THEMIS FSW CDR 6/15/2004 ITAR Restricted Data Page 1 THEMIS T IME H ISTORY OF E VENTS AND M...

THEMIS FSW CDR 6/15/2004ITAR Restricted Data

THEMISTIME HISTORY OF EVENTS AND MACROSCALE INTERACTIONS DURING SUBSTORMS

RESOLVING THE MYSTERY OF WHERE, WHEN AND HOW AURORAL ERUPTIONS START

THEMIS Flight SoftwareTHEMIS Flight SoftwareCritical Design ReviewCritical Design Review June 15, 2004June 15, 2004


THEMISFlight Software

Critical Design Review

June 15th, 2004

the Hammers CompanySteve Hammers

Chris Xenophontos


Agenda

1. Introduction2. Development Process and Plan3. Flight Software Overview4. Boot Software Overview5. Development Environment6. Resource Utilization7. Flight Software Testing8. Schedule and Status9. Configuration Management• Independent Verification and Validation (IV&V) Approach

A. Backup Slides


1. Introduction


Introduction-List of Acronyms

AC Attitude Control CSCACS Attitude Control SystemAOS Advanced Orbiting SystemAPID Application ID, Application IdentifierBAU Bus Avionics Unit

BA1, BA2 BAU Manager CSCsBSW Boot SoftwareBT Boot CSC

C&DH, CDH Command and Data HandlingCCSDS Consultative Committee for Space Data SystemsCLCW Command Link Control Word

CM Configuration ManagementCOP-1 Command Operational Procedure

CP Command Processing CSCCSC Computer Software ComponentDS Data Storage CSC

EEPROM Electrically Erasable Programmable Read Only MemoryETU Engineering Test UnitFC Flight Computer

FARM Frame Acceptance and Reporting MechanismFDC Fault Detection and CorrectionFSW Flight Software

HS Health and SafetyHWT Hardware Watchdog TimerI&T Integration and Test

IDPU Instrument Data Processing UnitIM Instrument Management CSCIN Initialization CSC

IRU Inertial Reference UnitITOS Integrated Test and Operations SystemITS Issue Tracking SystemLM Limit Monitoring CSC (formerly DM, Data Monitoring)

MET Mission Elapsed TimeMM Memory Management CSCMRD Mission Requirements DocumentMS Bulk Memory Scrubbing CSCOS Operating SystemPPS Pulse Per Second, associated with 1 Hz System Time Pulse

PROM Programmable Read Only Memory RAM Random Access MemoryReq’t RequirementROM Read Only MemorySAI Swales Aerospace, Inc.SC Stored Commanding CSCI

TBA To Be Announced


THEMIS Software THEMIS Software TeamTeam

ITOSProduct Mgr

G. Greer

QA / CM Manager

L. Gaudaen

Director of SoftwareProjects

S. Hammers

SwalesTHEMISProject

SwalesQA

SwalesEGSE

Systems SwalesAvionics

SwalesACS & RCS

ACSCntrl Engineer

K. Blackman

C&DH / ACSSW Engineer

T. Phillips

C&DHSW Engineer

M. Smit

ACSSW Engineer

J. D’Agostino

FSW Lead Engineer

C. Xenophontos

FSW Test Engineer

R. Hanna

VirtualSatProduct Mgr

D. Kobe

Introduction-Team Organization


Introduction-RFA Status

Issue 28: Requires Project ApprovalIssue 30: In Progress, have collaborated with GSFC for OS/boot sequence, will be delivered in 1 - 2 weeks. Planned close date for this RFA is 6/18/2004


Introduction –Requirements Changes since Peer CDR

On-board Quaternion Processing no longer required– Stub task will remain

Bulk Memory to be cleared after 5 consecutive Cold Restarts (FSW Requirement FSW.HS.12)


Introduction –Flight Software Documentation Status

Description Document No. Current Revision Notes

THEMIS Flight Software Configuration Management Plan THEMIS-FSW-SCMP 1.0

THEMIS Flight Software Development Plan THEMIS-FSW-SDP 2.0

THEMIS Flight Software Requirements Specification THEMIS-FSW-SRS 2.0

THEMIS Boot Software Requirements Specification THEMIS-BSW-SRS 1.0

THEMIS Flight Software Test Plan THEMIS-FSW-STP 1.0

THEMIS Flight Software User’s Guide THEMIS-FSW-SUG N/A Draft 8/1/2004


Introduction –BAU Diagram

DirectPower

ShuntRegulation

UmbilicalSAS

Interface

PowerDistribution

UplinkCommandInterface

CommandVerification

LVPS5V, 3.3V,

2.5V

DiscreteCommandGenerator

DownlinkTelemetryInterface

TelemetryProcessor

HardwareCmd

Interface

TelemetryLogic /FIFO

RSEncoding

+28V to IDPU,XPNDR,&Heaters

BatteryOn Cmd

PowerControlModule

LVPS+5V

SepInterface

HardlineTlm

+28V Bus

To SunSensor

LVPS+/-5V

ToGyros

HardlineCmd

Battery

From Solar ArrayGyro

Telemetry

RCSTelemetry

ThermistorTelemetry

TransponderTelemetry

RCSCommand

TransponderCommand

TransponderReceive

TransponderTransmit

Cmd/Status

Interface

Cmd/Status

Interface

SeparationCommand

SeparationInputs

33.554MHz

FPGA

inst tlminst status

8.388 MHz

512 KBEEPROM

PowerSwitch

Refresh

Baud Clk

IDPUTlm

BDM TestPort

UART TestInterface

4/18/04

Ctrl/Status 1

Ctrl/Status 2

Reg Reg

P-S

Reg

P-S

RS-422

Clock1PPS

ColdFireProcessor

512 KBRAM

64 KBPROM

64 MBBulk

Memory

CommunicationInterfaceModule

ProcessorModuleRS-422RS-422RS-422RS-422

D/L TLM

32-8

Reg

2.1Mbps

RS-42254AC

Sun SensorTelemetry

IDPUHigh Rate

Data

IDPUSun

Pulse

IDPUClock

IDPU1PPS

8.388MHz

RS-422

S-P

RegClock/Timer

Circuitry

inst cmdss/c statustime

IDPUCmd

RS-422

UARTXMitter


Introduction –Hardware Overview

CIM Config Commands

Uplink Code Blocks, CIM Status, S/C ID

Downlink Tlm Frames

33 Digitized Voltages33 Digitized Currents33 Digitized Temps33 Discrete Signals

Switched Service Cmds

PowerControlModule(PCM)

Communications Interface Module

(CIM)

Sun Sensor PulseSun Sensor Crossing Time

20 Y-IRU Samples

20 X-IRU Samples

On Time

Universal Time Offset (UTO)

Register

Mission ElapsedTimer (MET)

Sun SensorThruster A1

Thruster A2

Thruster T1

Thruster T2

Off Time

On TimeOff Time

On TimeOff TimeOn TimeOff Time

Sun Angle

Commands

SOH, FGM Telemetry IDPUHigh Rate Science Data

Mission Elapsed Time

Universal Time Offset

CustomInterfaces

Bulk MemoryRealtime & Dump Data, Events

BAUProcessor


2. Development Process and Plan


Development Process and Plan–Driving Requirements

Flight Software Requirements are derived from (in order of Precedence):

Documented in– THEMIS Flight Software Requirements Specification (THEMIS-FSW-SRS)– THEMIS Boot Software Requirements Specification (THEMIS-BSW-SRS)

Traceability in THEMIS Flight Software Test Plan (THEMIS-FSW-STP) Verified by FSW Test Leads

Order Document Title Document Number Rev. Date

1 THEMIS Mission Requirements Document THM_SYS_001 C2 12-Jan-2004

2 THEMIS IDPU/ESA-to-Probe Interface Control Document THM_SYS_101 AA 28-May-2004

3 THEMIS Telemetry Data Format Specification THM_SYS_115 D 28-Jan-2004

4 THEMIS Telecommand Format Specification THM_SYS_102 C 20-May-2004

5 THEMIS Attitude Control System Specification SAI-SPEC-1142 Baseline 24-Feb-2004

6 THEMIS Bus Avionics Unit Specification SAI-SPEC-1151 Baseline May-2004

7 THEMIS Processor Board Specification SAI-SPEC-1090 A 19-Apr-2004

8 THEMIS Communications Interface Module Specification SAI-SPEC-1183 Baseline 04-Apr-2004

9 THEMIS Power Module Requirements Specification SAI-SPEC-1174 Baseline 27-May-2004

10 THEMIS Bus Avionics Unit ICD SAI-SPEC-1171 Draft May-2004


Development Process and Plan–Design and Coding Process

Flight Software Code is developed in adherence to – C Flight Software Coding Standard and Style Guide (the Hammers Company,

THC-C-FSW-STD, Release R0.1)

Design reviewed by team for requirements compliance, performance, and testability

– Internal Code Walkthroughs

Design reviewed formally at FSW PDR and FSW CDR

Source Code Editor of Choice is used by Developers


Development Process and Plan–Build Plan and Heritage Reuse

CSC ID( 1.XX ) Description Acronym Build

0Build

1Build

2 Reuse

%1 Boot BT Full --- --- 25

2 Command Processing CP --- Partial Full 45

3 Telemetry Processing TP --- Partial Full 45

4 Health and Safety HS --- Partial Full 45

5 Memory Management MM --- Full Full 75

6 Time Code Processing TC --- Partial Full 75

7 BAU Management 1 BA1 --- --- Full 0

8 Data Storage DS --- --- Full 75

9 BAU Management 2 BA2 --- --- Full 0

10 Limit Monitoring LM --- --- Full 0

11 Stored Command Processing SC --- --- Full 75

12 Checksumming CS --- Partial Full 50

13 Sun Sensor Processing SS --- --- Full 0

14 Thruster Firing TF --- --- Full 0

15 IRU Processing IRU --- --- --- 0


Development Process and Plan–Integration Process

FSW will be integrated at:– FSW Facility at the Hammers Company, (Build 1)– THEMIS FLATSAT facility at Swales Aerospace, Inc. (Builds 0, 2, 3)

Build 1 is designed to run on Coldfire Development board, using Ethernet for commands and telemetry

Flight-like hardware (FLATSAT) is required to integrate Builds 0, 2, 3

ITOS Stations, Logic Analyzers, Coldfire debugger available for testing/debugging

Teamtrack ITS system is used to document and track correction of each defect encountered during integration


Development Process and Plan–Flight Software Test Process

Flight Software is designated as CSCI 1.0 Build 0 (Boot Software)

– Initialization code to be burned into processor PROM– Flight-like ETU required to complete testing– Build testing– Acceptance testing

Build 1– Tested using Motorola M5307C3 Coldfire Processor Evaluation Board– Strenuous unit testing only– No build or acceptance testing– All functions validated as part of Build 2 and 3 testing

Build 2– Flight-like ETU required to complete testing– Build testing

Build 3– Cleanup build that will incorporate all identified software bug fixes– Build testing– Acceptance testing


Development Process and Plan–Maintenance Capabilities

– Anticipated Differences between Probes

EEPROM and RAM can be modified after launch– Boot Code (Build 0) is not modifiable

Tools will be developed to facilitate EEPROM and RAM loads, and any necessary maintenance activity

FLATSAT will be maintained as testbed for table loads and patches, should the need arise for patches

FSW Parameter Table Loads will be developed and tested in FLATSAT and uploaded by operations team

Post Launch Maintenance is outside the scope of this activity

Certain Data Tables are anticipated to be Probe Specific:– Anticipated Flight Software Differences between Probes (table)– Telemetry Filter Tables– Data Storage Filter Tables– ATS, RTS Tables– Calibration Data (Tables) as a result of Thermal Vac Testing– Alignment matrices, scale factors, biases

Executable Code will be identical on all Probes


Non-Flight Software-Development

VirtualSat spacecraft dynamics and H/W simulation; CSC 2.0– Configurations, Display Pages

Integrated Test and Operations System (ITOS); CSC 3.0– Display Pages– Command and Telemetry Database

Test Procedures; CSC 4.0– Scripts, STOL Procedures

ACS Algorithms for ground-based ACS; CSC 5.0– Swales and UCB Responsibility

Embedded Test Software for Hardware Verification; CSC 6.0– GDDS Responsibility


3. Flight Software Overview


Overview–Software Context

OS&

Software Bus

CP

Control & Status

Interface 2

IDPU

DSS Time

Power Card Tlm Output Control Cmds

DSS Angle

MET

UTCO

Control & Status

Interface 1

IDPU Low Rate TelemetryIDPU Command Packet

A1 A2 T1 T2

TH

BA1

BA2

SC

LM

TC

SS

TP

HS

DS

IRU

CS

WatchdogTimer

Thrusters

MM

Sun Sensor

Downlink

Time Registers

20 X-IRU Samples20 Y-IRU Samples32 Digitized Voltages32 Digitized Currents32 Digitized Temperatures36 Switched Output Status36 Pulsed Output Status24 Slow Trip StatusThruster WDT StatusSA Shunt ConfigurationSeparation Status

36 Switched Outputs36 Pulse Outputs24 Slow Trip Disable Outputs

Downlink Interface

Uplink

High Rate Science

Data

Power Card

Processor Card

Communications Interface Module

Instrument Data Processing Unit

Flight Software Bulk Memory

64 MBData Storage

Transferframes

Code Blocks


Flight Software Overview–Architecture

Hardware Layer

RTEMS Operating System

Software Bus(Inter-task Communications)

FSW App

Task 1

FSW App

Task 2

FSW App

Task n

“Software Bus”Message



Software Bus Messages are Commands, Events, Telemetry Packets, Dump Packets, Control Packets – any data or message to be shared between Tasks

RoutingTables


Flight Software Overview–Functional Requirements

Command Processing (Flight and Boot Software)– Support the CCSDS Tele-command Operations COP-1 Specification– Support a Maximum Command Rate of 1kbps– Provide the ability to handle Stored Command Operations

• Absolute and Relative Time Stored Command Sequences w/ATS for 16 orbits (baseline of 10kbytes of storage)

Telemetry Processing (Flight and Boot Software)– Support the CCSDS AOS Packet Operations Specification– Support command-selectable down-link rates of 1024, 4096, 8192, 16384, 32768,

65536, 131072, 262144, 524288, and 1048576 bits per second– Uploadable Filter Tables for telemetry downlink (flight only)

Health and Safety– Provide Flight Software Application task execution monitoring– Provide monitoring of Coldfire execution via watchdog timers– Collect Housekeeping Telemetry from Flight Software Tasks– Manage Restarts



Memory Management– Provides Memory Load and Dump capability– On-board Table Management

Time– Provide Time Management to adjust Universal Time Offset– Support ground updates of UTO (Universal Time Offset)– Support time tagging of data to 0.001 Seconds resolution

BAU Management 1– Configuration and Status of Communications Interface Module (CIM)

Data Storage (Bulk Memory Management)– Manages 16 Megabytes of On-Board Bulk Memory Storage– Simultaneous telemetry storage and playback operations– Storage of realtime data in Transfer Frames



BAU Management 2– Reads BAU Analog and Discrete telemetry from Power Control Module (PCM)– Forwards commands to IDPU in accordance with THM-SYS-101– Reads all Low Rate telemetry from IDPU in accordance with THM-SYS-101– Provides Switched Service Commands

Limit Monitoring– Monitors Telemetry Data to be within defined limits– Initiate RTS and/or event upon Limit Violation– Any telemetry read or generated by Flight Software can be Monitored.– Limit Monitor points may be chained up to 8 deep, using Logical Operators



Stored Commands– Absolute Time Sequences– Relative Time Sequences Absolute Time Sequences (ATS)– 2 ATS Buffers, 8192 bytes each

• Requires 65 seconds to upload at 1kps rate– Assuming average CCSDS command size = 22 bytes ( 14 bytes header + 8 bytes

data )• 372 Commands (Steps) per ATS

– 1 ATS can be active at any one time

– Relative Time Sequences (RTS)• 32 buffers, 256 bytes each• Requires 2 seconds to upload per RTS ( 64 seconds to load all RTSs )• Assuming 12 byte commands size = 11 commands (Steps) per RTS • 16 RTS can be active at any one time

– Concurrent execution of 1 ATS and up to 16 RTS• 8 Commands Per Second, ATS and RTS Combined



Checksumming/Memory Scrubbing– Checksum of Code and Table areas in SRAM– Memory Scrub algorithm on Bulk Memory

