XW-3 (CAS-9) Amateur Radio Satellite

User's Manual
Ver. 1.11

Hope-OSCAR 113

BA1DU, Alan Kung
2022-1-3

XW-3（CAS-9）Amateur Radio Satellite User's Manual

XW-3（CAS-9）Amateur Radio Satellite User's Manual
V1.1

2022-1-1

BA1DU, Alan Kung

CAMSAT XW-3(CAS-9) amateur radio satellite was launched by Chinese CZ-4C Y39
launch vehicle on December 26, 2021 from the Taiyuan Satellite Launch Center in China.
XW-3(CAS-9) satellite will be piggybacked on the rocket with primary payload ZY-1(02E)satellite. The satellite orbit is a circular sun-synchronous orbit with an altitude of 770.1
kilometers and an inclination of 98.58 degrees, the running cycle is 100.14 minutes.
AMSAT has designated XW-3 (CAS-9) as Hope-OSCAR 113 (HO-113).
The functions of XW-3(CAS-9) satellite include UHF CW telemetry beacon, GMSK
telemetry data transmission, V/U mode linear transponder, a visible light band spacecamera and an experimental thermoelectric generator for high school students.
After the satellite completes the in-orbit test and works normally, the space camera
photo download will be open to amateur radio enthusiasts all over the world. When therelevant remote control command is received by the satellite, the GMSK telemetry
channel will be used to downlink the photo storage information and photo data, andthe telemetry data will stop sending at that time.
XW-3(CAS-9) satellite adopts a 6U CubeSat structure with a mass of about 10kg, an onorbit envelope size of 340.5x121.76x998mm with four solar array panels and a threeHO-113

1 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manualaxis stabilized attitude control system is used, long-term power consumption is about
15.2 Watts.

1、Technical specifications:● VHF antenna: 1/4 wavelength whip antenna● UHF antenna: 1/4 wavelength whip antenna● CW telemetry beacon:●Frequency: 435.575MHz ●RF power: 20dBm ●CW rate: 22wpm● GMSK telemetry:●Frequency: 435.725MHz ●RF power: 23dBm ●Data rate: 4800bps● V/U mode linear transponder:●Uplink frequency: 145.870MHz ●Downlink frequency: 435.180MHz
HO-1132 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual●RF power: 20dBm ●Bandwidth: 30kHz ●Spectrum inverted● Photo download remote control:●Subsequently public

2、CW Telemetry Beacon：（1）

CW beacon sending sequence● Send stop interval time: 5s● CW sending rate: 22wpm

HO-1133 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual（2）CW beacon frame format
Sending

Sending

order

content

1CAS9

Satellite ID

2

DFH

Telemetry information start identifier

3

DFH

Telemetry information start identifier

Description

Remarks

Send in standard Morse code

Send
4

CH1~ CH30

Telemetry channel 1~Telemetry channel 30

thisinformation,

channelsee[Digital

Code Table] below
5

CAMSAT

6

CAMSAT

Telemetry information end flag
Send in standard Morse code
Telemetry information end flag

The telemetry data (CH1 to CH30) are coded as follows:
Digital Code Table

HO-113

Digital

Code

0

T

1

A

2

U

3

V

4

4

5

E

6

6

7

B

8

D

9

N

4 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual（3）CW beacon telemetry information and data analysis
Channel
CH1
CH2
CH3

Parameter nameType

CW telemetry frame transmission
counter
Remotecontrolreceiving counter
IHU reset counter

command

Value range

Mini.

