[ARDrone] Add modified script drone in branch
This commit is contained in:
Florian Taillard
Matteo Cypriani
parent
4ac4216ce0
commit
f14ae6e351
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#!/bin/sh
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#
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# Script to setup drone pairing
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#
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# Getting Iphone's MAC address from config.ini file.
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NULL_MAC=00:00:00:00:00:00
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if [ $# -eq 0 ]
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then
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if [ -s /data/config.ini ]
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then
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MAC_ADDR=`grep owner_mac /data/config.ini | awk -F "=" '{print $2}'`
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else
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MAC_ADDR=$NULL_MAC
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fi
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else
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MAC_ADDR=$1
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fi
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echo "Owner's MAC address is: $MAC_ADDR"
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# [Stephane] Exits if owner MAC address is already being filtered
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# (changing iptables rules too often may crash the drone for a undetermined reason)
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CURRENTLY_ALLOWED_MAC_ADDR=`iptables -L | grep MAC | awk -F " " '{print $7}'`
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if [ "$CURRENTLY_ALLOWED_MAC_ADDR" = "$MAC_ADDR" ]
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then
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echo "Drone is already paired with $MAC_ADDR"
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exit
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fi
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if [ $MAC_ADDR != $NULL_MAC ]
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then
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echo "Setting pairing for: $MAC_ADDR"
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# Clearing all rules
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iptables -P INPUT ACCEPT
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iptables -F
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# Allowing only owner's traffic
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iptables -A INPUT -m mac --mac-source $MAC_ADDR -j ACCEPT
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# allowing ICMP (ping), ftp, nfs and telnet traffic for everyone.
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iptables -A INPUT --protocol icmp -j ACCEPT
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#iptables -A INPUT --protocol tcp --dport 23 -j ACCEPT
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iptables -A INPUT --protocol tcp --dport 21 -j ACCEPT
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iptables -A INPUT --protocol tcp --dport 2049 -j ACCEPT
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# Blocking all incoming traffic by default
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iptables -P INPUT DROP
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else
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echo "Clearing pairing rule"
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# Switching rad LED on
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gpio 63 -d ho 1
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# Clearing all rules
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iptables -F
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# Allows incoming connections from anywhere outside
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iptables -P INPUT ACCEPT
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# Switching rad LED off
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gpio 63 -d ho 0
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fi
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#!/bin/sh
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#
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# Script to see if an IP adress is already used or not
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#
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# Getting SSID from config.ini file.
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#initializing random generator
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cat /data/random_mac.txt > /dev/urandom
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/bin/random_mac > /data/random_mac.txt
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#echo 2 > /proc/cpu/alignment
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#export WORKAREA=/
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#export ATH_PLATFORM=ardrone
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#/usr/sbin/recEvent /data/athdbg.log&
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if [ -s /factory/mac_address.txt ]
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then
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MAC_ADDR=`cat /factory/mac_address.txt`
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else
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MAC_ADDR=`cat /data/random_mac.txt`
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fi
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loadAR6k.sh --setmac $MAC_ADDR
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#loadtestcmd.sh
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# Waiting 2s for the wifi chip to be ready
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sleep 2
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# Increasing scan time to help detecting wifi networks
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wmiconfig -i ath0 --scan --maxact=80
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# Setting retry limits to 6
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wmiconfig -i ath0 --setretrylimits 2 0 6 off
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# Limiting available rates to 11, 24 or 54 Mb/s
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wmiconfig -i ath0 --setfixrates 3 8 11
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# Disabling powersaving
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wmiconfig -i ath0 --power maxperf
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SSID=`grep ssid_single_player /data/config.ini | awk -F "=" '{print $2}'`
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if [ $SSID ]
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then
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echo "SSID=$SSID"
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else
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#default SSID.
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SSID=ardrone_wifi
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echo "SSID=$SSID"
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fi
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export NETIF=ath0
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RANDOM_CHAN=`/bin/channelselector`
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echo "Creating/Joining Network $SSID"
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#iwconfig ath0 mode ad-hoc
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#iwconfig ath0 channel $RANDOM_CHAN
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#iwconfig ath0 essid $SSID
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#iwconfig ath0 channel 1
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iwconfig ath0 mode ad-hoc essid owl channel auto
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OK=0
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BASE_ADRESS=192.168.1.
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PROBE=1
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while [ $OK -eq 0 ]
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do
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#configuring interface.
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ifconfig ath0 $BASE_ADRESS$PROBE
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ifconfig ath0:0 192.168.11.1
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arping -I ath0 -q -f -D -w 2 $BASE_ADRESS$PROBE
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if [ $? -eq 1 ]
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then
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#generating random odd IP address
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PROBE=`/bin/random_ip`
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else
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OK=1
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fi
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done
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#Configuring DHCP server.
