From dc0e404f3b9cc34091ec4178eeda3f92e75b62c5 Mon Sep 17 00:00:00 2001
From: Markus Proeller <markus.proeller@pieye.org>
Date: Thu, 10 Oct 2019 19:12:36 +0200
Subject: [PATCH 0182/1085] media: i2c: Add a driver for the Infineon IRS1125
 depth sensor

The Infineon IRS1125 is a time of flight depth sensor that
has a CSI-2 interface.

Add a V4L2 subdevice driver for this device.

Signed-off-by: Markus Proeller <markus.proeller@pieye.org>
---
 drivers/media/i2c/Kconfig   |   12 +
 drivers/media/i2c/Makefile  |    1 +
 drivers/media/i2c/irs1125.c | 1112 +++++++++++++++++++++++++++++++++++
 drivers/media/i2c/irs1125.h |   61 ++
 4 files changed, 1186 insertions(+)
 create mode 100644 drivers/media/i2c/irs1125.c
 create mode 100644 drivers/media/i2c/irs1125.h

--- a/drivers/media/i2c/Kconfig
+++ b/drivers/media/i2c/Kconfig
@@ -1228,6 +1228,18 @@ config VIDEO_TW9910
 	  To compile this driver as a module, choose M here: the
 	  module will be called tw9910.
 
+config VIDEO_IRS1125
+	tristate "Infineon IRS1125 sensor support"
+	depends on I2C && VIDEO_DEV && VIDEO_V4L2_SUBDEV_API
+	depends on MEDIA_CAMERA_SUPPORT
+	select V4L2_FWNODE
+	help
+	  This is a Video4Linux2 sensor-level driver for the Infineon
+	  IRS1125 camera.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called irs1125.
+
 config VIDEO_VPX3220
 	tristate "vpx3220a, vpx3216b & vpx3214c video decoders"
 	depends on VIDEO_DEV && I2C
--- a/drivers/media/i2c/Makefile
+++ b/drivers/media/i2c/Makefile
@@ -56,6 +56,7 @@ obj-$(CONFIG_VIDEO_IMX415) += imx415.o
 obj-$(CONFIG_VIDEO_IMX477) += imx477.o
 obj-$(CONFIG_VIDEO_IMX519) += imx519.o
 obj-$(CONFIG_VIDEO_IR_I2C) += ir-kbd-i2c.o
+obj-$(CONFIG_VIDEO_IRS1125) += irs1125.o
 obj-$(CONFIG_VIDEO_ISL7998X) += isl7998x.o
 obj-$(CONFIG_VIDEO_KS0127) += ks0127.o
 obj-$(CONFIG_VIDEO_LM3560) += lm3560.o
--- /dev/null
+++ b/drivers/media/i2c/irs1125.c
@@ -0,0 +1,1112 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * A V4L2 driver for Infineon IRS1125 TOF cameras.
+ * Copyright (C) 2018, pieye GmbH
+ *
+ * Based on V4L2 OmniVision OV5647 Image Sensor driver
+ * Copyright (C) 2016 Ramiro Oliveira <roliveir@synopsys.com>
+ *
+ * DT / fwnode changes, and GPIO control taken from ov5640.c
+ * Copyright (C) 2011-2013 Freescale Semiconductor, Inc. All Rights Reserved.
+ * Copyright (C) 2014-2017 Mentor Graphics Inc.
+ *
+ */
+
+#include "irs1125.h"
+#include <linux/clk.h>
+#include <linux/delay.h>
+#include <linux/gpio/consumer.h>
+#include <linux/i2c.h>
+#include <linux/init.h>
+#include <linux/io.h>
+#include <linux/module.h>
+#include <linux/of_graph.h>
+#include <linux/slab.h>
+#include <linux/videodev2.h>
+#include <linux/firmware.h>
+#include <media/v4l2-device.h>
+#include <media/v4l2-fwnode.h>
+#include <media/v4l2-image-sizes.h>
+#include <media/v4l2-mediabus.h>
+#include <media/v4l2-ctrls.h>
+
+#define CHECK_BIT(val, pos) ((val) & BIT(pos))
+
+#define SENSOR_NAME "irs1125"
+
+#define RESET_ACTIVE_DELAY_MS	 20
+
+#define IRS1125_ALTERNATE_FW "irs1125_af.bin"
+
+#define IRS1125_REG_CSICFG       0xA882
+#define IRS1125_REG_DESIGN_STEP	 0xB0AD
+#define IRS1125_REG_EFUSEVAL2	 0xB09F
+#define IRS1125_REG_EFUSEVAL3	 0xB0A0
+#define IRS1125_REG_EFUSEVAL4	 0xB0A1
+#define IRS1125_REG_DMEM_SHADOW	 0xC320
+
+#define IRS1125_DESIGN_STEP_EXPECTED 0x0a12
+
+#define IRS1125_ROW_START_DEF		0
+#define IRS1125_COLUMN_START_DEF	0
+#define IRS1125_WINDOW_HEIGHT_DEF	 288
+#define IRS1125_WINDOW_WIDTH_DEF	352
+
+struct regval_list {
+	u16 addr;
+	u16 data;
+};
+
+struct irs1125 {
+	struct v4l2_subdev sd;
+	struct media_pad pad;
+	/* the parsed DT endpoint info */
+	struct v4l2_fwnode_endpoint ep;
+
+	struct clk *xclk;
+	struct v4l2_ctrl_handler ctrl_handler;
+
+	/* To serialize asynchronus callbacks */
+	struct mutex lock;
