drivers/video/ov7725.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2020, FrankLi Limited
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #define DT_DRV_COMPAT ovti_ov7725

 #include <zephyr/kernel.h>
 #include <zephyr/device.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/logging/log.h>
 #include <zephyr/drivers/video.h>
 #include <zephyr/drivers/i2c.h>
 #include <zephyr/drivers/gpio.h>

 LOG_MODULE_REGISTER(video_ov7725, CONFIG_VIDEO_LOG_LEVEL);

 #define OV7725_REVISION  0x7721U

 #define OV7725_GAIN       0x00U
 #define OV7725_BLUE       0x01U
 #define OV7725_RED        0x02U
 #define OV7725_GREEN      0x03U
 #define OV7725_BAVG       0x05U
 #define OV7725_GAVG       0x06U
 #define OV7725_RAVG       0x07U
 #define OV7725_AECH       0x08U
 #define OV7725_COM2       0x09U
 #define OV7725_PID        0x0AU
 #define OV7725_VER        0x0BU
 #define OV7725_COM3       0x0CU
 #define OV7725_COM4       0x0DU
 #define OV7725_COM5       0x0EU
 #define OV7725_COM6       0x0FU
 #define OV7725_AEC        0x10U
 #define OV7725_CLKRC      0x11U
 #define OV7725_COM7       0x12U
 #define OV7725_COM8       0x13U
 #define OV7725_COM9       0x14U
 #define OV7725_COM10      0x15U
 #define OV7725_REG16      0x16U
 #define OV7725_HSTART     0x17U
 #define OV7725_HSIZE      0x18U
 #define OV7725_VSTART     0x19U
 #define OV7725_VSIZE      0x1AU
 #define OV7725_PSHFT      0x1BU
 #define OV7725_MIDH       0x1CU
 #define OV7725_MIDL       0x1DU
 #define OV7725_LAEC       0x1FU
 #define OV7725_COM11      0x20U
 #define OV7725_BDBASE     0x22U
 #define OV7725_BDMSTEP    0x23U
 #define OV7725_AEW        0x24U
 #define OV7725_AEB        0x25U
 #define OV7725_VPT        0x26U
 #define OV7725_REG28      0x28U
 #define OV7725_HOUTSIZE   0x29U
 #define OV7725_EXHCH      0x2AU
 #define OV7725_EXHCL      0x2BU
 #define OV7725_VOUTSIZE   0x2CU
 #define OV7725_ADVFL      0x2DU
 #define OV7725_ADVFH      0x2EU
 #define OV7725_YAVE       0x2FU
 #define OV7725_LUMHTH     0x30U
 #define OV7725_LUMLTH     0x31U
 #define OV7725_HREF       0x32U
 #define OV7725_DM_LNL     0x33U
 #define OV7725_DM_LNH     0x34U
 #define OV7725_ADOFF_B    0x35U
 #define OV7725_ADOFF_R    0x36U
 #define OV7725_ADOFF_GB   0x37U
 #define OV7725_ADOFF_GR   0x38U
 #define OV7725_OFF_B      0x39U
 #define OV7725_OFF_R      0x3AU
 #define OV7725_OFF_GB     0x3BU
 #define OV7725_OFF_GR     0x3CU
 #define OV7725_COM12      0x3DU
 #define OV7725_COM13      0x3EU
 #define OV7725_COM14      0x3FU
 #define OV7725_COM16      0x41U
 #define OV7725_TGT_B      0x42U
 #define OV7725_TGT_R      0x43U
 #define OV7725_TGT_GB     0x44U
 #define OV7725_TGT_GR     0x45U
 #define OV7725_LC_CTR     0x46U
 #define OV7725_LC_XC      0x47U
 #define OV7725_LC_YC      0x48U
 #define OV7725_LC_COEF    0x49U
 #define OV7725_LC_RADI    0x4AU
 #define OV7725_LC_COEFB   0x4BU
 #define OV7725_LC_COEFR   0x4CU
 #define OV7725_FIXGAIN    0x4DU
 #define OV7725_AREF1      0x4FU
 #define OV7725_AREF6      0x54U
 #define OV7725_UFIX       0x60U
 #define OV7725_VFIX       0x61U
 #define OV7725_AWBB_BLK   0x62U
 #define OV7725_AWB_CTRL0  0x63U
 #define OV7725_DSP_CTRL1  0x64U
 #define OV7725_DSP_CTRL2  0x65U
 #define OV7725_DSP_CTRL3  0x66U
 #define OV7725_DSP_CTRL4  0x67U
 #define OV7725_AWB_BIAS   0x68U
 #define OV7725_AWB_CTRL1  0x69U
 #define OV7725_AWB_CTRL2  0x6AU
 #define OV7725_AWB_CTRL3  0x6BU
 #define OV7725_AWB_CTRL4  0x6CU
 #define OV7725_AWB_CTRL5  0x6DU
 #define OV7725_AWB_CTRL6  0x6EU
 #define OV7725_AWB_CTRL7  0x6FU
 #define OV7725_AWB_CTRL8  0x70U
 #define OV7725_AWB_CTRL9  0x71U
 #define OV7725_AWB_CTRL10 0x72U
 #define OV7725_AWB_CTRL11 0x73U
 #define OV7725_AWB_CTRL12 0x74U
 #define OV7725_AWB_CTRL13 0x75U
 #define OV7725_AWB_CTRL14 0x76U
 #define OV7725_AWB_CTRL15 0x77U
 #define OV7725_AWB_CTRL16 0x78U
 #define OV7725_AWB_CTRL17 0x79U
 #define OV7725_AWB_CTRL18 0x7AU
 #define OV7725_AWB_CTRL19 0x7BU
 #define OV7725_AWB_CTRL20 0x7CU
 #define OV7725_AWB_CTRL21 0x7DU
 #define OV7725_GAM1       0x7EU
 #define OV7725_GAM2       0x7FU
 #define OV7725_GAM3       0x80U
 #define OV7725_GAM4       0x81U
 #define OV7725_GAM5       0x82U
 #define OV7725_GAM6       0x83U
 #define OV7725_GAM7       0x84U
 #define OV7725_GAM8       0x85U
 #define OV7725_GAM9       0x86U
 #define OV7725_GAM10      0x87U
 #define OV7725_GAM11      0x88U
 #define OV7725_GAM12      0x89U
 #define OV7725_GAM13      0x8AU
 #define OV7725_GAM14      0x8BU
 #define OV7725_GAM15      0x8CU
 #define OV7725_SLOP       0x8DU
 #define OV7725_DNSTH      0x8EU
 #define OV7725_EDGE0      0x8FU
 #define OV7725_EDGE1      0x90U
 #define OV7725_DNSOFF     0x91U
 #define OV7725_EDGE2      0x92U
 #define OV7725_EDGE3      0x93U
 #define OV7725_MTX1       0x94U
 #define OV7725_MTX2       0x95U
 #define OV7725_MTX3       0x96U
 #define OV7725_MTX4       0x97U
 #define OV7725_MTX5       0x98U
 #define OV7725_MTX6       0x99U
 #define OV7725_MTX_CTRL   0x9AU
 #define OV7725_BRIGHT     0x9BU
 #define OV7725_CNST       0x9CU
 #define OV7725_UVADJ0     0x9EU
 #define OV7725_UVADJ1     0x9FU
 #define OV7725_SCAL0      0xA0U
 #define OV7725_SCAL1      0xA1U
 #define OV7725_SCAL2      0xA2U
 #define OV7725_SDE        0xA6U
 #define OV7725_USAT       0xA7U
 #define OV7725_VSAT       0xA8U
 #define OV7725_HUECOS     0xA9U
 #define OV7725_HUESIN     0xAAU
 #define OV7725_SIGN       0xABU
 #define OV7725_DSPAUTO    0xACU

