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I am trying to figure out how to edit my /boot/config.txt with the same functionality implicit in raspi-config. For example, I'd like to know how to enable/disable for "P6 Serial" in this screenshot from a Pi Zero W:

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I have reviewed the "README" in /boot/overlays, although it is hard to discern exactly which settings correlate to which commands in raspi-config.

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    Be aware that a few commands (serial being one) will also change the command line file /boot/cmdline.txt Also, some options (USB device / networking) are not available in raspi-config and have to be manually entered. – user115418 Jul 8 '20 at 23:16
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You can have a look at the script itself on your system. raspi-config is a bash script and you can look at it with any text / code editor. The file is at /usr/bin/raspi-config

Or have a look at it in the Raspberry Pu github repo: https://github.com/RPi-Distro/raspi-config/blob/master/raspi-config

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The Foundation documentation is @ config.txt

This is quite comprehensive, and more up-to-date than some references.

Most of the documentation in /boot/overlays has no counterpart in raspi-config and is more related to Device Tree options.

As Androo has mentioned some raspi-config options e.g. serial console are changed in cmdline.txt.

If you are interested in serial How do I make serial work on the Raspberry Pi3 or later may help, although raspi-config is the easiest.
The Foundation serial documentation is @ UART

PS If you really want to know what raspi-config does it is a "simple" bash script - if somewhat long and convoluted. There is no need to go to github - just look at /usr/bin/raspi-config

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