Update s2e-aobc version to v5.0.0

CMakeLists.txt

@@ -32,9 +32,17 @@ if(NOT DEFINED C2A_NAME)
   set(C2A_NAME "c2a-aobc-example")
 endif()
 
-if(WIN32)
-elseif(APPLE)
-  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ./out)  #set build path
+## Directory path for ini files
+if(NOT DEFINED INI_FILE_DIR_FROM_EXE)
+  set(INI_FILE_DIR_FROM_EXE ../../data/initialize_files)
+endif()
+
+if(NOT DEFINED EXT_LIB_DIR_FROM_EXE)
+  set(EXT_LIB_DIR_FROM_EXE ../../s2e-aobc/ExtLibraries)
+endif()
+
+if(NOT DEFINED CORE_DIR_FROM_EXE)
+  set(CORE_DIR_FROM_EXE ../../s2e-aobc/s2e-core)
 endif()
 
 ## options to use C2A
@@ -81,7 +89,7 @@ add_subdirectory(${S2E_CORE_DIR}/src/simulation s2e_core/simulation)
 ## Set build source files
 file(GLOB_RECURSE SOURCE_FILES ${S2E_AOBC_DIR}/src/*.cpp)
 # Uncomment the following line to exclude any files that match the REGEX from SOURCE_FILES
-# list(FILTER SOURCE_FILES EXCLUDE REGEX ${CMAKE_CURRENT_LIST_DIR}/src/Example/example.cpp)
+list(FILTER SOURCE_FILES EXCLUDE REGEX ${S2E_AOBC_DIR}/src/component/aocs/cube_wheel.cpp)
 
 # Create executable file
 add_executable(${PROJECT_NAME} ${SOURCE_FILES})

data/initialize_files/components/component_interference.ini

@@ -0,0 +1,104 @@
+[MTQ_MAGNETOMETER_INTERFERENCE_0]
+// MTQ - MPU9250 magnetometer
+
+// x: MTQ output vector at MTQ component frame [Am2]
+// y: Additional bias at magnetometer component frame [nT]
+// A1, A2, ...: Polynomial coefficients defined in this file
+// ** measns Hadamard product
+// y = A1 * x + A2 * x ** x + A3 * x ** x ** x ...
+
+polynomial_degree = 1
+
+// We do not have zero coefficients
+
+// 1st coefficients of additional bias A1 [nT/Am2]
+additional_bias_by_mtq_coefficients_1(0) = 10000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(1) = -20000.0  // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(2) = 30000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(3) = 40000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(4) = -50000.0  // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(5) = 60000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(6) = 70000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(7) = -80000.0  // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(8) = 90000.0   // MTQ Z -> Magnetometer Z
+
+// 2nd coefficients of additional bias A2 [nT/Am2^2]
+additional_bias_by_mtq_coefficients_2(0) = -10000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(1) = 20000.0    // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(2) = -30000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(3) = -40000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(4) = 50000.0    // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(5) = -60000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(6) = -70000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(7) = 80000.0    // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(8) = -90000.0   // MTQ Z -> Magnetometer Z
+
+[MTQ_MAGNETOMETER_INTERFERENCE_1]
+// MTQ - RM3100 on AOBC
+
+// x: MTQ output vector at MTQ component frame [Am2]
+// y: Additional bias at magnetometer component frame [nT]
+// A1, A2, ...: Polynomial coefficients defined in this file
+// ** measns Hadamard product
+// y = A1 * x + A2 * x ** x + A3 * x ** x ** x ...
+
+polynomial_degree = 1
+
+// We do not have zero coefficients
+
+// 1st coefficients of additional bias A1 [nT/Am2]
+additional_bias_by_mtq_coefficients_1(0) = 11000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(1) = -21000.0  // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(2) = 31000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(3) = 41000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(4) = -51000.0  // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(5) = 61000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(6) = 71000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(7) = -81000.0  // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(8) = 91000.0   // MTQ Z -> Magnetometer Z
+
+// 2nd coefficients of additional bias A2 [nT/Am2^2]
+additional_bias_by_mtq_coefficients_2(0) = -11000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(1) = 21000.0    // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(2) = -31000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(3) = -41000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(4) = 51000.0    // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(5) = -61000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(6) = -71000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(7) = 81000.0    // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(8) = -91000.0   // MTQ Z -> Magnetometer Z
+
+[MTQ_MAGNETOMETER_INTERFERENCE_2]
+// MTQ - RM3100 on external board
+
+// x: MTQ output vector at MTQ component frame [Am2]
+// y: Additional bias at magnetometer component frame [nT]
+// A1, A2, ...: Polynomial coefficients defined in this file
+// ** measns Hadamard product
+// y = A1 * x + A2 * x ** x + A3 * x ** x ** x ...
+
+polynomial_degree = 1
+
+// We do not have zero coefficients
+
+// 1st coefficients of additional bias A1 [nT/Am2]
+additional_bias_by_mtq_coefficients_1(0) = 12000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(1) = -22000.0  // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(2) = 32000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(3) = 42000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(4) = -52000.0  // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(5) = 62000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_1(6) = 72000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_1(7) = -82000.0  // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_1(8) = 92000.0   // MTQ Z -> Magnetometer Z
+
+// 2nd coefficients of additional bias A2 [nT/Am2^2]
+additional_bias_by_mtq_coefficients_2(0) = -12000.0   // MTQ X -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(1) = 22000.0    // MTQ X -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(2) = -32000.0   // MTQ X -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(3) = -42000.0   // MTQ Y -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(4) = 52000.0    // MTQ Y -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(5) = -62000.0   // MTQ Y -> Magnetometer Z
+additional_bias_by_mtq_coefficients_2(6) = -72000.0   // MTQ Z -> Magnetometer X
+additional_bias_by_mtq_coefficients_2(7) = 82000.0    // MTQ Z -> Magnetometer Y
+additional_bias_by_mtq_coefficients_2(8) = -92000.0   // MTQ Z -> Magnetometer Z

