501 lines
18 KiB
Nix
501 lines
18 KiB
Nix
{
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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-24.11;
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inputs.not-os.url = github:cleverca22/not-os;
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inputs.not-os.inputs.nixpkgs.follows = "nixpkgs";
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inputs.src-migen = { url = github:m-labs/migen; flake = false; };
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inputs.src-misoc = { type = "git"; url = "https://github.com/m-labs/misoc.git"; submodules = true; flake = false; };
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outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
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let
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pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
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pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
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fsbl-support = ./fast-servo/fsbl-support;
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patched-not-os = pkgs.applyPatches {
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name = "not-os-patched";
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src = not-os;
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patches = [
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./not-os-patches/network.patch
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./not-os-patches/pr-28.patch
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./not-os-patches/pr-29.patch
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./not-os-patches/pr-30.patch
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./not-os-patches/pr-31.patch
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./not-os-patches/pr-33.patch
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./not-os-patches/iproute2.patch
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];
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};
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crossSystem = {
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system = "armv7l-linux";
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linux-kernel = {
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name = "zynq";
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baseConfig = "multi_v7_defconfig";
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target = "uImage";
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installTarget = "uImage";
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autoModules = false;
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DTB = true;
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makeFlags = [ "LOADADDR=0x8000" ];
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};
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};
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crosspkgs-overlay = (self: super: {
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pkgsCross = super.pkgsCross // {
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zynq-baremetal = import super.path {
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system = "x86_64-linux";
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crossSystem = {
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config = "arm-none-eabihf";
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libc = "newlib";
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gcc.cpu = "cortex-a9";
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gcc.fpu = "vfpv3";
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};
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};
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zynq-armv7l-linux = import super.path {
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system = "x86_64-linux";
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inherit crossSystem;
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};
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};
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});
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migen = pkgs.python3Packages.buildPythonPackage rec {
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name = "migen";
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src = src-migen;
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format = "pyproject";
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nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
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propagatedBuildInputs = [ pkgs.python3Packages.colorama ];
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};
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misoc = pkgs.python3Packages.buildPythonPackage {
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name = "misoc";
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src = src-misoc;
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propagatedBuildInputs = with pkgs.python3Packages; [ jinja2 numpy migen pyserial asyncserial ];
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};
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vivado = pkgs.buildFHSEnv {
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name = "vivado";
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targetPkgs = pkgs: with pkgs; let
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# Apply patch from https://github.com/nix-community/nix-environments/pull/54
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# to fix ncurses libtinfo.so's soname issue
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ncurses' = ncurses5.overrideAttrs (old: {
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configureFlags = old.configureFlags ++ [ "--with-termlib" ];
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postFixup = "";
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});
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in [
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libxcrypt-legacy
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(ncurses'.override { unicodeSupport = false; })
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zlib
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libuuid
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xorg.libSM
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xorg.libICE
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xorg.libXrender
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xorg.libX11
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xorg.libXext
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xorg.libXtst
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xorg.libXi
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freetype
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fontconfig
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];
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profile = "set -e; source /opt/Xilinx/Vivado/2024.2/settings64.sh";
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runScript = "vivado";
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};
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pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
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pname = "pyrp3";
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version = "1.2.0";
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pyproject = true;
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src = pkgs.fetchFromGitHub {
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owner = "linien-org";
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repo = "pyrp3";
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rev = "v${version}";
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hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
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};
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patches = ./fast-servo/linien-pyrp3-monitor.patch;
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nativeBuildInputs = with pkgs-armv7l.python3Packages; [
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setuptools wheel setuptools-scm
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] ++ (with pkgs-armv7l; [ gcc gnumake ]);
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propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
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myhdl
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rpyc4
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cached-property
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numpy
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];
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postInstall = ''
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cp monitor/libmonitor.so $out/lib
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'';
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postFixup = ''
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substituteInPlace $out/${pkgs.python3.sitePackages}/pyrp3/raw_memory.py \
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--replace "libmonitor.so" "$out/lib/libmonitor.so"
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'';
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};
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linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
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pname = "linien-server";
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pyproject = true;
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inherit (pkgs.python3Packages.linien-common) src version;
