Micro/Nano-satellitesMicro/Nano satellitesOn-board Software Framework Design
andandIts Implementation in Hodoyoshi
S t llitSatellites
Junʼichi Takisawa, Shinichi Nakasuka(ISSL, The University of Tokyo)
Sotaro Kobayashi, Tran Ngoc Lan Huong, Shinichi Kimuray , g g,(Tokyo University of Science)
5th Nano-Satellite Symposium, 2013/11/20
OutlineOutline2
Background
Overview of the Framework
D i D i d C Pl tf C bilit Driver Design and Cross-Platform Capability
Cmd/Tlm Handling Application Cmd/Tlm Handling Application
Verification Platform
Conclusions
Background
Evolutions of Micro/Nano-S t llitSatellites
4
Advanced Missions and LongerAdvanced Missions and Longer Lifetime
Requires Higher Reliability
Problems and StrategyProblems and StrategyHow to realize higher reliability with
5
How to realize higher reliability with Low development cost Short development period
Strict requirementsfor micro/nano-satellit Short development period
Key Strategy = Reuse of satellite components Proven components increase reliability directly
for micro/nano satellit
Proven components increase reliability directly Reuse reduces many tests
and realizes low cost and short development period Reuse enables feedback from past operation
and realizes continuous improvement of reliability
Components = Hardware and also Software
Hardware Side StatusHardware Side Status Many proven components and knowledge
6
Many proven components and knowledge are accumulated from past missions
Many Micro/Nano-satellite components companiesy / p pform a sustainable supply chain
Satellite AA
Satellite B
Software Side StatusSoftware Side StatusInsufficient
7
Insufficientknowledge accumulationaccumulation Each satellite has each
independent softwarep There is no reuse-
oriented satellite ft
Software should absorb hardware and mission
software On-Board Software for Satellite A
On-Board Software for Satellite B
differences in each satellite.
In order to realize i t d ftreuse-oriented software,
systematic framework is really needed
Completely Different
On-Board Software F kFramework
8
tion Framework Based Environment
Extr
act Application
On-Board Software
Framework
SpecificOn-Board Softwareed
ge E
Framework Software
FeedbackKnow
le
FeedbackK
Overview of the Framework
Overview of the FrameworkOverview of the Framework10
Mode Managementyste
m
TransitionManageme Task ManagementCo
reSy
nt
Task ListTransitSeque
Mid D
Apper S
ide Task List
tion ence
ddlewa
re
Driver
plicationUs
e
S/W design flow on this F kFramework
R i t D fi iti11
Requirement Definition~~~~~~
~xxxxxxxxx ○×▽□▽○※-----------
Mode Definitionx ----
Task List DefinitionMODE A MODE B MODE C
Task Task
Application Definition
Task A Task B Tas
k C Task D Task A Task B Tas
k C Task
t Application Definition
App. A
App. B
App. C
App. D
Example of H3 Mode D fi itiDefinition
12
StandbyM d
Initial Sequence ArmingSafeM d ModeMode
En
kout
S/C Sep. Cmd Cmd
ter to C
h Ch
eck
heckout
Fini
sh
Cmd
Checkout
Mode
t
Low Bat. VoltageLow Bat. Voltage
Example of H3 TaskListD fi itiDefinition
13
Step 0 10 20 30 40
Execution TimingStep 0 10 20 30 40
Top Level
Cycle 0
Cycle 1 <- WDB CLEAR <- Cycle Tag
Cycle 2 <- HRM TLM <- WDB
Cycle 3 <- AD590 Phase1
Cycle 4 <- STRx TLM
GS Packet Handler Interval 500 AOBC Packet Handler TLM Handler SHU TLM Debug PrintB2 Rx EPS TLM
B3 Tx
B3 Tx HRM
B3 Tx
B3 Tx
Screen
CMDB3 Tx
Packet Analyzer
B0 Rx Packet Analyzer
CCSDS Rx Analyzer B0 Rx Packet Analyzer Gen CCSDS Tx
B0 RxCCSDS Rx Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
Packet Analyzer
B0 Rx Packet Analyzer
B0 Rx
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS TxCycle 4 < STRx TLM
Cycle 5
Cycle 6
Cycle 7
Cycle 8
Cycle 9
C l 10 B2 R EPS TLM
B3 Rx SHU Packet Handler
B0 Tx
UVC
STRx
AD590 h0 3
TLM
PCU
CMD
BPDU
MPDU
B0 Rx Packet Analyzer
B3 Tx
B3 Tx
B0 Rx Packet Analyzer
B0 Rx Packet Analyzer
B3 Tx
B3 TxB0 Rx Packet Analyzer Gen CCSDS Tx
CCSDS Rx Analyzer
CCSDS Rx Analyzer
B0 Rx Packet Analyzer
