.gitmodules

@@ -1,16 +1,16 @@
-[submodule "source/Jetpack"]
-	path = source/Jetpack
+[submodule "Jetpack"]
+	path = Jetpack
 	url = https://git.spirirobotics.com/dchvs/Jetpack.git
 	branch = cti-jetpack-4.4.1
-[submodule "source/drivers/li-mt9m021"]
-	path = source/drivers/li-mt9m021
-	url = https://git.spirirobotics.com/dchvs/li-mt9m021.git
-	branch = jetpack-4.4.1
 [submodule "CTI-L4T"]
 	path = CTI-L4T
 	url = https://git.spirirobotics.com/dchvs/CTI-L4T.git
 	branch = 4.4.1/feature/install-script-on-level2-directory
-[submodule "source/drivers/eg25-g"]
-	path = source/drivers/eg25-g
+[submodule "li-mt9m021"]
+	path = li-mt9m021
+	url = https://git.spirirobotics.com/dchvs/li-mt9m021.git
+	branch = jetpack-4.4.1
+[submodule "eg25-g"]
+	path = eg25-g
 	url = https://git.spirirobotics.com/dchvs/eg25-g.git
-	branch = 4.4.1/tx2-cti/quectel-module
+	branch = master

Jetpack

@@ -0,0 +1 @@
+Subproject commit f578b9924372cc7439f7122be030fc9e93a28203

README.md

@@ -1,127 +1,60 @@
-The installation consists on creating a build area locatated at:
 
-```bash
-Linux_for_Tegra/builds/build_<spiri>
-```
-From this directory you might call the targets ```tegra_defconfig, dtbs, Image, modules``` to compile the Kernel. Please, add your projects under builds/.
+## Spiri cameras project installation 
 
-The Make targets gets sourced from the ```source/``` directory on the Jetpack workspace root, which is where this project Kernel sources are installed.
-* The ```-C``` flag for the make allows to change the directory where the Kernel source is.
-* The ```-O``` stands for the output of the build process files.
-* CROSS_COMPILE=${CROSS_COMPILE}, passes the C cross compiler. The recomended for this CTI release it's ```/opt/gcc-linaro-7.3.1/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-```.
-* The ```-jN```is the flag for the parallel jobs to build with. You can find it out at your host with the command `nproc`.
-
-### 1. Download the Toolchain for crosscompiling
-```bash
-wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
-sudo tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz -C /opt/gcc-linaro-7.3.1/
-
-echo "export CROSS_COMPILE=/opt/gcc-linaro-7.3.1/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-" >> ~/.bashrc
-
-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>
 cd $LINUX_FOR_TEGRA
 
+# Clone the repository to the workspace
 git clone --recurse-submodules  https://git.spirirobotics.com/dchvs/spiri-project.git
 cd spiri-project
-git checkout master
+git checkout 4.4.1/tx2-cti/camera-driver-dev
 git submodule update --init --recursive --remote
-```
 
-### 3. Install the CTI BSP
-```bash
+# Install the CTI BSP
 cd CTI-L4T/
 sudo ./install.sh
-```
 
-### 4. Build the Spiri cameras project Kernel
-```bash
-cd $LINUX_FOR_TEGRA/
+# Install the Jetpack+CTI 4.4.1 and Driver MT9M021 to source/ directory
+cd $LINUX_FOR_TEGRA
+mkdir source/ && cd source/
+cp -r ../spiri-project/Jetpack/* .
+cp -r ../spiri-project/li-mt9m021/ .
 
