US 11,841,813 B2
System and method for efficient communication bus arbitration
Young Jun Ko, Seoul (KR); Soo Kyung Son, Gimpo-si (KR); Dae Sung Choi, Bucheon-si (KR); Hee Il Kim, Suwon-si (KR); Byoung Soo Kim, Seoul (KR); and In Yong Ha, Seoul (KR)
Assigned to ROBOTIS CO., LTD., Seoul (KR)
Filed by ROBOTIS CO., LTD., Seoul (KR)
Filed on May 4, 2022, as Appl. No. 17/736,525.
Application 17/736,525 is a continuation of application No. PCT/KR2019/015169, filed on Nov. 8, 2019.
Claims priority of application No. 10-2019-0141050 (KR), filed on Nov. 6, 2019.
Prior Publication US 2022/0261368 A1, Aug. 18, 2022
Int. Cl. G06F 13/366 (2006.01)
CPC G06F 13/366 (2013.01) 4 Claims
OG exemplary drawing
 
1. An efficient communication bus arbitration system wherein a plurality of slave controllers sequentially transmit packets according to a predetermined priority, comprising:
a plurality of slave controllers each having an individual identifier (ID);
a master controller that applies the identifier (ID) of the plurality of slave controllers to a communication packet to communicate, uses the identifiers (ID) of the plurality of slave controllers to determine the order in which the plurality of slave controllers respond, and sequentially receives responses from the plurality of slave controllers with a single query; and
a communication bus that connects the master controller and the plurality of slave controllers in a multi-drop method and transmits and receives packets,
wherein:
after confirming that a response packet to the packet transmission of a slave controller having a (m)th priority among the plurality of slave controllers is transmitted, the communication bus grants right to use the communication bus to another slave controller having a (m+1)th priority,
the plurality of slave controllers respond to the master controller in a predetermined order,
a first slave controller with a highest priority of the plurality of slave controllers transmits a packet including a header area and a first data area, second to (N−1)th slave controllers of the plurality of slave controllers transmit packets including second to (N−1)th data areas and an area for integrity check, respectively,
a last (N)th slave controller of the plurality of slave controllers transmits a packet including an (N)th data area and a tail area, and
wherein, when the plurality of slave controllers sequentially transmit packets and a latency time between packet transmissions is shorter than a timeout as defined in protocol, the master controller concatenates the packets received from the plurality of slave controllers to generate packets having a complete packet structure including the header area, a data area and the tail area.