1. Operational Flight Software
MAVEN
Particles and Fields
Operational Flight Software
Code Walkthrough
Instruments 1
(LPW, SEP, MAG)
Peter R. Harvey

2. Agenda FSW Walkthrough’s Software Architecture Module Overview Modules
PWR
SSR
CMP
LPW
MAG
SEP
Other Walkthrough’s
Operational Core Completed
Instruments #2 (SWEA, SWIA, STATIC)
Fault Protection

3. FSW Modules - Operational
Architecture
FSW Modules - Operational
Software context diagram showing each subsystem or major component

4. Operational FSW Expanded Upon Boot
Architecture
Operational FSW Expanded Upon Boot
Boot
Operational

5. Memory Summary

6. Memory Summary
Memory has grown a bit or two

7. Data Processing - Up to 4 User Programs BKG Interrupts
256 Hz Interrupt Process
Distributes CPU Time per Table
Basic ¼ second table repeats 4Hz
CMD, PWR, HSK get 32 Hz
Instruments get 8-16 Hz, etc.
Implements module requirements
Reconfigurable
FSW measures time in each ISR
FSW measures total CPU%
Design for < 50% usage
EXEC Loop
- Up to 4 User Programs
- Calculations that take > 2 milliseconds
(e.g. EEPROM table checksums)

8. INST Manager Generic Instrument Manager Design (type1)
LPW, MAG,SEP controllers
Messages received and packets generated under interrupt.

9. INST Manager Generic Instrument Manager Design (type 2)
SWEA, SWIA, STATIC controllers
Messages are received under interrupt building data structures
Accumulations made in foreground, and telemetry packets generated.

10. Modes & Enables FSW Modes Safe – Minimal Activities Allowed
Normal - FLASH Memory Allowed, HV, Attenuators
Engineering – EEPROM Writing
Implementation
All Enables are Masked by Mode Mask for Safe/Norm/Eng
Mode Transitions Have Associated Mode Initialization Script

11. Module Overview Generic Module Requirements
“Module_Init”: Initialize Variables and Hardware to Allow all Module Calls to Work
“Module_Cmd”: Handle Commands within one half interrupt period
“Module_Hsk”: Provide Module Housekeeping for Telemetry
Generic Examples
// ============================================================
// Loader Initialization
// On StartUp, we want to Dump Table[0] (EEPROM directory)
void LD_Init() {
DumpAdr = LoadAdr = (long) TableStart[0];
DumpSize = 80; // ~ # Bytes in Table[0]
DumpCtr = 255; // # of Dump packets to make }
// ============================================================
// Loader Commands
void LD_Cmd(unsigned long cmd)
{unsigned int op,dta,tbl,ofs; unsigned char *p;
unsigned long dest;
op = (int)(cmd>>24)&0x0F; // Op is the Command Option
tbl= (int)(cmd>>20)&0x1F; // Table bits for some cmds
ofs= (int)(cmd>>8 )&0x0FFF;
dta= (int) cmd&0xFF; // Right Byte is Dta
switch(op) {
case 0: LoadAdr = (cmd>>8)&0xFFFF; // Load Byte
p = (unsigned char *) LoadAdr;
*p= (unsigned char) dta;
break;
case 1: DumpAdr = (cmd>>8)&0xFFFF; // Dump Byte(s)
DumpSize = dta;
DumpCtr = 255;
// ============================================================
// EXEC Module Housekeeping
// This routine formats a string of data storing them using
// the input pointer and returns the string length in bytes.
int Read_Exec_Hsk( char *ptr )
{int n;
n=0;
ptr[n++] = (char) Version ;
ptr[n++] = (char) Fgnd1pps ;
ptr[n++] = (char) *Mode_Ptr ;
ptr[n++] = (char) *Reset_Ptr;
ptr[n++] = (char) (*Enable_Ptr>>8);
ptr[n++] = (char) *Enable_Ptr ;
ptr[n++] = (char) ErrorCode ;
ptr[n++] = (char) (ErrorData>>8);
ptr[n++] = (char) ErrorData ;
ptr[n++] = (char) ErrorCtr ;
return( n ); }

