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EPICS/RTEMS at NSLS

EPICS/RTEMS at NSLS. S. Kate Feng EPICS Meeting at DLS, UK June 19, 2003. 1. 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

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EPICS/RTEMS at NSLS

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  1. EPICS/RTEMS at NSLS S. Kate Feng EPICS Meeting at DLS, UK June 19, 2003 1

  2. 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. 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. Sample features as of June 10, 2003 4

  5. 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. 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. 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. 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. Excerpt of the RTEMS startup script 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() 9

  10. 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. 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. 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

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