diff --git a/fast-servo/device-tree/pcw.dtsi b/fast-servo/device-tree/pcw.dtsi
new file mode 100644
index 0000000..96f13b8
--- /dev/null
+++ b/fast-servo/device-tree/pcw.dtsi
@@ -0,0 +1,75 @@
+/*
+ * CAUTION: This file is automatically generated by Xilinx.
+ * Version: XSCT 2022.2
+ * Today is: Fri Jan 26 10:52:46 2024
+ */
+
+
+/ {
+	cpus {
+		cpu@0 {
+			operating-points = <500000 1000000 250000 1000000>;
+		};
+	};
+};
+&gem0 {
+	enet-reset = <&gpio0 50 0>;
+	phy-mode = "rgmii-id";
+	status = "okay";
+	xlnx,ptp-enet-clock = <0x4f790d8>;
+};
+&gpio0 {
+	emio-gpio-width = <64>;
+	gpio-mask-high = <0x0>;
+	gpio-mask-low = <0x5600>;
+};
+&i2c0 {
+	clock-frequency = <400000>;
+	status = "okay";
+};
+&i2c1 {
+	clock-frequency = <400000>;
+	status = "okay";
+};
+&intc {
+	num_cpus = <2>;
+	num_interrupts = <96>;
+};
+&qspi {
+	is-dual = <0>;
+	num-cs = <1>;
+	spi-rx-bus-width = <4>;
+	spi-tx-bus-width = <4>;
+	status = "okay";
+};
+&sdhci0 {
+	status = "okay";
+	xlnx,has-cd = <0x0>;
+	xlnx,has-power = <0x0>;
+	xlnx,has-wp = <0x0>;
+};
+&spi0 {
+	is-decoded-cs = <0>;
+	num-cs = <3>;
+	status = "okay";
+};
+&spi1 {
+	is-decoded-cs = <0>;
+	num-cs = <3>;
+	status = "okay";
+};
+&uart0 {
+	cts-override ;
+	device_type = "serial";
+	port-number = <0>;
+	status = "okay";
+};
+&usb0 {
+	phy_type = "ulpi";
+	status = "okay";
+	usb-reset = <&gpio0 51 0>;
+};
+&clkc {
+	fclk-enable = <0x0>;
+	ps-clk-frequency = <33333333>;
+};
diff --git a/fast-servo/device-tree/system-top.dts b/fast-servo/device-tree/system-top.dts
new file mode 100644
index 0000000..51be99f
--- /dev/null
+++ b/fast-servo/device-tree/system-top.dts
@@ -0,0 +1,29 @@
+/*
+ * CAUTION: This file is automatically generated by Xilinx.
+ * Version: XSCT 2022.2
+ * Today is: Fri Jan 26 10:52:46 2024
+ */
+
+
+/dts-v1/;
+#include "zynq-7000.dtsi"
+#include "pcw.dtsi"
+/ {
+	chosen {
+		bootargs = "earlycon";
+		stdout-path = "serial0:115200n8";
+	};
+	aliases {
+		ethernet0 = &gem0;
+		i2c0 = &i2c0;
+		i2c1 = &i2c1;
+		serial0 = &uart0;
+		spi0 = &qspi;
+		spi1 = &spi0;
+		spi2 = &spi1;
+	};
+	memory {
+		device_type = "memory";
+		reg = <0x0 0x40000000>;
+	};
+};
diff --git a/fast-servo/device-tree/system.dts b/fast-servo/device-tree/system.dts
new file mode 100644
index 0000000..76baedf
--- /dev/null
+++ b/fast-servo/device-tree/system.dts
@@ -0,0 +1,10 @@
+/*
+ * CAUTION: This file is automatically generated by Xilinx.
