Connected Embedded Systems

Welcome

This is the starting point for a new book on connected embedded systems: sampling and sensing, control, real-time scheduling and the networked devices that bring them together.

Work in progress

This book is at a very early stage. The pages below are standalone tests of interactive demonstrations that are still being developed, and they will change, move or disappear as the book takes shape. If you find errors or have suggestions, please report them using the link at the bottom of every page.

Test demonstrations

• Aliasing: When Sensors Lie covers sampling, the Nyquist rule and aliasing.
• PID Control: Teaching a Drone to Hover builds up proportional, integral and derivative control.
• PID on a Microcontroller: From Maths to Zephyr takes the same controller onto a simulated microcontroller running Zephyr, covering loop rate, fixed-point arithmetic, resolution and threads.
• Priority Inversion: The Mars Pathfinder Resets explores priority inversion in a preemptive real-time scheduler.
• Sensor Fusion: Building an IMU on the GY-85 builds up the accelerometer, gyroscope and magnetometer, fuses them with a complementary filter in 3D, and generates the Zephyr code.
• CAN Bus: From Two Wires to Zephyr covers differential signalling, bit stuffing, arbitration, error confinement and decoding a frame by eye, then a sandbox with Zephyr (MCP2515) and SocketCAN code.