Jetson Nano/Development/Building the Kernel from Source: Difference between revisions
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{{JetsonNano/Head|previous=Development/Getting_into_the_Board|next=GStreamer/Accelerated_Elements| | {{JetsonNano/Head|previous=Development/Getting_into_the_Board|next=GStreamer/Accelerated_Elements|metakeywords=jetson nano kernel, DTB, build, compile, flashing, clone, cloning the image, compiling the kernel, downloading the kernel source, downloading the kernel, kernel source, source code|title=How to build NVIDIA Jetson Nano kernel|metadescription=This page provides the steps to compile, build and flashing the kernel, DTBs and to clone a sdcard image}} | ||
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Previous versions: | Previous versions: | ||
* [ | * [[Compiling_Jetson_Nano_source_code_L4T_32.2.1 | Compiling Jetson Nano source code L4T 32.2.1]] | ||
* [ | * [[Compiling_Jetson_Nano_source_code_L4T_32.1 | Compiling Jetson Nano source code L4T 32.1]] | ||
==Build Kernel== | ==Build Kernel== | ||
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Download the pre-built toolchain binaries from: http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | Download the pre-built toolchain binaries from: http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | ||
< | <syntaxhighlight lang="bash"> | ||
wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | ||
</ | </syntaxhighlight> | ||
Execute the following commands to extract the toolchain: | Execute the following commands to extract the toolchain: | ||
< | <syntaxhighlight lang="bash"> | ||
mkdir $HOME/l4t-gcc | mkdir $HOME/l4t-gcc | ||
cd $HOME/l4t-gcc | cd $HOME/l4t-gcc | ||
tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz | ||
</ | </syntaxhighlight> | ||
===2. Download the kernel sources=== | ===2. Download the kernel sources=== | ||
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In a browser, navigate to: https://developer.nvidia.com/embedded/downloads. Locate and download the L4T Sources for your release. (L4T Sources 32.3.1 2019/12/17) or run the command below: | In a browser, navigate to: https://developer.nvidia.com/embedded/downloads. Locate and download the L4T Sources for your release. (L4T Sources 32.3.1 2019/12/17) or run the command below: | ||
< | <syntaxhighlight lang="bash"> | ||
wget https://developer.download.nvidia.com/embedded/L4T/r32-3-1_Release_v1.0/Sources/T210/public_sources.tbz2 | wget https://developer.download.nvidia.com/embedded/L4T/r32-3-1_Release_v1.0/Sources/T210/public_sources.tbz2 | ||
</ | </syntaxhighlight> | ||
Execute the following commands to extract the kernel: | Execute the following commands to extract the kernel: | ||
< | <syntaxhighlight lang="bash"> | ||
tar -xvf public_sources.tbz2 | tar -xvf public_sources.tbz2 | ||
cd Linux_for_Tegra/source/public | cd Linux_for_Tegra/source/public | ||
JETSON_NANO_KERNEL_SOURCE=$(pwd) | JETSON_NANO_KERNEL_SOURCE=$(pwd) | ||
tar -xf kernel_src.tbz2 | tar -xf kernel_src.tbz2 | ||
</ | </syntaxhighlight> | ||
===3. Compile kernel and dtb=== | ===3. Compile kernel and dtb=== | ||
Follow the steps: | Follow the steps: | ||
< | <syntaxhighlight lang="bash"> | ||
cd $JETSON_NANO_KERNEL_SOURCE | cd $JETSON_NANO_KERNEL_SOURCE | ||
TOOLCHAIN_PREFIX=$HOME/l4t-gcc/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- | TOOLCHAIN_PREFIX=$HOME/l4t-gcc/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- | ||
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make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 --output-sync=target dtbs | make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 --output-sync=target dtbs | ||
make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$KERNEL_MODULES_OUT modules_install | make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$KERNEL_MODULES_OUT modules_install | ||
</ | </syntaxhighlight> | ||
==Flash Jetson NANO== | ==Flash Jetson NANO== | ||
This guide assumes that the user already has sdk-manager installed. This link contains details about how to install sdk-manager: https://developer.nvidia.com/nvidia-sdk-manager https://docs.nvidia.com/sdk-manager/download-run-sdkm/index.html | This guide assumes that the user already has sdk-manager installed. This link contains details about how to install sdk-manager: https://developer.nvidia.com/nvidia-sdk-manager https://docs.nvidia.com/sdk-manager/download-run-sdkm/index.html | ||
NVIDIA_SDK_MANAGER contains the directory where | NVIDIA_SDK_MANAGER contains the directory where NVIDIA SDK manager was installed. For example. | ||
< | <syntaxhighlight lang="bash"> | ||
export NVIDIA_SDK_MANAGER=$HOME/nvidia/nvidia_sdk/ | export NVIDIA_SDK_MANAGER=$HOME/nvidia/nvidia_sdk/ | ||
</ | </syntaxhighlight> | ||
===Select DTB and directory based on Jetson Nano module type=== | ===Select DTB and directory based on Jetson Nano module type=== | ||
====Production module (P3448-0020)==== | ====Production module (P3448-0020)==== | ||
< | <syntaxhighlight lang="bash"> | ||
