warmonkey
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fbd3994ecf
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README.md
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README.md
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@ -10,7 +10,7 @@
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* 完整的立方星平台设计方案，提供完整的硬件、软件和文档
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* 载荷: 相机，LED阵列，辐射剂量计
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* 星载计算机: 硬件基于STM32F4, 软件提供了实时操作系统(RTOS),文件系统,CAN总线驱动, libcsp (Cubesat Space Protocol)移植,导航算法,日志功能
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* 星上测控收发机: 支持半双工/全双工方式, 工作在VHF和UHF业余无线电频段 (140-148MHz, 430-440MHz). 发射功率2W, 接收机灵敏度-113dBm @ 10kbps数据速率. 基于FPGA的基带处理器兼容CCSDS标准, 兼容libcsp.
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* 星上测控收发机: 支持半双工/全双工方式, 工作在VHF和UHF业余无线电频段 (140-148MHz, 430-440MHz). 发射功率2W, 接收机灵敏度-113dBm @ 10kbps数据速率, 收发数据速率支持2k~500kbps. 基于FPGA的基带处理器兼容CCSDS标准, 兼容libcsp. 与USRP B210配套使用时, 遥测接收灵敏度-126dBm @ 10kbps.
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* 电源系统: MPPT (最大功率点跟踪) 太阳能充电, 电池管理, 电源分配, 安全开关, 磁力矩器驱动, 太阳敏感器采集, 火工品驱动, RTC (实时时钟). 所有的关键部件均带有遥测和保护功能.
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* 地面控制站: Qt开发的图形界面, 可显示所有星上设备的遥测量或发送遥控指令.
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* Gnuradio扩展包: 用于卫星遥测遥控的扩展模块gr-kcsa-ks1q, 包括多种常用模块，可用于构建自定义的卫星测控收发机
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@ -25,7 +25,7 @@
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# 目录结构
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* documents: 总体设计文档, 产品介绍, ICD和安全性报告.
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* firmware: 所有星上模块的嵌入式软件.
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* firmware/binary: 预编译好的二进制固件文件.
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* firmware/binary: 预编译好的二进制固件文件.
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* firmware/(MODULE)_FW(VER)/: 模块MODULE的工程文件和代码文件, 固件版本=VER.
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* firmware/(MODULE)_FW(VER)_flowgraph.pdf: 模块MODULE的固件程序流程图, 固件版本=VER.
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* firmware/(MODULE)_FW_ChangeLog.txt: 模块MODULE的固件修改记录.
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@ -72,16 +72,17 @@
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* 准备工作 - 安装Gnuradio和USRP驱动程序
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* 如果系统是Ubuntu 18.04, 最简单的方法是运行命令`sudo apt install gnuradio-dev uhd-host`
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* 如果系统是Ubuntu 16.04, 需要从源码编译安装Gnuradio ( 源码链接 http://github.com/gnuradio/gnuradio ), USRP驱动程序使用最新的PPA源安装 ( 教程页面 https://files.ettus.com/manual/page_install.html )
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`sudo add-apt-repository ppa:ettusresearch/uhd
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`sudo apt-get update
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`sudo apt-get install libuhd-dev libuhd003 uhd-host
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* sudo add-apt-repository ppa:ettusresearch/uhd
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* sudo apt-get update
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* sudo apt-get install libuhd-dev libuhd003 uhd-host
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* 其他Linux发行版还没有测试过,推荐的方法是自行从源码编译安装
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* 安装地面控制软件
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* 安装Ubuntu系统
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* 安装安装Gnuradio和USRP驱动程序
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* 编译安装libcsp
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# cd KS-1Q/host/csp
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# ./build_csp.sh && sudo ./install_csp.sh
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* cd KS-1Q/host/csp
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* ./build_csp.sh
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* sudo ./install_csp.sh
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* 安装KS1GCS
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运行QtCreator, 打开工程文件 KS-1Q/host/KS1GCS/KS1GCS.pro
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点击`Build` ( 靠近左下角的锤子图标 )
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@ -91,32 +92,31 @@
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* 步骤3: 将锂电池充电器连接到CHARGE端口
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* 步骤4: EPS_RBF开关切换到`UNLOCK`
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* 步骤5: 下载KS1_EPS_FW03固件到KS1_EPS模块
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-> 如果下载失败,检查KS1_EPS内部的STM32供电是否正常
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-> 可能的原因: RBF开关设置到`LOCK`位置, KS1_EPS没有安装电池，或者电池已经耗尽。
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* 如果下载失败,检查KS1_EPS内部的STM32供电是否正常
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* 可能的原因: RBF开关设置到`LOCK`位置, KS1_EPS没有安装电池，或者电池已经耗尽。
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* 步骤6: TTC_DEBUG_SELECT开关切换到`JTAG`位置
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* 步骤7: 下载TTC_V04_FPGA (FPGA位流) 到TTC模块
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-> 如果下载失败,检查TTC模块供电是否正常.