CCSDS Rx Analyzer
B3 TB0 R P k t A l
B3 Tx
B3 Tx
B0 Rx Packet Analyzer
CCSDS Rx Analyzer
CCSDS R A l
CCSDS Rx Analyzer Gen CCSDS Tx
CCSDS Rx Analyzer
Gen CCSDS Tx
G CCSDS T
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Cycle 10
Cycle 11
Cycle 12 <- DC Rx
Cycle 13 <- AD590 Phase2
Cycle 14 <- STRx TLM
Cycle 15
B2 Rx EPS TLM
CSAS TLM
B2 Tx CSAS M-Side
AD590 ch0-3
AD590 ch3-7
AD590 ch8-b
AD590 chc-f
CSAS P-SideCCSDS Rx Analyzer
CCSDS Rx Analyzer
B3 Tx
B3 Tx
B3 TxB0 Rx Packet Analyzer Gen
B3 Tx
CCSDS Tx
B3 Tx
B3 Tx
B0 Rx Packet Analyzer
B0 Rx Packet Analyzer
CCSDS Rx Analyzer
B0 Rx Packet Analyzer
B0 Rx Packet Analyzer
B0 Rx Packet Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Cycle 16
Cycle 17
Cycle 18
Cycle 19
Heater Control
B3 Rx SHU Packet Handler
UVC
Heater Ctrl
B3 Tx
B3 Tx
B0 Rx Packet Analyzer
B3 Tx
B3 Tx
B0 Rx Packet Analyzer
B0 Rx Packet Analyzer
B0 Rx Packet AnalyzerCCSDS Rx Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
CCSDS Rx Analyzer
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
Gen CCSDS Tx
EachEach applications
Driver Design andDriver Design andCross-Platform Capabilityp y
Layered Design of Driver Softwarey g15
L d St t Fl ibilit i t H/WLayered Structure → Flexibility against H/W Differences
Application LayerApplication Layer
HeatCont
PackHandl
TLMGen
CMHand l
S/W U
D i Lterrol
ketling
Mn.
Driver-Application I/FAbsorb Component Differe
Dling
UVC
Driver Layer
PCU
Comm
STT
RWm.
Middleware Layer
Middleware-Driver I/FAbsorb Platform Difference
Hardware Layer
Drivers Cross-Platform C bilitCapability
H d hi 3 OBC16
Hodoyoshi-3 OBC
Data exchange
B CCHAN 1
GPS receiverSun sensorGyro sensor
between OBC
BoCCHAN-1y
Geomagnetic sensorStar sensorReaction wheelReaction wheelMagnetic torqure ・・・
Cmd/Tlm HandlingCmd/Tlm Handling Applicationpp cat o
Problems on Cmd/TlmS ftSoftware
18
Command and telemetry code are likely to be added or modified during the satellite gdevelopment process.
On-board software must correspond not only On-board software must correspond not only to mission design but also to the operation database of the ground systemdatabase of the ground system.
Adding … HumanCODE
Adding Modifying...
Human error
CODE
Automatic Code Generation System y
Satellite Design Documents
Ground System DatabaseTelemetry & Command
Documents
Ground System Database Generator
Telemetry & Command Code Generator
Auto-generated Source Code
Auto-generated Database
On-board Operation Direct ConnectionSoftware Software
Actual Generation System in Hodo oshi 3Hodoyoshi-3
20
Ground System Database Generator
Direct ConnectionOn-board Software
Verification Platform
Software Verification Stepsp22
① MILS (Model In-the-
② SILS(Software In- ③ HILS
(Hardware In-the-LoopLoop Simulation)
the-Loop Simulation)
(Hardware In-the-LoopSimulation)
RS422Testconfigurati
RS422-USB
on OBC
Things to test
Control Logic, mode transition
C code C code on OBC, Sensor/actuator drivers
Tools MATLAB/Simulink
MATLAB/Simulink, I/F soft
S/W: MATLAB/Simulink, LabVIEWH/W: AD converter, RS422-
Configuration of HILSConfiguration of HILS23
CMD
TLM
24
Conclusions
ConclusionsConclusionsP ti l i / t llit i hi h
26
Practical micro/nano satellite requires higher reliability than usual micro/nano satellites and “Reuse” is a key strategy to solve this problemReuse is a key strategy to solve this problem with low cost and short development period.
To establish reuse oriented satellite software To establish reuse oriented satellite software development environment, we design “On-bard Software Framework”.
The development of satellite software based on that framework is in progress under Hodoyoshi
d f l h b d fproject, and its first results have been used for Hodoyoshi-3 & 4.A l ti f ft d l d b Accumulation of software developed by many satellite developers based on the same framework is now being organized in UNISEC (university)
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