recipes-bsp/bootfiles/rpi-cmdline.bbappend

 # enable early console
 # https://www.raspberrypi.com/documentation/computers/configuration.html#enabling-early-console-for-linux
 
-CMDLINE:append = " modules.load=dwc2,g_serial"
-CMDLINE:append = " earlycon=uart8250,mmio32,0x20215040"
+#CMDLINE:append = " modules.load=dwc2,g_serial"
+#CMDLINE:append = " earlycon=uart8250,mmio32,0x20215040"
 #CMDLINE:append = " earlycon=pl011,mmio32,0x20201000"
 
-CMDLINE:append = " init=/usr/sbin/fastinit.sh 3"
+#CMDLINE:append = " init=/usr/sbin/fastinit.sh 3"
+
+CMDLINE = "quiet loglevel=0 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait  logo.nologo net.ifnames=0 modules.load=dwc2,g_serial init=/usr/sbin/fastinit.sh 2"

recipes-core/fastinit/chlevel.1

+.TH CHLEVEL 1 "November 2024" "Version 0.1" "General Commands Manual"
+.SH NAME
+chlevel.sh \- change fastinit runlevel
+.SH SYNOPSIS
+.B /usr/sbin/chlevel.sh
+\fIrunlevel\fP
+.SH DESCRIPTION
+
+Chlevel.sh remounts the boot filesystem, edit the kernel command line to change the runlevel and restart the system.
+
+.SH SEE ALSO
+.BR runlevel (8),
+.BR fastinit (8),
+.BR mount (8)
+
+.SH AUTHOR
+The 
+.B chlevel
+script was first written by Qiyang Sun <qs2g22@soton.ac.uk>, and is maintained by the MAR24 project maintainers.

recipes-core/fastinit/fastinit.8

-.TH FASTINIT 8 "August 2024" "Version 0.1" "System Administration"
+.TH FASTINIT 8 "August 2024" "Version 0.1" "System Administration Manual"
 .SH NAME
 fastinit.sh \- fast system initialisation
 .SH SYNOPSIS
@@ -26,6 +26,8 @@ and append the following line. Note that this file contains only one single line
 .fi
 .in
 
+NEVER SET RUNLEVEL TO 0 OR 6 FROM THE KERNEL COMMAND LINE.
+
 .SH RUNLEVEL
 .B fastinit
 supports several runlevels, which represent different states of the system. These include:
@@ -39,6 +41,18 @@ Halt the system. Invokes
 .B 1
 Single-user mode. Supports serial, teletypes, proc, sysfs, GPIO. Bootfs is read-only. GPIO 23 (Pin 16) is set to high when boot is completed.
 
+.TP
+.B 2
+Single-user mode with camera. Support runlevel 1 and camera. System is quiet (only kernel panic should be printed). Udev daemon is started. Level3d daemon is started, see also
+.B level3d
+(8). Marvision is started. Bootfs is readonly. GPIO 23 (Pin 16) is set to high when boot is completed. No teletype or login support.
+
+The following kernel modules are started to make the camera work: bcm2835-codec, bcm2835-isp, bcm2835-v4l2, bcm2835-unicam, ov5647, i2c-mux-pinctrl, i2c-bcm2835, uio, fixed.
+
+.TP
+.B 3
+Single-user mode with camera and networking. Support runlevel 2 and camera. Udev daemon is started. Bootfs is readonly. GPIO 23 (Pin 16) is set to high when boot is completed. Network interface local loopback (lo) is configured (inet=127.0.0.1, mask=255.0.0.0). Network interface wlan0 is configured (inet=192.168.1.1, bcast=192.168.1.255, mask=255.255.255.0). Hostapd daemon (AP support) is started. Dnsmasq daemon (DNS and DHCP support) is started. Fcgiwrap daemon (Fast CGI for nginx) is started. Nginx (HTTP support) is started. Message of the day is printed.
+
 .TP
 .B 5
 SysVinit runlevel 5. Invokes
@@ -65,12 +79,26 @@ Reboot.
 Poweroff.
 
 
+.SH BUGS
+
+Bugs may be reported to <qs2g22@soton.ac.uk>.
+
+.IP \[bu]
+System will always halt if runlevel is set to 1 in kernel command line.
+.IP \[bu]
+System will always reboot if runlevel is set to 6 in kernel command line.
+.IP \[bu]
+Fastinit might print unwanted messages in runlevel 2.
+
 .SH SEE ALSO
 .BR init (8),
 .BR poweroff (8),
 .BR reboot (8),
 .BR busybox (1),
-.BR mount (8)
+.BR mount (8),
+.BR chlevel (1),
+.BR level3d (8),
+.BR print_motd (1)
 
 
 .SH AUTHOR

recipes-core/fastinit/fastinit.bb

 SUMMARY = "Installs fast init script to replace SysVinit"
-LICENSE = "CLOSED"
+LICENSE = "GPL-3.0-or-later"
+LIC_FILES_CHKSUM = "file://COPYING;md5=1c76c4cc354acaac30ed4d5eefea7245"
 
