nix-servo/flake.nix

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{
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description = "Firmware for Sinara Fast-Servo based on Not-OS and Linien";
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inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-unstable;
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inputs.not-os.url = github:cleverca22/not-os;
inputs.not-os.inputs.nixpkgs.follows = "nixpkgs";
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outputs = { self, nixpkgs, not-os }:
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let
pkgs = import nixpkgs { system = "x86_64-linux"; };
not-os-cfg = not-os-configured.config.system;
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patched-not-os = pkgs.applyPatches {
name = "not-os-patched";
src = not-os;
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patches = [
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./network.patch
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./pr-28.patch
./pr-29.patch
./pr-30.patch
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];
};
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gnu-platform = "arm-none-eabi";
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binutils-pkg = { zlib, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
basename = "binutils";
version = "2.30";
name = "${basename}-${gnu-platform}-${version}";
src = pkgs.fetchurl {
url = "https://ftp.gnu.org/gnu/binutils/binutils-${version}.tar.bz2";
sha256 = "028cklfqaab24glva1ks2aqa1zxa6w6xmc8q34zs1sb7h22dxspg";
};
configureFlags = [
"--enable-deterministic-archives"
"--target=${gnu-platform}"
"--with-cpu=cortex-a9"
"--with-fpu=vfpv3"
"--with-float=hard"
"--with-mode=thumb"
] ++ extraConfigureFlags;
outputs = [ "out" "info" "man" ];
depsBuildBuild = [ pkgs.buildPackages.stdenv.cc ];
buildInputs = [ zlib ];
enableParallelBuilding = true;
meta = {
description = "Tools for manipulating binaries (linker, assembler, etc.)";
longDescription = ''
The GNU Binutils are a collection of binary tools. The main
ones are `ld' (the GNU linker) and `as' (the GNU assembler).
They also include the BFD (Binary File Descriptor) library,
`gprof', `nm', `strip', etc.
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'';
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homepage = http://www.gnu.org/software/binutils/;
license = pkgs.lib.licenses.gpl3Plus;
/* Give binutils a lower priority than gcc-wrapper to prevent a
collision due to the ld/as wrappers/symlinks in the latter. */
priority = "10";
};
};
gcc-pkg = { gmp, mpfr, libmpc, platform-binutils, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
basename = "gcc";
version = "9.1.0";
name = "${basename}-${gnu-platform}-${version}";
src = pkgs.fetchurl {
url = "https://ftp.gnu.org/gnu/gcc/gcc-${version}/gcc-${version}.tar.xz";
sha256 = "1817nc2bqdc251k0lpc51cimna7v68xjrnvqzvc50q3ax4s6i9kr";
};
preConfigure = ''
mkdir build
cd build
'';
configureScript = "../configure";
configureFlags = [
"--target=${gnu-platform}"
"--with-arch=armv7-a"
"--with-tune=cortex-a9"
"--with-fpu=vfpv3"
"--with-float=hard"
"--disable-libssp"
"--enable-languages=c"
"--with-as=${platform-binutils}/bin/${gnu-platform}-as"
"--with-ld=${platform-binutils}/bin/${gnu-platform}-ld" ] ++ extraConfigureFlags;
outputs = [ "out" "info" "man" ];
hardeningDisable = [ "format" "pie" ];
propagatedBuildInputs = [ gmp mpfr libmpc platform-binutils ];
enableParallelBuilding = true;
dontFixup = true;
};
newlib-pkg = { platform-binutils, platform-gcc }: pkgs.stdenv.mkDerivation rec {
pname = "newlib";
version = "3.1.0";
src = pkgs.fetchurl {
url = "ftp://sourceware.org/pub/newlib/newlib-${version}.tar.gz";
sha256 = "0ahh3n079zjp7d9wynggwrnrs27440aac04340chf1p9476a2kzv";
};
nativeBuildInputs = [ platform-binutils platform-gcc ];
configureFlags = [
"--target=${gnu-platform}"
"--with-cpu=cortex-a9"
"--with-fpu=vfpv3"
"--with-float=hard"
"--with-mode=thumb"
"--enable-interwork"
"--disable-multilib"
"--disable-newlib-supplied-syscalls"
"--with-gnu-ld"
"--with-gnu-as"
"--disable-newlib-io-float"
"--disable-werror"
];
dontFixup = true;
};
gnutoolchain = rec {
binutils-bootstrap = pkgs.callPackage binutils-pkg { };
gcc-bootstrap = pkgs.callPackage gcc-pkg {
platform-binutils = binutils-bootstrap;
extraConfigureFlags = [ "--disable-libgcc" ];
};
newlib = pkgs.callPackage newlib-pkg {
platform-binutils = binutils-bootstrap;
platform-gcc = gcc-bootstrap;
};
binutils = pkgs.callPackage binutils-pkg {
extraConfigureFlags = [ "--with-lib-path=${newlib}/arm-none-eabi/lib" ];
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};
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gcc = pkgs.callPackage gcc-pkg {
platform-binutils = binutils;
extraConfigureFlags = [ "--enable-newlib" "--with-headers=${newlib}/arm-none-eabi/include" ];
};
};
mkbootimage = pkgs.stdenv.mkDerivation {
