目录
前言
NVIDIA AGX Orin 是一款高性能的嵌入式计算平台，广泛应用于人工智能、自动驾驶、机器人等领域。为 AGX Orin 编译定制的 Linux 内核，可以更好地适应特定应用需求，增强系统的灵活性。本文将详细介绍如何下载、配置和编译适用于 AGX Orin 的 Linux 内核源码。
一、准备工作
在开始之前，确保您的开发环境满足以下要求：
- 开发主机：一台运行 Ubuntu 18.04 或 20.04 的 x86_64 主机。
- 交叉编译工具链：NVIDIA 提供的适用于 AGX Orin 的交叉编译工具链：/opt/nvidia-toolchain-gcc-9.3
- AGX-Orin模组。
二、源码下载
在nvidia官网下载jetson Linux源码，下载网址为：Jetson Linux | NVIDIA Developer，下载BSP源码文件以及交叉工具链，如下所示：
- 交叉工具链：
-
源码：下载源码文件为public_sources.tbz2，使用
tar -xjf public_sources.tbz2解压得到Linux_for_Tegra目录，源码文件在这个目录下：
进入Linux_for_Tegra/source/public目录可以看到所有源码文件，如下所示：
cpp
cftc@cftc-virtual-machine:~/nvidia/source/Linux_for_Tegra/source/public$ ls -l
total 194048
-rw-r--r-- 1 cftc cftc 9353 2月 20 12:38 argus_cam_libavencoder_src.tbz2
-rw-r--r-- 1 cftc cftc 118 2月 20 12:38 argus_cam_libavencoder_src.tbz2.sha1sum
drwxrwxr-x 3 cftc cftc 4096 7月 16 17:07 atf_build
-rw-r--r-- 1 cftc cftc 5555212 2月 20 12:38 atf_src.tbz2
-rw-r--r-- 1 cftc cftc 99 2月 20 12:38 atf_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 137992 2月 20 12:38 dtc-1.4.5.tbz2
-rw-r--r-- 1 cftc cftc 101 2月 20 12:38 dtc-1.4.5.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 115445 2月 20 12:38 FreeRTOSV8.1.2_src.tbz2
-rw-r--r-- 1 cftc cftc 110 2月 20 12:38 FreeRTOSV8.1.2_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 48181 2月 20 12:38 gstegl_src.tbz2
-rw-r--r-- 1 cftc cftc 102 2月 20 12:38 gstegl_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 1413240 2月 20 12:38 gstjpeg_src.tbz2
-rw-r--r-- 1 cftc cftc 103 2月 20 12:38 gstjpeg_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 636651 2月 20 12:38 gst-nvarguscamera_src.tbz2
-rw-r--r-- 1 cftc cftc 113 2月 20 12:38 gst-nvarguscamera_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 619692 2月 20 12:38 gst-nvcompositor_src.tbz2
-rw-r--r-- 1 cftc cftc 112 2月 20 12:38 gst-nvcompositor_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 610662 2月 20 12:38 gst-nvtee_src.tbz2
-rw-r--r-- 1 cftc cftc 105 2月 20 12:38 gst-nvtee_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 616957 2月 20 12:38 gst-nvv4l2camera_src.tbz2
-rw-r--r-- 1 cftc cftc 112 2月 20 12:38 gst-nvv4l2camera_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 636526 2月 20 12:38 gst-nvvidconv_src.tbz2
-rw-r--r-- 1 cftc cftc 109 2月 20 12:38 gst-nvvidconv_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 159721 2月 20 12:38 gst-nvvideo4linux2_src.tbz2
-rw-r--r-- 1 cftc cftc 114 2月 20 12:38 gst-nvvideo4linux2_src.tbz2.sha1sum
drwxrwxr-x 3 cftc cftc 4096 7月 12 15:26 hardware
drwxrwxr-x 5 cftc cftc 4096 8月 1 14:31 kernel
-rw-r--r-- 1 cftc cftc 170607524 2月 20 12:38 kernel_src.tbz2
-rw-r--r-- 1 cftc cftc 102 2月 20 12:38 kernel_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 4389 2月 20 12:38 libgstnvcustomhelper_src.tbz2
-rw-r--r-- 1 cftc cftc 116 2月 20 12:38 libgstnvcustomhelper_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 15390 2月 20 12:38 libgstnvdrmvideosink_src.tbz2
-rw-r--r-- 1 cftc cftc 116 2月 20 12:38 libgstnvdrmvideosink_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 26351 2月 20 12:38 libgstnvvideosinks_src.tbz2
