Jetson xavier agx 编译内核及烧录过程详细记录

##准备源码和编译器
编译器
gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
内核
Jetson_Linux_R32.5.1_aarch64.tbz2
https://developer.download.nvidia.cn/embedded/L4T/r32_Release_v5.2/T186/Jetson_Linux_R32.5.2_aarch64.tbz2?uobFhgLNHjkA5gGgWTdo5g4ige2UHmM0i1cSUZCpln_HWbs0VpiM3vHEXbNL6Y-4Nkh9IXjEN4OZm7Okj9tOUfoRyvJKhFJnauxdbXmI2WKu64ixfRY9LmH5CzRB9p8enxQdpN3QDaNPsES9dYvq3_nWDqd6nYb7Keksazfgiiw2nGE
public_sources.tbz2
https://developer.download.nvidia.cn/embedded/L4T/r32_Release_v5.2/sources/T186/public_sources.tbz2?_QOrN4-6EYrrfaYvE420W0Yxsqya_3JYgK0mO6N1bOvw-UBAFG3m5awD1b_eTzJmM5UwTgJM6SumgrjZ_vSPdySc96hye5dn3l22-0vwjUsdaQ2hkEmzZjFBAkMAq5SRna8BzvMv2B2TEr9c8vZP-gCS93_chVMZYBIOTK4
文件系统
Tegra_Linux_Sample-Root-Filesystem_R32.5.0_aarch64.tbz2
https://developer.download.nvidia.cn/embedded/L4T/r32_Release_v5.2/T186/Tegra_Linux_Sample-Root-Filesystem_R32.5.2_aarch64.tbz2?Ije4eojmvynhsLZ3MiT9j39loPqS4e9yBcuZ2W9tIWXeBlLwO01IIyVHm7f6qTF0jEOKq8yPPAZagdfreNoZygchvaSaD3RsXr00x-EdffxII7BSt9pQQlN39BxHrMXtwf1addKDmYZZAMtrUk3Pe7O_4APhmKSXGayJg2oF7S68WweQMxAgBPsn_3TDA4rjNQb4yWuCOMdE

源码解压，按照下面路径配置

tar xvf public_sources.tbz2 -C ~/JetsonAGXKernel
tar xvf Tegra186_Linux_R32.5.0_aarch64.tbz2 ~/JetsonAGXKernel
tar xvf Tegra_Linux_Sample-Root-Filesystem_R32.5.0_aarch64.tbz -C ~/JetsonAGXKernel/Linux_for_Tegra/rootfs
cd ~/JetsonAGXKernel/Linux_for_Tegra/source/public
tar xvf  kernel_src.tbz2 #这个是内核源码

配置交叉编译环境

tar xvf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz -C ~/L4t_arm_compiler#路径自行决定

环境变量配置，配置到bash里，后面不用再删除

export TEGRA_AGX_KERNEL_OUT=/home/fuhua/JetsonAGXKernel/Linux_for_Tegra/source/public/kernel/output#路径可以自己定义，记住这个后面有用
export LOCALVERSION=-tegra
CROSS_TOOL_PATH=/home/fuhua/L4t_arm_compiler/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-#上面解压出来的交叉编译环境路径
export PATH=$PATH:$CROSS_TOOL_PATH

编译

生成配置文件

make ARCH=arm64 CROSS_COMPILE=$CROSS_TOOL_PATH O=$TEGRA_AGX_KERNEL_OUT tegra_defconfig

按需调整配置文件，不需要不管

make ARCH=arm64 CROSS_COMPILE=$CROSS_TOOL_PATH O=$TEGRA_AGX_KERNEL_OUT menuconfig

编译

make ARCH=arm64 CROSS_COMPILE=$CROSS_TOOL_PATH O=$TEGRA_AGX_KERNEL_OUT -j8

####组成文件系统，从output，也就是编译好的文件路径里拷贝以下内容到指定路径

cd $TEGRA_AGX_KERNEL_OUT
cp arch/arm64/boot/Image /home/fuhua/JetsonAGXKernel/Linux_for_Tegra/kernel/Image
cp arch/arm64/boot/dts/*  /home/fuhua/JetsonAGXKernel/Linux_for_Tegra/kernel/dtb/

在output路径下执行

sudo make ARCH=arm64 modules_install INSTALL_MOD_PATH=$TOP_PATH/rootfs/

烧录

cd  /home/fuhua/JetsonAGXKernel/Linux_for_Tegra

1 关闭agx 所有电源
2 接好3个按键旁边的typeC口到PC
3 接上电源
4 按下中间的Recovery按键不放
5 按一下电源按键，灯亮
6 等待5秒中，放开中间的Recovery按键
7 查看是否进入强制恢复模式

lsusb
显示为nvidia corp设备即可，显示为L4T是正常连接，没有进入恢复模式

8 在pc上执行

sudo ./flash.sh jetson-agx-xavier-devkit mmcblk0p1