all star payload interface control document outline all ......satellite with 10 w of power during...
TRANSCRIPT
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
1
ALL STAR
Payload Interface Control Document Outline
ALL STAR-SYS.402.3
Revision Date Authored By Description
0 7/9/10 Jessica Brown Initial Release
1 1/4/11 Jessica Brown
Riley Pack
Tyler Murphy
Additional
Details Added
2 6/17/11 Tyler Murphy
Riley Pack
Additional
Details Added
3 5/15/12 Tyler Murphy Forming fixes,
Revision on
Appendix I to
include receive
antenna cutouts
Approvals
Originator: Tyler Murphy Date
Systems Engineer: Colin Towery Date
Project Manager: Jesse Ellison Date
Mentor: Chris Koehler Date
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
2
Table of Contents 0. Author’s Contact Information ................................................................................................. 3 1.0 Introduction ............................................................................................................................. 3
1.1 Purpose and Scope ........................................................................................................... 3 1.2 Acronyms ......................................................................................................................... 4 1.3 Project Description ........................................................................................................... 4
2.0 Performance ............................................................................................................................ 5 2.1 Command and Data Handling .......................................................................................... 5 2.2 Flight Software ................................................................................................................. 5 2.3 Communications............................................................................................................... 6 2.4 Electrical Power System................................................................................................... 6
2.5 Attitude Determination and Control ................................................................................. 7
2.6 Position Knowledge ......................................................................................................... 7 2.7 Structure ........................................................................................................................... 7
2.8 Propulsion......................................................................................................................... 8
3.0 Interfaces ................................................................................................................................. 8 3.1 Physical interfaces ............................................................................................................ 8
3.1.1 Structural Interface.................................................................................................... 8
3.1.2 Launch Environmental Testing ................................................................................. 9 3.1.3 Electrical Connections ............................................................................................ 10
3.2 Electrical Interfaces ........................................................................................................ 10 3.2.1 Physical Layer ......................................................................................................... 10 3.2.2 Data Link Layer ...................................................................................................... 16
3.2.3 Network Layer ........................................................................................................ 19
4.0 Command Dictionary ............................................................................................................ 24 4.1 Bus Interface to Payload ................................................................................................ 24 4.2 Payload Interface to Bus ................................................................................................ 24
5.0 Restrictions ........................................................................................................................... 24 6.0 Appendix I: Payload Envelope Drawings Using Provided Structure ................................... 25
7.0 Appendix II: Payload Envelope Drawings with Custom Payload Structure ........................ 28 8.0 Appendix III: Data Sheets ..................................................................................................... 33
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
3
0.0 Author’s Contact Information
Jesse Ellison
ALL-STAR Project Manager
Colin Towery
ALL-STAR Systems Engineer
1.0 Introduction
1.1 Purpose and Scope
The ALL-STAR program is designed to accelerate the rate at which small research and
technology based payloads are able to be launched by providing the satellite bus. Customers can
purchase the ALL-STAR bus which includes the satellite structure, power, communications,
attitude determination and control, command and data handling, and position knowledge. This
Interface Control Document (ICD) outlines the planned interfaces between the ALL-STAR bus
and any potential ALL-STAR payload as well as the planned capabilities of the ALL-STAR bus.
The Payload must also meet all of the requirements pertaining to their design that are stated in
the Cal Poly CubeSat Design Specifications document and may not be explicitly called out
within this ICD.
This is the fourth release of the payload to bus ICD, and is subject to change between the
release date and the first ALL-STAR delivery.
Figure 1: ALL-STAR layout and exploded view
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
4
1.2 Acronyms
Acronym Definition
ICD Interface Control Document
ALL-STAR Agile Low-cost Laboratory for Space Technology Acceleration and
Research
SYS Systems
COM Communications
CDH Command and Data Handling
EPS Electrical Power System
GPS Global Positioning System
STR Structures
PROP Propulsion
FSW Flight Software
ACS Attitude Determination and Control System
GUI Graphical User Interface
SPI Serial Peripheral Interface
1.3 Project Description
ALL-STAR is a 3U CubeSat bus currently being designed and developed by students at
the Colorado Space Grant Consortium (COSGC) as a partnership with Lockheed Martin Space
Systems Corporation.
