Real Time Controller Functional Requirements Don Gavel & Marc Reinig UCO Lick, laboratory for...

Real Time Controller Functional Requirements

Don Gavel & Marc ReinigUCO Lick, laboratory for Adaptive Optics.

Keck NGAO Team Meeting

December 13, 2007

Videoconference

NGAO Real Time Controller FRD 2

Outline

• Status• Issues• Plans


Status

• We have an architecture that meets the performance requirements– 9 LGS/WFS (64x64)

– 2 Tip/Tilt WFS

– 1 T/T-focus-astigmatism WFS

– 1 Truth WFS

– 5 DM’s (with T/T) (64x64)

– 1 Woofer

– <500µSec from receipt of image to commands received at the DM

• Scalable to larger problems• We have validated the software in the lab and through simulation


Architecture – Hardware and Software –


NGAO System Context Block Diagram(DRAFT)

Observing Sequencer

DataServer

Atmospheric Tools

Telescope Interface

Instrument Sequencer

LTCSLaser

Sequencer

LaserLaunchFacility

AOSequencer

RTCLO WFSControl

TWFSControl

Acquisition Control

NGSHOWFSControl

9 LGSHOWFSControl

RelayDM/TTControl

NGSWFS

LGS WFS

x9

AcqCam

LO WFS

x3

DM/TT

TWFS

PixelData

PixelData

MotionControl

SensorControl

PixelData

MotionControl

SensorControl

MotionControl

PixelData

MotionControl

DeviceControl

PixelData

MotionControl

CorrectorCommands

MotionControl

SensorControl

DeviceControl

SensorControl

Status

Cmd

Telem

StatusStatusCmdCmdTelemTelem

dNIRIOpto-Mech

Control

MEMs

DMsx6

MotionControl

DeviceControl

CorrectorCommands

Optics BenchControl

Optics

Bench

Devs

MotionControl

DeviceControl

RT Diags

RT Diags RT Diags

Off-load

LaserLaser Safety System

Bore-sightCam

LaserServi

ceEncl

Spotter

Status

Telem

Cmd

Status

TelStatus

Status

Status

E-Stop

UplinkTT

LaserOpto-Mech

DeviceControl

MotionControl

Diag

ConfigData

Status Status

LFOpto-Mech

DeviceControl

MotionControl

Diag

TelemLaserTelem

Version 5, 10/31/07Erik Johansson

Legend: Non-Real-Time Commands and Data

Real-Time Commands and Data

Real-Time Diagnostic Data

LO WFSDMsx3

CorrectorCommands

PixelData

PSFMonitoringCameras

PSFCams

X?

MotionControl

DeviceControl

PixelData


NGAO System Context Block Diagram(DRAFT) cont.

Observing Sequencer

DataServer

Atmospheric Tools

Telescope Interface

Instrument Sequencer

LTCSLaser

Sequencer

LaserLaunchFacility

AOSequencer

RTCLO WFSControl

TWFSControl

Acquisition Control

NGSHOWFSControl

9 LGSHOWFSControl

RelayDM/TTControl

NGSWFS

LGS WFS

x9

AcqCam

LO WFS

x3

DM/TT

TWFS

PixelData

PixelData

MotionControl

SensorControl

PixelData

MotionControl

SensorControl

MotionControl

PixelData

MotionControl

DeviceControl

PixelData

MotionControl

CorrectorCommands

MotionControl

SensorControl

DeviceControl

SensorControl

Status

Cmd

Telem

StatusStatusCmdCmdTelemTelem

dNIRIOpto-Mech

Control

MEMs

DMsx6

MotionControl

DeviceControl

CorrectorCommands

Optics BenchControl

Optics

Bench

Devs

MotionControl

DeviceControl

RT Diags

RT Diags RT Diags

Off-load

LaserLaser Safety System

Bore-sightCam

LaserServi

ceEncl

Spotter

Status

Telem

Cmd

Status

TelStatus

Status

Status

E-Stop

UplinkTT

LaserOpto-Mech

DeviceControl

MotionControl

Diag

ConfigData

Status Status

LFOpto-Mech

DeviceControl

MotionControl

Diag

TelemLaserTelem

Version 5, 10/31/07Erik Johansson

Legend: Non-Real-Time Commands and Data



LO WFSDMsx3

CorrectorCommands

PixelData

PSFMonitoringCameras

PSFCams

X?