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-> 可能的原因: KS1_EPS没有为TTC模块供电.
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-> RBF开关设置到`Unlock`位置? KS1_EPS固件已经装载?
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* 如果下载失败,检查TTC模块供电是否正常.
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* 可能的原因: KS1_EPS没有为TTC模块供电.
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* RBF开关设置到`Unlock`位置? KS1_EPS固件已经装载?
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* 步骤8: TTC_DEBUG_SELECT开关切换到`SWD`位置
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* 步骤9: 下载TTC_V04_FW00到TTC模块
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-> 如果下载失败,检查TTC模块供电是否正常.
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* 如果下载失败,检查TTC模块供电是否正常.
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* 步骤10: 将USRP连接到主机的USB3.0端口
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* 步骤11: 通过Gnuradio与KS-1Q建立测控链路
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# cd KS-1Q/host/KS1GCS/
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# python ccsds-halfduplex-tcpserver2.py
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若要编辑Gnuradio的处理流图, 运行gnuradio-companion命令, 然后打开KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc文件
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* cd KS-1Q/host/KS1GCS/
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* python ccsds-halfduplex-tcpserver2.py
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* 若要编辑Gnuradio的处理流图, 运行gnuradio-companion命令, 然后打开KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc文件
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* 步骤12: 运行KS1GCS, 点击`连接`按钮
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* 步骤13: 发送遥控指令开启OBC电源. 点击KS1GCS的`EPS`页面, 然后点击`OBC开启`按钮. 成功后,EPS遥测量PwrOBC会在大约10秒之后变为一个非零数值
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-> 现在, OBC电源已经开启
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* 现在, OBC电源已经开启
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* 步骤14: 下载OBC_2D_FW03到OBC模块
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-> 如果下载失败,检查OBC模块供电是否正常.
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-> 使用一个外部电源(与电池电压相同, 7.2～8.4V之间)可以直接启动OBC. 这样做可以省去步骤10-13.
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* 如果下载失败,检查OBC模块供电是否正常.
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* 使用一个外部电源(与电池电压相同, 7.2～8.4V之间)可以直接启动OBC. 这样做可以省去步骤10-13.
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# 待做事项
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* 所有的固件转移到gcc工具链
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* 网页版地面控制软件
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* 网页版地面控制软件
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* 星上脚本程序支持
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* 星上固件自动升级
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* 更好的半双工无线链路
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@ -10,7 +10,7 @@ Opensat first generation cubesat bus
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* Complete Cubesat bus design: hardware + software + documents
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* Payloads: camera, LED array, radiation dosimeter
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* Onboard computer: STM32F4, software stack including RTOS, FS, CANbus, libcsp (Cubesat Space Protocol), navigation, logging
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* Onboard communications: half duplex or full duplex on amateur VHF and UHF band (140-148MHz, 430-440MHz). Tx power 2W, Rx sensitivity -113dBm @ 10kbps. FPGA radio baseband compliant to CCSDS standard, with libcsp support.
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* Onboard communications: half duplex or full duplex on amateur VHF and UHF band (140-148MHz, 430-440MHz). Tx power 2W, Rx sensitivity -113dBm @ 10kbps, both tx and rx support 2k~500kbps rate. FPGA radio baseband compliant to CCSDS standard, with libcsp support. With USRP B210, downlink rx sensitivity -126dBm @ 10kbps.
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* Power system: MPPT solar charging, battery management, power distribution, safety switch, magnetorquer driver, sun sensor input, EED driver and RTC clock. Telemetry and protection for all critical components.
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* Ground control: Qt based UI, provide display and control for all onboard modules.
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* Gnuradio extension: custom OOT module gr-kcsa-ks1q for telemetry and telecommand. Contains necessary blocks for building custom satellite transceivers.
