pyfastservo: add note for dac output override

- Changing depth to 4 has resolved cdc issue

.gitignore

@@ -1 +1,2 @@
+__pycache__
 result

fast-servo/fast-servo.dts

@@ -0,0 +1,706 @@
+# 0 "system-top.dts"
+# 0 "<built-in>"
+# 0 "<command-line>"
+# 1 "system-top.dts"
+
+
+
+
+
+
+
+/dts-v1/;
+# 1 "zynq-7000.dtsi" 1
+# 15 "zynq-7000.dtsi"
+/ {
+ #address-cells = <1>;
+ #size-cells = <1>;
+ compatible = "xlnx,zynq-7000";
+
+ cpus {
+  #address-cells = <1>;
+  #size-cells = <0>;
+
+  cpu0: cpu@0 {
+   compatible = "arm,cortex-a9";
+   device_type = "cpu";
+   reg = <0>;
+   clocks = <&clkc 3>;
+   clock-latency = <1000>;
+   cpu0-supply = <&regulator_vccpint>;
+   operating-points = <
+
+    666667 1000000
+    333334 1000000
+   >;
+  };
+
+  cpu1: cpu@1 {
+   compatible = "arm,cortex-a9";
+   device_type = "cpu";
+   reg = <1>;
+   clocks = <&clkc 3>;
+  };
+ };
+
+ fpga_full: fpga-full {
+  compatible = "fpga-region";
+  fpga-mgr = <&devcfg>;
+  #address-cells = <1>;
+  #size-cells = <1>;
+  ranges;
+ };
+
+ pmu@f8891000 {
+  compatible = "arm,cortex-a9-pmu";
+  interrupts = <0 5 4>, <0 6 4>;
+  interrupt-parent = <&intc>;
+  reg = < 0xf8891000 0x1000 0xf8893000 0x1000 >;
+ };
+
+ regulator_vccpint: fixedregulator {
+  compatible = "regulator-fixed";
+  regulator-name = "VCCPINT";
+  regulator-min-microvolt = <1000000>;
+  regulator-max-microvolt = <1000000>;
+  regulator-boot-on;
+  regulator-always-on;
+ };
+
+ replicator {
+  compatible = "arm,coresight-static-replicator";
+  clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+  clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+
+  out-ports {
+   #address-cells = <1>;
+   #size-cells = <0>;
+
+
+   port@0 {
+    reg = <0>;
+    replicator_out_port0: endpoint {
+     remote-endpoint = <&tpiu_in_port>;
+    };
+   };
+   port@1 {
+    reg = <1>;
+    replicator_out_port1: endpoint {
+     remote-endpoint = <&etb_in_port>;
+    };
+   };
+  };
+  in-ports {
+
+   port {
+    replicator_in_port0: endpoint {
+     remote-endpoint = <&funnel_out_port>;
+    };
+   };
+  };
+ };
+
+ amba: axi {
+  u-boot,dm-pre-reloc;
+  compatible = "simple-bus";
+  #address-cells = <1>;
+  #size-cells = <1>;
+  interrupt-parent = <&intc>;
+  ranges;
+
+  adc: adc@f8007100 {
+   compatible = "xlnx,zynq-xadc-1.00.a";
+   reg = <0xf8007100 0x20>;
+   interrupts = <0 7 4>;
+   interrupt-parent = <&intc>;
+   clocks = <&clkc 12>;
+  };
+
+  can0: can@e0008000 {
+   compatible = "xlnx,zynq-can-1.0";
+   status = "disabled";
+   clocks = <&clkc 19>, <&clkc 36>;
+   clock-names = "can_clk", "pclk";
+   reg = <0xe0008000 0x1000>;
+   interrupts = <0 28 4>;
+   interrupt-parent = <&intc>;
+   tx-fifo-depth = <0x40>;
+   rx-fifo-depth = <0x40>;
+  };
+
+  can1: can@e0009000 {
+   compatible = "xlnx,zynq-can-1.0";
+   status = "disabled";
+   clocks = <&clkc 20>, <&clkc 37>;
+   clock-names = "can_clk", "pclk";
+   reg = <0xe0009000 0x1000>;
+   interrupts = <0 51 4>;
+   interrupt-parent = <&intc>;
+   tx-fifo-depth = <0x40>;
+   rx-fifo-depth = <0x40>;
+  };
+
+  gpio0: gpio@e000a000 {
+   compatible = "xlnx,zynq-gpio-1.0";
+   #gpio-cells = <2>;
+   clocks = <&clkc 42>;
+   gpio-controller;
+   interrupt-controller;
+   #interrupt-cells = <2>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 20 4>;
+   reg = <0xe000a000 0x1000>;
+  };
+
+  i2c0: i2c@e0004000 {
+   compatible = "cdns,i2c-r1p10";
+   status = "disabled";
+   clocks = <&clkc 38>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 25 4>;
+   reg = <0xe0004000 0x1000>;
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  i2c1: i2c@e0005000 {
+   compatible = "cdns,i2c-r1p10";
+   status = "disabled";
+   clocks = <&clkc 39>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 48 4>;
+   reg = <0xe0005000 0x1000>;
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  intc: interrupt-controller@f8f01000 {
+   compatible = "arm,cortex-a9-gic";
+   #interrupt-cells = <3>;
+   interrupt-controller;
+   reg = <0xF8F01000 0x1000>,
+         <0xF8F00100 0x100>;
+  };
+
+  L2: cache-controller@f8f02000 {
+   compatible = "arm,pl310-cache";
+   reg = <0xF8F02000 0x1000>;
+   interrupts = <0 2 4>;
+   arm,data-latency = <3 2 2>;
+   arm,tag-latency = <2 2 2>;
+   cache-unified;
+   cache-level = <2>;
+  };
+
+  mc: memory-controller@f8006000 {
+   compatible = "xlnx,zynq-ddrc-a05";
+   reg = <0xf8006000 0x1000>;
+  };
+
+  ocm: sram@fffc0000 {
+   compatible = "mmio-sram";
+   reg = <0xfffc0000 0x10000>;
+  };
+
+  uart0: serial@e0000000 {
+   compatible = "xlnx,xuartps", "cdns,uart-r1p8";
+   status = "disabled";
+   clocks = <&clkc 23>, <&clkc 40>;
+   clock-names = "uart_clk", "pclk";
+   reg = <0xE0000000 0x1000>;
+   interrupts = <0 27 4>;
+  };
+
+  uart1: serial@e0001000 {
+   compatible = "xlnx,xuartps", "cdns,uart-r1p8";
+   status = "disabled";
+   clocks = <&clkc 24>, <&clkc 41>;
+   clock-names = "uart_clk", "pclk";
+   reg = <0xE0001000 0x1000>;
+   interrupts = <0 50 4>;
+  };
+
+  spi0: spi@e0006000 {
+   compatible = "xlnx,zynq-spi-r1p6";
+   reg = <0xe0006000 0x1000>;
+   status = "disabled";
+   interrupt-parent = <&intc>;
+   interrupts = <0 26 4>;
+   clocks = <&clkc 25>, <&clkc 34>;
+   clock-names = "ref_clk", "pclk";
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  spi1: spi@e0007000 {
+   compatible = "xlnx,zynq-spi-r1p6";
+   reg = <0xe0007000 0x1000>;
+   status = "disabled";
+   interrupt-parent = <&intc>;
+   interrupts = <0 49 4>;
+   clocks = <&clkc 26>, <&clkc 35>;
+   clock-names = "ref_clk", "pclk";
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  qspi: spi@e000d000 {
+   clock-names = "ref_clk", "pclk";
+   clocks = <&clkc 10>, <&clkc 43>;
+   compatible = "xlnx,zynq-qspi-1.0";
+   status = "disabled";
+   interrupt-parent = <&intc>;
+   interrupts = <0 19 4>;
+   reg = <0xe000d000 0x1000>;
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  gem0: ethernet@e000b000 {
+   compatible = "xlnx,zynq-gem", "cdns,zynq-gem", "cdns,gem";
+   reg = <0xe000b000 0x1000>;
+   status = "disabled";
+   interrupts = <0 22 4>;
+   clocks = <&clkc 30>, <&clkc 30>, <&clkc 13>;
+   clock-names = "pclk", "hclk", "tx_clk";
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  gem1: ethernet@e000c000 {
+   compatible = "xlnx,zynq-gem", "cdns,zynq-gem", "cdns,gem";
+   reg = <0xe000c000 0x1000>;
+   status = "disabled";
+   interrupts = <0 45 4>;
+   clocks = <&clkc 31>, <&clkc 31>, <&clkc 14>;
+   clock-names = "pclk", "hclk", "tx_clk";
+   #address-cells = <1>;
+   #size-cells = <0>;
+  };
+
+  smcc: memory-controller@e000e000 {
+   compatible = "arm,pl353-smc-r2p1", "arm,primecell";
+   reg = <0xe000e000 0x0001000>;
+   status = "disabled";
+   clock-names = "memclk", "apb_pclk";
+   clocks = <&clkc 11>, <&clkc 44>;
+   ranges = <0x0 0x0 0xe1000000 0x1000000
+      0x1 0x0 0xe2000000 0x2000000
+      0x2 0x0 0xe4000000 0x2000000>;
+   #address-cells = <2>;
+   #size-cells = <1>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 18 4>;
+   nfc0: nand-controller@0,0 {
+    compatible = "arm,pl353-nand-r2p1";
+    reg = <0 0 0x1000000>;
+    status = "disabled";
+    #address-cells = <0x1>;
+    #size-cells = <0x0>;
+   };
+   nor0: flash@1,0 {
+    status = "disabled";
+    compatible = "cfi-flash";
+    reg = <1 0 0x2000000>;
+    #address-cells = <1>;
+    #size-cells = <1>;
+   };
+  };
+
+  sdhci0: mmc@e0100000 {
+   compatible = "arasan,sdhci-8.9a";
+   status = "disabled";
+   clock-names = "clk_xin", "clk_ahb";
+   clocks = <&clkc 21>, <&clkc 32>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 24 4>;
+   reg = <0xe0100000 0x1000>;
+  };
+
+  sdhci1: mmc@e0101000 {
+   compatible = "arasan,sdhci-8.9a";
+   status = "disabled";
+   clock-names = "clk_xin", "clk_ahb";
+   clocks = <&clkc 22>, <&clkc 33>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 47 4>;
+   reg = <0xe0101000 0x1000>;
+  };
+
+  slcr: slcr@f8000000 {
+   u-boot,dm-pre-reloc;
+   #address-cells = <1>;
+   #size-cells = <1>;
+   compatible = "xlnx,zynq-slcr", "syscon", "simple-mfd";
+   reg = <0xF8000000 0x1000>;
+   ranges;
+   clkc: clkc@100 {
+    u-boot,dm-pre-reloc;
+    #clock-cells = <1>;
+    compatible = "xlnx,ps7-clkc";
+    fclk-enable = <0xf>;
+    clock-output-names = "armpll", "ddrpll", "iopll", "cpu_6or4x",
+      "cpu_3or2x", "cpu_2x", "cpu_1x", "ddr2x", "ddr3x",
+      "dci", "lqspi", "smc", "pcap", "gem0", "gem1",
+      "fclk0", "fclk1", "fclk2", "fclk3", "can0", "can1",
+      "sdio0", "sdio1", "uart0", "uart1", "spi0", "spi1",
+      "dma", "usb0_aper", "usb1_aper", "gem0_aper",
+      "gem1_aper", "sdio0_aper", "sdio1_aper",
+      "spi0_aper", "spi1_aper", "can0_aper", "can1_aper",
+      "i2c0_aper", "i2c1_aper", "uart0_aper", "uart1_aper",
+      "gpio_aper", "lqspi_aper", "smc_aper", "swdt",
+      "dbg_trc", "dbg_apb";
+    reg = <0x100 0x100>;
+   };
+
+   rstc: rstc@200 {
+    compatible = "xlnx,zynq-reset";
+    reg = <0x200 0x48>;
+    #reset-cells = <1>;
+    syscon = <&slcr>;
+   };
+
+   pinctrl0: pinctrl@700 {
+    compatible = "xlnx,pinctrl-zynq";
+    reg = <0x700 0x200>;
+    syscon = <&slcr>;
+   };
+  };
+
+  dmac_s: dmac@f8003000 {
+   compatible = "arm,pl330", "arm,primecell";
+   reg = <0xf8003000 0x1000>;
+   interrupt-parent = <&intc>;
+   interrupt-names = "abort", "dma0", "dma1", "dma2", "dma3",
+    "dma4", "dma5", "dma6", "dma7";
+   interrupts = <0 13 4>,
+                <0 14 4>, <0 15 4>,
+                <0 16 4>, <0 17 4>,
+                <0 40 4>, <0 41 4>,
+                <0 42 4>, <0 43 4>;
+   #dma-cells = <1>;
+   #dma-channels = <8>;
+   #dma-requests = <4>;
+   clocks = <&clkc 27>;
+   clock-names = "apb_pclk";
+  };
+
+  devcfg: devcfg@f8007000 {
+   compatible = "xlnx,zynq-devcfg-1.0";
+   interrupt-parent = <&intc>;
+   interrupts = <0 8 4>;
+   reg = <0xf8007000 0x100>;
+   clocks = <&clkc 12>, <&clkc 15>, <&clkc 16>, <&clkc 17>, <&clkc 18>;
+   clock-names = "ref_clk", "fclk0", "fclk1", "fclk2", "fclk3";
+   syscon = <&slcr>;
+  };
+
+  efuse: efuse@f800d000 {
+   compatible = "xlnx,zynq-efuse";
+   reg = <0xf800d000 0x20>;
+  };
+
+  global_timer: timer@f8f00200 {
+   compatible = "arm,cortex-a9-global-timer";
+   reg = <0xf8f00200 0x20>;
+   interrupts = <1 11 0x301>;
+   interrupt-parent = <&intc>;
+   clocks = <&clkc 4>;
+  };
+
+  ttc0: timer@f8001000 {
+   interrupt-parent = <&intc>;
+   interrupts = <0 10 4>, <0 11 4>, <0 12 4>;
+   compatible = "cdns,ttc";
+   clocks = <&clkc 6>;
+   reg = <0xF8001000 0x1000>;
+  };
+
+  ttc1: timer@f8002000 {
+   interrupt-parent = <&intc>;
+   interrupts = <0 37 4>, <0 38 4>, <0 39 4>;
+   compatible = "cdns,ttc";
+   clocks = <&clkc 6>;
+   reg = <0xF8002000 0x1000>;
+  };
+
+  scutimer: timer@f8f00600 {
+   interrupt-parent = <&intc>;
+   interrupts = <1 13 0x301>;
+   compatible = "arm,cortex-a9-twd-timer";
+   reg = <0xf8f00600 0x20>;
+   clocks = <&clkc 4>;
+  };
+
+  usb0: usb@e0002000 {
+   compatible = "xlnx,zynq-usb-2.20a", "chipidea,usb2";
+   status = "disabled";
+   clocks = <&clkc 28>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 21 4>;
+   reg = <0xe0002000 0x1000>;
+   phy_type = "ulpi";
+  };
+
+  usb1: usb@e0003000 {
+   compatible = "xlnx,zynq-usb-2.20a", "chipidea,usb2";
+   status = "disabled";
+   clocks = <&clkc 29>;
+   interrupt-parent = <&intc>;
+   interrupts = <0 44 4>;
+   reg = <0xe0003000 0x1000>;
+   phy_type = "ulpi";
+  };
+
+  watchdog0: watchdog@f8005000 {
+   clocks = <&clkc 45>;
+   compatible = "cdns,wdt-r1p2";
+   interrupt-parent = <&intc>;
+   interrupts = <0 9 1>;
+   reg = <0xf8005000 0x1000>;
+   timeout-sec = <10>;
+  };
+
+  etb@f8801000 {
+   compatible = "arm,coresight-etb10", "arm,primecell";
+   reg = <0xf8801000 0x1000>;
+   clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+   clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+   in-ports {
+    port {
+     etb_in_port: endpoint {
+      remote-endpoint = <&replicator_out_port1>;
+     };
+    };
+   };
+  };
+
+  tpiu@f8803000 {
+   compatible = "arm,coresight-tpiu", "arm,primecell";
+   reg = <0xf8803000 0x1000>;
+   clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+   clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+   in-ports {
+    port {
+     tpiu_in_port: endpoint {
+      remote-endpoint = <&replicator_out_port0>;
+     };
+    };
+   };
+  };
+
+  funnel@f8804000 {
+   compatible = "arm,coresight-static-funnel", "arm,primecell";
+   reg = <0xf8804000 0x1000>;
+   clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+   clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+
+
+   out-ports {
+    port {
+     funnel_out_port: endpoint {
+      remote-endpoint =
+       <&replicator_in_port0>;
+     };
+    };
+   };
+
+   in-ports {
+    #address-cells = <1>;
+    #size-cells = <0>;
+
+
+    port@0 {
+     reg = <0>;
+     funnel0_in_port0: endpoint {
+      remote-endpoint = <&ptm0_out_port>;
+     };
+    };
+
+    port@1 {
+     reg = <1>;
+     funnel0_in_port1: endpoint {
+      remote-endpoint = <&ptm1_out_port>;
+     };
+    };
+
+    port@2 {
+     reg = <2>;
+     funnel0_in_port2: endpoint {
+     };
+    };
+
+   };
+  };
+
+  ptm@f889c000 {
+   compatible = "arm,coresight-etm3x", "arm,primecell";
+   reg = <0xf889c000 0x1000>;
+   clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+   clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+   cpu = <&cpu0>;
+   out-ports {
+    port {
+     ptm0_out_port: endpoint {
+      remote-endpoint = <&funnel0_in_port0>;
+     };
+    };
+   };
+  };
+
+  ptm@f889d000 {
+   compatible = "arm,coresight-etm3x", "arm,primecell";
+   reg = <0xf889d000 0x1000>;
+   clocks = <&clkc 27>, <&clkc 46>, <&clkc 47>;
+   clock-names = "apb_pclk", "dbg_trc", "dbg_apb";
+   cpu = <&cpu1>;
+   out-ports {
+    port {
+     ptm1_out_port: endpoint {
+      remote-endpoint = <&funnel0_in_port1>;
+     };
+    };
+   };
+  };
+ };
+};
+# 10 "system-top.dts" 2
+# 1 "pcw.dtsi" 1
+
+
+
+
+
+
+
+/ {
+ cpus {
+  cpu@0 {
+   operating-points = <500000 1000000 250000 1000000>;
+  };
+ };
+};
+&gem0 {
+ enet-reset = <&gpio0 50 0>;
+ phy-mode = "rgmii-id";
+ status = "okay";
+ xlnx,ptp-enet-clock = <0x4f790d8>;
+};
+&gpio0 {
+ emio-gpio-width = <64>;
+ gpio-mask-high = <0x0>;
+ gpio-mask-low = <0x5600>;
+};
+&i2c0 {
+ clock-frequency = <400000>;
+ status = "okay";
+};
+&i2c1 {
+ clock-frequency = <400000>;
+ status = "okay";
+};
+&intc {
+ num_cpus = <2>;
+ num_interrupts = <96>;
+};
+&qspi {
+ is-dual = <0>;
+ num-cs = <1>;
+ spi-rx-bus-width = <4>;
+ spi-tx-bus-width = <4>;
+ status = "okay";
+};
+&sdhci0 {
+ status = "okay";
+ xlnx,has-cd = <0x0>;
+ xlnx,has-power = <0x0>;
+ xlnx,has-wp = <0x0>;
+};
+&spi0 {
+ is-decoded-cs = <0>;
+ num-cs = <3>;
+ status = "okay";
+};
+&spi1 {
+ is-decoded-cs = <0>;
+ num-cs = <3>;
+ status = "okay";
+};
+&uart0 {
+ cts-override ;
+ device_type = "serial";
+ port-number = <0>;
+ status = "okay";
+};
+&usb0 {
+ phy_type = "ulpi";
+ status = "okay";
+ usb-reset = <&gpio0 51 0>;
+};
+&clkc {
+ fclk-enable = <0x0>;
+ ps-clk-frequency = <33333333>;
+};
+# 11 "system-top.dts" 2
+# 1 "system-user.dtsi" 1
+
+
+&spi0 {
+    is-decoded-cs = <1>;
+    num-cs = <4>;
+
+    spidev@1 {
+        compatible = "rohm,dh2228fv";
+        spi-max-frequency = <50000000>;
+        reg = <1>;
+    };
+
+    spidev@2 {
+        compatible = "rohm,dh2228fv";
+        spi-max-frequency = <50000000>;
+        reg = <2>;
+    };
+
+    spidev@3 {
+        compatible = "rohm,dh2228fv";
+        spi-max-frequency = <50000000>;
+        reg = <3>;
+    };
+
+    spidev@4 {
+        compatible = "rohm,dh2228fv";
+        spi-max-frequency = <50000000>;
+        reg = <4>;
+    };
+};
+
+&spi1 {
+
+    spidev@0 {
+        compatible = "rohm,dh2228fv";
+        spi-max-frequency = <50000000>;
+        reg = <0>;
+    };
+};
+# 12 "system-top.dts" 2
+/ {
+ model = "Sinara Fast Servo board";
+ chosen {
+  bootargs = "earlycon";
+  stdout-path = "serial0:115200n8";
+ };
+ aliases {
+  ethernet0 = &gem0;
+  i2c0 = &i2c0;
+  i2c1 = &i2c1;
+  serial0 = &uart0;
+  mmc0 = &sdhci0;
+  spi0 = &qspi;
+  spi1 = &spi0;
+  spi2 = &spi1;
+ };
+ memory {
+  device_type = "memory";
+  reg = <0x0 0x40000000>;
+ };
+};

