Merge pull request #92 from nevesenin/master

Fix "resizing" wrong partition when having two disks

.github/workflows/update-flake-lock.yml

@@ -0,0 +1,23 @@
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4
+
+      - name: Install nix
+        uses: DeterminateSystems/nix-installer-action@e50d5f73bfe71c2dd0aa4218de8f4afa59f8f81d # v16
+
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@a2bbe0274e3a0c4194390a1e445f734c597ebc37 # v24

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Travis Staton
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -17,64 +17,29 @@ The important modules are `overlay/default.nix`, `rpi/default.nix`,
 and `rpi/config.nix`. The other modules are mostly wrappers that set
 `config.txt` settings and enable required kernel modules.
 
+## Stability note
+
+`master` is the development branch -- if you want to avoid breaking changes, you
+should pin your flake to a specific release and refer to the release notes when
+upgrading.
+
 ## Example
 
-```nix
-{
-  description = "raspberry-pi-nix example";
-  inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs/nixos-22.11";
-    raspberry-pi-nix.url = "github:tstat/raspberry-pi-nix";
-  };
+See the `rpi-example` config in this flake for an example config built by CI.
 
-  outputs = { self, nixpkgs, raspberry-pi-nix }:
-    let
-      inherit (nixpkgs.lib) nixosSystem;
-      basic-config = { pkgs, lib, ... }: {
-        time.timeZone = "America/New_York";
-        users.users.root.initialPassword = "root";
-        networking = {
-          hostName = "basic-example";
-          useDHCP = false;
-          interfaces = { wlan0.useDHCP = true; };
-        };
-        environment.systemPackages = with pkgs; [ bluez bluez-tools ];
-        hardware = {
-          bluetooth.enable = true;
-          raspberry-pi = {
-            config = {
-              all = {
-                base-dt-params = {
-                  # enable autoprobing of bluetooth driver
-                  # https://github.com/raspberrypi/linux/blob/c8c99191e1419062ac8b668956d19e788865912a/arch/arm/boot/dts/overlays/README#L222-L224
-                  krnbt = {
-                    enable = true;
-                    value = "on";
-                  };
-                };
-              };
-            };
-          };
-        };
-      };
-
-    in {
-      nixosConfigurations = {
-        rpi-example = nixosSystem {
-          system = "aarch64-linux";
-          modules = [ raspberry-pi-nix.nixosModules.raspberry-pi basic-config ];
-        };
-      };
-    };
-}
-```
+## Using the provided cache to avoid compiling linux
+This repo uses the raspberry pi linux kernel fork, and compiling linux takes a
+while. CI pushes kernel builds to the nix-community cachix cache that you may
+use to avoid compiling linux yourself. The cache can be found at
+https://nix-community.cachix.org, and you can follow the instructions there
+to use this cache.
 
 ## Building an sd-card image
 
-An image suitable for flashing to an sd-card can be found at the
-attribute `config.system.build.sdImage`. For example, if you wanted to
-build an image for `rpi-example` in the above configuration
-example you could run:
+Include the provided `sd-image` nixos module this flake provides, then an image
+suitable for flashing to an sd-card can be found at the attribute
+`config.system.build.sdImage`. For example, if you wanted to build an image for
+`rpi-example` in the above configuration example you could run:
 
 ```
 nix build '.#nixosConfigurations.rpi-example.config.system.build.sdImage'
@@ -82,21 +47,21 @@ nix build '.#nixosConfigurations.rpi-example.config.system.build.sdImage'
 
 ## The firmware partition
 
-The image produced by this package is partitioned in the same way as
-the aarch64 installation media from nixpkgs: There is a firmware
-partition that contains necessary firmware, u-boot, and
-config.txt. Then there is another partition (labeled `NIXOS_SD`) that
-contains everything else. The firmware and `config.txt` file are
-managed by NixOS modules defined in this package. Additionally, NixOS
-system activation will update the firmware and `config.txt` in the
-firmware partition __in place__. Linux kernels are stored in the
-`NIXOS_SD` partition and will be booted by u-boot in the firmware
-partition.
+The image produced by this package is partitioned in the same way as the aarch64
+installation media from nixpkgs: There is a firmware partition that contains
+necessary firmware, the kernel or u-boot, and config.txt. Then there is another
+partition (labeled `NIXOS_SD`) that contains everything else. The firmware and
+`config.txt` file are managed by NixOS modules defined in this
+package. Additionally, a systemd service will update the firmware and
+`config.txt` in the firmware partition __in place__. If uboot is enabled then
+linux kernels are stored in the `NIXOS_SD` partition and will be booted by
+u-boot in the firmware partition.
 
 ## `config.txt` generation
 
 As noted, the `config.txt` file is generated by the NixOS
-configuration and automatically updated on system activation. 
+configuration and automatically updated on when the nix configuration
+is modified. 
 
 The relevant nixos option is
 `hardware.raspberry-pi.config`. Configuration is partitioned into
@@ -225,37 +190,36 @@ nix build '.#nixosConfigurations.rpi-example.config.hardware.raspberry-pi.config
 
 ## Firmware partition implementation notes
 
-In Raspberry Pi devices the proprietary firmware manipulates the
-device tree in a number of ways before handing it off to the kernel
-(or in our case, to u-boot). The transformations that are performed
-aren't documented so well (although I have found [this
-list](https://forums.raspberrypi.com/viewtopic.php?t=329799#p1974233)
-). 
+In Raspberry Pi devices the proprietary firmware manipulates the device tree in
+a number of ways before handing it off to the kernel (or in our case, to
+u-boot). The transformations that are performed aren't documented so well
+(although I have found [this
+list](https://forums.raspberrypi.com/viewtopic.php?t=329799#p1974233) ).
 
-This manipulation makes it difficult to use the device tree configured
-directly by NixOS as the proprietary firmware's manipulation must be
-known and reproduced.
+This manipulation makes it difficult to use the device tree configured directly
+by NixOS as the proprietary firmware's manipulation must be known and
+reproduced.
 
-Even if the manipulation were successfully reproduced, some benefits
-would be lost. For example, the firmware can detect connected hardware
-during boot and automatically configure the device tree accordingly
-before passing it onto the kernel. If this firmware device tree is
-ignored then a NixOS system rebuild with a different device tree would
-be required when swapping connected hardware. Examples of what I mean
-by hardware include: the specific Raspberry Pi device booting the
-image, connected cameras, and connected displays.
+Even if the manipulation were successfully reproduced, some benefits would be
+lost. For example, the firmware can detect connected hardware during boot and
+automatically configure the device tree accordingly before passing it onto the
+kernel. If this firmware device tree is ignored then a NixOS system rebuild with
+a different device tree would be required when swapping connected
+hardware. Examples of what I mean by hardware include: the specific Raspberry Pi
+device booting the image, connected cameras, and connected displays.
 
-So, in order to avoid the headaches associated with failing to
-reproduce some firmware device tree manipulation, and to reap the
-benefits afforded by the firmware device tree configuration, u-boot is
-configured to use the device tree that it is given (i.e. the one that
-the raspberry pi firmware loads and manipulates). As a consequence,
-device tree configuration is controlled via the [config.txt
+So, in order to avoid the headaches associated with failing to reproduce some
+firmware device tree manipulation, and to reap the benefits afforded by the
+firmware device tree configuration, the bootloader is configured to use the
+device tree that it is given (i.e. the one that the raspberry pi firmware loads
+and manipulates). As a consequence, device tree configuration is controlled via
+the [config.txt
 file](https://www.raspberrypi.com/documentation/computers/config_txt.html).
 
-Additionally, the firmware, device trees, and overlays from the
-`raspberrypifw` package populate the firmware partition on system
-activation. This package is kept up to date by the overlay applied by
-this package, so you don't need configure this. However, if you want
-to use different firmware you can override that package to do so.
