uboot/board/freescale/p1010rdb/p1010rdb.c
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   1/*
   2 * Copyright 2010-2011 Freescale Semiconductor, Inc.
   3 *
   4 * SPDX-License-Identifier:     GPL-2.0+
   5 */
   6
   7#include <common.h>
   8#include <asm/processor.h>
   9#include <asm/mmu.h>
  10#include <asm/cache.h>
  11#include <asm/immap_85xx.h>
  12#include <asm/io.h>
  13#include <miiphy.h>
  14#include <libfdt.h>
  15#include <fdt_support.h>
  16#include <fsl_mdio.h>
  17#include <tsec.h>
  18#include <mmc.h>
  19#include <netdev.h>
  20#include <pci.h>
  21#include <asm/fsl_serdes.h>
  22#include <fsl_ifc.h>
  23#include <asm/fsl_pci.h>
  24#include <hwconfig.h>
  25#include <i2c.h>
  26
  27DECLARE_GLOBAL_DATA_PTR;
  28
  29#define GPIO4_PCIE_RESET_SET            0x08000000
  30#define MUX_CPLD_CAN_UART               0x00
  31#define MUX_CPLD_TDM                    0x01
  32#define MUX_CPLD_SPICS0_FLASH           0x00
  33#define MUX_CPLD_SPICS0_SLIC            0x02
  34#define PMUXCR1_IFC_MASK       0x00ffff00
  35#define PMUXCR1_SDHC_MASK      0x00fff000
  36#define PMUXCR1_SDHC_ENABLE    0x00555000
  37
  38enum {
  39        MUX_TYPE_IFC,
  40        MUX_TYPE_SDHC,
  41        MUX_TYPE_SPIFLASH,
  42        MUX_TYPE_TDM,
  43        MUX_TYPE_CAN,
  44        MUX_TYPE_CS0_NOR,
  45        MUX_TYPE_CS0_NAND,
  46};
  47
  48enum {
  49        I2C_READ_BANK,
  50        I2C_READ_PCB_VER,
  51};
  52
  53static uint sd_ifc_mux;
  54
  55struct cpld_data {
  56        u8 cpld_ver; /* cpld revision */
  57#if defined(CONFIG_TARGET_P1010RDB_PA)
  58        u8 pcba_ver; /* pcb revision number */
  59        u8 twindie_ddr3;
  60        u8 res1[6];
  61        u8 bank_sel; /* NOR Flash bank */
  62        u8 res2[5];
  63        u8 usb2_sel;
  64        u8 res3[1];
  65        u8 porsw_sel;
  66        u8 tdm_can_sel;
  67        u8 spi_cs0_sel; /* SPI CS0 SLIC/SPI Flash */
  68        u8 por0; /* POR Options */
  69        u8 por1; /* POR Options */
  70        u8 por2; /* POR Options */
  71        u8 por3; /* POR Options */
  72#elif defined(CONFIG_TARGET_P1010RDB_PB)
  73        u8 rom_loc;
  74#endif
  75};
  76
  77int board_early_init_f(void)
  78{
  79        ccsr_gpio_t *pgpio = (void *)(CONFIG_SYS_MPC85xx_GPIO_ADDR);
  80        struct fsl_ifc ifc = {(void *)CONFIG_SYS_IFC_ADDR, (void *)NULL};
  81        /* Clock configuration to access CPLD using IFC(GPCM) */
  82        setbits_be32(&ifc.gregs->ifc_gcr, 1 << IFC_GCR_TBCTL_TRN_TIME_SHIFT);
  83        /*
  84        * Reset PCIe slots via GPIO4
  85        */
  86        setbits_be32(&pgpio->gpdir, GPIO4_PCIE_RESET_SET);
  87        setbits_be32(&pgpio->gpdat, GPIO4_PCIE_RESET_SET);
  88
  89        return 0;
  90}
  91
  92int board_early_init_r(void)
  93{
  94        const unsigned int flashbase = CONFIG_SYS_FLASH_BASE;
  95        int flash_esel = find_tlb_idx((void *)flashbase, 1);
  96
  97        /*
  98         * Remap Boot flash region to caching-inhibited
  99         * so that flash can be erased properly.