fast-servo/fsbl.patch

@@ -0,0 +1,241 @@
+diff --git a/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init.h b/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init.h
+index 9572636306..2f3816271e 100644
+--- a/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init.h
++++ b/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init.h
+@@ -67,20 +67,20 @@ extern unsigned long  * ps7_peripherals_init_data;
+ 
+ /* Freq of all peripherals */
+ 
+-#define APU_FREQ  666666687
++#define APU_FREQ  500000000
+ #define DDR_FREQ  533333374
+ #define DCI_FREQ  10158730
+ #define QSPI_FREQ  200000000
+ #define SMC_FREQ  10000000
+-#define ENET0_FREQ  25000000
++#define ENET0_FREQ  125000000
+ #define ENET1_FREQ  10000000
+ #define USB0_FREQ  60000000
+ #define USB1_FREQ  60000000
+-#define SDIO_FREQ  50000000
+-#define UART_FREQ  50000000
+-#define SPI_FREQ  10000000
+-#define I2C_FREQ  111111115
+-#define WDT_FREQ  111111115
++#define SDIO_FREQ  100000000
++#define UART_FREQ  100000000
++#define SPI_FREQ  166666672
++#define I2C_FREQ  83333336
++#define WDT_FREQ  83333336
+ #define TTC_FREQ  50000000
+ #define CAN_FREQ  10000000
+ #define PCAP_FREQ  200000000
+diff --git a/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init_gpl.h b/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init_gpl.h
+index 8962bed427..df2f16adec 100644
+--- a/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init_gpl.h
++++ b/lib/sw_apps/zynq_fsbl/misc/fast-servo/ps7_init_gpl.h
+@@ -81,20 +81,20 @@ extern unsigned long  * ps7_peripherals_init_data;
+ 
+ /* Freq of all peripherals */
+ 
+-#define APU_FREQ  666666687
++#define APU_FREQ  500000000
+ #define DDR_FREQ  533333374
+ #define DCI_FREQ  10158730
+ #define QSPI_FREQ  200000000
+ #define SMC_FREQ  10000000
+-#define ENET0_FREQ  25000000
++#define ENET0_FREQ  125000000
+ #define ENET1_FREQ  10000000
+ #define USB0_FREQ  60000000
+ #define USB1_FREQ  60000000
+-#define SDIO_FREQ  50000000
+-#define UART_FREQ  50000000
+-#define SPI_FREQ  10000000
+-#define I2C_FREQ  111111115
+-#define WDT_FREQ  111111115
++#define SDIO_FREQ  100000000
++#define UART_FREQ  100000000
++#define SPI_FREQ  166666672
++#define I2C_FREQ  83333336
++#define WDT_FREQ  83333336
+ #define TTC_FREQ  50000000
+ #define CAN_FREQ  10000000
+ #define PCAP_FREQ  200000000
+diff --git a/lib/sw_apps/zynq_fsbl/misc/fast-servo/xparameters.h b/lib/sw_apps/zynq_fsbl/misc/fast-servo/xparameters.h
+index 997a982ca1..5461fbb477 100644
+--- a/lib/sw_apps/zynq_fsbl/misc/fast-servo/xparameters.h
++++ b/lib/sw_apps/zynq_fsbl/misc/fast-servo/xparameters.h
+@@ -9,21 +9,26 @@
+ #define XPAR_CPU_ID 0U
+ 
+ /* Definitions for peripheral PS7_CORTEXA9_0 */
+-#define XPAR_PS7_CORTEXA9_0_CPU_CLK_FREQ_HZ 666666687
++#define XPAR_PS7_CORTEXA9_0_CPU_CLK_FREQ_HZ 500000000
+ 
+ 
+ /******************************************************************/
+ 
+ /* Canonical definitions for peripheral PS7_CORTEXA9_0 */
+-#define XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ 666666687
++#define XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ 500000000
+ 
+ 
+ /******************************************************************/
+ 
++
++/* Definitions for interface M_AXI_GP0 */
++#define XPAR_M_AXI_GP0_BASEADDR 0x40000000
++#define XPAR_M_AXI_GP0_HIGHADDR 0x40001FFF
++
+ #include "xparameters_ps.h"
+ 
+-#define STDIN_BASEADDRESS 0xE0001000
+-#define STDOUT_BASEADDRESS 0xE0001000
++#define STDIN_BASEADDRESS 0xE0000000
++#define STDOUT_BASEADDRESS 0xE0000000
+ 
+ /******************************************************************/
+ 
+@@ -120,7 +125,7 @@
+ #define XPAR_PS7_ETHERNET_0_DEVICE_ID 0
+ #define XPAR_PS7_ETHERNET_0_BASEADDR 0xE000B000
+ #define XPAR_PS7_ETHERNET_0_HIGHADDR 0xE000BFFF
+-#define XPAR_PS7_ETHERNET_0_ENET_CLK_FREQ_HZ 25000000
++#define XPAR_PS7_ETHERNET_0_ENET_CLK_FREQ_HZ 125000000
+ #define XPAR_PS7_ETHERNET_0_ENET_SLCR_1000MBPS_DIV0 8
+ #define XPAR_PS7_ETHERNET_0_ENET_SLCR_1000MBPS_DIV1 1
+ #define XPAR_PS7_ETHERNET_0_ENET_SLCR_100MBPS_DIV0 8
+@@ -138,7 +143,7 @@
+ #define XPAR_XEMACPS_0_DEVICE_ID XPAR_PS7_ETHERNET_0_DEVICE_ID
+ #define XPAR_XEMACPS_0_BASEADDR 0xE000B000
+ #define XPAR_XEMACPS_0_HIGHADDR 0xE000BFFF
+-#define XPAR_XEMACPS_0_ENET_CLK_FREQ_HZ 25000000
++#define XPAR_XEMACPS_0_ENET_CLK_FREQ_HZ 125000000
+ #define XPAR_XEMACPS_0_ENET_SLCR_1000Mbps_DIV0 8
+ #define XPAR_XEMACPS_0_ENET_SLCR_1000Mbps_DIV1 1
+ #define XPAR_XEMACPS_0_ENET_SLCR_100Mbps_DIV0 8
+@@ -265,13 +270,13 @@
+ /******************************************************************/
+ 
+ /* Definitions for driver IICPS */
+-#define XPAR_XIICPS_NUM_INSTANCES 1
++#define XPAR_XIICPS_NUM_INSTANCES 2
+ 
+ /* Definitions for peripheral PS7_I2C_0 */
+ #define XPAR_PS7_I2C_0_DEVICE_ID 0
+ #define XPAR_PS7_I2C_0_BASEADDR 0xE0004000
+ #define XPAR_PS7_I2C_0_HIGHADDR 0xE0004FFF
+-#define XPAR_PS7_I2C_0_I2C_CLK_FREQ_HZ 111111115
++#define XPAR_PS7_I2C_0_I2C_CLK_FREQ_HZ 83333336
+ 
+ 
+ /******************************************************************/
+@@ -280,7 +285,7 @@
+ #define XPAR_XIICPS_0_DEVICE_ID XPAR_PS7_I2C_0_DEVICE_ID
+ #define XPAR_XIICPS_0_BASEADDR 0xE0004000
+ #define XPAR_XIICPS_0_HIGHADDR 0xE0004FFF
+-#define XPAR_XIICPS_0_I2C_CLK_FREQ_HZ 111111115
++#define XPAR_XIICPS_0_I2C_CLK_FREQ_HZ 83333336
+ 
+ 
+ /******************************************************************/
+@@ -376,9 +381,9 @@
+ #define XPAR_PS7_SD_0_DEVICE_ID 0
+ #define XPAR_PS7_SD_0_BASEADDR 0xE0100000
+ #define XPAR_PS7_SD_0_HIGHADDR 0xE0100FFF
+-#define XPAR_PS7_SD_0_SDIO_CLK_FREQ_HZ 50000000
+-#define XPAR_PS7_SD_0_HAS_CD 1
+-#define XPAR_PS7_SD_0_HAS_WP 1
++#define XPAR_PS7_SD_0_SDIO_CLK_FREQ_HZ 100000000
++#define XPAR_PS7_SD_0_HAS_CD 0
++#define XPAR_PS7_SD_0_HAS_WP 0
+ #define XPAR_PS7_SD_0_BUS_WIDTH 0
+ #define XPAR_PS7_SD_0_MIO_BANK 0
+ #define XPAR_PS7_SD_0_HAS_EMIO 0
+@@ -398,9 +403,9 @@
+ #define XPAR_XSDPS_0_DEVICE_ID XPAR_PS7_SD_0_DEVICE_ID
+ #define XPAR_XSDPS_0_BASEADDR 0xE0100000
+ #define XPAR_XSDPS_0_HIGHADDR 0xE0100FFF
+-#define XPAR_XSDPS_0_SDIO_CLK_FREQ_HZ 50000000
+-#define XPAR_XSDPS_0_HAS_CD 1
+-#define XPAR_XSDPS_0_HAS_WP 1
++#define XPAR_XSDPS_0_SDIO_CLK_FREQ_HZ 100000000
++#define XPAR_XSDPS_0_HAS_CD 0
++#define XPAR_XSDPS_0_HAS_WP 0
+ #define XPAR_XSDPS_0_BUS_WIDTH 0
+ #define XPAR_XSDPS_0_MIO_BANK 0
+ #define XPAR_XSDPS_0_HAS_EMIO 0
+@@ -422,15 +427,15 @@
+ /* Definitions for peripheral PS7_TTC_0 */
+ #define XPAR_PS7_TTC_0_DEVICE_ID 0U
+ #define XPAR_PS7_TTC_0_BASEADDR 0XF8001000U
+-#define XPAR_PS7_TTC_0_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_PS7_TTC_0_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_PS7_TTC_0_TTC_CLK_CLKSRC 0U
+ #define XPAR_PS7_TTC_1_DEVICE_ID 1U
+ #define XPAR_PS7_TTC_1_BASEADDR 0XF8001004U
+-#define XPAR_PS7_TTC_1_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_PS7_TTC_1_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_PS7_TTC_1_TTC_CLK_CLKSRC 0U
+ #define XPAR_PS7_TTC_2_DEVICE_ID 2U
+ #define XPAR_PS7_TTC_2_BASEADDR 0XF8001008U
+-#define XPAR_PS7_TTC_2_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_PS7_TTC_2_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_PS7_TTC_2_TTC_CLK_CLKSRC 0U
+ 
+ 
+@@ -439,17 +444,17 @@
+ /* Canonical definitions for peripheral PS7_TTC_0 */
+ #define XPAR_XTTCPS_0_DEVICE_ID XPAR_PS7_TTC_0_DEVICE_ID
+ #define XPAR_XTTCPS_0_BASEADDR 0xF8001000U
+-#define XPAR_XTTCPS_0_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_XTTCPS_0_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_XTTCPS_0_TTC_CLK_CLKSRC 0U
+ 
+ #define XPAR_XTTCPS_1_DEVICE_ID XPAR_PS7_TTC_1_DEVICE_ID
+ #define XPAR_XTTCPS_1_BASEADDR 0xF8001004U
+-#define XPAR_XTTCPS_1_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_XTTCPS_1_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_XTTCPS_1_TTC_CLK_CLKSRC 0U
+ 
+ #define XPAR_XTTCPS_2_DEVICE_ID XPAR_PS7_TTC_2_DEVICE_ID
+ #define XPAR_XTTCPS_2_BASEADDR 0xF8001008U
+-#define XPAR_XTTCPS_2_TTC_CLK_FREQ_HZ 111111115U
++#define XPAR_XTTCPS_2_TTC_CLK_FREQ_HZ 83333336U
+ #define XPAR_XTTCPS_2_TTC_CLK_CLKSRC 0U
+ 
+ 
+@@ -458,21 +463,21 @@
+ /* Definitions for driver UARTPS */
+ #define XPAR_XUARTPS_NUM_INSTANCES 1
+ 
+-/* Definitions for peripheral PS7_UART_1 */
+-#define XPAR_PS7_UART_1_DEVICE_ID 0
+-#define XPAR_PS7_UART_1_BASEADDR 0xE0001000
+-#define XPAR_PS7_UART_1_HIGHADDR 0xE0001FFF
+-#define XPAR_PS7_UART_1_UART_CLK_FREQ_HZ 50000000
+-#define XPAR_PS7_UART_1_HAS_MODEM 0
++/* Definitions for peripheral PS7_UART_0 */
++#define XPAR_PS7_UART_0_DEVICE_ID 0
++#define XPAR_PS7_UART_0_BASEADDR 0xE0000000
++#define XPAR_PS7_UART_0_HIGHADDR 0xE0000FFF
++#define XPAR_PS7_UART_0_UART_CLK_FREQ_HZ 100000000
++#define XPAR_PS7_UART_0_HAS_MODEM 0
+ 
+ 
+ /******************************************************************/
+ 
+-/* Canonical definitions for peripheral PS7_UART_1 */
+-#define XPAR_XUARTPS_0_DEVICE_ID XPAR_PS7_UART_1_DEVICE_ID
+-#define XPAR_XUARTPS_0_BASEADDR 0xE0001000
+-#define XPAR_XUARTPS_0_HIGHADDR 0xE0001FFF
+-#define XPAR_XUARTPS_0_UART_CLK_FREQ_HZ 50000000
++/* Canonical definitions for peripheral PS7_UART_0 */
++#define XPAR_XUARTPS_0_DEVICE_ID XPAR_PS7_UART_0_DEVICE_ID
++#define XPAR_XUARTPS_0_BASEADDR 0xE0000000
++#define XPAR_XUARTPS_0_HIGHADDR 0xE0000FFF
++#define XPAR_XUARTPS_0_UART_CLK_FREQ_HZ 100000000
+ #define XPAR_XUARTPS_0_HAS_MODEM 0
+ 
+ 

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

@@ -0,0 +1,603 @@
+# diff between linen-org/linien commit ID 93f1f50:
+# https://github.com/linien-org/linien/commit/93f1f50ebd86fe3314cab5a549462d0fcbf6a658
+# and elhep/linien commit ID b73eea0:
+# https://github.com/elhep/linien/commit/b73eea07889dda8b55f0cf4c2afde96cf4c3efd1
+
+diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
+index b3f3683..98c6e51 100644
+--- a/.pre-commit-config.yaml
++++ b/.pre-commit-config.yaml
+@@ -3,7 +3,7 @@ repos:
+     rev: 23.11.0
+     hooks:
+       - id: black
+-        exclude: ^(gateware/logic/|gateware/lowlevel/|gateware/linien_module.py|linien-server/linien_server/csrmap.py)
++        exclude: ^(gateware/logic/|gateware/lowlevel/|gateware/linien_module.py|linien-server/linien_server/csrmap.py|gateware/targets)
+ 
+   - 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 6c34429..a0b12d0 100644
+--- a/gateware/fpga_image_helper.py
++++ b/gateware/fpga_image_helper.py
+@@ -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>
+ #
+ # 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
+ 
+ 
+ def py_csrconstants(map, fil):
+     fil.write("csr_constants = {\n")
+-    for k, v in root.linien.csrbanks.constants:
+-        fil.write("    '{}_{}': {},\n".format(k, v.name, v.value.value))
++    for k, v in root.csrbanks.constants:
++        if k == "linien":
++            # compaitbility layer
++            fil.write("    '{}': {},\n".format(v.name, v.value.value))
++        else:
++            fil.write("    '{}_{}': {},\n".format(k, v.name, v.value.value))
+     fil.write("}\n\n")
+ 
+ 
+@@ -52,26 +55,49 @@ def get_csrmap(banks):
+ def py_csrmap(it, fil):
+     fil.write("csr = {\n")
+     for reg in it:
+-        fil.write("    '{}_{}': ({}, 0x{:03x}, {}, {}),\n".format(*reg))
++        main_name = reg[0]
++        secondary_name = reg[1]
++        # compaitbility layer
++        if main_name == "linien" or secondary_name.startswith(main_name):
++            fil.write("    '{}': ({}, 0x{:03x}, {}, {}),\n".format(*reg[1:]))
++        else:
++            fil.write("    '{}_{}': ({}, 0x{:03x}, {}, {}),\n".format(*reg))
+     fil.write("}\n")
+ 
+ 
+ if __name__ == "__main__":
+-    platform = Platform()
+-    root = RootModule(platform)
++    import argparse
+ 
++    parser = argparse.ArgumentParser()
++    parser.add_argument("-p", "--platform", default=None)
++    args = parser.parse_args()
++    if args.platform is None or args.platform.lower() == "redpitaya":
++        from gateware.hw_platform import Platform
++        from gateware.targets.red_pitaya import PitayaSoC
++
++        platform = Platform()
++        root = PitayaSoC(platform)
++    elif args.platform.lower() == "fastservo":
++        from fast_servo.gateware.fast_servo_platform import Platform
++
++        from gateware.targets.fast_servo import LinienFastServo
++
++        platform = Platform()
++        root = LinienFastServo(platform)
++    else:
++        raise ValueError("Unknown platform")
++
++    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:
+-        py_csrconstants(root.linien.csrbanks.constants, fil)
+-        csr = get_csrmap(root.linien.csrbanks.banks)
++        py_csrconstants(root.csrbanks.constants, fil)
++        csr = get_csrmap([*root.csrbanks.banks, *root.linien.csrbanks.banks])
+         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)
+     bit2bin(
+         build_dir / "top.bit",
+         REPO_ROOT_DIR / "linien-server" / "linien_server" / "gateware.bin",
+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
+@@ -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>
+ #
+ # 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
+ from .logic.decimation import Decimate
+-from .logic.delta_sigma import DeltaSigma
+ from .logic.iir import Iir
+ from .logic.limit import LimitCSR
+ from .logic.modulate import Modulate
+ from .logic.pid import PID
+ from .logic.sweep import SweepCSR
+-from .lowlevel.analog import PitayaAnalog
+-from .lowlevel.crg import CRG
+-from .lowlevel.dna import DNA
+-from .lowlevel.gpio import Gpio
+-from .lowlevel.pitaya_ps import PitayaPS, Sys2CSR, SysCDC, SysInterconnect
++from .lowlevel.pitaya_ps import Sys2CSR
+ from .lowlevel.scopegen import ScopeGen
+-from .lowlevel.xadc import XADC
+ 
+ 
+ class LinienLogic(Module, AutoCSR):
+@@ -156,45 +151,24 @@ class LinienLogic(Module, AutoCSR):
+ 
+ 
+ class LinienModule(Module, AutoCSR):
+-    def __init__(self, platform):
++    def __init__(self, soc):
+         width = 14
+         signal_width = 25
+         coeff_width = 25
+         chain_factor_bits = 8
+ 
+         self.init_submodules(
+-            width, signal_width, coeff_width, chain_factor_bits, platform
++            width, signal_width, coeff_width, chain_factor_bits, soc
+         )
+-        self.connect_everything(width, signal_width, coeff_width, chain_factor_bits)
++        self.connect_everything(width, signal_width, coeff_width, chain_factor_bits, soc)
+ 
+     def init_submodules(
+-        self, width, signal_width, coeff_width, chain_factor_bits, platform
++        self, width, signal_width, coeff_width, chain_factor_bits, soc
+     ):
+-        sys_double = ClockDomainsRenamer("sys_double")
+ 
+         self.submodules.logic = LinienLogic(
+             coeff_width=coeff_width, chain_factor_width=chain_factor_bits
+         )
+-        self.submodules.analog = PitayaAnalog(
+-            platform.request("adc"), platform.request("dac")
+-        )
+-        self.submodules.xadc = XADC(platform.request("xadc"))
+-
+-        for i in range(4):
+-            pwm = platform.request("pwm", i)
+-            ds = sys_double(DeltaSigma(width=15))
+-            self.comb += pwm.eq(ds.out)
+-            setattr(self.submodules, f"ds{i}", ds)
+-
+-        exp = platform.request("exp")
+-        self.submodules.gpio_n = Gpio(exp.n)
+-        self.submodules.gpio_p = Gpio(exp.p)
+-
+-        leds = Cat(*(platform.request("user_led", i) for i in range(8)))
+-        self.comb += leds.eq(self.gpio_n.o)
+-
+-        self.submodules.dna = DNA(version=2)
+-
+         self.submodules.fast_a = FastChain(
+             width,
+             signal_width,
+@@ -210,18 +184,22 @@ class LinienModule(Module, AutoCSR):
+             offset_signal=self.logic.chain_b_offset_signed,
+         )
+ 
++        # FIXME: does it do anything?!
+         _ = ClockDomainsRenamer("sys_slow")
+         sys_double = ClockDomainsRenamer("sys_double")
+         max_decimation = 16
+         self.submodules.decimate = sys_double(Decimate(max_decimation))
+         self.clock_domains.cd_decimated_clock = ClockDomain()
+         decimated_clock = ClockDomainsRenamer("decimated_clock")
++        # TODO: No support for slow Analog Out on Fast Servo
+         self.submodules.slow_chain = decimated_clock(SlowChain())
+-
+         self.submodules.scopegen = ScopeGen(signal_width)
+ 
++        soc.add_interconnect_slave(self.scopegen.scope_sys)
++        soc.add_interconnect_slave(self.scopegen.asg_sys)
++
+         self.state_names, self.signal_names = cross_connect(
+-            self.gpio_n,
++            soc.gpio_n,
+             [
+                 ("fast_a", self.fast_a),
+                 ("fast_b", self.fast_b),
+@@ -233,10 +211,6 @@ class LinienModule(Module, AutoCSR):
+         )
+ 
+         csr_map = {
+-            "dna": 28,
+-            "xadc": 29,
+-            "gpio_n": 30,
+-            "gpio_p": 31,
+             "fast_a": 0,
+             "fast_b": 1,
+             "slow_chain": 2,
+@@ -251,19 +225,13 @@ class LinienModule(Module, AutoCSR):
+                 name if mem is None else name + "_" + mem.name_override
+             ],
+         )
+-        self.submodules.sys2csr = Sys2CSR()
+-        self.submodules.csrcon = csr_bus.Interconnect(
+-            self.sys2csr.csr, self.csrbanks.get_buses()
+-        )
+-        self.submodules.syscdc = SysCDC()
+-        self.comb += self.syscdc.target.connect(self.sys2csr.sys)
+ 
+-    def connect_everything(self, width, signal_width, coeff_width, chain_factor_bits):
++    def connect_everything(self, width, signal_width, coeff_width, chain_factor_bits, soc):
+         s = signal_width - width
+ 
+         self.comb += [
+-            self.fast_a.adc.eq(self.analog.adc_a),
+-            self.fast_b.adc.eq(self.analog.adc_b),
++            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.
+@@ -297,7 +265,7 @@ class LinienModule(Module, AutoCSR):
+         self.comb += [
+             If(
+                 self.logic.pid_only_mode.storage,
+-                self.logic.pid.input.eq(self.analog.adc_a << s),
++                self.logic.pid.input.eq(soc.analog.adc_a << s),
+             ).Else(
+                 self.logic.pid.input.eq(mixed_limited),
+             ),
+@@ -347,40 +315,42 @@ class LinienModule(Module, AutoCSR):
+         # ANALOG OUTPUTS ---------------------------------------------------------------
+         # ANALOG OUT 0 gets a special treatment because it may contain signal of  slow
+         # pid or sweep
+-        analog_out = Signal((width + 3, True))
+-        self.comb += [
+-            analog_out.eq(
+-                Mux(
+-                    self.logic.sweep_channel.storage == OutputChannel.ANALOG_OUT0,
+-                    self.logic.sweep.y,
+-                    0,
+-                )
+-                + Mux(
+-                    self.logic.sweep_channel.storage == OutputChannel.ANALOG_OUT0,
+-                    self.logic.out_offset_signed,
+-                    0,
+-                )
+-                + Mux(
+-                    self.logic.slow_control_channel.storage
++
++        if soc.soc_name == "RedPitaya":
++            analog_out = Signal((width + 3, True))
++            self.comb += [
++                analog_out.eq(
++                    Mux(
++                        self.logic.sweep_channel.storage == OutputChannel.ANALOG_OUT0,
++                        self.logic.sweep.y,
++                        0,
++                    )
++                    + Mux(
++                        self.logic.sweep_channel.storage == OutputChannel.ANALOG_OUT0,
++                        self.logic.out_offset_signed,
++                        0,
++                    )
++                    + Mux(
++                        self.logic.slow_control_channel.storage
+                     == OutputChannel.ANALOG_OUT0,
+                     self.slow_chain.output,
+-                    0,
+-                )
+-            ),
+-        ]
+-        # NOTE: not sure why limit is used
+-        self.comb += self.slow_chain.limit.x.eq(analog_out)
+-        # ds0 apparently has 16 bit, but only allowing positive  values --> "15 bit"?
+-        slow_out_shifted = Signal(15)
+-        self.sync += slow_out_shifted.eq((self.slow_chain.limit.y << 1) + (1 << 14))
+-        self.comb += self.ds0.data.eq(slow_out_shifted)
+-
+-        # connect other analog outputs
+-        self.comb += [
+-            self.ds1.data.eq(self.logic.analog_out_1.storage),
+-            self.ds2.data.eq(self.logic.analog_out_2.storage),
+-            self.ds3.data.eq(self.logic.analog_out_3.storage),
+-        ]
++                        0,
++                    )
++                ),
++            ]
++            # NOTE: not sure why limit is used
++            self.comb += self.slow_chain.limit.x.eq(analog_out)
++            # ds0 apparently has 16 bit, but only allowing positive  values --> "15 bit"?
++            slow_out_shifted = Signal(15)
++            self.sync += slow_out_shifted.eq((self.slow_chain.limit.y << 1) + (1 << 14))
++            self.comb += soc.ds0.data.eq(slow_out_shifted)
++
++            # connect other analog outputs
++            self.comb += [
++                soc.ds1.data.eq(self.logic.analog_out_1.storage),
++                soc.ds2.data.eq(self.logic.analog_out_2.storage),
++                soc.ds3.data.eq(self.logic.analog_out_3.storage),
++            ]
+ 
+         # ------------------------------------------------------------------------------
+ 
+@@ -395,7 +365,7 @@ class LinienModule(Module, AutoCSR):
+ 
+         self.comb += [
+             self.logic.autolock.robust.at_start.eq(self.logic.sweep.sweep.trigger),
+-            self.scopegen.gpio_trigger.eq(self.gpio_p.i[0]),
++            self.scopegen.gpio_trigger.eq(soc.gpio_p.i[0]),
+             self.scopegen.sweep_trigger.eq(self.logic.sweep.sweep.trigger),
+             self.scopegen.automatically_rearm.eq(
+                 self.logic.autolock.request_lock.storage
+@@ -404,8 +374,8 @@ class LinienModule(Module, AutoCSR):
+             self.scopegen.automatically_trigger.eq(
+                 self.logic.autolock.lock_running.status
+             ),
+-            self.analog.dac_a.eq(self.logic.limit_fast1.y),
+-            self.analog.dac_b.eq(self.logic.limit_fast2.y),
++            soc.analog.dac_a.eq(self.logic.limit_fast1.y),
++            soc.analog.dac_b.eq(self.logic.limit_fast2.y),
+         ]
+ 
+         # Having this in a comb statement caused errors. See PR #251.
+@@ -428,23 +398,4 @@ class DummyHK(Module, AutoCSR):
+         self.submodules.csrcon = csr_bus.Interconnect(
+             self.sys2csr.csr, self.csrbanks.get_buses()
+         )
+-        self.sys = self.sys2csr.sys
+-
+-
+-class RootModule(Module):
+-    def __init__(self, platform):
+-        self.submodules.ps = PitayaPS(platform.request("cpu"))
+-        self.submodules.crg = CRG(
+-            platform.request("clk125"), self.ps.fclk[0], ~self.ps.frstn[0]
+-        )
+-        self.submodules.linien = LinienModule(platform)
+-
+-        self.submodules.hk = ClockDomainsRenamer("sys_ps")(DummyHK())
+-
+-        self.submodules.ic = SysInterconnect(
+-            self.ps.axi.sys,
+-            self.hk.sys,
+-            self.linien.scopegen.scope_sys,
+-            self.linien.scopegen.asg_sys,
+-            self.linien.syscdc.source,
+-        )
++        self.sys = self.sys2csr.sys
+\ No newline at end of file
+diff --git a/gateware/targets/__init__.py b/gateware/targets/__init__.py
+new file mode 100644
+index 0000000..e69de29
+diff --git a/gateware/targets/fast_servo.py b/gateware/targets/fast_servo.py
+new file mode 100644
+index 0000000..da5bf3b
+--- /dev/null
++++ b/gateware/targets/fast_servo.py
+@@ -0,0 +1,85 @@
++# Copyright 2023 Jakub Matyas <jakubk.m@gmail.com>
++# Warsaw University of Technology
++#
++# This file is part of Linien and provides support for Linien on
++# Fast Servo platform.
++#
++# Linien 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.
++#
++# Linien 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 Linien.  If not, see <http://www.gnu.org/licenses/>.
++
++from fast_servo.gateware.fast_servo_soc import BaseSoC
++from migen import *
++from misoc.interconnect import csr_bus
++
++from gateware.linien_module import DummyHK, LinienModule
++from gateware.lowlevel.dna import DNA
++from gateware.lowlevel.gpio import Gpio
++from gateware.lowlevel.pitaya_ps import SysInterconnect
++
++
++class FastServoAnalog(Module):
++    def __init__(self, adc, dac):
++        size = 14       # length of DAC
++
++        self.adc_a = Signal(size)
++        self.adc_b = Signal(size)
++        self.dac_a = Signal(size)
++        self.dac_b = Signal(size)
++
++        self.comb += [
++            self.adc_a.eq(adc.data_out[0][2:]),
++            self.adc_b.eq(adc.data_out[1][2:]),        
++        ]
++
++        self.sync += [
++            dac.data_in[0].eq(self.dac_a),
++            dac.data_in[1].eq(self.dac_b),
++        ]
++
++
++class LinienFastServo(BaseSoC):
++    def __init__(self, platform):
++        super().__init__(platform)
++    
++        self.submodules.dna = DNA(version=2)
++
++        self.submodules.analog = FastServoAnalog(self.adc, self.dac)
++        gpios = platform.request("gpio")
++        self.submodules.gpio_n = Gpio(gpios.n)
++        # self.csr_devices.append("gpio_n")
++        self.submodules.gpio_p = Gpio(gpios.p)
++        # self.csr_devices.append("gpio_p")
++        self.csr_map.update({
++            "dna": 28,
++            "gpio_n": 30,
++            "gpio_p": 31,
++        })
++
++        # ---------------------------------------------
++        # 
++        # FIXME - passing self to LinienModule
++        self.submodules.linien = LinienModule(self)
++
++    def soc_finalize(self):
++        self.add_interconnect_slave(self.syscdc.source)
++        self.submodules.csrbanks = csr_bus.CSRBankArray(self,
++            self.get_csr_dev_address)
++        self.submodules.csrcon = csr_bus.Interconnect(
++            self.sys2csr.csr, [*self.csrbanks.get_buses(), *self.linien.csrbanks.get_buses()]
++        )
++        self.submodules.hk = DummyHK()
++        self.submodules.interconnect = SysInterconnect(
++            self.axi2sys.sys,
++            self.hk.sys,
++            *self.interconnect_slaves
++        )
+\ No newline at end of file
+diff --git a/gateware/targets/red_pitaya.py b/gateware/targets/red_pitaya.py
+new file mode 100644
+index 0000000..c029e81
+--- /dev/null
++++ b/gateware/targets/red_pitaya.py
+@@ -0,0 +1,103 @@
++# Copyright 2014-2015 Robert Jördens <jordens@gmail.com>
++# 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>
++#
++# This file is part of Linien and based on redpid.
++#
++# Linien 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.
++#
++# Linien 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 Linien.  If not, see <http://www.gnu.org/licenses/>.
++
++from migen import *
++from misoc.interconnect import csr_bus
++from misoc.interconnect.csr import AutoCSR
++
++from gateware.linien_module import DummyHK, LinienModule
++from gateware.logic.delta_sigma import DeltaSigma
++from gateware.lowlevel.analog import PitayaAnalog
++from gateware.lowlevel.crg import CRG
++from gateware.lowlevel.dna import DNA
++from gateware.lowlevel.gpio import Gpio
++from gateware.lowlevel.pitaya_ps import PitayaPS, Sys2CSR, SysCDC, SysInterconnect
++from gateware.lowlevel.xadc import XADC
++
++
++class PitayaSoC(Module, AutoCSR):
++    def __init__(self, platform):
++        self.csr_map = {
++            "gpio_n": 30,
++            "gpio_p": 31,
++            "dna": 28,
++            "xadc": 29,
++        }
++        self.soc_name = "RedPitaya"
++        self.interconnect_slaves = []
++
++        self.submodules.ps = PitayaPS(platform.request("cpu"))
++        self.submodules.crg = CRG(
++            platform.request("clk125"), self.ps.fclk[0], ~self.ps.frstn[0]
++        )
++        self.submodules.sys2csr = Sys2CSR()
++        self.submodules.syscdc = SysCDC()
++        self.comb += self.syscdc.target.connect(self.sys2csr.sys)
++
++        self.submodules.xadc = XADC(platform.request("xadc"))
++        self.submodules.analog = PitayaAnalog(platform.request("adc"), platform.request("dac"))
++
++        for i in range(4):
++            pwm = platform.request("pwm", i)
++            ds = ClockDomainsRenamer("sys_double")(DeltaSigma(width=15))
++            self.comb += pwm.eq(ds.out)
++            setattr(self.submodules, f"ds{i}", ds)
++
++        exp = platform.request("exp")
++        self.submodules.gpio_n = Gpio(exp.n)
++        self.submodules.gpio_p = Gpio(exp.p)
++
++        leds = Cat(*(platform.request("user_led", i) for i in range(8)))
++        self.comb += leds.eq(self.gpio_n.o)
++
++        self.submodules.dna = DNA(version=2)
++        
++        # ---------------------------------------------
++        # 
++        # FIXME - passing self to LinienModule
++        self.submodules.linien = LinienModule(self)
++        self.add_interconnect_slave(self.syscdc.source)
++        self.run_finalize()
++
++
++    def add_interconnect_slave(self, slave):
++        self.interconnect_slaves.append(slave)
++
++    def get_csr_dev_address(self, name, memory):
++        if memory is not None:
++            name = name + "_" + memory.name_override
++        try:
++            return self.csr_map[name]
++        except KeyError:
++            return None
++
++    def run_finalize(self):
++        self.submodules.csrbanks = csr_bus.CSRBankArray(self,
++            self.get_csr_dev_address)
++        self.submodules.csrcon = csr_bus.Interconnect(
++            self.sys2csr.csr, [*self.csrbanks.get_buses(), *self.linien.csrbanks.get_buses()]
++        )
++        self.submodules.hk = DummyHK()
++        self.submodules.interconnect = SysInterconnect(
++            self.ps.axi.sys,
++            self.hk.sys,
++            *self.interconnect_slaves
++        )
+\ No newline at end of file

