I
nte
rna
t
io
na
l J
o
urna
l o
f
Rec
o
nfig
ura
ble a
nd
E
m
be
dd
e
d Sy
s
t
e
m
s
(
I
J
R
E
S)
Vo
l.
9
,
No
.
1
,
Ma
r
ch
20
20
,
p
p
.
1
~1
1
I
SS
N
: 2
0
8
9
-
4864
,
DOI
:
1
0
.
1
1
5
9
1
/i
j
r
es.
v
9
.
i1
.
p
p
1
-
11
1
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
es.ia
esco
r
e.
co
m
Filt
eri
ng
a
nd acq
uisitio
n of seria
l
d
a
ta fra
m
es using
x
ilinx
sy
ste
m
gen
erato
r
Adriá
n St
a
cul
F
a
c
u
lt
a
d
d
e
P
o
sg
ra
d
o
,
Un
iv
e
rsid
a
d
T
e
c
n
´
o
lo
g
ica
Na
c
io
n
a
l
(UT
N)
,
A
r
g
e
n
ti
n
a
In
stit
u
t
o
d
e
In
v
e
stig
a
c
io
n
e
s Cien
t
´
ı
f
ica
s
y
T´
e
c
n
ica
s p
a
ra
la De
f
e
n
s
a
(CIT
EDEF
)
,
A
rg
e
n
ti
n
a
E
m
ail:
as
tacu
l
@
cited
e
f
.
g
o
b
.
ar
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
2
7
,
2
0
1
9
R
ev
i
s
ed
Oct
6
,
2
0
1
9
A
cc
ep
ted
No
v
25
,
2
0
1
9
T
h
e
m
a
in
p
u
rp
o
se
o
f
th
is
p
a
p
e
r
is
th
e
d
e
sig
n
,
d
e
v
e
lo
p
m
e
n
t
a
n
d
im
p
le
m
e
n
tatio
n
o
f
a
P
CM
b
it
-
sy
n
c
h
ro
n
ize
r
b
a
se
d
o
n
a
S
y
ste
m
G
e
n
e
ra
to
r
a
n
d
S
im
u
li
n
k
m
o
d
e
l.
T
h
e
e
n
ti
re
sy
ste
m
w
il
l
b
e
a
p
p
li
e
d
to
a
g
ro
u
n
d
st
a
ti
o
n
w
it
h
a
n
a
d
-
h
o
c
tele
m
e
tri
c
d
a
ta
a
c
q
u
isit
io
n
sy
ste
m
to
b
e
a
p
p
li
e
d
in
UA
V
m
o
n
it
o
rin
g
a
n
d
so
u
n
d
in
g
ro
c
k
e
ts.
Ba
se
d
o
n
th
is
in
f
o
rm
a
ti
o
n
,
th
e
g
ro
u
n
d
sta
ti
o
n
w
il
l
c
o
m
p
u
te t
h
e
p
latf
o
rm
traje
c
to
ries
,
v
e
lo
c
it
ies
a
n
d
a
tt
it
u
d
e
s.
K
ey
w
o
r
d
s
:
B
it
-
s
y
n
c
h
r
o
n
izer
F
Gr
o
u
n
d
s
tatio
n
P
C
M
f
r
a
m
e
P
GA
S
y
s
te
m
g
e
n
er
ato
r
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
A
d
r
ián
Stacu
l,
L
ab
o
r
ato
r
io
d
e
T
´
ec
n
ica
s
Dig
i
tales,
I
n
s
tit
u
to
d
e
I
n
v
e
s
ti
g
ac
io
n
e
s
C
i
en
tí
f
icas
y
T
éc
n
icas p
ar
a
la
Def
en
s
a,
San
J
u
a
n
B
au
tis
ta
d
e
L
a
Salle
4397
-
Villa
Ma
r
telli,
B
u
en
o
s
A
ir
e
s
A
r
g
e
n
ti
n
a
.
E
m
ail:
as
tacu
l
@
cited
e
f
.
g
o
b
.
ar
1.
I
NT
RO
D
UCT
I
O
N
Ov
er
t
h
e
p
ast
d
ec
ad
e,
R
&
D
i
n
s
o
u
n
d
i
n
g
-
t
y
p
e
v
ec
to
r
s
an
d
UAVs
(
U
n
m
an
n
ed
A
er
ial
Ve
h
icles)
h
a
s
en
j
o
y
ed
e
x
p
o
n
en
tial
g
r
o
w
t
h
in
s
ev
er
al
d
i
s
cip
li
n
es:
ae
r
o
n
au
t
ical
s
y
s
te
m
s
,
ap
p
lied
m
ec
h
an
ic
s
,
o
n
-
b
o
ar
d
elec
tr
o
n
ics,
g
r
o
u
n
d
s
ta
tio
n
s
,
r
ea
l
-
ti
m
e
s
ig
n
al
p
r
o
ce
s
s
i
n
g
,
et
c.
I
n
th
i
s
w
o
r
k
,
w
e
w
ill
f
o
cu
s
o
n
g
r
o
u
n
d
-
b
ased
s
ig
n
al
p
r
o
ce
s
s
i
n
g
m
eth
o
d
s
t
o
ac
q
u
ir
e
P
C
M
s
i
g
n
a
ls
a
n
d
d
is
tr
ib
u
te
tele
m
etr
ic
in
f
o
r
m
atio
n
to
m
u
lt
ip
le
m
o
n
ito
r
i
n
g
clie
n
ts
[
1
,
2
]
.
B
o
t
h
u
n
m
a
n
n
ed
ae
r
ial
s
y
s
te
m
s
a
n
d
s
o
u
n
d
i
n
g
r
o
ck
ets
r
eq
u
ir
e
a
g
r
o
u
n
d
s
ta
tio
n
f
o
r
th
e
ac
q
u
is
i
tio
n
o
f
tele
m
etr
ic
s
ig
n
a
ls
an
d
r
ea
l
ti
m
e
d
ata
p
r
o
c
ess
i
n
g
w
h
et
h
er
f
o
r
th
e
co
n
tr
o
l
an
d
m
o
n
ito
r
in
g
o
f
th
e
m
is
s
io
n
o
r
f
o
r
th
e
ev
al
u
atio
n
o
f
th
e
d
i
f
f
er
e
n
t
s
cie
n
tif
ic
e
x
p
er
i
m
e
n
ts
i
n
s
talled
o
n
th
e
p
lat
f
o
r
m
[
3
]
.
T
h
e
d
esig
n
o
f
a
n
ac
q
u
i
s
itio
n
s
y
s
te
m
in
a
g
r
o
u
n
d
s
tat
io
n
is
a
co
m
p
le
x
tas
k
s
in
ce
it
in
v
o
l
v
es
r
ec
eiv
i
n
g
d
ata
a
n
d
s
en
d
i
n
g
it
to
t
h
e
p
r
o
ce
s
s
i
n
g
s
y
s
te
m
s
s
o
th
at
e
v
er
y
t
h
i
n
g
o
p
er
ates
i
n
r
ea
l
t
i
m
e.
A
t
th
e
s
a
m
e
t
i
m
e,
o
n
-
b
o
ar
d
elec
tr
o
n
ic
s
y
s
te
m
s
ar
e
in
cr
e
asin
g
l
y
f
aster
a
n
d
ea
s
il
y
ad
ap
tab
le
to
th
e
r
eq
u
ir
e
m
e
n
ts
o
f
th
e
e
x
p
er
i
m
e
n
t.
As
a
co
n
s
eq
u
e
n
ce
,
th
e
d
ata
ac
q
u
is
itio
n
s
y
s
te
m
ch
a
n
g
es
c
o
n
s
ta
n
tl
y
w
i
th
e
v
er
y
r
ed
esi
g
n
o
f
th
e
p
lat
f
o
r
m
.
