arch/arm/mach-mx3/mach-mx31moboard.c

   1 /*
   2  *  Copyright (C) 2008 Valentin Longchamp, EPFL Mobots group
   3  *
   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.
   8  *
   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.
  13  */
  14
  15 #include <linux/delay.h>
  16 #include <linux/dma-mapping.h>
  17 #include <linux/gfp.h>
  18 #include <linux/gpio.h>
  19 #include <linux/init.h>
  20 #include <linux/interrupt.h>
  21 #include <linux/leds.h>
  22 #include <linux/memory.h>
  23 #include <linux/mtd/physmap.h>
  24 #include <linux/mtd/partitions.h>
  25 #include <linux/platform_device.h>
  26 #include <linux/regulator/machine.h>
  27 #include <linux/mfd/mc13783.h>
  28 #include <linux/spi/spi.h>
  29 #include <linux/types.h>
  30
  31 #include <linux/usb/otg.h>
  32 #include <linux/usb/ulpi.h>
  33
  34 #include <asm/mach-types.h>
  35 #include <asm/mach/arch.h>
  36 #include <asm/mach/time.h>
  37 #include <asm/mach/map.h>
  38 #include <mach/board-mx31moboard.h>
  39 #include <mach/common.h>
  40 #include <mach/hardware.h>
  41 #include <mach/iomux-mx3.h>
  42 #include <mach/ipu.h>
  43 #include <mach/mx3_camera.h>
  44 #include <mach/spi.h>
  45 #include <mach/ulpi.h>
  46
  47 #include "devices-imx31.h"
  48 #include "devices.h"
  49
  50 static unsigned int moboard_pins[] = {
  51         /* UART0 */
  52         MX31_PIN_TXD1__TXD1, MX31_PIN_RXD1__RXD1,
  53         MX31_PIN_CTS1__GPIO2_7,
  54         /* UART4 */
  55         MX31_PIN_PC_RST__CTS5, MX31_PIN_PC_VS2__RTS5,
  56         MX31_PIN_PC_BVD2__TXD5, MX31_PIN_PC_BVD1__RXD5,
  57         /* I2C0 */
  58         MX31_PIN_I2C_DAT__I2C1_SDA, MX31_PIN_I2C_CLK__I2C1_SCL,
  59         /* I2C1 */
  60         MX31_PIN_DCD_DTE1__I2C2_SDA, MX31_PIN_RI_DTE1__I2C2_SCL,
  61         /* SDHC1 */
  62         MX31_PIN_SD1_DATA3__SD1_DATA3, MX31_PIN_SD1_DATA2__SD1_DATA2,
  63         MX31_PIN_SD1_DATA1__SD1_DATA1, MX31_PIN_SD1_DATA0__SD1_DATA0,
  64         MX31_PIN_SD1_CLK__SD1_CLK, MX31_PIN_SD1_CMD__SD1_CMD,
  65         MX31_PIN_ATA_CS0__GPIO3_26, MX31_PIN_ATA_CS1__GPIO3_27,
  66         /* USB reset */
  67         MX31_PIN_GPIO1_0__GPIO1_0,
  68         /* USB OTG */
  69         MX31_PIN_USBOTG_DATA0__USBOTG_DATA0,
  70         MX31_PIN_USBOTG_DATA1__USBOTG_DATA1,
  71         MX31_PIN_USBOTG_DATA2__USBOTG_DATA2,
  72         MX31_PIN_USBOTG_DATA3__USBOTG_DATA3,
  73         MX31_PIN_USBOTG_DATA4__USBOTG_DATA4,
  74         MX31_PIN_USBOTG_DATA5__USBOTG_DATA5,
  75         MX31_PIN_USBOTG_DATA6__USBOTG_DATA6,
  76         MX31_PIN_USBOTG_DATA7__USBOTG_DATA7,
  77         MX31_PIN_USBOTG_CLK__USBOTG_CLK, MX31_PIN_USBOTG_DIR__USBOTG_DIR,
  78         MX31_PIN_USBOTG_NXT__USBOTG_NXT, MX31_PIN_USBOTG_STP__USBOTG_STP,
  79         MX31_PIN_USB_OC__GPIO1_30,
  80         /* USB H2 */
  81         MX31_PIN_USBH2_DATA0__USBH2_DATA0,
  82         MX31_PIN_USBH2_DATA1__USBH2_DATA1,
  83         MX31_PIN_STXD3__USBH2_DATA2, MX31_PIN_SRXD3__USBH2_DATA3,
  84         MX31_PIN_SCK3__USBH2_DATA4, MX31_PIN_SFS3__USBH2_DATA5,
  85         MX31_PIN_STXD6__USBH2_DATA6, MX31_PIN_SRXD6__USBH2_DATA7,
  86         MX31_PIN_USBH2_CLK__USBH2_CLK, MX31_PIN_USBH2_DIR__USBH2_DIR,
  87         MX31_PIN_USBH2_NXT__USBH2_NXT, MX31_PIN_USBH2_STP__USBH2_STP,
  88         MX31_PIN_SCK6__GPIO1_25,
  89         /* LEDs */
  90         MX31_PIN_SVEN0__GPIO2_0, MX31_PIN_STX0__GPIO2_1,
  91         MX31_PIN_SRX0__GPIO2_2, MX31_PIN_SIMPD0__GPIO2_3,
  92         /* SPI1 */
  93         MX31_PIN_CSPI2_MOSI__MOSI, MX31_PIN_CSPI2_MISO__MISO,
