.dockerignore

@@ -1,3 +0,0 @@
-README.md
-Dockerfile
-.git

.github/workflows/build-docker.yaml

@@ -1,63 +0,0 @@
-name: Create and publish a Docker image
-
-on:
-  push:
-
-# Defines two custom environment variables for the workflow. These are used for the Container registry domain, and a name for the Docker image that this workflow builds.
-env:
-  REGISTRY: git.spirirobotics.com
-  IMAGE_NAME: ${{ github.repository }}
-
-# There is a single job in this workflow. It's configured to run on the latest available version of Ubuntu.
-jobs:
-  build-and-push-image:
-    runs-on: ubuntu-latest
-    container: ghcr.io/catthehacker/ubuntu:act-latest
-
-    # Sets the permissions granted to the `GITHUB_TOKEN` for the actions in this job.
-    permissions:
-      contents: read
-      packages: write
-      # 
-    steps:
-      #- name: install docker
-      #  run: apt install moby-cli -y    
-      - name: Checkout repository
-        uses: actions/checkout@v4
-        with:
-          lfs: true
-          submodules: true
-      # Uses the `docker/login-action` action to log in to the Container registry registry using the account and password that will publish the packages. Once published, the packages are scoped to the account defined here.
-      - name: Log in to the Container registry
-        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.WORKFLOW_REGISTRY_TOKEN }}
-      # This step uses [docker/metadata-action](https://github.com/docker/metadata-action#about) to extract tags and labels that will be applied to the specified image. The `id` "meta" allows the output of this step to be referenced in a subsequent step. The `images` value provides the base name for the tags and labels.
-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-
-      # - name: Set up QEMU
-      #   uses: docker/setup-qemu-action@v2
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      # This step uses the `docker/build-push-action` action to build the image, based on your repository's `Dockerfile`. If the build succeeds, it pushes the image to GitHub Packages.
-      # It uses the `context` parameter to define the build's context as the set of files located in the specified path. For more information, see "[Usage](https://github.com/docker/build-push-action#usage)" in the README of the `docker/build-push-action` repository.
-      # It uses the `tags` and `labels` parameters to tag and label the image with the output from the "meta" step.
-      - name: Build Docker image
-        uses: docker/build-push-action@v5
-        env:
-          #Hack for gitea/github weirdness.
-          ACTIONS_RUNTIME_TOKEN: ''
-        with:
-          context: .
-          platforms: linux/arm64
-          push: true
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-

.gitmodules

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

Dockerfile

@@ -1,36 +0,0 @@
-from --platform=linux/amd64 git.spirirobotics.com/spiri/tx2-flashing-tool:main as kernel-build
-
-RUN apt-get update
-RUN apt-get install -y ripgrep
-
-ADD ./source/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz /opt/gcc-linaro-7.3.1/
-ENV CROSS_COMPILE /opt/gcc-linaro-7.3.1/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
-
-ENV LINUX_FOR_TEGRA /jetson/Linux_for_Tegra
-ENV KERNEL_LOCATION_FROM_BUILD_DIR ../../spiri-project/source/Jetpack/kernel/kernel-4.9/
-ENV KERNEL_LOCATION $KERNEL_LOCATION_FROM_BUILD_DIR
-
-COPY ./ /jetson/Linux_for_Tegra/spiri-project
-
-WORKDIR /jetson/Linux_for_Tegra/spiri-project/CTI-L4T/
-RUN ./install.sh
-
-RUN mkdir -p /jetson/Linux_for_Tegra/builds/build_tx2/build
-
-WORKDIR /jetson/Linux_for_Tegra/builds/build_tx2/
-RUN make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ tegra_defconfig
-RUN nice make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j$(nproc --ignore 2) --output-sync=target zImage dtbs modules
-
-#Fail if we're missing either of these kenel module
-RUN rg mt9m021 build/arch/arm64/boot/Image
-RUN rg eg25-g build/arch/arm64/boot/Image
-
-RUN mkdir -p /build/boot/
-RUN mkdir -p /build/lib/modules/
-
-FROM --platform=linux/arm64 scratch
-# FROM kernel-build
-
-COPY --from=kernel-build /jetson/Linux_for_Tegra/builds/build_tx2/build/arch/arm64/boot/Image /build/boot/spiriImage
-COPY --from=kernel-build /jetson/Linux_for_Tegra/builds/build_tx2/build/arch/arm64/boot/dts/tegra186-tx2-spiri-revF+.dtb /build/boot/
-COPY ./extlinux.conf /build/boot/extlinux/extlinux.conf

Jetpack

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

README.md

@@ -1,124 +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/.
 
-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`.
+## Spiri cameras project installation 
 
-### 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>
-KERNEL_LOCATION_FROM_BUILD_DIR=../../spiri-project/source/Jetpack/kernel/kernel-4.9/
-KERNEL_LOCATION=$KERNEL_LOCATION_FROM_BUILD_DIR
-
 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
 
-# Create the Kernel configuration file
-make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ tegra_defconfig
+mkdir build modules
+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 $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ menuconfig
-```
+# 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/
 
-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 |
-+----------------+     +--------------------+     +-------------------------------------------------------------------+     +-------------------------------------+
+# Install the Kernel
+cp build/arch/arm64/boot/dts/* ../../kernel/dtb/ 
+cp build/arch/arm64/boot/Image ../../kernel/
+sudo make -C ../../source/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
 
-+----------------+     +------------------------+     +----------------------+     +----------------------+
-| Device Drivers | --> | Network device support | --> | USB Network Adapters | --> | USB Network Adapters |
-+----------------+     +------------------------+     +----------------------+     +----------------------+
-```
-
-```bash
-# Build the Kernel, DTBs and 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:
-```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/ |
-+------------------------------------+     +---------------------+
-```
-
-```
-# Add the Kernel files for full image installation
-
-# Install the Kernel Image and DTBs
-make -C $KERNEL_LOCATION ARCH=arm64 O=$PWD/build/ kernel_install INSTALL_PATH=$PWD/../../kernel/
-
-# Install the Drivers modules
-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:
-
-```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

extlinux.conf

@@ -1,12 +0,0 @@
-TIMEOUT 2
-DEFAULT primary
-
-MENU TITLE L4T boot options
-
-LABEL primary
-      MENU LABEL primary kernel
-      LINUX /boot/spiriImage
-      FDT /boot/tegra186-tx2-spiri-revF+.dtb
-      INITRD /boot/initrd
-      APPEND ${cbootargs} quiet
-

li-mt9m021

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

source/.gitattributes

@@ -1 +0,0 @@
-gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz filter=lfs diff=lfs merge=lfs -text

source/Jetpack

@@ -1 +0,0 @@
-Subproject commit 10faeae40c2ec8147da5dc141ba5f0d5ceafed37

source/drivers/eg25-g

@@ -1 +0,0 @@
-Subproject commit 771948b95dcd4ffb14abf0eb3cbf5f103e89c364

source/drivers/li-mt9m021

@@ -1 +0,0 @@
-Subproject commit a324c5b05e26adeab2d48bbcac04b7ba534415fc