 #define OV7725_COM10_VSYNC_NEG_MASK    BIT(1)
 #define OV7725_COM10_HREF_REVERSE_MASK BIT(3)
 #define OV7725_COM10_PCLK_REVERSE_MASK BIT(4)
 #define OV7725_COM10_PCLK_OUT_MASK     BIT(5)
 #define OV7725_COM10_DATA_NEG_MASK     BIT(7)

 struct ov7725_config {
 	struct i2c_dt_spec i2c;
 #if DT_INST_NODE_HAS_PROP(0, reset_gpios)
 	struct gpio_dt_spec reset_gpio;
 #endif
 };

 struct ov7725_data {
 	struct video_format fmt;
 };

 struct ov7725_clock {
 	uint32_t input_clk;
 	uint32_t framerate;
 	uint8_t clkrc;  /*!< Register CLKRC. */
 	uint8_t com4;   /*!< Register COM4. */
 	uint8_t dm_lnl; /*!< Register DM_LNL. */
 };

 struct ov7725_pixel_format {
 	uint32_t pixel_format;
 	uint8_t com7;
 };

 struct ov7725_reg {
 	uint8_t addr;
 	uint8_t value;
 };

 static const struct ov7725_clock ov7725_clock_configs[] = {
 	{ .input_clk = 24000000, .framerate = 30,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x00 },
 	{ .input_clk = 24000000, .framerate = 15,
 		.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x00 },
 	{ .input_clk = 24000000, .framerate = 25,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x66 },
 	{ .input_clk = 24000000, .framerate = 14,
 		.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x1a },
 	{ .input_clk = 26000000, .framerate = 30,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x2b },
 	{ .input_clk = 26000000, .framerate = 15,
 		.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x2b },
 	{ .input_clk = 26000000, .framerate = 25,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x99 },
 	{ .input_clk = 26000000, .framerate = 14,
 		.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x46 },
 	{ .input_clk = 13000000, .framerate = 30,
 		.clkrc = 0x00, .com4 = 0x41, .dm_lnl = 0x2b },
 	{ .input_clk = 13000000, .framerate = 15,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x2b },
 	{ .input_clk = 13000000, .framerate = 25,
 		.clkrc = 0x00, .com4 = 0x41, .dm_lnl = 0x99 },
 	{ .input_clk = 13000000, .framerate = 14,
 		.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x46 },
 };


 static const struct ov7725_pixel_format ov7725_pf_configs[] = {
 	{ .pixel_format = VIDEO_PIX_FMT_RGB565, .com7 = (1 << 2) | (2) }
 };

 static const struct ov7725_reg ov7725_init_reg_tb[] = {
 	/*Output config*/
 	{ OV7725_CLKRC,          0x00 },
 	{ OV7725_COM7,           0x06 },
 	{ OV7725_HSTART,         0x3f },
 	{ OV7725_HSIZE,          0x50 },
 	{ OV7725_VSTART,         0x03 },
 	{ OV7725_VSIZE,          0x78 },
 	{ OV7725_HREF,           0x00 },
 	{ OV7725_HOUTSIZE,       0x50 },
 	{ OV7725_VOUTSIZE,       0x78 },

 	/*DSP control*/
 	{ OV7725_TGT_B,          0x7f },
 	{ OV7725_FIXGAIN,        0x09 },
 	{ OV7725_AWB_CTRL0,      0xe0 },
 	{ OV7725_DSP_CTRL1,      0xff },
 	{ OV7725_DSP_CTRL2,      0x00 },
 	{ OV7725_DSP_CTRL3,      0x00 },
 	{ OV7725_DSP_CTRL4,      0x00 },

 	/*AGC AEC AWB*/
 	{ OV7725_COM8,           0xf0 },
 	{ OV7725_COM4,           0x81 },
 	{ OV7725_COM6,           0xc5 },
 	{ OV7725_COM9,           0x11 },
 	{ OV7725_BDBASE,         0x7F },
 	{ OV7725_BDMSTEP,        0x03 },
 	{ OV7725_AEW,            0x40 },
 	{ OV7725_AEB,            0x30 },
 	{ OV7725_VPT,            0xa1 },
 	{ OV7725_EXHCL,          0x9e },
 	{ OV7725_AWB_CTRL3,      0xaa },
 	{ OV7725_COM8,           0xff },

 	/*matrix sharpness brightness contrast*/
 	{ OV7725_EDGE1,          0x08 },
 	{ OV7725_DNSOFF,         0x01 },
 	{ OV7725_EDGE2,          0x03 },
 	{ OV7725_EDGE3,          0x00 },
 	{ OV7725_MTX1,           0xb0 },
 	{ OV7725_MTX2,           0x9d },
 	{ OV7725_MTX3,           0x13 },
 	{ OV7725_MTX4,           0x16 },
 	{ OV7725_MTX5,           0x7b },
 	{ OV7725_MTX6,           0x91 },
 	{ OV7725_MTX_CTRL,       0x1e },
 	{ OV7725_BRIGHT,         0x08 },
 	{ OV7725_CNST,           0x20 },
 	{ OV7725_UVADJ0,         0x81 },
 	{ OV7725_SDE,            0X06 },
 	{ OV7725_USAT,           0x65 },
 	{ OV7725_VSAT,           0x65 },
 	{ OV7725_HUECOS,         0X80 },
 	{ OV7725_HUESIN,         0X80 },