– Bulk Memory Scrubbing is used to validate Bulk (Recorder) Memory

– Bit-level 2 out 3 vote algorithm implemented

– THEMIS CS will Scrub Effective 16MB Bulk Memory• Once per day minimum

– Table Driven:• Uploadable Segment Table defines memory ranges to scrub• Default: All Bulk Memory is scheduled for scrubbing• 16 Address Segments May be specified



Memory Scrub Notes

For each bit, bitN with 3 copies A, B, and CIF A == B

IF B == CNo error

ELSEError detected in C

ELSE IF B == CError detected in A

ELSE IF A == CError detected in B



Sun Synchronous Processing (“Sun Sensor Task”)– Asynchronous task started on receipt of sun sensor crossing pulse– Sun sensor processing to compute spin rate– Thruster command processing to generate and store firing start/stop times– Thruster Limit Monitoring to stop firing thrusters if attitude or rate values

out of range IRU Processing (deleted since Peer CDR)

– Synchronous 1 Hz task– Propagates attitude quaternion from previous cycle

• 20 Hz X and Y IRU data from previous second• Spin rate

Thruster Firing– Synchronous 20 Hz task– Writes to start/stop time thruster registers when previous time expires


Flight Software Overview–Initialization and Restart Types, Actions Performed

Restart Type Invoked Upon

Re-Copy Codefrom

EEPROM to RAM

Re-Copy Data from EEPROM to RAM

Initialize Bulk

Memory

Power On(Processor

Board Reset)

Power Cycle of BAU Processor Special Hardware Command Timeout of Hardware Watchdog

X X X

Cold(Processor

Reset)

Command Coldfire SWT Timeout After 32 consecutive Warm Restarts

X X X*

Warm(FSW Code Reloaded)

Command Software Exception X

* After 5 Consecutive Cold Restarts. Otherwise maintained


Flight Software Overview–Bulk Memory Initialization

Upon Warm Restart, Bulk Memory is unaffected

Upon Power On or Cold Restart, Bulk Memory is initialized as follows:– Flight Software checks for a known data pattern to exist at known

location in Bulk Memory

– If the pattern does not exist (Power On Reset)• Assume Power On• Initialize Bulk Memory with known pattern

– If the pattern exists (Cold Restart)• Leave Bulk Memory Unaffected• Upon 5 Cold Restarts, Bulk Memory is re-initialized


Flight Software Overview–Commanding

•Ground commands received from Uplink as 64 Bit Code Blocks

•Up to 16 Code Blocks collected by the Uplink ISR and read by CP once per second

•CP validates CCSDS protocol and puts the resulting command packet on software bus

•Software bus routes packet to proper destination

•Commands from SC sent directly to destination via software bus

Control & Status

Interface 1

Uplink

ISR

Code Block Received Interrupt

CP

SC

64 Bit Code Blocks

Other FSWTasks

CCSDS Command Packets


Flight Software Overview–Telemetry Monitoring, Storage, and Downlink

Probe EventsProbe ThermalProbe PowerProbe ACS

Probe StatusSun SensorIRU AB

IDPU State of Health 1IDPU FGM

IDPU State of Health 2IDPU Memory DumpFSW #1 CP_DS_LM

FSW #2 HS_BA1_BA2_TC_CSFSW #3 TP_SC_MMFSW #4 SS_TH_IRU

Memory DumpTable Dump

GenerateEvent

InitiateRTS

Downlink

Downlink InterfaceLM DS TP

64 MBData Storage

VR Map

Storage Filter Realtime FilterLimit Table

Ground Uploadable Table

CCSDS Telemetry Packets

Transfer Frames

IDPU


Flight Software Overview–Internal Packet Routing

CP

TH

BA1 BA2

SC

LM

TC

SS

TP

HS

DS

IRU

CS

MM

IRU AB

ThermalPowerDiscretes

IDPU SOH1, 2, Mem

IDPU FGM

Memory DumpTable DumpDump Handshake

FSW 1FSW 2FSW 3FSW 4

Sun Sensor

ACS

OS-SB

HK Tlm

HK Tlm

HK Tlm

HK TlmHK Tlm

HK Tlm

HK Tlm

HK Tlm

HK Tlm

HK Tlm

HK Tlm

HK TlmHK TlmHK Tlm

* Not Shown:

• HK Request packet from HS to each task

• Command Packet from CP to each task

• Event Packet from each task to TP and DS

IDPU FGM


Flight Software Overview–Telemetry Generation and Summary

Pri Hdr(6B)

Sec Hdr(8B)

Severity Level(2B)

Subystem ID(1B)

Event ID(1B)

Arg 1(4B)

Arg 2(4B)

Arg 3(4B)

Arg 4 (2B)

Probe Event

Pri Hdr(6B)

Sec Hdr(8B)

37 Digitized Temperatures(74B)

Pri Hdr(6B)

Sec Hdr(8B)

22 Digitized Currents and 2 Voltages(48B)

Probe Thermal

Probe Power



Pri Hdr(6B)

Sec Hdr(8B)

ACS (236B)

Probe ACS

ACS Telemetry Includes:20 Analog X-IRU Samples** (20 - 4 byte floats)20 Analog Y-IRU Samples** (20 - 4 byte floats)IRU Status Byte (1 - 1 byte)Attitude Quaternion** (4 - 4 byte floats)Spin Rate (1 - 4 byte float)Sun Crossing Time (1 - 4 byte float)Sun Angle (1 - 4 byte float)Adjusted Sun Crossing Time (1 - 4 byte float)Thruster Cumulative On Times (4 - 4 byte float)Thruster Cumulative Pulses (4 - 2 byte word)Remaining Thruster Pulses (4 - 2 byte word)Nutation Angle (1 - 4 byte float)Aspect Angle (1 - 4 byte float)Status bits (1 - 2 byte word) Eclipse logic Thruster mode Thruster mode active Propagated Q FDC** Spin rate FDC Nutation angle FDC Aspect angle FDC

**Deleted due to requirements change



Pri Hdr(6B)

Sec Hdr(8B)

Sun Crossing Time(8B)

Sun Angle(2B)

Sun Sensor

Pri Hdr(6B)

Sec Hdr(8B)

Cmd Counter

(2B)

Switched Services Status(4B)

Thruster WDT, Shunt PWM(4B)

Slow Trip Status(4B)

Solar Array Shunt Config(2B)

Sep Signal and

Status (4B)

Pulsed Input and

Output Status

(8B)

Tank Pressures, IRU Rate,

Xponder Status, Arm Plug, Relay

Status(32B)

Probe Status

Pri Hdr(6B)

Sec Hdr(8B)

20 Digitized X-IRU Samples(40B)

20 Digitized Y-IRU Samples(40B)

IRU AB



Pri Hdr(6B)

Sec Hdr(6B)

State of Health 1 Data (Ref Document THM-SYS-101)(116B)

IDPU State of Health 1 (SOH1)

Pri Hdr(6B)

Sec Hdr(6B)

State of Health 2 Data (Ref Document THM-SYS-101)(116B)

IDPU State of Health 2 (SOH2)

Pri Hdr(6B)

Sec Hdr(6B)

Flux Gate Magnetometer Data (Ref Document THM-SYS-101)(116B)

IDPU Flux Gate Magnetometer (FGM)

Pri Hdr(6B)

Sec Hdr(6B)

Memory Dump Data (Ref Document THM-SYS-101)(116B)

IDPU Memory Dump (MEM)


Pri Hdr(6B)

Sec Hdr(8B)

HS(96B)

BA1(20B)

BA2(20B)

TC(24B)

CS(76B)

Pri Hdr(6B)

Sec Hdr(8B)

SS(24B)

TH(32B)

IRU(32B)

Pri Hdr(6B)

Sec Hdr(8B)

TP(42B)

SC(96B)

MM(24B)

Pri Hdr(6B)

Sec Hdr(8B)

CP(34B)

DS(96B)

LM(94B)

FSW H/K 1

FSW H/K 2

FSW H/K 3


FSW H/K 4

Pri Hdr(6B)

Sec Hdr(8B)

Dump Control(12B)

Dump Data(200B)

FSW Memory Dump

Pri Hdr(6B)

Sec Hdr(8B)

Dump Control(10B)

Dump Data(200B)

FSW Table Dump


Packet APIDPacket Data

(bytes)

Total Packet Length (bytes)

Packet Rate (Hz)

Bits Per Second

Bytes Generated in 24 hour

period

% of Total in 24 hour

period

Bits Per Second by

Group

Probe Events (1)(3) 0x300 18 32 1.00 256 2,764,800 3.37 256Probe Thermal 0x301 74 88 1.00 704 7,603,200 9.27Probe Power 0x302 48 62 1.00 496 5,356,800 6.53Probe ACS 0x303 236 250 1.00 2,000 21,600,000 26.33Probe Status 0x304 60 74 1.00 592 6,393,600 7.79Sun Sensor 0x305 10 24 1.00 192 2,073,600 2.53IRU AB 0x306 80 94 1.00 752 8,121,600 9.90IDPU SOH 1 0x404IDPU FGM 0x405IDPU SOH 2 0x406IDPU MEM 0x407FSW #1 CP_DS_LM 0x309 224 238 0.25 476 5,140,800 6.27FSW #2 HS_BA1_BA2_TC_CS 0x30a 236 250 0.25 500 5,400,000 6.58FSW #3 TP_SC_MM 0x30b 162 176 0.25 352 3,801,600 4.63FSW #4 SS_TH_IRU 0x30c 88 102 0.25 204 2,203,200 2.69Memory Dump (1)(2) 0x30d 212 226 8.00Table Dump (1)(2) 0x30e 210 224 8.00

22,012 82,042,688 100.00

7,548 81,518,400 100.00

(2) Either Memory or Table Dump active at any one time. Rates and quantities are for 1 complete RAM dump (0.5 MB) in a 24 hour period

Note: Only 1 IDPU packet generated during any one second period.

13.48

5,760

1,024128 1.00 1,024 11,059,2006 6

(3) Assumes worst case of 1 Event per Second

Total, unfiltered, without Memory Dump

14,46414,464

(1) Asynchronous Packet

Total, unfiltered, with Memory Dump

66

88 524,288

6 8

66

6

6

1,532

8888

8

116

0.64

6666

8888

6

Tlm Pri Header (bytes)

Tlm Sec Header (bytes)

6 8



ACS21.6 MB26.3%

FSW 15.1 MB6.3%

Thermal7.6 MB9.3%

Power5.3 MB6.5%

Status6.4 MB7.8%

Sun Sensor2.1 MB2.5%

IRU A&B8.1 MB9.9%

IDPU11.0 MB13.5%

FSW 25.4 MB6.6%

FSW 33.8 MB4.6%

FSW 42.2 MB2.7%

Mem Dump0.5 MB0.6%

Events2.8 MB3.4%

Flight Software Overview –Telemetry Generation and Summary

Realtime, unfilteredtelemetry Generated by FSW in a 24 hour period,86.2 MB total


Flight Software Overview–Downlink and Storage Filtering

• 8 Tables for Telemetry Filtering, 8 Tables for Data Storage. Format is identical

Packet APID

Probe Events 0x300Probe Thermal 0x301Probe Power 0x302Probe ACS 0x303Probe Discrete 0x304Sun Sensor 0x305IRU AB 0x306IDPU State of Health 1 0x404IDPU Flux Gate Magnetometer 0x405IDPU State of Health 2 0x406IDPU Memory Dump 0x407FSW #1 CP_DS_LM 0x309FSW #2 HS_BA1_BA2_TC_CS 0x30aFSW #3 TP_SC_MM 0x30bFSW #4 SS_TH_IRU 0x30cMemory Dump 0x30dTable Dump 0x30eN/A 0

1

(1) Sequence Count of Packet to be forwarded to Downlink n = 0: Do not forward any Packet n = 1: Forwared every Packet n = 2-65535: Forward every nth Packet (Pkt Seq Mod n)

0

1

1888111

1

Filter Sequence (1)

160301111


Flight Software Overview –Virtual Recorder Table

Packet APID


10

1111

Virtual Recorder

211

1

11111111


VC0 BAU Realtime Eng Data

VC1 BAU Playback Eng Data

VC2 IDPU Realtime Sci Data

VC3 IDPU Playback Sci Data

VC4 N/A

VC5 N/A

VC6 Events

VC7 Fill Data

VR1 Realtime Telemetry, Table Dumps

VR2 Probe EventsVC1

BAU Switched Service Cmds

IDPU Commands

Table Load Cmds and Data

Flight Software Commands

VC2

Hardware Decoded Commands(No involvement from FSW- logged only) BAU Reset BAU Reset Loads Processor Board Reset Battery Relay On Pyro Bus On Pyro Bus Off Backup Pyro Fire Propulsion Bus On Propulsion Bus Off CIM Watchdog Rst Disable CIM Watchdog Rst Enable CIM Board Reset

Flight Software Overview –Operations Interfaces

Uplink

Downlink

Bulk Memory Storage

THEMIS FSW

2 Absolute Time Sequence32 Relative Time Sequence 8 Telemetry Output Filter 8 Data Storage Filter 1 Virtual Ch Priority/Map 1 Limit Monitor 2 HS Critical Events, Tasks 4 Data Storage, PB Config 3 Checksum Config 4 ACS Reserved

Ground Loadable Tables

BAU


Flight Software Overview –Events

Pri. Header

(6)

Sec. Header

(8)

Spare(1)

SeverityLevel

(1)

Event Index(2)

Lookup Index into ITOS Text String Table

Arg 1(4)

Arg 2(4)

Arg 3(4)

Arg 4 (2)

APID = (0x300) Sec Hdr 0

0 = None1 = Yellow2 = Red,Etc…

Subsystem ID that generated

Event

(next slide)

Event ID(1-255)

Each Subsystem can

specify up to 255 events

Actual Value

ExpectedValue Arg 3 Arg 4

32 byte Event Message Format Event Message Text is not stored in Flight Software; stored in ITOS Ground Station Event Index (Substem ID, Event ID) corresponds to Text Message string in ITOS

The 2 bytes in the Event Index Field are used to index a text Event String table within ITOS. Note that 255 events can be assigned per Subsystem. Args 1-4 are arguments added to text string by ITOS, i.e, “Actual Value = xx, Expected Value = yy”, etc. Note Args 1-3 = 32bits, Arg 4 = 16bits. As needed. For Limit Monitoring, the following fields are Table Driven (uploadable as part of Limit Table), otherwise hard coded as needed:

Severity Event Index (Subsystem ID, Event ID) Arg 2 (Limit/Limit Monitoring Value)


Flight Software Overview–Limit Monitoring Table

Field Size Description

APID u_word APID of Packet that contains point to be monitored

Enable u_byte 0 = MONITORING_DSABLED1 = MONITORING_ENABLED

Offset u_byte Offset (pointer) within Packet data area of point to be monitored

Type u_byte 0 = U_BYTE, 1 = U_WORD, 2 = U_DWORD

Operator u_byte 0 = GREATER_THAN1 = LESS_THAN2 = EQUAL3 = NOT_EQUAL

Chaining u_byte 0 = NO_CHAINING, 1 = AND, 2 = OR

Chain Index u_byte Chained point, 1 – 79. Ignored if Chaining == NO_CHAINING

RTS ID u_byte 0 = NO_RTS_EXECUTED1-8 = ID of RTS to execute upon limit violation

Subsystem ID for Event

u_byte 0 = Do not generate an event upon limit violation1-255 = Subsystem ID to be included in event upon limit violation

Event ID u_byte Irrelevant if Subsystem ID = 0. If Subsystem ID is not zero, Event ID must match that defined in Ground System.

Count u_byte 0 = Take action (RTS and/or Event) immediately upon limit violation1-255 = Number of consecutive samples (Packets) that violate limits before taking action

Limit Value u_dword Limit Value, MSB……LSB. Included in event if Subsystem ID is specified

Limit Monitor Table Consists of 80 Limit Entries.

Each entry is 16 bytes in length

Total Table Length is 1280 bytes.