pname = "mkbootimage";
version = "2.3dev";
src = pkgs.fetchFromGitHub {
owner = "antmicro";
repo = "zynq-mkbootimage";
rev = "872363ce32c249f8278cf107bc6d3bdeb38d849f";
sha256 = "sha256-5FPyAhUWZDwHbqmp9J2ZXTmjaXPz+dzrJMolaNwADHs=";
};
propagatedBuildInputs = [ pkgs.libelf pkgs.pcre ];
patchPhase = ''
substituteInPlace Makefile --replace "git rev-parse --short HEAD" "echo nix"
'';
installPhase = ''
mkdir -p $out/bin
cp mkbootimage $out/bin
'';
# fix crash; see https://github.com/xmrig/xmrig/issues/3305
hardeningDisable = [ "fortify" ];
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};
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fsbl = { board ? "zc706" }: pkgs.stdenv.mkDerivation {
name = "${board}-fsbl";
src = pkgs.fetchFromGitHub {
owner = "Xilinx";
repo = "embeddedsw";
rev = "65c849ed46c88c67457e1fc742744f96db968ff1";
sha256 = "1rvl06ha40dzd6s9aa4sylmksh4xb9dqaxq462lffv1fdk342pda";
};
patches = [ ./fsbl.patch ];
nativeBuildInputs = [
pkgs.gnumake
gnutoolchain.binutils
gnutoolchain.gcc
];
patchPhase = ''
patch -p1 -i ${./fsbl.patch}
patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
echo 'SEARCH_DIR("${gnutoolchain.newlib}/arm-none-eabi/lib");' >> lib/sw_apps/zynq_fsbl/src/lscript.ld
'';
buildPhase = ''
cd lib/sw_apps/zynq_fsbl/src
make BOARD=${board} "CFLAGS=-DFSBL_DEBUG_INFO -g"
'';
installPhase = ''
mkdir $out
cp fsbl.elf $out
'';
doCheck = false;
dontFixup = true;
};
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u-boot = { board ? "zc706" }: pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
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defconfig = "xilinx_zynq_virt_defconfig";
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patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
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preConfigure = ''
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export DEVICE_TREE=$([ "${board}" = "zc706" ] && echo "zynq-${board}" || echo "${board}")
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'';
extraConfig = ''
CONFIG_AUTOBOOT=y
CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}'
fatload mmc 0 0x6400000 uImage
fatload mmc 0 0x8000000 devicetree.dtb
fatload mmc 0 0xA400000 uRamdisk.image.gz
bootm 0x6400000 0xA400000 0x8000000
''}"
CONFIG_BOOTDELAY=0
CONFIG_USE_BOOTCOMMAND=y
'';
extraMeta.platforms = [ "armv7l-linux" ];
filesToInstall = [ "u-boot.elf" ];
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};
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bootimage = { board ? "zc706" }: pkgs.runCommand "${board}-bootimage"
{
buildInputs = [ mkbootimage ];
}
''
bifdir=`mktemp -d`
cd $bifdir
ln -s ${fsbl { inherit board; }}/fsbl.elf fsbl.elf
ln -s ${u-boot { inherit board; }}/u-boot.elf u-boot.elf
cat > boot.bif << EOF
the_ROM_image:
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{
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[bootloader]fsbl.elf
u-boot.elf
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}
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EOF
mkdir $out $out/nix-support
mkbootimage boot.bif $out/boot.bin
echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
'';
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# Pinned qemu version due to networking errors in recent version 8.2.0
qemu = pkgs.qemu.overrideAttrs (oldAttrs: rec {
version = "8.1.3";
src = pkgs.fetchurl {
url = "https://download.qemu.org/qemu-${version}.tar.xz";
hash = "sha256-Q8wXaAQQVYb3T5A5jzTp+FeH3/QA07ZA2B93efviZbs=";
};
});
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not-os-configured = (import patched-not-os {
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inherit nixpkgs;
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extraModules = [
"${patched-not-os}/zynq_image.nix"
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];
system = "x86_64-linux";
crossSystem.system = "armv7l-linux";
});
not-os-qemu = { board ? "zc706" }: let
qemuScript = ''
#!/bin/bash
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export PATH=${qemu}/bin:$PATH
IMGDIR=$(mktemp -d /tmp/not-os-qemu-XXXXXX)
BASE=$(realpath $(dirname $0))
qemu-img create -F raw -f qcow2 -b $BASE/sd-image.img $IMGDIR/sd-overlay.qcow2 512M
# Some command arguments are based from samples in Xilinx QEMU User Documentation
# See: https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/821854273/Running+Bare+Metal+Applications+on+QEMU
qemu-system-arm \
-M xilinx-zynq-a9 \
-serial /dev/null \
-serial stdio \
-display none \
-dtb $BASE/devicetree.dtb \
-kernel $BASE/uImage \
-initrd $BASE/uRamdisk.image.gz \
-drive file=$IMGDIR/sd-overlay.qcow2,if=sd,format=qcow2 \
-append "root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}";
rm -rf $IMGDIR
'';
in pkgs.runCommand "not-os-qemu" {
inherit qemuScript;
passAsFile = [ "qemuScript" ];
preferLocalBuild = true;
}
''
mkdir $out
cd $out
cp -s ${not-os-cfg.build.kernel}/uImage .
