METHOD AND DEVICE FOR SYNCHRONIZING SENSORS

Abstract

A method for synchronizing sensors. A ratio of a first data rate of the first sensor to the second data rate of the second sensor is 2.sup.n, where n is an element from the set of natural numbers. A central timer is started. A first countdown timer is generated based on the central timer and the first data rate, and a second countdown timer is generated based on the central timer and the second data rate. The first countdown timer and the second countdown timer are started periodically. The measurement by the first sensor begins at the latest when a first latency equals the value of the first countdown timer, and the measurement by the second sensor begins at the latest when the second latency equals the value of the second countdown timer.

Claims

1-14. (canceled)

15. A method for synchronizing sensors, comprising: (a) determining at least one first latency of a first sensor and a second latency of a second sensor; (b) acquiring at least one first data rate of the first sensor and a second data rate of the second sensor, a ratio of the first data rate to the second data rate being 2.sup.n, where n is an element from the set of natural numbers; (c) starting a central timer; (d) generating a countdown timer as a function of a value of the central timer and of the first data rate, and generating a second countdown timer as a function of the value of the central timer and of the second data rate; (e) providing the first countdown timer for the first sensor and providing the second countdown timer for the second sensor, a measurement by the first sensor beginning at the latest when the first latency equals a value of the first countdown timer, and a measurement by the second sensor beginning at the latest when the second latency equals the value of the second countdown timer; and (f) synchronously outputting a first measured value of the first sensor and a second measured value of the second sensor.

16. The method as recited in claim 15, wherein at least one of: (i) the first latency is determined in method step (a) by measuring the duration from the response by the first sensor until the output of the first measured value, and (ii) the second latency is determined in method step (a) by measuring the duration from the response by the second sensor until the output of the second measured value.

17. The method as recited in claim 14, wherein at least one of: (i) the first latency is determined in method step (a) by ascertaining from a table a duration from a response by the first sensor until the output of the first measured value, as a function of the configuration of the first sensor, and (ii) the second latency is determined in method step (a) by ascertaining from a table a duration from a response by the second sensor until the output of the second measured value, as a function of a configuration of the second sensor.

18. The method as recited in claim 14, wherein the first countdown timer and the second countdown timer are generated in method step (d) by inverting a value of the central timer bit by bit, and utilizing a first number of lower bits for the first countdown timer as a function of the first data rate, and utilizing a second number of lower bits for the second countdown timer as a function of the second data rate.

19. The method as recited in claim 14, wherein at least one of: (i) the first sensor is placed into a sleep mode after the first measured value is output, when the first latency is less than a reciprocal of the first data rate, and (ii) the second sensor is placed into a sleep mode after the second measured value is output, when the second latency is less than a reciprocal of the second data rate.

20. The method as recited in claim 14, wherein at least one of: (i) the first sensor is awakened at the latest when the value of the first countdown timer corresponds to the first latency, and (ii) the second sensor is awakened at the latest when the value of the second countdown timer corresponds to the second latency.

21. The method as recited in claim 14, wherein the first measured value and the second measured value, which are output at the same time, are combined into a data packet, the data packet being provided with a time stamp.

22. The method as recited in claim 21, wherein the data packet is transmitted to a FIFO memory.

23. A device for synchronizing sensors, the sensors including at least one first sensor and a second sensor, the device comprising: a central timer; and a processing unit, wherein the device is configured for determining a first latency of a first sensor and a second latency of a second sensor, and the first sensor being configured for outputting a first measured value and the second sensor being configured for outputting a second measured value in synchronization with one another, and wherein the processing unit is configured to acquire a first data rate of the first sensor and a second data rate of the second sensor, a ratio of the first data rate to the second data rate being 2, where n is an element from the set of natural numbers, start the central timer, generate a first countdown timer as a function of a value of the central timer and of the first data rate, and generate a second countdown timer as a function of the value of the central timer and of the second data rate, and provide the first countdown timer for the first sensor and provide the second countdown timer for the second sensor, the measurement by the first sensor beginning at the latest when the first latency equals a value of the first countdown timer, and the measurement by the second sensor beginning at the latest when the second latency equals the value of the second countdown timer.

24. The device as recited in claim 23, wherein at least one of: (i) one of the first sensor or the processing unit is configured to determine the first latency by measuring a duration from a response by the first sensor until the output of the first measured value, and (ii) one of the second sensor or the processing unit is configured for determining a second latency by measuring a duration from a response by the second sensor until the output of the second measured value.

25. The device as recited in claim 24, wherein at least one of: (i) one of the first sensor or the processing unit is configured to determine the first latency by ascertaining from a table the duration from the response by the first sensor until the output of the first measured value, as a function of a configuration of the first sensor, and (ii) one of the second sensor or the processing unit is configured to determine the second latency by ascertaining from a table the duration from the response by the second sensor until the output of the second measured value, as a function of the configuration of the second sensor.

26. The device as recited in claim 23, wherein at least one of: (i) the first sensor is configured to go into a sleep mode after the first measured value is output, when the first latency is less than a reciprocal of the first data rate, and (ii) the second sensor is configured for going into a sleep mode after the second measured value is output, when the second latency is less than the reciprocal of the second data rate.

27. The device as recited in claim 26, wherein at least one of: (i) the first sensor is configured to be awakened at the latest when the value of the first countdown timer corresponds to the first latency, and (ii) the second sensor is configured to be awakened at the latest when the value of the second countdown timer corresponds to the second latency.

28. The device as recited in claim 23, wherein the device includes a FIFO memory, the processing unit being configured to transmit the first measured value and the second measured value, which are output at the same time, as data packets to the FIFO memory, the data packet being provided with a time stamp.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0031] FIG. 1 shows a first exemplary embodiment of a device according to the present invention.

