Simplified design flow

for embedded systems

Embedded Systems sensors-comm - 1-

 Embedded System Hardware

Embedded
Embeddedsystem
system hardware
hardwareisisfrequently
frequentlyused
usedin
inaaloop
loop
(hardware
(hardwarein
inaaloop):
loop):

actuators

Embedded Systems sensors-comm - 2-

 Sensors

Processing
Processingof ofphysical
physicaldata
datastarts
startswith
withcapturing
capturingthis
thisdata.
data.
Sensors
Sensorscancanbebedesigned
designedforforvirtually
virtuallyevery
everyphysical
physical and
and
chemical
chemicalquantity
quantity
including
includingweight,
weight,velocity,
velocity,acceleration,
acceleration,electrical
electricalcurrent,
current,
voltage,
voltage,temperatures
temperaturesetc.etc.
chemical
chemicalcompounds.
compounds.
Many
Manyphysical
physicaleffects
effectsused
used for
forconstructing
constructingsensors.
sensors.
Examples:
Examples:
law
lawofofinduction
induction(generation
(generationof ofvoltages
voltagesin
inananelectric
electricfield),
field),
light-electric
light-electriceffects.
effects.
Huge
Hugeamount
amountof ofsensors
sensorsdesigned
designedin inrecent
recentyears.
years.

Embedded Systems sensors-comm - 3-

 Example: Acceleration Sensor

Courtesy & : S. Btgenbach, TU Braunschweig

Embedded Systems sensors-comm - 4-

Charge-coupled devices (CCD) image sensors

Based
Basedon
oncharge
chargetransfer
transferto
tonext
nextpixel
pixelcell
cell

Embedded Systems sensors-comm - 5-

 CMOS image sensors

Based
Basedononstandard
standard
production
productionprocess
process
for
forCMOS
CMOSchips,
chips,
allows
allowsintegration
integration
with
withother
other
components.
components.

Embedded Systems sensors-comm - 6-

 Example: Biometrical Sensors

Example:
Example:Fingerprint
Fingerprint sensor
sensor(
(Siemens,
Siemens, VDE):
VDE):

Matrix of 256 x
256 elem.
Voltage ~
distance.
Resistance also
computed. No
fooling by
photos and wax
copies.
Carbon dust?

Integrated into ID mouse.

Embedded Systems sensors-comm - 7-
 Artificial eyes

Dobelle Institute
(www.dobelle.com)
Embedded Systems sensors-comm - 8-
 Other sensors

Rain
Rainsensors
sensorsforforwiper
wipercontrol
control
(Sensors
(Sensorsmultiply
multiplylike
likerabbits
rabbits[IIT
[IITautomotive])
automotive])
Pressure
Pressuresensors
sensors
Proximity
Proximitysensors
sensors
Engine
Enginecontrol
controlsensors
sensors
Hall
Halleffect
effectsensors
sensors

Embedded Systems sensors-comm - 9-

 Discretization of time

mapping RR
VVee isis aamapping RR

In
Inthis
thiscourse:
course:restriction
restrictionto
todigital
digitalinformation
informationprocessing;
processing;
Known
Knowndigital
digitalcomputers
computerscan can only
only process
process discrete
discretetime
time
series
seriesDiscrete
Discretetime;
time; sample
sampleand
andhold-devices.
hold-devices.
Ideally:
Ideally: width
widthofofclock
clockpulse
pulse->
->00
VVxxisisaa sequence
sequenceof
of values
valuesor mapping ZZ
or aamapping RR
Embedded Systems sensors-comm - 10 -
 Discretization of values: A/D-converters
1. Flash A/D converter
Digital
Digitalcomputers
computers require
requiredigital
digitalform
form of
of physical
physicalvalues
values
A/D-conversion;many
A/D-conversion; manymethods
methods with
withdifferent
differentspeeds.
speeds.
Example:
Example:1.1.Flash
FlashA/DA/Dconverter:
converter:
Parallel
Parallelcomparison
comparison
with
withreference
reference
voltage
voltage
Speed:
Speed: O(1)
O(1)
Hardware
Hardware complexity:
complexity:
O(n)
O(n)
with
with n=
n=##of
ofdistin-
distin-
guished
guishedvoltage
voltage
levels
levels
Embedded Systems sensors-comm - 11 -
 Discretization of values
2. Successive approximation

