DOCS-923: Document viam:camera:csi modular camera as model for the Jetson Orin Nano's embedded camera

docs/components/board/jetson.md

@@ -13,6 +13,8 @@ tags: ["board", "components"]
 
 Follow one of our Jetson [setup guides](/installation/) to prepare your board for running `viam-server` before configuring a `jetson` board.
 
+If you have a CSI camera, follow [these instructions](/extend/modular-resources/examples/csi/) to configure it using the `viam:camera:csi` model.
+
 {{% /alert %}}
 
 Configure a `jetson` board to integrate a [NVIDIA Jetson Orin Module and Developer Kit](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-orin/), [NVIDIA Jetson Xavier NX](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-agx-xavier/), or [NVIDIA Jetson Nano](https://www.nvidia.com/en-us/autonomous-machines/embedded-systems/jetson-nano/) into your robot:

docs/extend/modular-resources/examples/_index.md

@@ -22,6 +22,7 @@ Once you have created a modular resource, you can test your custom resource usin
 {{< cards >}}
     {{% card link="/extend/modular-resources/examples/rplidar/" customTitle="Add an RPlidar camera as a Modular Resource" %}}
     {{% card link="/extend/modular-resources/examples/odrive/" customTitle="Add an ODrive motor as a Modular Resource" %}}
+    {{% card link="/extend/modular-resources/examples/csi/" customTitle="Add a CSI Camera as a Modular Resource" %}}
     {{% card link="/extend/modular-resources/examples/custom-arm/" %}}
     {{% card link="/extend/modular-resources/examples/tflite-module/" customTitle="Add a TensorFlow Lite Modular Service"  %}}
     {{% card link="/tutorials/custom/custom-base-dog/" %}}

docs/extend/modular-resources/examples/csi.md

@@ -0,0 +1,116 @@
+---
+title: "Add a CSI Camera as a Modular Resource"
+linkTitle: "CSI Camera"
+weight: 40
+type: "docs"
+description: "Use the viam:camera:csi model to add a CSI Camera to your robot."
+tags: ["board", "csi", "jetson", "serial", "module", "modular resources", "Python", "python SDK", "nvidia", "jetson orin", "jetson orin nano", "nano", "camera"]
+# SMEs: Sean
+---
+
+
+Many boards, like the Jetson Orin Nano, come with the option to use Camera Serial Interface (CSI) cameras, like [these cameras from E-con Systems](https://www.e-consystems.com/nvidia-jetson-agx-orin-cameras.asp) or [this camera from Seed Technologies](https://www.digikey.com/en/products/detail/seeed-technology-co.,-ltd/114992263/12396924).
+These cameras are excellent for utilizing embedded vision systems like Viam's [vision service](/services/vision/).
+Not all CSI cameras are supported by the [webcam camera model](/components/camera/webcam/).
+Instead, Viam supports CSI cameras by providing a [modular resource](/extend/modular-resources/) for your CSI camera: `viam:camera:csi`.
+
+This module includes a simple wrapper around `GStreamer` and a control interface for the **control** tab of the [Viam app](https://app.viam.com) so you can utilize the hardware accelerated GST plugins and use the embedded CSI cameras on your `jetson` boards with Viam.
+
+The module is open-sourced and available on [GitHub](https://github.com/seanavery/viam-csi).
+
+To use the CSI camera module, follow the [installation](#installation) and [configuration](#configuration) steps.
+
+## Installation
+
+On your robot's computer, download [the `viam:camera:csi` appimage](https://github.com/viamrobotics/odrive) and make it executable:
+
+``` {class="command-line" data-prompt="$"}
+sudo wget https://github.com/seanavery/viam-csi/releases/download/v0.0.2/viam-csi-0.0.2-aarch64.AppImage -O /usr/local/bin/viam-csi
+sudo chmod 755 /usr/local/bin/viam-csi
+```
+
+## Configuration
+
+{{< tabs name="Connect your CSI Module and Modular Resource">}}
+{{% tab name="JSON Template" %}}
+
+Go to your robot's page on the [Viam app](https://app.viam.com/).
+Navigate to the **Config** tab on your robot's page and select **Raw JSON** mode.
+
+Copy and paste the JSON object for the module into the modules array to add Viam's `csi-mr` module:
+
+```json {class="line-numbers linkable-line-numbers"}
+{
+    "modules": [
+      {
+        "executable_path": "</usr/bin/csi-mr>",
+        "name": "<your-csi-cam-module-name>"
+      }
+    ]
+}
+```
+
+Next, add the following JSON object to your components array to configure a `csi` [camera](/components/camera/) component with the name `my_test_csi_cam`:
+
+```json {class="line-numbers linkable-line-numbers"}
+      {
+        "model": "viam:camera:csi",
+        "attributes": {
+          "width_px": <int>,
+          "height_px": <int>,
+          "frame_rate": <int>,
+          "debug": "<boolean>"
+        },
+        "depends_on": [],
+        "name": "<your-csi-cam-name>",
+        "namespace": "rdk",
+        "type": "camera"
+      }
+```
+
+{{% /tab %}}
+{{% tab name="JSON Example" %}}
+
+```json {class="line-numbers linkable-line-numbers"}
+{
+    "modules": [
+      {
+        "executable_path": "/usr/bin/csi-mr",
+        "name": "csi_cam_module"
+      }
+    ],
+    "components": [
+      {
+        "model": "viam:camera:csi",
+        "attributes": {
+          "width_px": 1920,
+          "height_px": 1080,
+          "frame_rate": 30,
+          "debug": true
+        },
+        "depends_on": [],
+        "name": "my_test_csi_cam",
+        "namespace": "rdk",
+        "type": "camera"
+      }
+    ]
+}
+```
+
+{{% /tab %}}
+{{< /tabs >}}
+
+Save the config.
+Edit and fill in the attributes as applicable.
+
+Check the [**Logs** tab](/program/debug/) of your robot in the Viam app to make sure your camera has connected and no errors are being raised.
+
+The following attributes are available for the `viam:camera:csi` model:
+
+| Name | Type | Inclusion | Description |
+| ---- | ---- | --------- | ----------- |
+| `width_px` | int | Optional | Width of the image this camera captures in pixels. <br> Default: `1920` |
+| `height_px` | int | Optional | Height of the image this camera captures in pixels. <br> Default: `1080` |
+| `frame_rate` | int | Optional | The image capture frame rate this camera should use. <br> Default: `30` |
+| `video_path` | string | Optional | The filepath to the input sensor of this camera on your board. If none is given, your robot will attempt to detect the video path automatically. <br> Default: `"0"` </br>  |
+| `debug` | boolean | Optional | Whether or not you want debug input from this camera in your robot's logs. <br> Default: `false` |