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-rw-r--r--arch/arm/mach-imx/mx31moboard-marxbot.c366
1 files changed, 366 insertions, 0 deletions
diff --git a/arch/arm/mach-imx/mx31moboard-marxbot.c b/arch/arm/mach-imx/mx31moboard-marxbot.c
new file mode 100644
index 00000000000..bb639cbda4e
--- /dev/null
+++ b/arch/arm/mach-imx/mx31moboard-marxbot.c
@@ -0,0 +1,366 @@
+/*
+ * Copyright (C) 2009 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/gpio.h>
+#include <linux/init.h>
+#include <linux/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/platform_device.h>
+#include <linux/types.h>
+
+#include <linux/usb/otg.h>
+
+#include <mach/common.h>
+#include <mach/hardware.h>
+#include <mach/iomux-mx3.h>
+#include <mach/ulpi.h>
+
+#include <media/soc_camera.h>
+
+#include "devices-imx31.h"
+
+static unsigned int marxbot_pins[] = {
+ /* SDHC2 */
+ MX31_PIN_PC_PWRON__SD2_DATA3, MX31_PIN_PC_VS1__SD2_DATA2,
+ MX31_PIN_PC_READY__SD2_DATA1, MX31_PIN_PC_WAIT_B__SD2_DATA0,
+ MX31_PIN_PC_CD2_B__SD2_CLK, MX31_PIN_PC_CD1_B__SD2_CMD,
+ MX31_PIN_ATA_DIOR__GPIO3_28, MX31_PIN_ATA_DIOW__GPIO3_29,
+ /* CSI */
+ MX31_PIN_CSI_D6__CSI_D6, MX31_PIN_CSI_D7__CSI_D7,
+ MX31_PIN_CSI_D8__CSI_D8, MX31_PIN_CSI_D9__CSI_D9,
+ MX31_PIN_CSI_D10__CSI_D10, MX31_PIN_CSI_D11__CSI_D11,
+ MX31_PIN_CSI_D12__CSI_D12, MX31_PIN_CSI_D13__CSI_D13,
+ MX31_PIN_CSI_D14__CSI_D14, MX31_PIN_CSI_D15__CSI_D15,
+ MX31_PIN_CSI_HSYNC__CSI_HSYNC, MX31_PIN_CSI_MCLK__CSI_MCLK,
+ MX31_PIN_CSI_PIXCLK__CSI_PIXCLK, MX31_PIN_CSI_VSYNC__CSI_VSYNC,
+ MX31_PIN_CSI_D4__GPIO3_4, MX31_PIN_CSI_D5__GPIO3_5,
+ MX31_PIN_GPIO3_0__GPIO3_0, MX31_PIN_GPIO3_1__GPIO3_1,
+ MX31_PIN_TXD2__GPIO1_28,
+ /* dsPIC resets */
+ MX31_PIN_STXD5__GPIO1_21, MX31_PIN_SRXD5__GPIO1_22,
+ /*battery detection */
+ MX31_PIN_LCS0__GPIO3_23,
+ /* USB H1 */
+ MX31_PIN_CSPI1_MISO__USBH1_RXDP, MX31_PIN_CSPI1_MOSI__USBH1_RXDM,
+ MX31_PIN_CSPI1_SS0__USBH1_TXDM, MX31_PIN_CSPI1_SS1__USBH1_TXDP,
+ MX31_PIN_CSPI1_SS2__USBH1_RCV, MX31_PIN_CSPI1_SCLK__USBH1_OEB,
+ MX31_PIN_CSPI1_SPI_RDY__USBH1_FS, MX31_PIN_SFS6__USBH1_SUSPEND,
+ MX31_PIN_NFRE_B__GPIO1_11, MX31_PIN_NFALE__GPIO1_12,
+ /* SEL */
+ MX31_PIN_DTR_DCE1__GPIO2_8, MX31_PIN_DSR_DCE1__GPIO2_9,
+ MX31_PIN_RI_DCE1__GPIO2_10, MX31_PIN_DCD_DCE1__GPIO2_11,
+};
+
+#define SDHC2_CD IOMUX_TO_GPIO(MX31_PIN_ATA_DIOR)
+#define SDHC2_WP IOMUX_TO_GPIO(MX31_PIN_ATA_DIOW)
+
+static int marxbot_sdhc2_get_ro(struct device *dev)
+{
+ return !gpio_get_value(SDHC2_WP);
+}
+
+static int marxbot_sdhc2_init(struct device *dev, irq_handler_t detect_irq,
+ void *data)
+{
+ int ret;
+
+ ret = gpio_request(SDHC2_CD, "sdhc-detect");
+ if (ret)
+ return ret;
+
+ gpio_direction_input(SDHC2_CD);
+
+ ret = gpio_request(SDHC2_WP, "sdhc-wp");
+ if (ret)
+ goto err_gpio_free;
+ gpio_direction_input(SDHC2_WP);
+
+ ret = request_irq(gpio_to_irq(SDHC2_CD), detect_irq,
+ IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
+ "sdhc2-card-detect", data);
+ if (ret)
+ goto err_gpio_free_2;
+
+ return 0;
+
+err_gpio_free_2:
+ gpio_free(SDHC2_WP);
+err_gpio_free:
+ gpio_free(SDHC2_CD);
+
+ return ret;
+}
+
+static void marxbot_sdhc2_exit(struct device *dev, void *data)
+{
+ free_irq(gpio_to_irq(SDHC2_CD), data);
