1 files changed, 583 insertions, 0 deletions

diff --git a/arch/arm/mach-imx/mach-mx31moboard.c b/arch/arm/mach-imx/mach-mx31moboard.c
new file mode 100644
index 00000000000..eaa51e49ca9
--- /dev/null
+++ b/arch/arm/mach-imx/mach-mx31moboard.c
@@ -0,0 +1,583 @@
+/*
+ *  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/memblock.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/ulpi.h>
+
+#include "devices-imx31.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_name = "mx3_camera.0",
+                .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 = {
+                .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);
+}
+
+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 = imx_otg_ulpi_create(ULPI_OTG_DRVVBUS |
+                        ULPI_OTG_DRVVBUS_EXT);
+        if (!usbh2_pdata.otg)
+                return -ENODEV;
+
+        pdev = imx31_add_mxc_ehci_hs(2, &usbh2_pdata);
+        if (IS_ERR(pdev))
+                return PTR_ERR(pdev);
+
+        return 0;
+}
+
+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 const struct ipu_platform_data mx3_ipu_data __initconst = {
+        .irq_base = MXC_IPU_IRQ_START,
+};
+
+static struct platform_device *devices[] __initdata = {
+        &mx31moboard_flash,
+        &mx31moboard_leds_device,
+};
+
+static struct mx3_camera_pdata camera_pdata __initdata = {
+        .flags          = MX3_CAMERA_DATAWIDTH_8 | MX3_CAMERA_DATAWIDTH_10,
+        .mclk_10khz     = 4800,
+};
+
+static phys_addr_t mx3_camera_base __initdata;
+#define MX3_CAMERA_BUF_SIZE SZ_4M
+
+static int __init mx31moboard_init_cam(void)
+{
+        int dma, ret = -ENOMEM;
+        struct platform_device *pdev;
+
+        imx31_add_ipu_core(&mx3_ipu_data);
+
+        pdev = imx31_alloc_mx3_camera(&camera_pdata);
+        if (IS_ERR(pdev))
+                return PTR_ERR(pdev);
+
+        dma = dma_declare_coherent_memory(&pdev->dev,
+                                        mx3_camera_base, mx3_camera_base,
+                                        MX3_CAMERA_BUF_SIZE,
+                                        DMA_MEMORY_MAP | DMA_MEMORY_EXCLUSIVE);
+        if (!(dma & DMA_MEMORY_MAP))
+                goto err;
+
+        ret = platform_device_add(pdev);
+        if (ret)
+err:
+                platform_device_put(pdev);
+
+        return ret;
+
+}
+
+static int mx31moboard_baseboard;
+core_param(mx31moboard_baseboard, mx31moboard_baseboard, int, 0444);
+
+/*
+ * Board specific initialization.
+ */
+static void __init mx31moboard_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);
+
+        mx31moboard_init_cam();
+
+        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,
+};
+
+static void __init mx31moboard_reserve(void)
+{
+        /* reserve 4 MiB for mx3-camera */
+        mx3_camera_base = memblock_alloc(MX3_CAMERA_BUF_SIZE,
+                        MX3_CAMERA_BUF_SIZE);
+        memblock_free(mx3_camera_base, MX3_CAMERA_BUF_SIZE);
+        memblock_remove(mx3_camera_base, MX3_CAMERA_BUF_SIZE);
+}
+
+MACHINE_START(MX31MOBOARD, "EPFL Mobots mx31moboard")
+        /* Maintainer: Valentin Longchamp, EPFL Mobots group */
+        .boot_params = MX3x_PHYS_OFFSET + 0x100,
+        .reserve = mx31moboard_reserve,
+        .map_io = mx31_map_io,
+        .init_early = imx31_init_early,
+        .init_irq = mx31_init_irq,
+        .timer = &mx31moboard_timer,
+        .init_machine = mx31moboard_init,
+MACHINE_END