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LuoTianyi_HOLOMAIN/docs/OrangePi_CM5/Android底层开发 _ Radxa Docs.html
Rdzleo 713cbd1835 修复律动期间 UART0 TX 拥堵 + 补充踩坑文档 + 硬件文档归类 + Mac 开发工程入库 
一、代码修复（HOLOMAIN.ino）
1、processCommand 响应改为只发 Serial (USB CDC / Windows 调试)，不再回发 SerialLinux (Android)
   背景：Android 随音乐律动高频发送 LED 命令时，ESP32 每条命令的响应挤占 UART0 TX，
         导致刷卡产生的 SORC_xxx 业务数据延迟到达 Android，表现为律动期间刷卡经常无效
   效果：UART0 TX 释放给业务数据使用，Windows 调试仍能通过 USB CDC 看到响应

二、踩坑经验文档补充（ESP32踩坑经验文档.md）
1、新增坑 12：音乐律动时高频 LED 命令导致 RFID 高概率失败【物理层面干扰】
2、内容涵盖：
   - 现象描述与触发条件（律动期间 vs 静态场景）
   - 根本原因推演：高频亮度跳变 → WS2812 电流瞬变 → 电源噪声耦合 → RC522 SPI 异常
   - 与坑 7（WS2812 关中断）的区别：坑 12 是物理电源噪声，即使用 RMT 也无法避免
   - 四层解决方案按优先级排列：
     方案1 Android 端降频+去重+节拍化（已验证，60FPS→5次/秒，失败率显著降低）
     方案2 ESP32 响应只发调试口（已实施，本次提交）
     方案3 ESP32 亮度平滑过渡（预备方案，含完整代码和 step_max 调校参考）
     方案4 RC522 供电去耦电容（硬件方案，终极根治）
3、经验教训：主机端源头减量 > 固件端平滑过渡 > 硬件去耦电容

三、硬件文档目录归类（docs/）
1、新建 docs/ESP32/ 分类目录
2、新建 docs/OrangePi_CM5/ 分类目录
3、移动原散落在 docs/ 根目录的文档到对应分类
4、新增资料：
   - docs/OrangePi_CM5/OPI CM5 BASE-TABLET_V1_1_SCH.pdf（底板原理图）
   - docs/OrangePi_CM5/开发工具用户手册_v1.0.pdf

四、Mac 开发工程入库（Luotianyi_Mac/）
1、新增 Luotianyi_Mac/Luotianyi_Mac.ino
2、用途：Windows 切换到 Mac 开发环境后，后续 ESP32 业务在此工程继续开发
3、HOLOMAIN.ino 保留作为 Windows Arduino IDE 下的基线版本

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-04-22 14:35:42 +08:00

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class=breadcrumbs__link href=/som/cm/cm5/android><span>Android 系统</span></a><li class="breadcrumbs__item breadcrumbs__item--active"><span class=breadcrumbs__link>底层开发</span></ul></nav><div class="tocCollapsible_ETCw theme-doc-toc-mobile tocMobile_bxCs"><button type=button class="clean-btn tocCollapsibleButton_TO0P">本页总览</button></div><div class="theme-doc-markdown markdown"><header><h1>底层开发</h1></header>
<p>主要介绍 uboot, kernel, aosp 编译打包等内容</p>
<h2 class="anchor anchorWithStickyNavbar_LWe7" id=环境配置>环境配置<a href=#环境配置 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h2>
<p>为了规避 Android 编译过程中因为环境配置出问题，提高开发效率，我们引入了Docker这一工具。</p>
<p>Docker 是一个开源的应用容器引擎，可以帮助开发者更有效地构建、部署和管理应用程序。</p>
<p>Dockerfile 是一个构建 Docker 镜像的文本文件，可以根据以下内容构建编译 Android12 所需环境。</p>
<div class="language-text codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-text codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">FROM ubuntu:20.04</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN rm /etc/apt/sources.list</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse" | tee /etc/apt/sources.list</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse" >> /etc/apt/sources.list</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse" >> /etc/apt/sources.list</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN echo "deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse" >> /etc/apt/sources.list</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">ENV DEBIAN_FRONTEND noninteractive</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get update -y && apt-get install -y software-properties-common apt-utils</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN add-apt-repository -y ppa:deadsnakes/ppa</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get update -y && apt-get install -y python3.8</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.8 150</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get install -y python3-pip && pip install pycrypto</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get update -y && apt-get install -y openjdk-8-jdk python git-core gnupg flex bison gperf build-essential \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> zip curl gawk liblz4-tool zlib1g-dev gcc-multilib g++-multilib libc6-dev-i386 \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> libncurses5 libncurses-dev x11proto-core-dev libx11-dev lib32z-dev ccache \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> libgl1-mesa-dev libxml2-utils xsltproc unzip mtools u-boot-tools \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> htop iotop sysstat iftop pigz bc device-tree-compiler lunzip \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> dosfstools vim-common parted udev libssl-dev sudo rsync python3-pyelftools cpio</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN curl