media: i2c: Add driver for RDACM21 camera module

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.

Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Signed-off-by: Jacopo Mondi <jacopo+renesas@jmondi.org>
Signed-off-by: Sakari Ailus <sakari.ailus@linux.intel.com>
Signed-off-by: Mauro Carvalho Chehab <mchehab+huawei@kernel.org>

3 files changed, 638 insertions, 0 deletions

diff --git a/drivers/media/i2c/Kconfig b/drivers/media/i2c/Kconfig
index bb1b5a340431..ad92f4789b83 100644
--- a/drivers/media/i2c/Kconfig
+++ b/drivers/media/i2c/Kconfig
@@ -1239,6 +1239,19 @@ 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 5b1dcfa3ce76..f5cd92bc285d 100644
--- a/drivers/media/i2c/Makefile
+++ b/drivers/media/i2c/Makefile
@@ -126,6 +126,8 @@ 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..dcc21515e5a4
--- /dev/null
+++ b/drivers/media/i2c/rdacm21.c
@@ -0,0 +1,623 @@
+// 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 MAX9271_RESET_CYCLES		10
+
+#define OV490_I2C_ADDRESS		0x24
+
+#define OV490_PAGE_HIGH_REG		0xfffd
+#define OV490_PAGE_LOW_REG		0xfffe
+
+/*
+ * The SCCB slave handling is undocumented; the registers naming scheme is
+ * totally arbitrary.
+ */
+#define OV490_SCCB_SLAVE_WRITE		0x00
+#define OV490_SCCB_SLAVE_READ		0x01
+#define OV490_SCCB_SLAVE0_DIR		0x80195000
+#define OV490_SCCB_SLAVE0_ADDR_HIGH	0x80195001
+#define OV490_SCCB_SLAVE0_ADDR_LOW	0x80195002
+
+#define OV490_DVP_CTRL3			0x80286009
+
+#define OV490_ODS_CTRL_FRAME_OUTPUT_EN	0x0c
+#define OV490_ODS_CTRL			0x8029d000
+
+#define OV490_HOST_CMD			0x808000c0
+#define OV490_HOST_CMD_TRIGGER		0xc1
+
+#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_PID_TIMEOUT		20
+#define OV490_OUTPUT_EN_TIMEOUT		300
+
+#define OV490_GPIO0			BIT(0)
+#define OV490_SPWDN0			BIT(0)
+#define OV490_GPIO_SEL0			0x80800050
+#define OV490_GPIO_SEL1			0x80800051
+#define OV490_GPIO_DIRECTION0		0x80800054
+#define OV490_GPIO_DIRECTION1		0x80800055
+#define OV490_GPIO_OUTPUT_VALUE0	0x80800058
+#define OV490_GPIO_OUTPUT_VALUE1	0x80800059
+
+#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_ID_HIGH			0xa6
+#define OV10640_CHIP_ID			0x300a
+#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[2];
+	u16				last_page;
+};
+
+static inline struct rdacm21_device *sd_to_rdacm21(struct v4l2_subdev *sd)
+{
+	return container_of(sd, struct rdacm21_device, sd);
+}
+
+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 page)
+{
+	u8 page_high = page >> 8;
+	u8 page_low = page;
+	int ret;
+
+	if (page == dev->last_page)
+		return 0;
+
+	if (page_high != (dev->last_page >> 8)) {
+		ret = ov490_write(dev, OV490_PAGE_HIGH_REG, page_high);
+		if (ret)
+			return ret;
+	}
+
+	if (page_low != (u8)dev->last_page) {
+		ret = ov490_write(dev, OV490_PAGE_LOW_REG, page_low);
+		if (ret)
+			return ret;
+	}
+
+	dev->last_page = page;
+	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 const 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 const struct v4l2_subdev_ops rdacm21_subdev_ops = {
+	.video		= &rdacm21_video_ops,
+	.pad		= &rdacm21_subdev_pad_ops,
+};
+
+static int ov10640_initialize(struct rdacm21_device *dev)
+{
+	u8 val;
+
+	/* Power-up OV10640 by setting RESETB and PWDNB pins high. */
+	ov490_write_reg(dev, OV490_GPIO_SEL0, OV490_GPIO0);
+	ov490_write_reg(dev, OV490_GPIO_SEL1, OV490_SPWDN0);
+	ov490_write_reg(dev, OV490_GPIO_DIRECTION0, OV490_GPIO0);
+	ov490_write_reg(dev, OV490_GPIO_DIRECTION1, OV490_SPWDN0);
+	ov490_write_reg(dev, OV490_GPIO_OUTPUT_VALUE0, OV490_GPIO0);