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sourceRoot = "source/linien-server";
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postPatch = ''
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cp ${fast-servo-gateware}/csrmap.py linien_server/csrmap.py
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substituteInPlace linien_server/acquisition.py \
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--replace " start_nginx()" "" \
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--replace " stop_nginx()" "" \
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--replace " flash_fpga()" ""
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'';
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nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
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propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
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appdirs
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certifi
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click
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cma
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pylpsd
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pyrp3
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requests
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linien-common
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];
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};
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fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
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name = "fast-servo-gateware";
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inherit (pkgs.python3Packages.linien-common) src;
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prePatch = ''
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mkdir -p fast_servo/gateware
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cp -r ${./fast-servo/linien-gateware}/. fast_servo/gateware
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'';
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patches = [
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fast-servo/linien-fast-servo-gateware.patch
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fast-servo/linien-fast-servo-server.patch
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fast-servo/autolock_pipeline.patch
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fast-servo/iir_pipeline.patch
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fast-servo/linien_module_pipeline.patch
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fast-servo/pid_pipeline.patch
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fast-servo/pid_err_sig_pipeline.patch
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];
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nativeBuildInputs = [
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(pkgs.python3.withPackages(ps: [
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migen misoc
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(ps.linien-common.overrideAttrs(oa: {
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# config.py tries to access $HOME, but we do not need it for building gateware
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postPatch = ''
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echo > linien_common/config.py
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echo > linien_common/__init__.py
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'';
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doCheck = false;
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}))
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]))
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vivado
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];
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buildPhase = ''
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python -m gateware.fpga_image_helper -p fastservo
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'';
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installPhase = ''
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mkdir -p $out $out/nix-support
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cp gateware/build/top.bit $out
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cp linien-server/linien_server/gateware.bin $out
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cp linien-server/linien_server/csrmap.py $out
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echo file binary-dist $out/top.bit >> $out/nix-support/hydra-build-products
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echo file binary-dist $out/gateware.bin >> $out/nix-support/hydra-build-products
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'';
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};
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pyfastservo = pkgs-armv7l.python3Packages.buildPythonPackage rec {
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name = "pyfastservo";
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src = ./fast-servo;
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preBuild = ''
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cat > setup.py << EOF
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from setuptools import setup
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setup(
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name="pyfastservo",
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packages=["pyfastservo"],
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install_requires=["spidev", "smbus2"],
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entry_points = {"console_scripts": ["fp_leds=pyfastservo.fp_leds:main"]},
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)
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EOF
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'';
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propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
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spidev
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smbus2
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];
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};
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mkbootimage = pkgs.stdenv.mkDerivation {
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pname = "mkbootimage";
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version = "2.3dev";
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src = pkgs.fetchFromGitHub {
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owner = "antmicro";
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repo = "zynq-mkbootimage";
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rev = "872363ce32c249f8278cf107bc6d3bdeb38d849f";
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sha256 = "sha256-5FPyAhUWZDwHbqmp9J2ZXTmjaXPz+dzrJMolaNwADHs=";
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};
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propagatedBuildInputs = [ pkgs.libelf pkgs.pcre ];
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patchPhase = ''
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substituteInPlace Makefile --replace "git rev-parse --short HEAD" "echo nix"
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'';
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installPhase = ''
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mkdir -p $out/bin
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cp mkbootimage $out/bin
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'';
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# fix crash; see https://github.com/xmrig/xmrig/issues/3305
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hardeningDisable = [ "fortify" ];
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};
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board-package-set = { board }: let
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not-os-configured = (import patched-not-os {
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inherit nixpkgs;
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extraModules = [
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"${patched-not-os}/zynq_image.nix"
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] ++ pkgs.lib.optionals (board == "fast-servo") [
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({ config, pkgs, lib, ... }: {
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environment.systemPackages = [
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linien-server
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(pkgs.python3.withPackages(ps: [ pyfastservo ]))
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];
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boot.postBootCommands = lib.mkAfter ''
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# Program the FPGA
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set +x
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echo "Loading bitstream into SRAM..."
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echo 0 > /sys/class/fpga_manager/fpga0/flags
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mkdir -p /lib/firmware
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cp ${fast-servo-gateware}/gateware.bin /lib/firmware/
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echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
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# Run device init scripts
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echo "Initializing clock generator, ADC, and DAC..."
