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==Getting the sources==
==Getting the sources==
In this wiki we will use as an example JetPack version 6.2.1 (L4T 36.4.4). You can find the desired JetPack version from [https://developer.nvidia.com/embedded/jetson-linux-archive Jetson Linux Archives]
You can find the desired JetPack version from [https://developer.nvidia.com/embedded/jetson-linux-archive Jetson Linux Archives].
=== JetPack 6.2.1 ===


1. Go to JetPack 6.2.1 release Page: [https://developer.nvidia.com/embedded/jetson-linux-r3644 NVIDIA Jetson Linux 36.4.4] and download “L4T Driver Package (BSP)” and “Sample Root filesystem”.
1. Go to JetPack's version release page and download “L4T Driver Package (BSP)” and “Sample Root filesystem”.


2. You should see this two files:
2. You should see this two files with the following names, where '''XXX''' specifies the version for L4T:
* Jetson_Linux_R36.4.4_aarch64.tbz2
* Jetson_Linux_RX.X.X_aarch64.tbz2
* Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2
* Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2


3. Create a directory for installing JetPack. Referred to as <INSTALL_DIR>. For example:
3. Create a directory for installing JetPack. Referred to as <INSTALL_DIR>. For example:
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<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
cp $HOME/Downloads/Jetson_Linux_R36.4.4_aarch64.tbz2 .
cp $HOME/Downloads/Jetson_Linux_RX.X.X_aarch64.tbz2 .
cp $HOME/Downloads/Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2 .
cp $HOME/Downloads/Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2 .
</syntaxhighlight>
</syntaxhighlight>


5. Extract "L4T Driver Package" tarball:
5. Extract "L4T Driver Package" tarball:
<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
sudo tar -vjxf Jetson_Linux_R36.4.4_aarch64.tbz2
tar -vjxf Jetson_Linux_RX.X.X_aarch64.tbz2
</syntaxhighlight>
</syntaxhighlight>


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<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
sudo tar -C Linux_for_Tegra/rootfs/ -vxjf Tegra_Linux_Sample-Root-Filesystem_R36.4.4_aarch64.tbz2
sudo tar -C Linux_for_Tegra/rootfs/ -vxjf Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2
</syntaxhighlight>
</syntaxhighlight>


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</syntaxhighlight>
</syntaxhighlight>


The release tag can be extracted from the release notes of the JetPack version. In the case of Jetpack 6.2.1, release tag is: jetson_36.4.4.
The release tag can be extracted from the release notes of the JetPack version.

<syntaxhighlight lang="bash">
./source_sync.sh -k -t jetson_36.4.4
</syntaxhighlight>


8.Return to "Linux_for_Tegra" directory and apply binaries.
8.Return to "Linux_for_Tegra" directory and apply binaries.
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</syntaxhighlight>
</syntaxhighlight>


Now you are all set up to customize and build your own kernel.


==Customizing the kernel==
9. Inside Linux_for_Tegra directory, create default user with:

===JetPack 6.X ===
1. Go to source directory.
<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
cd <INSTALL_DIR>/Linux_for_Tegra/source
sudo ./tools/l4t_create_default_user.sh -u <username> -p <password> -n <hostname>
</syntaxhighlight>
</syntaxhighlight>

for example:
2. Install pre-requisites
<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
sudo apt install build-essential bc
sudo ./tools/l4t_create_default_user.sh -u nvidia -p nvidia -n nvidia
</syntaxhighlight>
</syntaxhighlight>


3.Install the toolchain from Jetson Linux release page. From the Tools tab, download '''Bootlin Toolchain gcc'''.
== Flashing the board ==
<syntaxhighlight lang="bash">
mkdir $HOME/l4t-gcc
cd $HOME/l4t-gcc
tar xf <toolchain_archive>
</syntaxhighlight>


== Capturing with FRAMOS IMX464 cameras ==


====Building the Jetson Linux Kernel====
1. Open a terminal. Verify cameras were bound correctly with:

<syntaxhighlight lang="bash">
1. Go into <INSTALL_DIR>/Linux_for_Tegra/source directory.
sudo dmesg | grep imx464

2. Set environment variable for cross-compilation, kernel-headers and kernel-output.
<syntaxhighlight lang="bash">
export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/kernel/kernel-jammy-src
export KERNEL_OUTPUT=$PWD/kernel_out
</syntaxhighlight>
</syntaxhighlight>

Should see something like:
3. Build the kernel.
<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
[ 11.756067] imx464 9-001a: probing v4l2 sensor
make -C kernel
[ 11.756129] imx464 9-001a: initializing mipi...
[ 11.756418] imx464 9-001a: tegracam sensor driver:imx464_v2.0.6
[ 11.790754] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx464 9-001a bound
[ 11.830176] imx464 9-001a: Detected imx464 sensor
[ 11.833758] imx464 10-001a: probing v4l2 sensor
[ 11.833832] imx464 10-001a: initializing mipi...
[ 11.834253] imx464 10-001a: tegracam sensor driver:imx464_v2.0.6
[ 11.867769] tegra-camrtc-capture-vi tegra-capture-vi: subdev imx464 10-001a bound
[ 11.884400] imx464 10-001a: Detected imx464 sensor
</syntaxhighlight>
</syntaxhighlight>


4. Set install path.
2. Check for devices in '''/dev/'''.

<syntaxhighlight lang="bash">
<syntaxhighlight lang="bash">
ls /dev/video*
export INSTALL_MOD_PATH=<INSTALL_DIR>/Linux_for_Tegra/rootfs/
</syntaxhighlight>
</syntaxhighlight>

Should see something like:
5. Install.
<syntaxhighlight lang="bash">

/dev/video0 /dev/video1
<syntaxhighlight lang="bash">
sudo -E make install -C kernel
cp $KERNEL_OUTPUT/arch/arm64/boot/Image <INSTALL_DIR>/Linux_for_Tegra/kernel/Image
</syntaxhighlight>
</syntaxhighlight>

2. Run the following pipeline to get a stream preview:
==== Building the NVIDIA out-of-Tree Modules ====
<syntaxhighlight lang="bash">

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! nvvidconv ! autovideosink
1. Build nvidia-oot.