Max.

data

000

999

data

000

999

data

000

999

Parsing algorithm
Every time a frame is sent, the CW telemetry frame counter isincremented by 1, and starts counting from 000 when it is fullEvery time a remote control command is received, the counter isincremented by 1, and start counting from 000 when it is fullEvery time IHU is reset, the counter is incremented by 1, and start
counting from 000 when it is full

Unit

Time
Time
Time

XYZ
X: 0- Linear transponder is off, In-orbit mode, test mode disabled
1- Linear transponder is on, In-orbit mode, test mode disabled
2- Linear transponder is off, On-track mode, test mode is disabled
3- Linear transponder is on, On-track mode, test mode is disabled

CH4

Device switch status

state

000

711

4- Linear transponder is off, In-orbit mode, test mode enabled-

5- Linear transponder is on, In-orbit mode, test mode enabled
6- Linear transponder is off, On-track mode, test mode is enabled
7- Linear transponder is on, On-track mode, test mode is enabled
Y: 0- telemetry data in model 0; 1- telemetry data in mode 1
Z: 0- OBDH time calibration disabled; 1- OBDH time calibration enabled
XYZ

CH5

Device switch status

state

000

111

X: 0- with OBDH data; 1- without OBDH data
Y: Photo download enable (0- disable /1- enable)

HO-1135 / 29V1.11 by BA1DU-XW-3（CAS-9）Amateur Radio Satellite User's Manual

ChannelParameter name

Type

Value range

Mini.

Parsing algorithm

Max.

Unit

Z: GMSK Telemetry RF power (0- low power /- 1 high power)

CH6

12V power supply voltage

data

000

999

V=N/10V

CH7

VU 12V current

data

000

999

I=N

mA

CH8

VU 5V voltage

data

000

999

V=N/100

V

CH9

VU 3.8V voltage

data

000

999

I=N/100

V

CH10

VU 3.3V voltage 1

data

000

999

V=N/100

V

CH11

VU 3.3V voltage 2

data

000

999

V=N/100

V

CH12

VU 3.8V current

data

000

999

I=N

mA

CH13

Transmitter 3.8V current

data

000

999

I=N

mA

CH14

Receiver 3.8V current

data

000

999

I=N

mA

CH15

AGC voltage

data

000

999

V=N/100

V

CH16

RF transmit power

data

000

999

W=N

mW

CH17

RF reflected power

data

000

999

W=N

mW

data

000

999

V=N/100

V

data

000

999

V=N/100

V

data

000

999

XYZ

℃

CH18
CH19
CH20

HO-113

Thermoelectric

power

generation voltage 1
Thermoelectric

power

generation voltage 2
UHF Transmitter PA temperature

6 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

ChannelParameter name

Type

CH21

VHF Receiver temperature

CH22

IHU temperature

CH23

CH24

Thermoelectric

generator

temperature 1
Thermoelectric

Value range

Mini.

Max.

data

000

999

data

000

999

data

000

999

Parsing algorithm
When X is 0-2, it represents a positive temperature; X is 3-4, it represents
a negative temperature.
For example:
000 ： 0℃
025 ： 25℃
125 ： 125℃

Unit

℃
℃
℃

301 ： -1℃

generator

temperature 2

data

000

999

311 ： -11℃
391 ： -91℃℃

421 ： -121℃

CH25

Satellite primary bus voltage

data

000

999

V=N/10V

CH26

Satellite load total current

data

000

999

I=N/100

A

CH27

Solar array current

data

000

999

I=N/100

A

CH28

Battery charging current

data

000

999

I=N/100

A

CH29

Battery discharge current

data

000

999

I=N/100

A

CH30+5.3V supply voltage

data

000

999

V=N/100

V

HO-1137 / 29V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

3、GMSK telemetry data：（1）GMSK telemetry frame format and communication protocol
XW-3(CAS-9) satellite GMSK telemetry data is sent in the AX.25 UI frame format. The user data of each frame is 126 bytes, andthe allocation is as follows:
Function code

Telemetry data content

7Byte

119ByteW0~W6：0x0100010001007E

W7~W125（2）GMSK telemetry data format and analysis method
SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
W1-Year: 00～99, representing 2000～2099
W2-Month: 01～12, representing January to December

1

W7

6Byte

W3-Day: 01～31, representing 1st～31stSatellite time

W4-Hour: 00～23, representing 0:00～23:00
W5-minute: 00～59, representing 0 minutes～59 minutes
W6-second: 00～59, representing 0 seconds～59 seconds2

