Publication
NDLCom: Simple Protocol for Heterogeneous Embedded Communication Networks
Martin Zenzes; Peter Kampmann; Tobias Stark; Moritz Schilling
In: Proceedings of the Embedded World Exhibition & Conference. Embedded world Exhibition & Conference, located at Embedded World 2016, February 23-25, Nürnberg, Germany, 2016.
Abstract
In the feld of robotic systems, the Internet of Things,
or modern industrial applications, many systems consist
not only of one central computer, but of a heterogeneous
set of embedded electronics employing different
types of microcontroller and Field Programmable Gate
Array (FPGA). These electronics are located near sensors
and actuators somewhere in the mechanical structure,
and are connected with different communication
technologies in order to exchange measurements and
commands. We present Node-level Data Link Communication
(NDLCom), a
exible and minimal protocol
for communicating in such heterogeneous systems consisting
of low end devices. The details of the protocol
design together with application examples and timing
measurements of two robotic systems are discussed in
this paper.