USB controller driver bug/issue in default rootfs and kernel customization - Jetpack 6.1 L4T 36.4.3

Robotics & Edge Computing Jetson Systems Jetson Orin NX
24

Hi,
After the step:

$ export INSTALL_MOD_PATH=<install-path>/Linux_for_Tegra/rootfs/
$ sudo -E make modules_install

The files are in wrong path:

rootfs/usr/lib/modules/5.15.148-tegra/updates/nvidia-drm.ko
rootfs/usr/lib/modules/5.15.148-tegra/updates/nvidia.ko
rootfs/usr/lib/modules/5.15.148-tegra/updates/nvidia-modeset.ko

Please manually copy to

rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia-drm.ko
rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia.ko
rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia-modeset.ko

And then continue the steps.

There may be potential issues if wrong ko files are loaded. Please manually copy the files and try again.

25

Thanks for the updates.

I was trying to start the steps from kernel build:

During this time I am getting the below errors when we execute the command

$ sudo -E make install -C kernel

Errors are as shown below:

root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source# sudo -E make install -C kernel
make: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel’

Installing kernel-jammy-src sources

install /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel/kernel-jammy-src/arch/arm64/boot/Image /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs//boot/
make
ARCH=arm64
-C /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel/kernel-jammy-src
LOCALVERSION=-tegra
INSTALL_MOD_PATH=/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs/
modules_install
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel/kernel-jammy-src’
INSTALL /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs//lib/modules/5.15.148-tegra/kernel/arch/arm64/crypto/aes-neon-blk.ko
SIGN /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs//lib/modules/5.15.148-tegra/kernel/arch/arm64/crypto/aes-neon-blk.ko
scripts/sign-file: error while loading shared libraries: libcrypto.so.1.1: cannot open shared object file: No such file or directory
make[2]: *** [scripts/Makefile.modinst:85: /media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs//lib/modules/5.15.148-tegra/kernel/arch/arm64/crypto/aes-neon-blk.ko] Error 127
make[2]: *** Deleting file ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/rootfs//lib/modules/5.15.148-tegra/kernel/arch/arm64/crypto/aes-neon-blk.ko’
make[1]: *** [Makefile:1841: modules_install] Error 2
make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel/kernel-jammy-src’
make: *** [Makefile:70: install] Error 2
make: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source/kernel’
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_A0594_A0617_A0621/Linux_for_Tegra/source#

Pls let us know how to fix these, before proceeding further.
Thanks

26

Further continued:

I already see that nvidia ko modules are already present in the path you had suggested:

image
image1175×234 47.1 KB

27

Hi,
You may refer to the real practice in
No data from Joystick Logitech-f710 - #10 by DaneLLL

28

we get below missing file errors, if we follow manual public source extract method:

root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source# make -C kernel
make: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel’

Building kernel-jammy-src sources

make
ARCH=arm64
-C /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src
LOCALVERSION=-tegra
defconfig
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
*** Default configuration is based on ‘defconfig’