https://mirrors.tuna.tsinghua.edu.cn/git/git-repo > /usr/local/bin/repo && \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> chmod +x /usr/local/bin/repo && \</span><br></span><span class=token-line style=color:#393A34><span class="token plain"> which repo</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">ENV REPO_URL='https://mirrors.tuna.tsinghua.edu.cn/git/git-repo/'</span><br></span><span class=token-line style=color:#393A34><span class="token plain">ENV PS1="\[\033[01;37m\]\u@build\[\033[00m\]:\[\033[01;32m\]\w\[\033[00m\]:$ "</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get install -y lzop swig</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get update -y && apt-get install -y tzdata</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN mkdir /opt/toolchains</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-6.3.1-2017.02-x86_64_arm-linux-gnueabihf /opt/gcc-linaro-6.3.1-2017.02-x86_64_arm-linux-gnueabihf</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-aarch64-none-elf-4.8-2013.11_linux /opt/gcc-linaro-aarch64-none-elf-4.8-2013.11_linux</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-aarch64-none-elf-4.8-2013.11_linux /opt/toolchains/gcc-linaro-aarch64-none-elf-4.8-2013.11_linux</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-arm-none-eabi-6-2017-q2-update /opt/toolchains/gcc-arm-none-eabi-6-2017-q2-update</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-6.3.1-2017.02-x86_64_arm-linux-gnueabihf /opt/toolchains/gcc-linaro-6.3.1-2017.02-x86_64_arm-linux-gnueabihf</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-6.3.1-2017.02-x86_64_aarch64-linux-gnu /opt/toolchains/gcc-linaro-6.3.1-2017.02-x86_64_aarch64-linux-gnu</span><br></span><span class=token-line style=color:#393A34><span class="token plain">COPY ./gcc-linaro-7.2.1-2017.11-x86_64_aarch64-elf /opt/toolchains/gcc-linaro-7.2.1-2017.11-x86_64_aarch64-elf</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN apt-get install -y net-tools gcc-arm-linux-gnueabihf gcc-arm-none-eabi</span><br></span><span class=token-line style=color:#393A34><span class="token plain">ENV TZ=Asia/Shanghai</span><br></span><span class=token-line style=color:#393A34><span class="token plain">RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span></code></pre></div></div>
<h4 class="anchor anchorWithStickyNavbar_LWe7" id=构建-docker-镜像>构建 Docker 镜像<a href=#构建-docker-镜像 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h4>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token function" style=color:#d73a49>docker</span><span class="token plain"> build </span><span class="token parameter variable" style=color:#36acaa>-t</span><span class="token plain"> android-builder:12.x --build-arg </span><span class="token assign-left variable" style=color:#36acaa>USER_ID</span><span class="token operator" style=color:#393A34>=</span><span class="token variable" style=color:#36acaa>`</span><span class="token variable function" style=color:#d73a49>id</span><span class="token variable" style=color:#36acaa> </span><span class="token variable parameter variable" style=color:#36acaa>-u</span><span class="token variable" style=color:#36acaa>`</span><span class="token plain"> --build-arg </span><span class="token assign-left variable" style=color:#36acaa>GROUP_ID</span><span class="token operator" style=color:#393A34>=</span><span class="token variable" style=color:#36acaa>`</span><span class="token variable function" style=color:#d73a49>id</span><span class="token variable" style=color:#36acaa> </span><span class="token variable parameter variable" style=color:#36acaa>-g</span><span class="token variable" style=color:#36acaa>`</span><span class="token plain"> </span><span class="token variable" style=color:#36acaa>$(</span><span class="token variable" style=color:#36acaa>which-dir-dockerfile-in</span><span class="token variable" style=color:#36acaa>)</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span></code></pre></div></div>
<h2 class="anchor anchorWithStickyNavbar_LWe7" id=下载-radxa-android-sdk>下载 Radxa Android SDK<a href=#下载-radxa-android-sdk class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h2>
<p>Radxa Android SDK 包含数百个 Git 仓库，如果不用 repo 逐个下载会非常繁琐。</p>
