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Measurements

Clock Skew Synchronization

Short Term (Startup) Clock Skew Synchronization

ResultSetupDescription
soft1, cap1, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, caps, 20s
soft1, cap1, osc1, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, caps, 5s
soft1, cap0, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, 20s
soft1, cap0, osc1, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, 5s
soft1, cap1, osc2, net2, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, caps, 20s
soft13, cap1, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, pitch 22, caps, 20s
soft2, cap0, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1progressive mean, caps, 20s
soft2, cap0, osc1, net1, mcu1, func[1-4]-1, proAn[1-4]-1progressive mean, caps, 5s
soft2, cap0, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1progressive mean, 20s
soft2, cap0, osc1, net1, mcu1, func[1-4]-1, proAn[1-4]-1progressive mean, 5s
soft3, cap1, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1raw observation, caps, 20s
soft3, cap0, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1raw observation, 20s
soft3, soft4 (particle 4), cap0, osc3, net1, mcu1, func[1-4]-1, proAn[1-4]-1particle 4 having linear regression, raw observation otherwise, 46s
soft4 cap0, osc4, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 98s, probe An. 3 and An. 4 mistakenly swapped
soft18 cap0, osc15, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 50s, pre-filled fifo
soft17 cap0, osc15, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 50s, empty fifo
soft17 cap0, osc16, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 89s, empty fifo
soft19 at address (2-4,1) otherwise soft16, cap0, osc16, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 89s, pre-filled fifo, fifo 40, outlier: 5*sigma
soft19 at address (2-4,1) otherwise soft16, cap0, osc16, net1, mcu1, func[1-4]-1, proAn[1-4]-1linear regression, overshooting, 89s, pre-filled fifo, fifo 40, outlier: 10*sigma
soft5 cap0, osc2, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean without outlier 2sigma, 20s
VideoSetupDescription
sync-method-mean-fifo40-pitch16soft10, mean, fifo 40, pitch 16
sync-method-mean-fifo8-pitch16soft10, mean, fifo 8, pitch 16
sync-method-mean-without-outlier-2sigma-fifo15-pitch16soft10, mean without outlier, 2*σ , fifo 15, pitch 16outlier: values beyond µ+/-f*σ are not considered when averaging
sync-method-mean-without-outlier-2sigma-fifo40-pitch-20soft10, mean without outlier, 2*σ, fifo 40, pitch 20outlier: values beyond µ+/-f*σ are not considered when averaging
sync-method-mean-without-outlier-2sigma-fifo40-pitch16soft10, mean without outlier, 2*σ, fifo 40, pitch 16outlier: values beyond µ+/-f*σ are not considered when averaging
sync-method-mean-without-marked-outlier-2sigma-fifo40-pitch0soft10, mean without marked outlier, 2 sigma, fifo 40, pitch 0marked outlier: marked when value enters the FiFo according to the current values in FiFo
sync-method-progressive-mean-pitch16soft10, progressive mean 50%/50%, pitch 16new = (old + new) / 2
sync-method-raw-observation-no-smoothing-pitch12soft10, no smoothing, pitch 12observed value is new value without any averaging
sync-method-linear-regression-least-square-fifo40-pitch0soft10, linear regression, fifo 40, pitch 0overshooting, outliers get too much weight
time-sync-sync-method-mean-fifo4-in-phase-shifting-pitch16soft10, mean, fifo 4, pitch 16, in phase shiftinglocal time ISR in phase shifting: 1st impl. approach

Long Term Clock Skew Synchronization

ResultSetupDescription
soft1, cap1, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 12, mean, caps, 2s
soft1, cap0, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 12, mean, 2s
soft5, cap0, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 12, mean, outlier 2sigma, 2s
soft6, cap1, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 16, mean, caps, 2s
soft7, cap1, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 20, mean, caps, 2s
soft13, cap1, osc7, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 22, mean, caps, 2s
soft8, cap1, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 24, mean, caps, 2s
soft9, cap1, osc5, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, pitch 28, mean, caps, 2s
soft15 node (1,1) - soft16 otherwise, cap1, osc19, net1, mcu1, func[1-4]-1, proAn[1-4]-1fifo 4, mean, oscillating OSCCAL, caps, 50s

