fast-servo/linien-pyrp3-monitor.patch

@@ -1,141 +0,0 @@
-# Fix for bus error issues when compiling cpython extensions in pyrp3 v1.2.0+
-# Patch sourced from: https://github.com/linien-org/pyrp3/tree/e6688acf8bd79d2dbe1d192d09c1a1baf1f6c67b (setup.py & monitor/Makefile)
-# Reference: https://github.com/elhep/Fast-Servo-Firmware/blob/master/OS/scripts/linien_install_requirements.sh#L28
-
-diff --git a/monitor/Makefile b/monitor/Makefile
-new file mode 100644
-index 0000000..044d88e
---- /dev/null
-+++ b/monitor/Makefile
-@@ -0,0 +1,31 @@
-+# Makefile for libmonitor
-+
-+OBJS = monitor.o
-+SRCS = $(subst .o,.c, $(OBJS))
-+OSOBJS = monitor.os
-+TARGETLIB=libmonitor.so
-+CFLAGS=-g -std=gnu99 -Wall -Werror
-+LIBS=-lm -lpthread
-+
-+# Use CROSS_COMPILE=arm-linux-gnueabi-
-+CC=$(CROSS_COMPILE)gcc
-+INSTALL_DIR ?= .
-+
-+
-+all: $(TARGETLIB)
-+lib: $(TARGETLIB)
-+
-+%.os: %.c
-+	$(CC) -c -fPIC $(CFLAGS) $< -o $@
-+
-+$(TARGETLIB): $(OSOBJS)
-+	$(CC) -o $@ -shared $^ $(CFLAGS) $(LIBS)
-+
-+clean:
-+	rm -f $(TARGETLIB) *.o *.os
-+
-+# Install target - creates 'lib/' sub-directory in $(INSTALL_DIR) and copies all
-+# executables to that location.
-+install:
-+	mkdir -p $(INSTALL_DIR)/lib
-+	cp $(TARGETLIB) $(INSTALL_DIR)/lib
-\ No newline at end of file
-diff --git a/pyrp3/raw_memory.py b/pyrp3/raw_memory.py
-index ce1b28e..233b82a 100644
---- a/pyrp3/raw_memory.py
-+++ b/pyrp3/raw_memory.py
-@@ -1,12 +1,9 @@
- from ctypes import POINTER, c_uint32, cast, cdll, create_string_buffer, sizeof
--from importlib.machinery import EXTENSION_SUFFIXES
- from pathlib import Path
- 
- import numpy as np
- 
--libmonitor_file = str(
--    Path(__file__).parent / ".." / "monitor{}".format(EXTENSION_SUFFIXES[0])
--)
-+libmonitor_file = 'libmonitor.so'
- 
- libmonitor = cdll.LoadLibrary(libmonitor_file)
- libmonitor.read_value.restype = c_uint32
-diff --git a/setup.py b/setup.py
-index 98bdaee..b0a8af4 100644
---- a/setup.py
-+++ b/setup.py
-@@ -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():
-+    cwd = os.getcwd()  # get current directory
-+    try:
-+        os.chdir(build_dir)
-+        os.system("make clean")
-+        os.system("make all")
-+    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)
-+
-+
-+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(
-     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/pyfastservo/adc.py

@@ -17,6 +17,8 @@
 # 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 spidev
 from pyfastservo.common import (
@@ -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>
@@ -44,118 +44,276 @@ AUX_ADC_PORT_A = 2
 AUX_ADC_PORT_B = 3
 
 
-def spi_write(spi, address, value):
+def main_adc_config(test_pattern):
-    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):
     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 != 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 find_edge():
-    prev_frame = read_frame()
-    transition = False
-    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}")
-
-        if current_frame != prev_frame:
-            if not transition:
-                transition = True
-            else:
-                final_delay = (tap_delay // 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 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.cshigh = True
+        # spi.read0 = False
 
-        test_pattern = 0x811F
+        spi_buffer = [0x00, 0x80]  # reset
-        main_adc_config(spi, test_pattern)
+        rx_buffer = [0x00, 0x00]
 
-        verify_adc_registers(spi, {
+        spi.xfer2(spi_buffer)
-            0x01: 0x20,
-            0x02: 0x15,
-            0x03: (test_pattern & 0xFF00) >> 8,
-            0x04: test_pattern & 0xFF
-        })
 
-        # Performing Word Align
+        # REGISTER A1
-        perform_bitslip()
+        spi_buffer = [0x01, 0x20]  # set to Two's complement Data Format
-        find_edge()
+        spi.xfer2(spi_buffer)
-        print_adc_channels()
 
-        main_adc_test_mode(spi, False)
+        # read values back
-        verify_adc_registers(spi, {0x02: 0x11})  # Verify test mode is off
+        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")
 