The ALL-STAR program is designed to accelerate the rate at which small research and
technology-based payloads are able to be launched by utilizing a standard 3U CubeSat bus.
Customers can purchase the ALL-STAR bus which includes the satellite structure, power,
communications, attitude determination and control, command and data handling, and position
knowledge.
ALL-STAR is a low-cost 3U CubeSat bus capable of supporting the 1-year on-orbit
operation of a variety of space-based research payloads that can be configured and ready for
flight in 6 months through a simplified payload hardware and software interface. The goal is to
make ALL-STAR as flexible as possible by making the subsystems and the payload interface
modular and by including enough capabilities that it can be used for a wide variety of small
payloads. The structure will conform to the 3U CubeSat Specifications set out by CalPoly while
leaving half the internal usable volume for the payload. After launch, the structure deploys
additional solar panels and a drawer containing all of the electronics to increase the available
surface area, this can be seen in Figure 2. This allows the power system to provide the entire
satellite with 10 W of power during nominal power draw and 30 W of power during a peak
power draw. The payload will receive around 5 W of power nominally and can use the peak
power draw when the satellite does not have a communications pass. The downlink rate of the
COM system will be at least 250 kbps with a goal of 1 Mbps. Before being sent to the ground,
data is stored in the command and data handling system. The CDH system also handles all
subsystem interactions and has the capability of reading analog and digital sensors from the
payload. The software is being written in a modular way that can be easily changed from
mission to mission through a GUI. An onboard GPS receiver sends the satellite’s position,
accurate to within 100 meters, and current time to the bus and payload. In addition, ALL-STAR
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
5
has an active pointing system, which will be able to point the satellite to within 1° of its desired
location with a knowledge accuracy of 0.2°.
Figure 2: ALL-STAR in flight configuration
2.0 Performance
2.1 Command and Data Handling
The Command and Data Handling system will communicate with and manage all
subsystems as well as monitor and send commands to and from the payload. The CDH system
will also store data for the payload. The CDH system will provide identical subsystem interfaces
for nearly wire-free integration as well as a similar connector for the payload. The ALL-STAR
user will be provided with the part number for the payload half of the connector.
Item Capabilities provided to payload
Maximum Bus Speeds 20 Mbps
Configuration Memory 62.5 kB
Data Memory 3276.8 MB
2.2 Flight Software
The payload’s configuration will be completed through a GUI, simplifying the integration
of the payload’s software. This GUI will allow for drag and drop configuration interactions.
The user will be able to identify commands that need to be passed to the bus as wells as what
data needs to be sent to memory or to the ground. They will be able specify analog sensors or
digital messages. The necessary code needed in the bus configuration is automatically
generated. The figure below shows a screen shot of the initial revision of the GUI. This item is
currently in progress and is not currently ready for distribution to ALL-STAR users.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
6
Figure 3: Screen shot of the GUI in its current form
2.3 Communications
The communications system is responsible for transmitting data from the CDH system to
the ground. Using a software-defined radio and a cavity-backed spiral antenna, the
communications system will be capable of transmitting in the S-band ISM segment and receiving
in the UHF amateur segment near 430 MHz. The band will be defined by the ALL-STAR user
depending on the payload’s purpose or use. COM will also forward all commands from the
ground to CDH. The Colorado Space Grant Consortium uses a grounds station with a 3 meter
dish to close the link. ALL-STAR users are encouraged to use their own ground station with
similar or better capabilities.
Item Capabilities provided to payload
Information downlink rate 250 kbps
Information uplink rate 9.6 kbps
2.4 Electrical Power System
Through the connector provided by the CDH, the payload will be provided with 3
different voltage lines, 3.3, unregulated battery, and 12 volts. The EPS team will be capable of
supplying the payload with at least 4 watts of power continuously, even after 1 year of operation.
EPS will also support a peak power draw of 30 W for 10 minutes once every orbit. The high
speed COM system requires this peak power draw to complete their link, however, during orbits
that do not require a pass, the payload may use this excess power.
