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documentation: Update README

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# Leopard Imaging LI-M021C-MIPI Stereo-Optic Cameras
## Kernel Changes
The source code we have modified or added and is pertinent to these cameras is in the following files:
* controls-utility.sh
* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera-base.dtsi
* hardware/nvidia/platform/t18x/common/kernel-dts/t18x-common-platforms/tegra186-tx2-spiri-camera.dtsi
* hardware/nvidia/platform/t18x/quill/kernel-dts/Makefile
* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-USB3.dts
* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-base.dts
* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-mPCIe.dts
* hardware/nvidia/platform/t18x/quill/kernel-dts/tegra186-tx2-spiri-revF+.dts
* nvidia/drivers/media/i2c/mt9m021.c
* nvidia/drivers/media/i2c/mt9m021_mode_tbls.h
* nvidia/drivers/media/platform/tegra/camera/camera_common.c
* nvidia/drivers/media/platform/tegra/camera/tegracam_ctrls.c
* nvidia/include/media/camera_common.h
* nvidia/include/media/tegra-v4l2-camera.h
All these modifications and additions are part of the Spiri Mu kernel, and are represented by symbolic links from this repository into https://git.spirirobotics.com/Spiri/mu_kernel_sources, with the exception of the controls-utility.sh script, which is transferred in the spiri_scripts folder of the rootfs.
## Cameras setup
The camera sensors should be conencted to a ConnectTech's Elroy board.
## Features
@ -90,7 +74,57 @@ v4l2-ctl -d /dev/video0 --set-fmt-video=width=1280,height=720,pixelformat=RG12 -
v4l2-ctl -d /dev/video01 --set-fmt-video=width=1280,height=720,pixelformat=RG12 --set-ctrl bypass_mode=0 --stream-mmap
```
## Documentation
## Appends
#### Kernel Changes
The Driver for the MT9M021 cameras consists on the following structure, that adds the DTB and Kernel sources, along with its Makefiles that lead its portability to a Kernel source.
.
├── hardware
│ └── nvidia-spiri
│ └── platform
│ └── t18x
│ ├── common
│ │ └── kernel-dts
│ │ └── t18x-common-platforms
│ │ ├── tegra186-tx2-spiri-camera-base.dtsi
│ │ └── tegra186-tx2-spiri-camera.dtsi
│ └── quill
│ └── kernel-dts
│ ├── Makefile
│ ├── tegra186-tx2-spiri-base.dts
│ ├── tegra186-tx2-spiri-mPCIe.dts
│ ├── tegra186-tx2-spiri-revF+.dts
│ └── tegra186-tx2-spiri-USB3.dts
├── kernel
│ ├── kernel-4.9
│ │ └── arch
│ │ └── arm64
│ │ └── configs
│ │ └── tegra_defconfig
│ └── nvidia-spiri
│ ├── drivers
│ │ └── media
│ │ ├── i2c
│ │ │ ├── Kconfig
│ │ │ ├── Makefile
│ │ │ ├── mt9m021.c
│ │ │ └── mt9m021_mode_tbls.h
│ └── include
│ └── media
│ └── mt9m021.h
└── README.md
In order to add the Driver to the Kernel, the following reference Kernel files are patched for adding custom controls that the camera implements.
* kernel/nvidia/drivers/media/platform/tegra/camera/camera_common.c
* kernel/nvidia/drivers/media/platform/tegra/camera/tegracam_ctrls.c
* kernel/nvidia/include/media/camera_common.h
* kernel/nvidia/include/media/tegra-v4l2-camera.h
#### Documentation
* <a href="https://nextcloud.spirirobotics.com/f/3369">CSI2 adapter board guide</a>
* <a href="https://nextcloud.spirirobotics.com/f/3382">Camera module data sheet</a>
* <a href="https://nextcloud.spirirobotics.com/f/3392">Camera sensor data sheet</a>