title: Building Toolchains with Guix
author: Mitchell Schmeisser <mitchellschmeisser@librem.one>
date: 2023-02-24 12:00
tags: Software Development, Embedded, Zephyr, Scheme API
---

In order to deploy embedded software using Guix we first need to teach Guix
how to build it. Since Guix bootstraps everything this means we must teach Guix
how to build our toolchain.

The [Zephyr Project](https://zephyrproject.org) uses its own fork of GCC with custom configs for
the architectures supported by the project.

This is implemented as a Guix Channel.
All code is available at [here](https://github.com/paperclip4465/guix-zephyr).

# About ZephyrRTOS

ZephyrRTOS is a Real Time Operating System from the Linux Foundation.
It aims to provide a common environment which can target even the most
resource constrained devices.

Zephyr introduces a module system which allows third parties to share code
in a uniform way. Zephyr uses CMake to perform _physical component composition_
of these modules.  It searches the filesystem and generates scripts which
the toolchain will use to successfully combine those components into a
firmware image.

The fact that Zephyr provides this mechanism is one reason I chose to
target it in the first place.

This separation of modules in an embedded context is a really great thing.
It brings many of the advantages that it brings to the Linux world such as
code re-use, smaller binaries, more efficient cache/RAM usage, etc.
It also allows us to work as independent groups and compose
contributions from many teams.

It also brings all of the complexity. Suddenly most of the problems
that plague traditional deployment now apply to our embedded
system. The fact that the libraries are statically linked at compile
time instead of dynamically at runtime is simply an implementation detail.
I say most because everything is statically linked so there is no runtime
component discovery that needs to be accounted for.


# Anatomy of a Toolchain

Toolchains are responsible for taking high level descriptions of programs
and lowering them down to a series of equivalent machine instructions.
This process involves more than just a compiler. The compiler uses the `binutils`
to manipulate it's internal representation down to a given architecture.
It also needs the use of the C standard library as well as a few other libraries
needed for some compiler optimizations.

The C library provides the interface to the underlying kernel. System calls like `write`
and `read` are provided by Glibc on most Linux distributions.

In embedded systems smaller implementations like Redhat's newlib and
newlib-nano are used.

# Bootstrapping a Toolchain

In order to compile GCC we need a C library that's been compiled for
our target architecture. How can we cross compile our C library if we
need our C library to build a cross compiler? The solution is to build
a simpler compiler that doesn't require the C library to function.
It will not be capable of as many optimizations and it will be very slow,
however it will be able to build the C libraries as well as the complete version
of GCC.

In order to build the simpler compiler we need to compile the Binutils to
work with our target architecture.
The `binutils` can be bootstrapped with our host GCC and have no target dependencies.

[For more information read this.](https://crosstool-ng.github.io/docs/toolchain-construction/)

Doesn't sound so bad right? It isn't... in theory.
However internet forums since time immemorial have been
littered with the laments of those who came before.
From incorrect versions of ISL to the wrong C library being linked
or the host linker being used, etc.
The one commonality between all of these issues is the environment.
Building GCC is difficult because isolating build environments is hard.

In fact as of =v0.14.2= the zephyr SDK repository took down the build
instructions and posted a sign that read
"Building this is too complicated, don't worry about it."
(I'm paraphrasing, but
[not by much](https://github.com/zephyrproject-rtos/sdk-ng/tree/v0.14.2#build-process).)

We will neatly side step all of these problems and not
risk destroying or polluting our host system with garbage
by using Guix to manage our environments for us.

Our toolchain only requires the first pass compiler because
newlib(-nano) is statically linked and introduced to the toolchain
by normal package composition.


# Defining the Packages

All of the base packages are defined in `zephyr/packages/zephyr.scm`.
Zephyr modules (coming soon!) are defined in `zephyr/packages/zephyr-xyz.scm`,
following the pattern of other module systems implemented by Guix.

