Re: [PATCH v5 1/8] media: i2c: Add driver for RDACM21 camera module

[Kieran Bingham]

On 16/11/2020 13:52, Jacopo Mondi wrote:
> The RDACM21 is a GMSL camera supporting 1280x1080 resolution images
> developed by IMI based on an Omnivision OV10640 sensor, an Omnivision
> OV490 ISP and a Maxim MAX9271 GMSL serializer.
> 
> The driver uses the max9271 library module, to maximize code reuse with
> other camera module drivers using the same serializer, such as rdacm20.
> 
> Signed-off-by: Jacopo Mondi <jacopo+renesas@xxxxxxxxxx>
> ---
>  MAINTAINERS                 |  12 +
>  drivers/media/i2c/Kconfig   |  13 +
>  drivers/media/i2c/Makefile  |   2 +
>  drivers/media/i2c/rdacm21.c | 595 ++++++++++++++++++++++++++++++++++++
>  4 files changed, 622 insertions(+)
>  create mode 100644 drivers/media/i2c/rdacm21.c
> 
> diff --git a/MAINTAINERS b/MAINTAINERS
> index cef6b6090d76..9a5026fd6788 100644
> --- a/MAINTAINERS
> +++ b/MAINTAINERS
> @@ -14750,6 +14750,18 @@ F:	drivers/media/i2c/max9271.c
>  F:	drivers/media/i2c/max9271.h
>  F:	drivers/media/i2c/rdacm20.c
>  
> +RDACM21 Camera Sensor
> +M:	Jacopo Mondi <jacopo+renesas@xxxxxxxxxx>
> +M:	Kieran Bingham <kieran.bingham+renesas@xxxxxxxxxxxxxxxx>
> +M:	Laurent Pinchart <laurent.pinchart+renesas@xxxxxxxxxxxxxxxx>
> +M:	Niklas Söderlund <niklas.soderlund+renesas@xxxxxxxxxxxx>
> +L:	linux-media@xxxxxxxxxxxxxxx
> +S:	Maintained
> +F:	Documentation/devicetree/bindings/media/i2c/rdacm2x-gmsl.yaml
> +F:	drivers/media/i2c/max9271.c
> +F:	drivers/media/i2c/max9271.h
> +F:	drivers/media/i2c/rdacm21.c
> +
>  RDC R-321X SoC
>  M:	Florian Fainelli <florian@xxxxxxxxxxx>
>  S:	Maintained
> diff --git a/drivers/media/i2c/Kconfig b/drivers/media/i2c/Kconfig
> index c64326ca331c..64f4316d11ad 100644
> --- a/drivers/media/i2c/Kconfig
> +++ b/drivers/media/i2c/Kconfig
> @@ -1185,6 +1185,19 @@ config VIDEO_RDACM20
>  	  This camera should be used in conjunction with a GMSL
>  	  deserialiser such as the MAX9286.
>  
> +config VIDEO_RDACM21
> +	tristate "IMI RDACM21 camera support"
> +	depends on I2C
> +	select V4L2_FWNODE
> +	select VIDEO_V4L2_SUBDEV_API
> +	select MEDIA_CONTROLLER
> +	help
> +	  This driver supports the IMI RDACM21 GMSL camera, used in
> +	  ADAS systems.
> +
> +	  This camera should be used in conjunction with a GMSL
> +	  deserialiser such as the MAX9286.
