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AF2 Software Upgrade Feasibility Study

1. 1 The recommended focus of the study was to research into 3 different operating systems VxWorks Real time Linux and OS 9 After examining the requirements and collecting some initial information it was decided that the study should concentrate on the 7 following different options involving the 3 suggested operating systems These seven options are Option la Upgrade to VxWorks on 68k VME Option 1b Upgrade to VxWorks on PowerPC VME Option 2a Upgrade to Real time Linux on PowerPC VME Option 2b Upgrade to Real time Linux on x68 cPCI Option 2c Upgrade to Real time Linux on x68 Desktop PCI Option 3a Upgrade to OS 9 on 68k VME Option 3b Upgrade to OS 9 on PowerPC VME The documented research is split into 2 sub sections The first concentrates on the software issues taking a look at the differences between each operating system containing a description of what they have to offer The other subsection discusses relevant required changes in the AF2 control hardware 3 1 AF2 Software Research VxWorks Real time Linux and OS 9 are the three operating systems that are considered in the upgrade options The software section starts with a description of the different types of operating system This 1s followed with each operating system being described in terms of features development tools licensing and support 3 1 1 Introduction to Operating Systems Before examining and comparing these systems it
2. 1s important to understand why AF2 must use a real time operating system There are three types of operating system Non real time Soft real time Hard real time Popular desktop operating systems such as Windows Unix and standard Linux are seen as non real time They each have kernel that disables interrupts for long periods of time 16 This 1s what makes standard Linux a non real time OS It 1s important for AF2 that the software doesn t hang for undeterminable amounts of time or indeed crash during operation concluding that a real time operating system is needed Page 12 of 44 Isaac Newton Group La Palma A real time operating system is one which can keep up with what s happening in its environment It relates to the importance of deadlines The definition of what makes operating system hard or soft real time is a little vague One definition is that a hard system 1s needed if missed deadlines means failure of the system whereas for a soft system missed deadlines means a degraded system 17 For AF2 it 1s vital that the instrument doesn t fail as failure leads to downtime How missed software deadlines affects the instrument 1s something that would become clear in examining the software For example it would be acceptable if a missed deadline causes a few milliseconds delay in moving a stepper motor It 1s hard to find out without having the real time development tools that the operating system presen
3. Group La Palma CodeTEST for Tornado This software only version of CodeTEST is an easy to use cost effective tool for analysing embedded program as they run in a target system Itis available in two separate modules egs CodeTEST Coverage pinpoints untested areas of code and provides dynamic views of the system egs CodeTEST Memory permits developers to observe dynamic memory levels as they occur Visual SlickEdit Tornado Edition The full featured editing capabilities of Visual SlickEdit are combined with special support for the Tornado development environment Wind Foundation Classes VxWorks Wrapper classes and Toolsh from Rogue Wave Software support object oriented design and help accelerate application development Look For Tornado This C visualization and debugging tool graphically explores a C program as it executes A complete range of comprehensively documented development tools 1s available for VxWorks Software Portability Comprehensive documentation exist on intertask communications 29 VxWorks 1s capable of shared data structures mutual exclusion semaphores message queues pipes network intertask communication and signals It is capable of recreating the shared memory and signals that OS 9 use There are operating system calls similar to the OS 9 calls that are used in the AF2 software The graphics cards device driver wouldn t be compatible and would have to written for VxWorks Th
4. VxWorks AE Datasheet Wind River Systems Inc VxWorks Programmer s Guide Wind River System Inc Tornado II Datasheet Wind River Systems Inc Tornado II Whitepaper Wind River Systems Inc Tornado User s Guide v2 0 Wind River System Inc WindView User s Guide v2 0 1 Wind River System Inc StethoScope User s Manual v5 5 Wind River System Inc TraceScope User s Manual v1 0 Wind River System Inc ProfileScope User s Maunual v3 0 Wind River System Inc Customer Support User Guide v5 0 Wind River System Inc http www linuxdevices com articles AT60735 1496 1 html LinuxDevices com http www uk research att com dmVlinux srt D Ingram AT amp T http www timesys com TimeSys http www lineo com products embedix sdk embedix index html Lineo http www lynuxworks com products bluecat bluecat php3 LynuxWorks http www linuxdevices com inks LK amp 662675028 html LinuxDevices com JI J2 Monolithic Backplane Datasheet Bustronic Ltd CPCI Backplane with ATX Datasheet Bustronic Ltd Page 33 of 44 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 Isaac N ewton Group La Palma m http www aao gov au ukst 6df html Q Parker AAO 6dF Positioner Task Software Report J Wilcox T Farrell amp N Frampton AAO Personal email correspondence Janet Eden T
5. a true VME card but just takes power from the Backplane Table 2 1 List on AF2 s VME and IP Cards 2 1 1 Single Processor Boards The instrument currently uses the TP32V 68030 Single Board Computer 6 from Tadpole Technology PLC Page 4 of 44 saa Newton Group La Palma There are 6 connections made to this cpu board SCSI connector RS232 connector Parallel printer connector Hard floppy disk boot sequence switch Ethernet transceiver Floppy disk drive connector SON ue a es AF2 currently boots from a hard disk It uses the Ethernet transceiver and the RS232 connector to communicate with the network 2 1 2 Framegrabber Graphics Cards There are two BVME780 framers graphics cards 7 on the VME crate One acts as a frame grabber for the robot gripper TV system allowing the software to grab images of the fibres to determine their position This card has two external connections a video input from the gripper TV camera and a processed video output in order to display what the frame grabber and software are doing with the image of the fibres The second BVME780 is used as a graphics card for the engineering mimic display This card has five video connections the inspection TV camera inside Autofib 2 is connected to the video input and the output RGB and Sync are connected to a colour monitor 2 1 3 Interconnectivity Card This custom designed and manufactured board that simply provides an interconnect
6. facility for all the other cards and the multipole connectors to the outside world Although this card resides in the VME crate it 1s not a true VME bus card and simply takes power from the backplane with no other connections to the VME bus being made via the backplane 2 1 4 Motion Control Cards There are four Galil DMC320 8 motion control cards connected to the crate Each of these cards is capable of controlling two motor axes The cards contain the following motors and encoders X axis motor and rotary encoder X axis linear encoder Y axis motor and rotary encoder Y axis linear encoder Z axis motor and rotary encoder Theta axis motor and rotary encoder Off axis probe motor and rotary encoder Each motor or encoder axis uses a 26 way ribbon cable to connect to the interface board This cable provides all the motor command encoder signals limit and home position switch signals Page 5 of 44 m Isaac N ewton Group La Palma m 2 1 5 IP Carrier Card The last VME card to be connected to the backplane is the Greenspring VIPC310 dual Industry Pack IP carrier board 9 This board contains two IP cards that give ADC and digital I O capabilities 2 1 6 Digital Input Output IP Card The IP Digital 24 IP card 10 is seated in the first IP slot All the control and the status of the instrument is provided by this card as tabulated in table 2 2 below Channels 1 8 are used for control output whereas ch
7. final experiment was again to move the fibres from the park configuration to the circle configuration This time the fibres were to be placed within a 8 micron placement accuracy If the fibre was placed outside this tolerance then it would be re iterated In this experiment there was a total of 309 fibre centroids This means that there was an extra 150 movements where the robot picked up and slightly moved before trying to place the fibre within tolerance again Table C3 contains the results and deduces the total reiteration movement time and the time spent of each reiteration Time per Fibre sec Total Time sec Field Set up J 253 Configuring OS Table C3 Changing field with iterating These experiments have tried to break up the different commands into parts to estimate how much time could be saved It is clear that the centroid algorithms and the configuration algorithm are purely data processing parts of the software If there was a 10x increase in processor speed then it is expected there would be a 90 time saving for these algorithms This alone would lead to a 20 time saving on a field configuration Further small timesaving would relate to the Pick Move Place and Reiterate Move parts of the process It is also interesting to note that if a lookup table containing each fibre fin misalignment was introduced it would reduced the time by about 30 This is the total tim
8. kernel I O manager Pipe file manager Sequential Character File manager Sequential Block File manager Ms Dos format file manager and system security module It network components include Stacked Protocol File manager LAN Communication Pak with Ethernet Internet support TCP IP UDP and PPP prot stack The operating system is documented in the user manuals the OS 9 technical reference manual 1s particularly useful 22 Page 13 of 44 Isaac Newton Group La Palma Development Tools The latest version of OS 9 has a firm Integrated Development Environment IDE for Windows Hawk IDE 23 The suite of development tools consist of Powerful Editor Codewright Project Manager VCCS Optimised Ultra C C Compiler Target Debugger and Target Profiler These tools are what are expected to comfortably write compile and debug code for a real time operating system The package that you buy Board Level Support BLS includes the OS 9 v3 2 operating system Hawk IDE and BSP is dependant on the VME board that you are developing for Software Portability The OS 9 68k is not exactly the same compared to OS 9 PPC OS 9 68k is almost completely portable and should be relatively straightforward Both would require the existing source code to be ported from the native environment to Hawk cross environment and recompiled For the 68k all the non AF2 function calls revealed in section 2 2 3 should work at the most require slight
