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Create Custom Bootable system.img

Demo image (system.img)​

There are two step to do:

  1. Prepare files
  2. create system.img

1. Prepare files​

  • kernel Image
  • kernel modules
  • kernel dts
  • pinmux
  • change boot config for custom device-tree(overlay)

kernel Image​

Copy from:

<nvidia_folder>/Linux_for_Tegra/sources/kernel/kernel-5.10/arch/arm64/boot/Image

to here

<nvidia_folder>/Linux_for_Tegra/kernel/

kernel modules​

Copy from

<nvidia_folder>/Linux_for_Tegra/sources/kernel/modules/lib/

to here

<nvidia_folder>/Linux_for_Tegra/rootfs/

rootfs files​

Copy anything you want to deploy to image to here

<nvidia_folder>/Linux_for_Tegra/rootfs/

device-tree​

Copy from

<nvidia_folder>/Linux_for_Tegra/sources/kernel/kernel-5.10/arch/arm64/boot/dts/<target>.dtb

to here

<nvidia_folder>/Linux_for_Tegra/rootfs/boot/<target>.dtb

pinmux (TEK-ORIN series for example)​

Copy

Orin-tek-orin-a1-gpio-default.dtsi

to here

<nvidia_folder>/Linux_for_Tegra/bootloader/

Copy

Orin-tek-orin-a1-pinmux.dtsi

to here

<nvidia_folder>/Linux_for_Tegra/bootloader/t186ref/BCT/
For Orin-EVK pinmux

Remember, ORIN-EVK series has different pinmux file name.
Please rename it.
<SOM>-<board_name >-gpio-default.dtsi
-> tegra234-mb1-bct-gpio-p3767-dp-a03.dtsi
<SOM>-<board_name >-pinmux.dtsi
-> tegra234-mb1-bct-pinmux-p3767-dp-a03.dtsi

boot config for custom device-tree​

<nvidia_folder>/Linux_for_Tegra/rootfs/boot/extlinux/extlinux.conf
LABEL primary
      MENU LABEL primary kernel
      LINUX /boot/Image
      INITRD /boot/initrd
+     FDT /boot/<target>.dtb
-     APPEND ${cbootargs} quiet
+     APPEND ${cbootargs}

2-1. create system.img​

Follow Flash Step section: Create new system.img, DO NOT flash.

2-2. Create raw system.img can be dd into storage​

Follow Flash Step section: Flash demo image .