> +
>  config VIDEO_RJ54N1
>  	tristate "Sharp RJ54N1CB0C sensor support"
>  	depends on I2C && VIDEO_V4L2
> diff --git a/drivers/media/i2c/Makefile b/drivers/media/i2c/Makefile
> index f0a77473979d..f3641b58929d 100644
> --- a/drivers/media/i2c/Makefile
> +++ b/drivers/media/i2c/Makefile
> @@ -122,6 +122,8 @@ obj-$(CONFIG_VIDEO_IMX355)	+= imx355.o
>  obj-$(CONFIG_VIDEO_MAX9286)	+= max9286.o
>  rdacm20-camera_module-objs	:= rdacm20.o max9271.o
>  obj-$(CONFIG_VIDEO_RDACM20)	+= rdacm20-camera_module.o
> +rdacm21-camera_module-objs	:= rdacm21.o max9271.o
> +obj-$(CONFIG_VIDEO_RDACM21)	+= rdacm21-camera_module.o
>  obj-$(CONFIG_VIDEO_ST_MIPID02) += st-mipid02.o
>  
>  obj-$(CONFIG_SDR_MAX2175) += max2175.o
> diff --git a/drivers/media/i2c/rdacm21.c b/drivers/media/i2c/rdacm21.c
> new file mode 100644
> index 000000000000..5f9267e26258
> --- /dev/null
> +++ b/drivers/media/i2c/rdacm21.c
> @@ -0,0 +1,595 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + * IMI RDACM21 GMSL Camera Driver
> + *
> + * Copyright (C) 2017-2020 Jacopo Mondi
> + * Copyright (C) 2017-2019 Kieran Bingham
> + * Copyright (C) 2017-2019 Laurent Pinchart
> + * Copyright (C) 2017-2019 Niklas Söderlund
> + * Copyright (C) 2016 Renesas Electronics Corporation
> + * Copyright (C) 2015 Cogent Embedded, Inc.
> + */
> +
> +#include <linux/delay.h>
> +#include <linux/fwnode.h>
> +#include <linux/init.h>
> +#include <linux/i2c.h>
> +#include <linux/module.h>
> +#include <linux/slab.h>
> +#include <linux/videodev2.h>
> +
> +#include <media/v4l2-async.h>
> +#include <media/v4l2-ctrls.h>
> +#include <media/v4l2-subdev.h>
> +#include "max9271.h"
> +
> +#define OV10640_ID_LOW			0xa6
> +
> +#define OV490_I2C_ADDRESS		0x24
> +
> +#define OV490_PAGE_HIGH_REG		0xfffd
> +#define OV490_PAGE_LOW_REG		0xfffe
> +
> +#define OV490_DVP_CTRL3			0x80286009
> +
> +#define OV490_ODS_CTRL_FRAME_OUTPUT_EN	0x0c
> +#define OV490_ODS_CTRL			0x8029d000
> +
> +#define OV490_ID_VAL			0x0490
> +#define OV490_ID(_p, _v)		((((_p) & 0xff) << 8) | ((_v) & 0xff))
> +#define OV490_PID			0x8080300a
> +#define OV490_VER			0x8080300b
> +
> +#define OV490_ISP_HSIZE_LOW		0x80820060
> +#define OV490_ISP_HSIZE_HIGH		0x80820061
> +#define OV490_ISP_VSIZE_LOW		0x80820062
> +#define OV490_ISP_VSIZE_HIGH		0x80820063
> +
> +#define OV10640_PIXEL_RATE		(55000000)
> +
> +struct rdacm21_device {
> +	struct device			*dev;
> +	struct max9271_device		*serializer;
> +	struct i2c_client		*isp;
> +	struct v4l2_subdev		sd;
> +	struct media_pad		pad;
> +	struct v4l2_mbus_framefmt	fmt;
> +	struct v4l2_ctrl_handler	ctrls;
> +	u32				addrs[32];
> +	u16				last_page;
> +};
> +
> +static inline struct rdacm21_device *sd_to_rdacm21(struct v4l2_subdev *sd)
> +{
> +	return container_of(sd, struct rdacm21_device, sd);
> +}
> +
> +static inline struct rdacm21_device *i2c_to_rdacm21(struct i2c_client *client)
> +{
> +	return sd_to_rdacm21(i2c_get_clientdata(client));
> +}
> +
> +static const struct ov490_reg {
> +	u16 reg;
> +	u8 val;
> +} ov490_regs_wizard[] = {
> +	{0xfffd, 0x80},
> +	{0xfffe, 0x82},
> +	{0x0071, 0x11},
> +	{0x0075, 0x11},
> +	{0xfffe, 0x29},
> +	{0x6010, 0x01},
> +	/*
> +	 * OV490 EMB line disable in YUV and RAW data,
> +	 * NOTE: EMB line is still used in ISP and sensor
> +	 */
> +	{0xe000, 0x14},
> +	{0xfffe, 0x28},
> +	{0x6000, 0x04},
> +	{0x6004, 0x00},
> +	/*
> +	 * PCLK polarity - useless due to silicon bug.