-        enable_adc_afe()
+        # REGISTER A2
+        spi_buffer = [
+            0x02,
+            0x15,
+        ]  # set to LVDS output, set 4 data lanes and turn on test mode
+        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] != 0x15:
+            print("Different value read than sent in reg 0x02")
+
+        # REGISTER A3
+        # test pattern high word
+        spi_buffer = [0x03, high_word]
+        spi.xfer2(spi_buffer)
+
+        # 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")
+
+        # REGISTER A4
+        # test pattern low word
+        spi_buffer = [0x04, low_word]
+        spi.xfer2(spi_buffer)
+
+        # 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 = True
+        # 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_detected = False
+    transition = False
+    tap_delay = 0
+
+    for i in range(4):
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+        if current_frame != 0x0C:
+            print(
+                f"Performing bitslip (bitslip iteration: {i}). Reason: current_frame is 0x{current_frame:02x} instead of 0x0C"
+            )
+            write_to_memory(ADC_BITSLIP_ADDR, 1)
+        else:
+            print(f"No bitslip required; Currernt frame = 0x{current_frame:02x}")
+            break
+
+    current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+    prev_frame = current_frame
+
+    for i in range(32):
+        write_to_memory(ADC_DELAY_ADDR, tap_delay)
+        if edge_detected == 1:
+            break
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+
+        print(f"Tap delay: {tap_delay}")
+        print(f"Current frame: 0x{current_frame:02x}")
+
+        if current_frame == prev_frame:
+            tap_delay += 1
+        elif not transition:
+            tap_delay += 1
+            transition = True
+        elif transition:
+            tap_delay = i // 2
+            edge_detected = True
+
+        prev_frame = current_frame
+
+    if not edge_detected:
+        tap_delay = 11  # empirically tested to work best
+        write_to_memory(ADC_DELAY_ADDR, tap_delay)
+        print(f"No edge detected; setting iDelay to: {tap_delay}")
+    if edge_detected:
+        write_to_memory(ADC_DELAY_ADDR, tap_delay + 2)
+        print(f"Edge detected; setting iDelay to (tap_delay + 2): {tap_delay} + 2")
+
+    adc_ch0 = read_from_memory(ADC_CH0_HIGH_ADDR, 4)
+    print(f"ADC_CH0: 0x{adc_ch0}")
+
+    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}")
+
+
+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 = True
+
+        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)
+    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])
+
+
 if __name__ == "__main__":
-    configure_ltc2195()
+    main()

fast-servo/pyfastservo/common.py

@@ -17,9 +17,6 @@
 # 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
@@ -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

@@ -17,7 +17,8 @@
 # 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 (
@@ -28,58 +29,108 @@ 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
 
 
-def spi_write(spi, address, value):
+def main_dac_init():
-    spi.xfer2([address, value])
+    spi = spidev.SpiDev()
 
-def spi_read(spi, address):
+    try:
-    rx_buffer = spi.xfer2([0x80 | address, 0x00])
+        spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
-    return rx_buffer[1]
+        spi.max_speed_hz = 5000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = True
 
-def hard_reset(spi):
+        spi_buffer = [0x00, 0x10]  # software reset
-    spi_write(spi, 0x00, 0x10)  # Software reset
+        spi.xfer2(spi_buffer)
-    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):
+        spi_buffer = [0x00, 0x00]  # release software reset
-    version = spi_read(spi, 0x1F)
+        spi.xfer2(spi_buffer)
-    print(f"DAC version: 0x{version:02X}")
-    return version == DAC_VERSION
 
-def configure_dac(spi):
+        spi_buffer = [
-    power_down_reg = spi_read(spi, 0x01)
+            0x80,
-    spi_write(spi, 0x01, power_down_reg & ~(1 << 0))  # Clear EXTREF bit for internal reference
+            0x00,
-    spi_write(spi, 0x0D, 0x00)      # Set RREF to 10 kΩ for 1.0V reference
+        ]  # for some reason it is needed to read the reset address for reset to actually reset
-    spi_write(spi, 0x04, 0xA0)      # Enable on-chip IRSET (1.6 kΩ for 20mA output)
+        rx_buffer = spi.xfer2(spi_buffer)
-    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, LVDS interface, 4 LVDS lanes
 
-def dac_self_calibration(spi):
+        spi_buffer = [0x9F, 0x00]  # hardware version
-    spi_write(spi, 0x12, 0x00)      # Reset calibration status
+        rx_buffer = spi.xfer2(spi_buffer)
-    spi_write(spi, 0x0E, 0x08)      # Enable calibration clock, default divide ratio
+        if rx_buffer[1] != DAC_VERSION:
-    spi_write(spi, 0x0E, 0x38)      # CALSELI = 1, CALSELQ = 1, CALCLK = 1
+            print(f"Unrecognized device: 0x{rx_buffer[1]:02X}")
-    spi_write(spi, 0x12, 0x10)      # Set CALEN bit
 
-    while True:
+        print("=== Contents of spi buffer after DAC VERSION read back: ===")
-        status = spi_read(spi, 0x0F)
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
-        if status & 0xC0 == 0xC0:   # Both CALSTATI and CALSTATQ are 1
+
-            break
+        spi_buffer = [0x82, 00]
-        time.sleep(0.01)
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+        # set to 2's complement and I to be first of pair on data input pads
+        spi_buffer = [0x02, 0xB4]
+        rx_buffer = spi.xfer2(spi_buffer)
+        spi_buffer = [0x82, 00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+        for i in range(10):
+            spi_buffer = [0x94, 0x00]
+            rx_buffer = spi.xfer2(spi_buffer)
+            print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+    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]
+    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]
@@ -87,6 +138,7 @@ def manual_override(enable=True):
     to_write = reg_contents | 0b1 if enable else reg_contents & 0b110
     write_to_memory(CTRL_ADDR, to_write)
 
+
 def power_down(channel, power_down=True):
     assert channel in (0, 1)
 
@@ -100,49 +152,31 @@ def power_down(channel, power_down=True):
     reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
     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
 
-    write_to_memory(CH0_HIGH_WORD_ADDR, high_word)
+def write_sample(channel, sample):
-    write_to_memory(CH0_LOW_WORD_ADDR, low_word)
+    assert channel in (0, 1)
-    write_to_memory(CH1_HIGH_WORD_ADDR, high_word)
+    if channel == 0:
-    write_to_memory(CH1_LOW_WORD_ADDR, low_word)
+        addresses = [CH0_HIGH_WORD_ADDR, CH0_LOW_WORD_ADDR]
-    print(f"DAC output set to: 0x{value:04X}")
+    else:
+        addresses = [CH1_HIGH_WORD_ADDR, CH1_LOW_WORD_ADDR]
 
