# 使用 GitHub 编译（固件和附加功能）

Source: [https://docs.qualcomm.com/doc/80-70015-265Y/topic/using-detailed-instructions_3_2.html](https://docs.qualcomm.com/doc/80-70015-265Y/topic/using-detailed-instructions_3_2.html)

使用详细的说明同步和编译 Qualcomm Linux 选定的固件源代码，并使用附加层编译 QIRP SDK。

**前提条件**

- 根据 [GitHub 工作流程（固件和附加组件）](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/build_addn_info.html)的 Ubuntu host setup
          搭建主机环境。

**步骤：**

1. 使用 manifest 或 `git clone` 下载 Qualcomm Yocto 和 QIRP SDK 的层。

    - **使用 manifest 下载**：通过运行以下命令下载 QIRP SDK 的层。
注释： 要获取最新 `<robotics-release-manifest>`，参见 [Qualcomm® Linux Intelligent Robotics Product SDK (QIRP SDK) 2.0 发布说明](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-260)。

            cd <workspace>
            repo init -u https://github.com/quic-yocto/qcom-manifest -b qcom-linux-kirkstone -m <robotics-release-manifest>
            repo sync -c -j8Copy to clipboard

        **示例：**

        以下命令使用 manifest `qcom-6.6.38-QLI.1.2-Ver.1.1_robotics-product-sdk-1.1.xml` 下载发行版本：

            repo init -u https://github.com/quic-yocto/qcom-manifest -b qcom-linux-kirkstone -m qcom-6.6.38-QLI.1.2-Ver.1.1_robotics-product-sdk-1.1.xml
            repo sync -c -j8Copy to clipboard
    - **使用 `git clone`**下载：
        1. 按照 [Qualcomm Repo Manifest README 文件](https://github.com/quic-yocto/qcom-manifest/blob/qcom-linux-kirkstone/README.md)的说明，搭建主机环境并同步最新 Yocto Project BSP。
        2. 根据下载的 Yocto Project BSP 的 `<workspace>` 目录，下载 QIRP SDK 的各层。

                cd <workspace>
                git clone https://github.com/ros/meta-ros -b kirkstone
                layers/meta-ros
                git clone https://github.com/quic-yocto/meta-qcom-robotics.git layers/meta-qcom-robotics
                git clone https://github.com/quic-yocto/meta-qcom-robotics-distro.git layers/meta-qcom-robotics-distro
                git clone https://github.com/quic-yocto/meta-qcom-robotics-sdk.git layers/meta-qcom-robotics-sdk
                git clone https://github.com/quic-yocto/meta-qcom-qim-product-sdk layers/meta-qcom-qim-product-sdkCopy to clipboard

    **结果：**以下层已下载。

        meta-qcom
        meta-qcom-hwe
        meta-qcom-distro
        meta-ros
        meta-qcom-robotics
        meta-qcom-robotics-distro
        meta-qcom-robotics-sdk
        meta-qcom-qim-product-sdkCopy to clipboard
2. 同步并编译 Qualcomm^®^ Linux 固件。

    1. 使用 [Qualcomm® Linux Intelligent Robotics Product SDK (QIRP SDK) 2.0 发布说明](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-260)的 `firmware release tag` 按照 [同步固件](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/build_addn_info.html#sync-firmware) 的步骤同步 Qualcomm Linux 固件。
    2. 按照 [编译固件](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/build_addn_info.html#build-firmware)的步骤编译 Qualcomm Linux 固件。
        - 对于 RB3 Gen2 视觉开发套件，使用 QCS6490/QCS5430
                选项卡下的步骤。
        - 对于 IQ-9100 Beta 评估套件，使用 QCS9075 选项卡下的步骤。

![](data:image/png;base64,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)

    **结果：**

    对于前述编译，如果出现以下 zip 文件，则表明固件预编译成功：

    - QCM6490.LE.1.0（RB3 Gen2 视觉开发套件）：
        **文件路径：** `<FIRMWARE_ROOT>/qualcomm-linux-spf-1-0_ap_standard_oem_nomodem/QCM6490.LE.1.0/common/build/ufs/bin`

        - `QCM6490_bootbinaries.zip`
        - `QCM6490_dspso.zip`
        - `QCM6490_fw.zip`
    - QCS9100.LE.1.0（IQ-9100 Beta 评估套件）
        **文件路径：** `<FIRMWARE_ROOT>/qualcomm-linux-spf-1-0_ap_standard_oem_nm-qimpsdk/QCS9100.LE.1.0/common/build/ufs/bin`

