Micro-threading and FPGA implementation of a RISC microprocessor : a thesis presented in partial fulfilment of the requirements for the degree of Master of Science in Computer Science at Massey University, Palmerston North, New Zealand

Appendix E removed due to copyright restrictions. Articles are available in the print copy held in the libraryThis thesis is the outcome of research in two areas of computer technology: microprocessor and multi-processor architectures (specifically from the perspective of how differently they tolerate highly-latent and non-deterministic events), and hardware design of complex digital systems containing both datapath and control (particularly microprocessors). This thesis starts by pointing out that in order to achieve high processing speeds, current popular superscalar microprocessors (e.g. Intel Pentiums, Digital Alpha, etc) rely heavily on the technique of speculating the outcome of instruction flow in order to predict the behaviour of non-deterministic computing operations (as in loading operands from high-latency memory into the processor). This is fine only if the speculation is correct. But, what if it isn't? If the speculation fails, this would mean that the processor has to abandon its current decision (which now proved to be the wrong one) for the instruction flow path taken and to start all over again with the other path (the actual correct one). This is a waste of valuable processing time and hardware resources and a reduction of performance when speculation fails. Therefore, these processors can achieve high performance only when the majority of speculations are successful (being able to predict the right path). In an attempt to overcome the above shortcomings, the first part of this thesis is an investigation of the novel vector micro-threading architecture as an alternative approach to the current superscalar-based speculative microprocessor designs. Micro-threading is based on the not-so-novel multithreading technique, which avoids speculation altogether and instead, starts running a different thread of instructions while waiting for the non-determinism to be resolved. This utilizes the chip resources more efficiently without waste of any processing power. The rest of this thesis focuses on the baseline RISC processor platform, the MIPS R2000, which is reviewed first then partially synthesized from the RTL (Register Transfer Level) description using VHDL and then simulated and tested. This is conducted in order for future research to build upon and add the micro-threading architectural add-ons and modifications. Keywords: Micro-threading, Latency Tolerance, FPGA Synthesis, RISC Architecture, MIPS R2000 processor, VHDL

A C++-embedded Domain-Specific Language for programming the MORA soft processor array

MORA is a novel platform for high-level FPGA programming of streaming vector and matrix operations, aimed at multimedia applications. It consists of soft array of pipelined low-complexity SIMD processors-in-memory (PIM). We present a Domain-Specific Language (DSL) for high-level programming of the MORA soft processor array. The DSL is embedded in C++, providing designers with a familiar language framework and the ability to compile designs using a standard compiler for functional testing before generating the FPGA bitstream using the MORA toolchain. The paper discusses the MORA-C++ DSL and the compilation route into the assembly for the MORA machine and provides examples to illustrate the programming model and performance

Behavioral synthesis from VHDL using structured modeling

This dissertation describes work in behavioral synthesis involving the development of a VHDL Synthesis System VSS which accepts a VHDL behavioral input specification and performs technology independent synthesis to generate a circuit netlist of generic components. The VHDL language is used for input and output descriptions. An intermediate representation which incorporates signal typing and component attributes simplifies compilation and facilitates design optimization.A Structured Modeling methodology has been developed to suggest standard VHDL modeling practices for synthesis. Structured modeling provides recommendations for the use of available VHDL description styles so that optimal designs will be synthesized.A design composed of generic components is synthesized from the input description through a process of Graph Compilation, Graph Criticism, and Design Compilation. Experiments were performed to demonstrate the effects of different modeling styles on the quality of the design produced by VSS. Several alternative VHDL models were examined for each benchmark, illustrating the improvements in design quality achieved when Structured Modeling guidelines were followed

A general framework for efficient FPGA implementation of matrix product

Original article can be found at: http://www.medjcn.com/ Copyright Softmotor LimitedHigh performance systems are required by the developers for fast processing of computationally intensive applications. Reconfigurable hardware devices in the form of Filed-Programmable Gate Arrays (FPGAs) have been proposed as viable system building blocks in the construction of high performance systems at an economical price. Given the importance and the use of matrix algorithms in scientific computing applications, they seem ideal candidates to harness and exploit the advantages offered by FPGAs. In this paper, a system for matrix algorithm cores generation is described. The system provides a catalog of efficient user-customizable cores, designed for FPGA implementation, ranging in three different matrix algorithm categories: (i) matrix operations, (ii) matrix transforms and (iii) matrix decomposition. The generated core can be either a general purpose or a specific application core. The methodology used in the design and implementation of two specific image processing application cores is presented. The first core is a fully pipelined matrix multiplier for colour space conversion based on distributed arithmetic principles while the second one is a parallel floating-point matrix multiplier designed for 3D affine transformations.Peer reviewe

