Jetson Orin设备上测试驱动编写安装_linux-headers-5.10.104-tegra-ubuntu20.04_aarch64

先给出官方链接地址 

nivdia资源下载地址 

本质上说Linux内核开发和Linux驱动开发是不一样的,或者说驱动开发是内核开发的一部分,因为驱动属于内核。目前国内驱动开发和内核开发一般是一样的。

Linux设备驱动属于内核的一部分，Linux内核的一个模块可以以两种方式被编译和加载：

（1）直接编译进Linux内核，随同Linux启动时加载。

（2）编译成一个可加载和删除的模块。

/home/nvidia/kernel/kernel-5.10 

 TKOUT=/usr/src/linux-headers-$(uname -r)-ubuntu18.04_aarch64
nvidia@nvidia-desktop:~$ $TKOUT
-bash: /usr/src/linux-headers-5.10.104-tegra-ubuntu18.04_aarch64: No such file or directory
nvidia@nvidia-desktop:~$ cat TKOUT=/usr/src/linux-headers-$(uname -r)-ubuntu18.04_aarch64
cat: 'TKOUT=/usr/src/linux-headers-5.10.104-tegra-ubuntu18.04_aarch64': No such file or directory
nvidia@nvidia-desktop:~$ cat /usr/src/linux-headers-$(uname -r)-ubuntu18.04_aarch64
cat: /usr/src/linux-headers-5.10.104-tegra-ubuntu18.04_aarch64: No such file or directory
nvidia@nvidia-desktop:~$ cat /usr/src/linux-headers-$(uname -r)
cat: /usr/src/linux-headers-5.10.104-tegra: No such file or directory
nvidia@nvidia-desktop:~$ cat /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/
kernel-5.10/ nvgpu/       nvidia/      nvlink/
nvidia@nvidia-desktop:~$ cat /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/
kernel-5.10/ nvgpu/       nvidia/      nvlink/
nvidia@nvidia-desktop:~$ cat TKOUT=/usr/src/linux-headers-$(uname -r)-ubuntu20.04_aarch64
cat: 'TKOUT=/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64': No such file or directory
nvidia@nvidia-desktop:~$ TKOUT=/usr/src/linux-headers-$(uname -r)-ubuntu20.04_aarch64
nvidia@nvidia-desktop:~$ $TKOUT
-bash: /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64: Is a directory
nvidia@nvidia-desktop:~$ sudo mkdir -p $TKOUT
[sudo] password for nvidia:
nvidia@nvidia-desktop:~$ $TKOUT
-bash: /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64: Is a directory
nvidia@nvidia-desktop:~$ cd kernel/
kernel-5.10/  nvethernetrm/ nvgpu/        nvidia/
nvidia@nvidia-desktop:~$ cd kernel/
kernel-5.10/  nvethernetrm/ nvgpu/        nvidia/
nvidia@nvidia-desktop:~$ cd kernel/
kernel-5.10/  nvethernetrm/ nvgpu/        nvidia/
nvidia@nvidia-desktop:~$ cd kernel/kernel-5.10/
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ ls
android-patches  block  COPYING  crypto         drivers  include  ipc     Kconfig  kernel-int-overlays.txt  lib       MAINTAINERS  mm   NVIDIA-REVIEWERS  rt-patches  scripts   sound  usr
arch             certs  CREDITS  Documentation  fs       init     Kbuild  kernel   kernel-overlays.txt      LICENSES  Makefile     net  README            samples     security  tools  virt
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ ls
android-patches  block  COPYING  crypto         drivers  include  ipc     Kconfig  kernel-int-overlays.txt  lib       MAINTAINERS  mm   NVIDIA-REVIEWERS  rt-patches  scripts   sound  usr
arch             certs  CREDITS  Documentation  fs       init     Kbuild  kernel   kernel-overlays.txt      LICENSES  Makefile     net  README            samples     security  tools  virt
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ sudo make ARCH=arm64 O=$TKOUT tegra_defconfig
make[1]: Entering directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64'
  GEN     Makefile
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  HOSTCC  scripts/kconfig/confdata.o
  HOSTCC  scripts/kconfig/expr.o
  LEX     scripts/kconfig/lexer.lex.c
  YACC    scripts/kconfig/parser.tab.[ch]
  HOSTCC  scripts/kconfig/lexer.lex.o
  HOSTCC  scripts/kconfig/parser.tab.o
  HOSTCC  scripts/kconfig/preprocess.o
  HOSTCC  scripts/kconfig/symbol.o
  HOSTCC  scripts/kconfig/util.o
  HOSTLD  scripts/kconfig/conf
#
# configuration written to .config
#
make[1]: Leaving directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64'
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ sudo make ARCH=arm64 O=$TKOUT -j4 modules_prepare
