30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 1

Product Development

Platform

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 2

Agenda•  Product Development

•  Hardware & Software architecture

•  Development platform–  Programming language

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 3

Product Development•  Provide off the shelf Nano-Satellite products•  Must conform with CSK standard (CSK=CubeSat Kit)•  Allow customers to pick and choose from different

vendors•  GomSpace wants to be the one-stop supplier of Nano-

Satellite products – Integrated Platform–  All the basics: Power Supply, Batteries, Solar panels, Radio,

OBC–  Buy all the basics from GomSpace and concentrate on

integrating your own payload

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 4

Products•  Power supplies•  Batteries and Battery Packs•  Solar panels•  On-board computers and software•  Radio communication systems•  Antennas•  Attitude control hardware and

software•  Camera

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 5

Product characteristics•  Important characteristics for Nano-Satellite products

–  Low power (limited power budget)–  Low footprint (volume and weight)–  Robustness

•  Radiation (in orbit)•  Vibration & shock (launch)•  Temperatures, temperature cycles (in orbit)•  Error handling

•  Last but not least:

Flight heritage !

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 6

Product history•  Initially main focus was at hardware, mechanics and

electronics•  Embedded software required to allow operation and

control•  Atmel processors were chosen as the MCU

–  AVR8 (power supply, battery pack, “support boards”)–  AVR32 (COM, OBC)–  ARM (OBC)

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 7

Product history•  Software started out “small”, but grew as requirements

evolved•  Program and memory size increased•  Example: Power Supply

–  AVR8 processor–  Initially: ATmega32 (2009)–  Later: ATmega128 (2011)–  Now: ATmega256 (2016)

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 8

Hardware architecture•  PC104 form factor•  Generation 1: Single Board

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 9

Hardware architecture•  Generation 2: Motherboard + Daughterboard(s)

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 10

Hardware architecture•  Structures:

1U, 2U, 3U, 6U

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 11

Satellite Design Overview

StackConnector

3v3

-Z -Y -X +X+Y +Z

I2C

PV2

L-band RF

P110UBP110BSP110UBS

P110UAP110ASP110UAS

P110UBP110BSP110UBS

Interstage A

4WD

ADCS

Mot

herb

oard

Nano

Powe

r P31

us

ADS-

B He

lix A

nten

na

L-band Patch Antennaon FPPTipTop

ANT430 UHF Antenna

UHFRF

AX10

0 UH

F Ra

dio

BP4

Batte

ry (4

S1P)

Zenith Pointing Nadir Pointing

SPI3v3

Interstage B Interstage A Interstage B

X-ba

nd

Patc

h An

tenn

a

GPSRF

Astro

fein

RW

-1 x

4

A320

0 CD

H

X-ba

nd T

rans

mitt

er

PV1-2

Internal Magnetorquer

X-ba

nd R

F

SOFT

RW Control

3v35V

MTctrl3V3

I2C

5V3v3

Vbattraw

5V

GOMX-3

Vbatt

Vbat

t

SPI3v3

ADS-

B Pa

yload

(GO

MX-

1 H/

W)

I2C

Vbatt

Vbatt

Disc

rete

M

agne

tom

eter

3v3

Syrlinks StackBreakout

ADS-B RF

Vbatt

MTctrl

PV1

SPI3v3

MTctrl

PV1

SPI3v3

MTctrl

PV2

SPI3v3

MTctrl

LVDS

P110UAP110UAS

MTctrl

Interstage C (internal)

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 12

Software architecture•  Static libraries, shared by all (almost all) products•  Firmware for “closed” products (Power Supply, Radio, …)

using the same set of libraries•  Based on common set of libraries

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 13

Software architecture•  Distributed Architecture

EPS  

CubeSat  Bus  (I2C,  CAN)  

OBC   ADCS  

COM  

COM   GS  

SPACE  

GROUND  

Payload   Payload  .  .  .  

2 1 3

5 4 6

8 9

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 14

Software architecture•  Distributed Architecture, powered by CSP

(CSP = CubeSat Space Protocol) I2C  

Interface  

CSP  Router  

Task  1  

Task  2  

Task  N  RS232  Interface  

CAN  Interface  

RouKng  Table  1 LOOP 1 2 I2C 2

7 I2C 7 8 KISS 8 * I2C 5

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 15

Software architecture

Services  &  UKliKes  

 AVR32  BSP  (drivers,  etc.)   ASF   A3200  

CSP  

GSSB  LOG  

UTIL  

PARAM  

User  ApplicaKon   MISSION  

GOSH  

FTP  

SDK  for  A

3200  

STORAGE  

•  Software Development Kit for “open” products (OBC)

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Software Products•  Software as product(s)

–  Documentation–  Training–  Support

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Programming languages•  Environment and conditions

–  Minimalistic low power systems–  Proprietary hardware platform developed by GomSpace –  A lot of low level and hardware–near programming required

•  GPIO (switches etc)•  SPI, I2C, CAN•  RS232/USART

–  Experience by programmers–  Limited budgets/resources/experience

•  C as programming language seems the obvious choice

30 Mar 2016 GomSpace Aps - Alfred Nobels Vej 21C, 1. – 9220 Aalborg E – Denmark 18

C as the programming language•  FreeRTOS was chosen as multitasking framework

(light, portable, free)•  Common functionality in libraries shared across

hardware platforms and processors (AVR8/AVR32/ARM)

•  Atmel Toolchain (gcc) on Linux•  WAF build system•  Eclipse IDE