9 changed files with 70 additions and 268 deletions
--- a/fast-servo/linien-pyrp3-monitor.patch
+++ b/fast-servo/linien-pyrp3-monitor.patch
@ -1,141 +0,0 @@
-# Fix for bus error issues when compiling cpython extensions in pyrp3 v1.2.0+
-# Patch sourced from: https://github.com/linien-org/pyrp3/tree/e6688acf8bd79d2dbe1d192d09c1a1baf1f6c67b (setup.py & monitor/Makefile)
-# Reference: https://github.com/elhep/Fast-Servo-Firmware/blob/master/OS/scripts/linien_install_requirements.sh#L28
-
-diff --git a/monitor/Makefile b/monitor/Makefile
-new file mode 100644
-index 0000000..044d88e
--- /dev/null
-+++ b/monitor/Makefile
-@@ -0,0 +1,31 @@
-+# Makefile for libmonitor
-+
-+OBJS = monitor.o
-+SRCS = $(subst .o,.c, $(OBJS))
-+OSOBJS = monitor.os
-+TARGETLIB=libmonitor.so
-+CFLAGS=-g -std=gnu99 -Wall -Werror
-+LIBS=-lm -lpthread
-+
-+# Use CROSS_COMPILE=arm-linux-gnueabi-
-+CC=$(CROSS_COMPILE)gcc
-+INSTALL_DIR ?= .
-+
-+
-+all: $(TARGETLIB)
-+lib: $(TARGETLIB)
-+
-+%.os: %.c
-+	$(CC) -c -fPIC $(CFLAGS) $< -o $@
-+
-+$(TARGETLIB): $(OSOBJS)
-+	$(CC) -o $@ -shared $^ $(CFLAGS) $(LIBS)
-+
-+clean:
-+	rm -f $(TARGETLIB) *.o *.os
-+
-+# Install target - creates 'lib/' sub-directory in $(INSTALL_DIR) and copies all
-+# executables to that location.
-+install:
-+	mkdir -p $(INSTALL_DIR)/lib
-+	cp $(TARGETLIB) $(INSTALL_DIR)/lib
-\ No newline at end of file
-diff --git a/pyrp3/raw_memory.py b/pyrp3/raw_memory.py
-index ce1b28e..233b82a 100644
--- a/pyrp3/raw_memory.py
-+++ b/pyrp3/raw_memory.py
-@@ -1,12 +1,9 @@
- from ctypes import POINTER, c_uint32, cast, cdll, create_string_buffer, sizeof
-from importlib.machinery import EXTENSION_SUFFIXES
- from pathlib import Path
- 
- import numpy as np
- 
-libmonitor_file = str(
-    Path(__file__).parent / ".." / "monitor{}".format(EXTENSION_SUFFIXES[0])
-)
-+libmonitor_file = 'libmonitor.so'
- 
- libmonitor = cdll.LoadLibrary(libmonitor_file)
- libmonitor.read_value.restype = c_uint32
-diff --git a/setup.py b/setup.py
-index 98bdaee..b0a8af4 100644
--- a/setup.py
-+++ b/setup.py
-@@ -1,5 +1,10 @@
- import re
-from distutils.core import Extension, setup
-+import os
-+
-+from distutils.core import setup
-+from distutils.command.build import build
-+from distutils.command.install import install
-+
- from pathlib import Path
- 
- # from https://stackoverflow.com/a/7071358/2750945
-@@ -11,9 +16,50 @@ if mo:
-     verstr = mo.group(1)
- else:
-     raise RuntimeError("Unable to find version string in %s." % (VERSIONFILE,))
-+
-+# Patch from https://github.com/linien-org/pyrp3/blob/e6688acf8bd79d2dbe1d192d09c1a1baf1f6c67b/setup.py#L16-L55
-+build_dir = "monitor/"
-+
-+def compile_libmonitor():
-+    cwd = os.getcwd()  # get current directory
-+    try:
-+        os.chdir(build_dir)
-+        os.system("make clean")
-+        os.system("make all")
-+    finally:
-+        os.chdir(cwd)
-+
-+
-+def install_libmonitor(prefix=""):
-+    cwd = os.getcwd()  # get current directory
-+    try:
-+        os.chdir(build_dir)
-+        os.system("make install INSTALL_DIR={prefix}".format(prefix=prefix))
-+    finally:
-+        os.chdir(cwd)
-+
-+
-+class lib_build(build):
-+    def run(self):
-+        compile_libmonitor()
-+        build.run(self)
-+
-+
-+class lib_install(install):
-+    def run(self):
-+        compile_libmonitor()
-+        install_libmonitor(self.prefix)
-+        # install.run(self)
-+
-+# Will use nix to install libmonitor
-+cmdclass = {
-+    "build": lib_build
-+}
-+
- this_directory = Path(__file__).parent
- long_description = (this_directory / "README.rst").read_text()
- 
-+
- setup(
-     name="pyrp3",
-     version=verstr,
-@@ -32,6 +78,7 @@ setup(
-         "cached_property>=1.5.2",
-         "numpy>=1.11.0",
-     ],
-+    cmdclass=cmdclass,
-     classifiers=[
-         "Intended Audience :: Developers",
-         "Intended Audience :: Education",
-@@ -45,5 +92,4 @@ setup(
-         "Topic :: Software Development :: Libraries :: Python Modules",
-     ],
-     keywords=["redpitaya", "FPGA", "zynq"],
-    ext_modules=[Extension("monitor", ["monitor/monitor.c"])],
- )
--- a/fast-servo/pyfastservo/adc.py
+++ b/fast-servo/pyfastservo/adc.py
@ -21,7 +21,7 @@ import mmap
 import os