> +	 * Use 0x808000bb register instead.
> +	 */
> +	{0x6008, 0x00},
> +	{0xfffe, 0x80},
> +	{0x0091, 0x00},
> +	/* bit[3]=0 - PCLK polarity workaround. */
> +	{0x00bb, 0x1d},
> +	/* Ov490 FSIN: app_fsin_from_fsync */
> +	{0xfffe, 0x85},
> +	{0x0008, 0x00},
> +	{0x0009, 0x01},
> +	/* FSIN0 source. */
> +	{0x000A, 0x05},
> +	{0x000B, 0x00},
> +	/* FSIN0 delay. */
> +	{0x0030, 0x02},
> +	{0x0031, 0x00},
> +	{0x0032, 0x00},
> +	{0x0033, 0x00},
> +	/* FSIN1 delay. */
> +	{0x0038, 0x02},
> +	{0x0039, 0x00},
> +	{0x003A, 0x00},
> +	{0x003B, 0x00},
> +	/* FSIN0 length. */
> +	{0x0070, 0x2C},
> +	{0x0071, 0x01},
> +	{0x0072, 0x00},
> +	{0x0073, 0x00},
> +	/* FSIN1 length. */
> +	{0x0074, 0x64},
> +	{0x0075, 0x00},
> +	{0x0076, 0x00},
> +	{0x0077, 0x00},
> +	{0x0000, 0x14},
> +	{0x0001, 0x00},
> +	{0x0002, 0x00},
> +	{0x0003, 0x00},
> +	/*
> +	 * Load fsin0,load fsin1,load other,
> +	 * It will be cleared automatically.
> +	 */
> +	{0x0004, 0x32},
> +	{0x0005, 0x00},
> +	{0x0006, 0x00},
> +	{0x0007, 0x00},
> +	{0xfffe, 0x80},
> +	/* Sensor FSIN. */
> +	{0x0081, 0x00},
> +	/* ov10640 FSIN enable */
> +	{0xfffe, 0x19},
> +	{0x5000, 0x00},
> +	{0x5001, 0x30},
> +	{0x5002, 0x8c},
> +	{0x5003, 0xb2},
> +	{0xfffe, 0x80},
> +	{0x00c0, 0xc1},
> +	/* ov10640 HFLIP=1 by default */
> +	{0xfffe, 0x19},
> +	{0x5000, 0x01},
> +	{0x5001, 0x00},
> +	{0xfffe, 0x80},
> +	{0x00c0, 0xdc},
> +};
> +
> +static int ov490_read(struct rdacm21_device *dev, u16 reg, u8 *val)
> +{
> +	u8 buf[2] = { reg >> 8, reg };
> +	int ret;
> +
> +	ret = i2c_master_send(dev->isp, buf, 2);
> +	if (ret == 2)
> +		ret = i2c_master_recv(dev->isp, val, 1);
> +
> +	if (ret < 0) {
> +		dev_dbg(dev->dev, "%s: register 0x%04x read failed (%d)\n",
> +			__func__, reg, ret);
> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +
> +static int ov490_write(struct rdacm21_device *dev, u16 reg, u8 val)
> +{
> +	u8 buf[3] = { reg >> 8, reg, val };
> +	int ret;
> +
> +	ret = i2c_master_send(dev->isp, buf, 3);
> +	if (ret < 0) {
> +		dev_err(dev->dev, "%s: register 0x%04x write failed (%d)\n",
> +			__func__, reg, ret);
> +		return ret;
> +	}
> +
> +	return 0;
> +}
> +
> +static int ov490_set_page(struct rdacm21_device *dev, u16 reg)
> +{
> +	bool page_new = false;
> +	u8 page_high = reg >> 8;
> +	u8 page_low = reg;
> +	int ret;
> +
> +	if (page_high != (dev->last_page >> 8)) {
> +		ret = ov490_write(dev, OV490_PAGE_HIGH_REG, page_high);
> +		if (ret)
> +			return ret;
> +		page_new = true;
> +	}
> +
> +	if (page_low != (u8)dev->last_page) {
> +		ret = ov490_write(dev, OV490_PAGE_LOW_REG, page_low);
> +		if (ret)
> +			return ret;
> +		page_new = true;
