nVidia: Tegra K1开发杂记_英伟达tegrak1烧录

1. 前言

限于作者能力水平，本文可能存在的谬误，因此而给读者带来的损失，作者不做任何承诺。

2. 编译用于TK1平台的交叉编译器

看起来有点绕，我们用 crosstool-ng 工具，构建用来编译TK1平台代码的交叉编译器。我们来看一下操作步骤：

2.1 从源码安装 crosstool-ng

sudo apt-get update

sudo apt-get install autoconf gperf bison flex texinfo help2man gawk libncurses5-dev git g++

# 下载 crosstool-ng 源码   
git clone https://github.com/crosstool-ng/crosstool-ng

# 编译 crosstool-ng 工具
./bootstrap
./configure --prefix=/usr
make

sudo make install # 安装 crosstool-ng 到系统
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2.2 用 crosstool-ng 工具，为TK1平台编译交叉编译器

(1) 创建编译相关目录

mkdir -p tk1-crosstool/src tk1-crosstool/work tk1-crosstool/install
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(2) 创建文件 tk1-crosstool/envsetup.sh，其内容为：

#!/bin/bash

export TOP_DIR=`pwd`
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(3) 创建用于TK1平台交叉编译器编译的配置文件 tk1-crosstool/.config，其内容为：

# Automatically generated make config: don't edit
# crosstool-NG hg+-11c23aa9c9f9 Configuration
# Tue Aug 21 15:05:23 2012
#
CT_CONFIGURE_has_xz=y
CT_CONFIGURE_has_cvs=y
CT_CONFIGURE_has_svn=y
CT_MODULES=y
 
#
# Paths and misc options
#
 
#
# crosstool-NG behavior
#
# CT_OBSOLETE is not set
CT_EXPERIMENTAL=y
# CT_DEBUG_CT is not set
 
#
# Paths
#
CT_LOCAL_TARBALLS_DIR="${TOP_DIR}/src"
CT_SAVE_TARBALLS=y
CT_WORK_DIR="${TOP_DIR}/work"
CT_PREFIX_DIR="${TOP_DIR}/install"
CT_INSTALL_DIR="${CT_PREFIX_DIR}"
CT_RM_RF_PREFIX_DIR=y
CT_REMOVE_DOCS=y
CT_INSTALL_DIR_RO=y
CT_STRIP_ALL_TOOLCHAIN_EXECUTABLES=y
 
#
# Downloading
#
# CT_FORBID_DOWNLOAD is not set
# CT_FORCE_DOWNLOAD is not set
CT_CONNECT_TIMEOUT=10
# CT_ONLY_DOWNLOAD is not set
# CT_USE_MIRROR is not set
 
#
# Extracting
#
# CT_FORCE_EXTRACT is not set
CT_OVERIDE_CONFIG_GUESS_SUB=y
# CT_ONLY_EXTRACT is not set
CT_PATCH_BUNDLED=y
# CT_PATCH_LOCAL is not set
# CT_PATCH_BUNDLED_LOCAL is not set
# CT_PATCH_LOCAL_BUNDLED is not set
# CT_PATCH_BUNDLED_FALLBACK_LOCAL is not set
# CT_PATCH_LOCAL_FALLBACK_BUNDLED is not set
# CT_PATCH_NONE is not set
CT_PATCH_ORDER="bundled"
 
#
# Build behavior
#
CT_PARALLEL_JOBS=1
CT_LOAD=0
CT_USE_PIPES=y
CT_EXTRA_FLAGS_FOR_HOST=""
# CT_CONFIG_SHELL_SH is not set
# CT_CONFIG_SHELL_ASH is not set
CT_CONFIG_SHELL_BASH=y
# CT_CONFIG_SHELL_CUSTOM is not set
CT_CONFIG_SHELL="${bash}"
 
#
# Logging
#
# CT_LOG_ERROR is not set
# CT_LOG_WARN is not set
# CT_LOG_INFO is not set
CT_LOG_EXTRA=y
# CT_LOG_ALL is not set
# CT_LOG_DEBUG is not set
CT_LOG_LEVEL_MAX="EXTRA"
# CT_LOG_SEE_TOOLS_WARN is not set
CT_LOG_PROGRESS_BAR=y
CT_LOG_TO_FILE=y
CT_LOG_FILE_COMPRESS=y
 
