aboutsummaryrefslogtreecommitdiffstats
path: root/arch/arm/mach-mx3/mach-mx31moboard.c
blob: ea880330e83943663c4da9ee054e8e784f650a5e (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
/*
 *  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 mc13xxx_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 mc13xxx_platform_data moboard_pmic = {
	.regulators = moboard_regulators,
	.num_regulators = ARRAY_SIZE(moboard_regulators),
	.leds = &moboard_leds,
	.flags = MC13XXX_USE_REGULATOR | MC13XXX_USE_RTC |
		MC13XXX_USE_ADC | MC13XXX_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 int moboard_usbh2_init_hw(struct platform_device *pdev)
{
	return mx31_initialize_usb_hw(pdev->id, MXC_EHCI_POWER_PINS_ENABLED);
}

static struct mxc_usbh_platform_data usbh2_pdata __initdata = {
	.init	= moboard_usbh2_init_hw,
	.portsc	= MXC_EHCI_MODE_ULPI | MXC_EHCI_UTMI_8BIT,
};

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_early = imx31_init_early,
	.init_irq = mx31_init_irq,
	.timer = &mx31moboard_timer,
	.init_machine = mxc_board_init,
MACHINE_END