Difference between revisions of "VEYE CS Camera source for Jetson/zh"

Latest revision as of 14:54, 22 May 2024

English

英伟达Jetson平台上VEYE摄像头驱动源码编译指南

1 概述

NVIDIA为每个Jetpack版本都发布了Linux开发文档。比如L4T 35.1和32.5。本章节是以官方的Kernel Customization章节为基础的，不够详尽之处，请参考官方文档。

我们使用安装Ubuntu的host pc和Jetson板子作开发环境。

Jetpack4.x

驱动与linux内核编译到一起，在host pc上进行。dtb的编译也在host pc进行。

Jetpack5.x

驱动独立于linux内核，编译为modules，在Jetson板上进行。dtb的编译在host pc进行。

1.1 版本对应关系

Jetpack4.2.2,L4T版本r32.2.1
Jetpack4.3,L4T版本r32.3.1
Jetpack4.4,L4T版本r32.4.3
Jetpack4.4.1,L4T版本r32.4.4
Jetpack4.5,L4T版本r32.5
Jetpack4.5.1,L4T版本r32.5.1
Jetpack4.6,L4T版本r32.6.1
Jetpack4.6.1,L4T版本r32.7.1
Jetpack4.6.2,L4T版本r32.7.2
Jetpack4.6.3,L4T版本r32.7.3
Jetpack5.0.1DP,L4T版本r34.1.1
Jetpack5.0.2, L4T版本r35.1
Jetpack5.1, L4T版本r35.2.1
Jetpack5.1.1, L4T版本r35.3.1
Jetpack5.1.2, L4T版本r35.4.1
Jetpack5.1.3, L4T版本r35.5

1.2 查看当前L4T版本

首先查看当前L4T版本，尽量使用同一版本进行替换。

cat /etc/nv_tegra_release

如显示:

# R32 (release), REVISION: 4.3......

则表示当前版本为32.4.3。

2 HOST开发环境准备

以下操作均为在HOST PC进行。

2.1 编译工具链

Jetpack4.x

请参考这个链接安装编译工具链。

Jetpack5.x

请参考这个链接安装编译工具链。

2.2 L4T源码和Rootfs

首先使用SDK Manager在HOST PC上面下载对应的Linux_for_Tegra开发包。

可以通过SDK Manager或者直接下载两种方式来获得源码。具体参考官方文档，此处不再赘述。我推荐直接下载的方式。

使用SDK Manager时同步代码采用如下指令：

- Jetpack4.2.2

./source_sync.sh -t tegra-l4t-r32.2.1

- Jetpack4.3

./source_sync.sh -t tegra-l4t-r32.3.1

- Jetpack4.4

./source_sync.sh -t tegra-l4t-r32.4.3

- Jetpack4.4.1

./source_sync.sh -t tegra-l4t-r32.4.4

- Jetpack4.5

./source_sync.sh -t tegra-l4t-r32.5

- Jetpack4.5.1

./source_sync.sh -t tegra-l4t-r32.5.1

- Jetpack4.6

./source_sync.sh -t tegra-l4t-r32.6.1

- Jetpack4.6.1

./source_sync.sh -t tegra-l4t-r32.7.1

- Jetpack4.6.2

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.