9. of 25 non AF2 functions 7 of these functions are associated with data modules 16 are associated with the graphics card and the other 2 are associated with the OS 9 system The other 89 functions contained may contain calls to these functions but providing the function interface remains the same the other 89 functions needn t change Cmd_intrp Task CMD INTRP TASK cmd intrp c add _ command open_module add_entry process check_cmderr save pid chk command send update close module sendmessage get oldentry sighand get reply zero commerr get size zero mecherr main It contains 17 functions 5 of these function calls non AF2 functions 3 of these are duplicates of which 12 are very similar duplicates from the control task although a couple have slight modifications From the other 5 2 call non AF2 functions isn t called in the control task 1 of these calls a system function that Network Tasks Page 37 of 44 Isaac Newton Group La Palma 3 NETWORK TASKS READ TASK RECEIVE TASK WAICHDOG TASK WRITE TASK add entry open module ack message main close module close module main eleme FEAU cu icon close module au link Ov read ov ead ou link open mo dee ue get size HE X Ud av signal TE gt open module ack message munlin muniin sysciate SEN Me add entry add entry man find entry alm cycle EAE sigrnask close module alm_cycle EN link amp v read close module Fn
10. possible but would be very tricky without the right tools and support To take advantage of Linux the code would have to be split into its real time and non real time components making things messy when you are trying to port code More investigation 1s needed Current Licensing There are no licensing issues if an open source version is used If a commercial version were used then a licensing fee could be charged Support Again commercial companies offer support and support contracts Open source distributions rely on support from the Linux community and the support is free Page 17 of 44 Isaac Newton Group La Palma 3 2 AF2 Control Hardware Research This sub section looks at describing the control hardware required for each upgrade option The two week study didn t provide enough time to find the best possible solution for each option only that a solution for each option exists This section looks at the bus processor framegrabber motion controllers and input output cards in turn suggesting solutions All the control hardware that needs to be replaced is described with the exception of cables 3 2 1 Buses There are many buses available to the embedded world VME VME64X VME320 VXI cPCI and CTEL This study considered the VME 44 and the cPCI buses 45 This choice was made because all the instruments at the ING that has VxWorks as an operating system uses a VME backplane AF2 the only instrument tha
11. the recommendations that come from the researched gained from this study Page 2 of 44 Isaac Newton Group La Palma v 2 Instrument Review This review section after a short instrument description briefly examines the existing control hardware and software before explaining the reasons why a software upgrade is desirable A wealth of information is contained within the AF2 website 2 It includes a page that lists all AF2 and relevant Wide field Spectroscopy documentation 3 Documents of particular use include the Autofib2 WYFFOS User Manual 4 the Autofib2 Technical Manual and the Autofib2 Control System Software Manual which contain information on the usage control hardware and software respectively It should be noted that some sections in these documents need updating especially information associated with the commissioning of small fibres and the decommissioning of large fibres AutoFib 2 is the WHT prime focus robotic fibre positioner It was originally built within a collaboration between Durham and RGO After commissioning the instrument was plagued by unreliability and consequently the robot and fibre module were re engineered by ING staff When mounted on the telescope AF2 1s positioned behind the prime focus corrector The fibres are positioned on a field plate by a robotic set of jaws with 3 d motion capability The fibres are run along a spider and then down the side of the telescope finally entering t
12. time taken to complete the project for each option is predicted It is important to realise that these are estimates based on this research and the author s knowledge and familiarity of the instrument The timescales would be slightly longer for someone else being supervised while considerably longer if someone else working in isolation What 1s of particular interest is the relevant project length for each option The estimated time is the time required for one person to work full time on the project Risks associated with each option are commented The feasibility study did not allow enough time to totally eliminate risk for each option Further risk elimination research would be required on choosing an option All technical risks would be eliminated before purchasing hardware A risk factor for each option has been issued It relates to the risk on schedule completing the project on time and the probability of encountering unseen problems It is important to note that no option has a high risk factor All options are feasible Page 22 of 44 Isaac Newton Group La Palma 4 1 Option la Upgrade to VxWorks on 68k VME This option would get the ING away from the OS 9 operating system using a standard ING real time operating system It has an excellent supported set of development tools It doesn t give any gains in processing speed using the same technology that was available 10 years ago It would take a relatively short t
13. 30 euros with 330 euros annual maintenance So for example if the ING was to start developing with the 68060 processor one BSP will be included in the new VxWorks OEM License This is equally valid for the MPC7xx processor B 2 Run time licenses According to the number of copies of VxWorks you do at the production time The ING would have to purchase one run time license costing 1 290 euros Page 41 of 44 Isaac Newton Group La Palma Appendix C Experiments Experiments were performed to estimate the affects of using a faster processor They also gave a rough idea of the sort of timesavings that could be gained by implementing changes to the code The experiments tried to measure and allocate time to either moving mechanisms or data processing Data processing includes processes that would use the processor file I O and the movement of data The experiments are repeatable Each experiment started with the robot in the park position and the fibres in a park configuration There were a total of 159 fibres used The experiments were timed using a stopwatch as initial experiments using an OS 9 system timer call failed The first experiment that was carried out was to look to see how long it takes to move the robot to each fibre in sequential order before returning to the park position The Viewmodule routine is mainly movement The second experiment was to record the position of all the fibres The robot woul
14. 6 It is possible to get a PMC carrier card for the cPCI option to house the Snapper framegrabber card VxWorks drivers are available for each card There are many PCI Framegrabber cards that have Linux drivers one such example 1s the DT3155 framegrabber card 67 It comes with a Window s software development kit but Linux drivers must exist as it is used in 6dF 46 3 2 4 Motion Control Cards The original motion control can be used in the VME options because as we have seen the software writes to registers These cards are obsolete but the makers Galil now sell the next generation DMC 1348 cards 68 The next generation cards communicate in the same way as our existing cards so they would be an ideal replacement 69 Page 20 of 44 Isaac Newton Group La Palma An ideal motion control card for the cPCI Linux option would be the DMC 1640 cPCI based motion control card Whereas the PCI option would be the DMC 1842 all contain the same functions but are for the respective backplane 68 3 2 5 IP Carrier Cards Greenspring the manufacture of the original AF2 IP carrier card are now called SBS Technologies The IP Carrier Card VIPC310 is still being sold It isn t obsolete and could be used for the VME systems A cPCI IP carrier card such as the CIPC Intelligent DSP Based Dual Industry Pack Carrier from Dynatem Inc would be needed 70 This would allow the cPCI option to use the existing cards as discuss
15. AF2 Software Upgrade Feasibility Study 1 INTRODUC ELO M 2 Ze JANSEN ENTREE 3 2 45 EXISTING AF2 EE EE 3 ZA SIM CTE EE 4 22 Fr neerabben7z Graphics Cuidam E RIF ERES ET AR SORS RIS IM DN 5 Delos Inierconnecnvity CGI asumido pad uu aa ea eee 3 2 1 4 Monon C OBtFOl EEN 5 ER 9 LEC OIC CG EE 6 2 1 6 Distal Inpur OIbDut Th Cyd ssec isaac eae eas cna 6 2 s Analogue Digital Converters ADC IP Cord 6 2 2 EXISTING AF 2 SSOETWARE cruinne a E 6 22d EE 6 2 22 EE 7 225 SOU OC EE S 2 2 4 OMEN EE 9 2 3 REASONS FOR UPGRADE s oiisies ibas poeti esu NOE OS EE 10 3 UPGRADERESEARCLll idest noie o Eo YE EE RNER eO Fab ey eT E Vo ve To Ea ev ea Eo NES eO csv eyes voce vea b ane u ies 12 2 4 AFA SOFTWARE RESEARCH eene 12 3 1 1 Introduction to Operating SVEIS eegene 12 Sod 8A e RQ 13 3 1 3 VAN cp Te E E 14 3 1 4 ROO Dme AED ioo adt uM IM ID M DM a 16 5 2 AF2 CONTROL HARDWARE RESEARCH cett tse i Os npn consol BINE 18 3 2 1 DUS O PT AT A IS 3 22 Sinole Processor DOOTI S nicae ED esee ume cui eon a eds 19 52 5 FEr ngorabber7QOrdnhies C QIIS mido up Mod omne dae 20 3 2 4 MOON ContFol GRIS d cote MN MM LM M M AP DP LI LEES 20 32 F I Camel CGI GS asas tdm MI E MCI M M M i M E 21 3 2 6 Analogue Digital Converters ADC Code 21 3 2545 Dieudt Input OWPDUI C ardsiciasssstedetatenidea A 21 3 2 8 Iierconneonyvity Cana duae pcd m NUM NN SM AM ea
