use previous working dac code + set linien off

README.md

@@ -1,21 +0,0 @@
-# Firmware for the Sinara 8462 Fast-Servo
-## Building
-### Reproducible build with Nix
-1. Run `nix build .#packages.armv7l-linux.fast-servo-sd-image` to build the sd card image.
-2. Run `nix develop` to build a dev shell to access the GUI.
-
-### Flashing
-1. Plug in your SD card to your computer and run `lsblk` to locate SD card
-2. If there are any partitions on the SD card, run `umount <mount point>` all the related mount points.
-3. Run `sudo dd if=<path to the SD Card Image> of=/dev/<SD Card Device Name in lsblk> bs=4M status=progress oflag=sync`
-4. Eject the SD Card before removal
-
-### Usage
-1. Make sure the onboard DIP Switch is in the following condition.
-    - EN: OFF
-    - MODE: ON
-2. Install the SD Card, power up the board via the power jack or PoE and plug in the RJ45 Ethernet cable.
-3. Wait for all the front panel LEDs except the termination status LEDs to turn off. It can take a minutes or two for first boot. If it does not boot up, try to flash the SD Card again.
-4. Run `ssh <fast servo ip address> -p 3030` to ssh into fast-servo and run `linien-server run` to start the linien server.
-5. In the dev shell, run `linien` to launch the GUI. Add new device. Username is `root` and it does not take any password to log in. You leave the password field with any text.
-6. Select the newly added device and click connect in the GUI to connect and start the GUI.

fast-servo/autolock_pipeline.patch

@@ -1,66 +0,0 @@
-diff --git a/gateware/logic/autolock.py b/gateware/logic/autolock.py
-index a6dc764..1a8407f 100644
---- a/gateware/logic/autolock.py
-+++ b/gateware/logic/autolock.py
-@@ -148,14 +148,17 @@ class RobustAutolock(Module, AutoCSR):
-         final_waited_for = Signal(bits_for(N_points))
- 
-         # this is the signal that's used for detecting peaks
--        sum_diff = Signal((len(self.sum_diff_calculator.output), True))
--        abs_sum_diff = Signal.like(sum_diff)
-+        self.sum_diff = Signal((len(self.sum_diff_calculator.output), True))
-+        abs_sum_diff = Signal.like(self.sum_diff)
-         self.comb += [
-             self.sum_diff_calculator.writing_data_now.eq(self.writing_data_now),
-             self.sum_diff_calculator.restart.eq(self.at_start),
-             self.sum_diff_calculator.input.eq(self.input),
-             self.sum_diff_calculator.delay_value.eq(self.time_scale.storage),
--            sum_diff.eq(self.sum_diff_calculator.output),
-+        ]
-+
-+        self.sync += [
-+            self.sum_diff.eq(self.sum_diff_calculator.output),
-         ]
- 
-         # has this signal at the moment the same sign as the peak we are looking for?
-@@ -168,16 +171,17 @@ class RobustAutolock(Module, AutoCSR):
-         all_instructions_triggered = Signal()
- 
-         self.comb += [
--            sign_equal.eq((sum_diff > 0) == (current_peak_height > 0)),
--            If(sum_diff >= 0, abs_sum_diff.eq(sum_diff)).Else(
--                abs_sum_diff.eq(-1 * sum_diff)
-+            sign_equal.eq((self.sum_diff > 0) == (current_peak_height > 0)),
-+            If(self.sum_diff >= 0, abs_sum_diff.eq(self.sum_diff)).Else(
-+                abs_sum_diff.eq(-1 * self.sum_diff)
-             ),
-             If(
-                 current_peak_height >= 0,
-                 abs_current_peak_height.eq(current_peak_height),
-             ).Else(abs_current_peak_height.eq(-1 * current_peak_height)),
-             over_threshold.eq(abs_sum_diff >= abs_current_peak_height),
--            waited_long_enough.eq(waited_for > current_wait_for),
-+            # HACK: To compensate the lock position output for the pipeline delay
-+            waited_long_enough.eq((waited_for >= current_wait_for - 1) & (waited_for != 2 ** bits_for(N_points) - 1) & (current_wait_for - 1 != 2 ** bits_for(N_points) - 1)),
-             all_instructions_triggered.eq(
-                 self.current_instruction_idx >= self.N_instructions.storage
-             ),
-@@ -190,7 +194,7 @@ class RobustAutolock(Module, AutoCSR):
-         self.sync += [
-             If(
-                 self.at_start,
--                waited_for.eq(0),
-+                waited_for.eq(-1),
-                 # fpga robust autolock algorithm registeres trigger events delayed.
-                 # Therefore, we give it a head start for `final_waited_for`
-                 final_waited_for.eq(ROBUST_AUTOLOCK_FPGA_DELAY),
-@@ -213,7 +217,8 @@ class RobustAutolock(Module, AutoCSR):
-                         self.current_instruction_idx.eq(
-                             self.current_instruction_idx + 1
-                         ),
--                        waited_for.eq(0),
-+                        # HACK: To compensate the lock position output for the pipeline delay
-+                        waited_for.eq(-1),
-                     ).Else(waited_for.eq(waited_for + 1)),
-                 ),
-                 If(

fast-servo/iir_pipeline.patch

@@ -1,13 +0,0 @@
-diff --git a/gateware/logic/iir.py b/gateware/logic/iir.py
-index 2380dd7..60bfeb7 100644
---- a/gateware/logic/iir.py
-+++ b/gateware/logic/iir.py
-@@ -89,7 +89,7 @@ class Iir(Filter):
-                 zr = Signal.like(z)
-                 self.sync += zr.eq(z)
-                 z = Signal.like(zr)
--                self.comb += z.eq(zr + signal * c[coeff])
-+                self.sync += z.eq(zr + signal * c[coeff])
-             self.comb += y_next.eq(z)
-             self.latency.value = Constant(order + 1)
-             self.interval.value = Constant(1)

fast-servo/linien-client-ssh-port-change.patch

@@ -1,31 +0,0 @@
-diff --git a/linien-client/linien_client/deploy.py b/linien-client/linien_client/deploy.py
-index df6683f..7355cc3 100644
---- a/linien-client/linien_client/deploy.py
-+++ b/linien-client/linien_client/deploy.py
-@@ -34,7 +34,7 @@ logger.setLevel(logging.DEBUG)
- 
- 
- def read_remote_version(
--    device: Device, ssh_port: int = 22, out_stream=sys.stdout
-+    device: Device, ssh_port: int = 3030, out_stream=sys.stdout
- ) -> str:
-     """Read the remote version of linien."""
- 
-@@ -62,7 +62,7 @@ def read_remote_version(
- 
- 
- def start_remote_server(
--    device: Device, ssh_port: int = 22, out_stream=sys.stdout
-+    device: Device, ssh_port: int = 3030, out_stream=sys.stdout
- ) -> None:
-     """Start the remote linien server."""
- 
-@@ -102,7 +102,7 @@ def start_remote_server(
- 
- 
- def install_remote_server(
--    device: Device, ssh_port: int = 22, out_stream=sys.stdout
-+    device: Device, ssh_port: int = 3030, out_stream=sys.stdout
- ) -> None:
-     """Install the remote linien server."""
- 

fast-servo/linien-common-fast-servo-hardware-specific.patch

@@ -1,15 +0,0 @@
-diff --git a/linien-common/linien_common/common.py b/linien-common/linien_common/common.py
-index 854d776..a310dbe 100644
---- a/linien-common/linien_common/common.py
-+++ b/linien-common/linien_common/common.py
-@@ -25,8 +25,8 @@ from typing import Dict, Iterable, List, Tuple, Union
- import numpy as np
- from scipy.signal import correlate, resample
- 
--MHz = 0x10000000 / 8
--Vpp = ((1 << 14) - 1) / 4
-+MHz = 0x10000000 / 8 * 125 / 100
-+Vpp = (1 << 14) * 0.5 / 0.425 - 1
- # conversion of bits to V
- ANALOG_OUT_V = 1.8 / ((2**15) - 1)
- 

fast-servo/linien-fast-servo-gateware.patch

@@ -0,0 +1,38 @@
+# diff from elhep/Fast-Servo-Firmmware commit ID 7fae40c:
+# https://github.com/elhep/Fast-Servo-Firmware/commit/7fae40c0f872a91218be378f8289b98b1e366729
+# Fix for migen add_source deprecation and removed xilinx bootgen command
+# .bin file is being generated by bit2bin.py from Linien repository
+# https://github.com/linien-org/linien/blob/master/gateware/bit2bin.py 
+
+diff --git a/fast_servo/gateware/fast_servo_platform.py b/fast_servo/gateware/fast_servo_platform.py
+index 13b4aa3..89a8103 100644
+--- a/fast_servo/gateware/fast_servo_platform.py
++++ b/fast_servo/gateware/fast_servo_platform.py
+@@ -324,7 +324,12 @@ class Platform(XilinxPlatform):
+         self.ps7_config = ps7_config
+ 
+         verilog_sources = os.listdir(verilog_dir)
+-        self.add_sources(verilog_dir, *verilog_sources)
++        self.add_source_dir(verilog_dir)
++
++    def build(self, *args, **kwargs):
++        build_dir = kwargs.get('build_dir', 'build')
++        self.copy_sources(build_dir)
++        super().build(*args, **kwargs)
+ 
+     def do_finalize(self, fragment):
+         try:
+diff --git a/fast_servo/gateware/fast_servo_soc.py b/fast_servo/gateware/fast_servo_soc.py
+index 02128f5..abfc583 100644
+--- a/fast_servo/gateware/fast_servo_soc.py
++++ b/fast_servo/gateware/fast_servo_soc.py
+@@ -282,9 +282,3 @@ if __name__ == "__main__":
+     os.chdir(os.path.join(root_path, build_dir))
+     with open(f"{build_name}.bif", "w") as f:
+         f.write(f"all:\n{{\n\t{build_name}.bit\n}}")
+-    
+-    cmd = f"bootgen -image {build_name}.bif -arch zynq -process_bitstream bin -w on".split(" ")
+-    subprocess.run(cmd)
+-
+-    
+-

fast-servo/linien-fast-servo-server.patch

@@ -1,42 +1,3 @@
-# diff from elhep/Fast-Servo-Firmmware commit ID 7fae40c:
-# https://github.com/elhep/Fast-Servo-Firmware/commit/7fae40c0f872a91218be378f8289b98b1e366729
-# Fix for migen add_source deprecation and removed xilinx bootgen command
-# .bin file is being generated by bit2bin.py from Linien repository
-# https://github.com/linien-org/linien/blob/master/gateware/bit2bin.py 
-
-diff --git a/fast_servo/gateware/fast_servo_platform.py b/fast_servo/gateware/fast_servo_platform.py
-index 13b4aa3..89a8103 100644
---- a/fast_servo/gateware/fast_servo_platform.py
-+++ b/fast_servo/gateware/fast_servo_platform.py
-@@ -324,7 +324,12 @@ class Platform(XilinxPlatform):
-         self.ps7_config = ps7_config
- 
-         verilog_sources = os.listdir(verilog_dir)
--        self.add_sources(verilog_dir, *verilog_sources)
-+        self.add_source_dir(verilog_dir)
-+
-+    def build(self, *args, **kwargs):
-+        build_dir = kwargs.get('build_dir', 'build')
-+        self.copy_sources(build_dir)
-+        super().build(*args, **kwargs)
- 
-     def do_finalize(self, fragment):
-         try:
-diff --git a/fast_servo/gateware/fast_servo_soc.py b/fast_servo/gateware/fast_servo_soc.py
-index 02128f5..abfc583 100644
---- a/fast_servo/gateware/fast_servo_soc.py
-+++ b/fast_servo/gateware/fast_servo_soc.py
-@@ -282,9 +282,3 @@ if __name__ == "__main__":
-     os.chdir(os.path.join(root_path, build_dir))
-     with open(f"{build_name}.bif", "w") as f:
-         f.write(f"all:\n{{\n\t{build_name}.bit\n}}")
--    
--    cmd = f"bootgen -image {build_name}.bif -arch zynq -process_bitstream bin -w on".split(" ")
--    subprocess.run(cmd)
--
--    
--
-
 # diff between linen-org/linien commit ID 93f1f50:
 # https://github.com/linien-org/linien/commit/93f1f50ebd86fe3314cab5a549462d0fcbf6a658
 # and elhep/linien commit ID b73eea0:
@@ -55,27 +16,41 @@ index b3f3683..98c6e51 100644
  
