System Approach for a SpaceWire Network Template reference : C-EN
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1 System Approach for a SpaceWire Network Template reference : C-EN Prepared by Stephane DETHEVE / Bruno MASSON
2 PLAN Page 2 SYSTEM APPROACH FOR A SPACEWIRE NETWORK INTRODUCTION SIMULATION BREADBOARDING INTERFACES STANDARDIZATION FAILURE DETECTION CONCLUSION
3 Template reference : C-EN INTRODUCTION
4 SpaceWire for Space Application Page 4 SpaceWire technology is today affordable and can be used for many space applications. Indeed Standard flight computers or flight units provide such SpaceWire interfaces However when designing a SpaceWire network for a space application, how to guarantee that network is reliable in term of failure Detection&Recovry and enough performing in term of bandwidth? When starting a new satellite design based on SpaceWire network, and in order to secure the development, Thales Alenia Space consider needed to follow a system approach or a top down approach: To settle SpaceWire network performances requirements To define and validate the FDIR concept of the network To prevalidate the bandwidth performances and real time constraints To standardize the interfaces to ease the compatibility between modules
5 Objectives Page 5 For this purpose, THALES ALENIA SPACE (TAS) has developed RD effort on several directions : Development of simulation tool (MOST) in order to validate bandwidth performances of a network early in the project Development of an internal Avionic mockup with the objectives : The mock up will be scalable and adaptable to cover new future mission To Adapt the existing TAS avionics software in order to handle SpaceWire Use SOIS services to handle SpaceWire Use standard interfaces as PUS or RMAP for SpaceWire exchange To Evaluate Failure Detection capability and FDIR To Design a synchronous protocol in order to secure CC messages on the network
6 Template reference : C-EN MOST SIMULATION TOOL
7 MOST simulator Page 7 A tool has been designed to support design/development of SPACEWIRE networks :MOST for Modelling Of Spacewire Traffic MOST is primarily intended to simulate SpaceWire traffic MOST has be developed with the following objectives : Build any network topology involving routers and nodes Low effort in simulating new cases due to components library Simulate node behavior as data generator / consumer Parameterize data production process Execute scenarios (including error cases) Execute recording and analyses visualizing a high debit traffic which uses routing Produce reports of traffic analysis, based on drawings (evaluates peaks and margins, shows long term evolutions of resources, identify saturations cases)
8 MOST brings support all along the project life Page 8 During early steps of projects, MOST mainly plays a part in the following design activities : Phase A and before : performs evaluations, starting from a preliminary specification of network and nodes Phase B : consolidate design by enhancing and completing nodes models behavior in term of data provider and consumer During development steps of a project, MOST participates to : Phase C, D : design, validation and investigation During maintenance step of a project, MOST takes part to : Phase E : investigations, eventual support to very specific operations
9 Template reference : C-EN MOCK UP DEVELOPMENT
10 SpaceWire Network Mock Up Page 10 Experiment specification defined by : - Topology, - Scenarios and network characteristics, - Ways to monitor the network state, - Ways to detect failures and bottlenecks, Based on : - LEON boards, - Bricks & routers, - TAS Avionics Software Mock-up.