T
h
e
ai
m
o
f
t
h
is
w
o
r
k
is
to
o
b
tain
a
lo
w
-
c
o
s
t
d
ata
ac
q
u
i
s
itio
n
s
y
s
te
m
t
h
at
allo
w
s
t
h
e
r
ec
ep
tio
n
o
f
h
ig
h
-
s
p
ee
d
P
C
M
f
r
a
m
e
s
to
d
ec
o
m
m
u
te
a
ll
o
f
t
h
e
ch
a
n
n
els
w
i
th
t
h
e
p
h
y
s
ical
m
a
g
n
i
tu
d
es
w
i
th
in
t
h
e
P
C
M
f
r
a
m
e
s
[
4
]
.
T
h
e
m
o
d
u
le
d
ev
elo
p
ed
d
r
a
w
s
o
n
th
e
p
r
o
g
r
ess
o
f
d
if
f
er
en
t
m
et
h
o
d
s
f
o
r
th
e
s
y
n
c
h
r
o
n
izati
o
n
o
f
f
r
a
m
e
h
ea
d
er
s
an
d
d
ata
d
ec
o
m
m
u
ti
n
g
in
t
h
e
g
r
o
u
n
d
ac
q
u
is
itio
n
s
y
s
te
m
,
wh
ich
w
ill
p
er
f
o
r
m
th
e
in
f
o
r
m
a
tio
n
p
r
o
ce
s
s
in
g
ta
s
k
in
r
ea
l
ti
m
e
[
5
]
.
I
n
p
ar
ticu
la
r
,
th
is
P
C
M
m
o
d
u
le
w
a
s
b
u
ilt
to
b
e
u
s
ed
i
n
at
m
o
s
p
h
er
ic
s
o
u
n
d
in
g
v
ec
to
r
ev
alu
a
tio
n
s
b
y
th
e
I
n
s
ti
tu
te
o
f
Scien
ti
fic
an
d
T
ec
h
n
ical
R
ese
ar
ch
f
o
r
Def
e
n
s
e
o
f
A
r
g
e
n
ti
n
a
(
C
I
T
E
DE
F).
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
2
0
:
1
–
11
2
So
m
e
o
f
th
e
fi
r
s
t
b
it
-
s
y
n
ch
r
o
n
izer
s
s
y
s
te
m
s
w
as
b
ased
o
n
th
e
g
en
er
atio
n
o
f
s
p
ec
tr
al
li
n
e
co
m
p
o
n
en
t
s
b
y
n
o
n
lin
ea
r
filt
er
i
n
g
o
f
t
h
e
r
e
ce
iv
ed
b
it
s
tr
ea
m
,
a
n
d
ex
tr
ac
ti
n
g
th
e
lin
e
b
y
a
d
i
g
ital
p
h
ase
-
lo
ck
ed
lo
o
p
(
P
L
L
)
an
d
d
ata
d
etec
tio
n
w
as
r
ea
l
ize
d
b
y
a
d
i
g
ital
m
atc
h
ed
fi
lter
(
DM
F)
[
6
]
.
T
h
e
i
m
p
le
m
en
tatio
n
o
f
t
h
ese
m
o
d
u
les
ev
o
lv
ed
o
v
er
ti
m
e
w
ith
t
h
e
n
ee
d
o
f
s
p
ee
d
f
r
o
m
t
h
e
u
til
iza
tio
n
o
f
T
T
L
g
ates,
t
h
en
u
s
i
n
g
m
icr
o
co
n
tr
o
ller
s
,
C
P
L
Ds
an
d
c
u
r
r
en
tl
y
u
s
i
n
g
a
co
m
b
in
atio
n
o
f
An
alo
g
-
Dig
i
tal
co
n
v
er
ter
s
(
A
DC
)
[
7
]
an
d
FP
GA
d
e
v
ices
to
p
er
f
o
r
m
s
i
g
n
al
p
r
o
ce
s
s
i
n
g
a
n
d
d
ata
an
al
y
s
is
ap
p
lied
f
o
r
i.e
.
to
co
m
p
lex
n
av
ig
at
io
n
alg
o
r
it
h
m
s
[
8
]
.
T
h
e
m
o
ti
v
atio
n
o
f
t
h
i
s
w
o
r
k
w
a
s
to
ex
clu
d
e
th
e
ADC
s
to
b
e
ab
le
to
u
s
e
o
n
l
y
lo
w
-
co
s
t
FP
GAs
an
d
to
p
er
f
o
r
m
an
a
n
al
y
s
is
o
f
t
h
e
p
r
o
cu
r
e
m
en
t
b
eh
av
io
r
an
d
as
s
o
ciate
s
b
y
b
u
ild
in
g
ar
r
a
y
s
o
f
d
ata
to
i
m
a
g
es.
T
h
e
P
C
M
s
i
g
n
a
l
in
p
u
t
is
s
t
ill a
n
alo
g
a
n
d
e
n
ter
t
o
a
d
ig
ita
l
-
i
n
p
u
t o
f
FP
G
A
.
T
h
i
s
m
o
d
el
co
n
v
er
ts
d
ir
ec
tl
y
th
e
n
o
is
y
a
n
alo
g
s
i
g
n
al
to
a
Di
g
ital
P
C
M
(
DP
C
M)
,
p
er
f
o
r
m
a
b
it
-
s
y
n
ch
r
o
n
izatio
n
a
n
d
s
e
n
d
t
h
e
d
ata
to
a
P
C
t
h
r
o
u
g
h
an
USB
co
n
n
ec
tio
n
[
9
,
1
0
]
.
On
t
h
e
o
t
h
er
h
a
n
d
,
t
h
e
co
s
t
f
ac
to
r
o
f
t
r
ad
em
ar
k
p
r
o
d
u
cts
w
a
s
a
n
al
y
ze
d
.
A
ll
th
e
s
e
ar
e
licen
ce
d
s
o
f
t
w
ar
e,
an
d
ar
e
v
er
y
ex
p
e
n
s
i
v
e,
a
n
d
v
er
y
d
iffi
c
u
l
t
to
ad
ap
t
to
s
cien
ti
fic
d
esi
g
n
s
an
d
d
ev
elo
p
m
e
n
ts
w
h
er
e
ch
a
n
g
e
s
ar
e
p
er
m
a
n
e
n
t.
T
h
is
m
o
d
u
le
d
ev
elo
p
ed
is
v
er
y
lo
w
co
s
t.
2.
DE
S
I
G
N
I
n
o
r
d
er
to
ac
h
iev
e
P
C
M
s
ig
n
al
r
eg
en
er
at
io
n
,
it
is
n
ec
es
s
ar
y
to
fi
lter
an
d
o
b
s
er
v
e
th
e
p
er
m
a
n
e
n
t
r
eg
i
m
e
s
tate
o
f
th
e
s
ig
n
al.
T
h
e
lev
el
(
ze
r
o
o
r
o
n
e)
at
th
e
m
id
p
o
in
t
o
f
ea
ch
b
it
is
m
a
i
n
tai
n
e
d
d
esp
ite
th
e
n
o
is
e.
Fig
u
r
e
1
s
h
o
w
s
th
e
d
iffer
en
c
e
b
etw
ee
n
th
e
o
r
ig
i
n
al
tr
an
s
m
itted
s
i
g
n
a
l
an
d
th
e
r
ec
eiv
e
d
s
ig
n
al
(
n
o
te
th
at
th
e
latter
is
b
an
d
-
li
m
ited
,
s
o
th
e
ab
r
u
p
t
fl
a
n
k
s
n
o
lo
n
g
er
ex
is
t)
.
T
h
e
co
m
p
le
te
m
o
d
el
(
Fi
g
u
r
e
2
)
s
h
o
w
s
t
w
o
in
s
ta
n
ce
s
o
f
t
h
e
ac
q
u
is
it
io
n
s
y
s
te
m
:
fi
r
s
t,
t
h
e
filt
er
i
n
g
m
o
d
el
(
w
h
er
e
y
o
u
e
n
ter
a
n
id
ea
l
P
C
M
f
r
a
m
e
w
it
h
n
o
is
e
ad
d
ed
)
an
d
s
ec
o
n
d
,
th
e
ac
q
u
is
i
tio
n
m
o
d
el
(
in
c
h
ar
g
e
o
f
t
h
e
s
y
n
ch
r
o
n
izatio
n
)
.