 	/*GAMMA config*/
 	{ OV7725_GAM1,           0x0c },
 	{ OV7725_GAM2,           0x16 },
 	{ OV7725_GAM3,           0x2a },
 	{ OV7725_GAM4,           0x4e },
 	{ OV7725_GAM5,           0x61 },
 	{ OV7725_GAM6,           0x6f },
 	{ OV7725_GAM7,           0x7b },
 	{ OV7725_GAM8,           0x86 },
 	{ OV7725_GAM9,           0x8e },
 	{ OV7725_GAM10,          0x97 },
 	{ OV7725_GAM11,          0xa4 },
 	{ OV7725_GAM12,          0xaf },
 	{ OV7725_GAM13,          0xc5 },
 	{ OV7725_GAM14,          0xd7 },
 	{ OV7725_GAM15,          0xe8 },
 	{ OV7725_SLOP,           0x20 },

 	{ OV7725_COM3,           0x40 },
 	{ OV7725_COM5,           0xf5 },
 	{ OV7725_COM10,          0x02 },
 	{ OV7725_COM2,           0x01 }
 };

 static int ov7725_write_reg(const struct i2c_dt_spec *spec, uint8_t reg_addr,
 			    uint8_t value)
 {
 	struct i2c_msg msgs[2];

 	msgs[0].buf = (uint8_t *)&reg_addr;
 	msgs[0].len = 1;
 	msgs[0].flags = I2C_MSG_WRITE;

 	msgs[1].buf = (uint8_t *)&value;
 	msgs[1].len = 1;
 	msgs[1].flags = I2C_MSG_WRITE | I2C_MSG_STOP;

 	return i2c_transfer_dt(spec, msgs, 2);
 }

 static int ov7725_read_reg(const struct i2c_dt_spec *spec, uint8_t reg_addr,
 			   uint8_t *value)
 {
 	struct i2c_msg msgs[2];

 	msgs[0].buf = (uint8_t *)&reg_addr;
 	msgs[0].len = 1;
 	/*
 	 * When using I2C to read the registers of the SCCB device,
 	 * a stop bit is required after writing the register address
 	 */
 	msgs[0].flags = I2C_MSG_WRITE | I2C_MSG_STOP;

 	msgs[1].buf = (uint8_t *)value;
 	msgs[1].len = 1;
 	msgs[1].flags = I2C_MSG_READ | I2C_MSG_STOP | I2C_MSG_RESTART;

 	return i2c_transfer_dt(spec, msgs, 2);
 }

 int ov7725_modify_reg(const struct i2c_dt_spec *spec,
 		      uint8_t reg_addr,
 		      uint8_t clear_mask,
 		      uint8_t value)
 {
 	int ret;
 	uint8_t set_value;

 	ret = ov7725_read_reg(spec, reg_addr, &set_value);

 	if (ret == 0) {
 		set_value = (set_value & (~clear_mask)) |
 				(set_value & clear_mask);
 		ret = ov7725_write_reg(spec, reg_addr, set_value);
 	}


 	return ret;
 }

 static int ov7725_write_all(const struct device *dev,
 			    const struct ov7725_reg *regs,
 			    uint16_t reg_num)
 {
 	uint16_t i = 0;
 	const struct ov7725_config *cfg = dev->config;

 	for (i = 0; i < reg_num; i++) {
 		int err;

 		err = ov7725_write_reg(&cfg->i2c, regs[i].addr, regs[i].value);
 		if (err) {
 			return err;
 		}
 	}

 	return 0;
 }

 static int ov7725_set_clock(const struct device *dev,
 				unsigned int framerate,
 				unsigned int input_clk)
 {
 	const struct ov7725_config *cfg = dev->config;

 	for (unsigned int i = 0; i < ARRAY_SIZE(ov7725_clock_configs); i++) {
 		if ((ov7725_clock_configs[i].framerate == framerate) &&
 			(ov7725_clock_configs[i].input_clk == input_clk)) {
 			ov7725_write_reg(&cfg->i2c, OV7725_CLKRC,
 						ov7725_clock_configs[i].clkrc);
 			ov7725_modify_reg(&cfg->i2c, OV7725_COM4, 0xc0,
 						ov7725_clock_configs[i].com4);
 			ov7725_write_reg(&cfg->i2c, OV7725_EXHCL, 0x00);
 			ov7725_write_reg(&cfg->i2c, OV7725_DM_LNL,
 						ov7725_clock_configs[i].dm_lnl);
 			ov7725_write_reg(&cfg->i2c, OV7725_DM_LNH, 0x00);
 			ov7725_write_reg(&cfg->i2c, OV7725_ADVFL, 0x00);
 			ov7725_write_reg(&cfg->i2c, OV7725_ADVFH, 0x00);
 			return ov7725_write_reg(&cfg->i2c, OV7725_COM5, 0x65);
 		}
 	}

 	return -1;
 }

 static int ov7725_set_fmt(const struct device *dev,
 			  enum video_endpoint_id ep,
 			  struct video_format *fmt)
 {
 	struct ov7725_data *drv_data = dev->data;
 	const struct ov7725_config *cfg = dev->config;
 	uint8_t com10 = 0;
 	uint16_t width, height;
 	uint16_t hstart, vstart, hsize;
 	int ret;

 	/* we only support one format for now (VGA RGB565) */
 	if (fmt->pixelformat != VIDEO_PIX_FMT_RGB565 || fmt->height != 480 ||
 	    fmt->width != 640) {
 		return -ENOTSUP;
 	}

 	width = fmt->width;
 	height = fmt->height;

 	if (!memcmp(&drv_data->fmt, fmt, sizeof(drv_data->fmt))) {
 		/* nothing to do */
 		return 0;
 	}

 	drv_data->fmt = *fmt;

 	/* Configure Sensor */
 	ret = ov7725_write_all(dev, ov7725_init_reg_tb,
 				ARRAY_SIZE(ov7725_init_reg_tb));
 	if (ret) {
 		LOG_ERR("Unable to write ov7725 config");
 		return ret;
 	}

 	/* Set clock : framerate 30fps, input clock 24M*/
 	ov7725_set_clock(dev, 30, 24000000);

