control & data handling, operator control, aircraft interface to c&dh steve musko space...
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Control & Data Handling,Control & Data Handling,Operator Control, Operator Control,
Aircraft Interface to C&DHAircraft Interface to C&DH
Steve Musko
Space Physics Research Laboratory
University of Michigan
Ann Arbor, MI USA
College of EngineeringSpace Physics Research Laboratory
Department of Atmospheric, Oceanic & Space Sciences
LRR-X Internal Concept ReviewNASA Goddard Space Flight Center
23 April 2002
Musko, 23 Apr 02 C&DH, LRR-X Concept Review 2 of 17
OutlineOutline
• C&DH Block Diagram & Aircraft Interface• Requirements• Operating System• Flight Software Architecture• Telemetry• Commands• Operator Laptop Software
Musko, 23 Apr 02 C&DH, LRR-X Concept Review 3 of 17
C&DH Block Diagram &C&DH Block Diagram &Aircraft InterfaceAircraft Interface
Musko, 23 Apr 02 C&DH, LRR-X Concept Review 4 of 17
PC-104 Stack (front)PC-104 Stack (front)
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PC-104 Stack (back)PC-104 Stack (back)
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Flight SoftwareFlight SoftwareRequirementsRequirements
• Collect– Science data from the correlator board– Analog housekeeping values from the analog I/O board– Time and position from the GPS receiver– Aircraft status from RS-232 port
• Combine science data, analog housekeeping, GPS time and position and aircraft status into real-time telemetry (TM) packets and one-minute TM files
• Store TM files in flash memory• Communicate with operator laptops via Ethernet
– Receive and execute commands – Transmit real-time TM packets to laptops– Support bulk FTP data uploads from flash memory
• Control temps using PID algorithm
Musko, 23 Apr 02 C&DH, LRR-X Concept Review 7 of 17
Flight SoftwareFlight SoftwareOperating SystemOperating System
• QNX operating system– Real time, preemptive, multiprocess, multithread,
multiprocessor
– PC compatible (and other processors)
– Complete set of utilities (FTP, Telnet, drivers etc.)
– 20 year company track record
– Scalable: OS features can be added as needed
– Reliable:• Microkernel architecture
• Processes execute in separate memory spaces
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Flight SoftwareFlight SoftwareQNX ArchitectureQNX Architecture
DeviceDriver
Application
- QNX provides complete memory protection
- Applications, drivers and OS components arearchitecturally equivalent- All processes run in separate memory spaces- Processes are much less likely to crash each other- OS features and drivers can be added dynamically- All interprocess communication is accomplishedusing microkernel message passing
Microkernel
TCP/IPStack
FileSystem
Application
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Flight Software ArchitectureFlight Software Architecture
LRR-XApplication
Microkernel
TCP/IPStack
DOSFile
System
TelnetServer
FTPServer
NetworkI/F
Driver
SerialPort
Driver
PseudoTerminal
Driver
ConsoleDriver
Flash DiskDriver
Korn ShellMisc. Shell
Utilities
Musko, 23 Apr 02 C&DH, LRR-X Concept Review 10 of 17
Flight SoftwareFlight SoftwareLRR-X App ArchitectureLRR-X App Architecture
• The LRR-X application is a collection of threads that communicate with each other via QNX message passing– Read_Hskp_Thread
– Read_Sci_Data_Thread
– Form_TM_Pkts_Thread
– Store_TM_Files_Thread
– Send_Real_Time_TM_Thread
– Process_GSE_Cmds_Thread
– Read_GPS_Data_Thread
– Sync_With_GPS_Time_Thread
– Cntl_Temps_Thread
– Check_Limits_Thread
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Flight SoftwareFlight SoftwareTelemetryTelemetry
• TM packets are combined into one minute TM files and stored on flash disk. Filenames are derived from TM packet time tags.
• All TM packets are transmitted in real time to the operator laptop computers
• TM files on flash disk can be uploaded to the the operator laptop computers using FTP any time the instrument is powered up (even while the LRR-X application is running).
• There is a single TM packet type that contains science data, housekeeping, GPS time and position and aircraft status
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TM Packet ContentsTM Packet Contents
TM Packet Field Size (Bytes)
Packet Type Identifier & Length 4
Packet Serial Number (from correlator board) 4
GPS Time Tag 8
GPS Position (lat, long, altitude) 30
Aircraft Attitude (roll, pitch) 20
Analog Housekeeping Group Number (0..7) 1
Subcommutated Analog Hskp Group Values (12 values x 2 bytes) 24
Temp PID Loop Group Number (0..7) 1Subcommutated Temp PID Coefficients, Setpoints & Duty Cycles(4 PID loops x 5 values x 4 bytes) 80
ADC Lookup Table Values 14
Correlator Values (378 channels x 4 samples x 2 bytes) 3024
Totalizer Values (1008 totalizers x 2 bytes) 2016
Total TM Packet Size à 5226
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Flight SoftwareFlight SoftwareTM Rate & Storage CapacityTM Rate & Storage Capacity
• Total TM packet size is 5226 bytes• TM production rate is 3.03 Hz x 5226 bytes =
15,835 bytes/sec (54.4 Mbytes/hour)• 940 Mbytes of Flash memory provides 17.3 hours
of TM file storage
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Instrument CommandingInstrument Commanding
• The instrument executes command scripts• Command scripts are:
– Text files that are edited on the operator laptop
– Downloaded to flight computer flash memory
• At initialization, the flight software loads and runs a default command script if it exists on flash disk
• All commands can be sent individually directly from the operator laptop
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Sample Command ScriptSample Command Script
PID_1_Pro_Coeff = 1.98PID_1_Int_Coeff = 0.0228PID_1_Drv_Coeff = 0.276PID_1_Setpoint = 24.0
PID_2_Pro_Coeff = 2.33PID_2_Int_Coeff = 0.0166PID_2_Drv_Coeff = 0.158PID_2_Setpoint = 24.0
Trunc_Map_E1 = 3367HTrunc_Map_O1 = 3367HTrunc_Map_E2 = 3509HTrunc_Map_O2 = 3509H
execute Calibration_Setup.cmdstart_data_collection
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Instrument CommandsInstrument Commands
• Set PID temp loop control values• Set truncation map values• Set Test Control Register value• Execute command script (for nested scripts)• Start data collection• Stop data collection
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Operator LaptopOperator LaptopSoftware RequirementsSoftware Requirements
• Store real time TM packets on laptop hard disk• Display real time or stored science TM in several forms
– Polar Visibility Plot– Raw correlator and totalizer values– Brightness Temperature Image
• Display real time or stored housekeeping TM in tabular and strip chart form
• Alert the operator if any critical housekeeping limit is exceeded
• Support command script editing and execution• Support individual command execution• Support FTP file transfer with the instrument flash disks
and the aircraft FTP file server