Data: 2017.09.13
Author: cjh
Theme: Jetson TX1内核kernel编译与烧写
PS ：本人用的JetPack版本为3.0
1. Getting bootloader and kernel
本文内核kernel源码是通过JetPack进行安装的，如果没安装的请首先下载JetPack。
通过运行以下命令可获得源码
cd/home/$USER/JetPack-L4T-3.0/64_TX1/Linux_for_Tegra_64_tx1
./source_sync.sh
下载源码需要时间
Use: source_sync.sh [options]
Available general options are,
-h : help
-e : exit on sync error
-d DIR : root of source is DIR
默认情况下会下载所有的源码
如果用到了一个或多个以下选项，则仅下载指定的源。
-k [TAG]: Download kernel source and optionally sync to TAG
-u [TAG]: Download u-boot source and optionally sync to TAG
PS：DEVDIR为JetPack的安装目录，可用export DEVDIR = / 添加临时环境变量
cd $ DEVDIR / 64_TX1 /Linux_for_Tegra_64_tx1 / sources / kernel_source
git branch -a
git checkout l4t / l4t-r24.2
cd $ DEVDIR / 64_TX1 /Linux_for_Tegra_64_tx1 / sources / u-boot_source
git branch -a
git checkout l4t / l4t-r24.2
此时源码下载完成
2. 安装Toolchain
下载：
5.3-2016.02 for 64bits PC - 64bits ARM
5.3-2016.02 for 64bits PC - 32bits ARM
安装：
sudo mkdir /opt/linaro
sudo chmod -R 775 /opt/linaro
sudo chown -R $USER /opt/linaro
cpgcc-linaro-5.3-2016.02-x86_64_aarch64-linux-gnu.tar.xz /opt/linaro
cpgcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf.tar.xz /opt/linaro
cd /opt/linaro/
tar -xfgcc-linaro-5.3-2016.02-x86_64_aarch64-linux-gnu.tar.xz
tar -xfgcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf.tar.xz
PS：USER为当前用户
3. 内核编译
1） 指定工具链的路径：
mkdir -p $DEVDIR/images/modules
mkdir -p $DEVDIR/images/packages
export CROSS_COMPILE=/opt/linaro/gcc-linaro-5.3-2016.02-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
exportCROSS32CC=/opt/linaro/gcc-linaro-5.3-2016.02-x86_64_arm-linux-gnueabihf/bin/arm-linux-gnueabihf-gcc
exportKERNEL_MODULES_OUT=$DEVDIR/images/modules
export ARCH=arm64
2） 清理内核和配置
cd$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/sources/kernel_source/
make mrproper
PS：为避免错误
error: r7 cannot beused in asm here
error: logical not is only applied to the left hand side ofcomparison
分别修改一下代码：
目录：kernel_source/arch/arm64/kernel/vdso32/Makefile
GCOV_PROFILE := n
注释：ccflags-y := -shared -fPIC-fno-common -fno-builtin -march=armv7-a
增加：ccflags-y := -shared -fPIC-fomit-frame-pointer -fno-common -fno-builtin -march=armv7-a
ccflags-y += -nostdlib -Wl,-soname=linux-vdso32.so.1\
$(call cc-ldoption,-Wl$(comma)--hash-style=sysv)
asflags-y := -D__VDSO32__ -s
目录：kernel_source/drivers/platform/tegra/tegra21_clocks.c
static void tegra21_cpu_clk_init(struct clk*c)
{
注释： c->state = (!is_lp_cluster() ==(c->u.cpu.mode == MODE_G)) ? ON : OFF;
增加： c->state = ((!is_lp_cluster()) ==(c->u.cpu.mode == MODE_G)) ? ON : OFF;
}
static int tegra21_cpu_clk_enable(struct clk*c)
3） 配置你的内核
make tegra21_defconfig
make menuconfig
PS：错误解决
*** Unable to find thencurses libraries or the
*** required headerfiles.
*** 'make menuconfig'requires the ncurses libraries.
***
*** Install ncurses(ncurses-devel) and try again.
方法：sudo apt-get installlibncurses5-dev
4） 编译内核，设备树和模块
make zImage
make dtbs
make modules
make modules_installINSTALL_MOD_PATH=$KERNEL_MODULES_OUT
PS：错误解决
GEN config-host.h
LEX convert-dtsv0-lexer.lex.c
make[1]: flex：命令未找到
BISON dtc-parser.tab.c
make[1]: bison：命令未找到
LEX dtc-lexer.lex.c
make[1]: flex：命令未找到
CHK version_gen.h
方法：sudo apt-get install flex
sudo apt-get install bison
5） 后期准备，修改JetPack
将您的二进制文件保存在images目录中
cp arch/arm64/boot/Imagearch/arm64/boot/zImage $DEVDIR/images/
用kernel模块创建kernel_supplements.tbz2，Jetpack需要这个包
cd $DEVDIR/images/modules/lib/modules/
ls .