- Jetpack4.6.3

./source_sync.sh -t tegra-l4t-r32.7.3

- Jetpack5.0.1 DP

./source_sync.sh -t jetson_34.1.1

- Jetpack5.0.2

./source_sync.sh -t jetson_35.1

- Jetpack5.1

./source_sync.sh -t jetson_35.2.1

- Jetpack5.1.1

./source_sync.sh -t jetson_35.3.1

- Jetpack5.1.2

./source_sync.sh -t jetson_35.4.1

- Jetpack5.1.3

./source_sync.sh -t jetson_35.5

2.3 配置开发环境

以下步骤假设SDK安装目录为<TOPDIR>，源代码在$L4T_DIR/sources目录。

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/>

通用部分

export L4T_DIR=$TOP_DIR/Linux_for_Tegra

export LOCALVERSION=-tegra

export LDK_ROOTFS_DIR=$TOP_DIR/Linux_for_Tegra/rootfs

export ARCH=arm64

export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel

export KERNEL_PATH=$L4T_DIR/sources/kernel/out_kernel

export NVIDIA_PATH=$L4T_DIR/sources/kernel/nvidia

export NANO_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t210/

export TX2_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t18x

export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x

export ORIN_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t23x

Jetpack 4.x

export CROSS_COMPILE=aarch64-linux-gnu-

export CROSS32CC=arm-linux-gnueabihf-gcc

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/

Jetpack 5.x

export CROSS_COMPILE_AARCH64_PATH=$HOME/l4t-gcc

export CROSS_COMPILE_AARCH64=$HOME/l4t-gcc/bin/aarch64-buildroot-linux-gnu-

export CROSS_COMPILE=$CROSS_COMPILE_AARCH64

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia

3 下载我们的bsp包

cd $L4T_DIR

git clone https://github.com/veyeimaging/nvidia_jetson_veye_bsp.git

export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp

4 编译kernel

对于Jetpack4.x版本以及在Jetpack5.x版本下使用MV系列相机的，需要编译kernel。

4.1 MV系列相机的patch包

对于MV系列相机，除了在linux系统中增加了摄像头的驱动，我们还增加了一个内核补丁——veye_mv_l4t_[version].patch。

这个patch具备两个功能：

增加了黑白相机的Y10和Y12两种数据格式的支持。
增加了trigger模式的支持。

这个补丁包对于VEYE系列和CS系列相机，可以不使用。

cd $L4T_DIR/sources/kernel/

patch -p1 < [path to]veye_mv_l4t_[version].patch

4.2 对于Jetpack4.x,将camera驱动编译进Image

4.2.1 patch代码

cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/

cp $RELEASE_PACK_DIR/drivers_source/kernel_veyecam_config_<l4t_version> $L4T_DIR/sources/kernel/kernel-4.9/arch/arm64/configs/tegra_veyecam_defconfig

4.2.2 修改Kconfig和Makefile

手动修改$NVIDIA_PATH/drivers/media/i2c/目录下的Kconfig和Makefile，增加对应camera驱动的编译选项。

4.2.3 编译

cd $L4T_DIR/sources/kernel/kernel-4.9/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_veyecam_defconfig

make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4

4.3 对于Jetpack5.x,无需将camera驱动编译进Image

4.3.1 编译

cd $L4T_DIR/sources/

./nvbuild.sh -o $TEGRA_KERNEL_OUT

如果没有找到此脚本：

nvbuild.sh is only included in the kernel_src.tbz2 tar file that is part of public_sources.tbz2. If the kernel sources were synced from the Git server, you need to manually copy nvbuild.sh from the tar file.

4.4 编译完成

编译完成的Image文件在：

$TEGRA_KERNEL_OUT/arch/arm64/boot/Image

可以用于整体烧写，也可以用于动态升级。

以下用于整体烧写

cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f

对于xavier和Orin，需要进行签名

cd $L4T_DIR

./l4t_sign_image.sh --file kernel/Image --chip 0x19

5 编译modules(Jetpack5.x)

Jetpack5.x以后的版本，可以直接以modules方式编译驱动，得到ko文件。推荐直接在Jetson Board上面编译驱动。

cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/

make

6 编译DTS

首先需要patch代码。

6.1 Nano

cp $RELEASE_PACK_DIR/Nano/JetPack_<ver>_Linux_JETSON_NANO_DEVKIT/dts\ dtb/common/t210/* -r $NANO_DTS_PATH/

For <camera model>

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

6.2 TX2

cp $RELEASE_PACK_DIR/TX2/JetPack_<ver>_Linux_JETSON_TX2/dts\ dtb/common/t18x/* -r $TX2_DTS_PATH/

For <camera model>

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/

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

6.3 AGX Xavier

cp $RELEASE_PACK_DIR/AGX-Xaviar/JetPack_<ver>_Linux_JETSON_AGX_XAVIER/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For <camera model>

