Development of the PAU 1 Controls Kukhee Kim Fall 2010 EPICS Collaboration Meeting Oct 13, 2010 Development of the Pattern Awareness Unit (PAU) for the.

Development of the PAU 1

Controls

Kukhee KimFall 2010 EPICS Collaboration Meeting

Oct 13, 2010

Development of the Pattern Awareness Unit (PAU) for the LCLS Fast Feedback System

Kukhee Kim for Fast Feedback Team

Oct. 13, 2010

Controls Department

SLAC National Accelerator Laboratory


Controls


Oct 13, 2010

Contents

Fast Feedback System

Motivation of Pattern Aware Operation

Pattern Awareness Unit

Purpose

Implementation Details

PAU operation timeline: time slots

Real Implementation in the LCLS

Summary


Controls


Oct 13, 2010

Fast Feedback System


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Oct 13, 2010

Fast Feedback (cont’d)

Pattern Aware Control

Pattern-based 120Hz operation

Control Magnet and RF based on Timing Pattern

Utilize FNET

Isolated network: no competing network traffic, reliable data transport

FCOM protocol: new efficient protocol for FNET, IP multicasting

New fast feedback replaces MATLAB codes (slow and non-pattern aware feedback)


Controls


Oct 13, 2010

Motivation (1) Increase beam rate 60Hz to 120Hz

beam runs on same AC phase @ 60Hz

two different AC phases @ 120Hz

Other power line noise sources are expected

LCLS-II

Facility for Advanced Accelerator Experimental Test (FACET)

any other which shares SLAC main power line will make additional variations

Pattern

a set of same variation on the power line

reflected on the timing/event patterns

pattern: a combination of time slots and beam operation information for entire SLAC facility


Controls


Oct 13, 2010

Pattern and Beam characteristics

D1 D2 D1 D3 D1 D2 D1 D3 D1 D2 D1 D3 D1 D2 D1 D3 D1 D2 D1 D3 D1

D1 D1 D1 D1 D1 D1 D1 D1 D1 D1

D2 D2 D2 D2 D2

D3 D3 D3 D3 D3

D1

Non Pattern Awareness (ALL patterns):Step Changes occurred on control parameters

Pattern Awareness (for pattern D1)Smooth changes occurred

Pattern Awareness (for pattern D2)

Pattern Awareness (for pattern D3)


Controls


Oct 13, 2010

Motivation (2)

Non-Pattern Aware Feedback

feedback loop has to compensate the step change between the pattern

but, single feedback loop is not suitable for cure step raise and fall

To compensate the variation between the patterns

mobilize separated feedback loops for each different patterns

each feedback loop does not experience step change

beam characteristics in different patterns can be converge to a desired value smoothly

Pattern Aware Operation for actuators: RF and Magnets

To build generic Software Solution for the pattern required operation

PAU can be utilize any pattern required application


Controls


Oct 13, 2010

Schematic of Fast Feedback System

Accelerator

Detector Fast Feedback Controller(s) Actuator

EVREVR EVR

T1 VAL1

T4 VAL1

T1 VAL2

T4 VAL2

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

triggertrigger trigger

Actuator (Pattern Awareness)

Remark *3)


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Oct 13, 2010

Pattern Awareness Unit (PAU) Pattern Recognition

tightly bind with the EVR

wake up by the fiducial interrupt 360Hz rate

pattern matching

beam code and time slot

5 x 32bits exclusion mask and 5 x 32bits inclusion mask = total 320bits information

Advanced Pattern Matching to implement set value to the actuator

Current Pattern Matching for getting data from fast feedback controller

Drive data pull function

data pull from FCOM data slot

Drive data push function

execution local regulation loop for RF system*1) configuration type I

send I&Q data to PACs (Pase Amplitude Controller) for RF system

implement DAC value for Magnet system*2) configuration type II


Controls


Oct 13, 2010

Configuration Type I (RF system)Fast Feedback Controller(s)

NE

T

FN

ET

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

NE

T

FN

ET

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback AlgorithmsN

ET

FC

OM

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Timing Network

Ethernet for Channel Access

Detectors

NE

T

PrivateN

et

EV

R

AD

C

NE

T

FC

OM

/P

rivate N

et

EV

R

DA

C

Actuators

Ethernet for Fast Feedback (Raw UDP)

