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authorLinus Torvalds <torvalds@linux-foundation.org>2012-01-09 17:38:51 -0500
committerLinus Torvalds <torvalds@linux-foundation.org>2012-01-09 17:38:51 -0500
commit5ede3ceb7b2c2843e153a1803edbdc8c56655950 (patch)
tree4cfa82b619f7d39b671e4a2a213f4d040b09c486 /arch/arm/mach-orion5x
parent6d889d03ab1417645e76e129834f76204bae37c0 (diff)
parent3e2762c8f1141ae8dc708034ea41d6827818c328 (diff)
Merge tag 'devel' of git://git.kernel.org/pub/scm/linux/kernel/git/arm/arm-soc
New feature development This adds support for new features, and contains stuff from most platforms. A number of these patches could have fit into other branches, too, but were small enough not to cause too much confusion here. * tag 'devel' of git://git.kernel.org/pub/scm/linux/kernel/git/arm/arm-soc: (28 commits) mfd/db8500-prcmu: remove support for early silicon revisions ARM: ux500: fix the smp_twd clock calculation ARM: ux500: remove support for early silicon revisions ARM: ux500: update register files ARM: ux500: register DB5500 PMU dynamically ARM: ux500: update ASIC detection for U5500 ARM: ux500: support DB8520 ARM: picoxcell: implement watchdog restart ARM: OMAP3+: hwmod data: Add the default clockactivity for I2C ARM: OMAP3: hwmod data: disable multiblock reads on MMC1/2 on OMAP34xx/35xx <= ES2.1 ARM: OMAP: USB: EHCI and OHCI hwmod structures for OMAP4 ARM: OMAP: USB: EHCI and OHCI hwmod structures for OMAP3 ARM: OMAP: hwmod data: Add support for AM35xx UART4/ttyO3 ARM: Orion: Remove address map info from all platform data structures ARM: Orion: Get address map from plat-orion instead of via platform_data ARM: Orion: mbus_dram_info consolidation ARM: Orion: Consolidate the address map setup ARM: Kirkwood: Add configuration for MPP12 as GPIO ARM: Kirkwood: Recognize A1 revision of 6282 chip ARM: ux500: update the MOP500 GPIO assignments ...
Diffstat (limited to 'arch/arm/mach-orion5x')
-rw-r--r--arch/arm/mach-orion5x/addr-map.c146
-rw-r--r--arch/arm/mach-orion5x/common.c23
-rw-r--r--arch/arm/mach-orion5x/common.h3
-rw-r--r--arch/arm/mach-orion5x/include/mach/orion5x.h2
-rw-r--r--arch/arm/mach-orion5x/mpp.c1
-rw-r--r--arch/arm/mach-orion5x/pci.c5
6 files changed, 59 insertions, 121 deletions
diff --git a/arch/arm/mach-orion5x/addr-map.c b/arch/arm/mach-orion5x/addr-map.c
index 5ceafdccc45..3638e5c12b7 100644
--- a/arch/arm/mach-orion5x/addr-map.c
+++ b/arch/arm/mach-orion5x/addr-map.c
@@ -14,8 +14,8 @@
14#include <linux/init.h> 14#include <linux/init.h>
15#include <linux/mbus.h> 15#include <linux/mbus.h>
16#include <linux/io.h> 16#include <linux/io.h>
17#include <linux/errno.h>
18#include <mach/hardware.h> 17#include <mach/hardware.h>
18#include <plat/addr-map.h>
19#include "common.h" 19#include "common.h"
20 20
21/* 21/*
@@ -41,7 +41,6 @@
41/* 41/*
42 * Generic Address Decode Windows bit settings 42 * Generic Address Decode Windows bit settings
43 */ 43 */
44#define TARGET_DDR 0
45#define TARGET_DEV_BUS 1 44#define TARGET_DEV_BUS 1
46#define TARGET_PCI 3 45#define TARGET_PCI 3
47#define TARGET_PCIE 4 46#define TARGET_PCIE 4
@@ -57,27 +56,10 @@
