Add PAB_CAN board config and device tree (ARK PAB CAN Jetson Carrier)

.github/workflows/build.yml

@@ -7,6 +7,7 @@ on:
       - 'pab-[0-9]*'
       - 'jaj-[0-9]*'
       - 'pab-v3-[0-9]*'
+      - 'pab-can-[0-9]*'
   pull_request:
 
 concurrency:
@@ -42,8 +43,9 @@ jobs:
         run: |
           TAG="${GITHUB_REF_NAME}"
           case "$TAG" in
-            pab-v3-*) PRODUCT="pab-v3"; VERSION="${TAG#pab-v3-}"; TARGET="PAB_V3" ;;
-            pab-*)    PRODUCT="pab";    VERSION="${TAG#pab-}";    TARGET="PAB" ;;
+            pab-v3-*)  PRODUCT="pab-v3";  VERSION="${TAG#pab-v3-}";  TARGET="PAB_V3" ;;
+            pab-can-*) PRODUCT="pab-can"; VERSION="${TAG#pab-can-}"; TARGET="PAB_CAN" ;;
+            pab-*)     PRODUCT="pab";     VERSION="${TAG#pab-}";     TARGET="PAB" ;;
             jaj-*)    PRODUCT="jaj";    VERSION="${TAG#jaj-}";    TARGET="JAJ" ;;
             *) echo "::error::Unrecognized tag format: $TAG"; exit 1 ;;
           esac

README.md

@@ -18,6 +18,7 @@ Scripts for building and flashing a Jetson **Orin Nano** or **Orin NX** on an AR
 | `PAB` | ARK Jetson PAB Carrier |
 | `JAJ` | ARK Just a Jetson Carrier |
 | `PAB_V3` | ARK Jetson PAB V3 Carrier |
+| `PAB_CAN` | ARK PAB CAN Jetson Carrier |
 
 ## Build & Flash
 
@@ -31,7 +32,7 @@ Download the BSP, root filesystem, and kernel source tarballs (one time):
 ```
 ./build.sh PAB --clean --provision
 ```
-- Targets are `PAB`, `JAJ`, `PAB_V3`, or `all`.
+- Targets are `PAB`, `JAJ`, `PAB_V3`, `PAB_CAN`, or `all`.
 - `--clean` wipes `staging/{TARGET}/` and re-stages from scratch.
 - `--provision` preinstalls [ARK-OS](https://github.com/ARK-Electronics/ARK-OS) and tooling into the image. Omit it for a bare image. To bake in your own packages, edit [`provision.sh`](provision.sh).
 
@@ -68,7 +69,7 @@ ssh jetson@jetson.local
 
 ## Cameras
 
-Every carrier ships with an IMX219 overlay already selected, so cameras work out of the box: the quad overlay on **PAB**, the dual overlay on **JAJ** and **PAB_V3**. To use a different camera, select an overlay with NVIDIA's `jetson-io` tool. List what's available:
+Every carrier ships with an IMX219 overlay already selected, so cameras work out of the box: the quad overlay on **PAB**, the dual overlay on **JAJ**, **PAB_V3**, and **PAB_CAN**. To use a different camera, select an overlay with NVIDIA's `jetson-io` tool. List what's available:
 ```
 sudo /opt/nvidia/jetson-io/config-by-hardware.py -l
 ```

build.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Usage: ./build.sh <PAB|JAJ|PAB_V3|all> [--clean] [--provision]
+# Usage: ./build.sh <PAB|JAJ|PAB_V3|PAB_CAN|all> [--clean] [--provision]
 #   --clean      wipe staging/{TARGET}/ and re-stage from downloads before building
 #   --provision  install ARK-OS into the rootfs (staging only: first build or --clean)
 #
@@ -21,13 +21,13 @@ TARGET=""
 