11 SpaceWire Network Architecture Page 11 Reuse of avionic software & development of applications : - For each LEON board Simulated CDMU behaviour Simulated mass memory behaviour - Behind each brick and router Simulated payload behaviour Simulation of TC subsystem Particularities of this network : - RMAP for initialisation & router status - Exchange based on PUS - Time-code for synchronisation - Group Adaptive Routing - FD monitoring to analyze a network - Intensive use of router
12 Template reference : C-EN MOCK UP / MOST COMPARISON
13 Cross-Checking : MOST Simulator vs Mock-Up MOST model : Page 13 MOST : Modelling Of Spacewire Tool
14 Cross-Checking of results (1) Page 14 The main verified features are : SpaceWire standard features Bottlenecks and failures N1 R N1 R R N2 R N2 Data traffic on SpaceWire link analyzer Data traffic on MOST simulator
15 Comparison table TESTS : Graphical reading of results Generation time Generation delay Generation cycle Transmit frequency Interval time of a byte Number of sent or received packets Number of sent or received bytes Packet size Byte size EOP size Generation of a EOP at end of packet Number of FCTs at the hardware initialization Generation of a FCT at each 8 characters RMAP principle Logical & path addressing GAR functionality principle Header deletion Time code (except for a lost time-code) Time-out functionality principle & anomalies Switch time & router latency & jitters & skews Blocking level Validate Not Validate Not Done Page 15
16 Remarks Page 16 Limitation at HW level : Link analyzer : precision of 20ns Difficulty to compare simulation with test in some cases : Switch time & router latency & jitters & skews (specific instrumentation would be needed) MOST developed based on data sheet Impossible to create all anomalies at hw level Benefits thanks to MOST simulator : Creation of anomaly cases (e.g. EEP, parity error, no EOP generation )
17 Template reference : C-EN S/W architecture
18 PUS Services TC Management TM Management TM Memory mngt SW Management Avionics Software Architecture (1) S/C Mode mngt FDIR Time maintenance OBCP 1 OBCP 2 Software bus For Plug&play of applications Use of PUS standard for ground/board interface Mock up is started from standard TAS avionic baseline : System Management Application Software bus AOCS P/F TR Thermal Regulation EPS P/L OBCP Page 18 Application Software Centralised management of all equipments status Middleware Equipment Management TM/TC Services TM Memory Serv. Cmd /Acq Services SGM management TM/TC CCSDS SMU Internal Bus 1553 P.F OBT related serv. Application Transport Network OSI model RTK Framework Computer System Software Middleware for high level I/O abstraction P/F data bus RT RT Earth Earth Sensors (2) BC RT RT Gyros Gyros (2) BC ICDU internal bus RT RT RT RT RT RT RT RT RT Sun Sun Reaction Torque Sensor Sun Reaction Sensor Wheel Reaction Torque Rods Sensors (3) Wheel Reaction Wheels Wheel Rods (2) (4) HDSW RT RT RT RT SAD SAD 4 4 Thrusters Thrusters Motors Motors (2) (2) BSP MM SGM PM DEC. TC VCA/VCM OBT Rx Tx HDSW Computer System Hardware
19 PUS Services TC Management TM Management TM Memory mngt SW Management Avionics Software Architecture (2) S/C Mode mngt FDIR Time maintenance OBCP 1 OBCP 2 Page 19 Software bus For Plug&play of applications System Management Application Software bus Use of PUS standard for ground/board interface AOCS P/F TR Thermal Regulation EPS P/L mngt Mass Memory mngt OBCP Application Software Centralised management of all equipments status Middleware Equipment Management SSDHI TM/TC Services TM Memory Serv. Cmd /Acq Services SGM management OBT related serv. SOIS Services TM/TC CCSDS SMU Internal Bus 1553 P.F SpaceWire Application Transport Network OSI model RTK Framework Computer System Software Middleware for high level I/O abstraction P/F data bus RT RT Earth Earth Sensors (2) BC RT RT Gyros Gyros (2) BC ICDU internal bus RT RT RT RT RT RT RT RT RT Sun Sun Reaction Torque Sensor Sun Reaction Sensor Wheel Reaction Torque Rods Sensors (3) Wheel Reaction Wheels Wheel Rods (2) (4) HDSW RT RT RT RT SAD SAD 4 4 Thrusters Thrusters Motors Motors (2) (2) BC BC Spacewire bus Router Router BSP MM SGM PM DEC. TC VCA/VCM OBT Rx Tx HDSW Computer System Hardware Compliant with PUS & RMAP standards
20 Virtual routers Page 20 Software architecture : Application CCSDS/PUS RMAP OBT SPW services Virtual router HDSW TOPOLOGY Virtual router principle : From SPW server, application selects the SpW port on which its packets will be sent thanks to a virtual router. The virtual router is configured by a routing table informing on : Destination address Associated SpW interface port Deletion header The virtual router works as a real router. Interest : Manage the redundancy at node level