+ gpio_free(SDHC2_WP);
+ gpio_free(SDHC2_CD);
+}
+
+static const struct imxmmc_platform_data sdhc2_pdata __initconst = {
+ .get_ro = marxbot_sdhc2_get_ro,
+ .init = marxbot_sdhc2_init,
+ .exit = marxbot_sdhc2_exit,
+};
+
+#define TRSLAT_RST_B IOMUX_TO_GPIO(MX31_PIN_STXD5)
+#define DSPICS_RST_B IOMUX_TO_GPIO(MX31_PIN_SRXD5)
+
+static void dspics_resets_init(void)
+{
+ if (!gpio_request(TRSLAT_RST_B, "translator-rst")) {
+ gpio_direction_output(TRSLAT_RST_B, 0);
+ gpio_export(TRSLAT_RST_B, false);
+ }
+
+ if (!gpio_request(DSPICS_RST_B, "dspics-rst")) {
+ gpio_direction_output(DSPICS_RST_B, 0);
+ gpio_export(DSPICS_RST_B, false);
+ }
+}
+
+static struct spi_board_info marxbot_spi_board_info[] __initdata = {
+ {
+ .modalias = "spidev",
+ .max_speed_hz = 300000,
+ .bus_num = 1,
+ .chip_select = 1, /* according spi1_cs[] ! */
+ },
+};
+
+#define TURRETCAM_POWER IOMUX_TO_GPIO(MX31_PIN_GPIO3_1)
+#define BASECAM_POWER IOMUX_TO_GPIO(MX31_PIN_CSI_D5)
+#define TURRETCAM_RST_B IOMUX_TO_GPIO(MX31_PIN_GPIO3_0)
+#define BASECAM_RST_B IOMUX_TO_GPIO(MX31_PIN_CSI_D4)
+#define CAM_CHOICE IOMUX_TO_GPIO(MX31_PIN_TXD2)
+
+static int marxbot_basecam_power(struct device *dev, int on)
+{
+ gpio_set_value(BASECAM_POWER, !on);
+ return 0;
+}
+
+static int marxbot_basecam_reset(struct device *dev)
+{
+ gpio_set_value(BASECAM_RST_B, 0);
+ udelay(100);
+ gpio_set_value(BASECAM_RST_B, 1);
+ return 0;
+}
+
+static struct i2c_board_info marxbot_i2c_devices[] = {
+ {
+ I2C_BOARD_INFO("mt9t031", 0x5d),
+ },
+};
+
+static struct soc_camera_link base_iclink = {
+ .bus_id = 0, /* Must match with the camera ID */
+ .power = marxbot_basecam_power,
+ .reset = marxbot_basecam_reset,
+ .board_info = &marxbot_i2c_devices[0],
+ .i2c_adapter_id = 0,
+};
+
+static struct platform_device marxbot_camera[] = {
+ {
+ .name = "soc-camera-pdrv",
+ .id = 0,
+ .dev = {
+ .platform_data = &base_iclink,
+ },
+ },
+};
+
+static struct platform_device *marxbot_cameras[] __initdata = {
+ &marxbot_camera[0],
+};
+
+static int __init marxbot_cam_init(void)
+{
+ int ret = gpio_request(CAM_CHOICE, "cam-choice");
+ if (ret)
+ return ret;
+ gpio_direction_output(CAM_CHOICE, 0);
+
+ ret = gpio_request(BASECAM_RST_B, "basecam-reset");
+ if (ret)
+ return ret;
+ gpio_direction_output(BASECAM_RST_B, 1);
+ ret = gpio_request(BASECAM_POWER, "basecam-standby");
+ if (ret)
+ return ret;
+ gpio_direction_output(BASECAM_POWER, 0);
+
+ ret = gpio_request(TURRETCAM_RST_B, "turretcam-reset");
+ if (ret)
+ return ret;
+ gpio_direction_output(TURRETCAM_RST_B, 1);
+ ret = gpio_request(TURRETCAM_POWER, "turretcam-standby");
+ if (ret)
+ return ret;
+ gpio_direction_output(TURRETCAM_POWER, 0);
+
+ return 0;
+}
+
+#define SEL0 IOMUX_TO_GPIO(MX31_PIN_DTR_DCE1)
+#define SEL1 IOMUX_TO_GPIO(MX31_PIN_DSR_DCE1)
+#define SEL2 IOMUX_TO_GPIO(MX31_PIN_RI_DCE1)
+#define SEL3 IOMUX_TO_GPIO(MX31_PIN_DCD_DCE1)
+
+static void marxbot_init_sel_gpios(void)
+{
+ if (!gpio_request(SEL0, "sel0")) {
+ gpio_direction_input(SEL0);
+ gpio_export(SEL0, true);
+ }
+
+ if (!gpio_request(SEL1, "sel1")) {
+ gpio_direction_input(SEL1);
+ gpio_export(SEL1, true);
+ }
+
+ if (!gpio_request(SEL2, "sel2")) {
+ gpio_direction_input(SEL2);
+ gpio_export(SEL2, true);