configuration written to .config

make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
make -j 12
ARCH=arm64
-C /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src
LOCALVERSION=-tegra
–output-sync=target Image
WRAP arch/arm64/include/generated/uapi/asm/kvm_para.h
WRAP arch/arm64/include/generated/uapi/asm/errno.h
WRAP arch/arm64/include/generated/uapi/asm/ioctl.h
WRAP arch/arm64/include/generated/uapi/asm/ioctls.h
WRAP arch/arm64/include/generated/uapi/asm/ipcbuf.h
WRAP arch/arm64/include/generated/uapi/asm/msgbuf.h
WRAP arch/arm64/include/generated/uapi/asm/poll.h
WRAP arch/arm64/include/generated/uapi/asm/resource.h
WRAP arch/arm64/include/generated/uapi/asm/sembuf.h
WRAP arch/arm64/include/generated/uapi/asm/shmbuf.h
WRAP arch/arm64/include/generated/uapi/asm/siginfo.h
WRAP arch/arm64/include/generated/uapi/asm/socket.h
WRAP arch/arm64/include/generated/uapi/asm/sockios.h
WRAP arch/arm64/include/generated/uapi/asm/stat.h
WRAP arch/arm64/include/generated/uapi/asm/swab.h
WRAP arch/arm64/include/generated/uapi/asm/termbits.h
WRAP arch/arm64/include/generated/uapi/asm/termios.h
WRAP arch/arm64/include/generated/uapi/asm/types.h
WRAP arch/arm64/include/generated/asm/early_ioremap.h
WRAP arch/arm64/include/generated/asm/mcs_spinlock.h
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
UPD include/config/kernel.release
make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
WRAP arch/arm64/include/generated/asm/qrwlock.h
WRAP arch/arm64/include/generated/asm/qspinlock.h
LEX scripts/dtc/dtc-lexer.lex.c
WRAP arch/arm64/include/generated/asm/user.h
WRAP arch/arm64/include/generated/asm/bugs.h
WRAP arch/arm64/include/generated/asm/delay.h
WRAP arch/arm64/include/generated/asm/div64.h
WRAP arch/arm64/include/generated/asm/dma-mapping.h
WRAP arch/arm64/include/generated/asm/dma.h
WRAP arch/arm64/include/generated/asm/emergency-restart.h
WRAP arch/arm64/include/generated/asm/hw_irq.h
WRAP arch/arm64/include/generated/asm/irq_regs.h
WRAP arch/arm64/include/generated/asm/kdebug.h
WRAP arch/arm64/include/generated/asm/kmap_size.h
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
UPD include/generated/uapi/linux/version.h
make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
WRAP arch/arm64/include/generated/asm/local.h
WRAP arch/arm64/include/generated/asm/local64.h
WRAP arch/arm64/include/generated/asm/mmiowb.h
WRAP arch/arm64/include/generated/asm/msi.h
WRAP arch/arm64/include/generated/asm/serial.h
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
UPD include/generated/utsrelease.h
make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
WRAP arch/arm64/include/generated/asm/softirq_stack.h
WRAP arch/arm64/include/generated/asm/switch_to.h
WRAP arch/arm64/include/generated/asm/trace_clock.h
WRAP arch/arm64/include/generated/asm/unaligned.h
WRAP arch/arm64/include/generated/asm/vga.h
HOSTCC scripts/dtc/fstree.o
HOSTCC scripts/dtc/dtc.o
HOSTCC scripts/dtc/libfdt/fdt_wip.o
HOSTCC scripts/dtc/libfdt/fdt.o
HOSTCC scripts/dtc/srcpos.o
YACC scripts/dtc/dtc-parser.tab.[ch]
HOSTCC scripts/dtc/data.o
HOSTCC scripts/dtc/treesource.o
HOSTCC scripts/dtc/libfdt/fdt_empty_tree.o
HOSTCC scripts/dtc/util.o
HOSTCC scripts/dtc/libfdt/fdt_strerror.o
HOSTCC scripts/dtc/libfdt/fdt_addresses.o
HOSTCC scripts/dtc/libfdt/fdt_sw.o
HOSTCC scripts/dtc/fdtoverlay.o
HOSTCC scripts/dtc/libfdt/fdt_overlay.o
HOSTCC scripts/dtc/libfdt/fdt_rw.o
HOSTCC scripts/dtc/libfdt/fdt_ro.o
HOSTLD scripts/dtc/fdtoverlay
HOSTCC scripts/dtc/flattree.o
HOSTCC scripts/dtc/livetree.o
HOSTCC scripts/dtc/dtc-parser.tab.o
HOSTCC scripts/dtc/checks.o
HOSTCC scripts/dtc/dtc-lexer.lex.o
HOSTLD scripts/dtc/dtc
LEX scripts/genksyms/lex.lex.c
HOSTCC scripts/extract-cert
scripts/extract-cert.c:21:10: fatal error: openssl/bio.h: No such file or directory
21 | include <openssl/bio.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.host:95: scripts/extract-cert] Error 1
make[2]: *** Waiting for unfinished jobs…
HOSTCC scripts/sign-file
scripts/sign-file.c:25:10: fatal error: openssl/opensslv.h: No such file or directory
25 | include <openssl/opensslv.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.host:95: scripts/sign-file] Error 1
YACC scripts/genksyms/parse.tab.[ch]
HOSTCC scripts/selinux/mdp/mdp
HOSTCC scripts/selinux/genheaders/genheaders
HOSTCC scripts/sorttable
HOSTCC scripts/kallsyms
HOSTCC scripts/genksyms/parse.tab.o
HOSTCC scripts/genksyms/genksyms.o
HOSTCC scripts/asn1_compiler
HOSTCC scripts/genksyms/lex.lex.o
HOSTLD scripts/genksyms/genksyms
make[1]: *** [Makefile:1250: scripts] Error 2
make: *** [Makefile:31: kernel] Error 2
make: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel’
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source# make -C kernel
make: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel’