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@ -24,7 +24,7 @@ Opensat first generation cubesat bus
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# Project folders
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* documents: system design documents, intro pages, ICD and safety report.
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* firmware: embedded software for all onborad modules.
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* firmware/binary: prebuilt firmware images.
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* firmware/binary: prebuilt firmware images.
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* firmware/(MODULE)_FW(VER)/: firmware VER, code and project files for MODULE.
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* firmware/(MODULE)_FW(VER)_flowgraph.pdf: firmware VER program flowgraph for MODULE.
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* firmware/(MODULE)_FW_ChangeLog.txt: firmware changelog for MODULE.
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@ -71,51 +71,51 @@ Opensat first generation cubesat bus
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* Preparing - how to install gnuradio and usrp driver
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* if using Ubuntu 18.04, use `sudo apt install gnuradio-dev uhd-host` is the easist way
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* if using Ubuntu 16.04, compile and install gnuradio from source ( http://github.com/gnuradio/gnuradio ) by yourself, usrp driver must use latest PPA ( https://files.ettus.com/manual/page_install.html )
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`sudo add-apt-repository ppa:ettusresearch/uhd
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`sudo apt-get update
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`sudo apt-get install libuhd-dev libuhd003 uhd-host
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* `sudo add-apt-repository ppa:ettusresearch/uhd`
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* `sudo apt-get update`
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* `sudo apt-get install libuhd-dev libuhd003 uhd-host`
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* other linux distribution not tested, compile on your own is suggested.
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* Install host software
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* Install ubuntu linux
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* Install gnuradio and usrp driver
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* Build and install libcsp
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# cd KS-1Q/host/csp
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# ./build_csp.sh && sudo ./install_csp.sh
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* `cd KS-1Q/host/csp`
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* `./build_csp.sh`
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* `sudo ./install_csp.sh`
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* Build KS1GCS
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launch QtCreator, open project KS-1Q/host/KS1GCS/KS1GCS.pro
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press `Build` button ( the hammer icon near left-bottom )
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* launch QtCreator, open project KS-1Q/host/KS1GCS/KS1GCS.pro
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* press `Build` button ( the hammer icon near left-bottom )
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* Load bootloader / firmware
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* Step 1: Connect KS1 debug tool to KS-1Q
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* Step 2: Connect stlink or jlink to EPS SWD port
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* Step 3: Connect li-ion battery charger to CHARGE port
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* Step 4: Set EPS_RBF switch to `UNLOCK` position
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* Step 5: Load KS1_EPS_FW03 (firmware) to KS1_EPS module
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-> if failed, check STM32 on KS1_EPS have power supply
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-> possible reason: RBF in `LOCK` position or battery rans out.
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* if failed, check STM32 on KS1_EPS have power supply
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* possible reason: RBF in `LOCK` position or battery rans out.
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* Step 6: Set TTC_DEBUG_SELECT switch to `JTAG` position
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* Step 7: Load TTC_V04_FPGA (fpga bitstream) to TTC module
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-> if failed, check TTC module have power supply.
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-> possible reason: KS1_EPS no output.
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-> RBF unlocked ? KS1_EPS firmware loaded ?
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* if failed, check TTC module have power supply.
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* possible reason: KS1_EPS no output.
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* RBF unlocked ? KS1_EPS firmware loaded ?
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* Step 8: Set TTC_DEBUG_SELECT switch to `SWD` position
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* Step 9: Load TTC_V04_FW00 to TTC module
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-> if failed, check TTC module have power supply.
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* if failed, check TTC module have power supply.
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* Step 10: connect USRP to host USB3.0 port
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* Step 11: Run gnuradio to establish wireless connection to KS-1Q.
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# cd KS-1Q/host/KS1GCS/
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# python ccsds-halfduplex-tcpserver2.py
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to edit flowgraph, run gnuradio-companion and open KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc
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* Step 11: Run gnuradio to establish wireless connection to KS-1Q.
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* cd KS-1Q/host/KS1GCS/
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* python ccsds-halfduplex-tcpserver2.py
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* to edit flowgraph, run gnuradio-companion and open KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc
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* Step 12: Run KS1GCS, then click `Connect` button.
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* Step 13: Send telecommand to enable OBC power. click `EPS` page in KS1GCS, then click `OBC on` button. if success, EPS telemetry PwrOBC will change to nonzero value after ~10seconds.
