AAC Microtec Sirius TCM User manual

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 1of 174
Sirius OBC and TCM User Manual
Rev. N
© ÅAC Microtec 2016-2019
ÅAC Microtec AB owns the copyright of this document which is supplied in confidence and which shall
not be used for any purpose other than for which it is supplied and shall not in whole or in part be
reproduced, copied, or communicated to any person without written permission from the owner.

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 2of 174
REVISION LOG
Rev
Date
Change description
A
2016-10-25
First release, drafted from 204911 Sirius Breadboard User Manual
Rev L
B
2016-12-15
Updated after editorial updates
C
2017-01-03
Release with updates to the following sections:
•Massmem (new API with DMA)
•Error manager (IOCTL API)
•ADC (channel table update, channel limitation)
•Sirius TCM (TM/TC defaults, API updates {errno, MMStatus,
TMTSStatus, }, removed limitations)
•Bootrom (extended description)
•SCET (extended description, new API)
•UART32 (removed)
•CCSDS (interrupt API deprecation)
•NVRAM (EDAC/non-EDAC modes described)
D
2017-02-01
Release with updates to the following sections:
•Sirius TCM (Extra info sections, TMBRSet->TMBRControl)
•Mass memory (IOCTL API, error inject info)
•SCET (Clarify threshold)
E
2017-03-01
Release with updates to the following sections:
•ADC (minor updates to clock div limits)
•Setup and operation (find debugger serial, use of multiple
debuggers)
F
2017-04-18
Release with updates to the following sections:
•CCSDS (new API)
•Sirius TCM (new timesync API, NVRAM table updated, new
segment sizing for partitions)
G
2017-10-31
Release with updates to the following sections:
•Fault tolerant design (new section)
•CCSDS (updated API)
•Mass memory (updated API)
•Sirius TCM (new mass memory partition configuration
behaviour & RMAP API)
•System flash (new)
H
2018-03-07
Release with updates to the following sections:
•Introduction
•Equipment information
•Sirius TCM (updated API and formatting)
•NVRAM (updated API)
I
2018-04-16
Release with updates of the following sections:
•Software upload (new)
•NVRAM (updated EDAC error reporting API)
J
2018-06-28
Release with updates of the following sections:
•SCET, UART, WDT, NVRAM and SpW (updated API)
•Mass Memory Handling (auto-padding)
•Removed chapter with connector pinout

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 3of 174
K
2018-10-26
Release with updates to the following sections:
•Re-initialising the NVRAM (new)
•Mass Memory (new optional runtime-size API, new chip type
support)
•System flash (deprecate spare area writes without
EDAC/interleaving)
•Sirius TCM (config fallback parameters, direct partition limits,
new PUS 2.2 service, RMAP transid allocation
recommendations, limited direct partition utilisation
recommendations)
M
2018-12-04
Release with updates to the following sections:
•Software development (how to build silent BSP)
•TM/TC-structure and COP-1 (new)
•System-on-Chip defitions (system flash bad block table
reserved location in NVRAM)
•NVRAM (safe/update area address corrections)
•Sirius TCM-S (bit error correction information for
telecommands)
N
2019-02-01
Release with updates to the following sections:
•Sirius TCM (noted possible pointer reset to address 0 on
massmem handler recovery)