## Binutils

First thing we need to build is the `arm-zephyr-eabi` binutils.
This is very easy in Guix.

```scheme
(define-public arm-zephyr-eabi-binutils
  (let ((xbinutils (cross-binutils "arm-zephyr-eabi")))
    (package (inherit xbinutils)
      (name "arm-zephyr-eabi-binutils")
      (version "2.38")
      (source
	(origin (method git-fetch)
		(uri (git-reference
		      (url "https://github.com/zephyrproject-rtos/binutils-gdb")
		      (commit "6a1be1a6a571957fea8b130e4ca2dcc65e753469")))
		(file-name (git-file-name name version))
		(sha256 (base32 "0ylnl48jj5jk3jrmvfx5zf8byvwg7g7my7jwwyqw3a95qcyh0isr"))))
	(arguments
	 `(#:tests? #f
	   ,@(substitute-keyword-arguments (package-arguments xbinutils)
	       ((#:configure-flags flags)
		`(cons "--program-prefix=arm-zephyr-eabi-" ,flags)))))
	(native-inputs
	 (append
	  (list texinfo
		bison
		flex
		gmp
		dejagnu)
	  (package-native-inputs xbinutils)))
	(home-page "https://zephyrproject.org")
	(synopsis "binutils for zephyr RTOS"))))
```

The function `cross-binutils` returns a package which has been
configured for the given gnu triplet.  We simply inherit that package
and replace the source.
The zephyr build system expects the binutils to be prefixed with
`arm-zephyr-eabi-` which is accomplished by adding another flag to the
`#:configure-flags` argument.

We can test our package definition using the =-L= flag with `guix build`
to add our packages.

```sh
guix build -L guix-zephyr zephyr-binutils

/gnu/store/...-zephyr-binutils-2.38
```

This directory contains the results of `make install`.

## GCC sans libc

This one is a bit more involved. Don't be afraid!
This version of GCC wants ISL version 0.15. It's easy enough
to make that happen. Inherit the current version of ISL and swap
out the source and update the version. For most packages the build process doesn't
change that much between versions.

```scheme
(define-public isl-0.15
    (package
	(inherit isl)
	(version "0.15")
	(source (origin
		  (method url-fetch)
		  (uri (list (string-append "mirror://sourceforge/libisl/isl-"
					    version ".tar.gz")))
		  (sha256
		   (base32
		    "11vrpznpdh7w8jp4wm4i8zqhzq2h7nix71xfdddp8xnzhz26gyq2"))))))

