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

@@ -11,7 +11,6 @@
   outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
       pkgs = import nixpkgs { system = "x86_64-linux"; };
-      not-os-cfg = not-os-configured.config.system;
       fsbl-support = ./fast-servo/fsbl-support;
 
       patched-not-os = pkgs.applyPatches {
@@ -69,56 +68,73 @@
         runScript = "vivado";
       };
 
-      pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
-        pname = "pyrp3";
-        version = "1.2.0";
-        pyproject = true;
-        src = pkgs.fetchFromGitHub {
-          owner = "linien-org";
-          repo = "${pname}";
-          rev = "v${version}";
-          hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
+      fast-servo-extrapkg = ({ config, pkgs, ... }: let
+        pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
+          pname = "pyrp3";
+          version = "1.2.0";
+          pyproject = true;
+          src = pkgs.fetchFromGitHub {
+            owner = "linien-org";
+            repo = "pyrp3";
+            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 {
-        pname = "linien-server";
-        pyproject = true;
-        inherit (pkgs.python3Packages.linien-common) src version;
-        sourceRoot = "source/linien-server";
-        postPatch = ''
+        linien-server = pkgs.python3Packages.buildPythonPackage rec {
+          pname = "linien-server";
+          pyproject = true;
+          inherit (pkgs.python3Packages.linien-common) src version;
+          sourceRoot = "source/linien-server";
+          postPatch = ''
           substituteInPlace linien_server/acquisition.py \
             --replace "  start_nginx()" "" \
             --replace "  stop_nginx()" "" \
             --replace "  flash_fpga()" ""
         '';
         nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
-          appdirs
-          certifi
-          click
-          cma
-          pylpsd
-          pyrp3
-          requests
-          linien-common
+          propagatedBuildInputs = with pkgs.python3Packages; [
+            appdirs
+            certifi
+            click
+            cma
+            pylpsd
+            pyrp3
+            requests
+            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";
+      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";
@@ -296,6 +312,18 @@
       };
 
       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 {
@@ -343,7 +371,7 @@
               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 +435,7 @@
 
         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 +476,8 @@
               mkdir firmware
               cp ${bootimage}/boot.bin firmware/
               cp ${dtb}/${board}.dtb firmware/
-              cp ${not-os-cfg.build.kernel}/uImage firmware/
-              cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+              cp ${not-os-build.kernel}/uImage firmware/
+              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=$SECTORS
@@ -462,7 +490,7 @@
             export PATH=${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 +526,7 @@
         "${board}-dtb" = dtb;
         "${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 +534,7 @@
         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"; });