NE

T

Private N

et

DA

C

Master IOC

Hard-wired Trigger

Remark *1)


Controls


Oct 13, 2010

Configuration Type II (Magnet System)

Fast Feedback Controller(s)

NE

T

FN

ET

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

NE

T

FN

ET

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback AlgorithmsN

ET

FC

OM

EV

R

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Feedback Algorithms

Timing Network

Ethernet for Channel Access

NE

T

FC

OM

EV

R

AD

C

NE

T

FC

OM

EV

R

DA

C

Detectors

NE

T

FC

OM

EV

R

AD

C

NE

T

FC

OM

EV

R

DA

C

Actuators

Ethernet for Fast Feedback (Raw UDP)

Remark *2)


Controls


Oct 13, 2010

Data Slot 1

Data Slot 2

Data Slot 3

Data Slot 4

Control Values from Feedback Controllers

UltraHighCallback

Fiducial FunctionRunning on the evrTask

-Each PAU has own fiducial function-Performs bitPattern matching for each PAUs-Implement HW Timer-Queuing processing into UltraHighCallback

Wake-up Event come from EVR360Hz

User Functionfor data Pull

User Functionfor data Push

Processing Flow (1) Fiducial Thread

wake up @360Hz fiducial interrupt

proceed pattern matchings

advance pattern matching for set value (to prepare next beam pulse)

current pattern matching for getting data

Queuing pattern matching information to the UltraHighPriority Callback Thread

The queuing need to be delayed by the high-resolution timer

to allow accurate adjustable time delay to waiting data from the fast feedback controller

utilize the high-reolution timer on the CPU board: sub nano-second resolution


Controls


Oct 13, 2010

Processing Flow (2)UltraHighPriority Callback Thread

Waiting message from the fiducial thread/high resolution timer

Proceed MUXes in the linked list

MUX corresponds to a physical quantity: B_des (set value for magnet strength) , P_des (phase), and A_des (amplitude)

A PAU is shared by multiple MUXes which requires same pattern matchings.

A PAU handles multiple MUXes (in the linked list)

To save pattern matching for the individual quantity

Linked list

Linked list

Control Values from Feedback Controllers

UltraHighCallback

Fiducial FunctionRunning on the evrTask

-Each PAU has own fiducial function-Performs bitPattern matching for each PAUs-Implement HW Timer-Queuing processing into UltraHighCallback

Wake-up Event come from EVR360Hz

Data Slot 1

Data Slot 2

Data Slot 3

Data Slot 4



Data Slot 1

Data Slot 2

Data Slot 3

Data Slot 4



Data Slot 1

Data Slot 2

Data Slot 3

Data Slot 4




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Oct 13, 2010

Processing Flow (3)UltraHighPriority Callback Thread (cont’d)

Proceed the user pull function with the current pattern matching result

Pull data from matched FCOM data slot: fast feedback mode*3) Schematic for fast feedback

Pull data from matched data slot PV: static offset mode*4) Static offset mode

Proceed the user push function with the advanced pattern matching result

Push data into DAC: maget

Execute the local regulation loop/Push data to the PAC via network: RF system

Proceed the PAU diagnostics

Measure execution time

House keeping


Controls


Oct 13, 2010

Time line for interlaced mode

Priority

UltraHighCallback

RawUDP Sender (for PAC)

RawUDP Listener (for PAD)

Other Tasks running on the IOC

FCOM Interface

Time

EVR Thread

T1 T2 T3 T4 T5 T6 T1 T2 T3 T4 T5 T6

D1 D2 D1 D2

Receiving DES

Receiving ACT

Pull A

CT

and latch it for D2

Pull D

ES

for D1

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

and latch it for D1

Pull D

ES

for D2

Timer

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

and latch it for D1

Pull D

ES

for D2

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

and latch it for D2

Pull D

ES

for D1

Queuing S

P

Data Pull

Data Push

Timer

Data Pull

Data Push

Timer

Data Pull

Data Push

Timer

Data Pull

Data Push

Beam 1 Beam 2 Beam 1 Beam 2

Diag. Diag. Diag.Diag.

