572 lines
15 KiB
C
572 lines
15 KiB
C
/*
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* Copyright (C) 2008 Valentin Longchamp, EPFL Mobots group
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include <linux/delay.h>
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#include <linux/dma-mapping.h>
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#include <linux/gfp.h>
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#include <linux/gpio.h>
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#include <linux/init.h>
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#include <linux/interrupt.h>
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#include <linux/leds.h>
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#include <linux/memory.h>
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#include <linux/mtd/physmap.h>
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#include <linux/mtd/partitions.h>
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#include <linux/platform_device.h>
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#include <linux/regulator/machine.h>
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#include <linux/mfd/mc13783.h>
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#include <linux/spi/spi.h>
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#include <linux/types.h>
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#include <linux/usb/otg.h>
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#include <linux/usb/ulpi.h>
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#include <asm/mach-types.h>
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#include <asm/mach/arch.h>
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#include <asm/mach/time.h>
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#include <asm/mach/map.h>
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#include <mach/board-mx31moboard.h>
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#include <mach/common.h>
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#include <mach/hardware.h>
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#include <mach/iomux-mx3.h>
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#include <mach/ipu.h>
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#include <mach/mmc.h>
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#include <mach/mxc_ehci.h>
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#include <mach/mx3_camera.h>
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#include <mach/spi.h>
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#include <mach/ulpi.h>
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#include "devices-imx31.h"
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#include "devices.h"
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static unsigned int moboard_pins[] = {
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/* UART0 */
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MX31_PIN_TXD1__TXD1, MX31_PIN_RXD1__RXD1,
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MX31_PIN_CTS1__GPIO2_7,
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/* UART4 */
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MX31_PIN_PC_RST__CTS5, MX31_PIN_PC_VS2__RTS5,
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MX31_PIN_PC_BVD2__TXD5, MX31_PIN_PC_BVD1__RXD5,
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/* I2C0 */
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MX31_PIN_I2C_DAT__I2C1_SDA, MX31_PIN_I2C_CLK__I2C1_SCL,
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/* I2C1 */
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MX31_PIN_DCD_DTE1__I2C2_SDA, MX31_PIN_RI_DTE1__I2C2_SCL,
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/* SDHC1 */
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MX31_PIN_SD1_DATA3__SD1_DATA3, MX31_PIN_SD1_DATA2__SD1_DATA2,
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MX31_PIN_SD1_DATA1__SD1_DATA1, MX31_PIN_SD1_DATA0__SD1_DATA0,
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MX31_PIN_SD1_CLK__SD1_CLK, MX31_PIN_SD1_CMD__SD1_CMD,
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MX31_PIN_ATA_CS0__GPIO3_26, MX31_PIN_ATA_CS1__GPIO3_27,
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/* USB reset */
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MX31_PIN_GPIO1_0__GPIO1_0,
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/* USB OTG */
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MX31_PIN_USBOTG_DATA0__USBOTG_DATA0,
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MX31_PIN_USBOTG_DATA1__USBOTG_DATA1,
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MX31_PIN_USBOTG_DATA2__USBOTG_DATA2,
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MX31_PIN_USBOTG_DATA3__USBOTG_DATA3,
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MX31_PIN_USBOTG_DATA4__USBOTG_DATA4,
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MX31_PIN_USBOTG_DATA5__USBOTG_DATA5,
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MX31_PIN_USBOTG_DATA6__USBOTG_DATA6,
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MX31_PIN_USBOTG_DATA7__USBOTG_DATA7,
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MX31_PIN_USBOTG_CLK__USBOTG_CLK, MX31_PIN_USBOTG_DIR__USBOTG_DIR,
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MX31_PIN_USBOTG_NXT__USBOTG_NXT, MX31_PIN_USBOTG_STP__USBOTG_STP,
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MX31_PIN_USB_OC__GPIO1_30,
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/* USB H2 */
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MX31_PIN_USBH2_DATA0__USBH2_DATA0,
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MX31_PIN_USBH2_DATA1__USBH2_DATA1,
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MX31_PIN_STXD3__USBH2_DATA2, MX31_PIN_SRXD3__USBH2_DATA3,
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MX31_PIN_SCK3__USBH2_DATA4, MX31_PIN_SFS3__USBH2_DATA5,
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MX31_PIN_STXD6__USBH2_DATA6, MX31_PIN_SRXD6__USBH2_DATA7,
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MX31_PIN_USBH2_CLK__USBH2_CLK, MX31_PIN_USBH2_DIR__USBH2_DIR,
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MX31_PIN_USBH2_NXT__USBH2_NXT, MX31_PIN_USBH2_STP__USBH2_STP,
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MX31_PIN_SCK6__GPIO1_25,
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/* LEDs */
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MX31_PIN_SVEN0__GPIO2_0, MX31_PIN_STX0__GPIO2_1,
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MX31_PIN_SRX0__GPIO2_2, MX31_PIN_SIMPD0__GPIO2_3,
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/* SPI1 */
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MX31_PIN_CSPI2_MOSI__MOSI, MX31_PIN_CSPI2_MISO__MISO,
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MX31_PIN_CSPI2_SCLK__SCLK, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY,
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MX31_PIN_CSPI2_SS0__SS0, MX31_PIN_CSPI2_SS2__SS2,
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/* Atlas IRQ */
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MX31_PIN_GPIO1_3__GPIO1_3,
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/* SPI2 */
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MX31_PIN_CSPI3_MOSI__MOSI, MX31_PIN_CSPI3_MISO__MISO,
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MX31_PIN_CSPI3_SCLK__SCLK, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY,
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MX31_PIN_CSPI2_SS1__CSPI3_SS1,
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};
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static struct physmap_flash_data mx31moboard_flash_data = {
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.width = 2,
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};
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static struct resource mx31moboard_flash_resource = {
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.start = 0xa0000000,
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.end = 0xa1ffffff,
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.flags = IORESOURCE_MEM,
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};
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static struct platform_device mx31moboard_flash = {
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.name = "physmap-flash",
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.id = 0,
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.dev = {
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.platform_data = &mx31moboard_flash_data,
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},
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.resource = &mx31moboard_flash_resource,
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.num_resources = 1,
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};
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static int moboard_uart0_init(struct platform_device *pdev)
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{
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int ret = gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1), "uart0-cts-hack");