+
+	/* image data layout */
+	unsigned int num_seq;
+
+	/* reset pin */
+	struct gpio_desc *reset;
+
+	/* V4l2 Controls to grab */
+	struct v4l2_ctrl *ctrl_modplls;
+	struct v4l2_ctrl *ctrl_numseq;
+
+	int power_count;
+};
+
+static inline struct irs1125 *to_state(struct v4l2_subdev *sd)
+{
+	return container_of(sd, struct irs1125, sd);
+}
+
+static struct regval_list irs1125_26MHz[] = {
+	{0xB017, 0x0413},
+	{0xB086, 0x3535},
+	{0xB0AE, 0xEF02},
+	{0xA000, 0x0004},
+	{0xFFFF, 100},
+
+	{0xB062, 0x6383},
+	{0xB063, 0x55A8},
+	{0xB068, 0x7628},
+	{0xB069, 0x03E2},
+
+	{0xFFFF, 100},
+	{0xB05A, 0x01C5},
+	{0xB05C, 0x0206},
+	{0xB05D, 0x01C5},
+	{0xB05F, 0x0206},
+	{0xB016, 0x1335},
+	{0xFFFF, 100},
+	{0xA893, 0x8261},
+	{0xA894, 0x89d8},
+	{0xA895, 0x131d},
+	{0xA896, 0x4251},
+	{0xA897, 0x9D8A},
+	{0xA898, 0x0BD8},
+	{0xA899, 0x2245},
+	{0xA89A, 0xAB9B},
+	{0xA89B, 0x03B9},
+	{0xA89C, 0x8041},
+	{0xA89D, 0xE07E},
+	{0xA89E, 0x0307},
+	{0xFFFF, 100},
+	{0xA88D, 0x0004},
+	{0xA800, 0x0E68},
+	{0xA801, 0x0000},
+	{0xA802, 0x000C},
+	{0xA803, 0x0000},
+	{0xA804, 0x0E68},
+	{0xA805, 0x0000},
+	{0xA806, 0x0440},
+	{0xA807, 0x0000},
+	{0xA808, 0x0E68},
+	{0xA809, 0x0000},
+	{0xA80A, 0x0884},
+	{0xA80B, 0x0000},
+	{0xA80C, 0x0E68},
+	{0xA80D, 0x0000},
+	{0xA80E, 0x0CC8},
+	{0xA80F, 0x0000},
+	{0xA810, 0x0E68},
+	{0xA811, 0x0000},
+	{0xA812, 0x2000},
+	{0xA813, 0x0000},
+	{0xA882, 0x0081},
+	{0xA88C, 0x403A},
+	{0xA88F, 0x031E},
+	{0xA892, 0x0351},
+	{0x9813, 0x13FF},
+	{0x981B, 0x7608},
+
+	{0xB008, 0x0000},
+	{0xB015, 0x1513},
+
+	{0xFFFF, 100}
+};
+
+static struct regval_list irs1125_seq_cfg[] = {
+	{0xC3A0, 0x823D},
+	{0xC3A1, 0xB13B},
+	{0xC3A2, 0x0313},
+	{0xC3A3, 0x4659},
+	{0xC3A4, 0xC4EC},
+	{0xC3A5, 0x03CE},
+	{0xC3A6, 0x4259},
+	{0xC3A7, 0xC4EC},
+	{0xC3A8, 0x03CE},
+	{0xC3A9, 0x8839},
+	{0xC3AA, 0x89D8},
+	{0xC3AB, 0x031D},
+
+	{0xC24C, 0x5529},
+	{0xC24D, 0x0000},
+	{0xC24E, 0x1200},
+	{0xC24F, 0x6CB2},
+	{0xC250, 0x0000},
+	{0xC251, 0x5529},
+	{0xC252, 0x42F4},
+	{0xC253, 0xD1AF},
+	{0xC254, 0x8A18},
+	{0xC255, 0x0002},
+	{0xC256, 0x5529},
+	{0xC257, 0x6276},
+	{0xC258, 0x11A7},
+	{0xC259, 0xD907},
+	{0xC25A, 0x0000},
+	{0xC25B, 0x5529},
+	{0xC25C, 0x07E0},
+	{0xC25D, 0x7BFE},
+	{0xC25E, 0x6402},
+	{0xC25F, 0x0019},
+
+	{0xC3AC, 0x0007},
+	{0xC3AD, 0xED88},
+	{0xC320, 0x003E},
+	{0xC321, 0x0000},
+	{0xC322, 0x2000},
+	{0xC323, 0x0000},
+	{0xC324, 0x0271},
+	{0xC325, 0x0000},
+	{0xC326, 0x000C},
+	{0xC327, 0x0000},
+	{0xC328, 0x0271},
+	{0xC329, 0x0000},
+	{0xC32A, 0x0440},
+	{0xC32B, 0x0000},
+	{0xC32C, 0x0271},
+	{0xC32D, 0x0000},
+	{0xC32E, 0x0884},
+	{0xC32F, 0x0000},
+	{0xC330, 0x0271},
+	{0xC331, 0x0000},
+	{0xC332, 0x0CC8},
+	{0xC333, 0x0000},
+	{0xA88D, 0x0004},
+
+	{0xA890, 0x0000},
+	{0xC219, 0x0002},
+	{0xC21A, 0x0000},
+	{0xC21B, 0x0000},
+	{0xC21C, 0x00CD},
+	{0xC21D, 0x0009},
+	{0xC21E, 0x00CD},
+	{0xC21F, 0x0009},
+
+	{0xA87C, 0x0000},
+	{0xC032, 0x0001},
+	{0xC034, 0x0000},
+	{0xC035, 0x0001},
+	{0xC039, 0x0000},
+	{0xC401, 0x0002},
+
+	{0xFFFF, 1},
+	{0xA87C, 0x0001}
+};
+
+static int irs1125_write(struct v4l2_subdev *sd, u16 reg, u16 val)
+{
+	int ret;
+	unsigned char data[4] = { reg >> 8, reg & 0xff, val >> 8, val & 0xff};
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	ret = i2c_master_send(client, data, 4);
+	if (ret < 0)
+		dev_err(&client->dev, "%s: i2c write error, reg: %x\n",
+			__func__, reg);
+
+	return ret;
+}
+
+static int irs1125_read(struct v4l2_subdev *sd, u16 reg, u16 *val)
+{
+	int ret;
+	unsigned char data_w[2] = { reg >> 8, reg & 0xff };
+	char rdval[2];
+
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	ret = i2c_master_send(client, data_w, 2);
+	if (ret < 0) {
+		dev_dbg(&client->dev, "%s: i2c write error, reg: %x\n",
+			__func__, reg);
