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OFDM MODULATOR IMPLEMENTATION IN FPGA FOR INDUSTRY 4.0

NETWORKS

Fernando Hernández Vives1, Camilo Guillén Soriano2, Jorge Luis González Ríos3, Jorge Torres Gómez4
1,2
Technological University of Havana “José Antonio Echeverría”, CUJAE, La Habana, Cuba,
3
University of Luxembourg, Luxembourg,
4
TU Berlin, Berlin, Germany
1
e-mail: [email protected]
2
e-mail: [email protected]
3
e-mail: [email protected]
4
e-mail: [email protected]

ABSTRACT

Industry 4.0 demands new paradigms in modern production factories worldwide, where the supporting communication
infrastructure is critical. Higher transmission capacities with low-latency constraints are such key use cases for smart
factories. Previous research outlines the feasibility of using orthogonal frequency division multiplexing (OFDM)
modulation as a candidate in the next-generation industrial networks. The modeling and subsequent implementation
of these mechanisms in FPGA facilitate the path toward future practical developments of functional communications
systems. This paper investigates the hardware design in FPGA for transmissions and the modeling of the wired channel
as a twisted copper pair cable using the System Generator simulator. The OFDM modulator is implemented, and the
channel model follows the KHM parameters. The resulting simulation results evidence the feasibility of high-speed
digital data transmission.

INDEX TERMS: Industry 4.0, OFDM, KHM model, twisted-copper-pair cable, System Generator.

IMPLEMENTACIÓN DE MODULADOR OFDM EN FPGA PARA REDES DE

INDUSTRIA 4.0

RESUMEN

La Industria 4.0 exige nuevos paradigmas en las fábricas de producción modernas de todo el mundo, donde la
infraestructura de comunicación de soporte desempeña un papel fundamental. Las capacidades de transmisión más
altas con restricciones de baja latencia son casos de uso clave para las fábricas inteligentes. Investigaciones anteriores
describen la viabilidad del uso de la modulación de multiplexación por división de frecuencia ortogonal (OFDM)
como candidato en las redes industriales de próxima generación. El modelado y posterior implementación de estos
mecanismos en FPGA facilitan el camino hacia futuros desarrollos prácticos de sistemas de comunicaciones
funcionales. Este artículo investiga el diseño de hardware en FPGA para transmisiones y el modelado del canal
cableado como un cable de par trenzado utilizando el simulador System Generator. El modulador OFDM es
implementado y el modelo de canal sigue los parámetros KHM. La evidencia de simulación resultante da como
resultado la viabilidad de la transmisión de datos digitales de alta velocidad.

PALABRAS CLAVES: Industria 4.0, OFDM, FPGA, par de cobre trenzado, System Generator.

1. INTRODUCTION
Modern factories are today under development as pledging to the paradigm of Industry 4.0 [1]. In this regard, Cuban
policymakers are today assessing a program where the confluence of various technological and industrial sectors are
interplaying: Biotechnology, electronics, and software [2]. Its implementation is highly dependent on the conception
of Cyber-Physical Production Systems (CPS), where automated smart machines support factory workers to achieve
improved production capacities [3, 4]. Following this trend, this article aims to elaborate on the conception of
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transceivers for improved communication rates in fieldbuses. Designing more transmission capacity in fieldbuses
directs critical as the data volume dramatically increases with the number of interconnected sensors and actuators in
factories.

One of the main challenges in this field is the massive integration of IoT devices that exchange multimedia
information [5]. The resulting high amount of data happens prohibitive to handle in typical industry networks, where
deployed fieldbuses are limited to a maximum of 12 Mbps (PROFIBUS) [6]. Such protocols implement
communication systems that only use short messages among nodes with low computational capacity, aiming to
guarantee timing constraints. Furthermore, ethernet-based solutions offer an alternative to data forwarding
capabilities, supporting complex streaming services [7]. However, this solution is costly for industries with large
physical spaces and the need to interconnect large numbers of distant working places. Specifically, the costs of the
equipment associated with the Ethernet infrastructure, such as switches, routers, and PCs, increase with the distance
and the total of nodes to interconnect.