21 Layer 3 Layer 2 Layer 1 Virtual routers Application Network manager Page 21 Generate PUS or RMAP packets CCSDS/PUS RMAP Fill RMAP Table with all RMAP requests SPW services Virtual router Correlate destination node with its headers via a specific routing table (dest logical address, priority, physical output port, deletion header flag) Route to a SpaceWire ports HDSW (port_1) HDSW (port_2) Send packets
22 Layer 1 Layer 2 Layer 3 Virtual routers (ANNEX) Page 22 Application Network manager Recover packet data CCSDS/PUS RMAP Retrieve data to appropriated destination SpW services Decapsulate received packets Virtual router Route packets to application layer HDSW (port_1) Packets ID filter HDSW (port_2) Receive PUS or RMAP packets (RMAP commands are treated at HW level) (RMAP reponses are treated at application & network manager level)
23 Template reference : C-EN INTERFACE STANDARDIZATION
24 Packet format : SpaceWire Page 24 Headers Protocol ID Cargo SpaceWire packet format EOP
25 Packet format : CCSDS Page 25 Version Number (=0) Type (=1) Packet ID Data Field Header Flag Packet Header (48 Bits) Application Process ID CCSDS packet format Packet Sequence Control Sequence Flag Sequence Count Packet length Data Field Header (Optional) Packet Data Field (Variable) Application Data Spare Packet Error Control Variable Variable Variable 16 Headers Protocol ID Cargo SpaceWire packet format EOP
26 TC Packet format : PUS Page 26 Version Number (=0) Type (=1) Packet ID Data Field Header Flag Packet Header (48 Bits) Application Process ID CCSDS packet format Packet Sequence Control Sequence Flag Sequence Count Packet length Data Field Header (Optional) Packet Data Field (Variable) Application Data Spare Packet Error Control Variable Variable Variable 16 CCSDS Secondary Header Flag TC Packet PUS Version Number Ack Service Type Service Sybtype Source ID Spare Boolean (1 bit) Enumarated (3 bits) Enumarated (4 bits) Enumarated (8 bits) Enumarated (8 bits) Enumarated (n bits) Fixed BitString (n bits) PUS packet format (TC)
27 TM Packet format : PUS Page 27 CCSDS packet format Packet Header (48 Bits) Packet Data Field (Variable) Packet ID Packet Sequence Control Packet length Data Field Header (Optional) Application Data Spare (Optional) Packet Error Control Version Number (=0) Type (=0) Data Field Header Flag Application Process ID Sequence Flag Sequence Count Variable Variable Variable (Optional) Spare TM Packet PUS Version Number Spare Service Type Service Sybtype Packet Sub- Counter Destination ID Time Spare Fixed BitString (n bits) Enumarated (3 bits) Fixed BitString (4 bits) Enumarated (8 bits) Enumarated (8 bits) Unsigned Integer (8 bits) Enumarated (n bits) Absolute Time Fixed BitString (n bits) PUS packet format (TM)
28 PUS Advantages/Constraints Page 28 PUS advantages : Packet format used for ground / board communications (ECSS-E-70-41) PUS may become a reference standard for board to board communication (e.g. formation flying) Packets which shall be received and sent by CDMU to a unit are already in PUS format : central s/w is a mail box which transmit message to the unit or to ground Possibility to use ACK function in order to Guarantee packet transfer PUS constraints : Not adapted to store information into registers (contrary to RMAP) Not useful to configure Routers and module ports and to interrogate their status Some overhead reduce the bandwidth If used to manage an instrument, all the instruments of the spacecraft should use it for harmonization purpose of the spacecraft
29 RMAP Advantages/Constraints Page 29 RMAP advantages : Permit to configure Routers and module ports and to interrogate their status Store information at drivers level (Mass Memory principle) Guarantee packet transfer using ACK option RMAP constraints : Not used for ground/board TM/TC communication (contrary to PUS)
30 SOIS Architecture Page 30
31 SOIS services applied to TAS Avionics Software Page 31 implemented Not really implemented Not implemented
32 Failure Detection Page 32 Used ways : RMAP commands to interrogate Router and module ports status RMAP READ commands (with data length = 0) to evaluate network bottlenecks (PING principle as Internet) HK packets generated by each modules transmitted to CDMU containing the following informations : Mode & status of SpaceWire units Number of EEP Number of lost HK packets Number of lost Science packets Number of lost time-codes Number of synchronization packets Number of sent packets by each units Evolution of the traffic fluidity onto the network In future, it should be possible to define a specific protocol in order to detect and recover failures via specific procedures.
33 CONCLUSION Page 33 THALES ALENIA SPACE believe that system approach is mature enough to start major development of spacecraft based on SpaceWire network Remaining open points to get the SpW more reliable : standardize a synchronous protocol to get SpW behavior more predictable standardize FDIR mechanism
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