    - repo: https://github.com/pycqa/isort
      rev: 5.12.0
+diff --git a/gateware/build_fpga_image.sh b/gateware/build_fpga_image.sh
+index f822402..be7401c 100644
+--- a/gateware/build_fpga_image.sh
++++ b/gateware/build_fpga_image.sh
+@@ -16,4 +16,9 @@ export PATH=$VIVADOPATH:$PATH
+ 
+ rm linien-server/linien_server/gateware.bin -f
+ # run with -m option to avoid errors related to relative imports without breaking pytest
+-python3 -m gateware.fpga_image_helper
+\ No newline at end of file
++
++if [ -z "$1" ]; then
++    python3 -m gateware.fpga_image_helper
++else
++    python3 -m gateware.fpga_image_helper -p $1
++fi
+\ No newline at end of file
 diff --git a/gateware/fpga_image_helper.py b/gateware/fpga_image_helper.py
-index c3e20e7..ebead1d 100644
+index 6c34429..a0b12d0 100644
 --- a/gateware/fpga_image_helper.py
 +++ b/gateware/fpga_image_helper.py
-@@ -1,6 +1,7 @@
- # This file is part of Linien and based on redpid.
- #
- # Copyright (C) 2016-2024 Linien Authors (https://github.com/linien-org/linien#license)
+@@ -1,5 +1,6 @@
+ # Copyright 2014-2015 Robert Jördens <jordens@gmail.com>
+ # Copyright 2018-2022 Benjamin Wiegand <benjamin.wiegand@physik.hu-berlin.de>
 +# Copyright 2023 Jakub Matyas <jakubk.m@gmail.com>
  #
- # Linien is free software: you can redistribute it and/or modify
- # it under the terms of the GNU General Public License as published by
-@@ -20,16 +21,18 @@
- from pathlib import Path
+ # This file is part of Linien and based on redpid.
+ #
+@@ -23,14 +24,16 @@ from pathlib import Path
+ REPO_ROOT_DIR = Path(__file__).resolve().parents[1]
  
  from .bit2bin import bit2bin
 -from .hw_platform import Platform
 -from .linien_module import RootModule
  
- REPO_ROOT_DIR = Path(__file__).resolve().parents[1]
- 
  
  def py_csrconstants(map, fil):
      fil.write("csr_constants = {\n")
@@ -90,7 +65,7 @@ index c3e20e7..ebead1d 100644
      fil.write("}\n\n")
  
  
-@@ -51,26 +54,51 @@ def get_csrmap(banks):
+@@ -52,26 +55,49 @@ def get_csrmap(banks):
  def py_csrmap(it, fil):
      fil.write("csr = {\n")
      for reg in it:
@@ -109,7 +84,7 @@ index c3e20e7..ebead1d 100644
 -    platform = Platform()
 -    root = RootModule(platform)
 +    import argparse
-+
+ 
 +    parser = argparse.ArgumentParser()
 +    parser.add_argument("-p", "--platform", default=None)
 +    args = parser.parse_args()
@@ -132,7 +107,6 @@ index c3e20e7..ebead1d 100644
 +    platform.add_source_dir(REPO_ROOT_DIR / "gateware" / "verilog")
 +    build_dir = REPO_ROOT_DIR / "gateware" / "build"
 +    platform.build(root, build_name="top", build_dir=build_dir, run=True)
- 
      with open(
          REPO_ROOT_DIR / "linien-server" / "linien_server" / "csrmap.py", "w"
      ) as fil:
@@ -143,7 +117,7 @@ index c3e20e7..ebead1d 100644
          py_csrmap(csr, fil)
          fil.write("states = {}\n".format(repr(root.linien.state_names)))
          fil.write("signals = {}\n".format(repr(root.linien.signal_names)))
- 
+-
 -    platform.add_source_dir(REPO_ROOT_DIR / "gateware" / "verilog")
 -    build_dir = REPO_ROOT_DIR / "gateware" / "build"
 -    platform.build(root, build_name="top", build_dir=build_dir)
@@ -154,14 +128,14 @@ diff --git a/gateware/linien_module.py b/gateware/linien_module.py
 index 16ca186..6905ac0 100644
 --- a/gateware/linien_module.py
 +++ b/gateware/linien_module.py
-@@ -1,6 +1,7 @@
- # This file is part of Linien and based on redpid.
- #
- # Copyright (C) 2016-2024 Linien Authors (https://github.com/linien-org/linien#license)
+@@ -2,6 +2,7 @@
+ # Copyright 2018-2022 Benjamin Wiegand <benjamin.wiegand@physik.hu-berlin.de>
+ # Copyright 2021-2023 Bastian Leykauf <leykauf@physik.hu-berlin.de>
+ # Copyright 2022 Christian Freier <christian.freier@nomadatomics.com>
 +# Copyright 2023 Jakub Matyas <jakubk.m@gmail.com>
  #
- # Linien is free software: you can redistribute it and/or modify
- # it under the terms of the GNU General Public License as published by
+ # This file is part of Linien and based on redpid.
+ #
 @@ -36,19 +37,13 @@ from misoc.interconnect.csr import AutoCSR, CSRStatus, CSRStorage
  from .logic.autolock import FPGAAutolock
  from .logic.chains import FastChain, SlowChain, cross_connect

fast-servo/linien-gateware/cores/adc.py

@@ -20,15 +20,13 @@
 from migen import *
 from migen.genlib.cdc import MultiReg
 from misoc.interconnect.csr import AutoCSR, CSRStatus, CSRStorage
-from misoc.interconnect.stream import AsyncFIFO
 
 
-class CRG(Module):
+class _CRG(Module):
     def __init__(self, platform, dco_clk, dco_freq=200e6):
         self.clock_domains.cd_dco = ClockDomain()
         self.clock_domains.cd_dco2x = ClockDomain()
         self.clock_domains.cd_dco2d = ClockDomain()
-        self.clock_domains.cd_dco2d_45_degree = ClockDomain()
         dco_clk_p, dco_clk_n = dco_clk
 
         dco_clk_buf = Signal()
@@ -43,83 +41,59 @@ class CRG(Module):
         clk_dco = Signal()
         clk_dco2x = Signal()
         clk_dco2d = Signal()
-        clk_dco2d_45_degree = Signal()
-        mmcm_ps_psdone = Signal()
-
         self.locked = Signal()
-        self.mmcm_rst = Signal()
-        self.ddr_clk_phase_shift_en = Signal()
-        self.ddr_clk_phase_incdec = Signal()
 
         platform.add_period_constraint(dco_clk_p, 1e9 / dco_freq)
         self.specials += [
             Instance(
-                "MMCME2_ADV",
+                "PLLE2_BASE",
                 p_BANDWIDTH="OPTIMIZED",
                 p_DIVCLK_DIVIDE=1,
                 p_CLKFBOUT_PHASE=0.0,
-                p_CLKFBOUT_MULT_F=4,  # VCO @ 800 MHz
+                p_CLKFBOUT_MULT=4,  # VCO @ 800 MHz
                 p_CLKIN1_PERIOD=(1e9 / dco_freq),
                 p_REF_JITTER1=0.01,
                 p_STARTUP_WAIT="FALSE",
                 i_CLKIN1=dco_clk_buf,
                 i_PWRDWN=0,
-                i_RST=ResetSignal("sys") | self.mmcm_rst,
+                i_RST=ResetSignal("sys"),
                 i_CLKFBIN=clk_feedback_buf,
                 o_CLKFBOUT=clk_feedback,
-
-                p_CLKOUT0_USE_FINE_PS="TRUE",
-                p_CLKOUT0_DIVIDE_F=8,
-                p_CLKOUT0_PHASE=45.0,
+                p_CLKOUT0_DIVIDE=4,
+                p_CLKOUT0_PHASE=0.0,
                 p_CLKOUT0_DUTY_CYCLE=0.5,
-                o_CLKOUT0=clk_dco2d_45_degree,  # 100 MHz <- dco_clk / 2 = 200 MHz / 2
-                o_LOCKED=self.locked,
-
+                o_CLKOUT0=clk_dco,  # 200 MHz <- dco_clk
                 p_CLKOUT1_DIVIDE=2,
                 p_CLKOUT1_PHASE=0.0,
                 p_CLKOUT1_DUTY_CYCLE=0.5,
                 o_CLKOUT1=clk_dco2x,  # 400 MHZ <- 2 * dco_clk = 2*200 MHz
-                
                 p_CLKOUT2_DIVIDE=8,
                 p_CLKOUT2_PHASE=0.0,
                 p_CLKOUT2_DUTY_CYCLE=0.5,
                 o_CLKOUT2=clk_dco2d,  # 100 MHz <- dco_clk / 2 = 200 MHz / 2
-                
-                p_CLKOUT3_DIVIDE=4,
-                p_CLKOUT3_PHASE=0.0,
-                p_CLKOUT3_DUTY_CYCLE=0.5,
-                o_CLKOUT3=clk_dco,  # 200 MHz <- dco_clk
-
-                i_PSCLK=ClockSignal(),
-                i_PSEN=self.ddr_clk_phase_shift_en,
-                i_PSINCDEC=self.ddr_clk_phase_incdec,
-                o_PSDONE=mmcm_ps_psdone,
+                o_LOCKED=self.locked,
             )
         ]
 
         self.specials += Instance("BUFG", i_I=clk_feedback, o_O=clk_feedback_buf)
         self.specials += Instance("BUFG", i_I=clk_dco, o_O=self.cd_dco.clk)
         self.specials += Instance("BUFG", i_I=clk_dco2d, o_O=self.cd_dco2d.clk)
-        self.specials += Instance("BUFG", i_I=clk_dco2d_45_degree, o_O=self.cd_dco2d_45_degree.clk)
         self.specials += Instance("BUFG", i_I=clk_dco2x, o_O=self.cd_dco2x.clk)
 
-        # Ignore dco2d to mmcm dco_clk path created by SoC's rst.
-        platform.add_false_path_constraints(self.cd_dco2d.clk, dco_clk_buf)
-        self.specials += Instance("FD", p_INIT=1, i_D=~self.locked, i_C=self.cd_dco2d.clk, o_Q=self.cd_dco2d.rst)
 
 class ADC(Module, AutoCSR):
     def __init__(self, platform, dco_freq=200e6):
         adc_pads = platform.request("adc")
         afe_pads = platform.request("adc_afe")
 
-        self.frame_csr = CSRStatus(5)
+        self.frame_csr = CSRStatus(4)
         self.data_ch0 = CSRStatus(16)
         self.data_ch1 = CSRStatus(16)
 
         self.tap_delay = CSRStorage(5)
         self.bitslip_csr = CSRStorage(1)
 
-        self.afe_ctrl = CSRStorage(7)
+        self.afe_ctrl = CSRStorage(4)
 
         tap_delay_val = Signal(5)
         bitslip = Signal()
@@ -131,17 +105,7 @@ class ADC(Module, AutoCSR):
         ch2_shdn = Signal()
 
         self.data_out = [Signal(16, reset_less=True), Signal(16, reset_less=True)]
-        self.data_out_cdc = [Signal(16, reset_less=True), Signal(16, reset_less=True)]
         self.s_frame = Signal(4)
-        self.s_frame_cdc = Signal(4)
-
-        self.submodules.cdc_fifo = ClockDomainsRenamer({"write": "dco2d", "read": "sys"})(AsyncFIFO([("data", 36)], 4))
-        self.comb += [
-            self.cdc_fifo.sink.data.eq(Cat(self.data_out_cdc[0], self.data_out_cdc[1], self.s_frame_cdc)),
-            self.cdc_fifo.sink.stb.eq(~ResetSignal("dco2d")),
-            Cat(self.data_out[0], self.data_out[1], self.s_frame).eq(self.cdc_fifo.source.data),
-            self.cdc_fifo.source.ack.eq(~ResetSignal("sys")),
-        ]
 
         ###
 
@@ -153,14 +117,11 @@ class ADC(Module, AutoCSR):
             # dco_clk.n.eq(adc_pads.dco_n),
             tap_delay_val.eq(self.tap_delay.storage),
             Cat(ch1_gain_x10, ch2_gain_x10, ch1_shdn, ch2_shdn).eq(
-                self.afe_ctrl.storage[0:4]
+                self.afe_ctrl.storage
             ),
         ]
 
