1. Flight Software PDR Presentation
HMI00373
Flight Software PDR Presentation
Jerry Drake
HMI Software Lead

2. Agenda – Flight Software
Requirements
Sources
Driving requirements
Heritage - Flight Processor and Software
Design Description
Development Environment
Context Diagram
Computer Software Configuration Items (CSCIs)
Start-Up ROM (SUROM) Software
Architecture
Flight Software Overview
Camera Operational Modes
Sequence Control
Time Handling
Fault Management
Resource Utilization
Safety and Reliability
Software Development Status

3. Requirements Sources
464-SYS-REQ-0004, Mission Requirements Document, Rev. 4.4
HMI Contract Functional Specification
SU-HMI-S013, Instrument Performance Document
2H00021, HMI Performance Assurance Implementation Plan (PAIP)
ICDs
464-HMI-ICD-0002, Spacecraft to HMI ICD
464-CDH-ICD-0005, 1553 ICD
464-CDH-ICD-0012, High Speed Bus ICD
464-GS-ICD-0001, Ground System ICD
HMI Hardware Functional Specifications, Section 4.2, Software Interface
2H00119, Functional Specification, HEB Power Converter Subsystem
2H00120, Functional Specification, HEB PCI to Local Bus/1553 Interface
2H00121, Functional Specification, HEB Housekeeping Data Acquisition
2H00122, Functional Specification, HEB Image Stabilization Subsystem
2H00123, Functional Specification, HEB Mechanism & Heater Controllers
2H00124, Functional Specification, HEB CCD Camera Interface
2H00125, Functional Specification, HEB Data Compressor/High Rate Interface
2H00126, Functional Specification, HMI Oven Controller
2H00180, Functional Specification, HEB Electronics Box
Camera ICD (available by HMI PDR)

4. Driving Requirements
Spacecraft Command I/F: Provide command capability with spacecraft
APIDs, sampling rates and protocols contained in ICDs
Commands uplink rate from ground: 2 kbps
Maximum command rate to HMI 10 commands/sec
Maximum command packet size 250 bytes
CCSDS formatted
HMI Command APID range:
Function code identifies each command (in CCSDS header)
Command sources
Spacecraft
Ground (1553 through spacecraft) 2 kbps (effective 1 kbps)
STOL
Manual
Absolute Time Sequence (ATS) 10 commands/sec
Relative Time Sequence (RTS) 10 commands/sec
Telemetry & Statistics Monitor (TSM)
Internal to HMI
Scripts: Same as macro

5. Driving Requirements (cont.)
Spacecraft Telemetry I/F: Provide telemetry capability with spacecraft
1553 Telemetry Channels (Transmit SubAddresses, TSA)
Housekeeping TSA and completion TSA 7
Event Message TSA and completion TSA 14
Image Motion Compensation TSA 15 and completion TSA 16
Diagnostic TSA and completion TSA 27
Wraparound TSA 30
Accept and respond to transmit mode codes 2, 4, 5 & 8
1553 Rates
Housekeeping Nominal 2 kbps, reduced 1 kbps, emergency 100 bps
Diagnostic 10 kbps
1355 Telemetry (Science)
Software controls
Configuration of 1355 connection
Two High-Speed Bus Channels per interface card
Two HSB Interface cards in HMI
Doppler and magnetic images
Initiation of transfer (load image parameters)
Place housekeeping data into science stream
Increment Image Sequence Counter
APID range
Hardware controls transfer

6. Driving Requirements (cont.)
Provide control of subsystems (derived requirements)
Mechanisms (quantity in parentheses below)
Wavelength Tuning Mechanisms (4)
Polarization Selector Mechanisms (3)
Shutters (2)
Calibration/Focus Mechanisms (2)
Front Door Mechanisms (2)
Alignment Mechanisms (2)
Cameras (2)
Control image transfers and compression (internal to HMI, 2)
Control image transmission (over 1355 to S/C, 2)
Image Stabilization System (1)
Oven (2)
Operational Heaters (max of 8)
Provide diagnostic telemetry capability
High-rate mechanism current or Image Stabilization data (up to 5 items at 512 Hz sampling rate)
Provide capability to load code on-orbit

