mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-08-05 16:25:44 +08:00
single init dependency for comma service (#587)
* single init dependency for comma service * lil more * speed up * lil cleanup * lil more
This commit is contained in:
Adeeb Shihadeh
@@ -1,2 +1,2 @@
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[Unit]
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After=fs_setup.service
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After=comma-init.service
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Executable
+266
@@ -0,0 +1,266 @@
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#!/bin/bash
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# this file boots and sets up all state necessary for the comma service, including
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# filesystem mounting and booting Qualcomm peripherals, such as WLAN and DSPs.
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PATH=/usr/sbin:/usr/bin:/sbin:/bin
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function log_console {
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# log to the serial console to make boot time debugging ez pz
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local msg="comma-init: $*"
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echo "$msg"
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echo "$msg" > /dev/console
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}
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function run_init {
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local name="$1"
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local start_time end_time elapsed_us elapsed_tenths elapsed ret
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log_console "$name started"
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start_time="${EPOCHREALTIME/./}"
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"$name"
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ret=$?
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end_time="${EPOCHREALTIME/./}"
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elapsed_us=$((end_time - start_time))
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elapsed_tenths=$(((elapsed_us + 50000) / 100000))
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printf -v elapsed "%d.%d" "$((elapsed_tenths / 10))" "$((elapsed_tenths % 10))"
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log_console "$name finished after ${elapsed}s"
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return $ret
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}
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function init_filesystems {
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local failed=0
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local pids=()
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local pid
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function wait_for_block {
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local device="$1"
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local i
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for ((i = 0; i < 150; i++)); do
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if [[ -b "$device" ]]; then
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return 0
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fi
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sleep 0.02
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done
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log_console "timed out waiting for $device"
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return 1
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}
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function mount_fs {
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local what="$1"
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local where="$2"
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local type="$3"
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local options="$4"
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if [[ "$what" == /dev/* ]] && ! wait_for_block "$what"; then
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failed=1
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return 1
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fi
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if mount --mkdir -t "$type" -o "$options" "$what" "$where"; then
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log_console "mounted $where"
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return 0
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fi
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log_console "failed mounting $where"
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failed=1
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return 1
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}
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function mount_fs_bg {
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mount_fs "$@" &
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pids+=("$!")
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}
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# mount base filesystems
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mount_fs_bg /dev/sde9 /dsp ext4 ro
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mount_fs_bg /dev/sde4 /firmware vfat ro
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mount_fs_bg /dev/sda2 /persist squashfs ro,nosuid,nodev,noexec
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mount_fs_bg /dev/sda10 /systemrw ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev
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mount_fs_bg /dev/sda12 /data ext4 discard,noatime,nodiratime,nosuid,nodev
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mount_fs_bg /dev/sda11 /cache ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev,nosuid
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mount_fs_bg tmpfs /var tmpfs rw,nosuid,nodev,size=128M,mode=755
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mount_fs_bg tmpfs /tmp tmpfs rw,nosuid,nodev,size=150M,mode=1777
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mount_fs_bg tmpfs /rwtmp tmpfs rw,nosuid,nodev,size=100M,mode=1777
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for pid in "${pids[@]}"; do
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wait "$pid" || failed=1
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done