+		return ret;
+	}
+
+	ret = i2c_master_recv(client, rdval, 2);
+	if (ret < 0)
+		dev_err(&client->dev, "%s: i2c read error, reg: %x\n",
+			__func__, reg);
+
+	*val = rdval[1] | (rdval[0] << 8);
+
+	return ret;
+}
+
+static int irs1125_write_array(struct v4l2_subdev *sd,
+			       struct regval_list *regs, int array_size)
+{
+	int i, ret;
+
+	for (i = 0; i < array_size; i++) {
+		if (regs[i].addr == 0xFFFF) {
+			msleep(regs[i].data);
+		} else {
+			ret = irs1125_write(sd, regs[i].addr, regs[i].data);
+			if (ret < 0)
+				return ret;
+		}
+	}
+
+	return 0;
+}
+
+static int irs1125_stream_on(struct v4l2_subdev *sd)
+{
+	int ret;
+	struct irs1125 *irs1125 = to_state(sd);
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	v4l2_ctrl_grab(irs1125->ctrl_numseq, 1);
+	v4l2_ctrl_grab(irs1125->ctrl_modplls, 1);
+
+	ret = irs1125_write(sd, 0xC400, 0x0001);
+	if (ret < 0) {
+		dev_err(&client->dev, "error enabling firmware: %d", ret);
+		return ret;
+	}
+
+	msleep(100);
+
+	return irs1125_write(sd, 0xA87C, 0x0001);
+}
+
+static int irs1125_stream_off(struct v4l2_subdev *sd)
+{
+	int ret;
+	struct irs1125 *irs1125 = to_state(sd);
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	v4l2_ctrl_grab(irs1125->ctrl_numseq, 0);
+	v4l2_ctrl_grab(irs1125->ctrl_modplls, 0);
+
+	ret = irs1125_write(sd, 0xA87C, 0x0000);
+	if (ret < 0) {
+		dev_err(&client->dev, "error disabling trigger: %d", ret);
+		return ret;
+	}
+
+	msleep(100);
+
+	return irs1125_write(sd, 0xC400, 0x0002);
+}
+
+static int __sensor_init(struct v4l2_subdev *sd)
+{
+	unsigned int cnt, idx;
+	int ret;
+	u16 val;
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+	struct irs1125 *irs1125 = to_state(sd);
+	const struct firmware *fw;
+	struct regval_list *reg_data;
+
+	cnt = 0;
+	while (1) {
+		ret = irs1125_read(sd, 0xC40F, &val);
+		if (ret < 0) {
+			dev_err(&client->dev, "read register 0xC40F failed\n");
+			return ret;
+		}
+		if (CHECK_BIT(val, 14) == 0)
+			break;
+
+		if (cnt >= 5) {
+			dev_err(&client->dev, "timeout waiting for 0xC40F\n");
+			return -EAGAIN;
+		}
+
+		cnt++;
+	}
+
+	ret = irs1125_write_array(sd, irs1125_26MHz,
+				  ARRAY_SIZE(irs1125_26MHz));
+	if (ret < 0) {
+		dev_err(&client->dev, "write sensor default regs error\n");
+		return ret;
+	}
+
+	/* set CSI-2 number of data lanes */
+	if (irs1125->ep.bus.mipi_csi2.num_data_lanes == 1) {
+		val = 0x0001;
+	} else if (irs1125->ep.bus.mipi_csi2.num_data_lanes == 2) {
+		val = 0x0081;
+	} else {
+		dev_err(&client->dev, "invalid number of data lanes %d\n",
+			irs1125->ep.bus.mipi_csi2.num_data_lanes);
+		return -EINVAL;
+	}
+
+	ret = irs1125_write(sd, IRS1125_REG_CSICFG, val);
+	if (ret < 0) {
+		dev_err(&client->dev, "write sensor csi2 config error\n");
+		return ret;
+	}
+
+	/* request the firmware, this will block and timeout */
+	ret = request_firmware(&fw, IRS1125_ALTERNATE_FW, &client->dev);
+	if (ret) {
+		dev_err(&client->dev,
+			"did not find the firmware file '%s' (status %d)\n",
+			IRS1125_ALTERNATE_FW, ret);
+		return ret;
+	}
+
+	if (fw->size % 4) {
+		dev_err(&client->dev, "firmware file '%s' invalid\n",
+			IRS1125_ALTERNATE_FW);
+		release_firmware(fw);
+		return -EINVAL;
+	}
+
+	for (idx = 0; idx < fw->size; idx += 4)	{
+		reg_data = (struct regval_list *)&fw->data[idx];
+		ret = irs1125_write(sd, reg_data->addr, reg_data->data);
+		if (ret < 0) {
+			dev_err(&client->dev, "firmware write error\n");
+			release_firmware(fw);
+			return ret;
+		}
+	}
+	release_firmware(fw);
+
+	ret = irs1125_write_array(sd, irs1125_seq_cfg,
+				  ARRAY_SIZE(irs1125_seq_cfg));
+	if (ret < 0) {
+		dev_err(&client->dev, "write default sequence failed\n");
+		return ret;
+	}
+
+	return 0;
+}
+
+static int irs1125_sensor_power(struct v4l2_subdev *sd, int on)
+{