IQ conversion

Queuing Sending Data

Send data to PAC

Fiducial function

Woke-up by arriving packets,But, there no Push mechanism!

Time Slot

Pattern

Local Feedback

Pattern matching for current time slotAnd latch it for Diag. and for pull ACT

Pattern matching for advanced time slot

(Two Patterns 60Hz + 60Hz = 120Hz)


Controls


Oct 13, 2010

Time slot operation with slow feedback

when turned off fast feedback

backward compatibility (non-pattern aware feedback + pattern aware operation)

Static offset mode

Accelerator

Detector Slow Feedback(MATLAB or SoftIOC)

Actuator

EVR

T1 VAL1

T4 VAL1

T1 VAL2

T4 VAL2

Algorithm

trigger

Actuator (Pattern Awareness)

Master set value

1setV

setV 2setV

3setV

4setV

Operator Set Value

Remark *4)


Controls


Oct 13, 2010

Diagnostics

Command line debugging tools

various commands to show up: PAU internal variables, statistics, and measurements

Diag. Function provides snap shot information for statistics and measurements via epics PVs

A part of PAU diag. panel A part of MUX diag. panel


Controls


Oct 13, 2010

Implementation in LCLS RF system

PAU0: Laser loop in IN20 (1 station, 2 associations, 3 muxes)

laser_mux_pdes_2856MHz

laser_mux_pdes_119MHz

PAU1: Feedback for IN20 (6 stations, 6 associations, 12 muxes)

each station has 2 muxes: PDES and ADES

gun, l0a, l0b, tcav0, l1s, l1x

PAU2: Feedback for LI24 (7 stations, 9 associations, 18 muxes)

Virtual (abstraction layer): l2 abstraction, l3 abstraction

Physical stations: l2ref, tcav3, 24_1, 24_2, 24_3, s29, s30

Magnet system

PAU0: Control correctors in LTU0 area (1 corrector, 1 mux)

xcor_548

PAU1: Control correctors in LTU1 area (3 correctors, 3 muxes)

xcor_488, ycor_493, ycor_593

laser_mux_adesAssociation #1 for 2845MHz representation

Association #2 for 119Mhz representation


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Oct 13, 2010

Real-Time Performance Measurement

PAU diagnostics provides measurement data about the performance

Real-Time Performance from self diagnostic information

Pattern matching in Fiducial:

ISR delay:

user pull function:

user push function:

self-diagnostics and house keeping:

Example) RF PAU1 which has 12 muxes

sec2~ sec3~

sec25sec60

sec15~

Pattern matching is proceeded at every fiducial 360Hz

Waking up delay for the high-resolution timer

including FCOM data getting/getting data from PV for each 12 muxes

including RF local regulation loops + I&Q conversion + queuing data info sending queue to PAC

Fiducial-2

Fiducial-1

Fiducial0

Beam

Matched patternto prepare next beam

Fiducial Interval sec778,2

Settle time: worst case for magnet

sec000,6

Real-TimeDeadline

sec200sec105

sec551,1

sec222,2 Margin

Adjustable delayby high-resolution timer

PAU execution time+ overhead

sec000,1

sec251


Controls


Oct 13, 2010

Summary(1) Pattern aware operation has been test with the PAU successfully

injection linac only

waiting ready of hardware for downstream

Back ward compatibility

allow to use MATLAB (slow, non-pattern aware) feedback instead of the fast feedback

Static offset mode

Extensibility

There is no limit to create PAUs and MUXes: implemented with linked list

Only limit is number of high-resolution timer: first four PAUs will have the timer, after then do not have, thus always 0 delay for remaining PAUs.


Controls


Oct 13, 2010

Summary (2)Real-time performance

Considering priority order for each thread for the PAU: fiducial, UltraHigh callback, and FCOM/udpComm communication threads

The PAU has been operated in the production last 3 months without any problem


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Oct 13, 2010

Appendix


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Oct 13, 2010

Timeline for non-interlaced mode

Priority

UltraHighCallback

RawUDP Sender (for PAC)

RawUDP Listener (for PAD)

Other Tasks running on the IOC

FCOM Interface

Time

EVR Thread

T1 T2 T3 T4 T5 T6 T1 T2 T3 T4 T5 T6

D1 D1 D1 D1

Receiving DES

Receiving ACT

Pull A

CT

Pull D

ES

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

Pull D

ES

Timer

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

Pull D

ES

Queuing S

P

Receiving DES

Receiving ACT

Pull A

CT

Pull D

ES

Queuing S

P

Data Pull

Data Push

Timer

Data Pull

Data Push

Timer

Data Pull

Data Push

Timer

Data Pull

Data Push

Beam 1 Beam 1 Beam 1 Beam 1

Diag. Diag. Diag. Diag.

