ANNUS, Paul
paul.annus@elin.ttu.ee
Analog - to – Digital
conversion in measurement
and data acquisition systems
A / D muundamine mõõte- ja
andmehõivesüsteemides
www.analog.com/library/analogDialogue/archives/39-06/data_conversion_handbook.html
http://focus.ti.com/lit/an/slod006b/slod006b.pdf
Analog versus Digital
Mõõtmine on ?
Object
Sensor
Converter
MITTEELEKTRILISED
SIGNAALID
Positsioonid
skaalal
Numbrilised
MUUNDAMINE
t3
t4
t5
547
547
57
656
457
857
932
181
34
437
Signal processor
ANALOOG
SENSOR
t2
ELEKTRILISED SIGNAALID
АNALOOG
Füüsikalised
Keemilised
t1
Vool
Pinge
DIGITAAL
MUUNDAMINE
Võimsus
Paralleelne
Järjestik
kodeerimine
Seeriate
loendamine
SÜSTEEMIS ANDMETE SORTIMISE SAAVUTAMNE
Signal processing chain
?
Fenomena
under
investigation
või
PROTSESS
Sagedus
Aeg
Faas
ANDUR
ANALÜÜS
Analog to digital
conversion
?
Measurement
results
A “bit” of history
The earliest recorded binary DAC known is not electronic at all, but hydraulic. Turkey, under the
Ottoman Empire, had problems with its public water supply, and sophisticated systems were built to
meter water. One of these dates to the 18th Century. An example of an actual dam using this metering
system was the Mahmud II dam built in the early 19th century near Istambul.
HS-810, 8-bit, 10-MSPS ADC Released
by
Computer Labs, Inc. in 1966
1954 "DATRAC" 11-bit, 50-kSPS
Vacuum Tube ADC
Designed by Bernard M. Gordon at
EPSCO
ADC-12U 12-Bit, 10-μs SAR ADC from
Pastoriza Division of
Analog Devices, 1969
Kuidas muundame?
•SAMPLING – diskreetimine ajas
•KVANTIMINE – diskreetimine nivoos
•KODEERIMINE
1) Sampling
2) Kvantimine
3) Kodeerimine
2n
q
Analoog
Signaal
Fs=1/T
0
ajas
T
2T
3T
nivoos
Digitaalne
Väljund
Ajast ja sagedusest
NYQUISTI KRITEERIUM:
DISKREETIMISSAGEDUS > 2* KÕRGEM KUI KÕRGEIM
SAGEDUSSIGNAAL
Gabor-Heisenberg uncertainty principle:
Mida rohkem on bitte seda väiksem
on kvantimise viga.
KVANTIMISE VIGA +-q/2 V
DAC – digitaalmaailmast
analoogsignaaliks
?
GAP/R's K2-W: a vacuum-tube
op-amp (1953)
1941: First (vacuum tube) op-amp
U.S. Patent 2,401,779 "Summing Amplifier" filed by Karl D. Swartzel Jr.
of Bell labs in 1941. This design used three vacuum tubes to achieve a
gain of 90 dB and operated on voltage rails of ±350 V. It had a single
inverting input rather than differential inverting and non-inverting
inputs, as are common in today's op-amps. Throughout World War II,
Swartzel's design proved its value by being liberally used in the M9
artillery director designed at Bell Labs. This artillery director worked
with the SCR584 radar system to achieve extraordinary hit rates (near
90%) that would not have been possible otherwise.
1947: First op-amp with an explicit noninverting input
1963: First monolithic IC op-amp
Pre op-amp -> feedback
amplifier by Harold S. Black in 1927
Flash analoog-digital muundur
n=3 bits, 23-1=7 komparaatorit ja 23 = 8
resistori
Flash analoog-digital muundur
n=3 bits, 23-1=7 komparaatorit ja 23 = 8
resistori
Muundurite tüübid
KÕIGE LIHTSAM 1-bit muundur
SUCCESSIVE APROXIMATION
Järkhaaval (järjestikune) lähendamine, Vanimast
nooremani
Kõrge eraldusvõime
Suur kiirus
Kergelt multiplekseeritav sisend
Tavaliselt kasutatakse andmehõive kvartides
Alalissignaal
FLASH
Paralleelmuundur
Kõige kiirem
Küps tehnoloogia
Kõige kallim
Kasutatakse digitaal TV, kosmoses
INTEGRATING
Integreeriv
Vana, hakkab kaduma
Kõrge eraldusvõime
Hea müra mahasurumine
Hea lineaarsus
Küps tehnoloogia
Aeglane muundamise kiirus (selle tõttu ei kasutata enam
tänapäeval)
Kasutatakse digitaalmultimeetrites (tester)
DELTA SIGMA
Odav ja tõrjub integreeriva välja
Kõige uuem
Kõrge eraldusvõime
Suurepärane lineaarsus
Sisse ehitatud aliase kõrvaldaja (LPF filter)
Vahelduvad signaalid
Kasutatakse audio signaalide digitaaliseerimiseks ja
analoogiseerimiseks, helisignaalid
PINGE-SAGEDUS MUUNDUR
Odav ja võimaldab tulemust hästi edasi kanda
SAR - Successive approximation ADC
The basic algorithm used in the successive approximation (initially called
feedback subtraction) ADC conversion process can be traced back to the 1500s
relating to the solution of a certain mathematical puzzle regarding the
determination of an unknown weight by a minimal sequence of weighing
operations. In this problem, as stated, the object is to determine the least
number of weights which would serve to weigh an integral number of pounds
from 1 lb to 40 lb using a balance scale.