[0032] FIG. 2 shows a first exemplary embodiment of an operating procedure according to the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

[0033] FIG. 1 shows a first exemplary embodiment of a device according to the present invention. A device 10 that includes a processing unit 20 is illustrated. Processing unit 20 is designed as a microcontroller, for example. Device 10 also includes a first sensor 30 and a second sensor 40, each being bidirectionally connected to processing unit 20. Via this bidirectional connection, sensors 30, 40 may be accessed by processing unit 20 or data may be transmitted to sensors 30, 40, and in addition measured values may be transmitted from sensors 30, 40 to processing unit 20. Furthermore, device 10 includes a central timer 50 which is likewise bidirectionally connected to processing unit 20. Via this bidirectional connection, on the one hand central timer 50 may be started, typically one time, by processing unit 20, and on the other hand a value of central timer 50 may be transmitted to processing unit 20. Central timer 50 is preferably implemented as a simple counter which increments at a predefined frequency. Optionally, the device also includes a FIFO memory 60 which is connected to processing unit 20 in such a way that at least processing unit 20 may transmit data to FIFO memory 60. In addition, FIFO memory 60 may be accessed either by processing unit 20 or externally, which is not depicted.

[0034] In one alternative exemplary embodiment not depicted, first sensor 30 and second sensor 40 are connected to processing unit 20 in such a way that data may be transmitted only from processing unit 20 to sensors 30, 40. In this case, however, first sensor 30 and second sensor 40 include a data line which may be led out of device 10 and externally tapped to be able to acquire the first measured value and the second measured value.

[0035] In another alternative exemplary embodiment not depicted, device 10 may also include any desired number of additional sensors which, the same as first sensor 30 and second sensor 40, are connected to processing unit 20.

[0036] FIG. 2 shows a first exemplary embodiment of an operating procedure according to the present invention. At the start of the method, a first latency of a first sensor 30 and a second latency of a second sensor 40 are determined in a method step a. A latency may be determined, for example, by measuring the time the sensor requires from response by the sensor until output of the measured value. Alternatively, the latency may be determined based on the configuration of the sensor and with the aid of a table. This requires knowledge of which configuration the particular sensor has. Configuration is understood to mean the combination of individual steps of the measuring process of a sensor, for example filtering steps or interpolation computations. The times of each possible step are acquired by measurement or estimation before the method starts; these times are then entered individually into a table, from which the latency is subsequently determined in method step a. It is also possible to mix these alternatives for determining the latency, and thus, for example, to determine the first latency differently than the second latency. In addition, a first data rate of first sensor 30 and a second data rate of second sensor 40 are acquired in a subsequent method step b. The ratio of the first data rate to the second data rate is 2.sup.n, where n is an element from the set of natural numbers N.sub.0, i.e., including the value zero. A central timer 50 which increments and which thus has a temporal value is then started in a method step c. Via central timer 50 it is also possible to carry out an age determination of measured values that are output. A first countdown timer is generated as a function of the value of central timer 50 and of the first data rate, and a second countdown timer is generated as a function of the value of central timer 50 and of the second data rate, in a subsequent method step d. Based on the first countdown timer or the second countdown timer, it may be accurately ascertained how long the first measured value of first sensor 30 or the second measured value of second sensor 40 must be present. Method step d may be implemented, for example, by inverting the value of central timer 50 bit by bit, and setting the upper bits of the inverted counter value to zero as a function of the data rate of the sensor. Thus, for example, central timer 50 may be incremented at a frequency of 25.6 kHz, and for a sensor with a data rate of 800 Hz, the lower 5 bits of the inverted value of the central timer may be taken as the countdown timer, and the remaining bits are operated at zero. In contrast, for a sensor with [a data rate of] 400 Hz, only the lower 4 bits, for example, are taken as the countdown timer. The first countdown timer is provided to first sensor 30, and the second countdown timer is provided to second sensor 40, in a subsequent method step e. First sensor 30 begins measuring at the latest when the value of the first countdown timer corresponds to the first latency. Likewise, second sensor 40 begins measuring at the latest when the value of the second countdown timer corresponds to the second latency. A first measured value of first sensor 30 and a second measured value of second sensor 40 are then output synchronously in a subsequent method step f. Method steps a through f follow one another in succession, although their sequence may also be interchanged in part. Thus, for example, method steps a through c may be arbitrarily interchanged. In addition, method step d may be shifted in such a way that it takes place at least after method steps b and c, but prior to method step e.

[0037] After method step f, first sensor 30 is optionally placed into a sleep mode in a method step g when the first latency is less than the reciprocal of the first data rate, or also second sensor 40 is placed into a sleep mode when the second latency is less than the reciprocal of the second data rate. Due to the condition that the latency is less than the reciprocal of the data rate, it is ensured that the time period between the response by the sensor and the output of a measured value is shorter than the time period between which a measured value of the sensor is to be acquired in each case. Optionally, between method step d and method step e a method step h may also run, in which first sensor 30 is awakened at the latest when the value of the first countdown timer corresponds to the first latency, or also in which second sensor 40 is awakened at the latest when the value of the second countdown timer corresponds to the second latency. It may be necessary to take into account, in addition to the latency, a time period until the sensor is ready to start with a measurement.

[0038] The method is terminated after method step f, or after method step g, if it is carried out. Optionally, the method may be continued, for example, with method step h, or also with method step a.

[0039] In one alternative exemplary embodiment not depicted, after method step f a further method step may take place in which the first measured value and the second measured value are combined into a data packet, the data packet preferably being provided with a time stamp. In a subsequent method step, the data packet may also optionally be transmitted to a FIFO memory 60, which may be externally accessed with the aid of a computer, for example.