 for arg in "$@"; do
     case "$arg" in
-        PAB|JAJ|PAB_V3) TARGET="$arg" ;;
+        PAB|JAJ|PAB_V3|PAB_CAN) TARGET="$arg" ;;
         all)            TARGET="all" ;;
         --clean)        CLEAN=1 ;;
         --provision)    PROVISION=1 ;;
         *)
             echo "Invalid argument: $arg" >&2
-            echo "Usage: $0 <PAB | JAJ | PAB_V3 | all> [--clean] [--provision]" >&2
+            echo "Usage: $0 <PAB | JAJ | PAB_V3 | PAB_CAN | all> [--clean] [--provision]" >&2
             exit 1
             ;;
     esac
@@ -40,18 +40,20 @@ if [ -z "$TARGET" ]; then
         echo "1) PAB"
         echo "2) JAJ"
         echo "3) PAB_V3"
-        echo "4) all"
-        read -p "Enter your choice (1-4): " choice
+        echo "4) PAB_CAN"
+        echo "5) all"
+        read -p "Enter your choice (1-5): " choice
         case $choice in
-            1|PAB)    TARGET="PAB" ;;
-            2|JAJ)    TARGET="JAJ" ;;
-            3|PAB_V3) TARGET="PAB_V3" ;;
-            4|all)    TARGET="all" ;;
+            1|PAB)     TARGET="PAB" ;;
+            2|JAJ)     TARGET="JAJ" ;;
+            3|PAB_V3)  TARGET="PAB_V3" ;;
+            4|PAB_CAN) TARGET="PAB_CAN" ;;
+            5|all)     TARGET="all" ;;
             *) echo "Invalid choice. Exiting."; exit 1 ;;
         esac
     else
-        echo "ERROR: target required (PAB | JAJ | PAB_V3 | all) when running non-interactively." >&2
-        echo "Usage: $0 <PAB | JAJ | PAB_V3 | all> [--clean] [--provision]" >&2
+        echo "ERROR: target required (PAB | JAJ | PAB_V3 | PAB_CAN | all) when running non-interactively." >&2
+        echo "Usage: $0 <PAB | JAJ | PAB_V3 | PAB_CAN | all> [--clean] [--provision]" >&2
         exit 1
     fi
 fi
@@ -96,7 +98,7 @@ sudo -v
 
 if [ "$TARGET" = "all" ]; then
     trap 'echo ""; echo "Aborted."; exit 130' INT
-    for t in PAB JAJ PAB_V3; do
+    for t in PAB JAJ PAB_V3 PAB_CAN; do
         echo ""
         echo "========================================="
         echo "  Building $t"

docs/cameras.md

@@ -6,24 +6,25 @@ This document covers tested camera sensors, available device tree overlays, and
 
 | Sensor | Lanes | Resolution | Overlays | Status |
 |--------|-------|------------|----------|--------|
-| IMX219 | 2     | 3280x2464  | dual (JAJ/PAB_V3), quad (PAB) | Working |
-| IMX477 | 2     | 4056x3040  | dual (JAJ/PAB_V3), quad (PAB) | Working |
-| IMX708 | 2     | 4608x2592  | dual (JAJ/PAB_V3), quad (PAB) | Working |
+| IMX219 | 2     | 3280x2464  | dual (JAJ/PAB_V3/PAB_CAN), quad (PAB) | Working |
+| IMX477 | 2     | 4056x3040  | dual (JAJ/PAB_V3/PAB_CAN), quad (PAB) | Working |
+| IMX708 | 2     | 4608x2592  | dual (JAJ/PAB_V3/PAB_CAN), quad (PAB) | Working |
 
-Each carrier ships exactly one overlay per sensor: dual on JAJ / PAB_V3 (two CSI ports), quad on PAB (four CSI ports).
+Each carrier ships exactly one overlay per sensor: dual on JAJ / PAB_V3 / PAB_CAN (two CSI ports), quad on PAB (four CSI ports).
 
 ## IMX219 (Sony, 8MP)
 
 Tested and working in 2-lane mode.
 
 - **PAB**: Tested on all 4 CSI ports (quad overlay)
 - **JAJ / PAB_V3**: Tested on both CSI ports (dual overlay)
+- **PAB_CAN**: same dev-kit CSI wiring as PAB_V3 (dual overlay)
 
 ### Overlays
 
 | Overlay | Filename | Ports |
 |---------|----------|-------|
-| Dual    | `tegra234-p3767-camera-p3768-imx219-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3 default) |
+| Dual    | `tegra234-p3767-camera-p3768-imx219-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3/PAB_CAN default) |
 | Quad    | `tegra234-p3767-camera-p3768-imx219-quad.dtbo` | All 4 ports (PAB default) |
 
