ROS之六自己動手編譯 Raspberry Pi的Kernel

參考：

https://coldnew.github.io/f5873b3f/ 

https://shumeipai.nxez.com/2020/10/18/compile-raspberry-pi-4b-linux-5-9-kernel.html

我的樹莓派版本為：

>uname -a

Linux raspberrypi 5.10.11-v7+ #1399 SMP Thu Jan 28 12:06:05 GMT 2021 armv7l GNU/Linux

這裡直接在樹莓派機器上編譯5.9,不需要下載下傳cross-compile 編譯器

源碼下載下傳

>git clone --depth=1 --branch rpi-5.9.y https://github.com/raspberrypi/linux

>git branch -a

* rpi-5.9.y

  remotes/origin/rpi-5.9.y

tools下載下傳：

>git clone git://github.com/raspberrypi/tools.git

下載下傳依賴項

apt install git bc bison flex libssl-dev make libc6-dev libncurses5-dev
           

編譯：

/home/pi/myrasp/linux>make -j4 &

/home/pi/myrasp/linux>make bcmrpi_defconfig

/home/pi/myrasp/linux>make menuconfig

生成kernel.img

/home/pi/myrasp/tools> ./imagetool-uncompressed.py ../../linux/arch/arm/boot/Image

安裝 kernel module 到臨時目錄

/home/pi/myrasp> mkdir modules_build

/home/pi/myrasp>cd linux/

/home/pi/myrasp/linux> INSTALL_MOD_PATH="../modules_build" make modules_install