(
a)
(
b
)
Fig
u
r
e
1
.
(
a)
Or
ig
in
al
s
i
g
n
al
tr
an
s
m
itted
a
n
d
(
b
)
R
ec
eiv
ed
s
i
g
n
al
r
ed
u
ce
d
i
n
b
an
d
w
id
th
w
/
ad
d
itio
n
al
n
o
is
e
Fig
u
r
e
2
.
C
o
m
p
lete
P
C
M
m
o
d
el
w
it
h
ad
d
ed
n
o
is
e,
fi
lter
i
n
g
a
n
d
P
C
M
ac
q
u
is
itio
n
3.
DE
V
E
L
O
P
M
E
NT
T
h
e
m
o
d
el
w
it
h
S
y
s
te
m
Gen
er
ato
r
[
1
1
]
p
r
o
v
id
es
a
h
ig
h
l
ev
el
to
o
l
f
o
r
th
e
d
ev
elo
p
m
e
n
t
o
f
h
ig
h
p
er
f
o
r
m
a
n
ce
s
y
s
te
m
s
u
s
i
n
g
X
ilin
x
d
ev
ice
s
w
it
h
FP
G
A
tec
h
n
o
lo
g
y
,
a
n
d
th
u
s
d
e
fi
n
e
s
an
d
ch
ar
ac
ter
izes
lo
g
ic
cir
cu
its
to
f
u
l
fill
a
s
p
ec
i
fi
c
f
u
n
ctio
n
.
T
h
e
m
ai
n
d
iffer
e
n
ce
b
et
w
ee
n
a
n
y
HD
L
a
n
d
th
e
r
e
s
t
o
f
t
h
e
p
r
o
g
r
a
m
m
i
n
g
lan
g
u
a
g
es
i
s
t
h
at
t
h
e
d
escr
ip
tio
n
lan
g
u
a
g
e
s
ar
e
s
y
n
t
h
esized
,
n
o
t
co
m
p
iled
o
r
ex
ec
u
ted
li
k
e
an
y
o
t
h
er
p
r
o
g
r
a
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
F
ilter
in
g
a
n
d
a
c
q
u
is
itio
n
o
f se
r
ia
l d
a
ta
fr
a
mes u
s
in
g
xilin
x
s
ystem
g
en
era
to
r
(
A
d
r
iá
n
S
ta
cu
l
)
3
T
h
is
is
d
u
e
to
th
e
f
ac
t
t
h
at
p
r
o
g
r
am
m
i
n
g
lan
g
u
ag
e
s
ar
e
d
efin
ed
as
p
r
o
ce
d
u
r
es.
I
n
s
t
ea
d
,
th
e
h
ar
d
w
ar
e
d
escr
ip
tio
n
i
s
b
ased
o
n
t
h
e
d
efin
itio
n
o
f
b
eh
a
v
io
r
s
ac
co
r
d
in
g
to
t
h
e
i
n
p
u
t
s
an
d
t
h
e
d
esire
d
p
r
o
ce
s
s
in
g
co
n
cu
r
r
en
tl
y
[
1
2
]
.
Du
r
in
g
t
h
e
s
y
n
t
h
esi
s
,
th
e
i
n
ter
co
n
n
ec
tio
n
o
f
th
e
a
v
ailab
le
r
eso
u
r
ce
s
in
t
h
e
FP
G
A
is
d
e
fin
ed
s
o
th
e
y
b
eh
a
v
e
in
th
e
w
a
y
d
es
cr
ib
ed
.
I
t
is
p
ar
t
o
f
th
e
w
o
r
k
o
f
th
e
d
ev
elo
p
m
e
n
t
to
o
ls
to
ca
r
r
y
o
u
t
t
h
e
n
ec
es
s
ar
y
o
p
tim
izatio
n
to
ta
k
e
les
s
r
eso
u
r
ce
s
o
r
f
o
r
th
e
b
lo
ck
to
o
p
er
ate
at
h
i
g
h
er
f
r
eq
u
e
n
cies.
T
h
e
S
y
s
te
m
Gen
er
ato
r
au
to
m
at
icall
y
tr
a
n
s
la
tes
t
h
e
b
lo
ck
d
ev
elo
p
m
e
n
t
o
f
a
Si
m
u
l
in
k
[
1
3
]
m
o
d
el
in
to
HD
L
b
y
o
p
tim
iz
in
g
FP
G
A
ti
m
i
n
g
an
d
ar
ea
r
eq
u
ir
e
m
e
n
ts
,
an
d
also
g
e
n
er
ates
t
h
e
fin
al
b
in
ar
y
file
[
1
4
]
.
T
h
e
i
m
p
le
m
e
n
tatio
n
i
n
h
ar
d
w
ar
e
w
a
s
p
er
f
o
r
m
ed
o
n
th
e
3
P
X1
d
ev
elo
p
m
e
n
t
k
it
m
a
n
u
f
ac
t
u
r
ed
b
y
E
m
tec
h
[
1
5
]
,
w
i
th
a
Sp
ar
tan
-
6
FP
G
A
(
XC
6
SLX2
5
[
1
6
]
)
.
T
h
is
b
o
ar
d
m
ee
ts
t
h
e
b
asic
n
ee
d
s
to
in
i
tiate
th
e
d
e
v
elo
p
m
e
n
t
a
n
d
p
r
o
to
t
y
p
in
g
o
f
s
p
ec
i
fi
c
s
y
s
te
m
ap
p
licatio
n
s
w
it
h
FP
GA
tec
h
n
o
lo
g
y
.
T
h
e
b
o
ar
d
also
in
cl
u
d
es
a
fl
as
h
m
e
m
o
r
y
w
h
er
e
to
s
to
r
e
th
e
fi
r
m
w
ar
e,
p
u
s
h
-
b
u
tto
n
s
to
u
s
e
a
s
i
n
p
u
ts
a
n
d
L
E
D
s
to
u
s
e
as
s
tat
u
s
in
d
icato
r
s
.
I
t
w
as
m
o
u
n
ted
o
n
a
n
o
p
e
n
ca
b
in
et
m
ad
e
o
f
ac
r
y
lic
to
g
i
v
e
g
r
ea
ter
r
ig
id
it
y
to
th
e
b
o
ar
d
,
also
to
b
e
a
b
le
to
u
n
i
f
y
it
as
a
s
in
g
le
m
o
d
u
le
w
ith
B
NC
co
n
n
ec
to
r
s
f
o
r
co
n
n
e
ctio
n
an
d
d
is
co
n
n
ec
t
io
n
w
it
h
o
u
t
co
m
p
r
o
m
i
s
i
n
g
t
h
e
FP
GA
d
ev
ice.
T
h
r
ee
co
n
n
ec
to
r
s
w
er
e
p
lace
d
o
n
t
h
e
f
r
o
n
t p
an
el,
t
w
o
w
ith
th
e
P
C
M
T
r
an
s
m
itter
o
u
tp
u
ts
(
d
ata
a
n
d
clo
ck
)
an
d
a
t
h
ir
d
co
n
n
ec
to
r
w
ith
t
h
e
i
n
p
u
t
to
th
e
ac
q
u
ir
in
g
s
y
s
te
m
,
Fi
g
u
r
e
3
.
T
h
e
h
ar
d
w
ar
e
d
esi
g
n
f
o
r
th
e
FP
GA
w
a
s
p
er
f
o
r
m
ed
u
s
in
g
M
A
T
L
A
B
[
1
7
]
in
co
n
j
u
n
ctio
n
w
it
h
t
h
e
S
y
s
te
m
Ge
n
er
ato
r
,
a
to
o
l p
r
o
v
id
ed
b
y
Xili
n
x
t
o
w
o
r
k
in
t
h
at
e
n
v
ir
o
n
m
en
t.