<h3 class="anchor anchorWithStickyNavbar_LWe7" id=repo>Repo<a href=#repo class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h3>
<p>Repo 是 Android 开发中用于管理多个 Git 仓库的工具，它是一个Python脚本，方便开发者对多个 Git 库进行版本控制和管理。</p>
<h4 class="anchor anchorWithStickyNavbar_LWe7" id=下载-repo>下载 Repo<a href=#下载-repo class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h4>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token builtin class-name">echo</span><span class="token plain"> </span><span class="token string" style=color:#e3116c>"export REPO_URL='https://mirrors.tuna.tsinghua.edu.cn/git/git-repo/'"</span><span class="token plain"> </span><span class="token operator" style=color:#393A34>>></span><span class="token plain"> ~/.bashrc</span><br></span><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token builtin class-name">source</span><span class="token plain"> ~/.bashrc</span><br></span><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token function" style=color:#d73a49>curl</span><span class="token plain"> https://mirrors.tuna.tsinghua.edu.cn/git/git-repo </span><span class="token parameter variable" style=color:#36acaa>-o</span><span class="token plain"> /tmp/repo</span><br></span><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token function" style=color:#d73a49>sudo</span><span class="token plain"> </span><span class="token function" style=color:#d73a49>cp</span><span class="token plain"> /tmp/repo /usr/local/bin/repo</span><br></span><span class=token-line style=color:#393A34><span class="token plain">$ </span><span class="token function" style=color:#d73a49>sudo</span><span class="token plain"> </span><span class="token function" style=color:#d73a49>chmod</span><span class="token plain"> +x /usr/local/bin/repo</span><br></span></code></pre></div></div>
<h4 class="anchor anchorWithStickyNavbar_LWe7" id=代码下载>代码下载<a href=#代码下载 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h4>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">$ repo init </span><span class="token parameter variable" style=color:#36acaa>-u</span><span class="token plain"> https://github.com/radxa/manifests.git </span><span class="token parameter variable" style=color:#36acaa>-b</span><span class="token plain"> Android12_Radxa_rk14 </span><span class="token parameter variable" style=color:#36acaa>-m</span><span class="token plain"> rockchip-s-release.xml</span><br></span><span class=token-line style=color:#393A34><span class="token plain">$ repo </span><span class="token function" style=color:#d73a49>sync</span><span class="token plain"> </span><span class="token parameter variable" style=color:#36acaa>-d</span><span class="token plain"> --no-tags </span><span class="token parameter variable" style=color:#36acaa>-j4</span><br></span></code></pre></div></div>
<h2 class="anchor anchorWithStickyNavbar_LWe7" id=镜像编译>镜像编译<a href=#镜像编译 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h2>
<p>镜像编译可以使用两种方法</p>
<h3 class="anchor anchorWithStickyNavbar_LWe7" id=方法一-推荐>方法一 (<strong>推荐</strong>)<a href=#方法一-推荐 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h3>
<p>使用 SDK 编译脚本方式编译</p>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">source</span><span class="token plain"> build/envsetup.sh</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ lunch RadxaCM5-userdebug</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ ./build.sh </span><span class="token parameter variable" style=color:#36acaa>-AUCKup</span><br></span></code></pre></div></div>
<p>等待编译完成就可以在 IMAGE 目录找到镜像</p>
<h3 class="anchor anchorWithStickyNavbar_LWe7" id=方法二>方法二<a href=#方法二 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h3>
<p>可以根据这个方法一步一步编译镜像</p>
<ol>
<li>设置编译项目的环境</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">export</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>PRODUCT_NAME</span><span class="token operator" style=color:#393A34>=</span><span class="token string" style=color:#e3116c>"RadxaCM5"</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">export</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>PRODUCT_UBOOT_CONFIG</span><span class="token operator" style=color:#393A34>=</span><span class="token string" style=color:#e3116c>"rk3588"</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">export</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>PRODUCT_KERNEL_CONFIG</span><span class="token operator" style=color:#393A34>=</span><span class="token string" style=color:#e3116c>"rockchip_defconfig android-11.config RadxaCM5.config"</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">export</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>PRODUCT_KERNEL_DTS</span><span class="token operator" style=color:#393A34>=</span><span class="token string" style=color:#e3116c>"rk3588s-radxa-cm5-io"</span><br></span></code></pre></div></div>
