presentation - Pumpkin, Inc.
Contents
1. g Don t leave Earth without it Interfacing Additional P ro cesso rs www pumpkininc com e CubeSat Kit module design is relatively straightforward Required Conform to CSK PCB module specification footprint Power from 5V and or 3 3V reset properly e g via supervisor All I O to FM430 must be 3 3V avoid overcurrent gt 2mA If used limit 5V_USB draw to available lt 500mA FM430 Interface Standard I2C SPI and async serial interfaces all 3 3V I O User defined for unallocated I O from to FM430 or other devices Handshaking required to access FM430 s local resources e g SD card USB Optional Drive 5V I O to MHX transceiver control 5V SW Interface to RESET OFF VCC amp FAULT 0 c etc Use USER 11 0 bus in any way you want need not be 3 3V Slide 14 jar scalable cust CubeSat Worksho o OMizabyo Developers Conference 2007 no oe bd g Don t leave Earth without it on Oo To 5 o aoe e On KIT Ge ANN scupesatkitcom a J Part ll cont d www pumpkininc com e FM430 hardware design for additional processors None FM430 architecture is already defined Any additional h w e g for RS422 must be implemented in the I O space on another i e user module Shared I O must be pinned out properly on user modules e FM430 software design for additional processors Largely user defined Native serial interfaces I2C SPI simple asyn2. 4 modules will not fit Design costs and times lack of Pumpkin support etc Useful FM430 features extremely low power USB SD card may not be present Inability to use other CSK modules e g Clyde Space EPS Cannot draw support from CubeSat Kit community 90 x 96mm PCB in the CubeSat Kit module PC 104 footprint is mechanically compatible with the family of CubeSat Kit structures KIT Go Slide 17 o ol lar scalable c CubeSat Worksho oe me Don t leave Earth without it wt modula omizapy a A a Developers Conference 2007 Niece c j ora NANA U oJS ja di olo a A Examples www pumpkininc com e Earlier CubeSat designs QuakeSat 3U with underclocked Linux PC 104 SBC GeneSat 1 3U with PIC18 based C amp DH amp separate payload processor MAST separable 3U with 3 identical PIC18 based TUI Magic Boards ro Se GD x o ll Current CubeSat Kit designs Libertad 1 1U with FM430 Delfi C3 3U with FM430 amp multiple 12C slaves BioLaunch 1 with FM430 amp TMZ104 low power SBC running Windows XP CubeSat Kit Module Stack with TMZ104 above FM430 Slide 18 r scalable cy CubeSat Worksho va A Developers Conference 2007 CUBE SAT 4 Don t leave Earth without It gat f o o ean Op KITE gi Ee pesatkit ccom C Summary www pumpkininc com The CubeSat Kit architecture can easily accommodate additional processors e A variety o
3. B host Ethernet Slide 10 modular scalable Customizay CubeSat Workshop se e 2 a Developers Conference 2007 SAT x A e O O KIT pa sO 2 NIN WeGulbesatkit com ob CUBE E BY Don t leave Earth without it S A x O KIT pa 9 Ms cubesatkit com ob PUMPKIN INCORPORATED Part Il cont d www pumpkininc com The FM430 Flight Module s MCU is well suited to the C amp DH role With multitasking software it can handle COM interface 19 200bps SPI I2C amp async serial payload peripherals FAT based reading and writing to SD card mass memory Control amp monitoring of EPS amp system power amp health Some PWM based tasks motor control audio waveform output More However heavy computational loads involving e g non integer divides matrix inversions e g for GPS waypoint calculations or DSP like signal processing exceed the MSP430 s real time capabilities Slide 11 CubeSat Workshop 5 Developers Conference 2007 lt e fe Q E scalable oe 4 Don t leave Earth withoutit q od tomizapya PUMPKIN INCORPORATED Part Il cont d www pumpkininc com Possible multiprocessor architectures in the CubeSat Kit Multiple lesser or equal low power MCUs e g small PICs or AVRs or even MSP430s offload end node computing E g network of I2C or SPI slaves with FM430 s MSP430 Flight MCU as the master Coprocessor approach where one or more po