+	int ret = 0;
+	struct irs1125 *irs1125 = to_state(sd);
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	mutex_lock(&irs1125->lock);
+
+	if (on && !irs1125->power_count) {
+		gpiod_set_value_cansleep(irs1125->reset, 1);
+		msleep(RESET_ACTIVE_DELAY_MS);
+
+		ret = clk_prepare_enable(irs1125->xclk);
+		if (ret < 0) {
+			dev_err(&client->dev, "clk prepare enable failed\n");
+			goto out;
+		}
+
+		ret = __sensor_init(sd);
+		if (ret < 0) {
+			clk_disable_unprepare(irs1125->xclk);
+			dev_err(&client->dev,
+				"Camera not available, check Power\n");
+			goto out;
+		}
+	} else if (!on && irs1125->power_count == 1) {
+		gpiod_set_value_cansleep(irs1125->reset, 0);
+	}
+
+	/* Update the power count. */
+	irs1125->power_count += on ? 1 : -1;
+	WARN_ON(irs1125->power_count < 0);
+
+out:
+	mutex_unlock(&irs1125->lock);
+
+	return ret;
+}
+
+#ifdef CONFIG_VIDEO_ADV_DEBUG
+static int irs1125_sensor_get_register(struct v4l2_subdev *sd,
+				       struct v4l2_dbg_register *reg)
+{
+	u16 val;
+	int ret;
+
+	ret = irs1125_read(sd, reg->reg & 0xffff, &val);
+	if (ret < 0)
+		return ret;
+
+	reg->val = val;
+	reg->size = 1;
+
+	return 0;
+}
+
+static int irs1125_sensor_set_register(struct v4l2_subdev *sd,
+				       const struct v4l2_dbg_register *reg)
+{
+	return irs1125_write(sd, reg->reg & 0xffff, reg->val & 0xffff);
+}
+#endif
+
+static const struct v4l2_subdev_core_ops irs1125_subdev_core_ops = {
+	.s_power = irs1125_sensor_power,
+#ifdef CONFIG_VIDEO_ADV_DEBUG
+	.g_register = irs1125_sensor_get_register,
+	.s_register = irs1125_sensor_set_register,
+#endif
+};
+
+static int irs1125_s_stream(struct v4l2_subdev *sd, int enable)
+{
+	if (enable)
+		return irs1125_stream_on(sd);
+	else
+		return irs1125_stream_off(sd);
+}
+
+static const struct v4l2_subdev_video_ops irs1125_subdev_video_ops = {
+	.s_stream = irs1125_s_stream,
+};
+
+static int irs1125_enum_mbus_code(struct v4l2_subdev *sd,
+				  struct v4l2_subdev_pad_config *cfg,
+	struct v4l2_subdev_mbus_code_enum *code)
+{
+	if (code->index > 0)
+		return -EINVAL;
+
+	code->code = MEDIA_BUS_FMT_Y12_1X12;
+
+	return 0;
+}
+
+static int irs1125_set_get_fmt(struct v4l2_subdev *sd,
+			       struct v4l2_subdev_pad_config *cfg,
+			       struct v4l2_subdev_format *format)
+{
+	struct v4l2_mbus_framefmt *fmt = &format->format;
+	struct irs1125 *irs1125 = to_state(sd);
+
+	if (format->pad != 0)
+		return -EINVAL;
+
+	/* Only one format is supported, so return that */
+	memset(fmt, 0, sizeof(*fmt));
+	fmt->code = MEDIA_BUS_FMT_Y12_1X12;
+	fmt->colorspace = V4L2_COLORSPACE_RAW;
+	fmt->field = V4L2_FIELD_NONE;
+	fmt->width = IRS1125_WINDOW_WIDTH_DEF;
+	fmt->height = IRS1125_WINDOW_HEIGHT_DEF * irs1125->num_seq;
+
+	return 0;
+}
+
+static const struct v4l2_subdev_pad_ops irs1125_subdev_pad_ops = {
+	.enum_mbus_code = irs1125_enum_mbus_code,
+	.set_fmt = irs1125_set_get_fmt,
+	.get_fmt = irs1125_set_get_fmt,
+};
+
+static const struct v4l2_subdev_ops irs1125_subdev_ops = {
+	.core = &irs1125_subdev_core_ops,
+	.video = &irs1125_subdev_video_ops,
+	.pad = &irs1125_subdev_pad_ops,
+};
+
+static int irs1125_s_ctrl(struct v4l2_ctrl *ctrl)
+{
+	struct irs1125 *dev = container_of(ctrl->handler,
+					struct irs1125, ctrl_handler);
+	struct i2c_client *client = v4l2_get_subdevdata(&dev->sd);
+	int err, i;
+	struct irs1125_mod_pll *mod_cur, *mod_new;
+	struct irs1125_seq_cfg *cfg_cur, *cfg_new;
+	u16 addr, val;
+
+	err = 0;
+
+	switch (ctrl->id) {
+	case IRS1125_CID_SAFE_RECONFIG:
+	{
+		struct irs1125_illu *illu_cur, *illu_new;
+
+		illu_new = (struct irs1125_illu *)ctrl->p_new.p;
+		illu_cur = (struct irs1125_illu *)ctrl->p_cur.p;
+		for (i = 0; i < IRS1125_NUM_SEQ_ENTRIES; i++) {
+			if (illu_cur[i].exposure != illu_new[i].exposure) {
+				addr = 0xA850 + i * 2;