 100         */
 101
 102        /* Flush d-cache and invalidate i-cache of any FLASH data */
 103        flush_dcache();
 104        invalidate_icache();
 105
 106        if (flash_esel == -1) {
 107                /* very unlikely unless something is messed up */
 108                puts("Error: Could not find TLB for FLASH BASE\n");
 109                flash_esel = 2; /* give our best effort to continue */
 110        } else {
 111                /* invalidate existing TLB entry for flash */
 112                disable_tlb(flash_esel);
 113        }
 114
 115        set_tlb(1, flashbase, CONFIG_SYS_FLASH_BASE_PHYS,
 116                        MAS3_SX|MAS3_SW|MAS3_SR, MAS2_I|MAS2_G,
 117                        0, flash_esel, BOOKE_PAGESZ_16M, 1);
 118
 119        set_tlb(1, flashbase + 0x1000000,
 120                        CONFIG_SYS_FLASH_BASE_PHYS + 0x1000000,
 121                        MAS3_SX|MAS3_SW|MAS3_SR, MAS2_I|MAS2_G,
 122                        0, flash_esel+1, BOOKE_PAGESZ_16M, 1);
 123        return 0;
 124}
 125
 126#ifdef CONFIG_PCI
 127void pci_init_board(void)
 128{
 129        fsl_pcie_init_board(0);
 130}
 131#endif /* ifdef CONFIG_PCI */
 132
 133int config_board_mux(int ctrl_type)
 134{
 135        ccsr_gur_t __iomem *gur = (void *)(CONFIG_SYS_MPC85xx_GUTS_ADDR);
 136        u8 tmp;
 137
 138#if defined(CONFIG_TARGET_P1010RDB_PA)
 139        struct cpld_data *cpld_data = (void *)(CONFIG_SYS_CPLD_BASE);
 140
 141        switch (ctrl_type) {
 142        case MUX_TYPE_IFC:
 143                i2c_set_bus_num(I2C_PCA9557_BUS_NUM);
 144                tmp = 0xf0;
 145                i2c_write(I2C_PCA9557_ADDR1, 3, 1, &tmp, 1);
 146                tmp = 0x01;
 147                i2c_write(I2C_PCA9557_ADDR1, 1, 1, &tmp, 1);
 148                sd_ifc_mux = MUX_TYPE_IFC;
 149                clrbits_be32(&gur->pmuxcr, PMUXCR1_IFC_MASK);
 150                break;
 151        case MUX_TYPE_SDHC:
 152                i2c_set_bus_num(I2C_PCA9557_BUS_NUM);
 153                tmp = 0xf0;
 154                i2c_write(I2C_PCA9557_ADDR1, 3, 1, &tmp, 1);
 155                tmp = 0x05;
 156                i2c_write(I2C_PCA9557_ADDR1, 1, 1, &tmp, 1);
 157                sd_ifc_mux = MUX_TYPE_SDHC;
 158                clrsetbits_be32(&gur->pmuxcr, PMUXCR1_SDHC_MASK,
 159                                PMUXCR1_SDHC_ENABLE);
 160                break;
 161        case MUX_TYPE_SPIFLASH:
 162                out_8(&cpld_data->spi_cs0_sel, MUX_CPLD_SPICS0_FLASH);
 163                break;
 164        case MUX_TYPE_TDM:
 165                out_8(&cpld_data->tdm_can_sel, MUX_CPLD_TDM);
 166                out_8(&cpld_data->spi_cs0_sel, MUX_CPLD_SPICS0_SLIC);
 167                break;
 168        case MUX_TYPE_CAN:
 169                out_8(&cpld_data->tdm_can_sel, MUX_CPLD_CAN_UART);
 170                break;
 171        default:
 172                break;
 173        }
 174#elif defined(CONFIG_TARGET_P1010RDB_PB)
 175        uint orig_bus = i2c_get_bus_num();
 176        i2c_set_bus_num(I2C_PCA9557_BUS_NUM);
 177
 178        switch (ctrl_type) {
 179        case MUX_TYPE_IFC:
 180                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 181                clrbits_8(&tmp, 0x04);
 182                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 183                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 184                clrbits_8(&tmp, 0x04);
 185                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 186                sd_ifc_mux = MUX_TYPE_IFC;
 187                clrbits_be32(&gur->pmuxcr, PMUXCR1_IFC_MASK);
 188                break;
 189        case MUX_TYPE_SDHC:
 190                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 191                setbits_8(&tmp, 0x04);
 192                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 193                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 194                clrbits_8(&tmp, 0x04);
 195                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 196                sd_ifc_mux = MUX_TYPE_SDHC;
 197                clrsetbits_be32(&gur->pmuxcr, PMUXCR1_SDHC_MASK,
 198                                PMUXCR1_SDHC_ENABLE);
 199                break;
 200        case MUX_TYPE_SPIFLASH:
 201                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 202                clrbits_8(&tmp, 0x80);
 203                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 204                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 205                clrbits_8(&tmp, 0x80);
 206                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 207                break;
 208        case MUX_TYPE_TDM:
 209                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 210                setbits_8(&tmp, 0x82);
 211                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 212                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 213                clrbits_8(&tmp, 0x82);
 214                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 215                break;
 216        case MUX_TYPE_CAN:
 217                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 218                clrbits_8(&tmp, 0x02);
 219                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 220                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 221                clrbits_8(&tmp, 0x02);
 222                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 223                break;
 224        case MUX_TYPE_CS0_NOR:
 225                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 226                clrbits_8(&tmp, 0x08);
 227                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 228                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 229                clrbits_8(&tmp, 0x08);
 230                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 231                break;
 232        case MUX_TYPE_CS0_NAND:
 233                i2c_read(I2C_PCA9557_ADDR2, 0, 1, &tmp, 1);
 234                setbits_8(&tmp, 0x08);
 235                i2c_write(I2C_PCA9557_ADDR2, 1, 1, &tmp, 1);
 236                i2c_read(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 237                clrbits_8(&tmp, 0x08);
 238                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &tmp, 1);
 239                break;
 240        default:
 241                break;
 242        }
 243        i2c_set_bus_num(orig_bus);
 244#endif
 245        return 0;
 246}
 247
 248#ifdef CONFIG_TARGET_P1010RDB_PB
 249int i2c_pca9557_read(int type)
 250{
 251        u8 val;
 252
 253        i2c_set_bus_num(I2C_PCA9557_BUS_NUM);
 254        i2c_read(I2C_PCA9557_ADDR2, 0, 1, &val, 1);
 255
 256        switch (type) {
 257        case I2C_READ_BANK:
 258                val = (val & 0x10) >> 4;
 259                break;
 260        case I2C_READ_PCB_VER:
 261                val = ((val & 0x60) >> 5) + 1;
 262                break;
 263        default:
 264                break;
 265        }
 266
 267        return val;
 268}
 269#endif
 270
 271int checkboard(void)
 272{
 273        struct cpu_type *cpu;
 274        struct cpld_data *cpld_data = (void *)(CONFIG_SYS_CPLD_BASE);
 275        u8 val;
 276
 277        cpu = gd->arch.cpu;
 278#if defined(CONFIG_TARGET_P1010RDB_PA)
 279        printf("Board: %sRDB-PA, ", cpu->name);
 280#elif defined(CONFIG_TARGET_P1010RDB_PB)
 281        printf("Board: %sRDB-PB, ", cpu->name);
 282        i2c_set_bus_num(I2C_PCA9557_BUS_NUM);
 283        i2c_init(CONFIG_SYS_FSL_I2C_SPEED, CONFIG_SYS_FSL_I2C_SLAVE);
 284        val = 0x0;  /* no polarity inversion */
 285        i2c_write(I2C_PCA9557_ADDR2, 2, 1, &val, 1);
 286#endif
 287
 288#ifdef CONFIG_SDCARD
 289        /* switch to IFC to read info from CPLD */
 290        config_board_mux(MUX_TYPE_IFC);
 291#endif
 292
 293#if defined(CONFIG_TARGET_P1010RDB_PA)
 294        val = (in_8(&cpld_data->pcba_ver) & 0xf);
 295        printf("PCB: v%x.0\n", val);
 296#elif defined(CONFIG_TARGET_P1010RDB_PB)
 297        val = in_8(&cpld_data->cpld_ver);
 298        printf("CPLD: v%x.%x, ", val >> 4, val & 0xf);
 299        printf("PCB: v%x.0, ", i2c_pca9557_read(I2C_READ_PCB_VER));
 300        val = in_8(&cpld_data->rom_loc) & 0xf;
 301        puts("Boot from: ");
 302        switch (val) {
 303        case 0xf:
 304                config_board_mux(MUX_TYPE_CS0_NOR);
 305                printf("NOR vBank%d\n", i2c_pca9557_read(I2C_READ_BANK));
 306                break;
 307        case 0xe:
 308                puts("SDHC\n");
 309                val = 0x60; /* set pca9557 pin input/output */
 310                i2c_write(I2C_PCA9557_ADDR2, 3, 1, &val, 1);
 311                break;
 312        case 0x5:
 313                config_board_mux(MUX_TYPE_IFC);
 314                config_board_mux(MUX_TYPE_CS0_NAND);
 315                puts("NAND\n");
 316                break;
 317        case 0x6:
 318                config_board_mux(MUX_TYPE_IFC);
 319                puts("SPI\n");
 320                break;
 321        default:
 322                puts("unknown\n");
 323                break;
 324        }
 325#endif
 326        return 0;
 327}
 328
 329int board_eth_init(bd_t *bis)
 330{
 331#ifdef CONFIG_TSEC_ENET
 332        struct fsl_pq_mdio_info mdio_info;
 333        struct tsec_info_struct tsec_info[4];
 334        struct cpu_type *cpu;