 	/* Set output format */
 	for (uint8_t i = 0; i < ARRAY_SIZE(ov7725_pf_configs); i++) {
 		if (ov7725_pf_configs[i].pixel_format == fmt->pixelformat) {
 			ret =  ov7725_modify_reg(&cfg->i2c,
 						OV7725_COM7,
 						0x1FU,
 						ov7725_pf_configs[i].com7);
 			if (ret) {
 				LOG_ERR("Unable to write ov7725 pixel format");
 				return ret;
 			}
 		}
 	}

 	ov7725_modify_reg(&cfg->i2c, OV7725_COM7, (1 << 5), (0 << 5));

 	com10 |= OV7725_COM10_VSYNC_NEG_MASK;
 	ov7725_write_reg(&cfg->i2c, OV7725_COM10, com10);

 	/* Don't swap output MSB/LSB. */
 	ov7725_write_reg(&cfg->i2c, OV7725_COM3, 0x00);

 	/*
 	 * Output drive capability
 	 * 0: 1X
 	 * 1: 2X
 	 * 2: 3X
 	 * 3: 4X
 	 */
 	ov7725_modify_reg(&cfg->i2c, OV7725_COM2, 0x03, 0x03);

 	/* Resolution and timing. */
 	hstart = 0x22U << 2U;
 	vstart = 0x07U << 1U;
 	hsize = width + 16U;

 	/* Set the window size. */
 	ov7725_write_reg(&cfg->i2c, OV7725_HSTART, hstart >> 2U);
 	ov7725_write_reg(&cfg->i2c, OV7725_HSIZE, hsize >> 2U);
 	ov7725_write_reg(&cfg->i2c, OV7725_VSTART, vstart >> 1U);
 	ov7725_write_reg(&cfg->i2c, OV7725_VSIZE, height >> 1U);
 	ov7725_write_reg(&cfg->i2c, OV7725_HOUTSIZE, width >> 2U);
 	ov7725_write_reg(&cfg->i2c, OV7725_VOUTSIZE, height >> 1U);
 	ov7725_write_reg(&cfg->i2c, OV7725_HREF,
 			 ((vstart & 1U) << 6U) |
 			 ((hstart & 3U) << 4U) |
 			 ((height & 1U) << 2U) |
 			 ((hsize & 3U) << 0U));
 	return ov7725_write_reg(&cfg->i2c, OV7725_EXHCH,
 					((height & 1U) << 2U) |
 					((width & 3U) << 0U));
 }

 static int ov7725_get_fmt(const struct device *dev,
 			  enum video_endpoint_id ep,
 			  struct video_format *fmt)
 {
 	struct ov7725_data *drv_data = dev->data;

 	*fmt = drv_data->fmt;

 	return 0;
 }

 static int ov7725_stream_start(const struct device *dev)
 {
 	return 0;
 }

 static int ov7725_stream_stop(const struct device *dev)
 {
 	return 0;
 }

 static const struct video_format_cap fmts[] = {
 	{
 		.pixelformat = VIDEO_PIX_FMT_RGB565,
 		.width_min = 640,
 		.width_max = 640,
 		.height_min = 480,
 		.height_max = 480,
 		.width_step = 0,
 		.height_step = 0,
 	},
 	{ 0 }
 };

 static int ov7725_get_caps(const struct device *dev,
 			   enum video_endpoint_id ep,
 			   struct video_caps *caps)
 {
 	caps->format_caps = fmts;
 	return 0;
 }

 static const struct video_driver_api ov7725_driver_api = {
 	.set_format = ov7725_set_fmt,
 	.get_format = ov7725_get_fmt,
 	.get_caps = ov7725_get_caps,
 	.stream_start = ov7725_stream_start,
 	.stream_stop = ov7725_stream_stop,
 };

 static int ov7725_init(const struct device *dev)
 {
 	const struct ov7725_config *cfg = dev->config;
 	struct video_format fmt;
 	uint8_t pid, ver;
 	int ret;

 #if DT_INST_NODE_HAS_PROP(0, reset_gpios)
 	ret = gpio_pin_configure_dt(&cfg->reset_gpio, GPIO_OUTPUT_ACTIVE);
 	if (ret) {
 		return ret;
 	}

 	gpio_pin_set_dt(&cfg->reset_gpio, 0);
 	k_sleep(K_MSEC(1));
 	gpio_pin_set_dt(&cfg->reset_gpio, 1);
 	k_sleep(K_MSEC(1));
 #endif

 	/* Identify the device. */
 	ret = ov7725_read_reg(&cfg->i2c, OV7725_PID, &pid);
 	if (ret) {
 		LOG_ERR("Unable to read PID");
 		return -ENODEV;
 	}

 	ret = ov7725_read_reg(&cfg->i2c, OV7725_VER, &ver);
 	if (ret) {
 		LOG_ERR("Unable to read VER");
 		return -ENODEV;
 	}

 	if (OV7725_REVISION != (((uint32_t)pid << 8U) | (uint32_t)ver)) {
 		LOG_ERR("OV7725 Get Vision fail\n");
 		return -ENODEV;
 	}

 	/* Device identify OK, perform software reset. */
 	ov7725_write_reg(&cfg->i2c, OV7725_COM7, 0x80);

 	k_sleep(K_MSEC(2));

 	/* set default/init format VGA RGB565 */
 	fmt.pixelformat = VIDEO_PIX_FMT_RGB565;
 	fmt.width = 640;
 	fmt.height = 480;
 	fmt.pitch = 640 * 2;
 	ret = ov7725_set_fmt(dev, VIDEO_EP_OUT, &fmt);
 	if (ret) {
 		LOG_ERR("Unable to configure default format");
 		return -EIO;
 	}

 	return 0;
 }

 /* Unique Instance */
 static const struct ov7725_config ov7725_cfg_0 = {
 	.i2c = I2C_DT_SPEC_INST_GET(0),
 #if DT_INST_NODE_HAS_PROP(0, reset_gpios)
 	.reset_gpio = GPIO_DT_SPEC_INST_GET(0, reset_gpios),
 #endif
 };
 static struct ov7725_data ov7725_data_0;

 static int ov7725_init_0(const struct device *dev)
 {
 	const struct ov7725_config *cfg = dev->config;

 	if (!device_is_ready(cfg->i2c.bus)) {
 		LOG_ERR("Bus device is not ready");
 		return -ENODEV;
 	}

