MSCB advantages and PSI specific implementations
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1 :50:06 mscb.ppt MSCB advantages and PSI specific implementations Stefan Ritt Paul Scherrer Institute, Switzerland Page 1 of 55
2 :50:06 mscb.ppt Overview Slow Control = DAQ at 10ms 10s Temperatures, Pressures, High Voltages, MSCB Midas Slow Control Bus Developed at PSI since 2001 mainly for MEG This Talk Short introduction Specific hardware solutions Software overview (LabView) Informal talk: Ask questions, start discussion 2 /53 Page 2 of 55
3 MEG Overview :50:07 mscb.ppt Search Search for for µ e γγdown down to to People, People, MCAD MCAD R & D started started in in 2000, 2000, data data taking taking in in Complex detector system system (liquid (liquid Xenon Xenon calorimeter, superconducting magnets) Long Long term term stability Demanding slow control system µ + 3 /53 Page 3 of 55
4 :50:07 mscb.ppt Univ. of Tokyo Y. Hisamatsu, T. Iwamoto, T. Mashimo, S. Mihara, T. Mori, Y. Morita, H. Natori, H. Nishiguchi, Y. Nishimura, W. Ootani, R. Sawada, Y. Uchiyama, S. Yamashita KEK T. Haruyama, K. Kasami, A. Maki, Y. Makida, A. Yamamoto, K. Yoshimura Waseda Univ. K. Deguchi, T. Doke, J. Kikuchi, S. Suzuki, K. Terasawa INFN Pisa A. Baldini, C. Bemporad, F. Cei, L.del Frate, L. Galli, G. Gallucci, M. Grassi, F. Morsani, D. Nicolò, A. Papa, R. Pazzi, F. Raffaelli, F. Sergiampietri, G. Signorelli INFN and Univ. of Genova S. Cuneo, D. Bondi, S. Dussoni, F. Gatti, S. Minutoli, P. Musico, P. Ottonello, R. Valle INFN and Univ. of Pavia O.Barnaba, G. Boca, P. W. Cattaneo, G. Cecchet, A. De Bari, P. Liguori, G. Musitelli, R. Nardò, M. Rossella, A.Vicini INFN and Univ. of Roma I A. Barchiesi, D. Zanello INFN and Univ. of Lecce M. Panareo Paul Scherrer Institute J. Egger, M. Hildebrandt, P.-R. Kettle, S. Ritt, M. Schneebeli BINP Novosibirsk L. M. Barkov, A. A. Grebenuk, D. N. Grigoriev, B. I. Khazin, N. M. Ryskulov JINR Dubna A. Korenchenko, N. Kravchuk, A. Moiseenko, D. Mzavia Univ. of California, Irvine W. Molzon, M. Hebert, P. Huwe, J. Perry, V. Tumakov, F. Xiao, S. Yamada Page 4 of 55 4 /53
5 Subsystems :50:07 mscb.ppt Beam Beam line line magnet magnet 22 valves, valves, temperature temperature sensors sensors communication communication with with LHe LHeplant and and quench quench control control (24V (24V signals) signals) COBRA COBRA Magnet Magnet temperature temperature sensors, sensors, communication communication with with quench quench control control (GPIB) (GPIB) Beamline Beamline magnets magnets (EPICS-like) (EPICS-like) NaI NaImover Two Two ultrasonic ultrasonic stepping stepping motors motors LXe LXe system system ~100 ~100 valves, valves, flow flow meters, meters, pressure pressure sensors sensors Capacitive Capacitive level level meters meters DC DC gas gas system system Similar Similar to to TWIST TWIST (~1Pa (~1Pa diff. diff. pressure pressure regulation) regulation) High High Voltage Voltage channels channels PMT PMT channels channels drift drift chamber chamber Air Air conditioning conditioning VME VME crates crates Fans, Fans, voltages, voltages, temperatures temperatures Cooling Cooling water water secondary secondary circuits circuits 5 /53 Page 5 of 55
6 HV :50:07 mscb.ppt Traditional Slow Control Temperature, pressure, PC Page 6 of 55 Valves 6 /53 RS232 GPIB??? PLC 15 C heater 12: : : : : : : : Ethernet MIDAS DAQ Terminal Server