+ * Version: XSCT 2022.2
+ * Today is: Fri Jan 26 10:52:46 2024
+ */
+
+
+&gem0 {
+	local-mac-address = [00 0a 35 00 00 00];
+};
diff --git a/fast-servo/device-tree/zynq-7000.dtsi b/fast-servo/device-tree/zynq-7000.dtsi
new file mode 100644
index 0000000..ae7954a
--- /dev/null
+++ b/fast-servo/device-tree/zynq-7000.dtsi
@@ -0,0 +1,566 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ *  Copyright (C) 2011 - 2015 Xilinx
+ *
+ * This software is licensed under the terms of the GNU General Public
+ * License version 2, as published by the Free Software Foundation, and
+ * may be copied, distributed, and modified under those terms.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+/ {
+	#address-cells = <1>;
+	#size-cells = <1>;
+	compatible = "xlnx,zynq-7000";
+
+	cpus {
+		#address-cells = <1>;
+		#size-cells = <0>;
+
+		cpu0: cpu@0 {
+			compatible = "arm,cortex-a9";
+			device_type = "cpu";
+			reg = <0>;
+			clocks = <&clkc 3>;
+			clock-latency = <1000>;
+			cpu0-supply = <&regulator_vccpint>;
+			operating-points = <
+				/* kHz    uV */
+				666667  1000000
+				333334  1000000
+			>;
+		};
+
+		cpu1: cpu@1 {
+			compatible = "arm,cortex-a9";
+			device_type = "cpu";
+			reg = <1>;
+			clocks = <&clkc 3>;
+		};
+	};
+
+	fpga_full: fpga-full {
+		compatible = "fpga-region";
+		fpga-mgr = <&devcfg>;
+		#address-cells = <1>;
+		#size-cells = <1>;
+		ranges;
+	};
+
+	pmu@f8891000 {
+		compatible = "arm,cortex-a9-pmu";
+		interrupts = <0 5 4>, <0 6 4>;
+		interrupt-parent = <&intc>;
+		reg = < 0xf8891000 0x1000 0xf8893000 0x1000 >;
+	};
+
+	regulator_vccpint: fixedregulator {
+		compatible = "regulator-fixed";
+		regulator-name = "VCCPINT";
+		regulator-min-microvolt = <1000000>;
+		regulator-max-microvolt = <1000000>;
+		regulator-boot-on;
+		regulator-always-on;
+	};
+
+	replicator {
+		compatible = "arm,coresight-static-replicator";
+		clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+		clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+
+		out-ports {
+			#address-cells = <1>;
+			#size-cells = <0>;
+
+			/* replicator output ports */
+			port@0 {
+				reg = <0>;
+				replicator_out_port0: endpoint {
+					remote-endpoint = <&tpiu_in_port>;
+				};
+			};
+			port@1 {
+				reg = <1>;
+				replicator_out_port1: endpoint {
+					remote-endpoint = <&etb_in_port>;
+				};
+			};
+		};
+		in-ports {
+			/* replicator input port */
+			port {
+				replicator_in_port0: endpoint {
+					remote-endpoint = <&funnel_out_port>;
+				};
+			};
+		};
+	};
+
+	amba: axi {
+		u-boot,dm-pre-reloc;
+		compatible = "simple-bus";
+		#address-cells = <1>;
+		#size-cells = <1>;
+		interrupt-parent = <&intc>;
+		ranges;
+
+		adc: adc@f8007100 {
+			compatible = "xlnx,zynq-xadc-1.00.a";
+			reg = <0xf8007100 0x20>;
+			interrupts = <0 7 4>;
+			interrupt-parent = <&intc>;
+			clocks = <&clkc 12>;
+		};
+
+		can0: can@e0008000 {
+			compatible = "xlnx,zynq-can-1.0";
+			status = "disabled";
+			clocks = <&clkc 19>, <&clkc 36>;
+			clock-names = "can_clk", "pclk";
+			reg = <0xe0008000 0x1000>;
+			interrupts = <0 28 4>;
+			interrupt-parent = <&intc>;
+			tx-fifo-depth = <0x40>;
+			rx-fifo-depth = <0x40>;
+		};
+
+		can1: can@e0009000 {
+			compatible = "xlnx,zynq-can-1.0";
+			status = "disabled";
+			clocks = <&clkc 20>, <&clkc 37>;
+			clock-names = "can_clk", "pclk";
+			reg = <0xe0009000 0x1000>;
+			interrupts = <0 51 4>;
+			interrupt-parent = <&intc>;
+			tx-fifo-depth = <0x40>;
+			rx-fifo-depth = <0x40>;
+		};
+
+		gpio0: gpio@e000a000 {
+			compatible = "xlnx,zynq-gpio-1.0";
+			#gpio-cells = <2>;
+			clocks = <&clkc 42>;
+			gpio-controller;
+			interrupt-controller;
