rm the rest

userspace/root/etc/udev/rules.d/50-log.rules

@@ -1,5 +0,0 @@
-KERNEL=="binder", MODE="0666"
-KERNEL=="log_main", SUBSYSTEM=="misc", NAME="log/main", MODE="0644"
-KERNEL=="log_radio", SUBSYSTEM=="misc", NAME="log/radio", MODE="0644"
-KERNEL=="log_system", SUBSYSTEM=="misc", NAME="log/system", MODE="0644"
-KERNEL=="log_events", SUBSYSTEM=="misc", NAME="log/events", MODE="0644"

userspace/root/etc/udev/rules.d/93-input.rules

@@ -1,2 +0,0 @@
-ACTION=="add|change", KERNEL=="event[0-9]*", ENV{ID_SEAT}="seat0"
-SUBSYSTEM=="input", MODE="666"

userspace/root/etc/udev/rules.d/94-backlight.rules

@@ -1,10 +0,0 @@
-ACTION=="add", SUBSYSTEM=="backlight", KERNEL=="panel0-backlight", RUN+="/bin/chgrp video /sys/class/backlight/%k/brightness"
-ACTION=="add", SUBSYSTEM=="backlight", KERNEL=="panel0-backlight", RUN+="/bin/chmod g+w /sys/class/backlight/%k/brightness"
-ACTION=="add", SUBSYSTEM=="backlight", KERNEL=="panel0-backlight", RUN+="/bin/chgrp video /sys/class/backlight/%k/bl_power"
-ACTION=="add", SUBSYSTEM=="backlight", KERNEL=="panel0-backlight", RUN+="/bin/chmod g+w /sys/class/backlight/%k/bl_power"
-ACTION=="add", SUBSYSTEM=="platform", KERNEL=="soc:qcom,dsi-display@0", RUN+="/bin/chgrp video /sys/devices/platform/soc/%k/max_brightness_percent"
-ACTION=="add", SUBSYSTEM=="platform", KERNEL=="soc:qcom,dsi-display@0", RUN+="/bin/chmod g+w /sys/devices/platform/soc/%k/max_brightness_percent"
-ACTION=="add", SUBSYSTEM=="leds", KERNEL=="led:torch_2", RUN+="/bin/chgrp video /sys/class/leds/%k/brightness"
-ACTION=="add", SUBSYSTEM=="leds", KERNEL=="led:torch_2", RUN+="/bin/chmod g+w /sys/class/leds/%k/brightness"
-ACTION=="add", SUBSYSTEM=="leds", KERNEL=="led:switch_2", RUN+="/bin/chgrp video /sys/class/leds/%k/brightness"
-ACTION=="add", SUBSYSTEM=="leds", KERNEL=="led:switch_2", RUN+="/bin/chmod g+w /sys/class/leds/%k/brightness"

userspace/root/etc/udev/rules.d/95-gpu.rules

@@ -1,3 +0,0 @@
-KERNEL=="kgsl-3d0", GROUP="gpu", MODE="0660"
-KERNEL=="ion", GROUP="gpu", MODE="0660"
-SUBSYSTEM=="drm", GROUP="gpu", MODE="0660"

userspace/root/etc/udev/rules.d/96-i2c.rules

@@ -1 +0,0 @@
-KERNEL=="i2c-[0-9]*", GROUP="gpio", MODE="0660"

userspace/root/etc/udev/rules.d/98-panda.rules

@@ -1,4 +0,0 @@
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
-SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE="0666"
-SUBSYSTEM=="spidev", MODE="0666"

userspace/root/lib/systemd/system/fs_setup.service

@@ -5,7 +5,7 @@ DefaultDependencies=no
 
 [Service]
 Type=oneshot
-ExecStart=/usr/comma/fs_setup.sh
+ExecStart=/usr/comma/boot/fs_setup.sh
 