Item Total capabilities Capabilities provided to payload
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
7
Nominal power draw 10 W 4-5 W
10 minute peak power draw
30 W 25 W
2.5 Attitude Determination and Control
The ACS system will use 3 reaction wheels for attitude control, a micro star tracker for
attitude knowledge, and magnetorquers and magnetometers for momentum dumping. ALL-
STAR shall be capable of complete 3-axis control and capable of compensating for external
attitude disturbances. ACS shall also be able to determine its attitude utilizing a “lost in space”
algorithm.
Item Capabilities provided to payload
Attitude pointing accuracy 1°
Attitude knowledge accuracy 0.2°
Slew rate 180° in 95 seconds
Max amplitude of jitter 0.03°
2.6 Position Knowledge
Using a NovaTel GPS receiver, ALL-STAR may be capable of determining its position
to within 100 m. The GPS receiver will also relay accurate satellite time to the CDH system
which can then be distributed amongst the subsystems and payload.
2.7 Structure
The Structures team will provide the ALL-STAR user with a payload structure which
already includes the interface to the bus. The premade structure ensures that integration with the
bus will run smoothly. The payload section is allotted 2 kg. This includes the structure, which
weighs 81.19 g. The internal volume of the premade structure is equivalent to 1.07 U or 1214.5
cm3. There are certain situations in which the ALL-STAR user may want to create their own
custom structure. There will be strict requirements for a custom structure since it must be
capable of deploying from the external shell. The interface to the bus will be the same in either
case. The CG of the payload must also be within 2cm of the geometric center of the payload
section.
Item Capabilities provided to payload
Length 6.50 in [16.50 cm]
Volume 77.93 in3 [1277 cm
3]
Mass 2000 g +0,-150 (Including the payload
structure)
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
8
2.8 Propulsion
The propulsion module is an optional add-on to the ALL-STAR bus. This optional
module cuts into payload volume and weight. The Propulsion module weighs 462 g and has a
length of 2.24 in [5.7 cm]. Using butane propellant, the ALL-STAR PROP module will be
capable of changing the satellite’s velocity by 10 m/s. The PROP module is not intended to
replace the attitude control system. It is the responsibility of the ALL-STAR user to get approval
from the launch provider to launch a propulsion unit.
Item Capabilities provided to payload
ΔV 10 m/s
Length 4.25 in [10.8 cm]
Volume 48.53 in3 [795.3 cm
3]
Mass 1538 g (Including the payload structure)
3.0 Interfaces
3.1 Physical Interfaces
3.1.1 Structural Interface
The ALL-STAR provided payload structure consists of four side panels that will be
delivered to the payload customer. These panels consist of two identical top/bottom panels and
two identical left/right panels. The payload structure is shown below in Figure 4. All panels will
be hard anodized black.
Figure 4: Payload Structure
The payload envelope is shown in Figure 5.The sections that are hatched out are places
where components of the payload structure impinge upon the standard envelope. These
impingements are only at certain locations so they don’t affect the payload envelope for the
entire length of the payload section.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
9
Figure 5: Payload Envelope Overview
Detailed drawings of the payload volume can be found in the Appendix I, which outlines
more specifics of the allowed usable volume. If the ALL-STAR user chooses to manufacture
their own payload structure, the interface positions and dimensions shown in Appendix II, must
also be included in their design.
3.1.2 Launch Environmental Testing
The environmental testing levels have been base lined to meet +6dB NASA GEVS levels.
This is to insure that the system is able to survive on any launch vehicle in positions that are
outside of the payload faring. This requirement will be revised as future profiles are developed
that better encompass the P-POD locations.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
10
3.1.3 Electrical Connections
Electrical connections will be made through a single connector, shown below in Figure 6.
This connector provides the power as well as data transfer. This connector is from Samtec and
the part number is LS2-125-01-S-D. Either this connector or the equivalent right angle
connector can be used (LS2-125-01-S-D-RA1). The connector’s position is also shown in Figure
5. The top of the connector must be 0.039” inset into the payload section in order to properly
interface with the CDH backplane.
