How can re-compile the L4T R32.2.1 ?

How can re-compile the L4T R32.2.1 ?
I change the dtsi file ,and add some device file.

Does the R32.2.1 can support The Drive dynamic compilation into the kernel?

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