/* * imx477.c - imx477 sensor driver * * Copyright (c) 2020, RidgeRun. All rights reserved. * * Contact us: support@ridgerun.com * * This program is free software; you can redistribute it and/or modify it * under the terms and conditions of the GNU General Public License, * version 2, as published by the Free Software Foundation. * * This program is distributed in the hope it will be useful, but WITHOUT * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for * more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . */ #include #include #include #include #include #include #include #include #include #include #include #include "../platform/tegra/camera/camera_gpio.h" #include "imx477_mode_tbls.h" static const struct of_device_id imx477_of_match[] = { {.compatible = "ridgerun,imx477",}, {}, }; MODULE_DEVICE_TABLE(of, imx477_of_match); static const u32 ctrl_cid_list[] = { TEGRA_CAMERA_CID_GAIN, TEGRA_CAMERA_CID_EXPOSURE, TEGRA_CAMERA_CID_FRAME_RATE, TEGRA_CAMERA_CID_SENSOR_MODE_ID, }; struct imx477 { struct i2c_client *i2c_client; struct v4l2_subdev *subdev; u16 fine_integ_time; u32 frame_length; struct camera_common_data *s_data; struct tegracam_device *tc_dev; }; static const struct regmap_config sensor_regmap_config = { .reg_bits = 16, .val_bits = 8, .cache_type = REGCACHE_RBTREE, .use_single_rw = true, }; static inline void imx477_get_frame_length_regs(imx477_reg * regs, u32 frame_length) { regs->addr = IMX477_FRAME_LENGTH_ADDR_MSB; regs->val = (frame_length >> 8) & 0xff; (regs + 1)->addr = IMX477_FRAME_LENGTH_ADDR_LSB; (regs + 1)->val = (frame_length) & 0xff; } static inline void imx477_get_coarse_integ_time_regs(imx477_reg * regs, u32 coarse_time) { regs->addr = IMX477_COARSE_INTEG_TIME_ADDR_MSB; regs->val = (coarse_time >> 8) & 0xff; (regs + 1)->addr = IMX477_COARSE_INTEG_TIME_ADDR_LSB; (regs + 1)->val = (coarse_time) & 0xff; } static inline void imx477_get_gain_reg(imx477_reg * reg, u16 gain) { reg->addr = IMX477_ANALOG_GAIN_ADDR_MSB; reg->val = (gain >> IMX477_SHIFT_8_BITS) & IMX477_MASK_LSB_2_BITS; (reg + 1)->addr = IMX477_ANALOG_GAIN_ADDR_LSB; (reg + 1)->val = (gain) & IMX477_MASK_LSB_8_BITS; } static inline int imx477_read_reg(struct camera_common_data *s_data, u16 addr, u8 * val) { int err = 0; u32 reg_val = 0; err = regmap_read(s_data->regmap, addr, ®_val); *val = reg_val & 0xff; return err; } static inline int imx477_write_reg(struct camera_common_data *s_data, u16 addr, u8 val) { int err = 0; err = regmap_write(s_data->regmap, addr, val); if (err) dev_err(s_data->dev, "%s: i2c write failed, 0x%x = %x", __func__, addr, val); return err; } static int imx477_write_table(struct imx477 *priv, const imx477_reg table[]) { return regmap_util_write_table_8(priv->s_data->regmap, table, NULL, 0, IMX477_TABLE_WAIT_MS, IMX477_TABLE_END); } static int imx477_set_group_hold(struct tegracam_device *tc_dev, bool val) { struct camera_common_data *s_data = tc_dev->s_data; struct device *dev = tc_dev->dev; int err; dev_dbg(dev, "%s: Setting group hold control to: %u\n", __func__, val); err = imx477_write_reg(s_data, IMX477_GROUP_HOLD_ADDR, val); if (err) { dev_err(dev, "%s: Group hold control error\n", __func__); return err; } return 0; } static int imx477_get_fine_integ_time(struct imx477 *priv, u16 * fine_time) { struct camera_common_data *s_data = priv->s_data; int err = 0; u8 reg_val[2]; err = imx477_read_reg(s_data, IMX477_FINE_INTEG_TIME_ADDR_MSB, ®_val[0]); if (err) goto done; err = imx477_read_reg(s_data, IMX477_FINE_INTEG_TIME_ADDR_LSB, ®_val[1]); if (err) goto done; *fine_time = (reg_val[0] << 8) | reg_val[1]; done: return err; } static int imx477_set_gain(struct