A Graphical Method to Configure SpaceWire Networks

Abstract

Complex robotic systems like the DLR Hand Arm System integrates a huge amount of sensors and actuators. Hence system design and especially communication infrastructure design has to be flexible in a heterogeneous network of different bus systems. As basis, a modular electronic concept as well as a well-structured communication concept is necessary [1]-[3]. SpaceWire suites well to these requirements since on one hand it supports arbitrary topologies from point to point up complex network structures and on the other hand it is easy to implement and has a small footprint. Additionally its logical and regional addressing scheme enables changes in the topology during runtime simply by reprogramming the routing switches. However, such changes require expert knowledge. This work presents a graphical method to setup and configure SpaceWire network topologies. This enables non-experts to replace or integrate new components to the system or to set up a test bed to investigate a specific aspect. The developer provides a GraphML description [4] specifying the SpaceWire communication capabilities of each component. Thus the user is able to adapt the SpaceWire network topology or to set up a new one simply by merging the different GraphML descriptions of the used components. A post process is afterwards used to analyze the GraphML description and to generate the necessary configuration messages according to the topology. This enables faster development cycles and rapid prototyping. The approach is approved and explained using the SpaceWire network topology of the DLR Hand Arm System. Index Terms— Graphical Communication