#
# Target options
#
CT_ARCH="arm"
CT_ARCH_SUPPORTS_BOTH_MMU=y
CT_ARCH_SUPPORTS_BOTH_ENDIAN=y
CT_ARCH_SUPPORTS_32=y
CT_ARCH_SUPPORTS_WITH_ARCH=y
CT_ARCH_SUPPORTS_WITH_CPU=y
CT_ARCH_SUPPORTS_WITH_TUNE=y
CT_ARCH_SUPPORTS_WITH_FLOAT=y
CT_ARCH_SUPPORTS_WITH_FPU=y
CT_ARCH_SUPPORTS_SOFTFP=y
CT_ARCH_DEFAULT_HAS_MMU=y
CT_ARCH_DEFAULT_LE=y
CT_ARCH_DEFAULT_32=y
CT_ARCH_ARCH="armv7-a"
CT_ARCH_CPU="cortex-a9"
CT_ARCH_TUNE="cortex-a9"
CT_ARCH_FPU=""
# CT_ARCH_BE is not set
CT_ARCH_LE=y
CT_ARCH_32=y
CT_ARCH_BITNESS=32
CT_ARCH_FLOAT_HW=y
# CT_ARCH_FLOAT_SW is not set
CT_TARGET_CFLAGS=""
CT_TARGET_LDFLAGS=""
# CT_ARCH_alpha is not set
CT_ARCH_arm=y
# CT_ARCH_avr32 is not set
# CT_ARCH_blackfin is not set
# CT_ARCH_m68k is not set
# CT_ARCH_mips is not set
# CT_ARCH_powerpc is not set
# CT_ARCH_s390 is not set
# CT_ARCH_sh is not set
# CT_ARCH_sparc is not set
# CT_ARCH_x86 is not set
CT_ARCH_alpha_AVAILABLE=y
CT_ARCH_arm_AVAILABLE=y
CT_ARCH_avr32_AVAILABLE=y
CT_ARCH_blackfin_AVAILABLE=y
CT_ARCH_m68k_AVAILABLE=y
CT_ARCH_mips_AVAILABLE=y
CT_ARCH_powerpc_AVAILABLE=y
CT_ARCH_s390_AVAILABLE=y
CT_ARCH_sh_AVAILABLE=y
CT_ARCH_sparc_AVAILABLE=y
CT_ARCH_x86_AVAILABLE=y
 
#
# Generic target options
#
# CT_MULTILIB is not set
CT_ARCH_USE_MMU=y
CT_ARCH_ENDIAN="little"
 
#
# Target optimisations
#
# CT_ARCH_FLOAT_SOFTFP is not set
CT_ARCH_FLOAT="hard"
 
#
# arm other options
#
CT_ARCH_ARM_MODE="arm"
CT_ARCH_ARM_MODE_ARM=y
# CT_ARCH_ARM_MODE_THUMB is not set
# CT_ARCH_ARM_INTERWORKING is not set
CT_ARCH_ARM_EABI=y
 
#
# Toolchain options
#
 
#
# General toolchain options
#
CT_FORCE_SYSROOT=y
CT_USE_SYSROOT=y
CT_SYSROOT_NAME="sysroot"
CT_SYSROOT_DIR_PREFIX=""
CT_WANTS_STATIC_LINK=y
CT_STATIC_TOOLCHAIN=y
CT_TOOLCHAIN_PKGVERSION=""
CT_TOOLCHAIN_BUGURL=""
 
#
# Tuple completion and aliasing
#
CT_TARGET_VENDOR="cortex_a9"
CT_TARGET_ALIAS_SED_EXPR=""
CT_TARGET_ALIAS=""
 
#
# Toolchain type
#
# CT_NATIVE is not set
CT_CROSS=y
# CT_CROSS_NATIVE is not set
# CT_CANADIAN is not set
CT_TOOLCHAIN_TYPE="cross"
 
#
# Build system
#
CT_BUILD=""
CT_BUILD_PREFIX=""
CT_BUILD_SUFFIX=""
 
#
# Misc options
#
# CT_TOOLCHAIN_ENABLE_NLS is not set
 
#
# Operating System
#
CT_KERNEL_SUPPORTS_SHARED_LIBS=y
CT_KERNEL="linux"
CT_KERNEL_VERSION="2.6.36.4"
# CT_KERNEL_bare_metal is not set
CT_KERNEL_linux=y
CT_KERNEL_bare_metal_AVAILABLE=y
CT_KERNEL_linux_AVAILABLE=y
# CT_KERNEL_V_3_5 is not set
# CT_KERNEL_V_3_4_7 is not set
# CT_KERNEL_V_3_3_8 is not set
# CT_KERNEL_V_3_2_25 is not set
# CT_KERNEL_V_3_1_10 is not set
# CT_KERNEL_V_3_0_39 is not set
# CT_KERNEL_V_2_6_39_4 is not set
# CT_KERNEL_V_2_6_38_8 is not set
# CT_KERNEL_V_2_6_37_6 is not set
CT_KERNEL_V_2_6_36_4=y
# CT_KERNEL_V_2_6_33_20 is not set
# CT_KERNEL_V_2_6_32_59 is not set
# CT_KERNEL_V_2_6_31_14 is not set
# CT_KERNEL_V_2_6_27_62 is not set
# CT_KERNEL_LINUX_CUSTOM is not set
CT_KERNEL_mingw32_AVAILABLE=y
 
