fix adc and dac initialization

fast-servo/fast-servo.dts

@@ -1,7 +1,7 @@
-# 0 "my_dts/system-top.dts"
+# 0 "system-top.dts"
 # 0 "<built-in>"
 # 0 "<command-line>"
-# 1 "my_dts/system-top.dts"
+# 1 "system-top.dts"
 
 
 
@@ -10,8 +10,8 @@
 
 
 /dts-v1/;
-# 1 "my_dts/zynq-7000.dtsi" 1
-# 15 "my_dts/zynq-7000.dtsi"
+# 1 "zynq-7000.dtsi" 1
+# 15 "zynq-7000.dtsi"
 / {
  #address-cells = <1>;
  #size-cells = <1>;
@@ -564,8 +564,8 @@
   };
  };
 };
-# 10 "my_dts/system-top.dts" 2
-# 1 "my_dts/pcw.dtsi" 1
+# 10 "system-top.dts" 2
+# 1 "pcw.dtsi" 1
 
 
 
@@ -641,7 +641,48 @@
  fclk-enable = <0x0>;
  ps-clk-frequency = <33333333>;
 };
-# 11 "my_dts/system-top.dts" 2
+# 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 {

fast-servo/linien-gateware/README.md

@@ -1,5 +1,5 @@
 ## Source Repository
-Files in this directory were copied from [elhep/Fast-Servo-Frimware](https://github.com/elhep/Fast-Servo-Firmware/tree/master/fast_servo/gateware).
+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-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 +1,319 @@
+# 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 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,
+)
+
+# /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 main_adc_config(test_pattern):
+    high_word = (test_pattern & 0xFF00) >> 8
+    low_word = test_pattern & 0xFF
+
+    spi = spidev.SpiDev()
+
+    try:
+        spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
+        spi.max_speed_hz = 50000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = False
+        # spi.read0 = False
+
+        spi_buffer = [0x00, 0x80]  # reset
+        rx_buffer = [0x00, 0x00]
+
+        spi.xfer2(spi_buffer)
+
+        # REGISTER A1
+        spi_buffer = [0x01, 0x20]  # set to Two's complement Data Format
+        spi.xfer2(spi_buffer)
+
+        # read values back
+        spi_buffer = [0x81, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x01: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != 0x20:
+            print("Different value read than sent in reg 0x02")
+
+        # REGISTER A2
+        spi_buffer = [
+            0x02,
+            0x15,
+        ]  # set to LVDS output, set 4 data lanes and turn on test mode
+        spi.xfer2(spi_buffer)
+
+        # read values back
+        spi_buffer = [0x82, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x02: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != 0x15:
+            print("Different value read than sent in reg 0x02")
+
+        # REGISTER A3
+        # test pattern high word
+        spi_buffer = [0x03, high_word]
+        spi.xfer2(spi_buffer)
+
+        # read balues back
+        spi_buffer = [0x83, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x03: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != high_word:
+            print("Different value read than sent in reg 0x03")
+
+        # REGISTER A4
+        # test pattern low word
+        spi_buffer = [0x04, low_word]
+        spi.xfer2(spi_buffer)
+
+        # read balues back
+        spi_buffer = [0x84, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x04: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != low_word:
+            print("Different value read than sent in reg 0x04")
+    finally:
+        spi.close()
+
+
+def main_adc_test_mode(enable):
+    spi = spidev.SpiDev()
+
+    try:
+        spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
+        spi.max_speed_hz = 50000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = False
+        # spi.read0 = True
+
+        reg_contents = (
+            0x15 if enable else 0x11
+        )  # set to LVDS output, set 4 data lanes and turn on or off test mode
+        spi_buffer = [0x02, reg_contents]
+        spi.xfer2(spi_buffer)
+
+        # read values back
+        spi_buffer = [0x82, 0x00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"Spi readback register 0x02: 0x{rx_buffer[1]:02x}")
+        if rx_buffer[1] != reg_contents:
+            print("Different value read than sent in reg 0x02")
+    finally:
+        spi.close()
+
+
+def read_from_memory(address, n_bytes):
+    assert n_bytes <= 4
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            contents = mem[start_addr:stop_addr]
+            read_value = list(contents)[:n_bytes]
