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Matching Telemetry Structure

The matching telemetry structure contains information on the mapping between stars in the image and stars in the catalog. There are two matching structures, one for each of the two images.

Table 45: Matching Telemetry Structure

Offset Type Notes
0x0000 Unsigned 32-bit integer Initialization flag
0x0004 Signed 32-bit integer Matching return code
0x0008 Unsigned 32-bit integer Number of triangle tests
0x000C Unsigned 32-bit integer Reserved
0x0010 64-bit IEEE floating-point Matching error
0x0018 64-bit IEEE floating-point Confidence index
0x0020 Signed 32-bit integer Total star tests
0x0024 Signed 32-bit integer Total set tests
0x0028 Signed 32-bit integer Conset size
0x002C Unsigned 32-bit integer Reserved
0x0030 64-bit IEEE floating point Conset RMS error
0x0038 Array of 10 Signed 32-bit integers Matched stars
0x0060 Array of 4 64-bit IEEE floating-point values Inertial attitude quaternion. Scalar component first.
0x0080 Array of 6 64-bit IEEE floating-point values Upper triangle of attitude covariance

 

Analog Frame Structure

Table 46: Analog Frame Structure

Offset Type Notes
0x0000 32-bit IEEE floating-point, Amps Synchronous current sense telemetry
0x0004 32-bit IEEE floating-point, Volts Synchronous bus voltage telemetry
0x0008 32-bit IEEE floating-point, Volts Synchronous Vdd Core telemetry
0x000C 32-bit IEEE floating-point, Volts Synchronous Vdd MPU telemetry
0x0010 32-bit IEEE floating-point, Volts Synchronous Vdd IO telemetry
0x0014 32-bit IEEE floating-point, °C Synchronous supervisor temperature telemetry
0x0018 32-bit IEEE floating-point, Volts Synchronous Vdd supervisor telemetry
0x001C 32-bit IEEE floating-point, Volts Synchronous ADC ground telemetry (Rev4) Synchronous Vdd detector telemetry (Rev5)

The analog frame structure is used by the self-test mode to capture snapshots of the analog telemetry under various conditions.

Functional Processor Mapping

Memory Map

Table 47: Functional Processor Memory Map

Address Range Function
0x40200000 – 0x4020FFFF SRAM, containing bootloader
0x80000000 – 0x87FFFFFF SDRAM, general purpose
0x88000000 – 0x88FFFFFF SDRAM, Image buffer 0
0x89000000 – 0x89FFFFFF SDRAM, Image buffer 1
0x8A000000 – 0x8AFFFFFF SDRAM, Image buffer 2
0x8B000000 – 0x8BFFFFFF SDRAM, Image buffer 3
0x8C000000 – 0x8CFFFFFF SDRAM, Image buffer 4
0x8D000000 – 0x8DFFFFFF SDRAM, Image buffer 5
0x8E000000 – 0x8EFFFFFF SDRAM, Image buffer 6
0x8F000000 – 0x8FFFFFFF SDRAM, Image buffer 7

The functional processor has memory mapped RAM as shown above that can be accessed using PEEK and POKE commands. In addition, there are a number of memory-mapped peripheral devices. Attempts to access unimplemented memory regions will not result in a NACK, but will result in a “Data abort” emergency terminate message.

NAND Flash

Table 48: Functional Processor NAND Map

NAND Page Function
0x00000 – 0x0001F Boot image 0
0x00040 – 0x0005F Boot image 1
0x00080 – 0x0009F Boot image 2
0x000C0 – 0x000DF Boot image 3
0x00100 – 0x013F Calibration structure
0x00140 – 0x001BF Block Relocation Table
0x001C0 – 0x0023F Block Relocation Table Backup
0x00240 – 0x002BF Block Backup Table
0x002C0 – 0x0033F Block Backup Table Backup
0x00400 – 0x00BFF Hash table catalog
0x00C00 – 0x00FFF Star table catalog
0x01000 – 0x07FFF Triangle table catalog
0x08000 – 0x08FFF Application image
0x10000 – 0x11FFF NAND, Image buffer 0
0x12000 – 0x13FFF NAND, Image buffer 1
0x14000 – 0x15FFF NAND, Image buffer 2
0x16000 – 0x17FFF NAND, Image buffer 3
0x18000 – 0x19FFF NAND, Image buffer 4
0x1A000 – 0x1BFFF NAND, Image buffer 5
0x1C000 – 0x1DFFF NAND, Image buffer 6
0x1E000 – 0x1FFFF NAND, Image buffer 7

The functional processor NAND memory is divided into pages and blocks. Each page contains 2 kB of ECC corrected data (the ECC check-bits are not easily visible to the user). A page is the smallest programmable unit. 64 consecutive pages make up a block, which is the smallest erasable unit.

If the functional processor is commanded to boot from NAND flash, it will first attempt boot image 0. If there are errors uncorrectable by ECC in this image, it will move on to boot image 1, and so on for boot images 2 and 3.

Date: 2015-12-17; view: 643

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