The MIPI-CSI specification specifies the voltage levels of the signals, and the formats of the packets. It does not specify a mechanical connector (if any), this is left up to the system designer, hence: every camera out there has a different mechanical pin-out. The actual cameras also differ in the data in the packets. the length of a packet is one scan line which could be anything from 480 pixels (for a 640x480 camera) to 5k pixels (or more) for 1 12megaPixel camera. The MIPI-CSI allows for this. Additionally the format of the pixels can vary (Bayer pattern or YUV, 8 bits per colour or 14bits (or more) per colour). Finally even if you have drivers for a specific sensor die, the lens system in front of the sensor creates distortion and needs tuning to correct the distortion, every lens design is different. Some camera modules have built-in electronics to correct the lens effects.
As you can see if you just “connect” a MIPI-CSI camera it won’t work. You need to put a huge effort into writing a device driver and applying the optical corrections necessary. The ‘quick and dirty’ way (for now) to get a camera operating with the 410c is to plug in a USB camera.
Don’t despair, there are at least two companies I know about working on MIPI-CSI cameras, but as you can see it is a huge amount of work and it will be a while before they are ready.
40MBytes per second is very difficult with parallel GPIOs. Simply getting the data aligned at all the pins at the same time is tricky, you have a 25ns window for each byte. There are no parallel ports in the 410, and your SW would need to sample the 8 GPIO pins every 25nS. I’m not sure this is possible.
MIPI-CSI can easily transfer this much data into the SOC but as noted above it would require quite some effort to create the software drivers to read the data. You would have to convert your data from whatever format you have to MIPI-CSI and converter chips are rather few and far between, fortunately the FPGA companies can drive MIPI-CSI so you can put the conversion logic into an FPGA. Of course you need to design the FPGA and the PCB to route the FPGA output to the High speed connector, so this is not a task for the feint of heart.