dragonpilot mod for 0.8.5-4

SConstruct

@@ -7,6 +7,8 @@ import platform
 import numpy as np
 
 TICI = os.path.isfile('/TICI')
+JETSON = os.path.isfile('/JETSON')
+
 Decider('MD5-timestamp')
 
 AddOption('--test',
@@ -56,6 +58,10 @@ if arch == "aarch64" and TICI:
 
 USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
 
+USE_MIPI = os.getenv("USE_MIPI") is not None
+if arch == "aarch64" and JETSON:
+  arch = "jarch64"
+
 lenv = {
   "PATH": os.environ['PATH'],
 }
@@ -105,8 +111,19 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath = []
 
-  if arch == "Darwin":
+  if arch == "jarch64":
+    libpath = [
+      "#phonelibs/libyuv/larch64/lib",
+      "#selfdrive/common",
+      "/usr/lib",
+      "/usr/local/lib",
+    ]
+    cflags = ["-DXNX", "-march=armv8.2-a"]
+    cxxflags = ["-DXNX", "-march=armv8.2-a"]
+    rpath += ["/usr/local/lib"]
+  elif arch == "Darwin":
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#phonelibs/libyuv/{yuv_dir}/lib",
@@ -134,8 +151,9 @@ else:
       "/usr/local/lib",
     ]
 
-  rpath = [
-    "phonelibs/snpe/x86_64-linux-clang",
+  if arch != "jarch64":
+    rpath += ["phonelibs/snpe/x86_64-linux-clang"]
+  rpath += [
     "cereal",
     "selfdrive/common"
   ]
@@ -302,7 +320,7 @@ else:
   qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
 
   qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
+  if arch == "larch64" or arch == "jarch64":
     qt_libs += ["GLESv2", "wayland-client"]
   elif arch != "Darwin":
     qt_libs += ["GL"]
@@ -334,7 +352,8 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+zmq = 'zmq'
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'zmq', 'USE_MIPI')
 
 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])