HO-113W13

6Byte

48 hours reset time
8 / 29W1-Year: 00～99, representing 2000～2099

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
W2-Month: 01～12, representing January to December
W3-Day: 01～31, representing 1st～31st
W4-Hour: 00～23, representing 0:00～23:00
W5-minute: 00～59, representing 0 minutes～59 minutes
W6-second: 00～59, representing 0 seconds～59 seconds

3

W19

1Byte

Total reset counter

4

W20

1Byte

Telemetry Frame Transmission Counter

5

W21

1Byte

Remote control frame reception counter

6

W22

1Byte

Remote control command execution counter

7

W23

1Byte

Remote control command forwarding counter

W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
b7b6b5b4: reserved
b3: VU CPU I/O acquisition watchdog (0 off/1 on)

8

W24

1Byte

Watchdog switch statusb2: ADC software watchdog (0 off/1 on)
b1: Temperature measurement software watchdog (0 off/1 on)
b0: Remote control software watchdog (0 off/1 on)

9

W25

1Byte

CPU I/O acquisition watchdog reset counter

10

W26

1Byte

ADC software watchdog reset counter

HO-1139 / 29W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
Range: 0～255

11

W27

1Byte

12

W28

1Byte

Temperature measurement software watchdog

W1 is an integer. Restart counting from 0 after counting up

reset counter

Range: 0～255

Remotecontrol

softwarewatchdogreset

W1 is an integer. Restart counting from 0 after counting up
Range: 0～255

counterb7: Allow to set to track mode (0 disable/1 enable)
b6: Photo download enable (0 disable/1 enable)
b5: Delayed telemetry switch status (0 off/1 on)
13

W29

1Byte

Working status 1

b4: Test mode enable (0 disable/1 enable)
b3: 0: Linear transponder off; 1: Linear transponder on.
b2: OBDH time calibration enable (0 disable/1 enable)
b1: Telemetry transmit RF power(0 low power/1 high power)b0: Program control mode enable (0-disable/1 enable)
b7: In-orbit mode (0 not In-orbit/1 In-orbit)
b6: Battery discharge switch is on (0 off/1 on)
b5: Program control mode switch enable (0 disable/1 enable)

14

W30

1Byte

Working status 2

b4: OBDH B on A off power distribution switch status (0 off/1 on)
b3: OBDH A on B off power distribution switch status (0 off/1 on)
b2: VHF antenna deployed state (0 not deployed/1 deployed)
b1: UHF antenna expanded state (0 not expanded/1 expanded)b0: the status of the total antenna deployment switch (0 off/1 on)

15

HO-113

W31

1Byte

Working status 3
10 / 29

b7: Waiting for into orbit mode (0 not/1 waiting)V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
b6: On-Track mode (0 non/1 On-track)b5: OBDH SPI state (0 normal/1 failure)b4: ADC I2C state (0 normal/1 failure)b3: Temperature measurement I2C state (0 normal/1 failure)b2: Clock I2C state (0 normal/1 failure)b1: Inertial navigator serial port state (0 normal/1 failure)b0: Flash SPI state (0 normal/1 failure)

16

W32

2Byte

12V power supply voltage

17

W34

2Byte

VU 12V power supply current

18

W36

2Byte

VU 5V power supply voltage

19

W38

2Byte

VU 3.8V power supply voltage

20

W40

2Byte

IHU 3.3V voltage 1

21

W42

2Byte

IHU 3.3V voltage 2

22

W44

2Byte

IHU 3.8V current

23

W46

2Byte

UHF transmitter 3.8V current

HO-11311 / 29

W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～15.0(V)W1W2 is an integer
Range: 0～1500(mA)
W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0～10.00(V)W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0～5.00(V)W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0V～5.00(V)W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0V～5.00(V)W1W2 is an integer
Range: 0～500(mA)
W1W2 is an integer
Range: 0～500(mA)