Figure 6: Electrical connector
3.2 Electrical Interfaces
3.2.1 Physical Layer
3.2.2.1 Connector
The LS2 connector family from Samtec has been chosen to interface between CDH and
the payload. The LS2-125-01-S-D-RA2 connector will be used on CDH while the LS2-125-01-
S-D-RA1 will be placed on the payload. The payload-CDH connector layout is shown in Figure
7 from the payload side of the interface. The function of each pin is described in Table 1. The
corresponding PCB layout on the CDH backplane is shown in Figure 8. Unless otherwise stated,
all signals are referenced to ground and have values between 0 V and 3.3 V.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
11
Figure 7: Subsystem Connector Pinout
Function Pin Number Signal Type (Referenced by Payload)
Description
GND 1, 3, 5, 7, 9, 11, 13, 15, 41, 42, 43, 45, 47, 49
Ground Ground for the payload. This node is common to all components on the ALL-STAR bus.
VCC3.3_SW 2, 4, 6, 8 Power Input Regulated 3.3 V line for the payload.
VCCBAT_SW 10, 12, 14, 16 Power Input Unregulated battery line for the payload.
ISO_PWR_3.3 18 Power Input
Un-switched 3.3 V line for use in isolating the payload signals from CDH. See the isolation section below.
PLD_ADC0..7 17, 19, 20, 21, 22, 23, 24, 26
Analog Output
Analog outputs from the payload. These signals are routed to the payload ADC located on the CDH backplane.
D0..3 27, 29, 30, 31 Digital Input / Output
Digital signals to/from the payload. The functions of these pins can be configured on a mission-to-mission
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
12
basis.
INT 32 Output
Interrupt signal from the payload to CDH. This signal can be set high by the subsystem to indicate to CDH that it needs to send a packet.
SDA 33 Input / Output Serial data for the payload I2C backup bus.
SCL 34 Input Serial clock for the payload I2C backup bus.
SCK 35 Input Serial clock for the payload SPI interface.
MISO 36 Output Master In Slave Out line for the payload SPI interface.
MOSI 37 Input Master Out Slave In line for the payload SPI interface.
SS 38 Input Slave select for the payload SPI interface.
ACK 39 Output
Acknowledgement signal by the payload to the CDH PULSE. This signal must be pulled high by the payload after the PULSE signal is received.
PULSE 40 Input
Heartbeat signal supplied by CDH to the payload. The nominal frequency is 1 Hz. This signal also serves as a watchdog signal on CDH.
RESERVED 25, 28 N/A Reserved for future functionality.
VCC12.0_SW 44, 46, 48, 50 Power Input Regulated 12 V line for the payload.
Table 1: Subsystem Connector Pin Descriptions
Figure 8: Subsystem Connector Layout (Subsystem View, Board Edge Towards Top of Figure)
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
13
3.2.2.2 Isolation
The payload is responsible for ensuring that when its power is off, no portion of its
electronics can be partially or fully activated by a signal line from CDH. This means that some
form of signal isolation must be utilized on any pins that are inputs from CDH or common
between the payload and other systems. In particular, the SCK, MOSI, SS, PULSE, and D0-D3
must be isolated using a component with functionality similar to the TXB0108 chip from Texas
Instruments (TI). In addition, it is recommended that the MISO be isolated in a similar manner.
Finally, the SDA and SCK signals should be isolated using a chip with open-drain output
buffers, such as the P82B96 bus buffer from TI.
3.2.2.3 Primary Bus Protocol
The hardware protocol for the primary payload bus utilizes the Serial Peripheral Interface
(SPI) standard. The standard bus topology for 4-wire SPI is shown in Figure 9. On ALL-STAR,
CDH acts as the bus master and the payload is a slave device. Therefore, the payload is exposed
a 4-wire interface: MISO, MOSI, SCK, and SS. At all times, the interface is controlled
exclusively by the master. The interface is always operated in Mode 0, which is shown in Figure
10. During a transaction, the master will first activate SS for the subsystem (pull it low). Then,
on each rising edge of SCK, the master reads in the value of the MISO line while the payload
reads the value of the MOSI line. The data on MISO and MOSI is then changed on the falling
edge of SCK so that it is ready at the beginning of the next cycle. In this way, bidirectional
communication is facilitated between the master and each of the slaves. Once a byte of data has
been transferred, the master releases (pulls high) the SS line, which deactivates the subsystem’s
SPI interface hardware.