fast-servo/linien-gateware/README.md

@@ -0,0 +1,5 @@
+## Source Repository
+Files in this directory were copied from [elhep/Fast-Servo-Firmware](https://github.com/elhep/Fast-Servo-Firmware/tree/master/fast_servo/gateware).
+
+## Commit ID
+The files were copied from commit ID [7fae40c](https://github.com/elhep/Fast-Servo-Firmware/commit/7fae40c0f872a91218be378f8289b98b1e366729).

fast-servo/linien-gateware/__init__.py

@@ -0,0 +1,3 @@
+import os
+
+verilog_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "verilog")

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

@@ -0,0 +1,219 @@
+# 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/>.
+
+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):
+    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()
+        self.specials += Instance(
+            "IBUFGDS", i_I=dco_clk_p, i_IB=dco_clk_n, o_O=dco_clk_buf
+        )
+
+        # # #
+        clk_feedback = Signal()
+        clk_feedback_buf = Signal()
+
+        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",
+                p_BANDWIDTH="OPTIMIZED",
+                p_DIVCLK_DIVIDE=1,
+                p_CLKFBOUT_PHASE=0.0,
+                p_CLKFBOUT_MULT_F=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_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_DUTY_CYCLE=0.5,
+                o_CLKOUT0=clk_dco2d_45_degree,  # 100 MHz <- dco_clk / 2 = 200 MHz / 2
+                o_LOCKED=self.locked,
+
+                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,
+            )
+        ]
+
+        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.data_ch0 = CSRStatus(16)
+        self.data_ch1 = CSRStatus(16)
+
+        self.tap_delay = CSRStorage(5)
+        self.bitslip_csr = CSRStorage(1)
+
+        self.afe_ctrl = CSRStorage(7)
+
+        tap_delay_val = Signal(5)
+        bitslip = Signal()
+        bitslip_re_dco_2d = Signal()
+
+        ch1_gain_x10 = Signal()
+        ch2_gain_x10 = Signal()
+        ch1_shdn = Signal()
+        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")),
+        ]
+
+        ###
+
+        # DCO clock coming from LTC2195
+        # dco_clk = Record([("p", 1), ("n", 1)])
+        dco_clk =(adc_pads.dco_p, adc_pads.dco_n)
+        self.comb += [
+            # dco_clk.p.eq(adc_pads.dco_p),
+            # 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.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.specials += MultiReg(self.bitslip_csr.re, bitslip_re_dco_2d, "dco2d")
+        self.sync.dco2d += [
+            bitslip.eq(Mux(bitslip_re_dco_2d, self.bitslip_csr.storage, 0))
+        ]
+
+        self.comb += [
+            self.frame_csr.status[0:4].eq(self.s_frame[0:4]),
+            self.frame_csr.status[4].eq(self.crg.locked),
+            self.data_ch0.status.eq(self.data_out[0]),
+            self.data_ch1.status.eq(self.data_out[1]),
+        ]
+
+        self.comb += [
+            afe_pads.ch1_gain.eq(ch1_gain_x10),
+            afe_pads.ch2_gain.eq(ch2_gain_x10),
+            afe_pads.nshdn_ch1.eq(~ch1_shdn),
+            afe_pads.nshdn_ch2.eq(~ch2_shdn),
+        ]
+
+        dummy = Signal(8)
+        dummy_idelay_rdy = Signal()
+
+        self.specials += Instance(
+            "LTC2195",
+            i_rst_in=ResetSignal("dco2d"),
+            i_clk200=ClockSignal("idelay"),
+            i_DCO=ClockSignal("dco"),
+            i_DCO_2D=ClockSignal("dco2d"),
+            i_FR_in_p=adc_pads.frame_p,
+            i_FR_in_n=adc_pads.frame_n,
+            i_D0_in_p=adc_pads.data0_p,
+            i_D0_in_n=adc_pads.data0_n,
+            i_D1_in_p=adc_pads.data1_p,
+            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_o_data_from_pins=dummy,
+            o_idelay_rdy=dummy_idelay_rdy,
+        )
+
+
+class AUX_ADC_CTRL(Module, AutoCSR):
+    def __init__(self, platform):
+        adc_aux_pads = platform.request("aux_adc")
+
+        self.adc_aux_ctrl = CSRStorage(5)
+
+        self.comb += [
+            adc_aux_pads.diff_n.eq(~self.adc_aux_ctrl.storage[0]),
+            adc_aux_pads.a.eq(self.adc_aux_ctrl.storage[1:4]),
+            adc_aux_pads.range.eq(self.adc_aux_ctrl.storage[4]),
+        ]

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

@@ -0,0 +1,99 @@
+# 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/>.
+
+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):
+    def __init__(self, platform):
+        dac_pads = platform.request("dac")
+        dac_afe_pads = platform.request("dac_afe")
+        self.dac_ctrl = CSRStorage(3)
+        self.output_value_ch0 = CSRStorage(14)
+        self.output_value_ch1 = CSRStorage(14)
+
+        manual_override = Signal()
+        ch0_pd = Signal()
+        ch1_pd = Signal()
+
+        output_data_ch0 = Signal(14)
+        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_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])
+            ),
+            output_data_ch1.eq(
+                Mux(manual_override, self.data_in_csr_cdc[1], self.data_in_cdc[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")
+
+
+class AUX_DAC_CTRL(Module, AutoCSR):
+    def __init__(self, platform):
+        dac_aux_pads = platform.request("aux_dac")
+
+        self.dac_aux_ctrl = CSRStorage(3)
+
+        self.comb += [
+            dac_aux_pads.nclr.eq(~self.dac_aux_ctrl.storage[0]),
+            dac_aux_pads.bin.eq(self.dac_aux_ctrl.storage[1]),
+            dac_aux_pads.nldac.eq(~self.dac_aux_ctrl.storage[2]),
+        ]

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

@@ -0,0 +1,385 @@
+# Copyright 2014-2015 Robert Jördens <jordens@gmail.com>
+# Copyright 2018-2022 Benjamin Wiegand <benjamin.wiegand@physik.hu-berlin.de>
+# Copyright 2021-2022 Bastian Leykauf <leykauf@physik.hu-berlin.de>
+# Copyright 2023 Jakub Matyas
+# Warsaw University of Technology <jakubk.m@gmail.com>
+#
+# This file is part of Fast Servo Software Package and is based on Linien.
+#
+# Linien 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.
+#
+# Linien 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 Linien.  If not, see <http://www.gnu.org/licenses/>.
+
+from functools import reduce
+from operator import or_
+
+from migen import (
+    DIR_M_TO_S,
+    DIR_S_TO_M,
+    Cat,
+    ClockSignal,
+    If,
+    Instance,
+    Module,
+    Record,
+    Replicate,
+    ResetSignal,
+    Signal,
+)
+from misoc.interconnect import csr_bus, wishbone
+
+sys_layout = [
+    ("rstn", 1, DIR_M_TO_S),
+    ("clk", 1, DIR_M_TO_S),
+    ("addr", 32, DIR_M_TO_S),
+    ("wdata", 32, DIR_M_TO_S),
+    ("sel", 4, DIR_M_TO_S),
+    ("wen", 1, DIR_M_TO_S),
+    ("ren", 1, DIR_M_TO_S),
+    ("rdata", 32, DIR_S_TO_M),
+    ("err", 1, DIR_S_TO_M),
+    ("ack", 1, DIR_S_TO_M),
+]
+
+
+axi_layout = [
+    ("arvalid", 1),
+    ("awvalid", 1),
+    ("bready", 1),
+    ("rready", 1),
+    ("wlast", 1),
+    ("wvalid", 1),
+    ("arid", 12),
+    ("awid", 12),
+    ("wid", 12),
+    ("arburst", 2),
+    ("arlock", 2),
+    ("arsize", 3),
+    ("awburst", 2),
+    ("awlock", 2),
+    ("awsize", 3),
+    ("arprot", 3),
+    ("awprot", 3),
+    ("araddr", 32),
+    ("awaddr", 32),
+    ("wdata", 32),
+    ("arcache", 4),
+    ("arlen", 4),
+    ("arqos", 4),
+    ("awcache", 4),
+    ("awlen", 4),
+    ("awqos", 4),
+    ("wstrb", 4),
+    ("aclk", 1),
+    ("arready", 1),
+    ("awready", 1),
+    ("bvalid", 1),
+    ("rlast", 1),
+    ("rvalid", 1),
+    ("wready", 1),
+    ("bid", 12),
+    ("rid", 12),
+    ("bresp", 2),
+    ("rresp", 2),
+    ("rdata", 32),
+    ("arstn", 1),
+]
+
+
+class PitayaPS(Module):
+    def __init__(self, cpu):
+        self.fclk = Signal(4)
+        self.frstn = Signal(4)
+
+        ###
+
+        self.submodules.axi = Axi2Sys()
+        axi = self.axi.axi
+        self.comb += [
+            axi.aclk.eq(self.fclk[0]),
+            axi.arstn.eq(self.frstn[0]),
+        ]
+
+        self.specials += Instance(
+            "system_processing_system7_0_0",
+            io_MIO=cpu.mio,
+            io_PS_CLK=cpu.ps_clk,
+            io_PS_PORB=cpu.ps_porb,
+            io_PS_SRSTB=cpu.ps_srstb,
+            io_DDR_Addr=cpu.DDR_addr,
+            io_DDR_BankAddr=cpu.DDR_ba,
+            io_DDR_CAS_n=cpu.DDR_cas_n,
+            io_DDR_Clk_n=cpu.DDR_ck_n,
+            io_DDR_Clk=cpu.DDR_ck_p,
+            io_DDR_CKE=cpu.DDR_cke,
+            io_DDR_CS_n=cpu.DDR_cs_n,
+            io_DDR_DM=cpu.DDR_dm,
+            io_DDR_DQ=cpu.DDR_dq,
+            io_DDR_DQS_n=cpu.DDR_dqs_n,
+            io_DDR_DQS=cpu.DDR_dqs_p,
+            io_DDR_ODT=cpu.DDR_odt,
+            io_DDR_RAS_n=cpu.DDR_ras_n,
+            io_DDR_DRSTB=cpu.DDR_reset_n,
+            io_DDR_WEB=cpu.DDR_we_n,
+            io_DDR_VRN=cpu.ddr_vrn,
+            io_DDR_VRP=cpu.ddr_vrp,
+            o_FCLK_CLK0=self.fclk[0],
+            o_FCLK_CLK1=self.fclk[1],
+            o_FCLK_CLK2=self.fclk[2],
+            o_FCLK_CLK3=self.fclk[3],
+            o_FCLK_RESET0_N=self.frstn[0],
+            o_FCLK_RESET1_N=self.frstn[1],
+            o_FCLK_RESET2_N=self.frstn[2],
+            o_FCLK_RESET3_N=self.frstn[3],
+            i_M_AXI_GP0_ACLK=axi.aclk,
+            o_M_AXI_GP0_ARVALID=axi.arvalid,
+            o_M_AXI_GP0_AWVALID=axi.awvalid,
+            o_M_AXI_GP0_BREADY=axi.bready,
+            o_M_AXI_GP0_RREADY=axi.rready,
+            o_M_AXI_GP0_WLAST=axi.wlast,
+            o_M_AXI_GP0_WVALID=axi.wvalid,
+            o_M_AXI_GP0_ARID=axi.arid,
+            o_M_AXI_GP0_AWID=axi.awid,
+            o_M_AXI_GP0_WID=axi.wid,
+            o_M_AXI_GP0_ARBURST=axi.arburst,
+            o_M_AXI_GP0_ARLOCK=axi.arlock,
+            o_M_AXI_GP0_ARSIZE=axi.arsize,
+            o_M_AXI_GP0_AWBURST=axi.awburst,
+            o_M_AXI_GP0_AWLOCK=axi.awlock,
+            o_M_AXI_GP0_AWSIZE=axi.awsize,
+            o_M_AXI_GP0_ARPROT=axi.arprot,
+            o_M_AXI_GP0_AWPROT=axi.awprot,
+            o_M_AXI_GP0_ARADDR=axi.araddr,
+            o_M_AXI_GP0_AWADDR=axi.awaddr,
+            o_M_AXI_GP0_WDATA=axi.wdata,
+            o_M_AXI_GP0_ARCACHE=axi.arcache,
+            o_M_AXI_GP0_ARLEN=axi.arlen,
+            o_M_AXI_GP0_ARQOS=axi.arqos,
+            o_M_AXI_GP0_AWCACHE=axi.awcache,
+            o_M_AXI_GP0_AWLEN=axi.awlen,
+            o_M_AXI_GP0_AWQOS=axi.awqos,
+            o_M_AXI_GP0_WSTRB=axi.wstrb,
+            i_M_AXI_GP0_ARREADY=axi.arready,
+            i_M_AXI_GP0_AWREADY=axi.awready,
+            i_M_AXI_GP0_BVALID=axi.bvalid,
+            i_M_AXI_GP0_RLAST=axi.rlast,
+            i_M_AXI_GP0_RVALID=axi.rvalid,
+            i_M_AXI_GP0_WREADY=axi.wready,
+            i_M_AXI_GP0_BID=axi.bid,
+            i_M_AXI_GP0_RID=axi.rid,
+            i_M_AXI_GP0_BRESP=axi.bresp,
+            i_M_AXI_GP0_RRESP=axi.rresp,
+            i_M_AXI_GP0_RDATA=axi.rdata,
+            i_SPI0_SS_I=0,
+            # i_SPI0_SS_I=spi.ss_i,
+            # o_SPI0_SS_O=spi.ss_o,
+            # o_SPI0_SS_T=spi.ss_t,
+            # o_SPI0_SS1_O=spi.ss1_o,
+            # o_SPI0_SS2_O=spi.ss2_o,
+            i_SPI0_SCLK_I=0,
+            # i_SPI0_SCLK_I=spi.sclk_i,
+            # o_SPI0_SCLK_O=spi.sclk_o,
+            # o_SPI0_SCLK_T=spi.sclk_t,
+            i_SPI0_MOSI_I=0,
+            # i_SPI0_MOSI_I=spi.mosi_i,
+            # o_SPI0_MOSI_O=spi.mosi_o,
+            # o_SPI0_MOSI_T=spi.mosi_t,
+            i_SPI0_MISO_I=0,
+            # i_SPI0_MISO_I=spi.miso_i,
+            # o_SPI0_MISO_O=spi.miso_o,
+            # o_SPI0_MISO_T=spi.miso_t,
+            i_USB0_VBUS_PWRFAULT=0,
+        )
+
+
+class Axi2Sys(Module):
+    def __init__(self):
+        self.sys = Record(sys_layout)
+        self.axi = Record(axi_layout)
+
+        ###
+
+        self.comb += [self.sys.clk.eq(self.axi.aclk), self.sys.rstn.eq(self.axi.arstn)]
+
+        self.specials += Instance(
+            "axi_slave",
+            p_AXI_DW=32,
+            p_AXI_AW=32,
+            p_AXI_IW=12,
+            i_axi_clk_i=self.axi.aclk,
+            i_axi_rstn_i=self.axi.arstn,
+            i_axi_awid_i=self.axi.awid,
+            i_axi_awaddr_i=self.axi.awaddr,
+            i_axi_awlen_i=self.axi.awlen,
+            i_axi_awsize_i=self.axi.awsize,
+            i_axi_awburst_i=self.axi.awburst,
+            i_axi_awlock_i=self.axi.awlock,
+            i_axi_awcache_i=self.axi.awcache,
+            i_axi_awprot_i=self.axi.awprot,
+            i_axi_awvalid_i=self.axi.awvalid,
+            o_axi_awready_o=self.axi.awready,
+            i_axi_wid_i=self.axi.wid,
+            i_axi_wdata_i=self.axi.wdata,
+            i_axi_wstrb_i=self.axi.wstrb,
+            i_axi_wlast_i=self.axi.wlast,
+            i_axi_wvalid_i=self.axi.wvalid,
+            o_axi_wready_o=self.axi.wready,
+            o_axi_bid_o=self.axi.bid,
+            o_axi_bresp_o=self.axi.bresp,
+            o_axi_bvalid_o=self.axi.bvalid,
+            i_axi_bready_i=self.axi.bready,
+            i_axi_arid_i=self.axi.arid,
+            i_axi_araddr_i=self.axi.araddr,
+            i_axi_arlen_i=self.axi.arlen,
+            i_axi_arsize_i=self.axi.arsize,
+            i_axi_arburst_i=self.axi.arburst,
+            i_axi_arlock_i=self.axi.arlock,
+            i_axi_arcache_i=self.axi.arcache,
+            i_axi_arprot_i=self.axi.arprot,
+            i_axi_arvalid_i=self.axi.arvalid,
+            o_axi_arready_o=self.axi.arready,
+            o_axi_rid_o=self.axi.rid,
+            o_axi_rdata_o=self.axi.rdata,
+            o_axi_rresp_o=self.axi.rresp,
+            o_axi_rlast_o=self.axi.rlast,
+            o_axi_rvalid_o=self.axi.rvalid,
+            i_axi_rready_i=self.axi.rready,
+            o_sys_addr_o=self.sys.addr,
+            o_sys_wdata_o=self.sys.wdata,
+            o_sys_sel_o=self.sys.sel,
+            o_sys_wen_o=self.sys.wen,
+            o_sys_ren_o=self.sys.ren,
+            i_sys_rdata_i=self.sys.rdata,
+            i_sys_err_i=self.sys.err,
+            i_sys_ack_i=self.sys.ack,
+        )
+
+
+class SysInterconnect(Module):
+    def __init__(self, master, *slaves):        
+        cs = Signal(max=len(slaves)) if len(slaves) != 1 else Signal()
+        self.comb += cs.eq(master.addr[20:23])
+        rets = []
+        for i, s in enumerate(slaves):
+            sel = Signal()
+            self.comb += [
+                sel.eq(cs == i),
+                s.clk.eq(master.clk),
+                s.rstn.eq(master.rstn),
+                s.addr.eq(master.addr),
+                s.wdata.eq(master.wdata),
+                s.sel.eq(master.sel),
+                s.wen.eq(sel & master.wen),
+                s.ren.eq(sel & master.ren),
+            ]
+            ret = Cat(s.err, s.ack, s.rdata)
+            rets.append(Replicate(sel, len(ret)) & ret)
+        self.comb += Cat(master.err, master.ack, master.rdata).eq(reduce(or_, rets))
+
+
+class Sys2Wishbone(Module):
+    def __init__(self):
+        self.wishbone = wb = wishbone.Interface()
+        self.sys = sys = Record(sys_layout)
+
+        ###
+
+        sys2 = Record(sys_layout)
+
+        self.specials += Instance(
+            "bus_clk_bridge",
+            i_sys_clk_i=sys.clk,
+            i_sys_rstn_i=sys.rstn,
+            i_sys_addr_i=sys.addr,
+            i_sys_wdata_i=sys.wdata,
+            i_sys_sel_i=sys.sel,
+            i_sys_wen_i=sys.wen,
+            i_sys_ren_i=sys.ren,
+            o_sys_rdata_o=sys.rdata,
+            o_sys_err_o=sys.err,
+            o_sys_ack_o=sys.ack,
+            i_clk_i=ClockSignal(),
+            i_rstn_i=~ResetSignal(),
+            o_addr_o=sys2.addr,
+            o_wen_o=sys2.wen,
+            o_ren_o=sys2.ren,
+            o_wdata_o=sys2.wdata,
+            i_rdata_i=sys2.rdata,
+            i_err_i=sys2.err,
+            i_ack_i=sys2.ack,
+        )
+        self.sync += [
+            If(
+                sys2.ren | sys2.wen,
+                wb.cyc.eq(1),
+                wb.adr.eq(sys2.addr[2:]),
+                wb.we.eq(sys2.wen),
+                wb.dat_w.eq(sys2.wdata),
+            ).Elif(wb.ack, wb.cyc.eq(0))
+        ]
+        self.comb += [
+            wb.stb.eq(wb.cyc),
+            sys2.rdata.eq(wb.dat_r),
+            sys2.ack.eq(wb.ack),
+            sys2.err.eq(wb.err),
+        ]
+
+
+class SysCDC(Module):
+    def __init__(self, cd_target="sys"):
+        self.source = Record(sys_layout)
+        self.target = Record(sys_layout)
+
+        self.specials += Instance(
+            "bus_clk_bridge",
+            i_sys_clk_i=self.source.clk,
+            i_sys_rstn_i=self.source.rstn,
+            i_sys_addr_i=self.source.addr,
+            i_sys_wdata_i=self.source.wdata,
+            i_sys_sel_i=self.source.sel,
+            i_sys_wen_i=self.source.wen,
+            i_sys_ren_i=self.source.ren,
+            o_sys_rdata_o=self.source.rdata,
+            o_sys_err_o=self.source.err,
+            o_sys_ack_o=self.source.ack,
+            i_clk_i=self.target.clk,
+            i_rstn_i=self.target.rstn,
+            o_addr_o=self.target.addr,
+            o_wdata_o=self.target.wdata,
+            o_wen_o=self.target.wen,
+            o_ren_o=self.target.ren,
+            i_rdata_i=self.target.rdata,
+            i_err_i=self.target.err,
+            i_ack_i=self.target.ack,
+        )
+        self.comb += [
+            self.target.clk.eq(ClockSignal(cd_target)),
+            self.target.rstn.eq(~ResetSignal(cd_target)),
+        ]
+
+
+class Sys2CSR(Module):
+    def __init__(self):
+        self.csr = csr_bus.Interface()
+        self.sys = Record(sys_layout)
+
+        ###
+
+        stb = Signal()
+        self.sync += [
+            stb.eq(self.sys.wen | self.sys.ren),
+            self.csr.adr.eq(self.sys.addr[2:]),
+            self.csr.we.eq(self.sys.wen),
+            self.csr.dat_w.eq(self.sys.wdata),
+            self.sys.ack.eq(stb),
+            self.sys.rdata.eq(self.csr.dat_r),
+        ]