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# *** setup RW areas ***
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systemd-tmpfiles --create /usr/comma/tmpfiles.conf
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mkdir -p /var/log/
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chown root:syslog /var/log
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if ! mount -t tmpfs -o rw,nosuid,nodev,size=128M,mode=755 tmpfs /var/log; then
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log_console "failed mounting /var/log"
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failed=1
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fi
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mkdir -p /rwtmp/home_work
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mkdir -p /rwtmp/home_upper
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chmod 755 /rwtmp/*
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if ! mount -t overlay overlay -o lowerdir=/usr/default/home,upperdir=/rwtmp/home_upper,workdir=/rwtmp/home_work /home; then
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log_console "failed mounting /home"
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failed=1
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fi
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chown comma:comma /data/
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mkdir -p /data/etc
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touch /data/etc/timezone
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touch /data/etc/localtime
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mkdir -p /data/etc/netplan
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mkdir -p /data/etc/NetworkManager/system-connections
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chown -R comma:comma /cache/
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mkdir -p /data/ssh
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chown comma: /data/ssh
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rm -rf /data/tmp/
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mkdir -p /data/tmp/
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if [[ ! -d /data/persist ]]; then
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sudo cp -r /system/persist /data
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fi
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if [[ "$failed" -ne 0 ]]; then
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log_console "mounts failed"
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return 1
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fi
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}
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function init_qcom {
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# don't restart whole SoC on subsystem crash
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for i in {0..7}; do
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echo "related" > /sys/bus/msm_subsys/devices/subsys${i}/restart_level
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done
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# raise scaling_max so policy=performance can reach the BOOST top step
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echo 2649600 > /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
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echo 2649600 > /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
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# setup firmware
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echo -n "/firmware/image" > /sys/module/firmware_class/parameters/path
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count=0
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while [ ! -s /firmware/image/adsp.mdt ]; do
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# wait 10s for /firmware mounted
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count=$(( $count + 1 ))
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if [ $count -ge 1000 ]; then
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echo "[ERROR] /firmware not mounted"
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fi
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sleep 0.01
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done
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# boot audio + compute DSPs
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echo 1 > /sys/kernel/boot_adsp/boot
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echo 1 > /sys/kernel/boot_cdsp/boot
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# boot wifi
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echo 1 > /sys/kernel/boot_wlan/boot_wlan
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/usr/bin/irsc_util /etc/sec_config
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# ipa
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echo 1 > /dev/ipa
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}
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function init_gpio {
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local pins=(
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49 # SOM_ST_IO
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134 # ST_BOOT0
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41 # PANDA_1V8_EN_N
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50 # LTE_RST_N
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116 # LTE_PWRKEY
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124 # ST_RST_N
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34 # GPS_PWR_EN
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33 # GPS_SAFEBOOT_N
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32 # GPS_RST_N
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52 # LTE_BOOT
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1264 # POWER ALERT
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)
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echo "initializing gpio"
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for p in ${pins[@]}; do
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if [[ ! -d /sys/class/gpio/gpio$p ]]; then
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echo $p > /sys/class/gpio/export
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fi
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until [ -d /sys/class/gpio/gpio$p ]; do
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sleep .05
