1. Wir schaffen Wissen – heute für morgen 24. August 2015PSI,24. August 2015PSI, Paul Scherrer Institut Embedded PREEMPT_RT Linux for IOxOS VME IOC Damir Anicic

2. Hardware - IOxOS (IFC1210) VME IOC Presented by D. Zimoch: A new intelligent FMC/XMC/PMC carrier board / IOC for VME

3. Software We will use RealTime Linux PREEMT_RT patched XENOMAI (if PREEMPT_RT is not good enough)

4. Choose Development Kit Started with: Linux Target Image Builder (LTIB) Initially sponsored by Freescale Semiconductor (www.ltib.org)www.ltib.org Now moved to Savannah project (savannah.nongnu.org)savannah.nongnu.org We have decided to switch to more modern development kit Now using: Embedded Linux Development Kit (ELDK) Provided by Denx (www.denx.de)www.denx.de Based on Yocto (www.yoctoproject.org)www.yoctoproject.org Aligned with OpenEmbedded (www.openembedded.org)www.openembedded.org

5. Software Development Kit (SDK) and Root File System Download pre-built version OK to start with Better build it yourself Download ELDK source (git, we use eldk5.2) Configure & build it Initially all SW package sources will be downloaded Later full rebuilds are faster (~ hours) Better do partial rebuilds (rootFS only) (~ 1/2 hour) Now you have SDK and Root File System

6. Components required to boot Linux U-Boot, Universal Boot Loader (www.denx.de)www.denx.de Flat Device Tree (devicetree.org)devicetree.org Device Tree file from IOxOS Kernel (rt.wiki.kernel.org), we use 3.2.17-rt28rt.wiki.kernel.org Root File System (previous page) VME and PCI-bridge drivers (PEV & IDT from IOxOS) Build them using SDK (Install to TFTP/NFS server)

7. Booting Linux on Embedded System Load U-boot from internal storage (NOR/SPI/SDCARD) Configure network with DHCP Load FPGA firmware files (*.bit) using TFTP Load Kernel and Device Tree using TFTP Kernel Mount rootFS over NFS SysV Init Mount other resources over NFS Load IOxOS VME and PCI-bridge drivers (PEV & IDT) Start EPICS IOC

8. RT Interrupt Response Times Histogram EPICS not runningEPICS running User times (green) of PREEMPT_RT Linux application are acceptable Kernel times (blue) is what could also be achieved with XENOMAI (should be even better)

9. Interrupt Response Times Histogram (DMA in RT task) It is expected that typical RT application reacts on 10 ms interrupts: DMA read 250 KB from USR1 area Calculate (void in this test) DMA write 8 KB to USR1 area notify EPICS Although it is fine with standalone RT application, we have interrupt jitter problems (2000 µs) when same runs in EPICS. We still have to investigate it. Achieved 250+ MB/s. It is fast enough for our needs.

10. Conclusions PREEMPT_RT Linux is good enough for user applications EPICS works Interrupt response times are acceptable DMA transfer rate is acceptable The CPU load can be quite high when heavily loaded EPICS and RT application are running on the same IOC Solution: run them on two IOCs We do not need XENOMAI

11. Acknowledgements IFC Board Design Timo Korhonen Ernst Johansen IOxOS Technologies LLRF Project lead Roger Kalt Transition Module Design Stefan Scherrer Werner Sturzenegger FPGA programming Lionel Schebacher Linux Kernel Driver IOxOS Technologies Linux / EPICS programming Babak Kalantari Damir Anicic Dirk Zimoch Mario Jurcevic Special thanks to Roger Kalt Mario Jurcevic for measurement results.