 335        int num = 0;
 336
 337        cpu = gd->arch.cpu;
 338
 339#ifdef CONFIG_TSEC1
 340        SET_STD_TSEC_INFO(tsec_info[num], 1);
 341        num++;
 342#endif
 343#ifdef CONFIG_TSEC2
 344        SET_STD_TSEC_INFO(tsec_info[num], 2);
 345        num++;
 346#endif
 347#ifdef CONFIG_TSEC3
 348        /* P1014 and it's derivatives do not support eTSEC3 */
 349        if (cpu->soc_ver != SVR_P1014) {
 350                SET_STD_TSEC_INFO(tsec_info[num], 3);
 351                num++;
 352        }
 353#endif
 354        if (!num) {
 355                printf("No TSECs initialized\n");
 356                return 0;
 357        }
 358
 359        mdio_info.regs = (struct tsec_mii_mng *)CONFIG_SYS_MDIO_BASE_ADDR;
 360        mdio_info.name = DEFAULT_MII_NAME;
 361
 362        fsl_pq_mdio_init(bis, &mdio_info);
 363
 364        tsec_eth_init(bis, tsec_info, num);
 365#endif
 366
 367        return pci_eth_init(bis);
 368}
 369
 370#if defined(CONFIG_OF_BOARD_SETUP)
 371void fdt_del_flexcan(void *blob)
 372{
 373        int nodeoff = 0;
 374
 375        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 376                                "fsl,p1010-flexcan")) >= 0) {
 377                fdt_del_node(blob, nodeoff);
 378        }
 379}
 380
 381void fdt_del_spi_flash(void *blob)
 382{
 383        int nodeoff = 0;
 384
 385        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 386                                "spansion,s25sl12801")) >= 0) {
 387                fdt_del_node(blob, nodeoff);
 388        }
 389}
 390
 391void fdt_del_spi_slic(void *blob)
 392{
 393        int nodeoff = 0;
 394
 395        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 396                                "zarlink,le88266")) >= 0) {
 397                fdt_del_node(blob, nodeoff);
 398        }
 399}
 400
 401void fdt_del_tdm(void *blob)
 402{
 403        int nodeoff = 0;
 404
 405        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 406                                "fsl,starlite-tdm")) >= 0) {
 407                fdt_del_node(blob, nodeoff);
 408        }
 409}
 410
 411void fdt_del_sdhc(void *blob)
 412{
 413        int nodeoff = 0;
 414
 415        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 416                        "fsl,esdhc")) >= 0) {
 417                fdt_del_node(blob, nodeoff);
 418        }
 419}
 420
 421void fdt_del_ifc(void *blob)
 422{
 423        int nodeoff = 0;
 424
 425        while ((nodeoff = fdt_node_offset_by_compatible(blob, 0,
 426                                "fsl,ifc")) >= 0) {
 427                fdt_del_node(blob, nodeoff);
 428        }
 429}
 430
 431void fdt_disable_uart1(void *blob)
 432{
 433        int nodeoff;
 434
 435        nodeoff = fdt_node_offset_by_compat_reg(blob, "fsl,ns16550",
 436                                        CONFIG_SYS_NS16550_COM2);
 437
 438        if (nodeoff > 0) {
 439                fdt_status_disabled(blob, nodeoff);
 440        } else {
 441                printf("WARNING unable to set status for fsl,ns16550 "
 442                        "uart1: %s\n", fdt_strerror(nodeoff));
 443        }
 444}
 445
 446int ft_board_setup(void *blob, bd_t *bd)
 447{
 448        phys_addr_t base;
 449        phys_size_t size;
 450        struct cpu_type *cpu;
 451
 452        cpu = gd->arch.cpu;
 453
 454        ft_cpu_setup(blob, bd);
 455
 456        base = getenv_bootm_low();
 457        size = getenv_bootm_size();
 458
 459#if defined(CONFIG_PCI)
 460        FT_FSL_PCI_SETUP;
 461#endif
 462
 463        fdt_fixup_memory(blob, (u64)base, (u64)size);
 464
 465#if defined(CONFIG_HAS_FSL_DR_USB)
 466        fsl_fdt_fixup_dr_usb(blob, bd);
 467#endif
 468
 469       /* P1014 and it's derivatives don't support CAN and eTSEC3 */
 470        if (cpu->soc_ver == SVR_P1014) {
 471                fdt_del_flexcan(blob);
 472                fdt_del_node_and_alias(blob, "ethernet2");
 473        }
 474
 475        /* Delete IFC node as IFC pins are multiplexing with SDHC */
 476        if (sd_ifc_mux != MUX_TYPE_IFC)
 477                fdt_del_ifc(blob);
 478        else
 479                fdt_del_sdhc(blob);
 480
 481        if (hwconfig_subarg_cmp("fsl_p1010mux", "tdm_can", "can")) {
 482                fdt_del_tdm(blob);
 483                fdt_del_spi_slic(blob);
 484        } else if (hwconfig_subarg_cmp("fsl_p1010mux", "tdm_can", "tdm")) {
 485                fdt_del_flexcan(blob);
 486                fdt_del_spi_flash(blob);
 487                fdt_disable_uart1(blob);
 488        } else {
 489                /*
 490                 * If we don't set fsl_p1010mux:tdm_can to "can" or "tdm"
 491                 * explicitly, defaultly spi_cs_sel to spi-flash instead of
 492                 * to tdm/slic.