Building kernel-jammy-src sources

make
ARCH=arm64
-C /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src
LOCALVERSION=-tegra
defconfig
make[1]: Entering directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
*** Default configuration is based on ‘defconfig’

No change to .config

make[1]: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src’
make -j 12
ARCH=arm64
-C /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel/kernel-jammy-src
LOCALVERSION=-tegra
–output-sync=target Image
HOSTCC scripts/sign-file
scripts/sign-file.c:25:10: fatal error: openssl/opensslv.h: No such file or directory
25 | include <openssl/opensslv.h>
| ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.host:95: scripts/sign-file] Error 1
make[2]: *** Waiting for unfinished jobs…
HOSTCC scripts/extract-cert
scripts/extract-cert.c:21:10: fatal error: openssl/bio.h: No such file or directory
21 | include <openssl/bio.h>
| ^~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [scripts/Makefile.host:95: scripts/extract-cert] Error 1
make[1]: *** [Makefile:1250: scripts] Error 2
make: *** [Makefile:31: kernel] Error 2
make: Leaving directory ‘/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source/kernel’
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source#

29

After installing these packages the above error is gone.

sudo apt install -y
build-essential
bc
flex
bison
libssl-dev
libelf-dev
dwarves

30

I see that the files are already in the correct path and no need to copy it:

root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source# ls -l ../rootfs/usr/lib/modules/5.15.148-tegra/updates/nvidia*
ls: cannot access ‘../rootfs/usr/lib/modules/5.15.148-tegra/updates/nvidia*’: No such file or directory
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source# ls -l ../rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/*
-rw-r–r-- 1 root root 155713 Jan 8 2025 ../rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia-drm.ko
-rw-r–r-- 1 root root 2279889 Jan 8 2025 ../rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia.ko
-rw-r–r-- 1 root root 2207977 Jan 8 2025 ../rootfs/usr/lib/modules/5.15.148-tegra/updates/opensrc-disp/nvidia-modeset.ko
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/source#

31

You could only confirm a ko file is correct if it shows up in your lsmod result on your device.

32

Ok.I will manually copy.

Now coming to our issue of usb speed for some SSDs, I have rebuilt everything from scratch. Once hardware setup is available I will test once again and check.

Thanks

33

Did you check this on the EV kit and found any speed issue on some SSDs ? like sandisk, Transcend

34

Hi,
We have not tried it since we think the issue is due to the display ko files are not put in correct path. Have you successfully built custom kernel, put the files into correct path and boot the system successfully?

Also there is Jetpack 6.2.2 r36.5 released, If possible, we would suggest upgrade to latest version.

35

Is this display .ko files issues fixed in
this version ?

36

Hi,
Yes, the wrong path issue is fixed on Jetpack 6.2.2 r36.5.

