The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003 COROTLOG, the On-Board Software of COROT 1 COROTLOG COROT CNES/LESIA Presented by Presented by Gisbert Peter, Gisbert Peter, DLR/Optical DLR/Optical Information Systems Information Systems Tel.: +493067055382, Email: Tel.: +493067055382, Email: [email protected][email protected]0 1 1 0 PROTEUS E vent_H and le r W a tc hd og _ C on tro l C T C _ E xe c ute r <<W a tc h do g _E na b le> > DPU <<W a tc h do g _In it>> <<W atchdog_T rigger>> <<W a tc hd og _ o n_ off> > S tatus_H andler <<W atchdo g_Co ntrol>> <<Last_E rror_W a rnin g> > < <TC _Pa ram eter> > < <ED A C _ S ta tus>> < <P B S _In terfa ce _ D a ta> > TM _H andling <<TM >> <<S tatus_P aram >> << E rro r_W arning_P rogress>> T M _ P a c k e t_ A m o u n t_ M a x S pace craft Instrum ent BS2 T C _H andling <<TC>> <<CT C_M sg>> <<1_32H z>> COROTLOG COROTLOG - - the On-Board the On-Board Software Software as German contribution for the as German contribution for the COROT satellite COROT satellite Developed by Developed by DLR DLR , , Ingenieurbüro Ulmer Ingenieurbüro Ulmer and and CLIPhIT CLIPhIT
33
Embed
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003 COROTLOG, the On-Board Software of COROT 1 COROTLOG.
This document is posted to help you gain knowledge. Please leave a comment to let me know what you think about it! Share it to your friends and learn new things together.
Transcript
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
1
COROTLOGCOROTCNES/LESIA
Presented byPresented by Gisbert Peter,Gisbert Peter, DLR/Optical Information SystemsDLR/Optical Information Systems Tel.: +493067055382, Email: [email protected].: +493067055382, Email: [email protected]
0 11 0
P R O T E U S
E vent_H and le r
W atchdog_C ontrol
C T C _E xecuter
<<W atchdog_E nable>>
D P U
<<W atchdog_Init>>
<<W atchdog_T rigger>>
<<W atchdog_on_off>>
S tatus_H andler
<<W atchdo g_Co ntrol>>
<<Last_E rror_W arning>>
< <TC _P a ra m ete r> >
< <ED A C _ S ta tus>>
<<P B S _Interface_D ata>>
T M _H a ndling
<<T M >>
<<S tatus_P aram >>
<<E rror_W arning_P rogress>>
T M _P acket_A m ount_M ax
S pace craft Instrum ent
B S 2
T C _H andling
<< TC >>
<<CT C _M sg> >
<<1_32H z>>
COROTLOGCOROTLOG - -
the On-Board Softwarethe On-Board Softwareas German contribution for the COROT satellite as German contribution for the COROT satellite
Developed by Developed by DLRDLR, , Ingenieurbüro UlmerIngenieurbüro Ulmer and and CLIPhITCLIPhIT
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
2
COROTLOGCOROTCNES/LESIA
Presented byPresented by Gisbert Peter,Gisbert Peter, DLR/Optical Information SystemsDLR/Optical Information Systems Tel.: +493067055382, Email: [email protected].: +493067055382, Email: [email protected]
0 11 0
P R O T E U S
E vent_H and le r
W atchdog_C ontrol
C T C _E xecuter
<<W atchdog_E nable>>
D P U
<<W atchdog_Init>>
<<W atchdog_T rigger>>
<<W atchdog_on_off>>
S tatus_H andler
<<W atchdo g_Co ntrol>>
<<Last_E rror_W arning>>
< <TC _P a ra m ete r> >
< <ED A C _ S ta tus>>
<<P B S _Interface_D ata>>
T M _H a ndling
<<T M >>
<<S tatus_P aram >>
<<E rror_W arning_P rogress>>
T M _P acket_A m ount_M ax
S pace craft Instrum ent
B S 2
T C _H andling
<< TC >>
<<CT C _M sg> >
<<1_32H z>>
COROTLOGCOROTLOG - -
the On-Board Softwarethe On-Board Softwareas German contribution for the COROT satellite as German contribution for the COROT satellite
Developed by Developed by DLRDLR, , Ingenieurbüro UlmerIngenieurbüro Ulmer and and CLIPhITCLIPhIT
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
3
COROTLOG
COROTLOG Main Tasks
DPU power-on management and S/C interface control
Telecommand and Telemetry management
Memory management for Application Software and parameter maintenance
Windows descriptor and Look-Up table management
DPU and software health checking
Event and error handling
BEX and BEX interface control
Astero and Exo data acquisition, processing and reduction within 1 and 32sec
Angle error measurement processing for S/C pointing
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
4
COROTLOG
PBS and APS - the Main Components of COROTLOG
Two independent software components - Primary Boot and Application Software- Installed on each DPU (RT addresses 1 and 2)
Primary Boot Software (PBS)- SECURE state S/W located in PROM- Power-on procedure and S/C interface control - Memory management- Application (secondary boot) S/W maintenance
Application Software (APS)- OPERATIONAL state S/W located/changeable in EEPROM or RAM- S/C interface control- BEX interface and BEX control - Astero and Exo data processing
DPU1BEX1
PBS
APS
BS2
DPU2
PBS
APS
BS2
Proteus
BEX2
Astero
Exo
Astero
Exo
Main
Red