fast-servo/linien-gateware/cores/ps7.py

@@ -0,0 +1,193 @@
+# 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/>.
+
+from migen import *
+
+
+class PS7(Module):
+    def __init__(self, platform, ps7_name=None):
+        self.frstn = Signal()
+        self.ps7_tcl = []
+        self.platform = platform
+
+        self.ps7_name = "Zynq" if ps7_name is None else ps7_name
+
+        ps7_clk         =   platform.request("ps7_clk")
+        ps7_porb        =   platform.request("ps7_porb")
+        ps7_srstb       =   platform.request("ps7_srstb")
+        ps7_mio         =   platform.request("ps7_mio")
+        ps7_ddram       =   platform.request("ps7_ddram")
+
+        self.cpu_params = dict(
+            # Clk / Rst.
+            io_PS_CLK       = ps7_clk,
+            io_PS_PORB      = ps7_porb,
+            io_PS_SRSTB     = ps7_srstb,
+
+            # MIO.
+            io_MIO          = ps7_mio,
+
+            # DDRAM.
+            io_DDR_Addr     = ps7_ddram.addr,
+            io_DDR_BankAddr = ps7_ddram.ba,
+            io_DDR_CAS_n    = ps7_ddram.cas_n,
+            io_DDR_Clk_n    = ps7_ddram.ck_n,
+            io_DDR_Clk      = ps7_ddram.ck_p,
+            io_DDR_CKE      = ps7_ddram.cke,
+            io_DDR_CS_n     = ps7_ddram.cs_n,
+            io_DDR_DM       = ps7_ddram.dm,
+            io_DDR_DQ       = ps7_ddram.dq,
+            io_DDR_DQS_n    = ps7_ddram.dqs_n,
+            io_DDR_DQS      = ps7_ddram.dqs_p,
+            io_DDR_ODT      = ps7_ddram.odt,
+            io_DDR_RAS_n    = ps7_ddram.ras_n,
+            io_DDR_DRSTB    = ps7_ddram.reset_n,
+            io_DDR_WEB      = ps7_ddram.we_n,
+            io_DDR_VRN      = ps7_ddram.vrn,
+            io_DDR_VRP      = ps7_ddram.vrp,
+
+            # USB0.
+            # i_USB0_VBUS_PWRFAULT = 0,
+
+            # Fabric Clk / Rst.
+            # o_FCLK_CLK0     = ClockSignal("ps7"),
+            o_FCLK_RESET0_N = self.frstn
+        )
+
+        self.set_ps7(name=self.ps7_name,
+            config={
+                **self.platform.ps7_config
+            })
+
+    def add_ps7_config(self, config):
+        # Config must be provided as a config, value dict.
+        assert isinstance(config, dict)
+        # Add configs to PS7.
+        self.ps7_tcl.append("set_property -dict [list \\")
+        for config, value in config.items():
+            self.ps7_tcl.append("CONFIG.{} {} \\".format(config, '{{' + str(value) + '}}'))
+        self.ps7_tcl.append(f"] [get_ips {self.ps7_name}]")
+
+    def set_ps7(self, name=None, config=None, preset=None):
+        self.ps7_name = name
+        self.ps7_tcl.append(f"set ps7 [create_ip -vendor xilinx.com -name processing_system7 -module_name {self.ps7_name}]")
+        self.add_ps7_config(config)
+
+    def add_axi_gp_master(self, interface):
+        # assert type(interface) is Axi2Sys
+
+        axi_interface = interface
+
+        self.cpu_params.update({
+            # AXI GP clk.
+            f"i_M_AXI_GP0_ACLK"    : axi_interface.aclk,
+
+            # AXI GP aw.
+            f"o_M_AXI_GP0_AWVALID" : axi_interface.awvalid,
+            f"i_M_AXI_GP0_AWREADY" : axi_interface.awready,
+            f"o_M_AXI_GP0_AWADDR"  : axi_interface.awaddr,
+            f"o_M_AXI_GP0_AWBURST" : axi_interface.awburst,
+            f"o_M_AXI_GP0_AWLEN"   : axi_interface.awlen,
+            f"o_M_AXI_GP0_AWSIZE"  : axi_interface.awsize,
+            f"o_M_AXI_GP0_AWID"    : axi_interface.awid,
+            f"o_M_AXI_GP0_AWLOCK"  : axi_interface.awlock,
+            f"o_M_AXI_GP0_AWPROT"  : axi_interface.awprot,
+            f"o_M_AXI_GP0_AWCACHE" : axi_interface.awcache,
+            f"o_M_AXI_GP0_AWQOS"   : axi_interface.awqos,
+
+            # AXI GP w.
+            f"o_M_AXI_GP0_WVALID"  : axi_interface.wvalid,
+            f"o_M_AXI_GP0_WLAST"   : axi_interface.wlast,
+            f"i_M_AXI_GP0_WREADY"  : axi_interface.wready,
+            f"o_M_AXI_GP0_WID"     : axi_interface.wid,
+            f"o_M_AXI_GP0_WDATA"   : axi_interface.wdata,
+            f"o_M_AXI_GP0_WSTRB"   : axi_interface.wstrb,
+
+            # AXI GP b.
+            f"i_M_AXI_GP0_BVALID"  : axi_interface.bvalid,
+            f"o_M_AXI_GP0_BREADY"  : axi_interface.bready,
+            f"i_M_AXI_GP0_BID"     : axi_interface.bid,
+            f"i_M_AXI_GP0_BRESP"   : axi_interface.bresp,
+
+            # AXI GP ar.
+            f"o_M_AXI_GP0_ARVALID" : axi_interface.arvalid,
+            f"i_M_AXI_GP0_ARREADY" : axi_interface.arready,
+            f"o_M_AXI_GP0_ARADDR"  : axi_interface.araddr,
+            f"o_M_AXI_GP0_ARBURST" : axi_interface.arburst,
+            f"o_M_AXI_GP0_ARLEN"   : axi_interface.arlen,
+            f"o_M_AXI_GP0_ARID"    : axi_interface.arid,
+            f"o_M_AXI_GP0_ARLOCK"  : axi_interface.arlock,
+            f"o_M_AXI_GP0_ARSIZE"  : axi_interface.arsize,
+            f"o_M_AXI_GP0_ARPROT"  : axi_interface.arprot,
+            f"o_M_AXI_GP0_ARCACHE" : axi_interface.arcache,
+            f"o_M_AXI_GP0_ARQOS"   : axi_interface.arqos,
+
+            # AXI GP r.
+            f"i_M_AXI_GP0_RVALID"  : axi_interface.rvalid,
+            f"o_M_AXI_GP0_RREADY"  : axi_interface.rready,
+            f"i_M_AXI_GP0_RLAST"   : axi_interface.rlast,
+            f"i_M_AXI_GP0_RID"     : axi_interface.rid,
+            f"i_M_AXI_GP0_RRESP"   : axi_interface.rresp,
+            f"i_M_AXI_GP0_RDATA"   : axi_interface.rdata,
+        })
+    
+    def add_i2c_emio(self, platform, i2c_name, i2c_number):
+        ps7_i2c_pads = platform.request(i2c_name, i2c_number) #, loose=True)
+        if ps7_i2c_pads is not None:
+            o_i2c_scl = Signal()
+            i_i2c_scl = Signal()
+            t_i2c_scl = Signal()
+            o_i2c_sda = Signal()
+            i_i2c_sda = Signal()
+            t_i2c_sda = Signal()
+
+            self.specials += Instance("IOBUF", 
+                i_T     = t_i2c_sda,
+                i_I     = o_i2c_sda,
+                io_IO   = ps7_i2c_pads.sda,
+                o_O     = i_i2c_sda,
+            )
+
+            self.specials += Instance("IOBUF",
+                i_T     = t_i2c_scl,
+                i_I     = o_i2c_scl,
+                io_IO   = ps7_i2c_pads.scl,
+                o_O     = i_i2c_scl,
+            )
+
+            self.cpu_params.update({
+                f"i_I2C{i2c_number}_SCL_I"    : i_i2c_scl,
+                f"o_I2C{i2c_number}_SCL_T"    : t_i2c_scl,
+                f"o_I2C{i2c_number}_SCL_O"    : o_i2c_scl,
+
+                f"i_I2C{i2c_number}_SDA_I"    : i_i2c_sda,
+                f"o_I2C{i2c_number}_SDA_T"    : t_i2c_sda,
+                f"o_I2C{i2c_number}_SDA_O"    : o_i2c_sda,
+            })
+
+    def do_finalize(self):
+        if len(self.ps7_tcl):
+            self.ps7_tcl += [
+                f"upgrade_ip [get_ips {self.ps7_name}]",
+                f"generate_target all [get_ips {self.ps7_name}]",
+                f"synth_ip [get_ips {self.ps7_name}]"
+            ]
+            self.platform.toolchain.pre_synthesis_commands += self.ps7_tcl
+
+        self.specials += Instance(self.ps7_name, **self.cpu_params)

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

@@ -0,0 +1,141 @@
+# 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/>.
+
+from enum import Enum
+
+from migen import *
+
+
+class SpiInterface(Enum):
+    ADC = 0
+    DAC = 1
+
+
+class SpiPhy(Module):
+    def __init__(self, spi_type, ps7_spi_pads):
+        assert isinstance(spi_type, SpiInterface)
+
+        self.ps_ss = Signal(3, reset_less=True)
+        
+        self.ps_miso_o = Signal()
+        self.ps_miso_t = Signal()
+        self.ps_mosi_o = Signal()
+        self.ps_mosi_t = Signal()
+        self.ps_sclk_o = Signal()
+        self.ps_sclk_t = Signal()
+        self.ps_sclk_i = Signal()
+        self.ps_mosi_i = Signal()
+        self.ps_miso_i = Signal()
+        self.ps_ss_i = Signal()
+        self.ps_ss_t = Signal()
+
+        if spi_type.name == "ADC":
+
+            cs_translated = Signal(4, reset_less=True)
+            
+            main_adc_miso = Signal(reset_less=True)
+            aux_adc_miso_a = Signal(reset_less=True)
+            aux_adc_miso_b = Signal(reset_less=True)
+            aux_dac_miso = Signal(reset_less=True)
+
+            miso_signals = [main_adc_miso, aux_adc_miso_a, aux_adc_miso_b, aux_dac_miso]
+        
+            # MAIN ADC
+            self.specials += Instance("OBUFT", i_I=self.ps_sclk_o, i_T=self.ps_sclk_t, o_O=ps7_spi_pads.sclk) 
+            self.specials += Instance("OBUFT", i_I=self.ps_mosi_o, i_T=self.ps_mosi_t, o_O=ps7_spi_pads.mosi) 
+            self.specials += Instance("IBUF", i_I=ps7_spi_pads.miso, o_O=main_adc_miso)
+
+            # AUX ADC
+            self.specials += Instance("OBUFT", i_I=self.ps_sclk_o, i_T=self.ps_sclk_t, o_O=ps7_spi_pads.aux_adc_sclk)
+            self.specials += Instance("IBUF", i_I=ps7_spi_pads.aux_adc_miso_a, o_O=aux_adc_miso_a)
+            self.specials += Instance("IBUF", i_I=ps7_spi_pads.aux_adc_miso_b, o_O=aux_adc_miso_b)
+
+            # AUX DAC
+            self.specials += Instance("OBUFT", i_I=self.ps_sclk_o, i_T=self.ps_sclk_t, o_O=ps7_spi_pads.aux_dac_sclk)
+            self.specials += Instance("OBUFT", i_I=self.ps_mosi_o, i_T=self.ps_mosi_t, o_O=ps7_spi_pads.aux_dac_mosi)
+            self.specials += Instance("IBUF", i_I=ps7_spi_pads.aux_dac_miso, o_O=aux_dac_miso)
+
+            cases = {}
+            # for i in range(4):
+            #     case_mask = ~(1 << i) & 0xF
+            #     print(f"Case mask: 0b{case_mask:04b}")
+            #     cases[i + 1] = [
+            #         cs_translated.eq(case_mask),
+            #         self.ps_miso_i.eq(miso_signals[i])
+            #     ]
+
+            cases[0b001] = [
+                cs_translated.eq(0b1110),
+                self.ps_miso_i.eq(main_adc_miso),
+            ]
+
+            cases[0b010] = [
+                cs_translated.eq(0b1101),
+                self.ps_miso_i.eq(aux_adc_miso_a),
+            ]
+
+            cases[0b011] = [
+                cs_translated.eq(0b1011),
+                self.ps_miso_i.eq(aux_adc_miso_b),
+            ]
+            cases[0b100] = [
+                cs_translated.eq(0b0111),
+                self.ps_miso_i.eq(aux_dac_miso),
+            ]
+
+            cases["default"] = [
+                cs_translated.eq(0b1111),
+                self.ps_miso_i.eq(0b1),
+            ]
+
+            self.comb += [
+                self.ps_ss_i.eq(1),
+                Case(self.ps_ss, cases),
+               
+                ps7_spi_pads.cs.eq(cs_translated[0]),
+
+                # only one CS line physically available to AUX ADC
+                ps7_spi_pads.aux_adc_cs.eq(cs_translated[1] & cs_translated[2]),
+                ps7_spi_pads.aux_dac_miso.eq(cs_translated[3]),
+            
+            ]
+        else:
+            self.specials += Instance(
+                "spi2threewire",
+                o_ps_sclk_i     =   self.ps_sclk_i,
+                i_ps_sclk_o     =   self.ps_sclk_o,
+                i_ps_sclk_t     =   self.ps_sclk_t,
+
+                o_ps_mosi_i     =   self.ps_mosi_i,
+                i_ps_mosi_o     =   self.ps_mosi_o,
+                i_ps_mosi_t     =   self.ps_mosi_t,
+
+                o_ps_miso_i     =   self.ps_miso_i,
+                i_ps_miso_o     =   self.ps_miso_o,
+                i_ps_miso_t     =   self.ps_miso_t,
+
+                o_ps_ss_i       =   self.ps_ss_i,
+                i_ps_ss         =   self.ps_ss,
+                i_ps_ss_t       =   self.ps_ss_t,
+
+                o_o_ss          =   ps7_spi_pads.cs,
+                o_o_sclk        =   ps7_spi_pads.sclk,
+                io_sdio         =   ps7_spi_pads.sdio,
+            )
+

fast-servo/linien-gateware/fast_servo_platform.py

@@ -0,0 +1,336 @@
+# This file is part of Fast Servo Software Package.
+#
+# Copyright (C) 2022-2023 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/>.
+
+from migen.build.generic_platform import *
+from migen.build.xilinx import XilinxPlatform
+
+import os
+from fast_servo.gateware import verilog_dir
+
+
+# IOs ----------------------------------------------------------------------------------------------
+
+
+_io = [
+    # Front panel LEDs
+    ("fp_led", 0, Pins("G7"), IOStandard("LVCMOS25")),
+    ("fp_led", 1, Pins("G8"), IOStandard("LVCMOS25")),
+    ("fp_led", 2, Pins("G2"), IOStandard("LVCMOS25")),
+    ("fp_led", 3, Pins("G3"), IOStandard("LVCMOS25")),
+
+    # LEDs
+    ("user_led", 0, Pins("AB16"), IOStandard("LVCMOS33")),
+    ("user_led", 1, Pins("AA14"), IOStandard("LVCMOS33")),
+    ("user_led", 2, Pins("AA15"), IOStandard("LVCMOS33")),
+
+    # ETH LEDs
+    ("eth_led", 0, Pins("V11"), IOStandard("LVCMOS33")),
+    ("eth_led", 1, Pins("U13"), IOStandard("LVCMOS33")),
+
+    ("from_eth_phy", 0, Pins("J3"), IOStandard("LVCMOS18")),
+    ("from_eth_phy", 1, Pins("K8"), IOStandard("LVCMOS18")),
+
+
+    # CLK 100 MHz from oscillator
+    ("clk100", 0, Pins("Y14"), IOStandard("LVCMOS33")),
+
+    # MGT clk from on-board Si5338A
+    ("mgt_clk1", 0,
+        Subsignal("p", Pins("U5")),
+        Subsignal("n", Pins("V5")),
+        IOStandard("LVDS_25"),
+    ),
+
+    # FCLK125 from on-board Si5338A
+    ("fclk125", 0, Pins("K2"), IOStandard("LVCMOS18")),
+
+    # # ADC CLK
+    # ("fpga_clk", 0,
+    #     Subsignal("p", Pins("C6")),
+    #     Subsignal("n", Pins("C5")),
+    #     IOStandard("LVDS_25"),
+    # ),
+
+    # DAC CLK
+    ("fpga_clk", 1,
+        Subsignal("p", Pins("J7")),
+        Subsignal("n", Pins("J6")),
+        IOStandard("LVDS_25"),
+    ),
+
+    # MAIN ADC LT2195
+    ("adc", 0, 
+        Subsignal("data0_p", Pins("F7 B7 E4 D1"), IOStandard("LVDS_25")),
+        Subsignal("data0_n", Pins("E7 B6 E3 C1"), IOStandard("LVDS_25")),
+        Subsignal("data1_p", Pins("A2 D5 F2 D7"), IOStandard("LVDS_25")),
+        Subsignal("data1_n", Pins("A1 C4 F1 D6"), IOStandard("LVDS_25")),
+        Subsignal("dco_p", Pins("B4"), IOStandard("LVDS_25")),
+        Subsignal("dco_n", Pins("B3"), IOStandard("LVDS_25")),
+        Subsignal("frame_p", Pins("B2"), IOStandard("LVDS_25")),
+        Subsignal("frame_n", Pins("B1"), IOStandard("LVDS_25"))
+    ),
+
+    # ADC AFE
+    ("adc_afe", 0,
+        Subsignal("ch1_gain", Pins("AA12"), IOStandard("LVCMOS33")),
+        Subsignal("ch2_gain", Pins("AB11"), IOStandard("LVCMOS33")),
+        Subsignal("nshdn_ch1", Pins("G4"), IOStandard("LVCMOS25")),
+        Subsignal("nshdn_ch2", Pins("F4"), IOStandard("LVCMOS25")),
+    ),
+    
+    # P5 R5 N1 N4 L2 P6 N3 R4 P1 L1 M3 M4 U2 T2
+    # MAIN DAC AD9117
+    ("dac", 0,
+        Subsignal("data", 
+            Pins("T2 U2 M4 M3 L1 P1 R4 N3 P6 L2 N4 N1 R5 P5"),
+            IOStandard("LVCMOS18")),
+        Subsignal("dclkio", Pins("U1"), IOStandard("LVCMOS18")),
+        Subsignal("rst", Pins("T1"), IOStandard("LVCMOS18")),
+    ),
+
+    # DAC AFE
+    ("dac_afe", 0,
+        Subsignal("ch1_pd_n", Pins("L5")),
+        Subsignal("ch2_pd_n", Pins("L4")),
+        IOStandard("LVCMOS18"),
+    ),
+
+    # AUXILIARY ADC
+    ("aux_adc", 0,
+        Subsignal("diff_n", Pins("W18")),
+        Subsignal("a", Pins("AB18 AB19 W17")),
+        Subsignal("range", Pins("U19")),
+        IOStandard("LVCMOS33")
+    ),
+
+    # AUXILIARY DAC
+    ("aux_dac", 0,
+        Subsignal("nclr", Pins("V19")),
+        Subsignal("bin", Pins("AA19")),
+        Subsignal("nldac", Pins("AB21")),
+        IOStandard("LVCMOS33")
+    ),
+
+    # ADC SPI
+    ("spi", 0,
+        Subsignal("sclk", Pins("J1"), IOStandard("LVCMOS18")),
+        Subsignal("mosi", Pins("J5"), IOStandard("LVCMOS18")),
+        Subsignal("miso", Pins("K5"), IOStandard("LVCMOS18")),
+        Subsignal("cs", Pins("J2"), IOStandard("LVCMOS18")),
+        Subsignal("aux_adc_sclk", Pins("AB22"), IOStandard("LVCMOS33")),
+        Subsignal("aux_adc_miso_a", Pins("Y18"), IOStandard("LVCMOS33")),
+        Subsignal("aux_adc_miso_b", Pins("AA16"), IOStandard("LVCMOS33")),
+        Subsignal("aux_adc_cs", Pins("Y19"), IOStandard("LVCMOS33")),
+        Subsignal("aux_dac_sclk", Pins("V18"), IOStandard("LVCMOS33")),
+        Subsignal("aux_dac_mosi", Pins("U17"), IOStandard("LVCMOS33")),
+        Subsignal("aux_dac_miso", Pins("U18"), IOStandard("LVCMOS33")),
+        Subsignal("aux_dac_cs", Pins("AA20"), IOStandard("LVCMOS33")),
+    ),
+
+    # DAC SPI
+    ("spi", 1,
+        Subsignal("sclk", Pins("K3"), IOStandard("LVCMOS18")),
+        Subsignal("sdio", Pins("R2"), IOStandard("LVCMOS18")),
+        Subsignal("cs", Pins("R3"), IOStandard("LVCMOS18")),
+        # Subsignal("sclk_aux", Pins("V18"), IOStandard("LVCMOS33")),
+        # Subsignal("mosi_aux", Pins("U17"), IOStandard("LVCMOS33")),
+        # Subsignal("miso_aux", Pins("U18"), IOStandard("LVCMOS33")),
+        # Subsignal("cs_aux", Pins("AA20"), IOStandard("LVCMOS33")),
+    ),
+    #Pins("Y15 AB14 AB13 V13 V14 V15 U12 W13 W12 R17 W15 AB17 Y12 Y13 V16 W16 AA17 Y17"),
+    ("gpio", 0,
+        Subsignal("n", Pins("Y15 AB14 AB13 V13 V14 V15 U12 W13"), IOStandard("LVCMOS33")),
+        Subsignal("p", Pins("W12 R17 W15 AB17 Y12 Y13 V16 W16"), IOStandard("LVCMOS33")),
+    ),
+
+    # PS7
+    ("ps7_clk",   0, Pins("_" * 1)),
+    ("ps7_porb",  0, Pins("_" * 1)),
+    ("ps7_srstb", 0, Pins("_" * 1)),
+    ("ps7_mio",   0, Pins("_" * 54)),
+    ("ps7_ddram", 0,
+        Subsignal("addr",    Pins("_" * 15)),
+        Subsignal("ba",      Pins("_" * 3)),
+        Subsignal("cas_n",   Pins("_" * 1)),
+        Subsignal("ck_n",    Pins("_" * 1)),
+        Subsignal("ck_p",    Pins("_" * 1)),
+        Subsignal("cke",     Pins("_" * 1)),
+        Subsignal("cs_n",    Pins("_" * 1)),
+        Subsignal("dm",      Pins("_" * 4)),
+        Subsignal("dq",      Pins("_" * 32)),
+        Subsignal("dqs_n",   Pins("_" * 4)),
+        Subsignal("dqs_p",   Pins("_" * 4)),
+        Subsignal("odt",     Pins("_" * 1)),
+        Subsignal("ras_n",   Pins("_" * 1)),
+        Subsignal("reset_n", Pins("_" * 1)),
+        Subsignal("we_n",    Pins("_" * 1)),
+        Subsignal("vrn",     Pins("_" * 1)),
+        Subsignal("vrp",     Pins("_" * 1)),
+
+    ),
+
+    # I2C0 to Si5340 on Fast Servo
+    ("ps7_i2c", 0,
+        Subsignal("sda", Pins("M2")),
+        Subsignal("scl", Pins("M1")),
+        IOStandard("LVCMOS18")
+    ),
+
+    # Si540 nRST
+    ("nrst", 0, Pins("M7"), IOStandard("LVCMOS18")),
+
+]
+
+
+
+_connector_eem = [
+    ("eem", {
+        "d0_cc_n": "C3",
+        "d0_cc_p": "D3",
+        "d1_n": "A4",
+        "d1_p": "A5",
+        "d2_n": "F6",
+        "d2_p": "G6",
+        "d3_n": "A6",
+        "d3_p": "A7",
+        "d4_n": "E5",
+        "d4_p": "F5",
+        "d5_n": "H3",
+        "d5_p": "H4",
+        "d6_n": "B8",
+        "d6_p": "C8",
+        "d7_n": "D8",
+        "d7_p": "E8",
+    }),
+]
+
+_connector_gpio = [
+    ("gpio", {
+        "qspi_io3": "Y15",
+        "qspi_io2": "AB14",
+        "qspi_io1": "AB13",
+        "qspi_io0": "V13",
+        "qspi_clk": "V14",
+        "qspi_ncs": "V15",
+        "hrtim_che1": "U12",
+        "hrtim_che2": "W13",
+        "hrtim_cha1": "W12",
+        "hrtim_cha2": "R17",
+        "lptim2_out": "W15",
+        "uart4_tx": "AB17",
+        "spi1_mosi": "Y12",
+        "spi1_miso": "Y13",
+        "spi1_nss": "V16",
+        "spi1_sck": "W16",
+        "i2c1_sda": "AA17",
+        "i2c1_scl": "Y17",
+    })
+]
+
+# PS7 config ---------------------------------------------------------------------------------------
+
+ps7_config_board_preset = {
+    "PCW_PRESET_BANK0_VOLTAGE"          : "LVCMOS 3.3V",
+    "PCW_PRESET_BANK1_VOLTAGE"          : "LVCMOS 1.8V",
+    "PCW_CRYSTAL_PERIPHERAL_FREQMHZ"    : "33.333333",
+    "PCW_QSPI_PERIPHERAL_ENABLE"        : "1",
+    "PCW_QSPI_GRP_SINGLE_SS_ENABLE"     : "1",
+    "PCW_SINGLE_QSPI_DATA_MODE"         : "x4",
+    "PCW_QSPI_QSPI_IO"                  : "MIO 1 .. 6",
+    "PCW_QSPI_GRP_FBCLK_ENABLE"         : "1",
+
+    # SD Card
+    "PCW_SD0_PERIPHERAL_ENABLE"         : "1",
+    "PCW_SD0_SD0_IO"                    : "MIO 40 .. 45",
+    "PCW_MIO_40_PULLUP"                 : "disabled",
+    "PCW_MIO_41_PULLUP"                 : "disabled",
+    "PCW_MIO_42_PULLUP"                 : "disabled",
+    "PCW_MIO_43_PULLUP"                 : "disabled",
+    "PCW_MIO_44_PULLUP"                 : "disabled",
+    "PCW_MIO_45_PULLUP"                 : "disabled",
+    
+    # UART
+    "PCW_UART0_PERIPHERAL_ENABLE"       : "1",
+    "PCW_UART0_UART0_IO"                : "MIO 10 .. 11",
+
+    # ETHERNET
+    "PCW_ACT_ENET0_PERIPHERAL_FREQMHZ"  : "125",
+    "PCW_ENET0_PERIPHERAL_CLKSRC"       : "ARM PLL",
+    "PCW_ENET0_PERIPHERAL_ENABLE"       : "1",
+    "PCW_ENET0_ENET0_IO"                : "MIO 16 .. 27",
+    "PCW_ENET0_GRP_MDIO_ENABLE"         : "1",
+    "PCW_ENET0_GRP_MDIO_IO"             : "MIO 52 .. 53",
+    "PCW_ENET_RESET_ENABLE"             : "1",
+    "PCW_ENET0_RESET_ENABLE"            : "1",
+    "PCW_ENET0_RESET_IO"                : "MIO 50",
+
+    # USB
+    "PCW_USB0_PERIPHERAL_ENABLE"        : "1",
+    "PCW_USB0_USB0_IO"                  : "MIO 28 .. 39",
+    "PCW_USB_RESET_ENABLE"              : "1",
+    "PCW_USB0_RESET_ENABLE"             : "1",
+    "PCW_USB0_RESET_IO"                 : "MIO 51",
+
+    "PCW_WDT_PERIPHERAL_ENABLE"         : "1",
+    "PCW_TTC0_PERIPHERAL_ENABLE"        : "1",      # TTC0 required for Linux
+
+    # I2C
+    "PCW_I2C_RESET_ENABLE"              : "0",
+    "PCW_I2C_RESET_POLARITY"            : "Active Low",
+
+    # I2C0
+    "PCW_I2C0_I2C0_IO"                  : "EMIO",
+    "PCW_I2C0_PERIPHERAL_ENABLE"        : "1",
+    "PCW_I2C0_GRP_INT_ENABLE"           : "1",
+    "PCW_I2C0_GRP_INT_IO"               : "EMIO",
+
+    # I2C1
+    "PCW_I2C1_PERIPHERAL_ENABLE"        : "1",
+    "PCW_I2C1_I2C1_IO"                  : "MIO 48 .. 49",
+    "PCW_I2C1_I2C1_IO"                  : "MIO 12 .. 13",
+    "PCW_I2C1_PERIPHERAL_ENABLE"        : "1",
+
+    "PCW_UIPARAM_DDR_MEMORY_TYPE"       : "DDR 3 (Low Voltage)",
+    "PCW_UIPARAM_DDR_PARTNO"            : "MT41J256M16 RE-125",
+    "PCW_GPIO_MIO_GPIO_ENABLE"          : "1",
+
+    "PCW_FPGA0_PERIPHERAL_FREQMHZ"      : "100",
+    "PCW_EN_CLK0_PORT"                  : "0",              # dont use FCLK0 
+}
+
+class Platform(XilinxPlatform):
+    default_clk_name = "clk100"
+    default_clk_period = 10.0
+
+    def __init__(self):
+        XilinxPlatform.__init__(self, "xc7z015-clg485-1", _io, _connector_gpio + _connector_eem, toolchain="vivado")
+        ps7_config = ps7_config_board_preset
+        self.ps7_config = ps7_config
+
+        verilog_sources = os.listdir(verilog_dir)
+        self.add_sources(verilog_dir, *verilog_sources)
+
+    def do_finalize(self, fragment):
+        try:
+            XilinxPlatform.do_finalize(self, fragment)
+            self.add_period_constraint(self.lookup_request(self.default_clk_name, loose=True), self.default_clk_period)
+        except ValueError:
+            pass
+        except ConstraintError:
+            pass