Low latency vision-based control for robotics : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Manawatu, New Zealand

In this work, the problem of controlling a high-speed dynamic tracking and interception system using computer vision as the measurement unit was explored. High-speed control systems alone present many challenges, and these challenges are compounded when combined with the high volume of data processing required by computer vision systems. A semi-automated foosball table was chosen as the test-bed system because it combines all the challenges associated with a vision-based control system into a single platform. While computer vision is extremely useful and can solve many problems, it can also introduce many problems such as latency, the need for lens and spatial calibration, potentially high power consumption, and high cost. The objective of this work is to explore how to implement computer vision as the measurement unit in a high-speed controller, while minimising latencies caused by the vision itself, communication interfaces, data processing/strategy, instruction execution, and actuator control. Another objective was to implement the solution in one low-latency, low power, low cost embedded system. A field programmable gate array (FPGA) system on chip (SoC), which combines programmable digital logic with a dual core ARM processor (HPS) on the same chip, was hypothesised to be capable of running the described vision-based control system. The FPGA was used to perform streamed image pre-processing, concurrent stepper motor control and provide communication channels for user input, while the HPS performed the lens distortion mapping, intercept calculation and “strategy” control tasks, as well as controlling overall function of the system. Individual vision systems were compared for latency performance. Interception performance of the semi-automated foosball table was then tested for straight, moderate-speed shots with limited view time, and latency was artificially added to the system and the interception results for the same, centre-field shot tested with a variety of different added latencies. The FPGA based system performed the best in both steady-state latency, and novel event detection latency tests. The developed stepper motor control modules performed well in terms of speed, smoothness, resource consumption, and versatility. They are capable of constant velocity, constant acceleration and variable acceleration profiles, as well as being completely parameterisable. The interception modules on the foosball table achieved a 100% interception rate, with a confidence interval of 95%, and reliability of 98.4%. As artificial latency was added to the system, the performance dropped in terms of overall number of successful intercepts. The decrease in performance was roughly linear with a 60% in reduction in performance caused by 100 ms of added latency. Performance dropped to 0% successful intercepts when 166 ms of latency was added. The implications of this work are that FPGA SoC technology may, in future, enable computer vision to be used as a general purpose, high-speed measurement system for a wide variety of control problems

Novel sparse OBC based distributed arithmetic architecture for matrix transforms

Inner product (IP) forms the basis of a number of signal processing algorithms and applications such as transforms, filters, communication systems etc. Distributed arithmetic (DA) provides an effective methodology to implement IP of vectors and matrices using a simple combination of memory elements, adders and shifters instead of lumped multipliers. This bit level rearrangement results in much higher computational efficiencies and yields compact designs highly suited for high performance resource constrained applications. Offset binary coding (OBC) is an effective technique to further optimize the DA, and allows us to reduce the memory requirements by a factor of two, with minimum additional computational complexity. This makes OBC-DA attractive for applications that are both resource and memory constrained. In addition, sparse matrix factorization techniques can be exploited to further reduce the size of the DA-ROMs. In this paper, the design and implementation of a novel OBC based DA is demonstrated using a generic architecture for implementing discrete orthogonal transforms (DOTs). Implementation is performed on the Xilinx Virtex-II Pro field programmable gate array (FPGA), and a detailed comparison between conventional and OBC based DA is presented to highlight the trade offs in various design metrics including performance, area and power

Variation Resilient Adaptive Controller for Subthreshold Circuits

Subthreshold logic is showing good promise as a viable ultra-low-power circuit design technique for power-limited applications. For this design technique to gain widespread adoption, one of the most pressing concerns is how to improve the robustness of subthreshold logic to process and temperature variations. We propose a variation resilient adaptive controller for subthreshold circuits with the following novel features: new sensor based on time-to-digital converter for capturing the variations accurately as digital signatures, and an all-digital DC-DC converter incorporating the sensor capable of generating an operating operating Vdd from 0V to 1.2V with a resolution of 18.75mV, suitable for subthreshold circuit operation. The benefits of the proposed controller is reflected with energy improvement of up to 55% compared to when no controller is employed. The detailed implementation and validation of the proposed controller is discussed