GOMspace NanoPower P60 Dock User manual

NanoPower
P60 Dock
Manual
Software Documentation

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
Table of Contents
1 Change Log 3
2 Introduction 4
2.1 Unpacking and Handling Precautions ................................. 4
3 Overview 5
4 Command Interface 6
4.1 Global Settings .............................................. 6
5 Operation 7
5.1 Board Parameters ............................................ 7
5.2 Configuration Parameters ........................................ 7
5.3 Calibration Parameters ......................................... 10
5.4 Telemetry Parameters .......................................... 10
5.5 Configuration ............................................... 11
5.6 Ground Watchdog ............................................ 11
5.7 Bus Watchdogs ............................................. 12
5.8 CSP Watchdogs ............................................. 12
5.9 Antenna Deployment .......................................... 12
6 Client API 13
6.1 CSP Port numbers ............................................ 13
6.2 Get and Set Configuration Parameters ................................ 13
6.3 Retriving Housekeeping Parameters .................................. 14
6.4 Reset Ground Watchdog Timer .................................... 15
7 Parameter Tables 17
7.1 Table 0: Board Parameters ....................................... 18
7.2 Table 1: Configuration Parameters ................................... 19
7.3 Table 2: Calibration Parameters .................................... 21
7.4 Table 4: Telemetry ............................................ 22
© 2016 GomSpace Aps 2

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
1. Change Log
Date Revision Author Description
14-06-2016 1.0 KBA Initial version 1.0
© 2016 GomSpace Aps 3

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
2. Introduction
The GomSpace NanoPower P60 EPS is a flexible and modular system to rapidly implement power supply
systems based on customer requirements. The P60 Dock is part of the NanoPower P60 EPS modular power
supply system.
This manual describes the P60 Dock firmware version 2.1:
• Command Interface
• CSP Client API
• Parameter Tables
2.1 Unpacking and Handling Precautions
Warning The P60 Dock is an ESD sensitive device. Proper precautions must be observed during
the handling of the device.
Please use an ESD mat and a wrist strap as a minimum. Please wear gloves to avoid fingerprints on the
anodized aluminum parts, as these are particularly difficult to rinse off. If any cleaning of the parts are required
prior to flight, use only ESD safe cleaning methods and a neutral, non-reactive, IPA solvent.
© 2016 GomSpace Aps 4

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
3. Overview
The P60 Dock can be operated through the Cubesat Space Protocol (CSP) over CAN, I2C or serial port. This
integrates well with other GomSpace products, and GomSpace provides a client library for commanding the P60
Dock from other systems running CSP. Refer to the Client API page for documentation of the client library API.
For integration and testing purposes, a command line interface is also available as explained in Command
Interface. The command line interface uses the client API internally, so command names generally reflects the
API function names.
The block diagram below shows the different P60 Dock modules.
Fig. 3.1: P60 Dock Block Diagram
© 2016 GomSpace Aps 5

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
4. Command Interface
For testing and debugging purposes, the P60 Dock can be operated using the GomSpace Shell (GOSH) in-
terface. The console interface is available in the PJ and P2 connector. The serial connection is 8 databits, 1
stopbit, no parity at 500000 baud. On Linux, the serial connection can be opened using the minicom or tio tools
(tio was formerly known as gotty).
You can now execute commands in the GOSH command interpreter. An example command is cmp ident
which lists identification info of the current subsystem:
p60-dock # cmp ident
Hostname: p60-dock
Model: NanoPower P60 Dock
Revision: v0.1
Date: Nov 3 2015
Time: 09:53:08
A list of available commands can be shown by running the help command in GOSH. Pressing the tab key
automatically completes commands and subcommands, and shows a usage string. Commands specific to
the P60 Dock are assembled under the p60dock command group. These commands are also available in
csp-term for operating the P60 Dock via CSP:
p60-dock # p60dock
node Set node
timeout Set timeout in milliseconds
hk Get HK
gndwdt_clear Clear GND WDT
Note: All of the p60dock commands run over loopback CSP using GOSH command wrappers around the
Client API
4.1 Global Settings
The P60 Dock command line interface is written such that there are a few global variables that can be set first.
The default values of the variables are:
• The P60 Dock CSP address is set to 4.
• Timeout is set to 5000 ms.
These values can be set using the p60dock node <node> and p60dock timeout <timeout>. To show
the current setting, run each command without an argument.
© 2016 GomSpace Aps 6

