Ubuntu20.04安装实时内核补丁及配置实时内核显卡驱动 - ToB企服应用市场:ToB评测及商务社交产业平台

sudo gedit /etc/default/grub

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GRUB_TIMEOUT_STYLE=menu
GRUB_TIMEOUT=5

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ubuntu-drivers devices

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sudo apt-get install nvidia-driver-535

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nvidia-smi

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touch install_nvidia.sh

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#!/bin/bash
BUILD_BASE=`pwd`
NV_FILE="NVIDIA-Linux-x86_64-515.105.01.run" # 这里改成大家自己下载的.run文件名（上面安装过的）
#NV_URL="https://us.download.nvidia.cn/XFree86/Linux-x86_64/430.50/${NV_FILE}" # 之前已经下好了显卡驱动.run文件，就不用从网上下载了，直接注释掉，而且如果要下载的话，则慢
NEED_TO_COMPILE_NV_KO=1
function clean_env() {
[ -d ./${NV_DIR} ] && rm -rf ./${NV_DIR}
}
function check_env() {
# check if in rt kernel
uname -r | grep rt 1>/dev/null 2>&1
if [ $? -ne 0 ]
then
echo "Not in rt kernel, Please install apollo kernel and reboot machine first."
exit 2
fi
# check if nv ko already in kernel
if [ ! -f /lib/modules/`uname -r`/kernel/drivers/video/nvidia.ko ]
then
export NEED_TO_COMPILE_NV_KO=1
fi
}
function prepare_nv() {
## download nv install file from nvidia home page
#if [ ! -f ./${NV_FILE} ]
#then
# echo "Downloading ${NV_FILE} from nvidia website..."
# wget ${NV_URL} -O ${NV_FILE}
# if [ $? -ne 0 ]
# then
# echo "Downloading ${NV_FILE} failed, please check your network connection!"
# rm -rf ./${NV_FILE}
# exit 1
# fi
#fi
###########上面是下载驱动的代码，我们已经提前下载好了，就不需要这段代码了，直接注释掉############
# +x
chmod +x ./${NV_FILE}
echo "Extracting nvidia install run file..."
./${NV_FILE} -x 1>/dev/null 2>&1
NV_DIR="`echo ${NV_FILE} | awk -F '.run' '{print $1}'`"
NV_VERSION="`echo ${NV_FILE} | awk -F '-' '{print $4}' | awk -F '.run' '{print $1}'`"
export NV_DIR
export NV_VERSION
export NVIDIA_SOURCE="${NV_DIR}/kernel"
}
function install_lib() {
NV_LIB_OUTPUT_PATH="/usr/lib/x86_64-linux-gnu/"
NV_BIN_OUTPUT_PATH="/usr/bin/"
[ -f ./${NV_DIR}/libnvidia-ml.so.${NV_VERSION} ] && /bin/cp -f ./${NV_DIR}/libnvidia-ml.so.${NV_VERSION} ${NV_LIB_OUTPUT_PATH}
[ -f ./${NV_DIR}/libnvidia-fatbinaryloader.so.${NV_VERSION} ] && /bin/cp -f ./${NV_DIR}/libnvidia-fatbinaryloader.so.${NV_VERSION} ${NV_LIB_OUTPUT_PATH}
[ -f ./${NV_DIR}/libnvidia-ptxjitcompiler.so.${NV_VERSION} ] && /bin/cp -f ./${NV_DIR}/libnvidia-ptxjitcompiler.so.${NV_VERSION} ${NV_LIB_OUTPUT_PATH}
[ -f ./${NV_DIR}/libcuda.so.${NV_VERSION} ] && /bin/cp -f ./${NV_DIR}/libcuda.so.${NV_VERSION} ${NV_LIB_OUTPUT_PATH}
[ -f ./${NV_DIR}/nvidia-modprobe ] && /bin/cp -f ./${NV_DIR}/nvidia-modprobe ${NV_BIN_OUTPUT_PATH}
[ -f ./${NV_DIR}/nvidia-smi ] && /bin/cp -f ./${NV_DIR}/nvidia-smi ${NV_BIN_OUTPUT_PATH}
chmod +x /usr/bin/nvidia*
chmod +s /usr/bin/nvidia-modprobe
# link for nvidia
/bin/rm -rf /usr/lib/x86_64-linux-gnu/libnvidia-ml.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-ml.so
/bin/ln -s /usr/lib/x86_64-linux-gnu/libnvidia-ml.so.${NV_VERSION} /usr/lib/x86_64-linux-gnu/libnvidia-ml.so.1
/bin/ln -s /usr/lib/x86_64-linux-gnu/libnvidia-ml.so.1 /usr/lib/x86_64-linux-gnu/libnvidia-ml.so
/bin/rm -rf /usr/lib/x86_64-linux-gnu/libcuda.so /usr/lib/x86_64-linux-gnu/libcuda.so.1
/bin/ln -s /usr/lib/x86_64-linux-gnu/libcuda.so.${NV_VERSION} /usr/lib/x86_64-linux-gnu/libcuda.so.1
/bin/ln -s /usr/lib/x86_64-linux-gnu/libcuda.so.1 /usr/lib/x86_64-linux-gnu/libcuda.so
# take effect
/sbin/ldconfig 1>/dev/null 2>&1
}
function build_nv() {
if [ ${NEED_TO_COMPILE_NV_KO} == 0 ]
then
return
fi
NVIDIA_MOD_REL_PATH='kernel/drivers/video'
NVIDIA_OUTPUT_PATH="/lib/modules/`uname -r`/${NVIDIA_MOD_REL_PATH}"
CPUNUM=`cat /proc/cpuinfo | grep processor | wc | awk -F " " '{print $1}'`
export IGNORE_PREEMPT_RT_PRESENCE=true
cd ${NVIDIA_SOURCE} && make -j ${CPUNUM} module
cd ${BUILD_BASE}
unset IGNORE_PREEMPT_RT_PRESENCE
mkdir -p ${NVIDIA_OUTPUT_PATH}
[ -f ${NVIDIA_SOURCE}/nvidia.ko ] && cp ${NVIDIA_SOURCE}/nvidia.ko ${NVIDIA_OUTPUT_PATH}
[ -f ${NVIDIA_SOURCE}/nvidia-modeset.ko ] && cp ${NVIDIA_SOURCE}/nvidia-modeset.ko ${NVIDIA_OUTPUT_PATH}
[ -f ${NVIDIA_SOURCE}/nvidia-drm.ko ] && cp ${NVIDIA_SOURCE}/nvidia-drm.ko ${NVIDIA_OUTPUT_PATH}
[ -f ${NVIDIA_SOURCE}/nvidia-uvm.ko ] && cp ${NVIDIA_SOURCE}/nvidia-uvm.ko ${NVIDIA_OUTPUT_PATH}
depmod -a
}
# check environment
check_env
# prepare for nvidia
prepare_nv
# build nvidia.ko
build_nv
# install user lib
install_lib
# clean environment
clean_env
echo "Done to install nvidia kernel driver and user libraries."

