{
  lib,
  mkShell,
  zephyrPackages,
  cmake,
  ninja,
  gnumake,
  python3,
  toolchains ? with zephyrPackages.toolchains; [ arm-zephyr-eabi ],
  enableWest ? false,
  zephyrSrc ? zephyrPackages.src,
  modules ? [ ],
  extraPackages ? [ ],
  extraAttrs ? { },
}:
let
  zephyr-sdk = zephyrPackages.sdk.override { inherit toolchains; };
in
mkShell (
  {
    packages =
      [
        cmake
        ninja
        gnumake
        python3
      ]
      ++ (
        with python3.pkgs;
        [
          # requirements-base.txt
          pyelftools
          pyyaml
          pykwalify
          canopen
          packaging
          progress
          psutil
          pylink-square
          pyserial
          requests
          anytree
          intelhex
        ]
        ++ lib.optional enableWest python3.pkgs.west
        ++ extraPackages
      );

    ZEPHYR_TOOLCHAIN_VARIANT = "zephyr";
    ZEPHYR_SDK_INSTALL_DIR = "${zephyr-sdk}";
  }
  // lib.optionalAttrs (zephyrSrc != null) {
    ZEPHYR_BASE = "${zephyrSrc}";
    shellHook = ''
      PATH="${zephyrSrc}/scripts:$PATH"
    '';
  }
  // lib.optionalAttrs (modules != [ ]) {
    ZEPHYR_MODULES = lib.concatStringsSep ";" (map (pkg: pkg.passthru.modulePath) modules);
  }
  // extraAttrs
)