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pi@raspberrypi:~/Desktop $ sudo apt-get install  linux-image-3.10-3-rpi   
Reading package lists... Done  
Building dependency tree         
Reading state information... Done  
linux-image-3.10-3-rpi is already the newest version (3.10.11-1+rpi7).  
0 upgraded, 0 newly installed, 0 to remove and 2 not upgraded.  
1 not fully installed or removed.  
After this operation, 0 B of additional disk space will be used.  
Do you want to continue? [Y/n] Y  
Setting up initramfs-tools (0.130) ...  
update-initramfs: deferring update (trigger activated)  
Processing triggers for initramfs-tools (0.130) ...  
ln: failed to create hard link '/boot/initrd.img-3.10-3-rpi.dpkg-bak' =>  
 '/boot/initrd.img-3.10-3-rpi': Operation not permitted  
cp: error writing '/boot/initrd.img-3.10-3-rpi.dpkg-bak': No space left on device  
dpkg: error processing package initramfs-tools (--configure):  
 subprocess installed post-installation script returned error exit status 1  
Errors were encountered while processing:  
 initramfs-tools
E: Sub-process /usr/bin/dpkg returned an error code (1)

I checked the disk space with following command:

pi@raspberrypi:~/Desktop/modwifi $ df -hT|grep -E "/tmp|/boot"
/dev/mmcblk0p1 vfat       41M   41M  1.5K 100% /boot

Then I checked that there is only one image that is installed in my system:

pi@raspberrypi:~/Desktop/modwifi $ sudo dpkg --list 'linux-image*' | grep ^ii
ii  linux-image-3.10-3-rpi 3.10.11-1+rpi7 armhf        Linux 3.10 for RaspberryPi

My SD card is 32GB. Is it not possible to have two kernel image in this space?

1

It's a bug in Raspbian kernel packaging. As Raspbian kernel packages are 1-to-1 Debian packages, they also try to use hard and soft links which the boot partition does not support as it is formatted as FAT32.

Read this answer from GitHub for more clarity

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