<ol start=2>
<li>编译 U-boot</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">cd</span><span class="token plain"> u-boot</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/u-boot $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> clean</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/u-boot $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> mrproper</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/u-boot $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> distclean</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/u-boot $ ./make.sh </span><span class="token variable" style=color:#36acaa>${PRODUCT_UBOOT_CONFIG}</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">cd</span><span class="token plain"> -</span><br></span></code></pre></div></div>
<ol start=3>
<li>编译内核</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">cd</span><span class="token plain"> kernel</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/kernel $ </span><span class="token assign-left variable" style=color:#36acaa>ADDON_ARGS</span><span class="token operator" style=color:#393A34>=</span><span class="token string" style=color:#e3116c>"CC=../prebuilts/clang/host/linux-x86/clang-r383902b/bin/clang LD=../prebuilts/clang/host/linux-x86/clang-r383902b/bin/ld.lld"</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/kernel $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> clean</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/kernel $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> </span><span class="token variable" style=color:#36acaa>$ADDON_ARGS</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>ARCH</span><span class="token operator" style=color:#393A34>=</span><span class="token plain">arm64 </span><span class="token variable" style=color:#36acaa>${PRODUCT_KERNEL_CONFIG}</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/kernel $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> </span><span class="token variable" style=color:#36acaa>$ADDON_ARGS</span><span class="token plain"> </span><span class="token assign-left variable" style=color:#36acaa>ARCH</span><span class="token operator" style=color:#393A34>=</span><span class="token plain">arm64 </span><span class="token variable" style=color:#36acaa>${PRODUCT_KERNEL_DTS}</span><span class="token plain">.img -j</span><span class="token variable" style=color:#36acaa>$(</span><span class="token variable" style=color:#36acaa>nproc</span><span class="token variable" style=color:#36acaa>)</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">cd</span><span class="token plain"> -</span><br></span></code></pre></div></div>
<ol start=4>
<li>编译AOSP</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">source</span><span class="token plain"> build/envsetup.sh</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ lunch </span><span class="token variable" style=color:#36acaa>${PRODUCT_NAME}</span><span class="token plain">-userdebug</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token function" style=color:#d73a49>make</span><span class="token plain"> -j</span><span class="token variable" style=color:#36acaa>$(</span><span class="token variable" style=color:#36acaa>nproc</span><span class="token variable" style=color:#36acaa>)</span><br></span></code></pre></div></div>
<ol start=5>
<li>制作 Images</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token function" style=color:#d73a49>rm</span><span class="token plain"> </span><span class="token parameter variable" style=color:#36acaa>-rf</span><span class="token plain"> rockdev</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token function" style=color:#d73a49>ln</span><span class="token plain"> </span><span class="token parameter variable" style=color:#36acaa>-s</span><span class="token plain"> RKTools/linux/Linux_Pack_Firmware/rockdev </span><span class="token builtin class-name">.</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12 $ ./mkimage.sh</span><br></span></code></pre></div></div>
