1. HW/SW Co-Synthesis of Dynamically Reconfigurable Embedded Systems HW/SW Partitioning and Scheduling Algorithms

2. Presentation Outline Introduction Basics/Preliminaries Problem Formulation Representative Approaches Conclusion

3. Introduction Embedded Systems? Special purpose/dedicated systems Design Goals? Highly optimized but Cost Efficient Examples embedded system provides a friendly interface hand-held devices, such as a cellular phone or PDA an industrial controller safety-critical controller, such as an antilock brake controller in a car or an autopilot

4. Generic Architectural Template General Purpose Processor Digital Signal Processor Digital Signal Processor ASIC Dedicated Data path Dedicated Data path Memory

5. HW/SW Co-Design Need? Increasing design complexities Need to explore the design efficiently CAD/Design Automation Co-Design Steps Co-specification: Specifications describing both HW/SW elements (and the relationship between them) Co-synthesis: Automatic or semi-automatic design of HW/SW to meet a specification Co-Simulation: Simultaneous simulation of HW/SW elements, often at different levels of abstraction

6. Co-Synthesis Problem Partitioning the functional description between HW and SW Allocating processes to processing elements (PEs) Scheduling processes on the PEs Binding processing elements to particular component types

7. Dynamically Reconfigurable Logic Alternative to conventional ASICs and general- purpose processors post-fabrication customized for a wide class of applications partially reconfigured at run-time to implement different tasks without effecting computation of other tasks On Chip SRAM/ Cache On Chip SRAM/ Cache Embedded CPU Dynamically Reconfigurable Data path Dynamically Reconfigurable Data path

8. Inputs Specification Task Graphs Estimation/Profiling Resource Libraries

9. DRL Architecture Model Frame: atomic reconfiguration storage unit that can be dynamically updated Multiple frames reconfigured one by one Reconfiguration of one frame does not disturb the execution of other frames

10. Partitioning and Scheduling Partitioning Coarse Grained – Tasks Level Fine Grained – Basic block Level Scheduling Static (design time) Dynamic (At run time)

11. Challenges of Using DRL 1. Reconfiguration management Goal: To minimize no. of reconfigurations Reconfiguration Delays Execution Reconfiguration Consumes Power How? Tasks Ordering Pre-fetching

12. Representative Co-synthesis Systems CORDS – Princeton University CRUSADE – Bell Labs SLOPES – Princeton University NIMBLE Compiler Recent – Run-time Scheduling (by Juanjo Noguera, Rosa M. Badia)

13. NIMBLE Compiler partitioning algorithm selects which loops to implement in the FPGA, and which hardware version of each loop should be used to achieve the highest application- level performance

14. NIMBLE Compiler Multiple Loop Implementations in HW

15. NIMBLE Compiler Heuristic Using Loop Procedure Hierarchy Graph

16. SLOPES Multi-objective: Price Power Performance Genetic Algorithm for Partitioning and Allocation Scheduling Heuristic takes into account the delay and power overheads of dynamic reconfiguration

17. Scheduling Issues Scheduling sequence multiple ready tasks may reside candidate pool different time, resource and reconfiguration requirements, and power consumption changing the scheduling order may have a significant impact on scheduling quality

18. Scheduling Issues Location assignment policy possible positions in the FPGA where the circuit implementing the task can be located different locations not only influences the current task, but may also impact the tasks scheduled either after or before it

19. SLOPES Scheduling Scheduling sequence The order of scheduling tasks is determined dynamically by task priorities Location assignment policy The global reconfiguration information for all the tasks assigned to the FPGA is considered

20. Examples

21. Scheduling Sequence Policy Dynamic Priority Assignment

22. Location Assignment Policy Reconfiguration prefetch Configuration pattern reutilization Eviction candidate Fitting policy Slack time utilization

23. Location Assignment Policy Frame Priorities

24. Dynamic Run-time Scheduling Motivations Data Dependent Computation Multi-functions Systems

25. Proposed Architecture Model

26. Partitioning: List Based

27. Scheduler

28. Scheduling

29. Conclusion Low delay reconfigurable devices Automated Co-synthesis Systems using DRL are able to meet specifications Cost Efficiently Reduced Design Time