We describe the design and implementation of a controller-area-network bus (CANbus) monitor and control system for a millimeter wave interferometer. The Combined Array for Research in Millimeter-wave Astronomy (CARMA) is a 15-antenna connected-element interferometer for astronomical imaging, created by the merger of two university observatories. Its new control system relies on a central computer supervising a variety of subsystem computers, many of which control distributed intelligent nodes over CANbus. Subsystems are located in the control building and in individual antennas and communicate with the central computer via Ethernet. Each of the CAN modules has a very specific function, such as reading an antenna encoder or tuning an oscillator. Hardware for the modules was based on a core design including a commercial CANbus-enabled single-board computer and some standard circuitry for interfacing to peripherals. Hardware elements were added or changed as necessary for the specific module types. Similarly, a base set of embedded code was implemented for essential common functions such as CAN message handling and time keeping and extended to implement the required functionality for the different hardware. Using a standard CAN messaging protocol designed to fit the requirements of CARMA and a well-defined interface to the high-level software allowed separate development of high-level code and embedded code with minimal integration problems. Over 30 module types have been implemented and successfully deployed in CARMA, which is now delivering excellent new science data.
The Combined Array for Research in Millimeter-wave Astronomy (CARMA) requires a flexible correlator to process the data from up to 23 telescopes and up to 8GHz of receiver bandwidth. The Caltech Owens Valley Broadband Reconfigurable Array (COBRA) correlator, developed for use at the Owens Valley millimeter-wave array and being used by the Sunyaev-Zeldovich Array (SZA), will be adapted for use by CARMA. The COBRA correlator system, a hybrid analog-digital design, consisting of downconverters, digitizers and correlators will be presented in this paper.The downconverters receive an input IF of 1-9GHz and produce a selectable output bandwidth of 62.5MHz, 125MHz, 250MHz, or 500MHz. The downconverter output is digitized at 1Gsample/s to 2-bits per sample. The digitized data is optionally digitally filtered to produce bands narrower than 62.5MHz (down to 2MHz). The digital correlator system is a lag-or XF-based system implemented using Field-Programmable Gate Arrays (FPGAs). The digital system implements delay lines, calculates the autocorrelations for each antenna, and the cross-correlations for each baseline. The number of lags, and hence spectral channels, produced by the system is a function of the input bandwidth; with the 500MHz band having the coarsest resolution, and the narrowest bandwidths having the finest resolution.
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