Therefore, the currently available techniques have a high computational and commercial cost, in addition to not
guaranteeing the transmission rates demanded by Industry 4.0 applications. In this regard, this work features in the
System Generator simulator a transmission scheme for Orthogonal Frequency Division Multiplexing (OFDM)
modulation over twisted-copper-pair; as the physical medium of standard fieldbuses. We conceive the OFDM
modulator in Simulink/Matlab, to be later implemented in FPGA as described in Section 2. The resulting
implementation allows conducting measurement campaigns with real hardware to illustrate the promising capabilities
of this framework. The modulator is designed with HDL blocks optimized for FPGAs from Xilinx [8]. A detailed
description is given in Section 3. The main results illustrate the feasibility of this testbed design in Section 4

2. OFDM MODULATOR AND CHANNELS MODELS

We implement the OFDM modulator and the communication channel model in System Generator according to the
scheme in Fig. 1. Using this general block diagram, we can determine the signal attenuation and noise level at the
receiver node. We placed scopes at the channel output to display the received waveform.

Figure 1: Block diagram of the OFDM modulator and the channel developed in System Generator.

OFDM as a multicarrier modulation multiplexes serial input data into several parallel streams and transmits them over
independent subcarriers [9]. These subcarriers can be individually modulated and manipulated, allowing for their
optimization with respect to the channel. The ability of multicarrier modulation to tailor its transmission parameters
across the different subcarriers is especially useful when dealing with frequency-selective fading channel
environments.

OFDM Modulator

The OFDM modulator mainly consists of two blocks; the QAM modulator and the Inverse-Fast-Fourier Transform
(IFFT). The 𝑀-QAM block packs on each different symbol a total of 𝑏 = log 2 𝑀 bits from the source. Next, the IFFT
block allocates the input QAM symbols into each different orthogonal subcarrier from a total of 𝑁, as depicted in
Fig. 2 [9]. Finally, the OFDM signal is derived after superposing all the subcarriers as indicated in
𝑘𝑛
𝑗2𝜋
𝑥(𝑡) = ∑𝑁−1
𝑛=0 𝐷𝑛 𝑒 𝑁, (1)

where 𝐷𝑛 is the complex QAM symbol.

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The resulting OFDM symbol is transmitted through the
channel and will carry a total of 𝑁 log 2 𝑀 bits. The OFDM
symbol rate depends on the binary stream received from the
QAM modulator as
𝑅
𝑅𝑠 𝑂𝐹𝐷𝑀 = 𝑠 𝑄𝐴𝑀, (2)
𝑁

where 𝑅𝑠 𝑄𝐴𝑀 is the QAM symbol rate and 𝑁 is the total of

subcarriers. Besides, considering the orthogonality of the
OFDM subcarriers, the following equation also holds

𝑅𝑠 𝑂𝐹𝐷𝑀 = ∆𝑓, (3)

where ∆𝑓 is the subcarrier spacing. Similarly, the symbol rate

from the QAM block will be related to the source bit rate 𝑅𝑏
through

𝑅𝑠 𝑄𝐴𝑀 = 𝑅𝑏 ⁄log 2 𝑀. (4)

Using the above relations, the achievable bit rate is

𝑅𝑏 = ∆𝑓 ∙ 𝑁 ∙ log 2 𝑀. (5) Figure 2: Functional description of the OFDM

modulation.

To illustrate, we implement the OFDM modulator based on 3GPP 36.212 standard recommendations [10], using a 16-
QAM modulation (𝑀 = 4) and a IFFT size 𝑁 = 2048. Selecting the subcarrier spacing as ∆𝑓 = 6.104 kHz, the
achievable bit rate will be 𝑅𝑏 ≈ 50 Mbits/s, which results in a system capable of reaching the speeds of Ethernet
connections [11].