MotionControl

DeviceControl

PixelData


Interface to SRT System

• SRT controls all aspects of RTC - Ethernet– There will be a non-RT Linux PC controlling the RTC

– Interface to the SRT will be Ethernet between the SRT and the RTC control PC

– Load and read the RTC code for all operations

– Load and read the RTC HW configuration

• Telemetry streams to monitoring, PSF, etc - Ethernet• Interface between the RTC and the high-speed disk arrays for

diagnostic data - Fiber Link or equivalent


NGAO RTC System Context Block Diagram(DRAFT)

Observing Sequencer

DataServer

Telescope InterfaceAO

Sequencer

RTCLO WFSControl

TWFSControl

NGSHOWFSControl

9 LGSHOWFSControl

NGSWFS

LGS WFS x9

LO WFSx3

DM/TT TWFS

PixelDataPixel

Data

MotionControl

SensorControl

PixelData

MotionControl

SensorControl

MotionControl

DeviceControl

PixelData

CorrectorCommands

MotionControl

SensorControl

Status

Cmd

Telem

Status

Cmd

Telem

MEMsDMsx6

CorrectorCommands

RT Diags

RT Diags

Off-load

UplinkTT

ConfigData

LFOpto-Mech

Telem

Version 2, Nov 11, 2007Marc Reinig

Legend:Non-Real-Time Commands and Data



LO WFSDMsx3

CorrectorCommands

PixelData

High Speed DataServer

High Speed Diagnostic Data


Tomography Is Part of a Larger System – With characteristics that lend themselves to a similar solution –

ImageProcessors

ImageProcessors

ImageProcessors

ImageProcessors

WavefrontSensorsWavefrontSensorsWavefrontSensorsWavefrontSensors

TomographyUnit

ImageProcessors

ImageProcessors

ImageProcessors

DMFit

WavefrontSensorsWavefrontSensorsWavefrontSensors

DMProjection

DM conjugatealtitude

Cn2 profile Actuatorinfluencefunction

Centroid algorithmr0, guidstar brightness,

Guidestar position

ImageProcessors

ImageProcessors

ImageProcessorsDeformable

Mirrors

ImageProcessors

ImageProcessors

ImageProcessors

ImageProcessors

WavefrontSensorsWavefrontSensorsWavefrontSensorsWavefrontSensors

TomographyUnit

ImageProcessors

ImageProcessors

ImageProcessors

DMFit

WavefrontSensorsWavefrontSensorsWavefrontSensors

DMProjection

DM conjugatealtitude

Cn2 profile Actuatorinfluencefunction

Centroid algorithmr0, guidstar brightness,

Guidestar position

ImageProcessors

ImageProcessors

ImageProcessorsDeformable

Mirrors

Guide star height

Kolmogorov filterLayer heights

Independent parallel streams of parallelizable

processesMore independent parallel

streams!

Back-propagate

Post-condition

Forward-propagate

FT FT-1X

Aperture

WFSdata

VolumetricOPD

estimates-+

Pre-condition

FT-1 FTX

Aperture

Back-propagate

Post-condition

Forward-propagate

FT FT-1X

Aperture

WFSdata

VolumetricOPD

estimates-+

Pre-condition

FT-1 FTX

Aperture


A Systolic Array


Data Rate and Location

WFSCam

Hartmann sensor optics

...

Localframegrab

analog cable length constraints

Localdedicatedcentroider

TomographyEngine

Wooferfits

TweeterfitsHigh

VoltageD/A

converter

TweeterDeformable

Mirror

digital cable (prefer DMA transfer)

HighVoltage

D/Aconverter

WooferDeformable

Mirror

...

HV cable length constraints

WFSCam

Hartmann sensor optics

...

Localframegrab

analog cable length constraints

Localdedicatedcentroider

TomographyEngine

Wooferfits

TweeterfitsHigh

VoltageD/A

converter

TweeterDeformable

Mirror

digital cable (prefer DMA transfer)

HighVoltage

D/Aconverter

WooferDeformable

Mirror

...