+				val = illu_new[i].exposure;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (illu_cur[i].framerate != illu_new[i].framerate) {
+				addr = 0xA851 + i * 2;
+				val = illu_new[i].framerate;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+		}
+		break;
+	}
+	case IRS1125_CID_MOD_PLL:
+		mod_new = (struct irs1125_mod_pll *)ctrl->p_new.p;
+		mod_cur = (struct irs1125_mod_pll *)ctrl->p_cur.p;
+		for (i = 0; i < IRS1125_NUM_MOD_PLLS; i++) {
+			if (mod_cur[i].pllcfg1 != mod_new[i].pllcfg1) {
+				addr = 0xC3A0 + i * 3;
+				val = mod_new[i].pllcfg1;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg2 != mod_new[i].pllcfg2) {
+				addr = 0xC3A1 + i * 3;
+				val = mod_new[i].pllcfg2;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg3 != mod_new[i].pllcfg3) {
+				addr = 0xC3A2 + i * 3;
+				val = mod_new[i].pllcfg3;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg4 != mod_new[i].pllcfg4) {
+				addr = 0xC24C + i * 5;
+				val = mod_new[i].pllcfg4;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg5 != mod_new[i].pllcfg5) {
+				addr = 0xC24D + i * 5;
+				val = mod_new[i].pllcfg5;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg6 != mod_new[i].pllcfg6) {
+				addr = 0xC24E + i * 5;
+				val = mod_new[i].pllcfg6;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg7 != mod_new[i].pllcfg7) {
+				addr = 0xC24F + i * 5;
+				val = mod_new[i].pllcfg7;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (mod_cur[i].pllcfg8 != mod_new[i].pllcfg8) {
+				addr = 0xC250 + i * 5;
+				val = mod_new[i].pllcfg8;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+		}
+		break;
+	case IRS1125_CID_SEQ_CONFIG:
+		cfg_new = (struct irs1125_seq_cfg *)ctrl->p_new.p;
+		cfg_cur = (struct irs1125_seq_cfg *)ctrl->p_cur.p;
+		for (i = 0; i < IRS1125_NUM_SEQ_ENTRIES; i++) {
+			if (cfg_cur[i].exposure != cfg_new[i].exposure)	{
+				addr = IRS1125_REG_DMEM_SHADOW + i * 4;
+				val = cfg_new[i].exposure;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (cfg_cur[i].framerate != cfg_new[i].framerate) {
+				addr = IRS1125_REG_DMEM_SHADOW + 1 + i * 4;
+				val = cfg_new[i].framerate;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (cfg_cur[i].ps != cfg_new[i].ps) {
+				addr = IRS1125_REG_DMEM_SHADOW + 2 + i * 4;
+				val = cfg_new[i].ps;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+			if (cfg_cur[i].pll != cfg_new[i].pll) {
+				addr = IRS1125_REG_DMEM_SHADOW + 3 + i * 4;
+				val = cfg_new[i].pll;
+				err = irs1125_write(&dev->sd, addr, val);
+				if (err < 0)
+					break;
+			}
+		}
+		break;
+	case IRS1125_CID_NUM_SEQS:
+		err = irs1125_write(&dev->sd, 0xA88D, ctrl->val - 1);
+		if (err >= 0)
+			dev->num_seq = ctrl->val;
+		break;
+	case IRS1125_CID_CONTINUOUS_TRIG:
+		if (ctrl->val == 0)
+			err = irs1125_write(&dev->sd, 0xA87C, 0);
+		else
+			err = irs1125_write(&dev->sd, 0xA87C, 1);
+		break;
+	case IRS1125_CID_TRIGGER:
+		if (ctrl->val != 0) {
+			err = irs1125_write(&dev->sd, 0xA87C, 1);
+			if (err >= 0)
+				err = irs1125_write(&dev->sd, 0xA87C, 0);
+		}
+		break;
+	case IRS1125_CID_RECONFIG:
+		if (ctrl->val != 0)
+			err = irs1125_write(&dev->sd, 0xA87A, 1);
+		break;
+	case IRS1125_CID_ILLU_ON:
+		if (ctrl->val == 0)
+			err = irs1125_write(&dev->sd, 0xA892, 0x377);
+		else
+			err = irs1125_write(&dev->sd, 0xA892, 0x355);
+		break;
+	default:
+		break;
+	}
+
+	if (err < 0)
+		dev_err(&client->dev, "Error executing control ID: %d, val %d, err %d",
+			ctrl->id, ctrl->val, err);
+	else
+		err = 0;
+
+	return err;
+}
+
+static const struct v4l2_ctrl_ops irs1125_ctrl_ops = {
+	.s_ctrl = irs1125_s_ctrl,
+};
+
+static const struct v4l2_ctrl_config irs1125_custom_ctrls[] = {
+	{
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_NUM_SEQS,
+		.name = "Change number of sequences",