16. Date 15 04 02 Ver 0 1 Draft 1 Introduction This report concludes the EMM approved two week feasibility study commenced on 11 March 2002 and was completed on the 22 March 2002 by S Goodsell and R Bassom of the ING The aim of the study was to examine the existing AUTOFIB 2 AF2 micro software assessing the feasibility of a software upgrade 1 It was agreed that three different operating systems would be considered this evolved into 7 different upgrade options Option la Upgrade to VxWorks on 68k VME Option Ib Upgrade to VxWorks on PowerPC VME Option 2a Upgrade to Real time Linux on PowerPC VME Option 2b Upgrade to Real time Linux on x68 cPCI Option 2c Upgrade to Real time Linux on x68 Desktop PCI Option 3a Upgrade to OS 9 on 68k VME Option 3b Upgrade to OS 9 on PowerPC VME This report starts with an instrument review describing the existing control hardware and software of the system expressing reasons to why an upgrade is desirable The software and control hardware upgrade research is then described Assessing each of the three operating systems in terms of development tools software portability licensing and support The control hardware research looks into different replacement cards for each option This section reveals why each option was considered The report then discusses the cost required effort and risk associated with each option concluding with a section detailing
17. Newton Group La Palma The latest version is VxWorks 5 4 VxWorks the run time component of the Tornado II embedded development platform is the most widely adopted real time operating system in the embedded industry VxWorks comprises the core capabilities of it s microkernel with advanced networking support powerful file system and I O management and C and other standard run time support All is well documented within the programmer s guide 29 Development Tools Tornado II 30 31 comprises a comprehensive suite of core and optional cross development tools and utilities Standard Tornado II tools WindSh The WindSh shell interface allows users to interact with all target facilities Unlike other shells the Tornado shell can interpret and execute almost all C language expressions including calls to functions and references to variables whose names are found in the system symbol table Interpreted C statements give an easy to use interface to the target environment Browser The Tornado browser is a graphical companion to the Tornado shell presenting information symbolically whenever possible The browser gives the overall state of the system and allows developers to launch dedicated displays that monitor the state of target operating system objects such as tasks semaphores message queues memory partitions and watchdog timers WindNavigator The WindNavigator Multilanguage browsing tool enables dev
18. Prices Page 44 of 44
19. T302 Data Acquisition Card Datasheet Data Translation Inc IP OPTOAD12 Datasheet SBS Technologies Inc At the time of releasing this document all the references with the exception of web links were available in the author s office Page 34 of 44 saa Newton Group La Palma Appendix A Software Tasks This Appendix looks at the functions associtated with each of the AF2 tasks running on the OS 9 crate It also lists the function calls for each of the tasks functions This appendix is best viewed in colour Table Al lists the 7 tasks as well as the addition 2 OS 9 specific tasks running on the crate the table 1s a copy of table 2 3 Table A1 AF2 OS 9 Software Tasks Control Task control c power c robot2 c status c tvstuff c add command OT state af2_extract af2_centroid add entry instm power af2 loadrfio af2_setvid close module ismotor af2_offset blkrd comm ident ispower af2 park aprw get_oldentry motor af2_offset fifow get reply af2 park findfibre get size af2 quadrant isfiorethere main probe c af2 random inw clear open module init probe af2 recover iv init save pio move probe af2 reference send update pwalt af2_view sendmessage load module sighand robot c movefibre zero mecherr of2 robot Ge der init robot rece pol move c Ie ranl cor move xyiwait ae tmove zwait mel Oke viewfibre xytmove A A viewobject zmove setup c outcom c af2 setupfield com out atan2 send cgp ch
20. Table 4 6 contains the prices in euros of the control hardware software and software licenses that the ING would be required to purchase for this option VME MVME147 Board 7 840 Software License 9 230 17 070 Table 4 6 Hardware and Software Costing The software and hardware costs are roughly equal Software maintenance each year would come to 1 850 euros The cost of spares for this option would come to 7 840 euros Effort The option requires the least amount of effort The main source of effort would be setting up the development environment and porting the code Estimated Time 3 months Risk This option offers the lowest risk all the original cards except the processor board would be used With support from OS 9 in the porting of the code the research has already shown that the upgrade is pretty much straightforward Risk Factor Low Page 28 of 44 Isaac Newton Group La Palma 4 7 Option 3b Upgrade to OS 9 on PowerPC VME This option wouldn t get the ING away from the OS 9 operating system It has a good supported set of development tools It gives more than a 10x increase in processor speed It would take a relatively short time to finish this low risk project Cost Table 4 7 contains the prices in euros of the control hardware software and software licenses that the ING would be required to purchase for this option VME MVMES5100 500MHz PowerPC VME MVME761 Transistion Module Software Lic
21. ach of the tasks At this stage the software is in a state where the user can send commands remotely To send commands locally the user has to run the eng program on the crate This will allow the user to issue commands using a command line The AF2 commands are well documented on the website and in the user manual 2 2 3 Source Code This part of the review looks at each task s source code estimating the source code s portability Each task 1s broken down into functions Each function was examined to see if it contained any non AF2 function calls that aren t part of any ANSI C library Non AF2 function calls are defined as OS 9 specific calls and calls using external libraries It was found that they were 4 types of non AF2 function calls OS 9 operating system calls OS 9 datamodule calls OS 9 signal calls and finally BVME780 calls Appendix A looks at each task in more detail whereas this section describes a summary Along with the AF2 tasks two executable programs were also examined the table program which creates the datamodules and the eng program which allows the user to issues commands locally The control task 1s the biggest task by far It consists of all the c files in the appsource directory with the exception of cmd intrp c Whereas the cmdtintrp task is created from just the cmd intrp c file Each of network tasks are made from c files of the same name in the network directory whereas the esdrave task is created from t
22. adpole Technology Ltd MVMEI62P2 VME Embedded Controller Datasheet Motorola PLC MVMEI72P2 VME Embedded Controller Datasheet Motorola PLC MVMEI47 VME Single Board Computer Datasheet Motorola PLC MVME167P VME Single Board Computer Datasheet Motorola PLC MVMEI77P VME Single Board Computer Datasheet Motorola PLC MVME2100 Series VME Processor Modules Datasheet Motorola PLC MVME2300 Series VME Processor Modules Datasheet Motorola PLC MVME2400 Series VME Processor Modules Datasheet Motorola PLC MVME2600 Series VME Processor Modules Datasheet Motorola PLC MVME2700 Series VME Processor Modules Datasheet Motorola PLC MVME3400 amp MVMVE4600 VME Processor Modules Datasheet Motorola PLC MVMES100 Series VME Processor Modules Datasheet Motorola PLC CPN5360 CompactPCI Peripheral Processor Datasheet Motorola PLC CPLE cPCI SBC Datasheet Trenton Technology Inc CPBI cPCI SBC Datasheet Trenton Technology Inc Personal email correspondence Jason Young Arcom Control Systems Personal email correspondence Stuart Tier BVM Ltd Snapper Datasheet Datacell Ltd DT3155 Framegrabber PCI Card Datasheet Data Translation Inc Galil Motion Controller Optima Series Data Pages Galil Motion Control Inc Personal email correspondence Kaushal Shah Galil Motion Control Inc http www dynatem com cipcfs html Dynatem Inc IP Unidig Datasheet SBS Technologies Inc D
23. ainly because of 6dF 46 6dF is a similar instrument to AF2 that resides at the AAO The control hardware consists of a desktop PC running Linux and using PCI cards 47 PCI buses aren t normally considered in the embedded world because they are ruggedised The reasons described led to the different choices of backplanes found in the options Page 18 of 44 Isaac Newton Group La Palma 3 2 2 Single Processor Boards The existing processor card is obsolete and isn t supported by the latest versions of OS 9 and VxWorks 48 Experiments were performed to estimate the affects of using a faster processor The experiments are described in Appendix C The results predict that a set up would be up to 40 quicker if we used a top end processor and made some code modifications This gave the incentive to research into faster processors than the 68k Rather to look at every single architecture family and every single manufacture of CPU boards it was sensible to look at Motorola boards as they are a widely used manufacturer whose information is easily accessible The 68k family of processors was compared with the PowerPC family of processors for the VME bus The 68k processor is currently used in the ING instrument s control hardware whereas other observatories such as Gemini are using the faster PowerPC s Motorola is still selling the 68k processor because of organisations that don t need to upgrade that hardware to faste
24. annels 9 16 are used as status 1nput Instrument Power on off 9 Instrument power status 6 wide Fibre back illumination 14 Servo amplifier status 8S motused is Guide fibre back illumination status Table 2 2 IP Digital 24 IP card channel descriptions 2 1 7 Analogue Digital Converters ADC IP Card The second IP Precision ADC IP card 11 provides 20 channels of 12 bit analogue to digital conversion Only one channel is used to measure a voltage which gives the temperature of the instrument 2 3 Existing AF2 Software This section outlines the instruments low level software running on the TP32V 68030 single Board Computer Rather than attempt to describe everything it concentrates on issues that would be affected in a software upgrade mainly code portability It breaks the software into structure real time operation and source code before finally considering other AF2 software The latest version of the software can be found on the AF2 micro s hard drive in the hO autofib directory and is comprehensively documented 12 2 2 1 Structure AF2 currently uses OS 9 68K v2 4 operating system this is a very old and obsolete version that doesn t support Y2K The latest OS 9 68K operating system is v3 2 Page 6 of 44 Isaac Newton Group La Palma There are currently 4 user accounts on the system The Autofib account contains the operational software The other 3 are curre