> +	}
> +
> +	if (page_new) {
> +		dev->last_page = reg;
> +		usleep_range(100, 150);
> +	}
> +
> +	return 0;
> +}
> +
> +static int ov490_read_reg(struct rdacm21_device *dev, u32 reg, u8 *val)
> +{
> +	int ret;
> +
> +	ret = ov490_set_page(dev, reg >> 16);
> +	if (ret)
> +		return ret;
> +
> +	ret = ov490_read(dev, (u16)reg, val);
> +	if (ret)
> +		return ret;
> +
> +	dev_dbg(dev->dev, "%s: 0x%08x = 0x%02x\n", __func__, reg, *val);
> +
> +	return 0;
> +}
> +
> +static int ov490_write_reg(struct rdacm21_device *dev, u32 reg, u8 val)
> +{
> +	int ret;
> +
> +	ret = ov490_set_page(dev, reg >> 16);
> +	if (ret)
> +		return ret;
> +
> +	ret = ov490_write(dev, (u16)reg, val);
> +	if (ret)
> +		return ret;
> +
> +	dev_dbg(dev->dev, "%s: 0x%08x = 0x%02x\n", __func__, reg, val);
> +
> +	return 0;
> +}
> +
> +static int rdacm21_s_stream(struct v4l2_subdev *sd, int enable)
> +{
> +	struct rdacm21_device *dev = sd_to_rdacm21(sd);
> +
> +	/*
> +	 * Enable serial link now that the ISP provides a valid pixel clock
> +	 * to start serializing video data on the GMSL link.
> +	 */
> +	return max9271_set_serial_link(dev->serializer, enable);
> +}
> +
> +static int rdacm21_enum_mbus_code(struct v4l2_subdev *sd,
> +				  struct v4l2_subdev_pad_config *cfg,
> +				  struct v4l2_subdev_mbus_code_enum *code)
> +{
> +	if (code->pad || code->index > 0)
> +		return -EINVAL;
> +
> +	code->code = MEDIA_BUS_FMT_YUYV8_1X16;
> +
> +	return 0;
> +}
> +
> +static int rdacm21_get_fmt(struct v4l2_subdev *sd,
> +			   struct v4l2_subdev_pad_config *cfg,
> +			   struct v4l2_subdev_format *format)
> +{
> +	struct v4l2_mbus_framefmt *mf = &format->format;
> +	struct rdacm21_device *dev = sd_to_rdacm21(sd);
> +
> +	if (format->pad)
> +		return -EINVAL;
> +
> +	mf->width		= dev->fmt.width;
> +	mf->height		= dev->fmt.height;
> +	mf->code		= MEDIA_BUS_FMT_YUYV8_1X16;
> +	mf->colorspace		= V4L2_COLORSPACE_SRGB;
> +	mf->field		= V4L2_FIELD_NONE;
> +	mf->ycbcr_enc		= V4L2_YCBCR_ENC_601;
> +	mf->quantization	= V4L2_QUANTIZATION_FULL_RANGE;
> +	mf->xfer_func		= V4L2_XFER_FUNC_NONE;
> +
> +	return 0;
> +}
> +
> +static struct v4l2_subdev_video_ops rdacm21_video_ops = {
> +	.s_stream	= rdacm21_s_stream,
> +};
> +
> +static const struct v4l2_subdev_pad_ops rdacm21_subdev_pad_ops = {
> +	.enum_mbus_code = rdacm21_enum_mbus_code,
> +	.get_fmt	= rdacm21_get_fmt,
> +	.set_fmt	= rdacm21_get_fmt,
> +};
> +
> +static struct v4l2_subdev_ops rdacm21_subdev_ops = {
> +	.video		= &rdacm21_video_ops,
> +	.pad		= &rdacm21_subdev_pad_ops,
> +};
> +
> +static int ov490_initialize(struct rdacm21_device *dev)
> +{