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 4of 174
TABLE OF CONTENT
1. INTRODUCTION............................................................................................................... 9
1.1. Applicable releases ........................................................................................................................................ 9
1.2. Intended users ................................................................................................................................................ 9
1.3. Getting support............................................................................................................................................... 9
1.4. Reference documents .................................................................................................................................. 10
2. EQUIPMENT INFORMATION ..........................................................................................11
2.1. System Overview with peripherals ............................................................................................................. 11
2.2. Fault tolerant design .................................................................................................................................... 12
3. SETUP AND OPERATION...............................................................................................14
3.1. User prerequisites ........................................................................................................................................ 14
3.2. Connecting cables to the Sirius products.................................................................................................. 15
3.3. Installation of toolchain ............................................................................................................................... 16
3.3.1. Supported Operating Systems ................................................................................................................. 16
3.3.2. Installation Steps...................................................................................................................................... 16
3.4. Installing the Board Support Package (BSP) ............................................................................................. 17
3.5. Deploying a Sirius application .................................................................................................................... 17
3.5.1. Establish a debugger connection to the Sirius products........................................................................... 17
3.5.2. Setup a serial terminal to the device debug UART................................................................................... 18
3.5.3. Loading an application ............................................................................................................................. 19
3.5.4. Using multiple debuggers on the same PC .............................................................................................. 19
3.6. Programming an application (boot image) to system flash...................................................................... 20
3.7. Re-initialising the NVRAM............................................................................................................................ 21
4. SOFTWARE DEVELOPMENT.........................................................................................21
4.1. RTEMS step-by-step compilation................................................................................................................ 22
4.1.1. Compiling the BSP with debug output removed....................................................................................... 22
4.2. Software disclaimer of warranty ................................................................................................................. 23
5. RTEMS.............................................................................................................................23
5.1. Introduction................................................................................................................................................... 23
5.2. Watchdog ...................................................................................................................................................... 25
5.2.1. Description ............................................................................................................................................... 25
5.2.2. RTEMS API.............................................................................................................................................. 25
5.2.3. Usage description .................................................................................................................................... 26
5.3. Error Manager ............................................................................................................................................... 29
5.3.1. Description ............................................................................................................................................... 29
5.3.2. RTEMS API.............................................................................................................................................. 29
5.3.3. Usage....................................................................................................................................................... 34
5.3.4. Limitations................................................................................................................................................ 35
5.4. SCET.............................................................................................................................................................. 36
5.4.1. Description ............................................................................................................................................... 36
5.4.2. General purpose triggers ......................................................................................................................... 36
5.4.3. Pulse-Per-Second (PPS) signals ............................................................................................................. 36
5.4.4. RTEMS API.............................................................................................................................................. 37
5.4.5. Usage description .................................................................................................................................... 42
5.4.6. Limitations................................................................................................................................................ 45
5.5. UART.............................................................................................................................................................. 46

Document number
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Version
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Issue date
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Sirius OBC and TCM User Manual
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5.5.1. Description ............................................................................................................................................... 46
5.5.2. RTEMS API.............................................................................................................................................. 46
5.5.3. Usage description .................................................................................................................................... 50
5.5.4. Limitations................................................................................................................................................ 51
5.6. Mass memory................................................................................................................................................ 51
5.6.1. Description ............................................................................................................................................... 51
5.6.2. Data Structures ........................................................................................................................................ 52
5.6.3. RTEMS API.............................................................................................................................................. 53
5.6.4. Usage description .................................................................................................................................... 61
5.6.5. Error injection........................................................................................................................................... 65
5.6.6. Limitations................................................................................................................................................ 65
5.7. Spacewire...................................................................................................................................................... 66
5.7.1. Description ............................................................................................................................................... 66
5.7.2. RTEMS API.............................................................................................................................................. 66
5.7.3. Usage description .................................................................................................................................... 71
5.8. GPIO............................................................................................................................................................... 73
5.8.1. Description ............................................................................................................................................... 73
5.8.2. RTEMS API.............................................................................................................................................. 73
5.8.3. Usage description .................................................................................................................................... 76
5.8.4. Limitations................................................................................................................................................ 77
5.9. CCSDS........................................................................................................................................................... 78
5.9.1. Description ............................................................................................................................................... 78
5.9.2. Non-blocking ............................................................................................................................................ 78
5.9.3. Blocking ................................................................................................................................................... 79
5.9.4. Buffer data containing TM Space packets................................................................................................ 79
5.9.5. RTEMS API.............................................................................................................................................. 79
5.9.6. Usage description .................................................................................................................................... 86
5.10. ADC.............................................................................................................................................................. 88
5.10.1. Description ............................................................................................................................................. 88
5.10.2. RTEMS API............................................................................................................................................ 89
5.10.3. Usage description .................................................................................................................................. 92
5.10.4. Limitations.............................................................................................................................................. 93
5.11. NVRAM ........................................................................................................................................................ 94
5.11.1. Description ............................................................................................................................................. 94
5.11.2. EDAC mode ........................................................................................................................................... 94
5.11.3. Non-EDAC mode ................................................................................................................................... 94
5.11.4. RTEMS API............................................................................................................................................ 94
5.11.5. Usage description .................................................................................................................................. 97
5.12. System flash ............................................................................................................................................... 99
5.12.1. Description ............................................................................................................................................. 99
5.12.2. Data structure types............................................................................................................................... 99
5.12.3. RTEMS API............................................................................................................................................ 99
5.12.4. Usage description ................................................................................................................................ 104
5.12.5. Debug detect........................................................................................................................................ 106
5.12.6. Limitations............................................................................................................................................ 106
6. SPACEWIRE ROUTER..................................................................................................107
7. SIRIUS TCM...................................................................................................................108
7.1. Description.................................................................................................................................................. 108
7.2. Block diagram............................................................................................................................................. 109
7.3. TCM-S application overview ...................................................................................................................... 109