-        self.submodules.crg = CRG(platform, dco_clk, dco_freq)
-        self.comb += self.afe_ctrl.storage[4].eq(self.crg.mmcm_rst)
-        self.comb += self.afe_ctrl.storage[5].eq(self.crg.ddr_clk_phase_shift_en)
-        self.comb += self.afe_ctrl.storage[6].eq(self.crg.ddr_clk_phase_incdec)
+        self.submodules._crg = _CRG(platform, dco_clk, dco_freq)
 
         self.specials += MultiReg(self.bitslip_csr.re, bitslip_re_dco_2d, "dco2d")
         self.sync.dco2d += [
@@ -168,8 +129,7 @@ class ADC(Module, AutoCSR):
         ]
 
         self.comb += [
-            self.frame_csr.status[0:4].eq(self.s_frame[0:4]),
-            self.frame_csr.status[4].eq(self.crg.locked),
+            self.frame_csr.status.eq(self.s_frame),
             self.data_ch0.status.eq(self.data_out[0]),
             self.data_ch1.status.eq(self.data_out[1]),
         ]
@@ -186,7 +146,7 @@ class ADC(Module, AutoCSR):
 
         self.specials += Instance(
             "LTC2195",
-            i_rst_in=ResetSignal("dco2d"),
+            i_rst_in=ResetSignal("sys"),
             i_clk200=ClockSignal("idelay"),
             i_DCO=ClockSignal("dco"),
             i_DCO_2D=ClockSignal("dco2d"),
@@ -198,9 +158,9 @@ class ADC(Module, AutoCSR):
             i_D1_in_n=adc_pads.data1_n,
             i_bitslip=bitslip,
             i_delay_val=tap_delay_val,
-            o_ADC0_out=self.data_out_cdc[1],        # LANES swapped on hardware
-            o_ADC1_out=self.data_out_cdc[0],
-            o_FR_out=self.s_frame_cdc,
+            o_ADC0_out=self.data_out[1],        # LANES swapped on hardware
+            o_ADC1_out=self.data_out[0],
+            o_FR_out=self.s_frame,
             o_o_data_from_pins=dummy,
             o_idelay_rdy=dummy_idelay_rdy,
         )

fast-servo/linien-gateware/cores/dac.py

@@ -20,7 +20,6 @@
 from migen import *
 from misoc.interconnect.csr import AutoCSR, CSRStorage
 from migen.genlib.io import DDROutput
-from misoc.interconnect.stream import AsyncFIFO
 
 
 class DAC(Module, AutoCSR):
@@ -39,51 +38,37 @@ class DAC(Module, AutoCSR):
         output_data_ch1 = Signal(14)
 
         self.data_in = [Signal(14, reset_less=True), Signal(14, reset_less=True)]
-        self.data_in_csr = [Signal(14, reset_less=True), Signal(14, reset_less=True)]
-        
-        self.data_in_cdc = [Signal(14, reset_less=True), Signal(14, reset_less=True)]
-        self.data_in_csr_cdc = [Signal(14, reset_less=True), Signal(14, reset_less=True)]
         platform.add_period_constraint(dac_pads.dclkio, 10.0)
 
-        self.submodules.cdc_fifo = ClockDomainsRenamer({"write": "sys", "read": "dco2d"})(AsyncFIFO([("data", 56)], 4))
-        self.comb += [
-            self.data_in_csr[0].eq(self.output_value_ch0.storage), 
-            self.data_in_csr[1].eq(self.output_value_ch1.storage),
-            self.cdc_fifo.sink.data.eq(Cat(self.data_in[0], self.data_in[1], self.data_in_csr[0], self.data_in_csr[1])),
-            self.cdc_fifo.sink.stb.eq(~ResetSignal("sys")),
-            Cat(self.data_in_cdc[0], self.data_in_cdc[1], self.data_in_csr_cdc[0], self.data_in_csr_cdc[1]).eq(self.cdc_fifo.source.data),
-            self.cdc_fifo.source.ack.eq(~ResetSignal("dco2d")),
-        ]
-
         self.comb += [
             Cat(manual_override, ch0_pd, ch1_pd).eq(self.dac_ctrl.storage),
-            dac_pads.rst.eq(ResetSignal("dco2d")),
+            dac_pads.rst.eq(ResetSignal("sys")),
             dac_afe_pads.ch1_pd_n.eq(~ch0_pd),
             dac_afe_pads.ch2_pd_n.eq(~ch1_pd),
             output_data_ch0.eq(
-                Mux(manual_override, self.data_in_csr_cdc[0], self.data_in_cdc[0])
+                Mux(manual_override, self.output_value_ch0.storage, self.data_in[0])
             ),
             output_data_ch1.eq(
-                Mux(manual_override, self.data_in_csr_cdc[1], self.data_in_cdc[1])
+                Mux(manual_override, self.output_value_ch1.storage, self.data_in[1])
             ),
         ]
 
-        self.specials += [
-            Instance("ODDR", 
-                i_C=ClockSignal("dco2d"), 
-                i_CE=~ResetSignal("dco2d"), 
-                i_D1=output_data_ch0[lane], # DDR CLK Rising Edge
-                i_D2=output_data_ch1[lane], # DDR CLK Falling Edge
-                o_Q=dac_pads.data[lane],
-                p_DDR_CLK_EDGE="SAME_EDGE") 
-            for lane in range(14)]
-        self.specials += Instance("ODDR", 
-                i_C=ClockSignal("dco2d_45_degree"), 
-                i_CE=~ResetSignal("dco2d"), 
-                i_D1=0, 
-                i_D2=1, 
-                o_Q=dac_pads.dclkio,
-                p_DDR_CLK_EDGE="SAME_EDGE")
+        # data
+        for lane in range(14):
+            self.specials += DDROutput(
+                i1 = output_data_ch0[lane], 
+                i2 = output_data_ch1[lane], 
+                o = dac_pads.data[lane], 
+                clk = ClockSignal("dco2d")
+            )
+        
+        # clock forwarding
+        self.specials += DDROutput(
+            i1 = 0b0,
+            i2 = 0b1,
+            o = dac_pads.dclkio,
+            clk = ClockSignal("dco2d"),
+        )
 
 
 class AUX_DAC_CTRL(Module, AutoCSR):

fast-servo/linien-gateware/fast_servo_soc.py

@@ -147,7 +147,6 @@ class BaseSoC(PS7, AutoCSR):
         # self.add_main_adc(platform)
         self.submodules.adc = ADC(platform)
         self.csr_devices.append("adc")
-        platform.add_false_path_constraints(self.crg.cd_sys.clk, self.adc.crg.cd_dco2d.clk)
 
         # self.add_main_dac(platform)
         self.submodules.dac = DAC(platform)

fast-servo/linien-gui-fast-servo-hardware-specific.patch

@@ -1,227 +0,0 @@
-diff --git a/linien-gui/linien_gui/ui/general_panel.ui b/linien_gui/ui/general_panel.ui
-index 7cf74a7..6c2bd45 100644
---- a/linien-gui/linien_gui/ui/general_panel.ui
-+++ b/linien_gui/ui/general_panel.ui
-@@ -128,11 +128,6 @@
-             <string>FAST OUT 2</string>
-            </property>
-           </item>
--          <item>
--           <property name="text">
--            <string>ANALOG OUT 0</string>
--           </property>
--          </item>
-          </widget>
-         </item>
-        </layout>
-@@ -213,11 +208,6 @@
-             <string>FAST OUT 2</string>
-            </property>
-           </item>
--          <item>
--           <property name="text">
--            <string>ANALOG OUT 0</string>
--           </property>
--          </item>
-           <item>
-            <property name="text">
-             <string>disabled</string>
-@@ -389,6 +379,9 @@
-               <property name="text">
-                <string>ANALOG OUT 0</string>
-               </property>
-+              <property name="visible">
-+                <bool>false</bool>
-+              </property>
-              </widget>
-             </item>
-             <item>
-@@ -399,6 +392,9 @@
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
-+              <property name="visible">
-+                <bool>false</bool>
-+              </property>
-               <item>
-                <property name="text">
-                 <string>positive</string>
-@@ -619,6 +615,9 @@
-      <property name="title">
-       <string>Slow Analog Outputs (0-1.8V)</string>
-      </property>
-+     <property name="visible">
-+        <bool>false</bool>
-+     </property>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <widget class="QLabel" name="label_20">
-diff --git a/linien-gui/linien_gui/ui/main_window.ui b/linien_gui/ui/main_window.ui
-index 3d8b8bf..72f6159 100644
---- a/linien-gui/linien_gui/ui/main_window.ui
-+++ b/linien_gui/ui/main_window.ui
-@@ -145,10 +145,10 @@ p, li { white-space: pre-wrap; }
-                <number>3</number>
-               </property>
-               <property name="minimum">
--               <double>-1.000000000000000</double>
-+               <double>-0.500000000000000</double>
-               </property>
-               <property name="maximum">
--               <double>1.000000000000000</double>
-+               <double>0.500000000000000</double>
-               </property>
-               <property name="singleStep">
-                <double>0.100000000000000</double>
-@@ -199,13 +199,13 @@ p, li { white-space: pre-wrap; }lin
-                <double>0.000000000000000</double>
-               </property>
-               <property name="maximum">
--               <double>1.000000000000000</double>
-+               <double>0.500000000000000</double>
-               </property>
-               <property name="singleStep">
-                <double>0.100000000000000</double>
-               </property>
-               <property name="value">
--               <double>1.000000000000000</double>
-+               <double>0.500000000000000</double>
-               </property>
-              </widget>
-             </item>
-@@ -242,7 +242,6 @@ p, li { white-space: pre-wrap; }
-              <widget class="QLabel" name="label_4">
-               <property name="font">
-                <font>
--                <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-@@ -278,7 +277,6 @@ p, li { white-space: pre-wrap; }
-              <widget class="QLabel" name="label_5">
-               <property name="font">
-                <font>
--                <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
-@@ -366,7 +364,6 @@ p, li { white-space: pre-wrap; }
-                <widget class="QLabel" name="label">
-                 <property name="font">
-                  <font>
--                  <weight>75</weight>
-                   <bold>true</bold>
-                  </font>
-                 </property>
-diff --git a/linien-gui/linien_gui/ui/modulation_sweep_panel.ui b/linien_gui/ui/modulation_sweep_panel.ui
-index 6d8af14..29c8a63 100644
---- a/linien-gui/linien_gui/ui/modulation_sweep_panel.ui
-+++ b/linien_gui/ui/modulation_sweep_panel.ui
-@@ -68,7 +68,7 @@
-            <number>3</number>
-           </property>
-           <property name="maximum">
--           <double>2.000000000000000</double>
-+           <double>0.500000000000000</double>
-           </property>
-           <property name="singleStep">
-            <double>0.100000000000000</double>
-@@ -105,82 +105,82 @@
-           </property>
-           <item>
-            <property name="text">
--            <string>3.8 kHz</string>
-+            <string>3.04 kHz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>1.9 kHz</string>
-+            <string>1.52 kHz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>954 Hz</string>
-+            <string>763 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>477 Hz</string>
-+            <string>382 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>238 Hz</string>
-+            <string>190 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>119 Hz</string>
-+            <string>95 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>59 Hz</string>
-+            <string>47 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>30 Hz</string>
-+            <string>24 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>15 Hz</string>
-+            <string>12 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>7.5 Hz</string>
-+            <string>6 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>3.7 Hz</string>
-+            <string>2.96 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>1.9 Hz</string>
-+            <string>1.52 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>0.93 Hz</string>
-+            <string>0.74 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>0.47 Hz</string>
-+            <string>0.38 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>0.23 Hz</string>
-+            <string>0.18 Hz</string>
-            </property>
-           </item>
-           <item>
-            <property name="text">
--            <string>0.12 Hz</string>
-+            <string>0.10 Hz</string>
-            </property>
-           </item>
-          </widget>

fast-servo/linien-gui-fast-servo-rm-ota-update.patch

@@ -1,43 +0,0 @@
-diff --git a/linien_gui/ui/device_manager.py b/linien_gui/ui/device_manager.py
-index e584825..16994ad 100644
---- a/linien_gui/ui/device_manager.py
-+++ b/linien_gui/ui/device_manager.py
-@@ -109,19 +109,13 @@ class DeviceManager(QtWidgets.QMainWindow):
-         ) -> None:
-             loading_dialog.hide()
-             if not aborted:
--                display_question = (
-+                # Fast Servo does not support OTA Update
-+                display_error = (
-                     f"Server version ({remote_version}) does not match the client "
--                    f"({client_version}) version. Should the corresponding server "
--                    f"version be installed?"
-+                    f"({client_version}) version."
-+                    f"Please install a matching server and client version"
-                 )
--                if question_dialog(
--                    self, display_question, "Install corresponding version?"
--                ):
--                    show_installation_progress_widget(
--                        parent=self,
--                        device=device,
--                        callback=lambda: self.connect_to_device(device),
--                    )
-+                error_dialog(self, display_error)
- 
-         def handle_authentication_exception():
-             loading_dialog.hide()
-diff --git a/linien_gui/ui/main_window.py b/linien_gui/ui/main_window.py
-index dad465e..8d6a0b4 100644
---- a/linien_gui/ui/main_window.py
-+++ b/linien_gui/ui/main_window.py
-@@ -202,7 +202,8 @@ class MainWindow(QtWidgets.QMainWindow):
-         super().closeEvent(*args, **kwargs)
- 
-     def show_new_version_available(self):
--        self.newVersionAvailableLabel.show()
-+        # Fast Servo does not support OTA Update
-+        pass
- 
-     def handle_key_press(self, key):
-         logger.debug(f"key pressed {key}")