 493                 */
 494                fdt_del_tdm(blob);
 495                fdt_del_flexcan(blob);
 496                fdt_disable_uart1(blob);
 497        }
 498
 499        return 0;
 500}
 501#endif
 502
 503#ifdef CONFIG_SDCARD
 504int board_mmc_init(bd_t *bis)
 505{
 506        config_board_mux(MUX_TYPE_SDHC);
 507                return -1;
 508}
 509#else
 510void board_reset(void)
 511{
 512        /* mux to IFC to enable CPLD for reset */
 513        if (sd_ifc_mux != MUX_TYPE_IFC)
 514                config_board_mux(MUX_TYPE_IFC);
 515}
 516#endif
 517
 518
 519int misc_init_r(void)
 520{
 521        ccsr_gur_t *gur = (void *)(CONFIG_SYS_MPC85xx_GUTS_ADDR);
 522
 523        if (hwconfig_subarg_cmp("fsl_p1010mux", "tdm_can", "can")) {
 524                clrbits_be32(&gur->pmuxcr, MPC85xx_PMUXCR_CAN1_TDM |
 525                                MPC85xx_PMUXCR_CAN1_UART |
 526                                MPC85xx_PMUXCR_CAN2_TDM |
 527                                MPC85xx_PMUXCR_CAN2_UART);
 528                config_board_mux(MUX_TYPE_CAN);
 529        } else if (hwconfig_subarg_cmp("fsl_p1010mux", "tdm_can", "tdm")) {
 530                clrbits_be32(&gur->pmuxcr, MPC85xx_PMUXCR_CAN2_UART |
 531                                MPC85xx_PMUXCR_CAN1_UART);
 532                setbits_be32(&gur->pmuxcr, MPC85xx_PMUXCR_CAN2_TDM |
 533                                MPC85xx_PMUXCR_CAN1_TDM);
 534                clrbits_be32(&gur->pmuxcr2, MPC85xx_PMUXCR2_UART_GPIO);
 535                setbits_be32(&gur->pmuxcr2, MPC85xx_PMUXCR2_UART_TDM);
 536                config_board_mux(MUX_TYPE_TDM);
 537        } else {
 538                /* defaultly spi_cs_sel to flash */
 539                config_board_mux(MUX_TYPE_SPIFLASH);
 540        }
 541
 542        if (hwconfig("esdhc"))
 543                config_board_mux(MUX_TYPE_SDHC);
 544        else if (hwconfig("ifc"))
 545                config_board_mux(MUX_TYPE_IFC);
 546
 547#ifdef CONFIG_TARGET_P1010RDB_PB
 548        setbits_be32(&gur->pmuxcr2, MPC85xx_PMUXCR2_GPIO01_DRVVBUS);
 549#endif
 550        return 0;
 551}
 552
 553static int pin_mux_cmd(cmd_tbl_t *cmdtp, int flag, int argc,
 554                                char * const argv[])
 555{
 556        if (argc < 2)
 557                return CMD_RET_USAGE;
 558        if (strcmp(argv[1], "ifc") == 0)
 559                config_board_mux(MUX_TYPE_IFC);
 560        else if (strcmp(argv[1], "sdhc") == 0)
 561                config_board_mux(MUX_TYPE_SDHC);
 562        else
 563                return CMD_RET_USAGE;
 564        return 0;
 565}
 566
 567U_BOOT_CMD(
 568        mux, 2, 0, pin_mux_cmd,
 569        "configure multiplexing pin for IFC/SDHC bus in runtime",
 570        "bus_type (e.g. mux sdhc)"
 571);
 572