NVIDIA jetson系列芯片内核及系统的交叉编译与烧录

一、官网资源说明

Links to Jetson Nano Resources & Wiki

1.产品与型号

jetson nano module有两种：
- Jetson Nano Developer Kit中使用的SKU 0000
- 生产设备中使用的SKU 0020。

2.L4T 32.2 public sources 组件说明

二、在ubuntu主机交叉编译L4T软件包

内核定制

1.下载L4T源码

点击L4T，下载L4T Driver Package (BSP) Sources

解压和提取内核目录

tar -xjf public_sources.tbz2
cd public_sources/
tar -xjf kernel_src.tbz2

tree -L 3 public_sources/
public_sources/
├── hardware
│   └── nvidia
│       ├── platform
│       └── soc
├── kernel
│   ├── kernel-4.9
│   │   ├── arch
│   │   ├── block
│   │   ├── build.config.cuttlefish.x86_64
│   │   ├── build.config.goldfish.arm
│   │   ├── build.config.goldfish.arm64
│   │   ├── build.config.goldfish.mips
│   │   ├── build.config.goldfish.mips64
│   │   ├── build.config.goldfish.x86
│   │   ├── build.config.goldfish.x86_64
│   │   ├── certs
│   │   ├── COPYING
│   │   ├── CREDITS
│   │   ├── crypto
│   │   ├── Documentation
│   │   ├── drivers
│   │   ├── firmware
│   │   ├── fs
│   │   ├── include
│   │   ├── init
│   │   ├── ipc
│   │   ├── Kbuild
│   │   ├── Kconfig
│   │   ├── kernel
│   │   ├── lib
│   │   ├── MAINTAINERS
│   │   ├── Makefile
│   │   ├── mm
│   │   ├── modules.builtin
│   │   ├── modules.order
│   │   ├── Module.symvers
│   │   ├── net
│   │   ├── NVIDIA-REVIEWERS
│   │   ├── README
│   │   ├── REPORTING-BUGS
│   │   ├── rt-patches
│   │   ├── samples
│   │   ├── scripts
│   │   ├── security
│   │   ├── signing_key
│   │   ├── signing_key.x509
│   │   ├── sound
│   │   ├── System.map
│   │   ├── tools
│   │   ├── usr
│   │   ├── verity_dev_keys.x509
│   │   ├── virt
│   │   ├── vmlinux
│   │   └── vmlinux.o
│   ├── nvgpu
│   │   ├── drivers
│   │   ├── include
│   │   ├── Makefile.umbrella.tmk
│   │   ├── NVIDIA-REVIEWERS
│   │   ├── scripts
│   │   └── userspace
│   └── nvidia
│       ├── arch
│       ├── Documentation
│       ├── drivers
│       ├── include
│       ├── NVIDIA-REVIEWERS
│       ├── scripts
│       ├── security
│       └── sound

2.构建NVIDIA内核

安装预装软件
```
sudo apt install build-essential bc
```

安装L4T工具链

工具链包含以下组件：

• GCC版本：7.3.1

• Binutils版本：2.28.2.20170706

• Glibc版本：2.25

# 下载和解压工具链
wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-i686_aarch64-linux-gnu.tar.xz

sudo tar -xvf gcc-linaro-7.3.1-2018.05-i686_aarch64-linux-gnu.tar.xz -C /opt

# 修改环境变量
vim  ~/.bashrc
  export PATH=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/:$PATH
source ~/.bashrc

导出相关环境变量

# 仅当前终端有效
export LOCALVERSION=-tegra
export CROSS_COMPILE=aarch64-linux-gnu-

创建.config 文件

cd kernel/kernel-4.9
make ARCH=arm64 tegra_defconfig

3.编译内核

make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- -j4

编译得到的内核为arch/arm64/boot/Image

4.安装Linux_for_Tegra

三、烧录内核

1.下载L4T Driver Package (BSP)

点击L4T，下载L4T Driver Package (BSP)