4. PUMPKIN www pumpkininc com How to Accommodate Additional Processors in the CubeSat Kit Andrew E Kalman Ph D Slide 1 CUBE DEE A ular scalable custom CubeSat Workshop T Don t leave Earth without it ai mo Zable x Developers Conference 2007 nd KIT EE 3 liiiinnwacubesatkit com 2s UM OKINE www pumpkininc com Introduction PUMPKIN e Andrew E Kalman President and CTO Pumpkin Inc Author of The RTOS that runs in tiny places CUBE O O Creator of the AT KIT 0 20 years of embedded systems design and programming experience Contact aek pumpkininc com Slide 2 Don t leave Earth without it modular scalable CUStomizap CubeSat Workshop e r Developers Conference 2007 Ee 2 q Fore cupbesatkit com bla Outline PUMPKIN www pumpkininc com e Part CubeSat Kit Architecture amp Processor Part Il Choosing Processors Part Ill Interfacing Additional Processors e Part IV Going it Alone Part V Examples e Part VI Summary Slide 3 modular scalable CUStomizap CubeSat Workshop e Don t leave Earth without it gor Developers Conference 2007 a AF A a gt Or Nweellbesatkit com s CubeSat Kit Architecture amp Processor www pumpkininc com e Versatile MCU based architecture Modular approach w 90 x 96mm PCB form factor 104 pin stackable CSK Bus connectors form a backplane O power control status networ
5. c serial devices are ready to go Non native interfaces amp protocols e g RS422 CAN SLIP will require software protocol s to pass data among processors and share control of bus signals where necessary Slide 15 qUjdo o i 1 ue scalable custom CubeSat Workshop SAT of oo eave Ah AD all ics LY yo po 4 Fabio Developers Conference 2007 To KITE 3 eM Nwecu uijesatkit com C Part IH cont d www pumpkininc com A properly designed additional processor module will Conform to the CSK PCB module specification Fit inside a maximum volume of 90 x 96 x 15x n 10 mm Run on 5V and or 3 3V directly from the CSK Bus Connect to the minimum number of CSK Bus pins required to power the module and communicate with the FM430 and or other processors at 3 3V Pass all unused CSK Bus pins on to other modules Be an enabling element of the responsive space approach that typifies CubeSats in particular and nanosatellites in general Slide 16 jar scalable cust CubeSat Worksho en E OMizabo z Developers Conference 2007 oo o o KIT pa ANN scubesatkitcom e oe bd g Don t leave Earth without it Going it Alone www pumpkininc com An alternative uni or multiprocessor approach is to use module s other than the CubeSat Kit s FM430 Flight Module i e use just the CubeSat Kit mechanicals structure etc Drawbacks Available 90 x 96mm footprint limits choices many PC 10
6. f multiprocessor architectures are possible The rules for harmonious multiprocessor operation are relatively simply satisfied Slide 19 modular scalable Customizay CubeSat Workshop e Don t leave Earth without it Developers Conference 2007 yg pA AF A a gt Or Nweellbesatkit com s PUMPKIN sea m rad e www pumpkininc com Ele A ii EA rp CON oe 104 cube como om yw cuu tec Cit Ci ES gt i oli Q amp A Session Thank you for Ge EMO mk attending this ME al AQ e E Pumpkin seminar at the CubeSat Workshop Developers Conference 2007 Slide 20 modular scalable custom CubeSat Workshop r able Developers Conference 2007 E E No emolumentos iecubesatkit GoM PUMPKIN Notice www pumpkininc com This presentation is available online in Microsoft PowerPoint and Adobe Acrobat formats at www pumpkininc com content doc press Pumpkin CSWSDC2007 ppt and www pumpkininc com content doc press Pumpkin CSWSDC2007 pdf Slide 21 jar scalable cust CubeSat Worksho e oma ble Developers Conference 2007 9 ae WW Weeulbesatkit com digo o ES SAT A Don t leave Earth without it gat 7 am O ue Pp KIT E Suggested Reading www pumpkininc com 1 MSP430x15x MSP430x16x MSP430x161x Mixed Signal Microcontroller Texas Instruments Datasheet SLAS368D October 2002 2 MSP430x1xx Family User s Guide Revision F Texas Instr
