Nvidia Jetson Orin NX 編譯 Linux Kernel

前言

Nvidia Jetson主要是用於AI邊緣或機器人的System on Module(SoM)，模組產品名稱包含Jetson Orin、Jetson Xavier、Jetson TX2、Jetson Nano，不同系列有不同的特色詳細可以參考這邊NVIDIA Jetson。

前提準備

• Host PC(Build Server)
• target board 開發版和SOM

客製化編譯Linux kernel

下載Board Support Package(BSP)此連結選擇你的版本，下載Driver Package (BSP) Sources。

解開BSP壓縮檔

$ tar -xfva public_sources.tbz2

解開kernel source壓縮檔

$ cd Linux_for_Tegra/source/public
$ tar –xjf kernel_src.tbz2

編譯之前預先安裝的套件

$ sudo apt install build-essential bc

下載cross-compiler Bootlin Toolchain gcc一樣在此連結中下載

我習慣把cross-compiler放在/opt/nvidia/toolchain/底下 也可以依照自喜喜好，但下面我會以此路徑為例。

編譯前的環境變數設定

$ export CROSS_COMPILE_AARCH64_PATH=/opt/nvidia/toolchain/
$ export CROSS_COMPILE_AARCH64=/opt/nvidia/toolchain/bin/aarch64-buildroot-linux-gnu-

建立kernel編譯後的輸出路徑

$ mkdir kernel_out

開始編譯

$ ./nvbuild.sh -o $PWD/kernel_out

出現以下錯誤訊息

$ ./nvbuild.sh -o $PWD/kernel_out
Building kernel-5.10 sources
make: Entering directory '/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10'
make[1]: Entering directory '/home/caspar/nvidia/nsync/Original_source_code/kernel_out'
  GEN     Makefile
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  HOSTCC  scripts/kconfig/confdata.o
  HOSTCC  scripts/kconfig/expr.o
  LEX     scripts/kconfig/lexer.lex.c
/bin/sh: 1: flex: not found
make[2]: *** [scripts/Makefile.host:9: scripts/kconfig/lexer.lex.c] Error 127
make[1]: *** [/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10/Makefile:633: tegra_defconfig] Error 2
make[1]: Leaving directory '/home/caspar/nvidia/nsync/Original_source_code/kernel_out'
make: *** [Makefile:213: __sub-make] Error 2
make: Leaving directory '/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10'

看到/bin/sh: 1: flex: not found，我們安裝套件如下指令。

$ sudo apt install flex

$ ./nvbuild.sh -o $PWD/kernel_out
Building kernel-5.10 sources
make: Entering directory '/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10'
make[1]: Entering directory '/home/caspar/nvidia/nsync/Original_source_code/kernel_out'
  GEN     Makefile
  LEX     scripts/kconfig/lexer.lex.c
  YACC    scripts/kconfig/parser.tab.[ch]
/bin/sh: 1: bison: not found
make[2]: *** [scripts/Makefile.host:17: scripts/kconfig/parser.tab.h] Error 127
make[1]: *** [/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10/Makefile:633: tegra_defconfig] Error 2
make[1]: Leaving directory '/home/caspar/nvidia/nsync/Original_source_code/kernel_out'
make: *** [Makefile:213: __sub-make] Error 2
make: Leaving directory '/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10'

看到/bin/sh: 1: bison: not found，我們安裝套件如下指令。

$ sudo apt install bison

出現找不到openssl header file問題

  HOSTCC  scripts/kallsyms
  HOSTCC  scripts/sign-file
/home/caspar/nvidia/nsync/Original_source_code/kernel/kernel-5.10/scripts/sign-file.c:25:10: fatal error: openssl/opensslv.h: No such file or directory
   25 | #include <openssl/opensslv.h>
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.host:95: scripts/sign-file] Error 1
make[2]: *** Waiting for unfinished jobs....
  HOSTCC  scripts/sorttable

請安裝openssl development package。

$ sudo apt-get install libssl-dev

編譯完成之後，在Linux_for_Tegra/tools/底下使用script來燒入firmware，燒入firmware有兩個script可以使用二擇一。

底下我們只講使用initrd的方式來燒入，燒入較flash燒入來的方便。參考連結在這裡

預先準備

• 高品質的USB-C/micro-USB線
• Host PC使用NetworkManager
• 關閉自動掛載儲存設備

  $ systemctl stop udisks2.service
  

• 安裝正確的相依套件

  $ sudo tools/l4t_flash_prerequisites.sh # For Debian-based Linux
  

board name請參考此連結表格內的Configuration欄位。

待續。。。