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done
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done
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}
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function init_sound {
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local state
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echo "waiting for sound card to come online"
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while true; do
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if [[ -d /proc/asound/sdm845tavilsndc && -r /proc/asound/card0/state ]]; then
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read -r state < /proc/asound/card0/state
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[[ "$state" == "ONLINE" ]] && break
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fi
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sleep 0.01
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done
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echo "sound card online"
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while ! /usr/comma/sound/tinymix set "SEC_MI2S_RX Audio Mixer MultiMedia1" 1; do
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sleep 0.01
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done
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echo "tinymix controls ready"
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if [[ "$(< /sys/firmware/devicetree/base/model)" == *mici* ]]; then
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/usr/comma/sound/tinymix set "MultiMedia1 Mixer SEC_MI2S_TX" 1
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else
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/usr/comma/sound/tinymix set "MultiMedia1 Mixer TERT_MI2S_TX" 1
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/usr/comma/sound/tinymix set "TERT_MI2S_TX Channels" Two
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fi
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}
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function init_screen_calibration {
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while ! mountpoint -q /persist; do
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sleep 0.01
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done
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/usr/comma/screen_calibration.py
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}
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function init_hostname {
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local serial
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while [ ! -r /proc/cmdline ]; do
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sleep 0.01
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done
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read -r cmdline < /proc/cmdline
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serial="${cmdline#*androidboot.serialno=}"
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serial="${serial%% *}"
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echo "serial: '$serial'"
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sysctl kernel.hostname="comma-$serial"
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}
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function init_debug {
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while ! mountpoint -q /cache; do
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sleep 0.01
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done
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sudo -u comma /usr/comma/debug.py
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}
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run_init init_filesystems &
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run_init init_qcom &
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run_init init_gpio &
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run_init init_sound &
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run_init init_screen_calibration &
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run_init init_hostname &
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run_init init_debug &
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wait
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log_console "********** init done **********"
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@@ -29,9 +29,6 @@ else
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echo "timed out waiting for magic, ${SECONDS}s"
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fi
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sudo chown comma: /data
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sudo chown comma: /data/media
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handle_setup_keys () {
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# install default SSH key while still in setup
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if [[ ! -e /data/params/d/GithubSshKeys && ! -e /data/continue.sh ]]; then
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@@ -1,104 +0,0 @@
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#!/bin/bash
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PATH=/usr/sbin:/usr/bin:/sbin:/bin
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log() {
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echo "fs_setup[$$]: $(cut -d' ' -f1 /proc/uptime) $*" > /dev/kmsg
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}
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wait_for_block() {
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local device="$1"
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local i
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for ((i = 0; i < 150; i++)); do
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if [[ -b "$device" ]]; then
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return 0
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fi
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sleep 0.02
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done
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log "timed out waiting for $device"
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return 1
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}
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mount_fs() {
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local what="$1"
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local where="$2"