12. PWR Module PWR Module Requirements (BOOT)
Can Turn Instruments Off, but Not On
Can Close SEP1, SEP2, EUV Doors but Cannot Open Them
Requirements (OPER)
Can Turn On All instruments and use overrides
Can Directly Fire Actuators
Can Accept Actuators “Requests” and will implement asap
Control EUV Aperture
Control SEP Doors
Prohibit HV to instruments with cover ON
Will Limit Monitor Housekeeping Values
Requirements that Moved
Ramp Instrument HV Moved to SWEA, SWIA and STATIC modules

13. PWR Actuators Actuator Timing
“Allowed” bit refers to the Fault Protection control register

14. PWR Limits LIMIT Monitoring Limit Database:
Up to 128 limit monitor records stored in EEPROM and loaded to SRAM at start up.
Can be disabled by clearing the first byte (Action code) in SRAM.
Each Element Described as 8-byte record:

15. PWR Limits
LIMIT Monitoring

16. SSR Overview SOLID STATE RECORDER Management Requirements
Manage the Non-Volatile Memory (Flash)
Format the Flash into addressable blocks
Implement a Circular Recorder/playback system to store 30 k bps
Keep the power off when possible
Provide packets to TM module
Detailed Design
Handles Variable-size Packets
Routes packets based upon ApID and Table 4 routing information
[0] -> Waste Basket
[1] -> Real-Time Telemetry
[2] -> Archive (Flash) storage
Design changes since SwPDR
Instrument Message to Real-Time Packet Conversion (for EM I&T Tests)
Automatically Adds PAD bytes to achieve 4-byte alignment requirement

17. Real-Time Data Mgmt
RT Data Management

18. Archive Data Mgmt
Archive Data Management

19. Archive Data Mgmt
Archive Data Management

20. Archive Data Mgmt
Archive Data Management

21. FMAP : FLASH Virtual-to-Physical Memory Map
Archive Data Storage
FLASH Hardware
8 GB Capacity
Each 4GB powered separately
EDAC Enabled Write/Read
DMA-Channel to/from SRAM
Block Addressable
2^16 128KB Blocks
Each Block has 2K extra bytes
EDAC
Bad-Block-Indicator
Erase Count
Write Time
FSW Functions
Stores/Retrieves Archive Science Blocks
Circular Memory with Separate Read & Write Ptrs
Playback Commanded by Block Number and Length
Both Read/Write Block pointers Telemetered
Ground S/W keeps Time-to-Block Number relationship
FMAP of 256 provides 32 MB control
FSW_020_ANALYSES.XLS
FMAP : FLASH Virtual-to-Physical Memory Map

22. SSR FLASH Logic
Read/Write/Diag Decision State D0

23. SSR FLASH Logic
Read Logic States with Error Handling

24. SSR FLASH Logic
Write Logic State W1 with Error Handling

25. SSR FLASH Logic
Write Logic State W2 with Error Handling

26. Compression CMP Requirements (OPER) Enable/Disable/Option by APID
Provide Log-Compression Count Rate Compression
19-to-8 bit (and 3 more options)
Performed at Initial Packet Formatting
Provide “Space Particle Data Compression” (dwc’s paper)
Provide Compression on Survey and Archive data
Provide Archive compression at Downlink Time

27. Telemetry APIDs

28. Telemetry APIDs

29. Data Collection Data Collection
DMA Channels are Assigned to Each Data Instrument
FSW Writes Destination Addresses into Each DMA Controller
DMA Registers are Double-Buffered to Eliminate Gaps
DMA Buffers Automatically Swap at 1 second
FSW Modules Process Messages Using Inst. Msg Headers
Data Collection Rates
Max Raw Input Rate of ~153 KB/sec (1.2 Mbps)
Vast Majority are Summing Counts

30. LPW Manager LPW Management Notes: Requirements Summary
// FSW.LPW-1 : LPW_INIT shall initialize the module and define its hardware
// initial state so the module works correctly.
// FSW.LPW-2 : LPW shall receive and execute commands to the module at up to
// Hz, and complete those commands in <1/10 interrupt period.
// FSW.LPW-3 : LPW shall provide housekeeping telemetry as defined in MAVEN
// PF Command/Telemetry document (N/A)
// FSW.LPW-4 : PFP FSW shall automatically download LPW configuration tables
// and set the default mode
// [a] when LPW is turned ON;
// [b] when LPW is RESET; or
// [c] when LPW fails a checksum.
// FSW.LPW-5 : PFP FSW shall control LPW Configuration Tables
// [a] providing 512 bytes per table;
// [b] providing 16 tables;
// [c] providing the ability to upload new tables.
// FSW.LPW-6 : PFP FSW shall route LPW/EUV commands from the spacecraft to
// the LPW/EUV instrument via the CDI.
// FSW.LPW-7 : PFP FSW shall provide LPW the time of the next PF 1PPS pulse.
// FSW.LPW-8 : PFP FSW shall provide a commandable periodic synchronization
// command to LPW.
Notes:
LPW-3 : FSW just passes LPW housekeeping to telemetry
LPW-4 : In a checksum mismatch, FSW restarts LPW.
LPW-7&8 are redundant as Time is the sync