Communication channel

Various cables are reported for data transmission in industrial networks [12]. Twisted copper pair is widespread in
Industrial Ethernet applications supporting maximum speeds [12]. This variant has a characteristic impedance of
100 Ω with a variance of 5 Ω, measured at 100 MHz, and an attenuation of 24 dB per 100 meters. Other cable types
described, such as MegaLine® D1-20 SF/U HV, CAT 5, heavy-duty, MegaLine® F6-70 S/F HV flex CAT 7, have
similar electrical characteristics. Still, the cable's complexity, weight, and cost are higher than the simple two-wire
variant. Others, such as the products offered by FOUNDATION™ Fieldbus, provide a similar impedance
characteristic, e.g. (100 Ω), with an attenuation of 3 dB/km [12] and bandwidths in the order of the kilohertz.

In the industrial scenario, the wired channel might be modeled through various mathematical models for twisted-pair
cables [13 - 15]. Operating at relatively high frequencies, most parametric cable models reported in the literature were
designed for the very high-speed digital subscriber line (VDSL) frequencies with a maximum bandwidth of
30 MHz [13]. For instance, the TNO/EAB model incorporates an extra parameter for improving accuracy compared
to the TNO model presented in [14]. Furthermore, the well-known BTO model was modified in [13] with new
parameter values and targeting frequencies up to hundreds of megahertz.

Extending [15], the study in [13] reports a simple and causal model for the characteristic impedance 𝑍0 , as referred to
the KHM model. Together with the so-called KM1 model from [13], the new 𝑍0 model composes the KHM model,
which supports multiple segments and frequencies up to hundreds of megahertz. This solution has few parameters, is
causal, and introduces a closed-form expression allowing to fit channel measurements. This model provides two
closed-form expressions for the characteristic impedance 𝑍0 and channel propagation constant 𝛾 through five
parameters (𝑘1 , 𝑘2 , 𝑘3 , ℎ1 , ℎ2 ).

The mathematical development of KHM model is detailed in [13], where the least-square (LS) method determines
the ℎ parameter, typically done after measuring the S-parameters using a vector network analyzer [13]. In our work,
we follow the values obtained in [13], as shown in Table 1, over a frequency range of 100 kHz to 200 MHz.

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Table 1: Parameters of the KHM model for a CAT 5 cable from the manufacturer.

Parameter Value
𝑘1 2.07·10-3
𝑘2 2.39281·10-8
𝑘3 2.94153·10-5
ℎ1 1.012393·102
ℎ2 3.2608·103

Having these parameters, the channel propagation constant and the characteristic impedance are [13]

ℜ{𝛾} = 𝑘1 √𝑓 + 𝑘2 𝑓,
2
ℑ{𝛾} = 𝑘1 √𝑓 − 𝑘2 𝑓 ∙ ln 𝑓 ∙ 𝑘3 ∙ 𝑓,
𝜋
1
ℜ{𝑍0 } = ℎ1 + ℎ2 , (6)
√𝑓
1
ℑ{𝑍0 } = −ℎ2 .
√𝑓

Using the relations in Eq. (6) and the parameters in Table 1, we characterize the cable through its impedance matrix,
denoted as 𝑍. To compute the parameters of the 𝑍 matrix, we first calculate the 𝑇 matrix of the cable according
to [11]. Then we use the 𝑇 to 𝑍 parameter conversion using the equations reported in [16]. In this work, we use this
model of the twisted-pair copper cable to simulate the transmission channel for the OFDM waveforms.

3. IMPLEMENTING THE SYSTEM WITH XILINX BLOCKS

The blocks in Simulink are synthesized and implemented to produce the FPGA configuration bitstream automatically.
We follow the block diagram in Fig. 1, to separately implement each component as described in the following
subsections. The proposed architecture seeks to create a digital hardware with low resource consumption and latency.
Table 2 summarizes the main parameters used for the modulator.

Table 2: Parameters of the OFDM modulator implemented in the System Generator.

