Combining dynamic and static scheduling in high-level synthesis

Field Programmable Gate Arrays (FPGAs) are starting to become mainstream devices for custom computing, particularly deployed in data centres. However, using these FPGA devices requires familiarity with digital design at a low abstraction level. In order to enable software engineers without a hardware background to design custom hardware, high-level synthesis (HLS) tools automatically transform a high-level program, for example in C/C++, into a low-level hardware description. A central task in HLS is scheduling: the allocation of operations to clock cycles. The classic approach to scheduling is static, in which each operation is mapped to a clock cycle at compile time, but recent years have seen the emergence of dynamic scheduling, in which an operation’s clock cycle is only determined at run-time. Both approaches have their merits: static scheduling can lead to simpler circuitry and more resource sharing, while dynamic scheduling can lead to faster hardware when the computation has a non-trivial control flow. This thesis proposes a scheduling approach that combines the best of both worlds. My idea is to use existing program analysis techniques in software designs, such as probabilistic analysis and formal verification, to optimize the HLS hardware. First, this thesis proposes a tool named DASS that uses a heuristic-based approach to identify the code regions in the input program that are amenable to static scheduling and synthesises them into statically scheduled components, also known as static islands, leaving the top-level hardware dynamically scheduled. Second, this thesis addresses a problem of this approach: that the analysis of static islands and their dynamically scheduled surroundings are separate, where one treats the other as black boxes. We apply static analysis including dependence analysis between static islands and their dynamically scheduled surroundings to optimize the offsets of static islands for high performance. We also apply probabilistic analysis to estimate the performance of the dynamically scheduled part and use this information to optimize the static islands for high area efficiency. Finally, this thesis addresses the problem of conservatism in using sequential control flow designs which can limit the throughput of the hardware. We show this challenge can be solved by formally proving that certain control flows can be safely parallelised for high performance. This thesis demonstrates how to use automated formal verification to find out-of-order loop pipelining solutions and multi-threading solutions from a sequential program.Open Acces

Synthesis of Embedded Software using Dataflow Schedule Graphs

In the design and implementation of digital signal processing (DSP) systems, dataflow is recognized as a natural model for specifying applications, and dataflow enables useful model-based methodologies for analysis, synthesis, and optimization of implementations. A wide range of embedded signal processing applications can be designed efficiently using the high level abstractions that are provided by dataflow programming models. In addition to their use in parallelizing computations for faster execution, dataflow graphs have additional advantages that stem from their modularity and formal foundation. An important problem in the development of dataflow-based design tools is the automated synthesis of software from dataflow representations. In this thesis, we develop new software synthesis techniques for dataflow based design and implementation of signal processing systems. An important task in software synthesis from dataflow graphs is that of {\em scheduling}. Scheduling refers to the assignment of actors to processing resources and the ordering of actors that share the same resource. Scheduling typically involves very complex design spaces, and has a significant impact on most relevant implementation metrics, including latency, throughput, energy consumption, and memory requirements. In this thesis, we integrate a model-based representation, called the {\em dataflow schedule graph} ({\em DSG}), into the software synthesis process. The DSG approach allows designers to model a schedule for a dataflow graph as a separate dataflow graph, thereby providing a formal, abstract (platform- and language-independent) representation for the schedule. While we demonstrate this DSG-integrated software synthesis capability by translating DSGs into OpenCL implementations, the use of a model-based schedule representation makes the approach readily retargetable to other implementation languages. We also investigate a number of optimization techniques to improve the efficiency of software that is synthesized from DSGs. Through experimental evaluation of the generated software, we demonstrate the correctness and efficiency of our new techniques for dataflow-based software synthesis and optimization

Using ACL2 to Verify Loop Pipelining in Behavioral Synthesis

Behavioral synthesis involves compiling an Electronic System-Level (ESL) design into its Register-Transfer Level (RTL) implementation. Loop pipelining is one of the most critical and complex transformations employed in behavioral synthesis. Certifying the loop pipelining algorithm is challenging because there is a huge semantic gap between the input sequential design and the output pipelined implementation making it infeasible to verify their equivalence with automated sequential equivalence checking techniques. We discuss our ongoing effort using ACL2 to certify loop pipelining transformation. The completion of the proof is work in progress. However, some of the insights developed so far may already be of value to the ACL2 community. In particular, we discuss the key invariant we formalized, which is very different from that used in most pipeline proofs. We discuss the needs for this invariant, its formalization in ACL2, and our envisioned proof using the invariant. We also discuss some trade-offs, challenges, and insights developed in course of the project.Comment: In Proceedings ACL2 2014, arXiv:1406.123