fast-servo/linien-pyrp3-monitor.patch

@@ -4,14 +4,14 @@
 
 diff --git a/monitor/Makefile b/monitor/Makefile
 new file mode 100644
-index 0000000..0c9bb53
+index 0000000..044d88e
 --- /dev/null
 +++ b/monitor/Makefile
 @@ -0,0 +1,31 @@
 +# Makefile for libmonitor
 +
 +OBJS = monitor.o
-+SRCS = $(subst .o,.c, $(OBJS)))
++SRCS = $(subst .o,.c, $(OBJS))
 +OSOBJS = monitor.os
 +TARGETLIB=libmonitor.so
 +CFLAGS=-g -std=gnu99 -Wall -Werror
@@ -59,16 +59,27 @@ index ce1b28e..233b82a 100644
  libmonitor = cdll.LoadLibrary(libmonitor_file)
  libmonitor.read_value.restype = c_uint32
 diff --git a/setup.py b/setup.py
-index 9302177..2258ddc 100644
+index 98bdaee..b0a8af4 100644
 --- a/setup.py
 +++ b/setup.py
-@@ -1,4 +1,28 @@
+@@ -1,5 +1,10 @@
+ import re
 -from distutils.core import Extension, setup
 +import os
++
 +from distutils.core import setup
 +from distutils.command.build import build
++from distutils.command.install import install
 +
+ from pathlib import Path
+ 
+ # from https://stackoverflow.com/a/7071358/2750945
+@@ -11,9 +16,50 @@ if mo:
+     verstr = mo.group(1)
+ else:
+     raise RuntimeError("Unable to find version string in %s." % (VERSIONFILE,))
 +
++# Patch from https://github.com/linien-org/pyrp3/blob/e6688acf8bd79d2dbe1d192d09c1a1baf1f6c67b/setup.py#L16-L55
 +build_dir = "monitor/"
 +
 +def compile_libmonitor():
@@ -80,16 +91,51 @@ index 9302177..2258ddc 100644
 +    finally:
 +        os.chdir(cwd)
 +
++
++def install_libmonitor(prefix=""):
++    cwd = os.getcwd()  # get current directory
++    try:
++        os.chdir(build_dir)
++        os.system("make install INSTALL_DIR={prefix}".format(prefix=prefix))
++    finally:
++        os.chdir(cwd)
++
++
 +class lib_build(build):
 +    def run(self):
 +        compile_libmonitor()
 +        build.run(self)
 +
-+setup_args = dict(
-+    cmdclass={
++
++class lib_install(install):
++    def run(self):
++        compile_libmonitor()
++        install_libmonitor(self.prefix)
++        # install.run(self)
++
++# Will use nix to install libmonitor
++cmdclass = {
 +    "build": lib_build
-+    }
-+)
++}
++
+ this_directory = Path(__file__).parent
+ long_description = (this_directory / "README.rst").read_text()
  
--setup_args = dict(ext_modules=[Extension("monitor", ["monitor/monitor.c"])])
- setup(**setup_args)
++
+ setup(
+     name="pyrp3",
+     version=verstr,
+@@ -32,6 +78,7 @@ setup(
+         "cached_property>=1.5.2",
+         "numpy>=1.11.0",
+     ],
++    cmdclass=cmdclass,
+     classifiers=[
+         "Intended Audience :: Developers",
+         "Intended Audience :: Education",
+@@ -45,5 +92,4 @@ setup(
+         "Topic :: Software Development :: Libraries :: Python Modules",
+     ],
+     keywords=["redpitaya", "FPGA", "zynq"],
+-    ext_modules=[Extension("monitor", ["monitor/monitor.c"])],
+ )

fast-servo/linien-server-fast-servo-hardware-specific.patch

@@ -1,22 +0,0 @@
-diff --git a/linien-server/linien_server/parameters.py b/linien-server/linien_server/parameters.py
-index 12f16ed..287f304 100644
---- a/linien-server/linien_server/parameters.py
-+++ b/linien-server/linien_server/parameters.py
-@@ -311,7 +311,7 @@ class Parameters:
-         # ------------------- MODULATION PARAMETERS ------------------------------------
- 
-         self.modulation_amplitude = Parameter(
--            min_=0, max_=(1 << 14) - 1, start=1 * Vpp, restorable=True, loggable=True
-+            min_=0, max_=(1 << 14) - 1, start=0.1 * Vpp, restorable=True, loggable=True
-         )
-         """
-         The amplitude of the modulation in internal units. Use Vpp for conversion to
-@@ -320,7 +320,7 @@ class Parameters:
-         """
- 
-         self.modulation_frequency = Parameter(
--            min_=0, max_=0xFFFFFFFF, start=15 * MHz, restorable=True, loggable=True
-+            min_=0, max_=0xFFFFFFFF, start=1 * MHz, restorable=True, loggable=True
-         )
-         """
-         Frequency of the modulation in internal units. Use MHz for conversion to

fast-servo/linien-server-fast-servo.patch

@@ -1,26 +0,0 @@
-diff --git a/linien-server/linien_server/cli.py b/linien-server/linien_server/cli.py
-index 98539b2..7781c74 100644
---- a/linien-server/linien_server/cli.py
-+++ b/linien-server/linien_server/cli.py
-@@ -83,18 +83,9 @@ class LinienServerCLI:
-         else:
-             control = RedPitayaControlService(host=host)
- 
--        if fake or host:
--            authenticator = no_authenticator
--        else:
--            authenticator = username_and_password_authenticator
--
--        try:
--            if not (fake or host):  # only available on RP
--                mdio_tool.disable_ethernet_blinking()
--            run_threaded_server(control, authenticator=authenticator)
--        finally:
--            if not (fake or host):  # only available on RP
--                mdio_tool.enable_ethernet_blinking()
-+        authenticator = no_authenticator
-+
-+        run_threaded_server(control, authenticator=authenticator)
- 
-     def enable(self) -> None:
-         """Enable the Linien server to start on boot."""

fast-servo/linien_module_pipeline.patch

@@ -1,57 +0,0 @@
-diff --git a/gateware/linien_module.py b/gateware/linien_module.py
-index a958896..a64714c 100644
---- a/gateware/linien_module.py
-+++ b/gateware/linien_module.py
-@@ -233,23 +233,46 @@ class LinienModule(Module, AutoCSR):
-             self.fast_a.adc.eq(soc.analog.adc_a),
-             self.fast_b.adc.eq(soc.analog.adc_b),
-         ]
--
-+        
-         # now, we combine the output of the two paths, with a variable factor each.
-         mixed = Signal(
-             (2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
-         )
-+
-+        chain_a_factor_mult_fast_a_out_i = Signal(
-+            (2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
-+        )
-+
-+        chain_b_factor_mult_fast_b_out_i = Signal(
-+            (2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
-+        )
-+        combined_offset_signed_left_shifted = Signal(
-+            (2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
-+        )
-+        fast_a_out_i_left_shifted = Signal(
-+            (2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
-+        )
-+
-+        self.sync += [
-+            chain_a_factor_mult_fast_a_out_i.eq(self.logic.chain_a_factor.storage * self.fast_a.out_i),
-+            chain_b_factor_mult_fast_b_out_i.eq(self.logic.chain_b_factor.storage * self.fast_b.out_i),
-+            combined_offset_signed_left_shifted.eq(self.logic.combined_offset_signed << (chain_factor_bits + s)),
-+            fast_a_out_i_left_shifted.eq(self.fast_a.out_i << chain_factor_bits),
-+        ] 
-+
-+
-         self.comb += [
-             If(
-                 self.logic.dual_channel.storage,
-                 mixed.eq(
--                    (self.logic.chain_a_factor.storage * self.fast_a.out_i)
--                    + (self.logic.chain_b_factor.storage * self.fast_b.out_i)
--                    + (self.logic.combined_offset_signed << (chain_factor_bits + s))
-+                    chain_a_factor_mult_fast_a_out_i
-+                    + chain_b_factor_mult_fast_b_out_i
-+                    + combined_offset_signed_left_shifted
-                 ),
-             ).Else(
-                 mixed.eq(
--                    (self.fast_a.out_i << chain_factor_bits)
--                    + (self.logic.combined_offset_signed << (chain_factor_bits + s))
-+                    fast_a_out_i_left_shifted
-+                    + combined_offset_signed_left_shifted
-                 )
-             )
-         ]

fast-servo/pid_err_sig_pipeline.patch

@@ -1,19 +0,0 @@
-diff --git a/gateware/logic/pid.py b/gateware/logic/pid.py
-index e737577..f1a4096 100644
---- a/gateware/logic/pid.py
-+++ b/gateware/logic/pid.py
-@@ -43,10 +43,12 @@ class PID(Module, AutoCSR):
-         self.comb += [setpoint_signed.eq(self.setpoint.storage)]
- 
-         self.error = Signal((self.width + 1, True))
-+        error_reg = Signal((self.width + 1, True))
-+        self.sync += self.error.eq(error_reg)
- 
-         self.comb += [
--            If(self.running, self.error.eq(self.input - self.setpoint.storage)).Else(
--                self.error.eq(0)
-+            If(self.running, error_reg.eq(self.input - self.setpoint.storage)).Else(
-+                error_reg.eq(0)
-             )
-         ]
- 

fast-servo/pid_pipeline.patch

@@ -1,64 +0,0 @@
-diff --git a/gateware/logic/pid.py b/gateware/logic/pid.py
-index 4320f94..e737577 100644
---- a/gateware/logic/pid.py
-+++ b/gateware/logic/pid.py
-@@ -56,10 +56,13 @@ class PID(Module, AutoCSR):
-         self.comb += [kp_signed.eq(self.kp.storage)]
- 
-         kp_mult = Signal((self.width + self.coeff_width, True))
--        self.comb += [kp_mult.eq(self.error * kp_signed)]
-+        kp_mult_reg = Signal((self.width + self.coeff_width, True))
-+        self.sync += kp_mult.eq(kp_mult_reg >> (self.coeff_width - 2))
-+
-+        self.comb += [kp_mult_reg.eq(self.error * kp_signed)]
- 
-         self.output_p = Signal((self.width, True))
--        self.comb += [self.output_p.eq(kp_mult >> (self.coeff_width - 2))]
-+        self.comb += [self.output_p.eq(kp_mult)]
- 
-         self.kp_mult = kp_mult
- 
-@@ -71,8 +74,10 @@ class PID(Module, AutoCSR):
-         self.comb += [ki_signed.eq(self.ki.storage)]
- 
-         self.ki_mult = Signal((1 + self.width + self.coeff_width, True))
-+        self.ki_mult_reg = Signal((1 + self.width + self.coeff_width, True))
-+        self.sync += self.ki_mult.eq(self.ki_mult_reg)
-+        self.comb += self.ki_mult_reg.eq((self.error * ki_signed) >> 4)
- 
--        self.comb += [self.ki_mult.eq((self.error * ki_signed) >> 4)]
- 
-         int_reg_width = self.width + self.coeff_width + 4
-         extra_width = int_reg_width - self.width
-@@ -110,15 +115,17 @@ class PID(Module, AutoCSR):
-         self.kd = CSRStorage(self.coeff_width)
-         kd_signed = Signal((self.coeff_width, True))
-         kd_mult = Signal((mult_width, True))
-+        kd_mult_reg = Signal((mult_width, True))
-+        self.sync += kd_mult.eq(kd_mult_reg)
- 
--        self.comb += [kd_signed.eq(self.kd.storage), kd_mult.eq(self.error * kd_signed)]
-+        self.comb += [kd_signed.eq(self.kd.storage), kd_mult_reg.eq(self.error * kd_signed >> (self.coeff_width - self.d_shift))]
- 
-         kd_reg = Signal((out_width, True))
-         kd_reg_r = Signal((out_width, True))
- 
-         self.output_d = Signal((out_width, True))
-         self.sync += [
--            kd_reg.eq(kd_mult >> (self.coeff_width - self.d_shift)),
-+            kd_reg.eq(kd_mult),
-             kd_reg_r.eq(kd_reg),
-             self.output_d.eq(kd_reg - kd_reg_r),
-         ]
-@@ -143,4 +150,10 @@ class PID(Module, AutoCSR):
- 
-         # sync is required here, otherwise we get artifacts when one of the
-         # signals changes sign
--        self.sync += [self.pid_sum.eq(self.output_p + self.int_out + self.output_d)]
-+        self.sync += [
-+            If(
-+                self.running,
-+                self.pid_sum.eq(self.output_p + self.int_out + self.output_d),
-+            )
-+            .Else(self.pid_sum.eq(0))
-+        ]

fast-servo/pyfastservo/adc.py

@@ -17,7 +17,9 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 
-import time
+import mmap
+import os
+
 import spidev
 from pyfastservo.common import (
     ADC_AFE_CTRL_ADDR,
@@ -31,8 +33,6 @@ from pyfastservo.common import (
     AUX_ADC_ADDR,
     MAP_MASK,
     PAGESIZE,
-    write_to_memory,
-    read_from_memory
 )
 