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

length

24

W48

2Byte

VHF receiver 3.8V current

25

W50

2Byte

VHF AGC voltage

26

W52

2Byte

RF transmit power

27

W54

2Byte

RF reflected power

28

W56

2Byte

Thermoelectric generator voltage 1

29

W58

2Byte

Thermoelectric generator voltage 2

Telemetry data function description

Telemetry data parsing algorithm
W1W2 is an integer
Range: 0～500(mA)
W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0～5.00(V)W1W2 is an integer
Range: 0～2000(mW)
W1W2 is an integer
Range: 0～1000(mW)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numerical

30

W60

1Byte

UHF Transmitter PA temperature

bits
Range: -100～+100(℃)
B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numerical

31

W61

1Byte

VHF Receiver temperature

bits
Range: -100～+100(℃)
B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numerical

32

W62

1Byte

IHU temperature

bits
Range: -100～+100(℃)

33

HO-113

W63

1Byte

Thermoelectric generator temperature 1
12 / 29

B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numericalbits

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
Range: -127～+127(℃)
B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numerical

34

W64

1Byte

Thermoelectric generator temperature 2

bits
Range: -127～+127 (℃)
W1-Hour: 00～23, representing 0:00～23:00

35

W65

3Byte

Current delay telemetry interval

W2-Minute: 00～59, representing 0 minute～59 minutes
W3-second: 00～59, representing 0 second～59 seconds
W1-Year: 0～99, representing 2000～2099
W2-Month: 01～12, representing January to December

36

W68

6Byte

Delay telemetry start time setting

W3-Day: 01～31, representing 1st～31st
W4-Hour: 00～23, representing 0:00～23:00
W5-minute: 00～59, representing 0 minute～59 minutes
W6-second: 00～59, representing 0 second～59 seconds
W1-Hour: 00～23, representing 0:00～23:00

37

W74

3Byte

Delay telemetry interval setting

W2-Minute: 00～59, representing 0 minutes～59 minutes
W3-second: 00～59, representing 0 seconds～59 seconds

38

W77

3Byte

Delay telemetry times setting

39

W80

2Byte

Attitude quaternion q0

40

W82

2Byte

Attitude quaternion q1

41

W84

2Byte

Attitude quaternion q2

HO-11313 / 29

W1W2W3 is an integer
Range: 0 ~ 16777215
W1W2：Q0L Q0H
q0=((Q0H<<8)|Q0L)/32768
W1W2：Q1L Q1H
q1=((Q1H<<8)|Q1L)/32768
W1W2：Q2L Q2H

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
q2=((Q2H<<8)|Q2L)/32768

42

W86

2Byte

Attitude quaternion q3

43

W88

2Byte

X-axis angular speed

44

W90

2Byte

Y axis angular speed

45

W92

2Byte

Z-axis angular speed

W1W2：Q3L Q3H
q3=((Q3H<<8)|Q3L)/32768
W1W2：WxL WxH
Wx=((WxH<<8)|WxL)/32768*2000(°/s)
W1W2：WyL WyH
Wy=((WyH<<8)|WyL)/32768*2000(°/s)
W1W2：WzL WzH
Wz=((WzH<<8)|WzL)/32768*2000(°/s)
W1 second highest byte

46

W94

4Byte

Satellite time seconds

value of the whole second of UTC sinceW3 second low byte

0:00:00:00 UTC on January 1, 2009 (0:00

W4 second lowest byte
47

W98

2Byte

Satellite time milliseconds

48

W100

2Byte

Satellite primary bus voltage

49

W102

2Byte

Satellite load total current

50

W104

2Byte

Solar array current

51

W106

2Byte

Battery charging current

HO-11314 / 29

The four bytes are the accumulated

W2 second high byte

after the jumped second).

W1W2 is an integer
W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～10.0(A)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～10.0(A)W1 is the integer part, W2 is the decimal part (1 decimal place)

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
Range: 0～ -10.0(A)

52

W108

2Byte

Battery discharge current

53

W110

2Byte

+5.3V supply voltage

W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～10.0(A)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)b7~b0 (the following are hexadecimal representations, where b7~b4
correspond to the main operating mode, and b3~b0 correspond to thesub-mode):
0x00--Active segment mode
0x11—Full attitude capture mode: Rate damping
0x12—Full attitude capture mode: Sun search
0x13—Full attitude capture mode: Orientation to sun
0x14—Full attitude capture mode: Orientation to the ground

54

W112

1Byte

Satellite attitude control mode

0x15—Full attitude capture mode: Maneuvering to the sun
0x20—Attitude maneuver mode
0x23—Attitude maneuver mode: Switch to cruise to the sun
0x24—Attitude maneuver mode: Switch to normal operation
0x25—Attitude maneuver mode: Switch to offset flight
0x26—Attitude maneuver mode: Switch to a fixed point to stare
0x27—Attitude maneuver mode: Switch to inertial space pointing
0x30—Cruising mode to the sun
0x40—Normal operating mode
0x50-Biased flight mode

HO-11315 / 29

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
0x60—Fixed-point staring mode
0x70—Inertial space pointing mode
0xB0—Track control mode
0xC0—Stop control mode
0xD0-Reset mode
Other: Invalid mode
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

55

W113

1Byte

Satellite longitude

numeric bits
Range: N*2, (-180 º ~180 º)
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

56

W114

1Byte

Satellite latitude

numeric bits
Range: N*2, (-90 º ~90 º)
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

57

W115

1Byte

Rolling angle estimation

numeric bits
Range: -125～+125 º
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

58

W116

1Byte

Pitch angle estimation

numeric bits
Range: -125～+125 º
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

59

W117

1Byte

Yaw angle estimation

numeric bits
Range: -125～+125 º

60

HO-113

W118

2Byte

Uplink remote control data block counter
16 / 29

W1 is the high byte, W2 is the low byte
Range: 0～65535

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
b7: X-band transceiver transmitter switch status 1: On; 0: Off
b6: X-band transceiver position synchronization lock indication 1:
locked; 0: lost lockb5: X-band transceiver remote control carrier lock indication 1: locked;
0: lost lockb4: X-band transceiver remote control pseudo code lock indication 1:

61

W120

1Byte

X-band transceiver working statuslocked; 0: lost lockb3: CRC check status of X-band transceiver remote control data 1: CRC
is correct; 0: CRC is wrong
b2: X-band transceiver remote control channel status self-check 1:
valid; 0: invalid
b1b0: X-band transceiver remote control code group status 01: Codegroup 1; 10: Code group 2

62

W121

2Byte

X-band transceiver AGC voltage

63

W123

2Byte

X-band transceiver transmit power levelW1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～6.6(V)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～6.6(V)b7~b4: X-band transceiver baseband execution counter 0 ～15
b3b2: X-band transceiver SPI interface empty flag 01: valid; 10: invalid

64

W125

1Byte

X-band transceiver SPI interface status

b1: X-band transceiver SPI-MISO data with or without monitoring 1:
with data; 0: without datab0: X-band transceiver SPI-MOSI data with or without monitoring 1:
with data; 0: without data

HO-11317 / 29

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

4、Space camera photo data：
XW-3 (CAS-9) satellite can store up to 10 photos taken by the space camera. The newly
taken photo data will overwrite the old photo data, first in, first out. There are two photo
resolutions, one is 256x256 pixels, and the data size of each photo is 64k bytes; theother is 512x512 pixels, and the data size of each photo is 256k bytes. Users candownload the photo storage information to learn about the photos stored on thesatellite, and select the photos to download.