+		.type = V4L2_CTRL_TYPE_INTEGER,
+		.flags = V4L2_CTRL_FLAG_MODIFY_LAYOUT,
+		.min = 1,
+		.max = 20,
+		.step = 1,
+		.def = 5,
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_MOD_PLL,
+		.name = "Reconfigure modulation PLLs",
+		.type = V4L2_CTRL_TYPE_U16,
+		.flags = V4L2_CTRL_FLAG_HAS_PAYLOAD,
+		.min = 0,
+		.max = U16_MAX,
+		.step = 1,
+		.def = 0,
+		.elem_size = sizeof(u16),
+		.dims = {sizeof(struct irs1125_mod_pll) / sizeof(u16),
+			IRS1125_NUM_MOD_PLLS}
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_SAFE_RECONFIG,
+		.name = "Change exposure and pause of single seq",
+		.type = V4L2_CTRL_TYPE_U16,
+		.flags = V4L2_CTRL_FLAG_HAS_PAYLOAD,
+		.min = 0,
+		.max = U16_MAX,
+		.step = 1,
+		.def = 0,
+		.elem_size = sizeof(u16),
+		.dims = {sizeof(struct irs1125_illu) / sizeof(u16),
+			IRS1125_NUM_SEQ_ENTRIES}
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_SEQ_CONFIG,
+		.name = "Change sequence settings",
+		.type = V4L2_CTRL_TYPE_U16,
+		.flags = V4L2_CTRL_FLAG_HAS_PAYLOAD,
+		.min = 0,
+		.max = U16_MAX,
+		.step = 1,
+		.def = 0,
+		.elem_size = sizeof(u16),
+		.dims = {sizeof(struct irs1125_seq_cfg) / sizeof(u16),
+			IRS1125_NUM_SEQ_ENTRIES}
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_CONTINUOUS_TRIG,
+		.name = "Enable/disable continuous trigger",
+		.type = V4L2_CTRL_TYPE_BOOLEAN,
+		.flags = V4L2_CTRL_FLAG_EXECUTE_ON_WRITE,
+		.min = 0,
+		.max = 1,
+		.step = 1,
+		.def = 0
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_TRIGGER,
+		.name = "Capture a single sequence",
+		.type = V4L2_CTRL_TYPE_BOOLEAN,
+		.flags = V4L2_CTRL_FLAG_EXECUTE_ON_WRITE,
+		.min = 0,
+		.max = 1,
+		.step = 1,
+		.def = 0
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_RECONFIG,
+		.name = "Trigger imager reconfiguration",
+		.type = V4L2_CTRL_TYPE_BOOLEAN,
+		.flags = V4L2_CTRL_FLAG_EXECUTE_ON_WRITE,
+		.min = 0,
+		.max = 1,
+		.step = 1,
+		.def = 0
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_ILLU_ON,
+		.name = "Turn illu on or off",
+		.type = V4L2_CTRL_TYPE_BOOLEAN,
+		.flags = V4L2_CTRL_FLAG_EXECUTE_ON_WRITE,
+		.min = 0,
+		.max = 1,
+		.step = 1,
+		.def = 1
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_IDENT0,
+		.name = "Get ident 0 information",
+		.type = V4L2_CTRL_TYPE_INTEGER,
+		.flags = V4L2_CTRL_FLAG_READ_ONLY,
+		.min = S32_MIN,
+		.max = S32_MAX,
+		.step = 1,
+		.def = 0
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_IDENT1,
+		.name = "Get ident 1 information",
+		.type = V4L2_CTRL_TYPE_INTEGER,
+		.flags = V4L2_CTRL_FLAG_READ_ONLY,
+		.min = S32_MIN,
+		.max = S32_MAX,
+		.step = 1,
+		.def = 0
+	}, {
+		.ops = &irs1125_ctrl_ops,
+		.id = IRS1125_CID_IDENT2,
+		.name = "Get ident 2 information",
+		.type = V4L2_CTRL_TYPE_INTEGER,
+		.flags = V4L2_CTRL_FLAG_READ_ONLY,
+		.min = S32_MIN,
+		.max = S32_MAX,
+		.step = 1,
+		.def = 0
+	}
+};
+
+static int irs1125_detect(struct v4l2_subdev *sd)
+{
+	u16 read;
+	int ret;
+	struct i2c_client *client = v4l2_get_subdevdata(sd);
+
+	ret = irs1125_read(sd, IRS1125_REG_DESIGN_STEP, &read);
+	if (ret < 0) {
+		dev_err(&client->dev, "error reading from i2c\n");
+		return ret;
+	}
+
+	if (read != IRS1125_DESIGN_STEP_EXPECTED) {
+		dev_err(&client->dev, "Design step expected 0x%x got 0x%x",
+			IRS1125_DESIGN_STEP_EXPECTED, read);
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static int irs1125_open(struct v4l2_subdev *sd, struct v4l2_subdev_fh *fh)
+{
+	struct v4l2_mbus_framefmt *format =
+	v4l2_subdev_get_try_format(sd, fh->pad, 0);
+
+	format->code = MEDIA_BUS_FMT_Y12_1X12;
+	format->width = IRS1125_WINDOW_WIDTH_DEF;
+	format->height = IRS1125_WINDOW_HEIGHT_DEF;
+	format->field = V4L2_FIELD_NONE;
+	format->colorspace = V4L2_COLORSPACE_RAW;
+
