add device init scripts and initialize at boot

fast-servo/pyfastservo/common.py

@@ -22,8 +22,8 @@ MAP_SIZE = 0x1000
 MAP_MASK = 0xFFF
 PAGESIZE = 0x1000
 
-LINIEN_OFFSET = 0x0
+# LINIEN_OFFSET = 0x0
-# LINIEN_OFFSET = 0x300000
+LINIEN_OFFSET = 0x300000
 
 # ----------------------------------------------------------------
 # FRONT PANEL LEDS REGISTER ADDRESSES

flake.nix

@@ -10,8 +10,7 @@
 
   outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
-      pkgs = import nixpkgs { system = "x86_64-linux"; };
+      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
-      not-os-cfg = not-os-configured.config.system;
       fsbl-support = ./fast-servo/fsbl-support;
 
       patched-not-os = pkgs.applyPatches {
@@ -27,6 +26,20 @@
         ];
       };
 
+      crosspkgs-overlay = (self: super: {
+        pkgsCross = super.pkgsCross // {
+          zynq-baremetal = import super.path {
+            system = "x86_64-linux";
+            crossSystem = {
+              config = "arm-none-eabihf";
+              libc = "newlib";
+              gcc.cpu = "cortex-a9";
+              gcc.fpu = "vfpv3";
+            };
+          };
+        };
+      });
+
       migen = pkgs.python3Packages.buildPythonPackage rec {
         name = "migen";
         src = src-migen;
@@ -69,171 +82,74 @@
         runScript = "vivado";
       };
 
-      pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
+      fast-servo-extrapkg = ({ config, pkgs, ... }: let
-        pname = "pyrp3";
+        pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
-        version = "1.2.0";
+          pname = "pyrp3";
-        pyproject = true;
+          version = "1.2.0";
-        src = pkgs.fetchFromGitHub {
+          pyproject = true;
-          owner = "linien-org";
+          src = pkgs.fetchFromGitHub {
-          repo = "${pname}";
+            owner = "linien-org";
-          rev = "v${version}";
+            repo = "pyrp3";
-          hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
+            rev = "v${version}";
+            hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
+          };
+          nativeBuildInputs = with pkgs.python3Packages; [ setuptools wheel setuptools-scm ];
+          propagatedBuildInputs = with pkgs.python3Packages; [
+            myhdl
+            rpyc4
+            cached-property
+            numpy
+          ];
         };
-        nativeBuildInputs = with pkgs.python3Packages; [ setuptools wheel setuptools-scm ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
-          myhdl
-          rpyc4
-          cached-property
-          numpy
-        ];
-      };
 
-      linien-server = pkgs.python3Packages.buildPythonPackage rec {
+        linien-server = pkgs.python3Packages.buildPythonPackage rec {
-        pname = "linien-server";
+          pname = "linien-server";
-        pyproject = true;
+          pyproject = true;
-        inherit (pkgs.python3Packages.linien-common) src version;
+          inherit (pkgs.python3Packages.linien-common) src version;
-        sourceRoot = "source/linien-server";
+          sourceRoot = "source/linien-server";
-        postPatch = ''
+          postPatch = ''
-          substituteInPlace linien_server/acquisition.py \
+            substituteInPlace linien_server/acquisition.py \
-            --replace "  start_nginx()" "" \
+              --replace "  start_nginx()" "" \
-            --replace "  stop_nginx()" "" \
+              --replace "  stop_nginx()" "" \
-            --replace "  flash_fpga()" ""
+              --replace "  flash_fpga()" ""
-        '';
+          '';
-        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
+          nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+          propagatedBuildInputs = with pkgs.python3Packages; [
-          appdirs
+            appdirs
-          certifi
+            certifi
-          click
+            click
-          cma
+            cma
-          pylpsd
+            pylpsd
-          pyrp3
+            pyrp3
-          requests
+            requests
-          linien-common
+            linien-common
+          ];
+        };
+      in {
+        system.build.linien-server = linien-server;
+        environment.systemPackages = [
+          linien-server
+          (pkgs.python3.withPackages(ps: [ ps.spidev ps.smbus2 ]))
         ];
-      };
-
-      not-os-configured = (import patched-not-os {
-        inherit nixpkgs;
-        extraModules = [
-          "${patched-not-os}/zynq_image.nix"
-        ];
-        system = "x86_64-linux";
-        crossSystem.system = "armv7l-linux";
       });
 
-      gnu-platform = "arm-none-eabi";
+      fast-servo-init = ({ config, pkgs, lib, ... }: {
+        boot.postBootCommands = lib.mkAfter ''
 