+Additionally, the firmware, device trees, and overlays from the `raspberrypifw`
+package populate the firmware partition. This package is kept up to date by the
+overlay applied by this package, so you don't need configure this. However, if
+you want to use different firmware you can override that package to do so.
 
+## What's not working?
+- [ ] Pi 5 u-boot devices other than sd-cards (i.e. usb, nvme).

example/default.nix

@@ -0,0 +1,44 @@
+{ pkgs, lib, ... }: {
+  time.timeZone = "America/New_York";
+  users.users.root.initialPassword = "root";
+  networking = {
+    hostName = "example";
+    useDHCP = false;
+    interfaces = {
+      wlan0.useDHCP = true;
+      eth0.useDHCP = true;
+    };
+  };
+  raspberry-pi-nix.board = "bcm2711";
+  hardware = {
+    raspberry-pi = {
+      config = {
+        all = {
+          base-dt-params = {
+            BOOT_UART = {
+              value = 1;
+              enable = true;
+            };
+            uart_2ndstage = {
+              value = 1;
+              enable = true;
+            };
+          };
+          dt-overlays = {
+            disable-bt = {
+              enable = true;
+              params = { };
+            };
+          };
+        };
+      };
+    };
+  };
+  security.rtkit.enable = true;
+  services.pipewire = {
+    enable = true;
+    alsa.enable = true;
+    alsa.support32Bit = true;
+    pulse.enable = true;
+  };
+}

flake.lock

@@ -1,45 +1,82 @@
 {
   "nodes": {
-    "libcamera-apps-src": {
+    "libcamera-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1674645888,
-        "narHash": "sha256-UBTDHN0lMj02enB8im4Q+f/MCm/G2mFPP3pLImrZc5A=",
+        "lastModified": 1725630279,
+        "narHash": "sha256-KH30jmHfxXq4j2CL7kv18DYECJRp9ECuWNPnqPZajPA=",
         "owner": "raspberrypi",
-        "repo": "libcamera-apps",
-        "rev": "9f08463997b82c4bf60e12c4ea43577959a8ae15",
+        "repo": "libcamera",
+        "rev": "69a894c4adad524d3063dd027f5c4774485cf9db",
         "type": "github"
       },
       "original": {
         "owner": "raspberrypi",
-        "ref": "v1.1.1",
-        "repo": "libcamera-apps",
+        "repo": "libcamera",
+        "rev": "69a894c4adad524d3063dd027f5c4774485cf9db",
+        "type": "github"
+      }
+    },
+    "libpisp-src": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1724944683,
+        "narHash": "sha256-Fo2UJmQHS855YSSKKmGrsQnJzXog1cdpkIOO72yYAM4=",
+        "owner": "raspberrypi",
+        "repo": "libpisp",
+        "rev": "28196ed6edcfeda88d23cc5f213d51aa6fa17bb3",
+        "type": "github"
+      },
+      "original": {
+        "owner": "raspberrypi",
+        "ref": "v1.0.7",
+        "repo": "libpisp",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1736061677,
+        "narHash": "sha256-DjkQPnkAfd7eB522PwnkGhOMuT9QVCZspDpJJYyOj60=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "cbd8ec4de4469333c82ff40d057350c30e9f7d36",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-24.11",
+        "repo": "nixpkgs",
         "type": "github"
       }
     },
     "root": {
       "inputs": {
-        "libcamera-apps-src": "libcamera-apps-src",
+        "libcamera-src": "libcamera-src",
+        "libpisp-src": "libpisp-src",
+        "nixpkgs": "nixpkgs",
         "rpi-bluez-firmware-src": "rpi-bluez-firmware-src",
         "rpi-firmware-nonfree-src": "rpi-firmware-nonfree-src",
-        "rpi-firmware-stable-src": "rpi-firmware-stable-src",
-        "rpi-linux-5_15-src": "rpi-linux-5_15-src",
-        "rpi-linux-5_15_87-src": "rpi-linux-5_15_87-src",
-        "u-boot-src": "u-boot-src"
+        "rpi-firmware-src": "rpi-firmware-src",
+        "rpi-linux-6_12_17-src": "rpi-linux-6_12_17-src",
+        "rpi-linux-6_6_78-src": "rpi-linux-6_6_78-src",
+        "rpi-linux-stable-src": "rpi-linux-stable-src",
+        "rpicam-apps-src": "rpicam-apps-src"
       }
     },
     "rpi-bluez-firmware-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1672928175,
-        "narHash": "sha256-gKGK0XzNrws5REkKg/JP6SZx3KsJduu53SfH3Dichkc=",
+        "lastModified": 1708969706,
+        "narHash": "sha256-KakKnOBeWxh0exu44beZ7cbr5ni4RA9vkWYb9sGMb8Q=",
         "owner": "RPi-Distro",
         "repo": "bluez-firmware",
-        "rev": "9556b08ace2a1735127894642cc8ea6529c04c90",
+        "rev": "78d6a07730e2d20c035899521ab67726dc028e1c",
         "type": "github"
       },
       "original": {
         "owner": "RPi-Distro",
+        "ref": "bookworm",
         "repo": "bluez-firmware",
         "type": "github"
       }
@@ -47,80 +84,103 @@
     "rpi-firmware-nonfree-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1674638139,
-        "narHash": "sha256-54JKmwypD7PRQdd7k6IcF7wL8ifMavEM0UwZwmA24O4=",
+        "lastModified": 1723266537,
+        "narHash": "sha256-T7eTKXqY9cxEMdab8Snda4CEOrEihy5uOhA6Fy+Mhnw=",
         "owner": "RPi-Distro",
         "repo": "firmware-nonfree",
-        "rev": "7f29411baead874b859eda53efdc2472345ea454",
+        "rev": "4b356e134e8333d073bd3802d767a825adec3807",
         "type": "github"
       },
       "original": {
         "owner": "RPi-Distro",
+        "ref": "bookworm",
         "repo": "firmware-nonfree",
         "type": "github"
       }
     },
-    "rpi-firmware-stable-src": {
+    "rpi-firmware-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1673003776,
-        "narHash": "sha256-tdaH+zZwmILNFBge2gMqtzj/1Hydj9cxhPvhw+7jTrU=",
+        "lastModified": 1728405098,
+        "narHash": "sha256-4gnK0KbqFnjBmWia9Jt2gveVWftmHrprpwBqYVqE/k0=",
         "owner": "raspberrypi",
         "repo": "firmware",
-        "rev": "78852e166b4cf3ebb31d051e996d54792f0994b0",
+        "rev": "7bbb5f80d20a2335066a8781459c9f33e5eebc64",
         "type": "github"
       },
       "original": {
         "owner": "raspberrypi",
-        "ref": "stable",
+        "ref": "1.20241008",
         "repo": "firmware",
         "type": "github"
       }
     },
-    "rpi-linux-5_15-src": {
+    "rpi-linux-6_12_17-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1675874870,
-        "narHash": "sha256-oy+VgoB4IdFZjGwkx88dDSpwWZj2D5t3PyXPIwDsY1Q=",
+        "lastModified": 1740765145,
+        "narHash": "sha256-hoCsGc4+RC/2LmxDtswLBL5ZhWlw4vSiL4Vkl39r2MU=",
         "owner": "raspberrypi",
