Quanser CubeSat CPP

The Quanser CubeSat CPP is a 3-DOF gyroscope built by Quanser Inc for testing CubeSat satellites. The QUARC Target associated with the Quanser CubeSat CPP is the QUARC Linux Pi ARM64 Target. The CubeSat CPP driver provides access to the hardware I/O available on the CubeSat CPP platform. The CubeSat CPP platform includes a Raspberry Pi 5 compute module and base board with an ARM Cortex-A76 processor (2.4 GHz, four core, 64 bit) as well as a VideoCore VII GPU and additional I/O. The additional I/O includes:

• Supply voltage and user 3.3V, 5V and 12V current measurements as analog inputs
• 10 reconfigurable digital I/O
• Power supply and active marker enables
• 3-axis 16-bit accelerometer, range configurable for ±2g to ±16g.
• 3-axis 16-bit gyroscope, range configurable for ±125 deg/s to ±2000 deg/s.
• 3-axis 16-bit magnetometer, range configurable for ±25 mT to ±200 mT.
• 2 temperature sensors
• 1 Ethernet port (10/100/1000 Mbps)
• 1 general purpose 3.3V high-speed serial port (up to 3 Mbaud)*
• 1 high-speed 3.3V SPI port (up to 125 MHz)*
• 1 3.3V I2C port (up to 1 MHz)*
• Integrated with MATLAB/Simulink/Simulink Coder via the Pi 5 compute module and Quanser QUARC

* Communications channels are accessed through the Stream API blocks, see Serial protocol, SPI protocol and I2C protocol.

The QUARC driver name for this card is cubesat_cpp. The latest operating system installed on the Quanser CubeSat CPP is the 64-bit Raspbian O/S.

To select the Quanser CubeSat CPP board, select the QUARC cubesat_cpp board type from the drop-down list on the Main tab of the HIL Initialize block. Please note that only one Quanser CubeSat CPP card can be connected and is supported in the system. The QUARC controller runs on the Pi 5 compute module.

The Quanser CubeSat CPP supports three different means of communicating with it as a target. It supports wireless (WiFi) communications, which are most readily configured initially via the WiFi router web interface. Once configured, it should reconnect automatically whenever the WiFi signal is available.

The Quanser CubeSat CPP also supports a 10/100/1000 Mbps wired LAN connection. In the case of WiFi or LAN the IP address is determined by the adapter settings. Typically, the IP address is assigned dynamically by a DHCP server on the network.

Communications

The communications ports provided on the Quanser CubeSat CPP board can be utilized through the QUARC Communications blockset and the Quanser Stream API (see QUARC Communications Protocols).

SPI

For SPI communications, a sample URI for communications would be:

spi://localhost:0?baud='1000000',polarity='off',phase='off',lsb='off',frame='0'

where the frame option selects the SPI SS line to frame the SPI bus transaction (0).

It supports baud rates up to 125 MBaud, although signal integrity may limit it to slower rates closer to 30 Mbaud.

I2C

For I2C communications, a sample URI for communications would be:

i2c://localhost:0?baud='100000',address=0x69

where the address option specifies the I2C slave address.

Serial

For serial communications, a sample URI for communications would be:

serial://localhost:0?baud='115200',word='8',parity='none',stop='1'

It supports baud rates up to 3 MBaud.

Summary

The communications channels are summarized in the table below:

Clocks

The Quanser CubeSat CPP card does not support hardware clocks.

Analog Inputs

The Quanser CubeSat CPP driver supports 4 analog inputs. Hence, analog input channel numbers range from 0 to 3.

The user 3.3V supply current is reported at analog input channel 0 in Amperes. Channel 1 is the supply voltage in Volts. Channel 2 is the user 5V supply current in Amperes and channel 3 is the user 12V supply current in Amperes.

Analog Outputs

The Quanser CubeSat CPP card does not support analog outputs.

Digital Inputs

The Quanser CubeSat CPP supports 10 bidirectional digital I/O lines, as well as three magnetometer overflow condition indicators (X, Y, Z) which act as digital inputs. Hence digital input channel numbers range from 0 to 12. A digital I/O line cannot be used as an input and output at the same time.

The first 10 digital I/O lines may be individually programmed as inputs or outputs on the Quanser CubeSat CPP. All of those 10 channels which will be used for digital inputs should be configured on the HIL Initialize block's Digital Inputs tab. Set the Digital input channels field to all the digital I/O channels that will be used as digital inputs on the board for the current diagram. For example, enter 0:3 to designate channels 0 through 3 as digital inputs. Specify [0, 4, 5] to indicate that channels 0, 4 and 5 are to be configured as digital inputs.

Digital Outputs

The Quanser CubeSat CPP supports 10 bidirectional digital I/O lines and four power enables. Hence digital output channel numbers range from 0 to 13. A digital I/O line cannot be used as an input and output at the same time. The four power enables are for the user 3.3V, user 5V, user 12V and active markers respectively.