T
h
e
MA
T
L
A
B
-
C
o
d
e
w
as
u
s
ed
to
i
m
p
le
m
e
n
t
th
e
M
A
T
L
A
B
lan
g
u
a
g
e
d
ir
ec
tl
y
o
n
an
FP
G
A
,
eli
m
in
ati
n
g
th
e
n
ee
d
to
p
r
o
g
r
am
u
n
d
er
VHDL
o
r
Ver
ilo
g
.
Fig
u
r
e
3
.
I
m
p
le
m
e
n
tatio
n
i
n
t
h
e
FP
GA
d
ev
elo
p
m
e
n
t
k
it
3
.
1
.
P
CM
f
ilte
ring
T
o
g
en
er
ate
a
r
ea
lis
tic
s
ce
n
ar
io
,
w
e
ad
d
A
d
d
itiv
e
W
h
it
e
Gau
s
s
ian
n
o
is
e
(
A
W
GN)
t
o
an
id
ea
l
P
C
M
s
ig
n
a
l.
T
h
er
m
al
n
o
i
s
e
in
an
id
ea
l
r
esis
to
r
is
ap
p
r
o
x
i
m
atel
y
w
h
ite,
m
ea
n
i
n
g
th
at
t
h
e
p
o
w
er
s
p
ec
tr
al
d
en
s
it
y
is
n
ea
r
l
y
co
n
s
ta
n
t
t
h
r
o
u
g
h
o
u
t
t
h
e
f
r
eq
u
e
n
c
y
s
p
ec
tr
u
m
(
h
o
w
e
v
er
s
ee
t
h
e
s
ec
tio
n
b
elo
w
o
n
e
x
tr
e
m
el
y
h
ig
h
f
r
eq
u
e
n
cies)
.
W
h
e
n
li
m
ited
to
a
fin
ite
b
a
n
d
w
id
th
,
t
h
er
m
al
n
o
is
e
h
as
a
n
ea
r
l
y
Gau
s
s
ia
n
a
m
p
li
tu
d
e
d
is
tr
ib
u
tio
n
[
1
8
]
.
T
h
is
d
esig
n
s
u
p
p
o
r
ts
cr
itical
co
n
d
itio
n
s
wh
er
e
SN
R
co
u
ld
e
x
ce
ed
-
3
d
B
(
5
0
%
o
f
th
e
s
ig
n
al
lev
el)
.
T
o
ac
h
iev
e
th
i
s
,
w
e
p
er
f
o
r
m
a
s
p
ec
ifi
c
co
n
fig
u
r
ati
o
n
o
f
th
e
“
No
i
s
e
g
e
n
er
ato
r
”
b
lo
ck
an
d
p
er
f
o
r
m
th
e
n
o
i
s
e
m
ea
s
u
r
e
m
e
n
t u
s
in
g
t
h
e
(
1
)
.
SN
R
=
S
i
g
n
al
N
o
i
s
e
=
|
RMS
V
al
ue
of
PC
M
d
at
a
RMS
V
al
u
e
of
N
o
i
s
e
g
en
er
at
ed
|
(
1
)
T
h
e
SNR
m
ea
s
u
r
e
m
e
n
t
m
o
d
el
ca
n
b
e
s
ee
n
in
Fig
u
r
e
4
an
d
t
h
e
r
esu
lt
s
g
i
v
e
a
v
alu
e
o
f
ap
p
r
o
x
i
m
ate
l
y
0
.
6
(
-
2
.
2
d
B
)
,
ie
th
e
SNR
in
th
is
ca
s
e
is
s
et
to
b
e
-
2
.
2
d
B
(
6
0
%
o
f
th
e
s
i
g
n
al
le
v
el)
,
w
h
er
e
b
y
t
h
e
co
n
d
i
tio
n
is
co
m
p
lete
l
y
s
ec
u
r
ed
(
Fig
u
r
e
5
)
.
T
h
is
m
e
n
tio
n
ed
m
o
d
el
to
p
er
f
o
r
m
a
SN
R
m
ea
s
u
r
e
m
e
n
t
h
a
s
th
e
p
ar
ticu
lar
it
y
o
f
d
o
in
g
it
in
r
ea
l
ti
m
e,
w
h
ic
h
is
ad
v
an
ta
g
eo
u
s
to
test
d
iffer
en
t
s
i
m
u
latio
n
s
ce
n
ar
io
s
w
it
h
d
iffer
en
t
t
y
p
es
o
f
f
r
a
m
e
s
a
n
d
ti
m
es.
T
h
is
P
C
M
fi
lter
s
u
b
-
s
y
s
te
m
i
m
p
le
m
en
ts
a
C
I
C
fi
l
ter
(
C
ascad
ed
I
n
teg
r
ato
r
-
C
o
m
b
)
.
I
m
p
le
m
e
n
tatio
n
s
o
f
C
I
C
fi
lter
s
h
a
v
e
s
tr
u
ct
u
r
es
t
h
at
u
s
e
o
n
l
y
ad
d
er
s
,
s
u
b
tr
ac
ter
s
,
an
d
d
el
a
y
ele
m
e
n
t
s
.
T
h
ese
s
tr
u
ct
u
r
es
m
ak
e
C
I
C
fi
l
ter
s
ap
p
ea
lin
g
f
o
r
th
eir
h
ar
d
w
ar
e
-
effi
cien
t
i
m
p
le
m
e
n
tat
io
n
s
o
f
m
u
lt
ir
ate
fi
l
ter
in
g
[
1
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
2
0
:
1
–
11
4
I
n
S
y
s
te
m
Gen
er
ato
r
,
t
h
e
C
I
C
fi
lter
b
lo
ck
h
a
s
a
s
i
n
g
le
i
n
p
u
t
p
o
r
t
an
d
a
s
i
n
g
le
o
u
tp
u
t
p
o
r
t,
x
n
a
n
d
y
n
,
M
is
th
e
d
iffer
en
tial
d
ela
y
.
I
n
th
e
d
ec
im
ato
r
co
n
fig
u
r
atio
n
,
th
e
s
a
m
p
lin
g
r
ate
is
r
ed
u
ce
d
b
y
a
f
ac
to
r
o
f
R
,
s
u
b
-
s
a
m
p
lin
g
t
h
e
o
u
tp
u
t
o
f
t
h
e
last
s
tag
e
o
f
t
h
e
in
te
g
r
ato
r
[
2
0
]
.
A
s
ca
n
b
e
s
ee
n
in
Fi
g
u
r
e
6
,
th
e
i
m
p
le
m
e
n
ted
m
o
d
el
is
a
1
0
s
tep
C
I
C
fi
lter
t
h
at,
d
esp
ite
co
n
s
u
m
i
n
g
m
a
n
y
r
eso
u
r
ce
s
a
n
d
a
lar
g
e
ar
ea
o
f
t
h
e
FP
G
A
,
e
n
s
u
r
es
a
g
o
o
d
fi
lter
i
n
g
th
a
t
m
ee
ts
t
h
e
h
i
g
h
le
v
el
o
f
r
eq
u
ir
e
m
e
n
t
i
n
t
h
e
d
esig
n
.
O
n
t
h
e
o
th
er
h
a
n
d
,
w
e
m
u
s
t
en
s
u
r
e
th
at
th
e
w
id
th
o
f
ea
ch
b
it
i
s
k
ep
t
eq
u
al
to
th
e
o
u
t
p
u
t
o
f
t
h
e
filt
er
co
m
p
ar
ed
to
it
s
o
r
i
g
in
al
id
ea
l,
s
o
w
e
ad
ap
t
a
fi
lter
2
5
:1
,
w
h
ic
h
g
en
er
ate
s
6
8
-
b
it
d
ata
at
t
h
e
e
n
d
o
f
t
h
e
C
I
C
filt
er
[
2
1
]
.
T
h
ese
last
d
ata
ar
e
co
m
p
ar
ed
to
a
co
n
s
tan
t
to
g
e
n
er
ate
a
d
ig
ita
l
p
u
ls
e
at
t
h
e
o
u
tp
u
t
o
f
t
h
e
s
u
b
s
y
s
te
m
.
