CubeSense. An integrated sun and nadir sensor module. Interface Control Document

Transcription

1 CubeSense An integrated sun and nadir sensor module Interface Control Document

2 Page: 2 Table of Contents List of Acronyms/Abbreviations Introduction Specifications Electrical Interface Power Enabling/Disabling Communications Mechanical Interface Software Interface I2C Protocol UART protocol Telecommand and telemetry IDs Node Definition (V2.0) Telemetry Frames Telecommand Frames... 25

3 Page: 3 List of Acronyms/Abbreviations CMOS ADCS ESL FPGA I 2 C MCU OBC SRAM UART COTS PCB Complementary metal-oxide semiconductor Attitude and Determination Control System Electronic Systems Laboratory Field Programmable Gate Array Inter- Integrated Circuit Microcontroller Unit Onboard Computer Static Random Access Memory Universal Asynchronous Receiver/Transmitter Commercially Off-the-shelf Printed circuit board

4 Page: 4 1. Introduction The CubeSense module is an integrated sun and nadir sensor for CubeSat attitude sensing. It makes use of two CMOS cameras one dedicated to sun sensing and another for horizon detection. The sun sensor has a neutral density filter included in the optics to ensure that only the sun will be visible in the image. Both cameras have wide field-of-view optics (200 degrees) for increased operating range. The primary outputs of the sensor are the measured sun vector and nadir vector in the sensor s coordinate frame. The measured vectors are output as azimuth/elevation angles relative to the camera bore-sight. CubeSense can also be used as a camera to download 1024x1024 pixel greyscale images. It is however important to note that a camera that is dedicated for use as a sun-sensor contains a physical filter and cannot be used to take normal images. The unit contains a variety of static sensitive devices. The appropriate electrostatic protection measures must thus be implemented. The unit must never be handled without proper grounding. It is recommended that the unit be handled in a clean environment. A clean room of ISO class 8 or higher or an appropriate laminar flow workbench is recommended. The unit should be kept free of moisture or liquids. Liquids and moisture could have corrosive effects on the electronics and electronic joints which may lead to degradation and loss of reliability of the circuits. The unit must be handled with care and dropping or bumping the unit should be completely avoided. The camera lenses should be kept clean and free of any dirt that may obstruct the images captured by the camera. Dust should be removed with a cloth. If required, the lens may be cleaned using ethanol and appropriate lens cleaning equipment, but unnecessary cleaning of the lens should be avoided. The sun and nadir optics are fitted with dust caps which should be removed before flight. The position of the lens relative to the image sensor is of extreme importance for accurate detection. Any external force on the lens or lens holder should be completely avoided. Please read Section Error! Reference source not found.(error! Reference source not fo und.) very carefully.

5 Page: 5 2. Specifications Table 1 Performance specifications Physical Size Mass Power Maximum power use Nominal mode Performance Maximum update rate Nadir only Sun only Both Accuracy (1σ) Nadir Sun Range Nadir Sun PC104 PCB: 96mm x 91mm x 10mm (excludes camera modules) 80 g (including camera modules) 360 mw < 150 mw 2 Hz 2 Hz 1 Hz 0.2 degrees (Full earth in FOV) 0.2 degrees (Full range) 130 degrees vertical/horizontal and 160 degrees diagonal 170 degrees vertical/horizontal and 200 degrees diagonal Table 2 Electrical characteristics Symbol Parameter Min Nom Max Unit V CC 5V Supply voltage V 3V3 Supply voltage V T A Operating Temperature C * I cc Single Both V I2C I 2 C voltage levels 3.3 / 5 V R I2C I 2 C rate 100 khz V UART UART voltage levels 3.3 V R UART UART baudrate bps V CC = 5V & 3V3, T A = 25 C

6 Page: 6 3. Electrical Interface Figure 1 CubeSense electrical connections 3.1 Power CubeSense is powered from 5V and 3V3. The 5V and 3V3 supplies and ground connection are located on the PC104 header and on the AUX header (if populated). The user can configure CubeSense to be powered from any combination of these sources. Table 3 summarizes which pins on the PC104 header/aux header is used for a specific power selection. These locations have been specifically chosen to make the unit compatible with most COTS CubeSat components