Key
Keyidea:
idea:binary
binarysearch:
search: Speed:
Speed: O(ld(n))
O(ld(n))
Set
SetMSB='1'
MSB='1' Hardware
Hardwarecomplexity:
complexity: O(ld(n))
O(ld(n))
ififtoo
toolarge:
large:reset
resetMSB
MSB with
withn=
n= ##of
of distinguished
distinguished
Set
SetMSB-1='1'
MSB-1='1' voltage
voltage levels;
levels;
ififtoo
toolarge:
large:reset
resetMSB-1
MSB-1 slow,
slow,but
but high
highprecision
precisionpossible.
possible.
Embedded Systems sensors-comm - 12 -
 Successive approximation (2)

1100
1011
Vx 1010
1000

V-

t
Embedded Systems sensors-comm - 13 -
 Application areas for flash
and successive approximation converters
Effective number of bits at bandwidth

[Gielen et al., DAC 2003]

Embedded Systems sensors-comm - 14 -
 Communication

Embedded Systems sensors-comm - 15 -

 Communication:
Hierarchy

Inverse
Inverserelation
relationbetween
betweenvolume
volumeand
andurgency
urgencyquite
quitecommon:
common:

Sensor/actuator busses

Embedded Systems sensors-comm - 16 -

 Communication
- Requirements -

Real-time
Real-timebehavior
behavior
Efficient,
Efficient,economical
economical(e.g.
(e.g.centralized
centralizedpower
powersupply)
supply)
Appropriate
Appropriate bandwidth
bandwidthand
andcommunication
communicationdelay
delay
Robustness
Robustness
Fault
Faulttolerance
tolerance
Maintainability
Maintainability
Diagnosability
Diagnosability
Security
Security

Embedded Systems sensors-comm - 17 -

 Basic techniques:
Electrical robustness
Single-ended
Single-endedvs.
vs.differential
differentialsignals
signals

ground

Voltage at input of Op-Amp positive '1'; otherwise '0'

Local ground Local ground

Combined with twisted pairs; Most noise added to both wires.

Embedded Systems sensors-comm - 18 -
 Evaluation

Advantages:
Advantages:
Subtraction
Subtractionremoves
removesmostmostofofthe
thenoise
noise
Changes
Changesof ofvoltage
voltagelevels
levelshave
haveno noeffect
effect
Reduced
Reducedimportance
importance ofofground
groundwiring
wiring
Higher
Higherspeed
speed
Disadvantages:
Disadvantages:
Requires
Requiresnegative
negativevoltages
voltages
Increased
Increasednumber
numberof ofwires
wiresand
and connectors
connectors
Applications:
Applications:
USB,
USB,FireWire,
FireWire,ISDN
ISDN
Ethernet
Ethernet(STP/UTP
(STP/UTPCAT CAT55 cables)
cables)
differential
differentialSCSI
SCSI
High-quality
High-qualityanalog
analogaudio
audiosignals
signals
Embedded Systems sensors-comm - 19 -
 Real-time behavior

Carrier-sense
Carrier-sensemultiple-access/collision-detection
multiple-access/collision-detection
(CSMA/CD,
(CSMA/CD,Standard
StandardEthernet)
Ethernet)no noguaranteed
guaranteedresponse
responsetime.
time.
Alternatives:
Alternatives:
token
tokenrings,
rings,token
tokenbusses
busses
Carrier-sense
Carrier-sensemultiple-access/collision-avoidance
multiple-access/collision-avoidance(CSMA/CA)
(CSMA/CA)
WLAN
WLANtechniques
techniqueswith withrequest
requestpreceeding
preceedingtransmission
transmission
Each
Eachpartner
partnergets
getsananID
ID(priority).
(priority).After
Aftereach
eachbus
bustransfer,
transfer,
all
allpartners
partnerstry
trysetting
settingtheir
theirID
IDononthe
thebus;
bus;partners
partners
detecting
detectinghigher
higherID IDdisconnect
disconnectthemselves
themselvesfrom
fromthe
thebus.
bus.
Highest
Highestpriority
prioritypartner
partnergets
getsguaranteed
guaranteedresponse
responsetime;
time;
others
othersonly
onlyififthey
theyare
aregiven
given aachance.
chance.