57#define ATTR_DEV_BOOT 0xf 56#define ATTR_DEV_BOOT 0xf
58#define ATTR_SRAM 0x0 57#define ATTR_SRAM 0x0
59 58
60/*
61 * Helpers to get DDR bank info
62 */
63#define ORION5X_DDR_REG(x) (ORION5X_DDR_VIRT_BASE | (x))
64#define DDR_BASE_CS(n) ORION5X_DDR_REG(0x1500 + ((n) << 3))
65#define DDR_SIZE_CS(n) ORION5X_DDR_REG(0x1504 + ((n) << 3))
66
67/*
68 * CPU Address Decode Windows registers
69 */
70#define ORION5X_BRIDGE_REG(x) (ORION5X_BRIDGE_VIRT_BASE | (x))
71#define CPU_WIN_CTRL(n) ORION5X_BRIDGE_REG(0x000 | ((n) << 4))
72#define CPU_WIN_BASE(n) ORION5X_BRIDGE_REG(0x004 | ((n) << 4))
73#define CPU_WIN_REMAP_LO(n) ORION5X_BRIDGE_REG(0x008 | ((n) << 4))
74#define CPU_WIN_REMAP_HI(n) ORION5X_BRIDGE_REG(0x00c | ((n) << 4))
75
76
77struct mbus_dram_target_info orion5x_mbus_dram_info;
78static int __initdata win_alloc_count; 59static int __initdata win_alloc_count;
79 60
80static int __init orion5x_cpu_win_can_remap(int win) 61static int __init cpu_win_can_remap(const struct orion_addr_map_cfg *cfg,
62 const int win)
81{ 63{
82 u32 dev, rev; 64 u32 dev, rev;
83 65
@@ -91,116 +73,82 @@ static int __init orion5x_cpu_win_can_remap(int win)
91 return 0; 73 return 0;
92} 74}
93 75
94static int __init setup_cpu_win(int win, u32 base, u32 size, 76/*
95 u8 target, u8 attr, int remap) 77 * Description of the windows needed by the platform code
96{ 78 */
97 if (win >= 8) { 79static struct __initdata orion_addr_map_cfg addr_map_cfg = {
98 printk(KERN_ERR "setup_cpu_win: trying to allocate " 80 .num_wins = 8,
99 "window %d\n", win); 81 .cpu_win_can_remap = cpu_win_can_remap,
100 return -ENOSPC; 82 .bridge_virt_base = ORION5X_BRIDGE_VIRT_BASE,
101 } 83};
102
103 writel(base & 0xffff0000, CPU_WIN_BASE(win));
104 writel(((size - 1) & 0xffff0000) | (attr << 8) | (target << 4) | 1,
105 CPU_WIN_CTRL(win));
106
107 if (orion5x_cpu_win_can_remap(win)) {
108 if (remap < 0)
109 remap = base;
110
111 writel(remap & 0xffff0000, CPU_WIN_REMAP_LO(win));
112 writel(0, CPU_WIN_REMAP_HI(win));
113 }
114 return 0;
115}
116
117void __init orion5x_setup_cpu_mbus_bridge(void)
118{
119 int i;
120 int cs;
121 84
85static const struct __initdata orion_addr_map_info addr_map_info[] = {
122 /* 86 /*
123 * First, disable and clear windows. 87 * Setup windows for PCI+PCIe IO+MEM space.
124 */ 88 */
125 for (i = 0; i < 8; i++) { 89 { 0, ORION5X_PCIE_IO_PHYS_BASE, ORION5X_PCIE_IO_SIZE,
126 writel(0, CPU_WIN_BASE(i)); 90 TARGET_PCIE, ATTR_PCIE_IO, ORION5X_PCIE_IO_BUS_BASE
127 writel(0, CPU_WIN_CTRL(i)); 91 },
128 if (orion5x_cpu_win_can_remap(i)) { 92 { 1, ORION5X_PCI_IO_PHYS_BASE, ORION5X_PCI_IO_SIZE,
129 writel(0, CPU_WIN_REMAP_LO(i)); 93 TARGET_PCI, ATTR_PCI_IO, ORION5X_PCI_IO_BUS_BASE
130 writel(0, CPU_WIN_REMAP_HI(i)); 94 },
131 } 95 { 2, ORION5X_PCIE_MEM_PHYS_BASE, ORION5X_PCIE_MEM_SIZE,
132 } 96 TARGET_PCIE, ATTR_PCIE_MEM, -1
97 },
98 { 3, ORION5X_PCI_MEM_PHYS_BASE, ORION5X_PCI_MEM_SIZE,
99 TARGET_PCI, ATTR_PCI_MEM, -1
100 },
101 /* End marker */
102 { -1, 0, 0, 0, 0, 0 }
103};
133 104
105void __init orion5x_setup_cpu_mbus_bridge(void)
106{
134 /* 107 /*
135 * Setup windows for PCI+PCIe IO+MEM space. 108 * Disable, clear and configure windows.