Flight Software Overview–FSW Processes and Relative Priorities*

*10 = Highest Priority, 200 = Lowest

Process Priority Function Frequency Executed upon

1 Hz Interrupt Task 10 1 Pulse Per Second Interrupt Routine 1.0000 Rollover of MET SubsecondsIDPU Low Rate Tlm ISR 20 Data received from IDPU 64.0000 Receipt of Data from IDU Low Rate tlmDownlink Interrupt Task 30 Add 2 more Transfer Frames to Downlink Hardware 100.0000 Downlink FIFO is 1/4 full or lessScience Data Ready ISR 40 Science Data Transfer Frame Ready 100.0000 Science Data DMA CompleteUplink Codeblock Interrupt Task 50 Interrupt when uplink Codeblock is received 16.0000 Uplink Codeblock receivedSun Sensor Interrupt Task 60 Interrupt upon Sun Crossing, capture Sun Crossing Angle and Time 0.3300 Sun Crossing Pulse1 Hz Task 70 Master Flight Software Timing, Time Management 1.0000 1 Pulse Per Second RoutineThruster Task 80 Thruser Firing 20.0000 Scheduled, 20HzCommand Processing 90 Uplink Command Management 1.0000 1 Hz Timing Packet from Time CodeHealth and Safety 100 Watchdog and Task Management 1.0000 1 Hz Timing Packet from Time CodeData Storage 110 Bulk Memory Management 1.0000 Receipt of Tlm Pkts, H/K RequestTelemetry Processing 120 Downlink Telemetry Management 2.0000 2 Hz TimerBAU Manager 2 130 BAU Telemetry, IDPU Telemetry, IDPU Commanding 1.0000 1 Hz Timing Packet from Time CodeMemory Management 140 Memory and Table Load and Dump Management 1.0000 Commands, H/K RequestStored Command Processing 150 Dispatch Time Tagged Commands 1.0000 Commands, 1 HzIRU Processing 160 IRU Quaternion Propagation 1.0000 1 Hz Timing Packet from Time CodeSun Sensor Processing 170 Spin Rate 0.3300 Sun Sensor Interrupt or 6 secondsBAU Manager 1 180 Communication Interface Module Configuration and Status 1.0000 Scheduled, 1 HzChecksumming 190 Checksumming of Processor Memory, Scrubbing of Bulk Memory 1.0000 Scheduled, 1 HzLimit Monitoring 200 Limit Violation Monitoring and Action 1.0000 Commands, H/K Request


Flight Software Overview –FSW Interrupts

Description Notes0 SoftwareWatchdog Timer1 Timer 0 OS Tick2 Timer 1 Not Used3 I2C Not Used4 UART 0 Bootstrap Serial Port5 UART 1 IDPU Low Rate Data Received6 DMA 0 Downlink/IDPU Science DMA7 DMA 1 Not Used8 DMA 2 Not Used9 DMA 3 Not Used

INT0 ---INT1 IDPU High Speed Data Frame ReceivedINT2 IDPU High Speed Data Interface TimeoutINT3 Digital Sun Sensor Pulse ReceivedINT4 One Pulse Per Second Generates 1 Hz Master Timing SignalINT5 Uplink Command Code Block ReceivedINT6 Downlink Telemetry FIFO 1/4 FullINT7 ---

Coldfire Interrupts

Internal

External


Flight Software Overview –Flight Software Tables

Table ID Description AccessCopied from

EEPROM upon Restart Type

Notes

0 Flight Software Table of Tables R/W Any1 Stored Command Table of Tables R/W Any2 Flight Software Build and Version R/W Cold3 Health and Safety Critical Events R/W Cold Corrective Autonoumous Action performed on receipt of this event4 Health and Safety Critical Tasks R/W Any Tasks that are required to Check in with Health and Safety5 Software Bus Stream R Any Stream Routing Data6 Software Bus Pipe R Any Pipe Definitions7 Telemetry Filter 1 R/W Cold8 Telemetry Filter 2 R/W Cold9 Telemetry Filter 3 R/W Cold

10 Telemetry Filter 4 R/W Cold11 Telemetry Filter 5 R/W Cold12 Telemetry Filter 6 R/W Cold13 Telemetry Filter 7 R/W Cold14 Telemetry Filter 8 R/W Cold15 Data Storage Filter 1 R/W Cold16 Data Storage Filter 2 R/W Cold17 Data Storage Filter 3 R/W Cold18 Data Storage Filter 4 R/W Cold19 Data Storage Filter 5 R/W Cold20 Data Storage Filter 6 R/W Cold21 Data Storage Filter 7 R/W Cold22 Data Storage Filter 8 R/W Cold23 Data Storage Segment R/W Cold24 Data Storage Quota R/W Cold25 Data Storage Virtual Recorder Map R/W Cold Maps Telemetry Packets to Virtual Recorders26 VCDU Output Priority R/W Cold Limit Monitor Point IDs, APID, offset, value, etc,27 Limit Monitor R Any Code Space Checksum information28 Code Space Checksumming R Any Table Space Checksum information29 Table Space Checksumming R Any Master Checksum Enable and Status30 Checksumming Control R/W Cold31 Memory Scrub Segement R/W Cold32 ACS Reserved 1 R/W Cold33 ACS Reserved 2 R/W Cold34 ACS Reserved 3 R/W Any35 ACS Reserved 4 R/W Any36 ACS Reserved 5 R/W Any37 ACS Reserved 6 R/W Any38 ACS Reserved 7 R/W Any39 ACS Reserved 8 R/W Cold40 FSW Reserved 1 R/W Cold41 FSW Reserved 2 R/W Cold42 FSW Reserved 3 R/W Any43 FSW Reserved 4 R/W Any44 FSW Reserved 5 R/W Any45 FSW Reserved 6 R/W Any46 FSW Reserved 7 R/W Any47 FSW Reserved 8 R/W Any

Real Time Downlink Filtering

Storage Filtering


Flight Software Overview -DMA Interfaces

&Power Card Telemetry

&IDPU Science Frame&Downlink Frame

DMA CH1

DMA CH0

SRAMCMD

TLM

SCI

UL

DL

POWERCARD

CMD

TLM

IDPU

CIM

FSW


4. Boot Software Overview


Boot Software Overview–Functional Requirements

Boot Software is separate, independent of Flight Software– Resides in 64KB PROM, non-writeable

Power Up/Restart– Initialize Processor, Peripherals, BAU Hardware– Power On EEPROM– Verify Integrity of FSW image in EEPROM– Enter 1 of 3 modes based on EEPROM integrity or user intervention (ground only)

Modes of Operation– Normal (Default action upon Power up or Restart)

• Jump to FSW Initialization upon successful verification of EEPROM image

– Contingency (Uses code directly from CP, TP, MM FSW CSCs)• Invoked upon invalid EEPROM image• Provide enough resources to allow upload of new FSW image• Minimal FSW operation, HW initialization, Commands, Telemetry• Memory Load Dump Capability• Periodically Checksum Code Area in SRAM

– Maintenance (ground only, inaccessible in flight)• Invoked upon User Intervention at upon Restart• Memory Read/Write commands, checksum utility, S-record download, etc


Boot Software Overview –Execution Flow

Enter Boot Code

Initialize Processor &

BAU-Specific Peripherals

Delay Loop to allow EEPROM

to Power On

• Power On Reset• HW WDT Expired• SWT Expired

Enable EEPROM

FSWXSUMValid?

N

Run Checksum Algorithm on FSW Image in

EEPROM

Jump to FSW Init

Y

Space Characters

Received over UART?

Y

N

Enter Command

Loop

Accept Commands from User Terminal and Execute

(Ground only)

ConfigureU/L

Check for Code Blocks, Assemble

into Transfer Frames, Extract Commands, and

execute

Power OFF Critical Probe Components

ConfigureD/L

Wait for 2 Hz Trigger

Collect Telemetry,

Build Transfer Frames, forward

to Downlink

Set up 2 Hz

Timer

Normal Mode

Contingency Mode

Maintenance Mode

Enter Contingency

Mode, Disable Code Area

Checksumming

Checksum next block of Code

area

Code Area XSUMming

enabled?

N

Code Area XSUMValid?

Y


Boot Software Overview –State Diagram

Power On 1.0 Enter

Boot SW

2.0Monitor

Serial Port

Jump to FSW Init

in EEPROM

5.0Contingency

Mode

3.0Maintenance

Mode**

NoCharacters within0.5 sec

BAU Hardware Initialized, EEPROM

Ready

Cold Restart* FSW Function** Not accessible in flight

Normal Mode*

4.0VerifyFSWImage

FSWImage

Verified

Maintenance Mode**

SpaceCharacters

Received within0.5 sec

FSW* Executing(SRAM)

Contingency Mode

ImageVerification

Failed

HW Register

Warm RestartCount

FSWInitialized

Warm Restart

Decrement


Boot Software Overview –Normal Mode, Transition to Flight Software Image

Flight Software Initialization– Clear SRAM, Bulk Memory (depending on restart), Initialize RTEMS Operating System– Startup as single task set to highest priority– Re-initializes Processor and BAU – Initialize interrupt handling– Copies FSW Code/Data Segments (Warm/Cold Reset Actions)– Loads systems tables from EEPROM (Warm/Cold Reset Actions)– Spawns FSW subsystem tasks (TC, SM, … , IT )– Startup task deletes self– At this point, entire FSW execution is from SRAM, and EEPROM can be powered OFF

Upon unsuccessful compare of the FSW image checksum, the Boot Code enters Contingency Mode.

When in Contingency Mode, the BSW is capable of receiving Uplink Command Frames, generating Downlink Telemetry Transfer Frames, processing Memory Load and Dump commands

– Subset of Flight Software Tasks (Command Processing, Telemetry Processing, Memory Management– Contains Hardware Watchdog Timer Servicing (from HS Task)

Upon unsuccessful compare of the FSW image checksum, the Boot Code enters Contingency Mode.

When in Contingency Mode, the BSW is capable of receiving Uplink Command Frames, generating Downlink Telemetry Transfer Frames, processing Memory Load and Dump commands

– Subset of Flight Software Tasks (Command Processing, Telemetry Processing, Memory Management– Contains Hardware Watchdog Timer Servicing (from HS Task)


5. Development Environment


InternetFirewall

Ethernet

Development Environment–FSW Facility at Swales Aerospace

ITOS• Realtime Control and Monitoring (Commands and Telemetry)• STOL Procedures• Developed by Goddard and commercialized by Hammers• Hammers delivers ITOS software to both Swales and UCB • Running on Sun Fire V240 (3), and Sun Blade 150 (2)

Issue Tracking System (ITS)• THEMIS FSW• I&T Problem Tracking• TeamTrack (Web-based)• Automatic E-mail notifications• Integrated with SourceSafe CM system• Easy generation of detailed reports• Visible to FSW Developers, Project Managers, I&T, IV&V• Tracks FSW/Documentation- RFAs, RIDs, AIs, PRs• Tracks ITOS Database/Documentation PRs• Tracks VSatPro THEMIS-specifics PRs

Coldfire Development System• Commercial 5307, 45MHz• On-board Ethernet, Serial Ports• Develoment of C&DH FSW

Configuration Management System • Source Safe• Standard Microsoft CM system• Track changes in

• FSW Source and Documentation• THEMIS-Specific ITOS DBs, Documentation• THEMIS-Specific VSAT Documentation

Flight Software Develoment PCs• Windows XP/Linux• Cygwin/GNU• PEMICRO Coldfire Development Environment• RTEMS/GNU Compiler and Toolset• Fully featured open source RTOS and Tools• Board Support Package and Tools heritage from Code 582, Goddard Space Flight Center, received through informal process, to be entered into Configuration Management• Existing contracts in place between GPM, SDO, tHC

Requirements Management System• Borland CaliberRM• Enterprise Requirements management tool• Tracks traceability, assignment, status, impact, verification, and management of changing requirements• Generate Requirements matrix and periodic status reports• Customized for the needs of the Themis Flight Software Team• Read Only Web Access

Note: Logic Analyzernot shown


* COTS for A/D-D/A conversion and IDPU I/F

Ethernet

ITOSS/C Command and Telemetry

Realtime Control

ACSActuator/Sensor I/O*

Hard-lineUp-Down link

Berkley Ground Data System

Connected ViaSecure InternetSerial I/F

Serial I/F Serial I/F

SpacecraftProcessorColdFire-5802

512KB E2PROM 512KB RAM

COMMCard

PowerCard

Load/DevPC

Bus Avionics Unit (BAU)

VirtualSatPRO

(S/C DynamicsIDPU Simulation)

1-Hz Pulse

Digital & Analog

Interfaces

Development Environment–FLATSAT Facility at Swales Aerospace

VirtualSat Pro•Runs on standard PC hardware•Realtime component-based satellite simulation program•Hardware in the loop environments•Script controlled configuration and simulationNote: Logic Analyzer not shown


6. Resource Utilization


Resource Utilization–Flight Software Sizing Estimates

* Sizes in Bytes

*

Task (incl. ISRs) Code Data BSSEEPROM Utilization

(Code, Data)

SRAM Utilization

(Code, Data, BSS)

Command Processing 10,952 188 1,580 11,140 12,720Telemery Processing 13,384 2,208 9,208 15,592 24,800Health and Safety 8,840 476 1,152 9,316 10,468Memory Management 17,186 2,048 788 19,234 20,022Time Code 2,478 20 32 2,498 2,530BAU Management 1 4,000 1,024 2,048 5,024 7,072Data Storage 32,228 3,420 10,810 35,648 46,458BAU Management 2 4,000 1,024 2,048 5,024 7,072Limit Monitoring 10,112 1,292 1,926 11,404 13,330Stored Command Processing 14,740 2,048 3,076 16,788 19,864Checksumming 12,988 452 2,048 13,440 15,488Thruster Firing 5,000 256 4,096 5,256 9,352Sun Sensor Processing 5,000 256 4,096 5,256 9,352IRU Processing 512 512 128 1,024 1,152OS, Software Bus 67,200 11,732 114,000 78,932 192,932

Totals 208,620 26,956 157,036 235,576 392,612

524,288 524,288

44.93% 74.88%

Maximum Avaliable

Percent Utilization


Resource Utilization–Flight Software Execution Timing, Worst Case Estimate

1 of 10 Seconds >>

1 PPS xIDPU Low RateTlm Downlink x x x x xIDPU Science x x x x x x x x x

Code Block Rcvd xSun Sensor x1 Hz Task xxxx

Thruster Task xxx x xxxxCmd Prcssing xxxx xxxx

Health and Safety xxxx xxx xxx xxx xxxData Storage xxxx xxx x xxTlm Prcssing xxxxxxx xxx xxxxxxx xxxxxxx xxx xxx

BAU Manager 2 xxxx xxxMemory MgmtStored Cmd

IRU ProcessingSun Sensor

BAU Manager 1ChecksummingLimit Monitoring

DMA0 Pwr Board Tlm xxxxIDPU Science x x x x x x x x xTlm Downlink xx xx xx xx xx

ISR

FSW Task

DMA2

0.010 0.020 0.030 0.040 0.090 0.1000.050 0.060 0.070 0.080



2 of 10 Seconds >>

1 PPSIDPU Low RateTlm Downlink x x x x xIDPU Science x x x x x x x x x

Code Block Rcvd x xSun Sensor1 Hz Task

Thruster Task xxxx xxxxCmd Prcssing

Health and SafetyData StorageTlm Prcssing

BAU Manager 2 xxx xxxxxx xxxxxxxx xx xxxxxxx xxxxxxx xxx x xxxxxxxxxx xxx xxxxxxx xxxxxxx xxx xx xxxx xxxMemory MgmtStored Cmd



DMA0 Pwr Board TlmIDPU Science x x x x x x x x xTlm Downlink xx xx xx xx xx

0.2000.150 0.160 0.170 0.1800.120 0.130 0.140 0.190

ISR

FSW Task

DMA2

0.110



3 of 10 Seconds >>


Code Block Rcvd xSun Sensor1 Hz Task



BAU Manager 2 xxx xxxxxx xxxxxxxx xxx xxxxxxx xxxxxxx xxx x x xxxxxxxx xxx xxxxxxx xxxxxxx xxx xxxxxxx xxxMemory MgmtStored Cmd




ISR

FSW Task

DMA2

0.210 0.220 0.230 0.240 0.290 0.3000.250 0.260 0.270 0.280



4 of 10 Seconds >>





BAU Manager 2 xxx xxxxxx xxxxxxxx xxx xxxxxxx xxx xxx xxx x xxxxxxxxxx xxx xxxxxxx xxxxxxx xxx xxxxxxx xxxMemory MgmtStored Cmd




0.4000.350 0.360 0.370 0.3800.320 0.330 0.340 0.390

ISR

FSW Task

DMA2

0.310



5 of 10 Seconds >>





BAU Manager 2 x xx xxxxx xxxxxxxx xxx xxxxxxx xxxxxxx xxx x xxx xxxxxx xxx xxxxxxx xxxxxxx xxx xxxxxxx xxxMemory MgmtStored Cmd




