Replace a customize kernel driver

Robotics & Edge Computing Jetson & Embedded Systems Jetson Xavier NX
1

Followed Jetson developer guide to change customize kernel driver on L4T r35.2.1.
However, the kernel driver did not be changed as the kernel_supplements.tbz2 has been zip with new kernel driver. After ran apply_binaries.sh, the customize kernel driver of /lib/modules was revised back to released driver.

Is it normal?
If not, would you advice a proper way to replace a customize kernel driver?

https://docs.nvidia.com/jetson/archives/r35.2.1/DeveloperGuide/text/SD/Kernel/KernelCustomization.html

  1. Replace Linux_for_Tegra/kernel/Image with a copy of this file:
    $kernel_out/arch/arm64/boot/Image
    Optionally, archive the installed kernel modules:
    $ cd <modules_install_path>
    $ tar --owner root --group root -cjf kernel_supplements.tbz2 lib/modules
    You can use the installed modules to provide the contents of /lib/modules/<kernel_version>/ on the target system. Before you run apply_binaries.sh, make a copy of this archive to replace the one at this location on the target device:
    Linux_for_Tegra/kernel/kernel_supplements.tbz2

Thank you,

3

Hi,
The optional steps are not required. If you download the system image through SDKManager, it will be in

nvidia/nvidia_sdk/JetPack_5.1_Linux_JETSON_AGX_ORIN_TARGETS/Linux_for_Tegra/

And you can execute step 5 6 7 to replace with self-built kernel binaries/device tree and then flash the system. It is not required to execute apply_binaries.sh

4

I have a question related to this.
Can you elaborate @DaneLLL why in this case apply_binaries.sh is not required but here (Extlinux.conf is not found, the problem with PCi Endpoint Mode Testing - #2 by WayneWWW) is mandatory to avoid “/boot/extlinux/extlinux.conf is not found” issue?

5

Hi DaneLLL,

Thank you for your reply.
We know that modify dtb only doesn’t need to run apply_binaries.sh
However, if we need to use a customize camera driver, do we need to modify kernel_supplements.tbz2? need to run apply_binaries.sh ?
Or just manaully copy new customize camera driver to roofts.

Thank you,

6

Hi @HuiW
I have a custom nv_imx219.ko in my system and I faced the same problem with apply_binaries.sh. That overwrites every fix you did to your custom modules.

I usually flash the system after apply_binaries.sh and I then upload the modified module ko from the local sources folder (e.g. Linux_for_Tegra/sources/kernel/kernel-5.10/drivers/media/i2c/nv_imx219.ko that is not overwrited) to the Jetson’s /usr/lib/modules/5.10.104-tegra/kernel/drivers/media/i2c/.

@DaneLLL please, let us know if this is the correct (and only) way to use custom modules.

7

Hi,
This looks possible. We have enabled Raspberry Pi v2 camera in default release and nv_imx219.ko is included. If you have customization to the file, it is possible to be overwritten. So you would need to manually overwrite it back to the customized one.

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