 [Install]
 WantedBy=multi-user.target

userspace/root/lib/systemd/system/permissions.service

@@ -0,0 +1,11 @@
+[Unit]
+Description=Device permissions
+After=fs_setup.service
+Before=comma.service
+
+[Service]
+Type=oneshot
+ExecStart=/usr/comma/boot/permissions.sh
+
+[Install]
+WantedBy=multi-user.target

userspace/root/usr/comma/boot/permissions.sh

@@ -0,0 +1,116 @@
+#!/bin/bash
+
+set -e
+
+PATH=/usr/sbin:/usr/bin:/sbin:/bin
+
+shopt -s nullglob
+
+log() {
+  echo "permissions[$$]: $(cut -d' ' -f1 /proc/uptime) $*" > /dev/kmsg
+}
+
+set_mode() {
+  local mode="$1"
+  shift
+
+  for path in "$@"; do
+    if [[ -e "$path" ]]; then
+      chmod "$mode" "$path"
+    fi
+  done
+}
+
+set_group_mode() {
+  local group="$1"
+  local mode="$2"
+  shift 2
+
+  for path in "$@"; do
+    if [[ -e "$path" ]]; then
+      chgrp "$group" "$path"
+      chmod "$mode" "$path"
+    fi
+  done
+}
+
+set_group_writable() {
+  local group="$1"
+  shift
+
+  for path in "$@"; do
+    if [[ -e "$path" ]]; then
+      chgrp "$group" "$path"
+      chmod g+w "$path"
+    fi
+  done
+}
+
+set_usb_mode() {
+  local vendor="$1"
+  local product="$2"
+  local mode="$3"
+  local devdir devnode
+
+  for devdir in /sys/bus/usb/devices/*; do
+    [[ -f "$devdir/idVendor" && -f "$devdir/idProduct" ]] || continue
+    [[ "$(< "$devdir/idVendor")" == "$vendor" ]] || continue
+    [[ "$(< "$devdir/idProduct")" == "$product" ]] || continue
+    [[ -f "$devdir/busnum" && -f "$devdir/devnum" ]] || continue
+
+    printf -v devnode "/dev/bus/usb/%03d/%03d" "$(< "$devdir/busnum")" "$(< "$devdir/devnum")"
+    if [[ -e "$devnode" ]]; then
+      chmod "$mode" "$devnode"
+    else
+      log "missing $devnode for usb $vendor:$product"
+    fi
+  done
+}
+
+create_touch_input_link() {
+  local event name
+
+  mkdir -p /dev/input/by-path
+  for event in /sys/class/input/event*; do
+    [[ -f "$event/device/name" ]] || continue
+    name="$(< "$event/device/name")"
+    if [[ "$name" == "fts_ts" ]]; then
+      ln -sf "../$(basename "$event")" /dev/input/by-path/platform-894000.i2c-event
+      return 0
+    fi
+  done
+
+  log "missing fts_ts input event"
+}
+
+log "start"
+
+# 50-log.rules
+set_mode 666 /dev/binder
+set_mode 644 /dev/log_main /dev/log_radio /dev/log_system /dev/log_events
+
+# 93-input.rules plus the by-path link openpilot uses.
+set_mode 666 /dev/input/event* /dev/input/mice /dev/input/mouse*
+create_touch_input_link
+
+# 94-backlight.rules
+set_group_writable video \
+  /sys/class/backlight/panel0-backlight/brightness \
+  /sys/class/backlight/panel0-backlight/bl_power \
+  /sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent \
+  /sys/class/leds/led:torch_2/brightness \
+  /sys/class/leds/led:switch_2/brightness
+
+# 95-gpu.rules
+set_group_mode gpu 660 /dev/kgsl-3d0 /dev/ion /dev/dri/card* /dev/dri/controlD* /dev/dri/renderD*
+
+# 96-i2c.rules
+set_group_mode gpio 660 /dev/i2c-[0-9]*
+
+# 98-panda.rules
+set_usb_mode bbaa ddee 666
+set_usb_mode bbaa ddcc 666
+set_usb_mode 0483 df11 666
+set_mode 666 /dev/spidev*
+
+log "done"

userspace/services.sh

@@ -2,6 +2,7 @@
 
 # Enable our services
 systemctl enable fs_setup.service
+systemctl enable permissions.service
 systemctl enable serial-hostname.service
 systemctl enable comma.service
 systemctl enable agnos-debug.service