cp -s ${not-os-cfg.build.uRamdisk}/initrd uRamdisk.image.gz
cp -s ${not-os-cfg.build.kernel}/dtbs/zynq-zc706.dtb devicetree.dtb
cp -s ${sd-image { inherit board; }}/sd-image/sd-image.img .
ln -sv ${not-os-cfg.build.toplevel} toplevel
cp $qemuScriptPath qemu-script
chmod +x qemu-script
patchShebangs qemu-script
'';
sd-image = { board ? "zc706" }: let
rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
storePaths = [ not-os-cfg.build.toplevel ];
volumeLabel = "ROOT";
};
# Current firmware (kernel, bootimage, etc..) takes ~18MB
firmwareSize = 30;
firmwarePartitionOffset = 8;
in pkgs.stdenv.mkDerivation {
name = "sd-image";
nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
buildCommand = ''
mkdir -p $out/nix-support $out/sd-image
export img=$out/sd-image/sd-image.img
echo "${pkgs.stdenv.buildPlatform.system}" > $out/nix-support/system
echo "file sd-image $img" >> $out/nix-support/hydra-build-products
gap=${toString firmwarePartitionOffset}
rootSizeBlocks=$(du -B 512 --apparent-size ${rootfsImage} | awk '{ print $1 }')
firmwareSizeBlocks=$((${toString firmwareSize} * 1024 * 1024 / 512))
imageSize=$((rootSizeBlocks * 512 + firmwareSizeBlocks * 512 + gap * 1024 * 1024))
truncate -s $imageSize $img
fat32Start="$((gap))MB"
fat32End="$((gap + ${toString firmwareSize}))MB"
parted $img mklabel msdos
parted $img mkpart primary fat32 $fat32Start $fat32End
parted $img mkpart primary ext4 $fat32End 100%
parted $img set 1 boot on
eval $(partx $img -o START,SECTORS --nr 2 --pairs)
dd conv=notrunc if=${rootfsImage} of=$img seek=$START count=$SECTORS
eval $(partx $img -o START,SECTORS --nr 1 --pairs)
truncate -s $((SECTORS * 512)) firmware_part.img
faketime "1970-01-01 00:00:00" mkfs.vfat -n BOOT firmware_part.img
mkdir firmware
cp ${bootimage { inherit board; }}/boot.bin firmware/
cp ${not-os-cfg.build.kernel}/uImage firmware/
cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
cp ${not-os-cfg.build.kernel}/dtbs/zynq-zc706.dtb firmware/devicetree.dtb
(cd firmware; mcopy -psvm -i ../firmware_part.img ./* ::)
dd conv=notrunc if=firmware_part.img of=$img seek=$START count=$SECTORS
'';
};
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in rec {
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packages.x86_64-linux = {
inherit mkbootimage;
};
packages.armv7l-linux = {
zc706-fsbl = fsbl { board = "zc706"; };
zc706-bootimage = bootimage { board = "zc706"; };
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zc706-u-boot = u-boot { board = "zc706"; };
zc706-qemu = not-os-qemu { board = "zc706"; };
zc706-sd-image = sd-image { board = "zc706"; };
zc706-not-os = not-os-cfg.build.zynq_image;
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fast-servo-u-boot = u-boot { board = "fast-servo"; };
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};
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hydraJobs = packages.x86_64-linux // packages.armv7l-linux;
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};
nixConfig = {
allow-import-from-derivation = true;
};
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}