Can an original HomePod work with Apple TV 4K to enjoy Dolby Atmos audio for home theater experience?

Can an original HomePod work with Apple TV 4K to enjoy Dolby Atmos audio for home theater experience? Or do I need the Second Generation HomePod?

If I add a Second Generation HomePod, can it play nice with one of the original HomePods in a Dolby Atmos home theater experience? THANKS!