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How did you work around the missing items that the Clara HD firmware contains but the Libra 2 firmware does not? There are 22 files in the ./drivers/mx6sll-ntx/usb/gadget directory on a Clara HD but only 7 in that directory on the Libra 2.
When I look at the page you linked, only 1 of the files listed (g-ether.ko) in the 8 insmod commands is found in the Libra 2 firmware in the ./drivers/mx6sll-ntx/usb/gadget. The configfs.ko, libcomposite.ko, u_ether.ko, usb_f_ecm.ko, usb_f_eem.ko, usb_f_ecm_subset.ko and usb_f_rndis.ko are not seem to be available in the Libra 2 firmware I looked at.
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