31. LPW Messages LPW Messages Message Code Message Length CCSDS packet
Packet Length (quad word multiple)

32. LPW Memory
Instrument DMA Memory

33. LPW EEPROM
LPW EEPROM Memory

34. LPW RTS LPW Relative Time Sequences RTS_LPWLOW RTS=[
"cmd.PFP_LPWTM(0)", # Rate low
"cmd.RTSEND()" # RTS END command ]
RTS_LPWMED
RTS=[
"cmd.PFP_LPWTM(1)", # Rate medium
"cmd.RTSEND()" # RTS END command ]
RTS_LPWHIGH
RTS=[
"cmd.PFP_LPWTM(2)", # TM Rate High
"cmd.RTSEND()" # RTS END command ]
RTS_LPWSTART
RTS=[
"cmd.LPW_RESET()", # Reset the FPGA
"cmd.PFP_RTSWAIT(4)", # Delay(1 second)
"cmd.PFP_LPWLDLUT()", # Start Loading Regs&Lut
"cmd.PFP_RTSWAIT(240)", # Delay(60 seconds)
"cmd.PFP_RTSSTART(35)", # Start in low bit rate
"cmd.RTSEND()" # RTS END command ]

35. LPW LM
LPW Limit Monitors

36. LPW-EUV FP IsEUVOpen() FSW reads the 2-bit status of the EUV Ap
Compares that to the Open & not-Closed condition.
IsEUVAllowed()
If either “Boresight in RAM” or “Density High” ZoneAlerts, then EUV Aper is not allowed.
If user Enable is low, EUV Aper is not allowed.
ManEUVAper()
If open but not allowed, this routine starts RTS (5)
If closed but allowed, this routine starts RTS(11)
Does not matter whether LPW/EUV power is On or Off

37. LPW-EUV FP LPW Fault Protection """ """ RTS_SHUTEUV.py (RTS 5)
This Python module defines a dictionary that contains the
commands for RTS 5.
# Built-in Python Modules
# Import statements. Always do these.
from MAVEN import *
from __main__ import *
import maven_log
log = maven_log.log()
# Setup the commanding shortcut mechanism (cmd.CMDNAME(arg=value))
cmd = maven_cmd()
# RTS Command List
# ================ #
RTS=[
"cmd.PFP_ACTMOVE(12)", # Request the EUV close
"cmd.RTSEND()" # RTS END command" ]
"""
RTS_OPENEUV.py (RTS 11)
This Python module defines a dictionary that contains the
commands for RTS 11.
# Built-in Python Modules
# Import statements. Always do these.
from MAVEN import *
from __main__ import *
import maven_log
log = maven_log.log()
# Setup the commanding shortcut mechanism (cmd.CMDNAME(arg=value))
cmd = maven_cmd()
# RTS Command List
# ================ #
RTS=[
"cmd.PFP_ACTMOVE(11)", # OPen EUV
"cmd.RTSEND()" # RTS END command ]