-def configure_ad9117():
+    low_word_value = sample & 0xFF
-    spi = spidev.SpiDev()
+    high_word_value = (sample >> 8) & 0x3F
-    spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
+    values = [high_word_value, low_word_value]
-    spi.max_speed_hz = 5000
+    for addr, value in zip(addresses, values):
-    spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        write_to_memory(addr, value)
-    spi.cshigh = False
 
-    try:
-        hard_reset(spi)
-        if not check_version(spi):
-            print("Unrecognized DAC version")
-            return False
 
-        configure_dac(spi)
+def write_ramp():
-        dac_self_calibration(spi)
+    signal = [i for i in range(16384)]
 
-        # Enable DAC outputs
+    for value in signal:
-        spi_write(spi, 0x01, spi_read(spi, 0x01) & ~((1 << 4) | (1 << 3)))
+        write_sample(0, value)
 
+def main():
+    main_dac_init()
     power_down(0, False)
     power_down(1, False)
-        manual_override(True)
-
-        print("AD9117 configuration completed successfully")
-        return True
-
-    except Exception as e:
-        print(f"Error configuring AD9117: {e}")
-        return False
-
-    finally:
-        spi.close()
     
 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()
+    adc.main()
-    dac.configure_ad9117()
+    dac.main()
 
 if __name__ == "__main__":
     main()

fast-servo/pyfastservo/si5340.py

@@ -17,264 +17,102 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 
-# Additional Reference:
-# https://github.com/torvalds/linux/blob/master/drivers/clk/clk-si5341.c
-
-import time
 from smbus2 import SMBus
 
 BUS_NO = 0
 IC_ADDR = 0x74
 
-DEVICE_READY = 0x00FE
+PAGE_ADDR = 0x1
-PLL_M_DEN = 0x023B
-STATUS = 0x000C
-STATUS_STICKY = 0x0011
 
-STATUS_LOSREF = 0x04
+OUT0_MUX_SEL_ADDR = 0x15
-STATUS_LOL = 0x08
+OUT1_MUX_SEL_ADDR = 0x1A
+OUT2_MUX_SEL_ADDR = 0x29
+OUT3_MUX_SEL_ADDR = 0x2E
+
+OUT2_AMPL_ADDR = 0x28
+
+OUT3_PDN_ADDR = 0x2B
+OUT3_FORMAT_ADDR = 0x2C
+OUT3_AMPL_ADDR = 0x2D
 
 
-def write_register(bus, address, value):
+N1_DIVIDER_UPDATE_ADDR = 0x17
-    page = address >> 8
-    register = address & 0xFF
-    bus.write_byte_data(IC_ADDR, 0x01, page)
-    try:
-        bus.write_byte_data(IC_ADDR, register, value)
-    except Exception as e:
-        raise Exception(f"Write failed 0x{value:02X} at 0x{address:04X}: {e}")
 
-def write_preamble(bus):
+data_to_write = 0
-    preamble = [
+clk_out_addr = [
-        (0x0B24, 0xC0),
+    OUT0_MUX_SEL_ADDR,
-        (0x0B25, 0x00),
+    OUT1_MUX_SEL_ADDR,
-        (0x0502, 0x01),
+    OUT2_MUX_SEL_ADDR,
-        (0x0505, 0x03),
+    OUT3_MUX_SEL_ADDR,
-        (0x0957, 0x17),
+]
-        (0x0B4E, 0x1A),
-    ]
-    for address, value in preamble:
-        write_register(bus, address, value)
-
-def write_postamble(bus):
-    postamble = [
-        (0x001C, 0x01),  # Soft reset
-        (0x0B24, 0xC3),
-        (0x0B25, 0x02),
-    ]
-    for address, value in postamble:
-        write_register(bus, address, value)
-
-def wait_device_ready(bus):
-    for _ in range(15):
-        if bus.read_byte_data(IC_ADDR, DEVICE_READY) == 0x0F:
-            return True
-        time.sleep(0.02)
-    return False
-
-def wait_for_lock(bus):
-    for _ in range(10):
-        status = bus.read_byte_data(IC_ADDR, STATUS)
-        if not (status & (STATUS_LOSREF | STATUS_LOL)):
-            return True
-        time.sleep(0.01)
-    return False
-
-def check_pll_status(bus):
-    pll_status = bus.read_byte_data(IC_ADDR, 0x0C)
-    pll_locked = not (pll_status & STATUS_LOL)
-    print(f"PLL {'locked' if pll_locked else 'unlocked'}")
-    return pll_locked
-
-def check_los_status(bus):
-    los_status = bus.read_byte_data(IC_ADDR, 0x0D)
-    xaxb_los = (los_status & 0x10) != 0
-    print(f"XA/XB LOS {'asserted' if xaxb_los else 'deasserted'}")
-    return not xaxb_los
 
 def configure_si5340():
     with SMBus(BUS_NO) as bus:
-        if not wait_device_ready(bus):
-            print("Device not ready. Aborting.")
-            return
 
