Daniel Stone wrote:
you can't do the bootloader, kernel, and initfs from userspace.
Well, you can, but it really isn't a good idea. It has no chance to be completely safe, something may go wrong pretty easily (like random device reboot). There is no safe order in which you can make the upgrade of those specific parts (bootloader,kernel,initfs,rootfs) and still have device bootable if the process is interrupted.
In fact with current firmware it looks like the old rootfs I have on MMC boots with new initfs and kernel but that's just a coincidence.
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