I
t
w
as
d
eter
m
i
n
ed
,
b
y
m
u
lt
ip
le
test
s
a
n
d
s
i
m
u
lat
io
n
s
,
th
at
th
e
ap
p
r
o
p
r
i
ate
v
al
u
e
o
f
t
h
e
co
n
s
tan
t
is
s
e
t
to
5
.
1
0
1
9
(
g
iv
es
a
lar
g
e
v
a
lu
e
d
u
e
to
s
u
cc
es
s
i
v
e
m
u
ltip
licatio
n
s
p
er
in
p
u
t
s
a
m
p
le)
.
Fig
u
r
e
7
s
h
o
w
s
R
e
s
u
lts
o
f
P
C
M
d
ata
filt
er
in
g
.
Firs
t
c
h
an
n
el:
P
C
M
Da
ta
w
/
n
o
is
e,
Seco
n
d
c
h
a
n
n
e
l:
C
I
C
O
u
tp
u
t,
T
h
ir
d
ch
a
n
n
el:
Fil
t
er
in
g
o
u
tp
u
t
.
F
ig
u
r
e
8
s
h
o
w
s
h
o
w
t
h
e
filt
er
i
n
g
i
s
d
o
n
e
co
r
r
ec
tly
i
n
a
P
C
M
d
ata
s
ig
n
al.
Fig
u
r
e
4
.
Mo
d
el
to
m
ea
s
u
r
e
S
NR
Fig
u
r
e
5
.
R
esu
lts
o
f
SNR
i
n
P
C
M
d
ata
w
ith
n
o
is
e
ad
d
ed
Fig
u
r
e
6
.
I
m
p
le
m
e
n
tatio
n
o
f
P
C
M
d
ata
fi
lter
in
g
w
it
h
C
I
C
fi
lt
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
F
ilter
in
g
a
n
d
a
c
q
u
is
itio
n
o
f se
r
ia
l d
a
ta
fr
a
mes u
s
in
g
xilin
x
s
ystem
g
en
era
to
r
(
A
d
r
iá
n
S
ta
cu
l
)
5
Fig
u
r
e
7
.
R
esu
lts
o
f
P
C
M
d
ata
fi
lter
i
n
g
;
f
ir
s
t
ch
a
n
n
el:
P
C
M
d
ata
w
/
n
o
is
e,
s
ec
o
n
d
ch
a
n
n
el:
C
I
C
o
u
tp
u
t
,
th
ir
d
ch
a
n
n
el
:
f
il
ter
in
g
o
u
tp
u
t
Fig
u
r
e
8
.
P
C
M
ac
q
u
is
itio
n
m
o
d
el
3
.
2
.
P
CM
a
cquis
it
io
n
I
n
o
r
d
er
to
p
r
o
ce
s
s
th
e
P
C
M
in
co
m
i
n
g
d
ata,
it
is
i
m
p
o
r
tan
t
to
fi
r
s
t
d
eter
m
i
n
e
t
h
e
s
tar
t
a
n
d
en
d
o
f
ea
ch
p
ac
k
et.
Si
n
ce
f
r
o
m
t
h
e
p
o
in
t
o
f
v
ie
w
o
f
th
e
en
tr
y
t
h
er
e
is
n
o
d
is
ti
n
ctio
n
,
th
e
d
ata
en
tr
y
i
s
co
n
ti
n
u
o
u
s
an
d
as
y
n
ch
r
o
n
o
u
s
.
T
h
e
d
ev
elo
p
m
en
t
c
h
alle
n
g
e
is
to
b
e
ab
le
to
d
etec
t
th
e
b
e
g
in
n
i
n
g
o
f
ea
c
h
p
ac
k
ag
e,
a
p
atter
n
r
ec
o
g
n
itio
n
o
r
s
y
n
c
w
o
r
d
d
etec
tio
n
,
to
r
eg
en
er
ate
t
h
e
d
ata
s
y
n
ch
r
o
n
o
u
s
l
y
f
o
r
f
u
r
t
h
er
p
r
o
ce
s
s
i
n
g
.
3
.
2
.
1
.
Clo
ck
-
Sy
nc
T
h
e
alg
o
r
ith
m
d
e
v
elo
p
ed
f
o
r
th
e
r
e
-
s
y
n
c
h
r
o
n
izatio
n
b
lo
ck
i
s
b
ased
o
n
th
e
r
is
i
n
g
ed
g
e
d
etec
tio
n
o
f
P
C
M
d
ata
in
p
u
t.
T
h
is
s
u
b
-
s
y
s
te
m
(
Fi
g
u
r
e
9
)
p
e
r
f
o
r
m
s
a
fi
r
s
t
P
C
M
clo
ck
r
e
-
g
e
n
er
atio
n
co
n
ti
n
u
o
u
s
l
y
a
n
d
s
y
n
ch
r
o
n
izes a
u
to
m
at
icall
y
wh
en
a
r
is
i
n
g
ed
g
e
is
d
etec
ted
i
n
th
e
i
n
co
m
in
g
s
i
g
n
al.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
2
0
:
1
–
11
6
Fig
u
r
e
9
.
R
esu
lts
o
f
P
C
M
clo
c
k
-
s
y
n
c
;
f
ir
s
t
c
h
a
n
n
el
: P
C
M
d
ata
in
p
u
t,
s
ec
o
n
d
ch
a
n
n
el
:
r
is
i
n
g
ed
g
e
s
y
n
c,
th
ir
d
ch
a
n
n
el:
clo
ck
s
y
n
ch
r
o
n
ized
3
.
2
.
2
.
ReSy
nc
T
h
e
R
eS
y
n
c
s
u
b
s
y
s
te
m
p
er
f
o
r
m
s
a
p
atter
n
r
ec
o
g
n
it
io
n
o
f
th
e
s
y
n
c
-
w
o
r
d
to
lo
ck
th
e
in
co
m
i
n
g
s
i
g
n
a
l
an
d
r
e
-
s
y
n
ch
r
o
n
ize
it
w
it
h
t
h
e
clo
ck
.
T
o
ac
h
iev
e
t
h
i
s
,
t
w
o
t
an
d
e
m
b
lo
c
k
s
ar
e
u
s
ed
.
T
h
e
first
o
n
e
h
as
a
fin
ite
s
tate
m
ac
h
in
e
an
d
a
s
h
i
f
t r
e
g
is
ter
,
to
fi
n
d
th
e
s
y
n
c
-
w
o
r
d
b
it b
y
b
it (
p
er
f
o
r
m
s
a
b
it
-
s
y
n
c)
.
T
h
e
s
ec
o
n
d
g
e
n
er
ates
ad
d
itio
n
al
s
i
g
n
al
s
to
o
th
er
b
lo
ck
s
.
T
h
e
r
esu
lts
o
f
th
e
s
i
m
u
lat
io
n
ca
n
b
e
s
ee
n
i
n
Fi
g
u
r
e
1
0
.
I
n
th
e
la
s
t
c
h
an
n
el,
w
e
ca
n
s
ee
th
e
i
n
co
m
in
g
P
C
M
d
ata
s
ig
n
a
l
in
t
h
e
s
u
b
s
y
s
t
e
m
,
an
d
w
h
e
n
t
h
e
fi
r
s
t
r
is
i
n
g
ed
g
e
is
d
etec
ted
,
th
e
clo
ck
i
s
r
e
-
s
y
n
ch
ed
,
an
d
a
v
alid
f
r
a
m
e
fl
a
g
is
ac
ti
v
ated
,
in
d
icati
n
g
a
p
o
s
s
ib
le
tr
u
e
P
C
M
f
r
a
m
e.
Fro
m
th
a
t
m
o
m
e
n
t,
a
n
al
g
o
r
ith
m
s
tar
ts
t
o
r
ec
o
g
n
ize
t
h
e
s
y
n
c
-
w
o
r
d
co
n
fig
u
r
ated
(
p
er
f
o
r
m
ed
b
y
a
b
lo
ck
w
h
ic
h
i
s
ca
lle
d
lo
ck
)
.