Document number
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Issue date
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7.4. Configuration .............................................................................................................................................. 110
7.4.1. Creating and writing a new configuration ............................................................................................... 114
7.4.2. Fallback NVRAM parameters................................................................................................................. 115
7.5. Telemetry..................................................................................................................................................... 117
7.6. Telecommands ........................................................................................................................................... 117
7.6.1. Pulse commands.................................................................................................................................... 118
7.6.2. COP-1.................................................................................................................................................... 118
7.7. Time Management ...................................................................................................................................... 119
7.7.1. TM time stamps...................................................................................................................................... 119
7.8. Error Management and System Supervision ........................................................................................... 119
7.9. Mass Memory Handling.............................................................................................................................. 119
7.9.1. Partition configuration ............................................................................................................................ 120
7.9.2. Recovery................................................................................................................................................ 124
7.10. ECSS standard services .......................................................................................................................... 125
7.10.1. PUS-1 Telecommand verification service ............................................................................................ 125
7.10.2. PUS-2 Distributing Register Load Command....................................................................................... 125
7.10.3. PUS-2 Device Command Distribution Service ..................................................................................... 125
7.10.4. PUS-2 Distributing Device Command .................................................................................................. 126
7.11. Custom services....................................................................................................................................... 126
7.11.1. PUS-130 Software upload.................................................................................................................... 126
7.12. Spacewire RMAP ...................................................................................................................................... 127
7.12.1. Input..................................................................................................................................................... 127
7.12.2. Output .................................................................................................................................................. 128
7.12.3. Status code in reply messages ............................................................................................................ 129
7.12.4. RMAP input address details................................................................................................................. 129
7.12.5. RMAP output address details............................................................................................................... 144
7.13. Limitations ................................................................................................................................................ 144
8. SYSTEM-ON-CHIP DEFINITIONS .................................................................................145
8.1. Memory mapping........................................................................................................................................ 145
8.2. Interrupt sources ........................................................................................................................................ 146
8.3. SCET timestamp trigger sources .............................................................................................................. 146
8.4. Boot images and boot procedure.............................................................................................................. 147
8.4.1. Description ............................................................................................................................................. 147
8.4.2. Block diagram ........................................................................................................................................ 147
8.4.3. Usage description .................................................................................................................................. 147
8.4.4. Limitations.............................................................................................................................................. 148
8.5. Reset behaviour.......................................................................................................................................... 148
8.6. General synchronize method .................................................................................................................... 148
8.7. Pulse command inputs .............................................................................................................................. 148
8.8. SoC information map ................................................................................................................................. 149
9. SOFTWARE UPLOAD...................................................................................................150
9.1. Description.................................................................................................................................................. 150
9.2. Block diagram............................................................................................................................................. 150
9.3. CCSDS API –custom PUS service 130..................................................................................................... 151
9.3.1. Subtype 1 –Image transfer start............................................................................................................ 152
9.3.2. Subtype 2 –Image data ......................................................................................................................... 152
9.3.3. Subtype 3 –Verify uploaded image ....................................................................................................... 153
9.3.4. Subtype 4 –Write uploaded image ........................................................................................................ 153
9.3.5. Subtype 5 –Calculate CRC in flash....................................................................................................... 154
9.4. Software API ............................................................................................................................................... 155