-        # Programming sequence from ClockBuilder Pro, default settings
+        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
-        # to initialize system using XTAL input
-        main_config = [
-            (0x0006, 0x00),  # TOOL_VERSION
-            (0x0007, 0x00),  # Not in datasheet
-            (0x0008, 0x00),  # Not in datasheet
-            (0x000B, 0x74),  # I2C_ADDR
-            (0x0017, 0xD0),  # INT mask (disable interrupts)
-            (0x0018, 0xFF),  # INT mask
-            (0x0021, 0x0F),  # Select XTAL as input
-            (0x0022, 0x00),  # Not in datasheet
-            (0x002B, 0x02),  # SPI config
-            (0x002C, 0x20),  # LOS enable for XTAL
-            (0x002D, 0x00),  # LOS timing
-            (0x002E, 0x00),  # LOS trigger (thresholds)
-            (0x002F, 0x00),
-            (0x0030, 0x00),
-            (0x0031, 0x00),
-            (0x0032, 0x00),
-            (0x0033, 0x00),
-            (0x0034, 0x00),
-            (0x0035, 0x00),  # LOS trigger (thresholds) end
-            (0x0036, 0x00),  # LOS clear (thresholds)
-            (0x0037, 0x00),
-            (0x0038, 0x00),
-            (0x0039, 0x00),
-            (0x003A, 0x00),
-            (0x003B, 0x00),
-            (0x003C, 0x00),
-            (0x003D, 0x00),  # LOS clear (thresholds) end
-            (0x0041, 0x00),  # LOS0_DIV_SEL
-            (0x0042, 0x00),  # LOS1_DIV_SEL
-            (0x0043, 0x00),  # LOS2_DIV_SEL
-            (0x0044, 0x00),  # LOS3_DIV_SEL
-            (0x009E, 0x00),  # LOL_SET_THR
-            (0x0102, 0x01),  # Enable outputs
-            (0x013F, 0x00),  # OUTX_ALWAYS_ON
-            (0x0140, 0x00),  # OUTX_ALWAYS_ON
-            (0x0141, 0x40),  # OUT_DIS_LOL_MSK, OUT_DIS_MSK_LOS_PFD
-            (0x0202, 0x00),  # XAXB_FREQ_OFFSET (=0)
 
-            # PLL Configuration
+        # read device id
-            (0x0235, 0x00),  # M_NUM
+        low_word = bus.read_byte_data(IC_ADDR, 0x2)
-            (0x0236, 0x00),
+        high_word = bus.read_byte_data(IC_ADDR, 0x3)
-            (0x0237, 0x00),
-            (0x0238, 0x80),
-            (0x0239, 0x89),
-            (0x023A, 0x00),
-            (0x023B, 0x00),  # M_DEN
-            (0x023C, 0x00),
-            (0x023D, 0x00),
-            (0x023E, 0x80),
 
-            # Synthesizer configuration
+        print(f"DEV ID: 0x{high_word:2x}{low_word:2x}")
-            (0x0302, 0x00),  # N0_NUM
-            (0x0303, 0x00),
-            (0x0304, 0x00),
-            (0x0305, 0x00),
-            (0x0306, 0x21),
-            (0x0307, 0x00),
-            (0x0308, 0x00),  # N0_DEN
-            (0x0309, 0x00),
-            (0x030A, 0x00),
-            (0x030B, 0x80),
-            (0x030C, 0x01), # N0_UPDATE
 
-            # N1 Configuration (1:1 ratio)
+        data_to_write = 0x1
-            (0x030D, 0x00),  # N1_NUM
+        bus.write_byte_data(
-            (0x030E, 0x00),
+            IC_ADDR, PAGE_ADDR, data_to_write
-            (0x030F, 0x00),
+        )  # change to page 1 for output settings
-            (0x0310, 0x00),
-            (0x0311, 0x00),
-            (0x0312, 0x01),
-            (0x0313, 0x00),  # N1_DEN
-            (0x0314, 0x00),
-            (0x0315, 0x00),
-            (0x0316, 0x01),
-            (0x0317, 0x01),  # N1_UPDATE
 
-            # N2 Configuration (1:1 ratio)
+        readback = bus.read_byte_data(IC_ADDR, PAGE_ADDR)
-            (0x0318, 0x00),  # N2_NUM
+        if data_to_write != readback:
-            (0x0319, 0x00),
+            raise ValueError(f"Failed to set page.")
-            (0x031A, 0x00),
-            (0x031B, 0x00),
-            (0x031C, 0x00),
-            (0x031D, 0x01),
-            (0x031E, 0x00),  # N2_DEN
-            (0x031F, 0x00),
-            (0x0320, 0x00),
-            (0x0321, 0x01),
-            (0x0322, 0x01),  # N2_UPDATE
 
-            # N3 Configuration (1:1 ratio)
+        for addr in clk_out_addr:
-            (0x0323, 0x00),  # N3_NUM
+            bus.write_byte_data(IC_ADDR, addr, 1)  # set source to N1
-            (0x0324, 0x00),
-            (0x0325, 0x00),
-            (0x0326, 0x00),
-            (0x0327, 0x00),
-            (0x0328, 0x01),
-            (0x0329, 0x00),  # N3_DEN
-            (0x032A, 0x00),
-            (0x032B, 0x00),
-            (0x032C, 0x01),
-            (0x032D, 0x01),  # N3_UPDATE
 
-            # Output configuration
+        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 13)
-            (0x0112, 0x06),  # OUT0 config
+        readback = bus.read_byte_data(IC_ADDR, OUT2_AMPL_ADDR)
-            (0x0113, 0x09),  # OUT0 format
+        # if data_to_write != readback:
-            (0x0114, 0x3B),  # OUT0 CM/AMPL
+        #     raise ValueError(f"Problematic read: {readback}.")
-            (0x0115, 0x28),  # OUT0 MUX_SEL
 
-            (0x0117, 0x06),  # OUT1 config
+        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 0x6B)  # setting OUT2 to LVDS25
-            (0x0118, 0x09),  # OUT1 format
-            (0x0119, 0x3B),  # OUT1 CM/AMPL
-            (0x011A, 0x28),  # OUT1 MUX_SEL
 
-            (0x0126, 0x06),  # OUT2 config
+        bus.write_byte_data(IC_ADDR, OUT3_FORMAT_ADDR, 0xCC)  # SETTING out3 to LVCMOS 18
-            (0x0127, 0x09),  # OUT2 format
+        # bus.write_byte_data(IC_ADDR, 0x2E, 0x09)		# SETTING out3 to LVCMOS 33
-            (0x0128, 0x3B),  # OUT2 CM/AMPL
-            (0x0129, 0x28),  # OUT2 MUX_SEL
 
