1. Embedded Solutions for EPICS Based Control Systems Miroslaw Dach Goran Marinkovic Paul Scherrer Institut Switzerland

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

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 to monitor the FPGAs by means of EPICS.

4. Main concept FPGA Xilinx chip PPC405 RAM I/O Dev 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 SDRAM32 MB LCD display LEDs, Dip-switches User I/O

6. 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 Software components

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

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

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

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

11. Board could be easily setup through web pages. Board Setup WAN LAN PLCOscillosco pe EPICS Server Motion Controller

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 Status and Control register ADC offset register ADC FIFO Memory Mapped Board 0xB0000000 0xB0000004 0xB0000008 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 Status and Control register ADC offset register ADC FIFO Memory Mapped Board 0xB0000000 0xB0000004 0xB0000008 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) record(bi,”Xilinx:acqusition”){ EPICS database field(DTYP,”GPMM”) field(INP,”#C0 0 0, S0 @Stat-Ctrl,s=30”) s=30”) 3130292

17. WAN LAN PLCOscilloscope EPICS Server Motion Controller WAN LAN PLCOscilloscope EPICS Server Motion Controller WAN LAN PLCOscilloscope EPICS Server Motion Controller WAN LAN PLCOscillosco pe EPICS Server Motion Controller WAN LAN PLCOscillosco pe EPICS Server Motion Controller WAN LAN PLCOscillosco pe EPICS Server Motion Controller System Implementations 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 WAN LAN PLCOscilloscope EPICS Server TCP IP/ RS232 Motion Controller

18. 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. Conclusions

19. Thank you for your attention