（1）Photo storage information
XW-3 (CAS-9) satellite photo storage information is stored in the solid-state memoryon the satellite in the following format.
Function code

Photo storage information content

7Byte

80ByteW0~W6：0x02000100010057

W7~W86

Photo storage information content
Article 1 Photo storage

Article 2 Photo storage

information

information

8Byte

8Byte

Article 10 Photo storage……

information

……

8Byte

The format of each photo storage information is shown in the following table:
1Byte

1Byte

1Byte

1Byte

1Byte

1Byte

Year

Month

Day

Hour

MinuteSecond1Byte
bit7~Bit3
CameraPhotograph timenumber1Byte

Bit2~Bit0

1Byte

Photo counter

1） Year, month, day, hour, minute, and second: the time when the photo data
HO-11318 / 29

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

starts to be stored.
2） Camera number: fixed value 13） Photograph counter: start counting from 1, and restart counting from 1 when
it is full. 0 is the initial state, which means that no photo has been taken yet. 1~999
is the photo count value.

（2）Photo data
The format of the photo data is shown in the table below:
Function code

Photo data content

7Byte≤249Byte

W0~W6：0x03xxxx xxxx xxxx

W7~Wn（n≤255）

Photo data content
Photo information
W7

W8

W9

W10

W11

W12

Year

Month

Day

Hour

MinuteSecondPhotograph time

Photo data

W13
bit7~Bit3
CameranumberBit2~Bit0

W14

W15

W16~Wn（n≤255）

1Byte

1Byte

≤240Byte

Photo counterPhoto
specifications

Photo data

1） Photo information
Including photo time, camera number and photo counter. For detailed description,please refer to this article (instructions related to photo storage information).
2） Photo data
Fill the data of a certain photo, except for the last frame, the photo data of eachphoto frame is 240 bytes, and the photo data of the last frame is the actual number
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V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manualof remaining bytes. The total number of frames in the photo frame is the total
number of frames of all the photo data, and the frame number is the frame numberof the photo data in all the photo data.
3）

W15 photo specifications
Photo

Width

High

specifications(pixels)(pixels)

1

--

--

Reserve

2----

Reserve

3

256

256

64K bytes

4

512

512

256K bytes

5

--

--

Reserve

Note

After downloading the photo data frame, the 240 bytes of "photo data" (the last
frame is less than 240 bytes) in the above description of each frame of data are
combined in a file in order, the file is saved with the raw extension, and then you can
Use the photo browsing tool that can open raw format pictures to view the photos.

（3）Photo data download remote command
Subsequently public.

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V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

4、Test mode telemetry data format：
CAMSAT XW-3 (CAS-9) satellite test mode is used for in-orbit engineering monitoring,
diagnosis and maintenance of the satellite. The test mode is only used when the satellite
passes over China. In the test mode, the telemetry data is sent using AX.25 UI frames,with 128 bytes of valid data per frame, including: frame synchronization code (2 bytes)+ satellite telemetry data (12 bytes) + total frame counter (1 byte) + Frame counter (1byte) + Engineering test and diagnostic data (112 bytes). Every 4 frames form a cycle,
the frame count value of the first frame is a multiple of 4, and 4 frames are downloaded
to the ground every second, with a total of 512 bytes in each cycle.

(1) Test mode telemetry frame data format
Byte No. W

0

1

2

3

4

5

6

7

8

Frame F0

EB

90

##

##

##

##

##

##

Frame F1

EB

90

##

##

##

##

##

Frame F2

EB

90

##

##

##

##

Frame F3

EB

90

##

##

##

##

9

10

11

12

13

14

15

16

17

…

127

Sat. time seconds

Millisec.

