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 +11,7 @@
   outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
       pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
-      not-os-cfg = not-os-configured.config.system;
+      pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
       fsbl-support = ./fast-servo/fsbl-support;
 
       patched-not-os = pkgs.applyPatches {
@@ -27,6 +27,19 @@
         ];
       };
 
+      crossSystem = {
+        system = "armv7l-linux";
+        linux-kernel = {
+          name = "zynq";
+          baseConfig = "multi_v7_defconfig";
+          target = "uImage";
+          installTarget = "uImage";
+          autoModules = false;
+          DTB = true;
+          makeFlags = [ "LOADADDR=0x8000" ];
+        };
+      };
+
       crosspkgs-overlay = (self: super: {
         pkgsCross = super.pkgsCross // {
           zynq-baremetal = import super.path {
@@ -38,6 +51,10 @@
               gcc.fpu = "vfpv3";
             };
           };
+          zynq-armv7l-linux = import super.path {
+            system = "x86_64-linux";
+            inherit crossSystem;
+          };
         };
       });
 
@@ -83,18 +100,18 @@
         runScript = "vivado";
       };
 
-      pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
+      pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "pyrp3";
         version = "1.2.0";
         pyproject = true;
         src = pkgs.fetchFromGitHub {
           owner = "linien-org";
-          repo = "${pname}";
+          repo = "pyrp3";
           rev = "v${version}";
           hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
         };
-        nativeBuildInputs = with pkgs.python3Packages; [ setuptools wheel setuptools-scm ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        nativeBuildInputs = with pkgs-armv7l.python3Packages; [ setuptools wheel setuptools-scm ];
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
           myhdl
           rpyc4
           cached-property
@@ -102,7 +119,7 @@
         ];
       };
 
-      linien-server = pkgs.python3Packages.buildPythonPackage rec {
+      linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "linien-server";
         pyproject = true;
         inherit (pkgs.python3Packages.linien-common) src version;
@@ -113,8 +130,8 @@
             --replace "  stop_nginx()" "" \
             --replace "  flash_fpga()" ""
         '';
-        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
           appdirs
           certifi
           click
@@ -126,15 +143,6 @@
         ];
       };
 
-      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-gateware = pkgs.stdenv.mkDerivation rec {
         name = "fast-servo-gateware";
         inherit (pkgs.python3Packages.linien-common) src;
@@ -196,6 +204,38 @@
       };
 
       board-package-set = { board }: let
+        not-os-configured = (import patched-not-os {
+          inherit nixpkgs;
+          extraModules = [
+            "${patched-not-os}/zynq_image.nix"
+          ] ++ pkgs.lib.optionals (board == "fast-servo") [
+            ({ 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 ${./fast-servo/pyfastservo}/* /opt/pyfastservo
+                python3 /opt/pyfastservo/initialize.py
+              '';
+            })];
+          system = "x86_64-linux";
+          inherit crossSystem;
+        });
+
+        not-os-build = not-os-configured.config.system.build;
+
         fsbl = pkgs.stdenv.mkDerivation {
           name = "${board}-fsbl";
           src = pkgs.fetchFromGitHub {
@@ -234,9 +274,7 @@
           dontFixup = true;
         };
 
-        u-boot = let
-          fast-servo-dts = fast-servo/fast-servo.dts;
-          in (pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
+        u-boot = (pkgs-armv7l.buildUBoot {
             defconfig = "xilinx_zynq_virt_defconfig";
             patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
             preConfigure = ''
@@ -246,7 +284,7 @@
               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
@@ -259,7 +297,7 @@
             filesToInstall = [ "u-boot.elf" ];
           }).overrideAttrs (oldAttrs: {
             postUnpack = ''
-              cp ${fast-servo-dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
+              cp ${fast-servo/fast-servo.dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
             '';
             postInstall = ''
               mkdir -p $out/dts
@@ -310,7 +348,7 @@
 