One solution put forth by the mathematician Tartaglia in 1556, was to use the
series of weights 1 lb, 2 lb, 4 lb, 8 lb, 16 lb, and 32 lb. The proposed weighing
algorithm is the same as used in modern successive approximation ADCs.
SAR algorithm dates back to the...
1500's !
SAR - Successive approximation ADC
SAR - Successive approximation ADC
SAR - Successive approximation ADC
An N-bit conversion takes N steps.
SAR 2
A simple 3-bit capacitor DAC based SAR.
The switches are shown in the track, or sample mode where the analog input voltage, AIN, is constantly charging and discharging the
parallel combination of all the capacitors.
The hold mode is initiated by opening SIN, leaving the sampled analog input voltage on the capacitor array. Switch SC is then opened
allowing the voltage at node A to move as the bit switches are manipulated. If S1, S2, S3, and S4 are all connected to ground, a voltage
equal to –AIN appears at node A.
Connecting S1 to VREF adds a voltage equal to VREF/2 to –AIN. The comparator then makes the MSB bit decision, and the SAR either leaves
S1 connected to VREF or connects it to ground depending on the comparator output (which is high or low depending on whether the
voltage at node A is negative or positive, respectively).
A similar process is followed for the remaining two bits. At the end of the conversion interval, S1, S2, S3, S4, and SIN are connected to AIN,
SC is connected to ground, and the converter is ready for another cycle.
Subranging ADC (Pipeline etc)
Subranging ADC (Pipeline etc)
Subranging ADC (Pipeline etc)
Subranging ADC (Pipeline etc)
Subranging ADC (Pipeline etc)
Võendamine, sampling,
reconstruction, taastamine
The sampling theorem
Aliasing - rüsimine
The Scientist and Engineer's Guide to Digital Signal Processing
By Steven W. Smith
http://www.dspguide.com
Paul Annus
paul.annus@elin.ttu.ee
Võendamine, sampling
The sampling theorem
Gábor Dénes (1900 – 1979)
1946 "Theory of communication"
Edmund Taylor Whittaker
(1873 – 1956)
1915 "Expansions of the
Interpolation-Theory", "Theorie
der Kardinalfunktionen"
Claude Elwood Shannon (1916 – 2001)
1949 "Communication in the presence of noise”
If a function of time f(t) is limited to the
band from 0 to W cycles per second it is
completely determined by giving its
ordinates at a series of discrete points
spaced 1/2W seconds apart
Harry Theodor Nyqvist (1889 –1976)
1928 "Certain topics in telegraph transmission theory”
1933 "On the
transmission capacity of
the 'ether' and of cables
in electrical
communications"
Владимир Александрович
Котельников, (1908 – 2005)
Võendamine, sampling
Võendamine, sampling
Võendamine, sampling
Jean Baptiste Joseph Fourier
(1768 –1830)
Mémoire sur la propagation de la
chaleur dans les corps solides.
(1807)
Uuris soojusnähtusi ja kasutas siinussignaale temperatuuri jaotuste kirjeldamiseks.
“...any continuous periodic signal could be represented as the sum of properly chosen
sinusoidal waves.”
