RK3588_ubuntu根文件系统定制

需求

1.由于某些原因,瑞芯微RK3588 SDK不在支持ubuntu版本, 默认只支持debian版本.
现在要更改为ubuntu-20, 支持ROS1版本.

准备

需要熟悉的指令
dd: 还原/备份分区, 制作空文件
dd if=/dev/zero of=ubuntu.img bs=1G count=8

mkfs: 格式化分区文件
mkfs.ext4 ubuntu.img

mount: 挂载rootfs根文件系统
mkdir rootfs; sudo mount -o loop ubuntu.img rootfs

chroot: 切换根文件启动,并启动shell.
实例1: 切换到ubuntu20.04 x86_64版本

wget http://cdimage.ubuntu.com/ubuntu-base/releases/20.04/release/ubuntu-base-20.04.1-base-amd64.tar.gz
mkdir rootfs
sudo tar -pzxf ubuntu-base-20.04.1-base-amd64.tar.gz -C rootfs
sudo chroot rootfs

e2fsck: 修复ext2/3/4文件错误
e2fsck -p -f ubuntu.img
为什么一定要执行e2fsck?
ext2/3/4是日志文件系统, 我们在制作根文件系统时, 退出chroot, mount时,就会导致一些错误.

resize2fs: 扩展/缩小文件系统
resize2fs -m ubuntu.img 缩小文件分区到最小
resize2fs /dev/sda1 扩展文件分区到最大

参考:
https://blog.csdn.net/qq_42257666/article/details/126609600
https://blog.csdn.net/weixin_41070133/article/details/128757151
arm64版本
http://cdimage.ubuntu.com/ubuntu-base/releases/20.04/release/ubuntu-base-20.04.5-base-arm64.tar.gz

定制根文件系统流程

1.下载arm64版本的ubuntu-base
wget http://cdimage.ubuntu.com/ubuntu-base/releases/20.04/release/ubuntu-base-20.04.5-base-arm64.tar.gz

2.RK3588_SDK从debian替换为ubuntu

3.修改 rk3588_sdk/device/rockchip/common/scripts/mk-rootfs.sh

	# VERSION=debug ARCH=$ARCH ./mk-rootfs-bullseye.sh
	VERSION=debug ARCH=$ARCH RC_RELEASE=ubuntu ./mk-rootfs-ubuntu-20.sh
	./mk-image.sh

cp mk-rootfs-bullseye.sh mk-rootfs-ubuntu-20.sh

4.mk-rootfs-ubuntu-20.sh修改内容

1.解压ubuntu-base.tar.gz 替换到debian-xxx.tar.gz

# ubuntu定制
#sudo tar -xpf linaro-bullseye-alip-*.tar.gz #去除debian
rootfsFile=ubuntu-base-20.04.5-base-arm64.tar.gz
sudo rm -rf binary/*
mkdir -p binary
sudo tar -xpf $rootfsFile -C binary
sudo cp -rf ubuntu_pre_file/* $TARGET_ROOTFS_DIR

ubuntu_pre_file是项目的定制文件,直接cp覆盖到binary

2.打包kernel模块.ko

# 内核模块
modPath=$PWD/$TARGET_ROOTFS_DIR
sudo make -C ../kernel ARCH=arm64 modules_install  INSTALL_MOD_PATH="$modPath"
sudo rm $TARGET_ROOTFS_DIR/lib/modules/*/kernel/drivers/net/wireless/rockchip_wlan/rkwifi/bcmdhd/bcmdhd.ko

3.拷贝wifi模块

# bt/wifi firmware
sudo mkdir -p $TARGET_ROOTFS_DIR/system/lib/modules/
sudo mkdir -p $TARGET_ROOTFS_DIR/vendor/etc

sudo find ../kernel/drivers/net/wireless/rockchip_wlan/*  -name "*.ko" | \
    xargs -n1 -i sudo cp {} $TARGET_ROOTFS_DIR/system/lib/modules/

sudo find ../external/rkwifibt  -name "*.ko" | \
    xargs -n1 -i sudo cp {} $TARGET_ROOTFS_DIR/system/lib/modules/

4.去除在ubuntu中dpkg安装报错的deb文件

\${APT_INSTALL} /packages/gst-plugins-base1.0/*.deb
\${APT_INSTALL} /packages/gst-plugins-bad1.0/*.deb
\${APT_INSTALL} /packages/gst-plugins-good1.0/*.deb
\${APT_INSTALL} /packages/gst-plugins-ugly1.0/*.deb
\${APT_INSTALL} /packages/gst-libav1.0/*.deb

#---------------Clean--------------
# if [ -e "/usr/lib/arm-linux-gnueabihf/dri" ];
# then
#         # Only preload libdrm-cursor for X
#         sed -i "1aexport LD_PRELOAD=/usr/lib/arm-linux-gnueabihf/libdrm-cursor.so.1" /usr/bin/X
#         cd /usr/lib/arm-linux-gnueabihf/dri/
#         cp kms_swrast_dri.so swrast_dri.so rockchip_dri.so /
#         rm /usr/lib/arm-linux-gnueabihf/dri/*.so
#         mv /*.so /usr/lib/arm-linux-gnueabihf/dri/
# elif [ -e "/usr/lib/aarch64-linux-gnu/dri" ];
# then
#         # Only preload libdrm-cursor for X
#         sed -i "1aexport LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libdrm-cursor.so.1" /usr/bin/X
#         cd /usr/lib/aarch64-linux-gnu/dri/
#         cp kms_swrast_dri.so swrast_dri.so rockchip_dri.so /
#         rm /usr/lib/aarch64-linux-gnu/dri/*.so
#         mv /*.so /usr/lib/aarch64-linux-gnu/dri/
#         rm /etc/profile.d/qt.sh
# fi

5.根文件定制, 安装项目需要的工具, 库

# 项目定制
sh /etc/xxx_setup_ubuntu.sh

ubuntu_pre_file/etc/xxx_setup_ubuntu.sh

apt install -y  apt-utils dialog
apt install -y  vim sudo bash-completion 
apt install -y  net-tools iputils-ping ifupdown ethtool
apt install -y  wireless-tools network-manager
apt install -y  ssh rsync udev
# 可装可不装
apt install -y  openssh-server git-core ffmpeg

# 调试
# sudo cp -rf root/etc/apt/sources.list /etc/apt
# sudo apt update
 apt install -y gdb gdbserver valgrind lsof
 apt install -y gcc g++ scons make libncurses5-dev libssl-dev build-essential openssl bison flex libelf-dev

# 监控
apt install -y htop nload

# 工具
apt install -y curl zstd tree i2c-tools udev indent
apt install -y tmux \
    ccache \
    wget \
    iproute2 \
    psmisc \
    picocom \
    usbutils \
    strace

apt install -y wireless-tools iw iperf3 git-core \
dnsmasq

总结

• 需要熟悉根文件系统制作指令: dd, fdisk, mkfs, mount
• 熟悉RK3588_SDK 制作debian文件系统流程, 脚本调用顺序

其它:
由于项目原因, 不能把完整的流程展示, 写了几个核心修改点, 定制脚本.
可以私信我, 或加微信, 提供有偿协助.

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微信: liuj1637664504