Parameter Value
Bit rate 𝑅𝑏 50 Mbit/s
RF bandwidth 30 MHz
Target clock 100 MHz
Target FPGA XC7K325TFFG676-1
QAM order (𝑀) 16
Number of subcarriers (𝑁) 2048
Subcarrier spacing (𝛥𝑓) 6.104 kHz
Cyclic Prefix Length 512 samples

The target clock and target FPGA are set in System Generator to synthetize the intellectual property (IP) module, to
be later encapsulated in the FPGA. The number of subcarriers defines the IFFT size and directly concerns the number
of implementation resources. Besides, the subcarrier spacing sets the minimum operating frequency of the digital-to-
analog converter (DAC). The cyclic prefix length sets the number of samples inserted at the beginning of each OFDM
symbol. The following subsections provide more details about these blocks.

Data source for the OFDM modulator

This subsystem comprises two System Generator blocks (see Fig. 3): an up-counter and a ROM memory. The purpose
of the counter is to generate the memory addresses for the ROM block. The ROM memory stores the 4-bits packets
to be sent to the modulator. These packets correspond to the number of bits per symbol the 16-QAM module supports.
The binary sequence is randomly generated from the integer range 0 to 15 using the Matlab randi function.

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Figure 3: Integer data generator.

QAM modulator

The QAM modulator block directly produces the symbols as depicted in Fig. 2. The implemented scheme is illustrated
in Fig. 4 with the I (in-phase) and Q (quadrature) channels. The Slice block is used as a selector control for the
multiplexer, which outputs the proper QAM symbol. The upper part of these bits is used to select the in-phase
component, while the lower part is for the quadrature one.

Figure 4: 16-QAM modulator.

The constants correspond to the reference constellation illustrated in Fig. 5. The summary of parameters to implement
this block are the modulation order 𝑀 = 16, a Gray coding for bit-to-symbol assignment, a minimum distance of 2 as
the normalization method and a zero Phase offset.

Figure 5: 16-QAM constellation.

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OFDM modulator

Part (a) of Fig. 6 shows the design for the OFDM modulator. This comprises the OFDM Symbol, IFFT Data
Preprocessing, IFFT_Config, and IFFT subsystems. The OFDMSymbol subsystem in part (b) performs the assignment
of the QAM symbols to the subcarriers or IFFT bins. This is conceived by multiplexing in time QAM symbols stream
with null symbols.

(a)
(b) (c)

Figure 6: (a) OFDM Modulator implemented in System Generator, (b) OFDM Symbol subsystem and (c) IFFT Data
Preprocessing subsystem.

The multiplexing is performed by an algorithm [17] that consecutively interleaves the QAM symbols with zeros. The
first step is to store this stream of symbols in a temporary memory with size corresponding to the number of assigned
subcarriers. Then, according to the variables IdxStart and IdxStop, the QAM symbols are consecutively assigned to
the 𝑁 subcarriers, establishing a set of null subcarriers and QAM-modulated subcarriers, thus shaping the spectrum
of the transmitted signal. We implemented this function by means of a Vitis HLS block, which allows us to describe
the carrier mapping algorithm in C programming language and to insert the code in System Generator.

The IFFT Data preprocessing block performs a data type conversion and symbol amplitude scaling. Part (c) of Fig. 6
shows that the IFFT requires a fix16_15 data type [18], i.e. one bit used for the sign and fifteen to describe the decimal
part of the value. Finally, the IFFT subsystem converts the signal in the frequency domain to the time domain. This
block also inserts the cyclic prefix, a parameter that must be indicated from the IFFT_Config block. The cyclic prefix
is the process of adding the final samples of the previous OFDM symbol to the beginning of the current symbol.
Following the standards such as LTE, we use a preamble length of 512 samples (called a long prefix) [10].

The RF toolbox was used for modeling the communications channel in the Simulink environment. Fig. 7 shows the
connections between the channel model (𝑍) and the interface ports. The input data is taken as a voltage plus noise
source with a 150 Ω impedance, corresponding to DACs from Analog Devices [19].
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Figure 7: Interconnection of the RF blocks.

