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Line 1: − = Nvidia Jetson platform VEYE and CS series camera driver source code compilation guide =+ + + + + + + + + + + + + + Line 11:
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Line 47: − + − Please refer to：[[VEYE CS Camera for Jetson TX2#Setting Up the Host PC Environment|3.5.1 Setting Up the Host PC Environment]].+ + + + + + + − The following operations are done in HOST PC.+ − + − + + + + + + + + + + + + + + − <code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code>+ − + − ===Build kernel=== − ==== patch code ====+ − <code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code> − ''- r32.2.1''+ − <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.2.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>+ − ''- r32.3.1''+ − <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.3.1 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>+ − ''- r32.4.2''+ − <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.2 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>+ − ''- r32.4.3''+ − <code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_32.4.3 $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>+ − ==== build ====+ − − <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig</code>+ − + − Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.+ − Install Image for Flashing:+ − <code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>+ − *For xavier，need sign the file+ − <code>cd $L4T_DIR</code>+ − + − ===Build DTS=== − *patch code+ − ''- '''Nano@Jetpack4.2.2'''''+ − <code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>+ − For VEYE-MIPI-327+ − <code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>+ − For CS-MIPI-IMX307+ + + − + − ''- '''Nano@Jetpack4.3'''''+ − + − For VEYE-MIPI-327+ − + − For CS-MIPI-IMX307+ − + − ''- '''Nano@Jetpack4.4'''''+ − + − For VEYE-MIPI-327+ − + − For CS-MIPI-IMX307+ − <code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>+ − For CS-MIPI-SC132+ − + − ''- '''Jetson TX2@Jetpack4.2.2'''''+ − + − For CS-MIPI-IMX307+ − + − For VEYE-MIPI-327+ − + + − ''- '''TX2@Jetpack4.3'''''+ − + + + − + + − <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>+ − For CS-MIPI-SC132+ + − <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>+ − For VEYE-MIPI-327+ − + − ''- '''TX2@Jetpack4.4'''''+ − + + − For CS-MIPI-IMX307+ − + + − For CS-MIPI-SC132+ + − + − For VEYE-MIPI-327+ − <code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>+ − ''- '''AGX Xavier@Jetpack4.2.2'''''+ + − + − For CS-MIPI-IMX307+ − <code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>+ + − For VEYE-MIPI-327+ − + − ''- '''AGX Xavier@Jetpack4.3'''''+ − + − For CS-MIPI-IMX307+ + + − + − For CS-MIPI-SC132+ + + − + + − + − + − ''- '''AGX Xavier@Jetpack4.4'''''+ + − + − For CS-MIPI-IMX307+ − + − For CS-MIPI-SC132+ + − + − For VEYE-MIPI-327+ − + + − ''- '''Xavier NX@Jetpack4.4'''''+ − + − For CS-MIPI-IMX307+ + − + − For CS-MIPI-SC132+ − + − For VEYE-MIPI-327+ − <code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>+ − *build+ + + + + + + − + + + + − + − + − ''- TX2''+ + + + + + − + + − ''- AGX XAVIER''+ + − + + − ''- XAVIER NX''+ − + + − +
VEYE CS Camera source for Jetson (view source)
Revision as of 14:17, 25 September 2023
, 14:17, 25 September 2023→Overview
[[VEYE CS Camera source for Jetson/zh|查看中文]]
[[VEYE CS Camera source for Jetson/zh|查看中文]]
'''Nvidia Jetson platform VEYE camera driver source code compilation guide'''
=== Overview ===
=== Overview ===
NVIDIA has released Linux developer guide for each Jetpack version. For example, L4T [https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/index.html 35.1] and [https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-325/#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/kernel_custom.html# 32.5].
This section is based on the official Kernel Customization section, so please refer to the official documentation for any lack of detail.
We use a host pc with Ubuntu installed and a Jetson board as our development environment.
* Jetpack 4.x
driver is compiled together with the linux kernel on the host pc. dtb is also compiled on the host pc.
* Jetpack5.x
The driver is compiled to modules, on the Jetson board. dtb compilation is done on the host pc.
==== Jetpack version VS. L4T version ====
==== Jetpack version VS. L4T version ====
*Jetpack4.4,L4T r32.4.3
*Jetpack4.4,L4T r32.4.3
*Jetpack4.4.1,L4T r32.4.4
*Jetpack4.4.1,L4T r32.4.4
*Jetpack4.5,L4T r32.5
*Jetpack4.5.1,L4T r32.5.1
*Jetpack4.6, L4T r32.6.1
*Jetpack4.6.1, L4T r32.7.1
*Jetpack4.6.2, L4T r32.7.2
*Jetpack4.6.3, L4T r32.7.3
*Jetpack5.0.1DP,L4T r34.1.1
*Jetpack5.0.2, L4T r35.1
*Jetpack5.1, L4T r35.2.1
*Jetpack5.1.1, L4T r35.3.1
*Jetpack5.1.2, L4T r35.4.1
====Check the current L4T version====
====Check the current L4T version====
It means L4t Verion is 32.4.3
It means L4t Verion is 32.4.3
=== Setting Up the Host PC Environment ===
=== Set up the Host PC environment ===
The following operations are done in HOST PC.
