Concurrent Technologies RCIM Manual de usuario

Real-Time Clock and Interrupt Module (RCIM)

Userís Guide

0898007-1000

March 2021

with Concurrent Real-Time products by Concurrent Real-Time personnel, customers, and end–users. It may not be

reproduced in any form without the written permission of the publisher.

The information contained in this document is believed to be correct at the time of publication. It is subject to change

without notice. Concurrent Real-Time makes no warranties, expressed or implied, concerning the information con-

tained in this document.

To report an error or comment on a specific portion of the manual, photocopy the page in question and mark the

correction or comment on the copy. Mail the copy (and any additional comments) to Concurrent Real-Time, 800 NW

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This publication may not be reproduced for any other reason in any form without written permission of the publisher.

Concurrent Real-Time and its logo are registered trademarks of Concurrent Real-Time. All other Concurrent Real-

Time product names are trademarks of Concurrent Real-Time while all other product names are trademarks or

registered trademarks of their respective owners. Linux® is used pursuant to a sublicense from the Linux Mark

Institute.

Printed in U. S. A.

Revision History: Level: Effective With:

Original Release -- August 2002 000 RedHawk Linux Release 1.1

Previous Release -- December 2003 210 RedHawk Linux Release 2.0

Current Release -- May 2005 300 RedHawk Linux Release 2.3

Update -- September 2005 310 RedHawk Linux Release 2.3-4.1

Update -- May 2007 320 RedHawk Linux Release 4.2

Update -- April 2008 330 RedHawk Linux Release 5.1

Update -- June 2008 400 RedHawk Linux Release 5.1

Update -- October 2010 500 RedHawk Linux Release 5.4

Update -- December 2011 600 RedHawk Linux Release 6.0

Update -- February 2013 610 RedHawk Linux Release 6.3

Update -- February 2014 620 RedHawk Linux Release 6.3

Update -- March 2016 700 RedHawk Linux Release 7.2

Update -- June 2016 800 RedHawk Linux Release 7.2

Update -- June 2017 900 RedHawk Linux Release 7.3

Update -- March 2021 1000 RedHawk Linux Release 8.2

iii

Preface

Scope of Manual

This manual is intended for users responsible for the installation and use of the Real-Time

Clock and Interrupt Module (RCIM) on Concurrent Real-Time’s iHawkTM systems under

the RedHawkTM Linux® operating system.

NOTE

Two RCIM models are described in this guide: RCIM III and

RCIM IV. The use of the term “RCIM” refers to functionality

common to both boards. “RCIM III” and “RCIM IV” refer to the

specific boards. Refer to the section “Specifications” on page 1-3

for specifications for each of the boards.

NOTE

Both the RCIM III and RCIM IV are PCI Express boards. For

information covering the older RCIM I (PCI) and RCIM II (PCI-

X) boards, refer to the Legacy RCIM User’s Guide which can be

found in Concurrent’s Documentation Library at this location:

https://redhawk.concurrent-rt.com/docs/

Structure of Manual

This manual consists of the following:

•Chapter 1, Introduction, contains a general overview and specifications for

the RCIM boards.

•Chapter 2, Hardware, Installation and Configuration, provides a

description of the RCIM boards and connectors, as well as installation and

configuration instructions.

•Chapter 3, Functional Description, provides the general operation, user

interfaces and configuration options for the clocks and interrupts available

on the RCIM.

•Appendix A, RCIM IV Registers, describes the RCIM IV registers.

•Appendix B, RCIM III Registers, describes the RCIM III registers.

•Appendix C, Calculating RCIM Cable Propagation Delays, provides a

formula for guarding against propagation delay when chaining RCIMs.

RCIM User’s Guide

Syntax Notation

The following notation is used throughout this guide:

italic Books, reference cards, and items that the user must specify appear in

italic type. Special terms may also appear in italic.

list bold User input appears in list bold type and must be entered exactly

as shown. Names of directories, files, commands, options and man

page references also appear in list bold type.

list Operating system and program output such as prompts, messages and

listings of files and programs appears in list type.

[] Brackets enclose command options and arguments that are optional.

You do not type the brackets if you choose to specify these options or

arguments.

hypertext links When viewing this document online, clicking on chapter, section,

figure, table and page number references will display the

corresponding text. Clicking on Internet URLs provided in blue type

will launch your web browser and display the web site. Clicking on

publication names and numbers in red type will display the

corresponding manual PDF, if accessible.

Related Publications

Title Pub No.