-SRC_URI = "file://fastinit.sh" 
+SRC_URI = "file://fastinit.sh \
+    file://print_motd.sh \
+    file://chlevel.sh \
+    file://level3d.sh \
+    file://COPYING"
 
 DEPENDS = "libgpiod"
 
@@ -10,7 +15,10 @@ S = "${WORKDIR}"
 do_install() {
     install -d ${D}/usr/sbin
     install -m 0755 ${WORKDIR}/fastinit.sh ${D}/usr/sbin/
+    install -m 0755 ${WORKDIR}/print_motd.sh ${D}/usr/sbin/
+    install -m 0755 ${WORKDIR}/chlevel.sh ${D}/usr/sbin
+    install -m 0755 ${WORKDIR}/level3d.sh ${D}/usr/sbin
 }
 
-FILES:${PN} = "/usr/sbin/fastinit.sh"
+FILES:${PN} = "/usr/sbin/fastinit.sh /usr/sbin/print_motd.sh /usr/sbin/chlevel.sh /usr/sbin/level3d.sh"
 

recipes-core/fastinit/files/chlevel.sh

+#!/bin/sh
+
+runlevel=$1
+
+case $runlevel in
+	1)
+		mount -o rw,remount /boot
+		cat > /boot/cmdline.txt <<EOF
+quiet loglevel=0 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait  logo.nologo net.ifnames=0 modules.load=dwc2,g_serial init=/usr/sbin/fastinit.sh 1
+EOF
+		reboot -f
+		;;
+	2)
+		mount -o rw,remount /boot
+		cat > /boot/cmdline.txt <<EOF
+quiet loglevel=0 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait  logo.nologo net.ifnames=0 modules.load=dwc2,g_serial init=/usr/sbin/fastinit.sh 2
+EOF
+		reboot -f
+		;;
+	3)
+		mount -o rw,remount /boot
+		cat > /boot/cmdline.txt <<EOF
+dwc_otg.lpm_enable=0 console=serial0,115200 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait  logo.nologo net.ifnames=0 modules.load=dwc2,g_serial earlycon=uart8250,mmio32,0x20215040 init=/usr/sbin/fastinit.sh 3
+EOF
+		reboot -f
+		;;
+	5)
+		mount -o rw,remount /boot
+		cat > /boot/cmdline.txt <<EOF
+dwc_otg.lpm_enable=0 console=serial0,115200 root=/dev/mmcblk0p2 rootfstype=ext4 rootwait  logo.nologo net.ifnames=0 modules.load=dwc2,g_serial earlycon=uart8250,mmio32,0x20215040 init=/usr/sbin/fastinit.sh 5
+EOF
+		reboot -f
+		;;
+	*)
+		echo "Invalid new runlevel"
+		;;
+esac
+

recipes-core/fastinit/files/fastinit.sh

@@ -20,16 +20,14 @@ level_zero() {
 }
 
 mountfs() {
-	log_to_kernel "mounting filesystems"
 	mount -t proc proc /proc
 	mount -t sysfs sysfs /sys
 	mount -o ro /dev/mmcblk0p1 /boot
-	mount -t tmpfs -o size=100M tmpfs /var/volatile/log
-	mount -t tmpfs -o size=100M tmpfs /var/log
+	#mount -t tmpfs -o size=100M tmpfs /var/volatile/log
+	#mount -t tmpfs -o size=100M tmpfs /var/log
 }
 
 rwrootfs() {
-	log_to_kernel "remounting r/w root filesystems"
 	mount -o rw,remount /
 }
 
@@ -39,6 +37,7 @@ gp23hi() {
 }
 
 level_one() {
+	log_to_kernel "mounting filesystems"
 	mountfs
 	gp23hi
 	crit_to_kernel "host is up and ready"
@@ -49,8 +48,6 @@ level_one() {
 level_two() {
 	mountfs
 	rwrootfs
-	log_to_kernel "adding modules to linux kernel"
-	log_to_kernel "to be added: bcm2835-codec, bcm2835-isp, bcm2835-v4l2, bcm2835-unicam, ov5647, i2c-mux-pinctrl, i2c-bcm2835, uio, fixed"
 	modprobe bcm2835-codec # minors 0-4
 	modprobe bcm2835-isp # minors 5-12
 	modprobe bcm2835-v4l2
@@ -63,13 +60,17 @@ level_two() {
 	udevd --daemon
 	udevadm trigger
 	gp23hi
-	crit_to_kernel "host is up and ready"
-	log_to_kernel "getting teletypes on ttyS0"
-	/sbin/getty -L 115200 ttyS0 vt100
+	/sbin/level3d.sh &
+	/usr/bin/marvision 1>/dev/null 2>/dev/null
+	# To avoid undefined behaviours when marvision exited abnormally,
+	# reboot the system. 
+	reboot -f
 }
 