==== Cross-compiling Toolchain ====
* Jetpack4.xPlease refer to this [https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA link] to install toolchain on your Host PC.
* Jetpack5.x
Please refer to this [https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/AT/JetsonLinuxToolchain.html link] to install toolchain on your Host PC.
===Download our bsp package for Jetson===
<code>cd $L4T_DIR</code>
==== L4T source code and Rootfs ====
Please download the Linux_for_Tegra SDK via SDK Manager first.
You could use SDK Manager or [https://developer.nvidia.com/embedded/downloads directly download] to get source code. I recommend the direct download method.
Sync code as this if you use SDK Manager:
''- Jetpack4.2.2''
<code>./source_sync.sh -t tegra-l4t-r32.2.1</code>
''- Jetpack4.3''
<code>./source_sync.sh -t tegra-l4t-r32.3.1</code>
''- Jetpack4.4''
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
<code>./source_sync.sh -t tegra-l4t-r32.4.3</code>
''- Jetpack4.4.1''
<code>./source_sync.sh -t tegra-l4t-r32.4.4</code>
''- Jetpack4.5''
<code>./source_sync.sh -t tegra-l4t-r32.5</code>
''- Jetpack4.5.1''
<code>./source_sync.sh -t tegra-l4t-r32.5.1</code>
''- Jetpack4.5.1''
<code>./source_sync.sh -t tegra-l4t-r32.5.1</code>
''- Jetpack4.6''
<code>./source_sync.sh -t tegra-l4t-r32.6.1</code>
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
''- Jetpack4.6.1''
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
<code>./source_sync.sh -t tegra-l4t-r32.7.1</code>
''- Jetpack4.6.2''
[https://forums.developer.nvidia.com/t/source-sync-sh-fails-with-tegra-l4t-r32-7-2-tag/212787/5 Nvidia did not push sources to nv-tegra for this 32.7.2 release because there have been no changes in the kernel and DTS compared to 32.7.1 release.]
''- Jetpack5.0.1 DP''
<code>./source_sync.sh -t jetson_34.1.1</code>
''- Jetpack5.0.2''
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
<code>./source_sync.sh -t jetson_35.1</code>
''- Jetpack5.1''
<code>./source_sync.sh -t jetson_35.2.1</code>
''- Jetpack5.1.1''
<code>./source_sync.sh -t jetson_35.3.1</code>
''- Jetpack5.1.2''
<code>./source_sync.sh -t jetson_35.4.1</code>
==== Setting Up the Environment ====
Assume SDK install directory is <TOPDIR>，source code is in $L4T_DIR/sources directory.
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.2.2_Linux_GA_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
<code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code>
<code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
<code>export LOCALVERSION=-tegra</code>
<code>export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
<code>export ARCH=arm64</code>
<code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.3_Linux_P3448/dts\ dtb/CS-MIPI-IMX307/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
<code>export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel</code>
<code>export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
<code>export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/</code>
<code>export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/VEYE-MIPI-327/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
<code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/</code>
* Jetpack 4.x only
<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_4.4_Linux_JETSON_NANO_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
* Jetpack 5.x only
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
<code>export CROSS_COMPILE_AARCH64_PATH=$HOME/l4t-gcc</code>
<code>export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
<code>export CROSS_COMPILE=$CROSS_COMPILE_AARCH64</code>
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.2.2_Linux_GA_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
===Download our bsp package for Jetson===
<code>cd $L4T_DIR</code>
<code>git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp<nowiki/>.git</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
<code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code>
===Build kernel===
For Jetpack version 4.x and for using MV series cameras under Jetpack version 5.x, the kernel needs to be compiled.
For CS-MIPI-IMX307
==== kernel patch for MV series ====
For MV series camera, besides adding the camera driver in Linux system, we also add a kernel patch - veye_mv_l4t_[version].patch.
This patch has two features：
# Added support for both Y10 and Y12 data formats for Mono cameras.
# Added support for trigger mode.
This patch package can be left out for VEYE series and CS series cameras.
<code>cd $L4T_DIR/sources/kernel/</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.3_Linux_P3310/dts\ dtb/VEYE-MIPI-327/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
<code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code>
==== For Jetpack 4.x, the camera driver is compiled into the Image ====
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
===== patch code =====
<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>
<code>cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_<l4t_version> $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-IMX307/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
===== Modify Kconfig and Makefile =====
Modify the Kconfig and Makefile files under the <code>$NVIDIA_PATH/drivers/media/i2c/</code> directory to add the corresponding camera driver compilation options.