+			#interrupt-cells = <2>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 20 4>;
+			reg = <0xe000a000 0x1000>;
+		};
+
+		i2c0: i2c@e0004000 {
+			compatible = "cdns,i2c-r1p10";
+			status = "disabled";
+			clocks = <&clkc 38>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 25 4>;
+			reg = <0xe0004000 0x1000>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		i2c1: i2c@e0005000 {
+			compatible = "cdns,i2c-r1p10";
+			status = "disabled";
+			clocks = <&clkc 39>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 48 4>;
+			reg = <0xe0005000 0x1000>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		intc: interrupt-controller@f8f01000 {
+			compatible = "arm,cortex-a9-gic";
+			#interrupt-cells = <3>;
+			interrupt-controller;
+			reg = <0xF8F01000 0x1000>,
+			      <0xF8F00100 0x100>;
+		};
+
+		L2: cache-controller@f8f02000 {
+			compatible = "arm,pl310-cache";
+			reg = <0xF8F02000 0x1000>;
+			interrupts = <0 2 4>;
+			arm,data-latency = <3 2 2>;
+			arm,tag-latency = <2 2 2>;
+			cache-unified;
+			cache-level = <2>;
+		};
+
+		mc: memory-controller@f8006000 {
+			compatible = "xlnx,zynq-ddrc-a05";
+			reg = <0xf8006000 0x1000>;
+		};
+
+		ocm: sram@fffc0000 {
+			compatible = "mmio-sram";
+			reg = <0xfffc0000 0x10000>;
+		};
+
+		uart0: serial@e0000000 {
+			compatible = "xlnx,xuartps", "cdns,uart-r1p8";
+			status = "disabled";
+			clocks = <&clkc 23>, <&clkc 40>;
+			clock-names = "uart_clk", "pclk";
+			reg = <0xE0000000 0x1000>;
+			interrupts = <0 27 4>;
+		};
+
+		uart1: serial@e0001000 {
+			compatible = "xlnx,xuartps", "cdns,uart-r1p8";
+			status = "disabled";
+			clocks = <&clkc 24>, <&clkc 41>;
+			clock-names = "uart_clk", "pclk";
+			reg = <0xE0001000 0x1000>;
+			interrupts = <0 50 4>;
+		};
+
+		spi0: spi@e0006000 {
+			compatible = "xlnx,zynq-spi-r1p6";
+			reg = <0xe0006000 0x1000>;
+			status = "disabled";
+			interrupt-parent = <&intc>;
+			interrupts = <0 26 4>;
+			clocks = <&clkc 25>, <&clkc 34>;
+			clock-names = "ref_clk", "pclk";
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		spi1: spi@e0007000 {
+			compatible = "xlnx,zynq-spi-r1p6";
+			reg = <0xe0007000 0x1000>;
+			status = "disabled";
+			interrupt-parent = <&intc>;
+			interrupts = <0 49 4>;
+			clocks = <&clkc 26>, <&clkc 35>;
+			clock-names = "ref_clk", "pclk";
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		qspi: spi@e000d000 {
+			clock-names = "ref_clk", "pclk";
+			clocks = <&clkc 10>, <&clkc 43>;
+			compatible = "xlnx,zynq-qspi-1.0";
+			status = "disabled";
+			interrupt-parent = <&intc>;
+			interrupts = <0 19 4>;
+			reg = <0xe000d000 0x1000>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		gem0: ethernet@e000b000 {
+			compatible = "xlnx,zynq-gem", "cdns,zynq-gem", "cdns,gem";
+			reg = <0xe000b000 0x1000>;
+			status = "disabled";
+			interrupts = <0 22 4>;
+			clocks = <&clkc 30>, <&clkc 30>, <&clkc 13>;
+			clock-names = "pclk", "hclk", "tx_clk";
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		gem1: ethernet@e000c000 {
+			compatible = "xlnx,zynq-gem", "cdns,zynq-gem", "cdns,gem";
+			reg = <0xe000c000 0x1000>;
+			status = "disabled";
+			interrupts = <0 45 4>;
+			clocks = <&clkc 31>, <&clkc 31>, <&clkc 14>;
+			clock-names = "pclk", "hclk", "tx_clk";
+			#address-cells = <1>;
+			#size-cells = <0>;
+		};
+
+		smcc: memory-controller@e000e000 {
+			compatible = "arm,pl353-smc-r2p1", "arm,primecell";
+			reg = <0xe000e000 0x0001000>;
+			status = "disabled";
+			clock-names = "memclk", "apb_pclk";
+			clocks = <&clkc 11>, <&clkc 44>;
+			ranges = <0x0 0x0 0xe1000000 0x1000000 /* Nand CS region */