7. imited FAULT switch w protection SD MMC socket 909000000 VBATT 5V USB 5V 5V SW JL 4 amp 4 4 UU Reset Supervisor MHX OFF VCC RESET P1 7 0 P3 7 0 PS 7 0 VREF epson Ri P2 7 0 P4 7 0 P6 7 0 VREF Bus 5V I O 3 3V 1 0 EREF Connector SDA_SYS sa s2 so ss s3 s1 SCL SYS USER 11 0 FAULT VBACKUP VCC SYS GND AGND Remove Before Flight Launch Switch Switch CubeSat Kit FM430 Rev C Block Diagram Slide 8 scalable Custom CubeSat Workshop able Developers Conference 2007 Mora ibesatkit com b g Part cont d www pumpkininc com Slide 9 CubeSat Workshop Developers Conference 2007 PUMPKIN Choosing Processors www pumpkininc com e TI s 16 bit MSP430 RISC MCU e Benefits Lowest power MCU available startup in 6us Low cost JTAG debugger amp development boards Very C friendly good code density esp vs 8 bit Versatile I O easy configuration vectored interrupts Well supported good tools amp example code available Widely available through distribution and as samples Good peripheral mix USARTs UART SPI 12C DMA ADC DAC WDT counter timers etc e Limitations 64KB address space MSP430X up to 1MB no external memory Max clock 8MHz new families 16 to 25MHz 3 6V max Vcc lt 2mA output drive no 5V tolerant I O No PC host like functions available e g US
8. in and the Pumpkin logo Salvo and the Salvo logo The RTOS that runs in tiny places CubeSat Kit CubeSat Kit Bus and the CubeSat Kit logo are all trademarks of Pumpkin Inc All other trademarks and logos are the property of their respective owners No endorsements of or by third parties listed are implied All specifications subject to change without notice First presented at the CubeSat Workshop Developers Conference in Huntington Beach California on April 19 21 2007 Slide 23 o ol l scalable cust CubeSat Workshop Sid Don t leave Earth without it Mizabye Developers Conference 2007 PA gt A o N More KIT Ge Ss 2 WWwscubesatkit com bh
9. k xcvr switching user defined 48 I O pins directly on CSK Bus m 5V 3 3V Veatt amp Veackur all on CSK Bus For uni or multi processor implementations e Every CSK module has full access to entire CSK Bus C amp DH source amp endpoint for many signals EPS deliver power to bus status amp control to C amp DH COMM handle Tx amp Rx use 3 3V for I O 5V for transmitter Payload interface between C amp DH and payload experiment Slide 4 2 9 P ee 2 E On KIT OE a ANNwEcubesatkitcom CUBE O o i gular scalable custom CubeSat Workshop SAT Ye Don t leave Earth without It sp ps a izable Developers Conference 2007 Part cont d www pumpkininc com Slide 5 dilij o of ular scalable customizes CubeSat Workshop SAT W FZ e Developers Conference 2007 4 M ggo O sa ANE CUG PUMPKIN Part cont d SENSE 5V SW TXD MHX SDA SYS SCL SYS res USERO USER2 USER4 CUBE Don t leave Earth without it SAT DM KIT o INCORPORATED www pumpkininc com CubeSat Kit Bus Connectors H1 H 2X26 F 5V_USB AGND VBACKUP res res USER1 USER3 USERS scalable U an BIW URW NHA N USERIO stom iaa on Soni E Org ibesatkit com bye H 2X26 F P2 2 5V 5V VCC STS USER9 USERI1 Slide 6 CubeSat Workshop Developers Conference 2007 m PUMPKIN INCORPORATED Part cont d e CSK FM430 Flight Module feature
