mk_kernel.sh

#!/bin/bash
###
 # COPYRIGHT NOTICE
 # Copyright 2023 Horizon Robotics, Inc.
 # All rights reserved.
 # @Date: 2023-03-16 15:02:28
 # @LastEditTime: 2023-03-22 18:52:51
### 

set -e

export CROSS_COMPILE=/opt/gcc-ubuntu-9.3.0-2020.03-x86_64-aarch64-linux-gnu/bin/aarch64-linux-gnu-
export LD_LIBRARY_PATH=/opt/gcc-ubuntu-9.3.0-2020.03-x86_64-aarch64-linux-gnu/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH
export ARCH=arm64
export HR_TOP_DIR=$(realpath $(cd $(dirname $0); pwd))
export HR_LOCAL_DIR=$(realpath $(cd $(dirname $0); pwd))


# 编译出来的镜像保存位置
export IMAGE_DEPLOY_DIR=${HR_TOP_DIR}/deploy
[ ! -z ${IMAGE_DEPLOY_DIR} ] && [ ! -d $IMAGE_DEPLOY_DIR ] && mkdir $IMAGE_DEPLOY_DIR

KERNEL_BUILD_DIR=${IMAGE_DEPLOY_DIR}/kernel
[ ! -z ${IMAGE_DEPLOY_DIR} ] && [ ! -d ${KERNEL_BUILD_DIR} ] && mkdir $KERNEL_BUILD_DIR

N=$(( ($(cat /proc/cpuinfo |grep 'processor'|wc -l)  + 1 ) / 2 ))

# 默认使用emmc配置，对于nor、nand需要使用另外的配置文件
kernel_config_file=xj3_perf_ubuntu_defconfig
kernel_image_name="Image.lz4"

KERNEL_SRC_DIR=${HR_TOP_DIR}/source/kernel

kernel_version=$(awk '/^VERSION\ =/{print $3}' ${KERNEL_SRC_DIR}/Makefile)
kernel_patch_lvl=$(awk '/^PATCHLEVEL\ =/{print $3}' ${KERNEL_SRC_DIR}/Makefile)
kernel_sublevel=$(awk '/^SUBLEVEL\ =/{print $3}' ${KERNEL_SRC_DIR}/Makefile)
export KERNEL_VER="${kernel_version}.${kernel_patch_lvl}.${kernel_sublevel}"

function pre_pkg_preinst() {
    # Get the signature algorithm used by the kernel.
    local module_sig_hash="$(grep -Po '(?<=CONFIG_MODULE_SIG_HASH=").*(?=")' "${KERNEL_SRC_DIR}/.config")"
    # Get the key file used by the kernel.
    local module_sig_key="$(grep -Po '(?<=CONFIG_MODULE_SIG_KEY=").*(?=")' "${KERNEL_SRC_DIR}/.config")"
    module_sig_key="${module_sig_key:-certs/hobot_fixed_signing_key.pem}"
    # Path to the key file or PKCS11 URI
    if [[ "${module_sig_key#pkcs11:}" == "${module_sig_key}" && "${module_sig_key#/}" == "${module_sig_key}" ]]; then
        local key_path="${KERNEL_SRC_DIR}/${module_sig_key}"
    else
        local key_path="${module_sig_key}"
    fi
    # Certificate path
    local cert_path="${KERNEL_SRC_DIR}/certs/signing_key.x509"
    # Sign all installed modules before merging.
    find ${KO_INSTALL_DIR}/lib/modules/${KERNEL_VER}/ -name "*.ko" -exec "${KERNEL_SRC_DIR}/scripts/sign-file" "${module_sig_hash}" "${key_path}" "${cert_path}" '{}' \;
}

function make_kernel_headers() {
    SRCDIR=${KERNEL_SRC_DIR}
    HDRDIR=${KERNEL_BUILD_DIR}/kernel_headers/usr/src/linux-headers-4.14.87
    mkdir -p ${HDRDIR}

    cd ${SRCDIR}

    mkdir -p ${HDRDIR}/arch
    cp -Rf ${SRCDIR}/arch/arm64        ${HDRDIR}/arch/
    cp -Rf ${SRCDIR}/include           ${HDRDIR}
    cp -Rf ${SRCDIR}/scripts           ${HDRDIR}
    cp -Rf ${SRCDIR}/Module.symvers    ${HDRDIR}
    cp -Rf ${SRCDIR}/Makefile          ${HDRDIR}
    cp -Rf ${SRCDIR}/System.map        ${HDRDIR}
    cp -Rf ${SRCDIR}/.config           ${HDRDIR}
    cp -Rf ${SRCDIR}/security          ${HDRDIR}
    cp -Rf ${SRCDIR}/tools             ${HDRDIR}
    cp -Rf ${SRCDIR}/certs             ${HDRDIR}