The 𝑍 block simulates the twisted-copper pair cable, which is a passive network dependent on the parameters of the
𝑍 matrix, which elements are computed as described in Section 2. For a cable length of 300 meters and a frequency
of 100 MHz, we obtained the following results

0.0157 − 𝑗0.32626 0.1634 − 𝑗0.1138

𝑍= [ ]. (7)
0.1634 − 𝑗0.1138 0.010157 − 𝑗0.32626

4. RESULTS
Results were obtained using the parameters in Table 1 for the cable model, according to the frequency range of 100
kHz to 200 MHz. As for the modulator parameters, we used those in Table 2. We illustrate different results for the
channel model, the received OFDM waveform, latency, and the resource consumption of the implemented system.

Figure 8 shows the modeling of the characteristic impedance 𝑍0 with frequency. The resulting values for 𝑍0 are
located around 102 Ω for frequencies ranging from 20 MHz to 200 MHz. In order to obtain the attenuation of the
twisted pair copper cable, the model was excited with an OFDM signal of equal spectral power density (80 dBm/Hz)
for all the subcarriers. The attenuation was directly determined by comparing the power ratio between the output and
the input.

Figure 8: Characteristic impedance of the twist-pair cable according to KHM model.

The spectrum of the modulator output and the received signal are shown in Fig. 9. Both signals were obtained from
the OFDM modulator implemented through the System Generator blocks. The RF band of the OFDM signals has a
center frequency of 100 MHz with a 30 MHz bandwidth. The noise floor level has a power spectral density
of −170 dBm/Hz for a signal-to-noise ratio (SNR) of 20 dB. Thus, the resulting power spectral density of the useful
signal is equal to −150 dBm/Hz. In real scenarios, these values may change and the proper operation will depend
largely on the characteristics of the receiver. Directly comparing the amplitude levels at the modulator's output and at
the channel model's output, the resulting attenuation introduced by the twisted copper pair cable is −65 dB.

Another factor we considered in the design was the latency of the modulator. This parameter defines the time it takes
for the OFDM modulator to transmit an RF signal once it has digital data available. Latency measured using Simulink
time scope was 5.344 µs. This parameter depends on the settings for the blocks included in the design.

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Figure 9: Spectrum of signals at the modulator and the output of the channel.

We compiled the OFDM modulator design for the Kintex7 FPGA family using the Xilinx tools. When compiled, we
determined the number of resources needed, also verifying its feasibility for other FPGA platforms. After executing
the synthesis and implementation of the proposed hardware, the number of resources needed for the OFDM modulator
is very low, as shown in Table 3.

Table 3: Hardware resources reported by Vivado tool.

Resource Utilization Available Utilization %
LUT 5026 203800 2.47
LUTRAM 1921 64000 3.00
FF 9007 407600 2.21
BRAM 18.5 445 4.16
DSP 98 840 11.67

The FPGA configuration file was generated using the default synthesis and implementation strategies to validate the
results. Finally, the time waveform of the OFDM modulator was obtained through the integrated logic analyzer
interface with Vivado. Figure 10 shows a time window of 202 ns duration for a segment of the OFDM signal, captured
at the instant a new OFDM symbol begins.

5. CONCLUSIONS
This paper evidences a low-complex design for an OFDM transmitter aiming to improve the communication capacities
in industry 4.0 networks. The model we presented features a functional implementation in hardware and includes
realistic values for the channel model and noise levels. As the first step for a transceiver testbed, this model
demonstrates the suitability of OFDM signals for communications in Industry 4.0 environments. As implemented in
Simulink, the OFDM transmitter results in affordable digital hardware conceived as a low-cost SDR platform solution.
The resulting implementation allows measurement campaigns with real hardware to illustrate the promising
capabilities of this framework. In the future, we plan to design the OFDM receiver and build an on-site test bed to
conduct measurement campaigns.

