SpaceCAN

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CAN was chosen as the control and monitoring bus (refered to as system bus). CAN is a reliable and robust bus that has many years of heritage in automotive and industrial applications and is also qualified for space use. The bit rate of the bus is 1 Mbps. The specification for the CAN bus operation are for most parts taken from ECSS-E-ST-50-15C.

Topology

The CAN system bus is designed as a linear bus and is composed of a nominal and redundant chain (bus A and bus B).

The master node can talk to slaves and the slaves can talk to the master. The slaves DO NOT talk with each other. If data needs to be transferred from one slave to the other, this must be coordinated by and go through the master. The concept behind this architecture is that of a central computer that manages the satellite and which is connected to intelligent subsystems (i.e. that have their own microcontrollers). The interconnection of the master and the various slave nodes form a network.

Can bus topology.png

The network is thus composed of a single master (with node ID 0) and up to 127 slaves (with node ID 1 to 127). The node IDs are typically hard-coded in software and do not change during operation. Node IDs with lower value have higher priority in communication. That means, critical systems must be given lower IDs.

CAN-ID Layout

The CAN data frames carry an 11-bit field for the CAN ID which identify the message and provide a priority scheme (lower CAN IDs have higher priority). ECSS-CAN, which is based on CANopen, splits the CAN ID into a 4-bit function code (to identify the service) and a 7-bit node ID address. The function code together with the node ID then forms a communication object.

The available communication objects are:

Object CAN ID (hex) Originator
Heartbeat 700 Master
Sync 080 Master
SCET Time 180 + Node ID Master
UTC Time 280 + Node ID Master
Message 380 + Node ID Master, Slave

Services

Redundancy Management

The master node defines the bus to be considered active by periodic transmission of heartbeat messages on the active bus. The slave nodes monitor the presence of the heartbeat message from the master to determine the active bus.


SYNC Protocol

The master nodes can send a SYNC frame (CAN id = 0x080, no data) periodically (for example every 5 seconds). This can be used as the system reference pulse, upon which slave nodes synchronize their activities (for example, the collection of measurement data, sending of housekeeping data etc.).

Time Distribution

Message Exchange

Nodes use messages for exchange of commands (master to slave) and monitoring data (slave to master). A message can have a size of up to 4095 bytes. Messages of 7 bytes or less are sent in a single CAN frame. Larger messages are segmented into smaller chunks by the sending side and reassembled at the receiving side. For this, the ISO-TP protocol is used.