38. SEP Manager SEP Management Requirements Summary
// FSW.SEP-1 : SEP_INIT shall initialize the module and define its hardware initial
// state so the module works correctly.
// FSW.SEP-2 : SEP shall receive and execute commands to the module at up to 32Hz,
// and complete those commands in <1/10 interrupt period.
// FSW.SEP-3 : SEP shall provide housekeeping telemetry as defined in MAVEN PF
// Command/Telemetry document
// FSW.SEP-4 : PFP FSW shall load a selected SEP Instrument Energy LUT
// [a] from non-volatile memory into the instrument;
// [b] automatically on power-up;
// [c] by ground command, and
// [d] when the SEP FPGA checksum fails.
// FSW.SEP-5 : PFP FSW shall provide the commanded SEP bias voltage in parameter table
// FSW.SEP-6 : PFP FSW shall provide the commanded SEP threshold DAC values in the
// parameter table.
// FSW.SEP-7 : PFP FSW logic shall control the two SEP SMA attenuators separately
// [a] when SEP atten logic is enabled;
// [b] when SEP counting rates
// i. exceed a programmable threshold1, move the attenuator IN;
// ii. fall below programmable threshold2, move the attenuator OUT;
// [c] when the attenuator is not IN because of Sun Safing;
// [d] including the attenuator positions in all SEP telemetry products;
// FSW.SEP-8 : Moved to HSK-5
// FSW.SEP-9 : PFP FSW shall generate Spectra Telemetry
// [a] by summing the raw spectra for each detector over the
// programmable accumulation interval;
// [b] providing separate accumulations for Survey and Archive data
// with separate accumulation intervals;
// [c] telemetering the first N bins of the Survey and Archive
// histograms, where N is programmable up to 256.
// FSW.SEP-10 : **DELETED** Rates Telemetry
// FSW.SEP-11 : PFP FSW shall generate Configuration Telemetry
// [a] copying SEP configuration data to SEP HSK packets at a low duty cycle;
// [b] when commanded.
// FSW.SEP-12 : PFP FSW shall collect housekeeping data
// [a] including noise;
// [b] providing these data in packets.

39. SEP Memory

40. SEP EEPROM
LPW EEPROM Memory

41. SEP Hsk
APID 2B, 2C

42. SEP Hsk
APID 2B, 2C
(SEP1, SEP2)
Tables 22,23

43. SEP LM
SEP Limit Monitors

44. SEP FP
IsSEP1Open()
FSW Selects SEP1 Door status and directly reads its status.
IsSEP1Allowed()
If either “SEP1 FOV1” or “SEP1 FOV2” ZoneAlerts, then SEP1 Door is not allowed.
If user Enable is low, SEP1 Door is not allowed.
ManSEP1Door()
If open but not allowed, this routine starts RTS[6], SEP1 Door Closure.
If closed but allowed, this routine starts RTS(11), SEP1 Door Open
If SEP is off, doors will close as a result.
Identical logic used in SEP2
Zone[1]=1? No
Yes
IsSEP1
Allowed()
Return( 0 )
Zone[2]=1?
SEP1 FOV1 in Sun?
Is Task[12]
> Limit?
User Enabled ?
OK, its allowed
Return( 1 )
BiasMon > "-0.2V"
Enable[1]=1?
SEP1 FOV2 in Sun?
If no SEP1 comm
Low BiasMon => Sun

45. MAG Manager MAG Management Requirements Summary Notes:
// FSW.MAG-1 : MAG_INIT shall initialize the module and define its hardware
// initial state so the module works correctly..
// FSW.MAG-2 : MAG shall receive and execute commands to the module at up to
// Hz, and complete those commands in <1/10 interrupt period.
// FSW.MAG-3 : MAG shall provide housekeeping telemetry as defined in MAVEN
// PF Command/Telemetry document
// FSW.MAG-4 : PFP FSW shall generate MAG Sample Telemetry from MAG raw samples
// [a] by averaging 2**N raw samples together (1 to 32).
// [b] Averages are done separately for X,Y,Z axes ;
// [c] X,Y,Z samples shall be included in the same packet;
// [d] Separate packets with separate averaging intervals
// shall be made for each of the two mags;
// [e] Separate packets with separate averaging intervals shall
// be made for Survey and Archive data.
// FSW.MAG-7 : PFP FSW shall monitor the MAG instrument range.
// FSW.MAG-8 : PFP FSW will generate a MAG vector
// [a] once per second
// [b] as the average of the raw measurements from the selected
// MAG sensors over the previous second, minus an offset vector
// uplinked from the ground;
// [c] using separate offset vectors for each range setting.
Notes:
RMS calculation was removed

46. MAG Memory

47. MAG Housekeeping
APID 26-27

48. MAG Housekeeping
APID 26-27
Tables 16,17

49. MAG Telemetry APID 40-43 (Mag1/2, Survey/Archive, Uncompressed)
* : Time contained in F0-F3 registers.

50. MAG Telemetry APID 40-43 Raw & “MAG” Compressed Packetization
* : MAG Packets have a special compression format.

51. MAG Vector
MAG Vector Production for SWEA PAD

52. MAG LM
MAG Limit Monitors

53. MAG LM
MAG Limit Monitors