_get_ro, .init = moboard_sdhc1_init, .exit = moboard_sdhc1_exit, }; /* * this pin is dedicated for all mx31moboard systems, so we do it here */ #define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0) #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \ PAD_CTL_ODE_CMOS) #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC) #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6) static void usb_xcvr_reset(void) { mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBOTG_STP, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_gpr(MUX_PGP_UH2, true); mxc_iomux_set_pad(MX31_PIN_USBH2_CLK, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBH2_DIR, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBH2_NXT, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBH2_STP, USB_PAD_CFG | PAD_CTL_100K_PU); mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_SRXD6, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_STXD6, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_SFS3, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_SCK3, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_SRXD3, USB_PAD_CFG | PAD_CTL_100K_PD); mxc_iomux_set_pad(MX31_PIN_STXD3, USB_PAD_CFG | PAD_CTL_100K_PD); gpio_request(OTG_EN_B, "usb-udc-en"); gpio_direction_output(OTG_EN_B, 0); gpio_request(USBH2_EN_B, "usbh2-en"); gpio_direction_output(USBH2_EN_B, 0); gpio_request(USB_RESET_B, "usb-reset"); gpio_direction_output(USB_RESET_B, 0); mdelay(1); gpio_set_value(USB_RESET_B, 1); mdelay(1); } #if defined(CONFIG_USB_ULPI) static struct mxc_usbh_platform_data usbh2_pdata = { .portsc = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT, .flags = MXC_EHCI_POWER_PINS_ENABLED, }; static int __init moboard_usbh2_init(void) { usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops, ULPI_OTG_DRVVBUS | ULPI_OTG_DRVVBUS_EXT); return mxc_register_device(&mxc_usbh2, &usbh2_pdata); } #else static inline int moboard_usbh2_init(void) { return 0; } #endif static struct gpio_led mx31moboard_leds[] = { { .name = "coreboard-led-0:red:running", .default_trigger = "heartbeat", .gpio = IOMUX_TO_GPIO(MX31_PIN_SVEN0), }, { .name = "coreboard-led-1:red", .gpio = IOMUX_TO_GPIO(MX31_PIN_STX0), }, { .name = "coreboard-led-2:red", .gpio = IOMUX_TO_GPIO(MX31_PIN_SRX0), }, { .name = "coreboard-led-3:red", .gpio = IOMUX_TO_GPIO(MX31_PIN_SIMPD0), }, }; static struct gpio_led_platform_data mx31moboard_led_pdata = { .num_leds = ARRAY_SIZE(mx31moboard_leds), .leds = mx31moboard_leds, }; static struct platform_device mx31moboard_leds_device = { .name = "leds-gpio", .id = -1, .dev = { .platform_data = &mx31moboard_led_pdata, }, }; static struct ipu_platform_data mx3_ipu_data = { .irq_base = MXC_IPU_IRQ_START, }; static struct platform_device *devices[] __initdata = { &mx31moboard_flash, &mx31moboard_leds_device, }; static struct mx3_camera_pdata camera_pdata = { .dma_dev = &mx3_ipu.dev, .flags = MX3_CAMERA_DATAWIDTH_8 | MX3_CAMERA_DATAWIDTH_10, .mclk_10khz = 4800, }; #define CAMERA_BUF_SIZE (4*1024*1024) static int __init mx31moboard_cam_alloc_dma(const size_t buf_size) { dma_addr_t dma_handle; void *buf; int dma; if (buf_size < 2 * 1024 * 1024) return -EINVAL; buf = dma_alloc_coherent(NULL, buf_size, &dma_handle, GFP_KERNEL); if (!buf) { pr_err("%s: cannot allocate camera buffer-memory\n", __func__); return -ENOMEM; } memset(buf, 0, buf_size); dma = dma_declare_coherent_memory(&mx3_camera.dev, dma_handle, dma_handle, buf_size, DMA_MEMORY_MAP | DMA_MEMORY_EXCLUSIVE); /* The way we call dma_declare_coherent_memory only a malloc can fail */ return dma & DMA_MEMORY_MAP ? 0 : -ENOMEM; } static int mx31moboard_baseboard; core_param(mx31moboard_baseboard, mx31moboard_baseboard, int, 0444); /* * Board specific initialization. */ static void __init mxc_board_init(void) { mxc_iomux_setup_multiple_pins(moboard_pins, ARRAY_SIZE(moboard_pins), "moboard"); platform_add_devices(devices, ARRAY_SIZE(devices)); imx31_add_imx_uart0(&uart0_pdata); imx31_add_imx_uart4(&uart4_pdata); imx31_add_imx_i2c0(&moboard_i2c0_data); imx31_add_imx_i2c1(&moboard_i2c1_data); imx31_add_spi_imx1(&moboard_spi1_pdata); imx31_add_spi_imx2(&moboard_spi2_pdata); gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3), "pmic-irq"); gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3)); spi_register_board_info(moboard_spi_board_info, ARRAY_SIZE(moboard_spi_board_info)); mxc_register_device(&mxcsdhc_device0, &sdhc1_pdata); mxc_register_device(&mx3_ipu, &mx3_ipu_data); if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE)) mxc_register_device(&mx3_camera, &camera_pdata); usb_xcvr_reset(); moboard_usbh2_init(); switch (mx31moboard_baseboard) { case MX31NOBOARD: break; case MX31DEVBOARD: mx31moboard_devboard_init(); break; case MX31MARXBOT: mx31moboard_marxbot_init(); break; case MX31SMARTBOT: case MX31EYEBOT: mx31moboard_smartbot_init(mx31moboard_baseboard); break; default: printk(KERN_ERR "Illegal mx31moboard_baseboard type %d\n", mx31moboard_baseboard); } } static void __init mx31moboard_timer_init(void) { mx31_clocks_init(26000000); } struct sys_timer mx31moboard_timer = { .init = mx31moboard_timer_init, }; MACHINE_START(MX31MOBOARD, "EPFL Mobots mx31moboard") /* Maintainer: Valentin Longchamp, EPFL Mobots group */ .phys_io = MX31_AIPS1_BASE_ADDR, .io_pg_offst = (MX31_AIPS1_BASE_ADDR_VIRT >> 18) & 0xfffc, .boot_params = MX3x_PHYS_OFFSET + 0x100, .map_io = mx31_map_io, .init_irq = mx31_init_irq, .init_machine = mxc_board_init, .timer = &mx31moboard_timer, MACHINE_END