Fi
g
u
r
e
1
0
s
h
o
w
s
h
o
w
a
f
ter
1
6
b
its
,
t
h
e
o
u
tp
u
t
is
tr
u
e
i
n
d
icatin
g
th
a
t
t
h
e
s
u
b
-
s
y
s
te
m
f
o
u
n
d
a
v
alid
s
y
n
c
-
w
o
r
d
.
I
n
th
is
ca
s
e,
th
e
s
y
n
c
-
w
o
r
d
is
1
1
1
0
1
0
1
1
1
0
0
1
0
0
0
0
(
E
B
9
0
1
6
)
.
Sev
er
al
f
r
eq
u
e
n
c
y
m
ea
s
u
r
e
m
e
n
t
s
w
er
e
p
er
f
o
r
m
ed
w
i
th
a
n
a
n
al
y
ze
r
.
T
h
e
P
C
M
d
ata
(
o
u
tp
u
t
o
f
t
h
e
P
C
M
s
i
m
u
lato
r
)
h
a
v
e
9
9
.
9
9
9
8
k
Hz
w
it
h
a
s
ta
n
d
ar
d
d
ev
iatio
n
o
f
1
.
1
2
4
8
MH
z
,
with
1
2
5
s
a
m
p
les
p
er
s
ec
o
n
d
in
a
to
tal
o
f
1
0
s
ec
o
n
d
s
o
f
d
u
r
atio
n
.
A
s
ec
o
n
d
f
r
eq
u
en
c
y
s
tab
ilit
y
m
ea
s
u
r
e
m
en
t
w
a
s
p
er
f
o
r
m
ed
w
it
h
t
h
e
P
C
M
fi
lter
i
n
g
an
d
ac
q
u
is
itio
n
i
n
f
u
ll
o
p
er
atio
n
,
an
d
th
e
r
esu
l
ts
o
f
th
e
P
C
M
clo
ck
r
e
g
en
er
ated
ar
e
9
.
9
9
9
8
k
Hz
w
i
th
a
s
ta
n
d
ar
d
d
ev
iatio
n
o
f
1
.
5
2
1
6
MH
z
(
Fig
u
r
e
1
1
)
.
I
n
co
n
clu
s
io
n
,
t
h
e
er
r
o
r
a
d
d
ed
b
y
th
e
m
o
d
el
is
p
r
ac
ticall
y
n
u
ll.
Fig
u
r
e
10
.
R
esu
lt
s
o
f
P
C
M
r
es
y
n
c
;
f
ir
s
t
ch
a
n
n
e
l: P
C
M
d
ata
clo
ck
r
eg
en
er
ated
,
s
ec
o
n
d
c
h
an
n
el:
b
y
te
s
in
P
C
M
f
r
a
m
e
,
t
h
ir
d
ch
a
n
n
el
:
tr
u
e
v
a
li
d
P
C
M
f
r
a
m
e,
f
o
u
r
t
h
c
h
an
n
el:
b
its
in
P
C
M
f
r
a
m
e
,
f
if
th
c
h
an
n
el:
lo
ck
s
i
g
n
a
l
(
s
y
n
c
-
w
o
r
d
d
etec
ted
)
,
s
ix
th
c
h
an
n
el
: P
C
M
d
ata
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
F
ilter
in
g
a
n
d
a
c
q
u
is
itio
n
o
f se
r
ia
l d
a
ta
fr
a
mes u
s
in
g
xilin
x
s
ystem
g
en
era
to
r
(
A
d
r
iá
n
S
ta
cu
l
)
7
Fig
u
r
e
11
.
R
esu
lt
s
o
f
r
eg
e
n
er
a
ted
P
C
M
clo
ck
s
tab
ilit
y
3
.
2
.
3
.
Sto
re
Fra
m
e
s
to
r
ag
e
i
n
t
h
e
s
y
s
te
m
is
ess
e
n
tial
f
o
r
a
p
r
o
to
c
o
l
c
o
n
v
er
s
io
n
o
r
p
r
e
-
p
r
o
ce
s
s
in
g
alg
o
r
ith
m
s
.
I
n
th
is
ca
s
e,
t
h
e
ac
q
u
i
s
itio
n
s
y
s
te
m
co
n
v
er
ts
th
e
in
co
m
i
n
g
P
C
M
d
ata
a
n
d
s
en
d
s
it
s
y
n
ch
r
o
n
ized
u
s
in
g
th
e
U
AR
T
p
r
o
to
co
l,
th
r
o
u
g
h
to
US
B
p
h
y
s
ical
co
n
n
ec
tio
n
[
2
2
]
.
T
h
is
s
u
b
-
s
y
s
te
m
co
m
b
i
n
es
M
-
C
o
d
e
b
lo
ck
(
MA
T
L
A
B
s
cr
ip
t
co
d
e)
tak
i
n
g
t
h
e
i
n
co
m
in
g
fl
o
w
o
f
b
its
an
d
th
e
flag
i
n
d
icatin
g
a
v
a
lid
f
r
a
m
e,
a
n
d
g
e
n
er
ate
s
o
n
e
b
y
te
f
o
r
ea
ch
ch
a
n
n
el
o
f
th
e
f
r
a
m
e.
T
h
ese
b
y
tes
ar
e
s
to
r
ed
in
a
d
is
tr
ib
u
ted
m
e
m
o
r
y
FIFO
to
d
ec
r
ea
s
e
th
e
r
eso
u
r
ce
s
a
n
d
ar
ea
o
f
t
h
e
FP
GA
,
e
s
p
ec
iall
y
f
o
r
lo
w
-
c
o
s
t
d
ev
ices
w
h
er
e
h
ar
d
w
ar
e
r
eso
u
r
ce
s
ar
e
m
o
r
e
li
m
ited
w
it
h
o
u
t
co
m
p
r
o
m
is
i
n
g
th
e
o
p
er
atio
n
f
r
eq
u
e
n
c
y
.
T
h
e
o
p
er
atio
n
o
f
th
e
Sto
r
e
s
u
b
-
s
y
s
te
m
is
s
h
o
w
n
i
n
Fig
u
r
e
1
2
an
d
i
t
ca
n
b
e
o
b
s
e
r
v
ed
h
o
w
t
h
e
s
u
b
-
s
y
s
te
m
ta
k
es
t
h
e
v
alid
b
y
te
at
t
h
e
b
e
g
in
n
in
g
o
f
t
h
e
f
r
a
m
e,
tak
i
n
g
i
n
to
ac
co
u
n
t th
a
t th
e
s
y
n
c
w
o
r
d
is
E
B
9
0
in
h
e
x
ad
ec
im
als.
Fig
u
r
e
12
.
Op
er
atio
n
o
f
th
e
s
t
o
r
e
s
u
b
-
s
y
s
te
m
;
f
ir
s
t
ch
a
n
n
el
:
n
u
m
b
er
o
f
b
y
te
s
in
FI
FO,
s
ec
o
n
d
ch
a
n
n
el
: FI
FO
e
n
ab
le,
th
ir
d
ch
a
n
n
el
:
s
h
if
t r
eg
is
ter
,
f
o
u
r
th
c
h
an
n
el:
v
alid
b
y
te
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
2
0
:
1
–
11
8
3
.
2
.
4
.
Send
T
h
e
Sen
d
s
u
b
s
y
s
te
m
co
llects
th
e
d
ata
s
to
r
ed
in
th
e
Sto
r
e
b
lo
ck
an
d
s
er
ializes
t
h
e
m
w
i
t
h
an
8
N1
UART
p
r
o
t
o
co
l
(
i.e
.
1
w
o
r
d
s
tar
t
b
it,
8
d
ata
b
its
an
d
o
n
e
s
to
p
b
it).
Fig
u
r
e
1
3
s
h
o
w
s
a
s
i
m
u
lat
io
n
r
esu
lt
o
f
th
e
co
n
v
er
ted
P
C
M
f
r
a
m
e
.