-            (0x012B, 0x06),  # OUT3 config
+        readback = bus.read_byte_data(IC_ADDR, OUT3_PDN_ADDR)
-            (0x012C, 0xCC),  # OUT3 format
+        print(f"Si5340 OUTx_PDN CLK3: 0x{readback}")
-            (0x012D, 0x00),  # OUT3 CM/AMPL
-            (0x012E, 0x58),  # OUT3 MUX_SEL
 
-            # Miscellaneous configuration
+        readback = bus.read_byte_data(IC_ADDR, OUT3_FORMAT_ADDR)
-            (0x090E, 0x02),  # XAXB_EXTCLK_EN=0 XAXB_PDNB=1 (use XTAL)
+        print(f"Si5340 OUTx_FORMAT CLK3: 0x{readback}")
-            (0x091C, 0x04),  # ZDM_EN=4 (Normal mode)
-            (0x0943, 0x00),  # IO_VDD_SEL
-            (0x0949, 0x00),  # IN_EN (disable input clocks)
-            (0x094A, 0x00),  # INx_TO_PFD_EN (disabled)
-            (0x094E, 0x49),  # REFCLK_HYS_SEL (set by CBPro)
-            (0x094F, 0x02),  # Not in datasheet
-            (0x095E, 0x00),  # M_INTEGER (set by CBPro)
-            (0x0A02, 0x00),  # N_ADD_0P5 (set by CBPro)
-            (0x0A03, 0x01),  # N_CLK_TO_OUTX_EN
-            (0x0A04, 0x01),  # N_PIBYP
-            (0x0A05, 0x01),  # N_PDNB
-            (0x0A14, 0x00),  # N0_HIGH_FREQ (set by CBPro)
-            (0x0A1A, 0x00),  # N1_HIGH_FREQ (set by CBPro)
-            (0x0A20, 0x00),  # N2_HIGH_FREQ (set by CBPro)
-            (0x0A26, 0x00),  # N3_HIGH_FREQ (set by CBPro)
-            (0x0B44, 0x0F),  # PDIV_ENB (set by CBPro)
-            (0x0B4A, 0x0E),  # N_CLK_DIS
-            (0x0B57, 0x0E),  # VCO_RESET_CALCODE (set by CBPro)
-            (0x0B58, 0x01),  # VCO_RESET_CALCODE (set by CBPro)
-        ]
 
-        write_preamble(bus)
+        readback = bus.read_byte_data(IC_ADDR, OUT3_AMPL_ADDR)
+        print(f"Si5340 OUTx_AMPL CLK3: 0x{readback}")
 
-        time.sleep(0.3)
+        readback = bus.read_byte_data(IC_ADDR, OUT3_MUX_SEL_ADDR)
+        print(f"Si5340 OUTx_CM CLK3: 0x{readback}")
 
-        print("Writing main configuration...")
+        bus.write_byte_data(
-        for address, value in main_config:
+            IC_ADDR, PAGE_ADDR, 0x3
-            write_register(bus, address, value)
+        )  # setting page to 3 to change dividers values
-        print("Main configuration written")
 
-        write_postamble(bus)
+        n1_numerator = [0x0, 0x0, 0x0, 0x60, 0x22, 0x0]
+        n1_numerator_10M = [0x0, 0x0, 0x0, 0xC0, 0x57, 0x1]
+        n1_num_addr = [0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12]
+        n1_denom_addr = [0x13, 0x14, 0x15, 0x16]
+        for addr, value in zip(n1_num_addr, n1_numerator):
+            bus.write_byte_data(IC_ADDR, addr, value)
 
-        if not wait_for_lock(bus):
+        bus.write_byte_data(IC_ADDR, N1_DIVIDER_UPDATE_ADDR, 1)
-            print("Error waiting for input clock or PLL lock")
-        else:
-            print("Input clock present and PLL locked")
 
-        bus.write_byte_data(IC_ADDR, STATUS_STICKY, 0)
+        for addr in n1_num_addr:
+            readback = bus.read_byte_data(IC_ADDR, addr)
+            print(f"Numerator buffer: 0x{readback:02x}")
 
-        # Final status check
+        for addr in n1_denom_addr:
-        pll_locked = check_pll_status(bus)
+            readback = bus.read_byte_data(IC_ADDR, addr)
-        xaxb_signal_present = check_los_status(bus)
+            print(f"Denominator buffer: 0x{readback:02x}")
 
-        if not pll_locked:
+        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
-            print("Error: PLL is not locked")
-        elif not xaxb_signal_present:
-            print("Error: XA/XB signal is lost")
-        else:
-            print("Si5340 configuration completed successfully")
 
 if __name__ == "__main__":
     configure_si5340()

