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Dual Core System-on-Chip Design to Support Inter-Satellite Communications
Liza RodriguezAurelio Morales
EEL 6935 - Embedded SystemsDept. of Electrical and Computer
EngineeringUniversity of Florida
EEL 6935 Dual Core SoC Design to Support Inter-Satellite Communications 2 of 30
OutlineOutline
• IntroductionIntroduction• Picosatellite Demostrator DesignPicosatellite Demostrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
EEL 6935 Dual Core SoC Design to Support Inter-Satellite Communications 3 of 30
OutlineOutline
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
EEL 6935 Dual Core SoC Design to Support Inter-Satellite Communications 4 of 30
• Satellites that provide multi-point sensing• Low cost, redundancy, flexibility• Types of DSS:
• Formation Flying: strict formation• Clustering Mission: satellites are loosely coupled
around each other• Virtual Satellite Mission (fractioned mission): a
satellite has its subsystems divided onto multiple crafts (computing, imaging, etc.)
Distributed Satellite System (DSS)Distributed Satellite System (DSS)
IntroductionIntroduction
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IntroductionIntroduction
DSS in Low Earth Orbit (LEO)DSS in Low Earth Orbit (LEO)
• Small satellites deployed at the same time in multiple orbits• Use for disaster monitoring prevention• Ad-hoc network for multipoint sensing like WSN• Challenges:
• Attitude and orbit control, intersatellite links, on-board computing
• Deal with perturbations: Earth’s geophysical forces, solar radiation
• Network connectivity and topology over time
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Distributed Computing RequirementsDistributed Computing Requirements
IntroductionIntroduction
• Node LevelNode Level• At Individual satellite level• Store and forward data using the network:
• High priority apps using Client/Server. Payload data through the network such imaging data
• Low priority apps using Peer-to-Peer telemetry. Location and velocity changes, “byte” size payload data (GPS)
• Network LevelNetwork Level• Applied to multiple satellites• Provide adaptable and redundant ground-link
communication schemes, main “sink” to ground• React proactively and reactively to their environment
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IntroductionIntroduction
MotivationMotivation
• Meet requirements for processing and network capabilities in “cluster” of satellites in the presence of space disturbances
ProposalProposal
• Dual core System-on-Chip design using a general purpose soft-core processor and a specific core for real-time applications, such as agents
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AgendaAgenda
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
EEL 6935 Dual Core SoC Design to Support Inter-Satellite Communications 9 of 30
• Use of embedded hardware technology• Standard picosatellite platform CubeSat• For fast prototype, COTS components/boards:
• Flight OBC and satellite chassis from Pumpkin• Power module from Clyde-Space• SGR-05 GPS module from SSTL• MHX transceiver from Microhard Systems• PF5100 Virtex-4 FPGA FX60 Board for SoC• IEEE 802.11 PC/104 Board from Elcard
Picosatellite Demonstrator DesignPicosatellite Demonstrator Design
PrototypePrototype
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PrototypePrototype
CubeSat Platform with Flight Module, IEEE 802.11, FPGA and development boards
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PrototypePrototype
MHX 900 MHz Transceiver PF5100 Board with Virtex-4 FPGA
SGR-05U – Space GPS ReceiverFlight module and
satellite Chassis
Power Module
IEEE 802.11 Board
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• 1999, CalPoly and Stanford University developed specs to help universities worldwide perform space exploration.
• Very small satellite • Use COTS components• 10x10x10 cm structure• Weight of 1 Kg• Also in 2U and 3U sizes
CubeSatCubeSat
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Demonstrator Satellite Architecture
• FPGA board, IEEE 802.11 board, camera as payloads.