136 */ 109 */
137 setup_cpu_win(0, ORION5X_PCIE_IO_PHYS_BASE, ORION5X_PCIE_IO_SIZE, 110 orion_config_wins(&addr_map_cfg, addr_map_info);
138 TARGET_PCIE, ATTR_PCIE_IO, ORION5X_PCIE_IO_BUS_BASE);
139 setup_cpu_win(1, ORION5X_PCI_IO_PHYS_BASE, ORION5X_PCI_IO_SIZE,
140 TARGET_PCI, ATTR_PCI_IO, ORION5X_PCI_IO_BUS_BASE);
141 setup_cpu_win(2, ORION5X_PCIE_MEM_PHYS_BASE, ORION5X_PCIE_MEM_SIZE,
142 TARGET_PCIE, ATTR_PCIE_MEM, -1);
143 setup_cpu_win(3, ORION5X_PCI_MEM_PHYS_BASE, ORION5X_PCI_MEM_SIZE,
144 TARGET_PCI, ATTR_PCI_MEM, -1);
145 win_alloc_count = 4; 111 win_alloc_count = 4;
146 112
147 /* 113 /*
148 * Setup MBUS dram target info. 114 * Setup MBUS dram target info.
149 */ 115 */
150 orion5x_mbus_dram_info.mbus_dram_target_id = TARGET_DDR; 116 orion_setup_cpu_mbus_target(&addr_map_cfg, ORION5X_DDR_WINDOW_CPU_BASE);
151
152 for (i = 0, cs = 0; i < 4; i++) {
153 u32 base = readl(DDR_BASE_CS(i));
154 u32 size = readl(DDR_SIZE_CS(i));
155
156 /*
157 * Chip select enabled?
158 */
159 if (size & 1) {
160 struct mbus_dram_window *w;
161
162 w = &orion5x_mbus_dram_info.cs[cs++];
163 w->cs_index = i;
164 w->mbus_attr = 0xf & ~(1 << i);
165 w->base = base & 0xffff0000;
166 w->size = (size | 0x0000ffff) + 1;
167 }
168 }
169 orion5x_mbus_dram_info.num_cs = cs;
170} 117}
171 118
172void __init orion5x_setup_dev_boot_win(u32 base, u32 size) 119void __init orion5x_setup_dev_boot_win(u32 base, u32 size)
173{ 120{
174 setup_cpu_win(win_alloc_count++, base, size, 121 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++, base, size,
175 TARGET_DEV_BUS, ATTR_DEV_BOOT, -1); 122 TARGET_DEV_BUS, ATTR_DEV_BOOT, -1);
176} 123}
177 124
178void __init orion5x_setup_dev0_win(u32 base, u32 size) 125void __init orion5x_setup_dev0_win(u32 base, u32 size)
179{ 126{
180 setup_cpu_win(win_alloc_count++, base, size, 127 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++, base, size,
181 TARGET_DEV_BUS, ATTR_DEV_CS0, -1); 128 TARGET_DEV_BUS, ATTR_DEV_CS0, -1);
182} 129}
183 130
184void __init orion5x_setup_dev1_win(u32 base, u32 size) 131void __init orion5x_setup_dev1_win(u32 base, u32 size)
185{ 132{
186 setup_cpu_win(win_alloc_count++, base, size, 133 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++, base, size,
187 TARGET_DEV_BUS, ATTR_DEV_CS1, -1); 134 TARGET_DEV_BUS, ATTR_DEV_CS1, -1);
188} 135}
189 136
190void __init orion5x_setup_dev2_win(u32 base, u32 size) 137void __init orion5x_setup_dev2_win(u32 base, u32 size)
191{ 138{
192 setup_cpu_win(win_alloc_count++, base, size, 139 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++, base, size,
193 TARGET_DEV_BUS, ATTR_DEV_CS2, -1); 140 TARGET_DEV_BUS, ATTR_DEV_CS2, -1);
194} 141}
195 142
196void __init orion5x_setup_pcie_wa_win(u32 base, u32 size) 143void __init orion5x_setup_pcie_wa_win(u32 base, u32 size)
197{ 144{
198 setup_cpu_win(win_alloc_count++, base, size, 145 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++, base, size,
199 TARGET_PCIE, ATTR_PCIE_WA, -1); 146 TARGET_PCIE, ATTR_PCIE_WA, -1);
200} 147}
201 148