Figure 9: Typical SPI Bus Topology
The main bus protocol adds an additional interrupt signal to the standard SPI bus to make
requests by the payload easier to handle by CDH. Whenever the payload needs to send a packet
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
14
to CDH, it must toggle the INT line from low to high. The payload must then keep the line high
until CDH has responded to the request, at which point the line must be returned to a low value.
3.2.2.4 Backup Bus Protocol
Not supported in this revision.
3.2.2.5 Watchdog
In order to prevent software or hardware latch-ups, it is necessary for CDH to watch the
payload periodically. This functionality is implemented at two levels in the interface: the
physical layer and the network layer. On the physical layer, the watchdog is implemented via the
PULSE and ACK signals. Once every second, CDH will toggle the value of the PULSE signal.
This signal will nominally be driven by the GPS PPS signal, which is a very accurate 1 Hz
signal. Therefore, this signal can also be used to synchronize the clocks throughout the system.
When the payload receives the toggle on the PULSE line, it must toggle its ACK signal. If the
ACK signal is not toggled 10 times by the payload, the CDH will attempt to contact it over the
primary and backup buses. If no contact can be made, then the power to the payload will be
toggled to reset any latch-ups that may have occurred.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
15
Figure 10: SPI Transfer Modes (Mode 0 Used for Subsystem SPI Interface)
3.2.2.6 Power
The payload will receive switched and regulated 3.3 V and 12 V power lines from EPS.
The switching of these lines will be controlled exclusively by CDH. EPS will also provide
(through the CDH backplane) access to the unregulated battery voltage. This power rail will also
be switched by CDH.
When CDH switches the power off for the payload, the payload is guaranteed that all
three power rails will be switched off simultaneously, barring differences in switching time
between the MOSFETs used to control the rails. Under nominal operation, there will be no way
that one or more of the rails for a subsystem are inactive while others are still active.
The specifications for each power rail are given in Table 2. Note that the maximum
current ratings are the absolute maximum for the system and that each subsystem must operate
within the current power budget.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
16
Voltage Rail 3.3 V Battery 12 V
Minimum Voltage 3 V 6 V 10.8 V
Nominal Voltage 3.3 V 8.4 V 12.0 V
Maximum Voltage 3.6 V 10 V 13.2 V
Maximum Current 5 A 5 A or 30 W/ , whichever is smaller
2.5 A
Table 2: Subsystem Power Rail Specifications
3.2.2 Data Link Layer
3.2.2.1 Description
The Data Link Layer of the protocol is responsible for splitting up the larger Network
Layer packets into sizes that are manageable by the subsystems. Because different subsystems
have different resources available for this interface, some specific parameters of the data link
layer may vary from subsystem to subsystem, as described below.
3.2.2.2 Primary Bus Protocol
Frame Format
The format for each link layer frame is shown in Figure 11. Each frame contains two
bytes of overhead. The first, shown in purple in the figure, is the header. The header contains
two fixed bits (as basic error checking), a continuation bit, and the packet number. The
continuation bit indicates whether this frame is a continuation of a previous frame or if it is the
beginning of a new chain. If the continuation bit is set, then the frame is a continuation and the
packet number field contains the number of the packet, which is zero-indexed. If the
continuation bit is cleared, then the packet number instead indicates the number of packets in the
chain and the packet number is assumed to be zero.
0 1
Cont
Frame Number
Frame Length Frame Data
00 1 2 3 4 5 6 7 8 9
10 1 2 3 4 5 6 7 8 9 . . .
Figure 11: Link Layer Frame Format
Frame Processing
The processing loop for the link layer is slightly different for packets being sent to the
payload versus packets being sent to CDH. The procedure for the CDH to payload direction is
shown in Figure 12. At the start of the frame, CDH sends the header for the frame to the
payload. CDH then requests the response to the header from the payload, which can be one of
the values in Table 3. If the payload is able to process the frame, then it responds with the OK
token. If it is not currently able to process the frame but could in the future, then it response with
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
17
BUSY. Finally, if the payload would not ever be able to process the header or the header is
invalid, then the INVALID token is returned.
Send Header
Send Response
Response?BUSY
Send Frame Length
OK
Send Frame Data
Frame End?
NO
Start
YES
INVALID
CDH Action
Payload Action
More Frames?