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
5
COROTLOG
COROTLOG – a Sub-system of the COROT Instrument
COROTCASE COROT
COROTCASE Application Software (APS) stored and changable in EEPROM
Primary Boot Software (PBS) permanently stored in PROM
COROTLOG on DPU COROT DPU, ESA/Astrium GmbHCOROT DPU, ESA/Astrium GmbH
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
6
COROTLOG
COROTLOG – a Sub-system of the COROT Instrument
COROTCASE COROT
COROTCASE
COROTLOG on DPU
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
7
COROTLOG
Application Software (APS) stored and changable in EEPROM
Primary Boot Software (PBS) permanently stored in PROM
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
8
COROTLOG
Software Operation - Example
1. Start-up
Such an operational procedure needs up to about 1400
telecommands to be commanded for initialization and start and
produces telemetry data up to about 70kbit/sec
2. Astero image acquisition
3. Astero Rough/Fine pointing and scientific processing service
4. Exo image acquisition
5. Exo scientific processing service
6. Long term operation
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
9
COROTLOG
Software Operation – (1) Start-up
a. Power-on DPU to go in Secure state (PBS is active), power-on BEX, etc.
b. Hardware initialization
c. Time synchronization for telemetry time stamping
d. Start of APS from EEPROM by telecommanding to enter the Operational State
e. BEX interface initialization after successful boot and start the APS in RAM
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
10
COROTLOG
Software Operation – (2) Astero Image Acquisition
a. Initialization of an Astero Image Acquisition Service (AIAS) by telecommanding with related parameter
b. Start of AIAS to receive Astero full images (for star selection on-ground)
c. Data processing of Astero Image(s) and send telemetry data to S/C+ground (an image takes more than 7 minutes for TM transfer)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
11
COROTLOG
Software Operation – (3) Astero Rough/Fine Pointing/Science Proc.a. Initialization of a Astero Scientific Processing
Service (ASPS window descriptor table for max. 5 stars and related parameters)
b. Initialization of a Astero Rough/Fine Pointing Service (ARPS, AFPS, at least commanding of 2 stars window descriptor table + related parameter)
c. Built Astero Look Up Table started by TCd. Start of ARPS/AFPS and/or ASPS by
telecommanding, initialize the BEX and start Astero window acquisition from BEX to DPU every 1sec
e. Data processing of Astero Windows (offset, background and star windows)
f. Send angle error data to AOCS and telemetry data to S/C+ground every 1sec, 8sec and 32sec (or longer depends on parameter configuration)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
12
COROTLOG
Software Operation - (4) Exo Image Acquisition
a. Initialize the Exo Image Acquisition Service (EIAS) by telecommanding with related parameters
b. Start of EIAS to get a full Exo image (for star/imagette selection and window descriptor table creation on-ground)
c. Data processing of Exo Image(s) and send telemetry data to S/C+ground (an image takes more than 7 minutes for TM transfer)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
13
COROTLOG
Software Operation - (5) Exo Scientific Processing Service
a. Initialization of a Exo Scientific Processing Service (ESPS) by telecommanding of an descriptor table of max. 6000 windows
b. Built Exo Look Up Table by APS
c. Start of ESPS by telecommanding, initialize the BEX and start Exo windows acquisition from BEX to DPU every 32sec
d. Data processing of Exo Windows (chromatic, monochromatic, imagette)
e. Sending of processed results as telemetry data to S/C+ground every 32, 512 or 1024sec (or longer depends on parameter configuration)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
14
COROTLOG
Main Characteristics
High reliability of software operation over a long time (months)
Providing of angle error data with high accuracy (1/20 sub-pixel) for
Spacecraft pointing
Complex telecommand and telemetry interfaces (84 different types of
telecommands with over 200 parameter, 43 different types of telemetry
packets)
Real time data processing and controlling within 1sec (Astero channel) and
32sec (Exo channel)
Complete changeable of Application Software from ground by TC upload
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
15
COROTLOG
Development Life Cycle
Requirement, Design and Qualification Engineering are the 3 phases for software development
Separate life cycles for Primary Boot Software (PBS) and Application Software (APS) development
Additionally there is a support and maintenance phase after delivery.
