AAC Microtec Sirius OBC User manual

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 1of 131
Sirius OBC and TCM User Manual
Rev E
© ÅAC Microtec 2017
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 E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 2of 131
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)

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 3of 131
TABLE OF CONTENT
1. INTRODUCTION............................................................................................................... 6
1.1. Applicable releases........................................................................................................................................ 6
1.2. Intended users................................................................................................................................................ 6
1.3. Getting support............................................................................................................................................... 6
1.4. Reference documents .................................................................................................................................... 7
2. EQUIPMENT INFORMATION........................................................................................... 8
2.1. System Overview with peripherals ............................................................................................................... 8
3. SETUP AND OPERATION...............................................................................................10
3.1. User prerequisites........................................................................................................................................ 10
3.2. Connecting cables to the Sirius products.................................................................................................. 11
3.3. Installation of toolchain ............................................................................................................................... 12
3.3.1. Supported Operating Systems................................................................................................................. 12
3.3.2. Installation Steps...................................................................................................................................... 12
3.4. Installing the Board Support Package (BSP) ............................................................................................. 13
3.5. Deploying a Sirius application .................................................................................................................... 13
3.5.1. Establish a debugger connection to the Sirius products........................................................................... 13
3.5.2. Setup a serial terminal to the device debug UART................................................................................... 14
3.5.3. Loading an application............................................................................................................................. 15
3.5.4. Using multiple debuggers on the same PC.............................................................................................. 15
3.6. Programming an application (boot image) to system flash...................................................................... 16
4. SOFTWARE DEVELOPMENT.........................................................................................18
4.1. RTEMS step-by-step compilation................................................................................................................ 18
4.2. Software disclaimer of warranty ................................................................................................................. 18
5. RTEMS.............................................................................................................................19
5.1. Introduction .................................................................................................................................................. 19
5.2. Watchdog...................................................................................................................................................... 20
5.2.1. Description............................................................................................................................................... 20
5.2.2. RTEMS API.............................................................................................................................................. 20
5.2.3. Usage....................................................................................................................................................... 21
5.3. Error Manager............................................................................................................................................... 23
5.3.1. Description............................................................................................................................................... 23
5.3.2. RTEMS API.............................................................................................................................................. 23
5.3.3. Usage....................................................................................................................................................... 28
5.3.4. Limitations................................................................................................................................................ 30
5.4. SCET.............................................................................................................................................................. 31
5.4.1. Description............................................................................................................................................... 31
5.4.2. General purpose triggers ......................................................................................................................... 31
5.4.3. Pulse-Per-Second (PPS) signals ............................................................................................................. 31
5.4.4. RTEMS API.............................................................................................................................................. 32
5.4.5. Usage....................................................................................................................................................... 37
5.4.6. PPS.......................................................................................................................................................... 37
5.4.7. Event callback via message queue.......................................................................................................... 37
5.4.8. RTEMS application example.................................................................................................................... 38
5.5. UART.............................................................................................................................................................. 41
5.5.1. Description............................................................................................................................................... 41