export DTB=tegra210-p3448-0002-p3449-0000-b00.dtb | export DTB=tegra210-p3448-0002-p3449-0000-b00.dtb | ||
JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448-0020/Linux_for_Tegra | JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448-0020/Linux_for_Tegra | ||
</ | </syntaxhighlight> | ||
====Devkit module (P3448)==== | ====Devkit module (P3448)==== | ||
< | <syntaxhighlight lang="bash"> | ||
export DTB=tegra210-p3448-0000-p3449-0000-a02.dtb | export DTB=tegra210-p3448-0000-p3449-0000-a02.dtb | ||
JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448/Linux_for_Tegra | JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448/Linux_for_Tegra | ||
</ | </syntaxhighlight> | ||
Make sure the Jetson Nano is in recovery mode | Make sure the Jetson Nano is in recovery mode | ||
===Copy kernel, device tree and modules into jetpack=== | ===Copy kernel, device tree and modules into jetpack=== | ||
<syntaxhighlight lang="bash"> | |||
< | |||
cd ${JETPACK_4_3_P3448} | cd ${JETPACK_4_3_P3448} | ||
# Copy kernel generated | # Copy kernel generated | ||
Line 100: | Line 99: | ||
# Copy device tree generated | # Copy device tree generated | ||
cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/dts/${DTB} kernel/dtb/ | cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/dts/${DTB} kernel/dtb/ | ||
</ | </syntaxhighlight> | ||
===Apply root filesystem patch=== | ===Apply root filesystem patch=== | ||
With the default root file system the changes in the device tree are lost when the board is | With the default root file system, the changes in the device tree are lost when the board is powered off. This is a known issue (https://devtalk.nvidia.com/default/topic/1072091/jetson-nano/how-to-modify-the-dts-file-for-jetson-nano-board/) | ||
Apply this patch to avoid losing the changes added | Apply this patch to avoid losing the changes added to the device tree. | ||
====Create patch file==== | ====Create patch file==== | ||
Patch: fix_dtb_lost.patch | Patch: fix_dtb_lost.patch | ||
< | <syntaxhighlight lang="diff"> | ||
diff --git a/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh b/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh | diff --git a/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh b/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh | ||
index 921efc2..fe60093 100755 | index 921efc2..fe60093 100755 | ||
Line 124: | Line 123: | ||
# sys_maj_rev == qspi_maj_rev | # sys_maj_rev == qspi_maj_rev | ||
# sys_min_rev >= qspi_min_rev | # sys_min_rev >= qspi_min_rev | ||
</ | </syntaxhighlight> | ||
====Apply the patch==== | ====Apply the patch==== | ||
< | <syntaxhighlight lang="bash"> | ||
cd ${JETPACK_4_3_P3448} | cd ${JETPACK_4_3_P3448} | ||
sudo patch -p 1 < fix_dtb_lost.patch | sudo patch -p 1 < fix_dtb_lost.patch | ||
</ | </syntaxhighlight> | ||
===Flash memory=== | ===Flash memory=== | ||
Make sure the Jetson NANO is in recovery mode. | Make sure the Jetson NANO is in recovery mode. | ||
====Flash production module | ====Flash production module==== | ||
< | <syntaxhighlight lang="bash"> | ||
sudo ./flash.sh jetson-nano-emmc mmcblk0p1 | sudo ./flash.sh jetson-nano-emmc mmcblk0p1 | ||
</ | </syntaxhighlight> | ||
====Flash Devkit module==== | ====Flash Devkit module==== | ||
< | <syntaxhighlight lang="bash"> | ||
sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1 | sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1 | ||
</ | </syntaxhighlight> | ||
====Flash device tree only==== | ====Flash device tree only==== | ||
This command flashes only the device tree, excluding the kernel image and filesystem. Make sure the Jetson NANO is in recovery mode. | This command flashes only the device tree, excluding the kernel image and filesystem. Make sure the Jetson NANO is in recovery mode. | ||
<syntaxhighlight lang="bash"> | |||
cd ${JETPACK_4_3_P3448} | |||
# Copy device tree generated | |||
cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/dts/${DTB} kernel/dtb/ | |||
</syntaxhighlight> | |||
=====Flash production module DTB===== | =====Flash production module DTB===== | ||
< | <syntaxhighlight lang="bash"> | ||
sudo ./flash.sh -r -k DTB jetson-nano-emmc mmcblk0p1 | sudo ./flash.sh -r -k DTB jetson-nano-emmc mmcblk0p1 | ||
</ | </syntaxhighlight> | ||
===Flash | =====Flash Devkit module DTB===== | ||
<syntaxhighlight lang="bash"> | |||
< | |||
sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1 | sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1 | ||
</ | </syntaxhighlight> | ||
<noinclude> | <noinclude> |
Latest revision as of 12:30, 8 May 2024
NVIDIA®Jetson Nano™ | |||
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Introduction | |||
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Development | |||
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GStreamer | |||
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Contact Us |
Introduction
This wiki page contains instructions to download and build kernel source code for Jetson Nano, several parts of this wiki were based in the document: NVIDIA Tegra Linux Driver Package Development Guide 32.3.1.
