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Before you use Linux kernel-header, please copy whole folder of linux-headers-5.10.59-SUNPLUS-v7+ to /usr/src/ of root file-system of your target board. Refer to report of ls -l command in RaspiOS where linux-headers has be been copied to:

Code Block
pi@raspberrypi:~$ ls -l /usr/src/linux-headers-5.10.59-SUNPLUS-v7+/
total 604
drwxr-xr-x 6 4031  501   4096 Jan 13 09:45 .
drwxr-xr-x 3 root root   4096 Jan 13 09:43 ..
drwxr-xr-x 3 4031  501   4096 Jan 21  2022 arch
-rw-r--r-- 1 4031  501  97224 Jan 21  2022 .config
drwxr-xr-x 4 4031  501   4096 Jan 21  2022 include
drwxr-xr-x 2 4031  501   4096 Jan 21  2022 kernel
-rw-r--r-- 1 4031  501    151 Jan 21  2022 Makefile
-rw-r--r-- 1 4031  501 484422 Jan 21  2022 Module.symvers
drwxr-xr-x 8 4031  501   4096 Jan 21  2022 scripts
lrwxrwxrwx 1 4031  501     36 Jan 21  2022 source -> /home/wellslu/q628/test/linux/kernel
pi@raspberrypi:~$ 

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