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Add bitstream loading and run init scripts at boot time #52

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sb10q merged 2 commits from fsagbuya/nix-servo:fast-servo-init into master 2024-04-24 18:03:18 +08:00
Conversation 0 Commits 2 Files Changed 6 +47 -11
fsagbuya commented 2024-03-21 18:52:36 +08:00
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Description

Note: This PR is rebased from #50. Need to merge that first before this.

  • Add the bitstream loading at boot time
  • Add pyfastservo and run init scripts at boot time
  • Linien offset switched to match the fast-servo linien gateware.

Use postBootCommand here rather than runit because it does not support one-shot services like this. Also there will be issues on running our program in parallel with other services and the log in prompt. See sample implementation below:

runit-services = ({ config, pkgs, lib, ... }: {
        environment.etc = lib.mkMerge [
          {
            "service/fpga/run".source = pkgs.writeScript "flash_fpga" ''
              #!${pkgs.runtimeShell}
              echo Flashing bitstream...
              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
              sv force-stop /etc/service/fpga > /dev/null
              sv exit /etc/service/fpga
            '';
          }
        ];
      });

Note that it is imperative to use commands like sv force-stop and sv exit here to emulate a one-shot type of service, otherwise runit will restart the service continously.

Boot log: (Qemu)
The log-in prompt shows while the fpga manager is still on-going.

Flashing bitstream...
[   22.697845] fpga_manager fpga0: writing gateware.bin to Xilinx Zynq FPGA Manager

zynq login: 

[   25.307664] fpga_manager fpga0: Timeout waiting for PCFG_INIT
[   25.307792] fpga_manager fpga0: Error preparing FPGA for writing
./run: line 6: echo: write error: Connection timed out

See full fast-servo boot log here: https://gist.github.com/fsagbuya/aa5bc932b653bc9f96f07dfbcde12f64#file-servo_bootlog-txt-L54-L170.

### Description Note: This PR is rebased from #50. Need to merge that first before this. - Add the bitstream loading at boot time - Add pyfastservo and run init scripts at boot time - Linien offset switched to match the fast-servo linien gateware. Use `postBootCommand` here rather than runit because it does not support one-shot services like this. Also there will be issues on running our program in parallel with other services and the log in prompt. See sample implementation below: ``` runit-services = ({ config, pkgs, lib, ... }: { environment.etc = lib.mkMerge [ { "service/fpga/run".source = pkgs.writeScript "flash_fpga" '' #!${pkgs.runtimeShell} echo Flashing bitstream... 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 sv force-stop /etc/service/fpga > /dev/null sv exit /etc/service/fpga ''; } ]; }); ``` Note that it is imperative to use commands like `sv force-stop` and `sv exit` here to emulate a one-shot type of service, otherwise runit will restart the service continously. Boot log: (Qemu) The log-in prompt shows while the fpga manager is still on-going. ``` Flashing bitstream... [ 22.697845] fpga_manager fpga0: writing gateware.bin to Xilinx Zynq FPGA Manager zynq login: [ 25.307664] fpga_manager fpga0: Timeout waiting for PCFG_INIT [ 25.307792] fpga_manager fpga0: Error preparing FPGA for writing ./run: line 6: echo: write error: Connection timed out ``` See full fast-servo boot log here: https://gist.github.com/fsagbuya/aa5bc932b653bc9f96f07dfbcde12f64#file-servo_bootlog-txt-L54-L170.
fsagbuya force-pushed fast-servo-init from 56c749eda4 to c06ad6ef1c 2024-03-22 13:38:55 +08:00 Compare
fsagbuya force-pushed fast-servo-init from c06ad6ef1c to 07e0d6aa0d 2024-03-22 13:46:24 +08:00 Compare
fsagbuya force-pushed fast-servo-init from 07e0d6aa0d to ff8bf82988 2024-04-02 10:50:09 +08:00 Compare
fsagbuya force-pushed fast-servo-init from ff8bf82988 to b7578e175a 2024-04-04 14:58:05 +08:00 Compare
sb10q reviewed 2024-04-04 16:32:17 +08:00
flake.nix Outdated
@ -214,0 +225,4 @@
echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
# Run device init scripts
mkdir -p /opt/pyfastservo
sb10q commented 2024-04-04 16:32:17 +08:00
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Put those into a regular derivation instead of doing nix's job (poorly).

Put those into a regular derivation instead of doing nix's job (poorly).
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fsagbuya commented 2024-04-04 16:52:49 +08:00
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I can combine the systemPackages and postBootCommands to a single derivation and call it fast-servo-config or something. Is that acceptable?

I can combine the `systemPackages` and `postBootCommands` to a single derivation and call it `fast-servo-config` or something. Is that acceptable?
sb10q commented 2024-04-04 17:12:11 +08:00
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Obviously not. Those init scripts are a regular package.

Obviously not. Those init scripts are a regular package.
👍 1
fsagbuya force-pushed fast-servo-init from b7578e175a to e149095e81 2024-04-04 17:09:38 +08:00 Compare
fsagbuya force-pushed fast-servo-init from e149095e81 to cc0879fcb0 2024-04-05 15:37:38 +08:00 Compare
sb10q reviewed 2024-04-24 18:03:08 +08:00
flake.nix
@ -214,0 +239,4 @@
# Program the FPGA
set +x
echo "Flashing bitstream..."
sb10q commented 2024-04-24 18:03:08 +08:00
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It's not flashing, just loading into SRAM. Please send another PR addressing this incorrect terminology.

It's not flashing, just loading into SRAM. Please send another PR addressing this incorrect terminology.
👍 1
sb10q merged commit 1ee382564e into master 2024-04-24 18:03:18 +08:00
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Reference: M-Labs/nix-servo#52
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