YES Process Packet and Send Response
NO
End
Figure 12: CDH to Payload Frame Processing
Token Value
OK 1
BUSY 2
INVALID 3
Table 3: Header Response Tokens
Once the header has been accepted by the payload, then the length of the frame is sent by
CDH. Because the length is one byte, a maximum of 255 bytes can be sent in the data frame.
Following the length, CDH then sends the data in the frame. If there are more frames in the
chain (the number of frames is greater than 1), then this process is repeated until the entire packet
has been received. At that point, the packet is handled and a response is generated, which is
returned to CDH using the process in Figure 13. The overall process is almost identical as the
previous process, with the exception that the payload is now sending the data. Also, because
CDH drives the physical layer interface, there is no confirmation that the header is acceptable. It
is assumed that if CDH asks for the header that it will be able to handle any packet sent to it by
the payload.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
18
Send Header
Send Frame Length
Send Frame Data
Frame End?NO
Start
YES
CDH Action
Payload Action
More Frames?
YES
EndNO
Figure 13: Payload Response to CDH Packet
When data needs to be sent from the payload to CDH, then the process in Figure 14 is
followed. First, the payload asserts its interrupt line to CDH. Then, CDH sends a packet header
with the number of packets equal to 0. This is the only time that this type of header is allowed,
and it signals to the subsystem that it should start sending its frame when it is ready. At this
point, the process is identical to that shown in Figure 13. Finally, when all of the payload frames
have been sent, CDH processes the packet and responds using the process in Figure 12. The
only deviation from this process occurs at the very end. Instead of processing the packet, the
payload instead ends the cycle and returns the response to the higher level application code.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
19
Send Header with Number of
Packets = 0
Send Frame Data
Frame End?NO
Start
YES
CDH Action
Payload Action
More Frames?
YES
Process Packet and Send Response
NO
Assert Interrupt Line
Send Response
Response?
OK
INVALIDBUSY
Send Header
Send Frame Length
End
Figure 14: Payload to CDH Frame Processing
3.2.2.3 Backup Bus Protocol
Not implemented in this revision of the ALL-STAR bus.
3.2.3 Network Layer
3.2.2.1 Packet
Description
The Network Layer of the protocol contains the highest level of abstraction to the
application. It allows four types of messages to be sent from one location in the system to
another. Due to the flexible nature of the protocol, it will serve as the sole method of
communication between systems in the satellite.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
20
Packet Format
The format of network layer packets is shown in Figure 15. The numbers along the top
of the packet are the bits in the packet. Descriptions of each packet field are given in Table 4.
As can be seen from the figure, there are 128 fixed bits (16 bytes) in each packet. The message
component is the actual data payload and takes one of two formats, shown in Figure 16. The
first format, which contains only a single parameter, is used by Data and Error message types.
The second format contains multiple parameters and is utilized by the Command and
Configuration message types. Each type of message is described in further detail in Table 5.
Finally, the format for the VariableTypeData fields in the messages is shown in Figure 17. For
any given type, the data is always stored in a big-endian manner, and for strings and arrays, the
data is stored in logical order (i.e. the first byte is sent first, etc). Furthermore, because the
length of the string is sent, it should not be null-terminated, and a null character will be treated
like any other within the string.
Source Destination Number
Resp
Succ
Type Opcode
Length Message CRC
00 1 2 3 4 5 6 7 8 9
10 1 2 3 4 5 6 7 8 9
20 1 2 3 4 5 6 7 8 9
30 1 2 3 4 5 6 7 8 9
40 1 2 3 4 5 6 7
990 1 2 3 4 56 7 8 9
60 1 2 3 4 5 6 7 8 9
70 1 2 3 4 5 6 7 8 9
80 1 2 3 4 5 6 7 8
. . .x0 1 2 3 4 5 6 7
Timestamp
8 950 1 2 3 4 5
6 7 8 9
100 1 2 3 4 5 6 7 8 9
110 1 2 3 4 5 6 7 8 9 9
x0 1 2 3 4 58
Figure 15: Format of Network Layer Packets
Field Name Size (Bits) Description
Source 16 Source location of the packet.
Destination 16 Destination location of the packet. Part of the extended opcode of the packet.
Number 16 Number of the packet. Note that if the packet is a response to another packet, the number field must match the number field of the original packet.