flake.lock

@@ -18,16 +18,16 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1723938990,
+        "lastModified": 1709237383,
-        "narHash": "sha256-9tUadhnZQbWIiYVXH8ncfGXGvkNq3Hag4RCBEMUk7MI=",
+        "narHash": "sha256-cy6ArO4k5qTx+l5o+0mL9f5fa86tYUX3ozE1S+Txlds=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "c42fcfbdfeae23e68fc520f9182dde9f38ad1890",
+        "rev": "1536926ef5621b09bba54035ae2bb6d806d72ac8",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-24.05",
+        "ref": "nixos-unstable",
         "repo": "nixpkgs",
         "type": "github"
       }
@@ -64,11 +64,11 @@
     "src-migen": {
       "flake": false,
       "locked": {
-        "lastModified": 1721561053,
+        "lastModified": 1702942348,
-        "narHash": "sha256-z3LRhNmKZrjr6rFD0yxtccSa/SWvFIYmb+G/D5d2Jd8=",
+        "narHash": "sha256-gKIfHZxsv+jcgDFRW9mPqmwqbZXuRvXefkZcSFjOGHw=",
         "owner": "m-labs",
         "repo": "migen",
-        "rev": "9279e8623f8433bc4f23ac51e5e2331bfe544417",
+        "rev": "50934ad10a87ade47219b796535978b9bdf24023",
         "type": "github"
       },
       "original": {
@@ -80,11 +80,11 @@
     "src-misoc": {
       "flake": false,
       "locked": {
-        "lastModified": 1715647536,
+        "lastModified": 1699352904,
-        "narHash": "sha256-q+USDcaKHABwW56Jzq8u94iGPWlyLXMyVt0j/Gyg+IE=",
+        "narHash": "sha256-SglyTmXOPv8jJOjwAjJrj/WhAkItQfUbvKfUqrynwRg=",
         "ref": "refs/heads/master",
-        "rev": "fea9de558c730bc394a5936094ae95bb9d6fa726",
+        "rev": "a53859f2167c31ab5225b6c09f30cf05527b94f4",
-        "revCount": 2455,
+        "revCount": 2452,
         "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-24.05;
+  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-unstable;
   inputs.not-os.url = github:cleverca22/not-os;
   inputs.not-os.inputs.nixpkgs.follows = "nixpkgs";
 
@@ -110,23 +110,13 @@
           rev = "v${version}";
           hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
         };
-        patches = ./fast-servo/linien-pyrp3-monitor.patch;
+        nativeBuildInputs = with pkgs-armv7l.python3Packages; [ setuptools wheel setuptools-scm ];
-        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
-        '';
-        postFixup = ''
-          substituteInPlace $out/${pkgs.python3.sitePackages}/pyrp3/raw_memory.py \
-            --replace "libmonitor.so" "$out/lib/libmonitor.so"
-        '';
       };
 
       linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {

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";
      };

not-os-patches/pr-28.patch

@@ -1,5 +1,5 @@
 diff --git a/base.nix b/base.nix
-index 7eaee32..9aa338e 100644
+index 7eaee32..3a2a0a9 100644
 --- a/base.nix
 +++ b/base.nix
 @@ -27,6 +27,11 @@ with lib;
@@ -14,12 +14,9 @@ index 7eaee32..9aa338e 100644
      not-os.simpleStaticIp = mkOption {
        type = types.bool;
        default = false;
-@@ -84,17 +89,25 @@ with lib;
+@@ -86,15 +91,25 @@ with lib;
-     };
-     environment.etc = {
        "nix/nix.conf".source = pkgs.runCommand "nix.conf" {} ''
--        extraPaths=$(for i in $(cat ${pkgs.writeReferencesToFile pkgs.runtimeShell}); do if test -d $i; then echo $i; fi; done)
+         extraPaths=$(for i in $(cat ${pkgs.writeReferencesToFile pkgs.runtimeShell}); do if test -d $i; then echo $i; fi; done)
-+        extraPaths=$(for i in $(cat ${pkgs.writeClosure [ pkgs.bash ]}); do if test -d $i; then echo $i; fi; done)
          cat > $out << EOF
 -        build-use-sandbox = true
 +        auto-optimise-store = true
@@ -31,6 +28,8 @@ index 7eaee32..9aa338e 100644
 +        extra-sandbox-paths = /bin/sh=${pkgs.runtimeShell} $(echo $extraPaths)
 +        max-jobs = auto
 +        sandbox = true
++        substituters = https://cache.armv7l.xyz
++        trusted-public-keys = cache.armv7l.xyz-1:kBY/eGnBAYiqYfg0fy0inWhshUo+pGFM3Pj7kIkmlBk=
 +        trusted-users = root
          EOF
        '';
@@ -152,7 +151,7 @@ index c61f9d6..fbdf0fd 100644
    };
  }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..069fe89 100644
+index 3fa23ab..9d1621e 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
 @@ -1,66 +1,89 @@
@@ -164,7 +163,7 @@ index 3fa23ab..069fe89 100644
 -  # dont use overlays for the qemu, it causes a lot of wasted time on recompiles
 -  x86pkgs = import pkgs.path { system = "x86_64-linux"; };
 -  customKernel = pkgs.linux.override {
-+  customKernel = (pkgs.linux_6_6.override {
++  customKernel = (pkgs.linux.override {
      extraConfig = ''
        OVERLAY_FS y
 +      MEDIA_SUPPORT n
@@ -250,7 +249,7 @@ 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}