解压文件

tar -xjf Jetson-210_Linux_R32.2.1_aarch64.tbz2

Linux_for_Tegra/
├── apply_binaries.sh
├── bootloader
├── build_l4t_bup.sh
├── create-jetson-nano-sd-card-image.sh
├── flash.sh
├── jetson-nano-emmc.conf -> p3448-0000-emmc.conf
├── jetson-nano-qspi.conf -> p3448-0000.conf
├── jetson-nano-qspi-sd.conf -> p3448-0000-sd.conf
├── jetson-tx1.conf -> p2371-2180-devkit.conf
├── kernel
├── l4t_generate_soc_bup.sh
├── lib
├── nv_tegra
├── p2371-2180-devkit-24x7.conf
├── p2371-2180-devkit.conf
├── p3448-0000.conf
├── p3448-0000.conf.common
├── p3448-0000-emmc.conf
├── p3448-0000-sd.conf
├── rootfs
├── source_sync.sh
└── TX1_boot-firmware-redundancy.txt

下载SAMPLE_FS_PACKAGE
- 点击L4T，下载Sample Root Filesystem
- 将镜像加压到Linux_for_Tegra/rootfs目录下
```
sudo tar -xjf Tegra_Linux_Sample-Root-Filesystem_R32.2.1_aarch64.tbz2 -C Linux_for_Tegra/rootfs

cd Linux_for_Tegra/
sudo ./apply_binaries.sh
```
  - 注意：必须以sudo运行解压和apply_binaries.sh

2.将BSP软件烧录到jetson nano module板子

使jetson nano module进入recovery模式，接上usb到ubuntu 主机
```
lsusb
Bus 001 Device 057: ID 0955:7f21 NVidia Corp.
```
- pid关联的板子
  - 7f21 for Jetson Nano (P3448, included in the developer kit)
  - 7f21 for Jetson Nano (P3448-0020, for production devices)
  - 7019 for Jetson AGX Xavier
  - 7c18 for Jetson TX2
  - 7018 for Jetson TX2i
  - 7418 for Jetson TX2 4GB
  - 7721 Jetson TX1
根据board执行烧录命令
```
sudo ./flash.sh jetson-nano-emmc mmcblk0p1
```
- 每一块板对应的配置文件

3.覆盖L4T Driver Package (BSP) Sources编译结果

cd kernel/kernel-4.9/

# 内核
cp kernel/kernel-4.9/arch/arm64/boot/Image Linux_for_Tegra/kernel/Image

# 设备树
cp arch/arm64/boot/Image ../../../Linux_for_Tegra/kernel/Image

# 内核模块
sudo make ARCH=arm64 modules_install INSTALL_MOD_PATH=../../../Linux_for_Tegra/rootfs/

四、在jetson nano上直接编译内核

将public_sources.tbz2复制到nano板上并解压。

1.编译内核

$ cd ~/kernel/kernel-4.9
$ zcat /proc/config.gz > .config

# Prepare the kernel build
$ make prepare
$ make modules_prepare

# Compile kernel image and kernel modules
$ time make -j5 Image
$ time make -j5 modules

2.安装内核与内核模块

# Install modules and kernel image
$ sudo make modules_install
$ sudo cp arch/arm64/boot/Image /boot/Image

NVIDIA jetson系列芯片 内核及系统的交叉编译与烧录

一、官网资源说明

1.产品与型号

2.L4T 32.2 public sources 组件说明

二、在ubuntu主机交叉编译L4T软件包

1.下载L4T源码

2.构建NVIDIA内核

3.编译内核

三、烧录内核

1.下载L4T Driver Package (BSP)

2.将BSP软件烧录到jetson nano module板子

3.覆盖L4T Driver Package (BSP) Sources编译结果

四、在jetson nano上直接编译内核

1.编译内核

2.安装内核与内核模块

NVIDIA jetson系列芯片内核及系统的交叉编译与烧录