1. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 1 Hardware/Software Codesign of Embedded Systems EMBEDDED SYSTEM HARDWARE Voicu Groza SITE Hall, Room 5017 562 5800 ext. 2159 Groza@SITE.uOttawa.ca

2. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 2 Simplified design flow for embedded systems

3. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 3 Embedded System Hardware Embedded system hardware is frequently used in a loop („hardware in a loop“): actuators transducers

4. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 4 Many examples of such loops –Heating –Lights –Engine control –Power supply –… –Robots

5. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 5 Transmitting analog signals using digital data

6. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 6 A/D Conversion Process Transducer temperature pressure light weight airflow humidity... Such as a sensor, load cell, photocall, or thermocouple.. signal conditioning circuit (optional) Analog voltage A/D converter Computer Digital value The A/D conversion process Analog voltage

7. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 7 Sensors Processing of physical data starts with capturing this data. Sensors can be designed for virtually every physical and chemical quantity including weight, velocity, acceleration, electrical current, voltage, temperatures etc. chemical compounds. Many physical effects used for constructing sensors. Examples: law of induction (generation of voltages in an electric field), light-electric effects. Huge amount of sensors designed in recent years.

8. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 8 Example: Acceleration Sensor Courtesy & ©: S. Bütgenbach, TU Braunschweig

9. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 9 Example: Biometrical Sensors Example: Fingerprint sensor (© Siemens, 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.

10. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 10 Artificial eyes Former © Dobelle Institute

11. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 11 Other sensors –Rain sensors for wiper control („Sensors multiply like rabbits“ [ITT automotive]) –Pressure sensors –Proximity sensors –Engine control sensors –Hall effect sensors

12. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 12 Discretization

13. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 13 Converting Analog Signals to Digital Data (1) Sampling = time digitization To convert voice from a telephone signal to digital data, take samples of the voice signal time Amplitude (e.g., Voice Signal)

14. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 14 Sampling = Discretization of time V x is a sequence of values or a mapping ℤ  ℝ In this course: restriction to digital information processing; Known digital computers can only process discrete time series.  Discrete time; sample and hold-devices. Ideally: width of clock pulse -> 0 In this course: restriction to digital information processing; Known digital computers can only process discrete time series.  Discrete time; sample and hold-devices. Ideally: width of clock pulse -> 0 V e is a mapping ℝ  ℝ

15. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 15 ViVi 556511 7V 6V 5V HS 4V SSH 3V HH 2V SS 1V H 0V SH 1 23456789101112t(ms) Discretization: - quantization - A/D Conversion - sampling - S/H VCVC x 3 x 2 x 1 ADC V in conversionconversion conversionconversion conversionconversion convconv convconv conversionconversion

16. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 16 At what rate do we sample ? Nyquist sampling theorem says that the sampling rate of an analog signal must be at least 2 the maximum frequency in the signal. –For a voice signal of 4 kHz, must sample at 8000 times a second. –Pulse amplitude modulation - PAM

17. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 17 Aliasing Impossible to reconstruct fast signals after slow sampling: multiple fast signals share same sampled sequence; Example: Signal: 5.6 Hz; Sampling: 9 Hz [http://www.cise.ufl.edu/~prabhat/Teaching/cis6930-f04/comp1.ppt]

18. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 18 Converting Analog Signals to Digital Data (2) Quantization = magnitude digitization Pulse Code Modulation = quantize each sample – for example convert the amplitude of a sample value to an 8 bit number –Represents 256 distinct values –For the voice signal, 8000 samples/sec X 8 bits/sample = 64 kbps

19. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 19 Example of PCM (1)

20. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 20 Compensating for Quantization Error Quantization error –Translating analog values to a digital number introduces error = +/- quantization step –SNR dB = 20 log 2 n + 1.76 dB = 6.02n + 1.76 dB –Each bit added increases the SNR (signal to noise ratio) by 6dB Distortion –Non-linear encoding helps to reduce distortion for low level signals –Companding (imparts more gain to weak signals than to strong signal) also helps to reduce distortion for low level signals

21. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 21 Non Linear Encoding

22. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 22 A/D Conversion Fundamental Concepts Almost all measurable quantities (weight, humidity, temperature, light intensity, etc.) have an analog nature Analog data are converted to a digital form to be treated by computer systems An analog to digital (ATD) converter converts voltage levels to digital values Thus, non-electric data must be converted to a voltage signal –A transducer performs such conversions The precision of an ATD converter depends on the number of quantization bits –The HCS12 converter uses 8 or 10 bits

23. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 23 An A/D converter uses two references that provide the range of the “measured” voltage  The lower reference ( V LREF ) is often 0V  The upper reference ( V HREF ) is often Vcc The quantization step is Optimal Input Voltage Range A/D Converter Transfer Function To benefit from the maximum ATD capacity, transform the transducer output to the range between V LREF and V HREF The binary result x (n bits) from an ATD conversion of the voltage V(x) can be calculated with equation (1). x 3 x 2 x 1 ADC V in =V x

24. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 24 x 3 x 2 x 1 ADC V in =V x Flash A/D Converter V x= V in Binary (out) 111 110 101 100 011 010 001 000 01234567 x3x2x1x3x2x1 x3x2x1x3x2x1

25. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 25 Discretization of values: A/D-converters 1. Flash A/D converter (1) Digital computers require digital form of physical values  A/D-conversion: many methods with different speeds. Example: 1. Flash A/D converter: Digital computers require digital form of physical values  A/D-conversion: many methods with different speeds. Example: 1. Flash A/D converter: Encodes input number of most significant ‘1’ as an unsigned number, e.g. “1111” -> “100”, “0111” -> “011”, “0011” -> “010”, “0001” -> “001”, “0000” -> “000” (Priority encoder).

26. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 26 Discretization of values: A/D-converters 1. Flash A/D converter (2) Parallel comparison with reference voltage Speed: O(1) Hardware complexity: O(n) with n= # of distinguished voltage levels Applications: e.g. in video processing

27. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 27 Tracking A/D Converter x3x2x1x3x2x1

28. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 28 Successive Approximation A/D Converter b3 b2 b1 b2 b1 b0 SAR2 SAR1 SAR0

29. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 29 Discretization of values 2. Successive approximation Key idea: binary search: Set MSB='1' if too large: reset MSB Set MSB-1='1' if too large: reset MSB-1 Speed: O(log(n)) Hardware complexity: O(log(n)) with n= # of distinguished voltage levels; slow, but high precision possible. Speed: O(log(n)) Hardware complexity: O(log(n)) with n= # of distinguished voltage levels; slow, but high precision possible.

30. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 30 Algorithm for Successive Approximations SAR register is initialised to 0 Starting with the MSB –Set the bit to 1 –Convert SAR to voltage –D/A output is compared to input signal –Reset the bit to 0 if the D/A signal is larger –Repeat for all bits Successive approximation AD conversion method Start SAR[n-1,...,0]  0 i  n-1 SAR[i]  1 Convert the value in SAR to a voltage Is the Converted voltage greater than the input? SAR[i]  0 yes no i=0? i  i-1 yes no Stop

31. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 31 Successive approximation (2) 1100 1000 1010 1011 t V VxVx V-V-

32. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 32 Application areas for flash and successive approximation converters [Gielen et al., DAC 2003] Effective number of bits at bandwidth (using single bit D/A-converters; common for high quality audio equipments) (Pipelined flash converters) (used in multimeters)

33. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 33 Quantization Noise N = (approximated - real signal) called quantization noise. Example: quantization noise for sine wave * [http://www.beis.de/Elektronik/DeltaSigma/DeltaSigma.html]

34. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 34 Quantization noise for audio signal Signal to noise for ideal n-bit converter : n * 6.02 + 1.76 [dB] e.g. 98.1 db for 16-bit converter, ~ 160 db for 24-bit converter Additional noise for non-ideal converters Source: [http://www.beis.de/Elektronik/ DeltaSigma/DeltaSigma.html] e.g.: 20 log(2)=6.02 decibels

35. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 35 Floating-point ADC Principle Idle ADCE => y e e:=f(y e ) gain t :=2 maxE-e gainPGA:=gain_PGA t-1 ADCM => y m gainPGA:=gain_PGA t ADCM => y m AcqMantissa gain t-1 =1 C Idle Init Start ECE EOC gainPGA neq gain_PGA t-1 AcqExponent ADC-M = mantissa ADC ADC-E = exponent ADC PGA = Programmable Gain Amplifier GCU = Gain Control Unit GCU ADC-E PGA x x’ ymym yeye ADC-M

36. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 36 Floating-Point Quantization = finding both the exponent and the mantissa

37. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 37 Floating-point ADC Characteristic

38. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 38 Normalized Quantization Error Normalized Error –Uniform ADC –FP-ADC For -4 < X < 4 & Uniform n = 4 => Δx u =0.5, ε u = ± 0.25 FP: n = 4 = 2 bit mantissa + 2 bit exponent

39. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 39 Relative Quantization Error  r =  /x = (Q(x) – x)/x

40. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 40 Floating Point ADC Quantization Noise Example: quantization noise for sine wave

41. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 41 The Differential FP-ADC (DFP-ADC) exploits the redundancy of the information contained in the exponent and the normalized mantissa to maximize the information that can be encoded with the given number of bits of the ADC resolution. Differential FP-ADC

42. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 42 The Differential Predictive FP-ADC (DPFP-ADC) aims to overcome the non-ideal sampling rate restrictions of two-step FP-ADC. The solution is to add to a differential floating-point analog-to-digital converter (DFP- ADC) an exponent predictor before the gain amplifier-subtractor, as presented bellow. Differential Predictive FP-ADC

43. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 43 FPADC Quantization Noise Uncalibrated Calibrated

44. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 44 Communication

45. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 45 Communication

46. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 46 Communication: Hierarchy Sensor/actuator buses Inverse relation between volume and urgency quite common:

47. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 47 Communication - Requirements - –Real-time behavior –Efficient, economical (e.g. centralized power supply) –Appropriate bandwidth and communication delay –Robustness –Fault tolerance –Maintainability –Diagnosability –Security –Safety

48. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 48 Basic techniques: Electrical robustness Single-ended vs. differential signals Voltage at input of Op-Amp positive  '1'; otherwise  '0' Combined with twisted pairs; Most noise added to both wires. ground Local ground

49. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 49 Evaluation Advantages: –Subtraction removes most of the noise –Changes of voltage levels have no effect –Reduced importance of ground wiring –Higher speed Disadvantages: –Requires negative voltages –Increased number of wires and connectors Applications: –USB, FireWire, ISDN –Ethernet: 100Base-T Shielded Twisted Pair (STP) Un- shielded Twisted Pair (UTP/CAT 5) cables –differential SCSI (pronounced skuzzy”) –High-quality analog audio signals

50. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 50 Real-time behavior Carrier-sense multiple-access/collision-detection (CSMA/CD, Standard Ethernet) no guaranteed response time. Alternatives: –token rings, token busses –Carrier-sense multiple-access/collision-avoidance (CSMA/CA) WLAN techniques with request preceding transmission Each partner gets an ID (priority). After each bus transfer, all partners try setting their ID on the bus; partners detecting higher ID disconnect themselves from the bus. Highest priority partner gets guaranteed response time; others only if they are given a chance.

51. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 51 Other basic techniques –Fault tolerance: error detecting and error correcting bus protocols –Privacy: encryption, virtually private networks

52. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 52 Sensor/actuator busses 1.Sensor/actuator busses: Real-time behavior very important; different techniques: Many wires fewer wires expensive & flexible CNC = Computer Numerical Control

53. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 53 Field busses: Profibus More powerful/expensive than sensor interfaces; mostly serial. Emphasis on transmission of small number of bytes. [http://www.profibus.com/] Example: Process Field Bus (Profibus) Designed for factory and process automation. Focus on safety; comprehensive protocol mechanisms. Claiming 20% market share for field busses. Token passing. ≦ 93.75 kbit/s (1200 m);1500 kbits/s (200m); 12 Mbit/s (100m) Integration with Ethernet via Profinet.

54. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 54 Controller area network (CAN) 2. Controller Area Network (CAN) –Designed by Bosch and Intel in 1981; –Covers the lowest two layers of the ISO/OSI reference model. –A transmitter sends a message to all CAN nodes (broadcasting). Each node decides on the basis of the identifier received whether it should process the message or not. The identifier also determines the priority that the message enjoys in competition for bus access. –used in cars and other equipment; –differential signaling with twisted pairs, –arbitration using CSMA/CA, –throughput between 10kbit/s and 1 Mbit/s, –low and high-priority signals, –maximum latency of 134 µs for high priority signals, –coding of signals similar to that of serial (RS-232) lines of PCs, with modifications for differential signaling. –See //www.can.bosch.com

55. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 55 Time-Triggered-Protocol (TTP) 3. The Time-Triggered-Protocol (TTP) [Kopetz et al.] for fault-tolerant safety systems –airbags in cars. –Honeywell: jet engine control systems in Lockheed Martin F-16 –Nord-Micro's cabin pressure control on the Airbus A380 mega-airliner. –Hamilton Sundstrand electric and environmental control systems on Boeing 787. –Alcatel: field bus protocol in the railway signaling system ELEKTRA 2. Bus Access Scheme: relies on the Time-Division Multiple Access ( TDMA ) scheme to control access to the communication medium. Mode Change: supports the implementation of several operating modes and mechanisms to initiate and execute mode changes on demand. Message Semantics: the messages have state semantics in contrast to event messages in event-triggered communication systems. The communication protocol provides periodic message transmission at a frequency corresponding to the dynamics of the controlled objects, which guarantees the temporal accuracy of all real-time images in all nodes at any point in time. Clock Synchronization: In an event-triggered system all activities are initiated by events, whereas in a time-triggered architecture the control signal is derived from the progression of time.

56. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 56 FlexRay 4.FlexRay: developed by the FlexRay consortium (BMW, Ford, Bosch, DaimlerChrysler, …) Combination of a variant of the TTP and the Byteflight [Byteflight Consortium, 2003] protocol. Specified in SDL. Improved error tolerance and time-determinism Meets requirements with transfer rates >> CAN std. High data rate can be achieved: –initially targeted for ~ 10Mbit/sec; –design allows much higher data rates TDMA (Time Division Multiple Access) protocol: Fixed time slot with exclusive access to the bus Cycle subdivided into a static and a dynamic segment.

57. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 57 TDMA in FlexRay Exclusive bus access enabled for short time in each case. Dynamic segment for transmission of variable length information. Fixed priorities in dynamic segment; transmissions starts at end of slot of lower priority bus node. Bandwidth used when it is actually needed. [http://www.ixxat.de/english/produkte/flexray/flexray_introduction.shtml] Static segment Channel 1 Channel 2 Channel 1 Channel 2 Communication cycle Dynamic segment show flexray animation from dortmund

58. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 58 Structure of Flexray networks Bus guardian protects the system against failing processors, e.g. so- called “babbling idiots” [http://www.ixxat.de/english/produkte/flexray/flexray_introduction.shtml]

59. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 59 http://www.computer.org/micro/mi2002/pdf/m4010.pdf

60. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 60 Other field busses European Installation Bus (EIB) Designed for smart buildings; CSMA/CA; low data rate. IEEE 488: Designed for laboratory equipment. MAP: MAP is a bus designed for car factories. Attempts to use standard Ethernet. However, timing predictability remains a serious issue.

61. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 61 What is Smart Transducer?

62. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 62 What is Smart Transducer? Transducers that have local memory, local processing power and could communicate with other transducers or computers. Standardization effort initiated by IEEE and NIST (National Institute of Standard and Technology) KANG LEE A group of IEEE 1451 standards: IEEE1451.1, IEEE1451.2, IEEE1451.3 and IEEE1451.4

63. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 63 IEEE P1451 Family of Smart Transducer Interface Standards P1451.0 Common Functions, Communication Protocols, and Transducer Electronic Data Sheet (TEDS) Formats 1451.1-1999 Network Capable Application Processor (NCAP) Information Model for smart transducers 1451.2-1997 Transducer to Microprocessor Communication Protocols and TEDS Formats 1451.3-2003 Digital Communication and TEDS Formats for Distributed Multidrop Systems P1451.4 Mixed-mode Communication Protocols and TEDS P1451.5 Wireless Communication and Transducer Electronic Data Sheet (TEDS) Formats

64. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 64 IEEE P1451 Family Another View Network-Capable Application Processor (NCAP) IEEE 1451.1 Common Object Model Any Network TxdcrA/D TEDS IEEE 1451.2 Digital, Point-to-Point Digital TII Interface Smart Transducer Interface Module (STIM) TII = Transducer Independent Interface Xdcr = Transducer (Sensor or Actuator) IEEE P1451.3 Distributed Multidrop Bus Txdcr Bus Interface Transducer Bus Interface Module (TBIM) IEEE P1451.5 Wireless Interface Wireless Transducer TxdcrA/D TEDS Mixed-Mode Transducer IEEE P1451.4 Analog + Digital TEDS Txdcr A/D TEDS IEEE P1451.0 Common Function- ality & TEDS 2102 or 40

65. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 65 Interface Definitions The P1451 standards define Physical (hardware) interfaces (1451.2, 1451.3, P1451.4, P1451.5) Logical interface (1451.1 & DotX specific Transducer Blocks) Application interface Operational interface: common set of functions, communications protocols, and TEDS formats (P1451.0) The TEDS provide the operational details –Data format –Interface and data timing –Etc.

66. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 66 Six Standards, Four Interfaces

67. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 67 IEEE P1451 Interfaces An industry-wide, open standard Providing common interfaces between sensors/actuators and instruments, microprocessors, or networks Analog, digital, and wireless interfaces Self-describing sensor via the Transducer Electronic Data Sheet (TEDS) Transducer Module(s) Transducer Electronic Data Sheets (TEDS) Transducer Interface Network hardware Application Software Transducer software Network Protocol Network Capable Application Processor (NCAP) Transducer hardware interface specification Transducer logical interface specification Network protocol specification Any network

68. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 68 IEEE P1451.0 Define a common set of functions, communications protocols, and TEDS formats that provides interoperability among the family of 1451 standards Aim to simplify the creation of future standards for different physical layers that are interoperable in the family. Any network Transducer Module Transducer Electronic Data Sheets (TEDS) NCAP Transducer Module Transducer Electronic Data Sheets (TEDS) Transducer module interface P1451.0 Common Functional Transducer Interface Common functions Common functions Common functions Common functions “IEEE P1451.0 is a physical-layer independent NCAP-to- transducer module interface that includes the basic command set and communications protocol. All that is necessary to implement a new variety of IEEE P1451 is to define the physical layer, including the physical layer TEDS, plus any specialized functions or commands necessary to support the physical layer.”

69. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 69 Transducer Interface Specification (Transducer Block) Hardware Interface Specification (1451.x) Application Software Network Hardware Network Network Protocol Logical Interface Specification (Network Block) Network Protocol Stack I/O Port Hardware Transducer Software Transducer (sensors & actuators) encapsulate a small set of communications methods The interface to the NCAP Block and ports together encapsulate the details of the different network protocol implementations behind a small set of communications methods. encapsulates makes the sensor or actuator hardware interfacelook like an io-driver The interface to the Transducer Block which encapsulates the details of the Transducer hardware implementation within a simple programming model. This makes the sensor or actuator hardware interface look like an io-driver. provides two key interfaces The Smart Transducer Object Model provides two key interfaces - indicated by the dotted lines. IEEE 1451.1 Smart Transducer Object Model

70. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 70 IEEE P1451.4 Standard for Plug and Play Sensors Analog Signal Voltage Resistance Bridge Etc. Plug and Play Sensor Digital (TEDS) 0001010111110101 01010010100… Sensor manufacturer Model number Serial number Measurement range Transfer function Calibration info User Info And more … Mixed-Mode Interface (Analog + Digital TEDS) Standardized TEDS Transducer Transducer Electronic Data Sheet (TEDS) Memory Transducer Electronic Data Sheet (TEDS) Memory (EEPROM)

71. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 71 IEEE P1451.5 Wireless Sensor Interface Define a wireless sensor communication interface using existing wireless communication technology(s) and protocol(s). Define wireless message formats, data/control model, security model, and TEDS that are scalable to meet the needs of from low-cost to sophisticated sensor devices. Allow for a minimum of 64 sensors per access point. Intrinsic safety is not required but the standard should allow for it. Any network Transducer Module Transducer Electronic Data Sheets (TEDS) Host or NCAP IEEE P1451.5 Wireless Sensor Interface and TEDS Transducer Module Transducer Electronic Data Sheets (TEDS)

72. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 72 IEEE 1451

73. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 73 TEDS Size Comparisons

74. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 74 TransducerFunctionsNetworkConfiguration  Processor or  Controller Protocol Handler Transceiver (gateway) Signal Conditioning Transducer Network media Re-usable Software Blocks Candidate interfaces for standardization The P1451 Roadmap to PnP Smart Transducers

75. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 75. Plug and Play Sensors Analog Signal (bridge, ICP, mV, etc.) Sensor IEEE P1451.4 Sensor manufacturer Model number Serial number Measurement range Transfer function Calibration info User Info (location) And more … TEDS (EEPROM) TEDS (EEPROM) Transducer Electronic Data Sheet (TEDS) Digital (extra line, or switched w/ analog) Smart TEDS Sensor“Legacy” Sensor Sensor Analog Signal Virtual TEDS TEDS Database WWW Virtual TEDS file

76. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 76 SMART SENSORS & UPnP The Smart Sensor standards specifies a standardized way to design and develop transducers that can be easy connected to a sensor network, but doesn’t define mechanisms of managing devices in networks. Universal Plug and Play (UPnP) defines a mechanism and protocols of discovery of network devices, as well as their control and event functions. We propose to expand the Smart Sensor to make it capable of working as an UPnP device that will allow in a standardized and easy way to connect different types of transducers into a network, including Internet.

77. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 77 Relationship between IEEE 1451 standards

78. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 78 What is Universal Plug and Play? Specified and standardized by UPnP Forum Provide invisible home networking Define architectural framework for self- configuring, self-describing devices

79. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 79 UPnP network Living roomChildren room Office

80. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 80 UPnP Components Controlled device. A device that provides Input/Output functions to outside of UPnP world. It uses standard defined protocols to communicates with other UPnP components. The base of UPnP communication is XML templates that describe device behavior and enable control and eventing on a device. Control Point Initiates discovery and control of UPnP devices Bridge (optional) A proxy that offering UPnP services to a non-UPnP device.

81. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 81 UPnP Stack Lower levels of the stack presented by IP,TCP and UDP. IP address is assigned by UPnP Addressing function. Both TCP and UDP are used. HTTP is the base protocol in communication and it lies in the middle of the stack. Discovery Protocol(SSDP) is used in UPnP Discovery function Simple Object Application Protocol(SOAP) is used in UPnP Control function Generic Event Notification Architecture protocol (GENA) is used in UPnP Event function

82. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 82 Modification of Smart Sensor Add new classes, that support UPnP protocol stack, to the Smart Sensor Common Object model Extend defined Smart Sensor network models (client-server and publisher/subscriber) to work in UPnP network

83. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 83 UPnP Smart Sensor client-server model Define new class UPnP Client Port class Support existing Smart Sensor client-server model Server functions are supported by UPnP NCAP class

84. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 84 UPnP Smart Sensor Publisher/ Subscriber model Support existing publisher/ subscriber Smart sensor model Define new classes: UPnP Publisher Port and UPnP Subscriber Port New classes use GENA/HTTP communication

85. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 85 Wireless communication

86. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 86 Wireless communication: Examples –IEEE 802.11 a/b/g –UMTS –DECT –Bluetooth –ZigBee

87. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 87 Wireless communication: Example HomeRF © //www.palowireless.com Focus on integrating phone connections. Incorporates DECT. Competes with different extensions to IEEE 802.11 Existing upper layers TCPUDPDEC T IP Home RF Mac Layer HomeRF PHY Layer

88. Voicu Groza, 2008 SITE, 2008 - HARDWARE/SOFTWARE CODESIGN OF EMBEDDED SYSTEMS 88 Summary –Hardware-in-the loop –Sensors –Discretization Sample-and-hold (S/H) circuit A/D-converters –Flash converter –Successive approximation –Other converters –Discretization noise –Communication Requirements Sensor/actor-busses Field busses