         "repo": "linux",
-        "rev": "14b35093ca68bf2c81bbc90aace5007142b40b40",
+        "rev": "5985ce32e511f4e8279a841a1b06a8c7d972b386",
         "type": "github"
       },
       "original": {
         "owner": "raspberrypi",
-        "ref": "rpi-5.15.y",
+        "ref": "rpi-6.12.y",
         "repo": "linux",
         "type": "github"
       }
     },
-    "rpi-linux-5_15_87-src": {
+    "rpi-linux-6_6_78-src": {
       "flake": false,
       "locked": {
-        "lastModified": 1673628667,
-        "narHash": "sha256-hNLVfhalmRhhRfvu2mR/qDmmGl//Ic1eqR7N1HFj2CY=",
+        "lastModified": 1740503700,
+        "narHash": "sha256-Y8+ot4Yi3UKwlZK3ap15rZZ16VZDvmeFkD46+6Ku7bE=",
         "owner": "raspberrypi",
         "repo": "linux",
-        "rev": "da4c8e0ffe7a868b989211045657d600be3046a1",
+        "rev": "2e071057fded90e789c0101498e45a1778be93fe",
         "type": "github"
       },
       "original": {
         "owner": "raspberrypi",
+        "ref": "rpi-6.6.y",
         "repo": "linux",
-        "rev": "da4c8e0ffe7a868b989211045657d600be3046a1",
         "type": "github"
       }
     },
-    "u-boot-src": {
+    "rpi-linux-stable-src": {
       "flake": false,
       "locked": {
-        "narHash": "sha256-30fe8klLHRsEtEQ1VpYh4S+AflG5yCQYWlGmpWyFL8w=",
-        "type": "tarball",
-        "url": "https://ftp.denx.de/pub/u-boot/u-boot-2023.01.tar.bz2"
+        "lastModified": 1728403745,
+        "narHash": "sha256-phCxkuO+jUGZkfzSrBq6yErQeO2Td+inIGHxctXbD5U=",
+        "owner": "raspberrypi",
+        "repo": "linux",
+        "rev": "5aeecea9f4a45248bcf564dec924965e066a7bfd",
+        "type": "github"
       },
       "original": {
-        "type": "tarball",
-        "url": "https://ftp.denx.de/pub/u-boot/u-boot-2023.01.tar.bz2"
+        "owner": "raspberrypi",
+        "ref": "stable_20241008",
+        "repo": "linux",
+        "type": "github"
+      }
+    },
+    "rpicam-apps-src": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1727515047,
+        "narHash": "sha256-qCYGrcibOeGztxf+sd44lD6VAOGoUNwRqZDdAmcTa/U=",
+        "owner": "raspberrypi",
+        "repo": "rpicam-apps",
+        "rev": "a8ccf9f3cd9df49875dfb834a2b490d41d226031",
+        "type": "github"
+      },
+      "original": {
+        "owner": "raspberrypi",
+        "ref": "v1.5.2",
+        "repo": "rpicam-apps",
+        "type": "github"
       }
     }
   },

flake.nix

@@ -2,34 +2,90 @@
   description = "raspberry-pi nixos configuration";
 
   inputs = {
-    u-boot-src = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-24.11";
+    rpi-linux-stable-src = {
       flake = false;
-      url = "https://ftp.denx.de/pub/u-boot/u-boot-2023.01.tar.bz2";
+      url = "github:raspberrypi/linux/stable_20241008";
     };
-    rpi-linux-5_15-src = {
+    rpi-linux-6_6_78-src = {
       flake = false;
-      url = "github:raspberrypi/linux/rpi-5.15.y";
+      url = "github:raspberrypi/linux/rpi-6.6.y";
     };
-    rpi-firmware-stable-src = {
+    rpi-linux-6_12_17-src = {
       flake = false;
-      url = "github:raspberrypi/firmware/stable";
+      url = "github:raspberrypi/linux/rpi-6.12.y";
+    };
+    rpi-firmware-src = {
+      flake = false;
+      url = "github:raspberrypi/firmware/1.20241008";
     };
     rpi-firmware-nonfree-src = {
       flake = false;
-      url = "github:RPi-Distro/firmware-nonfree";
+      url = "github:RPi-Distro/firmware-nonfree/bookworm";
     };
     rpi-bluez-firmware-src = {
       flake = false;
-      url = "github:RPi-Distro/bluez-firmware";
+      url = "github:RPi-Distro/bluez-firmware/bookworm";
     };
-    libcamera-apps-src = {
+    rpicam-apps-src = {
       flake = false;
-      url = "github:raspberrypi/libcamera-apps/v1.1.1";
+      url = "github:raspberrypi/rpicam-apps/v1.5.2";
+    };
+    libcamera-src = {
+      flake = false;
+      url = "github:raspberrypi/libcamera/69a894c4adad524d3063dd027f5c4774485cf9db"; # v0.3.1+rpt20240906
+    };
+    libpisp-src = {
+      flake = false;
+      url = "github:raspberrypi/libpisp/v1.0.7";
     };
   };
 
-  outputs = srcs@{ self, ... }: {
-    overlay = import ./overlay (builtins.removeAttrs srcs [ "self" ]);
-    nixosModules.raspberry-pi = import ./rpi { overlay = self.overlay; };
+  outputs = srcs@{ self, ... }:
+    let
+      pinned = import srcs.nixpkgs {
+        system = "aarch64-linux";
+        overlays = with self.overlays; [ core libcamera ];
+      };
+    in
+    {
+      overlays = {
+        core = import ./overlays (builtins.removeAttrs srcs [ "self" ]);
+        libcamera = import ./overlays/libcamera.nix (builtins.removeAttrs srcs [ "self" ]);
+      };
+      nixosModules = {
+        raspberry-pi = import ./rpi {
+          inherit pinned;
+          core-overlay = self.overlays.core;
+          libcamera-overlay = self.overlays.libcamera;
+        };
+        sd-image = import ./sd-image;
+      };
+      nixosConfigurations = {
+        rpi-example = srcs.nixpkgs.lib.nixosSystem {
+          system = "aarch64-linux";
+          modules = [ self.nixosModules.raspberry-pi self.nixosModules.sd-image ./example ];
+        };
+      };
+      checks.aarch64-linux = self.packages.aarch64-linux;
+      packages.aarch64-linux = with pinned.lib;
+        let
+          kernels =
+            foldlAttrs f { } pinned.rpi-kernels;
+          f = acc: kernel-version: board-attr-set:
+            foldlAttrs
+              (acc: board-version: drv: acc // {
+                "linux-${kernel-version}-${board-version}" = drv;
+              })
+              acc
+              board-attr-set;
+        in
+        {
+          example-sd-image = self.nixosConfigurations.rpi-example.config.system.build.sdImage;
+          firmware = pinned.raspberrypifw;
+          libcamera = pinned.libcamera;
+          wireless-firmware = pinned.raspberrypiWirelessFirmware;
+          uboot-rpi-arm64 = pinned.uboot-rpi-arm64;
+        } // kernels;
     };
 }

overlay/default.nix

@@ -1,82 +0,0 @@
-{ u-boot-src, rpi-linux-5_15-src, rpi-firmware-stable-src
-, rpi-firmware-nonfree-src, rpi-bluez-firmware-src, libcamera-apps-src }:
-final: prev:
-let
-  # The version to stick at `pkgs.rpi-kernels.latest'
-  latest = "v5_15_92";
-
-  # Helpers for building the `pkgs.rpi-kernels' map.