+            # print("Read value: ", read_value)
+    finally:
+        os.close(f)
+
+    return read_value
+
+
+def write_to_memory(address, value):
+    value_bytes = value.to_bytes(4, "little")
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            mem[start_addr:stop_addr] = value_bytes
+            contents = mem[start_addr:stop_addr]
+            # print("Read value: ", list(contents), " written value: ", list(value_bytes))
+    finally:
+        os.close(f)
+
+
+def word_align():
+
+    value = 0
+    edge_detected = False
+    transition = False
+    tap_delay = 0
+
+    for i in range(4):
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+        if current_frame != 0x0C:
+            print(
+                f"Performing bitslip (bitslip iteration: {i}). Reason: current_frame is 0x{current_frame:02x} instead of 0x0C"
+            )
+            write_to_memory(ADC_BITSLIP_ADDR, 1)
+        else:
+            print(f"No bitslip required; Currernt frame = 0x{current_frame:02x}")
+            break
+
+    current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+    prev_frame = current_frame
+
+    for i in range(32):
+        write_to_memory(ADC_DELAY_ADDR, tap_delay)
+        if edge_detected == 1:
+            break
+        current_frame = read_from_memory(ADC_FRAME_ADDR, 1)[0]
+
+        print(f"Tap delay: {tap_delay}")
+        print(f"Current frame: 0x{current_frame:02x}")
+
+        if current_frame == prev_frame:
+            tap_delay += 1
+        elif not transition:
+            tap_delay += 1
+            transition = True
+        elif transition:
+            tap_delay = i // 2
+            edge_detected = True
+
+        prev_frame = current_frame
+
+    if not edge_detected:
+        tap_delay = 11  # empirically tested to work best
+        write_to_memory(ADC_DELAY_ADDR, tap_delay)
+        print(f"No edge detected; setting iDelay to: {tap_delay}")
+    if edge_detected:
+        write_to_memory(ADC_DELAY_ADDR, tap_delay + 2)
+        print(f"Edge detected; setting iDelay to (tap_delay + 2): {tap_delay} + 2")
+
+    adc_ch0 = read_from_memory(ADC_CH0_HIGH_ADDR, 4)
+    print(f"ADC_CH0: 0x{adc_ch0}")
+
+    adc_ch0 = (read_from_memory(ADC_CH0_HIGH_ADDR, 1)[0] << 8) | read_from_memory(
+        ADC_CH0_LOW_ADDR, 1
+    )[0]
+    adc_ch1 = (read_from_memory(ADC_CH1_HIGH_ADDR, 1)[0] << 8) | read_from_memory(
+        ADC_CH1_LOW_ADDR, 1
+    )[0]
+    print(f"Final ADC_CH0: 0x{adc_ch0:04x}")
+    print(f"Final ADC_CH1: 0x{adc_ch1:04x}")
+
+
+def modify_bit(original_value, position, bit_value):
+    mask = 1 << position
+    return (original_value & ~mask) | (bit_value << position)
+
+
+def adc_aux_config():
+    # MSB to LSB
+    # | RANGE | ADDR [2:0] | DIFF |
+    #       DIFF = 0    =>  configure as single ended (it is negated in gateware)
+    #       RANGE = 0   =>  configure as 0-2.5 Vref
+    to_write = 0b00000
+    write_to_memory(AUX_ADC_ADDR, to_write)
+
+
+def adc_aux_read(port, type, pin):
+    # port:
+    #   1 - port A
+    #   2 - port B
+    # type:
+    #   0 - single-ended
+    #   1 - differential
+    # pin:
+    #   0b000   - VA1/VB1
+    #   0b001   - VA2/VB2
+    #   0b010   - VA3/VB3
+    #   0b011   - VA4/VB4
+
+    assert type in (0, 1)
+    assert port in (1, 2)
+
+    write_buffer = [0, 0]
+    read_buffer = [0, 0]
+
+    aux_config_reg = read_from_memory(AUX_ADC_ADDR, 1)[0]
+    aux_config = (aux_config_reg & 0b10001) | pin << 1
+    write_to_memory(AUX_ADC_ADDR, aux_config)
+
+    spi = spidev.SpiDev()
+    try:
+        spi.open(1, 3)  # AUX ADC 1?
+        spi.max_speed_hz = 5000
+        spi.mode = 0b00
+        spi.cshigh = False
+
+        read_buffer = spi.xfer2(write_buffer)
+        mu_voltage = read_buffer[0] << 8 | read_buffer[1] >> 2
+        print(f"MU_voltage: 0x{mu_voltage:04X}")
+        print(f"Read_buffer[0]: 0x{read_buffer[0]:02X}")
+        print(f"Read_buffer[1]: 0x{read_buffer[1]:02X}")
+        return mu_voltage * 2.5 / 4096
+
+    finally:
+        spi.close()
+
+
+def main():
+    main_adc_config(0x811F)
+    word_align()
+
+    main_adc_test_mode(False)
+
+    write_to_memory(ADC_AFE_CTRL_ADDR, 0b1100) # {-, -, ch2_X10, ch1_X10}
+    print(read_from_memory(ADC_AFE_CTRL_ADDR, 1)[0])
+
+
+if __name__ == "__main__":
+    main()

