README: guide to build JP6.0

apply: external build for JP6.0

Signed-off-by: Dmitry Perchanov <[email protected]>

README.md

@@ -3,7 +3,7 @@
 # D457 MIPI on Jetson AGX Xavier
 The RealSense MIPI platform driver enables the user to control and stream RealSense 3D MIPI cameras.
 The system shall include:
-* Jetson platform (Currently Supported JetPack versions are: 5.0.2, 4.6.1)
+* Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
 * RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
 * RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
 
@@ -25,9 +25,26 @@ The developers can set up the source code with NVIDIA's Jetson git repositories
 ./setup_workspace.sh [JetPack_version]
 ```
 
-Or download Jetson Linux source code tarball from [JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2), [JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2), [JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2).
+Or download Jetson Linux source code tarball from 
+[JetPack 6.0-DP BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2), 
+[JetPack 5.1.2 BSP sources](https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v4.1/sources/public_sources.tbz2), 
+[JetPack 5.0.2 BSP sources](https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2), 
+[JetPack 4.6.1 BSP sources](https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t186/public_sources.tbz2).
 
 ```
+# JetPack 6.0
+mkdir -p l4t-gcc/6.0
+cd ./l4t-gcc/6.0
+wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2
+tar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1
+cd ../..
+wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v2.0/sources/public_sources.tbz2
+tar xjf public_sources.tbz2
+cd Linux_for_Tegra/source
+tar xjf kernel_src.tbz2
+tar xjf kernel_oot_modules_src.tbz2
+tar xjf nvidia_kernel_display_driver_source.tbz2
+
 # JetPack 5.1.2
 mkdir -p l4t-gcc/5.1.2
 cd ./l4t-gcc/5.1.2
@@ -43,14 +60,14 @@ tar xjf kernel_src.tbz2
 mkdir -p l4t-gcc/5.0.2
 cd ./l4t-gcc/5.0.2
 wget https://developer.nvidia.com/embedded/jetson-linux/bootlin-toolchain-gcc-93 -O aarch64--glibc--stable-final.tar.gz
-tar xf aarch64--glibc--stable-final.tar.gz
+tar xf aarch64--glibc--stable-final.tar.gz --strip-components 1
 cd ../..
 wget https://developer.nvidia.com/embedded/l4t/r35_release_v1.0/sources/public_sources.tbz2
 tar xjf public_sources.tbz2
 cd Linux_for_Tegra/source/public
 tar xjf kernel_src.tbz2
 
-# or JetPack 4.6.1
+# JetPack 4.6.1
 mkdir -p l4t-gcc/4.6.1
 cd ./l4t-gcc/4.6.1
 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

apply_patches_ext.sh

@@ -29,21 +29,36 @@ cd "$DEVDIR"
 if [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx.dtsi"
 fi
-
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    D4XX_SRC_DST=nvidia-oot
+else
+    D4XX_SRC_DST=kernel/nvidia
+fi
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
 if [ -d $1/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
     mv $1/hardware/nvidia/platform/t19x/galen-industrial-dts $1/hardware/nvidia/platform/t19x/galen-industrial
 fi
 
 apply_external_patches() {
-cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
+    cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
 }
 
-apply_external_patches $1 kernel/nvidia
-apply_external_patches $1 $KERNEL_DIR
-apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+apply_external_patches $1 $D4XX_SRC_DST
+if [ -d ${KERNEL_DIR}/${JETPACK_VERSION} ]; then
+    apply_external_patches $1 $KERNEL_DIR
+fi
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    apply_external_patches $1 hardware/nvidia/t23x/nv-public
+else
+    apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+fi
 
 # For a common driver for JP4 + JP5 we override the i2c driver and ignore the previous that was created from patches
-cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/$1/kernel/nvidia/drivers/media/i2c/
-cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/$1/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/
+if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    # jp6 overlay
+    cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
+else
+    cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+fi