ISR

FSW Task

DMA2

0.410 0.420 0.430 0.440 0.490 0.5000.450 0.460 0.470 0.480



6 of 10 Seconds >>





BAU Manager 2 xxx xxxxxx xxxxxxxx xxx xx xxxx xxxxMemory Mgmt xxx xxx x xxxxxxStored Cmd xxxx xxx xxxxxxx xx

IRU Processing xxSun Sensor xxx xxx xxxxxx xxx



0.6000.550 0.560 0.570 0.5800.520 0.530 0.540 0.590

ISR

FSW Task

DMA2

0.510



7 of 10 Seconds >>





BAU Manager 2Memory MgmtStored Cmd

IRU ProcessingSun Sensor xxx xx

BAU Manager 1 xxxx xxxxxxChecksumming xx xxx xxxxxxx xxxxxxx xxx x xxxxxx xxx xxx xxxxxLimit Monitoring xx xxxxxxx xxx xxxxxxx xx


ISR

FSW Task

DMA2

0.610 0.620 0.630 0.640 0.690 0.7000.650 0.660 0.670 0.680



8 of 10 Seconds >>

1 PPSIDPU Low Rate xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxTlm Downlink x x x xIDPU Science x x x x x x x x




BAU Manager 2 xxxxMemory MgmtStored Cmd


BAU Manager 1ChecksummingLimit Monitoring xxx xxxxxx xxxxxxx xxx

DMA0 Pwr Board TlmIDPU Science x x x x x x x xTlm Downlink xx xx xx xx xx

0.8000.750 0.760 0.770 0.7800.720 0.730 0.740 0.790

ISR

FSW Task

DMA2

0.710



9 of 10 Seconds >>



Thruster Task xxxx x xxxCmd Prcssing






ISR

FSW Task

DMA2

0.810 0.820 0.830 0.840 0.890 0.9000.850 0.860 0.870 0.880



10 of 10 Seconds >>









1.0000.950 0.960 0.970 0.9800.920 0.930 0.940 0.990

ISR

FSW Task

DMA2

0.910


Resource Utilization–Flight Software Execution Timing Summary Estimate,

Worst Case

Component Execution Time (Seconds) Percent

Execution Time by Group (Seconds)

Percent by Group

1 PPS 0.001 0.10%IDPU Low Rate 0.030 3.00%Tlm Downlink 0.049 4.90%IDPU Science 0.089 8.90%

Code Block Rcvd 0.015 1.50%Sun Sensor 0.001 0.10%1 Hz Task 0.004 0.40%

Thruster Task 0.080 8.00%Cmd Prcssing 0.008 0.80%

Health and Safety 0.016 1.60%Data Storage 0.010 1.00%Tlm Prcssing 0.030 3.00%

BAU Manager 2 0.347 34.70%Memory Mgmt 0.013 1.30%Stored Cmd 0.016 1.60%

IRU Processing 0.002 0.20%Sun Sensor 0.020 2.00%

BAU Manager 1 0.010 1.00%Checksumming 0.040 4.00%Limit Monitoring 0.040 4.00%

0.821 82.10%

18.50%

63.60%

Totals

ISR

FSW Task

0.185

0.636

*

*Worst Case Assumes Concurrent•Maximum downlink Rate (1.02Mbps)•Science Data Processing•Continuous Command Uplink •Sun Sensor Processing•Thruster Firing


7. Flight Software Testing


Flight Software Testing-Test Flow

Boot Code Requirements

Flight Software Requirements

Software Test Plan

Test Procedure Development

Test Procedure Draft

Test Procedure Dry Run

Final Test Procedures

Software Testing

Test Results

Command & Telemetry DB

Flight Software Build

VirtualSat Pro Build

Test Procedure Corrections

Analyze Test Data

Report problem in Issue Tracking System

PassFail

New Flight Software Build

Updated Test ProceduresProcedure

Error

Command and Telemetry Definitions

Sign Off Results

Issue Tracking System

CM Controlled Item


Flight Software Testing-Test Equipment

Bus Avionics Unit (BAU)– Spacecraft Processor

• Flight software– Power Card– Comm Card

VirtualSat Pro– Realtime simulation of spacecraft and on-orbit environment

• Environment (Orbit, Magnetic Field, Sun)• Sensors (Sun sensor, IRU, Magnetometer)• Actuators (Thrusters)

– Interface to ITOS for command input and telemetry output– Supports hardware interfaces to the processor card– COTS product from tHC

Integrated Test and Operations System (ITOS)– Issue commands– Monitor and process telemetry– Systems Test and Operations Language (STOL) scripting language– Web-based data and graphics displays– COTS product from tHC

Coldfire Target


Flight Software Testing-Flight Software Test Environment

M5307C3

ITOS S/C Command & Telemetry

Basic Commanding and Telemetry to/from FSW

BDM UART0 UART1 ETHERNET

CONTROL A00-A23 D00-D31

debug code download Test/Debug

Equipment

FSW Commands, Data,

Status, Telemetry

Ethernet

Development PC Compile/Link/Build/Load

Flight Software

Coldfire Target Motorola M5307C3

Coldfire Evaluation Board

ITOS S/C Command and Telemetry

Real-time Control Hard-line

Up-Down link


Spacecraft Processor ColdFire-5802


512KB RAM

COMM Card

Power Card

Load/DevPC


BootSoftware

TestEnvironment

Build 1 Software

Test Environment


Flight Software Testing-Flight Software Test Environment

* COTS for A/D-D/A conversion and IDPU I/F

Ethernet

ITOS S/C Command and Telemetry

Real-time Control Hard-line

Up-Down link

Serial I/F


Spacecraft Processor ColdFire-5802


512KB RAM

COMM Card

Power Card

Load/DevPC


VirtualSatPRO

(S/C Dynamics IDPU Simulation)

1-Hz Pulse

Digital & Analog

Interfaces ACS

Actuator/Sensor I/O*

High Rate IDPU

Telemetry Simulator

High Rate IDPU Tlm

VirtualSat Configuration Commands


Flight Software Testing-Test Levels

Unit Test– Verify implementation of each software module– Performed during coding process by developer– Informal unit test summary report

• Which modules were tested • Operations performed

Build Test– Demonstrate all functional requirements

Acceptance Test– Demonstrate capability to successfully complete on-orbit operations– Verify performance requirements

Regression Test– Required for modifications made to delivered software– Demonstrate software has not been adversely affected by modification


Flight Software Testing-Test Types

Interface Tests– Data I/O through hardware and software interfaces

• Spacecraft processor board interfaces• Interfaces between C&DH and ACS Software

Functional Tests– Based on requirements

• THEMIS Flight Software Requirements Document• THEMIS Boot Code Requirements Document• THEMIS ACS Algorithm Document• THEMIS Requirements Traceability Matrix

– Identify logic errors Performance Tests

– Demonstrate THEMIS software will meet or exceed performance criteria Load/Stress Tests

– Demonstrate software maintains performance goals under extreme conditions

• High level C&DH software activity• Selected high load ACS tests


8. Schedule and Status


THEMIS Flight Software Build Planned Start

Planned Finish

BAU Build 0 (Boot/Initialization) BAU Build 0 (Commercial Card) 09/ 04/ 03 12/ 24/ 03 Build 0 Test Conduct 04/ 05/ 04 04/ 30/ 04 BAU Build 0 (EDU cpu Board & EDU Comm Card / RFA 11) 09/ 21/ 04 10/ 03/ 04 BAU Build 0 Test Conduct 10/ 04/ 04 11/ 28/ 04 Deliver Boot Code to GDDS for Flight 12/ 04/ 04 12/ 04/ 04 BAU Build 1 BAU Build 1 Phase A Development (Commercial Card) 01/ 22/ 04 06/ 04/ 04 BAU Build 1 Phase A Test Conduct 06/ 05/ 04 06/ 30/ 04 BAU Build 1 Phase B Development (EDU cpu Card & Comm Card) 06/ 21/ 04 07/ 19/ 04 BAU Build 1 Phase B Test Conduct 07/ 20/ 04 07/ 30/ 04 Build 1 SW I&T 08/ 02/ 04 08/ 27/ 04 BAU Build 2 Build 2 Development Phase A 07/ 05/ 04 12/ 30/ 04 Build 2 Development Phase B 07/ 05/ 04 10/ 15/ 04 Build 2 Phase B Development (EDU cpu Board & EDU Comm Card) 07/ 30/ 04 09/ 17/ 04 Build 2 (C&DH Test) 09/ 17/ 04 10/ 15/ 04 Build 2 (Thruster Control) 09/ 17/ 04 10/ 30/ 04 Build 2 (Thruster Control Test) 11/ 04/ 04 11/ 30/ 04 Build 2 SW I&T 12/ 01/ 04 01/ 07/ 05 Build 3 (Full EDU capability) Build 3 Development 01/ 19/ 05 03/ 11/ 05 Build 3 SW I&T 03/ 14/ 05 04/ 18/ 05 FSW Acceptance Test Conduct (EDU - Flatsat) 04/ 19/ 05 05/ 20/ 05

Schedule


Status

Release of the following updated Documents– THEMIS Flight Software Configuration Management Plan (Rev 1.0)– THEMIS Flight Software Development Plan (Rev 2.0)– THEMIS Flight Software Requirements Specification (Rev 2.0)– THEMIS Boot Software Requirements Specification (Rev 1.0)– THEMIS Flight Software Test Plan (Rev 1.0)

Full Flight Software Build (Heritage architecture) compiled using RTEMS OS, loaded and executing on Coldfire Development Board

– Significant in that we have verified that some of the considered Flight Software runs on the Coldfire System

Build 0 Pre-RFA-11 Delivered (Commercial Processor) Build 1 FSW Coding Complete Preliminary Testing for Build 1 50% Complete ITOS Command and Telemetry databases complete for Build 1


9. Configuration Management


THEMIS Software Configuration Management

Configuration ManagementAutomated Software Tools• Visual Source Safe• CVS

Code Source(FSW, EGSE)

TestProcedures

STOL ProceduresITOS Database

FSW I&TBuild TestingSystem TestingAcceptance Testing

ReleaseProbe FSWITOS Database

Documentation

CSCI 1.0 BAU Flight SoftwareCSCI 2.0 VirtualSat (COTS)CSCI 3.0 ITOS (COTS)CSCI 4.0 STOL ProceduresCSCI 5.0 ACS Algorithms for ground-

based ACSCSCI 6.0 Embedded Test Software for

Hardware Verification;

Configuration Management-Overview


C&DHS/W CCBChairman

C&DH LeadEngineer

S/W CMLibrarian

C&DH FSWTeam

C&DH H/WTeam

ACSAnalysts

VirtualSatTeam

ITOSTeam

EGSESoftware

Team

S/C CCBChairman

S/C SystemsEngineer

ad hoc members

THEMIS Project

EGSELead

C&DH H/WTeam

FSW Development

EGSE Development

C&DHSoftware

CMOIV&V

Configuration Management-Software Control Boards


PROBECM

C&DHCM

C&DHCM

PROBE(LEVEL 1)

Flatsat(LEVEL 2)

Development(LEVEL 3)

ISSUEs

ISSUEsISSUEs

FlatsatAcceptance Test

S/C I&T

C&DHFlatsat Integration & Test

C&DH SoftwareDevelopment

FSWBuild/Regression

Test

C&DH FSWBuild x.xISSUE fixes

Build x.xISSUE fixes

Build x.xISSUE fixes

C&DH FSWBuild x.x

ISSUE fixes

Configuration Management-FSW Build and Issue Flow


10. Independent Verification and Validation (IV&V) Approach


IV&V Approach–Processes

Completed IV&V Software Surveys to establish IV&V level of support– Main

• General– High-Level Schedule, Budget, and Management Information

• Mission Architecture– Launch Vehicle, Spacecraft, and Science Instruments

• Software Management– Requirements Management, Configuration Management,

Documentation, etc.– Software Team

• Team Structure, Capabilities, Experience Level, Schedule, Tools, etc.– Software System

• Mission Components, Software Functions, Software Function Attributes, etc.



BAU FSW Functions Score

BAU Interface 2

Command Processing 2

Data Monitoring 1

Health and Safety 2

Initialization 1

Instrument Management 2

Bulk Memory Scrubbing 2

Data Storage 2

Memory Management 2

Stored Command Processing 2

Telemetry Processing 2

Time Code Processing 2

Consequence of failure or incorrect operation of the software Score

Loss of Life or Injury

1

Loss or Destruction of the Vehicle or Instrument

Damage to the Environment or Property

Financial Loss

2

Loss of Scientific Data

Some Mission Objectives Not Met

Impact on the Availability or Operation of Other Systems

3

Interruption of Service

Inconvenience

No Impact on Mission

Integrity Definition and Score



The Critical Function List is a list of prioritized software functions deemed critical to the mission

System is reevaluated every six months

LLTime Code Processing

LLTelemetry Processing

LLMemory Management

LMInstrument Management

LMHealth and Safety

LMData Storage

LMBulk Memory Scrubbing

MMStored Command

MMInitialization

MMCommand Processing

MMBAU Interface

HHData Monitoring

Project Survey

IV&V Survey

Spacecraft Bus Software Functions



IV&V team has been provided access to the web based Issue Tracking System– Insight into software development progress– Insight into problem reporting, resolution, and test effort

IV&V team is invited to reviews, acceptance testing, and documentation

The flight software builds will be provided to IV&V for metrics and analysis– IV&V metric reports will be compared to our own metrics analysis– FSW team will determine if complexity score warrants further

analysis• Factors include heritage code, new code, verification of adequate testing


End


A. Backup Slides


Boot Software–Contingency Mode Commands

Commands– BT No Operation– BT Reset Counters– Uplink Checksumming Enable– Transmit Housekeeping Status– Resync, Next Frame to zero– Unlock Transfer frame layer– Reset Uplink C&DH to HW default– Set Filter Factor– Set Realtime Rate Limit– Set Downlink Configuration– Set Downlink Bit Rate– Enable Downlink Telemetry Interface– Enable Downlink Telemetry Flow– Write to Address– Read from Address– Dump Memory– Abort Memory Dump– Load Memory– Checksum Range– Enable/Disable RAM Checksumming– Enable/Disable RAM Checksumming FDC– Enable/Disable EEPROM– Enable/Disable Hardware Watchdog Timer– Jump to Address– Enable/Disable Header Verification– Enable/Disable Checksum Verification– Create Image Header

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Boot Software–Contingency Mode Telemetry

Telemetry– Contingency Mode Commands Processed– Contingency Mode Commands Rejected– Uplink Checksum Verification Enabled– Uplink Virtual Channel 1 CLCW– Uplink Packet Assembly Checksum Error Count– Uplink Packet Assembly Checksum Valid Count– Uplink Transfer Frame Frame Count– Uplink Transfer Frame Error Count– Uplink Transfer Frame Aborted Count– Uplink Transfer Frame Command Drop Count– Uplink Code Block Error Count– Uplink Code Block Count– Uplink Code Block Tail Sequence Count– Uplink Code Block Count during last Second– UpLink Underflow Count– UpLink Overflow Count– SW buffer Overflow Count– Highest count of Code Blocks input in previous second– Downlink Restart counter– Downlink Underflow error counter– Downlink Overflow error counter– Downlink Out Of Sync error counter– Downlink Watchdog error counter

Memory Dump Packes are identical to those in Memory Management Subsystem

Contingency Mode does not support Events

– Downlink Buffered VCDU’s counter– Downlink Realtime Rate Limit– Downlink Bit Rate– Downlink Dropped Packets counter– Memory Dump Active Flag– Memory Dump APID, Packets Expected, Packets Received– Downlink Configuration– Number of Dump Copies Left– Dump Active– From Image– Memory Words Loaded– RAM Checksumming State– RAM Checksumming FDC State– Spacecraft ID– Hardware Watchdog Timer Status– EEPROM Verification Status– FSW Image Checksum in progress– Image Header

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Boot Software–Maintenance Mode Operations

BSW provides a maintenance mode (interactive user session via serial port and text terminal), and supports the following user commands entered via the text terminal/serial port:

– Help Page, providing detailed instructions on usage of all commands– Change Baud Rate [ new rate ]– Copy Memory [ source address ] [ dest address ] [ size – Dump Registers– Set EERPOM [ on | off ]– Fill Memory [ start address ] [size ] [ value ]

• Go [ transfer address ]• Checksum range [ start address ] [ size ]• Dump Memory [ source address ] [ size ] [ 1|2|4 byte units ]• Load S-Record file with offset [ download address ]

– Compute checksum upon completion, displays result, and stores result separately into EEPROM.