• Architecture controlled by the Flight OOn-BBoard CComputer (FM430 OBC)
• SoC to act as HW/SW mediator for:
• Hard and soft resets• Sleep mode
• SoC also used as interface between various buses
Demonstrator Satellite ArchitectureDemonstrator Satellite Architecture
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AgendaAgenda
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
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Dual Core Processor DesignDual Core Processor Design
LEON3 ProcessorLEON3 Processor
• Synthesisable VHDL model of 32-bit processor compliant with SPARC V8 architecture
• Suitable for SoC designs
JOP ProcessorJOP Processor
• JJava OOptimized PProcessor• Enables real-time Java functionality• Smallest and fastest Java core
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LEON3 ProcessorLEON3 Processor
Dual Core Processor DesignDual Core Processor Design
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Dual Core Processor DesignDual Core Processor Design
LEON3 core and JOP core in a FPGA
FPGA SoC designFPGA SoC design
AMBA = AAdvanced MMicrocontroller BBus AArchitecture
APB = AAdvanced PPeripheral BBus
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Design ConsiderationsDesign Considerations
Dual Core Processor DesignDual Core Processor Design
• Memory sharing system between LEON3 and JOP for access to external RAM
• Cache between cores must maintain coherency
• Reconfiguration in cases of single event upsets (SEUs) or single event latch-ups (SELs)
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• System must have low low memory footprintmemory footprint, including OS and network stack
• System must be real-timereal-time• CLDCCLDC and pjavapjava are designed
for devices with intermittent network connection, slow processors, limited memory (e.g. mobile phones, PDAs), making them ideal for JOP core
Memory Footprint Comparison
CLDC = CConnection LLimited DDevice CConfiguration
pjava = PersonalJava
JADE= JJava AAgent DEDEvelopment Framework
LEAP =LLight EExtensible AAgent PPlatform
CORBA = CCommon OObject RRequest BBroker AArchitecture
Multi-layer software designMulti-layer software design
Dual Core Processor DesignDual Core Processor Design
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Hardware and software layer designHardware and software layer design
Dual Core Processor DesignDual Core Processor Design
LEON3 and JOP in FPGA:
• Reduce memory footprint• Increase FPGA utilization• Enable Java apps, such as
Agents, for real-time apps
RTEMS = RReal-TTime EExceutive for MMultiprocessor SSystems
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System-on-Chip Block DiagramSystem-on-Chip Block Diagram
Detailed System-on-Chip designDetailed System-on-Chip design
Dual Core Processor DesignDual Core Processor Design
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OutlineOutline
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
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• Max Frequency of 37.398 MHz• WCET found between:
• LEON3 and AMBA memory controller• LEON3 and JOP AHB Master• JOP cache and JOP address bus
• Speed optimization is needed to satisfy IEEE 802.11 MAC. Trade-off between area and speed
Dual Core Processor ImplementationDual Core Processor Implementation
Timing ResultsTiming Results
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Dual Core Processor ImplementationDual Core Processor Implementation
• On-chip or off-chip memory?• Speed and power requirements• On-chip: fast but increase power consumption and area• Power consumption of SoC design: 2.33W (1.76W in
memory interfacing), using XPower from Xilinx
Memory Trade-offMemory Trade-off
Resource UtilizationResource Utilization
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OutlineOutline
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
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ProcedureProcedure
Network Topology ReconfigurationNetwork Topology Reconfiguration
• HW & SW are discovered• Network topology can be reconfigured
• Stage 1: Startup FPGA Bus System & LEON3• LEON3 started, id and starting tasks discovered
• Stage 2: Startup JOP & JADE-LEAP• Start Java application with argument passing to main
host and services required• Stage 3: Network Topology Refresh
• Initialize, check or change the network topology
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OutlineOutline
• IntroductionIntroduction• Picosatellite Demonstrator DesignPicosatellite Demonstrator Design• Dual Core Processor DesignDual Core Processor Design• Dual Core Processor ImplementationDual Core Processor Implementation• Network Topology ReconfigurationNetwork Topology Reconfiguration• ConclusionsConclusions
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• A COTS solution for picosatellite including a SoC design that meets CubeSat platform was introduced.
• LEON3 IP and JOP IP cores were used to meet strict requirement of low memory footprint, Java functionality and real-time operation
• An Java agent software was proposed to support inter-satellite communication based on IEEE 802.11 wireless connectivity
ConclusionsConclusions
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ReferencesReferences
• http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4584273 http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=4584273 • http://www.cubesat.org/ http://www.cubesat.org/ • http://en.wikipedia.org/wiki/CubeSat http://en.wikipedia.org/wiki/CubeSat • http://www.cubesatkit.com/index.html http://www.cubesatkit.com/index.html • http://www.derivation.com/products/pf5100.htmlhttp://www.derivation.com/products/pf5100.html • http://www.clyde-space.com/products/electrical_power_systems/cubesat_power http://www.clyde-space.com/products/electrical_power_systems/cubesat_power • http://www.sstl.co.uk/assets/Downloads/SGR-05U%20v1_13.pdf http://www.sstl.co.uk/assets/Downloads/SGR-05U%20v1_13.pdf • http://www.data-connect.com/Microhard_MHX-910.htm http://www.data-connect.com/Microhard_MHX-910.htm • http://www.gaisler.com/doc/leon3_product_sheet.pdf http://www.gaisler.com/doc/leon3_product_sheet.pdf
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Questions?Questions?