-  rpi-kernel = { kernel, version, fw, wireless-fw, argsOverride ? null }:
-    let
-      new-kernel = prev.linux_rpi4.override {
-        argsOverride = {
-          src = kernel;
-          inherit version;
-          modDirVersion = version;
-        } // (if builtins.isNull argsOverride then { } else argsOverride);
-      };
-      new-fw = prev.raspberrypifw.overrideAttrs (oldfw: { src = fw; });
-      new-wireless-fw = final.callPackage wireless-fw { };
-      version-slug = builtins.replaceStrings [ "." ] [ "_" ] version;
-    in {
-      "v${version-slug}" = {
-        kernel = new-kernel;
-        firmware = new-fw;
-        wireless-firmware = new-wireless-fw;
-      };
-    };
-  rpi-kernels = builtins.foldl' (b: a: b // rpi-kernel a) { };
-in {
-
-  # disable firmware compression so that brcm firmware can be found at
-  # the path expected by raspberry pi firmware/device tree
-  compressFirmwareXz = x: x;
-
-  # A recent known working version of libcamera-apps
-  libcamera-apps =
-    final.callPackage ./libcamera-apps.nix { inherit libcamera-apps-src; };
-
-  # provide generic rpi arm64 u-boot
-  uboot_rpi_arm64 = prev.buildUBoot rec {
-    defconfig = "rpi_arm64_defconfig";
-    extraMeta.platforms = [ "aarch64-linux" ];
-    filesToInstall = [ "u-boot.bin" ];
-    version = "2023.01";
-    src = u-boot-src;
-    # In raspberry pi sbcs the firmware manipulates the device tree in
-    # a variety of ways before handing it off to the linux kernel. [1]
-    # Since we have installed u-boot in place of a linux kernel we may
-    # pass the device tree passed by the firmware onto the kernel, or
-    # we may provide the kernel with a device tree of our own. This
-    # configuration uses the device tree provided by firmware so that
-    # we don't have to be aware of all manipulation done by the
-    # firmware and attempt to mimic it.
-    #
-    # 1. https://forums.raspberrypi.com/viewtopic.php?t=329799#p1974233
-    extraConfig = ''
-      CONFIG_OF_HAS_PRIOR_STAGE=y
-      CONFIG_OF_BOARD=y
-    '';
-  };
-
-  # default to latest firmware
-  raspberrypiWirelessFirmware = final.rpi-kernels.latest.wireless-firmware;
-  raspberrypifw = final.rpi-kernels.latest.firmware;
-
-} // {
-  # rpi kernels and firmware are available at
-  # `pkgs.rpi-kernels.<VERSION>.{kernel,firmware,wireless-firmware}'. 
-  #
-  # For example: `pkgs.rpi-kernels.v5_15_87.kernel'
-  rpi-kernels = rpi-kernels [{
-    version = "5.15.92";
-    kernel = rpi-linux-5_15-src;
-    fw = rpi-firmware-stable-src;
-    wireless-fw = import ./raspberrypi-wireless-firmware.nix {
-      bluez-firmware = rpi-bluez-firmware-src;
-      firmware-nonfree = rpi-firmware-nonfree-src;
-    };
-  }] // {
-    latest = final.rpi-kernels."${latest}";
-  };
-}

overlay/libcamera-apps.nix

@@ -1,27 +0,0 @@
-{ libcamera-apps-src, lib, stdenv, fetchFromGitHub, fetchpatch, cmake
-, pkg-config, libjpeg, libtiff, libpng, libcamera, libepoxy, boost, libexif }:
-
-stdenv.mkDerivation rec {
-  pname = "libcamera-apps";
-  version = "v1.1.0";
-
-  src = libcamera-apps-src;
-
-  nativeBuildInputs = [ cmake pkg-config ];
-  buildInputs = [ libjpeg libtiff libcamera libepoxy boost libexif libpng ];
-  cmakeFlags = [
-    "-DENABLE_QT=0"
-    "-DENABLE_OPENCV=0"
-    "-DENABLE_TFLITE=0"
-    "-DENABLE_X11=1"
-    "-DENABLE_DRM=1"
-    (if (stdenv.hostPlatform.isAarch64) then "-DARM64=ON" else "-DARM64=OFF")
-  ];
-
-  meta = with lib; {
-    description = "Userland tools interfacing with Raspberry Pi cameras";
-    homepage = "https://github.com/raspberrypi/libcamera-apps";
-    license = licenses.bsd2;
-    platforms = [ "aarch64-linux" ];
-  };
-}

overlays/default.nix

@@ -0,0 +1,122 @@
+{ rpi-linux-stable-src
+, rpi-linux-6_6_78-src
+, rpi-linux-6_12_17-src
+, rpi-firmware-src
+, rpi-firmware-nonfree-src
+, rpi-bluez-firmware-src
+, ...
+}:
+final: prev:
+let
+  versions = {
+    v6_6_51.src = rpi-linux-stable-src;
+    v6_6_78.src = rpi-linux-6_6_78-src;
+    v6_12_17 = {
+      src = rpi-linux-6_12_17-src;
+      patches = [
+        {
+          name = "remove-readme-target.patch";
+          patch = final.fetchpatch {
+            url = "https://github.com/raspberrypi/linux/commit/3c0fd51d184f1748b83d28e1113265425c19bcb5.patch";
+            hash = "sha256-v7uZOmPCUp2i7NGVgjqnQYe6dEBD+aATuP/oRs9jfuk=";
+          };
+        }
+      ];
+    };
+  };
+  boards = [ "bcm2711" "bcm2712" ];
+
+  # Helpers for building the `pkgs.rpi-kernels' map.
+  rpi-kernel = { version, board }:
+    let
+      kernel = builtins.getAttr version versions;
+      version-slug = builtins.replaceStrings [ "v" "_" ] [ "" "." ] version;
+    in
+    {
+      "${version}"."${board}" = (final.buildLinux {
+        modDirVersion = version-slug;
+        version = version-slug;
+        pname = "linux-rpi";
+        src = kernel.src;
+        defconfig = "${board}_defconfig";
+        structuredExtraConfig = with final.lib.kernel; {
+          # The perl script to generate kernel options sets unspecified
+          # parameters to `m` if possible [1]. This results in the
+          # unspecified config option KUNIT [2] getting set to `m` which
+          # causes DRM_VC4_KUNIT_TEST [3] to get set to `y`.
+          #
+          # This vc4 unit test fails on boot due to a null pointer
+          # exception with the existing config. I'm not sure why, but in
+          # any case, the DRM_VC4_KUNIT_TEST config option itself states
+          # that it is only useful for kernel developers working on the
+          # vc4 driver. So, I feel no need to deviate from the standard
+          # rpi kernel and attempt to successfully enable this test and
+          # other unit tests because the nixos perl script has this
+          # sloppy "default to m" behavior. So, I set KUNIT to `n`.
+          #
+          # [1] https://github.com/NixOS/nixpkgs/blob/85bcb95aa83be667e562e781e9d186c57a07d757/pkgs/os-specific/linux/kernel/generate-config.pl#L1-L10
+          # [2] https://github.com/raspberrypi/linux/blob/1.20230405/lib/kunit/Kconfig#L5-L14
+          # [3] https://github.com/raspberrypi/linux/blob/bb63dc31e48948bc2649357758c7a152210109c4/drivers/gpu/drm/vc4/Kconfig#L38-L52
+          KUNIT = no;
+        };
+        features.efiBootStub = false;
+        kernelPatches =
+          if kernel ? "patches" then kernel.patches else [ ];
+        ignoreConfigErrors = true;
+      }).overrideAttrs
+        (oldAttrs: {
+          postConfigure = ''
+            # The v7 defconfig has this set to '-v7' which screws up our modDirVersion.
+            sed -i $buildRoot/.config -e 's/^CONFIG_LOCALVERSION=.*/CONFIG_LOCALVERSION=""/'
+            sed -i $buildRoot/include/config/auto.conf -e 's/^CONFIG_LOCALVERSION=.*/CONFIG_LOCALVERSION=""/'
+          '';
+        });
+    };
+  rpi-kernels = builtins.foldl'
+    (b: a: final.lib.recursiveUpdate b (rpi-kernel a))
+    { };
+in
+{
+  # disable firmware compression so that brcm firmware can be found at
+  # the path expected by raspberry pi firmware/device tree
+  compressFirmwareXz = x: x;
+  compressFirmwareZstd = x: x;
+
+  # provide generic rpi arm64 u-boot
+  uboot-rpi-arm64 = final.buildUBoot {
+    defconfig = "rpi_arm64_defconfig";
+    extraMeta.platforms = [ "aarch64-linux" ];
+    filesToInstall = [ "u-boot.bin" ];
+    # In raspberry pi sbcs the firmware manipulates the device tree in
+    # a variety of ways before handing it off to the linux kernel. [1]
+    # Since we have installed u-boot in place of a linux kernel we may
+    # pass the device tree passed by the firmware onto the kernel, or
+    # we may provide the kernel with a device tree of our own. This
+    # configuration uses the device tree provided by firmware so that
+    # we don't have to be aware of all manipulation done by the
+    # firmware and attempt to mimic it.