 ## IMX477 (Sony Starvis, 12.3MP)
@@ -34,7 +35,7 @@ Tested and working in 2-lane mode on all carrier boards.
 
 | Overlay | Filename | Ports |
 |---------|----------|-------|
-| Dual    | `tegra234-p3767-camera-p3768-imx477-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3) |
+| Dual    | `tegra234-p3767-camera-p3768-imx477-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3/PAB_CAN) |
 | Quad    | `tegra234-p3767-camera-p3768-imx477-quad.dtbo` | All 4 ports (PAB) |
 
 The quad overlay is new and not yet hardware-validated: it pairs the port wiring of the IMX219 quad (the PAB default) with the sensor modes of the retired single overlay.
@@ -53,7 +54,7 @@ Driver is RidgeRun's `nv_imx708`, vendored under `kernel_overlay/`. One 10-bit m
 
 | Overlay | Filename | Ports |
 |---------|----------|-------|
-| Dual    | `tegra234-p3767-camera-p3768-imx708-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3) |
+| Dual    | `tegra234-p3767-camera-p3768-imx708-dual.dtbo` | CAM0 + CAM1 (JAJ/PAB_V3/PAB_CAN) |
 | Quad    | `tegra234-p3767-camera-p3768-imx708-quad.dtbo` | All 4 ports (PAB) |
 
 ## Installing a Camera Overlay
@@ -66,7 +67,7 @@ The overlays ARK ships live under `products/<TARGET>/overlay/` (the `.dts`/`.dts
 
 Build the overlay DTBs (from host):
 ```
-./build.sh PAB   # or JAJ, PAB_V3
+./build.sh PAB   # or JAJ, PAB_V3, PAB_CAN
 ```
 
 Copy the overlay to the Jetson:

docs/device-tree.md

@@ -28,7 +28,7 @@ Each product carries only the files it actually changes:
 
 - `bootloader/.../tegra234-mb*-bct-*-p3767-*.{dtsi,dts}` — the MB1/MB2 BCT pinmux, GPIO, pad-voltage and misc config for the carrier (ARK's Pinmux spreadsheet output). These are bootloader inputs, compiled separately from the kernel DTBs, so they stay as full files.
 - `source/hardware/nvidia/t23x/nv-public/nv-platform/ark-<target>-overrides.dtsi` — the **one fragment** holding every kernel-DTB change for the carrier (UARTB, USB topology, HDA, display, etc.), expressed as overrides (`&{/path} { ... }`) over the stock tree.
-- `source/.../nv-platform/tegra234-dcb-p3737-0000-p3701-0000-hdmi.dtsi` (JAJ, PAB_V3 only) — the HDMI display-control block the fragment `#include`s.
+- `source/.../nv-platform/tegra234-dcb-p3737-0000-p3701-0000-hdmi.dtsi` (JAJ, PAB_V3, PAB_CAN only) — the HDMI display-control block the fragment `#include`s.
 
 Model strings are **not** files — they live in `products/<target>/dtb_models.env`.
 

docs/gpio.md

@@ -1,6 +1,6 @@
 # GPIO on ARK Jetson Carriers
 
-Using GPIO pins on ARK JAJ / PAB / PAB_V3 carriers running JetPack 6 (L4T r36.x).
+Using GPIO pins on ARK JAJ / PAB / PAB_V3 / PAB_CAN carriers running JetPack 6 (L4T r36.x).
 
 ## TL;DR
 
@@ -25,7 +25,7 @@ I2S0 connector pins on **PAB** and **JAJ**, exposed as GPIO by default (configur
 
 `PAC.06` is on the AON GPIO controller, which retains state through SC7 suspend; main GPIO does not.
 
-On **PAB_V3**, `PAC.06` is reserved for the KSZ8795 ethernet switch reset and is driven HIGH by BCT — do not use as general GPIO.
+On **PAB_V3**, `PAC.06` is reserved for the KSZ8795 ethernet switch reset and is driven HIGH by BCT — do not use as general GPIO. On **PAB_CAN**, `PAC.06` is LAN96455S SWITCH_RSTn (module pin 211 / GPIO09): active-low (low = reset, high = run). MB1 holds it **LOW** through early boot; a kernel gpio-hog then drives **HIGH** so the rising edge starts unmanaged ROM boot — do not use as general GPIO.
 
 ## Verify the lines
 
@@ -37,7 +37,7 @@ sudo gpioinfo | grep -E '"P(H\.07|I\.0[0-2]|AC\.06)"'
 
 All five show as `unused` **inputs** at idle — the four outputs held high by their pull-ups, DIN floating. Your app claims a line and sets its direction when it needs to drive or read.
 
