This Master's thesis deals with functional safety of electronic systems. Specifically, it focuses on self-testing of the microprocessor and its peripherals at the software level. The main aim of the thesis is to design and implement a set of functions written in programming language C or assembly language, which automatically test the selected areas of the microcontroller. Resources and methods used in the implemented solution also aim to meet the requirements according to the safety standard IEC 60730-1, Annex H, Software Class B. The microcontroller NXP LPC55S69 was chosen as a hardware platform. It consists of two ARM Cortex-M33 cores. As a result, the example application is provided, which uses implemented test functions at the run-time. Example application also contains a graphical user interface with fault injection ability.

This thesis deals with the design and implementation of a self-driving model race car that is intended to attend an NXP Cup race. The work describes the selection of the platform, design process of algorithm, design process of printed circuit board for obstacle detection system, and various experiments with motion control.

This diploma thesis deals with a design and implementation of an embedded device (module), used to control a robotic manipulator. The module instructs servomotors of the manipulator to move according to the commands received via USB interface. The module consists of two double-sided printed circuit boards. The first one allows connection to the CAN bus, redundant and thus reliable power supply for servomotors as well as the whole module. The second board, compute oriented one, embeds powerful microcontroller used to communicate with the servomotors and to solve the kinematics tasks. As a part of the thesis a graphical user interface as well as a web-oriented interface were developed. Both interfaces allow full control of the manipulator. All the communicating buses, tools and methods used during the design and implementation phases of the work are described in the thesis. Finally, measurements proved improvement of the motion smoothness and response times in several orders of magnitude in comparison to the previous system.

This Diploma thesis deals with creation and realisation of extensions for medical dental unit Vizio. Specifically, it deals with electrotechnical solution and software for capacitive keyboard and with proposal of principle of control and regulation of speed for integrated brushless motor. The Diploma thesis contains both the description of used hardware components, and software solution implemented in assembly language. This device is already in commercial use.

The aim of this master thesis is to design a wireless system which would be primarily used for a control of stage lighting. Our idea is to establish wireless links, that will carry DMX512 protocol, between individual lighting devices based on wireless transceiver nRF2401A. The foundation of our project comes from a previous design, which was not completely suitable for a practical use because of its rather large proportions and a short RF range. The project resolves the issue of relatively short range coverage through the deployment of RF amplifier RF5722. In the same tme, it also takes into account other technical aspects such as the use of antenas with a higher gain, front-end circuits or increased transmission reliability through frequency hopping scheme. Proper attention is also given to a minimalization of the module dimensions by using SMD components and layout adjustements, so it would be possible to place the whole board inside XLR connector. Set of printed circuit boards with the specified characteristics, which is the expected outcome of our project, were designed with Eagle PCB design environment.

This thesis deals with control of a specific climate chamber used for various climate tests. Therefore its elaboration starts with the identification of properties of this climate chamber and basic design of its control. This is followed by measuring the temperature distribution in its internal space in order to verify the usability of this climate chamber. The thesis also does not omit a description of the communication options between climate chamber and application for control of climate tests. The next part of this thesis concerns the design and implementation of the application for control of climate tests itself. On its output is a report of the performed climate test. In the end this thesis contains the description of program testing in the real operation of the company and other possible improvements of the implemented program.

This diploma thesis deals with the modification of an existing device for controlling the heating system of the house. The original proposal builds on my bachelor thesis Terminal for visualization and control conditions in a house. Adjustments are based on the findings of the test operation and the deficiencies found in everyday operations. Here, the emphasis is on simple design, low acquisition cost and durability of the resulting device. Newly designed wireless units will replace the original wired sensors, as well as the control unit of the existing device based on the prototype system will be replaced with a new wireless central unit. The alphanumeric display with control buttons will remain as the control panel of this unit. The wireless central unit is connected via a serial communication interface to the visualization and control unit, which extends the offered options of the heating control system.

Presentation held on the 123. Unix-Stammtisch. It contains information about the usage of Linux on embedded systems. The boot process of Linux, the design of an embedded system environment and small libraries and tools are discussed in detail. / Vortrag zum 123. Unix Stammtisch der TU-Chemnitz. Befasst sich mit dem Entwurf und Betrieb von eingebetteten Systemen mit dem Betriebssystem Linux. Von der D-Box bis zur Linux-Armbanduhr, der Linux-Boot Prozess, Aufbau einer Linuxumgebung undminimalistisches Bibiotheken.