 # /dev/spidev1.0  <=> spidev<BUS>.<DEVICE>
@@ -44,181 +44,270 @@ AUX_ADC_PORT_A = 2
 AUX_ADC_PORT_B = 3
 
 
-def spi_write(spi, address, value):
-    spi.xfer2([address, value])
-
-def spi_read(spi, address):
-    rx_buffer = spi.xfer2([0x80 | address, 0x00])
-    return rx_buffer[1]
-
-def main_adc_config(spi, test_pattern):
+def main_adc_config(test_pattern):
     high_word = (test_pattern & 0xFF00) >> 8
     low_word = test_pattern & 0xFF
 
-    spi_write(spi, 0x00, 0x80)              # reset
-    spi_write(spi, 0x01, 0x20)              # REGISTER A1: set to Two's complement Data Format
-    spi_write(spi, 0x02, 0x15)              # REGISTER A2: set to LVDS output, set 4 data lanes and turn on test mode
-    spi_write(spi, 0x03, high_word)         # REGISTER A3: test pattern high word
-    spi_write(spi, 0x04, low_word)          # REGISTER A4: test pattern low word
-
-def main_adc_test_mode(spi, enable):
-    reg_contents = 0x15 if enable else 0x11 # set to LVDS output, set 4 data lanes and turn on or off test mode
-    spi_write(spi, 0x02, reg_contents)
-
-def verify_adc_registers(spi, reg_to_check):
-    for register, expected_value in reg_to_check.items():
-        value = spi_read(spi, register)
-        print(f"Spi readback register 0x{register:02x}: 0x{value:02x}")
-        if value != expected_value:
-            print(f"Different value read than sent in reg 0x{register:02x}")
-
-def read_frame():
-    return read_from_memory(ADC_FRAME_ADDR, 1)[0]
-
-def perform_bitslip():
-    for i in range(4):
-        current_frame = read_frame()
-        if current_frame & 0x0F != 0x0C:
-            print(f"Performing bitslip (iteration: {i}). Current frame: 0x{current_frame:02x}")
-            write_to_memory(ADC_BITSLIP_ADDR, 1)
-        else:
-            print(f"No bitslip required; Current frame: 0x{current_frame:02x}")
-            return
-
-def mmcm_rst():
-    curr_cfg = read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0] & 0x0F
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x10 | curr_cfg) # Reset MMCM
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x00 | curr_cfg) # Release MMCM Reset
-    while not(read_frame() & 0x10):
-        print(f"Waiting for MMCM to lock")
-        time.sleep(0.001)
-
-def inc_ddr_clk_phase():
-    curr_cfg = read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0] & 0x1F
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x40 | curr_cfg) # Set MMCM Phase Shift to be INC
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x60 | curr_cfg) # Assert MMCM Phase Shift EN High
-    write_to_memory(ADC_AFE_CTRL_ADDR, curr_cfg)        # Deassert MMCM Phase Shift EN High
-
-def dec_ddr_clk_phase():
-    curr_cfg = read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0] & 0x1F
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x00 | curr_cfg) # Set MMCM Phase Shift to be DEC
-    write_to_memory(ADC_AFE_CTRL_ADDR, 0x20 | curr_cfg) # Assert MMCM Phase Shift EN High
-    write_to_memory(ADC_AFE_CTRL_ADDR, curr_cfg)        # Deassert MMCM Phase Shift EN High
-
-def find_edge():
-    prev_frame = read_frame()
-    for tap_delay in range(32):
-        write_to_memory(ADC_DELAY_ADDR, tap_delay)
-        current_frame = read_frame()
-
-        print(f"Tap delay: {tap_delay}, Current frame: 0x{current_frame:02x}")
-        print(f"prev_frame: 0x{prev_frame:02x}")
-
-        if current_frame != prev_frame:
-            final_delay = ((tap_delay+1) // 2) + 2
-            print(f"Edge detected; setting iDelay to: {final_delay}")
-            write_to_memory(ADC_DELAY_ADDR, final_delay)
-            return
-
-        prev_frame = current_frame
-
-    # If no edge detected
-    final_delay = 11
-    print(f"No edge detected; setting iDelay to: {final_delay}")
-    write_to_memory(ADC_DELAY_ADDR, final_delay)
-
-def read_adc_channel(high_addr, low_addr):
-    return (read_from_memory(high_addr, 1)[0] << 8) | read_from_memory(low_addr, 1)[0]
-
-def print_adc_channels():
-    adc_ch0 = read_adc_channel(ADC_CH0_HIGH_ADDR, ADC_CH0_LOW_ADDR)
-    adc_ch1 = read_adc_channel(ADC_CH1_HIGH_ADDR, ADC_CH1_LOW_ADDR)
-    print(f"Final ADC_CH0: 0x{adc_ch0:04x}")
-    print(f"Final ADC_CH1: 0x{adc_ch1:04x}")
-
-def enable_adc_afe(ch1_x10=False, ch2_x10=False):
-    ctrl_value = (ch2_x10 << 1) | ch1_x10
-    write_to_memory(ADC_AFE_CTRL_ADDR, ctrl_value)
-    afe_ctrl = read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0]
-    print(f"ADC_AFE_CTRL: 0x{afe_ctrl:02X}")
-    return afe_ctrl
-
-def search_edge():
-    for tap_delay in range(32):
-        print(f"iDelay to: {tap_delay}")
-        write_to_memory(ADC_DELAY_ADDR, tap_delay)
-        time.sleep(1)
-        current_frame = read_frame()
-        print(f"Tap delay: {tap_delay}, Current frame: 0x{current_frame:02x}")
-        print_adc_channels()
-
-def print_adc_channel(ch):
-    if ch == 0:
-        adc_ch0 = read_adc_channel(ADC_CH0_HIGH_ADDR, ADC_CH0_LOW_ADDR)
-        print(f"Final ADC_CH0: 0x{adc_ch0:04x}")
-    if ch == 1:
-        adc_ch1 = read_adc_channel(ADC_CH1_HIGH_ADDR, ADC_CH1_LOW_ADDR)
-        print(f"Final ADC_CH1: 0x{adc_ch1:04x}")
-
-def find_min_max_ch(ch):
-    test = []
-    for i in range(100):
-        if ch == 0:
-            test.append(read_adc_channel(ADC_CH0_HIGH_ADDR, ADC_CH0_LOW_ADDR))
-        else:
-            test.append(read_adc_channel(ADC_CH1_HIGH_ADDR, ADC_CH1_LOW_ADDR)) 
-        print("ch", ch, hex(test[-1]))
-    print("Min:", hex(min(test)))
-    print("Max:", hex(max(test)))
-    print("Diff:", hex(max(test)-min(test)))
-
-
-def configure_ltc2195():
     spi = spidev.SpiDev()
+
     try:
         spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
         spi.max_speed_hz = 50000
         spi.mode = 0b00  # CPOL = 0 CPHA = 0
         spi.cshigh = False
+        # spi.read0 = False
 
-        test_pattern = 0x811F
-        main_adc_config(spi, test_pattern)
+        spi_buffer = [0x00, 0x80]  # reset
+        rx_buffer = [0x00, 0x00]
 
-        verify_adc_registers(spi, {
-            0x01: 0x20,
-            0x02: 0x15,
-            0x03: (test_pattern & 0xFF00) >> 8,
-            0x04: test_pattern & 0xFF
-        })
+        spi.xfer2(spi_buffer)
 
-        # ADC software reset put its PLL to sleep momentarily. Thus, MMCM needs to be reset as well.
-        mmcm_rst()
+        # REGISTER A1
+        spi_buffer = [0x01, 0x20]  # set to Two's complement Data Format
+        spi.xfer2(spi_buffer)
 
-        # Performing Word Align
-        perform_bitslip()
-        find_edge()
+        # read values back
+        spi_buffer = [0x81, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x01: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != 0x20:
+            print("Different value read than sent in reg 0x02")
 
-        # Printing it once is not enough to check whether the alignment is correct.
-        for i in range(100):
-            print_adc_channels()
+        # REGISTER A2
+        spi_buffer = [
+            0x02,
+            0x15,
+        ]  # set to LVDS output, set 4 data lanes and turn on test mode
+        spi.xfer2(spi_buffer)
 
-        main_adc_test_mode(spi, False)
-        verify_adc_registers(spi, {0x02: 0x11})  # Verify test mode is off
+        # read values back
+        spi_buffer = [0x82, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x02: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != 0x15:
+            print("Different value read than sent in reg 0x02")
 
-        # FIXME: AFE Gain 1x is not functional on that batch of fast servo under development
-        enable_adc_afe(ch1_x10=1, ch2_x10=1)
+        # REGISTER A3
+        # test pattern high word
+        spi_buffer = [0x03, high_word]
+        spi.xfer2(spi_buffer)
 
-        #find_min_max_ch(0)
-        #find_min_max_ch(1)
+        # read balues back
+        spi_buffer = [0x83, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x03: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != high_word:
+            print("Different value read than sent in reg 0x03")
 
-        #for i in range(10):
-        #    print_adc_channel(0)
+        # REGISTER A4
+        # test pattern low word
+        spi_buffer = [0x04, low_word]
+        spi.xfer2(spi_buffer)
 
