APL s Reusable Flight Software Architecture and the Infusion of New Technology

Transcription

1 APL s Reusable Flight Software Architecture and the Infusion of New Technology Steve Parr Branch Supervisor Information Systems Branch SI October 20, Flight Software Workshop

2 Agenda APL s Reusable Flight Software Architecture FSW Applications Technology Infusion Approach Technology Planning Onboard File System Independent Research and Development (IRaDs) SpaceWire SmartSSR ExecSpec SoftWare in the Loop Simulator (SWiL) Infusion 2

3 APL Reusable Flight Architecture Telemetry Output 3

4 FSW Applications Scheduler Schedules in real time E.g 100 hz, 10 ms / slot Uses table with application frequency, and slot number File Manager / SSR Record / SSR Playback Manages files on SSR Create, Move, Delete Records files on SSR Plays back SSR files through CFDP downloads Telemetry Output Handles real time telemetry requests and execution Merges real time requests with SSR playback telemetry 4

5 FSW Applications (2) Command Ingest Reads Commands off interface card Passes to Command or Instrument manager Command Manager Passes highest priority command to application Tracks command counts, success, failure Instrument Manager Provides instrument commands and data distribution Passes instrument telemetry to SSR 5

6 Technology Infusion Approach Challenge Flight Software is an appropriately conservative business Missions look for heritage - If it ain t broke, don t fix it Developers want to do something new Given this, how does innovation occur? Most technology is infused by a determined visionary lead Is there a way beyond individual heroics? Approach Come up with a technology roadmap Target improvements Prove out on Independent Research and Development (IRaD) Infuse into a mission 6

7 Technology Roadmap In 2009 we laid out a technology roadmap that included Develop new SSR architecture and associated technology Goal Smart SSR system with separate processors and SpaceWire connections Outcome Smart SSR IRaD SpaceWire IRaD Improve ability to model and simulate S/C, Mission Systems Goal Develop models and executive specifications of entire software systems and individual CSCs to increase reliability and overall performance of systems Outcome - Exec Spec work SWiL IRaD 7

8 On-Board File System CFDP Download DOS File System (FS) MESSSENGER stores SSR data in a DOS FS Files are downloaded using the CCSDS File Delivery Protocol (CFDP) with guaranteed delivery and automated re-transmit This simplifies operations, prioritizes playback, and uses bandwidth efficiently RBSP uses CFDP Download and DOS FS like MESSENGER CFDP Download / Upload APL Flash File System Solar Probe Plus stores SSR data in the more efficient APL Flash File System adapted from open source File system upload of memory objects (autonomy rules, command macros, parameters, etc.) via CFDP is added This further simplifies operations, and may eliminate some ground software tools 8

9 Independent Research and Development (IRaD) IRaD brings technology up to TRL 4-5 A trade study in Phase A/B compares new vs old IRaD use internal money, considered our most dear IRaDs need to be selected It is a very competitive process (about 1 in 9 gets selected) A perfect IRaD costs $150K, and wins a $450M Discovery mission There are not a lot of those out there in SW We focus on infusion into mission We pitch that technology we develop will be used on all future missions 9

10 SpaceWire - PI: Ken Koontz Objective Mature SpaceWire technology for future APL missions SpaceWire Testbed in Lab Prototype Aeroflex 4-port Router Board Results Developed SpaceWire FSW Toolkit (library) Developed RMAP FSW for LEON3, VxWorks Benchmarked VxWorks and RTEMS device drivers Developed Router FSW for two commercial Routers Demo d Group Adaptive Routing (redundancy support) Investigated draft protocols (SpW-D, SpW-T) Developed and tested two router board prototypes Developed time-code distribution techniques Laid out Router board Fabricated, and checked out Router board 10 CS IR&D Final Review

11 SmartSSR / CFDP Engine - PI: Alan Mick Objectives Develop general SSR capability, for all future missions Offload the details of flash memory, file system management and CFDP control from the main processor Finish hardware/software integration Use prototype for infusion of SmartSSR technology Results Redesigned SSR electronics for parallel pipe-line flash memory operations and interrupt driven interface Fabricated SSR electronics Incorporated Reed-Solomon encoding using commercial IP Finished VHDL for most functions Designed and prototyped software interface for pipe-line processing Created APL Flash File System from open source 11 CS IR&D Final Review

12 Executable Specification (ExecSpec) Autonomy System PI: George Cancro Time Rule Property View Selected Input Conditions Diagram View Output View Status Bar Playback Toolbar Simulation Toolbar Timeline Time Slider LOD Toolbar Drawing Toolbar Selected State Machine Objectives Create visual programming environment for autonomy system development Enable visual, rapid creation, test, and execution of spacecraft autonomous behavior via uploadable diagrams Time History Tiers Palette View Current State Attribute View Results Domain Experts draw deterministic diagrams to represent behavior Autonomy reviews occur at design level Diagrams loaded directly into on-board interpreter (no code, no patching, no recompiling, no rebooting) Same design screens used to animate diagrams based on telemetry during test and flight Diagrams re-used project-to-project 2008 TRL 5 ExecSpec in STEREO flight software in hardware testbed autonomously controlled multiple subsystems. User could draw, test, and load diagrams to flight software; execute, and animate diagrams based on realtime telemetry Initial Infusion - ExecSpec baselined as SPP autonomy system 12

13 SoftWare in the Loop Simulator (SWiL) PI: Annette Mirantes. 13 Objective SWIL architecture enables CDH, G&C and Testbed dynamics model code to simultaneously run on a single target processor (mcp750) Results Integrated FSW (CDH, G&C) code baseline with the 100 Hz dynamics model and hardware interface code running as a cfe app Uplink and downlink socket communication with ground system Hover test and SWIL test results matched. Integrated the Least Squares Optical Fit (LSOF) algorithm to further test the system and gather performance metrics. CS IR&D Final Review

14 Tech Development TRL IR&D and Technology Development Program FY02 FY03 FY04 FY05 FY06 FY07 FY08 FY09 FY10 FY11 FY12 IRaD File System Smart SSR CFDP Download / DOS FS APL Flash File System CFDP Upload Smart SSR Operating System Abstraction Layer (OSAL) Core Flight Executive (cfe) Exec Spec OSAL cfe Exec Spec SpaceWire SpaceWire SWiL SWiL 14

15 Mission TRL Flight Program Technology Infusion Flight Program FY02 FY04 FY06 FY08 FY10 FY12 FY14 FY16 FY18 FY20 MESSENGER CFDP Download / DOS FS Launch RBSP CFDP Download / DOS FS, OSAL, cfe Launch Solar Probe Plus Mission #2 CFDP Download/Upload, APL Flash File System, OSAL, cfe, Exec Spec, SpaceWire, SWiL CFDP Download/Upload, APL Flash File System, Smart SSR, OSAL, cfe, SpaceWire, SWiL Launch Launch Mission #3 CFDP Download/Upload, APL Flash File System, Smart SSR, OSAL, cfe, Exec Spec, SpaceWire, SWiL Launch 15

16 Thanks to the Technical Teams! OSAL, cfe GSFC MESSENGER FSW Team; Dev Lead Adrian Hill RBSP FSW Team; Lead Mark Reid SPP FSW Team; Lead Chris Krupiarz IRaD PIs SpaceWire SmartSSR SWiL Exec Spec IRaD Committee Chair Ken Koontz Alan Mick Annette Mirantes George Cancro Rob Gold 16