Maintenance mode requires operator intervention to invoke, as follows:

• Spacebar held down during Power-On or Reset of the Processor

Invocation of Maintenance Mode is not possible in Flight

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Flight Software

Backup


Operating System and Software Bus

Backup


Operating System–RTEMS

Realtime Executive for Multiprocessor Systems (RTEMS)– Open source– User Modifiable, Non-proprietary

Features– Multi-tasking– Event-driven, priority-based, preemptive scheduling– Inter-task communication and synchronization– Responsive interrupt management

Provides Library Calls for Tasks to use:– Event message functions– RTEMS Run time library functions– Time Code Functions– Mode Transition Functions– Interrupt Functions– Memory Access Functions– Can be expanded to add new system functions

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Operating System–Known Bugs in RTEMS 4.6.0

RTEMS documented bugs: The POSIX standard does NOT specify the default set of thread attributes. Thus when

passing a NULL for attributes to pthread_create, the application is not guaranteed any particular thread behavior.

The defaults for all RTEMS Configuration Table parameters are intentionally small. Thus it is common for RTEMS tasking and file related calls to return errors indicating out of resources until the configuration parameters are properly tuned for the application. For example, there are only 3 file descriptors available by default: stdin, stdout, and stderr. Any attempt to open a socket or file will fail unless more file descriptors are configured.

When first developing a BSP, many users encounter an unexpected interrupt or exception immediately upon completion of RTEMS initialization. This occurs because interrupts are disabled during RTEMS initialization and are automatically initialized as part of switching to the first task. The interrupted user code will be in either _CPU_Context_switch or _Thread_Handler. This indicates that an interrupt source has not been properly initialized or masked.

Some users encounter a random reset during BSP initialization. This usually indicates that the board has a watchdog timer that is not being properly serviced during the BSP initialization.

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Operating System–Run Time Library

Exception Handling– The exception number, registers, and time are saved in a dump-able

preserved address range in memory– Warm Restart Counter in Hardware is decremented– A warm restart is called– If the Warm Restart Counter has decremented to zero (maximum

number of warm restarts reached), a cold restart is called

List of Coldfire Exceptions that will cause a Warm Restart include:

– Divide By Zero– Illegal Instruction– Address Error– Access Error– Math Overflow/Underflow

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Operating System–Software Bus

Provide processor independent inter-task communications Ensure validity of inter-task message traffic Provide table driven control of inter-task-message traffic Isolate tasks from operating system dependencies Provide packet routing transparent to application tasks Support packet transfer topologies which allow

– single task to transfer a packet to another task (one to one)– single task to transfer a packet to many tasks (one to many)– single task to receive packets from many tasks (many to one)

Provide and manage all memory for inter-task packet sharing

Report errors to Health & Safety Subsystem Report status in periodic housekeeping packets Support both copy and pointer mode message passing

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Operating System–Software Bus

Heritage– A complete port from the EO-1 version of SB

• Ported to RTEMS OS– Heritage from SAMPEX, XTE, TRMM, MAP – THEMIS Specific Configuration

• Routing tables

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Time Code

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Time Code–Functional Requirements

Provide Spacecraft Time to Subsystems– S/C Time = MET Register + UTCO Register– Used to time stamp Probe telemetry, Stored Command Sequences,

AC Subsystem operations

Accept Ground Command to set UTCO– UTCO must be maintained by Ground– Uploaded, stored in a HW register– Unaffected by Cold/Warm Restarts

Provide Time Resolution to at least 0.001 seconds

Ref. THEMIS-FSW-SRS: FSW.TC.01, 02, 03, 04, 05

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Time Code–Functional Requirements

Power Up– MET Register Seconds and Subseconds set to zero– UTCO Register set to zero

Cold Restart– MET, UTCO Registers unaffected– Command and Error Counters set to zero

Warm Restart– MET, UTCO Registers unaffected

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Time Code–Concepts

47 16 15 0Seconds Subsec

65,536 Hz

Mission Elapsed Time (MET) Format– 32 Bits Seconds– 16 Bits Subseconds

1 Count = 1 Second 1 Count = 15.3 usec

1 Pulse Per Second Interrupt to Flight Software (Master Timing Packet)

Rollover


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Time Code–Concepts

Universal Time Offset (UTO) Register Format– 32 Bits Seconds– 16 Bits Subseconds– Must be computed on ground and uploaded– Added to or Subtracted from MET to produce Spacecraft Time


1 Count = 1 Second 1 Count = 15.3 usec

Added to value from MET Register


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Time Code–Context and Data Flow

1 HzISR


1 PPS Interrupt

Rollover65,536 Hz

METCounter


UTORegister

1 HzTask

1Hz Master Timing Packet to FSW

Update UTOCommand

UTO

MET

Get SC Time

Utility

FSWTask

Timestamp Request

SC Time(MET + UTO)

1Hz Task is scheduled on availability of 1 HzSemaphorereleased by 1Hz ISR upon occurrence of 1PPS Interrupt

1 Hz Semaphore


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Time Code–Commands, Telemetry and Events

Commands No Op Reset Counters Update Universal Time Offset (UTO)

Telemetry Task Execution Count TC commands processed TC commands rejected Universal Time Offset (UTO) Mission Elapsed Time Seconds Mission Elapsed Time Subseconds

Events Time Code: Initialized Time Code: Invalid Command Received Time Code: UTO Updated <SEC> <SUBSEC> Time Code: UTO Command Rejected <SEC> <SUBSEC>

Ref. THEMIS-FSW-SRS: FSW.TC.06, 07, 08

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Health and Safety

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Health and Safety–Functional Requirements

Request, collect, and package software housekeeping telemetry from all executing Software tasks every 4 seconds.

Monitor critical event messages, and take table-defined action if necessary

Service Coldfire Software Watchdog Timer (SWT) Support Warm Restart Capability in which code is reloaded from

EEPROM, and application specific data is preserved. Support Cold Restart Capability in which code and all data are reloaded

from EEPROM. Monitor Uplink Watchdog Timer Warm reset if critical flight software components fail to Check-in Reset Thruster Pulse Count registers commands Monitor CPU Hogging

Ref. THEMIS-FSW-SRS: FSW.TC.01, 02, 03, 04, 05, 07, 08, 09, 11

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Health and Safety–Restart Considerations

Power-on/Cold Initialization– All counters reset to 0– Bulk Memory cleared upon:

• Power On• 5 Consecutive Cold Restarts

Warm Initialization– The state of all counters and commanded parameters is preserved


Backup

This page has been updated since package distribution


Health and Safety-Software Context

HSCP

SC

LM DS TPHK Telemetry, EventsGround

Commands

RTSRequests

Stored Commands

Coldfire SWT

Reset

All FSWTasksHK

Requests

HK Telemetry

TC

1 Hz Packet


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Health and Safety-Top Level Data Flow Diagram

3.0ProcessHK Tlm

2.0Process

Commands

5.0Process

1 Hz

1.0HS Main

HK Telemetry Packets

Ground, Stored Commands

Events

H/KTelemetry

Events

HS

H/KReqs

Critical EventsTable

MMTable

Load/Dump

4.0ProcessEvents Init RTS

SC

OSCold/Warm Restart

Commands

Coldfire SWT


Tlm Pkts

Events

Reset

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Health and Safety–Top Level Data Flow Description

The Health & Safety Task is scheduled by pending on its Software Bus command pipe, and performing function based on pipe contents:– Process Commands

• Execute Ground or Stored Command (Noop, Reset Counters, Restart, etc,)– Process Housekeeping Telemetry

• Package Received Telemetry Packets into combined HK Telmetry Packet and forward to Limit Monitoring/Data Storage/Telemetry Processing

– Process Events• If Critical Event, perform Table Defined Action• Can also be used to initiate RTS

– Process TC 1Hz Timing Packet• Reset SWT• Monitor Task Check In• Monitor CPU Hogging• Every 4 seconds, Request Housekeeping Telemetry

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Health and Safety–Commands

Commands– HS No-Op– HS Reset Counters– Execute Cold Restart– Execute Warm Restart– Reset Warm Restart Status Count– Reset Cold Restart Status Bit– Reset Cold Restart Status Count– Enable Hardware Watchdog Timer– Disable Hardware Watchdog Timer

Ref. THEMIS-FSW-SRS: FSW.TC.06

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Health and Safety–Telemetry

Telemetry– Number of HS ground commands processed – Number of HS ground commands rejected – Task present flags– Warm Restart Status count– Cold Restart Status count – Cold/Warm Restart Status flag– OS Reserved– OS tick count – OS ISR counters– Task execution counters– OS event sequence number


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Health and Safety–Events

Events– Health and Safety Initialized: COLD– Health and Safety Initialized: WARM– Invalid Stream ID Received: <SID>– Invalid Function Code Received: <FC>– Cold Restart Failed– Invalid Restart Type in Event Table: <TYPE>– Critical Task Checkin Failure: <MASK>– Warm Restart Failed– Uplink Watchdog Expired– CPU Hogging


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Command Processing

Backup


Command Processing-Functional Requirements

The Flight Software reads uplink code blocks from the BAU COMM Card at a sustained rate of 1,000 bits per second (FSW.CP.01):– 125 Bytes/Sec– Translates into a maximum of 15.6 Code Blocks (Interrupts) per

second– Maximum of 8 CCSDS Command Packets Per Second

“Special Commands” are not processed by Flight Software (FSW.CP.08):– Special commands are only logged by FSW

• Processor Reset, Bus reconfig, etc• Special Commands are Received on Virtual Channel 2

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All other BAU, IDPU, and Software commands are handled by the Command Processing Task (FSW.CP.02, 03, 04, 07): – COP-1 Frame Acceptance and Reporting Mechanism (FARM)– Variable Length Command Packets– Flight Software retrieves code blocks from Comm Card (interrupt

driven)`• Validates Code blocks• Constructs Transfer Frame• Validates the following fields:

– TF Version– Spacecraft ID– Bypass Flag– Control Flag– Virtual channel

• Routes Transfer Frame– VC0 = Special Commands– VC1 = All other Commands

• Builds CCSDS Standard Command Packets

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Valid Commands are distributed to Subsystem by APID of CCSDS Packet Header (FSW.CP.05, 06, 13)– Within Subsystem, Function Code (FC) Field is used to specify

command operation– Command Packets with failed checksums, invalid packet lengths, or

invalid APIDs are rejected. CP Subsystem shall accept and process commands to

(FSW.CP.09, 10, 11):– Increment Sequence Counter– Lock/Unlock FARM – Reset Frame Sequence Counter to zero

The Flight Software shall maintain Command Processing statistics including (FSW.CP.14):– current command packet count, command packets accepted, and

command packets rejected

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Packet Identification (2 bytes) Packet Seq Control (2 bytes) PacketLength

SecondaryHeader (2 bytes)

User DataField

Version'000'

Type'1'

SecondaryHeader Flag

ApplicationProcess ID

SequenceFlags

Source SequenceCount

PacketLength

(2 bytes)'0'

ApplicationData

(242 bytes max)

FunctionCode

Check-sum

Transfer FrameHeader5 bytes

SegmentHeader1 byte

Command Packets

250 byte max

CCSDS Codeblock

Data

7 bytes

CRC

1 byte

CCSDS Codeblock

Data

7 bytes

CRC

1 byte

CCSDS Codeblock

Data

7 bytes

CRC

1 byte

CCSDS Codeblock

Data

7 bytes

CRC

1 byte

CCSDS Codeblock

Data

7 bytes

CRC

1 byte

Start Sequence2 bytes Multiple Codeblocks From One or Multiple Frames Tail Sequence

Command Packet

Command Transfer Frame

Command Link Transfer Unit (CLTU)

CLTUAcquisition Sequence(132 bits minimum)

Physical Channel

Ref. THEMIS-FSW-SRS: FSW.CP.01 - 22

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1st TC Block

Packet Data Continued

Tail SeqAlt 1's/0's

(64)*

Last TC Block

Intermediate TC Blocks

Transfer Frame Header Segmentation Start of Command Packet

StartSeq

(16)*

eb90'H

VersionNumber

(2)

00

By-PassFlag(1)

X

CntlCmdFlag(1)

X

Spare

(2)

00

S/CID

(10)*

TBD

VirtualChan ID

(6)*

000001

Spare

(2)

00

FrameLength

(8)

XXXXXXXX

FrameSeq #

(8)

XXXXXXXX

SeqFlags

(2)

11

MapID

(6)*

000001

First Octet of Packet

(8)

XXXXXXXX

CodeBlockCRC(8)*

XXXXXXX0

CodeBlockCRC(8)*

XXXXXXX0

Packet Data

(56)

Packet Data Continued

CodeBlockCRC(8)*

XXXXXXX0

Packet Data

(56)


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Command Processing-Context

CP1.02

CIMUplink

TP1.03

HS1.04

Completed Command

Packets

H/K Status

CLCWs

FSWTasks

Uplink


1Hz

-CP Main Runs at 1 Hz, Checks for Buffered Code Blocks-A Separate ISR Received Code Blocks, and places them into buffer

Code BlockBuffers A & B

CPISR

Code Block

Received Interrupt

CCSDSCode Blocks

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Command Processing-Code Blocks to Commands

Code Block Validation

Transfer Frame

ConstructionSegment

ValidationPacket

Construction

H/K Telemetry Processing

H/K Status

Valid CommandPackets toSubsystem

Command Link Control Word to Telemetry Output

Validated Code Blocks

Packet BufferCode Blocks

from Comm Card FIFO

Transfer Frame


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Command Processing-Commands

Commands– CP No Operation– CP Reset Counters– Checksumming Enable– Transmit Housekeeping Status– Re-sync, next Frame to zero– Unlock Transfer frame layer– Reset Uplink C&DH to HW default

Ref. THEMIS-FSW-SRS: FSW.CP.25

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Command Processing-Telemetry

Ref. THEMIS-FSW-SRS: FSW.CP.23, 24

Telemetry– CP Command Error Count– CP Command Execution Count– Checksum Verification Enabled– Virtual Channel 1 CLCW– Packet Assembly Checksum Error Count– Packet Assembly Checksum Valid Count– Transfer Frame Frame Count– Transfer Frame Error Count– Transfer Frame Aborted Count– Transfer Frame Command Drop Count– Code Block Error Count– Code Block Count– Code Block Tail Sequence Count– Code Block Count during last Second– C&DH Uplink Underflow Count– C&DH Uplink Overflow Count– FSW buffer Overflow Count– Highest count of Code Blocks input in a previous 1 second period

Backup


Command Processing-Events

Events– CP Initialized– CP Invalid Command Received– Code Block Error– Transfer Frame Aborted <ERROR TYPE>

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Telemetry Processing

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Telemetry Processing-Functional Requirements

Telemetry Processing (Flight and Boot Software)– Support the CCSDS AOS Packet Operations Specification for Telemetry– Support command-able down-link rates (Ref Overview Section)– Autonomous Restart of Downlink– Support 4kbps Realtime Data Acquisition Rate– Receive and Downlink Science Data from IDPU (FSW only)– Provide 8 uploadable Filter Tables to filter Realtime Data– Receive and Downlink Stored Data from Bulk Memory– Support Table, Memory, and Event (FSW) Buffer Dumps– Upon Receipt of Science Frames for queuing to Downlink, header

information is updated per Document THM-SYS-115, (FSW only)– Downlink the Command Link Control Word (CLCW)– Prioritize Transfer Frames to be down-linked and Map Virtual Recorders

to Virtual Channels by means of an uploaded table

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Telemetry Processing-Top Level Data Flow, Receive and Buffer TFs

2.0Buffer

TFs

5.0Process

Commands

TP Main(2 Hz)

2Hz

MM

1.0Build

Realtime TFs

4.0Check

DownlinkStatus

IDPU64 MBData Storage

PlaybackTFs

ScienceTFs

FSWTasks

CCSDSTelemetry

Packets

DumpRequest

DumpPackets

HK Telemetry to HS

Restart DownlinkCLCW

• Events • Playback

Queued Transfer Frames

Request TF

(Next Page)

Restart Downlink

Realtime Transfer Frames

CP: CLCW, Ground CommandsSC: Stored CommandsHK: HK Requests

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Telemetry Processing-Output TFs