Jitter Measurements

ResultSetupDescription
proAn1-2, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (2,1), pitch 0
proAn1-3, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (3,1), pitch 0
proAn1-4, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (4,1), pitch 0
proAn1-5, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (5,1), pitch 0
proAn1-6, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (6,1), pitch 0
proAn1-7, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (7,1), pitch 0
proAn1-8, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (8,1), pitch 0
proAn1-9, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (9,1), pitch 0
proAn1-10, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (10,1), pitch 0
proAn1-11, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (11,1), pitch 0
proAn1-12, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (12,1), pitch 0
proAn1-12, soft11, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (13,1), , pitch 0, long term
proAn1-2, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (1,1), pitch 18
proAn1-3, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (2,1), pitch 18
proAn1-4, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (3,1), pitch 18
proAn1-5, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (4,1), pitch 18
proAn1-6, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (5,1), pitch 18
proAn1-7, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (6,1), pitch 18
proAn1-8, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (7,1), pitch 18
proAn1-9, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (8,1), pitch 18
proAn1-10, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (9,1), pitch 18
proAn1-11, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (10,1), pitch 18
proAn1-12, soft12, cap1, osc6, net1, mcu1, hist1last time PDU falling edge jitter histogram, node (11,1), pitch 18
proAn1-13, soft12, cap0, osc8, net0, mcu1, hist1RC clock jitter after 40µ, (1x1) network
proAn1-13, soft12, cap1, osc8, net0, mcu1, hist1RC clock jitter after 40µs, (1x1) network, caps
proAn1-13, soft12, cap1, osc8, net1, mcu1, hist1RC clock jitter after 40µs, (1x12) network, caps
proAn1-13, soft17, cap0, osc17, net0, mcu1, hist1RC clock jitter after 40µs, (1x1) network
  • Expected discretization step of particle (12,1): +/- 63.5 * (1/8284000) = +/- 7.665µs
  • A pitch of 20-22 seems reasonable:
    • according package length distribution - 20
    • according trend 22
    • 16 too low, 28 too high

In-Phase Shifting

ResultSetupDescription
soft14, caps1, osc9, proAn[1-4]-14, proDig[4-15-1], net1, mcu1TODO

Actuation

ResultSetupDescription
soft14, caps1, osc11, proAn4-2, net1, mcu2simulataneous heat range command of both wires, Vcc at last particle, particles (7-12,1) crashed due to glitch
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc12, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc13, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line
soft16, caps1, osc13, proDig[4-14]-2, proAn[1-4]-15, net1, mcu2experiment 1: simulataneous heat range command (left wire), switch from Vcc to GND at transmitter's actuator line

Boot Delay Measurement

ResultSetupDescription
soft16, caps0, osc14, proAn[1,2]-16, proDig[1-8]-16, net1, mcu2showing Vcc drop vs. boot delay

Discretization Measurements

ResultSetupDescription
soft16, caps0, osc18, proAn[1-4]-17, net1, mcu2showing discretization as trend, long term measurement with less sync pkg. to omit outlier in measurement

Setup Configurations

Particle Speed (internal RC osc.)

Particle IDApprox. Frequency [MHz]
18.178
28.180
38.191
48.211
58.241
68.254
78.279
88.284
98.386
108.303
118.355
128.382
  • Measurements taken with particles having room temperature.
  • Measured after powered 30sec.
  • Averaged 5sec (~7000 samples).
  • Measurements could be reproduced in a 2nd run.
  • Frequency is voltage dependent; values are understood to be "relative".
  • Vcc approx. 5v, see power supply of setup mcu1.

Order Setup in Measurements

Setup IDNetwork DimensionOrder P.IDAddressDetails
net0(1x1){6}{(1,1)}1st node only
net1(12x1){6, 3, 9, 1, 7, 4, 11, 2, 10, 5, 12, 8}{(1,1), (2,1), (3,1), (4,1), (5,1), (6,1), (7,1), (8,1), (9,1), (10,1), (11,1), (12,1)}order having good discrepancy in between subsequent particles' frequency
net2(12x1){6, 2, 10, 1, 8, 4, 12, 3, 9, 7, 11, 5}{(1,1), (2,1), (3,1), (4,1), (5,1), (6,1), (7,1), (8,1), (9,1), (10,1), (11,1), (12,1)}same as 1 but less discrepancy

