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servo_v4: update uservo port init for tca6416

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Make sure that ioexpander is set to output,
and that the uservo usb power enable is set.

BUG=chromium:651860
TEST=check that servo micro is initialized properly
BRANCH=None

Change-Id: Iff994c63cd333933d51db38202a41b7b6fc86d66
Signed-off-by: Nick Sanders <nsanders@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/395186
Reviewed-by: Kevin Cheng <kevcheng@chromium.org>
This commit is contained in:
Nick Sanders
2016-10-06 20:55:41 -07:00
committed by chrome-bot
parent ed9356e9e9
commit 155b8d6100
1 changed files with 41 additions and 9 deletions
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50
board/servo_v4/board.c
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@@ -226,10 +226,48 @@ const int num_rw_sections = ARRAY_SIZE(board_rw_sections);
/******************************************************************************
* Initialize board.
*/
static void board_init(void)
/* Write a GPIO output on the tca6416 I2C ioexpander. */
static void write_ioexpander(int bank, int gpio, int val)
{
int tmp;
/* Read output port register */
i2c_read8(1, 0x40, 0x2 + bank, &tmp);
if (val)
tmp |= (1 << gpio);
else
tmp &= ~(1 << gpio);
/* Write back modified output port register */
i2c_write8(1, 0x40, 0x2 + bank, tmp);
/* Set Configuration port to output/0 */
i2c_read8(1, 0x40, 0x6 + bank, &tmp);
i2c_write8(1, 0x40, 0x6 + bank, tmp & ~(1 << gpio));
}
/* Enable uservo USB. */
static void init_uservo_port(void)
{
/* Write USERVO_POWER_EN */
write_ioexpander(0, 7, 1);
/* Write USERVO_FASTBOOT_MUX_SEL */
write_ioexpander(1, 0, 0);
}
/* Enable all ioexpander outputs. */
static void init_ioexpander(void)
{
/* Write all GPIO to output 0 */
i2c_write8(1, 0x40, 0x2, 0x0);
i2c_write8(1, 0x40, 0x3, 0x0);
/* Write all GPIO to output direction */
i2c_write8(1, 0x40, 0x6, 0x0);
i2c_write8(1, 0x40, 0x7, 0x0);
}
static void board_init(void)
{
/* USB to serial queues */
queue_init(&usart3_to_usb);
queue_init(&usb_to_usart3);
@@ -248,13 +286,7 @@ static void board_init(void)
i2c_write8(1, 0x20, 0x0, 0x20);
/* Enable uservo USB by default. */
/* Write USERVO_POWER_EN */
i2c_write8(1, 0x40, 0x1, 0xff | (1 << 7));
i2c_read8(1, 0x40, 0x3, &tmp);
i2c_write8(1, 0x40, 0x3, tmp & ~(1 << 7));
/* Write USERVO_FASTBOOT_MUX_SEL */
i2c_write8(1, 0x40, 0x0, 0xff & ~(1 << 0));
i2c_read8(1, 0x40, 0x2, &tmp);
i2c_write8(1, 0x40, 0x2, tmp & ~(1 << 0));
init_ioexpander();
init_uservo_port();
}
DECLARE_HOOK(HOOK_INIT, board_init, HOOK_PRIO_DEFAULT);