```

Like the binutils, there is a function for creating cross-gcc packages.
This one accepts keywords specifying which binutils and libc to use.
If libc isn't given (like here), gcc is configured with many options disabled
to facilitate being built without libc. Therefore we need to add the extra options
we want (I got them from the SDK configuration scripts on the
[sdk github](https://github.com/zephyrproject-rtos/sdk-ng) as well as the
commits to use for each of the tools).


```scheme
(define-public gcc-arm-zephyr-eabi-12
    (let ((xgcc (cross-gcc "arm-zephyr-eabi"
			   #:xbinutils zephyr-binutils)))
      (package
	(inherit xgcc)
	(version "12.1.0")
	(source (origin (method git-fetch)
			(uri (git-reference
			      (url "https://github.com/zephyrproject-rtos/gcc")
			      (commit "0218469df050c33479a1d5be3e5239ac0eb351bf")))
			(file-name (git-file-name (package-name xgcc) version))
			(sha256
			 (base32 "1s409qmidlvzaw1ns6jaanigh3azcxisjplzwn7j2n3s33b76zjk"))
			(patches
			 (search-patches "gcc-12-cross-environment-variables.patch"
					 "gcc-cross-gxx-include-dir.patch"))))
	(native-inputs
	 (modify-inputs (package-native-inputs xgcc)
	   ;; Get rid of stock ISL
	   (delete "isl")
	   ;; Add additional dependencies that xgcc doesn't have
	   ;; including our special ISL
	   (prepend flex
		    perl
		    python-3
		    gmp
		    isl-0.15
		    texinfo
		    python
		    mpc
		    mpfr
		    zlib)))
	(arguments
	 (substitute-keyword-arguments (package-arguments xgcc)
	   ((#:phases phases)
	    `(modify-phases ,phases
	       (add-after 'unpack 'fix-genmultilib
		 (lambda _
		   (substitute# "gcc/genmultilib"
		     (("#!/bin/sh") (string-append "#!" (which "sh"))))
		   #t))

	       (add-after 'set-paths 'augment-CPLUS_INCLUDE_PATH
		 (lambda# (#:key inputs #:allow-other-keys)
		   (let ((gcc (assoc-ref inputs  "gcc")))
		     ;; Remove the default compiler from CPLUS_INCLUDE_PATH to
		     ;; prevent header conflict with the GCC from native-inputs.
		     (setenv "CPLUS_INCLUDE_PATH"
			     (string-join
			      (delete (string-append gcc "/include/c++")
				      (string-split (getenv "CPLUS_INCLUDE_PATH")
						    #\:))
			      ":"))
		     (format #t
			     "environment variable `CPLUS_INCLUDE_PATH' changed to `a`%"
			     (getenv "CPLUS_INCLUDE_PATH"))
		     #t)))))

	   ((#:configure-flags flags)
	    ;; The configure flags are largely identical to the flags used by the
	    ;; "GCC ARM embedded" project.
	    `(append (list "--enable-multilib"
			   "--with-newlib"
			   "--with-multilib-list=rmprofile"
			   "--with-host-libstdcxx=-static-libgcc -Wl,-Bstatic,-lstdc++,-Bdynamic -lm"
			   "--enable-plugins"
			   "--disable-decimal-float"
			   "--disable-libffi"
			   "--disable-libgomp"
			   "--disable-libmudflap"
			   "--disable-libquadmath"
			   "--disable-libssp"
			   "--disable-libstdcxx-pch"
			   "--disable-nls"
			   "--disable-shared"
			   "--disable-threads"
			   "--disable-tls"
			   "--with-gnu-ld"
			   "--with-gnu-as"
			   "--enable-initfini-array")
		     (delete "--disable-multilib" ,flags)))))
	(native-search-paths
	 (list (search-path-specification
		(variable "CROSS_C_INCLUDE_PATH")
		(files '("arm-zephyr-eabi/include")))
	       (search-path-specification
		(variable "CROSS_CPLUS_INCLUDE_PATH")
		(files '("arm-zephyr-eabi/include"
			 "arm-zephyr-eabi/c++"
			 "arm-zephyr-eabi/c++/arm-zephyr-eabi")))
	       (search-path-specification
		(variable "CROSS_LIBRARY_PATH")
		(files '("arm-zephyr-eabi/lib")))))
	(home-page "https://zephyrproject.org")
	(synopsis "GCC for zephyr RTOS"))))
```

This GCC can be built like so.

```sh
guix build -L guix-zephyr gcc-cross-sans-libc-arm-zephyr-eabi

/gnu/store/...-gcc-cross-sans-libc-arm-zephyr-eabi-12.1.0-lib
/gnu/store/...-gcc-cross-sans-libc-arm-zephyr-eabi-12.1.0

```
Great! We now have our stage-1 compiler.

## Newlib(-nano)

The newlib package package is quite straight forward (relatively).
It is mostly adding in the relevent configuration flags and patching
the files the `patch-shebangs` phase missed.

```scheme
(define-public zephyr-newlib
  (package
    (name "zephyr-newlib")
    (version "3.3")
    (source (origin
	      (method git-fetch)
	      (uri (git-reference
		    (url "https://github.com/zephyrproject-rtos/newlib-cygwin")
		    (commit "4e150303bcc1e44f4d90f3489a4417433980d5ff")))
	      (sha256
	       (base32 "08qwjpj5jhpc3p7a5mbl7n6z7rav5yqlydqanm6nny42qpa8kxij"))))
    (build-system gnu-build-system)
    (arguments
     `(#:out-of-source? #t
       #:configure-flags '("--target=arm-zephyr-eabi"
			   "--enable-newlib-io-long-long"
			   "--enable-newlib-io-float"
			   "--enable-newlib-io-c99-formats"
			   "--enable-newlib-retargetable-locking"
			   "--enable-newlib-lite-exit"
			   "--enable-newlib-multithread"
			   "--enable-newlib-register-fini"
			   "--enable-newlib-extra-sections"
			   "--disable-newlib-wide-orient"
			   "--disable-newlib-fseek-optimization"
			   "--disable-newlib-supplied-syscalls"
			   "--disable-newlib-target-optspace"
			   "--disable-nls")
       #:phases
       (modify-phases %standard-phases
	 (add-after 'unpack 'fix-references-to-/bin/sh
	   (lambda _
	     (substitute# '("libgloss/arm/cpu-init/Makefile.in"
			    "libgloss/arm/Makefile.in"
			    "libgloss/libnosys/Makefile.in"
			    "libgloss/Makefile.in")
	       (("/bin/sh") (which "sh")))
	     #t)))))
    (native-inputs
     `(("xbinutils" ,zephyr-binutils)
       ("xgcc" ,gcc-arm-zephyr-eabi-12)
       ("texinfo" ,texinfo)))
    (home-page "https://www.sourceware.org/newlib/")
    (synopsis "C library for use on embedded systems")
    (description "Newlib is a C library intended for use on embedded
systems.  It is a conglomeration of several library parts that are easily
usable on embedded products.")
    (license (license:non-copyleft
	      "https://www.sourceware.org/newlib/COPYING.NEWLIB"))))
```