IQ conversion

Queuing Sending Data

Send data to PAC

Fiducial function

Woke-up by arriving packets,But, there no Push mechanism!

Time Slot

Pattern

Local Feedback

Pattern matching for current time slotAnd latch it for Diag. and for pull ACT

Pattern matching for advanced time slot

(Single Pattern 120Hz)


Controls


Oct 13, 2010

Functional Diagram & Interfaces

textPAU

Console(iocsh)

APIs

BSA

EVR

EPICSDB

Management

FiducialFunction

APIs

UltraHighPriorityThread

User function for Data Push

FCOM (NIC)

Ethernet (NIC)

Channel Access

FCOM Listener(Thread)

FCOM Sender or RawUDP(Thread)

DAC

DAC implementationAPIs or Thread

Actuator Commands from FF Controller

Setpoint Values to Actuator

Hardwired Signalto Actuator

Tim

ing from E

VG

st.cmdconfigurationinitialization

Interaction with operator/egineerconfiguration/re-configurationdebuggingreporting

Turn ON/OFF fast feedback mode by FF controllerConfiguration/ReconfigurationOperation Monitoring/Status Monitoring

User function for Data Pull

UdpComm

Hardware Timer

Modular Design:User register functions


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Oct 13, 2010

Configuration Utilize iocsh command

Utilize string identifier to recognize user defined functions and variables: epics registry

Human readable

No re-compile for re-configuration

createPau("pau0", 2, "PAU for feedback")createPau("pau1", 2, "PAU for Laser")

createMux("pau0", "ACCL:LI21:180:L1X_PDES", "l1xPhasePush", "l1xPhasePull", "L1X Phase")createMux("pau0", "ACCL:LI21:180:L1X_ADES", "l1xAmplPush", "l1xAmplPull", "L1X Amplitude")

makeAssociation("ACCL:LI21:180:L1X_PDES", "ACCL:LI21:180:L1X_ADES")

Name of PAU

Pipeline index

Description

PAU name MUX name User defined Data Push function

User defined Data Pull function

Description

MUX name

epicsRegisterFunction(l1xPhasePush);epicsRegisterFunction(l1xPhasePull);epicsRegisterFunction(l1xAmplPush);epicsRegisterFunction(l1xPhasePull);

function(l1xPhasePush)function(l1xPhasePull)function(l1xAmplPush)function(l1xAmplPull)

st.cmd

Source Code DBD file

*5) association


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Oct 13, 2010

Configuration (cont’d)

MUXfor Amplitude

MUXfor Phase

Local Feedback Loop for Amplitude

Local Feedback Loop for Phase

Conversionfor AP2IQ

I Q

Association

Association

Remark *5)

Association

Processing requires two physical quantities

Conversion from Phase&Amplitude to I&Q

Need to make relation between two MUXes: phase and amplitude

Syntax:

makeAssociation(mux name 1, mux name 2)


Controls


Oct 13, 2010

EVR Fiducial function& APIs

PAU/Mux Object& APIs

Registry

for Data P

ullR

egistry for D

ata Push

Default Data Pull(FCOM)

User defined Data PullUdpComm

RF Local Feedback

AP2IQ conversion

Send Data via IP multicasting

User defined Data Push

FCOM interface

UdpComm

UdpComm

(UdpCommListener)

Development of the PAU 1 Controls Kukhee Kim Fall 2010 EPICS Collaboration Meeting Oct 13, 2010 Development of the Pattern Awareness Unit (PAU) for the.

Documents

pattern d2 pattern awareness

timing pattern

pattern d3 slide

data queuing pattern

hz rate pattern

controls kukhee kim

epics collaboration

timingevent patterns