202int __init orion5x_setup_sram_win(void) 149void __init orion5x_setup_sram_win(void)
203{ 150{
204 return setup_cpu_win(win_alloc_count++, ORION5X_SRAM_PHYS_BASE, 151 orion_setup_cpu_win(&addr_map_cfg, win_alloc_count++,
205 ORION5X_SRAM_SIZE, TARGET_SRAM, ATTR_SRAM, -1); 152 ORION5X_SRAM_PHYS_BASE, ORION5X_SRAM_SIZE,
153 TARGET_SRAM, ATTR_SRAM, -1);
206} 154}
diff --git a/arch/arm/mach-orion5x/common.c b/arch/arm/mach-orion5x/common.c
index 41127e80cc1..0e28bae20bd 100644
--- a/arch/arm/mach-orion5x/common.c
+++ b/arch/arm/mach-orion5x/common.c
@@ -15,7 +15,6 @@
15#include <linux/platform_device.h> 15#include <linux/platform_device.h>
16#include <linux/dma-mapping.h> 16#include <linux/dma-mapping.h>
17#include <linux/serial_8250.h> 17#include <linux/serial_8250.h>
18#include <linux/mbus.h>
19#include <linux/mv643xx_i2c.h> 18#include <linux/mv643xx_i2c.h>
20#include <linux/ata_platform.h> 19#include <linux/ata_platform.h>
21#include <linux/delay.h> 20#include <linux/delay.h>
@@ -32,6 +31,7 @@
32#include <plat/orion_nand.h> 31#include <plat/orion_nand.h>
33#include <plat/time.h> 32#include <plat/time.h>
34#include <plat/common.h> 33#include <plat/common.h>
34#include <plat/addr-map.h>
35#include "common.h" 35#include "common.h"
36 36
37/***************************************************************************** 37/*****************************************************************************
@@ -72,8 +72,7 @@ void __init orion5x_map_io(void)
72 ****************************************************************************/ 72 ****************************************************************************/
73void __init orion5x_ehci0_init(void) 73void __init orion5x_ehci0_init(void)
74{ 74{
75 orion_ehci_init(&orion5x_mbus_dram_info, 75 orion_ehci_init(ORION5X_USB0_PHYS_BASE, IRQ_ORION5X_USB0_CTRL);
76 ORION5X_USB0_PHYS_BASE, IRQ_ORION5X_USB0_CTRL);
77} 76}
78 77
79 78
@@ -82,8 +81,7 @@ void __init orion5x_ehci0_init(void)
82 ****************************************************************************/ 81 ****************************************************************************/
83void __init orion5x_ehci1_init(void) 82void __init orion5x_ehci1_init(void)
84{ 83{
85 orion_ehci_1_init(&orion5x_mbus_dram_info, 84 orion_ehci_1_init(ORION5X_USB1_PHYS_BASE, IRQ_ORION5X_USB1_CTRL);
86 ORION5X_USB1_PHYS_BASE, IRQ_ORION5X_USB1_CTRL);
87} 85}
88 86
89 87
@@ -92,7 +90,7 @@ void __init orion5x_ehci1_init(void)
92 ****************************************************************************/ 90 ****************************************************************************/
93void __init orion5x_eth_init(struct mv643xx_eth_platform_data *eth_data) 91void __init orion5x_eth_init(struct mv643xx_eth_platform_data *eth_data)
94{ 92{
95 orion_ge00_init(eth_data, &orion5x_mbus_dram_info, 93 orion_ge00_init(eth_data,
96 ORION5X_ETH_PHYS_BASE, IRQ_ORION5X_ETH_SUM, 94 ORION5X_ETH_PHYS_BASE, IRQ_ORION5X_ETH_SUM,
97 IRQ_ORION5X_ETH_ERR, orion5x_tclk); 95 IRQ_ORION5X_ETH_ERR, orion5x_tclk);
98} 96}
@@ -122,8 +120,7 @@ void __init orion5x_i2c_init(void)
