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1、下载代码L4T R32.5.1为例

1）、kernel
L4T R32.5.1 Release Page | NVIDIA Developer

L4T Driver Package (BSP) Sources

对应文件：“Tegra186_Linux_R32.5.1_aarch64.tbz2”

2）、root filesystem
L4T R32.5.1 Release Page | NVIDIA Developer

Sample Root Filesystem Sources

对应文件：“Tegra_Linux_Sample-Root-Filesystem_R32.5.1_aarch64.tbz2"

3）、cboot
L4T R32.5.1 Release Page | NVIDIA Developer

Cboot Sources T194

对应文件：“cboot_src_t19x.tbz2"

2、解压代码
$ tar -xvjf Tegra186_Linux_R32.5.1_aarch64.tbz2
$ cd Linux_for_Tegra/rootfs
$ sudo tar -jxpf ../../Tegra_Linux_Sample-Root-Filesystem_R32.5.1_aarch64.tbz2
$ cd ..
$ sudo ./apply_binaries.sh

Selecting previously unselected package nvidia-l4t-core.
....

.....
~/workspace/waveshare/jetson5.1/xa_nx/source5/Linux_for_Tegra
Removing QEMU binary from rootfs
Removing stashed Debian packages from rootfs
L4T BSP package installation completed!
Rename ubuntu.desktop --> ux-ubuntu.desktop
Disabling NetworkManager-wait-online.service
Disable the ondemand service by changing the runlevels to 'K'
Success!

3 、交叉编译环境配置

GCC 7.3.1 for 64 bit BSP and Kernel （gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz）

$ cd /opt
$ tar xf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz

4、编译kernel

1）、解压内核

$ tar -xvjf public_sources.tbz2
$ cd Linux_for_Tegra/source/public
$ tar -xvjf kernel_src.tbz2

2）、编译内核

备注：在此之前已经安装编译依赖工具 sudo apt install build-essential bc

$cd /Linux_for_Tegra/source
$ mkdir out
$ export TEGRA_KERNEL_OUT=~/workspace/Linux_for_Tegra/source/out/
$ export CROSS_COMPILE=/opt/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-
$ export LOCALVERSION=-tegra
$ mkdir -p $TEGRA_KERNEL_OUT
进入kernel源码下
$ cd public/kernel/kernel-4.9
$ make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig
$ make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j8(这个是CPU核数)

3）、生成Image和dtb，替换并安装

Linux_for_Tegra/source/out/arch/arm64/boot$ cp Image ~/workspace/Linux_for_Tegra/kernel/Image

Linux_for_Tegra/source/out/arch/arm64/boot$ cp dts/*

$/workspace/Linux_for_Tegra/kernel/dtb/ -rf

安装内核模块 sudo make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=<top>/Linux_for_Tegra/rootfs/

4）、（可选）在rootfs路径下

$ cd <modules_install_path>
$ tar --owner root --group root -cjf kernel_supplements.tbz2 \
lib/modules
将 “kernel_supplements.tbz2”替换到Linux_for_Tegra/kernel$路径下执行 apply_binaries.sh 脚本