25. bility Study S Goodsell ING http csgsrv ing iac es af2 S Goodsell ING http csgsrv ing iac es af2 af2 documentationset html S Goodsell ING AUTOFIB 2 WYFFOS User Manual J Telting R Corradi ING AUTOFIB 2 Technical Manual I J Lewis University of Durham TP32V User Manual Tadpole Technology Plc BVME780 Frame Grabber and Graphics Module BVME DMC 300 10 DC Motor Controller User s Manual DMC VIPC310 User Manual Greenspring Computers IP Digital 24 User Manual Greenspring Computers IP Precision ADC Greenspring Computers AUTOFIB 2 Control System Software Manual I J Lewis University of Durham Visiting Committee 2001 Report ING Restructure Plan R Rutten en on AF2 Operation s Analysis S Goodsell ING http www embedded com 97 fe39710 htm J Epplin Embedded com Introduction To Real Time Systems Programming RTP Limited http www microware com Microware Systems http www radisys com RadiSys Corporation OS 9 for 65k Datasheet RadiSys Corporation OS 9 for PowerPC Datasheet RadiSys Corporation OS 9 Technical Manual v3 0 Microware Systems Hawk IDE Datasheet RadiSys Corporation Personal email correspondence Jean Pierre Van Renterghem Microware http www microware com Support levels html Microware Systems http www windriver com Wind River Systems Inc VxWorks 5 x Datasheet Wind River Systems Inc
26. changes The PowerPC version of OS 9 makes the software a little less portable The drivers for the frame grabber card may need modifications there would need to be some memory mapping configuration needed The OS 9 specific function calls would still work 24 Licensing The license would be a fixed cost regardless of which processor was used Extra money would have to be paid 1f more than one person developed extra seat or if more than one processor was to be used Support Microware offer various support packages 25 The package most suited to the needs of AF2 would be the standard support package One engineer and one designated backup engineer are entitled to one year of unlimited phone e mail and web based support for installation configuration usage issues work arounds patches maintenance releases and product updates The initial response time for the Standard Package is within 2 business days 3 1 3 VxWorks VxWorks is produced by Wind River Systems Inc 26 Currently there are 2 separate strands of the VxWorks operating system VxWorks 5 x 27 and the recently released VxWorks AE 28 Both products lines are being developed only VxWorks 5 x 1s considered because it is the most relevant to both the upgrade and the ING it doesn t support 68k family of processors VxWorks 5 x covers the PowerPC ColdFire 68K M CORE x 6 Pentium StrongARM Xscale MIPS ARM and SuperH architecture Page 14 of 44 Isaac
27. costing 8 340 euros with annual maintenance being 1 420 euros This price is per user For reference the 68K microprocessor architecture family includes the 68000 68010 68020 68040 and 68060 processors The PowerPC includes the MPC7xx MPC74xx MPC6xx MPC8xx MPC82xx MPC5xx and PPC4xx processors VxWorks OEM development License This is the kernel compiled for a given processor family i e 68020 It is licensed to a specific company for a project customer product site and processor family If the ING would start a new project then they would have to buy one The project the ING are registered for is named Telescope which would cover all instrumentation projects The current OEM license the ING have is the Solaris cross 68020 if the ING started to work with the 68060 in the same project they would get a 50 discount costing 9 630 euros with 8 340 euros annual maintenance because it is from the same family If the ING with to purchase a OEM license for the MPC7xx processor they would have to pay 19 260 euros with 8 340 euros annual maintenance With MPC7xx including the MPC750 MPC755 and MPC740 processors Page 40 of 44 m Isaac N ewton Group La Palma m Board Support Package BSP The BSP is for a given board for example the MVME147 the MVME2100 etc Each new OEM development license includes one If a board if used from the same processor family 68020 then the ING would have to buy a new BSP costing 1 9
28. d move to the first fibre from the park position and perform a centroid The robot moved to and performed a centroid on each fibre before returning to the park position This routine is known as Loadmodule The difference between the two routines is purely due to data processing Table C1 shows the results of these experiments The total time centroiding and the centroiding time for each fibre is deduced Total Time sec Time per Fibre sec Loadmodule Table C1 Deducing Timing Of Centroiding The third experiment was to see how long to took to move from one configuration field to another without placing the fibres to any accuracy The fibres went from a park configuration to a circle configuration This means that the robot moves to the first fibre performs a centroid picks up the fibre moves to the new position places the fibre and then centroids again to record where it is The robot then moves to the second fibre and repeats the process for all fibres Before the robot moves the software checks a configure algorithm to make sure there will be no collisions on setting the field up Table C2 displays the results the pick move place time for each fibre 1s deduced from this experiment Page 42 of 44 Isaac Newton Group La Palma Total Time sec Time per Fibre sec 1718 E Configure Algorithm Loadmodule Pick Move Place 1076 Table C2 Changing field without iterating The
29. dule add entry zwalt af2_state af2 centroid main sighand com_out close Moguls ismotor instrm power send ispower com out on open module E Zero mecherr open module a comm ident pwait close module send send update get oldentry pon ases sent update ger se Pen instrm power af2 robot ehm power cor move ali bd com out pickup Scr DUE ispower ispower af2_setvid OI state xytwait gr e get reply isfibrethere Ispower init_ probe save pid zmove Init robot assi tmove ismotor open_module Ha com out pwait move probe tv init a sent_update sendmessage pate ind open module wait Der pwait Figure A2 Function Calls af2 robot init robol af2 extract af2 recover ran cgp af2 extract close module com out af2 loadfib fibtest af pork ringfibre check all af2 quadrant ismotor em TORIO af2 random ispower xytwait ringfibre af2 recover open module distance af reference send update i SENG close module af2_ view ae eae open module close module B send update Tibrechock wait close module xytrnove linecross a findfibre rectcheck ismotor xytwait viewfibre ispower zwait bises visis load module wines load module usi Mein ot loadfib fibtest movefibre twait ose viewflbre atanz offsetfibre viewobject check ol opcn modulo i af2 view distance porkfibre at2 offset Inove dine ringallfibres ingfibre xylwait xymove ie ot setupfieid linecross close module send update fiptest af2 park ms af2 park open module Gp SSES d xytmove pic
30. e associated with the AF2 system There is the field configuration software the higher level ICL software and the data reduction software A software upgrade would have no impact on the field configuration software and data reduction software therefore these pieces of software needn t be considered The ICL software needs to be considered as a change of communication protocol or command protocol within the micro software would have serious consequences Page 9 of 44 Isaac Newton Group La Palma v 2 3 Reasons for Upgrade Reasons for a software upgrade were originally documented in the case for this study 1 This section re examines these reasons The Visiting Group strongly endorsed the ING proposal to concentrate on wide field multi object spectroscopy among other things for the future AUTOFIB WYFFOS with the current upgrades will be competitive for at least the next 4 years The input of the ING project staff is critical to the success of this overall project Executive Summary of the Visiting Committee 2001 13 The ING restructure plan 14 shows AF2 being used to at least 2007 With this in mind it 1s desirable that the instrument can be continually improved to satisfy the demands of the astronomical community A major software upgrade should only be done once with small operation system upgrades until the instrument is decommissioned This instrument software should be Maintainable Upgradeable Dev
31. e ee DE 21 4 COST EFFORT amp RISK TIDIED naa dE ed EE oa Oeo Roda eps 22 4 OPTION lA UPGRADE TO VXWORKS ON 68K VME ceesseeeeeee Hm menn 23 4 2 OPTION 1B UPGRADE TO VXWORKS ON POWERPC VME_ ccccccccccccccecceecesccecceesescesccessuns 24 4 3 OPTION 2A UPGRADE TO REAL TIME LINUX ON POWERPC VME eee 25 4 4 OPTION 2B UPGRADE TO REAL TIME LINUX ON X66 CPCI esee 26 4 5 OPTION 2C UPGRADE TO REAL TIME LINUX ON X66 DC 27 4 6 OPTION 3A UPGRADE TO OS 9 ON 68K VME uo ccc cccccccesccscceeccuccuccueceucesceseceucesceseseecesceses 28 4 7 OPTION 3B UPGRADE TO OS 9 ON POWERPC VME 0 ccccccccccscceeccsccucceecuscesscsseuceseeeseans 29 4 7 SUMMARY qr TUE M 30 5 RECOMMENDATIONS ees ee 31 6 REFERENCE Sw niovted icit tie tust icueseooeauo Ee 33 APPENDIX A SOFTWARE TASKS Gui cisco etae ea Yo ea SEDE e ERI NNCS 69a do Ea a Roo edd Ye S0 Se TREAT Y S Va Er EY a Roda 35 APPENDIX B VXWORKS LICENSING ie banco ivan eaae uxVo eae ee Yu NE anian EEE Ee aa Eug P o voa ae vu Ea 40 RI DEVELOPMENT LICENS ES ER 40 5o NATIVE EIGEN SIGS us SM mM ESSI LL dS 41 APPENDIX C EXPERIMEN ES enee Ee li IRL i I irr tritis in 42 quu IR dip 44 Isaac Newton Group La Palma ZEW TO AF2 Software e Upgrade Feasibility Study A OA ech Iu Stephen Goodsell i i ING Catalogue No WHT AF2 10 LA Ead Bs m E