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/

6.4 Xavier NX

cp $RELEASE_PACK_DIR/Xavier-NX/JetPack_<ver>_Linux_JETSON_XAVIER_NX_DEVKIT/dts\ dtb/common/t19x/* -r $XAVIER_DTS_PATH/

For <camera model>

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/

6.5 Orin

cp $RELEASE_PACK_DIR/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/common/t23x/* -r $ORIN_DTS_PATH/

For <camera model>

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/

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

6.6 编译

For Jetpack4.X

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts

cd $L4T_DIR/sources/kernel/kernel-4.9/

For Jetpack5.X

export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia

cd $L4T_DIR/sources/kernel/kernel-5.10/

make ARCH=arm64 O=$TEGRA_KERNEL_OUT dtbs

You can get the compiled DTB file in the following path.

6.6.1 Nano

$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-a02.dtb

$COMMON_DTS_PATH/tegra210-p3448-0000-p3449-0000-b00.dtb

$COMMON_DTS_PATH/tegra210-p3448-0003-p3542-0000.dtb

6.6.2 TX2

$COMMON_DTS_PATH/tegra186-quill-p3310-1000-c03-00-base.dtb

6.6.3 TX2 NX(p3509-0000 carrier board)

$COMMON_DTS_PATH/tegra186-p3636-0001-p3509-0000-a01.dtb

6.6.4 AGX XAVIER

$COMMON_DTS_PATH/tegra194-p2888-0001-p2822-0000.dtb

6.6.5 XAVIER NX

$COMMON_DTS_PATH/tegra194-p3668-all-p3509-0000.dtb

6.6.6 AGX Orin

$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb

6.6.7 Orin Nano

$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb

$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb

6.6.8 Orin NX

$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb

$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb

Difference between revisions of "VEYE CS Camera source for Jetson/zh"

Latest revision as of 14:54, 22 May 2024

Contents

1 概述

1.1 版本对应关系

1.2 查看当前L4T版本

2 HOST开发环境准备

2.1 编译工具链

2.2 L4T源码和Rootfs

2.3 配置开发环境

3 下载我们的bsp包

4 编译kernel

4.1 MV系列相机的patch包

4.2 对于Jetpack4.x,将camera驱动编译进Image

4.2.1 patch代码

4.2.2 修改Kconfig和Makefile

4.2.3 编译

4.3 对于Jetpack5.x,无需将camera驱动编译进Image

4.3.1 编译

4.4 编译完成

5 编译modules(Jetpack5.x)

