jetson tx2移植RT-LINUX

1、make menuconfig时报错，需要在kernel（/usr/src/kernel/kernel-4.4）所在目录下输入命令

2、报错curses.h没有，执行命令sudo apt-get install libcurses5-dev，在kernel features里有preemption  model，但无fully preemption kernel，打补丁还是没有，执行脚本打补丁，有了，编译报错，nvidia论坛帮助得知，jetpack 3.x里的RT_PATCH有问题，需要升级到jetpack 4.3，下载sdkmanager在host unbutu 16.04上安装，host上软件安装错误，手动sudo apt install ./*.deb发现lock，删除lock,lock-fronted,lock后安装成功，刷系统成功，安装OPENCV失败，删除目标机lock,lock-fronted,lock还是不行，sudo apt-get update,sudo apt-get upgrade，报有安装中断的软件，apt --fix-broken install，再sudo apt-get upgrade成功，发现/home/nvidia下有tmp_NV_L4T_OPENCV_TARGET_POST_INSTALL_COMP.sh，可以手动安装，sdkmanager安装visionworks on target失败，在目标机上/home/nvidia目录下./tmp_NV_L4T_VISIONWORKS_TARGET_POST_INSTALL_COMP.sh手动安装还是失败，断开USB，手动安装成功，似乎host上sdkmanager安装失败的都会在目标机这个目录下有一个安装脚本文件，安装成功后sdkmanager会自动删除

https://blog.csdn.net/zhangyingguangails/article/details/72356771

https://blog.csdn.net/yunqiushuiman/article/details/102948163

3、TX2:32G EMMC，8G DDR，4核A57，2 Denver 64-bit CPUs，df查看空间使用情况，L4T基于ubuntu 18.04.3发行版，

4、无4.9.140对应RT-PATCH版本，只有146

https://blog.csdn.net/xiang_shao344/article/details/82185489

用脚本配置RT-LINUX，cd /usr/src/linux-headers-4.9.140-tegra-ubuntu18.04_aarch64/kernel-4.9/scripts,./rt-patch.sh apply-patches,

https://forums.developer.nvidia.com/t/preempt-rt-patch-on-jetson-kernel/65766/4

安装vsftpd，把L4T源码放到TX2，https://www.cnblogs.com/cnshen/p/10774558.html  useradd -d /home/test test //增加用户test，并制定test用户的主目录为/home/test

https://www.cnblogs.com/cocoajin/p/3761414.html匿名用户目录在srv/ftp，新建目录，更改权限

在18.04里是sudo apt-get install libncurses5-dev，

Linux nvidia-desktop 4.9.140-tegra #1 SMP PREEMPT Mon Dec 9 22:52:02 PST 2019 aarch64 aarch64 aarch64 GNU/Linux

编译内核make dep ,make clean ,make zImage,https://blog.csdn.net/zhenguo26/article/details/79641322 编译失败

5、按https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fkernel_custom.html%23编译

第3节cd <kernel_source>，指的是kernel-4.9，tegra_defconfig在kernel/kernel-4.9/arch/arm64/configs里

脚本打补丁后，make menuconfig选择fully rt，编译报没有.config，查看kernel-4.9里有.config，.config里也有CONFIG_PREEMPT_RT_FULL，说明是配上的，make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig配置时.config是写到kernel_out里的，发现这种方式配置后的.config里也有CONFIG_PREEMPT_RT_FULL，ernel/kernel-4.9/arch/arm64/configs里的tegra_defconfig在./rt-patch.sh apply-patches之前是没有CONFIG_PREEMPT_RT_FULL的，所以需要./rt-patch.sh apply-patches，不需要make menuconfig，然后直接make ARCH=arm64 O=$TEGRA_KERNEL_OUT tegra_defconfig，make ARCH=arm64 O=$TEGRA_KERNEL_OUT -j4，编译成功，但把dtb和Image拷到/boot目录下后，系统不能启动了

6、查找当前目录及子目录里的指定文件find ./ -name .config，

7、在host上编译RT-LINUX并安装到TX2，要用 Linaro 7.3.1 2018.05 toolchain，不能用gcc-4.8.5-aarch64-BSP交叉编译工具链28.3.2-20191202.tgz

8、按https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fquick_start.html%23wwpID0E03D0HA刷系统，不能用sdkmanager安装，解压完内核和根文件系统后，到/opt/Linux_for_Tegra目录sudo ./apply_binaries.sh后等待，按https://docs.nvidia.com/jetson/l4t/index.html#page/Tegra%2520Linux%2520Driver%2520Package%2520Development%2520Guide%2Fkernel_custom.html%23的To build the Jetson Linux Kernel的5、6、7（在/opt/nvidia/kernel_source/kernel/kernel-4.9目录下sudo make ARCH=arm64 O=$TEGRA_KERNEL_OUT modules_install INSTALL_MOD_PATH=/opt/Linux_for_Tegra/rootfs/）执行完，再按上一个链接的执行sudo ./flash.sh jetson-tx2 mmcblk0p1，烧写完后会自动重启，用uname -a 查看，Linux nvidia-desktop 4.9.140-rt93-tegra #1 SMP PREEMPT RT Fri Apr 24 14:12:58 CST 2020 aarch64 aarch64 aarch64 GNU/Linux，RT-LIUNX启动成功。

内核源码、驱动包和根文件系统版本用的R32.3.1,sdkmanager的版本为sdkmanager_1.0.1-5538_amd64.deb

RT源码下载http://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO