Microcontrollers in FPGAs

1. Microcontrollers in FPGAs Tomas Södergård University of Vaasa

2. Contents • Finite state machine • Design of instructions • Architecture • Registry file • Hardware aspects of MCUs • Comparison of microcontrollers • Picoblaze, Nios II and Atmega328P • Conclusions

3. Finite state machine • Moore Machine • Output only dependent on current state (Pedroni: 2004: 159) • Mealy Machine • Output dependent on current state and external input. • Synchronisation (Zwolinski 2000: 82) • Clock • Reset • Programmable state machine • General purpose FSM (Meyer-Baese 2007: 537, Chu 2008: 324-326)

4. Programmable state machine Control Program Memory Data Memory ALU

5. Instructions

6. Addressing modes • “Addressing modes describe how the operands for an operation are located.” (Meyer-Baese 2007: 544) • Implied addressing (Meyer-Baese 2007: 544-545) • Location is implicitly defined • No operands in the instruction • Immediate addressing (Meyer-Baese 2007: 546) • One operand in the instruction • The operand is a constant

7. Addressing modes • Register addressing (Meyer-Baese 2007: 546–547) • Data is fetched from fast CPU registers • Used for ALU operations in most RISC machines • Memory addressing (Meyer-Baese 2007: 547–549) • Direct addressing • Additional register needed due to instruction size • In base addressing the additional register contains a constant that is added to the constant in the instruction. • In page addressing the additional register contain the most significant bits of the address. Full address is obtained by concatenation. • Indirect addressing • The additional register contains the full address

8. Data flow • An instruction contains at least one (the first) of the following: • Operation code • Operands • Result location • Parameters affecting the instruction size • Number of operations • Number of operands • Memory size

9. Zero address CPU – Stack machine • No operands in the instruction • All operations are performed on the two top elements of the stack • Code example: Push #5 Push #3 Add Pop Reg1 (Meyer-Baese 2007: 552-553)

10. One address CPU – Accumulator machine • One operand in the instruction • The second operand is the value of the accumulator • The destination is the accumulator • Code example Load #5 Add #3 Store Reg1 (Meyer-Baese 2007: 553-554)

11. Two address CPU • The instruction contains two operands • The destination of the result is the location of the first operand • Code examples Move Reg1, #5 Move Reg2, #5 Add Reg1, #3 Move Reg1, #3 Add Reg1, Reg2 (Meyer-Baese 2007: 555)

12. Three address CPU • The instruction contains three addresses • Destination and sources can be specified separately • Code examples Move Reg2, #5 Add Reg1, #5, #3 Move Reg3, #3 Add Reg1,Reg2,Reg3 (Meyer-Baese 2007: 555-556)

13. Architecture • Von Neumann Architecture • Shared data and program memory = One bus • Harvard Architecture • Separate data and program memory = Two buses • Super Harvard Architecture • Separate X and Y data memories and separate program memory = Three buses • Fast cache registers for immediate results (Meyer-Baese 2007: 558) Data & Program CPU Data CPU Program Data X CPU Data Y Program

14. Registry file • Two dimensional bit array • Has a mechanism for storing data to the registry file • Has a mechanism for reading data from the registry file • Consumes many logical elements in a FPGA • The registry file in the example discussed on the following pages is of size 8x16 and consumes 211 LEs (Meyer-Baese 2007: 560)

15. VHDL registry file example • Entity declaration (Meyer-Baese 2007: 560) Entity reg_file IS generic (W: integer:=7; N: integer :=15); port(clk, reg_ena : in std_logic; data : in std_logic_vector(W downto 0); rd, rs, rt : in integer range 0 to 15; s, t : out std_logic_vector(W downto 0)); End;

16. VHDL registry file example • Architecture: type declarations (Meyer-Baese 2007: 560) Architecture fpga of reg_file is subtype bitw is std_logic_vector(W downto 0); type SLV_NxW is array (0 to N) of bitw; signal r : SLV_NxW; Begin Mux: Process Begin wait until clk=’1’; if rd>0 then r(rd)<=data; end if; End Process Mux;