6 编译DTS

6.1 Nano

6.2 TX2

6.3 AGX Xavier

6.4 Xavier NX

6.5 Orin

6.6 编译

6.6.1 Nano

6.6.2 TX2

6.6.3 TX2 NX(p3509-0000 carrier board)

6.6.4 AGX XAVIER

6.6.5 XAVIER NX

6.6.6 AGX Orin

6.6.7 Orin Nano

6.6.8 Orin NX

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@@ Line 1: / Line 1: @@
 [[VEYE CS Camera source for Jetson|English]]
-'''英伟达Jetson平台上VEYE和CS系列摄像头驱动源码编译指南'''
+'''英伟达Jetson平台上VEYE摄像头驱动源码编译指南'''
 === 概述 ===
+NVIDIA为每个Jetpack版本都发布了Linux开发文档。比如L4T [https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/SD/Kernel.html 35.1]和[https://docs.nvidia.com/jetson/archives/l4t-archived/l4t-325/#page/Tegra%20Linux%20Driver%20Package%20Development%20Guide/kernel_custom.html# 32.5]。本章节是以官方的Kernel Customization章节为基础的，不够详尽之处，请参考官方文档。
+我们使用安装Ubuntu的host pc和Jetson板子作开发环境。
+* Jetpack4.x
+驱动与linux内核编译到一起，在host pc上进行。dtb的编译也在host pc进行。
+* Jetpack5.x
+驱动独立于linux内核，编译为modules，在Jetson板上进行。dtb的编译在host pc进行。
 ==== 版本对应关系 ====
@@ Line 16: / Line 27: @@
 *Jetpack4.6.1,L4T版本r32.7.1
 *Jetpack4.6.2,L4T版本r32.7.2
+*Jetpack4.6.3,L4T版本r32.7.3
 *Jetpack5.0.1DP,L4T版本r34.1.1
+*Jetpack5.0.2, L4T版本r35.1
+*Jetpack5.1, L4T版本r35.2.1
+*Jetpack5.1.1, L4T版本r35.3.1
+*Jetpack5.1.2, L4T版本r35.4.1
+*Jetpack5.1.3, L4T版本r35.5
 ====查看当前L4T版本====
@@ Line 31: / Line 48: @@
 以下操作均为在HOST PC进行。
-*编译工具链
+==== 编译工具链 ====
+* Jetpack4.x
 请参考[https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fxavier_toolchain.html%23wwpID0ESHA 这个链接]安装编译工具链。
-*L4T源码和Rootfs
+* Jetpack5.x
+请参考[https://docs.nvidia.com/jetson/archives/r35.1/DeveloperGuide/text/AT/JetsonLinuxToolchain.html 这个链接]安装编译工具链。
+==== L4T源码和Rootfs ====
 首先使用SDK Manager在HOST PC上面下载对应的Linux_for_Tegra开发包。
-可以通过SDK Manager或者[https://developer.nvidia.com/embedded/downloads 直接下载]两种方式来获得源码。具体参考官方文档，此处不再赘述。
+可以通过SDK Manager或者[https://developer.nvidia.com/embedded/downloads 直接下载]两种方式来获得源码。具体参考官方文档，此处不再赘述。我推荐直接下载的方式。
 使用SDK Manager时同步代码采用如下指令：
@@ Line 78: / Line 100: @@
 [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.]
+''- Jetpack4.6.3''
+<code>./source_sync.sh -t tegra-l4t-r32.7.3</code>
 ''- Jetpack5.0.1 DP''
@@ Line 83: / Line 109: @@
 <code>./source_sync.sh -t jetson_34.1.1</code>
-*配置开发环境
+''- Jetpack5.0.2''
+<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>
+''- Jetpack5.1.3''
+<code>./source_sync.sh -t jetson_35.5</code>
+==== 配置开发环境 ====
 以下步骤假设SDK安装目录为<TOPDIR>，源代码在$L4T_DIR/sources目录。
 <code>export TOP_DIR=<absolute path to top dir accroding to your jetpack version and board name;for example /home/xumm/nvidia/nvidia_sdk/JetPack_4.5_Linux_JETSON_XAVIER_NX_DEVKIT/></code>
-- 通用部分
+* 通用部分
 <code>export L4T_DIR=$TOP_DIR/Linux_for_Tegra</code>
@@ Line 98: / Line 143: @@
 <code>export ARCH=arm64</code>
-<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
-<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
 <code>export TEGRA_KERNEL_OUT=$L4T_DIR/sources/kernel/out_kernel</code>
@@ Line 114: / Line 155: @@
 <code>export XAVIER_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t19x</code>
+<code>export ORIN_DTS_PATH=$L4T_DIR/sources/hardware/nvidia/platform/t23x</code>
+* Jetpack 4.x
+<code>export CROSS_COMPILE=aarch64-linux-gnu-</code>
+<code>export CROSS32CC=arm-linux-gnueabihf-gcc</code>
+<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/</code>