fast-servo/pyfastservo/common.py

@@ -0,0 +1,74 @@
+# 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/>.
+
+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

fast-servo/pyfastservo/dac.py

@@ -0,0 +1,182 @@
+# 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 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,
+)
+
+# /dev/spidev2.0  <=> spidev<BUS>.<DEVICE>
+MAIN_DAC_BUS = 2
+MAIN_DAC_DEVICE = 0
+
+DAC_VERSION = 0x0A
+
+
+def main_dac_init():
+    spi = spidev.SpiDev()
+
+    try:
+        spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
+        spi.max_speed_hz = 5000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = False
+
+        spi_buffer = [0x00, 0x10]  # software reset
+        spi.xfer2(spi_buffer)
+
+        spi_buffer = [0x00, 0x00]  # release software reset
+        spi.xfer2(spi_buffer)
+
+        spi_buffer = [
+            0x80,
+            0x00,
+        ]  # for some reason it is needed to read the reset address for reset to actually reset
+        rx_buffer = spi.xfer2(spi_buffer)
+
+        spi_buffer = [0x9F, 0x00]  # hardware version
+        rx_buffer = spi.xfer2(spi_buffer)
+        if rx_buffer[1] != DAC_VERSION:
+            print(f"Unrecognized device: 0x{rx_buffer[1]:02X}")
+
+        print("=== Contents of spi buffer after DAC VERSION read back: ===")
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+        spi_buffer = [0x82, 00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+        # set to 2's complement and I to be first of pair on data input pads
+        spi_buffer = [0x02, 0xB4]
+        rx_buffer = spi.xfer2(spi_buffer)
+        spi_buffer = [0x82, 00]
+        rx_buffer = spi.xfer2(spi_buffer)
+        print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+        for i in range(10):
+            spi_buffer = [0x94, 0x00]
+            rx_buffer = spi.xfer2(spi_buffer)
+            print(f"0x{rx_buffer[0]:02X}{rx_buffer[1]:02X}")
+
+    finally:
+        spi.close()
+
+
+def read_from_memory(address, n_bytes):
+    assert n_bytes <= 4
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            contents = mem[start_addr:stop_addr]
+            read_value = list(contents)[:n_bytes]
+    finally:
+        os.close(f)
+
+    return read_value
+
+
+def write_to_memory(address, value):
+    value_bytes = value.to_bytes(4, "little")
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            mem[start_addr:stop_addr] = value_bytes
+            contents = mem[start_addr:stop_addr]
+    finally:
+        os.close(f)
+
+
+def manual_override(enable=True):
+    reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
+    print(f"REG contents: 0b{reg_contents:03b}")
+    to_write = reg_contents | 0b1 if enable else reg_contents & 0b110
+    write_to_memory(CTRL_ADDR, to_write)
+
+
+def power_down(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"REG contents: 0b{reg_contents:03b}")
+
+
+def write_sample(channel, sample):
+    assert channel in (0, 1)
+    if channel == 0:
+        addresses = [CH0_HIGH_WORD_ADDR, CH0_LOW_WORD_ADDR]
+    else:
+        addresses = [CH1_HIGH_WORD_ADDR, CH1_LOW_WORD_ADDR]
+
+    low_word_value = sample & 0xFF
+    high_word_value = (sample >> 8) & 0x3F
+    values = [high_word_value, low_word_value]
+    for addr, value in zip(addresses, values):
+        write_to_memory(addr, value)
+
+
+def write_ramp():
+    signal = [i for i in range(16384)]
+
+    for value in signal:
+        write_sample(0, value)
+
+def main():
+    main_dac_init()
+    power_down(0, False)
+    power_down(1, False)
+    
+if __name__ == "__main__":
+    main()