7 Page: 7 Power Source Location Table 3 Power-connection locations* PC104 Main 5V H2-25 & H2-26 3V3 H2-27 & H2-28 GND H2-29, H2-30 & H2-32 *Refer to Figure 1 for connector names PC104 SW1 PC104 SW2 PC104 SW3 H1-47 H1-49 H1-51 P1-5 H1-48 H1-50 H1-52 P1-2 H2-29, H2-30 & H2-32 H2-29, H2-30 & H2-32 H2-29, H2-30 & H2-32 P1-3 Aux The placement of the power source on CubeSense must be specified at production, since it cannot be changed once the board has been delivered. 3.2 Enabling/Disabling CubeSense has its own overcurrent protected switches which switch on/off the power that is supplied to the board. At production, these switches can be configured to be default on or off. The user can switch on/off CubeSense by applying a digital high/low signal to the CubeSense Enable pin. The Enable pin is active high. This signal can be routed to one of 4 locations on CubeSense. These locations are summarised in Table 4. These locations have been specifically chosen to make the unit compatible with most COTS CubeSat components. Table 4 Enable-connection locations* Enable-Source Location PC104 Loc1 PC104 Loc2 Aux Strain Relief EN H1-2 H2-20 P1-4 JP-5 *Refer to Figure 1 for connector names The placement of the Enable-source on CubeSense must be specified at production, since it cannot be changed once the board has been delivered.

8 Page: Communications CubeSense has two communication channels: I2C and UART. The I2C bus connection is also made via the PC104 connector stack. The location of the I2C bus is selectable and can be in one of the three locations, summarized in Table 5. Table 5 I2C-connection locations* I2C Location PC104 Main PC104 Secondary I2C SCL H1-43 H1-21 P1-1 I2C SDA H1-41 H1-23 P1-6 Aux CubeSense acts as a slave on the I2C bus and thus do not have pull-up resistors. The master must implement the appropriate pull-ups for the frequency at which the communication is done. The UART connection is mainly used for debugging purposes. In the case where it is required for flight, the full functionality of CubeSense is available through this interface. In the case where UART is required as a flight interface, it is suggested that the AUX connector be populated and used as the main connector. The UART connection is also located on the same connector that is used to program the MCU on CubeSense. The pin-outs for the UART connections on the connector are indicated in Table 6. The UART channel operates at TTL voltage levels. Table 6 UART connections UART Signal PIC P1 AUX CubeSense TX PIC P1-10 P1 6 CubeSense RX PIC P1-9 P1 1 GND PIC P1-8 P1-3 Note that CubeSense will be back-powered through the UART connections if a voltage is applied on these connections without supplying CubeSense with power. This might lead to unexpected behavior and should be avoided at ALL times.

9 Page: 9 4. Mechanical Interface The CubeSense module conforms to the CubeSat kit PC104 specifications. The ISIS Bus definition is used for cut-outs of the PCB and placement of stacking holes. These dimensions are specified below: Figure 2 CubeSense board outline CubeSense has additional mounting holes that can be used for mounting of other piggyback PCBs or mechanics. These holes should only be used after consulting with the CubeSpace team.

10 Page: Software Interface CubeSense can communicate using either a UART channel or an I2C bus. In both cases the telecommand and telemetry definitions are the same, but the protocol differs slightly. CubeSense acts as a slave in both cases it will only respond to telecommands or telemetry requests from a master. The first byte of a message sent to the CubeSense will determine whether the message is a telecommand or telemetry request, and also contain the ID of the telecommand or telemetry request. The most significant determines whether it is a telecommand or telemetry request, and the lower 7 s contain the ID. Table 7 Content of first byte of message Bit(s) Meaning 7 0 = telecommand, 1 = telemetry request 0:6 Telecommand or telemetry frame ID When considering the full byte identifier, telecommands first byte will be in the range and telemetry requests in the range I2C Protocol The CubeSense module acts as an I2C slave node with 7- addressing. The 8- read and write addresses of the node are: Table 8 I2C node address 8- Hex 7- Hex Binary byte address I2C write 0x20 0x10 0b I2C read 0x21 0x10 0b Requesting telemetry Telemetry is requested from CubeSense over the I2C bus by performing a combined writeread operation. The first write following the start condition is the write-address of the node (0x20).

