arch/arm/mach-mx3/mx31moboard-marxbot.c - maze/linux - Git at Google

 /*
  * 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.
  *
  * You should have received a copy of the GNU General Public License
  * along with this program; if not, write to the Free Software
  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  */

 #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/platform_device.h>
 #include <linux/types.h>

 #include <linux/usb/otg.h>

 #include <mach/common.h>
 #include <mach/hardware.h>
 #include <mach/imx-uart.h>
 #include <mach/iomux-mx3.h>
 #include <mach/mmc.h>
 #include <mach/mxc_ehci.h>
 #include <mach/ulpi.h>

 #include <media/soc_camera.h>

 #include "devices.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 struct imxmmc_platform_data sdhc2_pdata = {
 	.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,
 	.module_name	= "mt9t031",
 };

 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);

 	return 0;
 }

 #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 = {
 	.init	= marxbot_usbh1_hw_init,
 	.portsc	= MXC_EHCI_MODE_UTMI | MXC_EHCI_SERIAL,
 	.flags	= MXC_EHCI_POWER_PINS_ENABLED | MXC_EHCI_INTERFACE_SINGLE_UNI,
 };

 static int __init marxbot_usbh1_init(void)
 {
 	struct otg_transceiver *otg;

 	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;

 	return mxc_register_device(&mxc_usbh1, &usbh1_pdata);
 }

 /*
  * 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();

 	mxc_register_device(&mxcsdhc_device1, &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);

 	marxbot_usbh1_init();
 }
	/*
	* 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.
	*
	* You should have received a copy of the GNU General Public License
	* along with this program; if not, write to the Free Software
	* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
	*/

	#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/platform_device.h>
	#include <linux/types.h>

	#include <linux/usb/otg.h>

	#include <mach/common.h>
	#include <mach/hardware.h>
	#include <mach/imx-uart.h>
	#include <mach/iomux-mx3.h>
	#include <mach/mmc.h>
	#include <mach/mxc_ehci.h>
	#include <mach/ulpi.h>

	#include <media/soc_camera.h>

	#include "devices.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 struct imxmmc_platform_data sdhc2_pdata = {
	.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,
	.module_name = "mt9t031",
	};

	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);

	return 0;
	}

	#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 = {
	.init = marxbot_usbh1_hw_init,
	.portsc = MXC_EHCI_MODE_UTMI \| MXC_EHCI_SERIAL,
	.flags = MXC_EHCI_POWER_PINS_ENABLED \| MXC_EHCI_INTERFACE_SINGLE_UNI,
	};

	static int __init marxbot_usbh1_init(void)
	{
	struct otg_transceiver *otg;

	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;

	return mxc_register_device(&mxc_usbh1, &usbh1_pdata);
	}

	/*
	* 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();

	mxc_register_device(&mxcsdhc_device1, &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);

	marxbot_usbh1_init();
	}