7 :50:07 mscb.ppt Single Slow Control System HV Temperature, pressure, Valves Single System to control all! MIDAS DAQ heater 7 /53 Page 7 of 55
8 :50:07 mscb.ppt A long and winding road Various demands in an experiment are pretty demanding (inhomogeneity, stability, ease of use) It took finally three iterations to make a good system Many lessons learned Some unusable hardware produced Project started in 2001, now (kind of) finished We have now a very good and flexible system Used in MEG, µsr, SLS, PEN at PSI Can be extended very easily 8 /53 Page 8 of 55
9 :50:07 mscb.ppt First version MSCB system New generation of 8-bit microcontrollers with analog I/O RS-485 communication of hundreds of meters Digital I/O Analog I/O 8051 µc RX TX EN RS485 Transceiver A B +5V PC GND Up Up to to nodes nodes in in parallel connected to to RS-485 bus bus 9 /53 Page 9 of 55
10 :50:07 mscb.ppt C8051Fxxx uc from Silicon Laboratories Huge variety of mixed signal microcontrollers Flash Memory (bytes) Digital Port I/O Pins Part Number MIPS (peak) RAM (bytes) Serial Buses Internal Osc ADC1 DAC Temp Sensor VREF Other Package C8051F KB UART, SMBus, SPI ±20% 12-bit, 8ch., 100ksps 12-bit, 2ch. Y Y - TQFP64 C8051F KB UART, SMBus, SPI ±20% 12-bit, 8ch., 100ksps 12-bit, 2ch. Y Y - TQFP64 C8051F KB UARTs, SMBus, SPI ±20% 12-bit, 8ch., 100ksps 12-bit, 2ch. Y Y - TQFP100 C8051F KB CAN2.0B, 2 UARTs, SMBus, SPI ±2% 12-bit, 13ch., 100ksps 12-bit, 2ch. Y Y ±60V PGA TQFP100 C8051F KB UARTs, SMBus, SPI ±2% 16-bit, 1ch., 1Msps - - Y DMA TQFP100 C8051F KB UARTs, SMBus, SPI ±2% 12-bit, 8ch., 100ksps 12-bit, 2ch. Y Y 16x16 MAC TQFP64 C8051F KB UART, SMBus ±2% 8-bit, 8ch., 500ksps - Y - - MLP11 C8051F kb USB 2.0, UART, SMBus, SPI ±1.5% 10-bit, 17ch., 200ksps - Y Y - LQFP32 C8051F kb USB 2.0, 2 x UART, SMBus, SPI ±1.5% 10-bit, 17ch., 200ksps - Y Y - TQFP48 C8051F kb UART, SMBus, SPI ±2% 12-bit, 24ch., 200ksps 12-bit, 2ch. Y Y Volt Reg, RTC LQFP32 Page 10 of /53
11 MSCB Protocol :50:08 mscb.ppt Asynchronous 115 kbaud 16-bit addressing (64k nodes), CRC-code, acknowledge Concept of typed network variables Optimized protocol: 300 reads/sec. Firmware upgradeable over MSCB bus address command command LSB MSB CRC 1 Byte write data command channel value CRC command CRC acknowledge Node programming struct struct { { float float adc; adc; float float dac; dac; } } user_data; user_data; main() main() { { user_data.adc user_data.adc = = read_adc(0); read_adc(0); write_dac(user_data.dac); write_dac(user_data.dac); } } 11 /53 Page 11 of 55
12 :50:08 mscb.ppt Software overview Easy application development due to powerful framework TM (MIDAS!) msc.exe Command line interf ace PC mscb.dll LabView Applicat ion VI VI VI VI SCS xxx Framework User code USB SCS 250 Et hernet RS485 5V 12 /53 Page 12 of 55
13 :50:08 mscb.ppt MSCB Command Line Interface Simple ASCII CLI under Windows and Linux as a human interface to the mscb C library Start msc Address node Get info Read variables Page 13 of /53
14 First Version :50:08 mscb.ppt 3HE Card with piggy-back CPU Various cards for digital and analog I/O 14 /53 Page 14 of 55