 #if DT_INST_NODE_HAS_PROP(0, reset_gpios)
 	if (!gpio_is_ready_dt(&cfg->reset_gpio)) {
 		LOG_ERR("%s: device %s is not ready", dev->name,
 				cfg->reset_gpio.port->name);
 		return -ENODEV;
 	}
 #endif

 	return ov7725_init(dev);
 }

 DEVICE_DT_INST_DEFINE(0, &ov7725_init_0, NULL,
 		    &ov7725_data_0, &ov7725_cfg_0,
 		    POST_KERNEL, CONFIG_VIDEO_INIT_PRIORITY,
 		    &ov7725_driver_api);
	/*
	* Copyright (c) 2020, FrankLi Limited
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#define DT_DRV_COMPAT ovti_ov7725

	#include <zephyr/kernel.h>
	#include <zephyr/device.h>
	#include <zephyr/sys/byteorder.h>
	#include <zephyr/logging/log.h>
	#include <zephyr/drivers/video.h>
	#include <zephyr/drivers/i2c.h>
	#include <zephyr/drivers/gpio.h>

	LOG_MODULE_REGISTER(video_ov7725, CONFIG_VIDEO_LOG_LEVEL);

	#define OV7725_REVISION 0x7721U

	#define OV7725_GAIN 0x00U
	#define OV7725_BLUE 0x01U
	#define OV7725_RED 0x02U
	#define OV7725_GREEN 0x03U
	#define OV7725_BAVG 0x05U
	#define OV7725_GAVG 0x06U
	#define OV7725_RAVG 0x07U
	#define OV7725_AECH 0x08U
	#define OV7725_COM2 0x09U
	#define OV7725_PID 0x0AU
	#define OV7725_VER 0x0BU
	#define OV7725_COM3 0x0CU
	#define OV7725_COM4 0x0DU
	#define OV7725_COM5 0x0EU
	#define OV7725_COM6 0x0FU
	#define OV7725_AEC 0x10U
	#define OV7725_CLKRC 0x11U
	#define OV7725_COM7 0x12U
	#define OV7725_COM8 0x13U
	#define OV7725_COM9 0x14U
	#define OV7725_COM10 0x15U
	#define OV7725_REG16 0x16U
	#define OV7725_HSTART 0x17U
	#define OV7725_HSIZE 0x18U
	#define OV7725_VSTART 0x19U
	#define OV7725_VSIZE 0x1AU
	#define OV7725_PSHFT 0x1BU
	#define OV7725_MIDH 0x1CU
	#define OV7725_MIDL 0x1DU
	#define OV7725_LAEC 0x1FU
	#define OV7725_COM11 0x20U
	#define OV7725_BDBASE 0x22U
	#define OV7725_BDMSTEP 0x23U
	#define OV7725_AEW 0x24U
	#define OV7725_AEB 0x25U
	#define OV7725_VPT 0x26U
	#define OV7725_REG28 0x28U
	#define OV7725_HOUTSIZE 0x29U
	#define OV7725_EXHCH 0x2AU
	#define OV7725_EXHCL 0x2BU
	#define OV7725_VOUTSIZE 0x2CU
	#define OV7725_ADVFL 0x2DU
	#define OV7725_ADVFH 0x2EU
	#define OV7725_YAVE 0x2FU
	#define OV7725_LUMHTH 0x30U
	#define OV7725_LUMLTH 0x31U
	#define OV7725_HREF 0x32U
	#define OV7725_DM_LNL 0x33U
	#define OV7725_DM_LNH 0x34U
	#define OV7725_ADOFF_B 0x35U
	#define OV7725_ADOFF_R 0x36U
	#define OV7725_ADOFF_GB 0x37U
	#define OV7725_ADOFF_GR 0x38U
	#define OV7725_OFF_B 0x39U
	#define OV7725_OFF_R 0x3AU
	#define OV7725_OFF_GB 0x3BU
	#define OV7725_OFF_GR 0x3CU
	#define OV7725_COM12 0x3DU
	#define OV7725_COM13 0x3EU
	#define OV7725_COM14 0x3FU
	#define OV7725_COM16 0x41U
	#define OV7725_TGT_B 0x42U
	#define OV7725_TGT_R 0x43U
	#define OV7725_TGT_GB 0x44U
	#define OV7725_TGT_GR 0x45U
	#define OV7725_LC_CTR 0x46U
	#define OV7725_LC_XC 0x47U
	#define OV7725_LC_YC 0x48U
	#define OV7725_LC_COEF 0x49U
	#define OV7725_LC_RADI 0x4AU
	#define OV7725_LC_COEFB 0x4BU
	#define OV7725_LC_COEFR 0x4CU
	#define OV7725_FIXGAIN 0x4DU
	#define OV7725_AREF1 0x4FU
	#define OV7725_AREF6 0x54U
	#define OV7725_UFIX 0x60U
	#define OV7725_VFIX 0x61U
	#define OV7725_AWBB_BLK 0x62U
	#define OV7725_AWB_CTRL0 0x63U
	#define OV7725_DSP_CTRL1 0x64U
	#define OV7725_DSP_CTRL2 0x65U
	#define OV7725_DSP_CTRL3 0x66U
	#define OV7725_DSP_CTRL4 0x67U
	#define OV7725_AWB_BIAS 0x68U
	#define OV7725_AWB_CTRL1 0x69U
	#define OV7725_AWB_CTRL2 0x6AU
	#define OV7725_AWB_CTRL3 0x6BU
	#define OV7725_AWB_CTRL4 0x6CU
	#define OV7725_AWB_CTRL5 0x6DU
	#define OV7725_AWB_CTRL6 0x6EU
	#define OV7725_AWB_CTRL7 0x6FU
	#define OV7725_AWB_CTRL8 0x70U
	#define OV7725_AWB_CTRL9 0x71U
	#define OV7725_AWB_CTRL10 0x72U
	#define OV7725_AWB_CTRL11 0x73U
	#define OV7725_AWB_CTRL12 0x74U
	#define OV7725_AWB_CTRL13 0x75U
	#define OV7725_AWB_CTRL14 0x76U
	#define OV7725_AWB_CTRL15 0x77U
	#define OV7725_AWB_CTRL16 0x78U
	#define OV7725_AWB_CTRL17 0x79U
	#define OV7725_AWB_CTRL18 0x7AU
	#define OV7725_AWB_CTRL19 0x7BU
	#define OV7725_AWB_CTRL20 0x7CU
	#define OV7725_AWB_CTRL21 0x7DU
	#define OV7725_GAM1 0x7EU
	#define OV7725_GAM2 0x7FU
	#define OV7725_GAM3 0x80U
	#define OV7725_GAM4 0x81U
	#define OV7725_GAM5 0x82U
	#define OV7725_GAM6 0x83U
	#define OV7725_GAM7 0x84U
	#define OV7725_GAM8 0x85U
	#define OV7725_GAM9 0x86U
	#define OV7725_GAM10 0x87U
	#define OV7725_GAM11 0x88U
	#define OV7725_GAM12 0x89U
	#define OV7725_GAM13 0x8AU
	#define OV7725_GAM14 0x8BU
	#define OV7725_GAM15 0x8CU
	#define OV7725_SLOP 0x8DU
	#define OV7725_DNSTH 0x8EU
	#define OV7725_EDGE0 0x8FU
	#define OV7725_EDGE1 0x90U
	#define OV7725_DNSOFF 0x91U
	#define OV7725_EDGE2 0x92U
	#define OV7725_EDGE3 0x93U
	#define OV7725_MTX1 0x94U
	#define OV7725_MTX2 0x95U
	#define OV7725_MTX3 0x96U
	#define OV7725_MTX4 0x97U
	#define OV7725_MTX5 0x98U
	#define OV7725_MTX6 0x99U
	#define OV7725_MTX_CTRL 0x9AU
	#define OV7725_BRIGHT 0x9BU
	#define OV7725_CNST 0x9CU
	#define OV7725_UVADJ0 0x9EU
	#define OV7725_UVADJ1 0x9FU
	#define OV7725_SCAL0 0xA0U
	#define OV7725_SCAL1 0xA1U
	#define OV7725_SCAL2 0xA2U
	#define OV7725_SDE 0xA6U
	#define OV7725_USAT 0xA7U
	#define OV7725_VSAT 0xA8U
	#define OV7725_HUECOS 0xA9U
	#define OV7725_HUESIN 0xAAU
	#define OV7725_SIGN 0xABU
	#define OV7725_DSPAUTO 0xACU

