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mach-mx31moboard.c

/*
 *  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/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_name = "mxc-mmc.0",
            .supply     = "sdhc0_vcc",
      },
      {
            .dev_name = "mxc-mmc.1",
            .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_REG_VMMC1,
            .init_data = &sdhc_vreg_data,
      },
      {
            .id = MC13783_REG_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 const struct imxmmc_platform_data sdhc1_pdata __initconst = {
      .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 __initdata = {
      .portsc     = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
      .flags      = MXC_EHCI_POWER_PINS_ENABLED,
};

static int __init moboard_usbh2_init(void)
{
      struct platform_device *pdev;

      usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
                  ULPI_OTG_DRVVBUS | ULPI_OTG_DRVVBUS_EXT);

      pdev = imx31_add_mxc_ehci_hs(2, &usbh2_pdata);
      if (IS_ERR(pdev))
            return PTR_ERR(pdev);

      return 0;
}
#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));

      imx31_add_mxc_mmc(0, &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 */
      .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


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