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Linux/AM5728: Arago Yocto Kernel Module Build Setup

Part Number: AM5728

Tool/software: Linux

How do I compile and build a kernel module (custom device driver) on Ubuntu host for installing it on AM5728 SOM running Arago Yocto Linux?   I can use bitbake build commands from the board vendor to build uboot and kernel images, but I do not know the right setup for building this simple kernel module.   Also, is it possible to create a project and build this kernel module from CCS 7.4?  Thanks.