Fig
u
r
e
13
.
P
C
M
f
r
a
m
e
co
n
v
er
ted
to
UA
R
T
;
f
ir
s
t
c
h
a
n
n
el
:
tr
an
s
m
it
i
n
U
AR
T
p
r
o
t
o
co
l,
s
ec
o
n
d
ch
an
n
el:
f
la
g
in
d
icati
n
g
b
y
tes i
n
U
AR
T
,
th
ir
d
ch
an
n
e
l:
f
la
g
in
d
icati
n
g
b
its
in
U
AR
T
4.
I
M
P
L
E
M
E
NT
AT
I
O
N
A
ND
RE
SU
L
T
S
B
y
co
n
n
ec
ti
n
g
t
h
e
P
C
M
s
i
m
u
l
ato
r
(
a
k
n
o
w
n
f
r
a
m
e
u
s
ed
as a
p
atter
n
)
to
th
e
ac
q
u
ir
i
n
g
s
y
s
te
m
,
w
e
ca
n
r
ec
eiv
e
th
e
d
ata
ca
p
t
u
r
ed
in
a
co
m
p
u
ter
t
h
r
o
u
g
h
a
n
u
s
b
-
s
er
ial
p
o
r
t.
T
h
e
d
ata
w
ill
b
e
d
u
m
p
ed
i
n
to
a
v
ec
to
r
ca
lled
s
er
iald
ata.
T
o
p
er
f
o
r
m
th
e
p
r
o
p
o
s
ed
an
aly
s
is
,
w
e
will
co
n
v
er
t
s
er
iald
ata
in
to
a
m
atr
i
x
,
w
h
er
e
ea
ch
co
lu
m
n
r
ep
r
esen
ts
a
co
m
p
lete
f
r
a
m
e
(
f
r
o
m
th
e
s
y
n
c
w
o
r
d
to
th
e
e
n
d
o
f
t
h
e
f
r
a
m
e)
an
d
t
h
e
co
lu
m
n
n
u
m
b
er
i
s
th
e
r
ec
eiv
ed
f
r
a
m
e
n
u
m
b
er
.
A
s
ec
to
r
o
f
t
h
e
a
cq
u
ir
ed
m
at
r
ix
(
s
er
iald
ata)
ca
n
b
e
s
ee
n
i
n
T
ab
le
1
,
w
h
er
e
it
s
h
o
w
s
th
e
first
2
8
b
y
te
s
(
f
r
o
m
f
r
a
m
e
4
1
2
to
f
r
a
m
e
5
2
1
)
;
in
p
ar
ticu
lar
,
in
t
h
e
b
y
te
7
o
f
t
h
e
f
r
a
m
e
4
1
6
an
er
r
o
r
o
cc
u
r
s
.
Fig
u
r
e
1
4
s
h
o
w
s
th
e
m
atr
i
x
in
a
n
HS
V
co
lo
r
ch
ar
t
b
y
tr
ea
ti
n
g
it
li
k
e
a
n
i
m
ag
e
.
T
h
e
m
atr
i
x
w
i
ll
b
e
cr
o
p
p
e
d
to
k
ee
p
o
n
l
y
t
h
e
p
a
y
l
o
ad
b
y
d
eletin
g
t
h
e
fi
r
s
t 4
b
y
te
s
an
d
t
h
e
last
b
y
te,
ca
lled
s
er
ia
ld
ata
m
atr
i
x
.
A
n
e
w
m
atr
i
x
o
f
co
n
s
ta
n
ts
is
g
e
n
er
ated
r
ep
r
esen
tin
g
t
h
e
id
ea
l
m
atr
ix
(
as
i
f
t
h
er
e
w
er
e
n
o
er
r
o
r
s
)
ca
lled
d
ata
m
atr
i
x
.
T
h
e
t
w
o
m
atr
ice
s
ar
e
s
u
b
tr
ac
te
d
to
a
n
e
w
m
a
tr
ix
ca
lled
d
if
(
2
)
.
T
h
e
r
esu
lti
n
g
i
m
a
g
e
is
s
h
o
wn
in
Fig
u
r
e
15.
dif
(
m
,
n
)
=
s
e
r
ia
l
da
ta
ma
tr
ix
(
m
,
n
)
−
da
ta
ma
tr
ix
(
m
,
n
)
(
2
)
I
n
to
tal,
2
1
0
2
er
r
o
r
s
w
er
e
d
et
ec
ted
f
r
o
m
a
to
tal
o
f
1
3
7
5
2
3
2
b
y
te
s
ca
p
t
u
r
ed
(
2
1
4
8
8
P
C
M
f
r
a
m
es
a
t
5
m
s
p
er
f
r
a
m
e
w
it
h
a
len
g
t
h
o
f
6
4
b
y
tes
ea
ch
)
.
Su
b
tr
ac
ti
n
g
th
e
fi
r
s
t
4
b
y
tes
an
d
th
e
las
t
(
5
b
y
te
s
in
to
tal)
,
w
e
h
a
v
e
a
to
tal
o
f
2
1
4
8
8
f
r
a
m
es
o
f
5
9
b
y
tes
i
n
p
a
y
lo
ad
,
r
es
u
lti
n
g
i
n
a
to
tal
o
f
1
2
6
7
7
9
2
b
y
tes.
I
f
w
e
ca
lc
u
late
th
e
p
er
ce
n
ta
g
e
o
f
b
y
tes
w
it
h
e
r
r
o
r
v
s
.
th
e
to
ta
l
p
a
y
lo
ad
b
y
tes
,
it
g
i
v
es
a
n
e
ffi
cie
n
c
y
o
f
9
9
.
8
3
%.
T
h
e
m
ax
i
m
u
m
er
r
o
r
in
tr
o
d
u
ce
d
b
y
th
e
ac
q
u
i
r
in
g
s
y
s
te
m
i
s
0
.
1
6
5
%,
ass
u
m
i
n
g
t
h
at
th
e
er
r
o
r
o
cc
u
r
s
in
th
e
co
m
p
lete
b
y
te,
i.e
.
th
e
8
b
its
ar
e
er
r
o
n
eo
u
s
.
T
h
is
v
alu
e
i
s
d
u
e
to
th
e
f
ac
t
th
at
t
h
e
ac
q
u
ir
in
g
s
y
s
te
m
is
re
-
en
g
a
g
ed
b
y
ea
c
h
r
ec
eiv
ed
f
r
a
m
e.
Oth
er
s
y
s
te
m
s
s
y
n
ch
r
o
n
ize
o
n
l
y
o
n
ce
w
it
h
th
e
fi
r
s
t
v
alid
s
y
n
c
-
w
o
r
d
.
T
h
er
ef
o
r
e,
if
an
er
r
o
r
o
cc
u
r
s
in
th
e
m
ed
i
u
m
o
f
th
e
ac
q
u
is
itio
n
o
f
a
f
r
a
m
e,
w
h
en
it
d
etec
ts
t
h
e
s
y
n
c
-
w
o
r
d
o
f
th
e
n
ex
t
f
r
a
m
e,
it
i
s
re
-
ac
co
m
m
o
d
ated
.
T
h
is
s
h
o
ws
t
h
at
w
h
ile
th
e
s
y
s
te
m
in
tr
o
d
u
ce
s
a
s
m
all
er
r
o
r
in
th
e
tel
e
m
etr
y
ch
a
in
,
i
t
i
s
m
i
n
i
m
al
a
n
d
s
elf
-
co
r
r
ec
tin
g
,
th
u
s
p
r
o
v
i
n
g
tr
u
s
t
w
o
r
t
h
y
f
o
r
m
i
s
s
io
n
-
cr
itical
ap
p
licatio
n
s
.
Fi
g
u
r
e
1
6
Sh
o
w
s
th
e
e
r
r
o
r
s
in
P
C
M
ac
q
u
is
i
tio
n
First:
N
u
m
b
er
o
f
er
r
o
r
s
ac
cu
m
u
lated
i
n
ti
m
e,
s
ec
o
n
d
: Res
id
u
als
.