===== build =====
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_4.4_Linux_JETSON_TX2/dts\ dtb/CS-MIPI-SC132/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
==== For Jetpack 5.x, there is no need to compile the camera driver into the Image ====
===== build =====
<code>cd $L4T_DIR/sources/</code>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
<code>./nvbuild.sh -o $TEGRA_KERNEL_OUT</code>
<code>nvbuild.sh</code> is only included in the <code>kernel_src.tbz2</code> tar file that is part of <code>public_sources.tbz2</code>. If the kernel sources were synced from the Git server, you need to manually copy <code>nvbuild.sh</code> from the tar file.
==== Build completed ====
Completed Image file is $TEGRA_KERNEL_OUT/arch/arm64/boot/Image，could be used for Flashing or Upgrading.
Install Image for Flashing:
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.2.2_Linux_GA_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
*For Xavier and Orin，need sign the file
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
<code>cd $L4T_DIR</code>
<code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
===Build modules(Jetpack5.x)===
For version later than Jetpack 5.x, can compile the driver directly as modules to get the ko file. It is recommended to compile the driver directly on Jetson Board.
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
<code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code>
<code>make -f Makefile</code>
===Build DTS===
Patch code first.
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
==== Nano ====
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_<ver>_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/</code>
For VEYE-MIPI-327
For <camera model>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.3_Linux_P2888/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
<code>cp $RELEASE_PACK_DIR/Nano/JetPack_<ver>_Linux_JETSON_NANO_DEVKIT/dts\ dtb/<camera model>/tegra210-porg-plugin-manager.dtsi -r $NANO_DTS_PATH/porg/kernel-dts/porg-plugin-manager</code>
==== TX2 ====
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
For <camera model>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/<camera model>/tegra186-quill-p3310-1000-a00-00-base.dts $TX2_DTS_PATH/quill/kernel-dts/</code>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-IMX307/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
<code>cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/<camera model>/tegra186-p3636-0001-p3509-0000-a01.dts $TX2_DTS_PATH/lanai/kernel-dts</code>
==== AGX Xavier ====
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_<ver>_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/CS-MIPI-SC132/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
For <camera model>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_<ver>_Linux_JETSON_AGX_XAVIER/dts\ dtb/<camera model>/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
<code>cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_4.4_Linux_JETSON_AGX_XAVIER/dts\ dtb/VEYE-MIPI-327/tegra194-p2888-0001-p2822-0000.dts $XAVIER_DTS_PATH/galen/kernel-dts/</code>
==== NX ====
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
For <camera model>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/<camera model>/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
==== Orin ====
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/common/t23x/* -r $ORIN_DTS_PATH/</code>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-IMX307/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
For <camera model>
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3737-camera-modules.dtsi $ORIN_DTS_PATH/concord/kernel-dts/cvb/</code>
<code>cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_4.4_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/CS-MIPI-SC132/tegra194-p3509-0000-a00.dtsi $XAVIER_DTS_PATH/jakku/kernel-dts/common/</code>
<code>cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3768-0000-a0.dtsi $ORIN_DTS_PATH/p3768/kernel-dts/cvb</code>
==== build ====
* For Jetpack4.X
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts</code>
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
<code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
* For Jetpack5.X
<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia</code>
<code>cd $L4T_DIR/sources/kernel/kernel-5.10/</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
<code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs</code>
- ''Nano''
You can get the compiled DTB file in the following path.
===== Nano =====
<code>$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-a02.dtb</code>
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-a02.dtb $L4T_DIR/kernel/dtb/</code>
<code>$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-b00.dtb</code>
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra210-p3448-0000-p3449-0000-b00.dtb $L4T_DIR/kernel/dtb/</code>
<code>$COMMON_DTS_PATH/tegra210-p3448-0003-p3542-0000.dtb</code>
===== TX2 =====
<code>$COMMON_DTS_PATH/tegra186-quill-p3310-1000-c03-00-base.dtb</code>
=====TX2 NX(p3509-0000 carrier board)=====
<code>$COMMON_DTS_PATH/tegra186-p3636-0001-p3509-0000-a01.dtb</code>
===== AGX XAVIER =====
<code>$COMMON_DTS_PATH/tegra194-p2888-0001-p2822-0000.dtb</code>
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra186-quill-p3310-1000-c03-00-base.dtb $L4T_DIR/kernel/dtb/</code>
===== XAVIER NX =====
<code>$COMMON_DTS_PATH/tegra194-p3668-all-p3509-0000.dtb</code>
===== AGX Orin =====
<code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code>
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p2888-0001-p2822-0000.dtb</code>
===== Orin Nano =====
<code>$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb</code>
<code>$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb</code>
<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/tegra194-p3668-all-p3509-0000.dtb $L4T_DIR/kernel/dtb/</code>
===== Orin NX =====
<code>$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb</code>
<br />
<code>$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb</code><br />