mirror of
https://github.com/commaai/agnos-builder.git
synced 2026-06-08 11:04:51 +08:00
d0e34ad929
* beautiful * lil more * one less find * wait helper * fs cleanup * fs looking good * this is just silly * lil more
243 lines
6.6 KiB
Bash
Executable File
243 lines
6.6 KiB
Bash
Executable File
#!/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 with ${ret}"
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return $ret
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}
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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="${EPOCHREALTIME/./}"
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((now - start >= timeout_us)) && return 1
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fi
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sleep 0.01
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done
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}
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function init_permissions (
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chmod 0666 /dev/spidev0.0
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chmod 0666 /dev/input/event2
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for path in \
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/sys/class/backlight/panel0-backlight/brightness \
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/sys/class/backlight/panel0-backlight/bl_power \
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/sys/devices/platform/soc/soc:qcom,dsi-display@0/max_brightness_percent \
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/sys/class/leds/led:torch_2/brightness \
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/sys/class/leds/led:switch_2/brightness
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do
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chgrp video "$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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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/* ]] && ! await 3 test -b "$what"; then
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log_console "timed out waiting for $where"
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return 1
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fi
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if mount --mkdir -t "$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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}
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# mount base filesystems
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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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ln -sf /dev/sda1 /dev/block/bootdevice/by-name/ssd
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ln -sf /dev/sdf2 /dev/block/bootdevice/by-name/modemst1
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ln -sf /dev/sdf3 /dev/block/bootdevice/by-name/modemst2
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ln -sf /dev/sdf4 /dev/block/bootdevice/by-name/fsg
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ln -sf /dev/sdf5 /dev/block/bootdevice/by-name/fsc
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# *** setup RW areas ***
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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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mount_fs tmpfs /var/log tmpfs rw,nosuid,nodev,size=128M,mode=755
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mkdir -p /rwtmp/home_work /rwtmp/home_upper
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chmod 755 /rwtmp/*
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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/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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cp -r /system/persist /data
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fi
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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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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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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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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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for p in "${pins[@]}"; do
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echo "$p" > /sys/class/gpio/export
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done
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# set permissions
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find -L /sys/class/gpio/ -maxdepth 2 -exec chown root:gpio {} + -exec chmod 770 {} +
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)
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function init_sound (
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await grep -qs "^ONLINE$" /proc/asound/card0/state
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echo "sound card online"
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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 [[ "$(< /sys/firmware/devicetree/base/model)" == *mici* ]]; then
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/usr/comma/sound/tinymix set "MultiMedia1 Mixer SEC_MI2S_TX" 1
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else
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/usr/comma/sound/tinymix set "MultiMedia1 Mixer TERT_MI2S_TX" 1
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/usr/comma/sound/tinymix set "TERT_MI2S_TX Channels" Two
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fi
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)
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function init_screen_calibration (
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await mountpoint -q /persist
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/usr/comma/screen_calibration.py
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)
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function init_hostname (
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# set the device's hostname to "comma-<device_serial_number>"
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await test -r /proc/cmdline
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sysctl kernel.hostname="comma-$(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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# 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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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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