-      binutils-pkg = { zlib, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
+          # Program the FPGA
-        basename = "binutils";
+          set +x
-        version = "2.30";
+          echo Flashing bitstream...
-        name = "${basename}-${gnu-platform}-${version}";
+          echo 0 > /sys/class/fpga_manager/fpga0/flags
-        src = pkgs.fetchurl {
+          mkdir -p /lib/firmware
-          url = "https://ftp.gnu.org/gnu/binutils/binutils-${version}.tar.bz2";
+          cp ${fast-servo-gateware}/gateware.bin /lib/firmware/
-          sha256 = "028cklfqaab24glva1ks2aqa1zxa6w6xmc8q34zs1sb7h22dxspg";
+          echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
-        };
-        configureFlags = [
-          "--enable-deterministic-archives"
-          "--target=${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.
-          '';
-          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 {
+          # Run device init scripts
-        basename = "gcc";
+          mkdir -p /opt/pyfastservo
-        version = "9.1.0";
+          cp ${./fast-servo/pyfastservo}/* /opt/pyfastservo
-        name = "${basename}-${gnu-platform}-${version}";
+          python3 /opt/pyfastservo/initialize.py
-        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" ];
-        };
-        gcc = pkgs.callPackage gcc-pkg {
-          platform-binutils = binutils;
-          extraConfigureFlags = [ "--enable-newlib" "--with-headers=${newlib}/arm-none-eabi/include" ];
-        };
-      };
 
       fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
         name = "fast-servo-gateware";
@@ -296,6 +212,18 @@
       };
 
       board-package-set = { board }: let
+        not-os-configured = (import patched-not-os {
+          inherit nixpkgs;
+          extraModules = [
+            "${patched-not-os}/zynq_image.nix"
+          ] ++ pkgs.lib.optional (board == "fast-servo") fast-servo-extrapkg
+          ++ pkgs.lib.optional (board == "fast-servo") fast-servo-init;
+          system = "x86_64-linux";
+          crossSystem.system = "armv7l-linux";
+        });
+
+        not-os-build = not-os-configured.config.system.build;
+
         fsbl = pkgs.stdenv.mkDerivation {
           name = "${board}-fsbl";
           src = pkgs.fetchFromGitHub {
@@ -305,9 +233,8 @@
             sha256 = "sha256-UDz9KK/Hw3qM1BAeKif30rE8Bi6C2uvuZlvyvtJCMfw=";
           };
           nativeBuildInputs = [
-            pkgs.gnumake
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.binutils
-            gnutoolchain.binutils
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.gcc
-            gnutoolchain.gcc
           ];
           postUnpack = ''
             mkdir -p $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
@@ -317,7 +244,11 @@
           patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/fsbl.patch;
           postPatch = ''
             patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
-            echo 'SEARCH_DIR("${gnutoolchain.newlib}/arm-none-eabi/lib");' >> lib/sw_apps/zynq_fsbl/src/lscript.ld
+
+            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
+              substituteInPlace $x \
+                --replace "arm-none-eabi-" "arm-none-eabihf-"
+            done
           '';
           buildPhase = ''
             cd lib/sw_apps/zynq_fsbl/src
@@ -343,7 +274,7 @@
               CONFIG_SYS_PROMPT="${board}-boot> "
               CONFIG_AUTOBOOT=y
               CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
-                setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}'
+                setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-build.toplevel}'
                 fatload mmc 0 0x6400000 uImage
                 fatload mmc 0 0x8000000 ${board}.dtb
                 fatload mmc 0 0xA400000 uRamdisk.image.gz
@@ -407,7 +338,7 @@
 
         sd-image = let
           rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
-            storePaths = [ not-os-cfg.build.toplevel ];
+            storePaths = [ not-os-build.toplevel ];
             volumeLabel = "ROOT";
           };
           # Current firmware (kernel, bootimage, etc..) takes ~18MB
@@ -448,8 +379,8 @@
               mkdir firmware
               cp ${bootimage}/boot.bin firmware/
               cp ${dtb}/${board}.dtb firmware/
-              cp ${not-os-cfg.build.kernel}/uImage firmware/
+              cp ${not-os-build.kernel}/uImage firmware/
-              cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+              cp ${not-os-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=$SECTORS
@@ -462,7 +393,7 @@
             export PATH=${pkgs.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
+            qemu-img create -F raw -f qcow2 -b $BASE/sd-image.img $IMGDIR/sd-overlay.qcow2 4G
 
             # 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
@@ -498,6 +429,7 @@
         "${board}-dtb" = dtb;
         "${board}-sd-image" = sd-image;
         "${board}-qemu" = not-os-qemu;
+        linien-server = not-os-build.linien-server;
       };
     in rec {
       packages.x86_64-linux = {
@@ -505,7 +437,7 @@
         inherit migen misoc vivado;
       };
       packages.armv7l-linux = {
-        inherit fast-servo-gateware linien-server;
+        inherit fast-servo-gateware;
       } //
       (board-package-set { board = "zc706"; }) //
       (board-package-set { board = "fast-servo"; });