11 Page: 11 This is followed by the telemetry frame identifier which is the ID of the TLM that should be read. A repeated start condition is then given The read-address is then written by the master (0x21) The master then issues a number of read cycles depending on the length of the telemetry frame. S 0x20 TLM frame ID S 0x21 TLM byte 0... P Master writes node address (write operation) Master writes telemetry frame ID Master writes node address (read operation) Figure 3 I2C Telemetry request Master reads first TLM data byte The length and content of the telemetry frames are summarized in Table 13. For the complete listing of TLMs and TCs, see Appendices A and B. Because the master determines the number of bytes that are read, it is possible to read past the end of a telemetry frame or to read an incomplete telemetry frame. CubeSense will flag an error if an incorrect number of bytes are read for a given frame identifier. This flag is stored in the Communications Status telemetry frame (ID = 2), and can be read using a telemetry request. The flag will remain set until the communication status telemetry frame is read Sending telecommands Telecommands are given to CubeSense by performing a master write to the module. The first write following the start condition is the write-address of the node (0x20). The first data byte (after the address byte) is the telecommand identifier This is followed by the telecommand parameters. S 0x20 TC ID TC data 0... P Master writes node address (write operation) Master writes telecommand ID Master writes data bytes Figure 4 I2C Telecommand The number and format of these parameters vary for each telecommand and are summarized in Table 14. The telecommand acknowledge status can be polled via a telemetry request (ID = 3) to ensure that CubeSense successfully registered the telecommand that was given to it.

12 Page: 12 Table 9 Telecommand Acknowledge telemetry frame Telemetry frame ID 3 Telecommand Acknowledge Frame length 3 Channels Offset Length Channel Data type Detail 0 1 Last TC id ID of last received telecommand 1 1 Processed 0 = TC has not been flag processed. Sending another TC while this flag is 0 will corrupt the TC buffer 2 1 TC error flag 0 = no error, 1 = invalid TC ID, 2 = parameters invalid It is not a requirement that the telecommand acknowledge status has to be read following a telecommand, but an error will occur if another telecommand is sent before the Telecommand Processed flag (contained in the Telecommand Acknowledge telemetry frame) has been set. In this case the telecommand buffer will be overwritten, while the first telecommand is being processed, leading to corrupt telecommand data. The Processed flag is not an indication of the telecommand execution status. Some telecommands may take a while to execute (such as imaging and detection functions) and other telemetry channels are available to monitor their execution status. The Processed flag is only an indication that the module is ready for another telecommand to be sent. The Telecommand Acknowledge telemetry frame also contains a TC Error flag. This flag will be set if an invalid telecommand ID was received for the last telecommand or if the number of data bytes were incorrect or contained invalid data. The following sequence illustrates the actions that the master has to take to ensure proper telecommand execution: 1. Send telecommand. 2. Poll Telecommand Acknowledge telemetry until the Processed-flag equals Confirm telecommand validity by checking the TC Error flag of the last read Telecommand Acknowledge telemetry. 4. Back to step 1 (if another telecommand is to be sent).

13 Page: UART protocol The UART operates at a baudrate of bps, with 8 data s, 1 stop and no parity checking. The UART protocol makes use of start-of-message (SOM) and end-of-message (EOM) identifiers to mark the beginning and end of a transmission. An escape character precedes the SOM and EOM identifiers. Table 10 UART protocol message identifiers Escape character SOM identifier EOM identifier 0x1F 0x7F 0xFF A message will therefore begin with the sequence 0x1F, 0x7F and end with the sequence 0x1F, 0xFF. Whenever data occurs in the message, where the data byte matches the escape character, this will be replaced with the sequence 0x1F, 0x1F. When decoding a CubeSense UART message, on reception of the escape character, the byte following the escape character has the following implications: Table 11 UART message decoding Byte received after escape character 0x7F 0xFF 0x1F other Meaning Start of message End of message Data byte: 0x1F Should not occur error When formatting a message to be sent to the CubeSense UART, the same protocol applies. CubeSense will set internal error flags to indicate that a protocol error occurred or if an incomplete message was received (if a SOM identifier occurred without a preceding EOM identifier). These flags can be read via the Communication Status telemetry request. Once set, they will remain set until the Communication Status telemetry is requested Requesting telemetry A telemetry request to the CubeSense (via the UART) will have the following form: 0x1F 0x7F TLM frame ID 0x1F 0xFF Start-of-message identifier End-of-message identifier Figure 5 UART telemetry request