+    #
+    # 1. https://forums.raspberrypi.com/viewtopic.php?t=329799#p1974233
+  };
+
+  # default to latest firmware
+  raspberrypiWirelessFirmware = final.callPackage
+    (
+      import ./raspberrypi-wireless-firmware.nix {
+        bluez-firmware = rpi-bluez-firmware-src;
+        firmware-nonfree = rpi-firmware-nonfree-src;
+      }
+    )
+    { };
+  raspberrypifw = prev.raspberrypifw.overrideAttrs (oldfw: { src = rpi-firmware-src; });
+
+} // {
+  # rpi kernels and firmware are available at
+  # `pkgs.rpi-kernels.<VERSION>.<BOARD>'. 
+  #
+  # For example: `pkgs.rpi-kernels.v6_6_78.bcm2712'
+  rpi-kernels = rpi-kernels (
+    final.lib.cartesianProduct
+      { board = boards; version = (builtins.attrNames versions); }
+  );
+}

overlays/libcamera.nix

@@ -0,0 +1,57 @@
+{ rpicam-apps-src
+, libcamera-src
+, libpisp-src
+, ...
+}:
+final: prev: {
+  # A recent known working version of rpicam-apps
+  libcamera-apps =
+    final.callPackage ./rpicam-apps.nix { inherit rpicam-apps-src; };
+
+  libpisp = final.stdenv.mkDerivation {
+    name = "libpisp";
+    version = "1.0.7";
+    src = libpisp-src;
+    nativeBuildInputs = with final; [ pkg-config meson ninja ];
+    buildInputs = with final; [ nlohmann_json boost ];
+    # Meson is no longer able to pick up Boost automatically.
+    # https://github.com/NixOS/nixpkgs/issues/86131
+    BOOST_INCLUDEDIR = "${prev.lib.getDev final.boost}/include";
+    BOOST_LIBRARYDIR = "${prev.lib.getLib final.boost}/lib";
+  };
+
+  libcamera = prev.libcamera.overrideAttrs (old: {
+    version = "0.3.1";
+    src = libcamera-src;
+    buildInputs = old.buildInputs ++ (with final; [
+      libpisp
+      openssl
+      libtiff
+      (python3.withPackages (ps: with ps; [
+        python3-gnutls
+        pybind11
+        pyyaml
+        ply
+      ]))
+      libglibutil
+      gst_all_1.gst-plugins-base
+    ]);
+    patches = [ ];
+    postPatch = ''
+      patchShebangs src/py/ utils/
+    '';
+    mesonFlags = [
+      "--buildtype=release"
+      "-Dpipelines=rpi/vc4,rpi/pisp"
+      "-Dipas=rpi/vc4,rpi/pisp"
+      "-Dv4l2=true"
+      "-Dgstreamer=enabled"
+      "-Dtest=false"
+      "-Dlc-compliance=disabled"
+      "-Dcam=disabled"
+      "-Dqcam=disabled"
+      "-Ddocumentation=enabled"
+      "-Dpycamera=enabled"
+    ];
+  });
+}

overlays/raspberrypi-wireless-firmware.nix

@@ -1,9 +1,9 @@
 { bluez-firmware, firmware-nonfree }:
-{ lib, stdenvNoCC, fetchFromGitHub }:
+{ lib, stdenvNoCC }:
 
 stdenvNoCC.mkDerivation {
   pname = "raspberrypi-wireless-firmware";
-  version = "2023-01-19";
+  version = "2024-02-26";
 
   srcs = [ ];
 
@@ -23,7 +23,7 @@ stdenvNoCC.mkDerivation {
     cp -rv "${firmware-nonfree}/debian/config/brcm80211/." "$out/lib/firmware/"
 
     # Bluetooth firmware
-    cp -rv "${bluez-firmware}/broadcom/." "$out/lib/firmware/brcm"
+    cp -rv "${bluez-firmware}/debian/firmware/broadcom/." "$out/lib/firmware/brcm"
 
     # brcmfmac43455-stdio.bin is a symlink to ../cypress/cyfmac43455-stdio.bin that doesn't exist
     # See https://github.com/RPi-Distro/firmware-nonfree/issues/26

overlays/rpicam-apps.nix

@@ -0,0 +1,30 @@
+{ rpicam-apps-src, lib, pkgs, stdenv }:
+
+stdenv.mkDerivation {
+  pname = "libcamera-apps";
+  version = "v1.5.0";
+
+  src = rpicam-apps-src;
+
+  nativeBuildInputs = with pkgs; [ meson pkg-config ];
+  buildInputs = with pkgs; [ libjpeg libtiff libcamera libepoxy boost libexif libpng ffmpeg libdrm ninja ];
+  mesonFlags = [
+    "-Denable_qt=disabled"
+    "-Denable_opencv=disabled"
+    "-Denable_tflite=disabled"
+    "-Denable_egl=disabled"
+    "-Denable_hailo=disabled"
+    "-Denable_drm=enabled"
+  ];
+  # Meson is no longer able to pick up Boost automatically.
+  # https://github.com/NixOS/nixpkgs/issues/86131
+  BOOST_INCLUDEDIR = "${lib.getDev pkgs.boost}/include";
+  BOOST_LIBRARYDIR = "${lib.getLib pkgs.boost}/lib";
+
+  meta = with lib; {
+    description = "Userland tools interfacing with Raspberry Pi cameras";
+    homepage = "https://github.com/raspberrypi/libcamera-apps";
+    license = licenses.bsd2;
+    platforms = [ "aarch64-linux" ];
+  };
+}

rpi/config.nix

@@ -1,7 +1,8 @@
 { lib, config, pkgs, ... }:
 let
   cfg = config.hardware.raspberry-pi;
-  render-raspberrypi-config = let
+  render-raspberrypi-config =
+    let
       render-options = opts:
         lib.strings.concatStringsSep "\n" (render-dt-kvs opts);
       render-dt-param = x: "dtparam=" + x;
@@ -22,10 +23,12 @@ let
           (render-dt-kvs params);
       render-dt-overlays = overlays:
         lib.strings.concatMapStringsSep "\n" render-dt-overlay
-      (lib.attrsets.mapAttrsToList (k: v: {
+          (lib.attrsets.mapAttrsToList
+            (k: v: {
               overlay = k;
               args = render-dt-kvs v.params;
-      }) (lib.filterAttrs (k: v: v.enable) overlays));
+            })
+            (lib.filterAttrs (k: v: v.enable) overlays));
       render-config-section = k:
         { options, base-dt-params, dt-overlays }:
         let
@@ -34,17 +37,21 @@ let
             (render-base-dt-params base-dt-params)
             (render-dt-overlays dt-overlays)
           ]);
-      in ''
+        in
+        ''
           [${k}]
           ${all-config}
         '';
-  in conf:
+    in
+    conf:
     lib.strings.concatStringsSep "\n"
       (lib.attrsets.mapAttrsToList render-config-section conf);
-in {
+in
+{
   options = {
     hardware.raspberry-pi = {
-      config = let
+      config =
+        let
           rpi-config-param = {
             options = {
               enable = lib.mkEnableOption "attr";
@@ -86,7 +93,7 @@ in {
                 };
               };
               base-dt-params = lib.mkOption {
-              type = with lib.types; attrsOf (submodule rpi-config-param);
+                type = with lib.types; attrsOf (submodule dt-param);
                 default = { };
                 example = {
                   i2c = {
@@ -108,19 +115,30 @@ in {
               };
             };
           };
-      in lib.mkOption {
+        in
+        lib.mkOption {
           type = with lib.types; attrsOf (submodule raspberry-pi-config-options);
         };
+
+      config-generated = lib.mkOption {
+        type = lib.types.str;
+        description = "the config text generated by raspberrypi.hardware.config";
+        readOnly = true;
+      };
+
       config-output = lib.mkOption {
         type = lib.types.package;
         default = pkgs.writeTextFile {
           name = "config.txt";
           text = ''