3.0OutputTFs*ISR

Realtime Transfer Frames

• Events • Playback

Queued Transfer Frames

DMA Control

Science Frames* IDPU I/F

DownlinkFIFO

Sci & Tlm Frames

HRData

FIFO ¼ Full

Interrupt (Need to Reload)

Request IDPU Transfer Frame

* Science Frame Headers are Updated in accordance with THM-SYS-115

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Telemetry Processing-Design Notes

Telemetry Processing Executes at 2Hz Rate, – Transfer Frames are built and queued,

… and retrieved from queue when Downlink FIFO is ¼ full– ISR is used to retrieve Realtime/Stored Transfer Frames to reload

Downlink FIFO

– If no Realtime or Downlink Transfer Frames Pending:• IDPU is commanded to begin generation of Science Data Frame• Science Transfer Frame is then queued, to be down-linked upon next

¼ full interrupt

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Telemetry Processing-Build Realtime Transfer Frames (1.0)

Realtime Telemetry packets are compared against current Filter Table to determine if they should be downlinked

Telemetry Packets are added to Transfer Frame in the priority specified by an uploadable table. Default is (Ref THM-SYS-116):

– Packet remainder from previous Transfer Frame– BAU Realtime Eng Data– BAU Playback Data– Realtime Science Data– Playback Science Data– Probe Events

Requests Dump Packets from Memory Manager when dump is Active

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Telemetry Processing-Buffer Transfer Frames (2.0)

Receives and Queues Transfer frames from Realtime telemetry and Data Storage

Realtime telemetry– Buffers up to 8 Realtime Transfer Frames

Data Storage Playback– Handshake with Data Storage Task for receipt of playback

Transfer Frames

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Telemetry Processing-Output Transfer Frames (3.0)

Runs in response to a FIFO ¼ full interrupt Loads 2 VCDU’s into the output FIFO every interrupt Transfer Frames are output based on the following priority:

– Full Realtime TF from the Realtime TF queue– Partial Realtime TF– Retransmit TF

• VR 1 (BAU Realtime Eng Data )• VR 2 (Probe Events)

– Playback TF • VR 1 (BAU Playback Data) • VR 2 (Probe Events)

– IDPU Science TF– IDPU Playback TF– Probe Events– Fill VCDU

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Telemetry Processing-Downlink Timing

A. Begin Downlink, “Connect” DMA Channel to Downlink Interface and load 2 Transfer FramesB. DMA Complete Interrupt Received. C. “Connect” DMA Channel to IDPU High Speed Data Register, and initiate DMA transfer or Science DataD. DMA Complete Interrupt Received, IPDU to SRAME. Update Science Header Per THM-SYS-115d, Store Frame in output bufferF. ¼ Full Interrupt Received from Downlink Interface; “Connect” DMA Channel to Downlink InterfaceG. Load Science Data Frame received in DH. Load next pending telemetry/playback frame.

A B

DCDMA, IPDU to SRAM

DMA, SRAM to DownlinkE F

G H

0

DL FIFO Level

0.020 Seconds (approx)

4KB

¼ Full

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Telemetry Processing-Realtime Filter Tables

Backup

Packet APID


1


0

1

1888111

1

Filter Sequence (1)

160301111


Telemetry Processing-Virtual Channel Assignments

Virtual Channel

Priority0=lowest

Contents

VC0 0 BAU Realtime Eng Data

VC1 1 BAU Playback Eng Data

VC2 2 IDPU Realtime Sci Data

VC3 3 IDPU Playback Sci Data

VC4 --- N/A

VC5 --- N/A

VC6 4 Probe Events

VC7 5 Fill Data

Virtual Channel Assignments and Priorities for Downlink (THM-SYS-116)

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Telemetry Processing–Commands

Commands– TP No Operations– TP Reset Counters– Select Filter Table– Jam Filter Factor– Set Realtime Rate Limit– Set Downlink Configuration– Set Downlink Bit Rate– Enable Downlink Telemetry Interface– Enable Downlink Telemetry Flow

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Telemetry Processing–Telemetry

Telemetry– TP No Operations– Telemetry– Command Execution counter– Command Error counter– Downlink Restart counter– Downlink Underflow error counter– Downlink Overflow error counter– Downlink Out Of Sync error counter– Downlink Watchdog error counter– Buffered VCDU’s counter– Current Filter Table– Realtime Rate Limit– Downlink Bit Rate– Dropped Packets counter– Dump Active Flag– Dump Application ID, Packets Expected, Packets Received– Downlink Configuration

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Telemetry Processing–Telemetry

Events– Telemetry Processing Initialized– Transfer Frame Aborted– Dump Aborted By Command– Event Dump Aborted By Command– Downlink Restarted– Invalid Command Received– Abort Dump Rejected - No Dump In Progress– Abort Dump Rejected - Another Processor Is Dumping– Invalid Filter Table Rcvd In Mod Filter Table Cmd– Invalid APID Rcvd In Jam Filter Cmd– Invalid APID Rcvd In Swap Filter Cmd – Invalid Rate Limit In Set Rate Limit Cmd– Invalid Bit Rate In Set Bit Rate Cmd– Invalid Function Code Received in Dump Request– DS returned NULL on recorder– Command Ignored - Dump Already In Progress– Event Dump Abort – Downlink FIFO Underflow Error– Downlink FIFO Overflow Error– Downlink FIFO Out Of Sync Error– Downlink Watchdog Expired

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Overview–Events

Event TextString Table

0

64K (TBD)

16 bit index

Arg1 Arg 2

“RED Limit Violation, Batt Over Temp, Actual = [Arg1], Expected = [Arg2]”

Severity = 2 (RED Limit) Subsystem ID Event ID

Text String

FSW:

ITOS:

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Overview–Events

Subsystem ID Subsystem

00 – 0F ACS

10 – 1F

20 – 2F RCS

30 – 3F

40 – 4F Thermal

50 – 5F

60 – 6F Battery

70 – 7F

80 – 8F Electrical

90 – 9F

A0 – AF IDPU

B0 – BF

C0 – CF

D0 – DF

E0 – EF FSW Reserved

F0 - FF FSW Reserved

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Overview–Events

Subsystem ID Subsystem

E0 (FSW Reserved)

E1 (FSW Reserved)

E2 Command Processing

E3 Telemetry Processing

E4 Health and Safety

E5 Memory Management

E6 Time Code

E7 BAU Management 1

E8 Data Storage

E9 BAU Management 2

EA Limit Monitoring

EB Stored Command Processing

EC Checksumming

ED Thruster Firing

EE Sun Sensor Processing

EF IRU Processing

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Bus Avionics Unit Manager 1 (BA1)

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BAU Manager 1-Functional Requirements

Provide Command and Status Interface to Communications Interface Module (CIM) – Controls Command Status Interface #1– Configuration Commands– Read Spacecraft ID– Read Status and Report in Telemetry

THEMIS CIM spec, SAI-SPEC-1173 baseline, 4 Apr 2004

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Function Performed by means of CS1:– Configure Downlink Rate ( 1, 4, 8, 16, 32, 64, 128, 256, 512, 1024 Kbps)– Enable CRC– Disable CRC– Enable RS-Encoding– Disable RS-Encoding– Uplink Interrupt Config Register ( interrupt on 1 or 2 Code Blocks, mask)– Clear Uplink Code Block Counter– Read From Uplink Code Block Counter– Reset CIM Board– Reset Tlm Function– Reset Uplink Function– Read CS1 Status Register– Pet Watchdog Timer– Read Spacecraft ID

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BAU Manager 1-Software Context

BA1

TCSC

HS

Ground Commands

HKRequest

HKTelemetry, CIM Status

Events

Stored Commands

CommunicationsInterface Module

(CIM)

Control & Status 1 I/F (CS1)

CommandsStatusCP

1 Hz Packet

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BAU Manager 1-Top Level Data Flow

3.0Process

Command

2.0Process

CIMStatus

4.0Process

HK Request

1.0BA1 Main

1 Hz Packet

Commands

H/K Requests

H/KTelemetry HS

Events

H/KReqs

Cmds

1 Hz Packet

Events

Backup


BAU Manager 1-Main 1.0

2.0 Process

CIM Status

1 Hz?

Command?

H/KRequest?

3.0 Process

Command

4.0 Process

H/K Request

Yes

Error:Generate

Event

Pend on Packet

Init

Yes

Yes

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BAU Manager 1-Process CIM Status 2.0, Process Command, 3.0

Enter

Return

Read Uplink Status

Register

Read Downlink

Status Register

Read CS1 Status

Register

Read S/C ID

Reset WDT

Update HK Telemetry

Write 16 bit Cmd to CS1

I/F

Error:Send Event

Cmd sent=read?

Read 16 bit CS1 Data

Status

Update HK Telemetry

Enter

CIM Config Cmd?

SW Cmd?

Process SW Command (Noop, Rst Cntrs, etc)

Yes Valid CIM Cmd?

Valid SW Cmd?

Return

No

Yes

No

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BAU Manager 1-Process HK Request 4.0

Enter

Return

Read Uplink Status

Register

Read Downlink

Status Register

Read CS1 Status

Register

Read S/C ID

Reset WDT

Update HK Telemetry

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BAU Manager 1-Commands

Commands• BA1 Noop• Reset BA1 Counters• Configure Downlink Rate ( 1, 4, 8, 16, 32, 64, 128, 256, 512, 1024 Kbps)• Enable CRC• Disable CRC• Enable RS-Encoding• Disable RS-Encoding• Configure Uplink Interrupt Register ( interrupt on 1 or 2 Code Blocks, mask)• Clear Uplink Code Block Counter• Reset CIM Board• Reset Tlm Function• Reset Uplink Function

Telemetry• BA1 Commands Processed• BA1 Commands Rejected• Uplink Configuration Register• Downlink Configuration Register• Spacecraft ID• CS1 Status Register

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BAU Manager 1-Commands

Events• Downlink Reconfigured• Uplink Reconfigured• Reconfiguration Command Rejected• Invalid Command Received • CIM Reset• Uplink Code block Counter cleared• CRC Enabled• CRC Disabled• RS-Encoding Enabled• RS-Encoding Disabled

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Bus Avionics Unit Manager 2 (BA2)

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Ref. THEMIS Power Module Requirements Specification , SAI-SPEC-1174: Retrieve, once per second, Discrete and Analog Telemetry from Power Card and package into

CCSDS Telemetry Packets for distribution to other FSW tasks– Discrete Status (Switched Services, Trip Status, ……)– Digitized Voltages and Currents– Digitized Temperatures– IRU Data

Accept Switched Service Commands and forward to Power Card Maintain RAM Mask of switched services

Ref. THEMIS IDPU/ESA-to-Probe Interface Control Document,THM_SYS_101: Accept telemetry packets from IDPU and package for storage/downlink:

– IDPU State of Health (SOH)– Flux Gate Magnetometer (FGM)

Assemble IDPU Commands into Command Packets Buffer 1 second of IDPU Commands

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BA2CP

SCHS

Ground Commands

HKRequest

HKTelemetry Events

Thermal Telemetry

Power Telemetry

IRU Telemetry

Status Telemetry

IRU

TO

DS

IDPU SOH TelemetryIDPU FGM Telemetry

PowerCard

IDPU

Discrete Status,Digitized VoltagesDigitized CurrentsDigitized Temperatures

Stored Commands

IDPUCmds

IDPUTlmSwitched

ServiceCommands

LM

Backup



BA2CP

SC

HS

Ground Commands

HKRequest

Thermal Tlm Packet

IRU

TO

DS

Discrete StatusDigitized VoltagesDigitized CurrentsDigitized Temps

20 X-IRU20 Y-IRU

IDPUCmds

IDPUTlm

LM

IDPU

Power CardRAM

Power Card Tlm

DMA Control

IDPU Commands

IDPU Low Rate Telemtry

PwrTlm

DMAData

Power Tlm Packet

Status Tlm Packet

FGM Tlm Packet

IDPU SOH Tlm Packet

IRU Tlm Packet

HKTlm

Switched Service

Commands

Stored Commands

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BAU Manager 2-Timing and Order of Execution

Not Necessarily to scale

A BC

A. Begin DMA Transfer of Power Card TelemetryB. Complete DMA Transfer of Power Card Telemetry and log DMA statusC. Dequeue IDPU Commands, Assemble into IDPU Command Packet per THM-SYS-115, and begin

Transfer of IDPU Command Packet to IDPU via serial portD. Complete Transfer of IDPU Command, update statusE. Receive Low Rate IDPU Telemtry and log statusF. Package Power Card Telemetry, forward to Limit Monitoring/Storage/DownlinkG. Package IDPU Low Rate Telemetry, forward to Limit Monitoring/Storage/DownlinkH. Package IRU Telemetry and forward to IRU/Storage/DownlinkI. Process Switched/Pulsed Services RAM Masks, Send EventJ. Collect BA2 Housekeeping Telemetry and send

DActivityPower Card TlmIDPU CommandIDPU Lo Rate Tlm

1 PPS0 secs 0.500 secs 1.0 secs

F G H I J

0.750 secs

E

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BAU Manager 2-Probe Discrete Telemetry Packet

16 Bit Word F E D C B A 9 8 7 6 5 4 3 2 1 0

012345678 S S S S S S S S S S S S S S S S S = Switch Status9 X X X X X X X X X S S S S S S S T = Slow Trip Enable/Disable Status

10 X X X X X X X X H = Solar Array Shunt Configuration11 X X X X X X X X G = Separation Signal12 T T T T T T T T T T T T T T T T A = Separation Status13 T T T T T T T T T T T T T T T T N = Pulsed Inputs14 X X X X X X X X X X X X H H H H P = Pulsed Outputs15 X X X X X X X X X X X X X G G G X = Unused16 X X X X X X X X X X X X X A A A17 N N N N N N N N N N N N N N N N18 N N N N N N N N N N N N N N N N19 P P P P P P P P P P P P P P P P20 P P P P P P P P P P P P P P P P21 X X22 X X23 X X24 X X25 X X26 X X27 X X28 X X29 X X30 X X31 X X32 X X33 X X34 X X35 X X36 X X

Digitized Carrier LockDigitized Carrier Detect

Linear Shunt PWM

Probe Status

Packet Time Stamp, Seconds

CCSDS Primary Header

Packet Time Stamp, SubSec

Digitized Battery Rly Open StatusDigitized Arm Plug

Digitized IRU A BIT OutputDigitized IRU B BIT Output

Digitized Transmitter Output PowerDigitized XPONDER Analog RefDigitized Battery Relay Status

Digitized Battery Rly Closed Stat

Digitized IRU B Rate OutputDigitized Receiver Signal Level

Digitized Static Phase Error

Digitized IRU A Rate Output

Command Counter

Thruster WDT

Digitized Pressure 01Digitized Pressure 02

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BAU Manager 2-Probe Power Packet

16 Bit Word F E D C B A 9 8 7 6 5 4 3 2 1 0

01234567 X X X = Unused8 X X9 X X10 X X11 X X12 X X13 X X14 X X15 X X16 X X17 X X18 X X19 X X20 X X21 X X22 X X23 X X24 X X25 X X26 X X27 X X28 X X29 X X30 X X

Digitized Current 21Digitized Current 22Digitized Voltage 01Digitized Voltage 02

Digitized Current 17Digitized Current 18Digitized Current 19Digitized Current 20




Probe Power Telemetry





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BAU Manager 2-Probe Thermal Telemetry Packet

16 Bit Word F E D C B A 9 8 7 6 5 4 3 2 1 0

01234567 X X X = Unused8 X X9 X X10 X X11 X X12 X X13 X X14 X X15 X X16 X X17 X X18 X X19 X X20 X X21 X X22 X X23 X X24 X X25 X X26 X X27 X X28 X X29 X X30 X X31 X X32 X X33 X X34 X X35 X X36 X X37 X X38 X X39 X X40 X X41 X X42 X X43 X X

Digitized Temperature 01Digitized Temperature 02Digitized Temperature 03Digitized Temperature 04

Probe Thermal Telemetry




Digitized Temperature 05Digitized Temperature 06Digitized Temperature 07Digitized Temperature 08Digitized Temperature 09Digitized Temperature 10Digitized Temperature 11Digitized Temperature 12Digitized Temperature 13Digitized Temperature 14Digitized Temperature 15Digitized Temperature 16Digitized Temperature 17Digitized Temperature 18Digitized Temperature 19Digitized Temperature 20Digitized Temperature 21Digitized Temperature 22Digitized Temperature 23Digitized Temperature 24Digitized Temperature 25Digitized Temperature 26Digitized Temperature 27Digitized Temperature 28Digitized Temperature 29Digitized Temperature 30Digitized Temperature 31Digitized Temperature 32