-> **PAB** and **JAJ** wire this connector and ship it GPIO-by-default. **PAB_V3** does not route the I2S0 signals to a connector, so it has no connector GPIO here (and `PAC.06`/MCLK is its KSZ8795 ethernet reset — see above). The `ark_i2s_gpio` jetson-io overlay has been removed from all three.
+> **PAB** and **JAJ** wire this connector and ship it GPIO-by-default. **PAB_V3** and **PAB_CAN** do not route the I2S0 signals to a connector, so they have no connector GPIO here (and `PAC.06`/MCLK is their ethernet switch reset — see above). The `ark_i2s_gpio` jetson-io overlay has been removed from all carriers.
 
 ## Drive and read
 

docs/i2c.md

@@ -1,6 +1,6 @@
 # I2C on ARK Jetson Carriers
 
-Orin Nano / NX, all ARK carriers (JAJ / PAB / PAB_V3).
+Orin Nano / NX, all ARK carriers (JAJ / PAB / PAB_V3 / PAB_CAN).
 
 ## Scan a bus
 

flash.sh

@@ -2,7 +2,7 @@
 
 # Usage: ./flash.sh <TARGET> [--sdcard] [--usb]
 #
-# TARGET: PAB | JAJ | PAB_V3
+# TARGET: PAB | JAJ | PAB_V3 | PAB_CAN
 #
 # Flashes a previously-built target directly from its staging directory.
 # The device must be in USB recovery mode before running this script.
@@ -16,7 +16,7 @@ TARGET=""
 
 while [[ $# -gt 0 ]]; do
     case $1 in
-        PAB|JAJ|PAB_V3)
+        PAB|JAJ|PAB_V3|PAB_CAN)
             TARGET="$1"
             shift ;;
         --sdcard)
@@ -28,7 +28,7 @@ while [[ $# -gt 0 ]]; do
             shift ;;
         *)
             echo "Unknown option: $1" >&2
-            echo "Usage: ./flash.sh <PAB | JAJ | PAB_V3> [--sdcard] [--usb]" >&2
+            echo "Usage: ./flash.sh <PAB | JAJ | PAB_V3 | PAB_CAN> [--sdcard] [--usb]" >&2
             exit 1 ;;
     esac
 done
@@ -39,16 +39,18 @@ if [ -z "$TARGET" ]; then
         echo "1) PAB"
         echo "2) JAJ"
         echo "3) PAB_V3"
-        read -p "Enter your choice (1-3): " choice
+        echo "4) PAB_CAN"
+        read -p "Enter your choice (1-4): " choice
         case $choice in
             1) TARGET="PAB" ;;
             2) TARGET="JAJ" ;;
             3) TARGET="PAB_V3" ;;
+            4) TARGET="PAB_CAN" ;;
             *) echo "Invalid choice. Exiting."; exit 1 ;;
         esac
     else
-        echo "ERROR: target required (PAB | JAJ | PAB_V3) when running non-interactively." >&2
-        echo "Usage: ./flash.sh <PAB | JAJ | PAB_V3> [--sdcard] [--usb]" >&2
+        echo "ERROR: target required (PAB | JAJ | PAB_V3 | PAB_CAN) when running non-interactively." >&2
+        echo "Usage: ./flash.sh <PAB | JAJ | PAB_V3 | PAB_CAN> [--sdcard] [--usb]" >&2
         exit 1
     fi
 fi

packaging/README.md

@@ -9,6 +9,7 @@ This document covers how flash packages are generated, released, and consumed. E
 | PAB | ARK Jetson PAB Carrier | `pab-` |
 | JAJ | ARK Just a Jetson Carrier | `jaj-` |
 | PAB_V3 | ARK Jetson PAB V3 Carrier | `pab-v3-` |
+| PAB_CAN | ARK PAB CAN Jetson Carrier | `pab-can-` |
 
 Each carrier has its own device tree. A flash package built for one carrier will not work on another.
 