RedHawk Linux Release Notes Version x.x 0898003

RedHawk Linux User’s Guide 0898004

RedHawk Linux Frequency-Based Scheduler (FBS) User’s Guide 0898005

where x.x = release version

Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Chapter 1 Introduction

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Chapter 2 Hardware, Installation and Configuration

Board Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

RCIM IV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Board Illustration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Connectors and LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

LED Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Input and Output Cables and Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

GPS Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

External Interrupt I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

System Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Daisy Chain Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

RCIM III. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Board Illustration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

Connectors and LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

LED Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

Input and Output Cables and Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

GPS Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

External Interrupt I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

System Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Daisy Chain Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

Connection Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14

Unpacking the RCIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

Kernel Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16

Driver Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17

General Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

MSI Interrupt Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18

System Timekeeping Configuration for GPS Support . . . . . . . . . . . . . . . . . . . . 2-19

Verifying GPS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

Chapter 3 Functional Description

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

The Tick Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

The POSIX Clock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

RCIM User’s Guide

Direct Access to the Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Synchronizing the Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

The rcim_clocksync Utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Synchronizing the Tick Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

RCIM Masterclock Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Synchronizing the POSIX Clock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

Automatic Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Using GPS for System Timekeeping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

Interrupt Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Interrupt Processing Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Arming and Enabling DIs and ETIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

Interrupt Recognition Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

Setting up Distributed Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

Obtaining RCIM Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

Edge-Triggered Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

Input Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

ETI Device Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

User Interface to ETIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13

Distributed ETIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Real-Time Clocks (RTCs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

RTC Device Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

Distributed RTCs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

User Interface to RTCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

External Output Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

Output Source Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

Programmable Interrupt Generators (PIGs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

PIG Device File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Distributed PIGs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Distributed Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

DI Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

DI Device Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

User Interface to DIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

RCIM IV Pin Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

Appendix A RCIM IV Registers

RCIM IV Address Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

RCIM IV Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5

Appendix B RCIM III Registers

RCIM III Address Map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

RCIM III Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4

Appendix C Calculating RCIM Cable Propagation Delays

Interconnect Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

1-1

Chapter 1Introduction

This chapter provides an overview and specifications for the Real-Time Clock and

Interrupt Module (RCIM).

NOTE

Two RCIM models are described in this guide: RCIM III and

RCIM IV. The use of the term “RCIM” refers to functionality

common to both boards. “RCIM III” and “RCIM IV” refer to the

specific boards. The section “Specifications” provides specifica-

tions for each of the boards.

NOTE

Both the RCIM III and RCIM IV are PCI Express boards. For

information covering the older RCIM I (PCI) and RCIM II (PCI-

X) boards, refer to the Legacy RCIM User’s Guide which can be

found in Concurrent’s Documentation Library at this location:

https://redhawk.concurrent-rt.com/docs/

Overview 1

The Real-Time Clock and Interrupt Module (RCIM) is a PCI-based card that supports

time-critical applications that require rapid response to external events, synchronized

clocks and/or synchronized interrupts.

When RCIM boards of various systems are chained together, an interrupt can be

simultaneously distributed to all connected RCIMs, and from the RCIMs to all the

associated host systems.

A synchronized high-resolution clock is provided so that all the RCIMs in an RCIM chain

on multiple systems can share a common time base. It also provides a local POSIX 1003.1

compliant high resolution clock. An optional GPS module allows alignment of the clock

to GPS standard time. Multiple RCIMs equipped with the GPS module can provide a

common time base without cable connections. A high stability oscillator is standard.

Optional oscillators improve the accuracy of times measured with the RCIM.

In addition to the clocks, this multi-purpose PCI-based card has the following

functionality:

•connection of external device interrupts

•real-time clock timers that can interrupt the system

RCIM User’s Guide

1-2

•programmable interrupt generators which allow generation of an interrupt

from an application program

These functions can all generate local interrupts on the system where the RCIM card is

installed. When systems are chained together, multiple input and output interrupts can be

distributed to other RCIM-connected systems. This allows one timer or one external

interrupt or one application program to interrupt multiple RedHawk Linux systems almost

simultaneously to create synchronized actions.

Introduction

1-3

Specifications 1

Feature RCIM IV RCIM III

Clocks

POSIX

Length 64 bits (two 32-bit words) 64 bits (two 32-bit words)

Resolution High-order 32 bits–1 second

Low-order 32 bits–400 nsec

High-order 32 bits–1 second

Low-order 32 bits–400 nsec

Oscillator stability +/-1.0 PPM +/-2.5 PPM

Tick Timer

Length 64 bits (two 32-bit words) 64 bits (two 32-bit words)

Resolution 64 bit counter of 400 ns ticks 64 bit counter of 400 ns ticks

Real-Time Clocks

Number 8 8

Length 32 bits 32 bits

Resolution 1 microsecond

(larger values programmable)

1 microsecond

(larger values programmable)

Oscillator stability +/-1.0 PPM +/-2.5 PPM

Local Interrupts

External Input Interrupts 12 shared inputs and/or outputs

(3.5V or 5V TTL)

12 (5V TTL)

External Output Interrupts 12 (5V TTL)

Real-Time Clocks 8 8

Distributed Interrupts

Input 12 12

Output 12 12

Interrupt Response Time

Interrupt to user process < 8 microseconds < 8 microseconds

Packaging

Form Factor PCIe PCIe

Maximum cable length

(See Appendix C for calculations.)

30 meters 30 meters

External Connectors 26-pin HD D-SUB Molex LFH-60

PCI Performance x1 x1

Options Multi-GNSS Timing Module,

Oven Oscillator

GPS Module,

Oven Oscillator

Environmental

Operating Temperature 10οto 55oC 10οto 55oC

Storage Temperature -40oto 70oC -40oto 70oC

Relative Humidity 10 to 90% (non-condensing) 10 to 90% (non-condensing)

Power

Consumption ~20 watts max ~20 watts max

RCIM User’s Guide

1-4

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