+# Compile the sources
+cd $LINUX_FOR_TEGRA
 mkdir -p builds/build_<this build name> && cd builds/build_<this build name>
+
 mkdir build modules
-
-# Create the Kernel configuration file
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
+make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules 
 ```
+
+## Flash the Spiri MU
 ```bash
-# Check for the Drivers with the "spiri" keyword
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
-```
-
-By default the Drivers are installed, the tegra_defconfig include them as:
-```CONFIG_VIDEO_I2C_SPIRI_CAM=y```
-```CONFIG_VIDEO_I2C_SPIRI_GSM=y```
-You can review it on the Kernel Menuconfig, and find it out in the following paths:
-```bash
-+----------------+     +--------------------+     +-------------------------------------------------------------------+     +-------------------------------------+
-| Device Drivers | --> | Multimedia support | --> | NVIDIA overlay Encoders, decoders, sensors and other helper chips | --> | Spiri MT9M021 camera sensor support |
-+----------------+     +--------------------+     +-------------------------------------------------------------------+     +-------------------------------------+
-
-+----------------+     +------------------------+     +----------------------+     +----------------------+
-| Device Drivers | --> | Network device support | --> | USB Network Adapters | --> | USB Network Adapters |
-+----------------+     +------------------------+     +----------------------+     +----------------------+
-```
-
-```bash
-# Build the Kernel, DTBs and modules
-make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$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 
-```
-
-The deployed Kernel binaries after compilation could check if it has the Drivers in it, inspecting on it with rgrep:
-```bash
-rgrep mt9m021 build/arch/arm64/boot/Image
-rgrep eg25-g build/arch/arm64/boot/Image
-```
-
-### 5. Flash the Spiri Mu
-Once the Kernel it's compiled, the output binaries should get installed on the Jetpack workspace, letting the flash scripts deploy them into the target device. The update for the flash scripts deployment it's ilustrated as follows:
-
-```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/ |
-+-----------------------------+     +-------------+
-
-+------------------------------------+     +---------------------+
-| modules/lib/modules/4.9.140-tegra/ | --> | rootfs/lib/modules/ |
-+------------------------------------+     +---------------------+
-```
-
-```
 # Backup the default Kernel
 cp  -r ../../kernel/dtb/  ../../kernel/backup_dtb/
 cp  ../../kernel/Image  ../../kernel/backup_Image
 sudo mv  ../../rootfs/lib/modules/4.9.140-tegra/   ../../rootfs/lib/modules/backup_4.9.140-tegra/
 
-# Add the Kernel files for full image installation
+# Install the Kernel
 cp build/arch/arm64/boot/dts/* ../../kernel/dtb/ 
 cp build/arch/arm64/boot/Image ../../kernel/
-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 ../../source/kernel/kernel-4.9/ 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:
-
-```bash
-cd $LINUX_FOR_TEGRA/
-
-# Full OS installation 
+# Flash the Spiri MU
+cd $LINUX_FOR_TEGRA
 sudo ./flash.sh jetson-tx2 mmcblk0p1
-
-# Device tree installation
-sudo ./flash.sh -r -k kernel-dtb -d kernel/dtb/tegra186-tx2-spiri-revF+.dtb jetson-tx2 mmcblk0p1
-
-# Kernel image installation
-sudo ./flash.sh -r -k kernel -K kernel/Image jetson-tx2 mmcblk0p1
-
+```
+
+## Capture test
+```bash
+# Sender endpoint
+gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12,framerate=(fraction)30/1' ! omxh264enc control-rate=2 bitrate=8000000 ! 'video/x-h264, stream-format=(string)byte-stream' ! h264parse ! rtph264pay mtu=1400 ! udpsink host=$HOST_IP port=5000 sync=false async=false
+
+# Receiver endpoint
+gst-launch-1.0 udpsrc port=5000 ! "application/x-rtp,media=(string)video,payload=(int)96,clock-rate=(int)90000,encoding-name=(string)H264" ! rtph264depay ! queue ! avdec_h264 ! xvimagesink sync=true async=false
 ```
 

eg25-g

@@ -0,0 +1 @@
+Subproject commit 480df7a9f40a98df7355970373aed26792c74e1c

li-mt9m021

@@ -0,0 +1 @@
+Subproject commit 6b9e2b6b54c1d03ca81339ef91ad24ab4722a89b

source/Jetpack

@@ -1 +0,0 @@
-Subproject commit 95c069085f35530c71e4d216cbb298a917532e4b

source/drivers/eg25-g

@@ -1 +0,0 @@
-Subproject commit 8ef1521acd107421302ce1c39dbf3b15e9c69da4

source/drivers/li-mt9m021

@@ -1 +0,0 @@
-Subproject commit a606c4ece1c00195ea7fcaaf9ced561fb9bf992f