             # This is a generated file. Do not edit!
-            ${render-raspberrypi-config cfg.config}
+            ${cfg.config-generated}
           '';
         };
       };
     };
   };
+  config = {
+    hardware.raspberry-pi.config-generated = render-raspberrypi-config cfg.config;
+  };
 }

rpi/default.nix

@@ -1,19 +1,126 @@
-{ overlay }:
+{ pinned, core-overlay, libcamera-overlay }:
 { lib, pkgs, config, ... }:
 
+let
+  cfg = config.raspberry-pi-nix;
+  version = cfg.kernel-version;
+  board = cfg.board;
+  kernel = config.system.build.kernel;
+  initrd = "${config.system.build.initialRamdisk}/${config.system.boot.loader.initrdFile}";
+in
 {
-  imports = [ ../sd-image ./config.nix ./i2c.nix ];
+  imports = [ ./config.nix ./i2c.nix ];
 
-  # On activation install u-boot, Raspberry Pi firmware, and our
-  # generated config.txt
-  system.activationScripts.raspberrypi = {
+  options = with lib; {
+    raspberry-pi-nix = {
+      kernel-version = mkOption {
+        default = "v6_6_51";
+        type = types.str;
+        description = "Kernel version to build.";
+      };
+      board = mkOption {
+        type = types.enum [ "bcm2711" "bcm2712" ];
+        description = ''
+          The kernel board version to build.
+          Examples at: https://www.raspberrypi.com/documentation/computers/linux_kernel.html#native-build-configuration
+          without the _defconfig part.
+        '';
+      };
+      firmware-partition-label = mkOption {
+        default = "FIRMWARE";
+        type = types.str;
+        description = "label of rpi firmware partition";
+      };
+      pin-inputs = {
+        enable = mkOption {
+          default = true;
+          type = types.bool;
+          description = ''
+            Whether to pin the kernel to the latest cachix build.
+          '';
+        };
+      };
+      firmware-migration-service = {
+        enable = mkOption {
+          default = true;
+          type = types.bool;
+          description = ''
+            Whether to run the migration service automatically or not.
+          '';
+        };
+      };
+      libcamera-overlay = {
+        enable = mkOption {
+          default = true;
+          type = types.bool;
+          description = ''
+            If enabled then the libcamera overlay is applied which
+            overrides libcamera with the rpi fork.
+          '';
+        };
+      };
+      uboot = {
+        enable = mkOption {
+          default = false;
+          type = types.bool;
+          description = ''
+            If enabled then uboot is used as the bootloader. If disabled
+            then the linux kernel is installed directly into the
+            firmware directory as expected by the raspberry pi boot
+            process.
+
+            This can be useful for newer hardware that doesn't yet have
+            uboot compatibility or less common setups, like booting a
+            cm4 with an nvme drive.
+          '';
+        };
+
+        package = mkPackageOption pkgs "uboot-rpi-arm64" { };
+      };
+      serial-console = {
+        enable = mkOption {
+          default = true;
+          type = types.bool;
+          description = ''
+            Whether to enable a console on serial0.
+
+            Corresponds with raspi-config's setting
+            "Would you like a login shell to be accessible over serial?"
+          '';
+        };
+      };
+    };
+  };
+
+  config = {
+    systemd.services = {
+      "raspberry-pi-firmware-migrate" =
+        {
+          description = "update the firmware partition";
+          wantedBy = if cfg.firmware-migration-service.enable then [ "multi-user.target" ] else [ ];
+          serviceConfig =
+            let
+              firmware-path = "/boot/firmware";
+              kernel-params = pkgs.writeTextFile {
+                name = "cmdline.txt";
                 text = ''
+                  ${lib.strings.concatStringsSep " " config.boot.kernelParams}
+                '';
+              };
+            in
+            {
+              Type = "oneshot";
+              MountImages =
+                "/dev/disk/by-label/${cfg.firmware-partition-label}:${firmware-path}";
+              StateDirectory = "raspberrypi-firmware";
+              ExecStart = pkgs.writeShellScript "migrate-rpi-firmware" ''
                 shopt -s nullglob
 
-      TARGET_FIRMWARE_DIR="/boot/firmware"
+                TARGET_FIRMWARE_DIR="${firmware-path}"
                 TARGET_OVERLAYS_DIR="$TARGET_FIRMWARE_DIR/overlays"
                 TMPFILE="$TARGET_FIRMWARE_DIR/tmp"
-      UBOOT="${pkgs.uboot_rpi_arm64}/u-boot.bin"
+                KERNEL="${kernel}/${config.system.boot.loader.kernelFile}"
+                SHOULD_UBOOT=${if cfg.uboot.enable then "1" else "0"}
                 SRC_FIRMWARE_DIR="${pkgs.raspberrypifw}/share/raspberrypi/boot"
                 STARTFILES=("$SRC_FIRMWARE_DIR"/start*.elf)
                 DTBS=("$SRC_FIRMWARE_DIR"/*.dtb)
@@ -23,25 +130,111 @@
                 SRC_OVERLAYS=("$SRC_OVERLAYS_DIR"/*)
                 CONFIG="${config.hardware.raspberry-pi.config-output}"
 
+                ${lib.strings.optionalString cfg.uboot.enable ''
+                  UBOOT="${cfg.uboot.package}/u-boot.bin"
+
+                  migrate_uboot() {
+                    echo "migrating uboot"
+                    touch "$STATE_DIRECTORY/uboot-migration-in-progress"
                     cp "$UBOOT" "$TMPFILE"
                     mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/u-boot-rpi-arm64.bin"
+                    echo "${builtins.toString cfg.uboot.package}" > "$STATE_DIRECTORY/uboot-version"
+                    rm "$STATE_DIRECTORY/uboot-migration-in-progress"
+                  }
+                ''}
 
+                migrate_kernel() {
+                  echo "migrating kernel"
+                  touch "$STATE_DIRECTORY/kernel-migration-in-progress"
+                  cp "$KERNEL" "$TMPFILE"
+                  mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/kernel.img"
+                  cp "${initrd}" "$TMPFILE"
+                  mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/initrd"
+                  echo "${
+                    builtins.toString kernel
+                  }" > "$STATE_DIRECTORY/kernel-version"
+                  rm "$STATE_DIRECTORY/kernel-migration-in-progress"
+                }
+
+                migrate_cmdline() {
+                  echo "migrating cmdline"
+                  touch "$STATE_DIRECTORY/cmdline-migration-in-progress"
+                  cp "${kernel-params}" "$TMPFILE"
+                  mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/cmdline.txt"
+                  echo "${
+                    builtins.toString kernel-params
+                  }" > "$STATE_DIRECTORY/cmdline-version"
+                  rm "$STATE_DIRECTORY/cmdline-migration-in-progress"
+                }
+
+                migrate_config() {
+                  echo "migrating config.txt"
+                  touch "$STATE_DIRECTORY/config-migration-in-progress"
                   cp "$CONFIG" "$TMPFILE"
                   mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/config.txt"
+                  echo "${config.hardware.raspberry-pi.config-output}" > "$STATE_DIRECTORY/config-version"