data/initialize_files/components/cube_wheel_small.ini

@@ -0,0 +1,137 @@
+[RW1]
+// prescaler defines update period of thie component
+// update period = prescaler * step sec
+prescaler = 1
+//Inertia of the RW [kgm^2]
+inertia = 2.11e-6
+//Maximum torque [Nm]
+max_torque = 0.00023
+//Maximum angular velocity [rpm]
+//The RW can drive (-max_angular_velocity,+max_angular_velocity) 
+max_angular_velocity = 8000.0
+// Direction of axis of the RW at the body fixied frame
+// plus means direction of rotation (output torque is minus direction)
+direction_b(0) = -1.0
+direction_b(1) = 0.0
+direction_b(2) = 0.0
+//The control delay[s]
+dead_time = 1.0
+//Coefficient of first order lag for driving case
+firstorder_lag_coef(0) = 2.0
+firstorder_lag_coef(1) = 0.0
+firstorder_lag_coef(2) = 0.0
+//Coefficient of first order lag for coasting case
+coasting_lag_coef(0) = 2.0
+coasting_lag_coef(1) = 0.0
+coasting_lag_coef(2) = 0.0
+//For drive initialize
+//They should be zero for normal case
+motor_drive_init = 0
+angular_velocity_init = 0.0
+
+//Parameters for calculate RW jitter
+jitter_calculation = DISABLE
+jitter_logging = DISABLE
+radial_force_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_force_harmonics_coef.csv
+radial_torque_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_torque_harmonics_coef.csv
+harmonics_degree = 12
+considers_structural_resonance = DISABLE
+structural_resonance_freq = 585.0 //[Hz]
+damping_factor = 0.1 //[ ]
+bandwidth = 0.001 //[ ]
+
+// Power Port
+minimum_voltage = 8.8 // V
+assumed_power_consumption = 0.88 //W
+
+[RW2]
+// prescaler defines update period of thie component
+// update period = prescaler * step sec
+prescaler = 1
+//Inertia of the RW [kgm^2]
+inertia = 2.11e-6
+//Maximum torque [Nm]
+max_torque = 0.00023
+//Maximum angular velocity [rpm]
+//The RW can drive (-max_angular_velocity,+max_angular_velocity) 
+max_angular_velocity = 8000.0
+// Direction of axis of the RW at the body fixied frame
+// plus means direction of rotation (output torque is minus direction)
+direction_b(0) = 0.0
+direction_b(1) = -1.0
+direction_b(2) = 0.0
+//The control delay[s]
+dead_time = 1.0
+//Constant of first order lag for driving case
+firstorder_lag_coef(0) = 2.0
+firstorder_lag_coef(1) = 0.0
+firstorder_lag_coef(2) = 0.0
+//Constant of first order lag for coasting case
+coasting_lag_coef(0) = 2.0
+coasting_lag_coef(1) = 0.0
+coasting_lag_coef(2) = 0.0
+//For drive initialize
+//They should be zero for normal case
+motor_drive_init = 0
+angular_velocity_init = 0.0
+
+//Parameters for calculate RW jitter
+jitter_calculation = DISABLE
+jitter_logging = DISABLE
+radial_force_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_force_harmonics_coef.csv