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.main()
+    dac.main()
+
+if __name__ == "__main__":
+    main()

fast-servo/pyfastservo/si5340.py

@@ -0,0 +1,118 @@
+# 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 smbus2 import SMBus
+
+BUS_NO = 0
+IC_ADDR = 0x74
+
+PAGE_ADDR = 0x1
+
+OUT0_MUX_SEL_ADDR = 0x15
+OUT1_MUX_SEL_ADDR = 0x1A
+OUT2_MUX_SEL_ADDR = 0x29
+OUT3_MUX_SEL_ADDR = 0x2E
+
+OUT2_AMPL_ADDR = 0x28
+
+OUT3_PDN_ADDR = 0x2B
+OUT3_FORMAT_ADDR = 0x2C
+OUT3_AMPL_ADDR = 0x2D
+
+
+N1_DIVIDER_UPDATE_ADDR = 0x17
+
+data_to_write = 0
+clk_out_addr = [
+    OUT0_MUX_SEL_ADDR,
+    OUT1_MUX_SEL_ADDR,
+    OUT2_MUX_SEL_ADDR,
+    OUT3_MUX_SEL_ADDR,
+]
+
+def configure_si5340():
+    with SMBus(BUS_NO) as bus:
+
+        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
+
+        # read device id
+        low_word = bus.read_byte_data(IC_ADDR, 0x2)
+        high_word = bus.read_byte_data(IC_ADDR, 0x3)
+
+        print(f"DEV ID: 0x{high_word:2x}{low_word:2x}")
+
+        data_to_write = 0x1
+        bus.write_byte_data(
+            IC_ADDR, PAGE_ADDR, data_to_write
+        )  # change to page 1 for output settings
+
+        readback = bus.read_byte_data(IC_ADDR, PAGE_ADDR)
+        if data_to_write != readback:
+            raise ValueError(f"Failed to set page.")
+
+        for addr in clk_out_addr:
+            bus.write_byte_data(IC_ADDR, addr, 1)  # set source to N1
+
+        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 13)
+        readback = bus.read_byte_data(IC_ADDR, OUT2_AMPL_ADDR)
+        # if data_to_write != readback:
+        #     raise ValueError(f"Problematic read: {readback}.")
+
+        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 0x6B)  # setting OUT2 to LVDS25
+
+        bus.write_byte_data(IC_ADDR, OUT3_FORMAT_ADDR, 0xCC)  # SETTING out3 to LVCMOS 18
+        # bus.write_byte_data(IC_ADDR, 0x2E, 0x09)		# SETTING out3 to LVCMOS 33
+
+        readback = bus.read_byte_data(IC_ADDR, OUT3_PDN_ADDR)
+        print(f"Si5340 OUTx_PDN CLK3: 0x{readback}")
+
+        readback = bus.read_byte_data(IC_ADDR, OUT3_FORMAT_ADDR)
+        print(f"Si5340 OUTx_FORMAT CLK3: 0x{readback}")
+
+        readback = bus.read_byte_data(IC_ADDR, OUT3_AMPL_ADDR)
+        print(f"Si5340 OUTx_AMPL CLK3: 0x{readback}")
+
+        readback = bus.read_byte_data(IC_ADDR, OUT3_MUX_SEL_ADDR)
+        print(f"Si5340 OUTx_CM CLK3: 0x{readback}")
+
+        bus.write_byte_data(
+            IC_ADDR, PAGE_ADDR, 0x3
+        )  # setting page to 3 to change dividers values
+
+        n1_numerator = [0x0, 0x0, 0x0, 0x60, 0x22, 0x0]
+        n1_numerator_10M = [0x0, 0x0, 0x0, 0xC0, 0x57, 0x1]
+        n1_num_addr = [0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12]
+        n1_denom_addr = [0x13, 0x14, 0x15, 0x16]
+        for addr, value in zip(n1_num_addr, n1_numerator):
+            bus.write_byte_data(IC_ADDR, addr, value)
+
+        bus.write_byte_data(IC_ADDR, N1_DIVIDER_UPDATE_ADDR, 1)
+
+        for addr in n1_num_addr:
+            readback = bus.read_byte_data(IC_ADDR, addr)
+            print(f"Numerator buffer: 0x{readback:02x}")
+
+        for addr in n1_denom_addr:
+            readback = bus.read_byte_data(IC_ADDR, addr)
+            print(f"Denominator buffer: 0x{readback:02x}")
+
+        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
+
+if __name__ == "__main__":
+    configure_si5340()