> +	unsigned int ov490_pid_retry = 20;
> +	unsigned int timeout;
> +	u8 pid, ver, val;
> +	unsigned int i;
> +	int ret;
> +
> +	/* Read OV490 Id to test communications. */
> +pid_retry:
> +	ret = ov490_read_reg(dev, OV490_PID, &pid);
> +	if (ret < 0) {
> +		/* Give OV490 a few more cycles to exit from reset. */
> +		if (ov490_pid_retry--) {
> +			usleep_range(1000, 2000);
> +			goto pid_retry;
> +		}
> +
> +		dev_err(dev->dev, "OV490 PID read failed (%d)\n", ret);
> +		return ret;
> +	}
> +
> +	ret = ov490_read_reg(dev, OV490_VER, &ver);
> +	if (ret < 0) {
> +		dev_err(dev->dev, "OV490 VERSION read failed (%d)\n", ret);
> +		return ret;
> +	}
> +
> +	if (OV490_ID(pid, ver) != OV490_ID_VAL) {
> +		dev_err(dev->dev, "OV490 ID mismatch: (0x%04x)\n",
> +			OV490_ID(pid, ver));
> +		return -ENODEV;
> +	}
> +
> +	/* Wait for firmware boot by reading streamon status. */
> +	for (timeout = 300; timeout > 0; timeout--) {
> +		ov490_read_reg(dev, OV490_ODS_CTRL, &val);
> +		if (val == OV490_ODS_CTRL_FRAME_OUTPUT_EN)
> +			break;
> +		mdelay(1);
> +	}
> +	if (!timeout) {
> +		dev_err(dev->dev, "Timeout firmware boot wait\n");
> +		return -ENODEV;
> +	}
> +	dev_dbg(dev->dev, "Firmware booted in %u msec\n", 300 - timeout);
> +
> +	/* Read OV10640 Id to test communications. */
> +	ov490_write(dev, 0xfffd, 0x80);
> +	ov490_write(dev, 0xfffe, 0x19);
> +	usleep_range(100, 150);

Is that setting a page? Or doing something else?

> +
> +	ov490_write(dev, 0x5000, 0x01);
> +	ov490_write(dev, 0x5001, 0x30);
> +	ov490_write(dev, 0x5002, 0x0a);
> +
> +	ov490_write(dev, 0xfffe, 0x80);
> +	usleep_range(100, 150);
> +	ov490_write(dev, 0xc0, 0xc1);
> +	ov490_write(dev, 0xfffe, 0x19);

And here?

Can this not go through the new helpers?

If the 'read_reg', 'write_reg', helpers are not appropriate, at least
setting the pages could be done with set_page() ... but I'd be surprised
if those couldn't be handled with ov490_write_reg() ?



> +	usleep_range(1000, 1500);
> +	ov490_read(dev, 0x5000, &val);
> +	if (val != OV10640_ID_LOW) {
> +		dev_err(dev->dev, "OV10640 ID mismatch: (0x%02x)\n", val);
> +		return -ENODEV;
> +	}
> +
> +	dev_dbg(dev->dev, "OV10640 ID = 0x%2x\n", val);
> +
> +	for (i = 0; i < ARRAY_SIZE(ov490_regs_wizard); ++i) {
> +		ret = ov490_write(dev, ov490_regs_wizard[i].reg,
> +				  ov490_regs_wizard[i].val);
> +		if (ret < 0) {
> +			dev_err(dev->dev,
> +				"%s: register %u (0x%04x) write failed (%d)\n",
> +				__func__, i, ov490_regs_wizard[i].reg, ret);
> +
> +			return -EIO;
> +		}
> +
> +		usleep_range(100, 150);
> +	}
> +
> +	/*
> +	 * The ISP is programmed with the content of a serial flash memory.