And the build.

```sh :exports both
$ guix build -L guix-zephyr zephyr-newlib

/gnu/store/...-zephyr-newlib-3.3
```

## Complete Toolchain

_Mostly_ complete. libstdc++ does not build because
`arm-zephyr-eabi` is not `arm-none-eabi` so a dynamic link check is
performed/failed. I cannot figure out how crosstool-ng handles this.

Now that we've got the individual tools it's time to create our complete toolchain.
For this we need to do some package transformations.
Because these transformations are going to have to be done for every combination of
binutils/gcc/newlib it is best to create a function which we can reuse for every version
of the SDK.

```scheme :exports code
  (define (arm-zephyr-eabi-toolchain xgcc newlib version)
    "Produce a cross-compiler zephyr toolchain package with the compiler XGCC and the C
  library variant NEWLIB."
    (let ((newlib-with-xgcc (package (inherit newlib)
				     (native-inputs
				      (alist-replace "xgcc" (list xgcc)
						     (package-native-inputs newlib))))))
      (package
	(name (string-append "arm-zephyr-eabi"
			     (if (string=? (package-name newlib-with-xgcc)
					   "newlib-nano")
				 "-nano" "")
			     "-toolchain"))
	(version version)
	(source #f)
	(build-system trivial-build-system)
	(arguments
	 '(#:modules ((guix build union)
		      (guix build utils))
	   #:builder
	   (begin
	     (use-modules (ice-9 match)
			  (guix build union)
			  (guix build utils))
	     (let ((out (assoc-ref %outputs "out")))
	       (mkdir-p out)
	       (match %build-inputs
		 (((names . directories) ...)
		  (union-build (string-append out "/arm-zephyr-eabi")
			       directories)
		  #t))))))
	(inputs
	 `(("binutils" ,zephyr-binutils)
	   ("gcc" ,xgcc)
	   ("newlib" ,newlib-with-xgcc)))
	(synopsis "Complete GCC tool chain for ARM zephyrRTOS development")
	(description "This package provides a complete GCC tool chain for ARM
  bare metal development with zephyr rtos.  This includes the GCC arm-zephyr-eabi cross compiler
  and newlib (or newlib-nano) as the C library.  The supported programming
  language is C.")
	(home-page (package-home-page xgcc))
	(license (package-license xgcc)))))
```

This function creates a special package which consists of the toolchain
in a special directory hierarchy, i.e `arm-zephyr-eabi/`.
Our complete toolchain definition looks like this.

```scheme
(define-public arm-zephyr-eabi-toolchain-0.15.0
  (arm-zephyr-eabi-toolchain
   gcc-arm-zephyr-eabi-12
   zephyr-newlib
   "0.15.0"))
```

To build:

```sh
guix build -L guix-zephyr arm-zephyr-eabi-toolchain
/gnu/store/...-arm-zephyr-eabi-toolchain-0.15.0
```

# Integrating with Zephyr Build System

Zephyr uses CMake as its build system. It contains numerous CMake files in both the so-called `ZEPHYR_BASE`,
the zephyr source code repository, as well as a handful in the SDK which help select the correct toolchain
for a given board.

There are standard locations the build system will look for the SDK. We are not using any of them.
Our SDK lives in the store, immutable forever.
According to [[https://docs.zephyrproject.org/latest/develop/west/without-west.html][this]] the variable `ZEPHYR_SDK_INSTALL_DIR` needs to point to our custom spot.

We also need to grab the cmake files from the
[repository](https://github.com/zephyrproject-rtos/sdk-ng)
and create a file, `sdk_version`, which
contains the version string `ZEPHYR_BASE` uses to find a compatible SDK.