Embedded Systems sensors-comm - 20 -

 Other basic techniques

Fault
Faulttolerance:
tolerance:
error
errordetecting
detectingand
anderror
errorcorrecting
correctingbus
busprotocols
protocols
Privacy:
Privacy:
encryption,
encryption,virtually
virtuallyprivate
privatenetworks
networks

Embedded Systems sensors-comm - 21 -

 Sensor/actuator busses

1.
1. Sensor/actuator
Sensor/actuatorbusses:
busses: Real-time
Real-timebehavior
behaviorvery
very
important;
important;different
differenttechniques:
techniques:

Many wires less wires expensive & flexible

Embedded Systems sensors-comm - 22 -
 Field busses

More
Morepowerful/expensive
powerful/expensivethanthansensor
sensorinterfaces;
interfaces;serial
serialbusses
busses
preferred.
preferred.Examples:
Examples:
1.
1.Process
Process Field
Field Bus
Bus(Profibus)
(Profibus) (see
(see//www.profibus.com)
//www.profibus.com)
Token
Tokenpassing;
passing;
9.6
9.6kbit/s
kbit/s(1200
(1200 m)
m)toto500
500kbits/s
kbits/s(200m);
(200m);
to
toslow
slowtotobe
beused
usedfor
forhard
hardtime
timeconstraints.
constraints.

Embedded Systems sensors-comm - 23 -

 Field busses (2)

Controller
Controllerarea areanetwork
network(CAN)
(CAN)
Designed
Designed by byBosch
BoschandandIntel
Intelin
in1981;
1981;
used
used inin cars
carsand
andother
otherequipment;
equipment;
differential
differentialsignaling
signalingwith
withtwisted
twisted pairs,
pairs,
arbitration
arbitrationusing
usingCSMA/CA,
CSMA/CA,
throughput
throughputbetween
between10kbit/s
10kbit/sand
and11Mbit/s,
Mbit/s,
low
lowand
andhigh-priority
high-prioritysignals,
signals,
maximum
maximumlatencylatencyofof134
134s sfor
forhigh
highpriority
prioritysignals,
signals,
coding
coding ofofsignals
signalssimilar
similarto
tothat
thatof
ofserial
serial(RS-232)
(RS-232)lines
linesof
of
PCs,
PCs,with
withmodifications
modificationsforfordifferential
differentialsignaling.
signaling.
See
See//www.can.bosch.com
//www.can.bosch.com

Embedded Systems sensors-comm - 24 -

 Field busses (3)

The
TheTime-Triggered-Protocol
Time-Triggered-Protocol(TTP) (TTP) [Kopetz
[Kopetz et etal.]
al.]
for
forfault-tolerant
fault-tolerantsafety
safetysystems
systemslike
likeairbags
airbagsin incars.
cars.
FlexRay:
FlexRay:TDMA
TDMA(Time(TimeDivision
Division Multiple
Multiple Access)
Access)protocol,
protocol,
developed
developedby bythe
the FlexRay
FlexRayconsortium
consortium (BMW,
(BMW,Ford,Ford,Bosch,
Bosch,
DaimlerChrysler,
DaimlerChrysler,General
GeneralMotors,
Motors,Motorola,
Motorola,Philips).
Philips).
Combination
Combinationof ofaa variant
variantof
ofthe
theTTP
TTPand
andthethebyteflight
byteflight
[Byteflight
[ByteflightConsortium,
Consortium,2003]2003] protocol.
protocol.
--Designed
Designedto tomeet
meetkeykeyautomotive
automotiverequirements
requirements
--Complements
Complementsthe themajor
majorin-vehicle
in-vehiclenetworking
networkingstandards
standards
--AAhigh
high data
datarate
ratecan
can be
beachieved:
achieved:initially
initiallytargeted
targetedfor foraa
data
datarate
rateof
ofapproximately
approximately10Mbit/sec;
10Mbit/sec;however,
however,the thedesign
design
of
ofthe
theprotocol
protocolallows
allowsmuch
muchhigher
higherdata
datarates
ratesto tobe
be
achieved.
achieved.
Embedded Systems sensors-comm - 25 -
 Field busses (4)

MAP:MAP
MAP:MAPisisaabusbusdesigned
designedfor forcar
carfactories.
factories.
EIB:The
EIB:TheEuropean
EuropeanInstallation
InstallationBus
Bus(EIB)
(EIB)isisaabus
busdesigned
designed
for
forsmart
smart homes.European
homes.EuropeanInstallation
InstallationBus
Bus(EIB)
(EIB)
Designed
Designedforforsmart
smartbuildings;
buildings;CSMA/CA;
CSMA/CA;low lowdata
datarate.
rate.
IEEE
IEEE488:
488:Designed
Designedfor
forlaboratory
laboratoryequipment.
equipment.

Embedded Systems sensors-comm - 26 -

 Wireless communication

Embedded Systems sensors-comm - 27 -

 Wireless communication: Examples

IEEE
IEEE802.11
802.11a/b/g
a/b/g
UMTS
UMTS
DECT
DECT
Bluetooth
Bluetooth
UWB
UWB

Embedded Systems sensors-comm - 28 -