  94         MX31_PIN_CSPI2_SCLK__SCLK, MX31_PIN_CSPI2_SPI_RDY__SPI_RDY,
  95         MX31_PIN_CSPI2_SS0__SS0, MX31_PIN_CSPI2_SS2__SS2,
  96         /* Atlas IRQ */
  97         MX31_PIN_GPIO1_3__GPIO1_3,
  98         /* SPI2 */
  99         MX31_PIN_CSPI3_MOSI__MOSI, MX31_PIN_CSPI3_MISO__MISO,
 100         MX31_PIN_CSPI3_SCLK__SCLK, MX31_PIN_CSPI3_SPI_RDY__SPI_RDY,
 101         MX31_PIN_CSPI2_SS1__CSPI3_SS1,
 102 };
 103
 104 static struct physmap_flash_data mx31moboard_flash_data = {
 105         .width          = 2,
 106 };
 107
 108 static struct resource mx31moboard_flash_resource = {
 109         .start  = 0xa0000000,
 110         .end    = 0xa1ffffff,
 111         .flags  = IORESOURCE_MEM,
 112 };
 113
 114 static struct platform_device mx31moboard_flash = {
 115         .name   = "physmap-flash",
 116         .id     = 0,
 117         .dev    = {
 118                 .platform_data  = &mx31moboard_flash_data,
 119         },
 120         .resource = &mx31moboard_flash_resource,
 121         .num_resources = 1,
 122 };
 123
 124 static int moboard_uart0_init(struct platform_device *pdev)
 125 {
 126         int ret = gpio_request(IOMUX_TO_GPIO(MX31_PIN_CTS1), "uart0-cts-hack");
 127         if (ret)
 128                 return ret;
 129
 130         ret = gpio_direction_output(IOMUX_TO_GPIO(MX31_PIN_CTS1), 0);
 131         if (ret)
 132                 gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1));
 133
 134         return ret;
 135 }
 136
 137 static void moboard_uart0_exit(struct platform_device *pdev)
 138 {
 139         gpio_free(IOMUX_TO_GPIO(MX31_PIN_CTS1));
 140 }
 141
 142 static const struct imxuart_platform_data uart0_pdata __initconst = {
 143         .init = moboard_uart0_init,
 144         .exit = moboard_uart0_exit,
 145 };
 146
 147 static const struct imxuart_platform_data uart4_pdata __initconst = {
 148         .flags = IMXUART_HAVE_RTSCTS,
 149 };
 150
 151 static const struct imxi2c_platform_data moboard_i2c0_data __initconst = {
 152         .bitrate = 400000,
 153 };
 154
 155 static const struct imxi2c_platform_data moboard_i2c1_data __initconst = {
 156         .bitrate = 100000,
 157 };
 158
 159 static int moboard_spi1_cs[] = {
 160         MXC_SPI_CS(0),
 161         MXC_SPI_CS(2),
 162 };
 163
 164 static const struct spi_imx_master moboard_spi1_pdata __initconst = {
 165         .chipselect     = moboard_spi1_cs,
 166         .num_chipselect = ARRAY_SIZE(moboard_spi1_cs),
 167 };
 168
 169 static struct regulator_consumer_supply sdhc_consumers[] = {
 170         {
 171                 .dev_name = "mxc-mmc.0",
 172                 .supply = "sdhc0_vcc",
 173         },
 174         {
 175                 .dev_name = "mxc-mmc.1",
 176                 .supply = "sdhc1_vcc",
 177         },
 178 };
 179
 180 static struct regulator_init_data sdhc_vreg_data = {
 181         .constraints = {
 182                 .min_uV = 2700000,
 183                 .max_uV = 3000000,
 184                 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
 185                         REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
 186                 .valid_modes_mask = REGULATOR_MODE_NORMAL |
 187                         REGULATOR_MODE_FAST,
 188                 .always_on = 0,
 189                 .boot_on = 1,
 190         },
 191         .num_consumer_supplies = ARRAY_SIZE(sdhc_consumers),
 192         .consumer_supplies = sdhc_consumers,
 193 };
 194
 195 static struct regulator_consumer_supply cam_consumers[] = {
 196         {