32. e memory map would have to be configured so it would be possible to write to the existing cards no matter 1f a 68k processor or a PowerPC processor was used Current Licensing The pricing of VxWorks and licensing is very complicated The licensing depends on number of sites number of projects target microprocessor architecture family processor family how many targets and how many developers you have The licensing is fully described in Appendix B with examples Support VxWorks offers maintenance contracts With valid maintenance it is possible to access WindSurf a web based maintenance site There are different forms of support that are described in the Customer Support User Guide 37 3 1 4 Real time Linux Unfortunately time did not allow for a comprehensive research into Real time Linux There are many different flavours of Real time Linux summarised in The Real time Linux Software Quick Reference Guide 38 Page 16 of 44 Isaac Newton Group La Palma There are a number of companies distributing commercial versions of Linux 39 42 while a number of organisations distribute one of two main open source versions The two open source versions of Real Time Linux are RTAI and RTLinux Both of these are hard real time and are distributed by many organisations RTLinux is a hard real time operating system that runs Linux as its lowest priority execution thread The Linux thread is made completely preemptibl
33. e so that realtime threads and interrupt handlers are never delayed by non real time operations Real time threads in RTLinux can communicate with Linux processes via shared memory or a file like interface so real time applications can make use of all the powerful non real time services of Linux For example it is easy to write a Perl script that displays data in Xwindows responds to commands delivered over a network and collects data from a real time task 43 RTAI is a comprehensive Real Time Application Interface that 1s usable both for uniprocessors UP and for symmetric multi processors SMP that allows the use Linux kernel 2 2 xx for many hard real time Linux applications The latest version of RTAI combines a Real Time Hardware Abstraction Layer RTHAL with a Real Time Application Interface RTAI to make Linux usable for hard real time applications Development Tools Each commercial company either has it s own set of cross development tools or board support package that would only work with the their version of Real time Linux This meant that although Linux was free their development tools aren t There are a few free tools available but none as extensive as the tools offered by VxWorks or even OS 9 Tools include a real time scheduler a trace toolkit a RTOS simulator and a project characterisation tool Each of these is maintained by different organisations Software Portability Porting the software over would be
34. e taken between the third and final experiment Finally if a faster processor was used and a lookup table introduced then the total saving would be over 40 Page 43 of 44 Isaac Newton Group La Palma Appendix D This Appendix contains all the prices in euros of the hardware software and licenses obtained as part of the research Item TYPE CPCI backplane Backplane P3 1 GHz 64 Mb DRAM Systems 024A 68k 33 MHz 32 MB DRAM MVME167PA VME Single Board Computer Motorola 12 160 Bose n a MPC7410 512 Mb ECC SDRAM MVME761 I O Transition Module Motorola 001 CPBI 5814 110 0M cPCI Single Board Computer x86 P3 1 GHz _ Technology www xr esed E z Technology CPN5360B 500 08 cPCI Peripheral Processor x86 P3 500 MHz 256 Mb SDRAM 1 640 Table D1 Prices of Control Hardware Table D1 contains the prices on the control hardware described in section 3 2 and used in section 4 Table D2 describes the prices of the different software licenses and maintenance All prices have been rounded up to the nearest 10 Option VxWorks VxWorks VxWorks VxWorks OS 9 License Annual Tornado OEM BSP Run time License Price Maintenance Price la 0 960 O X h120 N A 10 920 8340 1b 8340 19260 O m N A 2889 9760 A 2a NA NA NA NA J NA 0 0 Zb NA NA MA MA JNA 0 0 Je NA NA MA NA JNA 0 0 Table D2 Software Licensing and Maintenance
35. eck all pickup c distance pickup flbrecheck fibtest putdown linecross rectcheck e D 3 D D D Figure Al Function s contained within the Control Task Page 35 of 44 m Isaac N ewton Group La Palma m The control task is by far the biggest task It consists of 12 source code files containing 102 AF2 functions as can be seen in Figure Al Every AF2 function was examined to discover which functions are being called Figures A2 A3 and A4 contain a list of every function with it s associated function calls The colour of the function indicates which file it 1s defined in this 1s visual from figure Al The non AF2 functions are in black add command get oldentry save pid xylmove putdown motor close module close module close module com out open module open module open module com out com out com move isrnotor add_entry get reply send update xytwait findfibre close module close module get reply open module open module sendmessage zmove com out Es close module get size sendmessage ET gi isa close module OO command cm cus comm ident open mo
36. ed below The PCI Linux option wouldn t need an IP Carrier Card 3 2 6 Analogue Digital Converters ADC Cards The IP card used in the existing system is obsolete yet the IP Unidig supplied by SBS offers a replacement 71 As the software currently just writes to registers the most sensible thing would be to use the existing card for the VME systems making sure that the replacement could easily be substituted it should only be purchased if one of the two ING cards malfunctions All VME options and the cPCI option can use this card whereas the PCI Linux option could use the DT302 data acquisition cards produced by Data Translation 72 This card contains both analogue input lines and digital input output lines and is used in 6dF 46 3 2 7 Digital Input Output Cards Again the current IP DI O card is obsolete The IP DPTOADI 2 is a similar IP card 73 which again could be used as a replacement The original card could be used and the new card only purchase if one of the two ING cards malfunctions As mentioned before we presently write into addresses for both cards therefore we wouldn t need to obtain any drivers for the card This would be used in both the VME and cPCI systems whereas the above mentioned DT302 would be used in the PCI system 3 2 8 Interconnectivity Card This card would either remain the same in the case of the VME backplane or be modified for the cPCI option How the cables would come together in the PCI opti
37. efficiency would go because of the set of good development tools It is also noted that option 3b costs less than 1a and 3a Upgrading the software to VxWorks but using a 68k processor option la is still an improvement as it allows the software to be developed with an excellent set of real time tools The code can be optimised saving some time on configuring a field Using a 68k processor on OS 9 option 3a would still be an improvement on what the ING currently have the project would be short making development tools available Therefore 1a and 3a are the 3 and 4 choices respectively It is felt that at this stage Real time Linux could not be recommended All options are feasible but it is felt that the software 1s better left alone at this time rather than to upgrade to a version of Real time Linux Real time Linux upgrades were investigated for the same reasons it 1s being used or considered elsewhere because it is cheap and requires no software licenses Three options were investigated because it wasn t known which option was going to be the cheapest As it is possible to re use some of the VME cards option 2a was found to be just a little more expensive than using a desktop with PCI cards option 2c Option 2b the cPCI option was found to cost more take longer and offer no benefits over the other Linux and the OS 9 options therefore it should not be a considered Real time Linux isn t recommended mainly because of the lack of r
38. elopable Maintainable Currently the software is very inefficient to maintain With the reduction of staff in the next few years the ING will struggle to afford this The instrument is the only instrument using OS 9 this leads to unwanted effort training people on an unfamiliar and non standard system The inefficiencies in using this current version of OS 9 can t be overstated Editing code is presently very inefficient Currently software engineers move individual files across to a UNIX environment to use UNIX editing tools The files are transferred backwards and forwards using ftp The micro software isn t in a CVS repository currently the whole disk is being backed up The CVS repository isn t used because of the effort required in understanding how to reconstruct everything from scratch on an OS 9 system These inefficiencies all add up resulting in lots of wasted effort Upgradeable The version of the operating system is obsolete and can t simply be upgraded It is unsupported and not Y2K compliant Upgrading the instruments operation system shouldn t require substantial effort It should have been upgraded continuously in the past As it is not upgradeable there is no chance of solving the biggest constant operational problem of the crate falling off the network 15 Ian Lewis first documented this problem in 1996 12 Page 10 of 44 Isaac Newton Group La Palma Developable The developments tha
39. elopers to dramatically reduce the time to evaluate existing C and C source code even if the code is incomplete or erroneous With WindNavigator developers can see the relationship between objects and functions and can easily build programs using existing proven modules Other standard Tornado II tools include CrossWind MemScope Project Rshell and LmServer All of these tools are described in detail in the Tornado User s Guide 32 The following Wind River s WindPower tools are optional WindView The WindView diagnostic and analysis tool provides detailed visibility into application software as it runs on the target hardware 33 VxSim The VxSim prototyping and simulation tool enables developers to create prototype applications including networking and multiprocessor based designs before the actual target hardware becomes available VxSim also permits developers to test a large portion of application software early in the development cycle when errors are less costly to correct ScopePak ScopePak includes the StethoScope 34 and TraceScope 35 real time data visualization profiling and debugging tools that let developers analyze an application while it s running PerformancePak The PerformancePak includes ProfileScope 36 which provides detailed function by function analyses of tasks running within an application and MemScope which helps developers control memory usage Page 15 of 44 Isaac Newton
