From 4acf8139e9d04c848072539508d5ce90b423f5d1 Mon Sep 17 00:00:00 2001
From: dchvs <daniel.chaves@ridgerun.com>
Date: Wed, 17 Mar 2021 17:43:06 -0600
Subject: [PATCH] documentation: Update README

---
 README.md | 33 ++++++++++++++++++---------------
 1 file changed, 18 insertions(+), 15 deletions(-)

diff --git a/README.md b/README.md
index f743bc4..1f943e6 100644
--- a/README.md
+++ b/README.md
@@ -24,10 +24,14 @@ source ~/.bashrc
 ### 2. Clone recursively the repository to the workspace's root to add the Jetpack+CTI 4.4.1 and Drivers MT9M021 and EG25-G 
 ```bash
 LINUX_FOR_TEGRA=<Linux_for_Tegra/ path>
+KERNEL_LOCATION_FROM_BUILD_DIR=../../spiri-project/source/Jetpack/kernel/kernel-4.9/
+KERNEL_LOCATION=$KERNEL_LOCATION_FROM_BUILD_DIR
+
 cd $LINUX_FOR_TEGRA
 
 git clone --recurse-submodules  https://git.spirirobotics.com/dchvs/spiri-project.git
 cd spiri-project
+
 git checkout master
 git submodule update --init --recursive --remote
 ```
@@ -43,14 +47,14 @@ sudo ./install.sh
 cd $LINUX_FOR_TEGRA/
 
 mkdir -p builds/build_<this build name> && cd builds/build_<this build name>
-mkdir build modules
+mkdir build
 
 # Create the Kernel configuration file
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
+make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ tegra_defconfig
 ```
 ```bash
 # Check for the Drivers with the "spiri" keyword
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
+make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ menuconfig
 ```
 
 By default the Drivers are installed, the tegra_defconfig include them as:
@@ -69,8 +73,7 @@ You can review it on the Kernel Menuconfig, and find it out in the following pat
 
 ```bash
 # Build the Kernel, DTBs and modules
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules 
+make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
 ```
 
 The deployed Kernel binaries after compilation could check if it has the Drivers in it, inspecting on it with rgrep:
@@ -84,14 +87,12 @@ Once the Kernel it's compiled, the output binaries should get installed on the J
 
 ```bash
 # Location for the Kernel files to be found by Tegra flash.sh script in full image installation
-+-----------------------------+     +--------------+
-| build/arch/arm64/boot/Image | --> | kernel/Image |
-+-----------------------------+     +--------------+
-
-+-----------------------------+     +-------------+
-| build/arch/arm64/boot/dts/* | --> | kernel/dtb/ |
-+-----------------------------+     +-------------+
-
++------------------------------------+     +---------------------+
+|    build/arch/arm64/boot/Image     | --> |     kernel/Image    |
++------------------------------------+     +---------------------+
++------------------------------------+     +---------------------+
+|    build/arch/arm64/boot/dts/*     | --> |     kernel/dtb/     |
++------------------------------------+     +---------------------+
 +------------------------------------+     +---------------------+
 | modules/lib/modules/4.9.140-tegra/ | --> | rootfs/lib/modules/ |
 +------------------------------------+     +---------------------+
@@ -99,10 +100,12 @@ Once the Kernel it's compiled, the output binaries should get installed on the J
 
 ```
 # Add the Kernel files for full image installation
+
 # Install the Kernel Image and DTBs
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ kernel_install INSTALL_PATH=$PWD/../../kernel/
+make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ kernel_install INSTALL_PATH=$PWD/../../kernel/
+
 # Install the Drivers modules
-sudo make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
+sudo make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
 ```
 
 In order to flash the target device, do the following commands from the workspace's root: