README.md

@@ -1,23 +1,7 @@
 # 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.
+```bash
+. 
+├── 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>