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Onboard Computers and Software Standards Juraj Slačka Onboard computers and software standards Juraj Slačka Space for Education, Education for Space ESA Contract No. 4000117400/16NL/NDe Specialized lectures Onboard computers and software standards Space for Education, Education for Space Content • Onboard Computers in general • Hardware – Key concepts of hardware design and testing – Chip architectures – Multi computer systems • Software – Programming languages – Operating systems – Software development and testing, safety standards – Glitches and bugs in space software Onboard computers and software standards 2 Space for Education, Education for Space Main functions of Onboard Computers • Assistance with computationally intensive tasks • Continuous monitoring • Display necessary data and alarms • Automatic safety functions • Radio communication • Command system • Data storage and handling CubeSat Onboard Computer Onboard computers and software standards 3 Space for Education, Education for Space Onboard Computer parameters • Power consumption • Price / capability • Safety and continuous operation (reliability) – Hardware redundancy – Radiation Hardening • Weight and dimensions • Performance • (MIPS, Data storage) Onboard computers and software standards 4 Space for Education, Education for Space Hardware Main design problems • Design is dependant on mission – LEO, Deep Space, Cubesat • Biggest concern is reliability – Electronic failure – Radiation (van Allen Belts) • <20KRad per year on LEO • Power usage • Heat dissipation • Computational power – FPU? – MMU? • Price Van Allen Belts Onboard computers and software standards 5 Space for Education, Education for Space Hardware Error types • Soft Error – Upset in data which is temporary – In planes Soft Error is 300 times more likely than in computers on ground – Every 1km above sea level Soft Error possibility increases by factor 2.2 – Caused by radiation, noise, inductive and capacitive crosstalk • Hard Error – Permanent damage in hardware Onboard computers and software standards 6 Space for Education, Education for Space Hardware CTOS vs Radiation hardened • Radiation hardening – Hardware protection against soft and hard errors is usually done by radiation hardening – Usually it is done by increasing capacitance at selected circuit nodes – It is often accomplished by increasing the size of transistors – This technique is often applied selectively to nodes which have highest probability to encounter a soft error. – Expensive • Commercial of the shelf – Non radiation hardened components used in industrial grade electronics – Often used in low budget missions like CubeSats Onboard computers and software standards 7 Space for Education, Education for Space Hardware Chip technology • Dynamic CMOS – Better performance – Higher power consumption – Needed clock signal – N+2 transistors – ½ lower radiation hardness compared to static CMOS • Static CMOS – Lower power consumption – 2N transistors => bigger die – Higher capacitance => slower speed – Better radiation hardness – Problem to find fully static CMOS chip in CTOS market Onboard computers and software standards 8 Space for Education, Education for Space Hardware Static vs Dynamic architecture Static CMOS Dynamic CMOS Onboard computers and software standards 9 Space for Education, Education for Space Hardware Data storage • Biggest concern is data corruption and storage malfunction • PROM – Uses diodes or fuses – Reliable – Mostly used for bootloader • Core rope memory (LOL) – Heavy and big dimensions – Hard to program (impossible for modern software) Onboard computers and software standards 10 Space for Education, Education for Space Hardware Data storage • FRAM – High radiation resistance – Only small size commercially available – Write/Read access as a RAM but volatile • Flash Memory – Used in many applications – Better than EEPROM – Charge pump is sensitive – Block corruption Onboard computers and software standards 11 Space for Education, Education for Space Hardware Data storage protection • Hardware – ECC hardware – Dual/Triple backup – Radiation hardening – Parity • Software – Parity – Bit inverted code – Software ECC (Reed-Solomon) – CRC, Checksums Onboard computers and software standards 12 Space for Education, Education for Space Hardware redundancy Voting system • Three or more computers are performing the same task – Majority result is considered as correct – Computers with “bad” result have to reboot – Task can continue after reboot of all “bad” Computers • Space X – Uses this technique incorporating 5 computers – If two of them fail, the system can still operate – No need to wait for “bad” computer to perform reboot Onboard computers and software standards 13 Space for Education, Education for Space Hardware redundancy CPU Swap • Hot swap • Cold swap – Less power efficient – Power efficient (only (both CPUs are running one CPU at a time) in parallel) – Swap causes jitter. Time – Swap can be done is needed to wake CPU without glitch up – Used in most – Used in critical but not critical/time critical real time applications applications Onboard computers and software standards 14 Space for Education, Education for Space Hardware redundancy skCube Coldswap example Onboard computers and software standards 15 Space for Education, Education for Space Hardware Electrical and performance testing • Proper algebraic operations have to be chosen in terms of optimization (qaternions instead of goniometric, etc.) • Consumption on load Onboard computers and software standards 16 Space for Education, Education for Space Hardware Radiation testing • Testing was done on medical X-ray • Testing of critical components: – ALU, Registers, Ram, Flash, I2C and SPI buses – Testing was done every 2s – The results were transfered via UART bus Onboard computers and software standards 17 Space for Education, Education for Space Software Program protection • When considering single upset events, it is harder to protect program instructions than data. • Program protection can be done in different ways: – Hardware or software Lock step execution – Hardware watchdog timers – Periodic checksum check – Bit inverse code – Block program organization Onboard computers and software standards 18 Space for Education, Education for Space Software Programming languages • C and C++ – They were not specifically designed for this type of application – Core run time libraries are well documented, understood and are relatively simple to use – Lot of tool chains for different hardware architecture – As a High level programming language it is still close to hardware (compared to python, matlab, java) Onboard computers and software standards 19 Space for Education, Education for Space Software Programming languages • ADA and Spark – Mostly used in aerospace applications – Object oriented high level language extended from Pascal – Targeted on embedded and real time systems – Strong type language with runtime error detection, parallel processing (tasks) and message passing – Allows garbage collection – but mostly it is not supported by default Onboard computers and software standards 20 Space for Education, Education for Space Software Programming languages • ADA and Spark – Ada has language support for task-based concurrency – Ada type system is not based on a set of predefined primitive types but allows users to declare their own types: • type Day_type is range 1 .. 31; • type Year_type is range 1800 .. 2100; • type Hours is mod 24; • type Weekday is (Monday, Tuesday, Wednesday, Thursday, Friday, Saturday, Sunday); Onboard computers and software standards 21 Space for Education, Education for Space Software Operating systems • For most applications jitter is critical • Soft or hard real time operating systems • Safety critical • NASA JPL uses WxWorks (Spirit, Curiosity) • SpaceX uses modified Linux Margaret Hamilton, foto NASA Onboard computers and software standards 22 Space for Education, Education for Space Software Operating systems • Not all operating systems use MMU => micro kernels compiled together with applications • Preemption often causes problems (atomic operations) • In skCube we have designed simple cooperative preemptive real time operating system build from scratch Margaret Hamilton, foto NASA Onboard computers and software standards 23 Space for Education, Education for Space Software skCube RTOS • Fully preemptive real time operating system • Cooperative mode • Scheduler is running in Lock step mode • Only one static pointer which is known during compilation • Single stack is used for all tasks • Stack is static with permanent size • Kernel + Drivers + One task <1KB • Fully Misra C compatible Onboard computers and software standards 24 Space for Education, Education for Space Software Simple RTOS Onboard computers and software standards 25 Space for Education, Education for Space Software Boot sequence example Onboard computers and software standards 26 Space for Education, Education for Space Software Cooperative multitasking Onboard computers and software standards 27 Space for Education, Education for Space Software Cooperative multitasking Onboard computers and software standards 28 Space for Education, Education for Space Software Stack Monitoring Onboard computers and software standards 29 Space for Education, Education for Space Software Stack Monitoring Onboard computers and software standards 30 Space for Education, Education for Space Software Command Handling • Commands are executed as simple precompiled programs in sequence usually without program flow control or loops • In skCube
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