	#define OV7725_COM10_VSYNC_NEG_MASK BIT(1)
	#define OV7725_COM10_HREF_REVERSE_MASK BIT(3)
	#define OV7725_COM10_PCLK_REVERSE_MASK BIT(4)
	#define OV7725_COM10_PCLK_OUT_MASK BIT(5)
	#define OV7725_COM10_DATA_NEG_MASK BIT(7)

	struct ov7725_config {
	struct i2c_dt_spec i2c;
	#if DT_INST_NODE_HAS_PROP(0, reset_gpios)
	struct gpio_dt_spec reset_gpio;
	#endif
	};

	struct ov7725_data {
	struct video_format fmt;
	};

	struct ov7725_clock {
	uint32_t input_clk;
	uint32_t framerate;
	uint8_t clkrc; /!< Register CLKRC. /
	uint8_t com4; /!< Register COM4. /
	uint8_t dm_lnl; /!< Register DM_LNL. /
	};

	struct ov7725_pixel_format {
	uint32_t pixel_format;
	uint8_t com7;
	};

	struct ov7725_reg {
	uint8_t addr;
	uint8_t value;
	};

	static const struct ov7725_clock ov7725_clock_configs[] = {
	{ .input_clk = 24000000, .framerate = 30,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x00 },
	{ .input_clk = 24000000, .framerate = 15,
	.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x00 },
	{ .input_clk = 24000000, .framerate = 25,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x66 },
	{ .input_clk = 24000000, .framerate = 14,
	.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x1a },
	{ .input_clk = 26000000, .framerate = 30,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x2b },
	{ .input_clk = 26000000, .framerate = 15,
	.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x2b },
	{ .input_clk = 26000000, .framerate = 25,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x99 },
	{ .input_clk = 26000000, .framerate = 14,
	.clkrc = 0x03, .com4 = 0x41, .dm_lnl = 0x46 },
	{ .input_clk = 13000000, .framerate = 30,
	.clkrc = 0x00, .com4 = 0x41, .dm_lnl = 0x2b },
	{ .input_clk = 13000000, .framerate = 15,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x2b },
	{ .input_clk = 13000000, .framerate = 25,
	.clkrc = 0x00, .com4 = 0x41, .dm_lnl = 0x99 },
	{ .input_clk = 13000000, .framerate = 14,
	.clkrc = 0x01, .com4 = 0x41, .dm_lnl = 0x46 },
	};


	static const struct ov7725_pixel_format ov7725_pf_configs[] = {
	{ .pixel_format = VIDEO_PIX_FMT_RGB565, .com7 = (1 << 2) \| (2) }
	};

	static const struct ov7725_reg ov7725_init_reg_tb[] = {
	/Output config/
	{ OV7725_CLKRC, 0x00 },
	{ OV7725_COM7, 0x06 },
	{ OV7725_HSTART, 0x3f },
	{ OV7725_HSIZE, 0x50 },
	{ OV7725_VSTART, 0x03 },
	{ OV7725_VSIZE, 0x78 },
	{ OV7725_HREF, 0x00 },
	{ OV7725_HOUTSIZE, 0x50 },
	{ OV7725_VOUTSIZE, 0x78 },

	/DSP control/
	{ OV7725_TGT_B, 0x7f },
	{ OV7725_FIXGAIN, 0x09 },
	{ OV7725_AWB_CTRL0, 0xe0 },
	{ OV7725_DSP_CTRL1, 0xff },
	{ OV7725_DSP_CTRL2, 0x00 },
	{ OV7725_DSP_CTRL3, 0x00 },
	{ OV7725_DSP_CTRL4, 0x00 },

	/AGC AEC AWB/
	{ OV7725_COM8, 0xf0 },
	{ OV7725_COM4, 0x81 },
	{ OV7725_COM6, 0xc5 },
	{ OV7725_COM9, 0x11 },
	{ OV7725_BDBASE, 0x7F },
	{ OV7725_BDMSTEP, 0x03 },
	{ OV7725_AEW, 0x40 },
	{ OV7725_AEB, 0x30 },
	{ OV7725_VPT, 0xa1 },
	{ OV7725_EXHCL, 0x9e },
	{ OV7725_AWB_CTRL3, 0xaa },
	{ OV7725_COM8, 0xff },

