To build, start by making a directory.

mkdir yocto

Then, make sure you've moved into the directory

cd yocto

Then clone all the repos, making sure meta-frc971 lives inside yocto.

git clone git://git.yoctoproject.org/poky -b kirkstone
git clone https://github.com/OE4T/meta-tegra.git -b kirkstone
git clone https://github.com/openembedded/meta-openembedded.git -b kirkstone
git clone https://github.com/frc971/meta-frc971.git -b main

Then, symlink in the conf files.

mkdir -p build/conf
ln -s ../../meta-frc971/conf/bblayers.conf build/conf/bblayers.conf
ln -s ../../meta-frc971/conf/local.conf build/conf/local.conf
ln -s ../../meta-frc971/conf/templateconf.cfg build/conf/templateconf.cfg

To enter the yocto environment building for the 8g Orin NX, run:

export MACHINE=orin-nx-8g
. poky/oe-init-build-env build

To then build, run:

bitbake frc971-image

The image will live in build/tmp/deploy/images/orin-nx-8g/frc971-image-orin-nx-8g.tegraflash.tar.gz

To install, extract then run:

sudo ./initrd-flash

To build the SDK for the sysroot, run:

bitbake frc971-sysroot-image -c populate_sdk

imx477 should be plugged into cam1, closest to the back, and imx296 should be plugged into cam0, closest to the front.

To use libargus to encode and send video with the imx477:

gst-launch-1.0 nvarguscamerasrc ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=60/1" ! nvvidconv ! nvv4l2h264enc insert-sps-pps=1 idrinterval=15 ! h264parse ! rtph264pay ! udpsink host=10.9.71.13 port=5000 sync=0

And with the imx296:

gst-launch-1.0 nvarguscamerasrc sensor-id=1 wbmode=0 ispdigitalgainrange="1 1" gainrange="1 16" ! "video/x-raw(memory:NVMM),width=1456,height=1088,framerate=60/1" ! nvvidconv ! nvv4l2h264enc insert-sps-pps=1 idrinterval=15 ! h264parse ! rtph264pay ! udpsink host=10.9.71.13 port=5000 sync=0

And to receive it on your laptop:

gst-launch-1.0 udpsrc port=5000 ! 'application/x-rtp,encoding-name=H264,payload=96' ! rtph264depay ! avdec_h264 ! xvimagesink sync=0

v4lctl

v4l2-ctl -d /dev/video0 --set-fmt-video=width=1456,height=1088,pixelformat=RG10 --set-ctrl frame_rate=30000000 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=10 --stream-to=test.raw

To capture a kernelshark trace

trace-cmd record -e all -v -e preemptirq* -e raw_syscalls*