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
5. Operation
The P60 Dock has three configuration parameter tables:
• Board parameters (table 0)
• Configuration parameters (table 1)
• Calibration parameters (table 2)
P60 Dock telemetry parameters are available in parameter table 4.
See Parameter Tables for details on the individual parameter tables.
5.1 Board Parameters
The Board parameters will normally be configured from factory.
If the P60 Dock has been ordered with RS422 interface, it will be enabled. This is done via parameter
rs422_mode set to 1. The default baud rate for RS422 USART is set at 115200. Supported baud rates
are 38400, 115200 and 500000. Baud rate is controlled by parameter rs422_speed. The RS422 USART
uses 8 bit, no parity and one stop-bit (8N1).
CSP address is controlled by parameter is csp_addr. The default CSP address is 4 for the P60 Dock.
5.2 Configuration Parameters
The P60 Dock has a total of 13 channels that all can be turned on and off. Each channel can be configured with
a name. Default names are listed in table below. Seven characters are available for channel names. Channel
names are set by parameter out_name[].
Table 5.1: P60 Dock Output channels
Channel Description Default name
0 X1 VCC x1_vcc
1 X2 VCC x2_vcc
2 X3 VCC x3_vcc
3 X4 VCC x4_vcc
4 X1 VBAT x1_vbat
5 X2 VBAT x2_vbat
6 X3 VBAT x3_vbat
7 X4 VBAT x4_vbat
8 STACK VBAT st_vbat
9 STACK 3.3V st_3v3
10 STACK 5V st_5v
11 GSSB 3.3V gs_3v3
12 GSSB 5V gs_5v
5.2.1 Channel Control
The 13 channels can all be turned on and off manually and/or automatically. From factory the P60 Dock will be
configured to turn on all mounted daughterboard modules in the following way:
© 2016 GomSpace Aps 7

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
1. VCC and VBAT for X1 - X4 are turned on automatically when the P60 Dock has completed boot sequence
2. All other channels are not turned on automatically
To turn a channel on or off manually, set the appropriate out_en[] parameter.
To turn a channel on manually with a delay, set the appropriate out_on_cnt[] parameter to turn the channel
on after X seconds. X must be larger than zero.
To turn a channel off manually with a delay, set the appropriate out_off_cnt[] parameter to turn the channel
off after X seconds. X must be larger than zero.
5.2.2 Battery Mode Dependant Output Control
The P60 Dock output channels can be turned on and off automatically depending on the battery mode (see
Battery Voltage Level).
Battery mode FULL
In battery mode FULL, all output channels are left unchanged.
Battery mode NORMAL
To turn a channel on automatically without delay when battery mode is NORMAL, set the appropriate
init_out_norm[] parameter to 1.
To turn a channel on automatically with a delay when battery mode is NORMAL, set the appropriate
init_on_dly[] parameter to turn the channel on after X seconds. X must be larger than zero. In this case
the init_out_norm[] parameter should be 0, otherwise the channel will turn on immediately when battery
mode is NORMAL.
To turn a channel off automatically with a delay when battery mode is NORMAL, set the appropriate
init_off_dly[] parameter to turn the channel off after X seconds. X must be larger than zero. In this
case the init_out_norm[] parameter should be 1 or the init_on_dly[] parameter should have a value
smaller than the init_off_dly[] parameter.
Battery mode SAFE
To keep a channel turned on if battery mode is SAFE mode, set the appropriate init_out_safe[] parameter
to 1 to keep the channel on when battery mode is SAFE. Otherwise the channel will be turned off when entering
SAFE mode.
The parameters init_on_dly[] and init_off_dly[] are not used in battery mode SAFE.
Battery mode CRITICAL
In battery mode CRITICAL, all output channels will turned off automatically without any delay.
5.2.3 Current Limitation
All channels have two current limitation parameters, cur_lu_lim[] and cur_lim[].
The parameter cur_lu_lim[] is a hard limit, and if the channel consumes more than this limit it will be turned
off immediately. It will be turned on again automatically after 5 seconds.
The parameter cur_lim[] is a soft limit, meaning that if the channel over a period of time on average consumes
more than this limit it will be turned off. The average is calculated over time as an Exponential Moving Average
(EMA). The channel will be turned on again automatically after 5 seconds.
5.2.4 Battery Voltage Level
The P60 Dock has a software low voltage protection and will automatically turn channels on and off depending on
battery voltage level and a set of battery level configuration parameters (batt_max,batt_norm,batt_safe
© 2016 GomSpace Aps 8

