{
  inputs = {
    nixpkgs.url = "github:nixos/nixpkgs/nixos-unstable";
    flake-parts.url = "github:hercules-ci/flake-parts";
    naersk.url = "github:nix-community/naersk";
    rust-overlay = { url = "github:oxalica/rust-overlay"; };
    nixpkgs-esp-dev.url = "github:madmo/nixpkgs-esp-dev";
  };

  outputs = inputs@{ self, nixpkgs, flake-parts, rust-overlay, naersk
    , nixpkgs-esp-dev, ... }:
    flake-parts.lib.mkFlake { inherit inputs; } {
      systems = [ "x86_64-linux" ];
      perSystem = { config, self', inputs', pkgs, system, ... }:
        let
          toolchain = (pkgs.rust-bin.selectLatestNightlyWith (toolchain:
            toolchain.minimal.override {
              extensions = [ "rust-src" "rustfmt" "clippy" ];
              targets = [ "riscv32imac-unknown-none-elf" ];
            }));

          naersk' = pkgs.callPackage naersk {
            cargo = toolchain;
            rustc = toolchain;
          };

          ldproxy = pkgs.rustPlatform.buildRustPackage rec {
            pname = "ldproxy";
            version = "0.3.4";

            src = pkgs.fetchFromGitHub {
              owner = "esp-rs";
              repo = "embuild";
              rev = "${pname}-v${version}";
              sha256 = "sha256-axqlh3wexGQ4pjphkR04k4Cr4f1ytan0y+HYJuTtYa8=";
            };

            buildAndTestSubdir = "ldproxy";

            nativeBuildInputs = [ pkgs.pkg-config ];

            buildInputs = [ pkgs.udev ];

            cargoSha256 = "sha256-GuxmLGcbjuWCAucWzjfJD85ERGhqdnUGLLCcq7bbr6g=";

            meta = with pkgs.lib; {
              description =
                "Build support for embedded Rust: Cargo integration with other embedded build ecosystems & tools, like PlatformIO, CMake and kconfig";
              homepage = "https://github.com/esp-rs/embuild";
              license = with licenses; [
                mit # or
                asl20
              ];
              maintainers = with maintainers; [ matthiasbeyer ];
            };
          };

          esp-idf = (pkgs.esp-idf-esp32c6.override {
            rev = "v5.1.3";
            sha256 = "sha256-0QsIFOcSx1N15t5po3TyOaNvpzBUfKaFdsRODOBoXCI=";
          });

          git-safe-dir-hook = pkgs.callPackage ({ }:
            pkgs.makeSetupHook {
              name = "git-safe-dir-hook";
              propagatedBuildInputs = [ pkgs.git esp-idf ];
              substitutions = { shell = "${pkgs.bash}/bin/bash"; };
            } (pkgs.writeScript "git-safe-dir-hook.sh" ''
              export GIT_CONFIG_GLOBAL=$(realpath .gitconfig)
              ${pkgs.git}/bin/git config --global --add safe.directory \
                '${esp-idf}'
            '')) { };
        in rec {
          _module.args.pkgs = import inputs.nixpkgs {
            inherit system;
            overlays = [
              (import rust-overlay)
              (import "${nixpkgs-esp-dev}/overlay.nix")
            ];
            config = { };
          };

          packages.default = naersk'.buildPackage rec {
            src = ./.;
            additionalCargoLock = ./rustlib-Cargo.lock;
            copyBins = false;
            copyTarget = true;
            singleStep = true;

            nativeBuildInputs = [ git-safe-dir-hook esp-idf ldproxy ];

            LIBCLANG_PATH = pkgs.llvmPackages.libclang.lib + "/lib/";
          };

          devShells.default = pkgs.mkShell {
            nativeBuildInputs =
              [ toolchain esp-idf ldproxy pkgs.llvmPackages.libclang ];
            shellHook = ''
              export LIBCLANG_PATH="${pkgs.llvmPackages.libclang.lib}/lib/" 
            '';
          };
        };
      flake = {

      };
    };
}