 197                 .dev    = &mx3_camera.dev,
 198                 .supply = "cam_vcc",
 199         },
 200 };
 201
 202 static struct regulator_init_data cam_vreg_data = {
 203         .constraints = {
 204                 .min_uV = 2700000,
 205                 .max_uV = 3000000,
 206                 .valid_ops_mask = REGULATOR_CHANGE_VOLTAGE |
 207                         REGULATOR_CHANGE_MODE | REGULATOR_CHANGE_STATUS,
 208                 .valid_modes_mask = REGULATOR_MODE_NORMAL |
 209                         REGULATOR_MODE_FAST,
 210                 .always_on = 0,
 211                 .boot_on = 1,
 212         },
 213         .num_consumer_supplies = ARRAY_SIZE(cam_consumers),
 214         .consumer_supplies = cam_consumers,
 215 };
 216
 217 static struct mc13783_regulator_init_data moboard_regulators[] = {
 218         {
 219                 .id = MC13783_REG_VMMC1,
 220                 .init_data = &sdhc_vreg_data,
 221         },
 222         {
 223                 .id = MC13783_REG_VCAM,
 224                 .init_data = &cam_vreg_data,
 225         },
 226 };
 227
 228 static struct mc13783_led_platform_data moboard_led[] = {
 229         {
 230                 .id = MC13783_LED_R1,
 231                 .name = "coreboard-led-4:red",
 232                 .max_current = 2,
 233         },
 234         {
 235                 .id = MC13783_LED_G1,
 236                 .name = "coreboard-led-4:green",
 237                 .max_current = 2,
 238         },
 239         {
 240                 .id = MC13783_LED_B1,
 241                 .name = "coreboard-led-4:blue",
 242                 .max_current = 2,
 243         },
 244         {
 245                 .id = MC13783_LED_R2,
 246                 .name = "coreboard-led-5:red",
 247                 .max_current = 3,
 248         },
 249         {
 250                 .id = MC13783_LED_G2,
 251                 .name = "coreboard-led-5:green",
 252                 .max_current = 3,
 253         },
 254         {
 255                 .id = MC13783_LED_B2,
 256                 .name = "coreboard-led-5:blue",
 257                 .max_current = 3,
 258         },
 259 };
 260
 261 static struct mc13783_leds_platform_data moboard_leds = {
 262         .num_leds = ARRAY_SIZE(moboard_led),
 263         .led = moboard_led,
 264         .flags = MC13783_LED_SLEWLIMTC,
 265         .abmode = MC13783_LED_AB_DISABLED,
 266         .tc1_period = MC13783_LED_PERIOD_10MS,
 267         .tc2_period = MC13783_LED_PERIOD_10MS,
 268 };
 269
 270 static struct mc13783_platform_data moboard_pmic = {
 271         .regulators = moboard_regulators,
 272         .num_regulators = ARRAY_SIZE(moboard_regulators),
 273         .leds = &moboard_leds,
 274         .flags = MC13783_USE_REGULATOR | MC13783_USE_RTC |
 275                 MC13783_USE_ADC | MC13783_USE_LED,
 276 };
 277
 278 static struct spi_board_info moboard_spi_board_info[] __initdata = {
 279         {
 280                 .modalias = "mc13783",
 281                 .irq = IOMUX_TO_IRQ(MX31_PIN_GPIO1_3),
 282                 .max_speed_hz = 300000,
 283                 .bus_num = 1,
 284                 .chip_select = 0,
 285                 .platform_data = &moboard_pmic,
 286                 .mode = SPI_CS_HIGH,
 287         },
 288 };
 289
 290 static int moboard_spi2_cs[] = {
 291         MXC_SPI_CS(1),
 292 };
 293
 294 static const struct spi_imx_master moboard_spi2_pdata __initconst = {
 295         .chipselect     = moboard_spi2_cs,
 296         .num_chipselect = ARRAY_SIZE(moboard_spi2_cs),