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
and batt_crit). The software low voltage protection is a four state system with a CRITICAL, a SAFE, a
NORMAL and a FULL mode.
In normal mode everything is nominal but should the battery voltage drop below batt_safe, the P60 Dock will
change its output switch configuration to a safe mode configuration. This allows the P60 Dock to switch off of all
non-essential systems and leave a simple low power mode running.
Should the battery voltage continue to drop below batt_crit, the P60 Dock will switch off all channels.
The four battery voltage level parameters (batt_max,batt_norm,batt_safe and batt_crit) are each
configurable and must be set to match the battery and the channel control (see section Channel Control) must
be set accordingly to ensure that daughter boards are turned on/off as required by mission.
The following table shows the default settings for battery voltage levels.
Table 5.2: Recommended settings for battery voltage levels
Battery Pack Voltage 8 V 16 V 32 V
batt_max 8300 mV 16600 mV 32000 mV
batt_norm 7000 mV 14000 mV 28000 mV
batt_safe 6700 mV 13400 mV 26800 mV
batt_crit 6500 mV 13000 mV 26000 mV
5.2.5 Battery Pack
The P60 Dock must be configured with the battery pack type. The parameter batt_pack must be set with the
appropriate value for the batttery pack. The following table shows possible configuration values:
Table 5.3: P60 Dock Battery pack values
Battery pack value Description
0 None
1 Reserved
2 BP4 Battery Pack
3 BPX Battery Pack
5.2.6 Battery Heater
For the BP4 battery pack, it is possible to enable heater control. The heater mode bp_heat_mode parameter
controls how the battery heater is turned on and off. The following table shows possible configuration values:
Table 5.4: P60 Dock Battery heater control modes
Battery heater mode value Description
0 Heater always off
1 Heater on/off controlled by temperature thresholds
2 Heater always on
The heater on/off can be controlled by temperature thresholds by setting the bp_heat_high and
bp_heat_low parameters. The bp_heat_low parameter determines when to turn the heater on, i.e. when
the battery pack temperature goes below the bp_heat_low value, the battery heater turns on. Similar, the
© 2016 GomSpace Aps 9

NanoPower P60 Dock
July 14, 2017
gs-man-nanopower-p60-dock-2.1
bp_heat_high parameter determines when to turn the heater off, i.e. when the battery pack temperature goes
above the bp_heat_high value, the battery heater turns off.
Note: The bp_heat_high and bp_heat_low are set in 0.1 °C. E.g. a value of 50 means 5.0 °C.
5.3 Calibration Parameters
The P60 Dock has a set of calibration parameters for voltage and current measurements.
The calibration parameters are configured from factory and normally don’t need to be changed.
For voltages, there is a gain parameter. The gain is a floating-point number.
For currents, there is a gain and an offset parameter. The gain is a floating-point number. The offset is a signed
16-bit integer that controls the offset in mA.
The following table lists the default values for each calibration parameter:
Table 5.5: P60 Dock Calibration values
Name Voltage gain Current gain Current offset
X1 VCC n/a 1.0 0
X2 VCC n/a 1.0 0
X3 VCC n/a 1.0 0
X4 VCC n/a 1.0 0
X1 VBAT 25.0 1.0 0
X2 VBAT 25.0 1.0 0
X3 VBAT 25.0 1.0 0
X4 VBAT 25.0 1.0 0
STACK VBAT 25.0 1.0 0
STACK 3.3V n/a 1.0 0
STACK 5V n/a 1.0 0
GSSB 3.3V n/a 1.0 0
GSSB 5V n/a 1.0 0
VBAT 25.0 n/a n/a
VCC n/a 1.0 0
BATTERY 20.0 1.0 0
If the calibration value is n/a, it means that this value is not measured by the P60 Dock.
5.4 Telemetry Parameters
The P60 Dock will provide the measured voltage and current for each output channel in parameter v_out[]
and c_out[]. In case of over-current (see section Current Limitation) on an output channel, the latchup[]
parameter will increase by 1 each time an over-current is detected and the output channel is turned off by the
current monitoring function.
The state of each output channel is provided in the out_en[] parameter.
The battery voltage measured by the P60 Dock is provided in the parameter batt_v. The battery voltage is
monitored and the battery state is provided in the parameter batt_mode. The batt_mode can have one of
four values:
© 2016 GomSpace Aps 10