EETimes

Embedded Systems December 2000 Vol13_13

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= o ~ n o i ::I ID arc hitect who decomposes an appli- cation into module; the framework then provides the mechanisms for quickly realizing each of these mod- ules by using the PBO model to implement them as reconfigurable objects. imilad y, the framework does not define the type nor semantics of the port variables. A variable type mecha- nism is used so that data transmitted over tile ports can be any type. For example, it can be raw data, such as input from an AI D converter; processed data, such as positions and velocities; or processed information, such as strucUlres describing lypes and locations of objects in the environ- ment. The names of the ports are con- figurable, and specified during tile initialization of the system. • • • • generic comp'onents. B m:t'lil.'mlt!·m· . • • • • ( tball From trackball From robot: sensors To robot: actuators From t trackball "c From robot: sensors To robot: actuators em From trackball From robot: sensors To robot: actuators From trackball sensors NDOF E F em xm em From robot: sensors To robot: actuators ( 106 DECEMBER 2000 Embedded Systems Programl11ing ctraj ~( cinterp ~ r From robot: To robot: sensors actuators actuators ginvkin em

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