packaging/flash_from_package.sh

@@ -18,7 +18,7 @@
 #
 # Usage:
 #   ./flash_from_package.sh <tag>             # specific release (e.g. pab-6.2.1.1); auto-detects a draft of that tag
-#   ./flash_from_package.sh <product>         # latest published release for a product (pab, jaj, pab-v3)
+#   ./flash_from_package.sh <product>         # latest published release for a product (pab, jaj, pab-v3, pab-can)
 #   ./flash_from_package.sh <product> --draft # latest DRAFT release for a product (needs gh read access)
 #   ./flash_from_package.sh <tag> --full      # regenerate images even if cached ones match
 #   ./flash_from_package.sh --clean           # remove all cached data
@@ -36,6 +36,7 @@ usage() {
     echo "  $(basename "$0") pab             Flash the latest PAB release"
     echo "  $(basename "$0") jaj             Flash the latest JAJ release"
     echo "  $(basename "$0") pab-v3          Flash the latest PAB_V3 release"
+    echo "  $(basename "$0") pab-can         Flash the latest PAB_CAN release"
     echo "  $(basename "$0") pab-v3 --draft  Flash the latest PAB_V3 DRAFT (needs gh read access)"
     echo "  $(basename "$0") pab --full      Regenerate flash images even if cached ones match"
     echo "  $(basename "$0") --clean         Remove all cached data"
@@ -46,7 +47,7 @@ usage() {
 
 is_product_name() {
     case "$1" in
-        pab|jaj|pab-v3) return 0 ;;
+        pab|jaj|pab-v3|pab-can) return 0 ;;
         *) return 1 ;;
     esac
 }

packaging/generate_flash_package.sh

@@ -23,17 +23,17 @@ TARGET=""
 
 while [[ $# -gt 0 ]]; do
     case $1 in
-        PAB|JAJ|PAB_V3) TARGET="$1"; shift ;;
+        PAB|JAJ|PAB_V3|PAB_CAN) TARGET="$1"; shift ;;
         *)
             echo "Unknown option: $1" >&2
-            echo "Usage: ./generate_flash_package.sh <PAB | JAJ | PAB_V3>" >&2
+            echo "Usage: ./generate_flash_package.sh <PAB | JAJ | PAB_V3 | PAB_CAN>" >&2
             exit 1 ;;
     esac
 done
 
 if [ -z "$TARGET" ]; then
-    echo "ERROR: target required (PAB | JAJ | PAB_V3)." >&2
-    echo "Usage: ./generate_flash_package.sh <PAB | JAJ | PAB_V3>" >&2
+    echo "ERROR: target required (PAB | JAJ | PAB_V3 | PAB_CAN)." >&2
+    echo "Usage: ./generate_flash_package.sh <PAB | JAJ | PAB_V3 | PAB_CAN>" >&2
     exit 1
 fi
 

packaging/publish_release.sh

@@ -11,7 +11,7 @@
 set -e
 
 if [ $# -lt 2 ]; then
-    echo "Usage: ./publish_release.sh <PAB | JAJ | PAB_V3> <version>"
+    echo "Usage: ./publish_release.sh <PAB | JAJ | PAB_V3 | PAB_CAN> <version>"
     echo "  e.g. ./publish_release.sh PAB 6.2.1.1"
     echo ""
     echo "Creates and pushes a tag — CI handles the rest."
@@ -24,9 +24,9 @@ SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 ROOT_DIR="$(cd "$SCRIPT_DIR/.." && pwd)"
 
 case "$TARGET" in
-    PAB|JAJ|PAB_V3) ;;
+    PAB|JAJ|PAB_V3|PAB_CAN) ;;
     *)
-        echo "ERROR: Invalid target '$TARGET'. Must be PAB, JAJ, or PAB_V3."
+        echo "ERROR: Invalid target '$TARGET'. Must be PAB, JAJ, PAB_V3, or PAB_CAN."
         exit 1
         ;;
 esac

products/PAB_CAN/default_overlays

@@ -0,0 +1,11 @@
+# Device-tree overlay(s) baked into this product's image at flash time, so they are
+# active on the first boot with no jetson-io step. flash.sh hands each dtbo to
+# tegraflash as ADDITIONAL_DTB_OVERLAY, which merges it into the base DTB on top of
+# whichever Orin Nano/NX SKU the flasher detects — so one image still covers every
+# SKU. One dtbo basename per line ('#' comments allowed); each must be built into
+# kernel/dtb/ via overlay/dtbo.list. A user can still switch cameras with jetson-io:
+# it boots its own FDT'd entry off the clean /boot/dtb kernel DTB, superseding this
+# without a duplicate-node collision.
+
+# PAB_CAN ships with the dual IMX219 camera enabled by default.
+tegra234-p3767-camera-p3768-imx219-dual.dtbo