<ol start=6>
<li>打包 Image</li>
</ol>
<div class="language-bash codeBlockContainer_Ckt0 theme-code-block" style=--prism-color:#393A34;--prism-background-color:#f6f8fa><div class=codeBlockContent_QJqH><pre tabindex=0 class="prism-code language-bash codeBlock_bY9V thin-scrollbar" style=color:#393A34;background-color:#f6f8fa><code class=codeBlockLines_e6Vv><span class=token-line style=color:#393A34><span class="token plain">android12 $ </span><span class="token builtin class-name">cd</span><span class="token plain"> rockdev</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/rockdev $ </span><span class="token function" style=color:#d73a49>rm</span><span class="token plain"> </span><span class="token parameter variable" style=color:#36acaa>-rf</span><span class="token plain"> Image</span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/rockdev $ </span><span class="token function" style=color:#d73a49>ln</span><span class="token plain"> </span><span class="token parameter variable" style=color:#36acaa>-s</span><span class="token plain"> Image-</span><span class="token variable" style=color:#36acaa>${PRODUCT_NAME}</span><span class="token plain"> Image</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain"></span><span class="token comment" style=color:#999988;font-style:italic># 打包成 RK update 格式镜像</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/rockdev $ ./mkupdate_rk356x.sh</span><br></span><span class=token-line style=color:#393A34><span class="token plain" style=display:inline-block></span><br></span><span class=token-line style=color:#393A34><span class="token plain"></span><span class="token comment" style=color:#999988;font-style:italic># 打包成 GPT 格式镜像</span><span class="token plain"></span><br></span><span class=token-line style=color:#393A34><span class="token plain">android12/rockdev $ ./android-gpt.sh</span><br></span></code></pre></div></div>
<h2 class="anchor anchorWithStickyNavbar_LWe7" id=常见问题>常见问题<a href=#常见问题 class=hash-link aria-label=标题的直接链接 title=标题的直接链接>​</a></h2></div><footer class="theme-doc-footer docusaurus-mt-lg"><div class=issues_center_hgDx><a href="https://github.com/radxa-docs/docs/issues/new?title=Issue%20from%20som%2Fcm%2Fcm5%2Fandroid%2Flow-level-dev&body=URL%3A%20%5Bhttps%3A%2F%2Fdocs.radxa.com%2Fsom%2Fcm%2Fcm5%2Fandroid%2Flow-level-dev%5D(https%3A%2F%2Fdocs.radxa.com%2Fsom%2Fcm%2Fcm5%2Fandroid%2Flow-level-dev)%0A%0ATime%3A%204%2F14%2F2026%2C%2011%3A30%3A17%20AM" target=_blank rel="noopener noreferrer"><svg t=1727244518678 class=icon viewBox="0 0 1024 1024" version=1.1 xmlns=http://www.w3.org/2000/svg p-id=6366 xlink=http://www.w3.org/1999/xlink width=20 height=20><path d="M940 512H792V412c76.8 0 139-62.2 139-139 0-4.4-3.6-8-8-8h-60c-4.4 0-8 3.6-8 8 0 34.8-28.2 63-63 63H232c-34.8 0-63-28.2-63-63 0-4.4-3.6-8-8-8h-60c-4.4 0-8 3.6-8 8 0 76.8 62.2 139 139 139v100H84c-4.4 0-8 3.6-8 8v56c0 4.4 3.6 8 8 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style=font-size:.8rem;color:#74bc1f;text-align:center>您需要登录 GitHub 才能发表评论。如果您已登录，请忽略此消息。</div><p style=text-align:center;margin-top:2rem;margin-bottom:0><a href=https://docs.radxa.com>Radxa-docs</a> © 2026 by <a href=/license> Radxa Computer (Shenzhen) Co.,Ltd.</a> is licensed under <a href=https://creativecommons.org/licenses/by/4.0/> CC BY 4.0</a></div><div class="col col--3"><div class="tableOfContents_bqdL thin-scrollbar theme-doc-toc-desktop"><ul class="table-of-contents table-of-contents__left-border"><li><a href=#环境配置 class="table-of-contents__link toc-highlight">环境配置</a><li><a href=#下载-radxa-android-sdk class="table-of-contents__link toc-highlight">下载 Radxa Android SDK</a><ul><li><a href=#repo class="table-of-contents__link toc-highlight">Repo</a></ul><li><a href=#镜像编译 class="table-of-contents__link toc-highlight">镜像编译</a><ul><li><a href=#方法一-推荐 class="table-of-contents__link toc-highlight">方法一 (<strong>推荐</strong>)</a><li><a href=#方法二 class="table-of-contents__link 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