40. ense 16 280 Table 4 7 Hardware and Software Costing The software and hardware costs are roughly equal Software maintenance each year would come to 1 850 euros The cost of spares for this option would come to 7 050 euros Effort The option requires a small amount of effort of effort The main source of effort would be setting up the development environment and porting the code Estimated Time 6 months Risk There is low risk with this option all the original cards except the processor board would be used With support from OS 9 in the porting of the code the research has already shown that the upgrade is pretty much straightforward Risk Factor Low Page 29 of 44 Isaac Newton Group La Palma 4 8 Summary Table 4 8 below summarises the instrument cost required effort and risk associated with each option Each figure is quoted in Euros and has been rounded to the nearest 10 Maintenance Cost 8 340 9 760 0 0 O Lann 1 850 Effort months Je J9 9 X 912 9 12 3 J6 Table 4 8 Summary of Each options cost effort and risk Page 30 of 44 Isaac Newton Group La Palma 9 5 Recommendations Again for reference the seven options were Option la Upgrade to VxWorks on 68k VME Option 1b Upgrade to VxWorks on PowerPC VME Option 2a Upgrade to Real time Linux on PowerPC VME Option 2b Upgrade to Real time Linux on x68 cPCI Option 2c Upgrade t
41. esearch and understanding of the operating system It is still evolving and it would be wise for the ING to increase their knowledge and understanding of this Real time operating system Recommending Real time Linux at this stage would be a mistake It is recommended that a PC 1s set up and Real time Linux is installed on it so that it can be used as an experimental machine It is recommended that the ING pursue Linux because it will become more and more popular within the world of dedicated instrumentation Learning from 6df and the AAO would be a good starting place If for some reason Real time Linux was decided upon then option 2a would be preferred over 2c mainly because of the length of time taken and the uncertainties as there are less new things to consider and research In conclusion giving AF2 a solid environment is crucial Upgrading the software to VxWorks running on a PowerPC was found to be the best solution It would make the software maintainable developable and upgradeable Allowing the instrument to remain competitive Page 32 of 44 6 Isaac N ewton Group La Palma m References The following documents are relevant 1 2 5 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 Case for AF2 Software Upgrade Feasi
42. he esdrave c and esdtext c files which reside in the esd directory Page 8 of 44 Isaac Newton Group La Palma v The number of function contained within each task and executable is displayed in table 2 4 It also contains the number of functions for each task that contains non AF2 function calls Software read receive watchdog write Do SSS oeoo Table 2 4 Table displaying portable functions On closer inspection some of the functions that are contained within tasks are duplicate or very similar to a function of another task this is to say to terms of portability they are equal This would reduce portability even further A total of 13 of the 53 functions have been duplicated leaving 40 functions that are unique This gives a final estimation of the code being 77 portable The non AF2 function calls themselves are distributed between tasks A total of 8 datamodule function calls are used with most being present in each task There are 3 OS 9 system function calls used in the control and cmdintrp tasks 3 OS 9 signal function calls in the 4 network tasks and finally 20 BVMETSO function calls in the control and esd tasks The tasks include functions that write to memory addresses This 1s how the software controls and reads status from the motion controller cards the ADC card and the digital I O card They don t use non AF2 function calls 2 2 4 Other Software It should be noted that there is other softwar
43. he GHRIL cabin feeding the bench mounted spectrograph WYFFOS The instrument operates with a small fibre module This contains 150 science fibres with 1 6 arcsec diameter 90 micron The fibres are high content OH fused silica made by Polymicro This module also contains 10 new fiducial bundles available for field acquisition and auto guiding Each fiducial bundle 450 micron diameter contains 10000 coherent fibres providing a rough imaging capability over an 8 arcsec round field 2 1 Existing AF2 Control Hardware The functions of each of the VME cards are briefly described in following sub sections More details on the cards can be found in the individual cards user manuals whereas more information on their AF2 usage can be found in the Technical Manual 5 Page 3 of 44 Isaac Newton Group La Palma 8 9 10 11 Drives Power Figure 2 1 Current AF2 VME crate The instrument micro computer is contained in a 7U 19 rack In the rear of the crate is a power supply and a VMEbus 12 slot backplane Figure 2 1 shows the front view of the crate and cards The VME cards and IP cards are listed in table 2 1 All cable connections to the instrument servo amplifier and monitor displays are made to the rear of the crate VMETI Log VMES Notued VME6 omg VMEI2 Notued fF This custom card isn t
44. il 2002 If this option is decided then addition research in choosing the best PowerPC is required In addition to the PowerPC a transition module would be needed that contains serial parallel and Ethernet ports New licenses would be required for both the VxWorks and OS 9 options cPCI Pentium SBC The speeds of the Pentium 3 processors range from 500 MHz to 1 GHz The top processor would increase the speed by over 30 times Both the Motorola CPN5360 card 61 Trenton Technologies CPLE 62 and Trenton Technologies CPBI 63 were considered Each card would have a transition modules that contained ports Each card was found suitable of hosting a hard real time version of Real Time Linux Desktop Pentium with PCI There are many desktops that are suitable so only one was looked at this happened to be machine from Arcom Control Systems it contains a Pentium 3 processor and a 12 PCI slots along with hard drive floppy drive CD Rom and other input output ports 64 3 2 3 Framegrabber Graphics Cards The BVME Framegrabber cards are now obsolete although BVM Ltd have informed the ING that they are willing to remanufacture the card if a minimum of 5 1s ordered 65 The best solution for the OS 9 would be to use the existing cards There was a couple of suitable framegrabber cards found The first choice card was the VME DFG2 framegrabber card from Dynatem Inc Another framegrabber card is the PMC Snapper Framegrabber card 6
45. iles scripts and executables are not shown Most of these files are generated through compiling running software or logging The scripts that reside in the hO autofib directory can easily be transferred or reproduced 2 2 2 Real time Operation The Autofib 2 control system consists of a number of tasks running in the background on the instrument micro computer Four tasks provide the Utility Network interface between the instrument and the outside world Two tasks provide for instrument status reporting and control A final task provides an engineering mimic display The tasks are shown in table 2 3 Page 7 of 44 Isaac Newton Group La Palma Engineering Mimic Table 2 3 AF2 OS 9 Software Tasks Communication between the various tasks is by two methods software interrupts allow the immediate passing of information between tasks in OS 9 these are called signals The majority of information is passed through shared memory the tasks check a semaphore value called an event to check that the memory resource is free The format of the information in the shared memory areas is given in Appendix B of the Autofib2 Control System Software Manual 12 In operation a script is run the script firstly runs a program that executes a table program which crates all the datamodules needed The script then spawns the watchdog write receive read control cmd intrp and esdrave in sequence setting different priority levels for e
46. ime to finish this low risk project Cost Table 4 1 contains the prices 1n euros of the control hardware software and software licenses that the ING would be required to purchase for this option VME MVME147 Board VME DFG Framegrabber Card Software and Licenses 21 010 Table 4 1 Hardware and Software Costing The software and hardware costs are roughly equal Software maintenance each year would come to 8 340 euros The cost of spares for this option would come to 10 110 euros Effort The ING already have everything they need to start the project An existing VME card that contains an old processor could be used for development until the new board arrived The ING already have VxWorks and a set of development tools The most amount of effort would be associated with porting the software Estimated Time 6 months Risk There is low risk with this option using an operating system tools and environment that ING developers already have experience with One risk would be making sure the framegrabber card worked with the camera This would be eliminated before starting the project Risk Factor Low Page 23 of 44 Isaac Newton Group La Palma 4 2 Option 1b Upgrade to VxWorks on PowerPC VME This option would get the ING away from the OS 9 operating system using a standard ING real time operating system It has an excellent supported set of development tools It gives more than a 10x increase
47. in processor speed It would take some time to finish this low risk project Cost Table 4 2 contains the prices in euros of the control hardware software and software licenses that the ING would be required to purchase for this option VME MVMES5100 500MHz PowerPC VME MVME761 Transistion Module VME DFG Framegrabber Card Software License Table 4 2 Hardware and Software Costing The software costs 3 times as much as the hardware needed Software maintenance each year would come to 9 760 euros The cost of spares for this option would come to 9 320 euros Effort It would take 5 6 weeks for the PowerPC to arrive after being ordered Some of this time could be used doing further research and experiment porting the AF2 software onto an old processor board containing VxWorks The ING already have VxWorks and a set of development tools The most amount of effort would be associated with porting the software Estimated Time 6 months Risk There is low risk with this option using an operating system tools and environment that ING developers already have experience with One risk would be making sure the framegrabber card worked with the camera This would be eliminated before starting the project Risk Factor Low Page 24 of 44 Isaac Newton Group La Palma 4 3 Option 2a Upgrade to Real time Linux on PowerPC VME This option would get the ING away from the OS 9 operating system but introduce a pre
