mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-06-08 11:04:51 +08:00
init beautification (#593)
* beautiful * lil more * one less find * wait helper * fs cleanup * fs looking good * this is just silly * lil more
This commit is contained in:
Adeeb Shihadeh
@@ -91,7 +91,7 @@ build_kernel() {
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$TOOLS/mkbootimg \
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--kernel Image-dtb \
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--ramdisk /dev/null \
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--cmdline "console=ttyMSM0,115200n8 isolcpus=6,7 quiet loglevel=3 earlycon=msm_geni_serial,0xA84000 androidboot.hardware=qcom androidboot.console=ttyMSM0 ehci-hcd.park=3 lpm_levels.sleep_disabled=1 service_locator.enable=1 androidboot.selinux=permissive firmware_class.path=/lib/firmware/updates net.ifnames=0 dyndbg=\"\"" \
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--cmdline "console=ttyMSM0,115200n8 isolcpus=6,7 quiet loglevel=3 earlycon=msm_geni_serial,0xA84000 androidboot.hardware=qcom androidboot.console=ttyMSM0 ehci-hcd.park=3 lpm_levels.sleep_disabled=1 service_locator.enable=1 androidboot.selinux=permissive firmware_class.path=/firmware/image net.ifnames=0 dyndbg=\"\"" \
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--pagesize 4096 \
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--base 0x80000000 \
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--kernel_offset 0x8000 \
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@@ -27,74 +27,69 @@ function run_init {
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elapsed_us=$((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 ${elapsed}s"
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log_console "$name finished after ${elapsed}s with ${ret}"
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return $ret
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}
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function init_permissions {
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local path
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local video_paths=(
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/sys/class/backlight/panel0-backlight/brightness
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/sys/class/backlight/panel0-backlight/bl_power
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/sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent
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/sys/class/leds/led:torch_2/brightness
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function await {
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local timeout=0
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local start now timeout_us
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if [[ "$1" =~ ^[0-9]+$ ]]; then
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timeout="$1"
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shift
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start="${EPOCHREALTIME/./}"
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timeout_us=$((timeout * 1000000))
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fi
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while ! "$@"; do
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if ((timeout > 0)); then
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now="${EPOCHREALTIME/./}"
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((now - start >= timeout_us)) && return 1
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fi
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sleep 0.01
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done
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}
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function init_permissions (
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chmod 0666 /dev/spidev0.0
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chmod 0666 /dev/input/event2
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for path in \
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/sys/class/backlight/panel0-backlight/brightness \
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/sys/class/backlight/panel0-backlight/bl_power \
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/sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent \
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/sys/class/leds/led:torch_2/brightness \
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/sys/class/leds/led:switch_2/brightness
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)
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find /dev -maxdepth 1 \( -o -name 'spidev*' \) -type c -exec chmod 0666 {} +
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[[ -d /dev/input ]] && find /dev/input -maxdepth 1 -type c -exec chmod 0666 {} +
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for path in "${video_paths[@]}"; do
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do
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chgrp video "$path"
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chmod g+w "$path"
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done
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# gpu group
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for path in /dev/kgsl-3d0 /dev/ion /dev/dri/card* /dev/dri/controlD* /dev/dri/renderD*; do
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[[ -c "$path" ]] || continue
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chgrp gpu "$path"
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chmod 0660 "$path"
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done
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# setup gpio group
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for path in /dev/i2c-* /dev/gpiochip0; do
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[[ -c "$path" ]] || continue
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chgrp gpio "$path"
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chmod 0660 "$path"
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done
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)
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[[ -d /sys/class/gpio ]] && find -L /sys/class/gpio/ -maxdepth 2 \
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-exec chown root:gpio {} + \
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-exec chmod 770 {} +
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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 init_filesystems (
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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 "$what"; then
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failed=1
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if [[ "$what" == /dev/* ]] && ! await 3 test -b "$what"; then
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log_console "timed out waiting for $where"
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return 1
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fi
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@@ -102,30 +97,20 @@ function init_filesystems {
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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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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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wait
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# rmt_storage and qseecomd are the only users of /dev/block/bootdevice/by-name.
