基础镜像制作

环境准备

• 安装编译依赖工具

sudo apt install build-essential bc
sudo apt-get install git bison flex libssl-dev zip libncurses-dev make git
sudo apt-get install build-essential bc

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

4G模块

参考4G模块使用说明 2.2

需要改动内核镜像

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)/kernel/update/dkms 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

r8125网卡

在开发板上编译安装好的ko驱动放入/ Linux_for_Tegra/rootfs/lib/modules/$(uname5.15.148-tegra/updates/dkms

-r)/kernel/update/dkms

支持HDMI 4K

USB设备树

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";
		};