7. Driving Requirements (cont.)
Science
Maintain regular cadence for doppler and vector cameras
Framelist must start at the requested time within +/- 100 msec absolute time
Provide capability for table-driven sequence control
Provide time in telemetry to 100 msec accuracy
Provide the capability to maintain HMI internal clock to an accuracy of +/- 100 msec absolute

8. Flight Processor/Software and Heritage
RAD6000 Program A, Program B, Program C, Program D
RAM Mbytes
EEPROM 512 Kbytes
PROM (SUROM) 64 Kbytes
Clock rate 20 Mhz
PCI bus
Software Heritage
VxWorks/RAD6000 Program A, Program B, Program C, Program D
SUROM BAE generic, Program A, Program C, Program D
EEPROM Program C, Program D
GNUZIP Program B, other program
Mechanisms MDI, TRACE, Program B, Program C, Program D, Program F

9. Development Environment
Languages
SUROM C
Assembly
PAS
Flight
C++/C
Tools
C compiler on RS6000 workstation
VxWorks
GreenHills Multi
Sunblade Workstation
Configuration management tool
Revision Control System (RCS)
Schedule
Purchase Sun workstation and software in Nov 2003
Install and configure Sun worstation in Dec 2003
Transferring 2 existing RS6000 workstations from other contracts (Program A and Program C) to HMI

10. Context Diagram HMI Electronics Box (HEB) SDO Spacecraft ISS Sensor
ISS PZT
OVN (2)
HTR (8)
FDM (2)
UART (test)
HMI Electronics Box (HEB)
ALM (2)
COP (test)
Processor (Rad6000)
Processor (Rad6000)
S/C 1553 I/F
WTM (4)
PCI/Local Bus Bridge/1553
PCI/Local Bus Bridge/1553
Cmd/HK
Mech/Heater Controller Type 2
Mech/Heater Controller Type 2
PSM (3)
SDO Spacecraft
Mech/Heater Controller Type 1
Mech/Heater Controller Type 1
PZT Driver
Housekeeping Data Acquisition
CFM (2)
Limb Tracker
Spare
S/C High Rate I/F (2)
SH M (2)
Compressor/High Rate Interface
Compressor/High Rate Interface
Science
Camera Interface/Buffer
Camera Interface/Buffer
WTM Wavelength Tuning Mech
PSM Polarization Selector Mech
SHM Shutter Mech
CFM Calibration/Focus Mech
FDM Front Door Mech
ALM ALignment Mech
ISS Image Stabilization System
OVN Oven
HTR Heaters
1355
1355
Doppler Camera
Electronics Box
Magnetics Camera
Electronics Box

11. CSCIs Start-Up ROM (SUROM) Computer Software Configuration Item (CSCI)
Commands and HK telemetry over 1553 bus
Contained in PROM on processor card
Can upload kernel from ground to RAM
Can load kernel into EEPROM
Default is to load kernel from EEPROM to RAM, decompress and boot
Flight SoftWare (FSW) CSCI
Contained in EEPROM on processor card
Loaded and booted by kernel code
Consists of:
Kernel code (VxWorks operating system, device drivers, basic cmd and tlm on 1553)
Flight code

12. SUROM Code SUROM heritage Development approach
BAE generic, Program A, Program C and Program D
Development approach
Develop in simulator (Borland Builder C++)
Establish socket connection to use EGSE
Test on Program A ODP
Port from Borland to RS6000
Test 1553 (ODP processor has 1553 chips on board)
Test on HMI ETU
Requires Interconnect board & PCI/Local Bridge Bus/1553 card with minimal capabilities
Development system for RAD6000 target
RS6000 workstation
C compiler, PAS assembler, RS6000 assembler and linker
COP connection to processor board
Architecture
Executive
State
1553
Command Handler
Telemetry Handler
Time
EEPROM

13. Nominal Boot Sequence
If no commands are received within 30 seconds (5 seconds in fast-boot mode) of the first 1553 telemetry packet, the following occurs:
A copy of the self-extracting VxWorks kernel is:
Read from EEPROM to a default RAM location
Decompressed
Executed
Kernel then:
Initializes memory-resident file systems in
EEPROM
RAM
Locates script file /EEPROM/BOOT0001.SCR
Executes script file /EEPROM/BOOT0001.SCR
Script /EEPROM/BOOT0001.SCR contains the list of object modules to:
Decompress
Load into RAM
Link
Run for auto-booting
Other script files (BOOT0002.SCR through BOOT9999.SCR) can be used for alternate booting by an operator