Fo
r
th
e
i
m
p
le
m
e
n
tatio
n
o
f
t
h
e
P
C
M
ac
q
u
is
itio
n
m
o
d
el,
t
h
e
b
ase
s
o
f
t
w
ar
e
a
n
d
th
e
FP
GA
d
ev
ice
o
f
T
ab
le
2
w
er
e
u
s
ed
.
T
h
e
r
esu
lts
o
f
th
e
fin
al
i
m
p
le
m
e
n
tatio
n
,
i.e
.
o
n
ce
th
e
fi
n
a
l
h
ar
d
w
ar
e
r
o
u
t
in
g
w
as
g
e
n
er
ated
af
ter
th
e
s
y
n
t
h
esi
s
,
ca
n
b
e
an
al
y
ze
d
in
Fi
g
u
r
e
17.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
F
ilter
in
g
a
n
d
a
c
q
u
is
itio
n
o
f se
r
ia
l d
a
ta
fr
a
mes u
s
in
g
xilin
x
s
ystem
g
en
era
to
r
(
A
d
r
iá
n
S
ta
cu
l
)
9
T
ab
le
1
.
A
s
ec
to
r
o
f
s
er
iald
ata
F
r
a
me
4
1
3
F
r
a
me
4
1
4
F
r
a
me
4
1
5
F
r
a
me
4
1
6
F
r
a
me
4
1
7
F
r
a
me
4
1
8
B
y
t
e
1
2
3
5
2
3
5
2
3
5
2
3
5
2
3
5
2
3
5
B
y
t
e
2
1
4
4
1
4
4
1
4
4
1
4
4
1
4
4
1
4
4
B
y
t
e
3
2
1
7
2
1
7
2
1
7
2
1
7
9
9
B
y
t
e
4
94
95
96
97
2
1
5
2
1
6
B
y
t
e
5
5
5
5
5
5
5
B
y
t
e
6
6
6
6
6
6
6
B
y
t
e
7
7
7
7
30
7
7
B
y
t
e
8
8
8
8
31
8
8
B
y
t
e
9
9
9
9
32
9
9
B
y
t
e
1
0
10
10
10
33
10
10
B
y
t
e
1
1
11
11
11
34
11
11
B
y
t
e
1
2
12
12
12
35
12
12
B
y
t
e
1
3
13
13
13
36
13
13
B
y
t
e
1
4
14
14
14
37
14
14
B
y
t
e
1
5
15
15
15
38
15
15
B
y
t
e
16
16
16
16
39
16
16
Fig
u
r
e
14
.
P
C
M
f
r
a
m
es i
n
th
e
m
atr
i
x
w
it
h
HSV
co
d
i
fi
ca
tio
n
r
o
w
s
:
c
h
an
n
el
o
f
P
C
M
d
ata
(
b
y
tes),
co
lu
m
n
s
:
n
u
m
b
er
o
f
P
C
M
f
r
am
e
r
ec
eiv
ed
Fig
u
r
e
15
.
E
r
r
o
r
s
in
P
C
M
ac
q
u
is
i
tio
n
r
o
w
s
: c
h
an
n
el
o
f
P
C
M
d
ata
(
b
y
tes),
co
lu
m
n
s
:
n
u
m
b
er
o
f
P
C
M
f
r
am
e
r
ec
eiv
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
9
,
No
.
1
,
Ma
r
ch
2
0
2
0
:
1
–
11
10
Fig
u
r
e
16
.
E
r
r
o
r
s
in
P
C
M
ac
q
u
is
i
tio
n
f
ir
s
t:
n
u
m
b
er
o
f
er
r
o
r
s
ac
cu
m
u
lated
i
n
ti
m
e,
s
ec
o
n
d
:
r
esid
u
als
T
ab
le
2
.
So
f
t
w
ar
e
v
er
s
io
n
an
d
tar
g
et
d
ev
ice
f
o
r
th
e
s
y
s
te
m
i
m
p
le
m
e
n
tat
io
n
P
r
o
d
u
c
t
V
e
r
si
o
n
:
I
S
E
:
1
4
.
2
-
P
.
2
8
x
d
T
a
r
g
e
t
F
a
mi
l
y
:
S
p
a
r
t
a
n
6
O
S
P
l
a
t
f
o
r
m:
N
T
6
4
T
a
r
g
e
t
D
e
v
i
c
e
X
c
6
sl
x
2
5
P
r
o
j
e
c
t
I
D
T
a
r
g
e
t
P
a
c
k
a
g
e
:
F
t
g
2
4
6
R
e
g
i
st
r
a
t
i
o
n
I
D
_
_
0
_
0
_
0
T
a
r
g
e
t
S
p
e
e
d
:
-
3
D
a
t
e
G
e
n
e
r
a
t
e
d
T
o
o
l
F
l
o
w
C
.
L
i
n
e
Fig
u
r
e
17
.
P
lace
an
d
r
o
u
te
i
m
p
le
m
en
ta
tio
n
r
ep
o
r
t
5.
CO
NCLU
SI
O
N
I
n
to
tal,
2
3
0
f
r
a
m
es
w
er
e
f
o
u
n
d
w
ith
er
r
o
r
s
,
an
d
a
m
a
x
i
m
u
m
o
f
5
er
r
o
r
s
p
er
f
r
am
e.
I
f
a
n
en
tire
f
r
a
m
e
d
is
ca
r
d
p
o
licy
is
ap
p
lied
in
ca
s
e
w
e
f
o
u
n
d
o
n
l
y
o
n
e
er
r
o
r
,
in
to
tal
it
w
o
u
ld
b
e
1
.
0
7
%
o
f
d
is
ca
r
d
ed
f
r
a
m
es.
An
o
th
er
i
m
p
o
r
tan
t
a
n
al
y
s
is
i
s
to
co
r
r
o
b
o
r
ate
th
e
a
m
o
u
n
t
o
f
er
r
o
n
eo
u
s
d
ata
as
a
f
u
n
ctio
n
o
f
ti
m
e
b
y
p
er
f
o
r
m
in
g
a
fi
tt
in
g
o
f
n
u
m
b
e
r
o
f
f
r
a
m
e
s
r
ec
ei
v
ed
v
s
.
n
u
m
b
er
o
f
er
r
o
r
s
ac
c
u
m
u
lated
in
ti
m
e.
T
h
e
er
r
o
r
s
fi
t
i
n
a
lin
ea
r
eq
u
a
tio
n
.
I
n
o
t
h
er
w
o
r
d
s
,
th
e
s
y
s
te
m
is
co
n
s
ta
n
t
-
ti
m
e
efficien
t.
Fo
r
th
e
i
m
p
le
m
e
n
tatio
n
o
f
th
e
P
C
M
ac
q
u
is
itio
n
m
o
d
el,
th
e
b
ase
s
o
f
t
w
ar
e
a
n
d
th
e
FP
G
A
d
ev
ice
w
er
e
u
s
ed
.
T
h
e
r
esu
lts
o
f
th
e
fin
a
l
i
m
p
le
m
en
ta
tio
n
,
i.e
.
o
n
ce
t
h
e
fi
n
a
l
h
ar
d
w
ar
e
r
o
u
tin
g
was
g
e
n
er
ated
af
ter
th
e
s
y
n
t
h
esi
s
.
A
ls
o
,
w
e
ca
n
h
i
g
h
l
ig
h
t
t
h
at
it
o
cc
u
p
ies
a
v
er
y
litt
le
ar
ea
o
f
th
e
h
ar
d
w
ar
e.
T
h
er
ef
o
r
e,
th
is
s
y
s
te
m
is
co
m
p
atib
le
w
it
h
lo
w
-
co
s
t F
P
GA
d
ev
ices,
w
h
er
e
th
e
ar
ea
a
n
d
r
eso
u
r
ce
s
ar
e
v
er
y
li
m
i
ted
.
Evaluation Warning : The document was created with Spire.PDF for Python.