 import spidev
-from pyfastservo.common import (
+from common import (
    ADC_AFE_CTRL_ADDR,
    ADC_BITSLIP_ADDR,
    ADC_CH0_HIGH_ADDR,
@ -54,7 +54,7 @@ def main_adc_config(test_pattern):
        spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
        spi.max_speed_hz = 50000
        spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = False
+        spi.cshigh = True
        # spi.read0 = False

        spi_buffer = [0x00, 0x80]  # reset
@ -121,7 +121,7 @@ def main_adc_test_mode(enable):
        spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
        spi.max_speed_hz = 50000
        spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = False
+        spi.cshigh = True
        # spi.read0 = True

        reg_contents = (
@ -292,7 +292,7 @@ def adc_aux_read(port, type, pin):
        spi.open(1, 3)  # AUX ADC 1?
        spi.max_speed_hz = 5000
        spi.mode = 0b00
-        spi.cshigh = False
+        spi.cshigh = True

        read_buffer = spi.xfer2(write_buffer)
        mu_voltage = read_buffer[0] << 8 | read_buffer[1] >> 2
--- a/fast-servo/pyfastservo/common.py
+++ b/fast-servo/pyfastservo/common.py
@ -22,8 +22,8 @@ MAP_SIZE = 0x1000
 MAP_MASK = 0xFFF
 PAGESIZE = 0x1000

-# LINIEN_OFFSET = 0x0
-LINIEN_OFFSET = 0x300000
+LINIEN_OFFSET = 0x0
+# LINIEN_OFFSET = 0x300000

 # ----------------------------------------------------------------
 # FRONT PANEL LEDS REGISTER ADDRESSES
--- a/fast-servo/pyfastservo/dac.py
+++ b/fast-servo/pyfastservo/dac.py
@ -21,7 +21,7 @@ import mmap
 import os

 import spidev
-from pyfastservo.common import (
+from common import (
    CH0_HIGH_WORD_ADDR,
    CH0_LOW_WORD_ADDR,
    CH1_HIGH_WORD_ADDR,
@ -45,7 +45,7 @@ def main_dac_init():
        spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
        spi.max_speed_hz = 5000
        spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = False
+        spi.cshigh = True

        spi_buffer = [0x00, 0x10]  # software reset
        spi.xfer2(spi_buffer)
--- a/fast-servo/pyfastservo/fp_leds.py
+++ b/fast-servo/pyfastservo/fp_leds.py
@ -21,7 +21,7 @@ import mmap
 import os
 import time

-from pyfastservo.common import (
+from common import (
    LED0_BASE_ADDR,
    LED1_BASE_ADDR,
    LED2_BASE_ADDR,
--- a/fast-servo/pyfastservo/initialize.py
+++ b/fast-servo/pyfastservo/initialize.py
@ -17,7 +17,9 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.

