[PATCH 5/6] mx31moboard: camera support

[valentin.longchamp@epfl.ch (Valentin Longchamp)]

Hi Guennadi,

Thanks for your input about the patch. I haven't had time to answer you 
before.

Guennadi Liakhovetski wrote:
> Hi Val
> 
> below are some comments to the patch, I'll also reply to your /dev/video* 
> question in a separate mail.

I answered you in a separate email too.

> 
> On Thu, 15 Oct 2009, Valentin Longchamp wrote:
> 
>> We have two mt9t031 cameras that have a muxed bus on the robot.
>> We can control which one we are using with gpio outputs. This
>> currently is not optimal
>>
>> Signed-off-by: Valentin Longchamp <valentin.longchamp@epfl.ch>
>> ---
>>  arch/arm/mach-mx3/mx31moboard-marxbot.c |   78 ++++++++++++++++++++++++++++++-
>>  arch/arm/mach-mx3/mx31moboard.c         |   37 ++++++++++++++-
>>  2 files changed, 113 insertions(+), 2 deletions(-)
>>
>> diff --git a/arch/arm/mach-mx3/mx31moboard-marxbot.c b/arch/arm/mach-mx3/mx31moboard-marxbot.c
>> index 49d47ab..303cbdb 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 +126,78 @@ 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_cam_power(struct device *dev, int on)
>> +{
>> +	gpio_set_value(BASECAM_POWER, !on);
>> +	return 0;
>> +}
>> +
>> +static int marxbot_cam_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 iclink = {
>> +	.bus_id		= 0,		/* Must match with the camera ID */
>> +	.power		= marxbot_cam_power,
>> +	.reset		= marxbot_cam_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 = &iclink,
>> +	},
>> +};
>> +
>> +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);
>> +	gpio_export(CAM_CHOICE, false);
> 
> Why are exporting this and two more gpios below? Does this allow you to 
> switch cameras from the user-space? Even if so, I wouldn't push this 
> upstream, as you won't need this in the future, when you add proper 
> support for the second camera into the kernel.

Yeah, the purpose of this is to allow to switch camera from userspace. 
But you are maybe right, I should not push the export to upstream but 
keep it in a local patch while waiting for a solution to switch in the 
kernel.

The other gpios below would not be exported anyomore but used by the 
second _client_ video platform_device (and should disappear in the next 
version of the patch).

> 
>> +	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);
>> +
>> +	/*temporary part: we must use the mux better*/
> 
> Please, add spaces around text in comment.
> 
>> +	gpio_request(TURRETCAM_RST_B, "turretcam-reset");
>> +	gpio_direction_output(TURRETCAM_RST_B, 1);
>> +	gpio_export(TURRETCAM_RST_B, false);
>> +
>> +	gpio_request(TURRETCAM_POWER, "turretcam-standby");
>> +	gpio_direction_output(TURRETCAM_POWER, 0);
>> +	gpio_export(TURRETCAM_POWER, false);
>> +
>> +	return platform_device_register(&marxbot_camera);
>> +}
>> +
>> +
>>  /*
>>   * system init for baseboard usage. Will be called by mx31moboard init.
>>   */
>> diff --git a/arch/arm/mach-mx3/mx31moboard.c b/arch/arm/mach-mx3/mx31moboard.c
>> index 706a993..605c0fa 100644
>> --- a/arch/arm/mach-mx3/mx31moboard.c
>> +++ b/arch/arm/mach-mx3/mx31moboard.c
>> @@ -40,7 +40,7 @@
>>  #include <mach/ipu.h>
>>  #include <mach/i2c.h>
>>  #include <mach/mmc.h>
>> -#include <mach/mx31.h>
>> +#include <mach/mx3_camera.h>
> 
> Need
> 
> #include <linux/dma-mapping.h>
> 
> for DMA_MEMORY_MAP and DMA_MEMORY_EXCLUSIVE macros, etc.

correct. It must have been melted in another patch, I have to revise the 
patch stack.

> 
>>  
>>  #include "devices.h"
>>  
>> @@ -287,6 +287,39 @@ 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);
>>  
>> @@ -312,6 +345,8 @@ 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();
>>  
>> -- 

Thanks

Val

-- 
Valentin Longchamp, PhD Student, EPFL-STI-LSRO1
valentin.longchamp at epfl.ch, Phone: +41216937827
http://people.epfl.ch/valentin.longchamp
MEA3485, Station 9, CH-1015 Lausanne