         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
@@ -351,8 +389,8 @@
               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=$SECTORS
@@ -365,7 +403,9 @@
             export PATH=${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 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 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

not-os-patches/pr-28.patch

@@ -151,10 +151,10 @@ index c61f9d6..fbdf0fd 100644
    };
  }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..e2e3871 100644
+index 3fa23ab..9d1621e 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -1,66 +1,102 @@
+@@ -1,66 +1,89 @@
 -{ config, pkgs, ... }:
 +{ lib, config, pkgs, ... }:
  
@@ -163,22 +163,7 @@ index 3fa23ab..e2e3871 100644
 -  # dont use overlays for the qemu, it causes a lot of wasted time on recompiles
 -  x86pkgs = import pkgs.path { system = "x86_64-linux"; };
 -  customKernel = pkgs.linux.override {
-+  crosspkgs = import pkgs.path {
-+    system = "x86_64-linux";
-+    crossSystem = {
-+      system = "armv7l-linux";
-+      linux-kernel = {
-+        name = "zynq";
-+        baseConfig = "multi_v7_defconfig";
-+        target = "uImage";
-+        installTarget = "uImage";
-+        autoModules = false;
-+        DTB = true;
-+        makeFlags = [ "LOADADDR=0x8000" ];
-+      };
-+    };
-+  };
-+  customKernel = (crosspkgs.linux.override {
++  customKernel = (pkgs.linux.override {
      extraConfig = ''
        OVERLAY_FS y
 +      MEDIA_SUPPORT n
@@ -195,14 +180,15 @@ index 3fa23ab..e2e3871 100644
 +      OF_OVERLAY y
      '';
 -  };
--  customKernelPackages = pkgs.linuxPackagesFor customKernel;
 +  }).overrideAttrs (oa: {
 +    postInstall = ''
-+      cp arch/arm/boot/uImage $out
++      if [ -e arch/arm/boot/uImage ]; then
++        cp arch/arm/boot/uImage $out
++      fi
 +      ${oa.postInstall}
 +    '';
 +  });
-+  customKernelPackages = crosspkgs.linuxPackagesFor customKernel;
+   customKernelPackages = pkgs.linuxPackagesFor customKernel;
  in {
    imports = [ ./arm32-cross-fixes.nix ];
    boot.kernelPackages = customKernelPackages;
@@ -253,12 +239,12 @@ index 3fa23ab..e2e3871 100644
 -    chmod +x qemu-script
 -    patchShebangs qemu-script
 -    ls -ltrh
-   '';
+-  '';
 -  system.build.rpi_image_tar = pkgs.runCommand "dist.tar" {} ''
 -    mkdir -p $out/nix-support
 -    tar -cvf $out/dist.tar ${config.system.build.rpi_image}
 -    echo "file binary-dist $out/dist.tar" >> $out/nix-support/hydra-build-products
--  '';
+   '';
 -  environment.systemPackages = [ pkgs.strace ];
 -  environment.etc."service/getty/run".source = pkgs.writeShellScript "getty" ''
 -    agetty ttyPS0 115200

not-os-patches/pr-33.patch

@@ -1062,13 +1062,13 @@ index 0000000..59aa585
 ++
 + #endif /*_LINUX_FPGA_MGR_H */
 diff --git a/zynq_image.nix b/zynq_image.nix
-index e2e3871..2decd54 100644
+index 9d1621e..012e50c 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -18,6 +18,16 @@ let
-     };
-   };
-   customKernel = (crosspkgs.linux.override {
+@@ -3,6 +3,16 @@
+ with lib;
+ let
+   customKernel = (pkgs.linux.override {
 +    kernelPatches = [
 +      ({
 +        name = "xilinx-configfs-overlays";
@@ -1082,7 +1082,7 @@ index e2e3871..2decd54 100644
      extraConfig = ''
        OVERLAY_FS y
        MEDIA_SUPPORT n
-@@ -32,6 +42,7 @@ let
+@@ -17,6 +27,7 @@ let
        OF_FPGA_REGION y
        FPGA_MGR_ZYNQ_FPGA y
        OF_OVERLAY y