-from pyfastservo import adc, si5340, dac
+import adc
+import si5340
+import dac

 def main():
    si5340.configure_si5340()
--- a/flake.nix
+++ b/flake.nix
@ -11,7 +11,7 @@
  outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
    let
      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
-      pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
+      not-os-cfg = not-os-configured.config.system;
      fsbl-support = ./fast-servo/fsbl-support;

      patched-not-os = pkgs.applyPatches {
@ -27,19 +27,6 @@
        ];
      };

-      crossSystem = {
-        system = "armv7l-linux";
-        linux-kernel = {
-          name = "zynq";
-          baseConfig = "multi_v7_defconfig";
-          target = "uImage";
-          installTarget = "uImage";
-          autoModules = false;
-          DTB = true;
-          makeFlags = [ "LOADADDR=0x8000" ];
-        };
-      };
-
      crosspkgs-overlay = (self: super: {
        pkgsCross = super.pkgsCross // {
          zynq-baremetal = import super.path {
@ -51,10 +38,6 @@
              gcc.fpu = "vfpv3";
            };
          };
-          zynq-armv7l-linux = import super.path {
-            system = "x86_64-linux";
-            inherit crossSystem;
-          };
        };
      });

@ -100,49 +83,38 @@
        runScript = "vivado";
      };

-      pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
+      pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
        pname = "pyrp3";
        version = "1.2.0";
        pyproject = true;
        src = pkgs.fetchFromGitHub {
          owner = "linien-org";
-          repo = "pyrp3";
+          repo = "${pname}";
          rev = "v${version}";
          hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
        };
-        patches = ./fast-servo/linien-pyrp3-monitor.patch;
-        nativeBuildInputs = with pkgs-armv7l.python3Packages; [
-          setuptools wheel setuptools-scm
-        ] ++ (with pkgs-armv7l; [ gcc gnumake ]);
-        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
+        nativeBuildInputs = with pkgs.python3Packages; [ setuptools wheel setuptools-scm ];
+        propagatedBuildInputs = with pkgs.python3Packages; [
          myhdl
          rpyc4
          cached-property
          numpy
        ];
-        postInstall = ''
-          cp monitor/libmonitor.so $out/lib
-        '';
-        postFixup = ''
-          substituteInPlace $out/${pkgs.python3.sitePackages}/pyrp3/raw_memory.py \
-            --replace "libmonitor.so" "$out/lib/libmonitor.so"
-        '';
      };

-      linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
+      linien-server = pkgs.python3Packages.buildPythonPackage rec {
        pname = "linien-server";
        pyproject = true;
        inherit (pkgs.python3Packages.linien-common) src version;
        sourceRoot = "source/linien-server";
        postPatch = ''
-          cp ${fast-servo-gateware}/csrmap.py linien_server/csrmap.py
          substituteInPlace linien_server/acquisition.py \
            --replace "  start_nginx()" "" \
            --replace "  stop_nginx()" "" \
            --replace "  flash_fpga()" ""
        '';
-        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
+        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
+        propagatedBuildInputs = with pkgs.python3Packages; [
          appdirs
          certifi
          click
@ -154,6 +126,15 @@
        ];
      };

+      not-os-configured = (import patched-not-os {
+        inherit nixpkgs;
+        extraModules = [
+          "${patched-not-os}/zynq_image.nix"
+        ];
+        system = "x86_64-linux";
+        crossSystem.system = "armv7l-linux";
+      });
+
      fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
        name = "fast-servo-gateware";
        inherit (pkgs.python3Packages.linien-common) src;
@ -186,33 +167,11 @@
          mkdir -p $out $out/nix-support
          cp gateware/build/top.bit $out
          cp linien-server/linien_server/gateware.bin $out
-          cp linien-server/linien_server/csrmap.py $out
          echo file binary-dist $out/top.bit >> $out/nix-support/hydra-build-products
          echo file binary-dist $out/gateware.bin >> $out/nix-support/hydra-build-products
        '';
      };