15 :50:08 mscb.ppt Problems with first version System was stable and reliable, unless there were noisy environments Low densisty (full slot for ~8 channels) PC is always required for operation (MSCB only used as DAC/ADC) Labview sometimes crashes One PC had hard disk failure LHe reservoir evaporated Replacement laptop did Windows update over night LHe reservoir evaporated again L No local display Always crate needed Difficult cabling (no outputs at back!) Page 15 of /53
16 :50:08 mscb.ppt Second MSCB Version SCS-1000 LCD, buttons, screw terminals Rack mounted and standalone (24V) LCD 8 analog in, 2 analog out, 4 Relais 4 digital in Local application software 16 /53 Page 16 of 55
17 Magnet Control :50:08 mscb.ppt Standalone (non-pc) control of superconducting magnet 17 /53 Page 17 of 55
18 USB Submaster :50:08 mscb.ppt USB submaster (SCS-250) replaced parallel port adapter. Drivers were written for Windows (difficult!) and Linux (easy but ) 5V/0.5A from USB can be used to power MSCB nodes over bus 18 /53 Page 18 of 55
19 :50:08 mscb.ppt Problems second version Limited number of IOs Microcontroller directly coupled to IOs Outputs go high during reboot/firmware upgrade DACs go to zero during reboot/firmware upgrade No operation when CPU crashes (optional) PC need physical connection to MSCB bus via USB 19 /53 Page 19 of 55
20 :50:08 mscb.ppt New concept SPI bus Bank 0 Bank 1 JTAG DIP-SW MHz OC 6 8 CPLD XC2C384 TQ144 Bank 2 Bank 3 Bank 4 Bank 5 96 pin type C header CPU 2 8 Bank 6 Bank 8 2 A/B primary Serial slave A/B secondary Serial bus 20 /53 Page 20 of 55
21 Third version :50:08 mscb.ppt SCS-2000 CPLD 64 IOs uc board 21 /53 Page 21 of 55
22 :50:08 mscb.ppt SCS-2000 Advantages Flexible IO, 8 banks with 8 IOs each Simple IO boards CPU optically decoupled Serial slave bus for daisy-chaining 16 SCS-2000 CPLD keeps state during reboot CPLD can do low-level tasks independent of CPU CPLD can do fast tasks (100 MHz clock) Soft-fuse 22 /53 Page 22 of 55
23 :50:08 mscb.ppt Soft-fuse CPLD uc S R + V is enable BTS650 - V ref No blown fuses in the middle of the night any more! BTS650 Power MOSFET (70A) 23 /53 Page 23 of 55
24 :50:09 mscb.ppt CPLD programming with VHDL Address register 3 Serial register 8 1-to-8 Multiplexer Port reg type type type_port_reg type_port_regis is array array (7 (7 downto downto0) 0) of of std_logic_vector(7 downto downto0); 0); signal signal port_reg port_reg :: type_port_reg; port_reg(conv_integer(addr_reg)) <= <= ser_reg; ser_reg; Use Use VHDL VHDL even even for for CPLD CPLD programming!! Page 24 of /53
25 :50:09 mscb.ppt SCS-2000 IO Cards EEPROM Experimental Experimental Board Board Debug Debug Board Board 3.3V/5V 3.3V/5V 8 8 In/Out In/Out 24V 24V 2A 2A 8 8 Out Out 4 4 Relais Relais 0-20mA 0-20mA 8 8 Out Out V V 8 8 Out Out V V V V 0..20mA 0..20mA 8x24bit 8x24bit In In 0 10nF 0 10nF 0 1uF 0 1uF 4 4 In In Opt.-Coupler Opt.-Coupler 4 4 Out Out 25 /53 Page 25 of 55
26 LED pulser :50:09 mscb.ppt Needed: LED pulser 50 Ohm, 30ns width, 100Hz 1MHz repetition rate, triggerable 100MHz CPLD 5V DAC -30V LED LED Pulser Pulser 8 8 Out Out 26 /53 Page 26 of 55
27 LED pulser box :50:09 mscb.ppt Single SCS-2000 fits 40 channels LED pulser Either stand-alone operation or MSCB controlled trigger trigger 27 /53 Page 27 of 55
28 :50:09 mscb.ppt Example for low level control CPLD can for example switch valve if pressure gets too high No No µc µcactivity necessary! 24V Valve CPLD AIN DAC Comparator 28 /53 Page 28 of 55
