Extensible Real-Time Sensor and Test Interface for a System-on-Chip

Abstract

This thesis describes the development of a printed circuit board (PCB) that enables connecting external sensors and a host computer to a custom Application-Specific Integrated Circuit (ASIC). The ASIC, previously developed by the Low-Energy Autonomy and Navigation research group, is designed for autonomous navigation on microrobots, such as drones. To enable the real-time data processing required for this application, the ASIC includes a custom Sensor-and-Debug IP block that provides Serial Peripheral Interface (SPI) and First-In/First-Out (FIFO) buses. The custom PCB includes a multiplexer circuit that allows multiple sensors to be connected to the ASIC's single SPI bus. It also includes a USB-to-FIFO interface, developed around the RP2040 microcontroller, which enables connecting a host computer to the ASIC's FIFO bus. Ultimately, the PCB simplifies the connection of external sensors, facilitates debugging of the ASIC, and can be miniaturized for mounting on an autonomous microrobot, such as a drone, in the future.