-      pyfastservo = pkgs-armv7l.python3Packages.buildPythonPackage rec {
-        name = "pyfastservo";
-        src = ./fast-servo;
-        preBuild = ''
-          cat > setup.py << EOF
-          from setuptools import setup
-
-          setup(
-            name="pyfastservo",
-            packages=["pyfastservo"],
-            install_requires=["spidev", "smbus2"],
-            entry_points = {"console_scripts": ["fp_leds=pyfastservo.fp_leds:main"]},
-          )
-          EOF
-        '';
-        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
-          spidev
-          smbus2
-        ];
-      };
-
      mkbootimage = pkgs.stdenv.mkDerivation {
        pname = "mkbootimage";
        version = "2.3dev";
@ -237,37 +196,6 @@
      };

      board-package-set = { board }: let
-        not-os-configured = (import patched-not-os {
-          inherit nixpkgs;
-          extraModules = [
-            "${patched-not-os}/zynq_image.nix"
-          ] ++ pkgs.lib.optionals (board == "fast-servo") [
-            ({ config, pkgs, lib, ... }: {
-              environment.systemPackages = [
-                linien-server
-                (pkgs.python3.withPackages(ps: [ pyfastservo ]))
-              ];
-              boot.postBootCommands = lib.mkAfter ''
-
-                # Program the FPGA
-                set +x
-                echo "Loading bitstream into SRAM..."
-                echo 0 > /sys/class/fpga_manager/fpga0/flags
-                mkdir -p /lib/firmware
-                cp ${fast-servo-gateware}/gateware.bin /lib/firmware/
-                echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
-
-                # Run device init scripts
-                echo "Initializing clock generator, ADC, and DAC..."
-                python3 -m pyfastservo.initialize
-              '';
-            })];
-          system = "x86_64-linux";
-          inherit crossSystem;
-        });
-
-        not-os-build = not-os-configured.config.system.build;
-
        fsbl = pkgs.stdenv.mkDerivation {
          name = "${board}-fsbl";
          src = pkgs.fetchFromGitHub {
@ -306,8 +234,9 @@
          dontFixup = true;
        };

-        u-boot = (pkgs-armv7l.buildUBoot {
-            name = "${board}-u-boot";
+        u-boot = let
+          fast-servo-dts = fast-servo/fast-servo.dts;
+          in (pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
            defconfig = "xilinx_zynq_virt_defconfig";
            patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
            preConfigure = ''
@ -317,7 +246,7 @@
              CONFIG_SYS_PROMPT="${board}-boot> "
              CONFIG_AUTOBOOT=y
              CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
-                setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-build.toplevel}'
+                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 ${board}.dtb
                fatload mmc 0 0xA400000 uRamdisk.image.gz
@ -330,7 +259,7 @@
            filesToInstall = [ "u-boot.elf" ];
          }).overrideAttrs (oldAttrs: {
            postUnpack = ''
-              cp ${fast-servo/fast-servo.dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
+              cp ${fast-servo-dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
            '';
            postInstall = ''
              mkdir -p $out/dts
@ -361,7 +290,7 @@
            echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
          '';

-        dtb = pkgs.runCommand "${board}-dtb"
+        dtb = pkgs.runCommand "dtb"
          {
            buildInputs = [ pkgs.gcc pkgs.dtc ];
          }
@ -381,14 +310,14 @@

        sd-image = let
          rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
-            storePaths = [ not-os-build.toplevel ];
+            storePaths = [ not-os-cfg.build.toplevel ];
            volumeLabel = "ROOT";
          };
          # Current firmware (kernel, bootimage, etc..) takes ~18MB
          firmwareSize = 30;
          firmwarePartitionOffset = 8;
          in pkgs.stdenv.mkDerivation {
-            name = "${board}-sd-image";
+            name = "sd-image";
            nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
            buildCommand = ''
              mkdir -p $out/nix-support $out/sd-image
@ -422,8 +351,8 @@
              mkdir firmware
              cp ${bootimage}/boot.bin firmware/
              cp ${dtb}/${board}.dtb firmware/
-              cp ${not-os-build.kernel}/uImage firmware/
-              cp ${not-os-build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+              cp ${not-os-cfg.build.kernel}/uImage firmware/
+              cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz

              (cd firmware; mcopy -psvm -i ../firmware_part.img ./* ::)
              dd conv=notrunc if=firmware_part.img of=$img seek=$START count=$SECTORS
@ -436,9 +365,7 @@
            export PATH=${pkgs.qemu}/bin:$PATH
            IMGDIR=$(mktemp -d /tmp/not-os-qemu-XXXXXX)
            BASE=$(realpath $(dirname $0))
-
-            qemu-img convert -O qcow2 -f raw -o preallocation=metadata $BASE/sd-image.img $IMGDIR/sd-sparse.qcow2
-            qemu-img create -F qcow2 -f qcow2 -b $IMGDIR/sd-sparse.qcow2 $IMGDIR/sd-overlay.qcow2 2G
+            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
@ -453,7 +380,7 @@

