Do we need to compile and install each driver for multiple kernel?
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Confusing question.
The "correct" way to do it is to build kernel & modules for one, change the setting of CONFIG_LOCALVERSION, make clean, and build number 2 kernel & modules. Each kernel will then refer to it's own modules.
by leaving CONFIG_LOALVERSION the same and building 2 different kernels using one set of modules, you can get trouble. Either the module needs something one kernel hasn't got, or vice versa.
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Do we need to compile and install each driver for multiple kernel?