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mkdir Franka_env
cd Franka_env
curl -SLO https://www.kernel.org/pub/linux/kernel/v5.x/linux-5.15.119.tar.gz
curl -SLO https://www.kernel.org/pub/linux/kernel/projects/rt/5.15/older/patch-5.15.119-rt65.patch.gz

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sudo apt-get install build-essential bc curl ca-certificates gnupg2 libssl-dev lsb-release libelf-dev bison flex dwarves zstd libncurses-dev

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tar xvzf linux-5.15.119.tar.gz
gunzip patch-5.15.119-rt65.patch.gz

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cd linux-5.15.119
patch -p1 < ../patch-5.15.119-rt65.patch

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make olddefconfig

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make menuconfig

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gedit .config

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CONFIG_SYSTEM_TRUSTED_KEYS="debian/canonical-certs.pem"
CONFIG_SYSTEM_REVOCATION_KEYS="debian/canonical-revoked-certs.pem"
CONFIG_DEBUG_INFO_BTF=y

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CONFIG_SYSTEM_TRUSTED_KEYS=""
CONFIG_SYSTEM_REVOCATION_KEYS=""
CONFIG_DEBUG_INFO_BTF=n

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# CONFIG_DEBUG_INFO=y

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fakeroot make -j40 deb-pkg

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sudo dpkg -i ../linux-headers-*.deb ../linux-image-*.deb

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find /boot/vmli*

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sudo update-grub

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sudo reboot

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cd ~
chmod +x ./install_nvidia.sh
sudo ./install_nvidia.sh

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sudo apt-mark hold linux-image-generic linux-headers-generic

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sudo apt --purge autoremove linux-headers-5.15.119-rt65 linux-image-5.15.119-rt65
sudo rm -rf /lib/modules/5.15.119-rt65/

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sudo apt-get install linux-image-5.15.0-76-generic linux-headers-5.15.0-76-generic linux-modules-5.15.0-76-generic linux-modules-extra-5.15.0-76-generic

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sudo update-grub

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