mx31moboard: camera support

We have two mt9t031 cameras that have a muxed bus on the robot.
Only one is currently initialized because of limitations in
soc_camera that should be removed later.

Signed-off-by: Valentin Longchamp <valentin.longchamp@epfl.ch>
Signed-off-by: Sascha Hauer <s.hauer@pengutronix.de>

2 files changed, 121 insertions, 1 deletions

diff --git a/arch/arm/mach-mx3/mx31moboard-marxbot.c b/arch/arm/mach-mx3/mx31moboard-marxbot.c
index 6b06faf0cf30..e4e344eceb7c 100644
--- a/arch/arm/mach-mx3/mx31moboard-marxbot.c
+++ b/arch/arm/mach-mx3/mx31moboard-marxbot.c
@@ -16,9 +16,11 @@
  * 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/platform_device.h>
 #include <linux/types.h>
 
@@ -28,6 +30,8 @@
 #include <mach/iomux-mx3.h>
 #include <mach/mmc.h>
 
+#include <media/soc_camera.h>
+
 #include "devices.h"
 
 static unsigned int marxbot_pins[] = {
@@ -37,7 +41,6 @@ static unsigned int marxbot_pins[] = {
         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_D4__CSI_D4, MX31_PIN_CSI_D5__CSI_D5,
         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,
@@ -45,6 +48,7 @@ static unsigned int marxbot_pins[] = {
         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 */
@@ -122,6 +126,83 @@ static void dspics_resets_init(void)
         }
 }
 
+#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, 1);
+
+        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;
+}
+
 /*
  * system init for baseboard usage. Will be called by mx31moboard init.
  */
@@ -136,6 +217,9 @@ void __init mx31moboard_marxbot_init(void)
 
         mxc_register_device(&mxcsdhc_device1, &sdhc2_pdata);
 
+        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));
diff --git a/arch/arm/mach-mx3/mx31moboard.c b/arch/arm/mach-mx3/mx31moboard.c
index 2f95dcd805cc..b167f131f7c0 100644
--- a/arch/arm/mach-mx3/mx31moboard.c
+++ b/arch/arm/mach-mx3/mx31moboard.c
@@ -17,6 +17,7 @@
  */
 
 #include <linux/delay.h>
+#include <linux/dma-mapping.h>
 #include <linux/fsl_devices.h>
 #include <linux/gpio.h>
 #include <linux/init.h>
@@ -403,6 +404,39 @@ static struct platform_device *devices[] __initdata = {
         &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);
 
@@ -436,6 +470,8 @@ static void __init mxc_board_init(void)
         mxc_register_device(&mxcsdhc_device0, &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();