+                  rm "$STATE_DIRECTORY/config-migration-in-progress"
+                }
 
+                migrate_firmware() {
+                  echo "migrating raspberrypi firmware"
+                  touch "$STATE_DIRECTORY/firmware-migration-in-progress"
                   for SRC in "''${STARTFILES[@]}" "''${DTBS[@]}" "$BOOTCODE" "''${FIXUPS[@]}"
                   do
                     cp "$SRC" "$TMPFILE"
                     mv -T "$TMPFILE" "$TARGET_FIRMWARE_DIR/$(basename "$SRC")"
                   done
 
+                  if [[ ! -d "$TARGET_OVERLAYS_DIR" ]]; then
+                    mkdir "$TARGET_OVERLAYS_DIR"
+                  fi
+
                   for SRC in "''${SRC_OVERLAYS[@]}"
                   do
                     cp "$SRC" "$TMPFILE"
                     mv -T "$TMPFILE" "$TARGET_OVERLAYS_DIR/$(basename "$SRC")"
                   done
+                  echo "${
+                    builtins.toString pkgs.raspberrypifw
+                  }" > "$STATE_DIRECTORY/firmware-version"
+                  rm "$STATE_DIRECTORY/firmware-migration-in-progress"
+                }
+
+                ${lib.strings.optionalString cfg.uboot.enable ''
+                  if [[ "$SHOULD_UBOOT" -eq 1 ]] && [[ -f "$STATE_DIRECTORY/uboot-migration-in-progress" || ! -f "$STATE_DIRECTORY/uboot-version" || $(< "$STATE_DIRECTORY/uboot-version") != ${
+                    builtins.toString cfg.uboot.package
+                  } ]]; then
+                    migrate_uboot
+                  fi
+                ''}
+
+                if [[ "$SHOULD_UBOOT" -ne 1 ]] && [[ ! -f "$STATE_DIRECTORY/kernel-version" || $(< "$STATE_DIRECTORY/kernel-version") != ${
+                  builtins.toString kernel
+                } ]]; then
+                  migrate_kernel
+                fi
+
+                if [[ "$SHOULD_UBOOT" -ne 1 ]] && [[ ! -f "$STATE_DIRECTORY/cmdline-version" || $(< "$STATE_DIRECTORY/cmdline-version") != ${
+                  builtins.toString kernel-params
+                } ]]; then
+                  migrate_cmdline
+                fi
+
+                if [[ -f "$STATE_DIRECTORY/config-migration-in-progress" || ! -f "$STATE_DIRECTORY/config-version" || $(< "$STATE_DIRECTORY/config-version") != ${
+                  builtins.toString config.hardware.raspberry-pi.config-output
+                } ]]; then
+                  migrate_config
+                fi
+
+                if [[ -f "$STATE_DIRECTORY/firmware-migration-in-progress" || ! -f "$STATE_DIRECTORY/firmware-version" || $(< "$STATE_DIRECTORY/firmware-version") != ${
+                  builtins.toString pkgs.raspberrypifw
+                } ]]; then
+                  migrate_firmware
+                fi
               '';
             };
+        };
+    };
 
     # Default config.txt on Raspberry Pi OS:
     # https://github.com/RPi-Distro/pi-gen/blob/master/stage1/00-boot-files/files/config.txt
@@ -68,7 +261,15 @@
           # linux kernel.
           kernel = {
             enable = true;
-          value = "u-boot-rpi-arm64.bin";
+            value = if cfg.uboot.enable then "u-boot-rpi-arm64.bin" else "kernel.img";
+          };
+          ramfsfile = {
+            enable = !cfg.uboot.enable;
+            value = "initrd";
+          };
+          ramfsaddr = {
+            enable = !cfg.uboot.enable;
+            value = -1;
           };
           arm_64bit = {
             enable = true;
@@ -104,21 +305,56 @@
       };
     };
 
-  nixpkgs = { overlays = [ overlay ]; };
+    nixpkgs = {
+      overlays =
+        let
+          rpi-overlays = [ core-overlay ]
+            ++ (if config.raspberry-pi-nix.libcamera-overlay.enable
+          then [ libcamera-overlay ] else [ ]);
+          rpi-overlay = lib.composeManyExtensions rpi-overlays;
+          pin-prev-overlay = overlay: pinned-prev: final: prev:
+            let
+              # apply the overlay to pinned-prev and fix that so no references to the actual final
+              # and prev appear in applied-overlay
+              applied-overlay =
+                lib.fix (final: pinned-prev // overlay final pinned-prev);
+              # We only want to set keys that appear in the overlay, so restrict applied-overlay to
+              # these keys
+              restricted-overlay = lib.getAttrs (builtins.attrNames (overlay { } { })) applied-overlay;
+            in
+            prev // restricted-overlay;
+        in
+        if cfg.pin-inputs.enable
+        then [ (pin-prev-overlay rpi-overlay pinned) ]
+        else [ rpi-overlay ];
+    };
     boot = {
-    initrd.availableKernelModules = [
+      kernelParams =
+        if cfg.uboot.enable then [ ]
+        else builtins.concatLists [
+          [ "console=tty1" ]
+          (if cfg.serial-console.enable then [
+            # https://github.com/raspberrypi/firmware/issues/1539#issuecomment-784498108
+            "console=serial0,115200n8"
+          ] else [ ]
+          )
+          [ "init=/sbin/init" ]
+        ];
+      initrd = {
+        availableKernelModules = [
           "usbhid"
           "usb_storage"
           "vc4"
           "pcie_brcmstb" # required for the pcie bus to work
           "reset-raspberrypi" # required for vl805 firmware to load
         ];
-    kernelPackages = pkgs.linuxPackagesFor (pkgs.rpi-kernels.latest.kernel);
-
+      };
+      kernelPackages = pkgs.linuxPackagesFor pkgs.rpi-kernels."${version}"."${board}";
       loader = {
         grub.enable = lib.mkDefault false;
+        initScript.enable = !cfg.uboot.enable;
         generic-extlinux-compatible = {
-        enable = lib.mkDefault true;
+          enable = lib.mkDefault cfg.uboot.enable;
           # We want to use the device tree provided by firmware, so don't
           # add FDTDIR to the extlinux conf file.
           useGenerationDeviceTree = false;
@@ -127,11 +363,56 @@
     };
     hardware.enableRedistributableFirmware = true;
 
+    users.groups = builtins.listToAttrs (map (k: { name = k; value = { }; })
+      [ "input" "sudo" "plugdev" "games" "netdev" "gpio" "i2c" "spi" ]);
     services = {
-    udev.extraRules = ''
+      udev.extraRules =
+        let shell = "${pkgs.bash}/bin/bash";
+        in ''
+          # https://raw.githubusercontent.com/RPi-Distro/raspberrypi-sys-mods/master/etc.armhf/udev/rules.d/99-com.rules
+          SUBSYSTEM=="input", GROUP="input", MODE="0660"
+          SUBSYSTEM=="i2c-dev", GROUP="i2c", MODE="0660"
+          SUBSYSTEM=="spidev", GROUP="spi", MODE="0660"
+          SUBSYSTEM=="*gpiomem*", GROUP="gpio", MODE="0660"
+          SUBSYSTEM=="rpivid-*", GROUP="video", MODE="0660"
+
+          KERNEL=="vcsm-cma", GROUP="video", MODE="0660"
           SUBSYSTEM=="dma_heap", GROUP="video", MODE="0660"
-      KERNEL=="gpiomem", GROUP="gpio", MODE="0660"
-      KERNEL=="gpiochip*", GROUP="gpio", MODE="0660"
+
+          SUBSYSTEM=="gpio", GROUP="gpio", MODE="0660"
+          SUBSYSTEM=="gpio", KERNEL=="gpiochip*", ACTION=="add", PROGRAM="${shell} -c 'chgrp -R gpio /sys/class/gpio && chmod -R g=u /sys/class/gpio'"
+          SUBSYSTEM=="gpio", ACTION=="add", PROGRAM="${shell} -c 'chgrp -R gpio /sys%p && chmod -R g=u /sys%p'"
+
+          # PWM export results in a "change" action on the pwmchip device (not "add" of a new device), so match actions other than "remove".