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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Page 4of 131
5.5.2. RTEMS API.............................................................................................................................................. 41
5.5.3. Usage description .................................................................................................................................... 44
5.5.4. Limitations................................................................................................................................................ 45
5.6. Mass memory................................................................................................................................................ 45
5.6.1. Description............................................................................................................................................... 45
5.6.2. Data Structures........................................................................................................................................ 46
5.6.3. RTEMS API.............................................................................................................................................. 47
5.6.4. Usage....................................................................................................................................................... 53
5.6.5. Error injection........................................................................................................................................... 56
5.6.6. Limitations................................................................................................................................................ 56
5.7. Spacewire...................................................................................................................................................... 57
5.7.1. Description............................................................................................................................................... 57
5.7.2. RTEMS API.............................................................................................................................................. 57
5.7.3. Usage description .................................................................................................................................... 59
5.8. GPIO............................................................................................................................................................... 62
5.8.1. Description............................................................................................................................................... 62
5.8.2. RTEMS API.............................................................................................................................................. 62
5.8.3. Usage description .................................................................................................................................... 65
5.8.4. Limitations................................................................................................................................................ 66
5.9. CCSDS........................................................................................................................................................... 67
5.9.1. Description............................................................................................................................................... 67
5.9.2. RTEMS API.............................................................................................................................................. 67
5.9.3. Usage description .................................................................................................................................... 72
5.10. ADC.............................................................................................................................................................. 74
5.10.1. Description............................................................................................................................................. 74
5.10.2. RTEMS API............................................................................................................................................ 75
5.10.3. Usage description .................................................................................................................................. 78
5.10.4. Limitations.............................................................................................................................................. 79
5.11. NVRAM ........................................................................................................................................................ 80
5.11.1. Description............................................................................................................................................. 80
5.11.2. EDAC mode........................................................................................................................................... 80
5.11.3. Non-EDAC mode ................................................................................................................................... 80
5.11.4. RTEMS API............................................................................................................................................ 80
5.11.5. Usage description .................................................................................................................................. 83
6. SPACEWIRE ROUTER....................................................................................................85
7. SIRIUS TCM.....................................................................................................................86
7.1. Description.................................................................................................................................................... 86
7.2. Block diagram............................................................................................................................................... 87
7.3. TCM-S application overview........................................................................................................................ 87
7.4. Configuration................................................................................................................................................ 88
7.5. Telemetry....................................................................................................................................................... 90
7.6. Telecommands ............................................................................................................................................. 91
7.7. Pulse commands.......................................................................................................................................... 92
7.8. COP-1............................................................................................................................................................. 92
7.9. Time Management ........................................................................................................................................ 92
7.10. Error Management and System Supervision ........................................................................................... 92
7.11. Mass Memory Handling.............................................................................................................................. 93
7.12. ECSS standard service .............................................................................................................................. 93
7.12.1. PUS-1 Telecommand verification service .............................................................................................. 93
7.12.2. PUS-2 Device Command Distribution Service....................................................................................... 94

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
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Page 5of 131
7.13. Spacewire RMAP ........................................................................................................................................ 94
7.13.1. Input....................................................................................................................................................... 95
7.13.1. Output.................................................................................................................................................... 96
7.13.2. Status code in reply messages .............................................................................................................. 96
7.14. RMAP address details................................................................................................................................ 96
7.14.1. Input....................................................................................................................................................... 96
7.14.2. Output.................................................................................................................................................. 111
7.15. Handling of Rd/Wr-pointers and wrap-flags for partitions.................................................................... 111
7.16. Limitations ................................................................................................................................................ 112
8. SYSTEM-ON-CHIP DEFINITIONS.................................................................................113
8.1. Memory mapping........................................................................................................................................ 113
8.2. Interrupt sources........................................................................................................................................ 114
8.3. SCET timestamp trigger sources.............................................................................................................. 114
8.4. Boot images and boot procedure.............................................................................................................. 115
8.4.1. Description............................................................................................................................................. 115
8.4.2. Block diagram ........................................................................................................................................ 115
8.4.3. Usage description .................................................................................................................................. 115
8.4.4. Limitations.............................................................................................................................................. 116
8.5. Reset behaviour.......................................................................................................................................... 116
8.6. General synchronize method .................................................................................................................... 116
8.7. Pulse command inputs .............................................................................................................................. 116
8.8. SoC information map ................................................................................................................................. 117
9. CONNECTOR INTERFACES.........................................................................................118
9.1. JTAG-RTL, FPGA-JTAG connector........................................................................................................... 118
9.2. DEBUG-SW.................................................................................................................................................. 118
9.3. PWR –Power .............................................................................................................................................. 119
9.4. SPW1 –Spacewire 1................................................................................................................................... 119
9.5. SPW2 –Spacewire 2................................................................................................................................... 120
9.6. ANALOG, Analog input and 3xGPIO (Sirius OBC only) .......................................................................... 120
9.7. DIGITAL, PPS input and 12xGPIO............................................................................................................. 121
9.8. UART0-2 - RS422/485 ................................................................................................................................. 122
9.9. UART3-5 - RS422/485 (Sirius OBC only)................................................................................................... 122
9.10. TRX1 - RS422 Transceiver interface (Sirius TCM only)......................................................................... 124
9.11. TRX2 - LVDS Transceiver interface (Sirius TCM only) .......................................................................... 124
9.12. UMBI –Baseband Umbilical (Sirius TCM only)...................................................................................... 125
9.13. Pulse Command Outputs (Sirius TCM only) .......................................................................................... 126
10. UPDATING THE SIRIUS FPGA...................................................................................127
10.1. Prerequisite hardware.............................................................................................................................. 127
10.2. Prerequisite software............................................................................................................................... 127
10.3. Step by step guide.................................................................................................................................... 127
11. MECHANICAL DATA ..................................................................................................129
12. GLOSSARY.................................................................................................................130