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
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Page 7of 174
9.4.1. int32_t swu_init(…) ................................................................................................................................ 155
9.4.2. int32_t swu_segment_add(…) ............................................................................................................... 155
9.4.3. int32_t swu_check(…)............................................................................................................................ 156
9.4.4. int32_t swu_update(…) .......................................................................................................................... 156
9.4.5. int32_t swu_flash_check(…) .................................................................................................................. 157
9.5. Usage description....................................................................................................................................... 157
9.6. Limitations .................................................................................................................................................. 157
10. TM/TC-STRUCTURE AND COP-1...............................................................................158
10.1. SCID........................................................................................................................................................... 158
10.2. APID........................................................................................................................................................... 158
10.3. Virtual Channel Allocation ....................................................................................................................... 158
10.3.1. Uplink ................................................................................................................................................... 158
10.3.2. Downlink .............................................................................................................................................. 158
10.4. Uplink Channel Coding, Randomization and Synchronization ............................................................ 158
10.4.1. Channel Coding ................................................................................................................................... 158
10.4.2. Randomization ..................................................................................................................................... 158
10.4.3. Channel Synchronization ..................................................................................................................... 158
10.5. Downlink Channel Coding, Randomization and Synchronization........................................................ 158
10.5.1. Channel Coding ................................................................................................................................... 158
10.5.2. Randomization ..................................................................................................................................... 159
10.5.3. Synchronization.................................................................................................................................... 159
10.6. Telecommand format ............................................................................................................................... 159
10.6.1. Telecommand Transfer Frame............................................................................................................. 159
10.6.2. Transfer Frame Header........................................................................................................................ 160
10.6.3. Transfer Frame Data Field ................................................................................................................... 161
10.6.4. Frame Error Control Field .................................................................................................................... 162
10.6.5. Telecommand Packet .......................................................................................................................... 162
10.7. Telemetry Format...................................................................................................................................... 164
10.7.1. Telemetry Transfer Frame ................................................................................................................... 164
10.7.2. Transfer Frame Primary Header .......................................................................................................... 164
10.7.3. Transfer Frame Secondary Header...................................................................................................... 165
10.7.4. Transfer Frame Data Field ................................................................................................................... 166
10.7.5. Operational control field ....................................................................................................................... 166
10.7.6. Frame Error Control Field .................................................................................................................... 167
10.7.7. Telemetry Packet ................................................................................................................................. 167
10.7.8. Telemetry Packet Header .................................................................................................................... 168
10.7.9. Data Field Header................................................................................................................................ 168
10.7.10. Source Data ....................................................................................................................................... 169
10.7.11. Spare ................................................................................................................................................. 169
10.7.12. Packet Error Control........................................................................................................................... 169
10.8. FARM-parameters..................................................................................................................................... 169
10.8.1. FARM_Sliding_Window_Width(W)....................................................................................................... 169
10.8.2. FARM_Positive_Window_Width(PW) .................................................................................................. 169
10.8.3. FARM_Negative_Window_Width(NW)................................................................................................. 169
11. UPDATING THE SIRIUS FPGA...................................................................................170
11.1. Prerequisite hardware.............................................................................................................................. 170
11.2. Prerequisite software ............................................................................................................................... 170
11.3. Generation of encryption key .................................................................................................................. 170
11.4. Step by step guide.................................................................................................................................... 170

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 8of 174
12. MECHANICAL DATA ..................................................................................................172
13. GLOSSARY .................................................................................................................173

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
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Page 9of 174
1. Introduction
This manual describes the functionality and usage of the ÅAC Sirius OBC and Sirius TCM
products. The Sirius OBC or Sirius TCM differ in certain areas such as the SoC, interfaces
etc. but can mostly be described with the same functionality and will throughout this
document be referred to as “the Sirius products” when both products are referred at the
same time.
1.1. Applicable releases
This version of the manual is applicable to the following software releases:
Sirius OBC 1.5.0
Sirius TCM 1.5.1
1.2. Intended users
This manual is written for software engineers using the ÅAC Sirius products. The electrical
and mechanical interface is described in more detail in the electrical and mechanical ICD
documents [RD10] and [RD11].
1.3. Getting support
If you encounter any problem using the Sirius products or another ÅAC product please use
the following address to get help:
Email: [email protected]

Document number
205065
Version
Rev. N
Issue date
2019-02-04
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 10 of 174
1.4. Reference documents
RD#
Document ref
Document name
RD1
https://openrisc.io/architecture
OpenRISC 1000 Architecture
Manual
RD2
ECSS-E-ST-50-12C
SpaceWire –Links, nodes,
routers and networks
RD3
ECSS-E-ST-50-52C
SpaceWire –Remote memory
access protocol
RD4
ECSS-E-70-41A
Ground systems and
operations –Telemetry and
telecommand packet utilization
RD5
SNLS378B
PC16550D Universal
Asynchronous
Receiver/Transmitter with
FIFOs
RD6
AD7173-8, Rev. A
Low Power, 8-/16-Channel,
31.25 kSPS, 24-Bit, Highly
Integrated Sigma-Delta ADC
RD7
Edition 4.11
RTEMS BSP and Device
Driver Development Guide
RD8
CCSDS 132.0-B-2
TM Space Data Link Protocol
RD9
CCSDS 232.0-B-2
TC Space Data Link Protocol
RD10
205088
Sirius OBC electrical and
mechanical ICD
RD11
205089
Sirius TCM electrical and
mechanical ICD
RD12
SS-EN 61340-5-1
Electrostatics - Part 5-1:
Protection of electronic
devices from electrostatic
phenomena - General
requirements
RD13
Edition 4.11
RTEMS POSIX Users Manual
RD14
CCSDS 201.0-B-3
TC Channel Service