make[1]: Entering directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64'
  GEN     Makefile
  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
  UPD     include/generated/uapi/linux/version.h
  WRAP    arch/arm64/include/generated/asm/early_ioremap.h
  WRAP    arch/arm64/include/generated/asm/mcs_spinlock.h
  WRAP    arch/arm64/include/generated/asm/qrwlock.h
  WRAP    arch/arm64/include/generated/asm/qspinlock.h
  WRAP    arch/arm64/include/generated/asm/set_memory.h
  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
  HOSTCC  scripts/dtc/dtc.o
  WRAP    arch/arm64/include/generated/asm/hw_irq.h
  HOSTCC  scripts/dtc/flattree.o
  WRAP    arch/arm64/include/generated/asm/irq_regs.h
  WRAP    arch/arm64/include/generated/asm/kdebug.h
  WRAP    arch/arm64/include/generated/asm/kmap_types.h
  WRAP    arch/arm64/include/generated/asm/local.h
  WRAP    arch/arm64/include/generated/asm/local64.h
  WRAP    arch/arm64/include/generated/asm/mm-arch-hooks.h
  WRAP    arch/arm64/include/generated/asm/mmiowb.h
  WRAP    arch/arm64/include/generated/asm/msi.h
  WRAP    arch/arm64/include/generated/asm/rwonce.h
  WRAP    arch/arm64/include/generated/asm/serial.h
  WRAP    arch/arm64/include/generated/asm/switch_to.h
  WRAP    arch/arm64/include/generated/asm/unaligned.h
  WRAP    arch/arm64/include/generated/asm/vga.h
  UPD     include/config/kernel.release
  HOSTCC  scripts/dtc/fstree.o
  HOSTCC  scripts/dtc/data.o
  UPD     include/generated/utsrelease.h
  HOSTCC  scripts/dtc/livetree.o
  HOSTCC  scripts/dtc/treesource.o
  HOSTCC  scripts/dtc/srcpos.o
  HOSTCC  scripts/dtc/checks.o
  HOSTCC  scripts/dtc/util.o
  LEX     scripts/dtc/dtc-lexer.lex.c
  YACC    scripts/dtc/dtc-parser.tab.[ch]
  HOSTCC  scripts/dtc/dtc-lexer.lex.o
  HOSTCC  scripts/dtc/dtc-parser.tab.o
  HOSTLD  scripts/dtc/dtc
  HOSTCC  scripts/kallsyms
  HOSTCC  scripts/sorttable
  HOSTCC  scripts/genksyms/genksyms.o
  HOSTCC  scripts/selinux/genheaders/genheaders
  HOSTCC  scripts/selinux/mdp/mdp
  YACC    scripts/genksyms/parse.tab.[ch]
  LEX     scripts/genksyms/lex.lex.c
  HOSTCC  scripts/asn1_compiler
  HOSTCC  scripts/sign-file
  HOSTCC  scripts/extract-cert
  HOSTCC  scripts/genksyms/parse.tab.o
  HOSTCC  scripts/genksyms/lex.lex.o
  HOSTLD  scripts/genksyms/genksyms
  CC      scripts/mod/empty.o
  HOSTCC  scripts/mod/mk_elfconfig
  CC      scripts/mod/devicetable-offsets.s
  UPD     scripts/mod/devicetable-offsets.h
  MKELF   scripts/mod/elfconfig.h
  HOSTCC  scripts/mod/modpost.o
  HOSTCC  scripts/mod/file2alias.o
  HOSTCC  scripts/mod/sumversion.o
  HOSTLD  scripts/mod/modpost
  CC      kernel/bounds.s
  CALL    /home/nvidia/kernel/kernel-5.10/scripts/atomic/check-atomics.sh
  UPD     include/generated/timeconst.h
  UPD     include/generated/bounds.h
  CC      arch/arm64/kernel/asm-offsets.s
  UPD     include/generated/asm-offsets.h
  CALL    /home/nvidia/kernel/kernel-5.10/scripts/checksyscalls.sh
  LDS     arch/arm64/kernel/vdso/vdso.lds
  CC      arch/arm64/kernel/vdso/vgettimeofday.o
  AS      arch/arm64/kernel/vdso/note.o
  AS      arch/arm64/kernel/vdso/sigreturn.o
  LD      arch/arm64/kernel/vdso/vdso.so.dbg
  VDSOSYM include/generated/vdso-offsets.h
  LDS     scripts/module.lds
make[1]: Leaving directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64'
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ ls
android-patches  block  COPYING  crypto         drivers  include  ipc     Kconfig  kernel-int-overlays.txt  lib       MAINTAINERS  mm   NVIDIA-REVIEWERS  rt-patches  scripts   sound  usr
arch             certs  CREDITS  Documentation  fs       init     Kbuild  kernel   kernel-overlays.txt      LICENSES  Makefile     net  README            samples     security  tools  virt
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ cd /etc/
Display all 153 possibilities? (y or n)