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Figure 10: Time representation of a segment of the OFDM signal.

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SOBRE LOS AUTORES

Fernando Hernandez Vives received the degree in Telecommunications and Electronics Engineering in (2017) at
the Technological University of Havana Jose Antonio Echeverria CUJAE. From 2017 to 2021 he was involved in
research, development and production. He is currently working as an instructor professor at the Technological
University of Havana José Antonio Echeverría, CUJAE. ORCID identifier: 0000-0002-1901-9153

Camilo Guillén Soriano received the B.S. in Telecommunications and Electronics (2013), the M.S. in Digital
Systems (2018) and the Ph.D. (2021) from the Technological University of Havana José Antonio Echeverría, CUJAE.
He currently serves as Auxiliar Professor and researcher with the Department of Telecommunications and Telematics
of the previous institution. His research interests include digital signal processing and pattern recognition. Member of
the Cuban Association of Pattern Recognition (ACRP) since 2015. ORCID identifier: 0000-0001-9538-3099

Jorge Luis González Ríos is with the Interdisciplinary Centre for Security, Reliability and Trust (SnT), University
of Luxembourg. He received his B.S. Degree (with honors), M.S. Degree and Ph.D. on Telecommunications and
Electronics in 2006, 2009 and 2018, respectively, from the Technological University of Havana (CUJAE), Cuba. From
September 2006 to July 2019 he was as Lecturer and Researcher with the Research Center on Microelectronics
(CIME) at CUJAE. He visited the Seville Institute of Microelectronics (IMSE-CNM), Spain, in 2010, 2011 and 2012,
and the Group of Microelectronics of the Federal University of Itajuba (UNIFEI), Brazil, in 2013. His research
interests include RF/analog circuits, embedded systems and wireless and satellite communications. ORCID identifier:
0000-0003-4415-9649

Jorge Torres Gómez received the B.Sc., M.Sc., and Ph.D. degrees from the Technological University of Havana,
CUJAE, Cuba, in 2008, 2010, and 2015, respectively. He is currently with the Telecommunication Networks Group,
Department of Telecommunication Systems, Technical University of Berlin. Since 2008, he has been with the School
of Telecommunications and Electronics, CUJAE University, where he was a Lecturer with CUJAE, from 2008 to
2018. He is a Cuban Association of Pattern Recognition (ACRP) member. He has been with the Department of Signal
Theory and Communications, Carlos III University of Madrid, Leganes Campus, Madrid, Spain, as a guest lecturer,
and with the Department of Digital Signal Processing and Circuit Technology, the Chemnitz University of Technology
as a postdoc. His research interests include digital signal processing, software-defined radio, and wireless and wired
communication systems. ORCID identifier: 0000-0001-9523-048X

CONFLICT OF INTEREST

The authors declare no conflict of interests.

Manuscrito recibido: 12-11-2022, aceptado: 25-12-2022

Sitio web:http://revistatelematica.cujae.edu.cu/index.php/tele
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Revista Telemática. Vol. 21 No. 2, Abril-Junio, 2022, p.1- 11 ISSN 1729-3804
CONTRIBUTIONS OF THE AUTHORS

• Fernando Hernandez Vives: Development of the article, programming of the method in the development
tools and obtaining results.
• Camilo Guillen Soriano: Writing, review and discussion of results.
• Jorge Luis González Ríos: Writing, review and discussion of results.
• Jorge Torres Gómez: Writing, review and discussion of results.

This journal provides immediate free access to its content under the principle of making research freely available to
the public. The contents of the magazine are distributed under a Creative Commons Attribution-NonCommercial 4.0
Unported License. Copying and distribution of your manuscripts by any means are allowed, provided that you
maintain the credit of the authors and do not make commercial use of the works.

Manuscrito recibido: 12-11-2022, aceptado: 25-12-2022

Sitio web:http://revistatelematica.cujae.edu.cu/index.php/tele
11