+	ov490_write_reg(dev, OV490_GPIO_OUTPUT_VALUE0, OV490_SPWDN0);
+	usleep_range(3000, 5000);
+
+	/* Read OV10640 ID to test communications. */
+	ov490_write_reg(dev, OV490_SCCB_SLAVE0_DIR, OV490_SCCB_SLAVE_READ);
+	ov490_write_reg(dev, OV490_SCCB_SLAVE0_ADDR_HIGH, OV10640_CHIP_ID >> 8);
+	ov490_write_reg(dev, OV490_SCCB_SLAVE0_ADDR_LOW, (u8)OV10640_CHIP_ID);
+
+	/* Trigger SCCB slave transaction and give it some time to complete. */
+	ov490_write_reg(dev, OV490_HOST_CMD, OV490_HOST_CMD_TRIGGER);
+	usleep_range(1000, 1500);
+
+	ov490_read_reg(dev, OV490_SCCB_SLAVE0_DIR, &val);
+	if (val != OV10640_ID_HIGH) {
+		dev_err(dev->dev, "OV10640 ID mismatch: (0x%02x)\n", val);
+		return -ENODEV;
+	}
+
+	dev_dbg(dev->dev, "OV10640 ID = 0x%2x\n", val);
+
+	return 0;
+}
+
+static int ov490_initialize(struct rdacm21_device *dev)
+{
+	u8 pid, ver, val;
+	unsigned int i;
+	int ret;
+
+	/*
+	 * Read OV490 Id to test communications. Give it up to 40msec to
+	 * exit from reset.
+	 */
+	for (i = 0; i < OV490_PID_TIMEOUT; ++i) {
+		ret = ov490_read_reg(dev, OV490_PID, &pid);
+		if (ret == 0)
+			break;
+		usleep_range(1000, 2000);
+	}
+	if (i == OV490_PID_TIMEOUT) {
+		dev_err(dev->dev, "OV490 PID read failed (%d)\n", ret);
+		return ret;
+	}
+
+	ret = ov490_read_reg(dev, OV490_VER, &ver);
+	if (ret < 0)
+		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 (i = 0; i < OV490_OUTPUT_EN_TIMEOUT; ++i) {
+		ov490_read_reg(dev, OV490_ODS_CTRL, &val);
+		if (val == OV490_ODS_CTRL_FRAME_OUTPUT_EN)
+			break;
+		usleep_range(1000, 2000);
+	}
+	if (i == OV490_OUTPUT_EN_TIMEOUT) {
+		dev_err(dev->dev, "Timeout waiting for firmware boot\n");
+		return -ENODEV;
+	}
+
+	ret = ov10640_initialize(dev);
+	if (ret)
+		return ret;
+
+	/* Program OV490 with register-value table. */
+	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;
+
+	/* 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);
+	usleep_range(3000, 5000);
+
+	/* Enable reverse channel and disable the serial link. */
+	ret = max9271_set_serial_link(&dev->serializer, false);
+	if (ret)
+		return ret;
+
+	/* Configure I2C bus at 105Kbps speed and configure GMSL. */
+	ret = max9271_configure_i2c(&dev->serializer,
+				    MAX9271_I2CSLVSH_469NS_234NS |
+				    MAX9271_I2CSLVTO_1024US |
+				    MAX9271_I2CMSTBT_105KBPS);
+	if (ret)
+		return ret;
+
+	ret = max9271_verify_id(&dev->serializer);
+	if (ret)
+		return ret;
+
+	/* Enable GPIO1 and hold OV490 in reset during max9271 configuration. */
+	ret = max9271_enable_gpios(&dev->serializer, MAX9271_GPIO1OUT);
+	if (ret)
+		return ret;
+
+	ret = max9271_clear_gpios(&dev->serializer, MAX9271_GPIO1OUT);
+	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];
+
+	ret = max9271_set_translation(&dev->serializer, dev->addrs[1],
+				      OV490_I2C_ADDRESS);
+	if (ret)
+		return ret;
+	dev->isp->addr = dev->addrs[1];
+
+	/* Release OV490 from reset and initialize it. */
+	ret = max9271_set_gpios(&dev->serializer, MAX9271_GPIO1OUT);
+	if (ret)
+		return ret;
+	usleep_range(3000, 5000);
+
+	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.
+	 */
+	return max9271_set_high_threshold(&dev->serializer, true);
+}
+
+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.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 = sd_to_rdacm21(i2c_get_clientdata(client));
+
+	v4l2_async_unregister_subdev(&dev->sd);
+	v4l2_ctrl_handler_free(&dev->ctrls);
+	i2c_unregister_device(dev->isp);
+	fwnode_handle_put(dev->sd.fwnode);
+
+	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");
+MODULE_LICENSE("GPL v2");