Message-Id: <20201215170957.92761-2-jacopo+renesas@jmondi.org>
Date:   Tue, 15 Dec 2020 18:09:53 +0100
From:   Jacopo Mondi <jacopo+renesas@...ndi.org>
To:     kieran.bingham+renesas@...asonboard.com,
        laurent.pinchart+renesas@...asonboard.com,
        niklas.soderlund+renesas@...natech.se, geert@...ux-m68k.org
Cc:     Jacopo Mondi <jacopo+renesas@...ndi.org>,
        linux-media@...r.kernel.org, linux-renesas-soc@...r.kernel.org,
        linux-kernel@...r.kernel.org, Hyun Kwon <hyunk@...inx.com>,
        Manivannan Sadhasivam <manivannan.sadhasivam@...aro.org>,
        sergei.shtylyov@...il.com
Subject: [PATCH v6 1/5] 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.

Signed-off-by: Jacopo Mondi <jacopo+renesas@...ndi.org>
---
 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 4be038f0a59d..a011df5a14d7 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -14809,6 +14809,18 @@ 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@...ndi.org>
+M:	Kieran Bingham <kieran.bingham+renesas@...asonboard.com>
+M:	Laurent Pinchart <laurent.pinchart+renesas@...asonboard.com>
+M:	Niklas Söderlund <niklas.soderlund+renesas@...natech.se>
+L:	linux-media@...r.kernel.org
+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@...nwrt.org>
 S:	Maintained
diff --git a/drivers/media/i2c/Kconfig b/drivers/media/i2c/Kconfig
index 2b9d81e4794a..d500edb8638b 100644
--- a/drivers/media/i2c/Kconfig
+++ b/drivers/media/i2c/Kconfig
@@ -1212,6 +1212,19 @@ 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 a3149dce21bb..85b1edc62508 100644
--- a/drivers/media/i2c/Makefile
+++ b/drivers/media/i2c/Makefile
@@ -124,6 +124,8 @@ 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);
+
+	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);
+	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;
+
+	/* 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");
-- 
2.29.2

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