NVIDIA Jetson 内核定制

个人流水账，实操请参考官网

硬件：NVIDIA Jetson Xavier NX

软件：JetPack L4t_32.6.1

步骤：

1. 获取内核源码（网络原因没下成功，使用2.手动下载）

   $ cd ~/L4t_32.6.1/Linux_for_Tegra
   $ sudo ./source_sync.sh

2. 手动下载
   下载地址：https://developer.nvidia.com/embedded/downloads
   https://developer.nvidia.com/embedded/linux-tegra-r3261
   解压到Linux_for_Tegra/source/public目录

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

3. 前提条件

   $ sudo apt install build-essential bc

4. 编译步骤
   设置环境变量

   $ TEGRA_KERNEL_OUT=<outdir>
   $ export CROSS_COMPILE=<cross_prefix>
   $ export LOCALVERSION=-tegra

   生成.config文件

   $ cd <kernel_source>
   $ mkdir -p $TEGRA_KERNEL_OUT
   $ make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig

   编译

   $ make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j8

   替换<release_packagep>/Linux_for_Tegra/kernel/Image

   $TEGRA_KERNEL_OUT/arch/arm64/boot/Image

   替换Linux_for_Tegra/kernel/dtb/

   $TEGRA_KERNEL_OUT/arch/arm64/boot/dts/

   安装内核模块

   $ sudo make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install \
   INSTALL_MOD_PATH=<top>/Linux_for_Tegra/rootfs/

   打包内核模块（可选）

   $ sudo make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install \
   INSTALL_MOD_PATH=<top>/Linux_for_Tegra/rootfs/

5. 安装L4T实时内核
   编辑apt源

   $ sudo vi /etc/apt/sources.list.d/nvidia-l4t-apt-source.list

   添加仓库

   deb https://repo.download.nvidia.com/jetson/rt-kernel r32.5 main

   安装实时内核补丁

   $ sudo apt update
   $ sudo apt install nvidia-l4t-rt-kernel nvidia-l4t-rt-kernel-headers

   重启生效。

   卸载

   $ sudo apt remove nvidia-l4t-rt-kernel nvidia-l4t-rt-kernel-headers

   重启生效。

6. 切换内核
   编辑/boot/extlinux/extlinux.conf，real-time表示实时内核，primary表示原内核

   TIMEOUT 30
   DEFAULT real-time

参考：NVIDIA Jetson Linux Driver Package Software Features : Kernel Customization | NVIDIA Docs