Programming PLC systems is limited by the provided libraries. In contrary, hardware-near programming needs bigger efforts in e. g. initializing the hardware. This work others a foundation to combine advantages of both development sides. Therefore, Portable.NET from the DotGNU project has been used, which is an implementation of CLI, better known as “.NET”. The target system is the PLCcore-5484 microcontroller board, developed by SYS TEC electronic GmbH. Built upon the porting, two variants to use interrupt routines withing the Portabe.NET runtime environment have been analyzed. Finally, the reaction times to occuring interrupt events have been examined and compared.:Contents List of Tables iv List of Figures v Listings vi 1 Introduction 1 1.1 Objective 1 1.2 Structure 2 2 State of the Art 3 2.1 .NET Framework 3 2.1.1 Common Language Runtime 4 2.1.2 Common Type System 6 2.1.3 Common Language Specification 6 2.1.4 Common Intermediate Language 7 2.1.5 Metadata 8 2.1.6 .NET Class Library 8 2.2 DotGNU 9 2.2.1 Hans-Boehm Garbage Collector 10 2.2.2 Foreign Function Interface 11 2.2.3 Interpreter 11 2.2.4 Unrolled Assembler Code 12 2.2.5 JIT Support 13 2.2.6 Debugging 14 2.2.7 X11 Support 16 2.2.8 Embedded Engine 16 2.3 Mono 17 2.4 Rotor 27 2.5 Coldfire vs. m68k 17 2.5.1 Exclusive Instructions 18 2.5.2 Floating Point Size 18 2.5.3 Other Differences 19 2.5.4 ABI Changes 19 3 Implementation 20 3.1 Incompatible m68k Code 20 3.2 Incompatible Alignments 21 3.3 Broken Toolchain 24 3.4 Unrolling Assembler Code 24 3.4.1 Setup of the Unroller 25 3.4.2 Unroller Implementation 26 3.4.3 m68k Specifics 27 3.4.4 Macro Counting 28 3.4.5 Extended Testsuite 29 3.4.6 Floating Point Remainder 34 3.4.7 Big Endianess 34 3.4.8 NOP is not just no Operation 36 3.4.9 Caches 36 3.5 C# Debugging 37 3.6 Interrupt Access in C# 38 3.6.1 Kernel Module 39 3.6.2 C# Application 40 3.7 Results 42 4 Performance 43 4.1 Portable.NET Benchmark 43 4.2 Benchmark Results 44 4.3 Interrupt Response Time 46 5 Final Remarks and Further Work 53 5.1 Conclusion 53 5.2 Improvements 53 5.2.1 Increasing Engine Performance 53 5.2.2 Tweaking IRQ Handling 54 5.2.3 Porting JIT to MCF5484 55 5.2.4 Miscellaneous 55 6 Acronyms 56 Bibliography 58 A Contents of the enclosed CD 61 / Die Programmierung für SPS-Systeme ist durch die gegebenen Bibliotheken beschränkt, während hardwarenahe Programmierung einen größeren Aufwand durch z.B. Initialisierungen hat. Diese Arbeit bietet eine Grundlage, um die Vorteile beider Entwicklungsseiten zu kombinieren. Dafür wurde Portable.NET des DotGNU-Projekts, eine Implementierung des CLI, bekannter unter dem Namen “.NET”, benutzt. Das Zielsystem ist das PLCcore-5484 Mikrocontrollerboard der SYS TEC electronic GmbH. Aufbauend auf der Portierung wurden zwei Varianten zur Einbindung von Interrupt-Routinen in die Portable.NET Laufzeitumgebung untersucht. Abschließend wurden die Reaktionszeiten zu eintretenden Interrupts analysiert und verglichen.:Contents List of Tables iv List of Figures v Listings vi 1 Introduction 1 1.1 Objective 1 1.2 Structure 2 2 State of the Art 3 2.1 .NET Framework 3 2.1.1 Common Language Runtime 4 2.1.2 Common Type System 6 2.1.3 Common Language Specification 6 2.1.4 Common Intermediate Language 7 2.1.5 Metadata 8 2.1.6 .NET Class Library 8 2.2 DotGNU 9 2.2.1 Hans-Boehm Garbage Collector 10 2.2.2 Foreign Function Interface 11 2.2.3 Interpreter 11 2.2.4 Unrolled Assembler Code 12 2.2.5 JIT Support 13 2.2.6 Debugging 14 2.2.7 X11 Support 16 2.2.8 Embedded Engine 16 2.3 Mono 17 2.4 Rotor 27 2.5 Coldfire vs. m68k 17 2.5.1 Exclusive Instructions 18 2.5.2 Floating Point Size 18 2.5.3 Other Differences 19 2.5.4 ABI Changes 19 3 Implementation 20 3.1 Incompatible m68k Code 20 3.2 Incompatible Alignments 21 3.3 Broken Toolchain 24 3.4 Unrolling Assembler Code 24 3.4.1 Setup of the Unroller 25 3.4.2 Unroller Implementation 26 3.4.3 m68k Specifics 27 3.4.4 Macro Counting 28 3.4.5 Extended Testsuite 29 3.4.6 Floating Point Remainder 34 3.4.7 Big Endianess 34 3.4.8 NOP is not just no Operation 36 3.4.9 Caches 36 3.5 C# Debugging 37 3.6 Interrupt Access in C# 38 3.6.1 Kernel Module 39 3.6.2 C# Application 40 3.7 Results 42 4 Performance 43 4.1 Portable.NET Benchmark 43 4.2 Benchmark Results 44 4.3 Interrupt Response Time 46 5 Final Remarks and Further Work 53 5.1 Conclusion 53 5.2 Improvements 53 5.2.1 Increasing Engine Performance 53 5.2.2 Tweaking IRQ Handling 54 5.2.3 Porting JIT to MCF5484 55 5.2.4 Miscellaneous 55 6 Acronyms 56 Bibliography 58 A Contents of the enclosed CD 61

Real-time lane detection or localization is a crucial problem in modern Advanced Driver Assistance Systems (ADAS), especially in Automated Driving System. This thesis estimates the possibility to implement a lane detection system in the available low-power embedded hardware. Various state-of-the-art Lane Detection algorithms are assessed based on a number of proposed criteria. From the result of the evaluation, three different algorithms are constructed and implemented in the hardware using OpenCV library. The lane detection stage is done with different methods: using Hough Transform for line detection or randomly sampling hypotheses which are straight lines or cubic splines over the pre-processed binary image. Weights of the hypotheses are then calculated based on their positions in the image. The hypothesis which has highest weight or best position will be chosen to represent lane marking. To increase the performance of the system, tracking stage is introduced with the help of Particle Filter or Kalman Filter. The systems are then tested with several different datasets to evaluate the speed, performance and ability to work in real-time. In addition, the system interfaces with CAN bus using a CAN interface, so that the output data can be sent as messages via the CAN bus to other systems.