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local type="$3"
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local options="$4"
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if [[ "$what" == /dev/* ]] && ! wait_for_block "$what"; then
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failed=1
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return 1
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fi
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log "mounting $where"
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if mount --mkdir -t "$type" -o "$options" "$what" "$where"; then
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log "mounted $where"
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return 0
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fi
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log "failed mounting $where"
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failed=1
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return 1
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}
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log "start"
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failed=0
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mount_fs /dev/sde9 /dsp ext4 ro
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mount_fs /dev/sde4 /firmware vfat ro
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mount_fs /dev/sda2 /persist squashfs ro,nosuid,nodev,noexec
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mount_fs /dev/sda10 /systemrw ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev
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mount_fs /dev/sda12 /data ext4 discard,noatime,nodiratime,nosuid,nodev
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mount_fs /dev/sda11 /cache ext4 relatime,data=ordered,noauto_da_alloc,discard,noexec,nodev,nosuid
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mount_fs tmpfs /var tmpfs rw,nosuid,nodev,size=128M,mode=755
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mount_fs tmpfs /tmp tmpfs rw,nosuid,nodev,size=150M,mode=1777
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mount_fs tmpfs /rwtmp tmpfs rw,nosuid,nodev,size=100M,mode=1777
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# Ensure the symlinks in the read only rootfs are
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# backed by real files and directories on userdata.
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# tmpfiles
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systemd-tmpfiles --create /usr/comma/tmpfiles.conf
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# /var/log/ tmpfs
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mkdir -p /var/log/
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chown root:syslog /var/log
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mount -t tmpfs -o rw,nosuid,nodev,size=128M,mode=755 tmpfs /var/log
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# setup /home
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mkdir -p /rwtmp/home_work
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mkdir -p /rwtmp/home_upper
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chmod 755 /rwtmp/*
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mount -t overlay overlay -o lowerdir=/usr/default/home,upperdir=/rwtmp/home_upper,workdir=/rwtmp/home_work /home
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# /etc
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mkdir -p /data/etc
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touch /data/etc/timezone
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touch /data/etc/localtime
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mkdir -p /data/etc/netplan
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mkdir -p /data/etc/NetworkManager/system-connections
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# /cache
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chown -R comma:comma /cache/
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# /data/ssh
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mkdir -p /data/ssh
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chown comma: /data/ssh
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# /data/tmp - clear out
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rm -rf /data/tmp/
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mkdir -p /data/tmp/
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# /data/persist
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if [[ ! -d /data/persist ]]; then
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sudo cp -r /system/persist /data
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fi
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if [[ "$failed" -ne 0 ]]; then
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log "mounts failed"
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exit 1
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fi
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log "done"
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@@ -1,142 +0,0 @@
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#!/bin/bash
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function init_qcom {
|
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# don't restart whole SoC on subsystem crash
|
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for i in {0..7}; do
|
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echo "related" | sudo tee /sys/bus/msm_subsys/devices/subsys${i}/restart_level
|
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done
|
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|
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# raise scaling_max so policy=performance can reach the BOOST top step
|
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echo 2649600 | sudo tee /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
|
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echo 2649600 | sudo tee /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
|
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|
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# setup firmware
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echo -n "/firmware/image" > /sys/module/firmware_class/parameters/path
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count=0
|
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while [ ! -s /firmware/image/adsp.mdt ]; do
|