fast-servo/linien-gateware/fast_servo_soc.py

@@ -0,0 +1,291 @@
+# 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 os
+
+from migen import *
+from misoc.interconnect import csr_bus
+from misoc.interconnect.csr import AutoCSR, CSRStorage
+
+from fast_servo.gateware.cores.adc import ADC, AUX_ADC_CTRL
+from fast_servo.gateware.cores.dac import AUX_DAC_CTRL, DAC
+from fast_servo.gateware.cores.pitaya_ps import Axi2Sys, Sys2CSR, SysCDC, SysInterconnect
+from fast_servo.gateware.cores.ps7 import PS7
+from fast_servo.gateware.cores.spi_phy import SpiInterface, SpiPhy
+
+
+class CRG(Module):
+    def __init__(self, platform):
+        self.ps_rst         = Signal()
+        self.locked         = Signal()
+        self.clock_domains.cd_sys         = ClockDomain()
+        self.clock_domains.cd_sys_double  = ClockDomain()
+        self.clock_domains.cd_idelay      = ClockDomain()
+
+        # # #
+
+        # Clk.
+        clk100 = platform.request("clk100")
+        platform.add_period_constraint(clk100, 10.0)
+        self.clkin = clk100
+        clk100_buf = Signal()
+        self.specials += Instance("IBUFG", i_I=clk100, o_O=clk100_buf)
+
+        clk_feedback = Signal()
+        clk_feedback_buf = Signal()
+
+        clk_sys = Signal()
+        clk_idelay = Signal()
+
+        self.specials += [
+            Instance(
+                "PLLE2_BASE",
+                p_BANDWIDTH="OPTIMIZED",
+                p_DIVCLK_DIVIDE=1,
+                p_CLKFBOUT_PHASE=0.0,
+                p_CLKFBOUT_MULT=10,
+                p_CLKIN1_PERIOD=10.0,
+                p_REF_JITTER1=0.01,
+                p_STARTUP_WAIT="FALSE",
+                i_CLKIN1=clk100_buf,
+                i_PWRDWN=0,
+                i_RST=self.ps_rst,
+                i_CLKFBIN=clk_feedback_buf,
+                o_CLKFBOUT=clk_feedback,
+                p_CLKOUT0_DIVIDE=10,
+                p_CLKOUT0_PHASE=0.0,
+                p_CLKOUT0_DUTY_CYCLE=0.5,
+                o_CLKOUT0=clk_sys,           # 100 MHz <- sys_clk
+                p_CLKOUT1_DIVIDE=5,
+                p_CLKOUT1_PHASE=0.0,
+                p_CLKOUT1_DUTY_CYCLE=0.5,
+                o_CLKOUT1=clk_idelay,       # 200 MHZ <- 2 * sys_clk = 2*100 MHz
+                o_LOCKED=self.locked,
+            )
+        ]
+
+        self.specials += Instance("BUFG", i_I=clk_feedback, o_O=clk_feedback_buf)
+        self.specials += Instance("BUFG", i_I=clk_sys, o_O=self.cd_sys.clk)
+        self.specials += Instance("BUFG", i_I=clk_idelay, o_O=self.cd_idelay.clk)
+        self.specials += Instance("BUFG", i_I=clk_idelay, o_O=self.cd_sys_double.clk)
+
+
+        # Ignore sys_clk to pll clkin path created by SoC's rst.
+        platform.add_false_path_constraints(self.cd_sys.clk, self.clkin)
+
+        self.specials += Instance("FD", p_INIT=1, i_D=~self.locked, i_C=self.cd_sys.clk, o_Q=self.cd_sys.rst)
+
+
+class BaseSoC(PS7, AutoCSR):
+    def __init__(self, platform, passthrouh=False):
+        PS7.__init__(self, platform)
+
+        # TODO: 
+        # LINIEN SPECIFIC csr_map - in the future should be moved
+        # to csr_devices list
+        self.csr_map = {
+            "adc": 9,
+            "fp_led0": 10,
+            "fp_led1": 11,
+            "fp_led2": 12,
+            "fp_led3": 13,
+            "dac": 14,
+            "adc_aux_ctrl": 15,
+            "dac_aux_ctrl": 16,
+        }
+        self.soc_name = "FastServo"
+        self.interconnect_slaves = []
+        self.csr_devices = []
+        
+        self.platform = platform
+
+        self.submodules.crg = CRG(platform)
+
+        # # # AXI to system bus bridge
+        self.submodules.axi2sys = Axi2Sys()
+        self.submodules.sys2csr = Sys2CSR()
+        self.submodules.syscdc = SysCDC()
+        self.add_axi_gp_master(self.axi2sys.axi)
+
+        self.comb += [
+            self.axi2sys.axi.aclk.eq(ClockSignal("sys")),
+            self.axi2sys.axi.arstn.eq(self.frstn),
+            self.syscdc.target.connect(self.sys2csr.sys),
+        ]
+        
+        # ETH LEDS
+        self.comb += [
+            platform.request("eth_led", 0).eq(platform.request("from_eth_phy", 0)),
+            platform.request("eth_led", 1).eq(platform.request("from_eth_phy", 1)),
+        ]
+
+        # I2C0 to Si5340 on Fast Servo
+        self.add_i2c_emio(platform, "ps7_i2c", 0)
+
+        # SPI0 - interface to main ADC and auxiliary ADC
+        self.add_spi_interface(platform, SpiInterface.ADC)
+
+        # SPI1 - interface to main DAC and auxiliary DAC
+        self.add_spi_interface(platform, SpiInterface.DAC)
+
+        # 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)
+        self.csr_devices.append("dac")
+        
+        # DEBUG
+        if passthrouh:
+            DAC_DATA_WIDTH = 14
+            for ch in range(2):
+                saturate = Signal()
+                adc_signal = self.adc.data_out[ch]
+                self.comb += [
+                    saturate.eq(adc_signal[-3:] != Replicate(adc_signal[-1], 3)),
+                    self.dac.data_in[ch].eq(Mux(saturate,
+                            Cat(Replicate(~adc_signal[-1], DAC_DATA_WIDTH-1), adc_signal[-1]),
+                            adc_signal[:-2]))
+                ]
+
+        si_5340_nrst = platform.request("nrst")
+        self.comb += si_5340_nrst.eq(1)
+
+        for i in range(4):
+            led_pin = platform.request("fp_led", i)
+            setattr(self.submodules, f"fp_led{i}", LED(led_pin))
+            self.csr_devices.append(f"fp_led{i}")
+
+        self.submodules.adc_aux_ctrl = AUX_ADC_CTRL(platform)
+        self.csr_devices.append("adc_aux_ctrl")
+
+        self.submodules.dac_aux_ctrl = AUX_DAC_CTRL(platform)
+        self.csr_devices.append("dac_aux_ctrl")
+
+    def add_spi_interface(self, platform, spi_type):
+        assert isinstance(spi_type, SpiInterface)
+        n = spi_type.value
+
+        ps7_spi_pads = platform.request("spi", spi_type.value)
+        spi_phy = SpiPhy(spi_type, ps7_spi_pads)
+        self.submodules += spi_phy
+
+        ps7_config_spi = {
+            f"PCW_SPI{n}_GRP_SS0_ENABLE"       : "1",
+            f"PCW_SPI{n}_GRP_SS0_IO"           : "EMIO",
+            f"PCW_SPI{n}_GRP_SS1_ENABLE"       : "1",
+            f"PCW_SPI{n}_GRP_SS1_IO"           : "EMIO",
+            f"PCW_SPI{n}_GRP_SS2_ENABLE"       : "1",
+            f"PCW_SPI{n}_GRP_SS2_IO"           : "EMIO",
+            f"PCW_SPI{n}_PERIPHERAL_ENABLE"    : "1",
+            f"PCW_SPI{n}_SPI{n}_IO"              : "EMIO",
+            f"PCW_SPI_PERIPHERAL_CLKSRC"     : "IO PLL",
+            f"PCW_SPI_PERIPHERAL_DIVISOR0"   : "10",
+            f"PCW_SPI_PERIPHERAL_FREQMHZ"    : "166.666666",
+        }
+        self.add_ps7_config(ps7_config_spi)
+
+        self.cpu_params.update({
+            f"o_SPI{n}_MISO_O"      : spi_phy.ps_miso_o,
+            f"o_SPI{n}_MISO_T"      : spi_phy.ps_miso_t,
+            f"o_SPI{n}_MOSI_O"      : spi_phy.ps_mosi_o,
+            f"o_SPI{n}_MOSI_T"      : spi_phy.ps_mosi_t,
+            f"o_SPI{n}_SCLK_O"      : spi_phy.ps_sclk_o,
+            f"o_SPI{n}_SCLK_T"      : spi_phy.ps_sclk_t,
+
+            f"i_SPI{n}_SCLK_I"      : spi_phy.ps_sclk_i,
+            f"i_SPI{n}_MOSI_I"      : spi_phy.ps_mosi_i,
+            f"i_SPI{n}_MISO_I"      : spi_phy.ps_miso_i,
+            f"i_SPI{n}_SS_I"        : spi_phy.ps_ss_i,
+            f"o_SPI{n}_SS_O"        : spi_phy.ps_ss[0],
+            f"o_SPI{n}_SS1_O"       : spi_phy.ps_ss[1],
+            f"o_SPI{n}_SS2_O"       : spi_phy.ps_ss[2],
+            f"o_SPI{n}_SS_T"        : spi_phy.ps_ss_t,
+        })
+    
+    def add_interconnect_slave(self, slave):
+        self.interconnect_slaves.append(slave)
+
+    def get_csr_dev_address(self, name, memory):     
+        # TODO: switch to MiSoC-like address retriving from 
+        # the list of CSR devices  
+        if memory is not None:
+            name = name + "_" + memory.name_override
+        try:
+            return self.csr_map[name]
+        except KeyError:
+            return None
+        
+    def soc_finalize(self):
+        # Overload this method to customize SystemInterconnect
+        # and csrbanks - especially useful in Linien
+        self.add_interconnect_slave(self.syscdc.source)
+        self.submodules.interconnect = SysInterconnect(
+            self.axi2sys.sys,
+            *self.interconnect_slaves
+        )
+        self.submodules.csrbanks = csr_bus.CSRBankArray(self,
+            self.get_csr_dev_address)
+        self.submodules.csrcon = csr_bus.Interconnect(
+            self.sys2csr.csr, self.csrbanks.get_buses()
+        )
+        
+    def do_finalize(self):
+        self.soc_finalize()
+        PS7.do_finalize(self)
+
+    def build(self, *args, **kwargs):
+        self.platform.build(self, *args, **kwargs)
+
+class LED(Module, AutoCSR):
+    def __init__(self, led):
+        
+        self.led_out = CSRStorage(1)
+
+        self.comb += led.eq(self.led_out.storage)
+
+
+if __name__ == "__main__":
+    import subprocess
+    from fast_servo.gateware.fast_servo_platform import Platform
+    import argparse
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--debug", action="store_true", default=False, help="Hardwire ADC data to DAC")
+    args = parser.parse_args()
+
+    
+    root_path = os.getcwd()
+    platform = Platform()
+    fast_servo = BaseSoC(platform, passthrouh=args.debug)
+
+    build_dir = "builds/fast_servo_gw_debug" if args.debug else"builds/fast_servo_gw"
+    build_name = "top"
+    fast_servo.build(build_dir=build_dir, build_name=build_name, run=True)
+    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-gateware/verilog/LTC2195.v

@@ -0,0 +1,162 @@
+///////////////////////////////////////////////////////////////////////////////
+// LTC2195.v
+//
+// 8/03/21
+// Jakub Matyas
+//
+//	LTC2195 controller.
+//
+// 
+///////////////////////////////////////////////////////////////////////////////
+
+// `include "timescale.v"
+`timescale 1ns/1ps // this was in the SelectIO design
+
+module LTC2195(
+	input	 						   rst_in,
+	input clk200,
+	input  DCO,
+	input  DCO_2D,
+	input  		 					FR_in_p,
+	input  							FR_in_n,
+	input  		 			[3:0]	D0_in_p,
+	input  		 			[3:0]	D0_in_n,
+	input  		 			[3:0]	D1_in_p,
+	input  		 			[3:0]	D1_in_n,
+	input  bitslip,
+	input [4:0] delay_val,
+	
+	output reg	  [15:0] ADC0_out,
+	output reg    [15:0] ADC1_out,
+	output reg					[3:0] FR_out,
+	output wire [8:0] o_data_from_pins,
+	output idelay_rdy
+);
+
+// ///////////////////////////////////////////////////////////////////////////////
+// // LVDS inputs
+
+localparam N_BITS = 4;
+localparam  N_LANES = 9;	// for each channel 4 lanes + 1 lane for FRAME
+wire [N_LANES-1:0] data_in_p, data_in_n, data_in_from_pins, data_in_from_pins_delay;
+assign data_in_p = {FR_in_p, D1_in_p, D0_in_p};
+assign data_in_n = {FR_in_n, D1_in_n, D0_in_n};
+assign o_data_from_pins = data_in_from_pins_delay;
+
+
+wire [N_LANES*4 -1:0] data_out;
+wire [35:0 ]data_out_mod;
+
+
+assign data_out_mod = {~data_out[35:24], data_out[23:20], ~data_out[19:16], data_out[15:0]};
+
+
+always @(posedge DCO_2D) begin
+    ADC0_out <= {
+		data_out_mod[0], data_out_mod[4], data_out_mod[1], data_out_mod[5],
+        data_out_mod[2], data_out_mod[6], data_out_mod[3], data_out_mod[7],
+        data_out_mod[8], data_out_mod[12], data_out_mod[9], data_out_mod[13],
+        data_out_mod[10], data_out_mod[14], data_out_mod[11], data_out_mod[15]
+    };
+
+    ADC1_out <= {
+		data_out_mod[16 + 0], data_out_mod[16 + 4], data_out_mod[16 + 1], data_out_mod[16 + 5],
+        data_out_mod[16 + 2], data_out_mod[16 + 6], data_out_mod[16 + 3], data_out_mod[16 + 7],
+        data_out_mod[16 + 8], data_out_mod[16 + 12], data_out_mod[16 + 9], data_out_mod[16 + 13],
+        data_out_mod[16 + 10], data_out_mod[16 + 14], data_out_mod[16 + 11], data_out_mod[16 + 15]
+    };
+	FR_out <= {data_out_mod[32], data_out_mod[33], data_out_mod[34], data_out_mod[35]};		// value that arrived first is LSB, therefore reversing order
+end
+
+wire s_idelay_rdy;
+IDELAYCTRL IDELAYCTRL_inst (
+	.RDY(s_idelay_rdy),       // 1-bit output: Ready output
+	.REFCLK(clk200), // 1-bit input: Reference clock input
+	.RST(s_rst)        // 1-bit input: Active high reset input
+);
+
+assign idelay_rdy = s_idelay_rdy;
+
+
+reg s_rst;
+reg [5:0] rst_cnt;
+wire serdes_o;
+
+always @(posedge DCO_2D) begin
+    if (rst_in) begin
+        s_rst <= 1'b1;
+        rst_cnt <= 'b0;
+    end else begin
+        if (rst_cnt == 22) 
+            s_rst <= 'b0;
+        else
+            rst_cnt <= rst_cnt + 1;
+    end
+end
+
+genvar lane;
+generate for (lane=0; lane<N_LANES; lane=lane+1) begin
+	IBUFDS #(
+		.DIFF_TERM("TRUE")
+	)
+	ibufds_inst (
+		.I(data_in_p[lane]),
+		.IB(data_in_n[lane]),
+		.O(data_in_from_pins[lane])
+	);
+    IDELAYE2 #(
+        .CINVCTRL_SEL("FALSE"),          // Enable dynamic clock inversion (FALSE, TRUE)
+        .DELAY_SRC("IDATAIN"),           // Delay input (IDATAIN, DATAIN)
+        .HIGH_PERFORMANCE_MODE("TRUE"), // Reduced jitter ("TRUE"), Reduced power ("FALSE")
+        .IDELAY_TYPE("VAR_LOAD"),           // FIXED, VARIABLE, VAR_LOAD, VAR_LOAD_PIPE
+        .IDELAY_VALUE(0),                // Input delay tap setting (0-31)
+        .PIPE_SEL("FALSE"),              // Select pipelined mode, FALSE, TRUE
+        .REFCLK_FREQUENCY(200.0),        // IDELAYCTRL clock input frequency in MHz (190.0-210.0, 290.0-310.0).
+        .SIGNAL_PATTERN("DATA")          // DATA, CLOCK input signal
+    )
+	IDELAYE2_inst (
+	   .C(clk200),
+	   .CE('b0),
+	   .CNTVALUEIN(delay_val),
+	   .LD(1'b1),
+		.DATAOUT(data_in_from_pins_delay[lane]),         // 1-bit output: Delayed data output
+		.IDATAIN(data_in_from_pins[lane]),         // 1-bit input: Data input from the I/O
+		.LDPIPEEN		(1'b0),
+	   .REGRST			(1'b0),
+	   .CINVCTRL		(1'b0)
+	);
+
+	ISERDESE2 #(
+		.DATA_RATE("DDR"),
+		.DATA_WIDTH(3'd4),
+		.INTERFACE_TYPE("NETWORKING"),
+		.IOBDELAY("BOTH"),
+		.SERDES_MODE("MASTER"),
+		.NUM_CE(2'd2)
+	)
+	iserdes_inst (
+		.CE1(1'd1),
+		.CE2(1'd1),
+		.DYNCLKDIVSEL('b0),
+		.DYNCLKSEL('b0),
+		.CLK(DCO),
+		.CLKB(!DCO),
+		.CLKDIV(DCO_2D),
+//		.D(data_in_from_pins[lane]),
+		.DDLY(data_in_from_pins_delay[lane]),
+		.RST(s_rst),
+		.BITSLIP(bitslip),
+		// DATA is MSB first and OUTA is LANE0, so in case of OUTA:
+		// Q1 = D9
+		// Q2 = D11
+		// Q3 = D13
+		// Q4 = D15
+		.Q1(data_out[lane*N_BITS + 3]),       
+		.Q2(data_out[lane*N_BITS + 2]),
+		.Q3(data_out[lane*N_BITS + 1]),
+		.Q4(data_out[lane*N_BITS + 0]) 
+	);
+end
+endgenerate
+
+endmodule