29 What else? :50:09 mscb.ppt Other MSCB solutions used at PSI 29 /53 Page 29 of 55
30 :50:09 mscb.ppt SCS-260 Ethernet Submaster Uses C8051F MHz Cirrus CS8900A 10Base-T MAC chip MICRONET TCP/IP stack from CMX ~6k CAD Full source code DHCP, TCP, UDP, HTTP Had to request MAC addresses Boots in 100ms Replaces more and more USB interface 30 /53 Page 30 of 55
31 :50:09 mscb.ppt SCS-260 as a beacon ADC on µc measures magnet current and distributes it through IP multicasts Multicasts are better than broadcasts (distributed only on request) Used now also for accelerator current status SCS analog in uc Phys Network Switch 31 /53 Page 31 of 55
32 Interface nodes :50:09 mscb.ppt Some experiment hardware has own controllers need interfaces Parallel (Centronics), RS-232 and GPIB adapter Work either string oriented or with local protocol handlers Page 32 of /53
33 :50:09 mscb.ppt Interface firmware String oriented: PC has to run protocol, MSCB node is device independent PC :FETCH? CH0: 1.234V SCS-210 :FETCH? CH0: 1.234V Local protocol handler: MSCB node runs protocol, PC is device independent PC mscb_read(1) U1: 1.234V SCS-210 :FETCH? CH0: 1.234V /53 Page 33 of 55
34 :50:09 mscb.ppt Crate controller requirements VME crates have status bits and control bits (VME reset) Current solution: CAN node (1000 CAD/crate + PC) Also need temperature (currently not implemented) 34 /53 Page 34 of 55
35 :50:09 mscb.ppt Solution with MSCB Put µc+rs-485+temp. Sensor in 9-pin Sub-D connector Power from MSCB bus, interfaced with Ethernet submaster Took 1 day for engineer to design and couple of hours for me to program Costs 30 CAD 35 /53 Page 35 of 55
36 :50:10 mscb.ppt It fits! SLS department installs this for ~100 crates 36 /53 Page 36 of 55
37 :50:10 mscb.ppt Piggy-back Controller PSI-developed Constant-Fraction-Discriminator needed user interface to set delay lines and fractions as well as remote control Page 37 of /53
38 :50:10 mscb.ppt Precision Voltage Source LVDS receiver Microcontroller 2.5V reference DAC MSCB bus JTAG Buffer Calibration Calibration Voltage Voltage 0-1V 0-1V 0.1mV 0.1mV accuracy accuracy ns ns pulse pulse Analog Switch 38 /53 Page 38 of 55
39 :50:10 mscb.ppt PCB Signal Splitter Trigger Bus Micro- Controller MSCB connector 39 /53 Page 39 of 55
40 Optical Link :50:10 mscb.ppt Optical transceiver for >5kV insulation, necessary for electrostatic separator (200kV) start stop enable RS- 485 enable NE /53 Page 40 of 55
41 :50:10 mscb.ppt High Voltage Regulators Very high accuracy 1000V) Low cost (~50 CAD/chn) V in 2400V 12 times V out V ADC DAC 41 /53 Page 41 of 55
42 HV Control :50:10 mscb.ppt Accuracy ramping current trip trip reset 42 /53 Page 42 of 55
43 :50:10 mscb.ppt Software aspects 43 /53 Page 43 of 55
44 :50:10 mscb.ppt Software topology Three possibilities for control loops P adc0 adc0 = mscb_read(0, mscb_read(0, 0); 0); if if (adc0 (adc0 > 2.0) 2.0) mscb_write(0, mscb_write(0, 1, 1, 1); 1); else else mscb_write(0, mscb_write(0, 1, 1, 0); 0); user_data.adc0 user_data.adc0 = adc_read(0); adc_read(0); if if (user_data.adc0 (user_data.adc0 > 2.0) 2.0) user_data.valve0 user_data.valve0 = 1; 1; else else user_data.valve0 user_data.valve0 = 0; 0; user_write(0); user_write(0); PC PC (e.g. (e.g. Midas Midas Front-End) Front-End) PC PC (LabView) (LabView) MSCB MSCB node node 44 /53 Page 44 of 55