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python3 -m pyfastservo.initialize
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'';
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})];
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system = "x86_64-linux";
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inherit crossSystem;
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});
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not-os-build = not-os-configured.config.system.build;
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fsbl = pkgs.stdenv.mkDerivation {
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name = "${board}-fsbl";
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src = pkgs.fetchFromGitHub {
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owner = "Xilinx";
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repo = "embeddedsw";
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rev = "xilinx_v2022.2";
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sha256 = "sha256-UDz9KK/Hw3qM1BAeKif30rE8Bi6C2uvuZlvyvtJCMfw=";
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};
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nativeBuildInputs = [
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pkgs.pkgsCross.zynq-baremetal.buildPackages.binutils
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pkgs.pkgsCross.zynq-baremetal.buildPackages.gcc
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];
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postUnpack = ''
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mkdir -p $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
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cp $sourceRoot/lib/sw_apps/zynq_fsbl/misc/zc706/* $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
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cp ${fsbl-support}/* $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
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'';
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patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/fsbl.patch;
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postPatch = ''
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patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
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for x in lib/sw_apps/zynq_fsbl/src/Makefile lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh lib/bsp/standalone/src/arm/cortexa9/gcc/Makefile; do
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substituteInPlace $x \
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--replace "arm-none-eabi-" "arm-none-eabihf-"
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done
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'';
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buildPhase = ''
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cd lib/sw_apps/zynq_fsbl/src
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make BOARD=${board} "CFLAGS=-DFSBL_DEBUG_INFO -g"
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'';
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installPhase = ''
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mkdir $out
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cp fsbl.elf $out
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'';
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doCheck = false;
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dontFixup = true;
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};
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u-boot = (pkgs-armv7l.buildUBoot {
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name = "${board}-u-boot";
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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=zynq-${board}
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'';
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extraConfig = ''
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CONFIG_SYS_PROMPT="${board}-boot> "
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CONFIG_AUTOBOOT=y
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CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
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setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-build.toplevel}'
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fatload mmc 0 0x6400000 uImage
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fatload mmc 0 0x8000000 ${board}.dtb
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fatload mmc 0 0xA400000 uRamdisk.image.gz
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bootm 0x6400000 0xA400000 0x8000000
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''}"
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CONFIG_BOOTDELAY=0
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CONFIG_USE_BOOTCOMMAND=y
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'';
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extraMeta.platforms = [ "armv7l-linux" ];
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filesToInstall = [ "u-boot.elf" ];
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}).overrideAttrs (oldAttrs: {
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postUnpack = ''
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cp ${fast-servo/fast-servo.dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
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'';
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postInstall = ''
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mkdir -p $out/dts
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cp arch/arm/dts/zynq-fast-servo.dts $out/dts
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cp arch/arm/dts/zynq-zc706.dts $out/dts
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cp arch/arm/dts/zynq-7000.dtsi $out/dts
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'';
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});
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bootimage = pkgs.runCommand "${board}-bootimage"
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{
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buildInputs = [ mkbootimage ];
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}
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''
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bifdir=`mktemp -d`
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cd $bifdir
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ln -s ${fsbl}/fsbl.elf fsbl.elf
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ln -s ${u-boot}/u-boot.elf u-boot.elf
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cat > boot.bif << EOF
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the_ROM_image:
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{
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[bootloader]fsbl.elf
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u-boot.elf
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}
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EOF
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mkdir $out $out/nix-support
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mkbootimage boot.bif $out/boot.bin
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echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
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'';
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dtb = pkgs.runCommand "${board}-dtb"
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{
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buildInputs = [ pkgs.gcc pkgs.dtc ];
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}
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''
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mkdir -p $out
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cp ${u-boot}/dts/zynq-${board}.dts .
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if [ ${board} == "zc706" ]; then
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mv zynq-${board}.dts zynq-${board}-top.dts
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cp ${u-boot}/dts/zynq-7000.dtsi .