flake.nix

@@ -10,8 +10,8 @@
 
   outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
-      pkgs = import nixpkgs { system = "x86_64-linux"; };
-      not-os-cfg = not-os-configured.config.system;
+      pkgs = import nixpkgs { system = "x86_64-linux"; overlays = [ crosspkgs-overlay ]; };
+      pkgs-armv7l = pkgs.pkgsCross.zynq-armv7l-linux;
       fsbl-support = ./fast-servo/fsbl-support;
 
       patched-not-os = pkgs.applyPatches {
@@ -23,9 +23,41 @@
           ./not-os-patches/pr-29.patch
           ./not-os-patches/pr-30.patch
           ./not-os-patches/pr-31.patch
+          ./not-os-patches/pr-33.patch
         ];
       };
 
+      crossSystem = {
+        system = "armv7l-linux";
+        linux-kernel = {
+          name = "zynq";
+          baseConfig = "multi_v7_defconfig";
+          target = "uImage";
+          installTarget = "uImage";
+          autoModules = false;
+          DTB = true;
+          makeFlags = [ "LOADADDR=0x8000" ];
+        };
+      };
+
+      crosspkgs-overlay = (self: super: {
+        pkgsCross = super.pkgsCross // {
+          zynq-baremetal = import super.path {
+            system = "x86_64-linux";
+            crossSystem = {
+              config = "arm-none-eabihf";
+              libc = "newlib";
+              gcc.cpu = "cortex-a9";
+              gcc.fpu = "vfpv3";
+            };
+          };
+          zynq-armv7l-linux = import super.path {
+            system = "x86_64-linux";
+            inherit crossSystem;
+          };
+        };
+      });
+
       migen = pkgs.python3Packages.buildPythonPackage rec {
         name = "migen";
         src = src-migen;
@@ -68,32 +100,49 @@
         runScript = "vivado";
       };
 
-      pyrp3 = pkgs.python3Packages.buildPythonPackage rec {
+      pyrp3 = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "pyrp3";
         version = "1.2.0";
         pyproject = true;
         src = pkgs.fetchFromGitHub {
           owner = "linien-org";
-          repo = "${pname}";
+          repo = "pyrp3";
           rev = "v${version}";
           hash = "sha256-43TTlpJ5SMAjQM71bNVvrWQyciRXM3zpuA/Dw41AEgU=";
         };
-        nativeBuildInputs = with pkgs.python3Packages; [ setuptools wheel setuptools-scm ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        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"
+        '';
       };
 
-      linien-server = pkgs.python3Packages.buildPythonPackage rec {
+      linien-server = pkgs-armv7l.python3Packages.buildPythonPackage rec {
         pname = "linien-server";
         pyproject = true;
         inherit (pkgs.python3Packages.linien-common) src version;
         sourceRoot = "source/linien-server";
-        nativeBuildInputs = [ pkgs.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        postPatch = ''
+          cp ${fast-servo-gateware}/csrmap.py linien_server/csrmap.py
+          substituteInPlace linien_server/acquisition.py \
+            --replace "  start_nginx()" "" \
+            --replace "  stop_nginx()" "" \
+            --replace "  flash_fpga()" ""
+        '';
+        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
           appdirs
           certifi
           click
@@ -105,129 +154,6 @@
         ];
       };
 
