28 lines
1.1 KiB
Bash
Executable File
28 lines
1.1 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Use the previously deployed 0920 drivers; do not force module compatibility.
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set -euo pipefail
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root="$(cd "$(dirname "$0")/.." && pwd)"
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driver_dir="${DRIVER_DIR:-$root/../vision-anti-pinch-0920/orin/bin/drivers}"
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device="${1:-/dev/video5}"
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kernel="$(uname -r)"
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for driver in max9295 max9296 sgx-yuv-gmsl2; do
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module="${driver//-/_}"
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[[ -d "/sys/module/$module" ]] && continue
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file="$driver_dir/$driver.ko"
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[[ -f "$file" ]] || { echo "Missing driver: $file" >&2; exit 1; }
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vermagic="$(modinfo -F vermagic "$file")"
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if [[ -n "$vermagic" && "${vermagic%% *}" != "$kernel" ]]; then
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echo "Kernel mismatch: $file ($vermagic), running $kernel" >&2; exit 1
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fi
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if [[ -z "$vermagic" ]]; then
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echo "No vermagic metadata: $file; using normal insmod kernel validation."
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fi
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options=()
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[[ "$driver" == sgx-yuv-gmsl2 ]] && options=(gmsl_mode=2,2,2,2)
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sudo -n insmod "$file" "${options[@]}"
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done
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for _ in {1..20}; do [[ -c "$device" ]] && break; sleep .25; done
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[[ -c "$device" ]] || { echo "Camera not created: $device" >&2; exit 1; }
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v4l2-ctl -d "$device" -c sensor_mode=1,trig_pin=0xffff0007
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echo "Camera ready: $device"
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