14 Page: 14 The reply from the CubeSense will then have the following form: 0x1F 0x7F TLM byte x1F 0xFF Start-of-message identifier End-of-message identifier Sending telecommands Figure 6 UART telemetry reply A telecommand to the CubeSense (via the UART) will have the following form: 0x1F 0x7F TC ID TC data byte x1F 0xFF Start-of-message End-of-message identifier identifier Figure 7 UART telecommand The CubeSense will reply to the telecommand with an acknowledge message. 0x1F 0x7F TC Error flag 0x1F 0xFF Start-of-message identifier 0 = no error 1 = invalid TC ID 2 = invalid parameters End-of-message identifier Figure 8 UART telecommand acknowledge The reply will contain a single data byte with the TC Error flag. This is the same flag that can be read via the Telecommand Acknowledge telemetry request. The receipt of the telecommand-acknowledge will indicate that the CubeSense is ready to receive another telecommand. telecommand buffer. Sending another telecommand before the acknowledge will corrupt the 5.3 Telecommand and telemetry IDs The first byte of a message sent to the CubeSense will determine whether the message is a telecommand or telemetry request, and also contain the ID of the telecommand or telemetry request. The most significant determines whether it is a telecommand or telemetry request, and the lower 7 s contain the ID. Table 12 Telecommand and telemetry IDs Bit(s) Data 7 0 = telecommand, 1 = telemetry request 0:6 Telecommand or telemetry frame ID When considering the full byte identifier, telecommands will have ID s in the range and telemetry requests will have ID s in the range Table 13 and Table 14 show lists

15 Page: 15 of telemetry and telecommand frames that CubeSense accepts. For the complete listing of frames and their content, see the Node Definition. ID (Decimal) Full ID- Byte (HEX) Table 13 List of telemetry frames** Telemetry frame Length 0 0x80 Status 8 1 0x81 Serial Number 6 2 0x82 Communication Status 8 3 0x83 Telecommand Acknowledge x93 Operation Status x94 Sensor 1 result x95 Sensor 2 result x96 Sensor 1 result & start new detection in SRAM x97 Sensor 2 result & start new detection in SRAM x98 Sensor 1 result & start new detection in SRAM x99 Sensor 2 result & start new detection in SRAM x9A Power xA8 Configuration xC0 Image frame xC1 Image frame info xC2 Full image SRAM 1 Location 1 (UART only) xC3 Full image SRAM 1 Location 2 (UART only) xC4 Full image SRAM 2 Location 1 (UART only) xC5 Full image SRAM 2 Location 2 (UART only) xC8 Read Sensor 1 Mask xC9 Read Sensor 2 Mask 40 * Telemetry frames 22, 23, 24 and 25 will also trigger a detection operation. See section 6.3 ** This definition is for CubeSense Nodedef V2. If the Interface version field of TLM 0 of your CubeSense is not V2, please contact our team for the updated list of TLMs.

16 Page: 16 Table 14 List of telecommands* ID Full ID-Byte (Decimal) (HEX) Telecommand Length 0 0x00 Reset x0B Clear SRAM overcurrent flags x14 Capture & detect x15 Capture Image x28 Set sensor 1 detection threshold x29 Set sensor 2 detection threshold x2A Set sensor 1 auto-adjust x2B Set sensor 1 settings x2C Set sensor 2 auto-adjust x2D Set sensor 2 settings x32 Set sensor 1 boresight pixel location x33 Set sensor 2 boresight pixel location x34 Set sensor 1 mask x35 Set sensor 2 mask x36 Set sensor 1 distortion correction coefficients x37 Set sensor 2 distortion correction coefficients x40 Initialize image download x41 Advance image download 2 * This definition is for CubeSense Nodedef V2. If the Interface version field of TLM 0 of your CubeSense is not V2, please contact our team for the updated list of TCs.