48. kup viewobject zwait zmove putdown xyimove clase module send update zmove xyimove ismotor af2 quadrant ispower at2 offset movefibre offsetfibre open module rnovefibre send update at2 random findfibre parkfibre atan2 ran movefibre xytmove Figure A3 Function Calls Page 36 of 44 Isaac N ewton Group La Palma close module open module dprw iv init Close module ar act close module open module fifow ar mask ispower ar open SIT TURNUS close module findfibre ae com out blkrd cin ons send update open module ar circ dp afnt close module ar text dp gint com out fg grab fg gain instrm power fg grab close module motor S ae fc offset open module open module p isfibrethere SC Se Get sn alink close module tnw clear sn dmlink baten close module af2 centroid p sere ooa t dp scr TW eor open module SOM OW close module d viq ftda open_module findfibre LS ispower Open module close module open module close module ind update x af2 setvid com_out close module fg seticlut open module close_module ismotor ispower ispower bikra open module open module dporw send update fifow Figure A4 Function Calls 13 of the 102 AF2 functions call a total
49. l it s decommissioning This would allow the ING project staff to optimise the instrument and enhance it keeping it competitive The option is the most expensive mainly because of software licensing this includes the much needed development tools Once the VxWorks PowerPC licenses are purchased developing using another PowerPC for another instrument in the future would cost a lot less Even considering cost it is the recommended solution The cost difference may be over twice as much as the second recommended option but the extra money is worth the better development tools and the development efficiency that comes using VxWorks It would be desirable to do this project in house by one of the members of the software group Other options include contracting the work out or obtaining a postgraduate or student to work on it locally whilst being supervised Page 31 of 44 Isaac Newton Group La Palma v A cheaper and 2 recommended solution is option 3b It is chosen over la and 3a because of the processor AF2 will be around for another 10 years yet there are signs that the 68k processor won be supported in 10 years from now It 1s already over 10 years old and VxWorks AE and Real time Linux currently don t support the processor If an upgrade is going to last until AF2 is decommissioned then the PowerPC is a better bet The disadvantage of this option is that it would still be on OS 9 although a lot of the development in
50. n gives more than a 30x increase in processor speed It would time a relatively long time to finish this medium risk project Cost Table 4 5 contains the prices in euros of the control hardware software and software licenses that the ING would be required to purchase for this option Pentium 3 Desktop PCI Framegrabber Card PCI Motion Controller Card PCI Data Acquisition Card Software License Table 4 5 Hardware and Software Costing There are no software costs or maintenance The cost of spares for this option would come to 7 040 euros Effort In addition to the effort required in option 2a effort would be required to exam the PCI backplane and to see if 1t could be used under the environmental conditions that come with operation in the observatory Collaboration with the AAO may help to reduce time Estimated Time 9 12 months Risk In addition to the risks documented for option 2a there are risks in using a non ruggedised PCI backplane Collaboration with the AAO would help reduce risk Risk Factor Medium Page 27 of 44 Isaac Newton Group La Palma 4 6 Option Aa Upgrade to OS 9 on 68k VME This option wouldn t get the ING away from the OS 9 operating system It has a good supported set of development tools It doesn t give us any gain in processing speed using the same technology that was available 10 years ago It would take a relatively short time to finish this low risk project Cost
51. ng system but introduce a previously unused real time operating system A set of good open source development tools may exist but wasn t found This option gives more than a 30x increase in processor speed It would time a relatively long time to finish this medium risk project Cost Table 4 4 contains the prices 1n euros of the control hardware software and software licenses that the ING would be required to purchase for this option cPCI Crate cPCI CPBI 1GHz Pentium 3 cPCI Transition Module cPCI PMC Carrier Card PMC Snapper Framegrabber Card cPCI IP Carrier Card cPCI Motion Control Card Software License 14 760 Table 4 4 Hardware and Software Costing There are no software costs or maintenance The cost of spares for this option would come to 14 760 euros Effort In addition to the effort required in option 2a time would be need to find the best hardware and to learn more about the cPCI bus and I O cards Estimated Time 9 12 months Risk In addition to the risks documented for option 2a there are risks in getting the new cPCI cards working together with the software Risk Factor Medium Page 26 of 44 Isaac Newton Group La Palma 4 5 Option2c Upgrade to Real time Linux on x68 PCI This option would get the ING away from the OS 9 operating system but introduce a previously unused real time operating system A set of good open source development tools may exist but wasn t found This optio
52. ntly for development purposes Each account has its own root directory username and password The Autofib home directory is hO autofib It contains 12 directories that can be seen below in Figure Sch AUTOFIB APPSOURCE LOGFILES af2defs h power c Various Data Files cmd intrp c probe c control c prototype h NETWORK errorcodes h robot c empty c table c globals h robot2 c grabdef h selup c read c watchdog c ve status c receive c write c outcom c sys log c pickup c tvstuff c TESTPROGS CONFIGFILES adctestc grid c af2status c netsoak c Various Data Files atan2 c parkdata c circlegen c parkgen c DATAFILES digio c process c N dmc300 c random c Various Data Files drift c sema1 c encoders c sema2 c findfibre c smallparkdata c ENG grabdef h stopnetsoak c eng c ESD EX TCI APP TOOLS NET TOOLS esdrave c esdtext c Kette Jeera lastmove c diagnostics c EXEC monitor c putetab c readetab c Executable Files UE readetran c t dintro readrbuf c GRABTEST AMA M ec CI readtouf c stopesdrave c See grabdef h grabglbl c P 9 jh grabfunc c grabtest c SIL een stopread c stopreceive c GRIDFILES stopwrite c tlog c Various Dota Files transmit c Figure 2 1 AUTOFIB directory Structure Only the files that are important in terms of an upgrade are displayed Other files such as data files makef
53. o Real time Linux on x68 Desktop PCI Option 3a Upgrade to OS 9 on 68k VME Option 3b Upgrade to OS 9 on PowerPC VME It was seen from section 2 3 that having a standard operating system would increase efficiency Development tools and applications would allow the software to be optimised and developed while a faster processor would allow initial timesavings when performing an instrument set up This instrument upgrade is crucial and needs to be done It isn t desperate in terms of the instrument being operational yet it is urgent as it stops the instrument being developable it currently simply can t be optimised AF2 is one of the few instruments whose performance can improve with a software upgrade as the upgrade makes further development possible As the ING restructures the staff available to work on software projects becomes less and crates a need for greater project and operational efficiency An AF2 software upgrades offers more than other instrument upgrades and therefore is arguable more important An upgrade will create a lot of opportunities for AF2 which is one of the ING flagship instruments This study has shown that if money was no object then Option 1b would be the most suitable upgrade option It gives a standard operating system excellent development tools and a 10x increase in processor speed giving the instrument everything that 1s required to keep the instrument maintainable upgradeable and developable unti
54. on would be something that would need research Page 21 of 44 Isaac Newton Group La Palma 4 Cost Effort amp Risk This section discusses the cost required effort and risk associated with each option Just to recap the 7 different upgrade options are Option la Upgrade to VxWorks on 68k VME Option 1b Upgrade to VxWorks on PowerPC VME Option 2a Upgrade to Real time Linux on PowerPC VME Option 2b Upgrade to Real time Linux on x68 cPCI Option 2c Upgrade to Real time Linux on x68 Desktop PCI Option 3a Upgrade to OS 9 on 68k VME Option 3b Upgrade to OS 9 on PowerPC VME Costing for each option is given This includes the price to purchase the required control hardware spares software software licenses and annual software maintenance This doesn t include the cost of effort or involve any contingency All figures provided in this document are in Euros all prices obtained are summarised in Appendix D In this section all prices have been rounded up to the nearest 10 euros they don t include VAT or any shipping charges For the Real time Linux options it has been assumed that rather than purchase any commercial versions or tools the ING would obtain the free open source version After considering the latency of risk elimination research obtaining the hardware establishing a development environment transferring and developing the code bench testing and final commissioning the
55. ontain non AF2 functions Out of these 9 are very similar Engineering Tasks They consist of 16 mainly the The files esdrave c and esdtext c form the engineering tasks functions all which contain non AF2 function calls for graphics Framegrabber cards also a few datamodule calls ENGINEERING TASKS ESDRAVE TASK ESDTEXT TASK Clear init open module close module dr rect ar act ev read amp v read Clearbox Or mask ev wait amp v signal dr rect ar open mktypelang munlink Drawbox colour modalink main dr rect dc dsplsiz sigmask ev ink Drawstring dm creat save pid ev unlink dp scr dp atnt ev link closemodule dr text dp gfnt ev unlink open module close module dp scr close module open module ev read dp Ko getpid ev read ev signal sn act open module ev wait munlink sn alink sighand mktypelang colour sn drlink modllink dc setcluts sh open sigmask fg_info viq io sighand greyscale main memcpy Clear greyscale Clearbox do setcluts Drawbox fg seticlut Drawstring amp v ink ev unlink closemodule dp scr dr circ dr line dr pgon dr rect dr text fg grab init openmodule savepid Other Software Page 38 of 44 Isaac Newton Group La Palma Although not tasks the table c file that crates the datamodules and the eng c tasks that crates the engineering command line should also be considered The file table c just consists of a main function and uses function calls to set