+ }
+
+ if (!gpio_request(SEL3, "sel3")) {
+ gpio_direction_input(SEL3);
+ gpio_export(SEL3, true);
+ }
+}
+
+#define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
+ PAD_CTL_ODE_CMOS | PAD_CTL_100K_PU)
+
+static int marxbot_usbh1_hw_init(struct platform_device *pdev)
+{
+ mxc_iomux_set_gpr(MUX_PGP_USB_SUSPEND, true);
+
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_MISO, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_MOSI, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_SS0, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_SS1, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_SS2, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_SCLK, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_CSPI1_SPI_RDY, USB_PAD_CFG);
+ mxc_iomux_set_pad(MX31_PIN_SFS6, USB_PAD_CFG);
+
+ mdelay(10);
+
+ return mx31_initialize_usb_hw(pdev->id, MXC_EHCI_POWER_PINS_ENABLED |
+ MXC_EHCI_INTERFACE_SINGLE_UNI);
+}
+
+#define USBH1_VBUSEN_B IOMUX_TO_GPIO(MX31_PIN_NFRE_B)
+#define USBH1_MODE IOMUX_TO_GPIO(MX31_PIN_NFALE)
+
+static int marxbot_isp1105_init(struct otg_transceiver *otg)
+{
+ int ret = gpio_request(USBH1_MODE, "usbh1-mode");
+ if (ret)
+ return ret;
+ /* single ended */
+ gpio_direction_output(USBH1_MODE, 0);
+
+ ret = gpio_request(USBH1_VBUSEN_B, "usbh1-vbusen");
+ if (ret) {
+ gpio_free(USBH1_MODE);
+ return ret;
+ }
+ gpio_direction_output(USBH1_VBUSEN_B, 1);
+
+ return 0;
+}
+
+
+static int marxbot_isp1105_set_vbus(struct otg_transceiver *otg, bool on)
+{
+ if (on)
+ gpio_set_value(USBH1_VBUSEN_B, 0);
+ else
+ gpio_set_value(USBH1_VBUSEN_B, 1);
+
+ return 0;
+}
+
+static struct mxc_usbh_platform_data usbh1_pdata __initdata = {
+ .init = marxbot_usbh1_hw_init,
+ .portsc = MXC_EHCI_MODE_UTMI | MXC_EHCI_SERIAL,
+};
+
+static int __init marxbot_usbh1_init(void)
+{
+ struct otg_transceiver *otg;
+ struct platform_device *pdev;
+
+ otg = kzalloc(sizeof(*otg), GFP_KERNEL);
+ if (!otg)
+ return -ENOMEM;
+
+ otg->label = "ISP1105";
+ otg->init = marxbot_isp1105_init;
+ otg->set_vbus = marxbot_isp1105_set_vbus;
+
+ usbh1_pdata.otg = otg;
+
+ pdev = imx31_add_mxc_ehci_hs(1, &usbh1_pdata);
+ if (IS_ERR(pdev))
+ return PTR_ERR(pdev);
+
+ return 0;
+}
+
+static const struct fsl_usb2_platform_data usb_pdata __initconst = {
+ .operating_mode = FSL_USB2_DR_DEVICE,
+ .phy_mode = FSL_USB2_PHY_ULPI,
+};
+
+/*
+ * system init for baseboard usage. Will be called by mx31moboard init.
+ */
+void __init mx31moboard_marxbot_init(void)
+{
+ printk(KERN_INFO "Initializing mx31marxbot peripherals\n");
+
+ mxc_iomux_setup_multiple_pins(marxbot_pins, ARRAY_SIZE(marxbot_pins),
+ "marxbot");
+
+ marxbot_init_sel_gpios();
+
+ dspics_resets_init();
+
+ imx31_add_mxc_mmc(1, &sdhc2_pdata);
+
+ spi_register_board_info(marxbot_spi_board_info,
+ ARRAY_SIZE(marxbot_spi_board_info));
+
+ marxbot_cam_init();
+ platform_add_devices(marxbot_cameras, ARRAY_SIZE(marxbot_cameras));
+
+ /* battery present pin */
+ gpio_request(IOMUX_TO_GPIO(MX31_PIN_LCS0), "bat-present");
+ gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_LCS0));
+ gpio_export(IOMUX_TO_GPIO(MX31_PIN_LCS0), false);
+
+ imx31_add_fsl_usb2_udc(&usb_pdata);
+
+ marxbot_usbh1_init();
+}