14. Flight Software Architecture Diagram

15. Camera Operational Modes
Clear
Remove charge from CCD (in preparation for obtaining new image)
Integrate
During integration, the CCD’s parallel register clocks will be held at appropriate voltage levels
Serial register clocks can be individually programmed to be high, low or clocking
Dither clocking
Readout
Full-frame readout of n lines
Windowed readout of at least two windows
Dump n lines
Read x lines
Dump m lines
Read y lines, etc.
Full-frame or windowed readout with n x m pixel binning
Continuous clocking

16. Sequence Control Modes Table-driven observing sequences
Science (cadence held)
Doppler cadence: 50 seconds or shorter
Vector cadence: 5 minutes or shorter
Test and calibration (no cadence, free running)
Table-driven observing sequences
Timeline table
Framelist table
Focus table
Polarization table
Wavelength table
Tuning table
Exposure table
Table contents and definitions currently under development with science team
Tables are uploadable and modifiable
Can be stored in EEPROM or loaded from ground

17. Time Handling VxWorks system tick (interrupt) Time at tone:
OBC derived: ~1.95 msec (512 Hz)
RAD6000 decrementer: 20 msec (fallback source)
Time at tone:
Internal clock latched into OBC 1553 Time Tag Register by 1553 interrupt on receipt of “tone message”
Software accesses OBC 1553 Time Tag Register over PCI bus
Rate adjustment
Send OBC 1553 Time Tag Register in housekeeping telemetry
Ground calculates drift and issues command to change rate (if so desired)
Spacecraft time included in every telemetry packet
Observing cadence maintained by:
Starting sequence on nearest system tick to time of day modulo cadence in seconds
The sequence period must be settable in software
Command
Contained in sequence table
Repeating sequence

18. Fault Management Internal limit checking of:
Motor current and total current
Heater zone temperatures
Camera aliveness
Alignment Leg Mechanism
Front Door Mechanism
Autonomous checks of HMI 1553 bus activity over 2 (TBR) minutes
Activity level reported in health & safety telemetry
Levels below a settable threshold cause internal recovery or safing actions

19. Resource Utilization PROM (SUROM) EEPROM RAM CPU Usage Available: 64 K
Expected utilization: 95%
HMI SUROM contains less functionality (the HMI estimate is conservative) than the Program A SUROM which fit into the same 64 K PROM
SUROM is unchangeable once programmed into PROM and installed on the processor board
EEPROM
Available: K
Expected utilization: 11 K file system overhead
128 K for compressed kernel
128 K for compressed FSW
245 K available margin
RAM
Available: 4 Mbytes
Expected usage: 512 Kb FSW
512 Kb RAM filesystem
Up to 3 MB telemetry buffers for diagnostic data storage (infrequent)
CPU Usage
FSW 30%

20. Safety and Reliability
HMI flight software cannot cause loss of mission or injury or death to humans
Coding standards will be used (2H00006) to increase safety and reliability
Possible safety items:
Programming EEPROM
Operating front door mechanism, alignment legs and/or heaters
Fault management will be implemented (see next slide)
Safety issues addressed at all major program reviews
Reliability
FSW developed incrementally
FSW tested in simulation and emulation
FSW will be used for as much hardware testing as possible
Idle task shall detect and report in telemetry CPU usage percentage and overrun (if any)
Exception handling shall capture and report task errors
Internal consistency checks shall be made on cmd parameters & initial use of global pointer values

21. Software Development Status
Completed Peer Review on October 8, 2003
Complete Software Requirements Document
Initial draft submitted with CSR and updated for PDR
Complete hardware board specifications
Complete
Command list (draft currently exists)
Telemetry list (draft being prepared)
Start detailed design
SUROM and kernel in progress
FSW starting
Develop Software Design Documents
Establish interface between simulator and EGSE (to confirm design approach)
Risks
Complexity of camera control interface