High-level synthesis under I/O Timing and Memory constraints

The design of complex Systems-on-Chips implies to take into account communication and memory access constraints for the integration of dedicated hardware accelerator. In this paper, we present a methodology and a tool that allow the High-Level Synthesis of DSP algorithm, under both I/O timing and memory constraints. Based on formal models and a generic architecture, this tool helps the designer to find a reasonable trade-off between both the required I/O timing behavior and the internal memory access parallelism of the circuit. The interest of our approach is demonstrated on the case study of a FFT algorithm

A Multi-objective Perspective for Operator Scheduling using Fine-grained DVS Architecture

The stringent power budget of fine grained power managed digital integrated circuits have driven chip designers to optimize power at the cost of area and delay, which were the traditional cost criteria for circuit optimization. The emerging scenario motivates us to revisit the classical operator scheduling problem under the availability of DVFS enabled functional units that can trade-off cycles with power. We study the design space defined due to this trade-off and present a branch-and-bound(B/B) algorithm to explore this state space and report the pareto-optimal front with respect to area and power. The scheduling also aims at maximum resource sharing and is able to attain sufficient area and power gains for complex benchmarks when timing constraints are relaxed by sufficient amount. Experimental results show that the algorithm that operates without any user constraint(area/power) is able to solve the problem for most available benchmarks, and the use of power budget or area budget constraints leads to significant performance gain.Comment: 18 pages, 6 figures, International journal of VLSI design & Communication Systems (VLSICS

A Novel SAT-Based Approach to the Task Graph Cost-Optimal Scheduling Problem

The Task Graph Cost-Optimal Scheduling Problem consists in scheduling a certain number of interdependent tasks onto a set of heterogeneous processors (characterized by idle and running rates per time unit), minimizing the cost of the entire process. This paper provides a novel formulation for this scheduling puzzle, in which an optimal solution is computed through a sequence of Binate Covering Problems, hinged within a Bounded Model Checking paradigm. In this approach, each covering instance, providing a min-cost trace for a given schedule depth, can be solved with several strategies, resorting to Minimum-Cost Satisfiability solvers or Pseudo-Boolean Optimization tools. Unfortunately, all direct resolution methods show very low efficiency and scalability. As a consequence, we introduce a specialized method to solve the same sequence of problems, based on a traditional all-solution SAT solver. This approach follows the "circuit cofactoring" strategy, as it exploits a powerful technique to capture a large set of solutions for any new SAT counter-example. The overall method is completed with a branch-and-bound heuristic which evaluates lower and upper bounds of the schedule length, to reduce the state space that has to be visited. Our results show that the proposed strategy significantly improves the blind binate covering schema, and it outperforms general purpose state-of-the-art tool

Formal and Informal Methods for Multi-Core Design Space Exploration

We propose a tool-supported methodology for design-space exploration for embedded systems. It provides means to define high-level models of applications and multi-processor architectures and evaluate the performance of different deployment (mapping, scheduling) strategies while taking uncertainty into account. We argue that this extension of the scope of formal verification is important for the viability of the domain.Comment: In Proceedings QAPL 2014, arXiv:1406.156

A Design Methodology for Space-Time Adapter

This paper presents a solution to efficiently explore the design space of communication adapters. In most digital signal processing (DSP) applications, the overall architecture of the system is significantly affected by communication architecture, so the designers need specifically optimized adapters. By explicitly modeling these communications within an effective graph-theoretic model and analysis framework, we automatically generate an optimized architecture, named Space-Time AdapteR (STAR). Our design flow inputs a C description of Input/Output data scheduling, and user requirements (throughput, latency, parallelism...), and formalizes communication constraints through a Resource Constraints Graph (RCG). The RCG properties enable an efficient architecture space exploration in order to synthesize a STAR component. The proposed approach has been tested to design an industrial data mixing block example: an Ultra-Wideband interleaver.Comment: ISBN : 978-1-59593-606-

Optimizing construction of scheduled data flow graph for on-line testability

The objective of this work is to develop a new methodology for behavioural synthesis using a flow of synthesis, better suited to the scheduling of independent calculations and non-concurrent online testing. The traditional behavioural synthesis process can be defined as the compilation of an algorithmic specification into an architecture composed of a data path and a controller. This stream of synthesis generally involves scheduling, resource allocation, generation of the data path and controller synthesis. Experiments showed that optimization started at the high level synthesis improves the performance of the result, yet the current tools do not offer synthesis optimizations that from the RTL level. This justifies the development of an optimization methodology which takes effect from the behavioural specification and accompanying the synthesis process in its various stages. In this paper we propose the use of algebraic properties (commutativity, associativity and distributivity) to transform readable mathematical formulas of algorithmic specifications into mathematical formulas evaluated efficiently. This will effectively reduce the execution time of scheduling calculations and increase the possibilities of testability