 297 };
 298
 299 #define SDHC1_CD IOMUX_TO_GPIO(MX31_PIN_ATA_CS0)
 300 #define SDHC1_WP IOMUX_TO_GPIO(MX31_PIN_ATA_CS1)
 301
 302 static int moboard_sdhc1_get_ro(struct device *dev)
 303 {
 304         return !gpio_get_value(SDHC1_WP);
 305 }
 306
 307 static int moboard_sdhc1_init(struct device *dev, irq_handler_t detect_irq,
 308                 void *data)
 309 {
 310         int ret;
 311
 312         ret = gpio_request(SDHC1_CD, "sdhc-detect");
 313         if (ret)
 314                 return ret;
 315
 316         gpio_direction_input(SDHC1_CD);
 317
 318         ret = gpio_request(SDHC1_WP, "sdhc-wp");
 319         if (ret)
 320                 goto err_gpio_free;
 321         gpio_direction_input(SDHC1_WP);
 322
 323         ret = request_irq(gpio_to_irq(SDHC1_CD), detect_irq,
 324                 IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
 325                 "sdhc1-card-detect", data);
 326         if (ret)
 327                 goto err_gpio_free_2;
 328
 329         return 0;
 330
 331 err_gpio_free_2:
 332         gpio_free(SDHC1_WP);
 333 err_gpio_free:
 334         gpio_free(SDHC1_CD);
 335
 336         return ret;
 337 }
 338
 339 static void moboard_sdhc1_exit(struct device *dev, void *data)
 340 {
 341         free_irq(gpio_to_irq(SDHC1_CD), data);
 342         gpio_free(SDHC1_WP);
 343         gpio_free(SDHC1_CD);
 344 }
 345
 346 static const struct imxmmc_platform_data sdhc1_pdata __initconst = {
 347         .get_ro = moboard_sdhc1_get_ro,
 348         .init   = moboard_sdhc1_init,
 349         .exit   = moboard_sdhc1_exit,
 350 };
 351
 352 /*
 353  * this pin is dedicated for all mx31moboard systems, so we do it here
 354  */
 355 #define USB_RESET_B     IOMUX_TO_GPIO(MX31_PIN_GPIO1_0)
 356 #define USB_PAD_CFG (PAD_CTL_DRV_MAX | PAD_CTL_SRE_FAST | PAD_CTL_HYS_CMOS | \
 357                       PAD_CTL_ODE_CMOS)
 358
 359 #define OTG_EN_B IOMUX_TO_GPIO(MX31_PIN_USB_OC)
 360 #define USBH2_EN_B IOMUX_TO_GPIO(MX31_PIN_SCK6)
 361
 362 static void usb_xcvr_reset(void)
 363 {
 364         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
 365         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
 366         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA2, USB_PAD_CFG | PAD_CTL_100K_PD);
 367         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA3, USB_PAD_CFG | PAD_CTL_100K_PD);
 368         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA4, USB_PAD_CFG | PAD_CTL_100K_PD);
 369         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA5, USB_PAD_CFG | PAD_CTL_100K_PD);
 370         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA6, USB_PAD_CFG | PAD_CTL_100K_PD);
 371         mxc_iomux_set_pad(MX31_PIN_USBOTG_DATA7, USB_PAD_CFG | PAD_CTL_100K_PD);
 372         mxc_iomux_set_pad(MX31_PIN_USBOTG_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
 373         mxc_iomux_set_pad(MX31_PIN_USBOTG_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
 374         mxc_iomux_set_pad(MX31_PIN_USBOTG_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
 375         mxc_iomux_set_pad(MX31_PIN_USBOTG_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
 376
 377         mxc_iomux_set_gpr(MUX_PGP_UH2, true);
 378         mxc_iomux_set_pad(MX31_PIN_USBH2_CLK, USB_PAD_CFG | PAD_CTL_100K_PU);
 379         mxc_iomux_set_pad(MX31_PIN_USBH2_DIR, USB_PAD_CFG | PAD_CTL_100K_PU);
 380         mxc_iomux_set_pad(MX31_PIN_USBH2_NXT, USB_PAD_CFG | PAD_CTL_100K_PU);
 381         mxc_iomux_set_pad(MX31_PIN_USBH2_STP, USB_PAD_CFG | PAD_CTL_100K_PU);