+	return 0;
+}
+
+static const struct v4l2_subdev_internal_ops irs1125_subdev_internal_ops = {
+	.open = irs1125_open,
+};
+
+static int irs1125_ctrls_init(struct irs1125 *sensor, struct device *dev)
+{
+	struct v4l2_ctrl *ctrl;
+	int err, i;
+	struct v4l2_ctrl_handler *hdl;
+
+	hdl = &sensor->ctrl_handler;
+	v4l2_ctrl_handler_init(hdl, ARRAY_SIZE(irs1125_custom_ctrls));
+
+	for (i = 0; i < ARRAY_SIZE(irs1125_custom_ctrls); i++)	{
+		ctrl = v4l2_ctrl_new_custom(hdl, &irs1125_custom_ctrls[i],
+					    NULL);
+		if (!ctrl)
+			dev_err(dev, "Failed to init custom control %s\n",
+				irs1125_custom_ctrls[i].name);
+		else if (irs1125_custom_ctrls[i].id == IRS1125_CID_NUM_SEQS)
+			sensor->ctrl_numseq = ctrl;
+		else if (irs1125_custom_ctrls[i].id == IRS1125_CID_MOD_PLL)
+			sensor->ctrl_modplls = ctrl;
+	}
+
+	if (hdl->error)	{
+		dev_err(dev, "Error %d adding controls\n", hdl->error);
+		err = hdl->error;
+		goto error_ctrls;
+	}
+
+	sensor->sd.ctrl_handler = hdl;
+	return 0;
+
+error_ctrls:
+	v4l2_ctrl_handler_free(&sensor->ctrl_handler);
+	return -err;
+}
+
+static int irs1125_ident_setup(struct irs1125 *sensor, struct device *dev)
+{
+	int ret;
+	struct v4l2_ctrl *ctrl;
+	struct v4l2_subdev *sd;
+	u16 read;
+
+	sd = &sensor->sd;
+
+	ctrl = v4l2_ctrl_find(&sensor->ctrl_handler, IRS1125_CID_IDENT0);
+	if (!ctrl) {
+		dev_err(dev, "could not find device ctrl.\n");
+		return -EINVAL;
+	}
+
+	ret = irs1125_read(sd, IRS1125_REG_EFUSEVAL2, &read);
+	if (ret < 0) {
+		dev_err(dev, "error reading from i2c\n");
+		return -EIO;
+	}
+
+	v4l2_ctrl_s_ctrl(ctrl, read);
+
+	ctrl = v4l2_ctrl_find(&sensor->ctrl_handler, IRS1125_CID_IDENT1);
+	if (!ctrl) {
+		dev_err(dev, "could not find device ctrl.\n");
+		return -EINVAL;
+	}
+
+	ret = irs1125_read(sd, IRS1125_REG_EFUSEVAL3, &read);
+	if (ret < 0) {
+		dev_err(dev, "error reading from i2c\n");
+		return -EIO;
+	}
+
+	v4l2_ctrl_s_ctrl(ctrl, read);
+
+	ctrl = v4l2_ctrl_find(&sensor->ctrl_handler, IRS1125_CID_IDENT2);
+	if (!ctrl) {
+		dev_err(dev, "could not find device ctrl.\n");
+		return -EINVAL;
+	}
+
+	ret = irs1125_read(sd, IRS1125_REG_EFUSEVAL4, &read);
+	if (ret < 0) {
+		dev_err(dev, "error reading from i2c\n");
+		return -EIO;
+	}
+	v4l2_ctrl_s_ctrl(ctrl, read & 0xFFFC);
+
+	return 0;
+}
+
+static int irs1125_probe(struct i2c_client *client,
+			 const struct i2c_device_id *id)
+{
+	struct device *dev = &client->dev;
+	struct irs1125 *sensor;
+	int ret;
+	struct fwnode_handle *endpoint;
+	u32 xclk_freq;
+	int gpio_num;
+
+	sensor = devm_kzalloc(dev, sizeof(*sensor), GFP_KERNEL);
+	if (!sensor)
+		return -ENOMEM;
+
+	v4l2_i2c_subdev_init(&sensor->sd, client, &irs1125_subdev_ops);
+
+	/* Get CSI2 bus config */
+	endpoint = fwnode_graph_get_next_endpoint(dev_fwnode(dev),
+						  NULL);
+	if (!endpoint) {
+		dev_err(dev, "endpoint node not found\n");
+		return -EINVAL;
+	}
+
+	ret = v4l2_fwnode_endpoint_parse(endpoint, &sensor->ep);
+	fwnode_handle_put(endpoint);
+	if (ret) {
+		dev_err(dev, "Could not parse endpoint\n");
+		return ret;
+	}
+
+	/* get system clock (xclk) */
+	sensor->xclk = devm_clk_get(dev, NULL);
+	if (IS_ERR(sensor->xclk)) {
+		dev_err(dev, "could not get xclk");
+		return PTR_ERR(sensor->xclk);
+	}
+
+	xclk_freq = clk_get_rate(sensor->xclk);
+	if (xclk_freq != 26000000) {
+		dev_err(dev, "Unsupported clock frequency: %u\n", xclk_freq);
+		return -EINVAL;
+	}
+
+	sensor->num_seq = 5;
+
+	/* Request the power down GPIO */
+	sensor->reset = devm_gpiod_get(&client->dev, "pwdn",
+				       GPIOD_OUT_LOW);
+
+	if (IS_ERR(sensor->reset)) {
+		dev_err(dev, "could not get reset");
+		return PTR_ERR(sensor->reset);
+	}
+
+	gpio_num = desc_to_gpio(sensor->reset);
+
+	mutex_init(&sensor->lock);
+
+	ret = irs1125_ctrls_init(sensor, dev);
+	if (ret < 0)
