The Floripa-Sat project consists of an initiative of UFSC researchers and students for the development of a complete space mission. Design and implementation of a complete CubeSat Mission. Oficial website: www.floripasat.ufsc.br
Repository for the firmware source code of the project.
Full documentation at: https://drive.google.com/drive/folders/0B_6IdQdAvIZWfjV5N0RIZ1NmRkpIMmZZOUZ3cXFCRUctVWl3VV8teHJSQmJKM0ZnSXhYalU
The FloripaSat project consists of a 1U cubesat and groundstation containing the following modules:
1 - OBDH and TT&C PCB [UFSC]
2 - EPS PCB [UFSC]
3 - Payload 1 [TODO: ??]
4 - Payload 2 [TODO: ??]
5 - Payload 3 [TODO: ??]
6 - Antenna Module [Gomspace]
7 - Solar Panels Module [Gomspace]
8 - Mechanical structure (1U Cubesat) [TODO: ??]
9 - Groundstation Hardware and Software [UFSC]
This software repository contains the full source code of items 1, 2 and 9, with details regarding the interface with modules 3, 4 and 5.
TODO: Itens 6 and 7 have any connection/comunication with other modules with any impact in software? (besides RF / power)
This software repository is organized with the following structure:
.
|--- eps - Firmware for the EPS PCB (1 MSP430 MCU)
| |-- [eps_main] Part# MSP430F249MPMEP
│ |-- batmon Part# **TODO** ??
|
|
|--- obdh_ttc - Firmware for the OBDH and TT&C PCB (2x MSP430 MCUs, 2x Radios)
│ |--- [obdh_ttc_main] Part# MSP430F6659IPZR
│ |--- [beacon] Part# MSP430F6659IPZR
│ |--- radio_tx Part# **TODO** ??
│ |--- radio_rx Part# **TODO** ??
|
|--- docs - Low level software guides and references (full project docs @GoogleDrive). Ie. tips&tricks about code dev. unrelated to the overall project documentation.
|
|--- tests - Testing software and code samples
|
|--- groundstation - PC Software for the groundstation.
|
|--- README.md - (this doc)
The master branch contains the most up to date and stable software version for the project. Experimental development MUST be done in separated branches and later merged into the master tree (when the development is done and tested). Since each feature should be developed in an individual branch, with a specific and atomic scope, after completed the branch should be deleted. (it's not expected to have ongoing development, regarding multiple features, in a specific branch).
Each item [enclosed in brackes] in the above structure consists of the full firmware source for a single MCU/IC device. All dependencies must be included within and the folder MUST be self suficient for generating a full build for the target device (ie. .bin to be flashed into the hardware). -- even if apart from the rest of this repository.
Each device folder should already contain the additional config files for its specific build system. Ie. MSP430 sources are built with TI's Code Composer Studio, so the folder is already a CCSv6 project folder. The developer can open or import it directly into its own CCSv6 install and edit from its own interface. Unrelated files generated by the tool should be included in the .gitignore file (ie. debug symbols, temporary .hex files, and so).
Although batmon, radio_tx and radio_rx do have internal firmwares, they code is programmed at runtime by other modules. That's why their respective folders only contains configuration instructions and are not bold (whitout a proper source/build config)
.
TODO: Code build is still FAILING! Independent code/modules are merged into master but aren't yet fully integrated.
###2.2 Toolchain
The EPS_MAIN, OBDH_TTC_MAIN and BEACON software modules will run on MSP430 devices and are compiled using TI's Code Composer Studio v6 (6.1.2.00015)
Installation Guide for Linux Platform: http://processors.wiki.ti.com/index.php/Linux_Host_Support_CCSv6
Ubuntu 15.10 installation guide:
- Resolve Dependencies
sudo apt-get update
sudo apt-get install libc6:i386 libx11-6:i386 libasound2:i386 libatk1.0-0:i386 libcairo2:i386 libcups2:i386 libdbus-glib-1-2:i386 libgconf-2-4:i386 libgdk-pixbuf2.0-0:i386 libgtk-3-0 libice6:i386 libncurses5:i386 libsm6:i386 liborbit2:i386 libudev1:i386 libusb-0.1-4:i386 libstdc++6:i386 libxt6:i386 libxtst6:i386 libgnomeui-0:i386 libusb-1.0-0-dev:i386 libcanberra-gtk-module:i386 gtk2-engines-murrine:i386 unzip
If you will be using Grace, also install these:
sudo apt-get install libnss3:i386 libnss3-1d:i386 libnss3-nssdb:i386
Manually download libgcrypt11:i386 and install it: https://launchpad.net/ubuntu/+archive/primary/+files/libgcrypt11_1.5.3-2ubuntu4.2_i386.deb
sudo dpkg -i libgcrypt11_1.5.3-2ubuntu4.2_i386.deb
- Install CCS
./ccs_setup_6.x.x.xxxxx.bin (replace the x.x.xxxxx with the version number of your installer executable).