Oscilloscope Measurement Notes

Setup IDCapture Duration[Sa/s]TriggerPre-Trigger [s]Time/Div.
osc12.5s - 7.5s5MAn. 1, 3.8v, rising local time ISR5500ms
osc20.7s - 20.7s5MAn. 1, 3.8v, rising local time ISR10.72s
osc31s - 46s2MAn. 1, 3.8v, rising local time ISR215s
osc4- 98s1MAn. 1, 3.8v, rising local time ISR4810s
osc50s - 2s5MAn. 1, 3.8v, rising local time ISR0100ms
osc67.8ms - 7.9ms10GAn. 1, 2.5v, 1st falling edge of transmission~7.87ms10µs
osc7-1s - 1s5MAn. 1, 3.8v, rising local time ISR0200ms
osc839.0µs - 40.1µs20GAn. 1, 2.5v, falling40µ20ns
osc9-50ms - 20ms5MDigital 4, TTL, falling010ms
osc10-25s - 25s2MAn. 1, 3.8v, rising local time ISR05s
osc11-1s - 1s2Mroll mode,-200ms
osc12-100ms - 100ms5MAn. 1, 2.549v, falling020ms
osc13-10ms - 10ms5MAn. 1, 2.549v, falling02ms
osc14-10ms - 40ms20MAn. 1, 2.0V, rising15m5ms
osc15- 49.7s1MAn. 1, 3.8v, rising local time ISR722.8m5s
osc16- 98s1MAn. 1, 3.8v, rising local time ISR010s
osc1740.16µs - 40.26µs20GAn. 1, 2.5v, falling40.165µ10ns
osc18-1s - 1s5MAn. 1, 3.8v, falling0200ms
  • Oscilloscope: Keysight MSO-S 354A Mixed Signal Oscilloscope 2.5GHz 20GSa/s 10-bit ADC infiniium S-Series
Setup IDFile NameProbe SetupNotes
file1all-12-ttclocks-plus-div16.setproDig[1-12] time tracking particle (1-12,1), proDig[13-15] pre-scaled (16) time tracking particle (1-4,1), net1all 12 local time tracking interval plus 4 times with prescaler 16 at particles (1-4,1)
file3fx-trend-20s.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1local time tradking clock frequency trend, highlighting sync. at start, 20 sec., triggers an power on, single shot
file4fx-trend-46s.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1local time tradking clock frequency trend, highlighting sync. at start, 46 sec., triggers an power on, single shot
file5fx-trend-5s.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1local time tradking clock frequency trend, highlighting sync. at start, 5 sec., triggers an power on, single shot
file6fx-trend-98s.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1local time tradking clock frequency trend, highlighting sync. at start, 98 sec, triggers an power on, single shot
file7fx-trend_long-term-2s.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1local time tracking clock freuqency trend, highlighting long term sync., 2sec, triggers consecutive
file8fx-trend.setproAn[1-4] time tracking particle ({1,4,7,12},1), net1
file9jitter-clk-after-40us.setproAn[1-4] CLKOUT ({1,4,7,12},1), net1histrogram showing the cummulated (~8MHz= RC's clock jitter at 40µs after trigger
file10period-16x.setproAn[1-4] CLKOUT ({1,4,7,12},1), net1
file11rx-last-falling-edge-histogram.setproAn1 rx north of particle ({3-12},1), net1highlighting normal distribution of package duration and integer discretization among syncrhonizing particles
file12fx-trend-oscillating-osccal-step1-minmaxoffset8-50s.setproAn[1-4] time tracking particle ({1,4,7,12},1), netlong term sync. with oscillating MCU frequency of particle (1,1), highlichting automatic clock sekew adjustment
file13actuation-range-all-left-net1-caps1-trigger-particle2-left-actuator-2msdiv.setproAn[1-4] left actuator linehighlighting actuation start inaccuracy, 2ms div
file14actuation-range-all-left-net1-caps1-trigger-particle2-left-actuator-20msdiv.setproAn[1-4] left actuator linehighlighting actuation start inaccuracy, 20ms div
file15boot-delay-until-discovery-3x3-network.setproAn[1,3]-16, proDig[1-8]-16showing Vcc of 1st and last particle and discovrey start
file16fx-trend-oscillating-osccal-step1-minmaxoffset8-50s.setproAn[1-4]-1showing clock skew compensation when paticle (1,1) increments/decrements the OSCCAL value until OSCCAL +/- 8
file17fx-trend-98s-least-squares-fitting.setproAn[1-4]-1showing time tracking frequency trend of 98 seconds, setup used for least square fitting
Function Config IDFunction NameActionInput DataColor
func1-1f1trendAnalogue 1beige
func2-1f2trendAnalogue 2green
func3-1f3trendAnalogue 3blue
func4-1f4trendAnalogue 4purple
hist1-histogram max 1280 binsAnalogue 1cyan
Connection IDProbeInput DataCoupling
proAn1-1Analogue 1internal time tracking ISR: Particle 11MΩ, DC
proAn2-1Analogue 2internal time tracking ISR: Particle 41MΩ, DC
proAn3-1Analogue 3internal time tracking ISR: Particle 71MΩ, DC
proAn4-1Analogue 4internal time tracking ISR: Particle 121MΩ, DC
proAn1-2Analogue 1rx north, particle 2, address (2,1)1MΩ, DC
proAn1-3Analogue 1rx north, particle 3, address (3,1)1MΩ, DC
proAn1-4Analogue 1rx north, particle 4, address (4,1)1MΩ, DC
proAn1-5Analogue 1rx north, particle 5, address (5,1)1MΩ, DC
proAn1-6Analogue 1rx north, particle 6, address (6,1)1MΩ, DC
proAn1-7Analogue 1rx north, particle 7, address (7,1)1MΩ, DC
proAn1-8Analogue 1rx north, particle 8, address (8,1)1MΩ, DC
proAn1-9Analogue 1rx north, particle 9, address (9,1)1MΩ, DC
proAn1-10Analogue 1rx north, particle 10, address (10,1)1MΩ, DC
proAn1-11Analogue 1rx north, particle 11, address (11,1)1MΩ, DC
proAn1-12Analogue 1rx north, particle 12, address (12,1)1MΩ, DC
proAn1-13Analogue 1CLK out, particle 1, address (1,1)1MΩ, DC
proAn1-14Analogue 1internal time tracking ISR / 16: Particle 11MΩ, DC
proAn2-14Analogue 2internal time tracking ISR / 16: Particle 41MΩ, DC
proAn3-14Analogue 3internal time tracking ISR / 16: Particle 71MΩ, DC
proAn4-14Analogue 4internal time tracking ISR / 16: Particle 121MΩ, DC
proDig[4-15]-1Digital [4-15]internal time tracking ISR / 16: Particle 1TTL
proAn4-2Analogue 4Vcc at last particle, address (12,1)1MΩ, DC
proDig[4-14]-2Digital [4-14]transmitter before actuator, pulling Vcc to GND; dig. 4 at particle 1, ... dig. 14 at particle 111MΩ, DC
proAn[1-4]-15Analgogue [1-4]transmitter before actuator, pulling Vcc to GND; dig. 4 at particle 1, ... dig. 14 at particle 111MΩ, DC
proAn[1,3]-16Analogue [1,3]Vcc at (1,1) and (3,3) of a (3x3) network1MΩ, DC
proDig[1-8]-16Digital [1-8]RX at node ID [1-8]TTL
proAn[1-4]-17Analogue[1-4]internal time tracking ISR of (1,1),(2,1),(3,1),(4,1)1MΩ, DC