#
# Common kernel options
#
CT_SHARED_LIBS=y
 
#
# linux other options
#
CT_KERNEL_LINUX_VERBOSITY_0=y
# CT_KERNEL_LINUX_VERBOSITY_1 is not set
# CT_KERNEL_LINUX_VERBOSITY_2 is not set
CT_KERNEL_LINUX_VERBOSE_LEVEL=0
CT_KERNEL_LINUX_INSTALL_CHECK=y
 
#
# Binary utilities
#
CT_ARCH_BINFMT_ELF=y
 
#
# GNU binutils
#
# CT_BINUTILS_V_2_22 is not set
# CT_BINUTILS_V_2_21_53 is not set
# CT_BINUTILS_V_2_21_1a is not set
CT_BINUTILS_V_2_20_1a=y
# CT_BINUTILS_V_2_19_1a is not set
# CT_BINUTILS_V_2_18a is not set
CT_BINUTILS_VERSION="2.20.1a"
CT_BINUTILS_2_20_or_later=y
CT_BINUTILS_2_19_or_later=y
CT_BINUTILS_2_18_or_later=y
CT_BINUTILS_HAS_HASH_STYLE=y
CT_BINUTILS_GOLD_SUPPORTS_ARCH=y
CT_BINUTILS_HAS_PKGVERSION_BUGURL=y
CT_BINUTILS_FORCE_LD_BFD=y
CT_BINUTILS_LINKER_LD=y
CT_BINUTILS_LINKERS_LIST="ld"
CT_BINUTILS_LINKER_DEFAULT="bfd"
CT_BINUTILS_EXTRA_CONFIG_ARRAY=""
# CT_BINUTILS_FOR_TARGET is not set
 
#
# C compiler
#
CT_CC="gcc"
CT_CC_VERSION="4.5.3"
CT_CC_gcc=y
# CT_CC_GCC_SHOW_LINARO is not set
# CT_CC_V_4_7_1 is not set
# CT_CC_V_4_7_0 is not set
# CT_CC_V_4_6_3 is not set
# CT_CC_V_4_6_2 is not set
# CT_CC_V_4_6_1 is not set
# CT_CC_V_4_6_0 is not set
CT_CC_V_4_5_3=y
# CT_CC_V_4_5_2 is not set
# CT_CC_V_4_5_1 is not set
# CT_CC_V_4_5_0 is not set
# CT_CC_V_4_4_7 is not set
# CT_CC_V_4_4_6 is not set
# CT_CC_V_4_4_5 is not set
# CT_CC_V_4_4_4 is not set
# CT_CC_V_4_4_3 is not set
# CT_CC_V_4_4_2 is not set
# CT_CC_V_4_4_1 is not set
# CT_CC_V_4_4_0 is not set
# CT_CC_V_4_3_6 is not set
# CT_CC_V_4_3_5 is not set
# CT_CC_V_4_3_4 is not set
# CT_CC_V_4_3_3 is not set
# CT_CC_V_4_3_2 is not set
# CT_CC_V_4_3_1 is not set
# CT_CC_V_4_2_4 is not set
# CT_CC_V_4_2_2 is not set
CT_CC_GCC_4_2_or_later=y
CT_CC_GCC_4_3_or_later=y
CT_CC_GCC_4_4_or_later=y
CT_CC_GCC_4_5=y
CT_CC_GCC_4_5_or_later=y
CT_CC_GCC_HAS_GRAPHITE=y
CT_CC_GCC_HAS_LTO=y
CT_CC_GCC_HAS_PKGVERSION_BUGURL=y
CT_CC_GCC_HAS_BUILD_ID=y
CT_CC_GCC_USE_GMP_MPFR=y
CT_CC_GCC_USE_MPC=y
CT_CC_GCC_USE_LIBELF=y
# CT_CC_LANG_FORTRAN is not set
CT_CC_SUPPORT_CXX=y
CT_CC_SUPPORT_FORTRAN=y
CT_CC_SUPPORT_JAVA=y
CT_CC_SUPPORT_ADA=y
CT_CC_SUPPORT_OBJC=y
CT_CC_SUPPORT_OBJCXX=y
 