HV cable length constraints

NasmythNasmyth

Nasmyth

Computer Room

Fiber Link or equivalent

(>160MB/Sec each)

Telemetry Data

Diagnostic Data(To Disk) (>1 GB/Sec)


Telemetry and Diagnostics Streams

Telemetry (Low bandwidth, on-line monitoring) (>1Hz)• Set and read the telemetry rate for each data stream• Set and read the data streams that are enabled for telemetry

– Centroids– Residual tomography error– DM commands, including uplink– Tip/Tilt commands

Diagnostics (High bandwidth, stored to disk) (full frame rate) (Could be > 1GB/Sec)

• Set and read the diagnostic rate for each data stream• Set and read the data streams that are enabled for diagnostics

– Centroids– Residual tomography error– Raw layer information– DM commands, including uplink– Collapsed layer information– Tip/Tilt commands


RTC Software Flow

ATM

Woofer

Woofergo-toerror

WooferWoofer

Fit

FitTweeter

Tweeter

...

Average

CollapseTomography

...

-

+

+

+

+

+

+

-

Tweeter

ATM

Woofer

Woofergo-toerror

WooferWoofer

Fit

FitTweeter

Tweeter

...

Average

CollapseTomography

...

-

+

+

+

+

+

+

-

Tweeter


Tomography Basic Loop

Forward Propagate

Back Propagate

Calculate New

Estimate

Error > Limit

Error <= Limit

Done

Start

Measured Value From WFS

Calculate Error

Error Limit

Forward Prop(G)

IDFT(FP)

measure error

Dynamic data Static Data

current estimated values for voxels passed through layers

multiplied by shift(layer,guide star)

IDFT coefficients

forward propagated values passed by rows (east/west) then columns (north/south)

apply aperture 1 or 0 depending on locationSpatial fwd prop value

Measured valueSpatial adj fwd prop value

DFT(error)error values passed by rows (east/west) then columns (north/south)

DFT coefficients

Back propagation CN2 value(Layer)Accumulate error values for each guide star in each voxel in each layer

Kolmogorov Filter K_filter valueCoeff error

Guide Star = 1(G = 1)

G = G + 1

no

yes

New Estimate Error Old estimate

Fourier Domain

Spatial Domain

Store Error(G)

An error magnitude for this guide star:|E| = (real)2 + (imag)2 is summed across all columns and rows. This value is stored for global error.

Global ErrorSum the Sum of Squares error values across all guide stars

Error < Cutoff?

yes

no

Done

G = 1

G == Total #Guide Stars?

yes

no

G = G + 1

G == Total #Guide Stars?

Sum of Squares and Store(G)

The error vectors for this guide star are stored for back propagation


Forward Propagation

New Voxel Estimate, Layer(0)

Adjust for Shift for Layer(0)

New Voxel Estimate, Layer(N)

Adjust for Shift for Layer(N)

Sum All Adjusted

Values in the Ray Path

Calculate Error Guide

Star (N)

Measured Value From WFS(0)

Forward PropagateBack Propagate

Calculate New Estimate

Error > Limit

Error <= Limit

Done

Start


Calculate Error

Error Limit

For each sub aperture, sum all the estimated Voxel values, along the path of a ray to each Guide Star.

In the Fourier domain, you must account for the spatial shift that occurs in the spatial domain. This will be the complex conjugate of the shift value used in the back propagation.


Calculate Error

Subtract Forward

Propagated Value from

Measured Value for each WFS

Forward Propagate

Measured Value From

WFS(0)

Back Propagate

Error > Limit

Error <= Limit

Done

Compare Error to

Limit

Error Limit



Error > Limit

Error <= Limit

Done

Start


Calculate Error

Error Limit

For each sub aperture, for each ray from a Guide Star, calculate the error between the forward propagated value and the measured value from the WFS for that Guide Star.