-        #for i in range(10):
-        #    print_adc_channel(1)
+        # read balues back
+        spi_buffer = [0x84, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x04: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != low_word:
+            print("Different value read than sent in reg 0x04")
+    finally:
+        spi.close()
+
+
+def main_adc_test_mode(enable):
+    spi = spidev.SpiDev()
+
+    try:
+        spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
+        spi.max_speed_hz = 50000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = False
+        # spi.read0 = True
+
+        reg_contents = (
+            0x15 if enable else 0x11
+        )  # set to LVDS output, set 4 data lanes and turn on or off test mode
+        spi_buffer = [0x02, reg_contents]
+        spi.xfer2(spi_buffer)
+
+        # read values back
+        spi_buffer = [0x82, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x02: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != reg_contents:
+            print("Different value read than sent in reg 0x02")
+    finally:
+        spi.close()
+
+
+def read_from_memory(address, n_bytes):
+    assert n_bytes <= 4
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            contents = mem[start_addr:stop_addr]
+            read_value = list(contents)[:n_bytes]
+            # print("Read value: ", read_value)
+    finally:
+        os.close(f)
+
+    return read_value
+
+
+def write_to_memory(address, value):
+    value_bytes = value.to_bytes(4, "little")
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            mem[start_addr:stop_addr] = value_bytes
+            contents = mem[start_addr:stop_addr]
+            # print("Read value: ", list(contents), " written value: ", list(value_bytes))
+    finally:
+        os.close(f)
+
+
+def word_align():
+    value = 0
+    edge_start = None
+    edge_end = None
+    tap_delay = 0
+
+    # Perform initial bitslip if necessary
+    for i in range(4):
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+        if current_frame != 0x0C:
+            print(f"Performing bitslip (iteration: {i}). Current frame: 0x{current_frame:02x}")
+            write_to_memory(ADC_BITSLIP_ADDR, 1)
+        else:
+            print(f"No bitslip required; Current frame = 0x{current_frame:02x}")
+            break
+
+    # Sweep through all possible delay values
+    for tap_delay in range(32):
+        write_to_memory(ADC_DELAY_ADDR, tap_delay)
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+        
+        print(f"Tap delay: {tap_delay}, Current frame: 0x{current_frame:02x}")
+
+        if current_frame == 0x0C:
+            if edge_start is None:
+                edge_start = tap_delay
+        elif edge_start is not None and edge_end is None:
+            edge_end = tap_delay - 1
+            break
+
+    # Analyze the sweep results
+    if edge_start is None:
+        print("No stable region found. Using default delay.")
+        optimal_delay = 11  # Default value
+    elif edge_end is None:
+        print("Stable region extends to the end. Using middle of detected stable region.")
+        optimal_delay = (edge_start + 31) // 2
+    else:
+        print(f"Stable region detected from {edge_start} to {edge_end}")
+        optimal_delay = (edge_start + edge_end) // 2
+
+    # Set the optimal delay
+    write_to_memory(ADC_DELAY_ADDR, optimal_delay)
+    print(f"Setting optimal delay to: {optimal_delay}")
+
+    # Verify final setup
+    adc_ch0 = (read_from_memory(ADC_CH0_HIGH_ADDR, 1)[0] << 8) | read_from_memory(ADC_CH0_LOW_ADDR, 1)[0]
+    adc_ch1 = (read_from_memory(ADC_CH1_HIGH_ADDR, 1)[0] << 8) | read_from_memory(ADC_CH1_LOW_ADDR, 1)[0]
+    print(f"Final ADC_CH0: 0x{adc_ch0:04x}")
+    print(f"Final ADC_CH1: 0x{adc_ch1:04x}")
+
+    return optimal_delay
+
+
+def modify_bit(original_value, position, bit_value):
+    mask = 1 << position
+    return (original_value & ~mask) | (bit_value << position)
+
+
+def adc_aux_config():
+    # MSB to LSB
+    # | RANGE | ADDR [2:0] | DIFF |
+    #       DIFF = 0    =>  configure as single ended (it is negated in gateware)
+    #       RANGE = 0   =>  configure as 0-2.5 Vref
+    to_write = 0b00000
+    write_to_memory(AUX_ADC_ADDR, to_write)
+
+
+def adc_aux_read(port, type, pin):
+    # port:
+    #   1 - port A
+    #   2 - port B
+    # type:
+    #   0 - single-ended
+    #   1 - differential
+    # pin:
+    #   0b000   - VA1/VB1
+    #   0b001   - VA2/VB2
+    #   0b010   - VA3/VB3
+    #   0b011   - VA4/VB4
+
+    assert type in (0, 1)
+    assert port in (1, 2)
+
+    write_buffer = [0, 0]
+    read_buffer = [0, 0]
+
+    aux_config_reg = read_from_memory(AUX_ADC_ADDR, 1)[0]
+    aux_config = (aux_config_reg & 0b10001) | pin << 1
+    write_to_memory(AUX_ADC_ADDR, aux_config)
+
+    spi = spidev.SpiDev()
+    try:
+        spi.open(1, 3)  # AUX ADC 1?
+        spi.max_speed_hz = 5000
+        spi.mode = 0b00
+        spi.cshigh = False
+
+        read_buffer = spi.xfer2(write_buffer)
+        mu_voltage = read_buffer[0] << 8 | read_buffer[1] >> 2
+        print(f"MU_voltage: 0x{mu_voltage:04X}")
+        print(f"Read_buffer[0]: 0x{read_buffer[0]:02X}")
+        print(f"Read_buffer[1]: 0x{read_buffer[1]:02X}")
+        return mu_voltage * 2.5 / 4096
 
     finally:
         spi.close()
 
+
+def main():
+    main_adc_config(0x811F)
+    optimal_delay = word_align()
+
+    main_adc_test_mode(False)
+
+    write_to_memory(ADC_AFE_CTRL_ADDR, 0b1100) # {-, -, ch2_X10, ch1_X10}
+    print(read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0])
+
+    print(f"Optimal delay used: {optimal_delay}")
+
+
 if __name__ == "__main__":
-    configure_ltc2195()
+    main()

fast-servo/pyfastservo/common.py

@@ -17,16 +17,13 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 
-import os
-import mmap
-
 CSR_SIZE = 0x800
 MAP_SIZE = 0x1000
 MAP_MASK = 0xFFF
 PAGESIZE = 0x1000
 
-# LINIEN_OFFSET = 0x0
-LINIEN_OFFSET = 0x300000
+LINIEN_OFFSET = 0x0
+# LINIEN_OFFSET = 0x300000
 
 # ----------------------------------------------------------------
 # FRONT PANEL LEDS REGISTER ADDRESSES
@@ -75,46 +72,3 @@ CH0_HIGH_WORD_ADDR      =   DAC_BASE_ADDR + CH0_HIGH_WORD_OFFSET
 CH0_LOW_WORD_ADDR       =   DAC_BASE_ADDR + CH0_LOW_WORD_OFFSET
 CH1_HIGH_WORD_ADDR      =   DAC_BASE_ADDR + CH1_HIGH_WORD_OFFSET
 CH1_LOW_WORD_ADDR       =   DAC_BASE_ADDR + CH1_LOW_WORD_OFFSET
-
-
-def read_from_memory(address, n_bytes):
-    assert n_bytes <= 4
-    addr = address
-
-    try:
-        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
-        with mmap.mmap(
-            f,
-            PAGESIZE,
-            mmap.MAP_SHARED,
-            mmap.PROT_READ | mmap.PROT_WRITE,
-            offset=addr & ~MAP_MASK,
-        ) as mem:
-            start_addr = addr & MAP_MASK
-            stop_addr = start_addr + 4
-            contents = mem[start_addr:stop_addr]
-            read_value = list(contents)[:n_bytes]
-    finally:
-        os.close(f)
-
-    return read_value
-
-def write_to_memory(address, value):
-    value_bytes = value.to_bytes(4, "little")
-    addr = address
-
-    try:
-        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
-        with mmap.mmap(
-            f,
-            PAGESIZE,
-            mmap.MAP_SHARED,
-            mmap.PROT_READ | mmap.PROT_WRITE,
-            offset=addr & ~MAP_MASK,
-        ) as mem:
-            start_addr = addr & MAP_MASK
-            stop_addr = start_addr + 4
-            mem[start_addr:stop_addr] = value_bytes
-            contents = mem[start_addr:stop_addr]
-    finally:
-        os.close(f)

fast-servo/pyfastservo/dac.py

@@ -1,24 +1,11 @@
-# This file is part of Fast Servo Software Package.
-#
-# Copyright (C) 2023 Jakub Matyas
-# Warsaw University of Technology <jakubk.m@gmail.com>
-# SPDX-License-Identifier: GPL-3.0-or-later
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-# 
-# 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.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see <https://www.gnu.org/licenses/>.
-
+import mmap
+import os
+import logging
 import time
 
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
 import spidev
 from pyfastservo.common import (
     CH0_HIGH_WORD_ADDR,
@@ -28,13 +15,12 @@ from pyfastservo.common import (
     CTRL_ADDR,
     MAP_MASK,
     PAGESIZE,
-    write_to_memory,
-    read_from_memory
 )
 
 # /dev/spidev2.0  <=> spidev<BUS>.<DEVICE>
 MAIN_DAC_BUS = 2
 MAIN_DAC_DEVICE = 0
+
 DAC_VERSION = 0x0A
 
 
@@ -45,52 +31,200 @@ def spi_read(spi, address):
     rx_buffer = spi.xfer2([0x80 | address, 0x00])
     return rx_buffer[1]
 
-def soft_reset(spi):
+def hard_reset(spi):
     spi_write(spi, 0x00, 0x10)  # Software reset
     spi_write(spi, 0x00, 0x00)  # Release software reset
     spi_read(spi, 0x00)         # Read reset address (necessary for reset to take effect)
 
 def check_version(spi):
     version = spi_read(spi, 0x1F)
-    print(f"DAC version: 0x{version:02X}")
-    return version == DAC_VERSION
+    if version == DAC_VERSION:
+        print(f"Verified DAC version: 0x{version:02X}")
+    else:
+        print(f"Unrecognized device version: 0x{version:02X}")
 
-def configure_dac(spi):
-    power_down_reg = spi_read(spi, 0x01)
-    spi_write(spi, 0x01, power_down_reg & ~(1 << 0))  # Clear EXTREF bit for internal reference
-    spi_write(spi, 0x0D, 0x00)      # Set RREF to 10 kΩ for 1.0V reference
-    spi_write(spi, 0x04, 0xA0)      # Enable on-chip IRSET (1.6 kΩ for 20mA output)
-    spi_write(spi, 0x07, 0xA0)      # Enable on-chip QRSET (1.6 kΩ for 20mA output)
-    spi_write(spi, 0x05, 0x00)      # Disable internal IRCML
-    spi_write(spi, 0x08, 0x00)      # Disable internal QRCML
-    spi_write(spi, 0x02, 0xB4)      # Enable 2's complement, IFirst: True, IRising: True, DCI_EN: Enabled
-    spi_write(spi, 0x14, 0x00)      
-    spi_write(spi, 0x14, 0x08)      # Trigger the retimer to reacquire the clock relationship
-    spi_write(spi, 0x14, 0x00)
+def set_data_control_and_output_mode(spi, mode='differential'):
+    try:
+        current_reg = spi_read(spi, 0x02)
+        logger.info(f"Current data control register value: 0x{current_reg:02X}")
 
-def dac_self_calibration(spi):
-    spi_write(spi, 0x12, 0x00)      # Reset calibration status
-    spi_write(spi, 0x0E, 0x08)      # Enable calibration clock, default divide ratio
-    spi_write(spi, 0x0E, 0x38)      # CALSELI = 1, CALSELQ = 1, CALCLK = 1
-    spi_write(spi, 0x12, 0x10)      # Set CALEN bit
+        new_reg = 0xB4
 
-    while True:
-        status = spi_read(spi, 0x0F)
-        if status & 0xC0 == 0xC0:   # Both CALSTATI and CALSTATQ are 1
+        if mode == 'differential':
+            new_reg &= ~0x03
+        elif mode == 'single_ended':
+            new_reg = (new_reg & ~0x01) | 0x02
+        else:
+            logger.error(f"Invalid output mode: {mode}")
+            return
+
+        spi_write(spi, 0x02, new_reg)
+
+        verify_reg = spi_read(spi, 0x02)
+        if verify_reg == new_reg:
+            logger.info(f"Data control set and output mode successfully set to {mode}")
+            logger.info(f"New data control register value: 0x{verify_reg:02X}")
+        else:
+            logger.error(f"Failed to set data control and output mode. Expected: 0x{new_reg:02X}, Got: 0x{verify_reg:02X}")
+    except Exception as e:
+        logger.error(f"Error setting data control and output mode: {e}")
+
+
+def wait_for_clock_sync(spi):
+    max_attempts = 10
+    for attempt in range(max_attempts):
+        clkmode = spi_read(spi, 0x14)
+        if not clkmode & 0x10:
+            print(f"Clock synchronized after {attempt + 1} attempts")
             break
-        time.sleep(0.01)
+        if attempt == max_attempts - 1:
+            print("Warning: Clock synchronization not achieved")
+        time.sleep(0.001)
+
+
+def enable_dac_outputs(spi):
+    try:
+        # Read current power-down register value
+        power_down_reg = spi_read(spi, 0x01)
+        logger.info(f"Current power-down register value: 0x{power_down_reg:02X}")
+
+        if not (power_down_reg & ((1 << 4) | (1 << 3))):
+            logger.info("DAC outputs are already enabled")
+            return
+
+        new_power_down_reg = power_down_reg & ~((1 << 4) | (1 << 3))
+        spi_write(spi, 0x01, new_power_down_reg)
+
+        # Verify the write operation
+        verify_power_down_reg = spi_read(spi, 0x01)
+        if verify_power_down_reg == new_power_down_reg:
+            logger.info("DAC outputs successfully enabled")
+        else:
+            logger.error(f"Failed to enable DAC outputs. Expected: 0x{new_power_down_reg:02X}, Got: 0x{verify_power_down_reg:02X}")
+    except Exception as e:
+        logger.error(f"Error enabling DAC outputs: {e}")
+
+
+def set_dac_constant_output(value=0xFFFF):
+    try:
+        max_value = 0x3FFF  # 14-bit maximum (2^14 - 1)
+        value = min(value, max_value)
+        
+        # Split the value into high and low words
+        low_word_value = value & 0xFF
+        high_word_value = (value >> 8) & 0x3F
+        
+        # Write to Channel 0
+        write_to_memory(CH0_HIGH_WORD_ADDR, high_word_value)
+        write_to_memory(CH0_LOW_WORD_ADDR, low_word_value)
+        
+        # Write to Channel 1
+        write_to_memory(CH1_HIGH_WORD_ADDR, high_word_value)
+        write_to_memory(CH1_LOW_WORD_ADDR, low_word_value)
+        
+        logger.info(f"DAC outputs set to constant value: 0x{value:04X}")
+        logger.info("Please verify the output using an oscilloscope")
+        
+    except Exception as e:
+        logger.error(f"Error setting DAC constant output: {e}")
+
+
+def configure_dac_for_hardware(spi):
+    try:
+        # Enable internal reference
+        power_down_reg = spi_read(spi, 0x01)
+        power_down_reg &= ~(1 << 0)  # Clear EXTREF bit for internal reference
+        spi_write(spi, 0x01, power_down_reg)
+        logger.info("Internal reference enabled")
+
+        # Set RREF to default 10 kΩ for 1.0V reference
+        spi_write(spi, 0x0D, 0x00)
+        logger.info("RREF set to 10 kΩ for 1.0V reference")
+
+        # Enable on-chip IRSET and QRSET
+        irset_value = 0xA0                  # 10100000
+        spi_write(spi, 0x04, irset_value)   # IRSET
+        spi_write(spi, 0x07, irset_value)   # QRSET
+
+        # Disable internal termination resistors
+        ircml_value = 0x00
+        spi_write(spi, 0x05, ircml_value)  # IRCML
+        spi_write(spi, 0x08, ircml_value)  # QRCML
+
+        spi_write(spi, 0x02, 0xB4)
+
+        # Verify settings
+        irset_read = spi_read(spi, 0x04)
+        qrset_read = spi_read(spi, 0x07)
+        ircml_read = spi_read(spi, 0x05)
+        qrcml_read = spi_read(spi, 0x08)
+        data_control_read = spi_read(spi, 0x02)
+        
+        if (irset_read == irset_value and qrset_read == irset_value and
+            ircml_read == ircml_value and qrcml_read == ircml_value and
+            data_control_read == 0xB4):
+            logger.info("DAC configured for 20mA output with external termination")
+        else:
+            logger.error(f"DAC configuration failed. IRSET: 0x{irset_read:02X}, QRSET: 0x{qrset_read:02X}, "
+                         f"IRCML: 0x{ircml_read:02X}, QRCML: 0x{qrcml_read:02X}, "
+                         f"Data Control: 0x{data_control_read:02X}")
+
+    except Exception as e:
+        logger.error(f"Error configuring DAC: {e}")
+
+def read_from_memory(address, n_bytes):
+    assert n_bytes <= 4
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            contents = mem[start_addr:stop_addr]
+            read_value = list(contents)[:n_bytes]
+    finally:
+        os.close(f)
+
+    return read_value
+
+
+def write_to_memory(address, value):
+    value_bytes = value.to_bytes(4, "little")
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            mem[start_addr:stop_addr] = value_bytes
+            contents = mem[start_addr:stop_addr]
+    finally:
+        os.close(f)
 