	/matrix sharpness brightness contrast/
	{ OV7725_EDGE1, 0x08 },
	{ OV7725_DNSOFF, 0x01 },
	{ OV7725_EDGE2, 0x03 },
	{ OV7725_EDGE3, 0x00 },
	{ OV7725_MTX1, 0xb0 },
	{ OV7725_MTX2, 0x9d },
	{ OV7725_MTX3, 0x13 },
	{ OV7725_MTX4, 0x16 },
	{ OV7725_MTX5, 0x7b },
	{ OV7725_MTX6, 0x91 },
	{ OV7725_MTX_CTRL, 0x1e },
	{ OV7725_BRIGHT, 0x08 },
	{ OV7725_CNST, 0x20 },
	{ OV7725_UVADJ0, 0x81 },
	{ OV7725_SDE, 0X06 },
	{ OV7725_USAT, 0x65 },
	{ OV7725_VSAT, 0x65 },
	{ OV7725_HUECOS, 0X80 },
	{ OV7725_HUESIN, 0X80 },

	/GAMMA config/
	{ OV7725_GAM1, 0x0c },
	{ OV7725_GAM2, 0x16 },
	{ OV7725_GAM3, 0x2a },
	{ OV7725_GAM4, 0x4e },
	{ OV7725_GAM5, 0x61 },
	{ OV7725_GAM6, 0x6f },
	{ OV7725_GAM7, 0x7b },
	{ OV7725_GAM8, 0x86 },
	{ OV7725_GAM9, 0x8e },
	{ OV7725_GAM10, 0x97 },
	{ OV7725_GAM11, 0xa4 },
	{ OV7725_GAM12, 0xaf },
	{ OV7725_GAM13, 0xc5 },
	{ OV7725_GAM14, 0xd7 },
	{ OV7725_GAM15, 0xe8 },
	{ OV7725_SLOP, 0x20 },

	{ OV7725_COM3, 0x40 },
	{ OV7725_COM5, 0xf5 },
	{ OV7725_COM10, 0x02 },
	{ OV7725_COM2, 0x01 }
	};

	static int ov7725_write_reg(const struct i2c_dt_spec *spec, uint8_t reg_addr,
	uint8_t value)
	{
	struct i2c_msg msgs[2];

	msgs[0].buf = (uint8_t *)&reg_addr;
	msgs[0].len = 1;
	msgs[0].flags = I2C_MSG_WRITE;

	msgs[1].buf = (uint8_t *)&value;
	msgs[1].len = 1;
	msgs[1].flags = I2C_MSG_WRITE \| I2C_MSG_STOP;

	return i2c_transfer_dt(spec, msgs, 2);
	}

	static int ov7725_read_reg(const struct i2c_dt_spec *spec, uint8_t reg_addr,
	uint8_t *value)
	{
	struct i2c_msg msgs[2];

	msgs[0].buf = (uint8_t *)&reg_addr;
	msgs[0].len = 1;
	/*
	* When using I2C to read the registers of the SCCB device,
	* a stop bit is required after writing the register address
	*/
	msgs[0].flags = I2C_MSG_WRITE \| I2C_MSG_STOP;

	msgs[1].buf = (uint8_t *)value;
	msgs[1].len = 1;
	msgs[1].flags = I2C_MSG_READ \| I2C_MSG_STOP \| I2C_MSG_RESTART;

	return i2c_transfer_dt(spec, msgs, 2);
	}

	int ov7725_modify_reg(const struct i2c_dt_spec *spec,
	uint8_t reg_addr,
	uint8_t clear_mask,
	uint8_t value)
	{
	int ret;
	uint8_t set_value;

	ret = ov7725_read_reg(spec, reg_addr, &set_value);

	if (ret == 0) {
	set_value = (set_value & (~clear_mask)) \|
	(set_value & clear_mask);
	ret = ov7725_write_reg(spec, reg_addr, set_value);
	}


	return ret;
	}

	static int ov7725_write_all(const struct device *dev,
	const struct ov7725_reg *regs,
	uint16_t reg_num)
	{
	uint16_t i = 0;
	const struct ov7725_config *cfg = dev->config;

	for (i = 0; i < reg_num; i++) {
	int err;

	err = ov7725_write_reg(&cfg->i2c, regs[i].addr, regs[i].value);
	if (err) {
	return err;
	}
	}

	return 0;
	}

	static int ov7725_set_clock(const struct device *dev,
	unsigned int framerate,
	unsigned int input_clk)
	{
	const struct ov7725_config *cfg = dev->config;

	for (unsigned int i = 0; i < ARRAY_SIZE(ov7725_clock_configs); i++) {
	if ((ov7725_clock_configs[i].framerate == framerate) &&
	(ov7725_clock_configs[i].input_clk == input_clk)) {
	ov7725_write_reg(&cfg->i2c, OV7725_CLKRC,
	ov7725_clock_configs[i].clkrc);
	ov7725_modify_reg(&cfg->i2c, OV7725_COM4, 0xc0,
	ov7725_clock_configs[i].com4);
	ov7725_write_reg(&cfg->i2c, OV7725_EXHCL, 0x00);
	ov7725_write_reg(&cfg->i2c, OV7725_DM_LNL,
	ov7725_clock_configs[i].dm_lnl);
	ov7725_write_reg(&cfg->i2c, OV7725_DM_LNH, 0x00);
	ov7725_write_reg(&cfg->i2c, OV7725_ADVFL, 0x00);
	ov7725_write_reg(&cfg->i2c, OV7725_ADVFH, 0x00);
	return ov7725_write_reg(&cfg->i2c, OV7725_COM5, 0x65);
	}
	}

	return -1;
	}

	static int ov7725_set_fmt(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_format *fmt)
	{
	struct ov7725_data *drv_data = dev->data;
	const struct ov7725_config *cfg = dev->config;
	uint8_t com10 = 0;
	uint16_t width, height;
	uint16_t hstart, vstart, hsize;
	int ret;

	/* we only support one format for now (VGA RGB565) */
	if (fmt->pixelformat != VIDEO_PIX_FMT_RGB565 \|\| fmt->height != 480 \|\|
	fmt->width != 640) {
	return -ENOTSUP;
	}

	width = fmt->width;
	height = fmt->height;

	if (!memcmp(&drv_data->fmt, fmt, sizeof(drv_data->fmt))) {
	/* nothing to do */
	return 0;
	}

	drv_data->fmt = *fmt;

	/* Configure Sensor */
	ret = ov7725_write_all(dev, ov7725_init_reg_tb,
	ARRAY_SIZE(ov7725_init_reg_tb));
	if (ret) {
	LOG_ERR("Unable to write ov7725 config");
	return ret;
	}

	/* Set clock : framerate 30fps, input clock 24M*/
	ov7725_set_clock(dev, 30, 24000000);