 382         mxc_iomux_set_pad(MX31_PIN_USBH2_DATA0, USB_PAD_CFG | PAD_CTL_100K_PD);
 383         mxc_iomux_set_pad(MX31_PIN_USBH2_DATA1, USB_PAD_CFG | PAD_CTL_100K_PD);
 384         mxc_iomux_set_pad(MX31_PIN_SRXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
 385         mxc_iomux_set_pad(MX31_PIN_STXD6, USB_PAD_CFG | PAD_CTL_100K_PD);
 386         mxc_iomux_set_pad(MX31_PIN_SFS3, USB_PAD_CFG | PAD_CTL_100K_PD);
 387         mxc_iomux_set_pad(MX31_PIN_SCK3, USB_PAD_CFG | PAD_CTL_100K_PD);
 388         mxc_iomux_set_pad(MX31_PIN_SRXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
 389         mxc_iomux_set_pad(MX31_PIN_STXD3, USB_PAD_CFG | PAD_CTL_100K_PD);
 390
 391         gpio_request(OTG_EN_B, "usb-udc-en");
 392         gpio_direction_output(OTG_EN_B, 0);
 393         gpio_request(USBH2_EN_B, "usbh2-en");
 394         gpio_direction_output(USBH2_EN_B, 0);
 395
 396         gpio_request(USB_RESET_B, "usb-reset");
 397         gpio_direction_output(USB_RESET_B, 0);
 398         mdelay(1);
 399         gpio_set_value(USB_RESET_B, 1);
 400         mdelay(1);
 401 }
 402
 403 #if defined(CONFIG_USB_ULPI)
 404
 405 static struct mxc_usbh_platform_data usbh2_pdata __initdata = {
 406         .portsc = MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
 407         .flags  = MXC_EHCI_POWER_PINS_ENABLED,
 408 };
 409
 410 static int __init moboard_usbh2_init(void)
 411 {
 412         struct platform_device *pdev;
 413
 414         usbh2_pdata.otg = otg_ulpi_create(&mxc_ulpi_access_ops,
 415                         ULPI_OTG_DRVVBUS | ULPI_OTG_DRVVBUS_EXT);
 416
 417         pdev = imx31_add_mxc_ehci_hs(2, &usbh2_pdata);
 418         if (IS_ERR(pdev))
 419                 return PTR_ERR(pdev);
 420
 421         return 0;
 422 }
 423 #else
 424 static inline int moboard_usbh2_init(void) { return 0; }
 425 #endif
 426
 427
 428 static struct gpio_led mx31moboard_leds[] = {
 429         {
 430                 .name   = "coreboard-led-0:red:running",
 431                 .default_trigger = "heartbeat",
 432                 .gpio   = IOMUX_TO_GPIO(MX31_PIN_SVEN0),
 433         }, {
 434                 .name   = "coreboard-led-1:red",
 435                 .gpio   = IOMUX_TO_GPIO(MX31_PIN_STX0),
 436         }, {
 437                 .name   = "coreboard-led-2:red",
 438                 .gpio   = IOMUX_TO_GPIO(MX31_PIN_SRX0),
 439         }, {
 440                 .name   = "coreboard-led-3:red",
 441                 .gpio   = IOMUX_TO_GPIO(MX31_PIN_SIMPD0),
 442         },
 443 };
 444
 445 static struct gpio_led_platform_data mx31moboard_led_pdata = {
 446         .num_leds       = ARRAY_SIZE(mx31moboard_leds),
 447         .leds           = mx31moboard_leds,
 448 };
 449
 450 static struct platform_device mx31moboard_leds_device = {
 451         .name   = "leds-gpio",
 452         .id     = -1,
 453         .dev    = {
 454                 .platform_data = &mx31moboard_led_pdata,
 455         },
 456 };
 457
 458 static struct ipu_platform_data mx3_ipu_data = {
 459         .irq_base = MXC_IPU_IRQ_START,
 460 };
 461
 462 static struct platform_device *devices[] __initdata = {
 463         &mx31moboard_flash,
 464         &mx31moboard_leds_device,
 465 };
 466
 467 static struct mx3_camera_pdata camera_pdata = {
 468         .dma_dev        = &mx3_ipu.dev,
 469         .flags          = MX3_CAMERA_DATAWIDTH_8 | MX3_CAMERA_DATAWIDTH_10,
 470         .mclk_10khz     = 4800,
 471 };
 472
 473 #define CAMERA_BUF_SIZE (4*1024*1024)
 474
