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基础镜像制作

环境准备

  • 安装编译依赖工具
sudo apt install build-essential bc git bison flex libssl-dev zip libncurses-dev make git

创建工具链放置目录

mkdir $HOME/l4t-gcc-toolchain
cd $HOME/l4t-gcc-toolchain
  • 下载并解压交叉编译工具链
wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2
tar xf aarch64--glibc--stable-2022.08-1.tar.bz2
  • 进入到缓存好的刷机固件目录
cd $HOME/nvidia/nvidia_sdk/JetPack_6.2.1_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra/source  #根据实际目录进行修改
  • 同步源码
 ./source_sync.sh -k -t <release-tag> #<release-tag>替换为你自己的发行版本如 jetson_36.4.3

修改添加设备树和驱动

Intel无线网卡

参考 网卡说明 在开发板安装驱动后进入 /usr/lib/modules/$(uname -r)/updates提取 ko驱动，

复制到固件缓存目录 Linux_for_Tegra/rootfs/lib/modules/5.15.148-tegra/updates/ 文件夹

realtek 8125网卡

将在开发板上编译安装好的ko驱动放入 Linux_for_Tegra/rootfs/lib/modules/5.15.148-tegra/updates/dkms

烧录完成进入系统后需要运行命令使能 r8125.ko

sudo depmod -a
sudo modprobe r8125
4G模块

参考4G模块使用说明 2.2

需要改动内核镜像

支持HDMI 4K
修改 tegra234-dcb-p3737-0000.dtsi
替换 nvidia,dcb-image 字段，对应的HDMI-dcb二进制串可在源码的 source/hardware/nvidia/t23x/nv-public/overlay/tegra234-dcb-p3767-0000-hdmi.dts 中找到。
USB设备树
修改tegra234-p3768-0000.dtsi的 padctl@3520000 节点 
添加usb3-2相关设置

padctl@3520000 {
			status = "okay";

			pads {
				usb2 {
					lanes {
						usb2-0 {
							nvidia,function = "xusb";
							status = "okay";
						};

						usb2-1 {
							nvidia,function = "xusb";
							status = "okay";
						};

						usb2-2 {
							nvidia,function = "xusb";
							status = "okay";
						};
					};
				};

				usb3 {
					lanes {
						usb3-0 {
							nvidia,function = "xusb";
							status = "okay";
						};

						usb3-1 {
							nvidia,function = "xusb";
							status = "okay";
						};
						
						usb3-2 {
							nvidia,function = "xusb";
							status = "okay";
						};
					};
				};
			};

			ports {
				/* recovery port */
				usb2-0 {
					mode = "otg";
					vbus-supply = <&vdd_5v0_sys>;
					status = "okay";
					usb-role-switch;
				};

				/* hub */
				usb2-1 {
					mode = "host";
					vbus-supply = <&vdd_1v1_hub>;
					status = "okay";
				};

				/* M.2 Key-E */
				usb2-2 {
					mode = "host";
					vbus-supply = <&vdd_5v0_sys>;
					status = "okay";
				};

				/* hub */
				usb3-0 {
					nvidia,usb2-companion = <1>;
					status = "okay";
				};

				/* J5 */
				usb3-1 {
					nvidia,usb2-companion = <0>;
					status = "okay";
				};
				usb3-2 {
					nvidia,usb2-companion = <2>;
					status = "okay";
				};
			};
		};

		usb@3550000 {
			status = "okay";

			phys = <&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-0}>,
			       <&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-1}>;
			phy-names = "usb2-0", "usb3-0";
		};

		usb@3610000 {
			status = "okay";

			phys = <&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-0}>,
			       <&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-1}>,
			       <&{/bus@0/padctl@3520000/pads/usb2/lanes/usb2-2}>,
			       <&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-0}>,
			       <&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-1}>,
			       <&{/bus@0/padctl@3520000/pads/usb3/lanes/usb3-2}>;
			phy-names = "usb2-0", "usb2-1", "usb2-2", "usb3-0",
				    "usb3-1", "usb3-2";
		};

编译内核、设备树和树外设备

2.3 编译内核

此步骤可能需要进行半个小时以上

  • 创建输出目录
cd ../../                    
mkdir kernel_out
  • 编译安装内核
export CROSS_COMPILE=$HOME/l4t-gcc-toolchain/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu- #设置交叉编译工具
make -C kernel #构建 Jetson Linux 内核镜像
sudo -E make install -C kernel #安装内核模块和树内模块
  • 将内核镜像复制到刷机目录下
cp kernel/kernel-jammy-src/arch/arm64/boot/Image ../kernel/
  • 构建NVIDIA树外模块（驱动程序）
export CROSS_COMPILE=$HOME/l4t-gcc-toolchain/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/kernel/kernel-jammy-src
make modules
  • 安装到刷机目录下
export INSTALL_MOD_PATH=$HOME/nvidia/nvidia_sdk/JetPack_6.2.1_Linux_JETSON_ORIN_NANO_TARGETS/Linux_for_Tegra/rootfs/ #根据实际目录进行修改
sudo -E make modules_install
  • 开始构建DTB
export CROSS_COMPILE=$HOME/l4t-gcc-toolchain/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/kernel/kernel-jammy-src
make dtbs
  • 将生成的dtb文件拷贝到刷机目录
cp kernel-devicetree/generic-dts/dtbs/* ../kernel/dtb/
刷写系统命令：
  • 普通模式
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device nvme0n1p1 \
-c tools/kernel_flash/flash_l4t_t234_nvme.xml -p "-c bootloader/generic/cfg/flash_t234_qspi.xml" \
--showlogs --network usb0 jetson-orin-nano-devkit internal
  • super模式
sudo ./tools/kernel_flash/l4t_initrd_flash.sh --external-device nvme0n1p1 \
-c tools/kernel_flash/flash_l4t_t234_nvme.xml -p "-c bootloader/generic/cfg/flash_t234_qspi.xml" \
--showlogs --network usb0 jetson-orin-nano-devkit-super internal
仅刷写QSPI命令：
  • 普通模式
sudo ./flash.sh -c bootloader/t186ref/cfg/flash_t234_qspi.xml --no-systemimg jetson-orin-nano-devkit nvme0n1p1
  • super模式
sudo ./flash.sh -c bootloader/t186ref/cfg/flash_t234_qspi.xml --no-systemimg jetson-orin-nano-devkit-super nvme0n1p1


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