use recommended init sequence for si5340

Signed-off-by: Florian Agbuya <fa@m-labs.ph>

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/adc.py

@@ -21,7 +21,7 @@ import mmap
 import os
 
 import spidev
-from common import (
+from pyfastservo.common import (
     ADC_AFE_CTRL_ADDR,
     ADC_BITSLIP_ADDR,
     ADC_CH0_HIGH_ADDR,
@@ -54,7 +54,7 @@ def main_adc_config(test_pattern):
         spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
         spi.max_speed_hz = 50000
         spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = True
+        spi.cshigh = False
         # spi.read0 = False
 
         spi_buffer = [0x00, 0x80]  # reset
@@ -121,7 +121,7 @@ def main_adc_test_mode(enable):
         spi.open(MAIN_ADC_BUS, MAIN_ADC_DEVICE)
         spi.max_speed_hz = 50000
         spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = True
+        spi.cshigh = False
         # spi.read0 = True
 
         reg_contents = (
@@ -292,7 +292,7 @@ def adc_aux_read(port, type, pin):
         spi.open(1, 3)  # AUX ADC 1?
         spi.max_speed_hz = 5000
         spi.mode = 0b00
-        spi.cshigh = True
+        spi.cshigh = False
 
         read_buffer = spi.xfer2(write_buffer)
         mu_voltage = read_buffer[0] << 8 | read_buffer[1] >> 2

fast-servo/pyfastservo/common.py

@@ -22,8 +22,8 @@ MAP_SIZE = 0x1000
 MAP_MASK = 0xFFF
 PAGESIZE = 0x1000
 
-LINIEN_OFFSET = 0x0
+# LINIEN_OFFSET = 0x0
-# LINIEN_OFFSET = 0x300000
+LINIEN_OFFSET = 0x300000
 
 # ----------------------------------------------------------------
 # FRONT PANEL LEDS REGISTER ADDRESSES

fast-servo/pyfastservo/dac.py

@@ -21,7 +21,7 @@ import mmap
 import os
 
 import spidev
-from common import (
+from pyfastservo.common import (
     CH0_HIGH_WORD_ADDR,
     CH0_LOW_WORD_ADDR,
     CH1_HIGH_WORD_ADDR,
@@ -45,7 +45,7 @@ def main_dac_init():
         spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
         spi.max_speed_hz = 5000
         spi.mode = 0b00  # CPOL = 0 CPHA = 0
-        spi.cshigh = True
+        spi.cshigh = False
 
         spi_buffer = [0x00, 0x10]  # software reset
         spi.xfer2(spi_buffer)

fast-servo/pyfastservo/fp_leds.py

@@ -21,7 +21,7 @@ import mmap
 import os
 import time
 
-from common import (
+from pyfastservo.common import (
     LED0_BASE_ADDR,
     LED1_BASE_ADDR,
     LED2_BASE_ADDR,

fast-servo/pyfastservo/initialize.py

@@ -17,9 +17,7 @@
 # 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 adc
+from pyfastservo import adc, si5340, dac
-import si5340
-import dac
 
 def main():
     si5340.configure_si5340()

fast-servo/pyfastservo/si5340.py

@@ -17,102 +17,255 @@
 # 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
 
-PAGE_ADDR = 0x1
+DEVICE_READY = 0x00FE
+PLL_M_DEN = 0x023B
+STATUS = 0x000C
+STATUS_STICKY = 0x0011
 
-OUT0_MUX_SEL_ADDR = 0x15
+STATUS_LOSREF = 0x04
-OUT1_MUX_SEL_ADDR = 0x1A
+STATUS_LOL = 0x08
-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
+def write_preamble(bus):
+    preamble = [
+        (0x0B24, 0xC0),
+        (0x0B25, 0x00),
+        (0x0502, 0x01),
+        (0x0505, 0x03),
+        (0x0957, 0x17),
+        (0x0B4E, 0x1A),
+    ]
+    for address, value in preamble:
+        bus.write_byte_data(IC_ADDR, address, value)
 
-data_to_write = 0
+def write_postamble(bus):
-clk_out_addr = [
+    postamble = [
-    OUT0_MUX_SEL_ADDR,
+        (0x001C, 0x01),  # Soft reset
-    OUT1_MUX_SEL_ADDR,
+        (0x0B24, 0xC3),
-    OUT2_MUX_SEL_ADDR,
+        (0x0B25, 0x02),
-    OUT3_MUX_SEL_ADDR,
+    ]
-]
+    for address, value in postamble:
+        bus.write_byte_data(IC_ADDR, 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
 
-        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
+        # 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)
 
