SEP600

Embedded System

Module 6: Serial, SPI, I2C, CAN

Course Outline

Module 1: Introduction and Review

Module 2: Transistor and Op-Amp
Module 3: Digital I/O and Analog Output
Module 4: Analog Input, Resolution, and Sampling
Module 5: RTOS and Multithreading
Module 6: Serial, SPI, I2C, CAN

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Review: RTOS, Multi-threading

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Threads are independent sequences
of execution within a program that
enable concurrent execution of
multiple tasks within a single process
– concurrent execution
– better utilization
– modularization of complex tasks
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Real-Time Operating System (RTOS)
– must respond to external stimuli within
a predetermined time-frame

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Review: Inter-process Communications

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Mutex: protect critical sections of code
and shared resources (ie. I/O)
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Semaphore: controlling access to finite
resources and synchronizing the execution
of multiple threads
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Queue: asynchronous message passing
and inter-thread communication
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Mail: same usage as queue but for larger
amount of data
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Serial vs Parallel Communication

Serial: Parallel
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1 bit per clock cycle ●
multiple bits per clock cycle
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require one data line ●
require multiple data line

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Asynchronous Serial Interface

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External clock signal is absent
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Rely on several parameters such as Data
Flow Control, Error Control, Baud Rate
Control, Transmission Control and Reception
Control
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On the transmitter side, parallel data is
converted onto the serial line using its own
clock along with adding the start, stop and
parity check bits
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On the receiver side, serial data is extracted Examples: RS-232, RS-422
using its own clock and converted back to and RS-485 (and USB)
parallel form after stripping off the start,
stop, and parity bits
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Asynchronous Serial Interface

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Asynchronous Serial Interface

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Universal Asynchronous Receiver/Transmitter (UART)

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Hardware that translates between
parallel and serial format
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Commonly used in conjunction
with communication standards
such as EIA, RS-232, RS-422 or
RS-485
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Data format and transmission
speeds are configurable
●
Actual electric signalling levels
and methods (such as differential
signalling etc.) typically are
handled by a special driver circuit
external to the UART
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UART Signals (only most common pins)

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RXD is the signal line receiving the data. This will be an
input and is usually connected to the TXD line of the
downstream device.
●
TXD is the signal transmitting the data. This will be an
output and is usually connected to the RXD line of the
downstream device.
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RTS# (Ready to Send) is used to indicate to the
downstream device that the device is ready to receive data.
This will be an output and is usually connected to the CTS#
line of the downstream device.
●
CTS# (Clear to Send) is used by the downstream device to
identify that it is OK to transmit data to the upsteam device.
This will be an input and is usually connected to the RTS#
line of the upstream device.
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UARTs Hardware and Software (Soft Serial)

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Synchronous Serial Interface

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Point-to-point connection from a master to slave
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All the devices in the same network share the
same buses for data and clock
– no mismatch in baud rate
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On the transmitter side, a shift in the data
and/or clock line signal a start of transmission
– no start, stop and parity bits are added to the data
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On the receiver side, the data is being extract
using the clock provided by the transmitter and
converts the serial data back to the parallel form
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well-known examples are: I2C and SPI

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Synchronous Serial Interface

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at each clock cycle, one bit from the
master (controller) shift register and
transmitter to the slave (peripheral)
and one bit from the (peripheral) is
transmitted back in return

Source: Toulson Fig 7.2

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Serial Peripheral Interface (SPI)

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A synchronous serial bus protocol
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Fast, Easy to use, Simple
●
(Almost) everyone supports it

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Serial Peripheral Interface (SPI)

Basics Info Capabilities

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A communication protocol ●
Always Full Duplex
using 4 wires – Communicating in two directions at
– Also known as a 4-wire bus the same time
– Transmission need not be
●
Used to communicate meaningful (if only one direction is
across small distances required)
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Multiple Slaves (peripheral), ●
Multiple Mbps transmission speed
Single Master (controller) ●
Transfers data in 4 to 16 bits
characters
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Synchronized using a
common clock signal ●
Daisy-chaining possible

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Serial Peripheral Interface (SPI)

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MOSI – Master Output Slave Input,
carries data out of Master to Slave
– PICO (Peripheral Input Controller
Output)
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MISO – Master Input Slave Output,
carries data from Slave to Master
– POCI (Peripheral Output Controller
Input)
Source: Toulson Fig 7.3
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SS_BAR – Unique line to select a
slave (peripheral)
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SCLK – Master (controller) produced
clock to synchronize data transfer

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SPI – Pros and Cons

Pros Cons
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Fast and easy ●
SS makes multiple slaves
– Fast for point-to-point very complicated
connections (in the MHz
range)
– every slave need a slaves
select; a lot of wires
– Easily allows
streaming/Constant data ●
No acknowledgement
inflow ability
– No addressing/Simple to
implement
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No inherent arbitration
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Everyone supports it ●
No flow control
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FRDM-K64K SPI

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SCK – PTD1
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MISO – PTD3
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MOSI – PTD2
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SS_Bar – Any I/O
– the micro-controller usually
act as the master

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Inter-Integrated Circuit (I2C)

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A synchronous
communication protocol
using 2 wires
– Also known as a 2-wire bus
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Multiple Master and Slaves
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Require Addressing
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Half Duplex: only one device
can send Source: Toulson Fig 7.7

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Synchronized
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I2C – Transmission Signal

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Every transmission requires:
– Start condition (A)
– Timing (Clock) supplied by the
sender (B)
– Data and Clock signal read by
the receiver [Ack] (C)
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SDA – Serial data, carries data
from sender to receiver
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SCL – Serial clock, produced
by the sender to synchronize Source: Wilmshurst Fig 7.8
data transfer
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FRDM-K64K I2C

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SCL – PTE24
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SDA - PTE25

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Controller Area Network (CAN bus)

Before CAN With CAN

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solution was connecting the control
systems via a serial bus system

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CAN bus data frame

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Use difference voltage as 0s and 1s for data for longer distance
communication
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Easy access but not secure – could be a security risk (big problem)
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Extremely robust and efficient

Source: Wikipedia: CAN bus

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CAN (SAE J1939) Example: Caterpillar 797

Source: Caterpillar

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Summary: Serial, SPI, I2C, CAN

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Async. Serial: no need for clock
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SPI: 4-wires, fast, need SS for
each device
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I2C: 2-wires, half-duplex, shared
data and clock
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CAN: protocol developed for the
auto-industry for communication
between controller

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Course Outline

Module 1: Introduction and Review

Module 2: Transistor and Op-Amp
Module 3: Digital I/O and Analog Output
Module 4: Analog Input, Resolution, and Sampling
Module 5: RTOS and Multithreading
Module 6: Serial, SPI, I2C, CAN

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