Introduction

This wiki page contains instructions to download and build kernel source code for Jetson TX2, several parts of this wiki were based in the document: NVIDIA Tegra Linux Driver Package Development Guide 32.3.

L4T 32.3.1 is used by JetPack 4.3 (You can get more information from jetpack-archive).

Build kernel

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 and locate them under $HOME/l4t-gcc, or alternatively execute on console:

mkdir -p $HOME/l4t-gcc
cd $HOME/l4t-gcc
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:

tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz

2. Download the kernel sources for L4T 32.3.1

mkdir -p $HOME/l4t-sources/tx2/
cd $HOME/l4t-sources/tx2
wget https://developer.download.nvidia.com/embedded/L4T/r32-3-1_Release_v1.0/Sources/T186/public_sources.tbz2

Execute the following commands to extract the kernel sources:

tar -xvf public_sources.tbz2
cd Linux_for_Tegra/source/public
JETSON_TX2_KERNEL_SOURCES=$(pwd)
tar -xf kernel_src.tbz2

Apply corresponding patches (if any) and follow to the next section.

3. Compile kernel and dtb

cd $JETSON_TX2_KERNEL_SOURCES

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_TX2_KERNEL_SOURCES/build
KERNEL_MODULES_OUT=$JETSON_TX2_KERNEL_SOURCES/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} menuconfig

here you have to select the modules you want to compile, for example for libguvc something like this is required:

 -> Device Drivers
    -> USB support (USB_SUPPORT [=y]) 
        -> USB Gadget Support (USB_GADGET [=y]) 
            -> USB Gadget Drivers (<choice> [=m])

Now compile the image, dtbs and modules:

make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j$(nproc) Image
make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j$(nproc) dtbs
make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra CROSS_COMPILE=${TOOLCHAIN_PREFIX} -j$(nproc) modules
make -C kernel/kernel-4.9/ ARCH=arm64 O=$TEGRA_KERNEL_OUT LOCALVERSION=-tegra INSTALL_MOD_PATH=$KERNEL_MODULES_OUT modules_install

Install image on the TX2

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/

Export the following variables:

JETPACK_4_3_P3310=${NVIDIA_SDK_MANAGER}/JetPack_4.3_Linux_P3310/Linux_for_Tegra/