M

FE

##

##

##

##

##

##

##

##

##

##

##

M+1

FF

##

##

##

##

##

##

##

##

##

##

##

##

M+2

00

##

##

##

##

##

##

##

##

##

##

##

##

M+4

02

##

##

##

##

Total
Frame

Instruction

synchronSatellite telemetry data

frame

Frame

countercount(MoldederEngineering test
and diagnostic dataizationcode

256)

Total byte

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V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual（2） Test mode GMSK telemetry data analysis method
F0 frame (frame count is 4n)
SendingStarting

Data

order

position

length

1

F0W2

1Byte

Total reset counter

2

F0W3

1Byte

Telemetry Frame Transmission Counter

3

F0W4

1Byte

4

F0W5

1Byte

Telemetry data function description

Remotecontrol

W1 is an integer. Restart counting from 0 after counting up
Range: 0～255

commandexecution

W1 is an integer. Restart counting from 0 after counting up
Range: 0～255
W1 is an integer. Restart counting from 0 after counting up
Range: 0～255

counter
RemoteTelemetry data parsing algorithm

control

commandforwarding

W1 is an integer. Restart counting from 0 after counting up
Range: 0～255

counterb7: Allow to set to track mode (0 disable/1 enable)
b6: Photo download enable (0 disable/1 enable)
b5: Delayed telemetry switch status (0 off/1 on)
5

F0W6

1Byte

Working status 1

b4: Test mode enable (0 disable/1 enable)
b3: 0: Linear transponder off; 1: Linear transponder on.
b2: OBDH time calibration enable (0 disable/1 enable)
b1: Telemetry transmit RF power(0 low power/1 high power)b0: Program control mode enable (0-disable/1 enable)

6

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F0W7

1Byte

Working status 2
22 / 29

b7: In-orbit mode (0 not In-orbit/1 In-orbit)
b6: Battery discharge switch is on (0 off/1 on)

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
b5: Program control mode switch enable (0 disable/1 enable)
b4: OBDH B on A off power distribution switch status (0 off/1 on)
b3: OBDH A on B off power distribution switch status (0 off/1 on)
b2: VHF antenna deployed state (0 not deployed/1 deployed)
b1: UHF antenna expanded state (0 not expanded/1 expanded)b0: the status of the total antenna deployment switch (0 off/1 on)
W1 second highest byte
W2 second high byte

7

F0W8~F0W11

4Byte

Satellite time seconds

W3 second low byte
W4 second lowest byte

8

F0 W12W13

2Byte

Satellite time milliseconds

The four bytes are the accumulated
value of the whole second of UTC since
0:00:00:00 UTC on January 1, 2009 (0:00
after the jumped second).

W1W2 is an integer

F1 frame (frame count is 4n+1)
SendingStarting

Data

order

position

length1

F1W2W32Byte

VU 5V power supply voltage

2

F1W4W52Byte

VU 3.8V power supply voltage

3

F1W6W72Byte

IHU 3.3V voltage 1

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Telemetry data function description

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Telemetry data parsing algorithm
W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0～10.00(V)W1 is the integer part, W2 is the decimal part (2 decimal places)
Range: 0～5.00(V)W1 is the integer part, W2 is the decimal part (2 decimal places)

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
Range: 0V～5.00(V)

4

F1W8

1Byte

Satellite primary bus voltage

Y= 0.0882*X-1.0558

5

F1W9

1Byte

Satellite load total current

Y= 0.0244*X-0.3927

6

F1W10

1Byte

Solar array current

Y= 0.0239*X-0.2696

7

F1W11

1Byte

Battery charging current

Y= -0.0833*X+13.127

8

F1W12

1Byte

Battery discharge current

Y= 0.0833*X-13.127

9

F1W13

1Byte

Solar array voltage

Y= 0.0873*X-0.9338

F2 frame (frame count is 4n+2)
SendingStarting

Data

order

position

length1

F2W2W32Byte

Thermoelectric generator voltage 1

2

F2W4W52Byte

Thermoelectric generator voltage 2

3

F2W6W72Byte

UHF transmitter 3.8V current

Telemetry data function description

Telemetry data parsing algorithm
W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～30.0(V)W1W2 is an integer
Range: 0～500(mA)b7~b0 (the following are hexadecimal representations, where b7~b4

4

F2W8

1Byte

Satellite attitude control mode

correspond to the main operating mode, and b3~b0 correspond to thesub-mode):
0x00--Active segment mode