-      not-os-configured = (import patched-not-os {
-        inherit nixpkgs;
-        extraModules = [
-          "${patched-not-os}/zynq_image.nix"
-        ];
-        system = "x86_64-linux";
-        crossSystem.system = "armv7l-linux";
-      });
-
-      gnu-platform = "arm-none-eabi";
-
-      binutils-pkg = { zlib, extraConfigureFlags ? [] }: pkgs.stdenv.mkDerivation rec {
-        basename = "binutils";
-        version = "2.30";
-        name = "${basename}-${gnu-platform}-${version}";
-        src = pkgs.fetchurl {
-          url = "https://ftp.gnu.org/gnu/binutils/binutils-${version}.tar.bz2";
-          sha256 = "028cklfqaab24glva1ks2aqa1zxa6w6xmc8q34zs1sb7h22dxspg";
-        };
-        configureFlags = [
-          "--enable-deterministic-archives"
-          "--target=${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 {
-        basename = "gcc";
-        version = "9.1.0";
-        name = "${basename}-${gnu-platform}-${version}";
-        src = pkgs.fetchurl {
-          url = "https://ftp.gnu.org/gnu/gcc/gcc-${version}/gcc-${version}.tar.xz";
-          sha256 = "1817nc2bqdc251k0lpc51cimna7v68xjrnvqzvc50q3ax4s6i9kr";
-        };
-        preConfigure = ''
-          mkdir build
-          cd build
-        '';
-        configureScript = "../configure";
-        configureFlags = [ 
-          "--target=${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 {
-        pname = "newlib";
-        version = "3.1.0";
-        src = pkgs.fetchurl {
-          url = "ftp://sourceware.org/pub/newlib/newlib-${version}.tar.gz";
-          sha256 = "0ahh3n079zjp7d9wynggwrnrs27440aac04340chf1p9476a2kzv";
-        };
-        nativeBuildInputs = [ platform-binutils platform-gcc ];
-        configureFlags = [
-          "--target=${gnu-platform}"
-
-          "--with-cpu=cortex-a9"
-          "--with-fpu=vfpv3"
-          "--with-float=hard"
-          "--with-mode=thumb"
-          "--enable-interwork"
-          "--disable-multilib"
-
-          "--disable-newlib-supplied-syscalls"
-          "--with-gnu-ld"
-          "--with-gnu-as"
-          "--disable-newlib-io-float"
-          "--disable-werror"
-        ];
-        dontFixup = true;
-      };
-      
-      gnutoolchain = rec {
-        binutils-bootstrap = pkgs.callPackage binutils-pkg { };
-        gcc-bootstrap = pkgs.callPackage gcc-pkg {
-          platform-binutils = binutils-bootstrap;
-          extraConfigureFlags = [ "--disable-libgcc" ];
-        };
-        newlib = pkgs.callPackage newlib-pkg {
-          platform-binutils = binutils-bootstrap;
-          platform-gcc = gcc-bootstrap;
-        };
-        binutils = pkgs.callPackage binutils-pkg {
-          extraConfigureFlags = [ "--with-lib-path=${newlib}/arm-none-eabi/lib" ];
-        };
-        gcc = pkgs.callPackage gcc-pkg {
-          platform-binutils = binutils;
-          extraConfigureFlags = [ "--enable-newlib" "--with-headers=${newlib}/arm-none-eabi/include" ];
-        };
-      };
-
       fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
         name = "fast-servo-gateware";
         inherit (pkgs.python3Packages.linien-common) src;
@@ -260,11 +186,33 @@
           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 {
         pname = "mkbootimage";
         version = "2.3dev";
@@ -289,6 +237,37 @@
       };
 
       board-package-set = { board }: let
+        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 ${fast-servo-gateware}/gateware.bin /lib/firmware/
+                echo gateware.bin > /sys/class/fpga_manager/fpga0/firmware
+
+                # Run device init scripts
+                echo "Initializing clock generator, ADC, and DAC..."
+                python3 -m pyfastservo.initialize
+              '';
+            })];
+          system = "x86_64-linux";
+          inherit crossSystem;
+        });
+
+        not-os-build = not-os-configured.config.system.build;
+
         fsbl = pkgs.stdenv.mkDerivation {
           name = "${board}-fsbl";
           src = pkgs.fetchFromGitHub {
@@ -298,9 +277,8 @@
             sha256 = "sha256-UDz9KK/Hw3qM1BAeKif30rE8Bi6C2uvuZlvyvtJCMfw=";
           };
           nativeBuildInputs = [
-            pkgs.gnumake
-            gnutoolchain.binutils
-            gnutoolchain.gcc
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.binutils
+            pkgs.pkgsCross.zynq-baremetal.buildPackages.gcc
           ];
           postUnpack = ''
             mkdir -p $sourceRoot/lib/sw_apps/zynq_fsbl/misc/fast-servo
@@ -310,7 +288,11 @@
           patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/fsbl.patch;
           postPatch = ''
             patchShebangs lib/sw_apps/zynq_fsbl/misc/copy_bsp.sh
-            echo 'SEARCH_DIR("${gnutoolchain.newlib}/arm-none-eabi/lib");' >> lib/sw_apps/zynq_fsbl/src/lscript.ld
+
+            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
@@ -324,9 +306,8 @@
           dontFixup = true;
         };
 