+				  0x1 0x0 0xe2000000 0x2000000 /* SRAM/NOR CS0 region */
+				  0x2 0x0 0xe4000000 0x2000000>; /* SRAM/NOR CS1 region */
+			#address-cells = <2>;
+			#size-cells = <1>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 18 4>;
+			nfc0: nand-controller@0,0 {
+				compatible = "arm,pl353-nand-r2p1";
+				reg = <0 0 0x1000000>;
+				status = "disabled";
+				#address-cells = <0x1>;
+				#size-cells = <0x0>;
+			};
+			nor0: flash@1,0 {
+				status = "disabled";
+				compatible = "cfi-flash";
+				reg = <1 0 0x2000000>;
+				#address-cells = <1>;
+				#size-cells = <1>;
+			};
+		};
+
+		sdhci0: mmc@e0100000 {
+			compatible = "arasan,sdhci-8.9a";
+			status = "disabled";
+			clock-names = "clk_xin", "clk_ahb";
+			clocks = <&clkc 21>, <&clkc 32>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 24 4>;
+			reg = <0xe0100000 0x1000>;
+		};
+
+		sdhci1: mmc@e0101000 {
+			compatible = "arasan,sdhci-8.9a";
+			status = "disabled";
+			clock-names = "clk_xin", "clk_ahb";
+			clocks = <&clkc 22>, <&clkc 33>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 47 4>;
+			reg = <0xe0101000 0x1000>;
+		};
+
+		slcr: slcr@f8000000 {
+			u-boot,dm-pre-reloc;
+			#address-cells = <1>;
+			#size-cells = <1>;
+			compatible = "xlnx,zynq-slcr", "syscon", "simple-mfd";
+			reg = <0xF8000000 0x1000>;
+			ranges;
+			clkc: clkc@100 {
+				u-boot,dm-pre-reloc;
+				#clock-cells = <1>;
+				compatible = "xlnx,ps7-clkc";
+				fclk-enable = <0xf>;
+				clock-output-names = "armpll", "ddrpll", "iopll", "cpu_6or4x",
+						"cpu_3or2x", "cpu_2x", "cpu_1x", "ddr2x", "ddr3x",
+						"dci", "lqspi", "smc", "pcap", "gem0", "gem1",
+						"fclk0", "fclk1", "fclk2", "fclk3", "can0", "can1",
+						"sdio0", "sdio1", "uart0", "uart1", "spi0", "spi1",
+						"dma", "usb0_aper", "usb1_aper", "gem0_aper",
+						"gem1_aper", "sdio0_aper", "sdio1_aper",
+						"spi0_aper", "spi1_aper", "can0_aper", "can1_aper",
+						"i2c0_aper", "i2c1_aper", "uart0_aper", "uart1_aper",
+						"gpio_aper", "lqspi_aper", "smc_aper", "swdt",
+						"dbg_trc", "dbg_apb";
+				reg = <0x100 0x100>;
+			};
+
+			rstc: rstc@200 {
+				compatible = "xlnx,zynq-reset";
+				reg = <0x200 0x48>;
+				#reset-cells = <1>;
+				syscon = <&slcr>;
+			};
+
+			pinctrl0: pinctrl@700 {
+				compatible = "xlnx,pinctrl-zynq";
+				reg = <0x700 0x200>;
+				syscon = <&slcr>;
+			};
+		};
+
+		dmac_s: dmac@f8003000 {
+			compatible = "arm,pl330", "arm,primecell";
+			reg = <0xf8003000 0x1000>;
+			interrupt-parent = <&intc>;
+			interrupt-names = "abort", "dma0", "dma1", "dma2", "dma3",
+				"dma4", "dma5", "dma6", "dma7";
+			interrupts = <0 13 4>,
+			             <0 14 4>, <0 15 4>,
+			             <0 16 4>, <0 17 4>,
+			             <0 40 4>, <0 41 4>,
+			             <0 42 4>, <0 43 4>;
+			#dma-cells = <1>;
+			#dma-channels = <8>;
+			#dma-requests = <4>;
+			clocks = <&clkc 27>;
+			clock-names = "apb_pclk";
+		};
+
+		devcfg: devcfg@f8007000 {
+			compatible = "xlnx,zynq-devcfg-1.0";
+			interrupt-parent = <&intc>;
+			interrupts = <0 8 4>;
+			reg = <0xf8007000 0x100>;
+			clocks = <&clkc 12>, <&clkc 15>, <&clkc 16>, <&clkc 17>, <&clkc 18>;
+			clock-names = "ref_clk", "fclk0", "fclk1", "fclk2", "fclk3";
+			syscon = <&slcr>;
+		};
+
+		efuse: efuse@f800d000 {
+			compatible = "xlnx,zynq-efuse";
+			reg = <0xf800d000 0x20>;
+		};
+
+		global_timer: timer@f8f00200 {
+			compatible = "arm,cortex-a9-global-timer";
+			reg = <0xf8f00200 0x20>;
+			interrupts = <1 11 0x301>;
+			interrupt-parent = <&intc>;
+			clocks = <&clkc 4>;
+		};
+
+		ttc0: timer@f8001000 {
+			interrupt-parent = <&intc>;
+			interrupts = <0 10 4>, <0 11 4>, <0 12 4>;
