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

@@ -180,6 +180,28 @@
         '';
       };
 
+      fast-servo-config = { config, pkgs, lib, ... }: {
+        environment.systemPackages = [
+          linien-server
+          (pkgs.python3.withPackages(ps: [ ps.spidev ps.smbus2 ]))
+        ];
+        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 ${./fast-servo/pyfastservo}/* /opt/pyfastservo
+          python3 /opt/pyfastservo/initialize.py
+        '';
+      };
+
       mkbootimage = pkgs.stdenv.mkDerivation {
         pname = "mkbootimage";
         version = "2.3dev";
@@ -208,10 +230,7 @@
           inherit nixpkgs;
           extraModules = [
             "${patched-not-os}/zynq_image.nix"
-          ] ++ pkgs.lib.optionals (board == "fast-servo") [
-            ({ config, pkgs, ... }: {
-              environment.systemPackages = [ linien-server ];
-            })];
+          ] ++ pkgs.lib.optionals (board == "fast-servo") [ fast-servo-config ];
           system = "x86_64-linux";
           inherit crossSystem;
         });
@@ -387,7 +406,7 @@
             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 1G
+            qemu-img create -F qcow2 -f qcow2 -b $IMGDIR/sd-sparse.qcow2 $IMGDIR/sd-overlay.qcow2 2G
 
             # 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