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echo "Using address $BASE_ADRESS$PROBE"
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echo "start $BASE_ADRESS`expr $PROBE + 1`" > /tmp/udhcpd.conf
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echo "end $BASE_ADRESS`expr $PROBE + 4`" >> /tmp/udhcpd.conf
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echo "interface ath0" >> /tmp/udhcpd.conf
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echo "decline_time 1" >> /tmp/udhcpd.conf
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echo "conflict_time 1" >> /tmp/udhcpd.conf
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echo "opt subnet 255.255.255.0" >> /tmp/udhcpd.conf
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echo "opt router $BASE_ADRESS$PROBE" >> /tmp/udhcpd.conf
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echo "opt lease 1200" >> /tmp/udhcpd.conf
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/bin/pairing_setup.sh
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# Saving random info for initialization at next reboot
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date > /dev/urandom
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/bin/random_mac > /data/random_mac.txt
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iwconfig ath0 rate 54M
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iwconfig ath0 rate auto
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telnetd -l /bin/sh
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udhcpd /tmp/udhcpd.conf
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iptables -t nat -A POSTROUTING -p UDP --sport 8884 -j SNAT --to 192.168.1.254:5554
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iptables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5554 -j DNAT --to 192.168.1.1:8884
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iptables -t nat -A POSTROUTING -p UDP --sport 8886 -j SNAT --to 192.168.1.254:5556
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iptables -t nat -A PREROUTING -p UDP -d 192.168.1.254 --dport 5556 -j DNAT --to 192.168.1.1:8886
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@ -0,0 +1,26 @@
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#!/bin/sh
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#
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# Initialization script for Arduino stuff
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#
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# Loads modules and launches proxy server application
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# required for communication with Arduino module.
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#
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echo Enabling 5V
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echo Enabling USB Port
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gpio 127 -d ho 1
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gpio 127 -d i
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echo Loading dwc_otg.ko
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insmod /data/dwc_otg.ko
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echo Waiting 3s for the device to be ready
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sleep 3
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echo Setting correct baud rate of 38400 for /dev/ttyPA0
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stty -F /dev/ttyPA0 raw speed 38400 -crtscts cs8 -cstopb -parenb
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#echo Activate log
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#cat /dev/ttyPA0 >> /data/video/gps.log.0 &
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#!/bin/sh
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# IP_ADDR - this target IP address using CIDR notation:
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# <target-ip>/<target-bitmask>
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#
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# For example:
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echo init started...
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/bin/mount -t tmpfs tmp /tmp
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/bin/mount -t proc proc /proc
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/bin/mount -o remount,rw /
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/bin/mount -t tmpfs dev /dev
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/bin/mkdir -p /dev/shm /dev/pts
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/bin/mount -t devpts devpts /dev/pts
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/bin/mount -t sysfs sys /sys
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#don't allow overcommit (allocate more memory that the physical one)
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echo 2 > /proc/sys/vm/overcommit_memory
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echo 90 > /proc/sys/vm/overcommit_ratio
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#in case of unaligned access print a message and send a SIGBUS
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echo 5 > /proc/cpu/alignment
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#reboot after 1s after a panic
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echo 1 > /proc/sys/kernel/panic
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#panic when an oops or BUG is encountered
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#disable this for developer
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echo 1 > /proc/sys/kernel/panic_on_oops
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echo 4 > /sys/module/p6_camif/parameters/lines_per_irq
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echo -1 > /proc/sys/kernel/sched_rt_runtime_us
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echo "/sbin/mdev" > /proc/sys/kernel/hotplug
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/sbin/mdev -s
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# Don't show kernel messages
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dmesg -n1
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/bin/mkdir -p /update
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/bin/mount -a
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/bin/mkdir -p /data/video
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/bin/hostname -F /etc/hostname
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/sbin/ifconfig lo 127.0.0.1 up
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/sbin/route add -net 127.0.0.0 netmask 255.0.0.0 lo
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/bin/factory_reset_cb&
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modprobe p6_sdhci
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/bin/wifi_setup.sh
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# Patch to enable button management.
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ln -s /dev /dev/input
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/data/gps.sh
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#mount -o nolock,proto=tcp -t nfs 192.168.0.11:/mnt/video /home/default
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/bin/check_update.sh
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echo init exit
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echo if you want to customize init look at target/generic/target_skeleton/etc files
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echo if crtl+c does not work look at the Linux FAQ section.
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