        - `QCS9100_bootbinaries.zip`
        - `QCS9100_dspso.zip`
        - `QCS9100_fw.zip`
3. 获取 `meta-qcom-robotics-extras` 和 `meta-qcom-extras` 层。
注释： 从 [Qualcomm® Linux Intelligent Robotics Product SDK (QIRP SDK) 2.0 发布说明](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-260)获取
            `<meta-qcom-robotics-extras-release-tag>`。例如，
            `r1.0_00050.0`。

        git clone -b <meta-qcom-robotics-extras-release-tag> --depth 1 https://qpm-git.qualcomm.com/home2/git/qualcomm/qualcomm-linux-spf-1-0_hlos_oem_metadata.git
        mkdir -p layers/meta-qcom-robotics-extras
        mkdir -p layers/meta-qcom-extras
        cp -rf qualcomm-linux-spf-1-0_hlos_oem_metadata/<product>/common/config/meta-qcom-extras/* layers/meta-qcom-extras/
        cp -rf qualcomm-linux-spf-1-0_hlos_oem_metadata/<product>/common/config/meta-qcom-robotics-extras/* layers/meta-qcom-robotics-extras/Copy to clipboard

Table : 附加层参数

    | 参数 | RB3 Gen2 视觉开发套件 | IQ-9100 Beta 评估套件 |
    | --- | --- | --- |
    | `product` | `QCM6490.LE.1.0` | `QCS9100.LE.1.0` |
4. 搭建编译环境。

        cd <workspace>
        export CUST_ID="213195"
        export FWZIP_PATH="<FIRMWARE_ROOT>/qualcomm-linux-spf-1-0_ap_standard_oem_nomodem/<product>/common/build/ufs/bin"
        ln -s layers/meta-qcom-robotics-distro/set_bb_env.sh ./setup-robotics-environment
        ln -s layers/meta-qcom-robotics-sdk/scripts/qirp-build ./qirp-build
        MACHINE=<Machine_name> DISTRO=<Distro_name>  QCOM_SELECTED_BSP=<Build_override> source setup-robotics-environment <Build_directory>
        echo "CUST_ID = \"$CUST_ID\"" >> conf/local.conf
        echo "FWZIP_PATH = \"$FWZIP_PATH\"" >> conf/local.conf
        cat >> conf/bblayers.conf <<EOF
        EXTRALAYERS = " \\
        \${WORKSPACE}/layers/meta-qcom-robotics-extras \\
        \${WORKSPACE}/layers/meta-qcom-extras \\
        "
        EOFCopy to clipboard

注释： 有关 `<product>` 的详细信息，参见最新的 [Qualcomm® Linux 发布说明](https://docs.qualcomm.com/bundle/publicresource/topics/RNO-240929204440/)。

Table : 固件特定参数

    | 参数 | RB3 Gen2 视觉开发套件 | IQ-9100 Beta 评估套件 |
    | --- | --- | --- |
    | `FIRMWARE_ROOT` | 固件代码的根路径 | 固件代码的根路径 |
    | `product` | `QCM6490.LE.1.0` | `QCS9100.LE.1.0` |

Table : 编译参数

    | 参数 | RB3 Gen 2 视觉套件 | IQ-9100 Beta 评估套件 |
    | --- | --- | --- |
    | `Machine_name` | `qcs6490-rb3gen2-vision-kit` | `qcs9100-ride-sx` |
    | `Distro_name` | `qcom-robotics-ros2-humble` | `qcom-robotics-ros2-humble` |
    | `Build_override` | `custom` | <ul class="ul" id="ID-concept-d4199e293__d7e190"><br>                                        <li class="li"><code class="ph codeph">custom</code></li><br><br>                                        <li class="li"><code class="ph codeph">base</code></li><br><br>                                    </ul> |
    | `Build_directory` | `build-qcs6490-custom` | <ul class="ul" id="ID-concept-d4199e293__d7e215"><br>                                        <li class="li"><code class="ph codeph">build-qcs9100-custom</code></li><br><br>                                        <li class="li"><code class="ph codeph">build-qcs9100-base</code></li><br><br>                                    </ul> |
5. 编译机器人镜像和 QIRP SDK 文件。

        ../qirp-build qcom-robotics-full-imageCopy to clipboard

    **不同机器的结果：**

    - RB3 Gen2 视觉开发套件 (`qcs6490-rb3gen2-vision-kit`)
        - QIRP SDK 文件：

                <workspace>/build-qcs6490-custom/tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk_<version>.tar.gzCopy to clipboard
        - 机器人镜像：

                <workspace>/build-qcs6490-custom/tmp-glibc/deploy/images/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-imageCopy to clipboard
    - IQ-9100 Beta 评估套件 （`qcs9100-ride-sx`，以 `custom`编译覆盖为例）
        - QIRP SDK 文件：

                <workspace>/build-qcs9100-custom/tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk_<version>.tar.gzCopy to clipboard
        - 机器人镜像：

                <workspace>/build-qcs9100-custom/tmp-glibc/deploy/images/qcs9100-ride-sx/qcom-robotics-full-imageCopy to clipboard

Last Published: Dec 05, 2024

[Previous Topic
使用 GitHub 编译](https://docs.qualcomm.com/bundle/publicresource/80-70015-265Y/topics/build-with-github-binaries.md) [Next Topic
使用预编译的机器人 eSDK 编译机器人镜像](https://docs.qualcomm.com/bundle/publicresource/80-70015-265Y/topics/build-with-prebuilt-esdk.md)