Võendamine, sampling
X
Dirac comb
Võendamine, sampling
*
cosa  cosb  1 / 2(cos(a  b)  cos(a  b))
Dirac comb
Võendamine, sampling, A->D
Võendamine, sampling, alias
Võendamine, sampling, filtrid
Võendamine, sampling, D ->A
Võendamine, sampling, filtrid
Võendamine, sampling, filtrid
Bode plot
AD ja DA muundurite täpsusest
www.analog.com/library/analogDialogue/archives/39-06/data_conversion_handbook.html
Paul Annus
paul.annus@elin.ttu.ee
AD (DA) muundur
2n
q
Fs=1/T
0
T
2T
3T
DC parameetrid, nulli viga ja
võimendus
Integraalne lineaarsusviga
INL (inegral non linearity)
Differentsiaalne lieaarsusviga
DNL (differential non linearity)
Differentsiaalne lieaarsusviga 2
DNL (differential non linearity)
Differentsiaalne lieaarsusviga 3
DNL (differential non linearity)
Subranging ADC
Differentsiaalne lieaarsusviga 4
DNL (differential non linearity)
Koodi muutusega kaasnev müra ja DNL
Ideaalse ADC AC parameetrid,
kvantimisega kaasnev müra ajas
Ideaalse ADC AC parameetrid,
kvantimisega kaasnev müra ajas 2
Ideaalse ADC AC parameetrid,
kvantimisega kaasnev müra ajas 3
Koherentne muundamine
Sisendile taandatud müra
SINAD, ENOB
Signal to noise and distortion ration – effective number of bits
SINAD, ENOB
Signal to noise and distortion ration – effective number of bits
Analoog riba, signaali suurus ja
ENOB
Signal to noise and distortion ration – effective number of bits
SFDR
Spurious free dynamic range
Mitu signaali korraga - IMD
Intermodulation distortion
Võendamine, SHA
Aperture Time, Aperture Delay Time, and Aperture Jitter
Võendamine, SHA 2
Aperture Time, Aperture Delay Time, and Aperture Jitter
Võendamine, SHA 3
Aperture Time, Aperture Delay Time, and Aperture Jitter
Võendamine, SHA 4
Aperture Time, Aperture Delay Time, and Aperture Jitter
Transiendid, lülitamine, ülepinge
Haruldlased vead, metastabiilsus
Võrgud ja võrgupõhine
andmehõive
Wikipedia, etc.
Paul Annus
paul.annus@elin.ttu.ee
Üks kuni mitu ja miks
PC based I/O
PCI, PXI, ISA etc Bus I/O
Rack based I/O
Remote I/O
Data transfer, parallel
Data transfer, serial
The first telegraphs came in the form of optical telegraph including the use of smoke
signals, beacons or reflected light, which have existed since ancient times.
A semaphore network invented by Claude Chappe operated in France from 1792 through 1846. It helped Napoleon enough to be
widely imitated in Europe and the U.S. The Prussian system was put into effect in the 1830s. The last commercial semaphore link
ceased operation in Sweden in 1880.
Very early experiment in electrical telegraphy was an electrochemical telegraph
created by the German physician, anatomist and inventor Samuel Thomas von
Sömmering in 1809, based on an earlier, less robust design of 1804 by Catalan
polymath and scientist Francisco Salvá i Campillo.
One of the earliest electromagnetic telegraph designs was created by Baron Schilling in
1832
Carl Friedrich Gauss and Wilhelm Weber built and first used for regular
communication the electromagnetic telegraph in 1833 in Göttingen, connecting
Göttingen Observatory and the Institute of Physics, covering a distance of about 1 km.
An electrical telegraph was independently developed and patented in
the United States in 1837 by Samuel Morse. His assistant, Alfred
Vail, developed the Morse code signaling alphabet with Morse.
America's first telegram was sent by Morse on 6 January 1838, across
two miles (3 km) of wire at Speedwell Ironworks near Morristown, New
Jersey. The message read "A patient waiter is no loser."
Data transfer, serial
Bit rate – bps – bits per second
Byte rate – Bps – bytes per second
Baud rate - Bd – symbols per second
WAN modems
Ethernet LAN
WiFi WLAN
•1972: Acoustic coupler 300 baud
•1977: 1200 baud Vadic and Bell 212A •1972: IEEE 802.3
•1986: ISDN introduced with two 64 Ethernet 2.94 Mbit/s
WiFi WLANs
kbit/s channels (160 kbit/s gross bit •1985: 10b2 10 Mbit/s
•1997: 802.11 2 Mbit/s
rate)
coax thinwire
•1999: 802.11b 11 Mbit/s
•1990: v.32bis modems: 2400 / 4800 •1990: 10bT 10 Mbit/s
•1999: 802.11a 54 Mbit/s
/ 9600 / 19200 bit/s
•1995: 100bT 100
(72 Mbit/s gross bit rate)
•1994: v.34 modems with 28.8 kbit/s Mbit/s (125 Mbit/s
•2003: 802.11g 54 Mbit/s
•1995: v.90 modems with 56 kbit/s gross bit rate)
(72 Mbit/s gross bit rate)
downstreams, 33.6 kbit/s upstreams •1999: 1000bT (Gigabit)
•2005: 802.11g
•1999: v.92 modems with 56 kbit/s 1 Gbit/s (1.25 Gbit/s
(proprietary) 108 Mbit/s
downstreams, 48 kbit/s upstreams
gross bit rate)
•2007: 802.11n 600 Mbit/s
•1998: ADSL up to 8 Mbit/s,
•2003: 10GBASE 10
•2003: ADSL2 up to 12 Mbit/s
Gbit/s
•2005: ADSL2+ up to 24 Mbit/s
Mobile data
•1G:
•
1981: NMT 1200 bit/s
•2G:
•
1991: GSM CSD and D-AMPS 14.4 kbit/s
•
2003: GSM Edge 57.6 kbit/s down, 28.8
kbit/s up
•3G:
•
2001: UMTS-FDD (WCDMA) 384 kbit/s
•
2007: UMTS HSDPA 14.4 Mbit/s
•
2008: UMTS HSPA 14.4 Mbit/s down,
5.76 Mbit/s up
•
2009: HSPA+ (Without MIMO) 28 Mbit/s
downstreams (56 Mbit/s with 2x2
MIMO), 22 Mbit/s upstreams
•
2010: CDMA2000 EV-DO Rev. B 14.7
Mbit/s downstreams
•Pre-4G:
•
2007: Mobile WiMAX (IEEE 802.16e) 144
Mbit/s down, 35 Mbit/s up.
•
2009: LTE 100 Mbit/s downstreams (360
Mbit/s with MIMO 2x2), 50 Mbit/s
upstreams
Data transfer, serial, RS -232
Recommended Standard 232, 1962
Serial binary single-ended data and control signals connecting between a DTE
(Data Terminal Equipment) and a DCE (Data Circuit-terminating Equipment).
ASCII-HEX
Parity
XOR sum of
the bits (even)
Input
A
B
Outp
ut
0
0
0
0
1
1
1
0
1
1
1
0
7 bits of data
(number of 1s)
8 bits including parity
even
odd
0000000 (0)
00000000
10000000
1010001 (3)
11010001
01010001
1101001 (4)
01101001
11101001
1111111 (7)
11111111
01111111
EIA-485, also known as TIA/EIA-485 or RS-485
Data transfer, serial, SPI
“four-wire" serial bus, three-, two-, and one-wire, microwire (NS)
SPI bus is a “de facto standard” = igaüks saab omamoodi aru...
Clk - 1–70 MHz
Data transfer, serial, address first
versus data first
Data transfer, serial, I2C
“two-wire" serial bus, SMB, Philips, 1980, UM10204.pdf
Multimaster, 10 kbps – 4 Mbps
maximum number of nodes is limited
by the address space, and also by
the total bus capacitance of 400 pF
First byte after start
Protocol!
Data transfer serial - CAN
CAN-bus started originally in 1983 at Robert Bosch GmbH
Controller–area network (CAN or CAN-bus) is a vehicle bus standard designed
to allow microcontrollers and devices to communicate with each other within a
vehicle without a host computer.
Each node is able to send and receive messages, but not simultaneously. A
message consists primarily of an ID which represents the priority of the
message and up to eight data bytes. It is transmitted serially onto the bus. This
signal pattern is encoded in NRZ and is sensed by all nodes.
If the bus is free, any node may begin to transmit. If two or more nodes begin
sending messages at the same time, the message with the more dominant ID
(which has more dominant bits, i.e., zeroes) will overwrite other nodes' less
dominant IDs, so that eventually (after this arbitration on the ID) only the dominant
message remains and is received by all nodes. This mechanism is referred to as
priority based bus arbitration. Messages with numerically smaller values of ID
have higher priority and are transmitted first.
CAN, basic frame
Field name
Length (bits) Purpose
Start-of-frame
1
Denotes the start of frame transmission
Identifier
11
A (unique) identifier for the data which also
represent the message priority
Remote transmission request
1
(RTR)
Identifier extension bit (IDE) 1
Dominant (0) (see Remote Frame below)
Must be dominant (0)Optional
Reserved bit (r0)
1
Reserved bit (it must be set to dominant (0), but
accepted as either dominant or recessive)
Data length code (DLC)*
4
Number of bytes of data (0-8 bytes)
Data field
0-8 bytes
CRC
CRC delimiter
15
1
ACK slot
1
Transmitter sends recessive (1) and any receiver
can assert a dominant (0)
ACK delimiter
End-of-frame (EOF)
1
7
Must be recessive (1)
Must be recessive (1)
Data to be transmitted (length dictated by DLC
field)
Cyclic Redundancy Check
Must be recessive (1)
CRC
Cyclic Codes for Error Detection
W. W. PETERSON, AND D. T. BROWN, 1960
CRC
Cyclic Codes for Error Detection
W. W. PETERSON, AND D. T. BROWN, 1960
A well-constructed CRC polynomial over limited-size data blocks will detect any
contiguous burst of errors shorter than the polynomial, any odd number of errors
throughout the block, any 2 bit errors anywhere in the block, and most other cases
of any possible errors anywhere in the data.
So every possible arrangement of 1, 2, or 3 bit errors will be detected.
Nevertheless, there remains a small possibility that some errors will not be
detected. This happens when the pattern of the errors results in a new value which,
when divided, produces exactly the same remainder as the correct block.
With a properly constructed 16-bit CRC, there is an average of one error pattern
which will not be detected for every 65,535 which would be detected.
That is, with CRC-CCITT, we should detect be able to detect 65535/65536ths or
99.998 percent of all possible errors
CRC
Cyclic Codes for Error Detection
primitive polynomials W. W. PETERSON, AND D. T. BROWN, 1960
Name
CRC-1
CRC-4-ITU
CRC-5-EPC
CRC-5-ITU
CRC-5-USB
CRC-6-ITU
CRC-7
Polynomial
x + 1 (most hardware; also known as parity bit)
x4 + x + 1 (ITU-T G.704, p. 12)
x5 + x3 + 1 (Gen 2 RFID[15])
x5 + x4 + x2 + 1 (ITU-T G.704, p. 9)
x5 + x2 + 1 (USB token packets)
x6 + x + 1 (ITU-T G.704, p. 3)
x7 + x3 + 1 (telecom systems, ITU-T G.707, ITU-T G.832, MMC, SD)
x8 + x2 + x + 1 (ATM HEC), ISDN Header Error Control and Cell Delineation ITU-T I.432.1
(02/99)
x8 + x5 + x4 + 1 (1-Wire bus)
x8 + x7 + x6 + x4 + x2 + 1
x8 + x4 + x3 + x2 + 1
x8 + x7 + x4 + x3 + x + 1[16]
x10 + x9 + x5 + x4 + x + 1 (ATM; ITU-T I.610)
x11 + x9 + x8 + x7 + x2 + 1 (FlexRay[17])
x12 + x11 + x3 + x2 + x + 1 (telecom systems[18][19])
x15 + x14 + x10 + x8 + x7 + x4 + x3 + 1
x16 + x15 + x2 + 1 (Bisync, Modbus, USB, ANSI X3.28, many others; also known as CRC-16 and
CRC-16-ANSI)
Representations: normal / reversed / reverse of reciprocal
0x1 / 0x1 / 0x1
0x3 / 0xC / 0x9
0x09 / 0x12 / 0x14
0x15 / 0x15 / 0x1A
0x05 / 0x14 / 0x12
0x03 / 0x30 / 0x21
0x09 / 0x48 / 0x44
CRC-16-CCITT
x16 + x12 + x5 + 1 (X.25, HDLC, XMODEM, Bluetooth, SD, many others; known as CRC-CCITT)
0x1021 / 0x8408 / 0x8810[8]
CRC-16-T10-DIF
CRC-16-DNP
CRC-16-DECT
CRC-16-Fletcher
CRC-24
CRC-24-Radix-64
CRC-30
CRC-32-Adler
0x8BB7[20] / 0xEDD1 / 0xC5DB
0x3D65 / 0xA6BC / 0x9EB2
0x0589 / 0x91A0 / 0x82C4
Used in Adler-32 A & B CRCs
0x5D6DCB / 0xD3B6BA / 0xAEB6E5
0x864CFB / 0xDF3261 / 0xC3267D
0x2030B9C7 / 0x38E74301 / 0x30185CE3
See Adler-32
CRC-32K (Koopman)
CRC-32Q
x16 + x15 + x11 + x9 + x8 + x7 + x5 + x4 + x2 + x + 1 (SCSI DIF)
x16 + x13 + x12 + x11 + x10 + x8 + x6 + x5 + x2 + 1 (DNP, IEC 870, M-Bus)
x16 + x10 + x8 + x7 + x3 + 1 (cordless telephones)[21]
Not a CRC; see Fletcher's checksum
x24 + x22 + x20 + x19 + x18 + x16 + x14 + x13 + x11 + x10 + x8 + x7 + x6 + x3 + x + 1 (FlexRay[17])
x24 + x23 + x18 + x17 + x14 + x11 + x10 + x7 + x6 + x5 + x4 + x3 + x + 1 (OpenPGP)
x30 + x29 + x21 + x20 + x15 + x13 + x12 + x11 + x8 + x7 + x6 + x2 + x + 1 (CDMA)
Not a CRC; see Adler-32
x32 + x26 + x23 + x22 + x16 + x12 + x11 + x10 + x8 + x7 + x5 + x4 + x2 + x + 1 (V.42, Ethernet, MPEG-2,
PNG[22], POSIX cksum)
x32 + x28 + x27 + x26 + x25 + x23 + x22 + x20 + x19 + x18 + x14 + x13 + x11 + x10 + x9 + x8 + x6 + 1 (iSCSI &
SCTP, G.hn payload, SSE4.2)
x32 + x30 + x29 + x28 + x26 + x20 + x19 + x17 + x16 + x15 + x11 + x10 + x7 + x6 + x4 + x2 + x + 1
x32 + x31 + x24 + x22 + x16 + x14 + x8 + x7 + x5 + x3 + x + 1 (aviation; AIXM[23])
CRC-64-ISO
x64 + x4 + x3 + x + 1 (HDLC — ISO 3309, Swiss-Prot/TrEMBL; considered weak for hashing[24])
CRC-64-ECMA-182
x64 + x62 + x57 + x55 + x54 + x53 + x52 + x47 + x46 + x45 + x40 + x39 + x38 + x37 + x35 + x33 + x32 + x31 +
x29 + x27 + x24 + x23 + x22 + x21 + x19 + x17 + x13 + x12 + x10 + x9 + x7 + x4 + x + 1 (as described in
ECMA-182 p. 51)
CRC-8-CCITT
CRC-8-Dallas/Maxim
CRC-8
CRC-8-SAE J1850
CRC-8-WCDMA
CRC-10
CRC-11
CRC-12
CRC-15-CAN
CRC-16-IBM
CRC-32-IEEE 802.3
CRC-32C (Castagnoli)
0x07 / 0xE0 / 0x83
0x31 / 0x8C / 0x98
0xD5 / 0xAB / 0xEA[8]
0x1D / 0xB8 / 0x8E
0x9B / 0xD9 / 0xCD[8]
0x233 / 0x331 / 0x319
0x385 / 0x50E / 0x5C2
0x80F / 0xF01 / 0xC07[8]
0x4599 / 0x4CD1 / 0x62CC
0x8005 / 0xA001 / 0xC002
0x04C11DB7 / 0xEDB88320 / 0x82608EDB[11]
0x1EDC6F41 / 0x82F63B78 / 0x8F6E37A0[11]
0x741B8CD7 / 0xEB31D82E / 0xBA0DC66B[11]
0x814141AB / 0xD5828281 / 0xC0A0A0D5
0x000000000000001B / 0xD800000000000000 /
0x800000000000000D
0x42F0E1EBA9EA3693 / 0xC96C5795D7870F42 /
0xA17870F5D4F51B49
Remote I/O - CAN
CanOpen and DeviceNet
CANopen is a network protocol based on CAN bus and has been used in
various applications, such as vehicles, industrial machines, building automation,
medical devices, maritime applications, restaurant appliances, laboratory
equipment & research. It allows for not only broadcasting but also peer to peer
data exchange between every CANopen node. DeviceNet based on the CAN
bus is one of the world's leading device-level networks for industrial automation.
Contents of a standard
CANopen frame:
Length
Functio
n code
Node ID RTR
Data
length
Data
4 bits
7 bits
4 bits
0-8
bytes
Common Industrial Protocol or (CIP),
which includes the following technologies:
EtherNet/IP (take note of the capital 'N',
and "IP" here means "Industrial Protocol")
ControlNet
DeviceNet
1 bit
ISO-OSI
Layer
#
Name
7
Application
6
Presentation
5
Session
ISO/IEC 8327, X.225,
ISO/IEC 9548-1, X.235
4
Transport
ISO/IEC 8073, TP0, TP1, TP2,
TP3, TP4 (X.224),
TCP, UDP, SCTP, DCCP
ISO/IEC 8602, X.234
3
Network
ISO/IEC 8208, X.25 (PLP),
ISO/IEC 8878, X.223,
IP, IPsec, ICMP, IGMP, OSPF
ISO/IEC 8473-1, CLNP X.233.
OSI protocols
TCP/IP protocols
Signaling System 7[6] AppleTalk
NNTP, SIP, SSI, DNS, FTP, Gopher,
FTAM, X.400, X.500, DAP,
INAP, MAP, TCAP,
HTTP, NFS, NTP, DHCP, SMPP,
[7]
[8]
ROSE, RTSE, ACSE CMIP
ISUP, TUP
SMTP, SNMP, Telnet, RIP, BGP
ISO/IEC 8823, X.226,
MIME, SSL, TLS, XDR
ISO/IEC 9576-1, X.236
2
Data Link
ISO/IEC 7666, X.25 (LAPB),
Token Bus, X.222,
ISO/IEC 8802-2 LLC Type 1
and 2[9]
1
Physical
X.25 (X.21bis, EIA/TIA-232,
EIA/TIA-449, EIA-530,
G.703) [9]
Sockets. Session establishment in
TCP, RTP
PPP, SLIP, PPTP, L2TP
IPX
AFP, ZIP, RTMP, NBP RIP, SAP
SNA
UMTS
APPC
HL7, Modbus
TDI, ASCII, EBCDIC,
MIDI, MPEG
Named pipes,
NetBIOS, SAP, half
duplex, full duplex,
simplex, RPC
AFP
ASP, ADSP, PAP
NWLink
DLC?
DDP, SPX
SCCP, MTP
ATP (TokenTalk or
EtherTalk)
Misc. examples
NBF
RRC (Radio Resource Control)
Packet Data Convergence
Protocol (PDCP) and BMC
(Broadcast/Multicast Control)
IPX
MTP, Q.710
IEEE 802.3
LocalTalk, AppleTalk framing,
Remote Access, PPP Ethernet II
framing
SDLC
LLC (Logical Link Control), MAC
(Media Access Control)
MTP, Q.710
RS-232, RS-422, STP,
PhoneNet
Twinax
UMTS Physical Layer or L1
NBF, Q.931, IS-IS
Leaky bucket, token
bucket
802.3 (Ethernet),
802.11a/b/g/n
MAC/LLC, 802.1Q
(VLAN), ATM, HDP,
FDDI, Fibre Channel,
Frame Relay, HDLC,
ISL, PPP, Q.921,
Token Ring, CDP, ARP
(maps layer 3 to layer
2 address), ITU-T
G.hn DLL
CRC, Bit stuffing,
ARQ, Data Over Cable
Service Interface
Specification
(DOCSIS)
RS-232, Full duplex,
RJ45, V.35, V.34,
I.430, I.431, T1, E1,
10BASE-T, 100BASETX, POTS, SONET,
SDH, DSL,
802.11a/b/g/n PHY,
ITU-T G.hn PHY,
Controller Area
Network, Data Over
Cable Service
Interface
Specification
(DOCSIS)
TCP/IP
HDLC
High-Level Data Link Control
The contents of an HDLC frame are shown in the following table:
Flag
Address
8 bits
8 or more
bits
Control
Information
FCS
Flag
8 or 16 bits
Variable
length, 0 or
more bits
16 or 32 bits
8 bits
The bit sequence "01111110" containing six adjacent 1 bits is commonly
used as a "Flag byte" or FSS
Zero-bit insertion is a particular type of bit stuffing (in the latter sense) used in
some data transmission protocols. It was popularized by IBM's SDLC (later renamed
HDLC), to ensure that the Frame Sync Sequence (FSS) never appears in a data
frame. An FSS is the method of frame synchronization used by HDLC to indicate the
beginning and/or end of a frame.
IP
Internet Protocol
LXI
LAN eXtensions for Instrumentation
The LXI instrumentation platform combines Ethernet-enabled instrumentation with
the ubiquity of the World Wide Web and applies them to test and measurement
applications.
LXI devices can communicate with devices that are not themselves LXI compliant,
as well as instruments that employ GPIB, VXI, and PXI, into heterogeneous
configurations. In order to simplify communication with non-LXI instruments, the
standard mandates that every LXI instrument must have an Interchangeable Virtual
Instrument (IVI) driver.
Precision Time Protocol (PTP)
IEEE 1588-2008 introduces a clock associated with network equipment used to
convey PTP messages. The transparent clock modifies PTP messages as they
pass through the device. Timestamps in the messages are corrected for time spent
traversing the network equipment. This scheme improves distribution accuracy by
compensating for delivery variability across the network.
TCP/IP +
Precision Time Protocol =
LXI
GPIB
IEEE-488 is a short-range digital communications bus specification. It was created
for use with automated test equipment in the late 1960s, and is still in use for that
purpose. IEEE-488 was created as HP-IB (Hewlett-Packard Interface Bus), and is
commonly called GPIB (General Purpose Interface Bus). It has been the subject of
several standards
IEEE-488
Pin out
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
Pin 20
Pin 21
Pin 22
Pin 23
Pin 24
Female IEEE-488 connector
DIO1
Data input/output bit.
DIO2
Data input/output bit.
DIO3
Data input/output bit.
DIO4
Data input/output bit.
EOI
End-or-identify.
DAV
Data valid.
NRFD
Not ready for data.
NDAC
Not data accepted.
IFC
Interface clear.
SRQ
Service request.
ATN
Attention.
SHIELD
DIO5
Data input/output bit.
DIO6
Data input/output bit.
DIO7
Data input/output bit.
DIO8
Data input/output bit.
REN
Remote enable.
GND
(wire twisted with DAV)
GND
(wire twisted with NRFD)
GND
(wire twisted with NDAC)
GND
(wire twisted with IFC)
GND
(wire twisted with SRQ)
GND
(wire twisted with ATN)
Logic
ground
GPIB
Physically the GPIB bus is composed of 16 lowtrue signal lines. Eight of the lines are
bidirectional data lines, DIO1-8. Three of the
lines are handshake lines, NRFD, NDAC and
DAV, that transfer data from the talker to all
devices who are addressed to listen. The talker
drives the DAV line, the listeners drive the
NDAC and NRFD lines. The remaining five lines
are used to control the bus’s operation.
Mõõtevigadest
Paul Annus
paul.annus@elin.ttu.ee
Põhjused
Mõõtmine on...võrdlemine
-Võrdlusallikas
-Meetod
-Vahendid
Välised mõjurid
-Häired
-Mürad
Millega võrdleme?
Tugisignaali allikad:
-DC
-Pingeallikas
-Vooluallikas
-AC
-Ühesageduslikud
-Mitmesageduslikud
Referents komponendid:
-Takistid
-Kondensaatorid
-Poolid
Tugipinge allikad
# Ultralow noise (0.1 Hz to 10 Hz)
ADR440: 1 μV p-p
ADR441: 1.2 μV p-p
ADR443: 1.4 μV p-p
ADR444: 1.8 μV p-p
ADR445: 2.25 μV p-p
# Input range: (VOUT + 500 mV) to 18 V
# Superb temperature coefficient
A Grade: 10 ppm/°C
B Grade: 3 ppm/°C
# Low dropout operation: 500 mV
# High output source and sink current
+10 mA and −5 mA, respectively
# Wide temperature range: −40°C to
+125°C
Komponendid, takisti
Max võimsus
Tolerants:
-+-5% kuni 0,005%
Max pinge
TC: tüüpiline +-50 ppm/C
Lineaarsus!