<syntaxhighlight lang="bash">
make modules
</syntaxhighlight>
</syntaxhighlight>



Switch between 0 and 1 in '''sensor-id''' to choose the camera to capture.
2. Set install path.

<syntaxhighlight lang="bash">
export INSTALL_MOD_PATH=<INSTALL_DIR>/Linux_for_Tegra/rootfs/
</syntaxhighlight>

3. Install.

<syntaxhighlight lang="bash">
sudo -E make modules_install
</syntaxhighlight>

==== Building the DTBs ====

1. Build DTBs:
<syntaxhighlight lang="bash">
make dtbs
</syntaxhighlight>

2. Install:

<syntaxhighlight lang="bash">
cp kernel-devicetree/platform/generic-dts/dtbs/* <INSTALL_DIR>/Linux_for_Tegra/kernel/dtb/
</syntaxhighlight>

===JetPack 5.X ===

= Need Further Support? =

'''📞 Book Consultation Call:''' [https://proventusnova.com/contact-us/ Show Calendar!]

'''📩 Contact Via Email:''' [mailto:support@proventusnova.com support@proventusnova.com]

'''🌐 Visit Our Website:''' [https://proventusnova.com ProventusNova.com]

Latest revision as of 23:38, 19 November 2025

Jetson Linux BSP and Kernel Source setup

Keywords: NVIDIA Jetson, JetPack

Description

This wiki pages shows how to get sources for any JetPack version for NVIDIA platform. Download board support package (BSP), sample root file system and kernel sources for kernel customization.

Getting the sources

You can find the desired JetPack version from Jetson Linux Archives.

1. Go to JetPack's version release page and download “L4T Driver Package (BSP)” and “Sample Root filesystem”.

2. You should see this two files with the following names, where XXX specifies the version for L4T:

  • Jetson_Linux_RX.X.X_aarch64.tbz2
  • Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2

3. Create a directory for installing JetPack. Referred to as <INSTALL_DIR>. For example: 

 
INSTALL_DIR = build
mkdir $INSTALL_DIR
cd $INSTALL_DIR

4. Copy both files to <INSTALL_DIR> 

 
cp $HOME/Downloads/Jetson_Linux_RX.X.X_aarch64.tbz2 .
cp $HOME/Downloads/Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2 .

5. Extract "L4T Driver Package" tarball: 

 
tar -vjxf Jetson_Linux_RX.X.X_aarch64.tbz2

You should see a new directory called Linux_for_tegra in <INSTALL_DIR> directory.

6. Extract "Sample Root Filesystem" into Linux_for_tegra/rootfs 

 
sudo tar -C Linux_for_Tegra/rootfs/ -vxjf Tegra_Linux_Sample-Root-Filesystem_RX.X.X_aarch64.tbz2

7. Go into "Linux_for_Tegra/source" directory and extract the kernel sources. 

 
cd Linux_for_Tegra/source
./source_sync.sh -k -t <release_tag>

The release tag can be extracted from the release notes of the JetPack version.

8.Return to "Linux_for_Tegra" directory and apply binaries. 

 
cd ../
sudo ./apply_binaries.sh

Now you are all set up to customize and build your own kernel.

Customizing the kernel

JetPack 6.X

1. Go to source directory. 

 
cd <INSTALL_DIR>/Linux_for_Tegra/source

2. Install pre-requisites 

 
sudo apt install build-essential bc

3.Install the toolchain from Jetson Linux release page. From the Tools tab, download Bootlin Toolchain gcc. 

 
mkdir $HOME/l4t-gcc
cd $HOME/l4t-gcc
tar xf <toolchain_archive>


Building the Jetson Linux Kernel

1. Go into <INSTALL_DIR>/Linux_for_Tegra/source directory.

2. Set environment variable for cross-compilation, kernel-headers and kernel-output. 

 
export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
export KERNEL_HEADERS=$PWD/kernel/kernel-jammy-src
export KERNEL_OUTPUT=$PWD/kernel_out

3. Build the kernel. 

 
make -C kernel

4. Set install path. 

 
export INSTALL_MOD_PATH=<INSTALL_DIR>/Linux_for_Tegra/rootfs/

5. Install. 

 
sudo -E make install -C kernel
cp $KERNEL_OUTPUT/arch/arm64/boot/Image <INSTALL_DIR>/Linux_for_Tegra/kernel/Image

Building the NVIDIA out-of-Tree Modules

1. Build nvidia-oot. 

 
make modules


2. Set install path. 

 
export INSTALL_MOD_PATH=<INSTALL_DIR>/Linux_for_Tegra/rootfs/

3. Install. 

 
sudo -E make modules_install

Building the DTBs

1. Build DTBs: 

 
make dtbs

2. Install: 

 
cp kernel-devicetree/platform/generic-dts/dtbs/* <INSTALL_DIR>/Linux_for_Tegra/kernel/dtb/

JetPack 5.X

Need Further Support?

📞 Book Consultation Call: Show Calendar!

📩 Contact Via Email: support@proventusnova.com

🌐 Visit Our Website: ProventusNova.com

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