 level_three() {
+	log_to_kernel "mounting filesystems"
 	mountfs
+	log_to_kernel "remounting r/w root filesystems"
 	rwrootfs
 	log_to_kernel "adding modules to linux kernel"
 	log_to_kernel "to be added: bcm2835-codec, bcm2835-isp, bcm2835-v4l2, bcm2835-unicam, ov5647, i2c-mux-pinctrl, i2c-bcm2835, uio, fixed, brcmfmac" 
@@ -107,6 +108,7 @@ level_three() {
 	gp23hi
 	crit_to_kernel "host is up and ready"
 	log_to_kernel "getting teletypes on ttyS0"
+	/sbin/print_motd.sh
 	/sbin/getty -L 115200 ttyS0 vt100
 }
 
@@ -139,8 +141,6 @@ else
 			level_one
 			;;
 		2)
-			log_to_kernel "entering runlevel 2 (camera)"
-			log_to_kernel "runlevel 2: tty, serial, gpio, camera"
 			level_two
 			;;
 		3)

recipes-core/fastinit/files/level3d.sh

+#!/bin/sh
+
+/usr/local/gpiomon -c 0 -n 1 -q 24
+# blocked until
+/sbin/chlevel.sh 3
+

recipes-core/fastinit/files/print_motd.sh

+#!/bin/sh
+less << EOF
+
+$(uname -a)
+
+Welcome to Minimal Autonomous Rover (MAR) GNU/Linux System!
+
+MAR GNU/Linux is free and open-source software.
+Copyright (C) 2024 Qiyang Sun and the MAR Project Maintainers.
+
+University of Southampton
+University Road, Southampton, United Kingdom  SO17 1BJ
+
+* Repository:      https://git.soton.ac.uk/qs2g22/meta-marfb
+* Support:         mailto:qs2g22@soton.ac.uk
+
+The programs included with the MAR GNU/Linux system are free software;
+the exact distribution terms for each program are described in the
+license/ and spdx/ folders of the release archives. MAR GNU/Linux is
+distributed in the hope that it will be useful, but it comes with
+ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law.
+
+=> You  receive this  message  of  the  day  because  of  the  fastinit
+   configuration.  To change the runlevel, refer to manpage fastinit(8)
+   which is not shipped in this image. Message of the day should not be
+   printed to serial output because it will confuse the rover.
+=> Heavy serial outputs like this affect performance.
+=> Uptime: $(uptime)
+
+Press 'q' to quit pager and continue.
+
+EOF
+
+clear
+
+cat << EOF
+
+Welcome to Minimal Autonomous Rover (MAR) GNU/Linux System!
+
+MAR GNU/Linux is free and open-source software.
+Copyright (C) 2024 Qiyang Sun and the MAR Project Maintainers.
+
+The programs included with the MAR GNU/Linux system are free software;
+the exact distribution terms for each program are described in the
+license/ and spdx/ folders of the release archives. MAR GNU/Linux is
+distributed in the hope that it will be useful, but it comes with
+ABSOLUTELY NO WARRANTY, to the extent permitted by applicable law.
+
+* Change runlevel before connecting serial to rover.
+* To read the full message again, run print_motd.sh.
+
+EOF
+
+sleep 1s

recipes-core/fastinit/level3d.8

+.TH LEVEL3D 8 "November 2024" "Version 0.1" "System Administration Commands and Daemon Manual"
+.SH NAME
+level3d.sh \- runlevel 3 daemon
+.SH SYNOPSIS
+.B /usr/sbin/level3d.sh &
+
+.SH DESCRIPTION
+
+Level3d.sh is blocked until GPIO 24 is high, and invoke /sbin/chlevel.sh 3.
+
+.SH SEE ALSO
+.BR chlevel (1),
+.BR fastinit (8),
+
+.SH AUTHOR
+The 
+.B level3d
+script was first written by Qiyang Sun <qs2g22@soton.ac.uk>, and is maintained by the MAR24 project maintainers.

recipes-core/fastinit/print_motd.1

+.TH PRINT_MOTD 1 "November 2024" "Version 0.1" "General Commands Manual"
+.SH NAME
+print_motd.sh \- print message of the day
+.SH SYNOPSIS
+.B /usr/sbin/print_motd.sh
+
+.SH DESCRIPTION
+
+Prints uname, welcome message, copyright (free and open software) information, postal address, website, (non-)warranty, help, caveat and uptime information to the less pager, clear screen, prints welcome message, copyright (free and open software) information, (non-)warranty and help information to stdout, and wait 1 second.
+
+.SH SEE ALSO
+.BR runlevel (8),
+.BR fastinit (8)
+
+.SH AUTHOR
+The 
+.B print_motd
+script was first written by Qiyang Sun <qs2g22@soton.ac.uk>, and is maintained by the MAR24 project maintainers.