-    spi_write(spi, 0x12, 0x00)      # Clear calibration bits
-    spi_write(spi, 0x0E, 0x30)      # Keep CALSELI and CALSELQ set, clear CALCLK
-    print("DAC self-calibration completed")
 
 def manual_override(enable=True):
     reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
+    print(f"REG contents: 0b{reg_contents:03b}")
     to_write = reg_contents | 0b1 if enable else reg_contents & 0b110
     write_to_memory(CTRL_ADDR, to_write)
-    print(f"Set DAC Output Manual Override: {enable}")
 
-def power_down_afe(channel, power_down=True):
+
+def power_down(channel, power_down=True):
     assert channel in (0, 1)
 
     bitmask = 1 << (channel + 1) & 0b111
@@ -101,68 +235,51 @@ def power_down_afe(channel, power_down=True):
     to_write = reg_contents | value
     write_to_memory(CTRL_ADDR, to_write)
     reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
-    print(f"Power Down DAC AFE Ch{channel}: {power_down}")
+    print(f"REG contents: 0b{reg_contents:03b}")
 
-def set_dac_output(value):
-    value = min(value, 0x3FFF)
-    low_word = value & 0xFF
-    high_word = (value >> 8) & 0x3F
-
-    # Note: DAC HIGH word and LOW word output are not updated 
-    #   at the same time. On scope, you will see more than one step
-    #   of value changed.
-    write_to_memory(CH0_HIGH_WORD_ADDR, high_word)
-    write_to_memory(CH0_LOW_WORD_ADDR, low_word)
-    write_to_memory(CH1_HIGH_WORD_ADDR, high_word)
-    write_to_memory(CH1_LOW_WORD_ADDR, low_word)
-    print(f"DAC output set to: 0x{value:04X}")
-
-def check_clk_relationship(spi):
-    clkmode_reg = spi_read(spi, 0x14)
-    print(f"CLKMODE reg: 0x{clkmode_reg:02X}")
-    if clkmode_reg & 0b00010000:
-        print("Clock relationship is not found")
-        return False
-    else:
-        print("Clock relationship is found")
-        return True
-
-def configure_ad9117():
+def main_dac_init():
     spi = spidev.SpiDev()
+
+    try:
         spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
         spi.max_speed_hz = 5000
         spi.mode = 0b00  # CPOL = 0 CPHA = 0
         spi.cshigh = False
 
-    try:
-        soft_reset(spi)
-        if not check_version(spi):
-            print("Unrecognized DAC version")
-            return False
+        hard_reset(spi)
+        check_version(spi)
 
-        power_down_afe(0, True)
-        power_down_afe(1, True)
+        configure_dac_for_hardware(spi)
+        set_data_control_and_output_mode(spi, 'differential')
+        wait_for_clock_sync(spi)
+        enable_dac_outputs(spi)
 
-        configure_dac(spi)
-        check_clk_relationship(spi)
-        dac_self_calibration(spi)
+        power_down(0, False)
+        power_down(1, False)
 
-        # Enable DAC outputs
-        spi_write(spi, 0x01, spi_read(spi, 0x01) & ~((1 << 4) | (1 << 3)))
+        manual_override(True)
 
-        power_down_afe(0, False)
-        power_down_afe(1, False)
-        manual_override(False)
+        set_dac_constant_output(0x1FFF)
 
-        print("AD9117 configuration completed successfully")
-        return True
+        # Verify control register
+        reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
+        logger.info(f"Control register contents after setting: 0b{reg_contents:03b}")
 
+        # Verify channel settings
+        ch0_high = read_from_memory(CH0_HIGH_WORD_ADDR, 1)[0]
+        ch0_low = read_from_memory(CH0_LOW_WORD_ADDR, 1)[0]
+        ch1_high = read_from_memory(CH1_HIGH_WORD_ADDR, 1)[0]
+        ch1_low = read_from_memory(CH1_LOW_WORD_ADDR, 1)[0]
+        logger.info(f"Channel 0: 0x{ch0_high:02X}{ch0_low:02X}, Channel 1: 0x{ch1_high:02X}{ch1_low:02X}")
     except Exception as e:
-        print(f"Error configuring AD9117: {e}")
-        return False
+        print(f"Error initializing DAC: {e}")
 
     finally:
         spi.close()
 
+
+def main():
+    main_dac_init()
+    
 if __name__ == "__main__":
-    configure_ad9117()
+    main()

fast-servo/pyfastservo/initialize.py

@@ -21,8 +21,8 @@ from pyfastservo import adc, si5340, dac
 
 def main():
     si5340.configure_si5340()
-    adc.configure_ltc2195()
-    dac.configure_ad9117()
+    adc.main()
+    dac.main()
 
 if __name__ == "__main__":
     main()

fast-servo/pyfastservo/loopback.py

@@ -0,0 +1,48 @@
+# This file is part of Fast Servo Software Package.
+#
+# Copyright (C) 2023 Jakub Matyas
+# Warsaw University of Technology <jakubk.m@gmail.com>
+# SPDX-License-Identifier: GPL-3.0-or-later
+
+from pyfastservo.dac import (
+    CH0_HIGH_WORD_ADDR,
+    CH0_LOW_WORD_ADDR,
+    CH1_HIGH_WORD_ADDR,
+    CH1_LOW_WORD_ADDR,
+    write_sample,
+    manual_override,
+    read_from_memory as dac_read_from_memory
+)
+from pyfastservo.adc import (
+    ADC_CH0_HIGH_ADDR,
+    ADC_CH0_LOW_ADDR,
+    ADC_CH1_HIGH_ADDR,
+    ADC_CH1_LOW_ADDR,
+    read_from_memory as adc_read_from_memory
+)
+
+def main():
+    # Apply manual override for DAC
+    manual_override(True)
+
+    # Write constant value to DAC channels
+    constant_value = 0x1FFF
+    write_sample(0, constant_value)
+    write_sample(1, constant_value)
+
+    # Verify DAC register values
+    dac_ch0 = (dac_read_from_memory(CH0_HIGH_WORD_ADDR, 1)[0] << 8) | dac_read_from_memory(CH0_LOW_WORD_ADDR, 1)[0]
+    dac_ch1 = (dac_read_from_memory(CH1_HIGH_WORD_ADDR, 1)[0] << 8) | dac_read_from_memory(CH1_LOW_WORD_ADDR, 1)[0]
+
+    print(f"DAC CH0: 0x{dac_ch0:04X}")
+    print(f"DAC CH1: 0x{dac_ch1:04X}")
+
+    # Read ADC values
+    adc_ch0 = (adc_read_from_memory(ADC_CH0_HIGH_ADDR, 1)[0] << 8) | adc_read_from_memory(ADC_CH0_LOW_ADDR, 1)[0]
+    adc_ch1 = (adc_read_from_memory(ADC_CH1_HIGH_ADDR, 1)[0] << 8) | adc_read_from_memory(ADC_CH1_LOW_ADDR, 1)[0]
+
+    print(f"ADC CH0: 0x{adc_ch0:04X}")
+    print(f"ADC CH1: 0x{adc_ch1:04X}")
+
+if __name__ == "__main__":
+    main()

flake.lock

@@ -18,16 +18,16 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1734323986,
-        "narHash": "sha256-m/lh6hYMIWDYHCAsn81CDAiXoT3gmxXI9J987W5tZrE=",
+        "lastModified": 1723938990,
+        "narHash": "sha256-9tUadhnZQbWIiYVXH8ncfGXGvkNq3Hag4RCBEMUk7MI=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "394571358ce82dff7411395829aa6a3aad45b907",
+        "rev": "c42fcfbdfeae23e68fc520f9182dde9f38ad1890",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-24.11",
+        "ref": "nixos-24.05",
         "repo": "nixpkgs",
         "type": "github"
       }
@@ -64,11 +64,11 @@
     "src-migen": {
       "flake": false,
       "locked": {
-        "lastModified": 1727677091,
-        "narHash": "sha256-Zg3SQnTwMM/VkOGKogbPyuCC2NhLy8HB2SPEUWWNgCU=",
+        "lastModified": 1721561053,
+        "narHash": "sha256-z3LRhNmKZrjr6rFD0yxtccSa/SWvFIYmb+G/D5d2Jd8=",
         "owner": "m-labs",
         "repo": "migen",
-        "rev": "c19ae9f8ae162ffe2d310a92bfce53ac2a821bc8",
+        "rev": "9279e8623f8433bc4f23ac51e5e2331bfe544417",
         "type": "github"
       },
       "original": {
@@ -80,11 +80,11 @@
     "src-misoc": {
       "flake": false,
       "locked": {
-        "lastModified": 1729234629,
-        "narHash": "sha256-TLsTCXV5AC2xh+bS7EhBVBKqdqIU3eKrnlWcFF9LtAM=",
+        "lastModified": 1715647536,
+        "narHash": "sha256-q+USDcaKHABwW56Jzq8u94iGPWlyLXMyVt0j/Gyg+IE=",
         "ref": "refs/heads/master",
-        "rev": "6085a312bca26adeca6584e37d08c8ba2e1d6e38",
-        "revCount": 2460,
+        "rev": "fea9de558c730bc394a5936094ae95bb9d6fa726",
+        "revCount": 2455,
         "submodules": true,
         "type": "git",
         "url": "https://github.com/m-labs/misoc.git"

flake.nix

@@ -1,7 +1,7 @@
 {
   description = "Firmware for Sinara Fast-Servo based on Not-OS and Linien";
   
-  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-24.11;
+  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-24.05;
   inputs.not-os.url = github:cleverca22/not-os;
   inputs.not-os.inputs.nixpkgs.follows = "nixpkgs";
 
@@ -14,34 +14,6 @@
       pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
       fsbl-support = ./fast-servo/fsbl-support;
 