#
# Additional supported languages:
#
CT_CC_LANG_CXX=y
# CT_CC_LANG_JAVA is not set
# CT_CC_LANG_ADA is not set
# CT_CC_LANG_OBJC is not set
# CT_CC_LANG_OBJCXX is not set
CT_CC_LANG_OTHERS=""
 
#
# gcc other options
#
CT_CC_ENABLE_CXX_FLAGS=""
CT_CC_CORE_EXTRA_CONFIG_ARRAY="--with-float=hard"
CT_CC_EXTRA_CONFIG_ARRAY="--with-float=hard"
CT_CC_STATIC_LIBSTDCXX=y
# CT_CC_GCC_SYSTEM_ZLIB is not set
 
#
# Optimisation features
#
# CT_CC_GCC_USE_GRAPHITE is not set
CT_CC_GCC_USE_LTO=y
 
#
# Settings for libraries running on target
#
CT_CC_GCC_ENABLE_TARGET_OPTSPACE=y
# CT_CC_GCC_LIBMUDFLAP is not set
# CT_CC_GCC_LIBGOMP is not set
# CT_CC_GCC_LIBSSP is not set
 
#
# Misc. obscure options.
#
CT_CC_CXA_ATEXIT=y
# CT_CC_GCC_DISABLE_PCH is not set
CT_CC_GCC_SJLJ_EXCEPTIONS=m
CT_CC_GCC_LDBL_128=m
# CT_CC_GCC_BUILD_ID is not set
 
#
# C-library
#
CT_LIBC="glibc"
CT_LIBC_VERSION="2.11"
# CT_LIBC_eglibc is not set
CT_LIBC_glibc=y
# CT_LIBC_uClibc is not set
CT_LIBC_eglibc_AVAILABLE=y
CT_LIBC_glibc_AVAILABLE=y
CT_LIBC_GLIBC_TARBALL=y
# CT_LIBC_GLIBC_V_2_14_1 is not set
# CT_LIBC_GLIBC_V_2_14 is not set
# CT_LIBC_GLIBC_V_2_13 is not set
# CT_LIBC_GLIBC_V_2_12_2 is not set
# CT_LIBC_GLIBC_V_2_12_1 is not set
# CT_LIBC_GLIBC_V_2_11_1 is not set
CT_LIBC_GLIBC_V_2_11=y
# CT_LIBC_GLIBC_V_2_10_1 is not set
# CT_LIBC_GLIBC_V_2_9 is not set
# CT_LIBC_GLIBC_V_2_8 is not set
CT_LIBC_mingw_AVAILABLE=y
CT_LIBC_newlib_AVAILABLE=y
CT_LIBC_none_AVAILABLE=y
CT_LIBC_uClibc_AVAILABLE=y
CT_LIBC_SUPPORT_THREADS_ANY=y
CT_LIBC_SUPPORT_NPTL=y
CT_THREADS="nptl"
 
#
# Common C library options
#
CT_THREADS_NPTL=y
CT_LIBC_XLDD=y
CT_LIBC_GLIBC_MAY_FORCE_PORTS=y
CT_LIBC_glibc_familly=y
CT_LIBC_GLIBC_EXTRA_CONFIG_ARRAY=""
CT_LIBC_GLIBC_CONFIGPARMS=""
CT_LIBC_GLIBC_EXTRA_CFLAGS=""
CT_LIBC_EXTRA_CC_ARGS=""
# CT_LIBC_ENABLE_FORTIFIED_BUILD is not set
# CT_LIBC_DISABLE_VERSIONING is not set
CT_LIBC_OLDEST_ABI=""
CT_LIBC_GLIBC_FORCE_UNWIND=y
CT_LIBC_GLIBC_USE_PORTS=y
CT_LIBC_ADDONS_LIST=""
# CT_LIBC_LOCALES is not set
# CT_LIBC_GLIBC_KERNEL_VERSION_NONE is not set
CT_LIBC_GLIBC_KERNEL_VERSION_AS_HEADERS=y
# CT_LIBC_GLIBC_KERNEL_VERSION_CHOSEN is not set
CT_LIBC_GLIBC_MIN_KERNEL="2.6.36.4"
 
#
# glibc other options
#
 
#
# WARNING !!!                                            
#
 
#
#   For glibc >= 2.8, it can happen that the tarballs    
#
 
#
#   for the addons are not available for download.       
#
 
#
#   If that happens, bad luck... Try a previous version  
#
 
#
#   or try again later... :-(                            
#
 
#
# Debug facilities
#
# CT_DEBUG_dmalloc is not set
# CT_DEBUG_duma is not set
# CT_DEBUG_gdb is not set
# CT_DEBUG_ltrace is not set
# CT_DEBUG_strace is not set
 
