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Embedded Solutions for EPICS Based Control Systems

Embedded Solutions for EPICS Based Control Systems. Miroslaw Dach Goran Marinkovic Paul Scherrer Institut Switzerland. Background. Embedded systems with FPGA circuits are becoming very popular for new developments including physics facilities like accelerators. . Work Objectives.

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Embedded Solutions for EPICS Based Control Systems

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  1. Embedded Solutions for EPICS Based Control Systems Miroslaw Dach Goran MarinkovicPaul Scherrer InstitutSwitzerland

  2. Background Embedded systems with FPGA circuits are becoming very popular for new developments including physics facilities like accelerators.

  3. Work Objectives Integration of Xilinx based boards with the SLS control system Integration of Xilinx based boards with the SLS control system in order to control and tomonitor the FPGAsby means of EPICS.

  4. Main concept Xilinx chip FPGA I/O Dev PPC405 RAM LAN Proposal: to run EPICS on top of Linux OS

  5. Avnet Xilinx Virtex-4 evaluation board • Virtex-4 with PPC405 • JTAG • Serial interface • Network interface • EEPROM 8 MB • FLASH 4 MB • SDRAM 32 MB • LCD display • LEDs, Dip-switches • User I/O

  6. Software components • Cross development tool-chain • gcc 4.0.2 glibc 2.3.2 • Das u-Boot 1.2.0 (Universal boot loader) • Linux kernel 2.6.23 • Busy box 1.4.2 (core of the root file system) • ssh, ntpd, screen, web server • Epics server • GPMM drviver (with interrupt handling) • PCMON • SYNAPS, STREAM driver

  7. Step by step booting Virtex-4 FPGA EEPROM Bit-stream Boot loader PPC BRAM FLASH u-boot SDRAM u-boot cfg Linux +Root FS

  8. Remote booting Step by step booting Virtex-4 FPGA EEPROM PPC BRAM BRAM FLASH u-boot u-boot SDRAM Linux u-boot cfg u-boot cfg Linux +Root FS u-boot cfg u-boot

  9. Remote booting Virtex-4 FPGA EEPROM PPC BRAM FLASH u-boot u-boot SDRAM Linux u-boot cfg u-boot cfg Linux +Root FS Root FS NFS mout EPICS DB NFS mout EPICS DB EPICS DB /work

  10. On board booting Virtex-4 FPGA EEPROM PPC BRAM FLASH u-boot u-boot Linux Linux + Root FS SDRAM u-boot cfg u-boot cfg Linux +Root FS Root FS EPICS DB EPICS DB u-boot cfg EPICS DB u-boot

  11. MotionController PLC Oscilloscope LAN EPICS Server WAN Board Setup Board could be easily setup through web pages.

  12. EPICS and GPMM GPMM (General Purpose Memory Mapped) driver provides an easy and flexible way to interface most of the new generation cards and borads to the EPICS based control system.

  13. EPICS and GPMM GPMM could be used under VxWorks or Linux operating systems.

  14. EPICS and GPMM GPMM in brief

  15. EPICS and GPMM Memory Mapped Board 0xB0000000 Status and Control register 0xB0000004 ADC offset register 0xB0000008 ADC FIFO EPICS startup script GPMMConfigure (0,0xB0000000,”ADC”,”A32”,”D32”) addGPMMRegister(0,0,0x0,4,”X”,”Stat-Ctrl”,0) addGPMMRegister(0,1,0x4,4,”X”,”ADC_offset”,0) addGPMMRegister(0,2,0x8,4,”X”,”ADC_FIFO”,0)

  16. EPICS and GPMM Memory Mapped Board 0xB0000000 31 Status and Control register 30 29 2 EPICS database 0xB0000004 ADC offset register record(bi,”Xilinx:acqusition”){ field(DTYP,”GPMM”) 0xB0000008 ADC FIFO field(INP ,”#C0 0 S0 @Stat-Ctrl, s=30”) s=30”) EPICS startup script GPMMConfigure (0,0xB0000000,”ADC”,”A32”,”D32”) 0, addGPMMRegister(0,0,0x0,4,”X”,”Stat-Ctrl”,0) 0, addGPMMRegister(0,1,0x4,4,”X”,”ADC_offset”,0) 0, 0, addGPMMRegister(0,2,0x8,4,”X”,”ADC_FIFO”,0)

  17. System Implementations TCP IP/RS232 MotionController PLC Oscilloscope LAN EPICS Server WAN MotionController MotionController MotionController PLC PLC PLC Oscilloscope Oscilloscope Oscilloscope LAN LAN LAN EPICS Server EPICS Server EPICS Server WAN WAN WAN Systems based on generic board: • Vibration measurement system • Micro Ioc with 8 serial ports (RS232/RS485) The same software on other hardware: • Concentrator board with fast fiber links • EPICS router with 2 network interfaces MotionController MotionController PLC Oscilloscope MotionController PLC Oscilloscope PLC Oscilloscope LAN LAN LAN EPICS Server EPICS Server EPICS Server WAN WAN WAN

  18. Conclusions The performance of embedded systems has increased significantly over last years. Therefore they could be easily integrated to the control system with EPICS server running locally. In order to speedup the development process the GPMM driver was introduced.

  19. Thank youfor your attention

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