From eb46072305cc8a34b80f1fbdebb3044ee6bb3db8 Mon Sep 17 00:00:00 2001
From: Yuki Furuta <y.furuta@gitai.tech>
Date: Fri, 4 Oct 2019 10:02:52 +0900
Subject: [PATCH 1/2] use L4T 32.1.0

---
 buildPatchedKernel.sh                                    | 8 ++++----
 ...realsense-metadata-ubuntu-bionic-Xavier-4.9.140.patch | 9 ---------
 scripts/getKernelSourcesNoGUI.sh                         | 4 ++--
 scripts/patchKernel.sh                                   | 4 ++--
 4 files changed, 8 insertions(+), 17 deletions(-)

diff --git a/buildPatchedKernel.sh b/buildPatchedKernel.sh
index a33e7fe..28f670f 100755
--- a/buildPatchedKernel.sh
+++ b/buildPatchedKernel.sh
@@ -51,10 +51,10 @@ set -e
 KERNEL_BUILD_VERSION=master
 # Quotes around Jetson Board because the name may have a space, ie "AGX Xavier"
 if [ "$JETSON_BOARD" == "AGX Xavier" ] ; then 
-  L4TTarget="32.1.0"
-  # Test for 32.1.0 first
-  if [ $JETSON_L4T = "32.1.0" ] ; then
-     KERNEL_BUILD_VERSION=vL4T32.1.0
+  L4TTarget="32.2.1"
+  # Test for 32.2.1 first
+  if [ $JETSON_L4T = "32.2.1" ] ; then
+     KERNEL_BUILD_VERSION=vL4T32.2.1
   else
    echo ""
    tput setaf 1
diff --git a/patches/realsense-metadata-ubuntu-bionic-Xavier-4.9.140.patch b/patches/realsense-metadata-ubuntu-bionic-Xavier-4.9.140.patch
index 3ff5b88..2c5ffe8 100644
--- a/patches/realsense-metadata-ubuntu-bionic-Xavier-4.9.140.patch
+++ b/patches/realsense-metadata-ubuntu-bionic-Xavier-4.9.140.patch
@@ -230,15 +230,6 @@ diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
 index 426fb245125a..e81e9cd53295 100644
 --- a/drivers/media/usb/uvc/uvcvideo.h
 +++ b/drivers/media/usb/uvc/uvcvideo.h
-@@ -150,7 +150,7 @@
- /* Maximum number of packets per URB. */
- #define UVC_MAX_PACKETS		32
- /* Maximum status buffer size in bytes of interrupt URB. */
--#define UVC_MAX_STATUS_SIZE	16
-+#define UVC_MAX_STATUS_SIZE	32
- 
- #define UVC_CTRL_CONTROL_TIMEOUT	500
- #define UVC_CTRL_STREAMING_TIMEOUT	5000
 @@ -171,6 +171,7 @@
  #define UVC_QUIRK_RESTRICT_FRAME_RATE	0x00000200
  #define UVC_QUIRK_RESTORE_CTRLS_ON_INIT	0x00000400
diff --git a/scripts/getKernelSourcesNoGUI.sh b/scripts/getKernelSourcesNoGUI.sh
index b9a21f1..a10e777 100755
--- a/scripts/getKernelSourcesNoGUI.sh
+++ b/scripts/getKernelSourcesNoGUI.sh
@@ -3,9 +3,9 @@ apt-add-repository universe
 apt-get update
 apt-get install pkg-config -y
 cd /usr/src
-wget -N https://developer.nvidia.com/embedded/dlc/l4t-sources-32-1-JAX-TX2
+wget -N -O l4t-src.tbz2 https://developer.nvidia.com/embedded/dlc/r32-2-1_Release_v1.0/TX2-AGX/sources/public_sources.tbz2
 # l4t-sources-32-1-0 is a tbz2 file
-tar -xvf l4t-sources-32-1-JAX-TX2 public_sources/kernel_src.tbz2
+tar -xvf l4t-src.tbz2
 tar -xvf public_sources/kernel_src.tbz2
 # Space is tight; get rid of the compressed kernel source
 rm -r public_sources
diff --git a/scripts/patchKernel.sh b/scripts/patchKernel.sh
index ea810ef..519a6b1 100755
--- a/scripts/patchKernel.sh
+++ b/scripts/patchKernel.sh
@@ -16,10 +16,10 @@ echo "kernel branch" $kernel_branch
 kernel_name="kernel-4.9"
 
 
-# For L4T 31.1.0 the kernel is 4.9.108 hence kernel-4.9
+# For L4T 32.1.0 the kernel is 4.9.140 hence kernel-4.9
 
 # Patches are available for kernel 4.4, 4.10 and 4.16
-# For L4T 31.1.0, the kernel is 4.9
+# For L4T 32.1.0, the kernel is 4.9
 # Therefore we have to do a little dance; patches are modified versions of xenial 4.4 and 4.8 kernel patches
 
 cd /usr/src/kernel/kernel-4.9

From 44f8a1c14d5a2cd9d560d3967e2326a12d02074a Mon Sep 17 00:00:00 2001
From: Yuki Furuta <y.furuta@gitai.tech>
Date: Fri, 4 Oct 2019 10:03:08 +0900
Subject: [PATCH 2/2] use librealsense v2.29.0

---
 buildPatchedKernel.sh  | 2 +-
 installLibrealsense.sh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/buildPatchedKernel.sh b/buildPatchedKernel.sh
index 28f670f..fc49d3a 100755
--- a/buildPatchedKernel.sh
+++ b/buildPatchedKernel.sh
@@ -4,7 +4,7 @@
 # MIT License
 
 LIBREALSENSE_DIRECTORY=${HOME}/librealsense
-LIBREALSENSE_VERSION=v2.20.0
+LIBREALSENSE_VERSION=v2.29.0
 
 
 function usage
diff --git a/installLibrealsense.sh b/installLibrealsense.sh
index e01ad30..b50409c 100755
--- a/installLibrealsense.sh
+++ b/installLibrealsense.sh
@@ -4,7 +4,7 @@
 # MIT License
 
 LIBREALSENSE_DIRECTORY=${HOME}/librealsense
-LIBREALSENSE_VERSION=v2.17.1
+LIBREALSENSE_VERSION=v2.29.0
 INSTALL_DIR=$PWD