M1M3 Support Software

Contains soft real-time software which runs on NI cRIO for M1M3 support. FPGA handling low-level communication, and LabView EUI (GUI panel) running on host PC are separate projects.

Directories

• Bitfiles - Contains the bit files that are loaded onto the FPGA's
• SettingFiles - Default configuration files
• src - Contains the C++ code for the ts_M1M3Support application
• tests - Contains python tests for the ts_M1M3Support application
• Utilities - Contains the code for the utility applications

Included external libraries

• src/spdlog SpeedLog library (see version.h for version)

This software depends on the fmt lib (MIT License), and users must comply to its license: https://github.com/fmtlib/fmt/blob/main/LICENSE.rst

Building

Please use lsstts/mtm1m3_sim Docker container to run simulator.

Setting up the build environment

BASE=$(pwd)/M1M3SS
mkdir -p $BASE
git clone git@github.com:lsst-ts/ts_m1m3support
git clone git@github.com:lsst-ts/ts_sal
git clone git@github.com:lsst-ts/ts_opensplice
git clone git@github.com:lsst-ts/ts_xml
source ts_sal/setup.env
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${BASE}/ts_sal/test/lib
cd ts_sal/test
cp -v ../../ts_xml/sal_interfaces/*.xml .
cp -v ../../ts_xml/sal_interfaces/MTM1M3/*.xml .
cp -v ../../ts_xml/sal_interfaces/MTMount/*.xml .
salgenerator MTM1M3 generate cpp
salgenerator MTM1M3 generate python
salgenerator MTMount generate cpp
salgenerator MTMount generate python

Configuring NI cRIOs for deployment

The base cRIO must be configured and up and running. OpenSpliceDDS shared libraries must reside in path searched for dynamic libraries. SAL libraries are statically linked into CSC binary, so those aren't needed on cRIO.

ExpansionFPGA resource name (set in NI MAX, under resource name) must match the name specified in ExpansionFPGApplicationSettings under resource. This URI also contains expansion cRIO IP address:

rio://139.229.178.185/M1M3-SupportExpansion-RIO

Compiling for debugging

Please supply "DEBUG=1" to make call to compile with debug data (-g flag).

Please be aware that cRIO memory usually isn't sufficient to compile code with debug data. Compiling code without debug data, e.g. no DEBUG=1 option, works on cRIO.

Compiling for deployment

Ni RT stack isn't needed.

cd $BASE
source ts_sal/setup.env
cd ts_m1m3support
make

Deploying the code

cd $BASE
source ts_sal/setup.env
cd ts_m1m3support
make ipk

Copy and install ipk on cRIO with opkg install command (if needed, use --force-reinstall to overwrite previous package version).

Compiling for simulation

If you run make before (for deployment), you need to run make clean before compiling for simulator.

cd $BASE
source ts_sal/setup.env
cd ts_m1m3support
make SIMULATOR=1

Simulator limitations

Simulator does reasonable job computing various feedback signals. Those signals (values) and commended values are know to not be computed correctly:

• HP measured forces those are hard to calculate. Direct consequences is that HP chasing doesn't work.

• • HP chasing steps and mirror position as force computation doesn't work, HP and mirror position is not to be trusted in simulator as the mirror is raised or lowered. HP are send to target position after raise is completed (mirror weight is 100% completed), so mirror position is reported correctly when mirror is in active state.

Running in deployment

With the exception of OpenSpliceDDS libraries, which needs to be installed from third party provided repository, opkg package contains everything needed to run the CSC on cRIO. Standard startup script is provided, so:

/etc/init.d/ts-M1M3supportd restart

shall (re)start the CSC. In case you prefere to run (for debugging,..) CSC from the terminal, setup the environment by:

set +a
source /etc/default/ts-M1M3support
set -a

then you can start CSC with:

ts-M1M3supportd -c /var/lib/ts-M1M3support

Running m1m3cli

M1M3 command line client can be run (after you stop CSC) as:

/etc/init.d/ts-M1M3supportd stop # not needed if CSC isn't running
m1m3sscli
Please type help for more help.
M1M3 > help

SAL isn't needed to run the command line tool.

Running in simulation

After make SIMULATOR=1, you can run the code as simulator. This doesn't need any hardware attached.

source ./ts_sal/setup.env && ./ts_m1m3support/ts_M1M3Support -c SettingFiles

The simulator does a pretty good job giving realistic data, you will notice some data isn't populated, it may be added at a later date, it may not. When issuing state change commands make sure to specify "value" as otherwise the command will be rejected.