- Install Drivers Go to the /ccsv6/install_scripts folder
sudo ./install_drivers.sh
The BATMON and RADIO modules firmware are fully programmed at runtime by obdh_ttc_main and eps_main, so there is not related toolchain to build and program their firmware offline.
This section describes the operating scenarios of the satellite, which the software should cover.
When hibernating all the components and operations are completely shutdown, except for the ones absolutely mandatory for the cubesat to receive a command from the groundstation and perform some subset of its core functionality (including to restore to normal operation).
Even radio transmission is shutdown in this module, although the TTC will still listen for radio RX and a wake up commands.
If a critical failure leads to a state that prevents the the cubesat to perform the other states it will go into this state to preseve the maximum ammount of power and with minimal components enabled (to reduce interference from a damaged module which may be affecting critical systems).
This mode is mandatory due ITU regulation, in which an external entity (with proper approval / justification) must be able to shutdown the satellite if, for instance, it starts do interfere or polute the RF spectrum in a non planned/approved way (ie. due internal failure).
No eletronic element is powered up and batteries are completely discharged. Antenna may be open or closed.
Considerations:
- Since the maximum packet length transmitted by the radio consists of 150 bytes, this length was used as upper cap to avoid packet fragmentation in the lower communication layer.
OSI MODEL DESCRIPTION PACKET STRUCTURE
EQUIVALENT LAYER
.--------------. | .----------------------------. | .----------------.-------------.--------.-------------.-----------.--------------.
| OSI 7 | | | Floripasat Dataframe (FDF) | | | Start Of Frame | Destination | Source | Content | Signature | End Of Frame |
| | | |----------------------------| | |----------------|-------------|--------|-------------|-----------|--------------|
| | | | Short name | | | SOF | TO | FROM | DATA | CRC | EOF |
| Application | | | Size (Bytes) | | | 1 Byte | 1 Byte | 1 Byte | 1 to 90 | 1 Byte | 1 Byte |
| | | | Numeric Value (if static) | | | 0x7B | | | Bytes | | 0x7D |
| | | | ASCII Representation | | | { | | | | | } |
'--------------' | '----------------------------' | '----------------'-------------'--------'-------------'-----------'--------------'
| |
---------------------------------------------------------------------------------------------------------|------------------------------>
| | v
.--------------. | .---------------------------. | .------.-------------.---------.------------.-------------.-------------.------.
| OSI 3-6 | | | AX.25 (v2.0) | | | Flag | Destination | Source | Protocol | Information | Frame-check | Flag |
| | | |---------------------------| | | | Address | Address | Identifier | Field | Sequence | |
| Network | | | Size (Bytes) | | |------|-------------|---------|------------|-------------|-------------|------|
| Transport | | | | | | 1 B | 7 B | 7 B | 1 B | 6 to 95 B | 2 B | 1 B |
| Session | | | | | | | | | | | | |
| Presentation | | | | | | | | | | | | |
'--------------' | '---------------------------' | '------'-------------'---------'------------'-------------'-------------'------'
| |
------------------------------------------------------------------------------------------------------------------|--------------------->
| | v
.--------------. | .---------------------------. | .------------.------------.------------.---------.---------------.------------.
| OSI 2 | | | CC1125 packet | | | Preamble | Sync | Length | Address | Data | CRC16 |
| | | |---------------------------| | | | word | Field | field | Field | |
| Data Link | | | Userguide pg 45 | | |------------|------------|------------|---------|---------------|------------|
| | | | | | | n x 1B | max 4 B | 1 B | 1 B | 25 to 114 B | 2 B |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
'--------------' | '---------------------------' | '------------'------------'------------'---------'---------------'------------'
| |
---------------------------------------------------------------------------------------------------------------------------------------->
| |
.--------------. | .---------------------------. | .-----------------------------------------------------------------------------.
| OSI 1 | | | Frequency: 437.5 Mhz | | | |
| | | | Modulation: 2GFSK | | | |
| Physical | | | | | | RF Spectrum |
| | | | | | | |
| | | | | | | |
| | | | | | | |
'--------------' | '---------------------------' | '-----------------------------------------------------------------------------'
| |
v v
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