Digitized Temperature 37

Digitized Temperature 33Digitized Temperature 34Digitized Temperature 35Digitized Temperature 36

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BAU Manager 2-Probe IRU Telemetry Packet

16 Bit F E D C B A 9 8 7 6 5 4 3 2 1 0 16 Bit F E D C B A 9 8 7 6 5 4 3 2 1 00 321 332 343 354 365 376 387 398 409 41

10 4211 4312 4413 4514 461516171819202122232425262728293031 Y-IRU Sample 04

Probe IRU Telemetry

Y-IRU Sample 02Y-IRU Sample 03

Y-IRU Sample 00Y-IRU Sample 01

X-IRU Sample 18X-IRU Sample 19






X-IRU Sample 06 Y-IRU Sample 18X-IRU Sample 07 Y-IRU Sample 19




Packet Time Stamp, Seconds Y-IRU Sample 08Y-IRU Sample 09

Packet Time Stamp, SubSec Y-IRU Sample 10Y-IRU Sample 11

CCSDS Primary HeaderY-IRU Sample 05Y-IRU Sample 06Y-IRU Sample 07

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BAU Manager 2-IDPU Low Rate Telemetry

4 Types of Low Rate Telemetry packets collected fromIDPU Ref THEMIS IDPU/ESA-to-Probe Interface Control Document, (THM_SYS_101):

State of Health 1 State of Health 2 Flux Gate Magnetometer Memory Dump

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BAU Manager 2-Commands and Housekeeping Telemetry

Commands• BA2 Noop• Reset BA2 Counters• Queue IDPU Command• Queue BA2 Command• Flush IDPU Queue• Disable SOH Telemetry Processing from IDPU (ignore)• Disable FGM Telemetry Processing from IDPU (ignore)• Enable All Telemetry Processing from IDPU

Telemetry• BA2 Commands Processed• BA2 Commands Rejected• BA2 RAM Mask 1 - 7• Number of IDPU Commands Queued• Number of IDPU Command Packets sent successfully• Number of IDPU Command Packets sent in error • Number of IDPU SOH Packets received correctly• Number of IDPU SOH Packets received in error• Number of IDPU FGM Packets received correctly• Number of IDPU FGM Packets received in error

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BAU Manager 2-Events

Events• Invalid Command Received• Invalid Switched Service Command• Error Sending Command Packet to IDPU• Error Receiving Telemetry Packet from IDPU• Switched Service Error• Invalid IDPU Command• IDPU Command Queue Overflow• IDPU Command Queue Flushed• IDPU Command Processing Disabled• IDPU Command Processing Enabled• IDPU Telemetry Processing Disabled• IDPU Telemetry Processing Enabled

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Stored Command Processing

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Stored Command Processing-Functional Requirements

Absolute Time Sequences (ATS)– 5 Days Autonomous Spacecraft Commanding– 2 ATS Buffers, 8192 bytes each

• Requires 65 seconds to upload at 1kps rate– Assuming average CCSDS command size = 22 bytes ( 14 bytes header + 8 bytes data )

• 372 Commands (Steps) per ATS– 1 ATS can be active at any one time

Relative Time Sequences (RTS)– 5 Days Autonomous Spacecraft Commanding– 32 buffers, 256 bytes each, change since PDR– Requires 2 seconds to upload per RTS (64 total = 131 seconds to load all 64)– Assuming 12 byte commands size = 11 commands (Steps) per RTS – 16 RTS can be active at any one time

Concurrent execution of 1 ATS and up to 16 RTS– 8 Commands Per Second, ATS and RTS Combined

Command Driven– Receives Ground Commands to control execution of ATSs, RTSs, and manage the sequence buffers.– RTS also initiated from Limit Monitoring Task

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Stored Command Processing-SC Table, ATS, RTS Format

Absolute Time Sequence Command ( ATS Command )

Command Number

UT Time Tag( seconds ) CCSDS Command Packet

2 BYTES 4 BYTES VARIABLE

Relative Time Tagged Command ( RTS Command )Relative TimeTag

CCSDS Command Packet

2 BYTES VARIABLE

2 * 8192 Bytes Space for ATSs

Table ID Table Function WriteEnabled

Max Bytes

(2)Copy from EEPROM

0thru31

SC Buffers 0-31(1) R/W 256 (RTS Dependant)

32 * 256 Bytes Space for ATSs

1. Last two entries are reserved for ATSs2. Last two entries accommodate buffer size for ATSs

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Stored Command Processing-Commands

Commands• SC No Operation• SC Reset Counters• SC Start Absolute Time Sequence• SC Stop Absolute Time Sequence• SC Start Relative Time Sequence• SC Stop Relative Time Sequence• Disable Relative Time Sequence• Enable Relative Time Sequence• Switch Absolute Time Sequence• Absolute Time Sequence Jump

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Stored Command Processing-Telemetry

Telemetry ( 1 of 2 )• Number of SC ground commands processed • Number of SC ground commands rejected • Number of ATS patches successfully completed• Number of ATS loads successfully completed • Number of ATS patches aborted due to error• Number of ATS loads aborted due to errors• Number of free bytes in ATS buffer A• Number of free bytes in ATS buffer B• Current ATS Buffer Executing • Current ATS state• ATS command number Pending for dispatch• Indication of ATS switch pending• Dispatch Time for next ATS command• Total count of all failed RTS activation attempts• Total count of all RTSs successfully activated• Number of RTS loads aborted due to errors• Number of RTS loads successfully completed • Number of active RTSs• The next RTS command will come from this RTS

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Stored Command Processing-Telemetry

Telemetry ( 2 of 2 )• The UTC when the next RTS command will execute• RTS executing bit map• RTS disabled bit map• The total number of commands sent out by all ATSs• The total number of commands with errors for all ATSs• The total number of commands sent out by ALL RTSs• The total number of commands with errors for ALL RTSs• The ATS sequence number of the last • ATS command which caused an error • The ATS command number of the last • ATS command which caused an error• The RTS sequence number of the last• RTS command which caused an error• The word offset of the last RTS command which caused an error

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Stored Command Processing-Events

Events ( 1 of 2 )• SC Task Initialized• Absolute Time Tagged Sequence %c Execution Started• Absolute Time Tagged Sequence Aborted• Absolute Time Tagged Sequence Execution Completed • Absolute Time Tagged Sequence Switched • Relative Time Sequence Aborted• Relative Time Sequence #%03d Execution Completed • RTS Number %03d Started• All ATS commands were skipped, ATS stopped• ATS Jump Failed: No active ATS• Invalid SC Command Received• Start ATS Rejected: Invalid ATS ID• Start ATS Rejected: ATS Already Executing• Start ATS Rejected: ATS Not Loaded• Switch ATS Rejected: ATP is idle• Start RTS Rejected: Invalid RTS ID• Start RTS %03d Rejected: RTS Disabled• Start RTS %03d Rejected: RTS Not Loaded• Start RTS %03d Rejected: RTS In Use• Stop RTS Rejected: Invalid RTS ID • Disable RTS Rejected: Invalid RTS ID• Enable RTS Rejected: Invalid RTS ID• Buffer Parsing Error: ATS Load/Patch Aborted

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Stored Command Processing-Events

Events ( 2 of 2 )• ATS %01d Currently In Use: Load Rejected• RTS Currently In Use: RTS Load Aborted• Invalid RTS ID: RTS Load Aborted• RTS Parsing Error: RTS Load Aborted• Start RTS %03d Rejected: Invalid Command Length• Anomalous Input Received (Unrecognized packet id) • ATS Command Number Mismatch: Command Skipped• Command Distribution Failed: RTS Stopped• Invalid ATS Command Status: Command Skipped• Switch ATS Failure: Destination ATS Not Loaded• Invalid Length Field in RTS Command, RTS Aborted• ATS Command Failed Checksum: Command Skipped• Command Failed Checksum: RTS Stopped• Begin ATS

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Data Storage

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Data Storage-Functional Requirements

Controls management of the Bulk Memory

Creates Transfer Frames from Telemetry Packets prior to storage

No Hardware EDAC on Bulk Memory (Change since PDR)– Transfer Frames are stored into Bulk Memory in triplicate– Telemetry Processing Task invokes a “2 out of 3 match” decision when

retrieving Transfer Frames from Bulk Memory.– Checksum Task contains a function to “scrub”, i.e, compare 2 out of 3

frames as low priority, background function.

Memory is divided into distinct areas called Virtual Recorders (VR) for each user and is capable of exercising a variety of storage and management options for each Telemetry Type to be stored

Simultaneous Playback and Record is supported

Science Data is NOT handled by Data Storage; only realtime telemetry, dumps, and events.

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Data Storage-Storage Filter Table

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Packet APID


1


0

1

1888111

1

Filter Sequence (1)

160301111


Data Storage-Virtual Recorder Map

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Packet APID


1

1111

Virtual Recorder

211

10

1111

1

111


Data Storage-Commands

Commands• No Operation• Reset Counters• Close Data Set• Release Data Sets• Release By Sequence Number• Rewind• Start Playback• Abort Playback• Start Continuous Playback• Start Retransmit• Retransmit By Sequence Number• Enable Data Overwrite• Disable Data Overwrite• Dump Event Buffer• Abort Dump• Change Filter Table

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Data Storage-Telemetry

Telemetry• DS Commands Processed Counter • DS Commands Rejected Counter • Current Filter Table• Event Recorder Packet Counters• Total Free Memory Blocks• Last Telemetered Retransmit Number• Last Retransmit Virtual Recorder• Retransmit Sequences Not Yet Sent• Retransmit Sequence Error Counter• The DS Flight Software shall provide the following telemetry in Realtime for each Virtual Recorder ( 1 and 2):

• Total Available Memory Blocks• Data Set 3 Sequence Number• Data Set 2 Sequence Number• Data Set 1 Sequence Number• Data Set 0 Sequence Number• Last Recorded Sequence Number• Last Telemetered Sequence Number• Continuous Playback On Flag• Playback In Progress Flag• Retransmit In Progress Flag• Overwrite Enabled Flag• Realtime Dump In Progress Flag• Virtual Recorder Overflow Flag

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Events ( 1 of 3 )• Data Storage Initialization Complete• Bulk Memory Restored From Backup• Bulk Memory Formatted, Blocks• Dump Events Rejected By TO• Dump Events Rejected, Invalid DataSet• Start Cont PB Rejected, Invalid VR• Start PB Rejected, Invalid VR• Dump Events Rejected, Dump In Progress• Mod Filter Tbl Rejected, Invalid Filter Tbl• Abort PB Rejected, Invalid VR• Close DataSet Rejected, DataSet 0 Empty, VR• Start Cont PB Rejected, CPB or PB In Progress VR• Start PB Rejected, Invalid DataSet• Start PB Rejected, DataSet Empty• Start PB Rejected, Cont PB In Progress• Start RX Rejected, Invalid DataSet• Start RX Rejected, DataSet Empty• RX Rejected, RX Sequence In Progress• Start RX Seq Rejected, RX Sequence In Progress• Start RX Seq Rejected, Invalid VCDU• Start PB Rejected, Not Continuous, VR• Quota Table Rejected, VR Quota Not Avail

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Events ( 2 of 3 )• Release Rejected, Invalid DataSet• Release Rejected, Data In Use, VR• Release Rejected, DataSet Empty• Release Rejected, Invalid VR• Release Rejected, Invalid VCDU• Rewind Rejected, DataSet 0 Empty• Rewind Rejected, Cont PB In Progress• Start RX Rejected, Not Continuous• Start RX Seq Rejected, Not Continuous• Start RX Seq Rejected, Invalid Num Of Seq• Cont PB Rejected, Not Continuous• Start RX Rejected, Invalid VR• RX Rejected • Seg Tbl Rejected, Not On D_Word Boundry• Seg Tbl Rejected, Segment Too Small• Seg Tbl Rejected, Address Out Of Range• Rewind Rejected, Invalid VR• Close DataSet Rejected, Invalid VR• Disable Overwrite Rejected, Invalid VR• Seg Tbl Rejected, Addresses Overlap• Quota Table Rejected, Invalid Guard Band• Close DataSet Rejected, Cont PB In Progress

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Events ( 3 of 3 )• Start RX Seq Rejected, Invalid VR• Seg Tbl Rejected, Backup Seg For Storage• Seg Tbl Rejected, Invalid Backup Seg• Enable Overwrite Rejected, Invalid VR• Seg Tbl Rejected, Backup Seg Too Small• Seg Tbl Rejected, Start Seg > End Seg• Command Rejected, Bad Function Code• Command Rejected, Bad Packet IDRX Rejected• Load Tbl Rejected, Invalid Tbl ID• VR Quota Overflow• Bulk Memory Segments Too Large For LLT• Alloc Quota Exceeds Avail Memory• Memory Not Avail In Get Block, VR• Memory Not Avail In Release Block, VR• Internal Collision Potential, VR• Close DataSet Rejected, Invalid VCDU• VR Quota Below 0• Event Packet Not Found In Translation Table• Odd Length Packet -- Packet Discarded

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ACS

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ACS-Components

Since PDR, refinements of THEMIS ACS requirements and definitions have resulted in the ACS software being divided into 3 tasks: – Sun Synchronous Processing (Sun Sensor Task)

• Sun crossing interrupt

– 20 Hz Thruster Firing

– 1 Hz IRU Processing

Only ACS software implementation will be covered– ACS functionality will be discussed at ACS CDR peer review

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ACS-Software Context

SS

Sun Sensor Sun Angle and Time

Start and

Stop Times

TFIRU

Spin Rate

Start and Stop Time Buffer

Start Time Register

Stop Time Register

Power

Card

20 IRU

X & Y Values

Propagated Attitude

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Sun Sensor Task-Functional Requirements

Sun Synchronous Processing– FSW.AC.02 Sun Angle Determination– FSW.AC.03 Spin Rate Determination– FSW.AC.04 Latched Sun Crossing Adjustment– FSW.AC.05 Eclipse Logic for Accurate Spin Rate Determination– FSW.AC.06 Thruster Start and Stop Time Computation– FSW.AC.07 Sun Synchronous Thruster Firing Accommodation – FSW.AC.08 Continuous Thruster Firing Accommodation – FSW.AC.09 Pulse Train Thruster Firing Accommodation – FSW.AC 11-14, 19 Thruster Firing Shut Down for Data Outside

Valid Range

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Thruster Firing-Functional Requirements

Thruster Firing– FSW.AC.07 Sun Synchronous Thruster Firing Accommodation – FSW.AC.08 Continuous Thruster Firing Accommodation – FSW.AC.09 Pulse Train Thruster Firing Accommodation

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IRU Processing-Functional Requirements

IRU Processing– FSW.AC.01 Quaternion Propagation – Deleted

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Sun Synchronous Processing -Top Level Data Flow

Read Latched Sun Angle And Time

Sun CrossingPulse

Adjust Sun crossing time based on

Calibration valueCorresponding with

Sun Angle

Sun Crossing TimeSun Angle

Eclipse LogicSpin Rate

Validity Check

Adjusted Sun Crossing Time

Compute Spin Rate

Delta AngleDelta Time

Adjusted Sun

Crossing Time

ValidityFlag

Thruster CommandProcessing

Spin Rate

Time from Previous Sun Crossing

Angle from PreviousSun Crossing

Spin RateLimit

Monitoring

SpinRate

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Thruster Firing-Top Level Data Flow

Thruster Command Processing

ComputeThruster Start/

Stop Times

Algorithm Varieswith Thruster

Mode

Start Times Stop TimesBuffer

Thruster 1

Thruster 2Thruster 3

Thruster 4

ReadCommand

Packet

Thruster Command Packet

Thruster ModeThruster Command Inputs

ThrusterCommand

Values

ThrusterStart/Stop

Times

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20Hz Thruster Firing-Top Level Data Flow

IF MET > Start Time Register then

Start Time Register = Buffer StartTime

Thruster 1

Thruster StartTimes

Thruster StopTimes

Start Time Register

IF MET > Stop Time Register then

Stop Time Register = Buffer StopTime

Stop Time Register

Thruster 2Thruster 3

Thruster 4

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IRU Processing-Top Level Data Flow