not-os-patches/pr-33.patch

@@ -394,10 +394,10 @@ index 0000000..53c5349
 \ No newline at end of file
 diff --git a/xilinx-fpga-manager.patch b/xilinx-fpga-manager.patch
 new file mode 100644
-index 0000000..33daffe
+index 0000000..59aa585
 --- /dev/null
 +++ b/xilinx-fpga-manager.patch
-@@ -0,0 +1,676 @@
+@@ -0,0 +1,663 @@
 +# Enable user-space interface for PL programming via Linux FPGA manager
 +# diff cherry-picked from Xilinx/linux-xilinx/tree/xlnx_rebase_v6.6_LTS
 +# commit IDs: e61c0a9, 0a38712, dc67651, 89a24e3, 8d224b1, 2a9c05f, 4e94580
@@ -425,7 +425,7 @@ index 0000000..33daffe
 + 	tristate "Altera SOCFPGA FPGA Manager"
 + 	depends on ARCH_INTEL_SOCFPGA || COMPILE_TEST
 +diff --git a/drivers/fpga/fpga-mgr.c b/drivers/fpga/fpga-mgr.c
-+index 0f4035b089a2..3aa9f5f041f6 100644
++index 06651389c592..6e8c45974f28 100644
 +--- a/drivers/fpga/fpga-mgr.c
 ++++ b/drivers/fpga/fpga-mgr.c
 +@@ -8,6 +8,9 @@
@@ -673,7 +673,7 @@ index 0000000..33daffe
 + 	NULL,
 + };
 + ATTRIBUTE_GROUPS(fpga_mgr);
-+@@ -739,6 +871,106 @@ void fpga_mgr_put(struct fpga_manager *mgr)
++@@ -732,6 +864,106 @@ void fpga_mgr_put(struct fpga_manager *mgr)
 + }
 + EXPORT_SYMBOL_GPL(fpga_mgr_put);
 + 
@@ -780,8 +780,8 @@ index 0000000..33daffe
 + /**
 +  * fpga_mgr_lock - Lock FPGA manager for exclusive use
 +  * @mgr:	fpga manager
-+@@ -788,6 +1020,9 @@ __fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *
++@@ -779,6 +1011,9 @@ struct fpga_manager *
-+ 			 struct module *owner)
++ fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *info)
 + {
 + 	const struct fpga_manager_ops *mops = info->mops;
 ++#ifdef CONFIG_FPGA_MGR_DEBUG_FS
@@ -790,7 +790,7 @@ index 0000000..33daffe
 + 	struct fpga_manager *mgr;
 + 	int id, ret;
 + 
-+@@ -826,10 +1061,28 @@ __fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *
++@@ -815,10 +1050,28 @@ fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *in
 + 	mgr->dev.of_node = parent->of_node;
 + 	mgr->dev.id = id;
 + 
@@ -819,7 +819,7 @@ index 0000000..33daffe
 + 	/*
 + 	 * Initialize framework state by requesting low level driver read state
 + 	 * from device.  FPGA may be in reset mode or may have been programmed
-+@@ -843,6 +1096,28 @@ __fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *
++@@ -832,6 +1085,28 @@ fpga_mgr_register_full(struct device *parent, const struct fpga_manager_info *in
 + 		return ERR_PTR(ret);
 + 	}
 + 
@@ -848,7 +848,7 @@ index 0000000..33daffe
 + 	return mgr;
 + 
 + error_device:
-+@@ -894,6 +1169,10 @@ void fpga_mgr_unregister(struct fpga_manager *mgr)
++@@ -882,6 +1157,10 @@ void fpga_mgr_unregister(struct fpga_manager *mgr)
 + {
 + 	dev_info(&mgr->dev, "%s %s\n", __func__, mgr->name);
 + 
@@ -881,10 +881,10 @@ index 0000000..33daffe
 + 				     &firmware_name)) {
 + 		info->firmware_name = devm_kstrdup(dev, firmware_name,
 +diff --git a/drivers/fpga/zynqmp-fpga.c b/drivers/fpga/zynqmp-fpga.c
-+index f3434e2c487b..d2434ed85eff 100644
++index f3434e2c487b..db923746cac5 100644
 +--- a/drivers/fpga/zynqmp-fpga.c
 ++++ b/drivers/fpga/zynqmp-fpga.c
-+@@ -43,25 +43,47 @@ static int zynqmp_fpga_ops_write(struct fpga_manager *mgr,
++@@ -43,25 +43,42 @@ static int zynqmp_fpga_ops_write(struct fpga_manager *mgr,
 + 	struct zynqmp_fpga_priv *priv;
 + 	dma_addr_t dma_addr;
 + 	u32 eemi_flags = 0;
@@ -915,11 +915,6 @@ index 0000000..33daffe
 ++
 + 	wmb(); /* ensure all writes are done before initiate FW call */
 + 
-++	if (priv->flags & FPGA_MGR_DDR_MEM_AUTH_BITSTREAM)
-++		eemi_flags |= XILINX_ZYNQMP_PM_FPGA_AUTHENTICATION_DDR;
-++	else if (priv->flags & FPGA_MGR_SECURE_MEM_AUTH_BITSTREAM)
-++		eemi_flags |= XILINX_ZYNQMP_PM_FPGA_AUTHENTICATION_OCM;
-++
 + 	if (priv->flags & FPGA_MGR_PARTIAL_RECONFIG)
 + 		eemi_flags |= XILINX_ZYNQMP_PM_FPGA_PARTIAL;
 + 
@@ -936,22 +931,20 @@ index 0000000..33daffe
 + 	return ret;
 + }
 +diff --git a/include/linux/firmware/xlnx-zynqmp.h b/include/linux/firmware/xlnx-zynqmp.h
-+index e8b12ec8b060..ffd2dfdb6abd 100644
++index 9dda7d9898ff..edaf77160746 100644
 +--- a/include/linux/firmware/xlnx-zynqmp.h
 ++++ b/include/linux/firmware/xlnx-zynqmp.h
-+@@ -83,6 +83,10 @@
++@@ -70,6 +70,8 @@
 +  */
 + #define XILINX_ZYNQMP_PM_FPGA_FULL	0x0U
 + #define XILINX_ZYNQMP_PM_FPGA_PARTIAL	BIT(0)
-++#define XILINX_ZYNQMP_PM_FPGA_AUTHENTICATION_DDR	BIT(1)
-++#define XILINX_ZYNQMP_PM_FPGA_AUTHENTICATION_OCM	BIT(2)
 ++#define XILINX_ZYNQMP_PM_FPGA_ENCRYPTION_USERKEY	BIT(3)
 ++#define XILINX_ZYNQMP_PM_FPGA_ENCRYPTION_DEVKEY		BIT(4)
 + 
 + /* FPGA Status Reg */
 + #define XILINX_ZYNQMP_PM_FPGA_CONFIG_STAT_OFFSET	7U