122 ****************************************************************************/ 120 ****************************************************************************/
123void __init orion5x_sata_init(struct mv_sata_platform_data *sata_data) 121void __init orion5x_sata_init(struct mv_sata_platform_data *sata_data)
124{ 122{
125 orion_sata_init(sata_data, &orion5x_mbus_dram_info, 123 orion_sata_init(sata_data, ORION5X_SATA_PHYS_BASE, IRQ_ORION5X_SATA);
126 ORION5X_SATA_PHYS_BASE, IRQ_ORION5X_SATA);
127} 124}
128 125
129 126
@@ -159,8 +156,7 @@ void __init orion5x_uart1_init(void)
159 ****************************************************************************/ 156 ****************************************************************************/
160void __init orion5x_xor_init(void) 157void __init orion5x_xor_init(void)
161{ 158{
162 orion_xor0_init(&orion5x_mbus_dram_info, 159 orion_xor0_init(ORION5X_XOR_PHYS_BASE,
163 ORION5X_XOR_PHYS_BASE,
164 ORION5X_XOR_PHYS_BASE + 0x200, 160 ORION5X_XOR_PHYS_BASE + 0x200,
165 IRQ_ORION5X_XOR0, IRQ_ORION5X_XOR1); 161 IRQ_ORION5X_XOR0, IRQ_ORION5X_XOR1);
166} 162}
@@ -170,12 +166,7 @@ void __init orion5x_xor_init(void)
170 ****************************************************************************/ 166 ****************************************************************************/
171static void __init orion5x_crypto_init(void) 167static void __init orion5x_crypto_init(void)
172{ 168{
173 int ret; 169 orion5x_setup_sram_win();
174
175 ret = orion5x_setup_sram_win();
176 if (ret)
177 return;
178
179 orion_crypto_init(ORION5X_CRYPTO_PHYS_BASE, ORION5X_SRAM_PHYS_BASE, 170 orion_crypto_init(ORION5X_CRYPTO_PHYS_BASE, ORION5X_SRAM_PHYS_BASE,
180 SZ_8K, IRQ_ORION5X_CESA); 171 SZ_8K, IRQ_ORION5X_CESA);
181} 172}
diff --git a/arch/arm/mach-orion5x/common.h b/arch/arm/mach-orion5x/common.h
index 37ef18de61b..d2513ac79ff 100644
--- a/arch/arm/mach-orion5x/common.h
+++ b/arch/arm/mach-orion5x/common.h
@@ -20,14 +20,13 @@ extern struct sys_timer orion5x_timer;
20 * functions to map its interfaces and by the machine-setup to map its on- 20 * functions to map its interfaces and by the machine-setup to map its on-
21 * board devices. Details in /mach-orion/addr-map.c 21 * board devices. Details in /mach-orion/addr-map.c
22 */ 22 */
23extern struct mbus_dram_target_info orion5x_mbus_dram_info;
24void orion5x_setup_cpu_mbus_bridge(void); 23void orion5x_setup_cpu_mbus_bridge(void);
25void orion5x_setup_dev_boot_win(u32 base, u32 size); 24void orion5x_setup_dev_boot_win(u32 base, u32 size);
26void orion5x_setup_dev0_win(u32 base, u32 size); 25void orion5x_setup_dev0_win(u32 base, u32 size);
27void orion5x_setup_dev1_win(u32 base, u32 size); 26void orion5x_setup_dev1_win(u32 base, u32 size);
28void orion5x_setup_dev2_win(u32 base, u32 size); 27void orion5x_setup_dev2_win(u32 base, u32 size);
29void orion5x_setup_pcie_wa_win(u32 base, u32 size); 28void orion5x_setup_pcie_wa_win(u32 base, u32 size);
30int orion5x_setup_sram_win(void); 29void orion5x_setup_sram_win(void);
31 30