37

As you can see, the files are already in correct path and i cannot find the nvidia-drm.ko, nvidia.ko and nvidia-modeset.ko files in the folder
rootfs/usr/lib/modules/5.15.148-tegra/updates

image
image1891×504 259 KB

38

Hi,
You should be missing some steps in
Kernel Customization — NVIDIA Jetson Linux Developer Guide 1 documentation

After the step:

  1. Run the following commands to install:
$ export INSTALL_MOD_PATH=<install-path>/Linux_for_Tegra/rootfs/
$ sudo -E make modules_install

The 3 files will be copied to

<install-path>/Linux_for_Tegra/rootfs/usr/lib/modules/5.15.148-tegra/updates/
39

Sorry. You are right. I had missed this step and I see the files are of diff size in both the paths. I will copy them manually and try testing the USB speed.

image
image1277×517 130 KB

40

After manually copying the files, I executed the below step as per the documentation:

root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra# sudo ./tools/l4t_update_initrd.sh
Set LDK_DIR to /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra
Using rootfs directory: /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/rootfs
Updating the initrd: /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/bootloader/l4t_initrd.img
Copy /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/bootloader/l4t_initrd.img to /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/rootfs/boot/initrd
Preparing virtual env
Include /etc/nv-update-initrd/list.d/binlist
Include /etc/nv-update-initrd/list.d/modules
nv-update-initrd: Updating /boot/initrd from /etc/nv-update-initrd/list.d for kernel version 5.15.148-tegra..
Add /usr/sbin/nvluks-srv-app
Add /lib/modules/5.15.148-tegra/updates/drivers/net/ethernet/nvidia/nvethernet/nvethernet.ko
Add /lib/modules/5.15.148-tegra/updates/drivers/nvpps/nvpps.ko
Add /lib/modules/5.15.148-tegra/updates/drivers/net/ethernet/realtek/r8126/r8126.ko
Add /lib/modules/5.15.148-tegra/updates/drivers/net/ethernet/realtek/r8168/r8168.ko
Add /lib/modules/5.15.148-tegra/modules*
Add /lib/modules/5.15.148-tegra/kernel/drivers/nvme/host/nvme.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/nvme/host/nvme-core.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/thermal/tegra/tegra-bpmp-thermal.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/pwm/pwm-tegra.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/hwmon/pwm-fan.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/pci/controller/dwc/pcie-tegra194.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/phy/tegra/phy-tegra194-p2u.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/usb/gadget/udc/tegra-xudc.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/usb/typec/ucsi/typec_ucsi.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/usb/typec/ucsi/ucsi_ccg.ko
Add /lib/modules/5.15.148-tegra/kernel/drivers/usb/typec/typec.ko
Updating modprobe.d configuration directories for modprobe..
Add config /etc/modprobe.d/alsa-base.conf
Add config /etc/modprobe.d/bcmdhd.conf
Add config /etc/modprobe.d/blacklist-ath_pci.conf
Add config /etc/modprobe.d/blacklist-firewire.conf
Add config /etc/modprobe.d/blacklist-framebuffer.conf
Add config /etc/modprobe.d/blacklist-modem.conf
Add config-link /etc/modprobe.d/blacklist-oss.conf
Add config /etc/modprobe.d/blacklist-rare-network.conf
Add config /etc/modprobe.d/blacklist.conf
Add config /etc/modprobe.d/denylist-nouveau.conf
Add config /etc/modprobe.d/denylist-oot-modules-audio.conf
Add config /etc/modprobe.d/denylist-ramoops.conf
Add config /etc/modprobe.d/denylist-tegra-safety.conf
Add config /etc/modprobe.d/denylist-tpm-ftpm-tee.conf
Add config /etc/modprobe.d/iwlwifi.conf
Add config /etc/modprobe.d/nvgpu.conf
Add config /etc/modprobe.d/nvidia-display.conf
Add config /etc/modprobe.d/tegra-udrm.conf
Add config /lib/modprobe.d/aliases.conf
Add config /lib/modprobe.d/fbdev-blacklist.conf
Add config /lib/modprobe.d/systemd.conf
Cleaning up the temporary directory for updating the initrd..
nv-update-initrd successful!
Cleaning up virtual env
Update /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/rootfs/boot/initrd back to /media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra/bootloader/l4t_initrd.img
update_initrd.sh success!
root@nasyoctopc-System-Product-Name:/media/nas-yocto-pc/Jetson_Linu/r36_4_3_Trail/Linux_for_Tegra#

41

This steps resolved the issue.
Now we are able to achieve the USB speed.

Thanks