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The installation consists on creating a build area locatated at:
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```bash
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Linux_for_Tegra/builds/build_<spiri>
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```
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From this directory you might call the targets ```tegra_defconfig, dtbs, Image, modules``` to compile the Kernel. Please, add your projects under builds/.
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The Make targets gets sourced from the ```source/``` directory on the Jetpack workspace root, which is where this project Kernel sources are installed.
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* The ```-C``` flag for the make allows to change the directory where the Kernel source is.
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* The ```-O``` stands for the output of the build process files.
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* 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-```.
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* The ```-jN```is the flag for the parallel jobs to build with. You can find it out at your host with the command `nproc`.
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### 1. Download the Toolchain for crosscompiling
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```bash
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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
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sudo tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz -C /opt/gcc-linaro-7.3.1/
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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
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source ~/.bashrc
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```
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### 2. Clone recursively the repository to the workspace's root to add the Jetpack+CTI 4.4.1 and Drivers MT9M021 and EG25-G
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```bash
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LINUX_FOR_TEGRA=<Linux_for_Tegra/ path>
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cd $LINUX_FOR_TEGRA
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git clone --recurse-submodules https://git.spirirobotics.com/dchvs/spiri-project.git
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cd spiri-project
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git checkout master
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git submodule update --init --recursive --remote
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```
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### 3. Install the CTI BSP
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```bash
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cd CTI-L4T/
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sudo ./install.sh
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```
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### 4. Build the Spiri cameras project Kernel
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```bash
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cd $LINUX_FOR_TEGRA/
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mkdir -p builds/build_<this build name> && cd builds/build_<this build name>
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mkdir build modules
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# Create the Kernel configuration file
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make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ tegra_defconfig
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```
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```bash
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# Check for the Drivers with the "spiri" keyword
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make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ menuconfig
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```
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By default the Drivers are installed, the tegra_defconfig include them as:
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```CONFIG_VIDEO_I2C_SPIRI_CAM=y```
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```CONFIG_VIDEO_I2C_SPIRI_GSM=y```
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You can review it on the Kernel Menuconfig, and find it out in the following paths:
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```bash
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+----------------+ +--------------------+ +-------------------------------------------------------------------+ +-------------------------------------+
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| Device Drivers | --> | Multimedia support | --> | NVIDIA overlay Encoders, decoders, sensors and other helper chips | --> | Spiri MT9M021 camera sensor support |
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+----------------+ +--------------------+ +-------------------------------------------------------------------+ +-------------------------------------+
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+----------------+ +------------------------+ +----------------------+ +----------------------+
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| Device Drivers | --> | Network device support | --> | USB Network Adapters | --> | USB Network Adapters |
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+----------------+ +------------------------+ +----------------------+ +----------------------+
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```
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```bash
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# Build the Kernel, DTBs and modules
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make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ CROSS_COMPILE=${CROSS_COMPILE} -j8 --output-sync=target zImage dtbs modules
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make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/modules
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```
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The deployed Kernel binaries after compilation could check if it has the Drivers in it, inspecting on it with rgrep:
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```bash
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rgrep mt9m021 build/arch/arm64/boot/Image
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rgrep eg25-g build/arch/arm64/boot/Image
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```
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### 5. Flash the Spiri Mu
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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:
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```bash
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# Location for the Kernel files to be found by Tegra flash.sh script in full image installation
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+-----------------------------+ +--------------+
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| build/arch/arm64/boot/Image | --> | kernel/Image |
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+-----------------------------+ +--------------+
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+-----------------------------+ +-------------+
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| build/arch/arm64/boot/dts/* | --> | kernel/dtb/ |
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+-----------------------------+ +-------------+
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+------------------------------------+ +---------------------+
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| modules/lib/modules/4.9.140-tegra/ | --> | rootfs/lib/modules/ |
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+------------------------------------+ +---------------------+
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```
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```
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# Backup the default Kernel
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cp -r ../../kernel/dtb/ ../../kernel/backup_dtb/
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cp ../../kernel/Image ../../kernel/backup_Image
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sudo mv ../../rootfs/lib/modules/4.9.140-tegra/ ../../rootfs/lib/modules/backup_4.9.140-tegra/
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# Add the Kernel files for full image installation
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cp build/arch/arm64/boot/dts/* ../../kernel/dtb/
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cp build/arch/arm64/boot/Image ../../kernel/
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sudo make -C ../../spiri-project/source/Jetpack/kernel/kernel-4.9/ ARCH=arm64 O=$PWD/build/ modules_install INSTALL_MOD_PATH=$PWD/../../rootfs/
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```
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In order to flash the target device, do the following commands from the workspace's root:
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```bash
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cd $LINUX_FOR_TEGRA/
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# Full OS installation
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sudo ./flash.sh jetson-tx2 mmcblk0p1
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# Device tree installation
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sudo ./flash.sh -r -k kernel-dtb -d kernel/dtb/tegra186-tx2-spiri-revF+.dtb jetson-tx2 mmcblk0p1
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# Kernel image installation
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sudo ./flash.sh -r -k kernel -K kernel/Image jetson-tx2 mmcblk0p1
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```
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