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-> Now OBC have power supply
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* Now OBC have power supply
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* Step 14: Load OBC_2D_FW03 to OBC module.
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-> if failed, check OBC module have power supply.
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-> use an external power supply ( equal to battery voltage, 7.2~8.4V ) can power on OBC directly. here step 10 - 13 is not required.
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* if failed, check OBC module have power supply.
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* use an external power supply ( equal to battery voltage, 7.2~8.4V ) can power on OBC directly. here step 10 - 13 is not required.
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# TODO list
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* Move all firmware to gcc toolchain
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* Web based ground control
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* Web based ground control
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* Onboard scripting support
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* OBC firmware upgrade support
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* Better half-duplex radio link.
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@ -10,7 +10,7 @@
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* 完整的立方星平台设计方案，提供完整的硬件、软件和文档
|
||||
* 载荷: 相机，LED阵列，辐射剂量计
|
||||
* 星载计算机: 硬件基于STM32F4, 软件提供了实时操作系统(RTOS),文件系统,CAN总线驱动, libcsp (Cubesat Space Protocol)移植,导航算法,日志功能
|
||||
* 星上测控收发机: 支持半双工/全双工方式, 工作在VHF和UHF业余无线电频段 (140-148MHz, 430-440MHz). 发射功率2W, 接收机灵敏度-113dBm @ 10kbps数据速率. 基于FPGA的基带处理器兼容CCSDS标准, 兼容libcsp.
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* 星上测控收发机: 支持半双工/全双工方式, 工作在VHF和UHF业余无线电频段 (140-148MHz, 430-440MHz). 发射功率2W, 接收机灵敏度-113dBm @ 10kbps数据速率, 收发数据速率支持2k~500kbps. 基于FPGA的基带处理器兼容CCSDS标准, 兼容libcsp. 与USRP B210配套使用时, 遥测接收灵敏度-126dBm @ 10kbps.
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||||
* 电源系统: MPPT (最大功率点跟踪) 太阳能充电, 电池管理, 电源分配, 安全开关, 磁力矩器驱动, 太阳敏感器采集, 火工品驱动, RTC (实时时钟). 所有的关键部件均带有遥测和保护功能.
|
||||
* 地面控制站: Qt开发的图形界面, 可显示所有星上设备的遥测量或发送遥控指令.
|
||||
* Gnuradio扩展包: 用于卫星遥测遥控的扩展模块gr-kcsa-ks1q, 包括多种常用模块，可用于构建自定义的卫星测控收发机
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||||
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@ -25,7 +25,7 @@
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# 目录结构
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* documents: 总体设计文档, 产品介绍, ICD和安全性报告.
|
||||
* firmware: 所有星上模块的嵌入式软件.
|
||||
* firmware/binary: 预编译好的二进制固件文件.
|
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* firmware/binary: 预编译好的二进制固件文件.
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* firmware/(MODULE)_FW(VER)/: 模块MODULE的工程文件和代码文件, 固件版本=VER.
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* firmware/(MODULE)_FW(VER)_flowgraph.pdf: 模块MODULE的固件程序流程图, 固件版本=VER.
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* firmware/(MODULE)_FW_ChangeLog.txt: 模块MODULE的固件修改记录.
