2026-09-19T08:06:42Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1567772024-09-17T03:32:48Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Sze, Vivienne
Studer, Alexandre S.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2024-09-16T13:48:28Z
2024-09-16T13:48:28Z
2024-05
2024-07-11T14:36:52.591Z
https://hdl.handle.net/1721.1/156777
https://orcid.org/0009-0001-8308-2886
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.
M.Eng.
Massachusetts Institute of Technology
In Copyright - Educational Use Permitted
Copyright retained by author(s)
https://rightsstatements.org/page/InC-EDU/1.0/
Extensible Real-Time Sensor and Test Interface for a System-on-Chip
Thesis
application/pdf
Master
Master of Engineering in Electrical Engineering and Computer Science
Publication
unknown
unknown
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<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.</Abstract>
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