%T An A/D D/A board using IEEE\-1355 DS\-Links for Heterogeneous Multiprocessor Environment
%A O. J. Greve, M. H. Schwirtz, Gerald H. Hilderink, Jan F. Broenink, André W. P. Bakkers
%E Peter H. Welch, André W. P. Bakkers
%B Proceedings of WoTUG\-21: Architectures, Languages and Patterns for Parallel and Distributed Applications
%X In our approach for developing heterogeneous control
systems, we have developed a real\-time A/D D/A board called
"the Raptor". The Raptor communicates over
high\-speed and highly\-reliable DS\-links (IEEE\-1355). To
obtain highly accurate analogue conversions, the A/D and D/A
converteds have a 12\-bit resolution. We measured a maximum
sampling frequency of 90.5kHz on each A/D channel. The
maximum sampling frequency of each D/A channel has been
measured to be approximately 145kHz. For communication with
the rest of the control environment, two 100Mbit/s DS\-links
are available. A data transfer rate of 5.57Mbytes/s has been
achieved on each DS\-link adapter. The Raptor forms a part
of a heterogeneous multiprocessor closed\-loop control
environment. This new environment can be used, amongst
others, for controlling heavy robot applications. The work
on this environment takes place in scope of JavaPP (Java
Plug and Play) project. The software will be developed
together with the CJT\-library that provides inherent
object\-orientated and parallel design patterns, according
to CSP paradigm, in Java.
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