fast-servo/linien-gateware/verilog/axi_slave.v

@@ -0,0 +1,265 @@
+/**
+ * $Id: axi_slave.v 961 2014-01-21 11:40:39Z matej.oblak $
+ *
+ * @brief Red Pitaya symplified AXI slave.
+ *
+ * @Author Matej Oblak
+ *
+ * (c) Red Pitaya  http://www.redpitaya.com
+ *
+ * This part of code is written in Verilog hardware description language (HDL).
+ * Please visit http://en.wikipedia.org/wiki/Verilog
+ * for more details on the language used herein.
+ */
+
+
+
+/**
+ * GENERAL DESCRIPTION:
+ *
+ * AXI slave used also for simple bus master.
+ *
+ *
+ *                     /------\
+ *   WR ADDRESS  ----> |  WR  |
+ *   WR DATA     ----> |      | -----------
+ *   WR RESPONSE <---- |  CH  |            |
+ *                     \------/       /--------\
+ *                                    | SIMPLE | ---> WR/RD ADDRRESS
+ *   AXI                              |        | ---> WR DATA
+ *                                    |   RP   | <--- RD DATA
+ *                                    |  BUS   | <--- ACKNOWLEDGE
+ *                     /------\       \--------/
+ *   RD ADDRESS  ----> |  RD  |            |
+ *   RD DATA     <---- |  CH  | -----------
+ *                     \------/
+ *
+ *
+ * Because AXI bus is quite complex simplier bus was created.
+ *
+ * It combines write and read channel, where write has bigger priority. Command
+ * is then send forward to red pitaya bus. When wite or read acknowledge is
+ * received AXI response is created and new AXI is accepted.
+ *
+ * To prevent AXI lockups because no response is received, this slave creates its
+ * own after 32 cycles (ack_cnt).
+ *
+ */
+
+
+
+
+module axi_slave
+#(
+parameter           AXI_DW         =  64           , // data width (8,16,...,1024)
+parameter           AXI_AW         =  32           , // address width
+parameter           AXI_IW         =   8           , // ID width
+parameter           AXI_SW         = AXI_DW >> 3     // strobe width - 1 bit for every data byte
+)
+(
+ // global signals
+   input                     axi_clk_i      ,  //!< AXI global clock
+   input                     axi_rstn_i     ,  //!< AXI global reset
+
+ // axi write address channel
+   input      [ AXI_IW-1: 0] axi_awid_i     ,  //!< AXI write address ID
+   input      [ AXI_AW-1: 0] axi_awaddr_i   ,  //!< AXI write address
+   input      [      4-1: 0] axi_awlen_i    ,  //!< AXI write burst length
+   input      [      3-1: 0] axi_awsize_i   ,  //!< AXI write burst size
+   input      [      2-1: 0] axi_awburst_i  ,  //!< AXI write burst type
+   input      [      2-1: 0] axi_awlock_i   ,  //!< AXI write lock type
+   input      [      4-1: 0] axi_awcache_i  ,  //!< AXI write cache type
+   input      [      3-1: 0] axi_awprot_i   ,  //!< AXI write protection type
+   input                     axi_awvalid_i  ,  //!< AXI write address valid
+   output                    axi_awready_o  ,  //!< AXI write ready
+
+ // axi write data channel
+   input      [ AXI_IW-1: 0] axi_wid_i      ,  //!< AXI write data ID
+   input      [ AXI_DW-1: 0] axi_wdata_i    ,  //!< AXI write data
+   input      [ AXI_SW-1: 0] axi_wstrb_i    ,  //!< AXI write strobes
+   input                     axi_wlast_i    ,  //!< AXI write last
+   input                     axi_wvalid_i   ,  //!< AXI write valid
+   output                    axi_wready_o   ,  //!< AXI write ready
+
+ // axi write response channel
+   output     [ AXI_IW-1: 0] axi_bid_o      ,  //!< AXI write response ID
+   output reg [      2-1: 0] axi_bresp_o    ,  //!< AXI write response
+   output reg                axi_bvalid_o   ,  //!< AXI write response valid
+   input                     axi_bready_i   ,  //!< AXI write response ready
+
+ // axi read address channel
+   input      [ AXI_IW-1: 0] axi_arid_i     ,  //!< AXI read address ID
+   input      [ AXI_AW-1: 0] axi_araddr_i   ,  //!< AXI read address
+   input      [      4-1: 0] axi_arlen_i    ,  //!< AXI read burst length
+   input      [      3-1: 0] axi_arsize_i   ,  //!< AXI read burst size
+   input      [      2-1: 0] axi_arburst_i  ,  //!< AXI read burst type
+   input      [      2-1: 0] axi_arlock_i   ,  //!< AXI read lock type
+   input      [      4-1: 0] axi_arcache_i  ,  //!< AXI read cache type
+   input      [      3-1: 0] axi_arprot_i   ,  //!< AXI read protection type
+   input                     axi_arvalid_i  ,  //!< AXI read address valid
+   output                    axi_arready_o  ,  //!< AXI read address ready
+
+ // axi read data channel
+   output     [ AXI_IW-1: 0] axi_rid_o      ,  //!< AXI read response ID
+   output reg [ AXI_DW-1: 0] axi_rdata_o    ,  //!< AXI read data
+   output reg [      2-1: 0] axi_rresp_o    ,  //!< AXI read response
+   output reg                axi_rlast_o    ,  //!< AXI read last
+   output reg                axi_rvalid_o   ,  //!< AXI read response valid
+   input                     axi_rready_i   ,  //!< AXI read response ready
+
+ // RP system read/write channel
+   output     [ AXI_AW-1: 0] sys_addr_o     ,  //!< system bus read/write address.
+   output     [ AXI_DW-1: 0] sys_wdata_o    ,  //!< system bus write data.
+   output reg [ AXI_SW-1: 0] sys_sel_o      ,  //!< system bus write byte select.
+   output reg                sys_wen_o      ,  //!< system bus write enable.
+   output reg                sys_ren_o      ,  //!< system bus read enable.
+   input      [ AXI_DW-1: 0] sys_rdata_i    ,  //!< system bus read data.
+   input                     sys_err_i      ,  //!< system bus error indicator.
+   input                     sys_ack_i         //!< system bus acknowledge signal.
+);
+
+
+//---------------------------------------------------------------------------------
+//
+//  AXI slave Module
+wire                 ack         ;
+reg   [      6-1: 0] ack_cnt     ;
+
+reg                  rd_do       ;
+reg   [ AXI_IW-1: 0] rd_arid     ;
+reg   [ AXI_AW-1: 0] rd_araddr   ;
+reg                  rd_error    ;
+wire                 rd_errorw   ;
+
+reg                  wr_do       ;
+reg   [ AXI_IW-1: 0] wr_awid     ;
+reg   [ AXI_AW-1: 0] wr_awaddr   ;
+reg   [ AXI_IW-1: 0] wr_wid      ;
+reg   [ AXI_DW-1: 0] wr_wdata    ;
+reg                  wr_error    ;
+wire                 wr_errorw   ;
+
+assign wr_errorw = (axi_awlen_i != 4'h0) || (axi_awsize_i != 3'b010); // error if write burst and more/less than 4B transfer
+assign rd_errorw = (axi_arlen_i != 4'h0) || (axi_arsize_i != 3'b010); // error if read burst and more/less than 4B transfer
+
+always @(posedge axi_clk_i) begin
+   if (axi_rstn_i == 1'b0) begin
+      rd_do    <= 1'b0 ;
+      rd_error <= 1'b0 ;
+   end
+   else begin
+      if (axi_arvalid_i && !rd_do && !axi_awvalid_i && !wr_do) // accept just one read request - write has priority
+         rd_do  <= 1'b1 ;
+      else if (axi_rready_i && rd_do && ack)
+         rd_do  <= 1'b0 ;
+
+      if (axi_arvalid_i && axi_arready_o) begin // latch ID and address
+         rd_arid   <= axi_arid_i   ;
+         rd_araddr <= axi_araddr_i ;
+         rd_error  <= rd_errorw    ;
+      end
+   end
+end
+
+
+always @(posedge axi_clk_i) begin
+   if (axi_rstn_i == 1'b0) begin
+      wr_do    <= 1'b0 ;
+      wr_error <= 1'b0 ;
+   end
+   else begin
+      if (axi_awvalid_i && !wr_do && !rd_do) // accept just one write request - if idle
+         wr_do  <= 1'b1 ;
+      else if (axi_bready_i && wr_do && ack)
+         wr_do  <= 1'b0 ;
+
+      if (axi_awvalid_i && axi_awready_o) begin // latch ID and address
+         wr_awid   <= axi_awid_i   ;
+         wr_awaddr <= axi_awaddr_i ;
+         wr_error  <= wr_errorw    ;
+      end
+
+      if (axi_wvalid_i && wr_do) begin // latch ID and write data
+         wr_wid    <= axi_wid_i    ;
+         wr_wdata  <= axi_wdata_i  ;
+      end
+   end
+end
+
+
+
+
+
+assign axi_awready_o = !wr_do && !rd_do                      ;
+assign axi_wready_o  = (wr_do && axi_wvalid_i) || (wr_errorw && axi_wvalid_i)    ;
+assign axi_bid_o     = wr_awid                               ;
+//assign axi_bresp_o   = {wr_error,1'b0}                       ;  // 2'b10 SLVERR
+//assign axi_bvalid_o  = (sys_wen_o && axi_bready_i) || (wr_error && axi_bready_i)      ;
+
+assign axi_arready_o = !rd_do && !wr_do && !axi_awvalid_i     ;
+assign axi_rid_o     = rd_arid                                ;
+//assign axi_rdata_o   = sys_rdata_i                            ;
+
+always @(posedge axi_clk_i) begin
+   if (axi_rstn_i == 1'b0) begin
+      axi_bvalid_o  <= 1'b0 ;
+      axi_bresp_o   <= 2'h0 ;
+      axi_rlast_o   <= 1'b0 ;
+      axi_rvalid_o  <= 1'b0 ;
+      axi_rresp_o   <= 2'h0 ;
+   end
+   else begin
+      axi_bvalid_o  <= wr_do && ack  ;
+      axi_bresp_o   <= {(wr_error || ack_cnt[5]),1'b0} ;  // 2'b10 SLVERR    2'b00 OK
+      axi_rlast_o   <= rd_do && ack  ;
+      axi_rvalid_o  <= rd_do && ack  ;
+      axi_rresp_o   <= {(rd_error || ack_cnt[5]),1'b0} ;  // 2'b10 SLVERR    2'b00 OK
+      axi_rdata_o   <= sys_rdata_i   ;
+   end
+end
+
+// acknowledge protection
+always @(posedge axi_clk_i) begin
+   if (axi_rstn_i == 1'b0) begin
+      ack_cnt   <= 6'h0 ;
+   end
+   else begin
+      if ((axi_arvalid_i && axi_arready_o) || (axi_awvalid_i && axi_awready_o))  // rd || wr request
+         ack_cnt <= 6'h1 ;
+      else if (ack)
+         ack_cnt <= 6'h0 ;
+      else if (|ack_cnt)
+         ack_cnt <= ack_cnt + 6'h1 ;
+   end
+end
+
+assign ack = sys_ack_i || ack_cnt[5] || (rd_do && rd_errorw) || (wr_do && wr_errorw); // bus acknowledge or timeout or error
+
+
+
+
+
+//------------------------------------------
+//  Simple slave interface
+
+always @(posedge axi_clk_i) begin
+   if (axi_rstn_i == 1'b0) begin
+      sys_wen_o  <= 1'b0 ;
+      sys_ren_o  <= 1'b0 ;
+      sys_sel_o  <= {AXI_SW{1'b0}} ;
+   end
+   else begin
+      sys_wen_o  <= wr_do && axi_wvalid_i && !wr_errorw ;
+      sys_ren_o  <= axi_arvalid_i && axi_arready_o && !rd_errorw ;
+      sys_sel_o  <= {AXI_SW{1'b1}} ;
+   end
+end
+
+assign sys_addr_o  = rd_do ? rd_araddr : wr_awaddr  ;
+assign sys_wdata_o = wr_wdata                       ;
+
+
+
+
+
+endmodule

fast-servo/linien-gateware/verilog/bus_clk_bridge.v

@@ -0,0 +1,128 @@
+/**
+ * $Id: bus_clk_bridge.v 961 2014-01-21 11:40:39Z matej.oblak $
+ *
+ * @brief Red Pitaya system bus clock crossing bridge.
+ *
+ * @Author Matej Oblak
+ *
+ * (c) Red Pitaya  http://www.redpitaya.com
+ *
+ * This part of code is written in Verilog hardware description language (HDL).
+ * Please visit http://en.wikipedia.org/wiki/Verilog
+ * for more details on the language used herein.
+ */
+
+
+
+/**
+ * GENERAL DESCRIPTION:
+ *
+ * Clock domain bridge for system bus.
+ *
+ *
+ *                  /------\
+ *   SYSTEM         |      |         PROCESSING
+ *   BUS    <-----> | SYNC | <----->    BUS
+ *                  |      |
+ *                  \------/
+ *
+ *
+ * System bus runs on one clock domain while processing runs on separate. To 
+ * simplify transition of writing and reading data this bridge was created.
+ * 
+ */
+
+
+
+
+module bus_clk_bridge
+(
+   // system bus
+   input                 sys_clk_i     ,  //!< bus clock
+   input                 sys_rstn_i    ,  //!< bus reset - active low
+   input      [ 32-1: 0] sys_addr_i    ,  //!< bus address
+   input      [ 32-1: 0] sys_wdata_i   ,  //!< bus write data
+   input      [  4-1: 0] sys_sel_i     ,  //!< bus write byte select
+   input                 sys_wen_i     ,  //!< bus write enable
+   input                 sys_ren_i     ,  //!< bus read enable
+   output     [ 32-1: 0] sys_rdata_o   ,  //!< bus read data
+   output                sys_err_o     ,  //!< bus error indicator
+   output                sys_ack_o     ,  //!< bus acknowledge signal
+
+
+   // Destination bus
+   input                 clk_i         ,  //!< clock
+   input                 rstn_i        ,  //!< reset - active low
+   output reg [ 32-1: 0] addr_o        ,  //!< address
+   output reg [ 32-1: 0] wdata_o       ,  //!< write data
+   output                wen_o         ,  //!< write enable
+   output                ren_o         ,  //!< read enable
+   input      [ 32-1: 0] rdata_i       ,  //!< read data
+   input                 err_i         ,  //!< error indicator
+   input                 ack_i            //!< acknowledge signal
+);
+
+
+
+//---------------------------------------------------------------------------------
+//  Synchronize signals between clock domains
+
+reg            sys_rd    ;
+reg            sys_wr    ;
+reg            sys_do    ;
+reg  [ 2-1: 0] sys_sync  ;
+reg            sys_done  ;
+reg            dst_do    ;
+reg  [ 2-1: 0] dst_sync  ;
+reg            dst_done  ;
+
+always @(posedge sys_clk_i) begin
+   if (sys_rstn_i == 1'b0) begin
+      sys_rd   <= 1'b0 ;
+      sys_wr   <= 1'b0 ;
+      sys_do   <= 1'b0 ;
+      sys_sync <= 2'h0 ;
+      sys_done <= 1'b0 ;
+   end 
+   else begin
+
+      if ((sys_do == sys_done) && (sys_wen_i || sys_ren_i)) begin
+         addr_o  <= sys_addr_i    ;
+         wdata_o <= sys_wdata_i   ;
+         sys_rd  <= sys_ren_i     ;
+         sys_wr  <= sys_wen_i     ;
+         sys_do  <= !sys_do       ;
+      end
+
+      sys_sync <= {sys_sync[0], dst_done};
+      sys_done <= sys_sync[1];
+   end
+end
+
+
+always @(posedge clk_i) begin
+   if (rstn_i == 1'b0) begin
+      dst_do    <= 1'b0 ;
+      dst_sync  <= 2'h0 ;
+      dst_done  <= 1'b0 ;
+   end
+   else begin
+      dst_sync <= {dst_sync[0], sys_do};
+      dst_do   <= dst_sync[1];
+
+      if (ack_i && (dst_do != dst_done))
+         dst_done <= dst_do;
+   end
+end
+
+assign ren_o = sys_rd && (dst_sync[1]^dst_do);
+assign wen_o = sys_wr && (dst_sync[1]^dst_do);
+
+
+assign sys_rdata_o = rdata_i                ;
+assign sys_err_o   = err_i                  ;
+assign sys_ack_o   = sys_done ^ sys_sync[1] ;
+
+
+
+endmodule

fast-servo/linien-gateware/verilog/spi2threewire.v

@@ -0,0 +1,111 @@
+`timescale 1ns / 1ps
+//////////////////////////////////////////////////////////////////////////////////
+// Company:  WUT
+// Engineer: Jakub Matyas
+// 
+// Create Date: 03/02/2023 01:39:08 PM
+// Design Name: 
+// Module Name: spi2threewire
+// Project Name: 
+// Target Devices: 
+// Tool Versions: 
+// Description: 
+// 
+// Dependencies: 
+// 
+// Revision:
+// Revision 0.01 - File Created
+// Additional Comments:
+// 
+//////////////////////////////////////////////////////////////////////////////////
+
+module spi2threewire (
+    output ps_sclk_i,
+    input ps_sclk_o,
+    input ps_sclk_t,
+    
+    output ps_mosi_i,
+    input ps_mosi_o,
+    input ps_mosi_t,
+    
+    output ps_miso_i,
+    input ps_miso_o,
+    input ps_miso_t,
+    
+    output ps_ss_i,
+    input [2:0] ps_ss,
+    input ps_ss_t,
+    
+    output o_ss,
+    output o_sclk,
+    inout sdio
+
+);
+
+assign ps_sclk_i = 1'b0;
+assign ps_mosi_i = 1'b0;
+assign ps_ss_i = 1'b1;
+
+
+reg [3:0]   bit_count = 'd0;
+
+// rd_wr_n - whether it will be READ transaction or WRITE
+//           first bit of the command
+reg         rd_wr_n = 'd0;          
+reg         sdio_buffer_direction = 'd0;
+
+wire        s_sclk;
+wire        s_csn;
+wire        s_sdio_buffer_direction;
+
+assign s_sclk = ps_sclk_o;
+assign s_csn = ps_ss[0];
+assign o_ss = s_csn;
+
+// 1 if there is a SPI tranmsission going on (CS_N is LOW)
+//      AND transmission is of READ type
+// 0 otherwise
+assign s_sdio_buffer_direction = sdio_buffer_direction & ~s_csn;
+
+always @(posedge s_sclk or posedge s_csn) begin
+    if (s_csn == 1'b1) begin
+        // after the transmission, fill bit counter with ZEROS
+        // and zero transmission type (rd_wr_n)
+        bit_count <= 4'd0;
+        rd_wr_n <= 1'b0;
+    end else begin 
+        // on every rising edge increment bit counter
+        // sample first bit to get the knowledge of the transmission type
+        bit_count <= (bit_count < 4'd15) ? bit_count + 1'b1 : bit_count;
+        if (bit_count == 4'b0) 
+            rd_wr_n <= ps_mosi_o;
+    end
+end
+
+always @(negedge s_sclk or posedge s_csn) begin
+    if (s_csn == 1'b1)
+        sdio_buffer_direction <= 1'b0;
+    else begin
+        if (bit_count == 4'd8)
+            // after the 8th bit, on falling edge,
+            // set the SDIO buffer direction 
+            // accordingly to the transmission type
+            sdio_buffer_direction <= rd_wr_n;
+    end
+end
+
+
+IOBUF IOBUF_inst (
+    .O(ps_miso_i),
+    .IO(sdio),
+    .I(ps_mosi_o),
+    .T(s_sdio_buffer_direction)      // 3-state enable input, high=input (from ext), low=output
+);
+
+OBUFT sclk_buf (
+    .O(o_sclk),
+    .I(ps_sclk_o),
+    .T('b0)
+);
+
+endmodule

fast-servo/linien-pyrp3-monitor.patch

@@ -0,0 +1,141 @@
+# 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/README.md

@@ -0,0 +1,5 @@
+## Source Repository
+Files in this directory were copied from [elhep/Fast-Servo-Firmware](https://github.com/elhep/Fast-Servo-Firmware/tree/master/fast_servo/pythonscripts).
+
+## Commit ID
+The files were copied from commit ID [7fae40c](https://github.com/elhep/Fast-Servo-Firmware/commit/7fae40c0f872a91218be378f8289b98b1e366729).

fast-servo/pyfastservo/adc.py

@@ -0,0 +1,224 @@
+# 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 time
+import spidev
+from pyfastservo.common import (
+    ADC_AFE_CTRL_ADDR,
+    ADC_BITSLIP_ADDR,
+    ADC_CH0_HIGH_ADDR,
+    ADC_CH0_LOW_ADDR,
+    ADC_CH1_HIGH_ADDR,
+    ADC_CH1_LOW_ADDR,
+    ADC_DELAY_ADDR,
+    ADC_FRAME_ADDR,
+    AUX_ADC_ADDR,
+    MAP_MASK,
+    PAGESIZE,
+    write_to_memory,
+    read_from_memory
+)
+
+# /dev/spidev1.0  <=> spidev<BUS>.<DEVICE>
+MAIN_ADC_BUS = 1
+MAIN_ADC_DEVICE = 1
+
+AUX_ADC_BUS = 1
+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):
+    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
+
+        test_pattern = 0x811F
+        main_adc_config(spi, test_pattern)
+
+        verify_adc_registers(spi, {
+            0x01: 0x20,
+            0x02: 0x15,
+            0x03: (test_pattern & 0xFF00) >> 8,
+            0x04: test_pattern & 0xFF
+        })
+
+        # ADC software reset put its PLL to sleep momentarily. Thus, MMCM needs to be reset as well.
+        mmcm_rst()
+        
+        # Performing Word Align
+        perform_bitslip()
+        find_edge()
+        
+        # Printing it once is not enough to check whether the alignment is correct.
+        for i in range(100):
+            print_adc_channels()
+
+        main_adc_test_mode(spi, False)
+        verify_adc_registers(spi, {0x02: 0x11})  # Verify test mode is off
+      
+        # FIXME: AFE Gain 1x is not functional on that batch of fast servo under development
+        enable_adc_afe(ch1_x10=1, ch2_x10=1)
+
+        #find_min_max_ch(0)
+        #find_min_max_ch(1)
+
+        #for i in range(10):
+        #    print_adc_channel(0)
+
+        #for i in range(10):
+        #    print_adc_channel(1)
+
+    finally:
+        spi.close()
+
+if __name__ == "__main__":
+    configure_ltc2195()

fast-servo/pyfastservo/common.py

@@ -0,0 +1,120 @@
+# 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 os
+import mmap
+
+CSR_SIZE = 0x800
+MAP_SIZE = 0x1000
+MAP_MASK = 0xFFF
+PAGESIZE = 0x1000
+
+# LINIEN_OFFSET = 0x0
+LINIEN_OFFSET = 0x300000
+
+# ----------------------------------------------------------------
+# FRONT PANEL LEDS REGISTER ADDRESSES
+LED0_BASE_ADDR = 0x40005000 + LINIEN_OFFSET
+LED1_BASE_ADDR = 0x40005800 + LINIEN_OFFSET
+LED2_BASE_ADDR = 0x40006000 + LINIEN_OFFSET
+LED3_BASE_ADDR = 0x40006800 + LINIEN_OFFSET
+
+
+# ----------------------------------------------------------------
+# DAC REGISTER ADDRESSES
+ADC_BASE_ADDR            =      0x40004800 + LINIEN_OFFSET
+ADC_FRAME_OFFSET         =      0x0
+ADC_CH0_HIGH_OFFSET      =      0x4
+ADC_CH0_LOW_OFFSET       =      0x8
+ADC_CH1_HIGH_OFFSET      =      0xC
+ADC_CH1_LOW_OFFSET       =      0x10
+ADC_TAP_DELAY_OFFSET     =      0x14
+ADC_BITSLIP_OFFSET       =      0x18
+ADC_AFE_CTRL_OFFSET     =       0x1C
+
+
+ADC_FRAME_ADDR      =   ADC_BASE_ADDR + ADC_FRAME_OFFSET
+ADC_CH0_HIGH_ADDR   =   ADC_BASE_ADDR + ADC_CH0_HIGH_OFFSET
+ADC_CH0_LOW_ADDR    =   ADC_BASE_ADDR + ADC_CH0_LOW_OFFSET
+ADC_CH1_HIGH_ADDR   =   ADC_BASE_ADDR + ADC_CH1_HIGH_OFFSET
+ADC_CH1_LOW_ADDR    =   ADC_BASE_ADDR + ADC_CH1_LOW_OFFSET
+ADC_DELAY_ADDR      =   ADC_BASE_ADDR + ADC_TAP_DELAY_OFFSET
+ADC_BITSLIP_ADDR    =   ADC_BASE_ADDR + ADC_BITSLIP_OFFSET
+ADC_AFE_CTRL_ADDR   =   ADC_BASE_ADDR + ADC_AFE_CTRL_OFFSET
+
+AUX_ADC_ADDR        =   0x40007800 + LINIEN_OFFSET
+
+
+# ----------------------------------------------------------------
+# DAC REGISTER ADDRESSES
+DAC_BASE_ADDR           =   0x40007000 + LINIEN_OFFSET
+CTRL_OFFSET             =   0x0
+CH0_HIGH_WORD_OFFSET    =   0x4
+CH0_LOW_WORD_OFFSET     =   0x8
+CH1_HIGH_WORD_OFFSET    =   0xC
+CH1_LOW_WORD_OFFSET     =   0x10
+
+CTRL_ADDR               =   DAC_BASE_ADDR + CTRL_OFFSET
+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

