1. Hardware platforms for Embedded computing

2. poor design techniques The energy/flexibility conflict- Intrinsic Power Efficiency - Operations/Watt[MOPS/mW] Ambient Intelligence 10 DSP-ASIPs hardwired muxed ASIC 1 Processors Reconfigurable Computing µPs 0.1 0.01 Technology 1.0µ 0.5µ 0.25µ 0.13µ 0.07µ Necessary to optimize HW/SW; otherwise the prize for software flexibility cannot be paid! [H. de Man, Keynote, DATE‘02;T. Claasen, ISSCC99]

3. Architectural Choices Flexibility 1/Efficiency (power, speed)

4. The Processor Design Space Application specific architectures for performance Embedded processors Microprocessors Performance is everything & Software rules Performance Microcontrollers Cost is everything Cost

5. Area of processor cores = Cost Nintendo processor Cellular phones

6. Another figure of meritComputation per unit area Nintendo processor ??? Cellular phones

7. Embedded vs. general-purpose processors • Embedded processors may be optimized for a category of applications. • Customization may be narrow or broad. • We may judge embedded processors using different metrics: • Code size. • Memory system performance. • Preditability.

8. Microcontrollers Memory ROM RAM CPU I/O Subsystems: Timers, Counters, Analog Interfaces, I/O interfaces A single chip

9. Microcontroller Architectures Memory 0 Program + Data Address Bus Von Neumann Architecture CPU Data Bus 2n Memory 0 Program Address Bus Harvard Architecture Fetch Bus CPU Address Bus 0 Data Data Bus

10. MCS-51 “Family” of Microcontollers • 8051 introduced by Intel in late 1970s • Now produced by many companies in many variations • The most pupular microcontroller – about 40% of market share • 8-bit microcontroller

11. “Original” 8051 Microcontroller 4096 Bytes Program Memory 128 Bytes Data Memory Two 16 Bit Timer/Event Counters Oscillator and timing Internal data bus 8051 CPU Programmable I/O Programmable Serial Port Full Duplex UART Synchronous Shifter 64 K Byte Bus Expansion Control subsystem interrupts External interrupts Parallel ports Address Data Bus I/O pins Control Serial Output Serial Input

12. Features for Embedded Systems Microcontrollers- MHS 80C51 as an example - • 8-bit CPU optimised for control applications • Extensive Boolean processing capabilities • 64 k Program Memory address space • 64 k Data Memory address space • 4 k bytes of on chip Program Memory • 128 bytes of on chip data RAM • 32 bi-directional and individually addressable I/O lines • Two 16-bit timers/counters • Full duplex UART • 6 sources/5-vector interrupt structure with 2 priority levels • On chip clock oscillators • Very popular CPU with many different variations

13. RISC processors • RISC generally means highly-pipelinable, one instruction per cycle. • Pipelines of embedded RISC processors have grown over time: • ARM7 has 3-stage pipeline. • ARM9 has 5-stage pipeline. • ARM11 has eight-stage pipeline. ARM11 pipeline [ARM05].

14. RISC processor families • ARM: ARM7 is relatively simple, no memory management; ARM11 has memory management, other features. • MIPS: MIPS32 4K has 5-stage pipeline; 4KE family has DSP extension; 4KS is designed for security. • PowerPC: 400 series includes several embedded processors; MPD7410 is two-issue machine; 970FX has 16-stage pipeline.

15. Audio applications MPEG Audio Portable audio Digital cameras Wireless Cellular telephones Base station Networking Cable modems ADSL VDSL DSP Applications

16. Another Look at DSP Applications Increasing Cost • High-end • Wireless Base Station - TMS320C6000 • Cable modem • gateways • Mid-end • Cellular phone - TMS320C540 • Fax/ voice server • Low end • Storage products - TMS320C27 • Digital camera - TMS320C5000 • Portable phones • Wireless headsets • Consumer audio • Automobiles, toasters, thermostats, ... Increasing volume

17. DSP vs. General Purpose MPU • The “MIPS/MFLOPS” of DSPs is speed of Multiply-Accumulate (MAC). • DSP are judged by whether they can keep the multipliers busy 100% of the time. • The "SPEC" of DSPs is 4 algorithms: • Inifinite Impule Response (IIR) filters • Finite Impule Response (FIR) filters • FFT, and • convolvers • In DSPs, algorithms are king! • Binary compatability not an issue • Software is not (yet) king in DSPs. • People still write in assembly language for a product to minimize the die area for ROM in the DSP chip.

18. Architectural Features of DSPs • Data path configured for DSP • Fixed-point arithmetic • MAC- Multiply-accumulate • Multiple memory banks and buses - • Harvard Architecture • Multiple data memories • Specialized addressing modes • Bit-reversed addressing • Circular buffers • Specialized instruction set and execution control • Zero-overhead loops • Support for MAC • Specialized peripherals for DSP • THE ULTIMATE IN BENCHMARK DRIVEN ARCHITECTURE DESIGN!!!