If you have reached the limit stop, else continue with another loop


Back PropagateCalculate

New Estimate for this Voxel

Adjust Error(N) For Gain and Cn

2 (Multiply)

Adjust Error(N) for

Shift (Multiply)

Measured Value From WFS(N)


Star (N)

Adjust Error(0) For Gain and Cn

2 (Multiply)

Adjust Error(0) for

Shift for this Layer

(Multiply)

Measured Value From WFS(0)


Star (0) Forward Propagate Guide Star

(N)Forward

Propagate Guide Star

(0)

Error Limit



Error > Limit

Error <= Limit

Done

Start


Calculate Error

Error Limit

For each guide star, for each sub aperture, back propagate the error for a guide star to all the Voxels along the ray back to the Guide Star (These should be the same Voxels used in calculating the Forward Propagated value.)

Adjust the error for each Voxel for the Cn2

value for its layer

In the Fourier domain, you must account for the spatial shift that occurs in the spatial domain. This will be the complex conjugate of the shift value used in the Forward propagation.



Forward Propagate

GS(0)

Back Propagate

d GS Error(N)

Back Propagate

d GS Error(0)

Average Adjusted

Errors

Add to Current

Estimated Value



Error > Limit

Error <= Limit

Done

Start


Calculate Error

Error Limit

Forward Propagate

GS(N)

For each Voxel, calculate the average of the adjusted errors that were back propagated along the rays to various Guide Stars and add this to the estimated value for the Voxel to get a new estimated value.


WFS Control CommandsCamera• Set and read the camera frame rate• Set and read the camera pixel rate• Set and read the camera gainCentroiding• Load the dark pattern• Load pixel gain pattern• Set and read the threshold level• Set and read the centroiding algorithm• Load and read the centroid weights• Load and read the reference centroids• Load and read the centroid offsets• Set and read pixel offsets for the camera image• Set and read the guidestar mode (NGS or LGS) for any WFS• Load and read centroid non linearity tables


Tomography Control Commands

• Load and read the cone-effect scaling array for any guide star or target

• Load and read the sky position for any guidestar or target• Load and read the Kolmogorov filter array• Load and read the pre-conditioning arrays• Load and read the tomography loop gain arrays• Load and read the tomography bailout value

• Load and read the Cn2 values for all layers

• Load and read the wind array for all layers


DM and Tip/Tilt Control Commands

• Load and read the layer-to-DM collapse arrays• Load and read the DM command matrixes and non linearity lookup

tables for open and closed loop control• Set and read DM open/closed loop mode• Set and read the Tip/Tilt command matrixes


Calibration Capabilities

• Create a system matrix for any DM• Set the number of frames to use when creating the system matrix• Clear the DM of any manually set values• Calibrate science target DMs in MOAO• Woofer• Tweeter• Force an arbitrary camera image for any WFS• Force an arbitrary centroid output for any tomography WFS input• Force an arbitrary layer pattern to be used by the DM command

module• Send an arbitrary pattern to any DM• Save the current centroid positions as an reference centroid file

(averaged over a settable number of frames)


System Diagnostics Capabilities

• Read all chip temperatures• Read system temperatures at various predetermined locations• Monitor chip and system fan operation• Set and read temperature alarm trip levels


Reliability and Reparability

• Graceful degradation• Spares requirement• MTBF• Self Healing (SEU)


Physical Characteristics

• Size– <20 m3

• Weight – TBD

• Location– WFS and DM Drive are on the Nasmyth

– RTC and High Speed Disk array are in the computer room

• Power– <20KW


Issues Remaining

• Determine Single Event Upset (SEU) rate from Gamma/Cosmic rays

• Verify detection and recovery scheme


Plans

• Complete FRD• Finish writing report• Validate SEU issues


Backups


Data Rate Work SheetMCAO MOAO

Radial Voxels

Sub apertures across primary 64 64 64Sub aperature at altitued 3 3 3Number of WFSs 10 10 10Number of Pixels per WFS Camera 32,000 32,000 32,000Camera transfer time to WFS (µSec) 400 400 400Number of Layers 7 7 7Number of MCAO DM's 2 2 2Number of observing DMs (only relevant for MOAO) 6 5 5Word size (Bytes) 2 2 2Portion of a frame used for transfer time (% frame) (Transfers of WFS data-in and DM data-out are overlapped) 10% 10% 10%Frame time (µSec) 500 500 500Input and output control data rates (MB/Sec)