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ cd /usr/src/
cudnn_samples_v8/                                 linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/ tensorrt/
jetson_multimedia_api/                            nvidia/
nvidia@nvidia-desktop:~/kernel/kernel-5.10$ cd /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ ls
arch  include  kernel  kernel-5.10  kernel-int-overlays.txt  kernel-overlays.txt  Makefile  nvgpu  nvidia  nvlink  scripts  source
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ ls
arch  include  kernel  kernel-5.10  kernel-int-overlays.txt  kernel-overlays.txt  Makefile  nvgpu  nvidia  nvlink  scripts  source
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ cd kernel
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel$ ls
bounds.s
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel$ cd ..
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ cd kernel
kernel/      kernel-5.10/
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ cd kernel-5.10/
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10$ ls
arch   certs   drivers  include  ipc     Kconfig  kernel-int-overlays.txt  lib       mm              net      scripts   sound  usr
block  crypto  fs       init     Kbuild  kernel   kernel-overlays.txt      Makefile  Module.symvers  samples  security  tools  virt
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10$ vi Makefile
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10$ cd ..
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ ls
arch  include  kernel  kernel-5.10  kernel-int-overlays.txt  kernel-overlays.txt  Makefile  nvgpu  nvidia  nvlink  scripts  source
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ mkdir chardev
mkdir: cannot create directory ‘chardev’: Permission denied
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ sudo mkdir chardev
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64$ cd chardev/
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ ls
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ vi Makefile
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo vi Makefile
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ vi chardev.c
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ vi Makefile
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo vi chardev.c
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo make
make -C /lib/modules/5.10.104-tegra/build M=/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev modules
make[1]: Entering directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10'
make[2]: *** No rule to make target '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/chrdev.o', needed by '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/chrdev.mod'.  Stop.
make[1]: *** [Makefile:1854: /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev] Error 2
make[1]: Leaving directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10'
make: *** [Makefile:10: kernel_modules] Error 2
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ ls
chardev.c  Makefile
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo mv chardev.c chrdev.c
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo make
make -C /lib/modules/5.10.104-tegra/build M=/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev modules
make[1]: Entering directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10'
  CC [M]  /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/chrdev.o
  MODPOST /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/Module.symvers
  CC [M]  /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/chrdev.mod.o
  LD [M]  /usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev/chrdev.ko
make[1]: Leaving directory '/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/kernel-5.10'
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ ;s
-bash: syntax error near unexpected token `;'