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mkdir -p /dev/block/bootdevice/by-name
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@@ -139,68 +124,41 @@ function init_filesystems {
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systemd-tmpfiles --create /usr/comma/tmpfiles.conf
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# setup /var and /home overlays
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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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mount_fs tmpfs /var/log tmpfs rw,nosuid,nodev,size=128M,mode=755
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mkdir -p /rwtmp/home_work
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mkdir -p /rwtmp/home_upper
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mkdir -p /rwtmp/home_work /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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mount_fs overlay /home overlay lowerdir=/usr/default/home,upperdir=/rwtmp/home_upper,workdir=/rwtmp/home_work
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# /data setup
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rm -rf /data/tmp/
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mkdir -p /data/tmp/
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mkdir -p /data/etc /data/ssh /data/tmp /data/etc/netplan /data/etc/NetworkManager/system-connections
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touch /data/etc/timezone /data/etc/localtime
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chown comma: /data/ssh
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chown comma:comma /data/
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if [[ ! -d /data/persist ]]; then
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sudo cp -r /system/persist /data
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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${i}/restart_level
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done
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# /cache
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chown -R comma:comma /cache/
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)
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function init_qcom (
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# raise scaling_max so policy=performance can reach the BOOST top step
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echo 2649600 > /sys/devices/system/cpu/cpufreq/policy0/scaling_max_freq
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echo 2649600 > /sys/devices/system/cpu/cpufreq/policy4/scaling_max_freq
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# don't restart whole SoC on subsystem crash
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printf "%s\n" related | tee /sys/bus/msm_subsys/devices/subsys*/restart_level > /dev/null
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# setup firmware
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echo -n "/firmware/image" > /sys/module/firmware_class/parameters/path
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count=0
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while [ ! -s /firmware/image/adsp.mdt ]; do
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# wait 10s for /firmware mounted
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count=$(( $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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if ! await 10 test -s /firmware/image/adsp.mdt; then
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log_console "timed out waiting for /firmware/image/adsp.mdt"
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fi
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# boot audio + compute DSPs
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echo 1 > /sys/kernel/boot_adsp/boot
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@@ -212,10 +170,10 @@ function init_qcom {
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# ipa
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echo 1 > /dev/ipa
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}
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)
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function init_gpio {
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local pins=(
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function init_gpio (
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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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@@ -229,36 +187,19 @@ function init_gpio {
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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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for p in "${pins[@]}"; do
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echo "$p" > /sys/class/gpio/export
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done
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init_permissions
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}
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# set permissions
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find -L /sys/class/gpio/ -maxdepth 2 -exec chown root:gpio {} + -exec chmod 770 {} +
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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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[[ "$state" == "ONLINE" ]] && break
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fi
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sleep 0.01
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done
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function init_sound (
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await grep -qs "^ONLINE$" /proc/asound/card0/state
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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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await /usr/comma/sound/tinymix set "SEC_MI2S_RX Audio Mixer MultiMedia1" 1
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echo "tinymix controls ready"
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if [[ "$(< /sys/firmware/devicetree/base/model)" == *mici* ]]; then
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@@ -267,37 +208,27 @@ function init_sound {
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/usr/comma/sound/tinymix set "MultiMedia1 Mixer TERT_MI2S_TX" 1
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/usr/comma/sound/tinymix set "TERT_MI2S_TX Channels" Two
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fi
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}
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function init_screen_calibration {
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while ! mountpoint -q /persist; do
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sleep 0.01
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done
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)
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function init_screen_calibration (
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await mountpoint -q /persist
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/usr/comma/screen_calibration.py
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}
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)
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function init_hostname {
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local serial
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while [ ! -r /proc/cmdline ]; do
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sleep 0.01
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done
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read -r cmdline < /proc/cmdline
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serial="${cmdline#*androidboot.serialno=}"
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serial="${serial%% *}"
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echo "serial: '$serial'"
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sysctl kernel.hostname="comma-$serial"
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}
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function init_debug {
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while ! mountpoint -q /cache; do
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sleep 0.01
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done
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function init_hostname (
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# set the device's hostname to "comma-<device_serial_number>"
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await test -r /proc/cmdline
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sysctl kernel.hostname="comma-$(sed -n 's/.*androidboot.serialno=\([^ ]*\).*/\1/p' /proc/cmdline)"
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)
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function init_debug (
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await mountpoint -q /cache
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sudo -u comma /usr/comma/debug.py
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}
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)
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# each init function should:
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# - start immediately in the background
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# - manage its own dependencies
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run_init init_permissions &
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run_init init_filesystems &
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run_init init_qcom &
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@@ -306,7 +237,6 @@ 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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@@ -7,8 +7,6 @@ Requires=comma-init.service
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Type=simple
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User=comma
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PermissionsStartOnly=true
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ExecStartPre=/bin/bash -c "chgrp gpu /dev/ion /dev/kgsl-3d0"
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ExecStartPre=/bin/bash -c "chmod 660 /dev/ion /dev/kgsl-3d0"
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ExecStartPre=/bin/bash -c "mkdir -p /data/misc/display || true"
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ExecStartPre=/bin/bash -c "echo 0 > /data/misc/display/sdm_dbg_cfg.txt || true"
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