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# wait 10s for /firmware mounted
|
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count=$(( $count + 1 ))
|
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if [ $count -ge 100 ]; then
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echo "[ERROR] /firmware not mounted"
|
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fi
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sleep 0.1
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done
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|
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# boot wifi
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echo 1 > /sys/kernel/boot_wlan/boot_wlan
|
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/usr/bin/irsc_util /etc/sec_config
|
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|
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# boot audio + compute DSPs
|
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echo 1 > /sys/kernel/boot_adsp/boot
|
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echo 1 > /sys/kernel/boot_cdsp/boot
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# ipa
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echo 1 > /dev/ipa
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echo "qcom init done"
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}
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|
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function init_gpio {
|
||||
local pins=(
|
||||
49 # SOM_ST_IO
|
||||
134 # ST_BOOT0
|
||||
41 # PANDA_1V8_EN_N
|
||||
50 # LTE_RST_N
|
||||
116 # LTE_PWRKEY
|
||||
124 # ST_RST_N
|
||||
34 # GPS_PWR_EN
|
||||
33 # GPS_SAFEBOOT_N
|
||||
32 # GPS_RST_N
|
||||
52 # LTE_BOOT
|
||||
1264 # POWER ALERT
|
||||
)
|
||||
|
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echo "initializing gpio"
|
||||
|
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for p in ${pins[@]}; do
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echo $p
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|
||||
echo $p > /sys/class/gpio/export
|
||||
until [ -d /sys/class/gpio/gpio$p ]; do
|
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sleep .05
|
||||
done
|
||||
done
|
||||
}
|
||||
|
||||
function init_sound {
|
||||
echo "waiting for sound card to come online"
|
||||
while [ ! -d /proc/asound/sdm845tavilsndc ] || [ "$(cat /proc/asound/card0/state 2> /dev/null)" != "ONLINE" ] ; do
|
||||
sleep 0.01
|
||||
done
|
||||
echo "sound card online"
|
||||
|
||||
while ! /usr/comma/sound/tinymix controls | grep -q "SEC_MI2S_RX Audio Mixer MultiMedia1"; do
|
||||
sleep 0.01
|
||||
done
|
||||
echo "tinymix controls ready"
|
||||
|
||||
/usr/comma/sound/tinymix set "SEC_MI2S_RX Audio Mixer MultiMedia1" 1
|
||||
if grep -q mici /sys/firmware/devicetree/base/model; then
|
||||
/usr/comma/sound/tinymix set "MultiMedia1 Mixer SEC_MI2S_TX" 1
|
||||
else
|
||||
/usr/comma/sound/tinymix set "MultiMedia1 Mixer TERT_MI2S_TX" 1
|
||||
/usr/comma/sound/tinymix set "TERT_MI2S_TX Channels" Two
|
||||
fi
|
||||
}
|
||||
|
||||
function init_screen_calibration {
|
||||
while ! mountpoint -q /persist; do
|
||||
sleep 0.1
|
||||
done
|
||||
|
||||
/usr/comma/screen_calibration.py
|
||||
}
|
||||
|
||||
function init_hostname {
|
||||
local serial
|
||||
while [ ! -r /proc/cmdline ]; do
|
||||
sleep 0.1
|
||||
done
|
||||
|
||||
serial="$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//')"
|
||||
echo "serial: '$serial'"
|
||||
sysctl kernel.hostname="comma-$serial"
|
||||
}
|
||||
|
||||
function init_debug {
|
||||
while ! mountpoint -q /cache; do
|
||||
sleep 0.1
|
||||
done
|
||||
|
||||
sudo -u comma /usr/comma/debug.py
|
||||
}
|
||||
|
||||
function run_init {
|
||||
local name="$1"
|
||||
local start_time end_time elapsed
|
||||
|
||||
log_init "$name started"
|
||||
start_time="$EPOCHREALTIME"
|
||||
|
||||
"$name"
|
||||
|
||||
end_time="$EPOCHREALTIME"
|
||||
elapsed="$(awk "BEGIN { printf \"%.1f\", $end_time - $start_time }")"
|
||||
log_init "$name finished after ${elapsed}s"
|
||||
}
|
||||
|
||||
function log_init {
|
||||
local msg="hardware-init: $*"
|
||||
|
||||
echo "$msg"
|
||||
echo "$msg" > /dev/console
|
||||
}
|
||||
|
||||
run_init init_qcom &
|
||||
run_init init_gpio &
|
||||
run_init init_sound &
|
||||
run_init init_screen_calibration &
|
||||
run_init init_hostname &
|
||||
run_init init_debug &
|
||||
|
||||
wait
|
||||
@@ -0,0 +1,12 @@
|
||||
[Unit]
|
||||
Description=comma init
|
||||
DefaultDependencies=no
|
||||
Before=local-fs.target sysinit.target network.target comma.service magic.service lte.service
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
RemainAfterExit=yes
|
||||
ExecStart=/usr/comma/comma-init.sh
|
||||
|
||||
[Install]
|
||||
WantedBy=sysinit.target
|
||||
@@ -1,5 +1,6 @@
|
||||
[Unit]
|
||||
After=local-fs.target
|
||||
After=comma-init.service local-fs.target
|
||||
Requires=comma-init.service
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
[Unit]
|
||||
Description=Setup rootfs
|
||||
Before=local-fs.target
|
||||
DefaultDependencies=no
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
ExecStart=/usr/comma/fs_setup.sh
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
@@ -1,11 +0,0 @@
|
||||
[Unit]
|
||||
Description=Hardware init
|
||||
DefaultDependencies=no
|
||||
Before=network.target lte.service
|
||||
|
||||
[Service]
|
||||
Type=oneshot
|
||||
ExecStart=/usr/comma/hardware-init.sh
|
||||
|
||||
[Install]
|
||||
WantedBy=multi-user.target
|
||||
@@ -1,6 +1,6 @@
|
||||
[Unit]
|
||||
Description=LTE
|
||||
After=hardware-init.service network.target
|
||||
After=comma-init.service network.target
|
||||
|
||||
[Service]
|
||||
Restart=no
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
[Unit]
|
||||
Description=Magic
|
||||
After=comma-init.service
|
||||
Requires=comma-init.service
|
||||
|
||||
[Service]
|
||||
Type=simple
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
[Unit]
|
||||
Description=Qualcomm TFTP server
|
||||
After=fs_setup.service
|
||||
After=comma-init.service
|
||||
|
||||
[Service]
|
||||
Type=simple
|
||||
|
||||
@@ -1,9 +1,8 @@
|
||||
#!/bin/bash -e
|
||||
|
||||
# Enable our services
|
||||
systemctl enable fs_setup.service
|
||||
systemctl enable comma-init.service
|
||||
systemctl enable comma.service
|
||||
systemctl enable hardware-init.service
|
||||
systemctl enable lte.service
|
||||
systemctl enable magic.service
|
||||
systemctl enable varwatch.service
|
||||
|
||||
Reference in New Issue
Block a user