19. D P a x x[j-i] a[i] AX AY MY MX Address- registersA0, A1, A2 ..i+1, j-i+1 MF AF +,-,.. * x[j-i]*a[i] +,- Address generation unit (AGU) AR yi-1[j] MR Domain-oriented architectures n-1 Application: y[j] = i=0 x[j-i]*a[i] i: 0i  n-1: yi[j] = yi-1[j] + x[j-i]*a[i] Architecture: Example: Data path ADSP210x - Parallelism - Dedicated registers MR:=0; A1:=1; A2:=n-2; MX:=x[n-1]; MY:=a[0];for ( j:=1 to n) {MR:=MR+MX*MY; MY:=a[A1]; MX:=x[A2]; A1++; A2--}

20. DSP - Features (1) • Multiply/accumulate(MAC)and zero-overhead loop (ZOL) instructions (as shown) • Heterogeneous registers (as shown) • Separate address generation units (AGUs)(as in ADSP 210x)

21. DSP - Features (2) sliding window • Modulo addressing:Am++  Am:=(Am+1) mod n(implements ring or circular buffer in memory) x t2 t1 t ..x[n-2]x[n-1]x[0]x[1].. ..x[n-3]x[n-2]x[n-1]x[n]x[1] Memory, t=t1 Memory, t2=t1+1

22. D P AX AY MY MX Address- registersA0, A1, A2 .. MF AF +,-,.. * +,- Address generation unit (AGU) AR MR Multiple memory banks or memories Simplifies parallel fetches

23. Very long instruction word (VLIW) processors Key idea: detection of possible parallelism to be done by compiler, not by hardware at run-time (inefficient). VLIW: parallel operations (instructions) encoded in one long word (instruction packet), each instruction controlling one functional unit. E.g.:

24. Cycle Instruction 1 A 2 B C D 3 E F G The Texas InstrumentsTMS 320C6xx as an example Bit in each instruction encodes end of parallel execution 31 0 31 0 31 0 31 0 31 0 31 0 31 0 0 1 1 0 1 1 0 Instr. A Instr. B Instr. C Instr. D Instr. E Instr. F Instr. G Instructions B, C and D use disjoint functional units, cross paths and other data path resources. The same is also true for E, F and G. Parallel execution cannot span several packets.

25. Partitioned register files • Many memory ports are required to supply enough operands per cycle. • Memories with many ports are expensive.  Registers are partitioned into (typically 2) sets, e.g. for TI C60x: Data path A Data path B register file A register file B L1 S1 M1 D1 D2 M2 S2 L2 Address bus Data bus

26. Instruction types are mapped tofunctional unit types • There are 4 functional unit (FU) types: • M: Memory Unit • I: Integer Unit • F: Floating-Point Unit • B: Branch Unit • Instruction types  corresponding FU type,except type A (mapping to either I or M-functional units).

27. Large # of delay slots,a problem of VLIW processors add sub and orsub mult xor divld st mv beq The execution of many instructions has been started before it is realized that a branch was required. Nullifying those instructions would waste compute power  Executing those instructions is declared a feature, not a bug.  How to fill all „delay slots“ with useful instructions?  Avoid branches wherever possible.

28. Predicated execution:Implementing IF-statements „branch-free“ Conditional Instruction „[c] I“ consists of: • condition c • instruction I c = true => I executed c = false => NOP

29. Predicated execution:Implementing IF-statements „branch-free“: TI C6x Conditional branch [c] B L1 NOP 5 B L2 NOP 4 SUB x,y,a || SUB x,z,b L1: ADD x,y,a || ADD x,z,b L2: Predicated execution [c] ADD x,y,a || [c] ADD x,z,b || [!c] SUB x,y,a || [!c] SUB x,z,b if (c) { a = x + y; b = x + z; } else { a = x - y; b = x - z; } max. 12 cycles 1 cycle

30. I/O P E R I P H E R A L S I/0 PE PE PE I/0 SRAM SRAM PE CPU 3D stacked main memory DRAM PE Local Memory hierarchy i/o I/O Architecture Evolution • Roadmap continues: 906545 nm • “Traditional” Bus-based SoCs fit in one tile !! • Communication demand is staggering, but unevenly distributed, because of architectural heterogeneity

31. Picochip PC102 Ambric AM2045 Cisco CSR-1 Intel Tflops Raza XLR Cavium Octeon Raw Cell Niagara Opteron 4P Boardcom 1480 Xeon MP Xbox360 PA-8800 Tanglewood Opteron Power4 PExtreme Power6 Yonah Multicores Are Here! [Amarasinghe06] 512 256 128 64 # of cores 32 16 8 4 2 4004 8080 8086 286 386 486 Pentium P2 P3 Itanium 1 P4 8008 Athlon Itanium 2 1970 1975 1980 1985 1990 1995 2000 2005 20??