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if (ret)
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return ret;
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ret = gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1), 0);
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if (ret)
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gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1));
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return ret;
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}
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static void moboard_uart0_exit(struct platform_device *pdev)
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{
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gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1));
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}
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static const struct imxuart_platform_data uart0_pdata __initconst = {
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.init = moboard_uart0_init,
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.exit = moboard_uart0_exit,
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};
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static const struct imxuart_platform_data uart4_pdata __initconst = {
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.flags = IMXUART_HAVE_RTSCTS,
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};
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static const struct imxi2c_platform_data moboard_i2c0_data __initconst = {
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.bitrate = 400000,
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};
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static const struct imxi2c_platform_data moboard_i2c1_data __initconst = {
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.bitrate = 100000,
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};
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static int moboard_spi1_cs[] = {
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MXC_SPI_CS(0),
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MXC_SPI_CS(2),
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};
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static const struct spi_imx_master moboard_spi1_pdata __initconst = {
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.chipselect = moboard_spi1_cs,
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.num_chipselect = ARRAY_SIZE(moboard_spi1_cs),
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};
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static struct regulator_consumer_supply sdhc_consumers[] = {
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{
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.dev = &mxcsdhc_device0.dev,
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.supply = "sdhc0_vcc",
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},
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{
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.dev = &mxcsdhc_device1.dev,
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.supply = "sdhc1_vcc",
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},
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};
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static struct regulator_init_data sdhc_vreg_data = {
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.constraints = {
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.min_uV = 2700000,
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.max_uV = 3000000,
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.valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
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REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
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.valid_modes_mask = REGULATOR_MODE_NORMAL |
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REGULATOR_MODE_FAST,
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.always_on = 0,
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.boot_on = 1,
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},
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.num_consumer_supplies = ARRAY_SIZE(sdhc_consumers),
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.consumer_supplies = sdhc_consumers,
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};
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static struct regulator_consumer_supply cam_consumers[] = {
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{
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.dev = &mx3_camera.dev,
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.supply = "cam_vcc",
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},
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};
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static struct regulator_init_data cam_vreg_data = {
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.constraints = {
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.min_uV = 2700000,
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.max_uV = 3000000,
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.valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
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REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
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.valid_modes_mask = REGULATOR_MODE_NORMAL |
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REGULATOR_MODE_FAST,
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.always_on = 0,
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.boot_on = 1,
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},
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.num_consumer_supplies = ARRAY_SIZE(cam_consumers),
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.consumer_supplies = cam_consumers,
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};
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static struct mc13783_regulator_init_data moboard_regulators[] = {
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{
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.id = MC13783_REGU_VMMC1,
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.init_data = &sdhc_vreg_data,
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},
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{
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.id = MC13783_REGU_VCAM,
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.init_data = &cam_vreg_data,
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},
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};
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static struct mc13783_led_platform_data moboard_led[] = {
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{
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.id = MC13783_LED_R1,
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.name = "coreboard-led-4:red",
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.max_current = 2,
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},
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{
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.id = MC13783_LED_G1,
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.name = "coreboard-led-4:green",
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.max_current = 2,
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},
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{
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.id = MC13783_LED_B1,
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.name = "coreboard-led-4:blue",
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.max_current = 2,
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},
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{
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.id = MC13783_LED_R2,
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.name = "coreboard-led-5:red",
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.max_current = 3,
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},
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{
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.id = MC13783_LED_G2,
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.name = "coreboard-led-5:green",
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.max_current = 3,
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},
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{
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.id = MC13783_LED_B2,
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.name = "coreboard-led-5:blue",
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.max_current = 3,
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},
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};
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static struct mc13783_leds_platform_data moboard_leds = {
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.num_leds = ARRAY_SIZE(moboard_led),
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.led = moboard_led,