-      version = "2.1.0";
-      linien-src = pkgs.applyPatches {
-          name = "linien-src";
-          src = pkgs.fetchFromGitHub {
-            owner = "linien-org";
-            repo = "linien";
-            rev = "v" + version;
-            sha256 = "sha256-j6oiP/usLfV5HZtKLcXQ5pHhhxRG05kP2FMwingiWm0=";
-          };
-          prePatch = ''
-            mkdir -p fast_servo/gateware
-            cp -r ${./fast-servo/linien-gateware}/. fast_servo/gateware
-          '';
-          patches = [
-            ./fast-servo/linien-common-fast-servo-hardware-specific.patch
-            ./fast-servo/linien-server-fast-servo-hardware-specific.patch
-            ./fast-servo/linien-gui-fast-servo-hardware-specific.patch
-            ./fast-servo/linien-client-ssh-port-change.patch
-            ./fast-servo/linien-server-fast-servo.patch
-            ./fast-servo/linien-gateware-fast-servo.patch 
-            ./fast-servo/autolock_pipeline.patch
-            ./fast-servo/iir_pipeline.patch
-            ./fast-servo/linien_module_pipeline.patch
-            ./fast-servo/pid_pipeline.patch
-            ./fast-servo/pid_err_sig_pipeline.patch
-          ];
-      };
-
       patched-not-os = pkgs.applyPatches {
         name = "not-os-patched";
         src = not-os;
@@ -52,7 +24,6 @@
           ./not-os-patches/pr-30.patch
           ./not-os-patches/pr-31.patch
           ./not-os-patches/pr-33.patch
-          ./not-os-patches/iproute2.patch
         ];
       };
 
@@ -125,44 +96,29 @@
           freetype
           fontconfig
         ];
-        profile = "set -e; source /opt/Xilinx/Vivado/2024.2/settings64.sh";
+        profile = "set -e; source /opt/Xilinx/Vivado/2022.2/settings64.sh";
         runScript = "vivado";
       };
 
-      cma = pkgs-armv7l.python3Packages.buildPythonPackage rec {
-        pname = "cma";
-        version = "3.3.0";
-        src = pkgs.fetchFromGitHub {
-          owner = "CMA-ES";
-          repo = "pycma";
-          rev = "refs/tags/r${version}";
-          hash = "sha256-+UJI3hDVbDMfRF4bkwHED3eJCHzxS2hO4YPUzJqcoQI=";
-        };
-
-        propagatedBuildInputs = [ pkgs-armv7l.python3Packages.numpy ];
-
-        pythonImportsCheck = [ "cma" ];
-
-        checkPhase = ''
-          # At least one doctest fails, thus only limited amount of files is tested
-          python -m cma.test interfaces.py purecma.py logger.py optimization_tools.py transformations.py
-        '';
-      };
-
       pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "pyrp3";
-        version = "2.1.0";
-        format = "pyproject";
+        version = "1.2.0";
+        pyproject = true;
         src = pkgs.fetchFromGitHub {
           owner = "linien-org";
           repo = "pyrp3";
           rev = "v${version}";
-          hash = "sha256-ol1QGXyCOei94iIPIocuTRHBxa5jKSH5RzjzROfZaBI=";
+          hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
         };
         patches = ./fast-servo/linien-pyrp3-monitor.patch;
-        nativeBuildInputs = [
-          pkgs-armv7l.python3Packages.setuptools
-          pkgs-armv7l.gcc
+        nativeBuildInputs = with pkgs-armv7l.python3Packages; [
+          setuptools wheel setuptools-scm
+        ] ++ (with pkgs-armv7l; [ gcc gnumake ]);
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
+          myhdl
+          rpyc4
+          cached-property
+          numpy
         ];
         postInstall = ''
           cp monitor/libmonitor.so $out/lib
@@ -171,141 +127,13 @@
           substituteInPlace $out/${pkgs.python3.sitePackages}/pyrp3/raw_memory.py \
             --replace "libmonitor.so" "$out/lib/libmonitor.so"
         '';
-        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
-          cached-property
-          numpy
-          rpyc
-        ];
-      };
-
-      linien-common = pkgs.python3Packages.buildPythonPackage rec {
-        pname = "linien-common";
-        inherit version;
-        pyproject = true;
-
-        src = linien-src;
-
-        sourceRoot = "${src.name}/linien-common";
-
-        preBuild = ''
-          export HOME=$(mktemp -d)
-        '';
-
-        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-
-        pythonRelaxDeps = [ "importlib-metadata" ];
-
-        propagatedBuildInputs = with pkgs.python3Packages; [
-          importlib-metadata
-          numpy
-          rpyc
-          scipy
-          appdirs
-        ];
-
-        pythonImportsCheck = [ "linien_common" ];
-      };
-      
-      linien-common-armv7l = pkgs-armv7l.python3Packages.buildPythonPackage rec {
-        pname = "linien-common-armv7l";
-        inherit version;
-        pyproject = true;
-
-        src = linien-src;
-
-        sourceRoot = "${src.name}/linien-common";
-
-        preBuild = ''
-          export HOME=$(mktemp -d)
-        '';
-
-        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
-
-        pythonRelaxDeps = [ "importlib-metadata" ];
-
-        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
-          importlib-metadata
-          numpy
-          rpyc
-          scipy
-          appdirs
-        ];
-
-        pythonImportsCheck = [ "linien_common" ];
-      };
-
-      linien-client = pkgs.python3Packages.buildPythonPackage rec {
-        pname = "linien-client";
-        inherit version;
-        src = linien-src;
-        
-        pyproject = true;
-
-        sourceRoot = "${src.name}/linien-client";
-
-        preBuild = ''
-          export HOME=$(mktemp -d)
-        '';
-
-        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-
-        doInstallCheck = false;
-        doCheck = false;
-        propagatedBuildInputs = with pkgs.python3Packages; [
-          fabric
-          typing-extensions
-        ] ++ [ linien-common ];
-
-        pythonImportsCheck = [ "linien_client" ];
-
-        };
-
-      linien-gui = pkgs.python3Packages.buildPythonApplication rec {
-        pname = "linien-gui";
-        inherit version;
-        src = linien-src;
-        pyproject = true;
-
-        sourceRoot = "${src.name}/linien-gui";
-        nativeBuildInputs = with pkgs.python3Packages; [
-          setuptools
-        ] ++ [
-          pkgs.qt5.wrapQtAppsHook
-        ];
-
-        patches = [
-          ./fast-servo/linien-gui-fast-servo-rm-ota-update.patch
-        ];
-
-        # Makes qt-wayland appear in the qt paths injected by the wrapper - helps users
-        # with `QT_QPA_PLATFORM=wayland` in their environment.
-        buildInputs = [
-          pkgs.qt5.qtwayland
-        ];
-
-        propagatedBuildInputs = with pkgs.python3Packages; [
-          click
-          pyqtgraph
-          pyqt5
-          requests
-          superqt
-        ] ++ [ linien-client ];
-
-        dontWrapQtApps = true;
-
-        preFixup = ''
-          makeWrapperArgs+=("''${qtWrapperArgs[@]}")
-        '';
       };
 
       linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "linien-server";
-        inherit version;
-        src = linien-src;
         pyproject = true;
-
-        sourceRoot = "${src.name}/linien-server";
-
+        inherit (pkgs.python3Packages.linien-common) src version;
+        sourceRoot = "source/linien-server";
         postPatch = ''
           cp ${fast-servo-gateware}/csrmap.py linien_server/csrmap.py
           substituteInPlace linien_server/acquisition.py \
@@ -315,19 +143,28 @@
         '';
         nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
         propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
-          fire
-          influxdb-client
-          pylpsd
-        ] ++ [ 
-          linien-common-armv7l
+          appdirs
+          certifi
+          click
           cma
+          pylpsd
           pyrp3
+          requests
+          linien-common
         ];
       };
 
       fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
         name = "fast-servo-gateware";
-        src = linien-src;
+        inherit (pkgs.python3Packages.linien-common) src;
+        prePatch = ''
+          mkdir -p fast_servo/gateware
+          cp -r ${./fast-servo/linien-gateware}/. fast_servo/gateware
+        '';
+        patches = [
+          fast-servo/linien-fast-servo-gateware.patch
+          fast-servo/linien-fast-servo-server.patch
+        ];
         nativeBuildInputs = [
           (pkgs.python3.withPackages(ps: [
             migen misoc
@@ -639,19 +476,12 @@
         "${board}-qemu" = not-os-qemu;
       };
     in rec {
-      devShell.x86_64-linux = pkgs.mkShell {
-        name = "nix-servo-dev_shell";
-        buildInputs = with pkgs.python3Packages; [ 
-          matplotlib
-        ] ++ [ linien-common linien-client linien-gui ];
-      };
-
       packages.x86_64-linux = {
         inherit mkbootimage;
         inherit migen misoc vivado;
       };
       packages.armv7l-linux = {
-        inherit fast-servo-gateware linien-server;
+        inherit fast-servo-gateware linien-server pyfastservo;
       } //
       (board-package-set { board = "zc706"; }) //
       (board-package-set { board = "fast-servo"; });

not-os-patches/iproute2.patch

@@ -1,13 +0,0 @@
-diff --git a/system-path.nix b/system-path.nix
-index 490197d..93e940a 100644
---- a/system-path.nix
-+++ b/system-path.nix
-@@ -6,7 +6,7 @@
- with lib;
- 
- let
--  requiredPackages = with pkgs; [ utillinux coreutils iproute iputils procps bashInteractive runit ];
-+  requiredPackages = with pkgs; [ utillinux coreutils iproute2 iputils procps bashInteractive runit ];
- in
- {
-   options = {

not-os-patches/network.patch

@@ -1,5 +1,5 @@
 diff --git a/configuration.nix b/configuration.nix
-index 010c487..2d08009 100644
+index 010c487..e1e85ba 100644
 --- a/configuration.nix
 +++ b/configuration.nix
 @@ -1,4 +1,4 @@
@@ -8,7 +8,7 @@ index 010c487..2d08009 100644
  
  {
    imports = [ ./qemu.nix ];
-@@ -7,10 +7,16 @@
+@@ -7,10 +7,15 @@
    environment.etc = {
      "ssh/authorized_keys.d/root" = {
        text = ''
@@ -18,7 +18,6 @@ index 010c487..2d08009 100644
 +        ecdsa-sha2-nistp384 AAAAE2VjZHNhLXNoYTItbmlzdHAzODQAAAAIbmlzdHAzODQAAABhBNdIiLvP2hmDUFyyE0oLOIXrjrMdWWpBV9/gPR5m4AiARx4JkufIDZzmptdYQ5FhJORJ4lluPqp7dAmahoSwg4lv9Di0iNQpHMJvNGZLHYKM1H1FWCCFIEDJ8bD4SVfrDg== root
 +        ecdsa-sha2-nistp384 AAAAE2VjZHNhLXNoYTItbmlzdHAzODQAAAAIbmlzdHAzODQAAABhBF/YybP+fQ0J+bNqM5Vgx5vDmVqVWsgUdF1moUxghv7d73GZAFaM6IFBdrXTAa33AwnWwDPMrTgP1V6SXBkb3ciJo/lD1urJGbydbSI5Ksq9d59wvOeANvyWYrQw6+eqTQ== sb
 +        ecdsa-sha2-nistp384 AAAAE2VjZHNhLXNoYTItbmlzdHAzODQAAAAIbmlzdHAzODQAAABhBFkmOCQ3BQh3qUjLtfdqyeBsx8rkk/QYlzB0TMrnfn6waLN6yKfPC3WVFv4zN5kNKb/OayvqDa+zfkKe85e/oIPQQKflF7GrCHdssz33DCnW90cz532E6iqG1pjeZjID2A== flo
-+        ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAICAranL376soiSJ0kxdYNrwElcaZPW1heLFjs8Y7n0jT linuswck
        '';
        mode = "0444";
      };
@@ -28,15 +27,11 @@ index 010c487..2d08009 100644
    };
  }
 diff --git a/runit.nix b/runit.nix
-index d7b0bf3..14dd437 100644
+index d7b0bf3..67cff43 100644
 --- a/runit.nix
 +++ b/runit.nix
-@@ -4,11 +4,11 @@ let
-   sshd_config = pkgs.writeText "sshd_config" ''
-     HostKey /etc/ssh/ssh_host_rsa_key
-     HostKey /etc/ssh/ssh_host_ed25519_key
--    Port 22
-+    Port 3030
+@@ -7,8 +7,8 @@ let
+     Port 22
      PidFile /run/sshd.pid
      Protocol 2
 -    PermitRootLogin yes

not-os-patches/pr-28.patch

@@ -152,7 +152,7 @@ index c61f9d6..fbdf0fd 100644
    };
  }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..069fe89 100644
+index 3fa23ab..d5c5eda 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
 @@ -1,66 +1,89 @@
@@ -250,7 +250,7 @@ index 3fa23ab..069fe89 100644
 -  environment.etc."service/getty/run".source = pkgs.writeShellScript "getty" ''
 -    agetty ttyPS0 115200
 +  environment = {
-+    systemPackages = with pkgs; [ inetutils wget gnugrep nano vim ];
++    systemPackages = with pkgs; [ inetutils wget nano ];
 +    etc = {
 +      "service/getty/run".source = pkgs.writeShellScript "getty" ''
 +        hostname ${config.networking.hostName}