    rm -rf ${HDRDIR}/arch/arm64/boot

    cd ${SRCDIR}
    cp --parents -Rf `find -iname "KConfig*"`   ${HDRDIR}
    cp --parents -Rf `find -iname "Makefile*"`  ${HDRDIR}
    cp --parents -Rf `find -iname "*.pl"`       ${HDRDIR}
    cd ${HR_LOCAL_DIR}

    find ${HDRDIR} -depth -name '.svn' -type d  -exec rm -rf {} \;

    find ${HDRDIR} -depth -name '*.c' -type f -exec rm -rf {} \;

    exclude=("*.c" \
            "*.o" \
            "*.S" \
            "*.s" \
            "*.ko" \
            "*.cmd" \
            "*.a" \
            "modules.builtin" \
            "modules.order")
    for element in ${exclude[@]}
    do
    find ${HDRDIR} -depth -name ${element} -type f -exec rm -rf {} \;
    done

    cd ${SRCDIR}
    cp --parents -Rf `find scripts -iname '*.c'` ${HDRDIR}
    make M=${HDRDIR}/scripts clean

    cd ${HR_LOCAL_DIR}
    rm -rf ${HDRDIR}/arch/arm64/mach*
    rm -rf ${HDRDIR}/arch/arm64/plat*

    mv ${HDRDIR}/include/asm-generic/ ${HDRDIR}/
    rm -rf ${HDRDIR}/inclde/asm-*
    mv ${HDRDIR}/asm-generic ${HDRDIR}/include/

    rm -rf ${HDRDIR}/arch/arm64/configs

    rm -rf ${HDRDIR}/debian
}

function build_all()
{
    # 生成内核配置.config
    make $kernel_config_file || {
        echo "make $config failed"
        exit 1
    }

    # 编译生成 zImage.lz4 和 dtb.img
    make ${kernel_image_name} dtbs -j${N} || {
        echo "make ${kernel_image_name} failed"
        exit 1
    }

    # 编译内核模块
    make modules -j${N} || {
        echo "make modules failed"
        exit 1
    }

    # 安装内核模块
    KO_INSTALL_DIR=${KERNEL_BUILD_DIR}/modules
    [ ! -d $KO_INSTALL_DIR ] && mkdir -p $KO_INSTALL_DIR
    rm -rf $KO_INSTALL_DIR/*

    make INSTALL_MOD_PATH=$KO_INSTALL_DIR INSTALL_MOD_STRIP=1 modules_install -j${N} || {
        echo "make modules_install to INSTALL_MOD_PATH for release ko failed"
        exit 1
    }

    # strip 内核模块, 去掉debug info
    # ${CROSS_COMPILE}strip -v -g ${KO_INSTALL_DIR}/lib/modules/${KERNEL_VER}/*.ko
    find ${KO_INSTALL_DIR}/lib/modules/${KERNEL_VER}/ -name "*.ko" -exec ${CROSS_COMPILE}strip -v -g '{}' \;

    rm -rf ${KO_INSTALL_DIR}/lib/modules/${KERNEL_VER}/{build,source}

    # ko 签名
    pre_pkg_preinst

    # 拷贝 内核 zImage.lz4
    cp -f "arch/arm64/boot/${kernel_image_name}" ${KERNEL_BUILD_DIR}/
    # 拷贝 内核 Image
    cp -f "arch/arm64/boot/Image" ${KERNEL_BUILD_DIR}/

    # 生成 dtb 镜像
    mkdir -p ${KERNEL_BUILD_DIR}/dtb
    cp -arf arch/arm64/boot/dts/hobot/*.dtb ${KERNEL_BUILD_DIR}/dtb
    cp -arf arch/arm64/boot/dts/hobot/*.dts ${KERNEL_BUILD_DIR}/dtb
    cp -arf arch/arm64/boot/dts/hobot/*.dtsi ${KERNEL_BUILD_DIR}/dtb

    path=./tools/dtbmapping

    cd $path

    export TARGET_KERNEL_DIR=${KERNEL_BUILD_DIR}/dtb
    # build dtb
    python2 makeimg.py || {
        echo "make failed"
        exit 1
    }

    # 生成内核头文件
    make_kernel_headers
}

function build_clean()
{
    make clean
}

function build_distclean()
{
    make distclean
}

# 进入内核目录
cd ${KERNEL_SRC_DIR}
# 根据命令参数编译
if [ $# -eq 0 ] || [ "$1" = "all" ]; then
    build_all
elif [ "$1" = "clean" ]; then
    build_clean
elif [ "$1" = "distclean" ]; then
    build_distclean
fi