-rw-r--r-- 1 cftc cftc 114 2月 20 12:38 libgstnvvideosinks_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 777927 2月 20 12:38 libnl-3.5.0.tbz2
-rw-r--r-- 1 cftc cftc 103 2月 20 12:38 libnl-3.5.0.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 24095 2月 20 12:38 libv4l2_nvargus_src.tbz2
-rw-r--r-- 1 cftc cftc 111 2月 20 12:38 libv4l2_nvargus_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 55037 2月 20 12:38 nvgstapps_src.tbz2
-rw-r--r-- 1 cftc cftc 105 2月 20 12:38 nvgstapps_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 9449948 2月 20 12:38 nvidia-jetson-optee-source.tbz2
-rw-r--r-- 1 cftc cftc 118 2月 20 12:38 nvidia-jetson-optee-source.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 2280241 2月 20 12:38 nvidia_kernel_display_driver_source.tbz2
-rw-r--r-- 1 cftc cftc 127 2月 20 12:38 nvidia_kernel_display_driver_source.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 110427 2月 20 12:38 nvidia-xconfig_src.tbz2
-rw-r--r-- 1 cftc cftc 110 2月 20 12:38 nvidia-xconfig_src.tbz2.sha1sum
-rwxr-xr-x 1 cftc cftc 2486 2月 20 12:38 nv_public_src_build.sh
-rwxr-xr-x 1 cftc cftc 4702 2月 20 12:38 nv_public_src_build_tos.sh
-rw-r--r-- 1 cftc cftc 7197 2月 20 12:38 nvsample_cudaprocess_src.tbz2
-rw-r--r-- 1 cftc cftc 116 2月 20 12:38 nvsample_cudaprocess_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 61154 2月 20 12:38 nvsci_headers.tbz2
-rw-r--r-- 1 cftc cftc 105 2月 20 12:38 nvsci_headers.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 34069 2月 20 12:38 nvsci_samples_src.tbz2
-rw-r--r-- 1 cftc cftc 109 2月 20 12:38 nvsci_samples_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 6475 2月 20 12:38 opencv_gst_samples_src.tbz2
-rw-r--r-- 1 cftc cftc 114 2月 20 12:38 opencv_gst_samples_src.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 6428 2月 20 12:38 openwfd_headers.tbz2
-rw-r--r-- 1 cftc cftc 107 2月 20 12:38 openwfd_headers.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 10800 2月 20 12:38 openwfd_samples.tbz2
-rw-r--r-- 1 cftc cftc 107 2月 20 12:38 openwfd_samples.tbz2.sha1sum
drwxrwxr-x 3 cftc cftc 4096 7月 16 16:49 optee
-rw-r--r-- 1 cftc cftc 4381 2月 20 12:38 public_sources_sha.txt
-rw-r--r-- 1 cftc cftc 4284913 2月 20 12:38 spe-freertos-bsp.tbz2
-rw-r--r-- 1 cftc cftc 108 2月 20 12:38 spe-freertos-bsp.tbz2.sha1sum
-rw-r--r-- 1 cftc cftc 163054 2月 20 12:38 v4l2_libs_src.tbz2
-rw-r--r-- 1 cftc cftc 105 2月 20 12:38 v4l2_libs_src.tbz2.sha1sum
cftc@cftc-virtual-machine:~/nvidia/source/Linux_for_Tegra/source/public$-
内核源码解压：使用
tar –xjf kernel_src.tbz2解压内核源码得到kernel目录，目录结构如下所示：
三、源码编译配置
- ubuntu虚拟机环境配置：
cpp
sudo apt install build-essential bc- 交叉工具链配置：设置如下两个环境变量
cpp
export CROSS_COMPILE_AARCH64_PATH=/opt/nvidia-toolchain-gcc-9.3
export CROSS_COMPILE_AARCH64=/opt/nvidia-toolchain-gcc-9.3/bin/aarch64-buildroot-linux-gnu-- 建立编译输出目录：
cpp
mkdir kernel_out- 内核编译：
cpp
./nvbuild.sh -o $PWD/kernel_out其中nvbuild.sh为自动编译脚本，执行./nvbuild.sh -h可以查看编译帮助输出：
cpp
cftc@cftc-virtual-machine:~/nvidia/source/Linux_for_Tegra/source/public/kernel$ ./nvbuild.sh -h
Usage: ./nvbuild.sh [OPTIONS]
This script builds kernel sources in this directory.