Capacitor Configurations

Setup IDCaps [µF]Configuration
cap0-no additional caps
cap1560each 2nd particle

Software Configuration

Setup IDAveraging Methodoutlier rejectionFiFo Size [Elements]PitchPhase ShiftingOther Configuration
soft1mean-412-baud1, time1
soft2progressive mean (75% of old value + 25 % new value)--12-baud1, time1
soft3raw observation--12-baud1, time1
soft4least square fitting-4012-baud1, time1
soft5mean without outlier2*σ412-baud1, time1
soft6mean-416-baud1, time1
soft7mean-420-baud1, time1
soft8mean-424-baud1, time1
soft9mean-428-baud1, time1
soft10-----baud1, time1
soft11mean-40-baud1, time1
soft12mean-418-baud1, time1
soft13mean-422-baud1, time1
soft14mean-422yes (final impl.)baud1, time1
soft15mean-40 (fixed issue)-baud1, time1, oscillating OSCCAL+/-8, increment on each time PDU having "isNextSyncPackageTimeUpdateRequest" flag set
soft16mean-40 (fixed issue)-baud1, time1
soft17least square fitting-400 (fixed issue)-baud1, time1
soft18least square fitting-40 (pre filled queue)0 (fixed issue)-baud1, time1
soft19least square fitting5*sigma40 (pre filled queue)0 (fixed issue)-baud1, time1
soft20least square fitting10*sigma40 (pre filled queue)0 (fixed issue)-baud1, time1
Setup IDManchester Clock Delay [MCU Cycles]Overtime Limit Short IntervalOvertime Limit Long Interval
baud110240.75 * 10241.25 * 1024
Setup IDLocal Time Tracking Delay [MCU Cycles]
time151 * baud1.ManchesterClockDelay (see baud1)
  • Pitch: Manually added offset to the observed baud rate delay.

Mircocontroller Configuration

Configuration IDDetailsFusesPower Supply
mcu1internal RC 8MHz, clk outFUSES = { .low = (FUSE_SUT_CKSEL0 & FUSE_SUT_CKSEL2 & FUSE_SUT_CKSEL3 & FUSE_SUT_CKSEL4 & FUSE_CKOUT), .high = HFUSE_DEFAULT, .extended = EFUSE_DEFAULT,};pwr1
mcu2internal RC 8MHz, clk outFUSES = { .low = (FUSE_SUT_CKSEL0 & FUSE_SUT_CKSEL2 & FUSE_SUT_CKSEL3 & FUSE_SUT_CKSEL4 & FUSE_CKOUT), .high = HFUSE_DEFAULT, .extended = EFUSE_DEFAULT,};pwr2

Power Supply

Configuratin IDSupplyDetails
pwr1AnkerUSB, max. DC 5V/3A
pwr2BK Precision(R) 15505.1V/3A

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