IRU Processing 1 Hz

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-Deleted stub only-


ACS-Commands

Thruster Maneuver Command– Thruster Mode

• Sun Synchronous Mode• Continuous Mode• Pulse Train Mode

– Thruster Selection– Thruster Mode Command Inputs

Additional commands will be defined with the support of the ACS analysis team

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ACS-Processed Telemetry

Thruster Events– Begin/end sun synchronous thruster maneuver– Begin/end continuous thruster maneuver– Begin/end pulse train thruster maneuver

Limit Monitoring Events– IRU failure– Attitude quaternion out of range - deleted– Spin rate out of range– Nutation angle out of range– Aspect angle out of range

Additional events will be defined with the support of the ACS analysis team

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Discrete Telemetry– Thruster mode– Thruster maneuver active– Propagated quaternion in range - deleted– Spin rate in range– Nutation angle in range– Aspect angle in range– Eclipse logic

Power Telemetry– Sun sensor power– IRU power

Thermal Telemetry– Sun sensor base plate temperature– IRU temperature

Additional telemetry will be defined with the support of the ACS analysis team

ACS-Additional Telemetry

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ACS-Events

Thruster Events– Begin/end sun synchronous thruster maneuver– Begin/end continuous thruster maneuver– Begin/end pulse train thruster maneuver

Limit Monitoring Events– IRU failure– Attitude quaternion out of range - deleted– Spin rate out of range– Nutation angle out of range– Aspect angle out of range

Additional events will be defined with the support of the ACS analysis team

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Limit Monitoring

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Limit Monitoring-Functional Requirements

Limit Monitoring – Monitor points within telemetry packets to be within specified limits.– Upon violation of limit LM Software will initiate actions:

• Relative Time Sequence• Event

Chaining – Up to 8 points may be chained, i.e, ( Packet_A_Point_01 > x) AND

( Packet_B_Point_04 = y ) ….– Up to 8 levels

LM points are defined in an upload-able table.– Monitoring may be globally disabled/enabled, or,– Each point can be individually enabled or disabled

Watchmode supported, i.e, no RTS’s are executed upon limit violation

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Scheduled upon Receipt of a Telemetry Packet:

Ground and stored commands are generally asynchronous and DM will execute the command until completion discounting preemption by interrupts and higher priority tasks. DM performs monitoring of telemetry packets routed to it by the Software Bus, and the keeping of statistics of any monitored points within those packets. DM will accept all commands at all times

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IRU Packets are not processed by LM Software; for THEMIS, a separate task is used to receive the IRU packets, and perform Limit Monitoring actions

Cold Restart Considerations:– Limit Table is loaded from EEPROM– Limit Monitoring Globally Enabled– All Limit Monitor Points Enabled– RTS Execution Enabled

Warm Restart Considerations:– Existing Limit Table is preserved– Limit Monitoring Globally Enabled– All Limit Monitor Points Enabled– RTS Execution Enabled

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Limit Monitoring-Software Context

LM

CPSC

HS TO

RTSRequests

Stored Commands

Ground Commands

HKRequest

HKTelemetry Events

FSW Telemetry

Thermal Telemetry

Power Telemetry

Switched Services Telemetry

ACS Telemetry

DS

FSW Tasks

From FSW Tasks:

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Limit Monitoring-Top Level Data Flow

3.0Process

Command

2.0ProcessLimit

4.0Process

HK Request

1.0LM Main

SC

Telemetry Packets

Commands

H/K Requests

H/KTelemetry

Events

HS

Initiate RTS

Events

H/KReqs

Cmds

Tlm Pkts

Limit TableMMTable

Load/Dump

LimitMonitorEntries

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Limit Monitoring-Main 1.0

2.0 ProcessLimit

Telemetry?

Command?

H/KRequest?

3.0 Process

Command

4.0 Process

H/K Request

Yes

Error:Generate

Event

Pend on Packet

Init

Yes

Yes

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Limit Monitoring-Process Telemetry 2.0

APID Found?

PointEnabled?

Process Offset, Type,

Operator, Limit Value,

Chaining

Limit Violation?

RTS != 0AND

Watchmode =FALSE?

SubSystemID = 0?

Initiate RTS

Build Event using SubSystem ID, Event ID, Actual Value, Limit Value

Send Event

No

LM Enabled?

Yes

Enter

ReturnUpdate

HK Telemetry

NoNo No No

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Limit Monitoring-Limit Monitor Table Format

Field Size Description

APID u_word APID of Packet that contains point to be monitored

Enable u_byte 0 = MONITORING_DSABLED1 = MONITORING_ENABLED

Offset u_byte Offset (pointer) within Packet data area of point to be monitored

Type u_byte 0 = U_BYTE, 1 = U_WORD, 2 = U_DWORD

Operator u_byte 0 = GREATER_THAN1 = LESS_THAN2 = EQUAL3 = NOT_EQUAL

Chaining u_byte 0 = NO_CHAINING, 1 = AND, 2 = OR

Chain Index u_byte Chained point, 1 – 79. Ignored if Chaining == NO_CHAINING

RTS ID u_byte 0 = NO_RTS_EXECUTED1-8 = ID of RTS to execute upon limit violation

Subsystem ID for Event

u_byte 0 = Do not generate an event upon limit violation1-255 = Subsystem ID to be included in event upon limit violation

Event ID u_byte Irrelevant if Subsystem ID = 0. If Subsystem ID is not zero, Event ID must match that defined in Ground System.

Count u_byte 0 = Take action (RTS and/or Event) immediately upon limit violation1-255 = Number of consecutive samples (Packets) that violate limits before taking action

Limit Value u_dword Limit Value, MSB……LSB. Included in event if Subsystem ID is specified

Limit Monitor Table Consists of 80 Limit Entries.

Each entry is 16 bytes in length

Total Table Length is 1280 bytes.

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Limit Monitoring-Commands

Commands:– LM No-Operation– LM Reset Housekeeping Counters– Enable Limit Monitoring Globally– Disable Limit Monitoring Globally– Enable Watchmode (no RTS execution)– Disable Watchmode (RTS Execution enabled)– Enable Monitor Point ( Point ID, 0-79 )– Disable Monitor Point (Point ID, 0-79 )– Reset Limit Monitoring Counters

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Limit Monitoring-Telemetry

Telemetry:– LM Commands Processed– LM Commands Rejected– Global Limit Monitoring Enable/Disable Status– Watchmode Status– Limit Monitor Active Flags– Total Telemetry Packets Received– Total Telemetry Packets Processed– Limit Violation Count– Stored Command Execution Count– Monitor Point Failure Latch

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Limit Monitoring-Local and Probe Events

Events (Local to LM Task)– Invalid Command Received– Global Limit Monitoring Enabled/Disabled– Watchmode Enabled/Disabled– Limit Violation

Events (Limit Violations)– Subsystem Defined

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Checksumming

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Checksumming-Functional Requirements

Checksum will be a 16 bit Add-Without-Carry (FSW.CS.02)

CS should check memory in 1K blocks (FSW.CS.03)

Validate all RAM (excluding bulk) at minimum rate of 10 minutes per 500K (FSW.CS.04)

Validate all EEPROM at a minimum rate of 60 minutes per 500K (FSW.CS.05)

Coordinate loading of new tables with MM to verify newly uploaded data (FSW.CS.05)

Memory to be validated by Checksumming:– Instruction RAM– Table RAM– EEPROM

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Checksumming-TBD Requirements

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Memory Scrub Notes

Bulk Memory Scrubbing is used to validate Bulk (Recorder) Memory

Bit-level 2 out 3 vote algorithm implemented

THEMIS CS will Scrub Effective 16MB Bulk Memory– Once per day minimum

Table Driven:– Uploadable Segment Table defines memory ranges to scrub– Default: All Bulk Memory is scheduled for scrubbing– 16 Address Segments May be specified


Checksumming-Memory Scrub Algorithm

Memory Scrub Notes

For each bit, bitN with 3 copies A, B, and CIF A == B

IF B == CNo error

ELSEError detected in C

ELSE IF B == CError detected in A

ELSE IF A == CError detected in B

Assuming memory is scrubbed once a day, the probability of an undetected failure over 2 years is < 4 E –10

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Checksumming-Top Level Data Flow

4.0Process

Command

3.0ScrubRange

5.0Process

HK Request

1.0CS Main2Hz

H/K Requests

H/KTelemetry

Events

HS

Events

ScrubTableMM

Table Load/Dump

Checksum Table 2.0

ChecksumRange

Cmds

Events

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Checksumming-Rates

RAM Type Worst Case Size

Bytes Checksummed per Second

Time Required to Checksum entire area

Instruction RAM 384K bytes 1024 6.4 minutes

Table RAM 128K bytes 1024 2.1 minutes

EEPROM 512K bytes 1024 8.5 minutes

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Checksumming-Memory Scrubbing Segment Table

Segment Start Address Segment End AddressStart Address 1 End Address 1

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Spare Spare

Up to 16 Address ranges may be specified to account for bad memory blocks

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Checksumming-Commands

Checksumming Commands No-Operation Command Reset Counters Enable all checksumming Disable all checksumming Enable Instruction RAM checksumming Disable Instruction RAM checksumming

Enable Table RAM checksumming Disable Table RAM checksumming Enable EEPROM checksumming Disable EEPROM checksumming Recompute all Instruction RAM checksum Recompute all Table RAM Checksum Recompute all EEPROM Checksums Recompute checksum on each type of targeted memory

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Checksumming-Commands

Memory Scrubbing Commands Set Processor Memory Scrub Rate( New Rate ) Corrupt Memory (Location, Data) Reset Error Counters Enable Scrubbing Disable Scrubbing

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Checksumming-Telemetry

Checksumming Telemetry Command Execution Counter Command Error Counter Instruction RAM CheckSum Enabled Flag EEPROM CheckSum Enabled Flag Table RAM CheckSum Enabled Flag CheckSum Enabled Flag EEPROM Master Checksum Instruction RAM Segment Master Checksum Table RAM Master Checksum Table Segment ID of last EEPROM Error Table Segment ID of last Instruction RAM Error Table Segment ID of last Table RAM Error EEPROM Error Count Instruction RAM Error Count Table RAM Error Count

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Checksumming-Telemetry

Memory Scrubbing Telemetry Bulk Memory Error Count Current Scrub Address Scrub Enable Flag Estimated Scrub Time for Bulk Memory

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Checksumming-Events

Checksuming Events Task Initialized <TYPE> Invalid Command <CMD ID> Checksum Miscompare <Address>

Memory Scrubbing Events Transfer Frame Error at Location <Address> Bulk Memory Scrubbing Enabled/Disabled Bulk Memory Command Rejected Bulk Memory Rate Updated

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Memory Management

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Memory Management-Functional Requirements

Provides functions to Load and Dump Memory– Tables (RAM)

• Stored Command Sequences (RTS/ATS)• Data Storage VR Map and Filter Tables• Telemetry Output Filter Tables• Checksum and Memory Scrub Segment Tables• Critical Events (Health and Safety)• Limit Monitoring (TSM)

– EEPROM– SRAM

Tables may be committed to EEPROM– Otherwise must be reloaded upon Cold Restart of Processor

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Memory Management-Context

MM

SC

HS

TO

Stored Commands

HKRequest

HKTelemetry Events

CP Ground Commands

Dump Packets DS

CS

Table Checksums

Dump Requests

Tables

FSW Tasks

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Memory Management–Commands

Commands:– MM No-Op– MM Reset Counters– Write to Hardware Address– Read from Hardware Address– Dump Memory– Abort Memory Dump– Load Memory– Select Stored Command Table– Select System Table– Load Table– Dump Table– Commit Table– Reset Table Operations

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Memory Management–Telemetry

Telemetry:– Number of MM ground commands processed– Number of MM ground commands rejected– Number of Dump Copies Left– Dump Active– Table Flags– From Image– Table ID– Table Size– Table Checksum– Table Commit Success Count– Table Commit Failure Count– Table Words Loaded– Flight Software Version

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Memory Management–Events

Events (by group):– Task Initialized– Invalid Command Received– Dump Command Rejected: Invalid Table ID/Memory Address/Size– Load Command Rejected: Invalid Table ID/Memory Address/Size– Invalid Table Checksum– Dump Command Rejected: Dump in Progress– Dump Aborted– Dump Aborted by Ground Command– Commit Rejected– Select Rejected– Memory Write Failed– Memory/Load Table Checksum Failure– Table Operations Ended

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11. Problem Tracking and Reporting

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Problem Tracking and Reporting-Issue Tracking System

ITS tracks 2 categories of items– Actions

• Request for Actions (RFAs)• Review Item Discrepancy (RID)• Action Items (AIs)• Requirements Changes

– Issues• PRs

Additional types can be added if necessary Complete Project visibility including NASA IV&V (West VA) Web based secured system with project user accounts

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Problem Tracking and Reporting-Issue Tracking System Action Workflow

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Problem Tracking and Reporting-Issue Tracking System Issue Workflow

Problemfound?

Submit issueto ITS

Manager reviewsissue

Is issue valid?Send back tosubmitter No

Agree? No

Yes

Submitter testssolution

Is problemfixed?

Yes

Close Problem

Yes

Yes

Developer checksin solution w/

associated PR #

No

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Flight Software Testing-Detailed Flight Software

Test EnvironmentBackupVirtualSat Pro

GSE Interface

Component

BAU

Spacecraft Processor

Power Card

Thrust On/Off Status

Realtime Spacecraft Component

Thruster Model

Dynamics andEnvironment

Models

Thrust Force

Sun Sensor Model

IRU B Model Angular Rate

Truth AttitudeSun Pos

Comm Card

FlightSoftware

Bridge H/W

ITOS Ground System

STOL

DatabaseTelemetry Receive

Archives

Plotting

Web-based Displays

Command Transmit

Text Displays

Sequential Prints

Config Monitors

Static Telemetry Component

Digital/Analog

Analog/Digital

IRU A Model Angular Rate

IRU B Rate

IRU A Rate

Sun Crossing Pulse & Angle

TransponderThermistorLatch ValveArming PlugSeparation

Power

Sun Sensor & IRU Data

ThrusterFire Cmds

vSat Config Cmds

vSat TruthTlm

FSW Commands

FSW Telemetry

Transponder,Thermistor, Latch Valve,

Arming Plug, Separation, &Power Status

Transponder Ctrl & Heater Power Cmds

Magnetometer Model

Magnetic Field

Low Rate IDPU RS-422 Interface

High Rate IDPU

Telemetry Simulator

High Rate IDPU RS-422

Interface

TruthData &Time

Config Cmds

Serial I/F

Serial I/F

External Timing Card

Low Rate IDPU Telemetry

Component

FGM Data

1 Hz Pulse

Converted 1 Hz Pulse

Time

Sun Crossing Feedback Pulse

TimeConfig Cmds

Hardline Uplink/Downlink

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Flight Software Testing-Test Verification Methods

Static Verification– Input controlled– Output data predetermined

• Discrete data• Data within a specified range• Time period between events

– Data processed during run time

• Calculations within test procedure

• Validation within test procedure

– Results read off-line

Dynamic Verification– Initial conditions defined– Data recorded over period

of time– Output data post-

processed• Calculations• Graphs

– Output data analyzed• THEMIS test team• THEMIS analysts

– Output data compared to analyst simulation results

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Flight Software Testing-Test Control Methods

Configuration Management– THEMIS Software Test Plan

• Requirements Traceability Matrix• Test Summary Matrix

– THEMIS Flight Code• Only labeled builds are used for build/acceptance testing

– Test Procedures– VirtualSat Pro– ITOS

• Command database• Telemetry database

– Telemetry and Command Configuration Database Pass/Fail Criteria

– A test will pass when results match expected within an acceptable tolerance– A test may fail due to:

• Anomalous conditions– Test equipment failures– Test procedure errors

• Anomalous performance– Coding errors– Design errors

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Flight Software Testing-Build/Acceptance Test Results

Issue Tracking System– Record of anomalous performance

Individual Test Report– Procedure name– Date of test– Test conductor– Software build– Ground support equipment version information– Simulink simulation version (if used for evaluation of ACS test results)– Test results evaluation (pass/fail)– Issues submitted to Issue Tracking System (ITS)– Test objective– Test results summary– Analyst approval and comments (for ACS software testing)

Overall Test Status Report– Acceptance Test Summary

• Any significant problems encountered during testing– Test History Matrix

• All test procedures run for each software build• Execution date• Pass/fail status • Related ITS issues

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THEMIS FSW CDR 6/15/2004 ITAR Restricted Data Page 1 THEMIS T IME H ISTORY OF E VENTS AND M...

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