17 Page: 17 Node Definition (V2.0) 5.4 Telemetry Frames Telemetry frame ID 0 Status Frame length 8 Channels Offset Length Channel Data type Detail 0 1 Node type Identification of type of CubeComponent Node 1 1 Interface Interface definition version version 2 1 Firmware version (major) 3 1 Firmware version (minor) 4 2 Runtime (seconds) 6 2 Runtime (milliseconds) Unsigned 16- Unsigned 16- Number of seconds since processor start-up Number of milliseconds (after the integer second) since processor start-up

18 Page: 18 Telemetry frame ID 2 Communication Status Frame length 8 Channels Offset Length Channel Data type Detail 0 2 TC counter Unsigned 16- No. of telecommands received 2 2 TLM counter Unsigned 16- No. of telemetry request received 4 1 TC buffer overrun flag TC buffer was overrun while receiving a telecommand 5 1 I2C TLM read error flag While reading a TLM buffer in an I2C transaction, either the read carried on past the end of the buffer, or the read stopped before all bytes were read 6 1 UART protocol error flag 7 1 UART incomplete message flag UART protocol error occurred UART start-of-message identifier was received without a preceding endof-message Telemetry frame ID 1 Serial number Frame length 6 Channels Byte Length Channel Data type Detail No 0 6 Node type 8- ASCII 6 ASCII Characters Serial number

19 Page: 19 Telemetry frame ID 3 Telecommand Acknowledge Frame length 3 Channels Offset Length Channel Data type Detail 0 1 Last TC id ID of last received telecommand 1 1 Processed flag 0 = TC has not been processed. Sending another TC while this flag is 0 will corrupt the TC buffer 2 1 TC error flag 0 = no error, 1 = invalid TC ID, 2 = parameters invalid Telemetry frame ID Detection result & Trigger Frame length 6 Channels Byte Length Channel Data type Detail No 0 2 α Signed 16- α angle in centi-degrees (range = -100 to 100 degrees) 2 2 β Signed 16- β angle in centi-degrees (range = -100 to 100 degrees) 4 1 Capture Result 0 = start-up 1 = capture pending 2 = successfully captured (Own SRAM) 3 = successfully captured (Other SRAM) 4 = camera timeout 5 = SRAM overcurrent 5 1 Detectio n result 0 = start-up 1 = no detection scheduled 2 = detection pending 3 = Nadir error too many detected edges 4 = Nadir error not enough detected edges 5 = Nadir error Bad fit 6 = Sun error Sun not found 7 = Successful detection

20 Page: 20 Telemetry frame ID 26 Power Frame length 10 Channels Offset Length Channel Data type Detail V current Unsigned 16- To obtain current from sample value: I= * TLM_3VCURRENT (returns current in ma) 2 2 SRAM 1 current 4 2 SRAM 2 current Unsigned 16- Unsigned V current Unsigned SRAM 1 over-current 9 1 SRAM 2 over-current I= *TLM_SRAM1CURRENT (returns current in ma) I= *TLM_SRAM2CURRENT (returns current in ma) I = * TLM_5VCURRENT (returns current in ma) 0 = no overcurrent 1 = SRAM overcurrent detected 0 = no overcurrent 1 = SRAM overcurrent detected

21 Page: 21 Telemetry frame ID 40 Configuration Frame length 14 Channels Offset Length Channel Data type Detail 0 1 Camera 1 detection threshold 1 1 Camera 2 detection threshold 2 1 Camera 1 auto adjust mode 3 1 Camera 1 exposure 5 1 Camera 1 AGC 6 1 Camera 1 Blue Gain 7 1 Camera 1 Red Gain 8 1 Camera 2 auto adjust mode 9 1 Camera 2 exposure 11 1 Camera 2 AGC 12 1 Camera 2 Blue Gain 13 1 Camera 2 Red Gain Unsigned 16- Unsigned 16-0 = disabled, 1 = enabled 0 = disabled, 1 = enabled Telemetry frame ID 64 Image frame Frame length 128 Channels Offset Length Channel Data type Detail Image bytes Array of 8- unsigned Image bytes

22 Page: 22 Telemetry frame ID 65 Image frame info Frame length 3 Channels Offset Length Channel Data type Detail 0 2 Image frame number Number of current frame loaded into download buffer 2 1 checksum XOR checksum of frame loaded into download buffer Telemetry frame ID 66* Full image SRAM 1 Location 1 Frame length Channels Offset Length Channel Data type Detail Image bytes Array of 8- unsigned Image bytes Telemetry frame ID 67* Full image SRAM 1 Location 2 Frame length Channels Offset Length Channel Data type Detail Image bytes Array of 8- unsigned Image bytes Telemetry frame ID 68* Full image SRAM 2 Location 1 Frame length Channels Offset Length Channel Data type Detail Image bytes Array of 8- unsigned Image bytes Telemetry frame ID 69* Full image SRAM 2 Location 2 Frame length Channels Offset Length Channel Data type Detail Image bytes Array of 8- unsigned Image bytes * Telemetry 66 to 69 can only be acquired through UART.