            rm -rf $IMGDIR
          '';
-          in pkgs.runCommand "${board}-qemu" {
+          in pkgs.runCommand "not-os-qemu" {
            inherit qemuScript;
            passAsFile = [ "qemuScript" ];
            preferLocalBuild = true;
--- a/not-os-patches/pr-28.patch
+++ b/not-os-patches/pr-28.patch
@ -151,10 +151,10 @@ index c61f9d6..fbdf0fd 100644
   };
 }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..9d1621e 100644
+index 3fa23ab..e2e3871 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -1,66 +1,89 @@
+@@ -1,66 +1,102 @@
 -{ config, pkgs, ... }:
 +{ lib, config, pkgs, ... }:
 
@ -163,7 +163,22 @@ index 3fa23ab..9d1621e 100644
 -  # dont use overlays for the qemu, it causes a lot of wasted time on recompiles
 -  x86pkgs = import pkgs.path { system = "x86_64-linux"; };
 -  customKernel = pkgs.linux.override {
-+  customKernel = (pkgs.linux.override {
+  crosspkgs = import pkgs.path {
+    system = "x86_64-linux";
+    crossSystem = {
+      system = "armv7l-linux";
+      linux-kernel = {
+        name = "zynq";
+        baseConfig = "multi_v7_defconfig";
+        target = "uImage";
+        installTarget = "uImage";
+        autoModules = false;
+        DTB = true;
+        makeFlags = [ "LOADADDR=0x8000" ];
+      };
+    };
+  };
+  customKernel = (crosspkgs.linux.override {
     extraConfig = ''
       OVERLAY_FS y
 +      MEDIA_SUPPORT n
@ -180,15 +195,14 @@ index 3fa23ab..9d1621e 100644
 +      OF_OVERLAY y
     '';
 -  };
+-  customKernelPackages = pkgs.linuxPackagesFor customKernel;
 +  }).overrideAttrs (oa: {
 +    postInstall = ''
-+      if [ -e arch/arm/boot/uImage ]; then
-+        cp arch/arm/boot/uImage $out
-+      fi
+      cp arch/arm/boot/uImage $out
 +      ${oa.postInstall}
 +    '';
 +  });
-   customKernelPackages = pkgs.linuxPackagesFor customKernel;
+  customKernelPackages = crosspkgs.linuxPackagesFor customKernel;
 in {
   imports = [ ./arm32-cross-fixes.nix ];
   boot.kernelPackages = customKernelPackages;
@ -239,12 +253,12 @@ index 3fa23ab..9d1621e 100644
 -    chmod +x qemu-script
 -    patchShebangs qemu-script
 -    ls -ltrh
-  '';
+   '';
 -  system.build.rpi_image_tar = pkgs.runCommand "dist.tar" {} ''
 -    mkdir -p $out/nix-support
 -    tar -cvf $out/dist.tar ${config.system.build.rpi_image}
 -    echo "file binary-dist $out/dist.tar" >> $out/nix-support/hydra-build-products
-   '';
+-  '';
 -  environment.systemPackages = [ pkgs.strace ];
 -  environment.etc."service/getty/run".source = pkgs.writeShellScript "getty" ''
 -    agetty ttyPS0 115200
--- a/not-os-patches/pr-33.patch
+++ b/not-os-patches/pr-33.patch
@ -1062,13 +1062,13 @@ index 0000000..59aa585
 ++
 + #endif /*_LINUX_FPGA_MGR_H */
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 9d1621e..012e50c 100644
+index e2e3871..2decd54 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -3,6 +3,16 @@
- with lib;
- let
-   customKernel = (pkgs.linux.override {
+@@ -18,6 +18,16 @@ let
+     };
+   };
+   customKernel = (crosspkgs.linux.override {
 +    kernelPatches = [
 +      ({
 +        name = "xilinx-configfs-overlays";
@ -1082,7 +1082,7 @@ index 9d1621e..012e50c 100644
     extraConfig = ''
       OVERLAY_FS y
       MEDIA_SUPPORT n
-@@ -17,6 +27,7 @@ let
+@@ -32,6 +42,7 @@ let
       OF_FPGA_REGION y
       FPGA_MGR_ZYNQ_FPGA y
       OF_OVERLAY y