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.flags = MC13783_LED_SLEWLIMTC,
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.abmode = MC13783_LED_AB_DISABLED,
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.tc1_period = MC13783_LED_PERIOD_10MS,
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.tc2_period = MC13783_LED_PERIOD_10MS,
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};
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static struct mc13783_platform_data moboard_pmic = {
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.regulators = moboard_regulators,
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.num_regulators = ARRAY_SIZE(moboard_regulators),
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.leds = &moboard_leds,
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.flags = MC13783_USE_REGULATOR | MC13783_USE_RTC |
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MC13783_USE_ADC | MC13783_USE_LED,
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};
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static struct spi_board_info moboard_spi_board_info[] __initdata = {
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{
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.modalias = "mc13783",
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.irq = IOMUX_TO_IRQ(MX31_PIN_GPIO1_3),
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.max_speed_hz = 300000,
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.bus_num = 1,
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.chip_select = 0,
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.platform_data = &moboard_pmic,
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.mode = SPI_CS_HIGH,
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},
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};
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static int moboard_spi2_cs[] = {
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MXC_SPI_CS(1),
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};
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static const struct spi_imx_master moboard_spi2_pdata __initconst = {
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.chipselect = moboard_spi2_cs,
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.num_chipselect = ARRAY_SIZE(moboard_spi2_cs),
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};
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#define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
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#define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
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static int moboard_sdhc1_get_ro(struct device *dev)
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{
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return !gpio_get_value(SDHC1_WP);
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}
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static int moboard_sdhc1_init(struct device *dev, irq_handler_t detect_irq,
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void *data)
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{
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int ret;
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ret = gpio_request(SDHC1_CD, "sdhc-detect");
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if (ret)
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return ret;
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gpio_direction_input(SDHC1_CD);
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ret = gpio_request(SDHC1_WP, "sdhc-wp");
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if (ret)
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goto err_gpio_free;
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gpio_direction_input(SDHC1_WP);
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ret = request_irq(gpio_to_irq(SDHC1_CD), detect_irq,
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IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
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"sdhc1-card-detect", data);
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if (ret)
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goto err_gpio_free_2;
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return 0;
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err_gpio_free_2:
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gpio_free(SDHC1_WP);
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err_gpio_free:
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gpio_free(SDHC1_CD);
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return ret;
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}
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static void moboard_sdhc1_exit(struct device *dev, void *data)
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{
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free_irq(gpio_to_irq(SDHC1_CD), data);
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gpio_free(SDHC1_WP);
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gpio_free(SDHC1_CD);
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}
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static struct imxmmc_platform_data sdhc1_pdata = {
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.get_ro = moboard_sdhc1_get_ro,
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.init = moboard_sdhc1_init,
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.exit = moboard_sdhc1_exit,
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};
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/*
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* this pin is dedicated for all mx31moboard systems, so we do it here
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*/
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#define USB_RESET_B IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
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#define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
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PAD_CTL_ODE_CMOS)
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#define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
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#define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
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static void usb_xcvr_reset(void)
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{
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBOTG_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_gpr(MUX_PGP_UH2, true);
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mxc_iomux_set_pad(MX31_PIN_USBH2_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBH2_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBH2_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBH2_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
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mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_SRXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_STXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_SFS3, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_SCK3, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_SRXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
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mxc_iomux_set_pad(MX31_PIN_STXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
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gpio_request(OTG_EN_B, "usb-udc-en");
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gpio_direction_output(OTG_EN_B, 0);
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gpio_request(USBH2_EN_B, "usbh2-en");
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gpio_direction_output(USBH2_EN_B, 0);
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gpio_request(USB_RESET_B, "usb-reset");
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gpio_direction_output(USB_RESET_B, 0);
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mdelay(1);
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gpio_set_value(USB_RESET_B, 1);
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mdelay(1);
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}
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#if defined(CONFIG_USB_ULPI)
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static struct mxc_usbh_platform_data usbh2_pdata = {
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.portsc = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
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.flags = MXC_EHCI_POWER_PINS_ENABLED,
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};
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static int __init moboard_usbh2_init(void)
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{
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usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
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USB_OTG_DRV_VBUS | USB_OTG_DRV_VBUS_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
|
|
|