RTEMS and Linux at the Canadian Light Source Tony Wilson Canadian Light Source University of Saskatchewan
Current Status Injector: –Linac 250 MeV –Booster is a 250 MeV to 2.9 GeV synchrotron –Commissioned and operational Storage ring : –2.9 GeV ring 170 m circumference, DBA lattice 12 fold –Commissioned and Operational –5 Insertion devices being installed during 2004 User Beamlines –7 beamlines to be installed and commissioned in –5 additional beamlines being designed and installed EPICS used for all high level control on main machine and beamlines.
VLANs for: each beamline, machine control, development, office, visitors VME Crate (Reflective Memory) MicroStep EROC IOC RTEMS Field Dev. RS-232 Devices OPI Linu x IOC Step Controller RTEMS Motors MicroStep OPI Linu x OPI Linu x Touch Panel OPI Linux Network Server (bootp, dhcp, auto restore) Linux Data Archive Server Linux Alarm Server MS-Win MS-SQL Server MS-Win PowerEdge IOC Linux PS Boards IOC RTEMS Power Supplies EROC IOC RTEMS Field Dev. Ethernet Devices PLC & GPIB Field Dev. MagnetsMotors 1Gig Bridge IOC Linux Field Dev. Profibus PLC System Architecture
RTEMS and CLS controller EPICS version 3.14.beta1 running RTEMs version (do not use VxWorks) IOCs are CLS embedded controllers (approx 125) - processor MC MHz - 16 Meg RAM - 4 serial ports and console port - easy to deploy, mounts in a 19” rack Pros and Cons: - No dynamically loaded library, so executable must be linked prior to download - large number of IOCs (separation of function but more points of failure) - each requires a network drop - RTEMS is open source (FreeBSD license terms) Problems: - possible memory incompatibility problem - IOC connected to 5 MODBUS PLCs was overloaded
Configuration based on locally developed Single Board Computer (running EPICS/RTEMS) Stepper Motor Controller and Stepper Driver SIL Micro-step Driver
CLS Motor Controller 16MB, 72 pin, 60 ns DRAM with parity 256 kilobyte Flash memory 10baseT Ethernet port Can control up to 8 motors Uses Motorola microprocessor BDM connector (background debug mode) Console RS-232 port 37 input/output connections (general purpose I/O)
Linux and VME Using VME hardware by Linux pc connected. SIS1100 pci card fiber optic link SIS3100 VME module with a Linux driver maps VME backplane to IOC application. Advantages: - pc can be physically separated from VME crate. - more than one VME crate per pc - multiple applications can access the same crate. - high throughput 25 Mbytes/sec block transfer. - cost €1800 (20 thousand hockey pucks) Limited amount of work ongoing on a RTEMS support.
VME Uses: - orbit correction: read beam position monitors, write to orbit correctors. - Oregon Micro Systems VME58 stepping motor controller. - Heidenhain ROQ425 EnDat absolute encoder. use MMI200 PC104 card on a VISA DCP104 made by DYNATEM - various other scalers, ADCs and digital IO on beamlines
Winter at the CLS