32. MPSoC – 2005 ITRS roadmap [Martin06]

33. Technology, Circuits, and Architecture to constrain the power Power is the Challenge! ) 1400 2 SiO2 Lkg 10 mm Die 1200 SD Lkg Active 1000 800 Power (W), Power Density (W/cm 600 400 200 0 90nm 65nm 45nm 32nm 22nm 16nm

34. Near Term Solutions • Move away from Frequency alone to deliver performance • More on-die memory • Multi-everywhere • Multi-threading • Chip level multi-processing • Throughput oriented designs • Performance by higher level of integration

35. Multi-threading C1 C2 Large Core Cache Single Thread C3 C4 Improved performance, no impact on thermals & power delivery Full HW Utilization Wait for Mem ST Multi-Threading Chip Multi-processing Wait for Mem MT1 Wait MT2 MT3 mArchitecture Techniques Increase on-die Memory

36. Cache Large Core Small Core C1 C2 Cache C3 C4 Multi-Core Power Power = 1/4 4 Performance Performance = 1/2 3 2 2 1 1 1 1 4 4 Multi-Core: Power efficient Better power and thermal management 3 3 2 2 1 1

37. Embedded Applications Asymmetric Multi-Processing Differentiated Processors Specific tasks known early Mapped to dedicated processors Configurable and extensible processors: performance, power efficiency Communication Coherent memory Shared local memories HW FIFOS, other direct connections Dataflow programming models Classical example – Smart mobile – RISC + DSP + Media processors Server Applications Symmetric Multi-Processing Homogeneous cores General tasks known late Tasks run on any core High-performance, high-speed microprocessors Communication large coherent memory space on multi-core die or bus SMT programming models (Simultaneous Multi-Threading) Examples: large server chips (eg Sun Niagara 8x4 threads), scientific multi-processors Embedded vs. General Purpose

38. MPSoC architectures

39. Example system platforms • Generic • Automotive • Wireless • Multimedia

40. PC-based platform • Basic hardware components: • CPU; • memory; • timers; • DMA; • minimal I/O devices. • Basic software: • BIOS.

41. PC-style hardware architecture CPU memory I/O system bus bridge high-speed bus DMA controller timers low-speed bus bus interface I/O

42. Strong ARM • StrongARM system includes: • CPU chip (3.686 MHz clock) • system control module (32.768 kHz clock). • Real-time clock; • operating system timer • general-purpose I/O; • interrupt controller; • power manager controller; • reset controller.

43. Pros and cons • Plentiful hardware options. • Simple programming semantics. • Good software development environments. • Performance-limited.

44. TI Open Wireless Multimedia Applications Platform • Dual-processor shared memory system: external memory General-purpose processor DSP Mem ctrl DSP task & I/O ctrl GPP OS DSP manager DSP OS bridge http://www.ti.com/sc/docs/apps/wireless/omap/overview.htm

45. ARM9 core 16KB I-cache 8KB D-cache 2-way set associative 150 MHz C55x DSP core 16KB I-cache 8KB RAM set 2-way set associative 200 MHz TI OMAP™ Hardware platform Program Memory SDRAM Memory & Traffic Controller I-MMU D-MMU MMU Internal RAM/ROM I-Cache D-Cache I-Cache DMA RISC Core DSP Core + Appl Coprocessors Peripherals LCD Controller, Interrupt Handlers, Timers, GPIO, UARTs, ...

46. OMAPI Standard (ST/TI) • Goal: standardize the interfaces between application processor and peripheral devices in a mobile product • Provide standard services (APIs) in the OS that can be used by application developers

47. STMicro Nomadik platform Main Core I/Os HW Accelerators Memory System

48. Nomadik SW platform Compliant with OMAPI standard

49. Philips Digital Video Nexperia Platform MIPS™ TriMedia™ SDRAM General-purpose Scalable RISC Processor • 50 to 300+ MHz • 32-bit or 64-bit Library of DeviceIP Blocks • Image coprocessors • DSPs • UART • 1394 • USB …and more Scalable VLIW Media Processor: • 100 to 300+ MHz • 32-bit or 64-bit Nexperia™ System Buses • 32-128 bit MMI MIPS CPU TriMedia CPU D$ PRxxxx TM-xxxx D$ I$ I$ DEVICE IP BLOCK DEVICE IP BLOCK DEVICE IP BLOCK DEVICE IP BLOCK . . . . . . DVP MEMORY BUS PI BUS PI BUS DEVICE IP BLOCK DEVICE IP BLOCK DVP SYSTEM SILICON

50. Nexperia™ -DVP Software Architecture Supports multiple OSs and middleware software Abstracts platform functionality via consistent APIs Nexperia™-DVP Streaming Software Encapsulates implementation of streaming media components (hardware and software) Nexperia™ Platform Software OS independent device drivers for on-chip and off-chip devices Nexperia-DVP Software Applications MiddlewareJavaTV, TVPAK, OpenTV, MHP/Java, proprietary ... Kernel: pSOS, Win-CE, JavaOS Streaming and Platform Software Nexperia Hardware