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@ -72,16 +72,17 @@
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* 准备工作 - 安装Gnuradio和USRP驱动程序
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* 如果系统是Ubuntu 18.04, 最简单的方法是运行命令`sudo apt install gnuradio-dev uhd-host`
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* 如果系统是Ubuntu 16.04, 需要从源码编译安装Gnuradio ( 源码链接 http://github.com/gnuradio/gnuradio ), USRP驱动程序使用最新的PPA源安装 ( 教程页面 https://files.ettus.com/manual/page_install.html )
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`sudo add-apt-repository ppa:ettusresearch/uhd
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`sudo apt-get update
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`sudo apt-get install libuhd-dev libuhd003 uhd-host
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* sudo add-apt-repository ppa:ettusresearch/uhd
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* sudo apt-get update
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* sudo apt-get install libuhd-dev libuhd003 uhd-host
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* 其他Linux发行版还没有测试过,推荐的方法是自行从源码编译安装
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* 安装地面控制软件
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* 安装Ubuntu系统
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* 安装安装Gnuradio和USRP驱动程序
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* 编译安装libcsp
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# cd KS-1Q/host/csp
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# ./build_csp.sh && sudo ./install_csp.sh
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* cd KS-1Q/host/csp
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* ./build_csp.sh
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* sudo ./install_csp.sh
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* 安装KS1GCS
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运行QtCreator, 打开工程文件 KS-1Q/host/KS1GCS/KS1GCS.pro
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点击`Build` ( 靠近左下角的锤子图标 )
|
||||
|
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@ -91,32 +92,31 @@
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|||
* 步骤3: 将锂电池充电器连接到CHARGE端口
|
||||
* 步骤4: EPS_RBF开关切换到`UNLOCK`
|
||||
* 步骤5: 下载KS1_EPS_FW03固件到KS1_EPS模块
|
||||
-> 如果下载失败,检查KS1_EPS内部的STM32供电是否正常
|
||||
-> 可能的原因: RBF开关设置到`LOCK`位置, KS1_EPS没有安装电池，或者电池已经耗尽。
|
||||
* 如果下载失败,检查KS1_EPS内部的STM32供电是否正常
|
||||
* 可能的原因: RBF开关设置到`LOCK`位置, KS1_EPS没有安装电池，或者电池已经耗尽。
|
||||
* 步骤6: TTC_DEBUG_SELECT开关切换到`JTAG`位置
|
||||
* 步骤7: 下载TTC_V04_FPGA (FPGA位流) 到TTC模块
|
||||
-> 如果下载失败,检查TTC模块供电是否正常.
|
||||
-> 可能的原因: KS1_EPS没有为TTC模块供电.
|
||||
-> RBF开关设置到`Unlock`位置? KS1_EPS固件已经装载?
|
||||
* 如果下载失败,检查TTC模块供电是否正常.
|
||||
* 可能的原因: KS1_EPS没有为TTC模块供电.
|
||||
* RBF开关设置到`Unlock`位置? KS1_EPS固件已经装载?
|
||||
* 步骤8: TTC_DEBUG_SELECT开关切换到`SWD`位置
|
||||
* 步骤9: 下载TTC_V04_FW00到TTC模块
|
||||
-> 如果下载失败,检查TTC模块供电是否正常.
|
||||
* 如果下载失败,检查TTC模块供电是否正常.
|
||||
* 步骤10: 将USRP连接到主机的USB3.0端口
|
||||
* 步骤11: 通过Gnuradio与KS-1Q建立测控链路
|
||||
# cd KS-1Q/host/KS1GCS/
|
||||
# python ccsds-halfduplex-tcpserver2.py
|
||||
若要编辑Gnuradio的处理流图, 运行gnuradio-companion命令, 然后打开KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc文件
|
||||
* cd KS-1Q/host/KS1GCS/
|
||||
* python ccsds-halfduplex-tcpserver2.py
|
||||
* 若要编辑Gnuradio的处理流图, 运行gnuradio-companion命令, 然后打开KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc文件
|
||||
* 步骤12: 运行KS1GCS, 点击`连接`按钮
|
||||
* 步骤13: 发送遥控指令开启OBC电源. 点击KS1GCS的`EPS`页面, 然后点击`OBC开启`按钮. 成功后,EPS遥测量PwrOBC会在大约10秒之后变为一个非零数值
|
||||
-> 现在, OBC电源已经开启
|
||||
* 现在, OBC电源已经开启
|
||||
* 步骤14: 下载OBC_2D_FW03到OBC模块
|
||||
-> 如果下载失败,检查OBC模块供电是否正常.
|
||||
-> 使用一个外部电源(与电池电压相同, 7.2～8.4V之间)可以直接启动OBC. 这样做可以省去步骤10-13.
|
||||
* 如果下载失败,检查OBC模块供电是否正常.
|
||||
* 使用一个外部电源(与电池电压相同, 7.2～8.4V之间)可以直接启动OBC. 这样做可以省去步骤10-13.
|
||||
|
||||
# 待做事项
|
||||
* 所有的固件转移到gcc工具链
|
||||
* 网页版地面控制软件
|
||||
* 网页版地面控制软件
|
||||
* 星上脚本程序支持
|
||||
* 星上固件自动升级
|
||||
* 更好的半双工无线链路
|
||||
|
||||
|
|
|
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Reference in New Issue