+* Jetpack 5.x
+<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>export CROSS_COMPILE=$CROSS_COMPILE_AARCH64</code>
+<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts/nvidia</code>
 === 下载我们的bsp包===
 <code>cd $L4T_DIR</code>
@@ Line 121: / Line 183: @@
 <code>export RELEASE_PACK_DIR=$L4T_DIR/nvidia_jetson_veye_bsp</code><code><nowiki/></code><code><nowiki/></code><code><nowiki/></code>
 ===编译kernel===
+对于Jetpack4.x版本以及在Jetpack5.x版本下使用MV系列相机的，需要编译kernel。
 ==== MV系列相机的patch包 ====
@@ Line 136: / Line 199: @@
 <code>patch -p1 < [path to]veye_mv_l4t_[version].patch</code>
-==== patch代码 ====
+==== 对于Jetpack4.x,将camera驱动编译进Image ====
+===== patch代码 =====
 <code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/* $NVIDIA_PATH/drivers/media/i2c/</code>
@@ Line 142: / Line 207: @@
 ===== 修改Kconfig和Makefile =====
-<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/Kconfig_<ver> $NVIDIA_PATH/drivers/media/i2c/</code>
+手动修改<code>$NVIDIA_PATH/drivers/media/i2c/</code>目录下的Kconfig和Makefile，增加对应camera驱动的编译选项。
-<code>cp $RELEASE_PACK_DIR/drivers_source/cam_drv_src/Makefile_<ver> $NVIDIA_PATH/drivers/media/i2c/</code>
-==== 编译 ====
+===== 编译 =====
 <code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
@@ Line 153: / Line 216: @@
 <code>make ARCH=arm64 O=$TEGRA_KERNEL_OUT Image -j4</code>
+==== 对于Jetpack5.x,无需将camera驱动编译进Image ====
+===== 编译 =====
+<code>cd $L4T_DIR/sources/</code>
+<code>./nvbuild.sh -o $TEGRA_KERNEL_OUT</code>
+如果没有找到此脚本：
+<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.
+==== 编译完成 ====
 编译完成的Image文件在：
@@ Line 161: / Line 236: @@
 以下用于整体烧写
-<code>sudo cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
+<code>cp $TEGRA_KERNEL_OUT/arch/arm64/boot/Image $L4T_DIR/kernel/ -f</code>
-*对于xavier，进行签名
+*对于xavier和Orin，需要进行签名
 <code>cd $L4T_DIR</code>
@@ Line 169: / Line 244: @@
 <code>./l4t_sign_image.sh --file kernel/Image --chip 0x19</code>
-=== 编译modules ===
+=== 编译modules(Jetpack5.x) ===
-Jetpack5.x以后的版本，非MV系列产品，可以直接以modules方式编译驱动，得到ko文件。推荐直接在Jetson Board上面编译驱动。
+Jetpack5.x以后的版本，可以直接以modules方式编译驱动，得到ko文件。推荐直接在Jetson Board上面编译驱动。
 <code>cd $RELEASE_PACK_DIR/drivers_source/cam_drv_src/</code>
-<code>make -f Makefile_local</code>
+<code>make</code>
 ===编译DTS===
@@ Line 212: / Line 287: @@
 <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>
+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/Orin/JetPack_<ver>_Linux_JETSON_ORIN_TARGETS/dts\ dtb/<camera model>/tegra234-p3768-0000-a0.dtsi $ORIN_DTS_PATH/p3768/kernel-dts/cvb</code>
 ==== 编译 ====
 * For Jetpack4.X
+<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts</code>
 <code>cd $L4T_DIR/sources/kernel/kernel-4.9/</code>
-<code>export COMMON_DTS_PATH=$TEGRA_KERNEL_OUT/arch/arm64/boot/dts</code>
 * For Jetpack5.X
@@ Line 247: / Line 331: @@
 ===== AGX Orin =====
 <code>$COMMON_DTS_PATH/tegra234-p3701-0000-p3737-0000.dtb</code>
+===== Orin Nano =====
+<code>$COMMON_DTS_PATH/tegra234-p3767-0003-p3768-0000-a0.dtb</code>
+<code>$COMMON_DTS_PATH/tegra234-p3767-0004-p3768-0000-a0.dtb</code>
+===== Orin NX =====
+<code>$COMMON_DTS_PATH/tegra234-p3767-0000-p3768-0000-a0.dtb</code>
+<code>$COMMON_DTS_PATH/tegra234-p3767-0001-p3768-0000-a0.dtb</code>
+<br />