#
# Companion libraries
#
CT_COMPLIBS_NEEDED=y
CT_GMP_NEEDED=y
CT_MPFR_NEEDED=y
CT_MPC_NEEDED=y
CT_LIBELF_NEEDED=y
CT_COMPLIBS=y
CT_GMP=y
CT_MPFR=y
CT_MPC=y
CT_LIBELF=y
# CT_GMP_V_5_0_2 is not set
# CT_GMP_V_5_0_1 is not set
CT_GMP_V_4_3_2=y
# CT_GMP_V_4_3_1 is not set
# CT_GMP_V_4_3_0 is not set
CT_GMP_VERSION="4.3.2"
# CT_MPFR_V_3_1_0 is not set
# CT_MPFR_V_3_0_1 is not set
# CT_MPFR_V_3_0_0 is not set
CT_MPFR_V_2_4_2=y
# CT_MPFR_V_2_4_1 is not set
# CT_MPFR_V_2_4_0 is not set
CT_MPFR_VERSION="2.4.2"
# CT_MPC_V_0_9 is not set
# CT_MPC_V_0_8_2 is not set
CT_MPC_V_0_8_1=y
# CT_MPC_V_0_7 is not set
CT_MPC_VERSION="0.8.1"
CT_LIBELF_V_0_8_13=y
# CT_LIBELF_V_0_8_12 is not set
CT_LIBELF_VERSION="0.8.13"
 
#
# Companion libraries common options
#
# CT_COMPLIBS_CHECK is not set
 
#
# Companion tools
#
 
#
# READ HELP before you say 'Y' below !!!
#
# CT_COMP_TOOLS is not set
 
#
# Test suite
#
# CT_TEST_SUITE_GCC is not set
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(4) 编译TK1交叉编译器

make
1

3. 编译TK1内核

3.1 编译环境设置

创建文件 envsetup.sh，其内容为：

export ARCH=arm
export CROSS_COMPILE=~/tegra/tk1/crosstool/crosstool-ng/install/bin/arm-cortex_a9-linux-gnueabi-
export TEGRA_KERNEL_OUT=~/tegra/tk1/linux-3.10.40/output
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3

按如下指令序列编译TK1内核

. envsetup.sh
make O=output tegra12_defconfig
make O=output
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4. 构建TK1系统镜像

sudo tar jxpf ../Tegra_Linux_Sample-Root-Filesystem_R21.5.0_armhf.tbz2 -C rootfs
sudo ./apply_binaries.sh
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5. 系统镜像下载

sudo ./flash.sh -S 8GiB jetson-tk1 mmcblk0p1
sudo ./flash.sh -S 14580MiB jetson-tk1 mmcblk0p1
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6. 外设调试

6.1 支持 USB 3.0

(1) 如果从emmc启动，修改文件Linux_for_Tegra/bootloader/ardbeg/jetson-tk1_extlinux.conf.emmc：

usb_port_owner_info=0
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改为

usb_port_owner_info=2
1

(2) 修改文件Linux_for_Tegra/jetson-tk1.conf：

ODMDATA=0x6009C000;
1

改为

ODMDATA=0x6209C000;
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6.2 写芯片ID

烧录和系统运行，都需要写入芯片ID。因为公版代码是适应到多款芯片的，所以需要芯片ID信息，作出正确的板级初始化。在系统进入u-boot是，我们输入回车键，让u-boot停下来，用u-boot指令写入正确的芯片ID。如下是TK1芯片ID的写入操作：

mw.l 80800000 00070001;mw.l 80800004 00000177;mw.l 80800008 ff004203
i2c dev 1;i2c write 80800000 56 0 10

i2c read 56 0 10 80800010;md 80800010

# 读回来看是否写入成功
i2c dev 1;i2c read 56 0 10 80800000;md 80800000
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6.3 支持 eMMC 5.1

修改内核文件drivers/mmc/core/mmc.c

static int mmc_init_card(struct mmc_host *host, u32 ocr,
	struct mmc_card *oldcard)
{
	...
	//if (card->ext_csd.rev > 7) {
	if (card->ext_csd.rev > 8) { /* 支持 eMMC 5.1 */
	...
}
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6.4 音视频工具和库安装

sudo apt-add-repository universe
sudo apt-add-repository multiverse
sudo apt-get update
	
sudo apt-get install gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav
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