L4T 32.3.1 is used by JetPack 4.3 (You can get more information from jetpack-archive).
Previous versions:
Build Kernel
Follow these instructions to build and install the kernel image and device tree.
1. Download and install the Toolchain
NVIDIA recommends using the Linaro 7.3.1 2018.05 toolchain for L4T 32.3 (Toolchain)
Download the pre-built toolchain binaries from: http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
wget http://releases.linaro.org/components/toolchain/binaries/7.3-2018.05/aarch64-linux-gnu/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
Execute the following commands to extract the toolchain:
mkdir $HOME/l4t-gcc cd $HOME/l4t-gcc tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
2. Download the kernel sources
You can download the kernel source files and then manually extract them. it is recommended to instead sync with git.
In a browser, navigate to: https://developer.nvidia.com/embedded/downloads. Locate and download the L4T Sources for your release. (L4T Sources 32.3.1 2019/12/17) or run the command below:
wget https://developer.download.nvidia.com/embedded/L4T/r32-3-1_Release_v1.0/Sources/T210/public_sources.tbz2
Execute the following commands to extract the kernel:
tar -xvf public_sources.tbz2 cd Linux_for_Tegra/source/public JETSON_NANO_KERNEL_SOURCE=$(pwd) tar -xf kernel_src.tbz2
3. Compile kernel and dtb
Follow the steps:
cd $JETSON_NANO_KERNEL_SOURCE TOOLCHAIN_PREFIX=$HOME/l4t-gcc/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu- TEGRA_KERNEL_OUT=$JETSON_NANO_KERNEL_SOURCE/build KERNEL_MODULES_OUT=$JETSON_NANO_KERNEL_SOURCE/modules make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} tegra_defconfig make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 --output-sync=target zImage make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 --output-sync=target modules make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j8 --output-sync=target dtbs make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$KERNEL_MODULES_OUT modules_install
Flash Jetson NANO
This guide assumes that the user already has sdk-manager installed. This link contains details about how to install sdk-manager: https://developer.nvidia.com/nvidia-sdk-manager https://docs.nvidia.com/sdk-manager/download-run-sdkm/index.html
NVIDIA_SDK_MANAGER contains the directory where NVIDIA SDK manager was installed. For example.
export NVIDIA_SDK_MANAGER=$HOME/nvidia/nvidia_sdk/
Select DTB and directory based on Jetson Nano module type
Production module (P3448-0020)
export DTB=tegra210-p3448-0002-p3449-0000-b00.dtb JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448-0020/Linux_for_Tegra
Devkit module (P3448)
export DTB=tegra210-p3448-0000-p3449-0000-a02.dtb JETPACK_4_3_P3448=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3448/Linux_for_Tegra
Make sure the Jetson Nano is in recovery mode
Copy kernel, device tree and modules into jetpack
cd ${JETPACK_4_3_P3448} # Copy kernel generated cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/Image kernel/ # Copy device tree generated cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/dts/${DTB} kernel/dtb/
Apply root filesystem patch
With the default root file system, the changes in the device tree are lost when the board is powered off. This is a known issue (https://devtalk.nvidia.com/default/topic/1072091/jetson-nano/how-to-modify-the-dts-file-for-jetson-nano-board/) Apply this patch to avoid losing the changes added to the device tree.
Create patch file
Patch: fix_dtb_lost.patch
diff --git a/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh b/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh index 921efc2..fe60093 100755 --- a/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh +++ b/rootfs/opt/nvidia/l4t-bootloader-config/nv-l4t-bootloader-config.sh @@ -123,7 +123,7 @@ t210ref_update_qspi_check () { # need to update QSPI return 0 elif (( "${sys_maj_rev}" == "${qspi_maj_rev}" )); then - if (( "${sys_min_rev}" >= "${qspi_min_rev}" )); then + if (( "${sys_min_rev}" > "${qspi_min_rev}" )); then # sys_rel == qspi_rel # sys_maj_rev == qspi_maj_rev # sys_min_rev >= qspi_min_rev
Apply the patch
cd ${JETPACK_4_3_P3448} sudo patch -p 1 < fix_dtb_lost.patch
Flash memory
Make sure the Jetson NANO is in recovery mode.
Flash production module
sudo ./flash.sh jetson-nano-emmc mmcblk0p1
Flash Devkit module
sudo ./flash.sh jetson-nano-qspi-sd mmcblk0p1
Flash device tree only
This command flashes only the device tree, excluding the kernel image and filesystem. Make sure the Jetson NANO is in recovery mode.
cd ${JETPACK_4_3_P3448} # Copy device tree generated cp $JETSON_NANO_KERNEL_SOURCE/build/arch/arm64/boot/dts/${DTB} kernel/dtb/
Flash production module DTB
sudo ./flash.sh -r -k DTB jetson-nano-emmc mmcblk0p1
Flash Devkit module DTB
sudo ./flash.sh -r -k DTB jetson-nano-qspi-sd mmcblk0p1