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已于 2023-10-24 08:31:38 修改

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文章标签： linux 1024程序员节

于 2023-07-26 11:12:21 首次发布

本文链接：https://blog.csdn.net/weixin_45043293/article/details/131914901

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该文详细介绍了如何在NVIDIAJetsonNano开发板上安装预emption-RT（实时）内核，包括更新系统、下载必要的软件包、应用补丁、编译内核以及打包镜像的过程。此外，也提供了通过官方NVIDIAL4TRT-kernel源安装的替代方法。

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JPT461安装preempt-rt

# 安装环境
sudo apt-get update 
sudo apt-get install libncurses5-dev 
sudo apt-get install build-essential bc 
sudo apt-get install lbzip2
sudo apt-get install qemu-user-static
sudo apt-get install libxml2-utils
#创建目录
mkdir $HOME/jetson_nano
cd $HOME/jetson_nano
#下载
# L4T Jetson Driver Package
wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/t210/jetson-210_linux_r32.7.1_aarch64.tbz2
# L4T Sample Root File System
wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/t210/tegra_linux_sample-root-filesystem_r32.7.1_aarch64.tbz2
# L4T Sources:
wget https://developer.nvidia.com/embedded/l4t/r32_release_v7.1/sources/t210/public_sources.tbz2
# GCC Tool Chain for 64-bit BSP
#使用浏览器下载得到gcc开头压缩包
https://developer.nvidia.com/embedded/dlc/l4t-gcc-7-3-1-toolchain-64-bit

#解压缩

sudo tar xpf jetson-210_linux_r32.7.1_aarch64.tbz2 
cd Linux_for_Tegra/rootfs/ 
sudo tar xpf ../../tegra_linux_sample-root-filesystem_r32.7.1_aarch64.tbz2
cd ../../ 



tar -xvf gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu.tar.xz
sudo tar -xjf public_sources.tbz2

sudo tar -xjf Linux_for_Tegra/source/public/kernel_src.tbz2 -C Linux_for_Tegra/rootfs/usr/src/

##tar -xjf Linux_for_Tegra/source/public/kernel_src.tbz2

# Apply PREEMPT-RT patches
cd Linux_for_Tegra/rootfs/usr/src/kernel/kernel-4.9/

sudo ./scripts/rt-patch.sh apply-patches



#编译

sudo su 
export CROSS_COMPILE=/home/lfmmd/jetson_nano/gcc-linaro-7.3.1-2018.05-x86_64_aarch64-linux-gnu/bin/aarch64-linux-gnu-

make ARCH=arm64 tegra_defconfig 
make ARCH=arm64  menuconfig

编译menuconfig选择

General setup → Timer subsystem → Timer tick handling → Full dynticks system (tickless)
Kernel Features → Preemption Model: Fully Preemptible Kernel (RT)
Kernel Features → Timer frequency: 1000 HZ


# 开始编译内核
make ARCH=arm64  -j16



#复制资源
cp arch/arm64/boot/Image /home/lfmmd/jetson_nano/Linux_for_Tegra/kernel/Image
cp -r arch/arm64/boot/dts/* /home/lfmmd/jetson_nano/Linux_for_Tegra/kernel/dtb/


make ARCH=arm64  modules_install INSTALL_MOD_PATH=/home/lfmmd/jetson_nano/Linux_for_Tegra/rootfs/ 
cd /home/lfmmd/jetson_nano/Linux_for_Tegra/rootfs/ 
tar --owner root --group root -cjf kernel_supplements.tbz2 lib/modules 
mv kernel_supplements.tbz2  ../kernel/ 
#打包
cd .. 
./apply_binaries.sh

cd tools

./jetson-disk-image-creator.sh -o /media/lfmmd/LF/jetson_nanoRT.img  -b jetson-nano -r 300

另外 可以直接安装官方的

	sudo echo 'deb https://repo.download.nvidia.com/jetson/rt-kernel r32.7 main' \
        >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
sudo apt update
sudo apt install nvidia-l4t-rt-kernel nvidia-l4t-rt-kernel-headers

./jetson-disk-image-creator.sh -o /media/lfmmd/lf/jetson_nano.img -b jetson-nano -r 300