PBS Today
APS Today
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
16
COROTLOG
Development Tools and Methods
Methods: Structured and object oriented analysis
Structured design
Standards: ESA ECSS
Tools:
Configuration management Rational ClearCase
Problem tracking Rational ClearQuest
Requirement management Rational RequisitPro
Test automation Rational TestRealTime
Rational Testmanager
Software modelling Rational Rose RealTime (only APS)
Implementation and unit test ADSP21020 tool family, Emulator, Simulator
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
17
COROTLOG
High Reliability, a Key Aspect for COROT Operation (1)
The software has to operate about 150 days without interruption !
Software must be resistant against the South Atlantic Anomaly (SAA).
Therefore the software runs in red-hard Program and Program Data Memory.
It guarantees a probability of software interruption of less than once every 1000 days (due to Single Event Upsets, SEUs).
A watch-dog is implemented to avoid software end-less loops.
Long term tests and stress tests are foreseen during validation with DLR automatic test system.
Feature for getting a high reliability (i.e. low probability of S/W failures)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
18
COROTLOG
High Reliability, a Key Aspect for COROT Operation (2)
Data are stored in SEU sensitive Image RAM (DPU Extension Board RAM)
The Error Detection and Correction device (EDAC) is used to avoid single bit failures due to SEUs
Scrubbing of Image RAM is foreseen to avoid double bit failure
Long terms parameter are stored in red-hard Data Memory RAM
A data unavailability of better than 0,0001% is expected.
Low probability of data failures
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
19
COROTLOG
Primary Boot Software Design Overview
Programming language: 100% Assembler
Number of components: 36
Code size: 4588 instructions (92% of PROM size)
Test coverage: 100%
Spacewire 1355 boot loader (from Astrium) are integrated to support DPU Flight Model testing and VIRTUOSO host level debugging within a “Development mode”.
The design is compatible for the DPU FM and EM without any changes.
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
20
COROTLOG
Application Software Design Overview
Number of Virtuoso tasks: 17 (task communication by message passing)
Estimated code size: 50900 instructions (20% usage of program memory
without parameter)
Data memory size: about 6000 kWords (72% usage of data memory)
Number of components: 160 (written in C and Assembler)
Shortest latency: MIL/Proteus interface - every 100µs one TC
BEX interface – every 600µs one BEX packet
The design is compatible for the DPU FM and EM.