+		goto mutex_remove;
+
+	sensor->sd.internal_ops = &irs1125_subdev_internal_ops;
+	sensor->sd.flags |= V4L2_SUBDEV_FL_HAS_DEVNODE;
+	sensor->sd.entity.function = MEDIA_ENT_F_CAM_SENSOR;
+	sensor->pad.flags = MEDIA_PAD_FL_SOURCE;
+	ret = media_entity_pads_init(&sensor->sd.entity, 1, &sensor->pad);
+	if (ret < 0)
+		goto mutex_remove;
+
+	gpiod_set_value_cansleep(sensor->reset, 1);
+	msleep(RESET_ACTIVE_DELAY_MS);
+
+	ret = irs1125_detect(&sensor->sd);
+	if (ret < 0)
+		goto error;
+
+	ret = irs1125_ident_setup(sensor, dev);
+	if (ret < 0)
+		goto error;
+
+	gpiod_set_value_cansleep(sensor->reset, 0);
+
+	ret = v4l2_async_register_subdev(&sensor->sd);
+	if (ret < 0)
+		goto error;
+
+	dev_dbg(dev, "Infineon IRS1125 camera driver probed\n");
+
+	return 0;
+
+error:
+	media_entity_cleanup(&sensor->sd.entity);
+mutex_remove:
+	mutex_destroy(&sensor->lock);
+	return ret;
+}
+
+static int irs1125_remove(struct i2c_client *client)
+{
+	struct v4l2_subdev *sd = i2c_get_clientdata(client);
+	struct irs1125 *irs1125 = to_state(sd);
+
+	v4l2_async_unregister_subdev(&irs1125->sd);
+	media_entity_cleanup(&irs1125->sd.entity);
+	v4l2_device_unregister_subdev(sd);
+	mutex_destroy(&irs1125->lock);
+	v4l2_ctrl_handler_free(&irs1125->ctrl_handler);
+
+	return 0;
+}
+
+#if IS_ENABLED(CONFIG_OF)
+static const struct of_device_id irs1125_of_match[] = {
+	{ .compatible = "infineon,irs1125" },
+	{ /* sentinel */ },
+};
+MODULE_DEVICE_TABLE(of, irs1125_of_match);
+#endif
+
+static struct i2c_driver irs1125_driver = {
+	.driver = {
+		.of_match_table = of_match_ptr(irs1125_of_match),
+		.name	 = SENSOR_NAME,
+	},
+	.probe		= irs1125_probe,
+	.remove		= irs1125_remove,
+};
+
+module_i2c_driver(irs1125_driver);
+
+MODULE_AUTHOR("Markus Proeller <markus.proeller@pieye.org>");
+MODULE_DESCRIPTION("Infineon irs1125 sensor driver");
+MODULE_LICENSE("GPL v2");
+
--- /dev/null
+++ b/drivers/media/i2c/irs1125.h
@@ -0,0 +1,61 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * A V4L2 driver for Infineon IRS1125 TOF cameras.
+ * Copyright (C) 2018, pieye GmbH
+ *
+ * Based on V4L2 OmniVision OV5647 Image Sensor driver
+ * Copyright (C) 2016 Ramiro Oliveira <roliveir@synopsys.com>
+ *
+ * DT / fwnode changes, and GPIO control taken from ov5640.c
+ * Copyright (C) 2011-2013 Freescale Semiconductor, Inc. All Rights Reserved.
+ * Copyright (C) 2014-2017 Mentor Graphics Inc.
+ *
+ */
+
+#ifndef IRS1125_H
+#define IRS1125_H
+
+#include <linux/v4l2-controls.h>
+#include <linux/types.h>
+
+#define IRS1125_NUM_SEQ_ENTRIES 20
+#define IRS1125_NUM_MOD_PLLS 4
+
+#define IRS1125_CID_CUSTOM_BASE        (V4L2_CID_USER_BASE | 0xf000)
+#define IRS1125_CID_SAFE_RECONFIG      (IRS1125_CID_CUSTOM_BASE + 0)
+#define IRS1125_CID_CONTINUOUS_TRIG    (IRS1125_CID_CUSTOM_BASE + 1)
+#define IRS1125_CID_TRIGGER            (IRS1125_CID_CUSTOM_BASE + 2)
+#define IRS1125_CID_RECONFIG           (IRS1125_CID_CUSTOM_BASE + 3)
+#define IRS1125_CID_ILLU_ON            (IRS1125_CID_CUSTOM_BASE + 4)
+#define IRS1125_CID_NUM_SEQS           (IRS1125_CID_CUSTOM_BASE + 5)
+#define IRS1125_CID_MOD_PLL            (IRS1125_CID_CUSTOM_BASE + 6)
+#define IRS1125_CID_SEQ_CONFIG         (IRS1125_CID_CUSTOM_BASE + 7)
+#define IRS1125_CID_IDENT0             (IRS1125_CID_CUSTOM_BASE + 8)
+#define IRS1125_CID_IDENT1             (IRS1125_CID_CUSTOM_BASE + 9)
+#define IRS1125_CID_IDENT2             (IRS1125_CID_CUSTOM_BASE + 10)
+
+struct irs1125_seq_cfg {
+	__u16 exposure;
+	__u16 framerate;
+	__u16 ps;
+	__u16 pll;
+};
+
+struct irs1125_illu {
+	__u16 exposure;
+	__u16 framerate;
+};
+
+struct irs1125_mod_pll {
+	__u16 pllcfg1;
+	__u16 pllcfg2;
+	__u16 pllcfg3;
+	__u16 pllcfg4;
+	__u16 pllcfg5;
+	__u16 pllcfg6;
+	__u16 pllcfg7;
+	__u16 pllcfg8;
+};
+
+#endif /* IRS1125 */
+
