KS-1Q

Opensat first generation cubesat bus

• Official Website http://sa.kechuang.org
• License: LGPL-2.1
• Launch Vehicle: CALT CZ-11
• Launch Date: 2016/11/11
• NORAD Object: 2016-066E

Features

• Complete Cubesat bus design: hardware + software + documents
• Payloads: camera, LED array, radiation dosimeter
• Onboard computer: STM32F4, software stack including RTOS, FS, CANbus, libcsp (Cubesat Space Protocol), navigation, logging
• 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.
• 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.
• Ground control: Qt based UI, provide display and control for all onboard modules.
• Gnuradio extension: custom OOT module gr-kcsa-ks1q for telemetry and telecommand. Contains necessary blocks for building custom satellite transceivers.
• Documents: interface control document (ICD) and safety report submit to launch service provider, including mechanical stress test and EMC test report. Brief product introduction, schematic and flowgraph for all modules.

Latest features

• 2016/11/3: fix radio telemetry packet early-ending problem.
• 2016/11/20: fix battery under-voltage protection issues.
• 2018/6/2: gr-kcsa-ks1q pdu_to_stream2 support fractional decimation ratio.

Project folders

• documents: system design documents, intro pages, ICD and safety report.
• firmware: embedded software for all onborad modules.
  • firmware/binary: prebuilt firmware images.
  • firmware/(MODULE)_FW(VER)/: firmware VER, code and project files for MODULE.
  • firmware/(MODULE)_FW(VER)_flowgraph.pdf: firmware VER program flowgraph for MODULE.
  • firmware/(MODULE)_FW_ChangeLog.txt: firmware changelog for MODULE.
• hardware: module hardware design documents.
  • hardware/*block.pdf: module block diagram.
  • hardware/connector: connector list and pin definations.
  • hardware/mech_outline*: KS-1Q final mechanical dimensions.
  • hardware/photo: board photos.
• host: software for ground control and debug purpose
  • host/csp: libcsp preconfigured. need by KS1GCS
  • host/DM: Data manager, all telemetry and telecommand data structure definations and service routines.
  • host/NTCTest: onboard NTC temp sensor lookup table generation tool, needed if custom NTC is used.
  • host/gr-kcsa-ks1q: custom OOT module for telemetry and telecommand.
  • host/KS1GCS: ground control user interface, qt based.

Hardware

• Minimal KS-1Q devkit including:
  • KS1_EPS ( electrical power system ) module
  • KS1_SOLAR ( solar panel, sun sensor and LED array )
  • TTC ( telemetry and telecommand, aka. onboard communication ) module
  • OBC ( onboard computer ) module
  • NI USRP B210 ( other SDR device like LimeSDR can be used, some software modification needed )
  • KS-1Q internal cables.
  • KS1 Debug Tool ( an interface wiring board, two stlink or jlink, one flashpro 4. )
• How to buy
  • http://deepace.net
  • http://kcsa.taobao.com ( work in progress )

Build environment

• Firmware: IAR EWARM 7.2+ ( commerical toolchain. gcc support work in progress )
• FPGA: if you want to recompile fpga logics, install Microsemi Libero SoC 11.3+ ( it's free, see licensing section in https://www.microsemi.com/product-directory/design-resources/1750-libero-soc )
• Ground control: Qt 5.2+ ( it's free )
• Radio transceiver: Ubuntu with Gnuradio 3.7.10+, UHD 003.010.001+ installed. ( USRP B210 only supported in UHD 003.010.001+, windows virtual machine won't work. )
• STLink utility: if using stlink debugger, need this for firmware hex download. ( download link https://www.st.com/en/development-tools/stsw-link004.html )
• J-Flash: if using jlink debugger, need this for firmware hex download. ( shipped with your jlink )

How to use

• Preparing - how to load mcu firmware
  • if build with source, configure debugger in IAR Project Settings, then use Download and debug button.
  • if loading prebuilt image, use STLink utility or J-Flash.
• Preparing - how to load fpga image
  • if build with source, use Program Device in Libero SoC. ( https://www.eecs.umich.edu/courses/eecs373/labs/LiberoRefGuides/projectflow_SoC.html )
  • if loading prebuilt image, use FlashPro software, user guide here http://coredocs.s3.amazonaws.com/Libero/11_7_0/Tool/flashpro_ug.pdf
• Preparing - how to install gnuradio and usrp driver
  • if using Ubuntu 18.04, use sudo apt install gnuradio-dev uhd-host is the easist way
  • 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 )
    • sudo add-apt-repository ppa:ettusresearch/uhd
    • sudo apt-get update
    • sudo apt-get install libuhd-dev libuhd003 uhd-host
  • other linux distribution not tested, compile on your own is suggested.
• Install host software
  • Install ubuntu linux
  • Install gnuradio and usrp driver
  • Build and install libcsp
    • cd KS-1Q/host/csp
    • ./build_csp.sh
    • sudo ./install_csp.sh
  • Build KS1GCS
    • launch QtCreator, open project KS-1Q/host/KS1GCS/KS1GCS.pro
    • press Build button ( the hammer icon near left-bottom )
• Load bootloader / firmware
  • Step 1: Connect KS1 debug tool to KS-1Q
  • Step 2: Connect stlink or jlink to EPS SWD port
  • Step 3: Connect li-ion battery charger to CHARGE port
  • Step 4: Set EPS_RBF switch to UNLOCK position
  • Step 5: Load KS1_EPS_FW03 (firmware) to KS1_EPS module
    • if failed, check STM32 on KS1_EPS have power supply
    • possible reason: RBF in LOCK position or battery rans out.
  • Step 6: Set TTC_DEBUG_SELECT switch to JTAG position
  • Step 7: Load TTC_V04_FPGA (fpga bitstream) to TTC module
    • if failed, check TTC module have power supply.
    • possible reason: KS1_EPS no output.
    • RBF unlocked ? KS1_EPS firmware loaded ?
  • Step 8: Set TTC_DEBUG_SELECT switch to SWD position
  • Step 9: Load TTC_V04_FW00 to TTC module
    • if failed, check TTC module have power supply.
  • Step 10: connect USRP to host USB3.0 port
  • Step 11: Run gnuradio to establish wireless connection to KS-1Q.
    • cd KS-1Q/host/KS1GCS/
    • python ccsds-halfduplex-tcpserver2.py
    • to edit flowgraph, run gnuradio-companion and open KS-1Q/host/gr-kcsa-ks1q/examples/ccsds-halfduplex-tcpserver2.grc
  • Step 12: Run KS1GCS, then click Connect button.
  • 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.
    • Now OBC have power supply
  • Step 14: Load OBC_2D_FW03 to OBC module.
    • if failed, check OBC module have power supply.
    • 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.

TODO list

• Move all firmware to gcc toolchain
• Web based ground control
• Onboard scripting support
• OBC firmware upgrade support
• Better half-duplex radio link.