Since the first 10 digital I/O lines may be individually programmed as inputs or outputs on the Quanser CubeSat CPP, all the channels which will be used for digital outputs should be configured on the HIL Initialize block's Digital Outputs tab. Set the Digital output channels field to all the bidirectional digital I/O channels that will be used as digital outputs on the board for the current diagram. For example, enter 0:3 to designate channels 0 through 3 as digital outputs. Specify [0, 4, 5] to indicate that channels 0, 4 and 5 are to be configured as digital outputs.

To set the digital output values when the model is loaded or unloaded, set the Initial digital outputs and Final digital outputs to the desired values respectively. If the vectors specified in these fields are shorter than the channel vector, the value of the last element in the vector will be used for the rest of the channels. Hence, a scalar value will apply to all channels specified in the Digital output channels field.

Encoder Inputs

The Quanser CubeSat CPP card does not support encoder inputs.

PWM Outputs

The Quanser CubeSat CPP card does not support PWM outputs.

Other Inputs

The specific Other Input channels of the Quanser CubeSat CPP board are described in the table below. SI units are used.

Channel numbers for Other Input or Output channels use predefined ranges for each type of measurement to ensure consistency between data acquisition devices. Refer to QUARC Other Channels for a list of the Other Input or Output channel number ranges defined for any HIL Data Acquisition Card and their SI units.

Note that the IMU may be read at any time, but measurements are updated internally at a fixed 32 kHz rate. The gyroscope and accelerometer can produce new values at this rate. The output data rate for the different IMU components may be set in the board-specific options (see below).

Other Outputs

The Quanser CubeSat CPP card does not support other outputs.

Interrupts

The Quanser CubeSat CPP card, or its driver, does not support any interrupt sources.

Watchdog

The Quanser CubeSat CPP card does not support a watchdog timer.

Board-Specific Options

The Quanser CubeSat CPP has a number of board-specific options to control specialized functionality of the Quanser CubeSat CPP. These options configure the IMU and magnetometer.

gyro_fs

This option sets the full-scale range of the gyroscope sensor. Valid values range from 125 to 2000. The units are degrees per second.

gyro_rate

This option sets the gyroscope sensor's sampling rate. Valid values range from 12.5 to 32000. The units are Hz.

gyro_ord

This option sets the gyroscope sensor's filter order. Valid values range from 1 to 3.

gyro_bw

This option sets the gyroscope sensor's filter bandwidth. Valid values range from 6.25 to 32000. The units are Hz.

accel_fs

This option configures the full-scale range of the accelerometer. Valid values are 2 to 16. The units are g's.

accel_rate

This option sets the accelerometer's sampling rate. Valid values range from 12.5 to 32000. The units are Hz.

accel_ord

This option sets the accelerometer sensor's filter order. Valid values range from 1 to 3.

accel_bw

This option sets the accelerometer sensor's filter bandwidth. Valid values range from 6.25 to 32000. The units are Hz.

imu_temp_bw

This option sets the IMU temperature sensor's filter bandwidth. Valid values range from 5 to 4000. The units are Hz.

mag_os

This option configures the oversampling of the magnetometer X, Y and Z axes. Valid values are 32 or 64.

mag_xy_fs

This option configures the full-scale range of the X and Y axes of the magnetometer. Valid values are 25 or 50. The units are mT's.

mag_z_fs

This option configures the full-scale range of the Z axis of the magnetometer. Valid values are 25, 50, 100 or 200. The units are mT's.

mag_rate

This option sets the magnetometer's sampling rate. Valid values range from 10 to 1400. The units are Hz.

mag_xy_bw

This option sets the magnetometer sensor's filter bandwidth for the X and Y axes. Valid values range from 145.21 to 8849.5 when 32x oversampling is used. Valid values range from 72.64 to 4545.4 when 64x oversampling is used. The units are Hz.

mag_z_bw

This option sets the magnetometer sensor's filter bandwidth for the Z axis. Valid values range from 145.21 to 8849.5 when 32x oversampling is used. Valid values range from 72.64 to 4545.4 when 64x oversampling is used. The units are Hz.

mag_temp_en

This boolean option enables or disables the magnetometer's temperature sensor. When the temperature sensor is enabled then temperature compensation is used.

mag_temp_os

This option configures the oversampling of the magnetometer temperature sensor. Valid values are 32 or 64.

mag_temp_bw

This option sets the magnetometer temperature sensor's filter bandwidth. Valid values range from 145.21 to 8849.5 when 32x oversampling is used. Valid values range from 72.64 to 4545.4 when 64x oversampling is used. The units are Hz.

Properties

The Quanser CubeSat CPP supports the following integer properties:

Connectors

The Quanser CubeSat CPP board has a number of connectors for expansion I/O. These connectors and their pinouts are listed below.

J2 Connector

Legend

Targets

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