-        # read device id
+            # PLL Configuration
-        low_word = bus.read_byte_data(IC_ADDR, 0x2)
+            (0x0235, 0x00),  # M_NUM
-        high_word = bus.read_byte_data(IC_ADDR, 0x3)
+            (0x0236, 0x00),
+            (0x0237, 0x00),
+            (0x0238, 0x80),
+            (0x0239, 0x89),
+            (0x023A, 0x00),
+            (0x023B, 0x00),  # M_DEN
+            (0x023C, 0x00),
+            (0x023D, 0x00),
+            (0x023E, 0x80),
 
-        print(f"DEV ID: 0x{high_word:2x}{low_word:2x}")
+            # 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
 
-        data_to_write = 0x1
+            # N1 Configuration (1:1 ratio)
-        bus.write_byte_data(
+            (0x030D, 0x00),  # N1_NUM
-            IC_ADDR, PAGE_ADDR, data_to_write
+            (0x030E, 0x00),
-        )  # change to page 1 for output settings
+            (0x030F, 0x00),
+            (0x0310, 0x00),
+            (0x0311, 0x00),
+            (0x0312, 0x01),
+            (0x0313, 0x00),  # N1_DEN
+            (0x0314, 0x00),
+            (0x0315, 0x00),
+            (0x0316, 0x01),
+            (0x0317, 0x01),  # N1_UPDATE
 
-        readback = bus.read_byte_data(IC_ADDR, PAGE_ADDR)
+            # N2 Configuration (1:1 ratio)
-        if data_to_write != readback:
+            (0x0318, 0x00),  # N2_NUM
-            raise ValueError(f"Failed to set page.")
+            (0x0319, 0x00),
+            (0x031A, 0x00),
+            (0x031B, 0x00),
+            (0x031C, 0x00),
+            (0x031D, 0x01),
+            (0x031E, 0x00),  # N2_DEN
+            (0x031F, 0x00),
+            (0x0320, 0x00),
+            (0x0321, 0x01),
+            (0x0322, 0x01),  # N2_UPDATE
 
-        for addr in clk_out_addr:
+            # N3 Configuration (1:1 ratio)
-            bus.write_byte_data(IC_ADDR, addr, 1)  # set source to N1
+            (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
 
-        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 13)
+            # Output configuration
-        readback = bus.read_byte_data(IC_ADDR, OUT2_AMPL_ADDR)
+            (0x0112, 0x06),  # OUT0 config
-        # if data_to_write != readback:
+            (0x0113, 0x09),  # OUT0 format
-        #     raise ValueError(f"Problematic read: {readback}.")
+            (0x0114, 0x3B),  # OUT0 CM/AMPL
+            (0x0115, 0x28),  # OUT0 MUX_SEL
 
-        bus.write_byte_data(IC_ADDR, OUT2_AMPL_ADDR, 0x6B)  # setting OUT2 to LVDS25
+            (0x0117, 0x06),  # OUT1 config
+            (0x0118, 0x09),  # OUT1 format
+            (0x0119, 0x3B),  # OUT1 CM/AMPL
+            (0x011A, 0x28),  # OUT1 MUX_SEL
 
-        bus.write_byte_data(IC_ADDR, OUT3_FORMAT_ADDR, 0xCC)  # SETTING out3 to LVCMOS 18
+            (0x0126, 0x06),  # OUT2 config
-        # bus.write_byte_data(IC_ADDR, 0x2E, 0x09)		# SETTING out3 to LVCMOS 33
+            (0x0127, 0x09),  # OUT2 format
+            (0x0128, 0x3B),  # OUT2 CM/AMPL
+            (0x0129, 0x28),  # OUT2 MUX_SEL
 
-        readback = bus.read_byte_data(IC_ADDR, OUT3_PDN_ADDR)
+            (0x012B, 0x06),  # OUT3 config
-        print(f"Si5340 OUTx_PDN CLK3: 0x{readback}")
+            (0x012C, 0xCC),  # OUT3 format
+            (0x012D, 0x00),  # OUT3 CM/AMPL
+            (0x012E, 0x58),  # OUT3 MUX_SEL
 
-        readback = bus.read_byte_data(IC_ADDR, OUT3_FORMAT_ADDR)
+            # Miscellaneous configuration
-        print(f"Si5340 OUTx_FORMAT CLK3: 0x{readback}")
+            (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)
+        ]
 
-        readback = bus.read_byte_data(IC_ADDR, OUT3_AMPL_ADDR)
+        write_preamble(bus)
-        print(f"Si5340 OUTx_AMPL CLK3: 0x{readback}")
 
-        readback = bus.read_byte_data(IC_ADDR, OUT3_MUX_SEL_ADDR)
+        time.sleep(0.3)
-        print(f"Si5340 OUTx_CM CLK3: 0x{readback}")
 
