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Once you know how the target boots, you will know that you need to create the kernel, dtb, and rootfs. These can be created by downloading, configuring and compiling the Linux kernel sources, but Nerves use Buildroot to do this.
The porting procedure of Nerves is described in README of nerves_system_br as follows:
Take a look at the Flash memory layout and compare that to the layouts used in one of the supported systems. We use fwup to create images. There's a lot of variety in how one can lay out Flash memory and deal with things like failbacks. At this point, just see if you can get fwup to create an image.
Once I understood this, I was able to finish step 2 above by learning how to use Buildroot and creating the kernel and dtb. Steps 3, 4, and 5, I use nerves_system_rpi3 as base and made modifications. This is a difficult part to describe what I did.
fwup for image creation
e-RT3 uses the Xilinx Zynq-7000, and it seemed that Xilinx linux-xlnx code is partially applied.
The br2-external for e-RT3 I created is available here, br2-external-f3rp70.
It's difficult to describe what I did, but nerves_system_f3rp70 that I created is based on nerves_system_rpi3. So you can see what I changed by looking at the diff between them.
For example, DIO is not a GPIO, we can't use circuits_gpio. So, we need to use NIFs as myasu did in Real-time OS controller e-RT3 (controlled from Elixir).