diff --git a/drivers/media/i2c/Makefile b/drivers/media/i2c/Makefile
index e2d00df3..8b98fac9 100644
--- a/drivers/media/i2c/Makefile
+++ b/drivers/media/i2c/Makefile
@@ -15,4 +15,5 @@ obj-m += nv_imx318.o
 obj-m += nv_imx390.o
 obj-m += nv_ov5693.o
 obj-m += nv_ar0234.o
+obj-m += pca9570.o
 endif
diff --git a/drivers/media/i2c/pca9570.c b/drivers/media/i2c/pca9570.c
new file mode 100644
index 00000000..0eb765cf
--- /dev/null
+++ b/drivers/media/i2c/pca9570.c
@@ -0,0 +1,352 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/*
+ * pca9570.c - pca9570 IO Expander driver
+ *
+ * Copyright (c) 2016-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ */
+
+#include <linux/seq_file.h>
+#include <linux/debugfs.h>
+#include <linux/i2c.h>
+#include <media/camera_common.h>
+#include <linux/module.h>
+
+#define IMX185_PCA9570_I2C_ADDR (0x24)
+#define PCA9570_MODE_STEPS	5
+#define PCA9570_FORWARD 0
+#define PCA9570_REVERSE 1
+
+#define BA6208_FORWARD	0x02
+#define BA6208_BACKWARD	0x01
+#define BA6208_BREAK	0x03
+#define DRV8838_FORWARD	0x02
+#define DRV8838_BACKWARD	0x03
+#define DRV8838_BREAK	0x00
+
+enum drive_ic {
+	BA6208 = 0,
+	DRV8838,
+};
+
+struct pca9570 {
+	struct i2c_client *i2c_client;
+	struct regmap *regmap;
+	const char *channel;
+	const char *drive_ic_name;
+	int drive_ic;
+};
+
+static int pca9570_write_reg(struct pca9570 *priv,
+				u8 addr, u8 val)
+{
+	struct i2c_client *i2c_client = priv->i2c_client;
+	int err;
+
+	err = regmap_write(priv->regmap, addr, val);
+	if (err)
+		dev_err(&i2c_client->dev, "%s:i2c write failed, 0x%x = %x\n",
+			__func__, addr, val);
+
+	return err;
+}
+
+static int pca9570_icr_move(struct pca9570 *priv, u32 direction, u32 val)
+{
+	struct i2c_client *i2c_client = priv->i2c_client;
+	int i;
+	int steps = 0;
+	int err = 0;
+	u8 reg = 0;
+	u8 reg_forward, reg_revert, reg_brake;
+
+	switch (priv->drive_ic) {
+	case DRV8838:
+		reg_forward = DRV8838_FORWARD;
+		reg_revert = DRV8838_BACKWARD;
+		reg_brake = DRV8838_BREAK;
+		break;
+	case BA6208:
+	default:
+		reg_forward = BA6208_FORWARD;
+		reg_revert = BA6208_BACKWARD;
+		reg_brake = BA6208_BREAK;
+		break;
+	}
+
+	steps = val;
+	if (steps < 1)
+		steps = PCA9570_MODE_STEPS;
+
+	if (direction == PCA9570_FORWARD) {
+		dev_info(&i2c_client->dev, "%s, forward val=%d\n",
+			 __func__, steps);
+		reg = reg_forward;
+	} else if (direction == PCA9570_REVERSE) {
+		dev_info(&i2c_client->dev, "%s, reverse val=%d\n",
+			 __func__, steps);
+		reg = reg_revert;
+	} else
+		return -ENOMEM;
+
+	for (i = 0; i < steps; i++) {
+		usleep_range(1000*100, 1000*110);
+		err |= pca9570_write_reg(priv, IMX185_PCA9570_I2C_ADDR, 0x48);
+		err |= pca9570_write_reg(priv, IMX185_PCA9570_I2C_ADDR, reg);
+		usleep_range(1000*100, 1000*110);
+		err |= pca9570_write_reg(priv, IMX185_PCA9570_I2C_ADDR, 0x48);
+		err |= pca9570_write_reg(priv, IMX185_PCA9570_I2C_ADDR,
+				reg_brake);
+	}
+	if (err)
+		dev_err(&i2c_client->dev, "%s:i2c write failed\n", __func__);
+
