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Real-time Performance Improvement of “EPICS on F3RP61”

Real-time Performance Improvement of “EPICS on F3RP61”. Yokogawa Electric Corporation. agenda. EPICS on F3RP61 Features of F3RP61 Stability and Record Application Example Real-time Performance Latency Measurement Measured Performance Demonstration Video 2011 Conclusions. EPICS on F3RP61.

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Real-time Performance Improvement of “EPICS on F3RP61”

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  1. Real-time Performance Improvementof“EPICS on F3RP61” Yokogawa Electric Corporation

  2. agenda • EPICS on F3RP61Features of F3RP61 • Stability and RecordApplication Example • Real-time PerformanceLatency MeasurementMeasured Performance • Demonstration Video2011 • Conclusions

  3. EPICS on F3RP61 • KEK placed a request for FA-M3-PLC’s CPU, F3RP6x (e-RT3), to run Linux • EPICS device support and driver for F3RP61 was developed by Mr. J.Odagiri (KEK) • To turn PLCs themselves into IOCs • Most of ladder programs can be replaced with EPICS Sequencer • For fully EPICS-based front-end control • Rapid application development cycle • Easier maintenance • Finer and more flexible control

  4. Features of F3RP61 • Operating System • Linux and VxWorks available • Processer and Interface • PowerPC 533MHz • Ethernet x2, Serial IO, IEEE1394, CF Card • Can use many kind of PLC modules • Maintenance • Operation under 55℃ circumstance • Long term product suplly • Other feature • Multi CPU Function, I/O Open Pb freeRoHS

  5. Stability and Records • F3RP61 has served as IOC for more than two years to prove its stability • The number of F3RP61-based IOCs has reached dozens in the KEK sites (Tsukuba and Tokai) • KEKB (Main Ring / Linac) / PF-Ring / PF-AR / J-PARC / cERL etc. • Standard kernel 2.6.24.3/2.6.26.8-based • Modification was minimized in the porting

  6. Application Examples

  7. Real-time Performance • Latest Board Support Package(BSP) supports CONFIG_PREEMPT_RT option • All improvements are in the kernel • More preemptive than CONFIG_PREEMPT • Large part of interrupt handlers were demoted to kernel threads to give way to real-time threads • No changes in APIs • No need to modify applications already in operation • Just choosing uImageRT in the BSP will do it for you

  8. Latency Measurement • Latency Measurement by using fixed cycle interrupt • With CPU load caused by hackbench • hackbench creates many processes communicating with each other under the scheduler’s control

  9. Measured Performance Table for Latency frequency distribution of application start of fixed cycle with I/O process(load : hackbench） Appearance [times] Latency [micro second]

  10. Demonstration Video2011 • Inversed pendulum controlled by EPICS on F3RP61 • A metal bar on a movable cart • Monitor input • Angle of the pendulum • Position of the cart • Control output • Velocity of the cart • By using an EPICS special record • Developed by Dr. N. Yamamoto (J-PARC) • To calculate the feedback output • By processing the record every “0.005 second”

  11. Conclusions • A new type of EPICS IOC was realized with F3RP61 • Widely adopted in EPICS-based accelerator control for various purposes • Significantly improved real-time performance with PREEMPT_RT patch • To Extend the range of applications

  12. Thank you for your attention. • We do need feedback from EPICS users for further improvements

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