porting cfeto spacecraft onboard with spacewire engine and...
TRANSCRIPT
PortingcFE tospacecraftonboardwithSpaceWireEngineandRTOSbasedonuITRON specification
Mitsutaka Takada,HiroakiTakada(NagoyaUniversity)Takanori Narita,MasakiKusano (MitsubishiHeavyIndustries,ltd)
Seisuke Fukuda,KeiichiMatsuzaki,TakayukiIshida,NaokiIshihama(JAXA)Masaharu Nomachi (OsakaUniversity)
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Contents• MotivationtousecFE• AboutSOI-SOC3(spacecraftonboard)• FeaturesofTOPPERS/HRP2(uITRON RTOS)• cFE/CFSsupportedbyTOPPERSOS– TOPPERSOSextensionforcFE– BreakingpointofOSAL /PSPporting– SupportfunctionlistsandUnittests– HowtoconfigurationTOPPERSOSwithcFE
• Conclusion
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MotivationtousecFE
• InJapan,SpaceWireisadoptedastheintra-satellitenetworkmainlyformedium/largesciencesatellites.
• ByusingSpaceWire,flexiblenetworkconfigurationandremoteaccesswithRMAPbecomepossible,butatthesametimeapplicationdevelopersarerequiredtoincreaseSpaceWirerequestknowledge.
• Insatelliteapplicationdevelopment,wethinkthatbuildingasoftwareplatformsuchascFE/CFS,SOISandsoonwillbeimportant,sothatweexaminedtheuseofcFE /CFSandportingforspacecraftonboardincollaborationwithJAXAandNagoyaUniv.
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Whatconditionsspacecraftofoursoftwareplatform(SPF)
Inconsideringthesoftwareplatform,weconductedasurveywiththefollowing:– ApplicationcanuseSpaceWireprotocolservice– OpenstandardAPIorOpen-sourcesoftware– SpecificationisavailablebothwithinandoutsideJapan
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JAXAInternalSoftwarePlatform,SOIS,CFE/CFS…
SOISOCseries- onboardapplication-• MHIandISAS/JAXAdevelopedthespace-gradesystem-on-chipprocessor• SOISOCistargetinghighreliability,severeenvironmentapplications.• SOISOC2hasbeeninsideofalargenumberofsatellitesanditisalsoused
inacommercialproduct,aradiationmonitorasdual-use.
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SOISOC3microprocessor• SOISOC3isournewspace-gradesystem-on-chipprocessorwhichiscurrently
beingdevelopedbyMHIinpartnershipwithJAXA.• SOISOC3hasahigh-reliabilitySpaceWireengine,whichMHIhasdeveloped,
supportingforincomingSpaceWirestandards.– Fordeterministicdatadelivery(SpaceWire-D:DraftDIssue0.15)– Forreliabledatatransferservice(SpaceWire-R:SCDHA151-0.4Issue0.4)
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SpaceWireEngine• SpaceWireengineismainlyperformedonhardware.
– HighaccuracyschedulingandhighperformancewithlessCPUload
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Protocol Function Hardwaresupport
SpaceWire-D RMAPwrite • Headerformatcheck• Data transfertoext memorywithDMA
RMAPread • Headerformatcheck• Data transfertoext memorywithDMA
TimingControl • Controlofsendtimingof RMAPcommand
Time-CodeWatchdog • DetectEarly/Late watchdog
SpaceWire-R Segmentation • BreakSDU(ServiceDataUnit)intoSpW-Rdatapacketsatsendingend
• ReconstructSDUfromdatapacketsatreceivingend
DataAck Reply • CheckSpW-Rdatapacket• Replydataack packet
uITRON - TOPPERS/HRP2-
• NagoyaUniv.andJAXAhavedevelopeduITRONRTOSforspacesystems.
• AdditiontothememoryprotectionfunctioninthekernelofuITRON specification.– ObjectAccessfunction– Mutexfunction– Overrunhandlerfunction
• HRP2(HighReliablesystemProfileversion2)kernel• TOPPERSOSisplannedtobeusedinsomespace
systems.
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H-IIB(JAXA)
TOPPERSProject
• Developedvariousopen-sourcesoftwareforembeddedsystemincludingRTOSandpromotetheiruse.