 475 static int __init mx31moboard_cam_alloc_dma(const size_t buf_size)
 476 {
 477         dma_addr_t dma_handle;
 478         void *buf;
 479         int dma;
 480
 481         if (buf_size < 2 * 1024 * 1024)
 482                 return -EINVAL;
 483
 484         buf = dma_alloc_coherent(NULL, buf_size, &dma_handle, GFP_KERNEL);
 485         if (!buf) {
 486                 pr_err("%s: cannot allocate camera buffer-memory\n", __func__);
 487                 return -ENOMEM;
 488         }
 489
 490         memset(buf, 0, buf_size);
 491
 492         dma = dma_declare_coherent_memory(&mx3_camera.dev,
 493                                         dma_handle, dma_handle, buf_size,
 494                                         DMA_MEMORY_MAP | DMA_MEMORY_EXCLUSIVE);
 495
 496         /* The way we call dma_declare_coherent_memory only a malloc can fail */
 497         return dma & DMA_MEMORY_MAP ? 0 : -ENOMEM;
 498 }
 499
 500 static int mx31moboard_baseboard;
 501 core_param(mx31moboard_baseboard, mx31moboard_baseboard, int, 0444);
 502
 503 /*
 504  * Board specific initialization.
 505  */
 506 static void __init mxc_board_init(void)
 507 {
 508         mxc_iomux_setup_multiple_pins(moboard_pins, ARRAY_SIZE(moboard_pins),
 509                 "moboard");
 510
 511         platform_add_devices(devices, ARRAY_SIZE(devices));
 512
 513         imx31_add_imx_uart0(&uart0_pdata);
 514         imx31_add_imx_uart4(&uart4_pdata);
 515
 516         imx31_add_imx_i2c0(&moboard_i2c0_data);
 517         imx31_add_imx_i2c1(&moboard_i2c1_data);
 518
 519         imx31_add_spi_imx1(&moboard_spi1_pdata);
 520         imx31_add_spi_imx2(&moboard_spi2_pdata);
 521
 522         gpio_request(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3), "pmic-irq");
 523         gpio_direction_input(IOMUX_TO_GPIO(MX31_PIN_GPIO1_3));
 524         spi_register_board_info(moboard_spi_board_info,
 525                 ARRAY_SIZE(moboard_spi_board_info));
 526
 527         imx31_add_mxc_mmc(0, &sdhc1_pdata);
 528
 529         mxc_register_device(&mx3_ipu, &mx3_ipu_data);
 530         if (!mx31moboard_cam_alloc_dma(CAMERA_BUF_SIZE))
 531                 mxc_register_device(&mx3_camera, &camera_pdata);
 532
 533         usb_xcvr_reset();
 534
 535         moboard_usbh2_init();
 536
 537         switch (mx31moboard_baseboard) {
 538         case MX31NOBOARD:
 539                 break;
 540         case MX31DEVBOARD:
 541                 mx31moboard_devboard_init();
 542                 break;
 543         case MX31MARXBOT:
 544                 mx31moboard_marxbot_init();
 545                 break;
 546         case MX31SMARTBOT:
 547         case MX31EYEBOT:
 548                 mx31moboard_smartbot_init(mx31moboard_baseboard);
 549                 break;
 550         default:
 551                 printk(KERN_ERR "Illegal mx31moboard_baseboard type %d\n",
 552                         mx31moboard_baseboard);
 553         }
 554 }
 555
 556 static void __init mx31moboard_timer_init(void)
 557 {
 558         mx31_clocks_init(26000000);
 559 }
 560
 561 struct sys_timer mx31moboard_timer = {
 562         .init   = mx31moboard_timer_init,
 563 };
 564
 565 MACHINE_START(MX31MOBOARD, "EPFL Mobots mx31moboard")
 566         /* Maintainer: Valentin Longchamp, EPFL Mobots group */
 567         .boot_params    = MX3x_PHYS_OFFSET + 0x100,
 568         .map_io         = mx31_map_io,
 569         .init_irq       = mx31_init_irq,
 570         .init_machine   = mxc_board_init,
 571         .timer          = &mx31moboard_timer,
 572 MACHINE_END
 573