diff --git a/host/docs/devices/b3xx_kernel.dox b/host/docs/devices/b3xx_kernel.dox index 7a95dd623..34577e951 100644 --- a/host/docs/devices/b3xx_kernel.dox +++ b/host/docs/devices/b3xx_kernel.dox @@ -170,7 +170,9 @@ Confirm that expected packaging artifacts are present: \subsection b3xx_kernel_linux_jetson Jetson AGX Orin -This section targets L4T 36.4.4 / JetPack 6.x. +This section targets Jetson Linux 39.2.1 / JetPack 7.2.1 (Ubuntu 24.04, +kernel 6.8). The commands use its native source layout, where the kernel tree +is `kernel/kernel-noble/`. On Jetson AGX Orin, the B310 software path requires Linux DMA-BUF heap support. In particular, `/dev/dma_heap/system` must be available. If this device node is @@ -195,47 +197,47 @@ Confirm the target release on the Jetson host: \subsubsection b3xx_kernel_linux_jetson_dmabuf Enable DMA-BUF heap support NVIDIA kernel customization reference: -Jetson Linux Kernel Customization +Jetson Linux Kernel Customization The procedure below builds the kernel natively on the Jetson and installs it on that same device. A cross-compiled kernel must instead be installed through the Jetson Linux `Linux_for_Tegra` flashing workflow; do not run the `/boot` copy or `modules_install` commands below on the cross-build host. -Build environment setup and source checkout: +Build environment setup: sudo apt update sudo apt install -y git build-essential bc flex bison libssl-dev zstd Download and extract the Jetson Linux release package and public sources for the -target L4T release from the +target release from the Jetson Linux archive. The release must match the version reported by `cat /etc/nv_tegra_release`. In the commands below, `` is a directory on the Jetson, for -example `~/jetson_linux`. -For L4T 36.4.4, use the Jetson Linux 36.4.4 package and its corresponding -release tag. Then sync the kernel sources: +example `~/jetson_linux`, and `` is the path to the +downloaded archive, for example `~/Downloads/public_sources.tbz2`. - cd /Linux_for_Tegra/source - ./source_sync.sh -k -t - export ARCH=arm64 - export LOCALVERSION=-tegra - make -C kernel tegra_defconfig +For Jetson Linux 39.2.1, download +Driver Package (BSP) Sources +(`public_sources.tbz2`). -If Git source synchronization is unavailable, download `public_sources.tbz2` -from the same archive and extract the matching source archives instead: +Extract the public sources, then extract the matching source archives from its +`Linux_for_Tegra/source/` directory: + tar xf -C cd /Linux_for_Tegra/source tar xf kernel_src.tbz2 tar xf kernel_oot_modules_src.tbz2 tar xf nvidia_kernel_display_driver_source.tbz2 + +This release package does not include `source_sync.sh`; use the public-source +archives instead. Seed the new kernel configuration from the running kernel: + + zcat /proc/config.gz > kernel/kernel-noble/.config + cd kernel/kernel-noble export ARCH=arm64 export LOCALVERSION=-tegra - make -C kernel tegra_defconfig - -Open kernel configuration: - - make -C kernel menuconfig + make olddefconfig Enable these options as built-ins (`=y`): @@ -244,18 +246,66 @@ Enable these options as built-ins (`=y`): CONFIG_DMABUF_HEAPS_SYSTEM=y CONFIG_SYNC_FILE=y -Build and install: +Apply the configuration and resolve its dependencies: - make -C kernel -j$(nproc) - sudo make -C kernel modules_install - sudo cp /boot/Image /boot/Image.backup - sudo cp kernel/kernel-jammy-src/arch/arm64/boot/Image /boot/Image - sudo depmod -a - sudo update-initramfs -u - sudo reboot + scripts/config --enable DMA_SHARED_BUFFER + scripts/config --enable DMABUF_HEAPS + scripts/config --enable DMABUF_HEAPS_SYSTEM + scripts/config --enable SYNC_FILE + make olddefconfig + +Build the kernel and its in-tree modules. The resulting release string is +`6.8.12-tegra`, so installing the matching modules is required even when the +running stock kernel is `6.8.12-1021-tegra`: + + make -j$(nproc) Image + make -j$(nproc) modules + sudo -E make modules_install + +Build and install the NVIDIA out-of-tree modules against the same kernel tree: + + cd /Linux_for_Tegra/source + export ARCH=arm64 + export LOCALVERSION=-tegra + export KERNEL_HEADERS=$PWD/kernel/kernel-noble + export kernel_name=noble + make -j$(nproc) modules + sudo -E make modules_install + +Stage the new image under a separate name, leaving the original boot image +unchanged: + + sudo cp /Linux_for_Tegra/source/kernel/kernel-noble/arch/arm64/boot/Image \ + /boot/Image.dmabuf + +No devicetree changes are required for DMA-BUF heaps, so the installed DTBs can +be reused. + +Add a `dmabuf` entry to `/boot/extlinux/extlinux.conf`. Its `APPEND` value is +system-specific; copy it from the existing `primary` entry: + +~~~ +LABEL dmabuf + MENU LABEL dmabuf-heaps kernel (6.8.12-tegra) + LINUX /boot/Image.dmabuf + INITRD /boot/initrd + APPEND +~~~ + +Leave `DEFAULT` set to `primary`. Reboot the Jetson, then select `dmabuf` from +the boot menu to test the new kernel. After verification, it can instead be +made the default by setting `DEFAULT dmabuf`. If the test kernel does not boot +or essential peripherals fail, select `primary` to return to the original +image. \subsubsection b3xx_kernel_linux_jetson_verify Verify DMA-BUF after reboot +After booting the `dmabuf` entry, confirm the new kernel is active: + + uname -r + +Expected: `6.8.12-tegra`. + Check kernel config: zgrep DMABUF /proc/config.gz