Synthesis of a Multichannel Conflict-free Data-Exchange Device for Mobile Robotic Platforms
DOI:
https://doi.org/10.47839/ijc.25.2.4653Keywords:
mobile robotic platforms, conflict-free data-exchange methods, multi-port memory, controller, multichannel device, transceiver, interfaceAbstract
This article addresses the enhancement of time-division multiple-access (TDMA) for multi-port memory access, the development of a synthesis method for conflict-free multichannel data-exchange devices, and VLSI-oriented component structures. Methods of conflict-free exchange for groups of mobile robotic platforms were analyzed. TDMA was selected for inter-device exchange and was improved by pipelining the memory-access process. The study proposed a multi-port memory controller structure that was targeted at VLSI implementation, interoperates with heterogeneous peripherals and memories, employs a pipelined access path, and synchronizes asynchronously operating devices on the memory bus. A reusable base structure was introduced to shorten synthesis time for parameterized multichannel devices. A configurable clock-generation block was designed to match memory throughput and device count, alongside interface-adaptation blocks were created to bridge transceivers and the controller. A method for synthesizing a multichannel device for conflict-free data exchange has been developed, which ensures the coordination of the intensity of data arrival with the bandwidth of the multiport memory. Modeling of the multiport memory controller on the Cyclone III EP3C16F484C6 FPGA showed that its implementation requires only 114 logic elements and 63 registers. The proposed pipeline of the memory access process allowed to reduce the access cycle time to a value close to the register access time, and the use of a parametric basic structure reduced the complexity of the synthesis of multichannel devices by 58–79%.
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