23 Page: 23 Telemetry frame ID 72 Read Sensor 1 Mask Frame length 40 Channels Offset Length Channel Data type Detail 0 2 Minimum X of area 1 Specifies the lower X- boundary of masked area Maximum X of area 1 Specifies the upper X- boundary of masked area Minimum Y of area 1 Specifies the lower Y- boundary of masked area Maximum Y of area 1 Specifies the upper Y- boundary of masked area Minimum X of area 2 Specifies the lower X- boundary of masked area Maximum X of area 2 Specifies the upper X- boundary of masked area Minimum Y of area 2 Specifies the lower Y- boundary of masked area Maximum Y of area 2 Specifies the upper Y- boundary of masked area Minimum X of area 3 Specifies the lower X- boundary of masked area Maximum X of area 3 Specifies the upper X- boundary of masked area Minimum Y of area 3 Specifies the lower Y- boundary of masked area Maximum Y of area 3 Specifies the upper Y- boundary of masked area Minimum X of area 4 Specifies the lower X- boundary of masked area Maximum X of area 4 Specifies the upper X- boundary of masked area Minimum Y of area 4 Specifies the lower Y- boundary of masked area Maximum Y of area 4 Specifies the upper Y- boundary of masked area Minimum X of area 5 Specifies the lower X- boundary of masked area Maximum X of area 5 Specifies the upper X- boundary of masked area Minimum Y of area 5 Specifies the lower Y- boundary of masked area Maximum Y of area 5 Specifies the upper Y- boundary of masked area 5

24 Page: 24 Telemetry frame ID 73 Read Sensor 2 Mask Frame length 40 Channels Offset Length Channel Data type Detail 0 2 Minimum X of area 1 Specifies the lower X- boundary of masked area Maximum X of area 1 Specifies the upper X- boundary of masked area Minimum Y of area 1 Specifies the lower Y- boundary of masked area Maximum Y of area 1 Specifies the upper Y- boundary of masked area Minimum X of area 2 Specifies the lower X- boundary of masked area Maximum X of area 2 Specifies the upper X- boundary of masked area Minimum Y of area 2 Specifies the lower Y- boundary of masked area Maximum Y of area 2 Specifies the upper Y- boundary of masked area Minimum X of area 3 Specifies the lower X- boundary of masked area Maximum X of area 3 Specifies the upper X- boundary of masked area Minimum Y of area 3 Specifies the lower Y- boundary of masked area Maximum Y of area 3 Specifies the upper Y- boundary of masked area Minimum X of area 4 Specifies the lower X- boundary of masked area Maximum X of area 4 Specifies the upper X- boundary of masked area Minimum Y of area 4 Specifies the lower Y- boundary of masked area Maximum Y of area 4 Specifies the upper Y- boundary of masked area Minimum X of area 5 Specifies the lower X- boundary of masked area Maximum X of area 5 Specifies the upper X- boundary of masked area Minimum Y of area 5 Specifies the lower Y- boundary of masked area Maximum Y of area 5 Specifies the upper Y- boundary of masked area 5

25 Page: Telecommand Frames Telecommand ID 0 Reset Parameters length Reset type 1 = reset communication interfaces (I2C & UART) including message counts 2 = reset cameras 3 = reset MCU Telecommand ID 11 Clear SRAM overcurrent flag Parameters length SRAM overcurrent flag 0 = Clear SRAM1 flag 1 = Clear SRAM2 flag 2 = Clear both flags Telecommand ID 20 Image capture & detection Parameters length Camera selection 0 = Camera 1 1 = Camera SRAM selection 0 = SRAM 1 1 = SRAM 2 Telecommand ID 21 Image capture Parameters length Camera selection 0 = Camera 1 1 = Camera SRAM selection 0 = SRAM 1 1 = SRAM Location selection 0 = Top Halve 1 = Bottom Halve