-        u-boot = let
-          fast-servo-dts = fast-servo/fast-servo.dts;
-          in (pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
+        u-boot = (pkgs-armv7l.buildUBoot {
+            name = "${board}-u-boot";
             defconfig = "xilinx_zynq_virt_defconfig";
             patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
             preConfigure = ''
@@ -336,7 +317,7 @@
               CONFIG_SYS_PROMPT="${board}-boot> "
               CONFIG_AUTOBOOT=y
               CONFIG_BOOTCOMMAND="${builtins.replaceStrings [ "\n" ] [ "; " ] ''
-                setenv bootargs 'root=/dev/mmcblk0p2 console=ttyPS0,115200n8 systemConfig=${builtins.unsafeDiscardStringContext not-os-cfg.build.toplevel}'
+                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
@@ -349,7 +330,7 @@
             filesToInstall = [ "u-boot.elf" ];
           }).overrideAttrs (oldAttrs: {
             postUnpack = ''
-              cp ${fast-servo-dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
+              cp ${fast-servo/fast-servo.dts} $sourceRoot/arch/arm/dts/zynq-fast-servo.dts
             '';
             postInstall = ''
               mkdir -p $out/dts
@@ -380,7 +361,7 @@
             echo file binary-dist $out/boot.bin >> $out/nix-support/hydra-build-products
           '';
 
-        dtb = pkgs.runCommand "dtb"
+        dtb = pkgs.runCommand "${board}-dtb"
           {
             buildInputs = [ pkgs.gcc pkgs.dtc ];
           }
@@ -400,14 +381,14 @@
 
         sd-image = let
           rootfsImage = pkgs.callPackage (pkgs.path + "/nixos/lib/make-ext4-fs.nix") {
-            storePaths = [ not-os-cfg.build.toplevel ];
+            storePaths = [ not-os-build.toplevel ];
             volumeLabel = "ROOT";
           };
           # Current firmware (kernel, bootimage, etc..) takes ~18MB
           firmwareSize = 30;
           firmwarePartitionOffset = 8;
           in pkgs.stdenv.mkDerivation {
-            name = "sd-image";
+            name = "${board}-sd-image";
             nativeBuildInputs = with pkgs; [ dosfstools mtools libfaketime util-linux parted ];
             buildCommand = ''
               mkdir -p $out/nix-support $out/sd-image
@@ -441,8 +422,8 @@
               mkdir firmware
               cp ${bootimage}/boot.bin firmware/
               cp ${dtb}/${board}.dtb firmware/
-              cp ${not-os-cfg.build.kernel}/uImage firmware/
-              cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+              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=$SECTORS
@@ -455,7 +436,9 @@
             export PATH=${pkgs.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
+
+            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
@@ -470,7 +453,7 @@
 
             rm -rf $IMGDIR
           '';
-          in pkgs.runCommand "not-os-qemu" {
+          in pkgs.runCommand "${board}-qemu" {
             inherit qemuScript;
             passAsFile = [ "qemuScript" ];
             preferLocalBuild = true;

not-os-patches/pr-28.patch

@@ -151,10 +151,10 @@ index c61f9d6..fbdf0fd 100644
    };
  }
 diff --git a/zynq_image.nix b/zynq_image.nix
-index 3fa23ab..e2e3871 100644
+index 3fa23ab..9d1621e 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -1,66 +1,102 @@
+@@ -1,66 +1,89 @@
 -{ config, pkgs, ... }:
 +{ lib, config, pkgs, ... }:
  
@@ -163,22 +163,7 @@ index 3fa23ab..e2e3871 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 {
-+    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 {
++  customKernel = (pkgs.linux.override {
      extraConfig = ''
        OVERLAY_FS y
 +      MEDIA_SUPPORT n
@@ -195,14 +180,15 @@ index 3fa23ab..e2e3871 100644
 +      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;
@@ -253,12 +239,12 @@ index 3fa23ab..e2e3871 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