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gcc -E -nostdinc -undef -D__DTS__ -x assembler-with-cpp -o zynq-${board}.dts zynq-${board}-top.dts
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fi
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dtc -I dts -O dtb -o ${board}.dtb zynq-${board}.dts
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cp ${board}.dtb $out
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'';
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sd-image = let
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rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
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storePaths = [ not-os-build.toplevel ];
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volumeLabel = "ROOT";
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};
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# Current firmware (kernel, bootimage, etc..) takes ~18MB
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firmwareSize = 30;
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firmwarePartitionOffset = 8;
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in pkgs.stdenv.mkDerivation {
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name = "${board}-sd-image";
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nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
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buildCommand = ''
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mkdir -p $out/nix-support $out/sd-image
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export img=$out/sd-image/sd-image.img
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echo "${pkgs.stdenv.buildPlatform.system}" > $out/nix-support/system
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echo "file sd-image $img" >> $out/nix-support/hydra-build-products
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gap=${toString firmwarePartitionOffset}
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rootSizeBlocks=$(du -B 512 --apparent-size ${rootfsImage} | awk '{ print $1 }')
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firmwareSizeBlocks=$((${toString firmwareSize} * 1024 * 1024 / 512))
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imageSize=$((rootSizeBlocks * 512 + firmwareSizeBlocks * 512 + gap * 1024 * 1024))
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truncate -s $imageSize $img
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fat32Start="$((gap))MB"
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fat32End="$((gap + ${toString firmwareSize}))MB"
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parted $img mklabel msdos
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parted $img mkpart primary fat32 $fat32Start $fat32End
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parted $img mkpart primary ext4 $fat32End 100%
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parted $img set 1 boot on
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eval $(partx $img -o START,SECTORS --nr 2 --pairs)
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dd conv=notrunc if=${rootfsImage} of=$img seek=$START count=$SECTORS
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eval $(partx $img -o START,SECTORS --nr 1 --pairs)
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truncate -s $((SECTORS * 512)) firmware_part.img
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faketime "1970-01-01 00:00:00" mkfs.vfat -n BOOT firmware_part.img
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mkdir firmware
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cp ${bootimage}/boot.bin firmware/
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cp ${dtb}/${board}.dtb firmware/
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cp ${not-os-build.kernel}/uImage firmware/
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cp ${not-os-build.uRamdisk}/initrd firmware/uRamdisk.image.gz
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(cd firmware; mcopy -psvm -i ../firmware_part.img ./* ::)
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dd conv=notrunc if=firmware_part.img of=$img seek=$START count=$SECTORS
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'';
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};
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not-os-qemu = let
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qemuScript = ''
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#!/bin/bash
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export PATH=${pkgs.qemu}/bin:$PATH
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IMGDIR=$(mktemp -d /tmp/not-os-qemu-XXXXXX)
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BASE=$(realpath $(dirname $0))
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qemu-img convert -O qcow2 -f raw -o preallocation=metadata $BASE/sd-image.img $IMGDIR/sd-sparse.qcow2
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qemu-img create -F qcow2 -f qcow2 -b $IMGDIR/sd-sparse.qcow2 $IMGDIR/sd-overlay.qcow2 2G
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# Some command arguments are based from samples in Xilinx QEMU User Documentation
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# See: https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/821854273/Running+Bare+Metal+Applications+on+QEMU
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qemu-system-arm \
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-M xilinx-zynq-a9 \
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-m 1024 \
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$([ ${board} = "zc706" ] && echo "-serial /dev/null") -serial stdio \
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|
-display none \
|
|
-kernel $BASE/u-boot.elf \
|
|
-sd $IMGDIR/sd-overlay.qcow2
|
|
|
|
rm -rf $IMGDIR
|
|
'';
|
|
in pkgs.runCommand "${board}-qemu" {
|
|
inherit qemuScript;
|
|
passAsFile = [ "qemuScript" ];
|
|
preferLocalBuild = true;
|
|
}
|
|
''
|
|
mkdir $out
|
|
cd $out
|
|
cp -s ${u-boot}/u-boot.elf .
|
|
cp -s ${sd-image}/sd-image/sd-image.img .
|
|
cp $qemuScriptPath qemu-script
|
|
chmod +x qemu-script
|
|
patchShebangs qemu-script
|
|
'';
|
|
in {
|
|
"${board}-fsbl" = fsbl;
|
|
"${board}-u-boot" = u-boot;
|
|
"${board}-bootimage" = bootimage;
|
|
"${board}-dtb" = dtb;
|
|
"${board}-sd-image" = sd-image;
|
|
"${board}-qemu" = not-os-qemu;
|
|
};
|
|
in rec {
|
|
packages.x86_64-linux = {
|
|
inherit mkbootimage;
|
|
inherit migen misoc vivado;
|
|
};
|
|
packages.armv7l-linux = {
|
|
inherit fast-servo-gateware linien-server;
|
|
} //
|
|
(board-package-set { board = "zc706"; }) //
|
|
(board-package-set { board = "fast-servo"; });
|
|
hydraJobs = packages.x86_64-linux // packages.armv7l-linux;
|
|
};
|
|
|
|
nixConfig = {
|
|
allow-import-from-derivation = true;
|
|
};
|
|
}
|