+          SUBSYSTEM=="pwm", ACTION!="remove", PROGRAM="${shell} -c 'chgrp -R gpio /sys%p && chmod -R g=u /sys%p'"
+
+          KERNEL=="ttyAMA[0-9]*|ttyS[0-9]*", PROGRAM="${shell} -c '\
+                  ALIASES=/proc/device-tree/aliases; \
+                  TTYNODE=$$(readlink /sys/class/tty/%k/device/of_node | sed 's/base/:/' | cut -d: -f2); \
+                  if [ -e $$ALIASES/bluetooth ] && [ $$TTYNODE/bluetooth = $$(strings $$ALIASES/bluetooth) ]; then \
+                      echo 1; \
+                  elif [ -e $$ALIASES/console ]; then \
+                      if [ $$TTYNODE = $$(strings $$ALIASES/console) ]; then \
+                          echo 0;\
+                      else \
+                          exit 1; \
+                      fi \
+                  elif [ $$TTYNODE = $$(strings $$ALIASES/serial0) ]; then \
+                      echo 0; \
+                  elif [ $$TTYNODE = $$(strings $$ALIASES/serial1) ]; then \
+                      echo 1; \
+                  else \
+                      exit 1; \
+                  fi \
+          '", SYMLINK+="serial%c"
+
+          ACTION=="add", SUBSYSTEM=="vtconsole", KERNEL=="vtcon1", RUN+="${shell} -c '\
+          	if echo RPi-Sense FB | cmp -s /sys/class/graphics/fb0/name; then \
+          		echo 0 > /sys$devpath/bind; \
+          	fi; \
+          '"
         '';
     };
+  };
+
 }

sd-image/default.nix

@@ -5,22 +5,64 @@
 
   config = {
     boot.loader.grub.enable = false;
-    boot.loader.generic-extlinux-compatible.enable = true;
 
     boot.consoleLogLevel = lib.mkDefault 7;
 
-    # https://github.com/raspberrypi/firmware/issues/1539#issuecomment-784498108
-    boot.kernelParams = [ "console=serial0,115200n8" "console=tty1" ];
+    boot.kernelParams = [
+      # This is ugly and fragile, but the sdImage image has an msdos
+      # table, so the partition table id is a 1-indexed hex
+      # number. So, we drop the hex prefix and stick on a "02" to
+      # refer to the root partition.
+      "root=PARTUUID=${lib.strings.removePrefix "0x" config.sdImage.firmwarePartitionID}-02"
+      "rootfstype=ext4"
+      "fsck.repair=yes"
+      "rootwait"
+    ];
 
-    sdImage = {
+    sdImage =
+      let
+        kernel-params = pkgs.writeTextFile {
+          name = "cmdline.txt";
+          text = ''
+            ${lib.strings.concatStringsSep " " config.boot.kernelParams}
+          '';
+        };
+        cfg = config.raspberry-pi-nix;
+        version = cfg.kernel-version;
+        board = cfg.board;
+        kernel = "${config.system.build.kernel}/${config.system.boot.loader.kernelFile}";
+        initrd = "${config.system.build.initialRamdisk}/${config.system.boot.loader.initrdFile}";
+        populate-kernel =
+          if cfg.uboot.enable
+          then ''
+            cp ${cfg.uboot.package}/u-boot.bin firmware/u-boot-rpi-arm64.bin
+          ''
+          else ''
+            cp "${kernel}" firmware/kernel.img
+            cp "${initrd}" firmware/initrd
+            cp "${kernel-params}" firmware/cmdline.txt
+          '';
+      in
+      {
         populateFirmwareCommands = ''
-        cp ${pkgs.uboot_rpi_arm64}/u-boot.bin firmware/u-boot-rpi-arm64.bin
+          ${populate-kernel}
           cp -r ${pkgs.raspberrypifw}/share/raspberrypi/boot/{start*.elf,*.dtb,bootcode.bin,fixup*.dat,overlays} firmware
           cp ${config.hardware.raspberry-pi.config-output} firmware/config.txt
         '';
-      populateRootCommands = ''
+        populateRootCommands =
+          if cfg.uboot.enable
+          then ''
             mkdir -p ./files/boot
             ${config.boot.loader.generic-extlinux-compatible.populateCmd} -c ${config.system.build.toplevel} -d ./files/boot
+          ''
+          else ''
+            mkdir -p ./files/sbin
+            content="$(
+              echo "#!${pkgs.bash}/bin/bash"
+              echo "exec ${config.system.build.toplevel}/init"
+            )"
+            echo "$content" > ./files/sbin/init
+            chmod 744 ./files/sbin/init
           '';
       };
   };

sd-image/sd-image.nix

@@ -30,7 +30,8 @@ let
   } // optionalAttrs (config.sdImage.rootPartitionUUID != null) {
     uuid = config.sdImage.rootPartitionUUID;
   });
-in {
+in
+{
   imports = [ ];
 
   options.sdImage = {
@@ -82,14 +83,6 @@ in {
       '';
     };
 
-    firmwarePartitionName = mkOption {
-      type = types.str;
-      default = "FIRMWARE";
-      description = ''
-        Name of the filesystem which holds the boot firmware.
-      '';
-    };
-
     rootPartitionUUID = mkOption {
       type = types.nullOr types.str;
       default = null;
@@ -160,7 +153,7 @@ in {
   config = {
     fileSystems = {
       "/boot/firmware" = {
-        device = "/dev/disk/by-label/${config.sdImage.firmwarePartitionName}";
+        device = "/dev/disk/by-label/${config.raspberry-pi-nix.firmware-partition-label}";
         fsType = "vfat";
       };
       "/" = {
@@ -226,7 +219,7 @@ in {
             # Create a FAT32 /boot/firmware partition of suitable size into firmware_part.img
             eval $(partx $img -o START,SECTORS --nr 1 --pairs)
             truncate -s $((SECTORS * 512)) firmware_part.img
-            faketime "1970-01-01 00:00:00" mkfs.vfat -i ${config.sdImage.firmwarePartitionID} -n ${config.sdImage.firmwarePartitionName} firmware_part.img
+            faketime "1970-01-01 00:00:00" mkfs.vfat -i ${config.sdImage.firmwarePartitionID} -n ${config.raspberry-pi-nix.firmware-partition-label} firmware_part.img
 
             # Populate the files intended for /boot/firmware
             mkdir firmware
@@ -244,7 +237,8 @@ in {
                 zstd -T$NIX_BUILD_CORES --rm $img
             fi
           '';
-        }) { };
+        })
+      { };
 
     boot.postBootCommands = lib.mkIf config.sdImage.expandOnBoot ''
       # On the first boot do some maintenance tasks
@@ -254,7 +248,7 @@ in {
         # Figure out device names for the boot device and root filesystem.
         rootPart=$(${pkgs.util-linux}/bin/findmnt -n -o SOURCE /)
         bootDevice=$(lsblk -npo PKNAME $rootPart)
-        partNum=$(lsblk -npo MAJ:MIN $rootPart | ${pkgs.gawk}/bin/awk -F: '{print $2}')
+        partNum=$(lsblk -npo PARTN $rootPart)
 
         # Resize the root partition and the filesystem to fit the disk
         echo ",+," | sfdisk -N$partNum --no-reread $bootDevice