conf/distro/marfb.conf

 DISTRO = "marfb"
 DISTRO_NAME = "MAR Autonomous Rover Fastboot Linux System (MARS by University of Southampton)"
-DISTRO_VERSION = "0.0.6a"
+DISTRO_VERSION = "0.0.7a"
 
 MAINTAINER = "Qiyang Sun <qs2g22@soton.ac.uk>"
 
@@ -40,5 +40,7 @@ DISABLE_VC4GRAPHICS = "1"
 #RPI_KERNEL_DEVICETREE_OVERLAYS:append = " overlays/uart0.dtbo"
 RPI_KERNEL_DEVICETREE_OVERLAYS:append = " overlays/uart1.dtbo"
 
-#RASPBERRYPI_CAMERA_V2 = "1"
-#RASPBERRYPI_CAMERA_V3 = "1"
+RASPBERRYPI_CAMERA_V2 = "1"
+RASPBERRYPI_CAMERA_V3 = "1"
+
+RPI_KERNEL_DEVICETREE_OVERLAYS:append = " overlays/ov5647.dtbo"

recipes-bsp/bootfiles/rpi-cmdline.bbappend

@@ -5,4 +5,4 @@ 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 1"
+CMDLINE:append = " init=/usr/sbin/fastinit.sh 2"

recipes-bsp/bootfiles/rpi-config_%.bbappend

 do_deploy:append() {
     echo "dtoverlay=uart1" >> $CONFIG
     echo "dtoverlay=dwc2" >> $CONFIG
+    echo "dtoverlay=vc4-kms-v3d" >> $CONFIG
+    echo "dtoverlay=ov5647,media-controller=0" >> $CONFIG
 #    echo "dtoverlay=uart0" >> $CONFIG
 }
 

recipes-core/fastinit/files/fastinit.sh

@@ -19,20 +19,48 @@ level_zero() {
 	exec /sbin/poweroff -f
 }
 
-level_one() {
+mountfs() {
 	log_to_kernel "mounting filesystems"
 	mount -t proc proc /proc
 	mount -t sysfs sysfs /sys
 	mount -o ro /dev/mmcblk0p1 /boot
+}
 
+gp23hi() {
 	log_to_kernel "setting gpio 23 to high"
 	/usr/bin/gpioset -c 0 23=1 &
+}
 
+level_one() {
+	mountfs
+	gp23hi
+	crit_to_kernel "host is up and ready"
+	log_to_kernel "getting teletypes on ttyS0"
+	/sbin/getty -L 115200 ttyS0 vt100
+}
+
+level_two() {
+	mountfs
+	gp23hi
+
+	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
+	modprobe bcm2835-unicam # cause red led flash
+	modprobe ov5647
+	modprobe i2c-mux-pinctrl
+	modprobe i2c-bcm2835
+	modprobe uio
+	modprobe fixed
+	
 	crit_to_kernel "host is up and ready"
 	
 	log_to_kernel "getting teletypes on ttyS0"
 	/sbin/getty -L 115200 ttyS0 vt100
 }
+
 level_five() {
 	exec /sbin/init 5
 }
@@ -58,6 +86,11 @@ else
 			log_to_kernel "runlevel 1: tty, serial, gpio"
 			level_one
 			;;
+		2)
+			log_to_kernel "entering runlevel 2 (camera)"
+			log_to_kernel "runlevel 2: tty, serial, gpio, camera"
+			level_two
+			;;
 		5)
 			log_to_kernel "entering runlevel 5 (sysvinit)"
 			level_five

recipes-core/images/mar-image-minimal.bb

@@ -10,6 +10,9 @@ IMAGE_INSTALL = "packagegroup-core-boot \
     libgpiod-tools \
     fastinit \
     serial-usb \
+    v4l-utils \
+    libv4l \
+    media-ctl \
     opencv \
     ${CORE_IMAGE_EXTRA_INSTALL}"