1. BROOKHAVEN SCIENCE ASSOCIATES U.S. Department of Energy Office of Basic Energy Sciences Funded under contract: DE-AC02-98CH10886 EPICS/RTEMS at NSLS S. Kate Feng EPICS Meeting at DLS, UK June 19, 2003 1

2. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences Projects that use EPICS at NSLS DUV-FEL accelerator (only one beamline) I began to implement EPICS/VxWorks in 2000 400 nm SASE achieved in February, 2002 266 nm HGHG achieved in October, 2002 Currently in operation for users NSLS beamlines (currently > 10) Peter Siddons and Ivan So began to implement EPICS/VxWorks in 2000 Peter Siddons proposed to use RTEMS for beamline applications 2

3. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences EPICS/RTEMS at NSLS I began the project in October, 2002 Development platform is Linux RedHat 7.3 EPICS 3.14 IOC test platform is RTEMS Evaluated cexp vs. esh for RTEMS dynamic loading cexp is ideal for run-time dynamic loading plus other nice features esh would be a good debugging tool (e.g. breakpoint and single step) if it is fully developed as promised. All the run-time modules to be loaded have to be pre-mounted into the IMFS file system via a makefile before running 3

4. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences Sample features as of June 10, 2003 Run-time dynamic loader 100 %Pre-mounted files only Invoking func() to skip function registration yes Disassembler yes Symbol Table lookup yes Telnetd, scripts and reentrant yesno Data Type All types except shortOnly integer and float Memory dump for a region noyes Single step noPromised, not done Break point noPromised, not done Thread control noyes Sample features as of 6/10/03cexpesh 4

5. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences RTEMS IOC configuration at NSLS RTEMS IOC configuration CPU: MVME2306 RTEMS : gcc-3.2.2, newlib-1.11.0, rtems-4.6.0pre3 RTEMS image download: bootp/tftp Shell: rtems-cexp for dynamic loading (T.S., SSRL) Remote login: telnetd (Till Straumann, SSRL, SLAC) Portability: RTEMS devLib.c (T.S., SSRL), epics threads, epicsMutex, and so on (Eric Norum, APS) EPICS 3.14.0beta2 (Marty Kraimer, APS, and Jeff Hill LANL) 5

6. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences EPICS 3.14 OSI for the DUV-FEL project Radiation monitor IOC ( needed for operation ) Tested on the RTEMS and Tornado2.02 platform Used epicsTime thread instead of routines from drvTS.c drvXVme293.c: driver for the MVME293 counter devWFXvme293.c: radiation counts at various locations devWF30secTotal.c: average radiation dose every 30 seconds at various locations devWFHourTotal.c: total radiation dose hourly at various locations devWFWorkdayTotal.c: total radiation dose during an eight-hour workday at various locations 6

7. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences EPICS/RTEMS for NSLS beamlines Added OSI over the beamline device/driver routines from the R3.13.x release and tested successfully on the RTEMS platform for the bitIO, scaler and OMS58 motor controller stdApp (50%) motorApp Collaborating with Mark River, Time Mooney and others from APS to install and test the up-to- date beamline device/driver routines 7

8. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences What did I modify in EPICS 3.14? I modified the registerRecordDeviceDriver.pl file so that I could continue the scheme of dynamic loading to load the Record/Device/Driver for stdApp and motorApp in the startup script Instead of registerRecordDeviceDriver(pdbase) for both the stdApp and motorApp, I used: std_registerRecordDeviceDriver(pdbase) motor_registerRecordDeviceDriver(pdbase) 8

9. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences cexpModuleLoad("std.obj") cexpModuleLoad("motor.obj“) vmeUniverseInit() devAvme9440Config(1,0x8000,0x80) VSCSetup(1, 0x20000000, 200) oms58Setup(1, 8, 0xa000, 190, 7,0.2) dbLoadDatabase("../dbd/std.dbd") std_registerRecordDeviceDriver(pdbbase) dbLoadDatabase("../dbd/motor.dbd") motor_registerRecordDeviceDriver(pdbbase) dbLoadRecords("../db/Acromag_16IO.db","P=Kate:,A=B1") dbLoadRecords("../db/Jscaler.db","P=Kate:,S=scaler1,C=0") dbLoadTemplate("../db/motor.substitutions") dbLoadRecords("../db/scanParms.db","P=Kate:,Q=m10,SCANREC=$(P)scan1,POS=$(Q).VAL, RDBK=$(Q).RBV") iocInit() Excerpt of the RTEMS startup script 9

10. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences Next step To install and test RTEMS – NFS (Till Straumann, SSRL) so that we can use EPICS save_restore (Tim Mooney, APS) To find a different VME/CPU board to run RTEMS in the event that Motorola discontinues the MVME230x board 10

11. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences RTEMS-specific issues that I encountered Most of the RTEMS-specific issues are transparent over the EPICS OSI. The RTEMS- specific issues I dealt with were very minor. For example : Use strtok instead of strtok_r for strict ANSI C I/O Ops.: in_8(), in_be16(),....out_be32() for PPC The NTP client for RTEMS reads only the GMT time. An easy workaround is to change the value of rtems_bsdnet_timeoffset in the osdTime.cpp file to offset the local time. 11

12. BROOKHAVEN SCIENCE ASSOCIATES National Synchrotron Light Source U.S. Department of Energy Office of Basic Energy Sciences Summary While RTEMS is lacking in source level debugging tools, the existing EPICS OSI/RTEMS/CEXP packages are sufficient for us to port the IOC applications to RTEMS. As of today, RTEMS meets the requirements of our real-time IOC applications. The challenge to its wider use lies in its limited range of BSP’s. 12