-        bus.write_byte_data(
+        print("Writing main configuration...")
-            IC_ADDR, PAGE_ADDR, 0x3
+        for address, value in main_config:
-        )  # setting page to 3 to change dividers values
+            bus.write_byte_data(IC_ADDR, address, value)
+        print("Main configuration written")
 
-        n1_numerator = [0x0, 0x0, 0x0, 0x60, 0x22, 0x0]
+        write_postamble(bus)
-        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)
+        if not wait_for_lock(bus):
+            print("Error waiting for input clock or PLL lock")
+        else:
+            print("Input clock present and PLL locked")
 
-        for addr in n1_num_addr:
+        bus.write_byte_data(IC_ADDR, STATUS_STICKY, 0)
-            readback = bus.read_byte_data(IC_ADDR, addr)
-            print(f"Numerator buffer: 0x{readback:02x}")
 
-        for addr in n1_denom_addr:
+        # Final status check
-            readback = bus.read_byte_data(IC_ADDR, addr)
+        pll_locked = check_pll_status(bus)
-            print(f"Denominator buffer: 0x{readback:02x}")
+        xaxb_signal_present = check_los_status(bus)
 
-        bus.write_byte_data(IC_ADDR, PAGE_ADDR, 0x0)  # setting page to page 0
+        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()

flake.nix

@@ -11,7 +11,7 @@
   outputs = { self, nixpkgs, not-os, src-migen, src-misoc }:
     let
       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 {
@@ -27,6 +27,19 @@
         ];
       };
 
+      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 {
@@ -38,6 +51,10 @@
               gcc.fpu = "vfpv3";
             };
           };
+          zynq-armv7l-linux = import super.path {
+            system = "x86_64-linux";
+            inherit crossSystem;
+          };
         };
       });
 
@@ -83,38 +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 ];
+        patches = ./fast-servo/linien-pyrp3-monitor.patch;
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        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";
         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.python3Packages.setuptools ];
+        nativeBuildInputs = [ pkgs-armv7l.python3Packages.setuptools ];
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        propagatedBuildInputs = with pkgs-armv7l.python3Packages; [
           appdirs
           certifi
           click
@@ -126,15 +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";
-      });
-
       fast-servo-gateware = pkgs.stdenv.mkDerivation rec {
         name = "fast-servo-gateware";
         inherit (pkgs.python3Packages.linien-common) src;
@@ -167,11 +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";
@@ -196,6 +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 {
@@ -234,9 +306,8 @@
           dontFixup = true;
         };
 
-        u-boot = let
+        u-boot = (pkgs-armv7l.buildUBoot {
-          fast-servo-dts = fast-servo/fast-servo.dts;
+            name = "${board}-u-boot";
-          in (pkgs.pkgsCross.armv7l-hf-multiplatform.buildUBoot {
             defconfig = "xilinx_zynq_virt_defconfig";
             patches = [] ++ pkgs.lib.optional (board == "fast-servo") ./fast-servo/u-boot.patch;
             preConfigure = ''
@@ -246,7 +317,7 @@
               CONFIG_SYS_PROMPT="${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
@@ -259,7 +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
@@ -290,7 +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 ];
           }
@@ -310,14 +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
@@ -351,8 +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-build.kernel}/uImage firmware/
-              cp ${not-os-cfg.build.uRamdisk}/initrd firmware/uRamdisk.image.gz
+              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=$SECTORS
@@ -365,7 +436,9 @@
             export PATH=${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
@@ -380,7 +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 {
++  customKernel = (pkgs.linux.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
@@ -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

not-os-patches/pr-33.patch

@@ -1062,13 +1062,13 @@ index 0000000..59aa585
 ++
 + #endif /*_LINUX_FPGA_MGR_H */
 diff --git a/zynq_image.nix b/zynq_image.nix
-index e2e3871..2decd54 100644
+index 9d1621e..012e50c 100644
 --- a/zynq_image.nix
 +++ b/zynq_image.nix
-@@ -18,6 +18,16 @@ let
+@@ -3,6 +3,16 @@
-     };
+ with lib;
-   };
+ let
-   customKernel = (crosspkgs.linux.override {
+   customKernel = (pkgs.linux.override {
 +    kernelPatches = [
 +      ({
 +        name = "xilinx-configfs-overlays";
@@ -1082,7 +1082,7 @@ index e2e3871..2decd54 100644
      extraConfig = ''
        OVERLAY_FS y
        MEDIA_SUPPORT n
-@@ -32,6 +42,7 @@ let
+@@ -17,6 +27,7 @@ let
        OF_FPGA_REGION y
        FPGA_MGR_ZYNQ_FPGA y
        OF_OVERLAY y