56. r boards As the processor isn t in as much demand as the PowerPC they are more expensive The x68 Pentium 3 processor was examined for the PCI and cPCI Linux options This was because the x68 families contain the fastest commercial processors in the world VME 68k Embedding Controllers and Single Board Computers There are 5 VME boards in this range the MVMEI62 MVMEI72 MVME14 7 MVME167 and the MVME177 49 53 The 68k chips have been around for over 10 years The present AF2 board contains a 68030 processor running at 32 MHz The Motorola processors run at speeds from 16MHz to 60MHz The ING already use MVME147 and MVME167 if deciding to develop for the 68k processor it makes sense to use an ING spare Unfortunately the VxWorks development license the ING currently have is for a 68020 microprocessor whereas the present available Motorola boards contain either the 68030 68040 or 68060 processor this implies that the ING would have to pay for a new development license This isn t really an issue with OS 9 as the ING would have to get a new license anyway VME PowerPC SPB There are 8 different Motorola VME boards that contain processor chips This range consists of the MVME2100 MVME2300 MVME2400 MVME2600 MVME2700 MVME30600 MVME4600 and the MVMES100 54 60 Page 19 of 44 Isaac Newton Group La Palma The PowerPC processor currently ranges from 100MHz to 500MHz The top end PowerPC was released in Apr
57. t can be presently done on the system are very limited Itis true to say that small software upgrades are feasible such as the changes required for small fibres The majority of this was changing variables that already existed The biggest problem is the lack of development tools available The only tools that are available are the tools and test programs that were written for the instrument along with some unusable editors There are no real time development tools Therefore it is currently impossible to optimise the system The absence of tools makes developing software magnitudes more harder than it needs be There are many advantages to having a good set of development tools especially when developing for a real time system Tools will make editing and debugging code much more efficient allowing code development and instrument enhancements possible Currently it isn t realistic to add extra mechanisms or optimise the instrument s performance Without going into detail development tools would allow the following which would increase operational efficiency Optimisation o Fin Fibre misalignment compensation o Improved centroids routine o Code optimisation Mechanisms o Controlled Backillumination positoning mechanism linear device o Automatic fiducial enlargement rotatory device Page 11 of 44 sac Newton Group La Palma 3 Upgrade Research The material that this study covered was suggested in it s case
58. t uses OS 9 also uses the VME bus for inter card communication If OS 9 or VxWorks were used then it would make sense to use a standard VME backplane to connect the control hardware Real time Linux can also be installed on a VME processor card placed in a VME backplane If a VME backplane were to be used then it would be sensible to use the existing AF2 VME backplane The current backplane has 12 slots which is more than enough for any of the VME based options The other backplane option involves using a CompactPCI cPCI backplane CompactPCI is a modern very high performance industrial bus based on the standard PCI electrical specification on a rugged 3U or 6U Eurocard packaging Unlike its desktop cousin the CompactPCI adapters use a high quality 2mm metric pin and socket connector and can be front loaded into a rack mount system CompactPCI cards are also hot swappable meaning they can be changed without powering down the system The cPCI bus would need to have at least 5 cPCI slots assuming that the processor card has an Ethernet interface and an AGP device see section 3 2 2 This option was considered because it was thought that cPCI cards are cheaper than VME cards and they are more likely to have Linux drivers written for them while still being ruggedised Unfortunately as shall be seen the cPCI isn t much cheaper or more Linux friendly than the VME Real time Linux option PCI was also considered for Real time Linux m
59. tly lacks Without a clear definition between a soft and hard real time operating system and without development tools it is hard to know for sure if the present AF2 software requires a hard real time operating system AF2 should be a soft real time instrument as a missed deadline should cause the system to still work as any part of it s operation isn t time critical Whereas NAOMI would definitely need a hard real time operating system as if a deadline isn t met when the loop is closed then the system will fail OS 9 and VxWorks are hard real time operating system whereas some versions of Real time Linux are soft real time Porting the software over to a soft real time operating system would introduce risk The risk should be small if Real time Linux was used as there would be at least a 10 fold increase in processor speed 3 1 2 OS 9 OS 9 is developed by Microware Systems 18 who have since been acquired by RadiSys Corporation 19 It is a well established operating system OS 9 is available for a wide range of processors and boards The processors family covered are 68k ARM IXPI200 MIPS PowerPC StrongARM SuperH and the X86 Pentium family The latest package contains version 3 2 of the operating system drivers development board solutions development environment and middleware The version of OS 9 for the 68k 20 and the PowerPC 21 contain slightly different features The operating system basic components consist of a
60. unlink sighand open module checkheader eu unlink _sysdate find entry gel sia EMT checkheader chk message Qs rdy close module gel oldeniry Cisse modu amm chk message close module olm cycle logmessage get_size open module close module get oldentry olm delete open module getpid mon open module get size close module get oldeniry intercept IK close module getpid getpid close rnodule mktypelang ES XM Ov oO intercept intercept open module muodlink or oy ev wait logrressage opon module get se munlink add entry muniink mklypelang system closc_module open module alm cycle sigmask mociiin open module open module Tsleep PUE get oldentry munlink ev read logmessage open module get FS close rnodule open_module _ev_wat rnktypelang v read getp id open module Tsleep mktypelang meodlin lt NV WOH int ercept get size open module modlink miunlink mktypelang kill SE ev 1008 SCH Missi open module CV wai sighan sigmas d logmessage rnktypolang sighand AINE D Moos rs meodilr sigmasi RED Spe muntink sighand aim delete kill There are 4 c files in the Network directory The read c 5 6 receive c 8 11 watchdog c 3 4 and write c 6 8 create the read receive watchdog and write tasks collectively Altogether there are 29 functions with each function being slightly different Some of these functions use system calls specific to alarms and datamodules There are 3 different non AF2 functions called Out of the 29 functions 18 c
61. up the datamodules The eng c contains 11 functions 3 contain system calls 2 are repeats Summary In summary there are 173 functions Out of these functions 53 contain system calls Out of these 53 as 13 of these functions are duplicates this leaves us with 40 functions This roughly makes the software 75 portable Page 39 of 44 Isaac Newton Group La Palma Appendix B VxWorks Licensing The licensing is complicated There are two main parts to the VxWorks license the development license and the run time license The ING currently have a Tornado Professional License for the 65K microprocessor architecture family a VxWorks OEM development license for the 68020 processor and a board support package for a Board support package for the MVME147 The ING however don t have any run time licenses B 1 Development Licenses There are three parts to the development licensing These are the Tornado Professional Licence the VxWorks OEM Development License and the Board Support Package Tornado Professional License This is a license for the development tools It is licensed to a specific company at a site for a specific host computer a target microprocessor architecture family and a specified number of users If the ING doesn t change the microprocessor architecture family 1 e Solaris cross 68K then they will not have to purchase new ones If the PowerPC option is chosen then the ING will have to buy a new one
62. viously unused real time operating system A set of good open source development tools may exist but wasn t found This option gives more than a 10x increase in processor speed It would take a relatively long time to finish this medium risk project Cost Table 4 3 contains the prices in euros of the control hardware software and software licenses that the ING would be required to purchase for this option VME MVMES5100 500MHz PowerPC VME MVME761 Transistion Module VME DFG Framegrabber Card Software License Table 4 3 Hardware and Software Costing There are no software or maintenance costs The cost of spares for this option would come to 9 320 euros Effort Effort would be required for further research into Real time Linux before the project could start It is important to choose the right version of Real time Linux Effort would be used in creating the right development environment and learning new skills Estimated Time 9 months Risk This option is given a medium risk Although this option is feasible it is still unsure on how it would be done and indeed the best way to do the upgrade The last thing the ING desire is for their version of Real time Linux or their development tools to become obsolete or unsupported Risk Factor Medium Page 25 of 44 Isaac Newton Group La Palma 4 4 Option2b Upgrade to Real time Linux on x68 cPCI This option would get the ING away from the OS 9 operati

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