Timestamp 32 GPS time of the last PULSE signal sent out by CDH at the time that the packet was formulated.
Response 1 Indicates whether the packet is a response to a previous packet. A value of 1 indicates a response, while 0 indicates that the packet is not a response to another packet.
Success 1 Set to indicate that a packet’s desired operation was successful. Only considered when the Response bit is also
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
21
set.
Type 6 Field indicating which type of message is being sent. Part of the extended opcode of the packet.
Opcode 8 Identifier indicating which operation the packet is requesting. Part of the extended opcode of the packet.
Length 16 Length of the message portion of the packet.
Message 0 - 65535 Data payload of the packet. The type of message is indicated by the Type field.
CRC 16 16-bit checksum of the packet. The algorithm for the CRC is the CRC-CCITT algorithm.
Table 4: Packet Field Descriptions
Message Type
Type Field Value
Number of Parameter
s Parameter Type Description
Command 0 Multiple VariableTypeData
A command message represents a request for an action from one system to another. It may contain any number of parameters, which makes it a flexible option for many operations in a system.
Data 1 Multiple VariableTypeData
A data message represents an interaction in which one system sends data to another. In many cases, it will be used as a response to a command message. It may contain any number of parameters, which makes it a flexible option for many operations in a system.
Error 2 Multiple VariableTypeData
An error message represents an erroneous state in the satellite. It can result from either an invalid packet or from an invalid state from within a system. It may contain
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
22
any number of parameters, which makes it a flexible option for many operations in a system.
Configuration
3 Multiple VariableTypeData
A configuration message represents a change in configuration prompted by one system to another. The parameters in the message each describe the setting to be changed and the new value for said setting. As with other messages, multiple parameters are allowed.
Table 5: Description of Message Types
Parameter #1
Number of Parameters
Parameter #1 . . .Parameter #2 Parameter #N
Single Parameter Message
Multiple Parameter Message
Figure 16: Network Layer Message Types
The extended opcode for a given operation is determined by three fields in the packet: the
destination, the type, and the opcode. Each system must specify the commands that it will
handle from its corresponding control module on CDH as well as the commands that should be
handled directly by CDH without forwarding them on to the subsystem. A list of all of these
commands is contained in the Command Dictionary subsection. In addition, the payload must
implement the mandatory commands listed in that section.
3.2.2.2 Timing Synchronization
In order to ensure that the payload time is synchronized with that of the rest of the bus, a
timing synchronization protocol has been devised for the ALL-STAR system. The most
important portion of this protocol is the timing reference point, which is a precise moment in
time that the payload and CDH can agree on for sending time information. The most convenient
point is the time at which the payload sets its interrupt line high to send a message to CDH.
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
23
When CDH receives that signal, it captures the current time in seconds and sets the time stamp of
its response to that time. The payload then counts the number of rising edges that it receives on
the PULSE line and adds that number to the time that it receives from the time stamp in the CDH
response packet and resets its time to that value on the next PULSE rising edge. By doing so,
the payload can synchronize its time to that of CDH within a few microseconds or less.
Figure 17: VariableTypeData Packet Formatting
3.2.2.3 Protocol Implementation
The protocol described has been implemented to allow payloads at least an initial
implementation, if not a full solution for their interface code. The code can be broken into
three distinct sections. The first, the core interface, contains the high-level interface code to
be used by the payload application. After calling PacketInit(), the payload can use the
Dispatch() function to send data to CDH. In addition, payloads must define message
handlers in PACKET_HANDLER_ISR(). Example implementation have been included, as
well as a full set of documentation for all functions in the included PDF. In order to port the
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
24
interface to a new processor, the functions in ProtocolPort.h and ProtocolPort.c must be
updated from the current implementation using an Atmel ATXMEGA256A3 processor.
4.0 Command Dictionary
4.1 Bus Interface to Payload
4.2 Payload Interface to Bus
5.0 Restrictions
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
25
6.0 Appendix I: Payload Envelope Drawings Using Provided Structure
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
26
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
27
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
28
7.0 Appendix II: Payload Envelope Drawings with Custom Payload Structure
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
29
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
30
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
31
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
32
Colorado Space Grant Consortium SYS.402.3 Interface Control Document Outline
33
8.0 Appendix III: Data Sheets