Along with the SDK proper we need to include a number of
python packages required by the build system.

```scheme
(define-public zephyr-sdk
  (package
    (name "zephyr-sdk")
    (version "0.15.0")
    (home-page "https://zephyrproject.org")
    (source (origin (method git-fetch)
		    (uri (git-reference
			  (url "https://github.com/zephyrproject-rtos/sdk-ng")
			  (commit "v0.15.0")))
		    (file-name (git-file-name name version))
		    (sha256 (base32 "04gsvh20y820dkv5lrwppbj7w3wdqvd8hcanm8hl4wi907lwlmwi"))))
    (build-system trivial-build-system)
    (arguments
     `(#:modules ((guix build union)
		  (guix build utils))
       #:builder
       (begin
	 (use-modules (guix build union)
		      (ice-9 match)
		      (guix build utils))
	 (let# ((out (assoc-ref %outputs "out"))
		(cmake-scripts (string-append (assoc-ref %build-inputs "source")
					      "/cmake"))
		(sdk-out (string-append out "/zephyr-sdk-0.15.0")))
	   (mkdir-p out)

	   (match (assoc-remove! %build-inputs "source")
	     (((names . directories) ...)
	      (union-build sdk-out directories)))

	   (copy-recursively cmake-scripts
			     (string-append sdk-out "/cmake"))

	   (with-directory-excursion sdk-out
	     (call-with-output-file "sdk_version"
	       (lambda (p)
		 (format p "0.15.0")))
	     #t)))))
    (propagated-inputs
     (list
      arm-zephyr-eabi-toolchain-0.15.0
      zephyr-binutils
      dtc
      python-3
      python-pyelftools
      python-pykwalify
      python-pyyaml
      python-packaging))
    (native-search-paths
     (list (search-path-specification
	    (variable "ZEPHYR_SDK_INSTALL_DIR")
	    (files '("")))))
    (synopsis "SDK for zephyrRTOS")
    (description "zephyr-sdk contains bundles a complete gcc toolchain as well
as host tools like dtc, openocd, qemu, and required python packages.")
    (license license:apsl2)))
```

# Testing

In order to test we will need an environment with the SDK installed.
We can take advantage of `guix shell` to avoid installing test packages into
our home environment. This way if it causes problems we can just exit the shell
and try again.

```sh
guix shell -L guix-zephyr zephyr-sdk cmake ninja git
```

`ZEPHYR_BASE` can be cloned into a temporary workspace to test our toolchain functionality.
(For now. Eventually we will need to create a package for `zephyr-base` that
our guix zephyr-build-system can use.)

```sh
mkdir /tmp/zephyr-project
cd /tmp/zephyr-project
git clone https://github.com/zephyrproject-rtos/zephyr
export ZEPHYR_BASE=/tmp/zephyr-project/zephyr
```

In order to build for the test board (k64f in this case) we need to get a hold of the vendor
Hardware Abstraction Layers and CMSIS.
(These will also need to become guix packages to allow the build system to compose modules).

```sh
git clone https://github.com/zephyrproject-rtos/hal_nxp &&
git clone https://github.com/zephyrproject-rtos/cmsis
```

To inform the build system about this module we pass it in with `-DZEPHYR_MODULES=` which is
a semicolon separated list of paths containing a module.yml file.

To build the hello world sample we use the following incantation.
```sh
cmake -Bbuild $ZEPHYR_BASE/samples/hello_world \
	-GNinja \
	-DBOARD=frdm_k64f \
	-DBUILD_VERSION=3.1.0 \
	-DZEPHYR_MODULES="/tmp/zephyr-project/hal_nxp;/tmp/zephyr-project/cmsis" \
      && ninja -Cbuild
```

If everything is set up correctly we will end up with a =./build=
directory with all our build artifacts. The SDK is installed correctly!

# Conclusion

A customized cross toolchain is one of the most difficult pieces of
software to build. Using Guix, we do not need to be afraid of the
complexity! We can fiddle with settings, swap out components, and do
the most brain dead things to our environments without a care in the
world.  Just exit the environment and it's like it never happened at
all.

It highlights one of my favorite aspects of Guix, every package is a
working reference design for you to modify and learn from.