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ ls
chrdev.c  chrdev.ko  chrdev.mod  chrdev.mod.c  chrdev.mod.o  chrdev.o  Makefile  modules.order  Module.symvers
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ sudo insmod chrdev.ko
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$
Message from syslogd@nvidia-desktop at Jan 29 15:22:45 ...
 kernel:[24159.304339] hello.word
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$ lsmod
Module                  Size  Used by
chrdev                 16384  0
bnep                   28672  2
nvidia_modeset       1093632  4
fuse                  118784  3
xt_conntrack           16384  1
xt_MASQUERADE          16384  1
nf_conntrack_netlink    45056  0
nfnetlink              20480  2 nf_conntrack_netlink
xt_addrtype            16384  2
iptable_filter         16384  1
iptable_nat            16384  1
nf_nat                 45056  2 iptable_nat,xt_MASQUERADE
nf_conntrack          131072  4 xt_conntrack,nf_nat,nf_conntrack_netlink,xt_MASQUERADE
nf_defrag_ipv6         24576  1 nf_conntrack
nf_defrag_ipv4         16384  1 nf_conntrack
libcrc32c              16384  2 nf_conntrack,nf_nat
br_netfilter           32768  0
lzo_rle                16384  64
lzo_compress           16384  1 lzo_rle
zram                   32768  8
overlay               114688  1
input_leds             16384  0
uvcvideo              102400  0
videobuf2_vmalloc      20480  1 uvcvideo
micrel                 28672  1
snd_soc_tegra210_ope    32768  1
snd_soc_tegra186_asrc    36864  1
snd_soc_tegra186_dspk    20480  2
snd_soc_tegra186_arad    24576  2 snd_soc_tegra186_asrc
snd_soc_tegra210_iqc    16384  0
snd_soc_tegra210_mvc    20480  2
snd_soc_tegra210_afc    20480  6
snd_soc_tegra210_dmic    20480  4
snd_soc_tegra210_adx    28672  4
snd_soc_tegra210_amx    32768  4
snd_soc_tegra210_i2s    24576  6
snd_soc_tegra210_admaif   118784  1
snd_soc_tegra210_mixer    45056  1
snd_soc_tegra210_sfc    57344  4
snd_soc_tegra_pcm      16384  1 snd_soc_tegra210_admaif
aes_ce_blk             36864  0
crypto_simd            24576  1 aes_ce_blk
cryptd                 28672  1 crypto_simd
aes_ce_cipher          20480  1 aes_ce_blk
ghash_ce               28672  0
sha2_ce                20480  0
sha256_arm64           28672  1 sha2_ce
sha1_ce                20480  0
snd_soc_spdif_tx       16384  0
snd_soc_tegra_machine_driver    16384  0
nct1008                24576  0
snd_soc_tegra210_adsp   753664  1
snd_soc_tegra210_ahub  1228800  3 snd_soc_tegra210_ope,snd_soc_tegra210_sfc
snd_soc_tegra_utils    28672  3 snd_soc_tegra210_admaif,snd_soc_tegra_machine_driver,snd_soc_tegra210_adsp
snd_soc_simple_card_utils    24576  1 snd_soc_tegra_utils
userspace_alert        16384  0
tegra210_adma          28672  2 snd_soc_tegra210_admaif,snd_soc_tegra210_adsp
binfmt_misc            24576  1
nvadsp                110592  1 snd_soc_tegra210_adsp
tegra_bpmp_thermal     16384  0
snd_hda_codec_hdmi     57344  1
ofpart                 16384  0
cmdlinepart            16384  0
qspi_mtd               28672  0
snd_hda_tegra          20480  0
mtd                    69632  4 cmdlinepart,qspi_mtd,ofpart
snd_hda_codec         118784  2 snd_hda_codec_hdmi,snd_hda_tegra
snd_hda_core           81920  3 snd_hda_codec_hdmi,snd_hda_codec,snd_hda_tegra
spi_tegra114           32768  0
nvidia               1339392  9 nvidia_modeset
loop                   36864  23
ina3221                24576  0
pwm_fan                24576  0
nvgpu                2494464  32
nvmap                 192512  188 nvgpu
ramoops                28672  0
reed_solomon           20480  1 ramoops
ip_tables              36864  2 iptable_filter,iptable_nat
x_tables               49152  5 xt_conntrack,iptable_filter,xt_addrtype,ip_tables,xt_MASQUERADE
nvidia@nvidia-desktop:/usr/src/linux-headers-5.10.104-tegra-ubuntu20.04_aarch64/chardev$