+	return err;
+}
+
+
+static int pca9570_icr_daymode(struct pca9570 *priv)
+{
+	int err = 0;
+
+	err = pca9570_icr_move(priv, PCA9570_FORWARD, PCA9570_MODE_STEPS);
+	return err;
+}
+
+
+static int pca9570_icr_nightmode(struct pca9570 *priv)
+{
+	int err = 0;
+
+	err = pca9570_icr_move(priv, PCA9570_REVERSE, PCA9570_MODE_STEPS);
+	return err;
+}
+
+static int pca9570_stats_show(struct seq_file *s, void *data)
+{
+	return 0;
+}
+
+static int pca9570_debugfs_open(struct inode *inode, struct file *file)
+{
+	return single_open(file, pca9570_stats_show, inode->i_private);
+}
+
+static ssize_t pca9570_debugfs_write(struct file *s,
+				const char __user *user_buf,
+				size_t count, loff_t *ppos)
+{
+	struct pca9570 *priv =
+		((struct seq_file *)s->private_data)->private;
+	struct i2c_client *i2c_client = priv->i2c_client;
+
+	char buf[255];
+	int buf_size;
+	u32 val = 0;
+	int err = 0;
+
+	if (!user_buf || count <= 1)
+		return -EFAULT;
+
+	memset(buf, 0, sizeof(buf));
+	buf_size = min(count, sizeof(buf) - 1);
+	if (copy_from_user(buf, user_buf, buf_size))
+		return -EFAULT;
+
+	if (buf[0] == 'd') {
+		dev_info(&i2c_client->dev, "%s, set daymode\n", __func__);
+		err = pca9570_icr_daymode(priv);
+		if (err)
+			dev_info(&i2c_client->dev, "%s, set daymode fail\n",
+				 __func__);
+		return count;
+	}
+
+	if (buf[0] == 'n') {
+		dev_info(&i2c_client->dev, "%s, set nightmode\n", __func__);
+		err = pca9570_icr_nightmode(priv);
+		if (err)
+			dev_info(&i2c_client->dev, "%s, set nightmode fail\n",
+				 __func__);
+		return count;
+	}
+
+	if (sscanf(buf + 1, "0x%x", &val) == 1)
+		goto set_attr;
+	if (sscanf(buf + 1, "0X%x", &val) == 1)
+		goto set_attr;
+	if (sscanf(buf + 1, "%d", &val) == 1)
+		goto set_attr;
+
+	dev_err(&i2c_client->dev, "SYNTAX ERROR: %s\n", buf);
+	return -EFAULT;
+
+set_attr:
+	dev_info(&i2c_client->dev, "%s, val=%c%d\n", __func__, buf[0], val);
+	switch (buf[0]) {
+	case 'f':
+		err = pca9570_icr_move(priv, PCA9570_FORWARD, val);
+		if (err)
+			dev_info(&i2c_client->dev, "%s, move forward fail\n",
+				 __func__);
+		break;
+	case 'r':
+		err = pca9570_icr_move(priv, PCA9570_REVERSE, val);
+		if (err)
+			dev_info(&i2c_client->dev, "%s, move reverse fail\n",
+				 __func__);
+		break;
+	}
+
+	return count;
+}
+
+static const struct file_operations pca9570_debugfs_fops = {
+	.open = pca9570_debugfs_open,
+	.read = seq_read,
+	.write = pca9570_debugfs_write,
+	.llseek = seq_lseek,
+	.release = single_release,
+};
+
+static int pca9570_debugfs_init(const char *dir_name,
+				struct dentry **d_entry,
+				struct dentry **f_entry,
+				struct pca9570 *priv)
+{
+	struct dentry  *dp, *fp;
+	char dev_name[20];
+	struct i2c_client *i2c_client = priv->i2c_client;
+	struct device_node *np = i2c_client->dev.of_node;
+	int err = 0;
+
+	if (np) {
+		err = of_property_read_string(np, "channel", &priv->channel);
+		if (err)
+			dev_err(&i2c_client->dev, "channel not found\n");
+
+		err = snprintf(dev_name, sizeof(dev_name), "pca9570_%s", priv->channel);