+radial_torque_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_torque_harmonics_coef.csv
+harmonics_degree = 12
+considers_structural_resonance = DISABLE
+structural_resonance_freq = 585.0 //[Hz]
+damping_factor = 0.1 //[ ]
+bandwidth = 0.001 //[ ]
+
+// Power Port
+minimum_voltage = 8.8 // V
+assumed_power_consumption = 0.88 //W
+
+[RW3]
+// prescaler defines update period of thie component
+// update period = prescaler * step sec
+prescaler = 1
+//Inertia of the RW [kgm^2]
+inertia = 2.11e-6
+//Maximum torque [Nm]
+max_torque = 0.00023
+//Maximum angular velocity [rpm]
+//The RW can drive (-max_angular_velocity,+max_angular_velocity) 
+max_angular_velocity = 8000.0
+// Direction of axis of the RW at the body fixied frame
+// plus means direction of rotation (output torque is minus direction)
+direction_b(0) = 0.0
+direction_b(1) = 0.0
+direction_b(2) = -1.0
+//The control deray[s]
+dead_time = 1.0
+//Constant of first order lag for driving case
+firstorder_lag_coef(0) = 2.0
+firstorder_lag_coef(1) = 0.0
+firstorder_lag_coef(2) = 0.0
+//Constant of first order lag for coasting case
+coasting_lag_coef(0) = 2.0
+coasting_lag_coef(1) = 0.0
+coasting_lag_coef(2) = 0.0
+//For drive initialize
+//They should be zero for normal case
+motor_drive_init = 0
+angular_velocity_init = 0.0
+
+//Parameters for calculate RW jitter
+jitter_calculation = DISABLE
+jitter_logging = DISABLE
+radial_force_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_force_harmonics_coef.csv
+radial_torque_harmonics_coef_path = ../../data/ini/components/RWDisturbance/radial_torque_harmonics_coef.csv
+harmonics_degree = 12
+considers_structural_resonance = DISABLE
+structural_resonance_freq = 585.0 //[Hz]
+damping_factor = 0.1 //[ ]
+bandwidth = 0.001 //[ ]
+
+// Power Port
+minimum_voltage = 8.8 // V
+assumed_power_consumption = 0.88 //W

data/initialize_files/components/mpu9250.ini

@@ -45,6 +45,9 @@ normal_random_standard_deviation_c_rad_s(2) = 0.00174533
 range_to_constant_rad_s = 8.73  // smaller than Range_to_zero
 range_to_zero_rad_s = 16.0
 
+[I2C_PORT_GYRO]
+i2c_address = 0x68
+
 [POWER_PORT]
 minimum_voltage_V = 3.3 // V
 assumed_power_consumption_W = 0.001 //W
@@ -96,6 +99,9 @@ normal_random_standard_deviation_c_nT(2) = 700.0
 range_to_constant_nT = 1.0e6  // smaller than Range_to_zero
 range_to_zero_nT = 1.5e6
 
+[I2C_PORT_MAG]
+i2c_address = 0x0c
+
 [POWER_PORT]
 minimum_voltage_V = 3.3 // V
 assumed_power_consumption_W = 0.001 //W

data/initialize_files/components/mtq_seiren.ini

@@ -52,3 +52,12 @@ white_noise_standard_deviation_c_Am2(2) = 0.0
 [POWER_PORT]
 minimum_voltage_V = 5.0 // V
 assumed_power_consumption_W = 0.65 //W
+
+[MTQ_GPIO_PORT]
+number_of_ports = 6
+gpio_port(0) = 78
+gpio_port(1) = 81
+gpio_port(2) = 82
+gpio_port(3) = 83
+gpio_port(4) = 84
+gpio_port(5) = 68