It supports following options.
OPTIONS:
-h Displays this help
-o <outdir> Creates kernel build output in <outdir>
cftc@cftc-virtual-machine:~/nvidia/source/Linux_for_Tegra/source/public/kernel$-o 为指定内核编译输出目录，生成的编译输出文件全部在kernel_out目录下。
nvbuild.sh脚本内容如下所示：
cpp
#!/bin/bash
# SPDX-FileCopyrightText: Copyright (c) 2019-2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: BSD-3-Clause
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this
# list of conditions and the following disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# This script builds kernel sources in this directory.
# Usage: ./${SCRIPT_NAME}.sh [OPTIONS]
set -e
# shellcheck disable=SC2046
SCRIPT_DIR="$(dirname $(readlink -f "${0}"))"
SCRIPT_NAME="$(basename "${0}")"
source "${SCRIPT_DIR}/nvcommon_build.sh"
function usage {
cat <<EOM
Usage: ./${SCRIPT_NAME} [OPTIONS]
This script builds kernel sources in this directory.
It supports following options.
OPTIONS:
-h Displays this help
-o <outdir> Creates kernel build output in <outdir>
EOM
}
# parse input parameters
function parse_input_param {
while [ $# -gt 0 ]; do
case ${1} in
-h)
usage
exit 0
;;
-o)
KERNEL_OUT_DIR="${2}"
shift 2
;;
*)
echo "Error: Invalid option ${1}"
usage
exit 1
;;
esac
done
}
function build_arm64_kernel_sources {
kernel_version="${1}"
echo "Building kernel-${kernel_version} sources"
# execute building steps
source_dir="${SCRIPT_DIR}/kernel/kernel-${kernel_version}/"
config_file="tegra_defconfig"
tegra_kernel_out="${source_dir}"
# shellcheck disable=SC2236
if [ ! -z "${KERNEL_OUT_DIR}" ] ; then
O_OPT=(O="${KERNEL_OUT_DIR}")
tegra_kernel_out="${KERNEL_OUT_DIR}"
else
O_OPT=()
fi
"${MAKE_BIN}" -C "${source_dir}" ARCH=arm64 \
LOCALVERSION="-tegra" \
CROSS_COMPILE="${CROSS_COMPILE_AARCH64}" \
"${O_OPT[@]}" "${config_file}"
"${MAKE_BIN}" -C "${source_dir}" ARCH=arm64 \
LOCALVERSION="-tegra" \
CROSS_COMPILE="${CROSS_COMPILE_AARCH64}" \
"${O_OPT[@]}" -j"${NPROC}" \
--output-sync=target Image
"${MAKE_BIN}" -C "${source_dir}" ARCH=arm64 \
LOCALVERSION="-tegra" \
CROSS_COMPILE="${CROSS_COMPILE_AARCH64}" \
"${O_OPT[@]}" -j"${NPROC}" \
--output-sync=target dtbs
"${MAKE_BIN}" -C "${source_dir}" ARCH=arm64 \
LOCALVERSION="-tegra" \
CROSS_COMPILE="${CROSS_COMPILE_AARCH64}" \
"${O_OPT[@]}" -j"${NPROC}" \
--output-sync=target modules
image="${tegra_kernel_out}/arch/arm64/boot/Image"
if [ ! -f "${image}" ]; then
echo "Error: Missing kernel image ${image}"
exit 1
fi
echo "Kernel sources compiled successfully."
}
# shellcheck disable=SC2068
parse_input_param $@
# Compile kernel sources for "arm64"
build_arm64_kernel_sources "5.10"通过脚本文件可以确认kernel配置文件为tegra_defconfig，我们可以根据自己需求修改内核配置文件，内核编译输出如下所示：
内核文件生成如下所示：
内核设备树文件生成如下所示：
生成的Image文件和设备树文件，可以直接替换至AGX-Orin文件系统/boot/Image，/boot/dtb/kernel_tegra234-p3701-0000-p3737-0000.dtb，重启即可生效。
总结
本文介绍了如何为 NVIDIA AGX Orin 平台下载、配置和编译定制的 Linux 内核源码。通过编译和部署定制内核，您可以更好地控制系统的行为，并根据特定应用需求进行优化。定期更新内核和设备树文件可以提高系统稳定性和兼容性。希望这篇教程能为您在开发和调试 AGX Orin 系统时提供帮助。。