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 = 0x300000
+# LINIEN_OFFSET = 0x0
+LINIEN_OFFSET = 0x300000
 
 # ----------------------------------------------------------------
 # FRONT PANEL LEDS REGISTER ADDRESSES

flake.nix

@@ -113,7 +113,28 @@
         };
       in {
         system.build.linien-server = linien-server;
-        environment.systemPackages = [ linien-server ];
+        environment.systemPackages = [
+          linien-server
+          (pkgs.python3.withPackages(ps: [ ps.spidev ps.smbus2 ]))
+        ];
+      });
+
+      fast-servo-init = ({ config, pkgs, lib, ... }: {
+        boot.postBootCommands = lib.mkAfter ''
+
+          # Program the FPGA
+          set +x
+          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
+
+          # Run device init scripts
+          mkdir -p /opt/pyfastservo
+          cp ${./fast-servo/pyfastservo}/* /opt/pyfastservo
+          python3 /opt/pyfastservo/initialize.py
+        '';
       });
 
       gnu-platform = "arm-none-eabi";
@@ -295,7 +316,8 @@
           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-extrapkg
+          ++ pkgs.lib.optional (board == "fast-servo") fast-servo-init;
           system = "x86_64-linux";
           crossSystem.system = "armv7l-linux";
         });