使用modules目录的名称定义一个变量
export KERNEL_MODULES_NAME=3.10.96+
修复内核模块目录上的符号链接
cd$DEVDIR/images/modules/lib/modules/$KERNEL_MODULES_NAME
rm build source
创建tarball
cd $DEVDIR/images/modules/
tar -cjf kernel_supplements.tbz2 *
mv kernel_supplements.tbz2$DEVDIR/images/packages
除了创建模块和内核映像之外，还需要再次创建您的kernel_headers.tbz2文件（Jetpack需要）。 默认情况下，当您修补内核代码时，您不会检查内核中的更改将为发行版本添加一个后缀（例如，检查ls $ DEVDIR / images / modules / lib / modules /）。因为这个特定的原因，你需要生成你的头文件tarball再次更改它的版本。
cd $DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/kernel
tar -xf kernel_headers.tbz2
tar -cjf kernel_headers_custom.tbz2linux-headers-$KERNEL_MODULES_NAME
mv kernel_headers_custom.tbz2$DEVDIR/images/packages
rm -rf linux-headers-$KERNEL_MODULES_NAME
PS：KERNEL_MODULES_NAME这个后缀大家见机修改
创建dtb目录
mkdir -p $DEVDIR/images/dtb
cp$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/sources/kernel_source/arch/arm64/boot/dts/*.dtb$DEVDIR/images/dtb/
复制设备树编译器（DTC）
cp$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/sources/kernel_source/scripts/dtc/dtc$DEVDIR/images/dtc
创建Jetpack中包含的图像和软件包的备份
mkdir -p $DEVDIR/images/packages-backup
cp -rf$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/kernel/* $DEVDIR/images/packages-backup
最后使用自己的图像覆盖默认图像，以使用jetpack安装和引导它们
cd $ DEVDIR / images
cd $DEVDIR/images
rm -rf $DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/kernel/dtb
cp -rf Image zImagepackages/kernel_supplements.tbz2 dtb/ dtc$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/kernel/
cp -rf packages/kernel_headers_custom.tbz2$DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/kernel/kernel_headers.tbz2
运行应用程序脚本以生成要闪存的映像
cd $DEVDIR/64_TX1/Linux_for_Tegra_64_tx1/
sudo ./apply_binaries.sh
输出：
Using rootfs directory of:/home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Extracting the NVIDIA user space componentsto /home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Extracting the BSP test tools to/home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Extracting the NVIDIA gst test applicationsto /home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Extracting the configuration files for thesupplied root filesystem to/home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Creating a symbolic link nvgstplayerpointing to nvgstplayer-0.10
Creating a symbolic link nvgstcapturepointing to nvgstcapture-0.10
Adding symlink libcuda.so -->libcuda.so.1.1 in target rootfs
Adding symlink libGL.so --> libGL.so.1in target rootfs
Adding symlink libcuda.so -->tegra/libcuda.so in target rootfs
Adding symlink libEGL.so --> libEGL.so.1in target rootfs
Extracting the firmwares and kernel modulesto /home/dsoto/devdirs/tegra/Jetpack/TX1/Linux_for_Tegra_tx1/rootfs
Extracting the kernel headers to /usr/srcin target rootfs
Installing zImage into /boot in targetrootfs
Installing Image into /boot in targetrootfs
Installing the board *.dtb files into /bootin target rootfs
Success!
6） 从新刷机，修改TX1的kernel
您可以使用Jetpack直接刷新您的图像，而不是直接使用脚本，但这需要时间（约10分钟），因为我们将需要jetpack再次生成system.img
备份你的system.img
cd$DEVDIR/64_TX1/Linux_for_Tegra_tx1/bootloader/
mv system.img.raw system.img$DEVDIR/images/packages-backup/
只需运行Jetpack作为您首次安装它：
cd $DEVDIR
./JetPack-L4T-2.1-linux-x64.run
具体操作可详见刷机教程
PS：kernel是否更改可查看串口打印信息，Jetson TX1串口调试。
Linuxversion 3.10.96-tegra (buildbrain@mobile-u64-1072) (gcc version 4.8.2 (GCC) )#1 SMP PREEMPT Wed Nov 9 19:42:57 PST 2016日期是否被修改
参考：
http://blog.csdn.net/mantis_1984/article/details/61616541
https://developer.ridgerun.com/wiki/index.php?title=Compiling_Tegra_X1_source_code
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