You must use Ubuntu 18. It won’t compiled on higher distribution.
Dependencies
sudo apt install gawk wget git diffstat unzip texinfo gcc build-essential chrpath socat cpio python3 python3-pip python3-pexpect xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa libsdl1.2-dev pylint3 xterm python3-subunit mesa-common-dev zstd liblz4-tool
Download the yocto
git clone git://git.yoctoproject.org/poky -b kirkstone
cd poky
source oe-init-build-env
Create a source directory in the poky's directory
mkdir ../../sources
nano ./conf/local.conf
Put the exact path of the sources to local.conf
Change the machine name
MACHINE ?= "beaglebone-yocto"
Add following variables too
SOURCES="/home/asd/Documents/beagleboneblack/yocto_tutorial/sources"
DL_DIR ?= "${SOURCES}/downloads"
SSTATE_DIR ?= "${SOURCES}/sstate-cache"
TMPDIR = "${SOURCES}/tmp"
and
bitbake core-image-full-cmdline
Under the sources directory that we added
This is the image file that we need to flash
core-image-full-cmdline-beaglebone-yocto.wic
sudo picocom -b 115200 /dev/ttyUSB0

bitbake -c menuconfig virtual/kernel

bitbake -c savedefconfig virtual/kernel
vmlinux is under the this folder

Creating a new layer for a OLED LCD Driver
bitbake-layers create-layer ../../meta-lcd

Adding the layer to bbfiles i guess
bitbake-layers add-layer ../../meta-lcd

cp the /meta-skeleton/recipes-kernel to the layer’s folder
change names according to this link
#Add this line at the end of local.conf
IMAGE_INSTALL_append = " pmu-mod"
This should be
IMAGE_INSTALL:append = ” pmu-mod”
in new version
Good luck
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