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V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
0x11—Full attitude capture mode: Rate damping
0x12—Full attitude capture mode: Sun search
0x13—Full attitude capture mode: Orientation to sun
0x14—Full attitude capture mode: Orientation to the ground0x15—Full attitude capture mode: Maneuvering to the sun
0x20—Attitude maneuver mode
0x23—Attitude maneuver mode: Switch to cruise to the sun
0x24—Attitude maneuver mode: Switch to normal operation
0x25—Attitude maneuver mode: Switch to offset flight
0x26—Attitude maneuver mode: Switch to a fixed point to stare
0x27—Attitude maneuver mode: Switch to inertial space pointing
0x30—Cruising mode to the sun
0x40—Normal operating mode
0x50-Biased flight mode
0x60—Fixed-point staring mode
0x70—Inertial space pointing mode
0xB0—Track control mode
0xC0—Stop control mode
0xD0-Reset mode
Other: Invalid mode
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

5

F2W9

1Byte

Satellite longitude

numeric bits
Range: N*2, (-180 º ~180 º)

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V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

6

F2W10

1Byte

Satellite latitude

numeric bits
Range: N*2, (-90 º ~90 º)
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

7

F2W11

1Byte

Rolling angle estimation

numeric bits
Range: -125～+125 º
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

8

F2W12

1Byte

Pitch angle estimation

numeric bits
Range: -125～+125 º
B7 of W1 is a character bit, 0 is positive, 1 is negative; b6~b0 are

9

F2W13

1Byte

Yaw angle estimation

numeric bits
Range: -125～+125 º

F3 frame (frame count is 4n+3)
SendingStarting

Data

order

position

length1

F3W2W32Byte

VHF receiver 3.8V current

2

F3W4W52Byte

RF transmit power

3

F3W6

1Byte

UHF Transmitter PA temperature

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Telemetry data function description

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Telemetry data parsing algorithm
W1W2 is an integer
Range: 0～500(mA)
W1W2 is an integer
Range: 0～2000(mW)
B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numericalV1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
bits
Range: -100～+100(℃)
B7 of W1 is the sign bit, 0 is positive, 1 is negative; b6~b0 are numerical

4

F3W7

1Byte

Thermoelectric generator temperature 1

bits
Range: -127～+127(℃)

5

F3W8W92Byte

Uplink remote control data block counter

W1 is the high byte, W2 is the low byte
Range: 0～65535
b7: X-band transceiver transmitter switch status 1: On; 0: Off
b6: X-band transceiver position synchronization lock indication 1:
locked; 0: lost lockb5: X-band transceiver remote control carrier lock indication 1: locked;
0: lost lockb4: X-band transceiver remote control pseudo code lock indication 1:

6

F3W10

1Byte

X-band transceiver working statuslocked; 0: lost lockb3: CRC check status of X-band transceiver remote control data 1: CRC
is correct; 0: CRC is wrong
b2: X-band transceiver remote control channel status self-check 1:
valid; 0: invalid
b1b0: X-band transceiver remote control code group status 01: Codegroup 1; 10: Code group 2

7

F3W11

1Byte

X-band transceiver AGC voltage

8

F3W12

1Byte

X-band transceiver transmit power level

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W1 is the integer part, W2 is the decimal part (1 decimal place)
Range: 0～6.6(V)W1 is the integer part, W2 is the decimal part (1 decimal place)

V1.11 by BA1DUXW-3（CAS-9）Amateur Radio Satellite User's Manual

SendingStarting

Data

order

position

lengthTelemetry data function description

Telemetry data parsing algorithm
Range: 0～6.6(V)b7~b4: X-band transceiver baseband execution counter 0 ～15
b3b2: X-band transceiver SPI interface empty flag 01: valid; 10: invalid

9

F3W13

1Byte

X-band transceiver SPI interface status

b1: X-band transceiver SPI-MISO data with or without monitoring 1:
with data; 0: without datab0: X-band transceiver SPI-MOSI data with or without monitoring 1:
with data; 0: without data

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