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 6of 131
1. Introduction
This manual describes the functionality and usage of the ÅAC Sirius OBC and Sirius TCM
products. The Sirius OBCor 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 0.10.0
Sirius TCM 0.10.0
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 E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
www.aacmicrotec.com
Page 7of 131
1.4. Reference documents
RD#
Document ref
Document name
RD1
http://opencores.org/openrisc,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 4.10.99.0
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 Prototcol
RD10
P2-2-96-ICD-014
Sirius OBC electrical and
mechanical ICD
RD11
P2-2-96-ICD-013
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

Document number
205065
Version
Rev E
Issue date
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Sirius OBC and TCM User Manual
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Page 8of 131
2. Equipment information
The Sirius OBC and Sirius OBC products are depicted in Figure 3-1 and Figure 3-2.
The Sirius products also include both a debugger interface for downloading and debugging
software applications and a JTAG interface for programming the FPGA during
manufacturing.
The FPGA firmware implements a SoC centered around a 32 bit OpenRISC Fault Tolerant
processor [RD1] running at a system frequency of 50 MHz and with the following set of
peripherals:
Error manager, error handling, tracking and log of e.g. power loss and/or memory
error detection.
SDRAM 64 MB data + 64 MB EDAC running @100MHz
Spacecraft Elapsed Timer (SCET), including a PPS (Pulse Per Second) time
synchronization interface for accurate time measurement with a resolution of 15 µs
SpaceWire, including a three-port SpaceWire router, for communication with
external peripheral units
UARTs uses the RS422 and RS485 line drivers on the board with line driver mode
set by software.
GPIOs
Watchdog, a fail-safe mechanism to prevent a system lockup
System flash of 2 GB with EDAC-protection for storing boot images in multiple
copies
Pulse command inputs for reset to a specific software image
MRAM for storage of metadata and other data that requires a large number of
writes that shall survive loss of power
For the Sirius TCM the following additional peripherals are included in the SoC:
CCSDS, communications IP.
Mass memory of 16GB with EDAC-protection, NAND flash based, for storage of
mission critical data.
For the Sirius OBC an Analog interface is included.
The input power supply provided to the Sirius products shall be between +4.5 and +16 VDC.
The power consumption is highly dependent on peripheral loads and ranges from 0.8 W to
2 W.
2.1. System Overview with peripherals
Figure 2-1 depicts a System-on-Chip (SoC) overview including the related peripherals of the
Sirius OBC and Sirius TCMproducts. The figure shows what parts that are included for
which products.

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
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Page 9of 131
FPGA
FPU
OpenRISC
1200FT
I/D Cache
I2C
UART
GPIO
CCSDS
Memory
controller
System
flash
controller
Flash
controller
SpaceWire
DMA
Control
Watchdog
Debug
Unit
SCET
Error
manager
2x 64MB
SDRAM
2 GB System
Flash
Radio Interfaces
RS422/LVDS RS422/RS485 JTAG/DEBUG
Pulse CMDUMBI/EGSEETHERNET GPIO
ADC
(Housekeeping)
Ethernet
10/100
ADC
controller
OBC / TCM
NVRAM
Analog inputs
NVRAM
TCM TCM/OBC Future option
16 GB Flash
OBC
PPS
Figure 2-1 - The Sirius OBC / Sirius TCM SoC Overview

Document number
205065
Version
Rev E
Issue date
2017-03-07
Sirius OBC and TCM User Manual
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Page 10 of 131
3. Setup and operation
3.1. User prerequisites
The following hardware and software is needed for the setup and operation of the Sirius
products.
PC computer
1 GB free space for installation (minimum)
Debian 7 or 8 64-bit with super user rights
USB 2.0
JTAG debugger
ÅAC JTAG debugger hardware including harness
Recommended applications and software
Installed serial communication terminal, e.g. gtkterm or minicom
Host build system, e.g. the debian package build-essential
The following software is installed by the ÅAC toolchain package
oGCC, C compiler for OpenRISC
oGCC, C++ compiler for OpenRISC
oGNU binutils and linker for OpenRISC
oCustom openocd binary designed for OpenRISC
For FPGA update capabilities
Microsemi FlashPro Express v11.7, http://www.microsemi.com/products/fpga-
soc/design-resources/programming/flashpro#software
FlashPro5 programmer