@@ -0,0 +1,168 @@
+# 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 time
+
+import spidev
+from pyfastservo.common import (
+    CH0_HIGH_WORD_ADDR,
+    CH0_LOW_WORD_ADDR,
+    CH1_HIGH_WORD_ADDR,
+    CH1_LOW_WORD_ADDR,
+    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):
+    spi.xfer2([address, value])
+
+def spi_read(spi, address):
+    rx_buffer = spi.xfer2([0x80 | address, 0x00])
+    return rx_buffer[1]
+
+def soft_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
+
+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 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
+
+    while True:
+        status = spi_read(spi, 0x0F)
+        if status & 0xC0 == 0xC0:   # Both CALSTATI and CALSTATQ are 1
+            break
+        time.sleep(0.01)
+
+    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]
+    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):
+    assert channel in (0, 1)
+
+    bitmask = 1 << (channel + 1) & 0b111
+    reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
+    value = (1 if power_down else 0) << (channel + 1)
+    reg_contents &= ~bitmask
+
+    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}")
+
+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():
+    spi = spidev.SpiDev()
+    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
+
+        power_down_afe(0, True)
+        power_down_afe(1, True)
+
+        configure_dac(spi)
+        check_clk_relationship(spi)
+        dac_self_calibration(spi)
+
+        # Enable DAC outputs
+        spi_write(spi, 0x01, spi_read(spi, 0x01) & ~((1 << 4) | (1 << 3)))
+
+        power_down_afe(0, False)
+        power_down_afe(1, False)
+        manual_override(False)
+
+        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()

fast-servo/pyfastservo/fp_leds.py

@@ -0,0 +1,66 @@
+# 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 time
+
+from pyfastservo.common import (
+    LED0_BASE_ADDR,
+    LED1_BASE_ADDR,
+    LED2_BASE_ADDR,
+    LED3_BASE_ADDR,
+    MAP_MASK,
+    PAGESIZE,
+)
+
+ON = 1
+OFF = 0
+
+
+def main():
+    addrs = [LED0_BASE_ADDR, LED1_BASE_ADDR, LED2_BASE_ADDR, LED3_BASE_ADDR]
+
+    f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+    for addr in addrs:
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            for i in range(6):
+                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] = ON.to_bytes(4, "little")
+                contents = mem[start_addr:stop_addr]
+                time.sleep(0.5)
+                mem[start_addr:stop_addr] = OFF.to_bytes(4, "little")
+                contents = mem[start_addr:stop_addr]
+                time.sleep(0.5)
+
+    os.close(f)
+
+
+if __name__ == "__main__":
+    main()

fast-servo/pyfastservo/initialize.py

@@ -0,0 +1,28 @@
+# 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/>.
+
+from pyfastservo import adc, si5340, dac
+
+def main():
+    si5340.configure_si5340()
+    adc.configure_ltc2195()
+    dac.configure_ad9117()
+
+if __name__ == "__main__":
+    main()

fast-servo/pyfastservo/si5340.py

@@ -0,0 +1,280 @@
+# 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/>.
+
+# 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
+PLL_M_DEN = 0x023B
+STATUS = 0x000C
+STATUS_STICKY = 0x0011
+
+STATUS_LOSREF = 0x04
+STATUS_LOL = 0x08
+
+
+def write_register(bus, address, value):
+    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):
+    preamble = [
+        (0x0B24, 0xC0),
+        (0x0B25, 0x00),
+        (0x0502, 0x01),
+        (0x0505, 0x03),
+        (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
+        # 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
+            (0x0235, 0x00),  # M_NUM
+            (0x0236, 0x00),
+            (0x0237, 0x00),
+            (0x0238, 0x80),
+            (0x0239, 0x89),
+            (0x023A, 0x00),
+            (0x023B, 0x00),  # M_DEN
+            (0x023C, 0x00),
+            (0x023D, 0x00),
+            (0x023E, 0x80),
+
+            # Synthesizer configuration
+            (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)
+            (0x030D, 0x00),  # N1_NUM
+            (0x030E, 0x00),
+            (0x030F, 0x00),
+            (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)
+            (0x0318, 0x00),  # N2_NUM
+            (0x0319, 0x00),
+            (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)
+            (0x0323, 0x00),  # N3_NUM
+            (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
+            (0x0112, 0x06),  # OUT0 config
+            (0x0113, 0x09),  # OUT0 format
+            (0x0114, 0x3B),  # OUT0 CM/AMPL
+            (0x0115, 0x28),  # OUT0 MUX_SEL
+
+            (0x0117, 0x06),  # OUT1 config
+            (0x0118, 0x09),  # OUT1 format
+            (0x0119, 0x3B),  # OUT1 CM/AMPL
+            (0x011A, 0x28),  # OUT1 MUX_SEL
+
+            (0x0126, 0x06),  # OUT2 config
+            (0x0127, 0x09),  # OUT2 format
+            (0x0128, 0x3B),  # OUT2 CM/AMPL
+            (0x0129, 0x28),  # OUT2 MUX_SEL
+
+            (0x012B, 0x06),  # OUT3 config
+            (0x012C, 0xCC),  # OUT3 format
+            (0x012D, 0x00),  # OUT3 CM/AMPL
+            (0x012E, 0x58),  # OUT3 MUX_SEL
+
+            # Miscellaneous configuration
+            (0x090E, 0x02),  # XAXB_EXTCLK_EN=0 XAXB_PDNB=1 (use XTAL)
+            (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)
+
+        time.sleep(0.3)
+
+        print("Writing main configuration...")
+        for address, value in main_config:
+            write_register(bus, address, value)
+        print("Main configuration written")
+
+        write_postamble(bus)
+
+        if not wait_for_lock(bus):
+            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)
+
+        # Final status check
+        pll_locked = check_pll_status(bus)
+        xaxb_signal_present = check_los_status(bus)
+
+        if not pll_locked:
+            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()

fast-servo/u-boot.patch

@@ -0,0 +1,31 @@
+diff --git a/arch/arm/dts/Makefile b/arch/arm/dts/Makefile
+index 480269fa60..64b20e4200 100644
+--- a/arch/arm/dts/Makefile
++++ b/arch/arm/dts/Makefile
+@@ -339,6 +339,7 @@ dtb-$(CONFIG_ARCH_ZYNQ) += \
+ 	zynq-cse-nor.dtb \
+ 	zynq-cse-qspi-single.dtb \
+ 	zynq-dlc20-rev1.0.dtb \
++	zynq-fast-servo.dtb \
+ 	zynq-microzed.dtb \
+ 	zynq-minized.dtb \
+ 	zynq-picozed.dtb \
+diff --git a/configs/xilinx_zynq_virt_defconfig b/configs/xilinx_zynq_virt_defconfig
+index 474abc7f6b..6e6bbd4aab 100644
+--- a/configs/xilinx_zynq_virt_defconfig
++++ b/configs/xilinx_zynq_virt_defconfig
+@@ -80,6 +80,7 @@ CONFIG_CMD_MTDPARTS_SPREAD=y
+ CONFIG_CMD_MTDPARTS_SHOW_NET_SIZES=y
+ CONFIG_CMD_UBI=y
+ CONFIG_OF_BOARD=y
++CONFIG_SYS_CONFIG_NAME="zynq-fast-servo"
+ CONFIG_OF_LIST="zynq-zc702 zynq-zc706 zynq-zc770-xm010 zynq-zc770-xm011 zynq-zc770-xm011-x16 zynq-zc770-xm012 zynq-zc770-xm013 zynq-cc108 zynq-microzed zynq-minized zynq-picozed zynq-zed zynq-zturn zynq-zturn-v5 zynq-zybo zynq-zybo-z7 zynq-dlc20-rev1.0"
+ CONFIG_ENV_IS_NOWHERE=y
+ CONFIG_ENV_IS_IN_FAT=y
+diff --git a/include/configs/zynq-fast-servo.h b/include/configs/zynq-fast-servo.h
+new file mode 100644
+index 0000000000..0aa486a2b7
+--- /dev/null
++++ b/include/configs/zynq-fast-servo.h
+@@ -0,0 +1 @@
++#include <configs/zynq-common.h>

flake.lock

@@ -18,16 +18,16 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1703961334,
+        "lastModified": 1723938990,
-        "narHash": "sha256-M1mV/Cq+pgjk0rt6VxoyyD+O8cOUiai8t9Q6Yyq4noY=",
+        "narHash": "sha256-9tUadhnZQbWIiYVXH8ncfGXGvkNq3Hag4RCBEMUk7MI=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "b0d36bd0a420ecee3bc916c91886caca87c894e9",
+        "rev": "c42fcfbdfeae23e68fc520f9182dde9f38ad1890",
         "type": "github"
       },
       "original": {
         "owner": "NixOS",
-        "ref": "nixos-unstable",
+        "ref": "nixos-24.05",
         "repo": "nixpkgs",
         "type": "github"
       }
@@ -56,7 +56,43 @@
     "root": {
       "inputs": {
         "nixpkgs": "nixpkgs",
-        "not-os": "not-os"
+        "not-os": "not-os",
+        "src-migen": "src-migen",
+        "src-misoc": "src-misoc"
+      }
+    },
+    "src-migen": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1721561053,
+        "narHash": "sha256-z3LRhNmKZrjr6rFD0yxtccSa/SWvFIYmb+G/D5d2Jd8=",
+        "owner": "m-labs",
+        "repo": "migen",
+        "rev": "9279e8623f8433bc4f23ac51e5e2331bfe544417",
+        "type": "github"
+      },
+      "original": {
+        "owner": "m-labs",
+        "repo": "migen",
+        "type": "github"
+      }
+    },
+    "src-misoc": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1715647536,
+        "narHash": "sha256-q+USDcaKHABwW56Jzq8u94iGPWlyLXMyVt0j/Gyg+IE=",
+        "ref": "refs/heads/master",
+        "rev": "fea9de558c730bc394a5936094ae95bb9d6fa726",
+        "revCount": 2455,
+        "submodules": true,
+        "type": "git",
+        "url": "https://github.com/m-labs/misoc.git"
+      },
+      "original": {
+        "submodules": true,
+        "type": "git",
+        "url": "https://github.com/m-labs/misoc.git"
       }
     }
   },

flake.nix

@@ -1,138 +1,216 @@
 {
   description = "Firmware for Sinara Fast-Servo based on Not-OS and Linien";
   
-  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-unstable;
+  inputs.nixpkgs.url = github:NixOS/nixpkgs/nixos-24.05;
   inputs.not-os.url = github:cleverca22/not-os;
   inputs.not-os.inputs.nixpkgs.follows = "nixpkgs";
 
-  outputs = { self, nixpkgs, not-os }:
+  inputs.src-migen = { url = github:m-labs/migen; flake = false; };
+  inputs.src-misoc = { type = "git"; url = "https://github.com/m-labs/misoc.git"; submodules = true; flake = false; };
+
+  outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
-      pkgs = import nixpkgs { system = "x86_64-linux"; };
+      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
-      not-os-cfg = not-os-configured.config.system;
+      pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
+      fsbl-support = ./fast-servo/fsbl-support;
 
       patched-not-os = pkgs.applyPatches {
         name = "not-os-patched";
         src = not-os;
         patches = [
-          ./network.patch
+          ./not-os-patches/network.patch
-          ./pr-28.patch
+          ./not-os-patches/pr-28.patch
-          ./pr-29.patch
+          ./not-os-patches/pr-29.patch
-          ./pr-30.patch
+          ./not-os-patches/pr-30.patch
+          ./not-os-patches/pr-31.patch
+          ./not-os-patches/pr-33.patch
         ];
       };
 
-      gnu-platform = "arm-none-eabi";
+      crossSystem = {
-
+        system = "armv7l-linux";
-      binutils-pkg = { zlib, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
+        linux-kernel = {
-        basename = "binutils";
+          name = "zynq";
-        version = "2.30";
+          baseConfig = "multi_v7_defconfig";
-        name = "${basename}-${gnu-platform}-${version}";
+          target = "uImage";
-        src = pkgs.fetchurl {
+          installTarget = "uImage";
-          url = "https://ftp.gnu.org/gnu/binutils/binutils-${version}.tar.bz2";
+          autoModules = false;
-          sha256 = "028cklfqaab24glva1ks2aqa1zxa6w6xmc8q34zs1sb7h22dxspg";
+          DTB = true;
-        };
+          makeFlags = [ "LOADADDR=0x8000" ];
-        configureFlags = [
-          "--enable-deterministic-archives"
-          "--target=${gnu-platform}"
-          "--with-cpu=cortex-a9"
-          "--with-fpu=vfpv3"
-          "--with-float=hard"
-          "--with-mode=thumb"
-        ] ++ extraConfigureFlags;
-        outputs = [ "out" "info" "man" ];
-        depsBuildBuild = [ pkgs.buildPackages.stdenv.cc ];
-        buildInputs = [ zlib ];
-        enableParallelBuilding = true;
-        meta = {
-          description = "Tools for manipulating binaries (linker, assembler, etc.)";
-          longDescription = ''
-            The GNU Binutils are a collection of binary tools.  The main
-            ones are `ld' (the GNU linker) and `as' (the GNU assembler).
-            They also include the BFD (Binary File Descriptor) library,
-            `gprof', `nm', `strip', etc.
-          '';
-          homepage = http://www.gnu.org/software/binutils/;
-          license = pkgs.lib.licenses.gpl3Plus;
-          /* Give binutils a lower priority than gcc-wrapper to prevent a
-            collision due to the ld/as wrappers/symlinks in the latter. */
-          priority = "10";
         };
       };
 
-      gcc-pkg = { gmp, mpfr, libmpc, platform-binutils, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
+      crosspkgs-overlay = (self: super: {
-        basename = "gcc";
+        pkgsCross = super.pkgsCross // {
-        version = "9.1.0";
+          zynq-baremetal = import super.path {
-        name = "${basename}-${gnu-platform}-${version}";
+            system = "x86_64-linux";
-        src = pkgs.fetchurl {
+            crossSystem = {
-          url = "https://ftp.gnu.org/gnu/gcc/gcc-${version}/gcc-${version}.tar.xz";
+              config = "arm-none-eabihf";
-          sha256 = "1817nc2bqdc251k0lpc51cimna7v68xjrnvqzvc50q3ax4s6i9kr";
+              libc = "newlib";
+              gcc.cpu = "cortex-a9";
+              gcc.fpu = "vfpv3";
+            };
+          };
+          zynq-armv7l-linux = import super.path {
+            system = "x86_64-linux";
+            inherit crossSystem;
+          };
         };
-        preConfigure = ''
+      });
-          mkdir build
+
-          cd build
+      migen = pkgs.python3Packages.buildPythonPackage rec {
+        name = "migen";
+        src = src-migen;
+        format = "pyproject";
+        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
+        propagatedBuildInputs = [ pkgs.python3Packages.colorama ];
+      };
+
+      misoc = pkgs.python3Packages.buildPythonPackage {
+        name = "misoc";
+        src = src-misoc;
+        propagatedBuildInputs = with pkgs.python3Packages; [ jinja2 numpy migen pyserial asyncserial ];
+      };
+
+      vivado = pkgs.buildFHSEnv {
+        name = "vivado";
+        targetPkgs = pkgs: with pkgs; let
+        # Apply patch from https://github.com/nix-community/nix-environments/pull/54
+        # to fix ncurses libtinfo.so's soname issue
+        ncurses' = ncurses5.overrideAttrs (old: {
+          configureFlags = old.configureFlags ++ [ "--with-termlib" ];
+          postFixup = "";
+        });
+        in [
+          libxcrypt-legacy
+          (ncurses'.override { unicodeSupport = false; })
+          zlib
+          libuuid
+          xorg.libSM
+          xorg.libICE
+          xorg.libXrender
+          xorg.libX11
+          xorg.libXext
+          xorg.libXtst
+          xorg.libXi
+          freetype
+          fontconfig
+        ];
+        profile = "set -e; source /opt/Xilinx/Vivado/2022.2/settings64.sh";
+        runScript = "vivado";
+      };
+
+      pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
+        pname = "pyrp3";
+        version = "1.2.0";
+        pyproject = true;
+        src = pkgs.fetchFromGitHub {
+          owner = "linien-org";
+          repo = "pyrp3";
+          rev = "v${version}";
+          hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
+        };
+        patches = ./fast-servo/linien-pyrp3-monitor.patch;
+        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" "$out/lib/libmonitor.so"
         '';
-        configureScript = "../configure";
-        configureFlags = [ 
-          "--target=${gnu-platform}"
-          "--with-arch=armv7-a"
-          "--with-tune=cortex-a9"
-          "--with-fpu=vfpv3"
-          "--with-float=hard"
-          "--disable-libssp"
-          "--enable-languages=c"
-          "--with-as=${platform-binutils}/bin/${gnu-platform}-as"
-          "--with-ld=${platform-binutils}/bin/${gnu-platform}-ld" ] ++ extraConfigureFlags;
-        outputs = [ "out" "info" "man" ];
-        hardeningDisable = [ "format" "pie" ];
-        propagatedBuildInputs = [ gmp mpfr libmpc platform-binutils ];
-        enableParallelBuilding = true;
-        dontFixup = true;
       };
 
-      newlib-pkg = { platform-binutils, platform-gcc }: pkgs.stdenv.mkDerivation rec {
+      linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
-        pname = "newlib";
+        pname = "linien-server";
-        version = "3.1.0";
+        pyproject = true;
-        src = pkgs.fetchurl {
+        inherit (pkgs.python3Packages.linien-common) src version;
-          url = "ftp://sourceware.org/pub/newlib/newlib-${version}.tar.gz";
+        sourceRoot = "source/linien-server";
-          sha256 = "0ahh3n079zjp7d9wynggwrnrs27440aac04340chf1p9476a2kzv";
+        postPatch = ''
-        };
+          cp ${fast-servo-gateware}/csrmap.py linien_server/csrmap.py
-        nativeBuildInputs = [ platform-binutils platform-gcc ];
+          substituteInPlace linien_server/acquisition.py \
-        configureFlags = [
+            --replace "  start_nginx()" "" \
-          "--target=${gnu-platform}"
+            --replace "  stop_nginx()" "" \
-
+            --replace "  flash_fpga()" ""
-          "--with-cpu=cortex-a9"
+        '';
-          "--with-fpu=vfpv3"
+        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
-          "--with-float=hard"
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
-          "--with-mode=thumb"
+          appdirs
-          "--enable-interwork"
+          certifi
-          "--disable-multilib"
+          click
-
+          cma
-          "--disable-newlib-supplied-syscalls"
+          pylpsd
-          "--with-gnu-ld"
+          pyrp3
-          "--with-gnu-as"
+          requests
-          "--disable-newlib-io-float"
+          linien-common
-          "--disable-werror"
         ];
-        dontFixup = true;
       };
 
-      gnutoolchain = rec {
+      fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
-        binutils-bootstrap = pkgs.callPackage binutils-pkg { };
+        name = "fast-servo-gateware";
-        gcc-bootstrap = pkgs.callPackage gcc-pkg {
+        inherit (pkgs.python3Packages.linien-common) src;
-          platform-binutils = binutils-bootstrap;
+        prePatch = ''
-          extraConfigureFlags = [ "--disable-libgcc" ];
+          mkdir -p fast_servo/gateware
-        };
+          cp -r ${./fast-servo/linien-gateware}/. fast_servo/gateware
-        newlib = pkgs.callPackage newlib-pkg {
+        '';
-          platform-binutils = binutils-bootstrap;
+        patches = [
-          platform-gcc = gcc-bootstrap;
+          fast-servo/linien-fast-servo-gateware.patch
-        };
+          fast-servo/linien-fast-servo-server.patch
-        binutils = pkgs.callPackage binutils-pkg {
+        ];
-          extraConfigureFlags = [ "--with-lib-path=${newlib}/arm-none-eabi/lib" ];
+        nativeBuildInputs = [
-        };
+          (pkgs.python3.withPackages(ps: [
-        gcc = pkgs.callPackage gcc-pkg {
+            migen misoc
-          platform-binutils = binutils;
+            (ps.linien-common.overrideAttrs(oa: {
-          extraConfigureFlags = [ "--enable-newlib" "--with-headers=${newlib}/arm-none-eabi/include" ];
+              # config.py tries to access $HOME, but we do not need it for building gateware
-        };
+              postPatch = ''
+                echo > linien_common/config.py
+                echo > linien_common/__init__.py
+              '';
+              doCheck = false;
+              }))
+            ]))
+          vivado
+        ];
+        buildPhase = ''
+          python -m gateware.fpga_image_helper -p fastservo
+        '';
+        installPhase = ''
+          mkdir -p $out $out/nix-support
+          cp gateware/build/top.bit $out
+          cp linien-server/linien_server/gateware.bin $out
+          cp linien-server/linien_server/csrmap.py $out
+          echo file binary-dist $out/top.bit >> $out/nix-support/hydra-build-products
+          echo file binary-dist $out/gateware.bin >> $out/nix-support/hydra-build-products
+        '';
+      };
+
+      pyfastservo = pkgs-armv7l.python3Packages.buildPythonPackage rec {
+        name = "pyfastservo";
+        src = ./fast-servo;
+        preBuild = ''
+          cat > setup.py << EOF
+          from setuptools import setup
+
+          setup(
+            name="pyfastservo",
+            packages=["pyfastservo"],
+            install_requires=["spidev", "smbus2"],
+            entry_points = {"console_scripts": ["fp_leds=pyfastservo.fp_leds:main"]},
+          )
+          EOF
+        '';
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
+          spidev
+          smbus2
+        ];
       };
 
       mkbootimage = pkgs.stdenv.mkDerivation {
@@ -158,201 +236,255 @@
         hardeningDisable = [ "fortify" ];
       };
 
-      fsbl = { board ? "zc706" }: pkgs.stdenv.mkDerivation {
+      board-package-set = { board }: let
-        name = "${board}-fsbl";
+        not-os-configured = (import patched-not-os {
-        src = pkgs.fetchFromGitHub {
-          owner = "Xilinx";
-          repo = "embeddedsw";
-          rev = "65c849ed46c88c67457e1fc742744f96db968ff1";
-          sha256 = "1rvl06ha40dzd6s9aa4sylmksh4xb9dqaxq462lffv1fdk342pda";
-        };
-        patches = [ ./fsbl.patch ];
-        nativeBuildInputs = [
-          pkgs.gnumake
-          gnutoolchain.binutils
-          gnutoolchain.gcc
-        ];
-        patchPhase = ''
-          patch -p1 -i ${./fsbl.patch}
-          patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
-          echo 'SEARCH_DIR("${gnutoolchain.newlib}/arm-none-eabi/lib");' >> lib/sw_apps/zynq_fsbl/src/lscript.ld
-        '';
-        buildPhase = ''
-          cd lib/sw_apps/zynq_fsbl/src
-          make BOARD=${board} "CFLAGS=-DFSBL_DEBUG_INFO -g"
-        '';
-        installPhase = ''
-          mkdir $out
-          cp fsbl.elf $out
-        '';
-        doCheck = false;
-        dontFixup = true;
-      };
-
-      u-boot = { board ? "zc706" }: pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
-        defconfig = "xilinx_zynq_virt_defconfig";
-        preConfigure = ''
-          export DEVICE_TREE=zynq-${board}
-        '';
-        extraConfig = ''
-          CONFIG_AUTOBOOT=y
-          CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
-            setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}'
-            fatload mmc 0 0x6400000 uImage
-            fatload mmc 0 0x8000000 devicetree.dtb
-            fatload mmc 0 0xA400000 uRamdisk.image.gz
-            bootm 0x6400000 0xA400000 0x8000000
-          ''}"
-          CONFIG_BOOTDELAY=0
-          CONFIG_USE_BOOTCOMMAND=y
-        '';
-        extraMeta.platforms = [ "armv7l-linux" ];
-        filesToInstall = [ "u-boot.elf" ];
-      };
-
-      bootimage = { board ? "zc706" }: pkgs.runCommand "${board}-bootimage"
-        {
-          buildInputs = [ mkbootimage ];
-        }
-        ''
-          bifdir=`mktemp -d`
-          cd $bifdir
-          ln -s ${fsbl { inherit board; }}/fsbl.elf fsbl.elf
-          ln -s ${u-boot { inherit board; }}/u-boot.elf u-boot.elf
-          cat > boot.bif << EOF
-          the_ROM_image:
-          {
-            [bootloader]fsbl.elf
-            u-boot.elf
-          }
-          EOF
-          mkdir $out $out/nix-support
-          mkbootimage boot.bif $out/boot.bin
-          echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
-        '';
-
-      # Pinned qemu version due to networking errors in recent version 8.2.0
-      qemu = pkgs.qemu.overrideAttrs (oldAttrs: rec {
-        version = "8.1.3";
-        src = pkgs.fetchurl {
-          url = "https://download.qemu.org/qemu-${version}.tar.xz";
-          hash = "sha256-Q8wXaAQQVYb3T5A5jzTp+FeH3/QA07ZA2B93efviZbs=";
-        };
-      });
-      
-      not-os-configured = (import patched-not-os {
           inherit nixpkgs;
           extraModules = [
             "${patched-not-os}/zynq_image.nix"
-          ];
+          ] ++ pkgs.lib.optionals (board == "fast-servo") [
+            ({ config, pkgs, lib, ... }: {
+              environment.systemPackages = [
+                linien-server
+                (pkgs.python3.withPackages(ps: [ pyfastservo ]))
+              ];
+              boot.postBootCommands = lib.mkAfter ''
+
+                # Program the FPGA
+                set +x
+                echo "Loading bitstream into SRAM..."
+                echo 0 > /sys/class/fpga_manager/fpga0/flags
+                mkdir -p /lib/firmware
+                cp ${fast-servo-gateware}/gateware.bin /lib/firmware/
+                echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
+
+                # Run device init scripts
+                echo "Initializing clock generator, ADC, and DAC..."
+                python3 -m pyfastservo.initialize
+              '';
+            })];
           system = "x86_64-linux";
-          crossSystem.system = "armv7l-linux";
+          inherit crossSystem;
         });
 