32void orion5x_ehci0_init(void); 31void orion5x_ehci0_init(void);
33void orion5x_ehci1_init(void); 32void orion5x_ehci1_init(void);
diff --git a/arch/arm/mach-orion5x/include/mach/orion5x.h b/arch/arm/mach-orion5x/include/mach/orion5x.h
index 0a28bbc7689..2745f5d95b3 100644
--- a/arch/arm/mach-orion5x/include/mach/orion5x.h
+++ b/arch/arm/mach-orion5x/include/mach/orion5x.h
@@ -69,7 +69,7 @@
69 ******************************************************************************/ 69 ******************************************************************************/
70 70
71#define ORION5X_DDR_VIRT_BASE (ORION5X_REGS_VIRT_BASE | 0x00000) 71#define ORION5X_DDR_VIRT_BASE (ORION5X_REGS_VIRT_BASE | 0x00000)
72 72#define ORION5X_DDR_WINDOW_CPU_BASE (ORION5X_DDR_VIRT_BASE | 0x1500)
73#define ORION5X_DEV_BUS_PHYS_BASE (ORION5X_REGS_PHYS_BASE | 0x10000) 73#define ORION5X_DEV_BUS_PHYS_BASE (ORION5X_REGS_PHYS_BASE | 0x10000)
74#define ORION5X_DEV_BUS_VIRT_BASE (ORION5X_REGS_VIRT_BASE | 0x10000) 74#define ORION5X_DEV_BUS_VIRT_BASE (ORION5X_REGS_VIRT_BASE | 0x10000)
75#define ORION5X_DEV_BUS_REG(x) (ORION5X_DEV_BUS_VIRT_BASE | (x)) 75#define ORION5X_DEV_BUS_REG(x) (ORION5X_DEV_BUS_VIRT_BASE | (x))
diff --git a/arch/arm/mach-orion5x/mpp.c b/arch/arm/mach-orion5x/mpp.c
index b6ddd7a5db6..5b70026f478 100644
--- a/arch/arm/mach-orion5x/mpp.c
+++ b/arch/arm/mach-orion5x/mpp.c
@@ -10,7 +10,6 @@
10 10
11#include <linux/kernel.h> 11#include <linux/kernel.h>
12#include <linux/init.h> 12#include <linux/init.h>
13#include <linux/mbus.h>
14#include <linux/io.h> 13#include <linux/io.h>
15#include <mach/hardware.h> 14#include <mach/hardware.h>
16#include <plat/mpp.h> 15#include <plat/mpp.h>
diff --git a/arch/arm/mach-orion5x/pci.c b/arch/arm/mach-orion5x/pci.c
index bc4a920e26e..a494c470e3e 100644
--- a/arch/arm/mach-orion5x/pci.c
+++ b/arch/arm/mach-orion5x/pci.c
@@ -18,6 +18,7 @@
18#include <asm/irq.h> 18#include <asm/irq.h>
19#include <asm/mach/pci.h> 19#include <asm/mach/pci.h>
20#include <plat/pcie.h> 20#include <plat/pcie.h>
21#include <plat/addr-map.h>
21#include "common.h" 22#include "common.h"
22 23
23/***************************************************************************** 24/*****************************************************************************
@@ -145,7 +146,7 @@ static int __init pcie_setup(struct pci_sys_data *sys)
145 /* 146 /*
146 * Generic PCIe unit setup. 147 * Generic PCIe unit setup.
147 */ 148 */
148 orion_pcie_setup(PCIE_BASE, &orion5x_mbus_dram_info); 149 orion_pcie_setup(PCIE_BASE);
149 150
150 /* 151 /*
151 * Check whether to apply Orion-1/Orion-NAS PCIe config 152 * Check whether to apply Orion-1/Orion-NAS PCIe config
@@ -477,7 +478,7 @@ static int __init pci_setup(struct pci_sys_data *sys)
477 /* 478 /*
478 * Point PCI unit MBUS decode windows to DRAM space. 479 * Point PCI unit MBUS decode windows to DRAM space.
479 */ 480 */
480 orion5x_setup_pci_wins(&orion5x_mbus_dram_info); 481 orion5x_setup_pci_wins(&orion_mbus_dram_info);
481 482
482 /* 483 /*
483 * Master + Slave enable 484 * Master + Slave enable