> +	 * Read the firmware configuration to reflect it through the V4L2 APIs.
> +	 */
> +	ov490_read_reg(dev, OV490_ISP_HSIZE_HIGH, &val);
> +	dev->fmt.width = (val & 0xf) << 8;
> +	ov490_read_reg(dev, OV490_ISP_HSIZE_LOW, &val);
> +	dev->fmt.width |= (val & 0xff);
> +
> +	ov490_read_reg(dev, OV490_ISP_VSIZE_HIGH, &val);
> +	dev->fmt.height = (val & 0xf) << 8;
> +	ov490_read_reg(dev, OV490_ISP_VSIZE_LOW, &val);
> +	dev->fmt.height |= val & 0xff;
> +


Hrm, these look like "ov490_read_reg_long()", but given they're the only
occurrences of a "long read" I think we could leave it as is.


> +	/* Set bus width to 12 bits with [0:11] ordering. */
> +	ov490_write_reg(dev, OV490_DVP_CTRL3, 0x10);
> +
> +	dev_info(dev->dev, "Identified RDACM21 camera module\n");
> +
> +	return 0;
> +}
> +
> +static int rdacm21_initialize(struct rdacm21_device *dev)
> +{
> +	int ret;
> +
> +	/* Verify communication with the MAX9271: ping to wakeup. */
> +	dev->serializer->client->addr = MAX9271_DEFAULT_ADDR;
> +	i2c_smbus_read_byte(dev->serializer->client);
> +
> +	/* Serial link disabled during config as it needs a valid pixel clock. */
> +	ret = max9271_set_serial_link(dev->serializer, false);
> +	if (ret)
> +		return ret;
> +
> +	/* Set GPO high to hold OV490 in reset during max9271 configuration. */
> +	ret = max9271_set_gpios(dev->serializer, MAX9271_GPO);
> +	if (ret)
> +		return ret;
> +
> +	/* Configure I2C bus at 105Kbps speed and configure GMSL link. */
> +	ret = max9271_configure_i2c(dev->serializer,
> +				    MAX9271_I2CSLVSH_469NS_234NS |
> +				    MAX9271_I2CSLVTO_1024US |
> +				    MAX9271_I2CMSTBT_105KBPS);
> +	if (ret)
> +		return ret;
> +
> +	ret = max9271_configure_gmsl_link(dev->serializer);
> +	if (ret)
> +		return ret;
> +
> +	ret = max9271_set_address(dev->serializer, dev->addrs[0]);
> +	if (ret)
> +		return ret;
> +	dev->serializer->client->addr = dev->addrs[0];
> +
> +	/*
> +	 * Release OV490 from reset and program address translation
> +	 * before performing OV490 configuration.
> +	 */
> +	ret = max9271_clear_gpios(dev->serializer, MAX9271_GPO);
> +	if (ret)
> +		return ret;
> +
> +	ret = max9271_set_translation(dev->serializer, dev->addrs[1],
> +				      OV490_I2C_ADDRESS);
> +	if (ret)
> +		return ret;
> +	dev->isp->addr = dev->addrs[1];
> +
> +	ret = ov490_initialize(dev);
> +	if (ret)
> +		return ret;
> +
> +	/*
> +	 * Set reverse channel high threshold to increase noise immunity.
> +	 *
> +	 * This should be compensated by increasing the reverse channel
> +	 * amplitude on the remote deserializer side.
