From a4e195d36e45c190af8e4133212913505079b757 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 4 Oct 2024 16:24:44 -0400
Subject: [PATCH] Add a copy of the boot/firmware files to /etc/turtlebot for
 reference in case users modify these and want a clean, offline copy for
 reference

---
 etc/turtlebot4/firmware/cmdline.txt |  1 +
 etc/turtlebot4/firmware/config.txt  | 46 +++++++++++++++++++++++++++++
 2 files changed, 47 insertions(+)
 create mode 100644 etc/turtlebot4/firmware/cmdline.txt
 create mode 100644 etc/turtlebot4/firmware/config.txt

diff --git a/etc/turtlebot4/firmware/cmdline.txt b/etc/turtlebot4/firmware/cmdline.txt
new file mode 100644
index 0000000..5a6b0ff
--- /dev/null
+++ b/etc/turtlebot4/firmware/cmdline.txt
@@ -0,0 +1 @@
+console=serial0,115200 dwc_otg.lpm_enable=0 console=tty1 root=LABEL=writable rootfstype=ext4 rootwait fixrtc quiet splash modules-load=dwc2,g_ether
diff --git a/etc/turtlebot4/firmware/config.txt b/etc/turtlebot4/firmware/config.txt
new file mode 100644
index 0000000..91a4d4d
--- /dev/null
+++ b/etc/turtlebot4/firmware/config.txt
@@ -0,0 +1,46 @@
+[all]
+kernel=vmlinuz
+cmdline=cmdline.txt
+initramfs initrd.img followkernel
+
+[pi4]
+max_framebuffers=2
+arm_boost=1
+
+[all]
+# Enable the audio output, I2C and SPI interfaces on the GPIO header. As these
+# parameters related to the base device-tree they must appear *before* any
+# other dtoverlay= specification
+dtparam=audio=on
+dtparam=i2c_arm=on
+dtparam=spi=on
+
+# Comment out the following line if the edges of the desktop appear outside
+# the edges of your display
+disable_overscan=1
+
+# If you have issues with audio, you may try uncommenting the following line
+# which forces the HDMI output into HDMI mode instead of DVI (which doesn't
+# support audio output)
+#hdmi_drive=2
+
+# Enable the serial pins
+enable_uart=1
+
+# Autoload overlays for any recognized cameras or displays that are attached
+# to the CSI/DSI ports. Please note this is for libcamera support, *not* for
+# the legacy camera stack
+camera_auto_detect=1
+display_auto_detect=1
+
+# Config settings specific to arm64
+arm_64bit=1
+dtoverlay=dwc2,dr_mode=peripheral
+dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=4,i2c_gpio_scl=5
+
+[cm4]
+# Enable the USB2 outputs on the IO board (assuming your CM4 is plugged into
+# such a board)
+dtoverlay=dwc2,dr_mode=host
+
+[all]
\ No newline at end of file