+		if (err < 0)
+			return -EINVAL;
+	}
+
+	dp = debugfs_create_dir(dev_name, NULL);
+	if (dp == NULL) {
+		dev_err(&i2c_client->dev, "%s: debugfs create dir failed\n",
+			__func__);
+		return -ENOMEM;
+	}
+
+	fp = debugfs_create_file("pca9570", 0644,
+		dp, priv, &pca9570_debugfs_fops);
+	if (!fp) {
+		dev_err(&i2c_client->dev, "%s: debugfs create file failed\n",
+			__func__);
+		debugfs_remove_recursive(dp);
+		return -ENOMEM;
+	}
+
+	if (d_entry)
+		*d_entry = dp;
+	if (f_entry)
+		*f_entry = fp;
+	return 0;
+}
+
+static  struct regmap_config pca9570_regmap_config = {
+	.reg_bits = 8,
+	.val_bits = 8,
+	.cache_type = REGCACHE_RBTREE,
+};
+
+#if KERNEL_VERSION(6, 3, 0) <= LINUX_VERSION_CODE
+static int pca9570_probe(struct i2c_client *client)
+#else
+static int pca9570_probe(struct i2c_client *client,
+			const struct i2c_device_id *id)
+#endif
+{
+	struct pca9570 *priv;
+	struct device_node *np = client->dev.of_node;
+	int err = 0;
+
+	priv = devm_kzalloc(&client->dev, sizeof(*priv), GFP_KERNEL);
+	priv->i2c_client = client;
+	priv->regmap = devm_regmap_init_i2c(priv->i2c_client,
+				&pca9570_regmap_config);
+	if (IS_ERR(priv->regmap)) {
+		dev_err(&client->dev,
+			"regmap init failed: %ld\n", PTR_ERR(priv->regmap));
+		return -ENODEV;
+	}
+
+	err = of_property_read_string(np, "drive_ic", &priv->drive_ic_name);
+	if (!err && !IS_ERR(priv->drive_ic_name)) {
+		if (!strcmp(priv->drive_ic_name, "BA6208"))
+			priv->drive_ic = BA6208;
+		else if (!strcmp(priv->drive_ic_name, "DRV8838"))
+			priv->drive_ic = DRV8838;
+		else {
+			priv->drive_ic = BA6208;
+			dev_info(&client->dev,
+				"%s, unsupport driver ic found\n", __func__);
+		}
+	} else {
+		priv->drive_ic = BA6208;
+		dev_info(&client->dev,
+				"%s, drive_ic not found\n", __func__);
+	}
+
+	err = pca9570_debugfs_init(NULL, NULL, NULL, priv);
+	if (err)
+		return err;
+	/*set daymode by fault*/
+	err = pca9570_icr_daymode(priv);
+	if (err)
+		return err;
+	dev_info(&client->dev, "%s:  success\n", __func__);
+
+	return err;
+}
+
+#if KERNEL_VERSION(6, 1, 0) > LINUX_VERSION_CODE
+static int pca9570_remove(struct i2c_client *client)
+#else
+static void pca9570_remove(struct i2c_client *client)
+#endif
+{
+	if (client != NULL) {
+		i2c_unregister_device(client);
+		client = NULL;
+	}
+
+#if KERNEL_VERSION(6, 1, 0) > LINUX_VERSION_CODE
+	return 0;
+#endif
+}
+
+static const struct i2c_device_id pca9570_id[] = {
+	{ "pca9570", 0 },
+	{ },
+};
+
+static const struct of_device_id pca9570_of_match[] = {
+	{ .compatible = "nxp,pca9570", },
+	{ },
+};
+MODULE_DEVICE_TABLE(i2c, pca9570_id);
+
+static struct i2c_driver pca9570_i2c_driver = {
+	.driver = {
+		.name = "pca9570",
+		.owner = THIS_MODULE,
+	},
+	.probe = pca9570_probe,
+	.remove = pca9570_remove,
+	.id_table = pca9570_id,
+};
+
+module_i2c_driver(pca9570_i2c_driver);
+
+MODULE_DESCRIPTION("IO Expander driver pca9570");
+MODULE_AUTHOR("NVIDIA Corporation");
+MODULE_LICENSE("GPL v2");