10. s 5V supply 3 3V core amp I O reset via supervisor lt 3 1V MSP430F1612 MCU w 5KB RAM amp 55KB Flash 48 3 3V I O 36 unallocated Extremely low power operation lt 5mA run lt 40uA sleep 3 clocks 32 768kHz DCO 0 850kHz 7 3728MHz Overcurrent overvoltage undervoltage amp latch up protection System wide resources Flight MCU SD card mass storage interface Transceiver MHX socket zero power USB interface Launch amp Remove Before Flight switches 5V external power jack JTAG programming debug interface www pumpkininc com Slide 7 jar scalable cust CubeSat Workshop en OMizabo z Developers Conference 2007 oo gt a an o KIT pa ANN scubesatkitcom e oe bd g Don t leave Earth without it Part cont d www pumpkininc com 5V_USB SENSE Overvoltage Program External reverse voltage amp Current limited E amp debug 5V Power overcurrent protection switch w protection 5V FAULT Current limited 5V SW switch w protection 32 768 kHz E S MSP430 7 3728 f 16 DIE MHz MHX footprint Tx lt A RISC wc transceiver Rx Rel socket h s Be User supplied RST NMI anrenna OE MAX UART1 UARTO rest vase x Rx 5V USB OE USB SPIl SPIO of ON_SD su I2C 1 0 GPIO L Pe ry p4 1 USB 2 0 to serial T lt converter h s gt VCC_CARD vcc j Current l
11. uments SLAU049F 2006 3 Salvo User Manual Pumpkin Inc 2003 4 CubeSat Kit FM430 Flight Module datasheet Pumpkin Inc 2007 Slide 22 CubeSat Workshop ular scalable custo mod Mizabi Developers Conference 2007 Ko oF a a Mio KIT E ANN WacUbesatkit com a oe bd g Don t leave Earth without it Appendix www pumpkininc com Speaker information Dr Kalman is Pumpkin s president and chief technology architect He entered the embedded programming world in the mid 1980 s After co founding Euphonix Inc the pioneering Silicon Valley high tech pro audio company he founded Pumpkin to explore the feasibility of applying high level programming paradigms to severely memory constrained embedded architectures He holds two United States patents and is a consulting professor at Stanford University Acknowledgements Stanford Professors Bob Twiggs and Jamie Cutler s continued support for the CubeSat Kit and their inputs on enhancements and suggestions for future CubeSat Kit products are greatly appreciated Pumpkin s Salvo and CubeSat Kit customers whose real world experience with our products helps us improve and innovate e Salvo CubeSat Kit and CubeSat information More information on Pumpkin s Salvo RTOS and Pumpkin s CubeSat Kit can be found at http www pumpkininc com and http www cubesatkit com respectively Copyright notice O 2007 Pumpkin Inc All rights reserved Pumpk
12. werful and consequently power hungry processors are onboard to perform dedicated functions at low duty cycle e g lt 10 under FM430 s command PC 104 other SBC ARM7 ARM9 PowerPC DSP gumstix etc running Linux or Windows or other OS In these designs the FM430 s role may be secondary Multiple FM430s in one CubeSat Kit 1 5U or larger using wired or wireless connectivity between them Slide 12 modular scalable Customizay CubeSat Workshop se e a a Developers Conference 2007 Mio o a ANNwEcubesatkitcom oe bd g Don t leave Earth without it J Part Il cont d www pumpkininc com Other reasons for adding additional processors Already part of sub payload hardware Existing COTS software hardware is ideally suited to a particular mission or is only available solution Processor testbeds e g flight qualification of new processors Sponsor or partner driven Redundancy Power requirements of additional processors will largely dictate how they are used esp in 1U CubeSats 1 5W total power Most additional processors will spend their time asleep or powered off Consider that from a mass and power standpoint it s often more efficient to pack more functionality into a single processor than to spread it amongst multiple processors K I S S Slide 13 gular scalable custom CubeSat Workshop pane Zabjo E Developers Conference 2007 KIT pa a ANNwEcubesatkitcom oe bd
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