tegracam_device *tc_dev, s64 val) { struct camera_common_data *s_data = tc_dev->s_data; struct device *dev = s_data->dev; const struct sensor_mode_properties *mode = &s_data->sensor_props.sensor_modes[s_data->mode_prop_idx]; int err = 0, i = 0; imx477_reg gain_reg[2]; s16 gain; dev_dbg(dev, "%s: Setting gain control to: %lld\n", __func__, val); if (val < mode->control_properties.min_gain_val) val = mode->control_properties.min_gain_val; else if (val > mode->control_properties.max_gain_val) val = mode->control_properties.max_gain_val; /* Gain Formula: Gain = (IMX477_GAIN_C0 - (IMX477_GAIN_C0 * gain_factor / val)) */ gain = (s16) (IMX477_ANALOG_GAIN_C0 - (mode->control_properties.gain_factor * IMX477_ANALOG_GAIN_C0 / val)); if (gain < IMX477_MIN_GAIN) gain = IMX477_MAX_GAIN; else if (gain > IMX477_MAX_GAIN) gain = IMX477_MAX_GAIN; dev_dbg(dev, "%s: val: %lld (/%d) [times], gain: %u\n", __func__, val, mode->control_properties.gain_factor, gain); imx477_get_gain_reg(gain_reg, (u16) gain); for (i = 0; i < ARRAY_SIZE(gain_reg); i++) { err = imx477_write_reg(s_data, gain_reg[i].addr, gain_reg[i].val); if (err) { dev_err(dev, "%s: gain control error\n", __func__); break; } } return err; } static int imx477_set_frame_rate(struct tegracam_device *tc_dev, s64 val) { struct camera_common_data *s_data = tc_dev->s_data; struct imx477 *priv = (struct imx477 *)tc_dev->priv; struct device *dev = tc_dev->dev; const struct sensor_mode_properties *mode = &s_data->sensor_props.sensor_modes[s_data->mode_prop_idx]; int err = 0; imx477_reg fl_regs[2]; u32 frame_length; int i; dev_dbg(dev, "%s: Setting framerate control to: %lld\n", __func__, val); frame_length = (u32) (mode->signal_properties.pixel_clock.val * (u64) mode->control_properties.framerate_factor / mode->image_properties.line_length / val); if (frame_length < IMX477_MIN_FRAME_LENGTH) frame_length = IMX477_MIN_FRAME_LENGTH; else if (frame_length > IMX477_MAX_FRAME_LENGTH) frame_length = IMX477_MAX_FRAME_LENGTH; dev_dbg(dev, "%s: val: %llde-6 [fps], frame_length: %u [lines]\n", __func__, val, frame_length); imx477_get_frame_length_regs(fl_regs, frame_length); for (i = 0; i < 2; i++) { err = imx477_write_reg(s_data, fl_regs[i].addr, fl_regs[i].val); if (err) { dev_err(dev, "%s: frame_length control error\n", __func__); return err; } } priv->frame_length = frame_length; return err; } static int imx477_set_exposure(struct tegracam_device *tc_dev, s64 val) { struct camera_common_data *s_data = tc_dev->s_data; struct imx477 *priv = (struct imx477 *)tc_dev->priv; struct device *dev = tc_dev->dev; const struct sensor_mode_properties *mode = &s_data->sensor_props.sensor_modes[s_data->mode_prop_idx]; int err = 0; imx477_reg ct_regs[2]; const s32 max_coarse_time = priv->frame_length - IMX477_MAX_COARSE_DIFF; const s32 fine_integ_time_factor = priv->fine_integ_time * mode->control_properties.exposure_factor / mode->signal_properties.pixel_clock.val; u32 coarse_time; int i; dev_dbg(dev, "%s: Setting exposure control to: %lld\n", __func__, val); coarse_time = (val - fine_integ_time_factor) * mode->signal_properties.pixel_clock.val / mode->control_properties.exposure_factor / mode->image_properties.line_length; if (coarse_time < IMX477_MIN_COARSE_EXPOSURE) coarse_time = IMX477_MIN_COARSE_EXPOSURE; else if (coarse_time > max_coarse_time) { coarse_time = max_coarse_time; dev_dbg(dev, "%s: exposure limited by frame_length: %d [lines]\n", __func__, max_coarse_time); } dev_dbg(dev, "%s: val: %lld [us], coarse_time: %d [lines]\n", __func__, val, coarse_time); imx477_get_coarse_integ_time_regs(ct_regs, coarse_time); for (i = 0; i < 2; i++) { err = imx477_write_reg(s_data, ct_regs[i].addr, ct_regs[i].val); if (err) { dev_dbg(dev, "%s: coarse_time control error\n", __func__); return err; } } return err; } static struct tegracam_ctrl_ops imx477_ctrl_ops = { .numctrls = ARRAY_SIZE(ctrl_cid_list), .ctrl_cid_list = ctrl_cid_list, .set_gain = imx477_set_gain, .set_exposure = imx477_set_exposure, .set_frame_rate = imx477_set_frame_rate, .set_group_hold = imx477_set_group_hold, }; static int imx477_power_on(struct camera_common_data *s_data) { int err = 0; struct camera_common_power_rail *pw = s_data->power; struct camera_common_pdata *pdata = s_data->pdata; struct device *dev = s_data->dev; dev_dbg(dev, "%s: power on\n", __func__); if (pdata && pdata->power_on) { err = pdata->power_on(pw); if (err) dev_err(dev, "%s failed.\n", __func__); else pw->state = SWITCH_ON; return err; } if (pw->reset_gpio) { if (gpio_cansleep(pw->reset_gpio)) gpio_set_value_cansleep(pw->reset_gpio, 0); else gpio_set_value(pw->reset_gpio, 0); } if (unlikely(!(pw->avdd || pw->iovdd || pw->dvdd))) goto skip_power_seqn; usleep_range(10, 20); if (pw->avdd) { err = regulator_enable(pw->avdd); if (err) goto imx477_avdd_fail; } if (pw->iovdd) { err = regulator_enable(pw->iovdd); if (err) goto imx477_iovdd_fail; } if (pw->dvdd) { err = regulator_enable(pw->dvdd); if (err) goto imx477_dvdd_fail; } usleep_range(10, 20); skip_power_seqn: if (pw->reset_gpio) { if (gpio_cansleep(pw->reset_gpio)) gpio_set_value_cansleep(pw->reset_gpio, 1); else gpio_set_value(pw->reset_gpio, 1); } /* Need to wait for t4 + t5 + t9 + t10 time as per the data sheet */ /* t4 - 200us, t5 - 21.2ms, t9 - 1.2ms t10 - 270 ms */ usleep_range(300000, 300100); pw->state = SWITCH_ON; return 0; imx477_dvdd_fail: regulator_disable(pw->iovdd); imx477_iovdd_fail: regulator_disable(pw->avdd); imx477_avdd_fail: dev_err(dev, "%s failed.\n", __func__); return -ENODEV; } static int imx477_power_off(struct camera_common_data *s_data) { int err = 0; struct camera_common_power_rail *pw = s_data->power; struct camera_common_pdata *pdata = s_data->pdata; struct device *dev = s_data->dev; dev_dbg(dev, "%s: power off\n", __func__); if (pdata && pdata->power_off) { err = pdata->power_off(pw); if (err) { dev_err(dev, "%s failed.\n", __func__); return err; } } else { if (pw->reset_gpio) { if (gpio_cansleep(pw->reset_gpio)) gpio_set_value_cansleep(pw->reset_gpio, 0); else gpio_set_value(pw->reset_gpio, 0); } usleep_range(10, 10); if (pw->dvdd) regulator_disable(pw->dvdd); if (pw->iovdd) regulator_disable(pw->iovdd); if (pw->avdd) regulator_disable(pw->avdd); } pw->state = SWITCH_OFF; return 0; } static int imx477_power_put(struct tegracam_device *tc_dev) { struct camera_common_data *s_data = tc_dev->s_data; struct camera_common_power_rail *pw = s_data->power; if (unlikely(!pw)) return -EFAULT; if (likely(pw->dvdd)) devm_regulator_put(pw->dvdd); if (likely(pw->avdd)) devm_regulator_put(pw->avdd); if (likely(pw->iovdd)) devm_regulator_put(pw->iovdd); pw->dvdd = NULL; pw->avdd = NULL; pw->iovdd = NULL; if (likely(pw->reset_gpio)) gpio_free(pw->reset_gpio); return 0; } static int imx477_power_get(struct tegracam_device *tc_dev) { struct device *dev = tc_dev->dev; struct camera_common_data *s_data = tc_dev->s_data; struct camera_common_power_rail *pw = s_data->power; struct camera_common_pdata *pdata = s_data->pdata; struct clk *parent; int err = 0; if (!pdata) { dev_err(dev, "pdata missing\n"); return -EFAULT; } /* Sensor MCLK (aka. INCK) */ if (pdata->mclk_name) { pw->mclk = devm_clk_get(dev, pdata->mclk_name); if (IS_ERR(pw->mclk)) { dev_err(dev, "unable to get clock %s\n", pdata->mclk_name); return PTR_ERR(pw->mclk); } if (pdata->parentclk_name) { parent = devm_clk_get(dev, pdata->parentclk_name); if (IS_ERR(parent)) { dev_err(dev, "unable to get parent clock %s", pdata->parentclk_name); } else clk_set_parent(pw->mclk, parent); } } /* analog 2.8v */ if (pdata->regulators.avdd) err |= camera_common_regulator_get(dev, &pw->avdd, pdata->regulators.avdd); /* IO 1.8v */ if (pdata->regulators.iovdd) err |= camera_common_regulator_get(dev, &pw->iovdd, pdata->regulators.iovdd); /* dig 1.2v */ if (pdata->regulators.dvdd) err |= camera_common_regulator_get(dev, &pw->dvdd, pdata->regulators.dvdd); if (err) { dev_err(dev, "%s: unable to get regulator(s)\n", __func__); goto done; } /* Reset or ENABLE GPIO */ pw->reset_gpio = pdata->reset_gpio; err = gpio_request(pw->reset_gpio, "cam_reset_gpio"); if (err < 0) { dev_err(dev, "%s: unable to request reset_gpio (%d)\n", __func__, err); goto done; } done: pw->state = SWITCH_OFF; return err; } static struct camera_common_pdata *imx477_parse_dt(struct tegracam_device *tc_dev) { struct device *dev = tc_dev->dev; struct device_node *np = dev->of_node; struct camera_common_pdata *board_priv_pdata; const struct of_device_id *match; struct camera_common_pdata *ret = NULL; int err = 0; int gpio; if (!np) return NULL; match = of_match_device(imx477_of_match, dev); if (!match) { dev_err(dev, "Failed to find matching dt id\n"); return NULL; } board_priv_pdata = devm_kzalloc(dev, sizeof(*board_priv_pdata), GFP_KERNEL); if (!board_priv_pdata) return NULL; gpio = of_get_named_gpio(np, "reset-gpios", 0); if (gpio < 0) { if (gpio == -EPROBE_DEFER) ret = ERR_PTR(-EPROBE_DEFER); dev_err(dev, "reset-gpios not found\n"); goto error; } board_priv_pdata->reset_gpio = (unsigned int)gpio; err = of_property_read_string(np, "mclk", &board_priv_pdata->mclk_name); if (err) dev_dbg(dev, "mclk name not present, " "assume sensor driven externally\n"); err = of_property_read_string(np, "avdd-reg", &board_priv_pdata->regulators.avdd); err |= of_property_read_string(np, "iovdd-reg", &board_priv_pdata->regulators.iovdd); err |= of_property_read_string(np, "dvdd-reg", &board_priv_pdata->regulators.dvdd); if (err) dev_dbg(dev, "avdd, iovdd and/or dvdd reglrs. not present, " "assume sensor powered independently\n"); board_priv_pdata->has_eeprom = of_property_read_bool(np, "has-eeprom"); return board_priv_pdata; error: devm_kfree(dev, board_priv_pdata); return ret; } static int imx477_set_mode(struct tegracam_device *tc_dev) { struct imx477 *priv = (struct imx477 *)tegracam_get_privdata(tc_dev); struct camera_common_data *s_data = tc_dev->s_data; int err = 0; dev_dbg(tc_dev->dev, "%s:\n", __func__); err = imx477_write_table(priv, mode_table[IMX477_MODE_COMMON]); if (err) return err; err = imx477_write_table(priv, mode_table[s_data->mode]); if (err) return err; return 0; } static int imx477_start_streaming(struct tegracam_device *tc_dev) { struct imx477 *priv = (struct imx477 *)tegracam_get_privdata(tc_dev); dev_dbg(tc_dev->dev, "%s:\n", __func__); return imx477_write_table(priv, mode_table[IMX477_START_STREAM]); } static int imx477_stop_streaming(struct tegracam_device *tc_dev) { int err; struct imx477 *priv = (struct imx477 *)tegracam_get_privdata(tc_dev); dev_dbg(tc_dev->dev, "%s:\n", __func__); err = imx477_write_table(priv, mode_table[IMX477_STOP_STREAM]); return err; } static struct camera_common_sensor_ops imx477_common_ops = { .numfrmfmts = ARRAY_SIZE(imx477_frmfmt), .frmfmt_table = imx477_frmfmt, .power_on = imx477_power_on, .power_off = imx477_power_off, .write_reg = imx477_write_reg, .read_reg = imx477_read_reg, .parse_dt = imx477_parse_dt, .power_get = imx477_power_get, .power_put = imx477_power_put, .set_mode = imx477_set_mode, .start_streaming = imx477_start_streaming, .stop_streaming = imx477_stop_streaming, }; static int imx477_board_setup(struct imx477 *priv) { struct camera_common_data *s_data = priv->s_data; struct device *dev = s_data->dev; u8 reg_val[2]; int err = 0; // Skip mclk enable as this camera has an internal oscillator err = imx477_power_on(s_data); if (err) { dev_err(dev, "error during power on sensor (%d)\n", err); goto done; } /* Probe sensor model id registers */ err = imx477_read_reg(s_data, IMX477_MODEL_ID_ADDR_MSB, ®_val[0]); if (err) { dev_err(dev, "%s: error during i2c read probe (%d)\n", __func__, err); goto err_reg_probe; } err = imx477_read_reg(s_data, IMX477_MODEL_ID_ADDR_LSB, ®_val[1]); if (err) { dev_err(dev, "%s: error during i2c read probe (%d)\n", __func__, err); goto err_reg_probe; } if (!((reg_val[0] == 0x00) && reg_val[1] == 0x00)) dev_err(dev, "%s: invalid sensor model id: %x%x\n", __func__, reg_val[0], reg_val[1]); /* Sensor fine integration time */ err = imx477_get_fine_integ_time(priv, &priv->fine_integ_time); if (err) dev_err(dev, "%s: error querying sensor fine integ. time\n", __func__); err_reg_probe: imx477_power_off(s_data); done: return err; } static int imx477_open(struct v4l2_subdev *sd, struct v4l2_subdev_fh *fh) { struct i2c_client *client = v4l2_get_subdevdata(sd); dev_dbg(&client->dev, "%s:\n", __func__); return 0; } static const struct v4l2_subdev_internal_ops imx477_subdev_internal_ops = { .open = imx477_open, }; static int imx477_probe(struct i2c_client *client, const struct i2c_device_id *id) { struct device *dev = &client->dev; struct tegracam_device *tc_dev; struct imx477 *priv; int err; dev_dbg(dev, "probing v4l2 sensor at addr 0x%0x\n", client->addr); if (!IS_ENABLED(CONFIG_OF) || !client->dev.of_node) return -EINVAL; priv = devm_kzalloc(dev, sizeof(struct imx477), GFP_KERNEL); if (!priv) return -ENOMEM; tc_dev = devm_kzalloc(dev, sizeof(struct tegracam_device), GFP_KERNEL); if (!tc_dev) return -ENOMEM; priv->i2c_client = tc_dev->client = client; tc_dev->dev = dev; strncpy(tc_dev->name, "imx477", sizeof(tc_dev->name)); tc_dev->dev_regmap_config = &sensor_regmap_config; tc_dev->sensor_ops = &imx477_common_ops; tc_dev->v4l2sd_internal_ops = &imx477_subdev_internal_ops; tc_dev->tcctrl_ops = &imx477_ctrl_ops; err = tegracam_device_register(tc_dev); if (err) { dev_err(dev, "tegra camera driver registration failed\n"); return err; } priv->tc_dev = tc_dev; priv->s_data = tc_dev->s_data; priv->subdev = &tc_dev->s_data->subdev; tegracam_set_privdata(tc_dev, (void *)priv); err = imx477_board_setup(priv); if (err) { dev_err(dev, "board setup failed\n"); return err; } err = tegracam_v4l2subdev_register(tc_dev, true); if (err) { dev_err(dev, "tegra camera subdev registration failed\n"); return err; } dev_dbg(dev, "detected imx477 sensor\n"); return 0; } static int imx477_remove(struct i2c_client *client) { struct camera_common_data *s_data = to_camera_common_data(&client->dev); struct imx477 *priv = (struct imx477 *)s_data->priv; tegracam_v4l2subdev_unregister(priv->tc_dev); tegracam_device_unregister(priv->tc_dev); return 0; } static const struct i2c_device_id imx477_id[] = { {"imx477", 0}, {} }; MODULE_DEVICE_TABLE(i2c, imx477_id); static struct i2c_driver imx477_i2c_driver = { .driver = { .name = "imx477", .owner = THIS_MODULE, .of_match_table = of_match_ptr(imx477_of_match), }, .probe = imx477_probe, .remove = imx477_remove, .id_table = imx477_id, }; module_i2c_driver(imx477_i2c_driver); MODULE_DESCRIPTION("Media Controller driver for Sony IMX477"); MODULE_AUTHOR("RidgeRun"); MODULE_LICENSE("GPL v2");