Per Camera 160 160 160Total Camera 1,600 1,600 1,600Per WFS 164 164 164Total WFS 1,638 1,638 1,638Per DM 164 164 164Total DM 328 983 983

Diagnostic data rates (MB/Sec)Per Camera 128 128 128Total Camera 1,280 1,280 1,280Per WFS 16 16 16Total WFS 164 164 164Per Layer 1,475 1,475 164Total Layer 10,322 10,322 1,147Per DM 16 16 16Total DM 33 98 98

Diagnostic Storage Rate w/o layer info (GB/Sec) 1.5 1.5 1.5Maximum diagnostic Storage Rate (GB/Sec) 12 12 3Giga Bytes of Mass Storage per minute 708 712 161


Sample Code to Configure the Hardware– Simple ALU –

module alu4 ( input_a, input_b, output_c, ctrl_0, ctrl_1, ctrl_2,ctrl_3, clr, clk ); input ctrl_0, ctrl_1, ctrl_2, ctrl_3; input [15:0] input_a, input_b; output [31:0] output_c; input clr, clk;

wire [3:0] ctrl; reg [31:0] output_c;

assign ctrl = {ctrl_3, ctrl_2, ctrl_1, ctrl_0}; parameter ADD = 4'b1001; parameter MUL = 4'b0001; parameter NOP = 4'b1000;

always @(posedge clk or posedge clr) begin if (clr) output_c <= 0; else case (ctrl) ADD: output_c <= input_a + input_b; MUL: output_c <= input_a * input_b; default:; endcase endendmodule


Processor Array Illustration

VoxelLocal Registers

Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error

ALU(Word Size + NGS) wide

GSn

...

...

GS1

GS1 ...

...

Cumulative Value GS1

Cumulative Value

GSn

GSn

Forward Propagation Path


Back PropagationPath


GS1

GS1 ...Note:Because the Forward propagation and Back Progagation paths are parallel, but are used at different times, they will actually be a single bus in the physical implementation .

Global SystemState Information


GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1




GSn

GSn


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1

GS1 ...Note:Because the Forward propagation and Back Progagation paths are parallel, but are used at different times, they will actually be a single bus in the physical implementation.



GSn

GSn

• A Single Voxel Processor• An Array of Voxel Processors


The Tomography Engine- A scalable, programmable, configurable processor -

• Scalable: System can be easily put together (by replication) to work for any sized problem

• Programmable: Changes in the algorithm can be loaded at run time

• Configurable: Parameters are easily changed (sub aps, guide stars, layers, Cn2; mixes and positions of natural and laser guidestars; etc.

Multiple Voxels in each FPGA(One column for each sub ap.) Multiple Chips on a Board(s)

This …

… scales to this


A Single FPGA Can Hold Hundreds of Voxels

A Circuit Board Can Hold A Dozen FPGA’s


Basing Our Architecture onOur Knowledge of Structure

And use that model for our structure for the iterative solution

We divide the atmosphere into regions called “voxels”


Using Our Knowledge of Structure

Each column of voxels is a complete sub aperture containing all layers in our model of the atmosphere.Multiple sub apertures are arrayed in each FPGA chip

Multiple Chips on a Board, and multiple boards to satisfy the size of the problem

This …

… scales to this


Control Logic

GS1 Error

Current Estimated

ValueCn

2

GSN Error

GS3 Error

GS2 Error


GSn

...

...

GS1

GS1 ...

...


Cumulative Value

GSn

GSn





GS1

GS1 ...Note:Because the Forward propagation and Back Progagation paths are parallel, but are used at different times, they will actually be a single bus in the physical implementation.



GSn

GSn

We give each voxel its own simple processor

These Voxel processors are interconnected, modeled after the

structure of our problem

• For a single Voxel

• Examining the problem, we find:

• All calculations for all voxels are identical

• Most operations on voxels are independent of other voxels

• Operations are simple

• Memory requirements are modest

• This is an “Embarrassingly” parallel problem

• So …

Real Time Controller Functional Requirements Don Gavel & Marc Reinig UCO Lick, laboratory for...

Documents

Transcript of Real Time Controller Functional Requirements Don Gavel & Marc Reinig UCO Lick, laboratory for...