• Incorporatedasanon-profitorganizationin2003.• ApplicationsTOPPERSOS
• TOPPERSOSiswidelyusedinindustries.• consumerapplications• industrialapplications• automotivesystems• spacesystems
http://www.toppers.jp/en/
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Kizashi (Suzukiauto) Privia (CASIO)
PortingOSAL• OSALVersion4.2.1• cFE Version6.4.2• Referenceinformation(beforetheportingOSAL)
– OSALsourcecodesanddocuments• cFE OSALConfigurationGuide- howtobuildcFE,param info,etc• cFE OSALLibraryAPI- understandingAPIbehavior• FunctionandUnittests– howtouseanddevelop“bsp_start.c”
– JAXAhadbeentryingtoportcFE• Howeveritwasminimalsupportfunctions• ItwasrestrictionsincetheRTOSfunctionsarenotextended
– RTEMSimplementationsourcecodeandbuildscripts• RTEMSissimilartouITRON specification APIparameters
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BreakingpointofOSAL/PSPportingonTOPPERSOS
• TOPPERSOSnotsupportfilesystemfunction– IfwecanusefilesystemonTOPPERSOS,wewillbuildfilesystem
librarymodule(OSSorproprietary)• SOI-SOC3(targetBSP)hasonlymemorystorage
– SOI-SOC3havenotlargestoragedevice– Flashmemoryisonlyusedbybinaryapplicationprogramandlesssize
memorythanRAMmemory– OnlyuseRAMfilesystem
• AnotherImplementationof“ut_assert”functions– BecauseofTOPPERSOSisbare-metalenvironment
• Differentbuildsystemandboot-strapfromotherOS– TOPPERS/HRP2donotsupportdynamicLoaderfunctionofOSAL– OnelinktocFE/CFSandTOPPERS/HRP2
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TOPPERSOSextensionsforcFE• TOPPERS/HRP2(uITRON)hasminimalfunctionforRTOS
– runtimeCreate/DeleteAPIsareoptional– FileSystem libraryisnotsupported– StandardIOfunctions(cf.printf)aretargetimplementationdependent
• TOPPERS/HRP2extensionsforcFE– Create/DeleteAPIsaresupported(butwhenapplicationisconfigured,
OSreservesobjectsresources)– UsingFatFS (OpensourceGenericFATFilesystemModule)– Implementationofalternativeprintf()function
• NOT supportforcFE functions– OSAL:DynamicLoaderandSymbolAPI,NetworkAPI
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SupportOSALfunctiontableOSALfunctionitems OSAPAPI TOPPERS/HRP2 (API)
Miscellaneous OS_API_Init ○
OS_printf ○
OS_printf_disable ○
OS_printf_enable ○
OS_Tick2Micros TO_USEC(clock)
OS_GetLocalTime ○
OS_SetLocalTime ○
OS_Milli2Ticks ○
QueueAPI OS_QueueCreate ○(acre_dtq)
OS_QueueDelete ○(del_dtq)
OS_QueueGet ○(trcv_dtq)
OS_QueuePut ○(psnd_dtq)
OS_QueueGetIdByName ○
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SupportOSALfunctiontable
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OSALfunctionitems OSAPAPI TOPPERS/HRP2 (API)
TaskControlAPI OS_TaskCreate ○(acre_tsk)
OS_TaskDelete ○(del_tsk)
OS_TaskInstallDeleteHandler ○
OS_TaskExit ○(ext_tsk)
OS_TaskDelay ○(dly_tsk)
OS_TaskSetPriority ○(chg_pri)
OS_TaskRegister NotSupport
OS_TaskGetId ○(get_tid)
OS_TaskGetIdByName ○
OS_TaskGetInfo ○
DynamicLoaderandSymbolAPI
… NotSupport
NetworkAPI … NotSupport
SOI-SOC3BSPconfiguration• Parameterofosconfig.h
– #undef OS_INCLUDE_NETWORK• NottouseEthernet
– #undef OS_INCLUDE_MODULE_LOADER• Nottosupportloadablemodule
• HowtobootupfromOStoOS_BSPMain()– ProvideBSPinitializefunctionthatnameis“BSP_Init_Toppers()”1. CreateaTASKforstartupforTOPPERSOS2. Thetaskiscalled“BSP_Init_Toppers()”function3. thefunctionruninitializeBSPandfinallycalled“OS_BSPMain()”
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StartupTASK(TOPPERSOS)
BSP_Init_Toppers()- BSPinitialize
OS_BSPMain()
HowtoconfigureTOPPERSbycFE• TheITRONspecificationuses
thestaticAPItosettheOS
• osal.cfg– cFE applicationuse
TOPEPRSkernelobject(cf.MAXnumberofTASK,DATAQEUE,…)
– configurationofmutexandsemaphoreusedinOSAL
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cFE/CFSsupportsbyTOPEPRS• OSALporting
– HRP2kernelsupportsOSALAPIsexceptdynamicloader,symbolandnetworkAPI
– Alternativeprintf()functionforut_assert()
• PSPporting– soisoc3configurationforPSP– Onmemoryfilesystem(soisoc3havenotFLASH(SD,HDD..)memory)
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TOPPERS/HRP2 soisoc3BSPOSALforHRP2 PSPforsoisoc3
cFEcFE API
CFSLibrary
Plarform Abstraction API
cFE Testsrunning• OSALfunctionaltests
– bin-sem-flush,bin-sem,bin-sem-timeout,count-sem,file-api,mutex,osal-core,queue-timeout,timertestsarepassed
• cFE sampleapplication– build“sample_app”andperformtests– Resultsanalysisarenotcarriedoutyet
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Conclusion
• Conclusion– cFE(OSALandPSP)issupportedbyTOPPERSOS– cFE applicationcanrunonSOI-SOC3(spacecraftonboard)
• FuturePlan– SupportSpaceWire
• WemustuseSpaceWireApplicationoncFE• SpaceWiresampleapplicationoncFE
– EnhancedSBNconfiguration• SpaceWire enginesupportsnotonlyRMAPbutalsoSpaceWire-D,SpaceWire-Rprotocols
• IncorporatenetworktimemanagementsettingsintoSBN
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