> +	 */
> +	ret = max9271_set_high_threshold(dev->serializer, true);
> +	if (ret)
> +		return ret;
> +
> +	return 0;
> +}
> +
> +static int rdacm21_probe(struct i2c_client *client)
> +{
> +	struct rdacm21_device *dev;
> +	struct fwnode_handle *ep;
> +	int ret;
> +
> +	dev = devm_kzalloc(&client->dev, sizeof(*dev), GFP_KERNEL);
> +	if (!dev)
> +		return -ENOMEM;
> +	dev->dev = &client->dev;
> +
> +	dev->serializer = devm_kzalloc(&client->dev, sizeof(*dev->serializer),
> +				       GFP_KERNEL);
> +	if (!dev->serializer)
> +		return -ENOMEM;
> +
> +	dev->serializer->client = client;
> +
> +	ret = of_property_read_u32_array(client->dev.of_node, "reg",
> +					 dev->addrs, 2);
> +	if (ret < 0) {
> +		dev_err(dev->dev, "Invalid DT reg property: %d\n", ret);
> +		return -EINVAL;
> +	}
> +
> +	/* Create the dummy I2C client for the sensor. */
> +	dev->isp = i2c_new_dummy_device(client->adapter, OV490_I2C_ADDRESS);
> +	if (IS_ERR(dev->isp))
> +		return PTR_ERR(dev->isp);
> +
> +	ret = rdacm21_initialize(dev);
> +	if (ret < 0)
> +		goto error;
> +
> +	/* Initialize and register the subdevice. */
> +	v4l2_i2c_subdev_init(&dev->sd, client, &rdacm21_subdev_ops);
> +	dev->sd.flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
> +
> +	v4l2_ctrl_handler_init(&dev->ctrls, 1);
> +	v4l2_ctrl_new_std(&dev->ctrls, NULL, V4L2_CID_PIXEL_RATE,
> +			  OV10640_PIXEL_RATE, OV10640_PIXEL_RATE, 1,
> +			  OV10640_PIXEL_RATE);
> +	dev->sd.ctrl_handler = &dev->ctrls;
> +
> +	ret = dev->ctrls.error;
> +	if (ret)
> +		goto error_free_ctrls;
> +
> +	dev->pad.flags = MEDIA_PAD_FL_SOURCE;
> +	dev->sd.entity.flags |= MEDIA_ENT_F_CAM_SENSOR;
> +	ret = media_entity_pads_init(&dev->sd.entity, 1, &dev->pad);
> +	if (ret < 0)
> +		goto error_free_ctrls;
> +
> +	ep = fwnode_graph_get_next_endpoint(dev_fwnode(&client->dev), NULL);
> +	if (!ep) {
> +		dev_err(&client->dev,
> +			"Unable to get endpoint in node %pOF\n",
> +			client->dev.of_node);
> +		ret = -ENOENT;
> +		goto error_free_ctrls;
> +	}
> +	dev->sd.fwnode = ep;
> +
> +	ret = v4l2_async_register_subdev(&dev->sd);
> +	if (ret)
> +		goto error_put_node;
> +
> +	return 0;
> +
> +error_put_node:
> +	fwnode_handle_put(dev->sd.fwnode);
> +error_free_ctrls:
> +	v4l2_ctrl_handler_free(&dev->ctrls);
> +error:
> +	i2c_unregister_device(dev->isp);
> +
> +	return ret;
> +}
> +
> +static int rdacm21_remove(struct i2c_client *client)
> +{
> +	struct rdacm21_device *dev = i2c_to_rdacm21(client);
> +
> +	fwnode_handle_put(dev->sd.fwnode);
> +	v4l2_async_unregister_subdev(&dev->sd);
> +	v4l2_ctrl_handler_free(&dev->ctrls);
> +	i2c_unregister_device(dev->isp);
> +
> +	return 0;
> +}
> +
> +static const struct of_device_id rdacm21_of_ids[] = {
> +	{ .compatible = "imi,rdacm21" },
> +	{ }
> +};
> +MODULE_DEVICE_TABLE(of, rdacm21_of_ids);
> +
> +static struct i2c_driver rdacm21_i2c_driver = {
> +	.driver	= {
> +		.name	= "rdacm21",
> +		.of_match_table = rdacm21_of_ids,
> +	},
> +	.probe_new	= rdacm21_probe,
> +	.remove		= rdacm21_remove,
> +};
> +
> +module_i2c_driver(rdacm21_i2c_driver);
> +
> +MODULE_DESCRIPTION("GMSL Camera driver for RDACM21");
> +MODULE_AUTHOR("Jacopo Mondi, Kieran Bingham, Laurent Pinchart, Niklas Söderlund, Vladimir Barinov");
> +MODULE_LICENSE("GPL v2");
>