+			compatible = "cdns,ttc";
+			clocks = <&clkc 6>;
+			reg = <0xF8001000 0x1000>;
+		};
+
+		ttc1: timer@f8002000 {
+			interrupt-parent = <&intc>;
+			interrupts = <0 37 4>, <0 38 4>, <0 39 4>;
+			compatible = "cdns,ttc";
+			clocks = <&clkc 6>;
+			reg = <0xF8002000 0x1000>;
+		};
+
+		scutimer: timer@f8f00600 {
+			interrupt-parent = <&intc>;
+			interrupts = <1 13 0x301>;
+			compatible = "arm,cortex-a9-twd-timer";
+			reg = <0xf8f00600 0x20>;
+			clocks = <&clkc 4>;
+		};
+
+		usb0: usb@e0002000 {
+			compatible = "xlnx,zynq-usb-2.20a", "chipidea,usb2";
+			status = "disabled";
+			clocks = <&clkc 28>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 21 4>;
+			reg = <0xe0002000 0x1000>;
+			phy_type = "ulpi";
+		};
+
+		usb1: usb@e0003000 {
+			compatible = "xlnx,zynq-usb-2.20a", "chipidea,usb2";
+			status = "disabled";
+			clocks = <&clkc 29>;
+			interrupt-parent = <&intc>;
+			interrupts = <0 44 4>;
+			reg = <0xe0003000 0x1000>;
+			phy_type = "ulpi";
+		};
+
+		watchdog0: watchdog@f8005000 {
+			clocks = <&clkc 45>;
+			compatible = "cdns,wdt-r1p2";
+			interrupt-parent = <&intc>;
+			interrupts = <0 9 1>;
+			reg = <0xf8005000 0x1000>;
+			timeout-sec = <10>;
+		};
+
+		etb@f8801000 {
+			compatible = "arm,coresight-etb10", "arm,primecell";
+			reg = <0xf8801000 0x1000>;
+			clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+			clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+			in-ports {
+				port {
+					etb_in_port: endpoint {
+						remote-endpoint = <&replicator_out_port1>;
+					};
+				};
+			};
+		};
+
+		tpiu@f8803000 {
+			compatible = "arm,coresight-tpiu", "arm,primecell";
+			reg = <0xf8803000 0x1000>;
+			clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+			clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+			in-ports {
+				port {
+					tpiu_in_port: endpoint {
+						remote-endpoint = <&replicator_out_port0>;
+					};
+				};
+			};
+		};
+
+		funnel@f8804000 {
+			compatible = "arm,coresight-static-funnel", "arm,primecell";
+			reg = <0xf8804000 0x1000>;
+			clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+			clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+
+			/* funnel output ports */
+			out-ports {
+				port {
+					funnel_out_port: endpoint {
+						remote-endpoint =
+							<&replicator_in_port0>;
+					};
+				};
+			};
+
+			in-ports {
+				#address-cells = <1>;
+				#size-cells = <0>;
+
+				/* funnel input ports */
+				port@0 {
+					reg = <0>;
+					funnel0_in_port0: endpoint {
+						remote-endpoint = <&ptm0_out_port>;
+					};
+				};
+
+				port@1 {
+					reg = <1>;
+					funnel0_in_port1: endpoint {
+						remote-endpoint = <&ptm1_out_port>;
+					};
+				};
+
+				port@2 {
+					reg = <2>;
+					funnel0_in_port2: endpoint {
+					};
+				};
+				/* The other input ports are not connect to anything */
+			};
+		};
+
+		ptm@f889c000 {
+			compatible = "arm,coresight-etm3x", "arm,primecell";
+			reg = <0xf889c000 0x1000>;
+			clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+			clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+			cpu = <&cpu0>;
+			out-ports {
+				port {
+					ptm0_out_port: endpoint {
+						remote-endpoint = <&funnel0_in_port0>;
+					};
+				};
+			};
+		};
+
+		ptm@f889d000 {
+			compatible = "arm,coresight-etm3x", "arm,primecell";
+			reg = <0xf889d000 0x1000>;
+			clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+			clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+			cpu = <&cpu1>;
+			out-ports {
+				port {
+					ptm1_out_port: endpoint {
+						remote-endpoint = <&funnel0_in_port1>;
+					};
+				};
+			};
+		};
+	};
+};