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
21
COROTLOG
VIRTUOSO (Windriver) the RTOS Kernel
Small code size- VIRTUOSO takes less than 10k instructions
for the whole functionality
High reliability
- Task execution by priority driven
pre-emptive multi-tasking
- Well tested in a lot of commercial applications
- Already used for other Space applications
High performance
- ADSP21020 optimized Assembler code- Very short context switching times
in the order of few µsec
VIRTUOSO V4.2.3 is used for COROT
Host Level debug view of VIRTUOSO
Note: next versions of Virtuoso are re-named to VspWorks (Windriver)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
22
COROTLOG
Application Software Performance / Computing Power
Analysis results
DPU duty cycle in Astero and Exo worst case mode operation
Idle64,0%
Exo data acquisition and processing
4,6%
AOCS (AS16) interface
0,1%
VIRTUOSO2,3%
Scrubbing1,3%
Health management0,5%
BEX commanding0,1%
MIL TC receipt0,1%
MIL TM transfer1,5%
Astero data acquisition and
processing25,5%
Computing power (incl. uncertainty):
- Total: < 36%
- DPU Idle: > 64%
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
23
COROTLOG
Astero Fine Pointing Processing – Prototyping Error Angle Accuracy (1)
Sigma of error angle accuracy as function of read-out noise
sigma Df for stars with magnitude 8.0m and 8.2mSubpixelinterpolation algorithms COROT
Astero Fine Pointing Processing – Prototyping Error Angle Accuracy (2)
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
25
COROTLOG
Automatic Test System for Validation Testing
A special test system has been developed in order to fulfill the high quality and reliability requirements with the following tasks:
- Proteus and BS2 interface simulation (hard- and software)
- TC/TM processing
- BEX interface and data simulation (hard- and software)
- Functional performance testing
- Data accuracy performance testing
- Reliability and stress tests
- Error simulation
- Test case reporting
- Data base maintenance
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
26
COROTLOG
Automatic Test System - Design and Facilities
Spacecraft Interface Simulator (SIS)
BEX Interface Simulator (BIS)
Test Manager/Executor
Test data base
GUI for SIS
GUI for BIS
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
27
COROTLOG
Automatic Test System - Performance
- Automation and real-time performance due to the virtual testers concept
- Integration of a test system into common project data base (ClearCase)
- High reliability of the test execution
- High degree of test coverage
- Traceability through Requisite Pro and Test Manager
- Long term tests under real time conditions
- “Re-test all” approach is possible with less effort in case of issuing a new S/W release
Rational Test RealTime
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
28
COROTLOG
Application Software Maintenance (1)
- Normally the Application Software is stored/uploaded in EEPROM.
- In case of EEPROM failure it is possible to upload and start the APS directly in RAM.
- Up to 8 different and independent APS executables are able to store in EEPROM. This allows uploading/changing and testing of an APS version without overwriting the current APS working version.
- More than 7000 TCs are needed to upload a complete APS. It takes more than 8 minutes (on-ground).
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
29
COROTLOG
Application Software Maintenance (2)
APS maintenance is provided
- during COROT integration
- during COROT test
- during COROT operation
- for EM and FM models
Final acceptance and operation of APS release
Installation of APS release at LESIA/CNES using COROT EGSE or ground segment facilities
Production and delivery of TC list containing APS release (COROT EGSE/ground segment format)
APS qualification and prel. acceptance at DLR
APS release production at DLR
APS development or change request or bug fixing
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
30
COROTLOG
Status of Primary Boot Software Development
- CDR (Critical Design Review) has been performed April 2003
- Primary Boot Software (PBS) development and test is finalized
- PBS interface and acceptance tests has successfully been performed at ALCATEL with the Proteus simulator
- PBS is ready to be burned in PROM for Flight Model DPU manufacturing
- Acceptance data package and code has been delivered
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
31
COROTLOG
Status of Application Software Development
- PDR (Preliminary Design Review) has been performed November 2003
- Coding has been started
- First delivery is February 2004 (release for EM testing)
- Fight level software delivery is October 2004
- Final delivery is planned for February 2005
- Support phase for S/C integration and tests is planned up to end of 2005
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
32
COROTLOGCOROTCNES/LESIA
0 11 0
P R O T E U S
E vent_H and le r
W atchdog_C ontrol
C T C _E xecuter
<<W atchdog_E nable>>
D P U
<<W atchdog_Init>>
<<W atchdog_T rigger>>
<<W atchdog_on_off>>
S tatus_H andler
<<W atchdo g_Co ntrol>>
<<Last_E rror_W arning>>
< <TC _P a ra m ete r> >
< <ED A C _ S ta tus>>
<<P B S _Interface_D ata>>
T M _H a ndling
<<T M >>
<<S tatus_P aram >>
<<E rror_W arning_P rogress>>
T M _P acket_A m ount_M ax
S pace craft Instrum ent
B S 2
T C _H andling
<< TC >>
<<CT C _M sg> >
<<1_32H z>>
Thanks for your attention Thanks for your attention the COROTLOG team the COROTLOG team
The COROTLOG Team ---- presented by Gisbert Peter, DLR / Optical Information Systems, December 2003CO
RO
TLO
G, t
he O
n-B
oard
Sof
twar
e of
CO
RO
T
33
COROTLOGCOROTCNES/LESIA
0 11 0Thanks for your attention Thanks for your attention