17. VHDL registry file example • Architecture: Demux for outputs (Meyer-Baese 2007: 560) Demux: Process(r,rs,rt) Begin if rs>0 then s<=r(rs); else s<=(others=>’0’); end if; if rt>0 then t<=r(rt); else t<=(others=>’0’); end if; End Process Demux;

18. FSM vs PSM (Chu:2008:324)

19. Structural aspects for FPGAs • Harvard Architecture better for FPGA MCUs • Reason: Memory size more limited (and slower) • Data flow (Meyer-Baese 2007: 556-557) • A more complex instruction implies: • Easier assembly programming • More complicated C compiler development • Longer instruction • Fewer instructions needed • Lower speed • Larger constant is immediate addressing

20. Comparison of instructions (Chu 2008: 323, 326-327, 329, 332-337 Altera Nios II/e, Altera Nios II/f, Altera 2011: 3,11-12, Atmega328P: 1, 8, Moshovos 2007)

21. Recently developed MCU • Article publiched in Semptember 2011 by Martin Shoeberl. • Properties: • Name= Leros • 16 bit microcontroller • Accumulator machine/one address CPU • 200 LEs • 2 stage pipeline = fectch and decode • 2 clock cycles/instruction • Portable= Successfully tested in Altera and Xilinx devices • Assembly compiler available

22. Conclusions – Useful technology? • Area optimisation • Algorithms like FFT may consume less resources, but will hence become slower. (Meyer-Baese 2007: 537) • Main purpose of FPGA technology is processing speed? • Reuse of code • Controller and datpath partitioning (Zwolinski 2000: 160) • General vs special purpose state machine (Chu 2008: 324) • Complexity • Moves some of the complexity of VHDL (or Verilog) to the compiler

23. Conclusions – Useful technology? • Speed • No parallism anymore • Backwards development? • Especially useful when: • Part of a larger circuit • Multi controller systems that perform simpler tasks

24. Sources Atmega 328P. 8-bit Microcontroller with 4/8/16/32K Bytes In-System Programmable Flash [online] [cited 17.11.2011] Available from Internet: URL http://www.atmel.com/dyn/resources/prod_documents/doc8271.pdf AVR assembly. Beginner’s introduction to AVR assembler [online][cited 17.11.2011] Available from Internet: URL http://www.avr-asm-tutorial.net/avr_en/beginner/index.html Altera Nios II (2011). Processor Architecture. [online][cited 18.11.2011] http://www.altera.com/literature/hb/nios2/n2cpu_nii51002.pdf Altera Nios II/e Core. Economy. [online][cited 18.11.2011] URL: http://www.altera.com/devices/processor/nios2/cores/economy/ni2-economy- core.html

25. Sources Altera Nios II/f Core. Fast for Performance Critical Applications [online] [cited 18.11.2011]. URL: http://www.altera.com/devices/processor/nios2/cores/fast/ni2- fast-core.html Chu, Pong P. (2007). FPGA Prototyping by VHDL Examples. Ohio: Wiley. Meyer-Baese, U. (1999). Digital Signal Processing with Field Programmable Gate Arrays. 3. Edition. Heidelberg: Springer. Moshovos, Andreas (2007). Using Assembly Language to Write Programs. [online] [cited 18.11.2011]. Available from Internet. URL: http://www.eecg.toronto.edu/~moshovos/ECE243-2009/lec5%20- %20Intro%20to%20Assembly.htm

26. Sources Shoeberl, Martin (2011). Leros: A Tiny Microcontroller for FPGAs. Field Program- mable Logic and Applications (FPL), 2011 International Conference. 10–14. Zwolinski, Mark (2000). Digital System Design with VHDL. 2. Edition. Essex: Pearson Education Limited.