diff --git a/target/linux/imx/image/cortexa7.mk b/target/linux/imx/image/cortexa7.mk
index d5a23fc6e9ed38..e400791aa5ff06 100644
--- a/target/linux/imx/image/cortexa7.mk
+++ b/target/linux/imx/image/cortexa7.mk
@@ -21,7 +21,9 @@ define Device/technexion_imx7d-pico-pi
   DEVICE_PACKAGES := kmod-sound-core kmod-sound-soc-imx kmod-sound-soc-imx-sgtl5000 \
 	kmod-can kmod-can-flexcan kmod-can-raw kmod-leds-gpio \
 	kmod-input-touchscreen-edt-ft5x06 kmod-usb-hid kmod-btsdio \
-	kmod-brcmfmac brcmfmac-firmware-4339-sdio cypress-nvram-4339-sdio
+	kmod-brcmfmac brcmfmac-firmware-4339-sdio cypress-nvram-4339-sdio \
+	kmod-video-imx7-csi kmod-video-mux kmod-mux-mmio kmod-video-ov5645 \
+	kmod-video-pxp
   FILESYSTEMS := squashfs
   IMAGES := combined.bin sysupgrade.bin
   IMAGE/combined.bin := append-rootfs | pad-extra 128k | imx-sdcard-raw-uboot
diff --git a/target/linux/imx/patches-6.1/312-dts-imx7d-pico-pi-add-OV5645-camera-support.patch b/target/linux/imx/patches-6.1/312-dts-imx7d-pico-pi-add-OV5645-camera-support.patch
new file mode 100644
index 00000000000000..a53e8305993244
--- /dev/null
+++ b/target/linux/imx/patches-6.1/312-dts-imx7d-pico-pi-add-OV5645-camera-support.patch
@@ -0,0 +1,82 @@
+From 025161ad967211a2077cbb3a1540cf7c4acbcccf Mon Sep 17 00:00:00 2001
+From: Lech Perczak <lech.perczak@gmail.com>
+Date: Wed, 11 May 2022 21:02:05 +0200
+Subject: [PATCH] dts: imx7d-pico-pi: add OV5645 camera support
+
+Signed-off-by: Lech Perczak <lech.perczak@gmail.com>
+---
+ arch/arm/boot/dts/imx7d-pico-pi.dts | 58 +++++++++++++++++++++++++++++
+ 1 file changed, 58 insertions(+)
+
+--- a/arch/arm/boot/dts/imx7d-pico-pi.dts
++++ b/arch/arm/boot/dts/imx7d-pico-pi.dts
+@@ -71,6 +71,32 @@
+ 		touchscreen-size-x = <800>;
+ 		touchscreen-size-y = <480>;
+ 	};
++
++	ov5645_mipi: camera@3c {
++		compatible = "ovti,ov5645";
++		reg = <0x3c>;
++
++		pinctrl-names = "default";
++		pinctrl-0 = <&pinctrl_mipi_csi>;
++
++		clocks = <&clks IMX7D_CLKO1_ROOT_DIV>;
++		clock-names = "xclk";
++		clock-frequency = <24000000>;
++
++		enable-gpios = <&gpio1 4 GPIO_ACTIVE_HIGH>;
++		reset-gpios = <&gpio1 5 GPIO_ACTIVE_LOW>;
++
++		vdda-supply = <&reg_2p5v>;
++		vdddo-supply = <&reg_vref_1v8>;
++		vddd-supply = <&reg_vref_1v8>;
++
++		port {
++			ov5645_mipi_ep: endpoint {
++				remote-endpoint = <&mipi_sensor_ep>;
++				data-lanes = <1 2>;
++			};
++		};
++	};
+ };
+ 
+ &iomuxc {
+@@ -101,5 +127,36 @@
+ 			MX7D_PAD_EPDC_DATA13__GPIO2_IO13	0x14
+ 		>;
+ 	};
++};
++
++&iomuxc_lpsr {
++	pinctrl_mipi_csi: mipicsigrp-1 {
++		fsl,pins = <
++			MX7D_PAD_LPSR_GPIO1_IO04__GPIO1_IO4	0x15
++			MX7D_PAD_LPSR_GPIO1_IO05__GPIO1_IO5	0x15
++			MX7D_PAD_LPSR_GPIO1_IO02__CCM_CLKO1	0x7d
++		>;
++	};
++};
++
++&csi {
++	status = "okay";
++};
++
++&mipi_csi {
++	clock-frequency = <24000000>;
++	status = "okay";
++
++	ports {
++		port@0 {
++			mipi_sensor_ep: endpoint1 {
++				remote-endpoint = <&ov5645_mipi_ep>;
++				data-lanes = <1 2>;
++			};
++		};
++	};
++};
+ 
++&video_mux {
++	status = "okay";
+ };