	/* Set output format */
	for (uint8_t i = 0; i < ARRAY_SIZE(ov7725_pf_configs); i++) {
	if (ov7725_pf_configs[i].pixel_format == fmt->pixelformat) {
	ret = ov7725_modify_reg(&cfg->i2c,
	OV7725_COM7,
	0x1FU,
	ov7725_pf_configs[i].com7);
	if (ret) {
	LOG_ERR("Unable to write ov7725 pixel format");
	return ret;
	}
	}
	}

	ov7725_modify_reg(&cfg->i2c, OV7725_COM7, (1 << 5), (0 << 5));

	com10 \|= OV7725_COM10_VSYNC_NEG_MASK;
	ov7725_write_reg(&cfg->i2c, OV7725_COM10, com10);

	/* Don't swap output MSB/LSB. */
	ov7725_write_reg(&cfg->i2c, OV7725_COM3, 0x00);

	/*
	* Output drive capability
	* 0: 1X
	* 1: 2X
	* 2: 3X
	* 3: 4X
	*/
	ov7725_modify_reg(&cfg->i2c, OV7725_COM2, 0x03, 0x03);

	/* Resolution and timing. */
	hstart = 0x22U << 2U;
	vstart = 0x07U << 1U;
	hsize = width + 16U;

	/* Set the window size. */
	ov7725_write_reg(&cfg->i2c, OV7725_HSTART, hstart >> 2U);
	ov7725_write_reg(&cfg->i2c, OV7725_HSIZE, hsize >> 2U);
	ov7725_write_reg(&cfg->i2c, OV7725_VSTART, vstart >> 1U);
	ov7725_write_reg(&cfg->i2c, OV7725_VSIZE, height >> 1U);
	ov7725_write_reg(&cfg->i2c, OV7725_HOUTSIZE, width >> 2U);
	ov7725_write_reg(&cfg->i2c, OV7725_VOUTSIZE, height >> 1U);
	ov7725_write_reg(&cfg->i2c, OV7725_HREF,
	((vstart & 1U) << 6U) \|
	((hstart & 3U) << 4U) \|
	((height & 1U) << 2U) \|
	((hsize & 3U) << 0U));
	return ov7725_write_reg(&cfg->i2c, OV7725_EXHCH,
	((height & 1U) << 2U) \|
	((width & 3U) << 0U));
	}

	static int ov7725_get_fmt(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_format *fmt)
	{
	struct ov7725_data *drv_data = dev->data;

	*fmt = drv_data->fmt;

	return 0;
	}

	static int ov7725_stream_start(const struct device *dev)
	{
	return 0;
	}

	static int ov7725_stream_stop(const struct device *dev)
	{
	return 0;
	}

	static const struct video_format_cap fmts[] = {
	{
	.pixelformat = VIDEO_PIX_FMT_RGB565,
	.width_min = 640,
	.width_max = 640,
	.height_min = 480,
	.height_max = 480,
	.width_step = 0,
	.height_step = 0,
	},
	{ 0 }
	};

	static int ov7725_get_caps(const struct device *dev,
	enum video_endpoint_id ep,
	struct video_caps *caps)
	{
	caps->format_caps = fmts;
	return 0;
	}

	static const struct video_driver_api ov7725_driver_api = {
	.set_format = ov7725_set_fmt,
	.get_format = ov7725_get_fmt,
	.get_caps = ov7725_get_caps,
	.stream_start = ov7725_stream_start,
	.stream_stop = ov7725_stream_stop,
	};

	static int ov7725_init(const struct device *dev)
	{
	const struct ov7725_config *cfg = dev->config;
	struct video_format fmt;
	uint8_t pid, ver;
	int ret;

	#if DT_INST_NODE_HAS_PROP(0, reset_gpios)
	ret = gpio_pin_configure_dt(&cfg->reset_gpio, GPIO_OUTPUT_ACTIVE);
	if (ret) {
	return ret;
	}

	gpio_pin_set_dt(&cfg->reset_gpio, 0);
	k_sleep(K_MSEC(1));
	gpio_pin_set_dt(&cfg->reset_gpio, 1);
	k_sleep(K_MSEC(1));
	#endif

	/* Identify the device. */
	ret = ov7725_read_reg(&cfg->i2c, OV7725_PID, &pid);
	if (ret) {
	LOG_ERR("Unable to read PID");
	return -ENODEV;
	}

	ret = ov7725_read_reg(&cfg->i2c, OV7725_VER, &ver);
	if (ret) {
	LOG_ERR("Unable to read VER");
	return -ENODEV;
	}

	if (OV7725_REVISION != (((uint32_t)pid << 8U) \| (uint32_t)ver)) {
	LOG_ERR("OV7725 Get Vision fail\n");
	return -ENODEV;
	}

	/* Device identify OK, perform software reset. */
	ov7725_write_reg(&cfg->i2c, OV7725_COM7, 0x80);

	k_sleep(K_MSEC(2));

	/* set default/init format VGA RGB565 */
	fmt.pixelformat = VIDEO_PIX_FMT_RGB565;
	fmt.width = 640;
	fmt.height = 480;
	fmt.pitch = 640 * 2;
	ret = ov7725_set_fmt(dev, VIDEO_EP_OUT, &fmt);
	if (ret) {
	LOG_ERR("Unable to configure default format");
	return -EIO;
	}

	return 0;
	}

	/* Unique Instance */
	static const struct ov7725_config ov7725_cfg_0 = {
	.i2c = I2C_DT_SPEC_INST_GET(0),
	#if DT_INST_NODE_HAS_PROP(0, reset_gpios)
	.reset_gpio = GPIO_DT_SPEC_INST_GET(0, reset_gpios),
	#endif
	};
	static struct ov7725_data ov7725_data_0;

	static int ov7725_init_0(const struct device *dev)
	{
	const struct ov7725_config *cfg = dev->config;

	if (!device_is_ready(cfg->i2c.bus)) {
	LOG_ERR("Bus device is not ready");
	return -ENODEV;
	}

	#if DT_INST_NODE_HAS_PROP(0, reset_gpios)
	if (!gpio_is_ready_dt(&cfg->reset_gpio)) {
	LOG_ERR("%s: device %s is not ready", dev->name,
	cfg->reset_gpio.port->name);
	return -ENODEV;
	}
	#endif

	return ov7725_init(dev);
	}

	DEVICE_DT_INST_DEFINE(0, &ov7725_init_0, NULL,
	&ov7725_data_0, &ov7725_cfg_0,
	POST_KERNEL, CONFIG_VIDEO_INIT_PRIORITY,
	&ov7725_driver_api);