 +diff --git a/include/linux/fpga/fpga-mgr.h b/include/linux/fpga/fpga-mgr.h
-+index 0d4fe068f3d8..f884d268c974 100644
++index 54f63459efd6..c96a4405f909 100644
 +--- a/include/linux/fpga/fpga-mgr.h
 ++++ b/include/linux/fpga/fpga-mgr.h
 +@@ -9,8 +9,11 @@
@@ -966,7 +959,7 @@ index 0000000..33daffe
 + struct fpga_manager;
 + struct sg_table;
 + 
-+@@ -66,17 +69,29 @@ enum fpga_mgr_states {
++@@ -66,17 +69,25 @@ enum fpga_mgr_states {
 +  *
 +  * %FPGA_MGR_EXTERNAL_CONFIG: FPGA has been configured prior to Linux booting
 +  *
@@ -980,10 +973,6 @@ index 0000000..33daffe
 ++ *
 ++ * %FPGA_MGR_USERKEY_ENCRYPTED_BITSTREAM: indicates bitstream is encrypted with
 ++ *					  user key
-++ * %FPGA_MGR_DDR_MEM_AUTH_BITSTREAM: do bitstream authentication using DDR
-++ *				     memory if supported
-++ * %FPGA_MGR_SECURE_MEM_AUTH_BITSTREAM: do bitstream authentication using secure
-++ *					memory if supported
 +  */
 + #define FPGA_MGR_PARTIAL_RECONFIG	BIT(0)
 + #define FPGA_MGR_EXTERNAL_CONFIG	BIT(1)
@@ -997,7 +986,7 @@ index 0000000..33daffe
 + 
 + /**
 +  * struct fpga_image_info - information specific to an FPGA image
-+@@ -86,6 +101,7 @@ enum fpga_mgr_states {
++@@ -86,6 +97,7 @@ enum fpga_mgr_states {
 +  * @config_complete_timeout_us: maximum time for FPGA to switch to operating
 +  *	   status in the write_complete op.
 +  * @firmware_name: name of FPGA image firmware file
@@ -1005,7 +994,7 @@ index 0000000..33daffe
 +  * @sgt: scatter/gather table containing FPGA image
 +  * @buf: contiguous buffer containing FPGA image
 +  * @count: size of buf
-+@@ -102,6 +118,7 @@ struct fpga_image_info {
++@@ -102,6 +114,7 @@ struct fpga_image_info {
 + 	u32 disable_timeout_us;
 + 	u32 config_complete_timeout_us;
 + 	char *firmware_name;
@@ -1013,7 +1002,7 @@ index 0000000..33daffe
 + 	struct sg_table *sgt;
 + 	const char *buf;
 + 	size_t count;
-+@@ -160,6 +177,7 @@ struct fpga_manager_info {
++@@ -160,6 +173,7 @@ struct fpga_manager_info {
 +  * @write: write count bytes of configuration data to the FPGA
 +  * @write_sg: write the scatter list of configuration data to the FPGA
 +  * @write_complete: set FPGA to operating state after writing is done
@@ -1021,7 +1010,7 @@ index 0000000..33daffe
 +  * @fpga_remove: optional: Set FPGA into a specific state during driver remove
 +  * @groups: optional attribute groups.
 +  *
-+@@ -182,6 +200,7 @@ struct fpga_manager_ops {
++@@ -182,6 +196,7 @@ struct fpga_manager_ops {
 + 	int (*write_sg)(struct fpga_manager *mgr, struct sg_table *sgt);
 + 	int (*write_complete)(struct fpga_manager *mgr,
 + 			      struct fpga_image_info *info);
@@ -1029,7 +1018,7 @@ index 0000000..33daffe
 + 	void (*fpga_remove)(struct fpga_manager *mgr);
 + 	const struct attribute_group **groups;
 + };
-+@@ -196,23 +215,37 @@ struct fpga_manager_ops {
++@@ -196,21 +211,35 @@ struct fpga_manager_ops {
 + /**
 +  * struct fpga_manager - fpga manager structure
 +  * @name: name of low level fpga manager
@@ -1042,7 +1031,6 @@ index 0000000..33daffe
 +  * @state: state of fpga manager
 +  * @compat_id: FPGA manager id for compatibility check.
 +  * @mops: pointer to struct of fpga manager ops
-+  * @mops_owner: module containing the mops
 +  * @priv: low level driver private date
 ++ * @err: low level driver error code
 ++ * @dir: debugfs image directory
@@ -1058,7 +1046,6 @@ index 0000000..33daffe
 + 	enum fpga_mgr_states state;
 + 	struct fpga_compat_id *compat_id;
 + 	const struct fpga_manager_ops *mops;
-+ 	struct module *mops_owner;
 + 	void *priv;
 ++	int err;
 ++#ifdef CONFIG_FPGA_MGR_DEBUG_FS
@@ -1067,21 +1054,21 @@ index 0000000..33daffe
 + };
 + 
 + #define to_fpga_manager(d) container_of(d, struct fpga_manager, dev)
-+@@ -258,4 +291,6 @@ __devm_fpga_mgr_register(struct device *parent, const char *name,
++@@ -244,4 +273,6 @@ struct fpga_manager *
-+ 			 const struct fpga_manager_ops *mops, void *priv,
++ devm_fpga_mgr_register(struct device *parent, const char *name,
-+ 			 struct module *owner);
++ 		       const struct fpga_manager_ops *mops, void *priv);
 + 
 ++#define FPGA_IOCTL_LOAD_DMA_BUFF	_IOWR('R', 1, __u32)
 ++
 + #endif /*_LINUX_FPGA_MGR_H */
 diff --git a/zynq_image.nix b/zynq_image.nix
-index d5c5eda..7ede584 100644
+index 9d1621e..012e50c 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
 @@ -3,6 +3,16 @@
  with lib;
  let
-   customKernel = (pkgs.linux_6_6.override {
+   customKernel = (pkgs.linux.override {
 +    kernelPatches = [
 +      ({
 +        name = "xilinx-configfs-overlays";