Remote programming. On-Board Computer

Transcription

1 Remote programming system for µ-sat3 s On-Board Computer Centro de Investigaciones Aplicadas (CIA - DGIyD) Facultad de Ciencias Exactas, Físicas y Naturales Universidad Nacional de Córdoba (FCEFyN - UNC) Authors: Nazzi, Fabio Rodriguez Gonzalez, Santiago Morales, Pablo

2 Conten ts Importance of having a remote programming system Introduction Environment Overview of the system Development details System structure Firmware JTAG-based programmer Conclusions and future work

3 Why a remote programmer for this project? Fixing software bugs, Improvements for current program, Changes in project requirements, Facing other unforeseen events. Implemented solution JTAG-based programmer

4 Environment µsat-3 will have two independent On-Board Computers (OBC). They will be capable of receiving new software through an UHF link. Hardware TMS570LS3137 ARM Cortex-R4F core, IEEE standard compliant. Flash memory Compatible with SPI protocol.

5 GPIO JTAG OBCs connection for this system At a given moment will be an active OBC, and the other will function as a backup. The communication between TMS570 microcontroller and external flash SPI protocol. A GPIO port of active OBC must be connected to JTAG port of backup OBC bitbanging technique. TMS570 Ext. flash GPIO JTAG Acti ve connection Inactive connection TMS570 Ext. flash Active OBC Backup OBC

6 Hercules JTAG scan architecture ICEPick TAP Texas Instruments design DAP TAP Implements ADI v5.1 Source: SPNA230 Texas Instruments

7 System description First part: Receive a software divided into fixed-length packets. Check the packets for errors. Every packet must include an error detecting code. Store each correctly received packet into the external flash memory. Implement an error control scheme. Second part: It is responsible for backup OBC programming, emulating JTAG signals through a GPIO port. WE WILL EMPHASIZE MAINLY THIS POINT

8 OBC programming It involves two parts: A piece of software that manages the operations over on-chip flash Firmware. This is necessary due to it is not possible to write directly into program memory. A software that controls the low level JTAG operations JTAG-based programmer. It generates JTAG signals over a GPIO port. It has full control over firmware execution.

9 Firmware [1/3] Two independent functions over on-chip flash memory: Erase, Program. Written in C, using F021 Flash API. Compiled and linked for a freestanding environment. Do not exist a defined entry point for the firmware. It will be executed from backup OBC SRAM memory. The active OBC will have control of the execution of each firmware routine.

10 Firmware [2/3] Start Fapi_inita ilizeflas hbanks() erase_flash( ) routine. This function clears all sectors of each flash memory bank. Fapi_se tacti veflashbank() for current bank Fapi_enableM ainbanks ectors() for curren t ba nk FAPI_CHECK_FSM_READY_BUSY!= Fapi_Status_FsmReady FAPI_CHECK_FSM_READY_BUSY!= Fapi_Status_FsmReady FAPI_GET_FSM_STATUS!= 0 Erasing failed Fapi_iss ue Asy nc Comma ndwithaddre ss() with Fapi_EraseBank command Another bank to erase? Erasing successful Simplified diagram

11 Firmware [3/3] Start Fapi_inita ilizeflas hbanks() program_flash () routine. It performs flash writes. Programming mode selected, Fapi_DataOnly. Fapi_se tacti veflashbank () for current bank Fapi_enableM ainbanks ectors() for curren t ba nk FAPI_CHECK_FSM_READY_BUSY!= Fapi_Status_FsmReady FAPI_CHECK_FSM_READY_BUSY!= Fapi_Status_FsmReady FAPI_GET_FSM_STATUS!= Fapi_Stat us_success Programming failed Fapi_iss ue ProgrammingCommand() with Fapi_DataOnly option More data to program? Programm in g successful Simplified diagram

12 JTAG-based programmer [1/5] Start JTAG interface initializat ion an d Microcontroller configuration Lo ad a pie ce of so ftwa re into RAM Load firmware into RAM program_flash() routine eras e_flash() routine Successful writing? Exit Successful erasing? Exit Mo re data to program? Programm in g successful

13 JTAG-based programmer [2/5] It provides access to system resources via JTAG port. It has to gain access to the JTAG interface, sending proper commands to the ICEPick module. ICEPick allows enabling the DAP TAP, writing the corresponding TAP configuration register. At this point, JTAG scan path consists of: ICEPick TAP DAP TAP

14 JTAG-based programmer [3/5] TAP controllers must be synchronized. It is possible to access: ARM core registers; System and peripheral registers of the microcontroller; Execute most ARM instructions; Operate directly over almost every peripheral. Source: SPNA230 Texas Instruments

15 JTAG-based programmer [4/5] Through DAP TAP: Halt the processor. Configure breakpoint at address 0x0. Reset. Load firmware onto on-chip SRAM via AHB-AP. Control for firmware routines execution: Entry point Program Counter. Return point Link Register. Poll breakpoint control register. Returned value must be checked at R0 ARM core register.

16 JTAG-based programmer [5/5] Order of execution: erase_flash() To clear all flash banks. IT MUST BE EXECUTED BEFORE WRITING ANY DATA. program_flash() load pieces of new software onto SRAM due to SRAM < Flash. It writes pieces of new software from SRAM to on-chip flash. If an error occurs after a function execution system exit. The new program is ready to be executed!

17 Conclusions This system was successfully implemented. As it was constructed, it will function over an Operating System with minimal changes. Is it possible to reutilize a lot of this system in another platform compatible with IEEE standard. Future work Implement a hash function in order to protect the new software stored in external flash memory. Improve the error control scheme implemented. Improve JTAG-based programmer code to get lower delay signals.

18 Thank you! Nazzi, Fabio