45 Labview Demo :50:10 mscb.ppt Simple demo to read a temperature and to control a relais LM35 10mV/K AIN SCS-2000 Relais SCS-250 USB Laptop 45 /53 Page 45 of 55
46 :50:10 mscb.ppt Comparison FE+LV+uC Which topology should I use? PC (Front-End) Labview Microcontroller pros Can be easily integrated into existing Midas Front-End Well known debugging environment Access via MIDAS slow control system Easy to learn Automatic documentation Quick getting started No PC required Very stable Access via MIDAS slow control system Needs PC-MSCB connection Instability Limited resources on uc cons Not suited from complex tasks Costs Requires uc development environment ($$) Needs PC-MSCB connection No (easy) remote access 46 /53 Page 46 of 55
47 :50:10 mscb.ppt LabView experience LabView very well suited to get quickly started and to develop control algorithms and visualization For complex applications, LabView becomes cumbersome The golden road Development under LabView Implementation in µc Visualization in MIDAS slow control system Page 47 of /53
48 :50:10 mscb.ppt Transition LabView uc/midas 48 /53 Page 48 of 55
49 BTS Control :50:10 mscb.ppt v = user_data.jt_forerun_valve; if (user_data.lhe_level1 > user_data.lhe_demand user_data.ka_level < 55 user_data.lhe_bar > 1.4) v = v - 1; else v = v + 0.5; if (v > 17) v = 17; if (v < 8) v = 8; user_data.jt_forerun_valve = v; user_write(14); 49 /53 Page 49 of 55
50 :50:11 mscb.ppt MIDAS Custom Pages & History MIDAS MIDAS custom custom page page MIDAS MIDAS histoy histoy 50 /53 Page 50 of 55
51 Conclusions Would I do it again? :50:11 mscb.ppt Money-wise: 5 years development (2MY), saved 200k CAD in HV and 100k CAD for experiment NO Flexibility: Now takes a couple of days to develop new I/O card YES Would I choose 8051 µc again or 32-bit processor (ARM7)? 8 bit 100 MHz enough for regulations, fast control (20 ns port access time) 256 Bytes RAM not enough, need at least 1kB + 32kB flash On-chip ADC/DAC not enough for high precision applications Development environment very good (In-circuit debugging, flash download via JTAG) YES Page 51 of /53
52 Conclusions II Choose again RS-485 over CAN? :50:11 mscb.ppt MSCB protocol is very simple and optimized (like firmware upgradeable over network) can debug with oscilloscope MSCB protocol can be extended Run currently at 115kBaud (good for 500m w/o termination) Very nice opto-decoupled RS-485 transceiver (ADM2486) 100 MHz should go to 2 MBit Drawback: RS-485 is single master, while CAN has MAC layer Page 52 of /53
53 :50:11 mscb.ppt Where do we stand now? After all hardware runs nicely, we have to monitor it! 53 /53 Page 53 of 55
54 :50:11 mscb.ppt 54 /53 Page 54 of 55
55 :50:11 mscb.ppt ODB hot-link update Computer A Remote Client A db_set_value() 2 subpr ocess A db_set_value() Computer B 3 subpr ocess B notify_client() Computer C Remote Client B callback() 4 Shar ed Memory r un_number not if y f lag B db_open_record() 1 55 /53 Page 55 of 55
MSCB advantages and PSI specific implementations. Stefan Ritt Paul Scherrer Institute, Switzerland
MSCB advantages and PSI specific implementations Stefan Ritt Paul Scherrer Institute, Switzerland Overview Slow Control = DAQ at 10ms 10s Temperatures, Pressures, High Voltages, MSCB Midas Slow Control
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