26 Page: 26 Telecommand ID 40 Set sensor 1 detection threshold Parameters length Detection threshold Detection threshold Telecommand ID 41 Set sensor 2 detection threshold Parameters length Detection threshold Detection threshold Telecommand ID 42 Set sensor 1 auto-adjust Parameters length Auto-adjust enabled 0 = disabled, 1 = enabled Telecommand ID 43 Set sensor 1 settings Parameters length Exposure Unsigned Exposure register value time AGC Gain control register 3 1 Blue gain Blue gain control register 4 1 Red gain Red gain control register

27 Page: 27 Telecommand ID 44 Set sensor 2 auto-adjust Parameters length Auto-adjust enabled 0 = disabled, 1 = enabled Telecommand ID 45 Set sensor 2 settings Parameters length Exposure Unsigned Exposure register value time AGC Gain control register 3 1 Blue gain Blue gain control register 4 1 Red gain Red gain control register Telecommand ID 50 Set sensor 1 boresight pixel location Parameters length X-Pixel Unsigned *(X Pixel location of CAM1 boresight) 2 2 Y-Pixel Unsigned *(Y Pixel location of CAM1 boresight) Telecommand ID 51 Set sensor 2 boresight pixel location Parameters length X-Pixel Unsigned *(X Pixel location of CAM2 boresight) 2 2 Y-Pixel Unsigned *(Y Pixel location of CAM2 boresight)

28 Page: 28 Telecommand ID 52 Set sensor 1 mask Parameters length Mask Number Number indicating which of 5 (0-4) areas will be specified 1 2 X Minimum Unsigned 16- Lower X limit of specified masked area 3 2 X Maximum Unsigned 16- Upper X limit of specified masked area 5 2 Y Minimum Unsigned 16- Lower Y limit of specified masked area 7 2 Y Maximum Unsigned 16- Upper Y limit of specified masked area Telecommand ID 53 Set sensor 2 mask Parameters length Mask Number Number indicating which of 5 (0-4) areas will be specified 1 2 X Minimum Unsigned 16- Lower X limit of specified masked area 3 2 X Maximum Unsigned 16- Upper X limit of specified masked area 5 2 Y Minimum Unsigned 16- Lower Y limit of specified masked area 7 2 Y Maximum Unsigned 16- Upper Y limit of specified masked area

29 Page: 29 Telecommand ID 54 Set sensor 1 distortion correction coefficients Parameters length Mantissa1 Unsigned Mantissa of coefficient Exponent1 Exponent of coefficient Mantissa2 Unsigned Mantissa of coefficient Exponent2 Exponent of coefficient Mantissa3 Unsigned Mantissa of coefficient Exponent3 Exponent of coefficient Mantissa4 Unsigned Mantissa of coefficient Exponent4 Exponent of coefficient Mantissa5 Unsigned Mantissa of coefficient Exponent5 Exponent of coefficient 5

30 Page: 30 Telecommand ID 55 Set sensor 2 distortion correction coefficients Parameters length Mantissa1 Unsigned Mantissa of coefficient Exponent1 Exponent of coefficient Mantissa2 Unsigned Mantissa of coefficient Exponent2 Exponent of coefficient Mantissa3 Unsigned Mantissa of coefficient Exponent3 Exponent of coefficient Mantissa4 Unsigned Mantissa of coefficient Exponent4 Exponent of coefficient Mantissa5 Unsigned Mantissa of coefficient Exponent5 Exponent of coefficient 5

31 Page: 31 Telecommand ID 64 Initialize image download Parameters length SRAM selection 0 = SRAM 1 1 = SRAM SRAM location 0 = Top 1 = Bot 2 1 Size selection 0 = 1024x1024 (8192 frames) 1 = 512x512 (2048 frames) 2 = 256x256 (512 frames) 3 = 128 x 128 (128 frames) 4 = 64 x 64 (32 frames) Telecommand ID 65 Advance image download Parameters length Next frame Unsigned Number of next frame to number 16- be loaded

32 Page: 32 Document Version History Version Author(s) Pages Date Description of Change 0.1 DS ALL 07/02/2017 First draft 1.0 DS ALL 10/08/2017 Major updates