-      not-os-qemu = { board ? "zc706" }: let
+        not-os-build = not-os-configured.config.system.build;
-        qemuScript = ''
-          #!/bin/bash
-          export PATH=${qemu}/bin:$PATH
-          IMGDIR=$(mktemp -d /tmp/not-os-qemu-XXXXXX)
-          BASE=$(realpath $(dirname $0))
-          qemu-img create -F raw -f qcow2 -b $BASE/sd-image.img $IMGDIR/sd-overlay.qcow2 512M
 
-          # Some command arguments are based from samples in Xilinx QEMU User Documentation
+        fsbl = pkgs.stdenv.mkDerivation {
-          # See: https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/821854273/Running+Bare+Metal+Applications+on+QEMU
+          name = "${board}-fsbl";
-
+          src = pkgs.fetchFromGitHub {
-          qemu-system-arm \
+            owner = "Xilinx";
-            -M xilinx-zynq-a9 \
+            repo = "embeddedsw";
-            -serial /dev/null \
+            rev = "xilinx_v2022.2";
-            -serial stdio \
+            sha256 = "sha256-UDz9KK/Hw3qM1BAeKif30rE8Bi6C2uvuZlvyvtJCMfw=";
-            -display none \
+          };
-            -dtb $BASE/devicetree.dtb \
+          nativeBuildInputs = [
-            -kernel $BASE/uImage \
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.binutils
-            -initrd $BASE/uRamdisk.image.gz \
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.gcc
-            -drive file=$IMGDIR/sd-overlay.qcow2,if=sd,format=qcow2 \
+          ];
-            -append "root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}";
+          postUnpack = ''
-
+            mkdir -p $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
-          rm -rf $IMGDIR
+            cp $sourceRoot/lib/sw_apps/zynq_fsbl/misc/zc706/* $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
-        '';
+            cp ${fsbl-support}/* $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
-        in pkgs.runCommand "not-os-qemu" {
-          inherit qemuScript;
-          passAsFile = [ "qemuScript" ];
-          preferLocalBuild = true;
-        }
-        ''
-          mkdir $out
-          cd $out
-          cp -s ${not-os-cfg.build.kernel}/uImage .
-          cp -s ${not-os-cfg.build.uRamdisk}/initrd uRamdisk.image.gz
-          cp -s ${not-os-cfg.build.kernel}/dtbs/zynq-zc706.dtb devicetree.dtb
-          cp -s ${sd-image { inherit board; }}/sd-image/sd-image.img .
-          ln -sv ${not-os-cfg.build.toplevel} toplevel
-          cp $qemuScriptPath qemu-script
-          chmod +x qemu-script
-          patchShebangs qemu-script
-        '';
-
-      sd-image = { board ? "zc706" }: let
-        rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
-          storePaths = [ not-os-cfg.build.toplevel ];
-          volumeLabel = "ROOT";
-        };
-        # Current firmware (kernel, bootimage, etc..) takes ~18MB
-        firmwareSize = 30;
-        firmwarePartitionOffset = 8;
-        in pkgs.stdenv.mkDerivation {
-          name = "sd-image";
-          nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
-          buildCommand = ''
-            mkdir -p $out/nix-support $out/sd-image
-            export img=$out/sd-image/sd-image.img
-
-            echo "${pkgs.stdenv.buildPlatform.system}" > $out/nix-support/system
-            echo "file sd-image $img" >> $out/nix-support/hydra-build-products
-
-            gap=${toString firmwarePartitionOffset}
-
-            rootSizeBlocks=$(du -B 512 --apparent-size ${rootfsImage} | awk '{ print $1 }')
-            firmwareSizeBlocks=$((${toString firmwareSize} * 1024 * 1024 / 512))
-            imageSize=$((rootSizeBlocks * 512 + firmwareSizeBlocks * 512 + gap * 1024 * 1024))
-            truncate -s $imageSize $img
-
-            fat32Start="$((gap))MB"
-            fat32End="$((gap + ${toString firmwareSize}))MB"
-
-            parted $img mklabel msdos
-            parted $img mkpart primary fat32 $fat32Start $fat32End
-            parted $img mkpart primary ext4 $fat32End 100%
-            parted $img set 1 boot on
-
-            eval $(partx $img -o START,SECTORS --nr 2 --pairs)
-            dd conv=notrunc if=${rootfsImage} of=$img seek=$START count=$SECTORS
-
-            eval $(partx $img -o START,SECTORS --nr 1 --pairs)
-            truncate -s $((SECTORS * 512)) firmware_part.img
-            faketime "1970-01-01 00:00:00" mkfs.vfat -n BOOT firmware_part.img
-
-            mkdir firmware
-            cp ${bootimage { inherit board; }}/boot.bin firmware/
-            cp ${not-os-cfg.build.kernel}/uImage firmware/
-            cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
-            cp ${not-os-cfg.build.kernel}/dtbs/zynq-zc706.dtb firmware/devicetree.dtb
-
-            (cd firmware; mcopy -psvm -i ../firmware_part.img ./* ::)
-            dd conv=notrunc if=firmware_part.img of=$img seek=$START count=$SECTORS
           '';
+          patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/fsbl.patch;
+          postPatch = ''
+            patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
+
+            for x in lib/sw_apps/zynq_fsbl/src/Makefile lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh lib/bsp/standalone/src/arm/cortexa9/gcc/Makefile; do
+              substituteInPlace $x \
+                --replace "arm-none-eabi-" "arm-none-eabihf-"
+            done
+          '';
+          buildPhase = ''
+            cd lib/sw_apps/zynq_fsbl/src
+            make BOARD=${board} "CFLAGS=-DFSBL_DEBUG_INFO -g"
+          '';
+          installPhase = ''
+            mkdir $out
+            cp fsbl.elf $out
+          '';
+          doCheck = false;
+          dontFixup = true;
         };
+
+        u-boot = (pkgs-armv7l.buildUBoot {
+            name = "${board}-u-boot";
+            defconfig = "xilinx_zynq_virt_defconfig";
+            patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
+            preConfigure = ''
+              export DEVICE_TREE=zynq-${board}
+            '';
+            extraConfig = ''
+              CONFIG_SYS_PROMPT="${board}-boot> "
+              CONFIG_AUTOBOOT=y
+              CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
+                setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-build.toplevel}'
+                fatload mmc 0 0x6400000 uImage
+                fatload mmc 0 0x8000000 ${board}.dtb
+                fatload mmc 0 0xA400000 uRamdisk.image.gz
+                bootm 0x6400000 0xA400000 0x8000000
+              ''}"
+              CONFIG_BOOTDELAY=0
+              CONFIG_USE_BOOTCOMMAND=y
+            '';
+            extraMeta.platforms = [ "armv7l-linux" ];
+            filesToInstall = [ "u-boot.elf" ];
+          }).overrideAttrs (oldAttrs: {
+            postUnpack = ''
+              cp ${fast-servo/fast-servo.dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
+            '';
+            postInstall = ''
+              mkdir -p $out/dts
+              cp arch/arm/dts/zynq-fast-servo.dts $out/dts
+              cp arch/arm/dts/zynq-zc706.dts $out/dts
+              cp arch/arm/dts/zynq-7000.dtsi $out/dts
+            '';
+          });
+
+        bootimage = pkgs.runCommand "${board}-bootimage"
+          {
+            buildInputs = [ mkbootimage ];
+          }
+          ''
+            bifdir=`mktemp -d`
+            cd $bifdir
+            ln -s ${fsbl}/fsbl.elf fsbl.elf
+            ln -s ${u-boot}/u-boot.elf u-boot.elf
+            cat > boot.bif << EOF
+            the_ROM_image:
+            {
+              [bootloader]fsbl.elf
+              u-boot.elf
+            }
+            EOF
+            mkdir $out $out/nix-support
+            mkbootimage boot.bif $out/boot.bin
+            echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
+          '';
+
+        dtb = pkgs.runCommand "${board}-dtb"
+          {
+            buildInputs = [ pkgs.gcc pkgs.dtc ];
+          }
+          ''
+            mkdir -p $out
+            cp ${u-boot}/dts/zynq-${board}.dts .
+
+            if [ ${board} == "zc706" ]; then
+              mv zynq-${board}.dts zynq-${board}-top.dts
+              cp ${u-boot}/dts/zynq-7000.dtsi .
+              gcc -E -nostdinc -undef -D__DTS__ -x assembler-with-cpp -o zynq-${board}.dts zynq-${board}-top.dts
+            fi
+
+            dtc -I dts -O dtb -o ${board}.dtb zynq-${board}.dts
+            cp ${board}.dtb $out
+          '';
+
+        sd-image = let
+          rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
+            storePaths = [ not-os-build.toplevel ];
+            volumeLabel = "ROOT";
+          };
+          # Current firmware (kernel, bootimage, etc..) takes ~18MB
+          firmwareSize = 30;
+          firmwarePartitionOffset = 8;
+          in pkgs.stdenv.mkDerivation {
+            name = "${board}-sd-image";
+            nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
+            buildCommand = ''
+              mkdir -p $out/nix-support $out/sd-image
+              export img=$out/sd-image/sd-image.img
+
+              echo "${pkgs.stdenv.buildPlatform.system}" > $out/nix-support/system
+              echo "file sd-image $img" >> $out/nix-support/hydra-build-products
+
+              gap=${toString firmwarePartitionOffset}
+
+              rootSizeBlocks=$(du -B 512 --apparent-size ${rootfsImage} | awk '{ print $1 }')
+              firmwareSizeBlocks=$((${toString firmwareSize} * 1024 * 1024 / 512))
+              imageSize=$((rootSizeBlocks * 512 + firmwareSizeBlocks * 512 + gap * 1024 * 1024))
+              truncate -s $imageSize $img
+
+              fat32Start="$((gap))MB"
+              fat32End="$((gap + ${toString firmwareSize}))MB"
+
+              parted $img mklabel msdos
+              parted $img mkpart primary fat32 $fat32Start $fat32End
+              parted $img mkpart primary ext4 $fat32End 100%
+              parted $img set 1 boot on
+
+              eval $(partx $img -o START,SECTORS --nr 2 --pairs)
+              dd conv=notrunc if=${rootfsImage} of=$img seek=$START count=$SECTORS
+
+              eval $(partx $img -o START,SECTORS --nr 1 --pairs)
+              truncate -s $((SECTORS * 512)) firmware_part.img
+              faketime "1970-01-01 00:00:00" mkfs.vfat -n BOOT firmware_part.img
+
+              mkdir firmware
+              cp ${bootimage}/boot.bin firmware/
+              cp ${dtb}/${board}.dtb firmware/
+              cp ${not-os-build.kernel}/uImage firmware/
+              cp ${not-os-build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+
+              (cd firmware; mcopy -psvm -i ../firmware_part.img ./* ::)
+              dd conv=notrunc if=firmware_part.img of=$img seek=$START count=$SECTORS
+            '';
+          };
+
+        not-os-qemu = let
+          qemuScript = ''
+            #!/bin/bash
+            export PATH=${pkgs.qemu}/bin:$PATH
+            IMGDIR=$(mktemp -d /tmp/not-os-qemu-XXXXXX)
+            BASE=$(realpath $(dirname $0))
+
+            qemu-img convert -O qcow2 -f raw -o preallocation=metadata $BASE/sd-image.img $IMGDIR/sd-sparse.qcow2
+            qemu-img create -F qcow2 -f qcow2 -b $IMGDIR/sd-sparse.qcow2 $IMGDIR/sd-overlay.qcow2 2G
+
+            # Some command arguments are based from samples in Xilinx QEMU User Documentation
+            # See: https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/821854273/Running+Bare+Metal+Applications+on+QEMU
+
+            qemu-system-arm \
+              -M xilinx-zynq-a9 \
+              -m 1024 \
+              $([ ${board} = "zc706" ] && echo "-serial /dev/null") -serial stdio \
+              -display none \
+              -kernel $BASE/u-boot.elf \
+              -sd $IMGDIR/sd-overlay.qcow2
+
+            rm -rf $IMGDIR
+          '';
+          in pkgs.runCommand "${board}-qemu" {
+            inherit qemuScript;
+            passAsFile = [ "qemuScript" ];
+            preferLocalBuild = true;
+          }
+          ''
+            mkdir $out
+            cd $out
+            cp -s ${u-boot}/u-boot.elf .
+            cp -s ${sd-image}/sd-image/sd-image.img .
+            cp $qemuScriptPath qemu-script
+            chmod +x qemu-script
+            patchShebangs qemu-script
+          '';
+      in {
+        "${board}-fsbl" = fsbl;
+        "${board}-u-boot" = u-boot;
+        "${board}-bootimage" = bootimage;
+        "${board}-dtb" = dtb;
+        "${board}-sd-image" = sd-image;
+        "${board}-qemu" = not-os-qemu;
+      };
     in rec {
       packages.x86_64-linux = {
         inherit mkbootimage;
+        inherit migen misoc vivado;
       };
       packages.armv7l-linux = {
-        zc706-u-boot = u-boot { board = "zc706"; };
+        inherit fast-servo-gateware linien-server;
-        zc706-fsbl = fsbl { board = "zc706"; };
+      } //
-        zc706-bootimage = bootimage { board = "zc706"; };
+      (board-package-set { board = "zc706"; }) //
-        zc706-qemu = not-os-qemu { board = "zc706"; };
+      (board-package-set { board = "fast-servo"; });
-        zc706-sd-image = sd-image { board = "zc706"; };
-        zc706-not-os = not-os-cfg.build.zynq_image;
-      };
       hydraJobs = packages.x86_64-linux // packages.armv7l-linux;
     };
 

fsbl.patch

@@ -1,31 +0,0 @@
-diff --git a/lib/sw_apps/zynq_fsbl/src/Makefile b/lib/sw_apps/zynq_fsbl/src/Makefile
-index 0e3ccdf1c5..a5b02f386e 100644
---- a/lib/sw_apps/zynq_fsbl/src/Makefile
-+++ b/lib/sw_apps/zynq_fsbl/src/Makefile
-@@ -71,11 +71,14 @@ endif
- all: $(EXEC)
- 
- $(EXEC): $(LIBS) $(OBJS) $(INCLUDES)
--	cp $(BSP_DIR)/$(BOARD)/ps7_init.* .
- 	$(LINKER) $(LD1FLAGS)  -o $@ $(OBJS) $(LDFLAGS)
- 	rm -rf $(OBJS)
--	
--	
-+
-+.PHONY: ps7_init
-+
-+ps7_init:
-+	cp $(BSP_DIR)/$(BOARD)/ps7_init.* .
-+
- $(LIBS): 
- 	echo "Copying BSP files"
- 	$(BSP_DIR)/copy_bsp.sh $(BOARD) $(CC)
-@@ -86,7 +89,7 @@ $(LIBS):
-         make -C $(BSP_DIR) -k all "CC=armcc" "AR=armar" "C_FLAGS= -O2 -c" "EC_FLAGS=--debug --wchar32"; \
- 	fi;
- 
--%.o:%.c
-+%.o:%.c ps7_init
- 	$(CC) $(CC_FLAGS) $(CFLAGS) $(ECFLAGS) -c $< -o $@ $(INCLUDEPATH)
- 
- %.o:%.S

not-os-patches/network.patch

@@ -1,21 +1,14 @@
-diff --git a/base.nix b/base.nix
-index 7eaee32..be5a47c 100644
---- a/base.nix
-+++ b/base.nix
-@@ -95,7 +95,7 @@ with lib;
-       '';
-       bashrc.text = "export PATH=/run/current-system/sw/bin";
-       profile.text = "export PATH=/run/current-system/sw/bin";
--      "resolv.conf".text = "nameserver 10.0.2.3";
-+      "resolv.conf".text = "nameserver 192.168.1.1";
-       passwd.text = ''
-         root:x:0:0:System administrator:/root:/run/current-system/sw/bin/bash
-         sshd:x:498:65534:SSH privilege separation user:/var/empty:/run/current-system/sw/bin/nologin
 diff --git a/configuration.nix b/configuration.nix
-index 010c487..37f6aaa 100644
+index 010c487..2d08009 100644
 --- a/configuration.nix
 +++ b/configuration.nix
-@@ -7,8 +7,10 @@
+@@ -1,4 +1,4 @@
+-{ pkgs, ... }:
++{ pkgs, lib, ... }:
+ 
+ {
+   imports = [ ./qemu.nix ];
+@@ -7,10 +7,16 @@
    environment.etc = {
      "ssh/authorized_keys.d/root" = {
        text = ''
@@ -25,11 +18,17 @@ index 010c487..37f6aaa 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";
      };
++    "resolv.conf".text = lib.mkForce ''
++      nameserver 192.168.1.1
++    '';
+   };
+ }
 diff --git a/runit.nix b/runit.nix
-index d7b0bf3..3c9ea3f 100644
+index d7b0bf3..67cff43 100644
 --- a/runit.nix
 +++ b/runit.nix
 @@ -7,8 +7,8 @@ let
@@ -43,7 +42,7 @@ index d7b0bf3..3c9ea3f 100644
      AuthorizedKeysFile /etc/ssh/authorized_keys.d/%u
    '';
    compat = pkgs.runCommand "runit-compat" {} ''
-@@ -31,10 +31,11 @@ in
+@@ -31,10 +31,10 @@ in
        "runit/1".source = pkgs.writeScript "1" ''
          #!${pkgs.runtimeShell}
          ${lib.optionalString config.not-os.simpleStaticIp ''
@@ -53,8 +52,7 @@ index d7b0bf3..3c9ea3f 100644
 -        ip route add 10.0.2.0/24 dev eth0
 -        ip  route add default via 10.0.2.2 dev eth0
 +        ip route add 103.206.98.200/29 dev eth0
-+        ip route del default
++        ip route add default via 103.206.98.200 dev eth0
-+        ip route add 0.0.0.0/0 via 103.206.98.200 advmss 1340
          ''}
          mkdir /bin/
          ln -s ${pkgs.runtimeShell} /bin/sh

not-os-patches/pr-28.patch

@@ -1,5 +1,5 @@
 diff --git a/base.nix b/base.nix
-index 7eaee32..c0a88c0 100644
+index 7eaee32..9aa338e 100644
 --- a/base.nix
 +++ b/base.nix
 @@ -27,6 +27,11 @@ with lib;
@@ -14,15 +14,38 @@ index 7eaee32..c0a88c0 100644
      not-os.simpleStaticIp = mkOption {
        type = types.bool;
        default = false;
-@@ -93,6 +98,8 @@ with lib;
+@@ -84,17 +89,25 @@ with lib;
-         build-cores = 4
+     };
+     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.writeClosure [ pkgs.bash ]}); do if test -d $i; then echo $i; fi; done)
+         cat > $out << EOF
+-        build-use-sandbox = true
++        auto-optimise-store = true
+         build-users-group = nixbld
+-        build-sandbox-paths = /bin/sh=${pkgs.runtimeShell} $(echo $extraPaths)
+-        build-max-jobs = 1
+-        build-cores = 4
++        cores = 0
++        extra-sandbox-paths = /bin/sh=${pkgs.runtimeShell} $(echo $extraPaths)
++        max-jobs = auto
++        sandbox = true
++        trusted-users = root
          EOF
        '';
 +      "ssl/certs/ca-certificates.crt".source = "${pkgs.cacert}/etc/ssl/certs/ca-bundle.crt";
 +      "ssl/certs/ca-bundle.crt".source = "${pkgs.cacert}/etc/ssl/certs/ca-bundle.crt";
        bashrc.text = "export PATH=/run/current-system/sw/bin";
-       profile.text = "export PATH=/run/current-system/sw/bin";
+-      profile.text = "export PATH=/run/current-system/sw/bin";
++      profile.text = ''
++        export PATH=/run/current-system/sw/bin
++        export EDITOR=nano
++        export NIX_PATH="nixpkgs=/nix/var/nix/profiles/per-user/root/channels/nixos:nixos-config=/etc/nixos/configuration.nix:/nix/var/nix/profiles/per-user/root/channels"
++      '';
        "resolv.conf".text = "nameserver 10.0.2.3";
+       passwd.text = ''
+         root:x:0:0:System administrator:/root:/run/current-system/sw/bin/bash
 diff --git a/runit.nix b/runit.nix
 index d7b0bf3..70353a1 100644
 --- a/runit.nix
@@ -129,10 +152,10 @@ index c61f9d6..fbdf0fd 100644
    };
  }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..9ea1df3 100644
+index 3fa23ab..069fe89 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -1,66 +1,96 @@
+@@ -1,66 +1,89 @@
 -{ config, pkgs, ... }:
 +{ lib, config, pkgs, ... }:
  
@@ -141,22 +164,7 @@ index 3fa23ab..9ea1df3 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 {
-+  crosspkgs = import pkgs.path {
++  customKernel = (pkgs.linux_6_6.override {
-+    system = "x86_64-linux";
-+    crossSystem = {
-+      system = "armv7l-linux";
-+      linux-kernel = {
-+        name = "zynq";
-+        baseConfig = "multi_v7_defconfig";
-+        target = "uImage";
-+        installTarget = "uImage";
-+        autoModules = false;
-+        DTB = true;
-+        makeFlags = [ "LOADADDR=0x8000" ];
-+      };
-+    };
-+  };
-+  customKernel = (crosspkgs.linux.override {
      extraConfig = ''
        OVERLAY_FS y
 +      MEDIA_SUPPORT n
@@ -165,16 +173,23 @@ index 3fa23ab..9ea1df3 100644
 +      SOUND n
 +      SQUASHFS n
 +      BACKLIGHT_CLASS_DEVICE n
++      FPGA y
++      FPGA_BRIDGE y
++      FPGA_REGION y
++      OF_FPGA_REGION y
++      FPGA_MGR_ZYNQ_FPGA y
++      OF_OVERLAY y
      '';
 -  };
--  customKernelPackages = pkgs.linuxPackagesFor customKernel;
 +  }).overrideAttrs (oa: {
 +    postInstall = ''
-+      cp arch/arm/boot/uImage $out
++      if [ -e arch/arm/boot/uImage ]; then
++        cp arch/arm/boot/uImage $out
++      fi
 +      ${oa.postInstall}
 +    '';
 +  });
-+  customKernelPackages = crosspkgs.linuxPackagesFor customKernel;
+   customKernelPackages = pkgs.linuxPackagesFor customKernel;
  in {
    imports = [ ./arm32-cross-fixes.nix ];
    boot.kernelPackages = customKernelPackages;
@@ -225,17 +240,17 @@ index 3fa23ab..9ea1df3 100644
 -    chmod +x qemu-script
 -    patchShebangs qemu-script
 -    ls -ltrh
-   '';
+-  '';
 -  system.build.rpi_image_tar = pkgs.runCommand "dist.tar" {} ''
 -    mkdir -p $out/nix-support
 -    tar -cvf $out/dist.tar ${config.system.build.rpi_image}
 -    echo "file binary-dist $out/dist.tar" >> $out/nix-support/hydra-build-products
--  '';
+   '';
 -  environment.systemPackages = [ pkgs.strace ];
 -  environment.etc."service/getty/run".source = pkgs.writeShellScript "getty" ''
 -    agetty ttyPS0 115200
 +  environment = {
-+    systemPackages = with pkgs; [ inetutils wget ];
++    systemPackages = with pkgs; [ inetutils wget gnugrep nano vim ];
 +    etc = {
 +      "service/getty/run".source = pkgs.writeShellScript "getty" ''
 +        hostname ${config.networking.hostName}

not-os-patches/pr-31.patch

@@ -0,0 +1,28 @@
+diff --git a/runit.nix b/runit.nix
+index d7b0bf3..64f99f2 100644
+--- a/runit.nix
++++ b/runit.nix
+@@ -57,6 +57,23 @@ in
+       '';
+       "runit/3".source = pkgs.writeScript "3" ''
+         #!${pkgs.runtimeShell}
++        echo Waiting for services to stop...
++        sv force-stop /etc/service/*
++        sv exit /etc/service/*
++
++        echo Sending TERM signal to processes...
++        pkill --inverse -s0,1 -TERM
++        sleep 1
++        echo Sending KILL signal to processes...
++        pkill --inverse -s0,1 -KILL
++
++        echo Unmounting filesystems, disabling swap...
++        swapoff -a
++        umount -r -a -t nosysfs,noproc,nodevtmpfs,notmpfs
++        echo Remounting rootfs read-only...
++        mount -o remount,ro /
++
++        sync
+         echo and down we go
+       '';
+       "service/sshd/run".source = pkgs.writeScript "sshd_run" ''