The Standard TCR is 5ppm - however, if you need
something closer, special TCRs to 1ppm per degree C. are
available.
Ultra Stability vs. Time - probably your most important
consideration - can be conditioned to 0.001% per year.
Wide Temperature Span - from -65°C. to +125°C. ...
derated to zero wattage at +145°C.. Other technologies are
limited to +70°C., which can be a problem in your soldering
processes.
Special Custom Flexibility - when you need matching
TCRs and tolerances with part-to-part repeatability.
Non-inductive - All HR & RX standard parts are noninductive (suffix "N") except the HR103
Müra:
Color
1st band
2nd band
3rd band
(multipli
er)
Black
0
0
×100
Brown
1
1
×101
±1% (F)
100 ppm
2
×102
±2% (G)
50 ppm
15 ppm
25 ppm
Red
2
4th band Temp.
(toleranc Coefficie
e)
nt
Orange
3
3
×103
Yellow
4
4
×104
Green
5
5
×105
±0.5%
(D)
Blue
6
6
×106
±0.25%
(C)
Violet
7
7
×107
±0.1%
(B)
Gray
8
8
×108
±0.05%
(A)
White
9
9
×109
Gold
×10−1
±5% (J)
Silver
×10−2
±10% (K)
None
±20%
(M)
Komponendid, kondensaator
Tolerants (0,5-20%)
Max pinge
TC: NP0
Parasiitelemendid
Lineaarsus!
Müra:
Takisti:
Kondensaator:
* C0G or NP0: typically 1 pF to 0.1 µF, 5%. High tolerance and
good temperature performance. Larger and more expensive.
* X7R: typically 100 pF to 22 µF, 10%. Good for non-critical
coupling, timing applications. Subject to microphonics.
Temperature up to 125°C
* X8R: typically 100 pF to 10 µF, 25-100v, 5-10%. Good for
high temperature up to 150°C
* Z5U or 2E6: typically 1 nF to 10 µF, 20%. Good for bypass,
coupling applications. Low price and small size. Subject to
microphonics.
* Ceramic chip: 1% accurate, values up to about 1 µF,
typically made from Lead zirconate titanate (PZT) ferroelectric
ceramic
Komponendid, aktiivelemendid
Komponendid, aktiivelemendid
Komponendid, aktiivelemendid
Komponendid, aktiivelemendid
Mõõteahel
Objekt
Sensor
Võimendi
Filter
AD Muundur
...
Toiteahelad
Tugipinge allikad
Taktigeneraatorid
Mürad
Häired
Komponendid
Müra
Müra
Müra
Müra
Müra
Müra
Müra
Digitaalne signaalitöötlus
The Scientist and Engineer's Guide to Digital Signal Processing
By Steven W. Smith, Ph.D
http://www.dspguide.com/
Paul Annus
paul.annus@elin.ttu.ee
DSP?
DSP, CPU, uC, FPGA, CPLD...?
Applications
Rakendused
Operating system
Operatsioonisüsteem
Instruction set
Käsustik
Functional units
Funktsionaalsed komponendid
Finite state machine
Lõplikud automaadid...
Logic gates
Loogikalülid
Electronics
“Jupid”
Word
LabWiev
Linux
Nucleus
asm
objektkood
ALU, RAM,
MAC ...
Moore
Mealy
AND, OR, NOR,
XOR...
transistor
DSP, CPU, uC, FPGA, CPLD...?
Harvard
Modified Harvard
von Neumann
DSP
-Digitaalsed filtrid
-IIR
-FIR
-Informatsiooni kodeerimine
-Informatsiooni pakkimine
-Informatsiooni edastamine
-....
Konvolutsioon !
Linear, Time invariant, Causal
y = ax + b
•System A:
•System B:
Complex Fourier
Joseph Fourier (1768-1830)
representation of any discontinuous
function in space or time in terms of a
much simpler trigonometric series of
continuous cosine or sine functions
Linear, Time invariant
Aknad
Rectangular
Hanning
Triangular
Blackman
Kaiser
Hamming
Filtrid
Lowpass
Highpass
Bandpass
Bandstop
Multipass
Multistop
Differentiator
Hilbert
Transformer
Raised Cosine
Root Raised Cosine
Gaussian
Edge
....
Filtrid
Chebyshev
Butterworth
Elliptic
Digitaalsed filtrid
FIR
IIR
edasi
tagasi
Digitaalsed filtrid