8 research outputs found
Leveraging RISC-V to build an open-source (hardware) OS framework for reconfigurable IoT devices
With the growing interest in RISC-V systems and the endless possi bilities of creating customized hardware architectures, we introduce
the first proof of concept (PoC) implementation of ChamelIoT, the
first open-source agnostic hardware operating system (OS) frame work for reconfigurable Internet of Things (IoT) low-end devices. At
this stage, ChamelIoT, leveraging the Rocket Custom Co-Processor
Interface (RoCC), provides hardware acceleration support for thread
management and scheduling of three different OSes: RIOT, Zephyr,
and FreeRTOS. This paper overviews the overall ChamelIoT archi tecture and describes the implementation details of the current PoC
deployment. Our first experiments were carried out on a Xilinx
Arty-35T FPGA Evaluation kit and the preliminary results are very
promising, showing that the desired agnosticism and flexibility can
be achieved with determinism and performance advantages at a
reasonable cost of hardware resources
Towards the development of a reliable reconfigurable real-time operating system on FPGAs
In the last two decades, Field Programmable Gate Arrays (FPGAs) have been
rapidly developed from simple “glue-logic” to a powerful platform capable of
implementing a System on Chip (SoC). Modern FPGAs achieve not only the high
performance compared with General Purpose Processors (GPPs), thanks to hardware
parallelism and dedication, but also better programming flexibility, in comparison to
Application Specific Integrated Circuits (ASICs). Moreover, the hardware
programming flexibility of FPGAs is further harnessed for both performance and
manipulability, which makes Dynamic Partial Reconfiguration (DPR) possible. DPR
allows a part or parts of a circuit to be reconfigured at run-time, without interrupting
the rest of the chip’s operation. As a result, hardware resources can be more
efficiently exploited since the chip resources can be reused by swapping in or out
hardware tasks to or from the chip in a time-multiplexed fashion. In addition, DPR
improves fault tolerance against transient errors and permanent damage, such as
Single Event Upsets (SEUs) can be mitigated by reconfiguring the FPGA to avoid
error accumulation. Furthermore, power and heat can be reduced by removing
finished or idle tasks from the chip. For all these reasons above, DPR has
significantly promoted Reconfigurable Computing (RC) and has become a very hot
topic. However, since hardware integration is increasing at an exponential rate, and
applications are becoming more complex with the growth of user demands, highlevel
application design and low-level hardware implementation are increasingly
separated and layered. As a consequence, users can obtain little advantage from DPR
without the support of system-level middleware.
To bridge the gap between the high-level application and the low-level hardware
implementation, this thesis presents the important contributions towards a Reliable,
Reconfigurable and Real-Time Operating System (R3TOS), which facilitates the
user exploitation of DPR from the application level, by managing the complex
hardware in the background. In R3TOS, hardware tasks behave just like software
tasks, which can be created, scheduled, and mapped to different computing resources
on the fly. The novel contributions of this work are: 1) a novel implementation of an efficient task scheduler and allocator; 2) implementation of a novel real-time
scheduling algorithm (FAEDF) and two efficacious allocating algorithms (EAC and
EVC), which schedule tasks in real-time and circumvent emerging faults while
maintaining more compact empty areas. 3) Design and implementation of a faulttolerant
microprocessor by harnessing the existing FPGA resources, such as Error
Correction Code (ECC) and configuration primitives. 4) A novel symmetric
multiprocessing (SMP)-based architectures that supports shared memory programing
interface. 5) Two demonstrations of the integrated system, including a) the K-Nearest
Neighbour classifier, which is a non-parametric classification algorithm widely used
in various fields of data mining; and b) pairwise sequence alignment, namely the
Smith Waterman algorithm, used for identifying similarities between two biological
sequences.
R3TOS gives considerably higher flexibility to support scalable multi-user, multitasking
applications, whereby resources can be dynamically managed in respect of
user requirements and hardware availability. Benefiting from this, not only the
hardware resources can be more efficiently used, but also the system performance
can be significantly increased. Results show that the scheduling and allocating
efficiencies have been improved up to 2x, and the overall system performance is
further improved by ~2.5x. Future work includes the development of Network on
Chip (NoC), which is expected to further increase the communication throughput; as
well as the standardization and automation of our system design, which will be
carried out in line with the enablement of other high-level synthesis tools, to allow
application developers to benefit from the system in a more efficient manner
Dynamic reconfiguration frameworks for high-performance reliable real-time reconfigurable computing
The sheer hardware-based computational performance and programming flexibility
offered by reconfigurable hardware like Field-Programmable Gate Arrays (FPGAs)
make them attractive for computing in applications that require high performance,
availability, reliability, real-time processing, and high efficiency. Fueled by fabrication
process scaling, modern reconfigurable devices come with ever greater quantities of
on-chip resources, allowing a more complex variety of applications to be developed.
Thus, the trend is that technology giants like Microsoft, Amazon, and Baidu now
embrace reconfigurable computing devices likes FPGAs to meet their critical
computing needs. In addition, the capability to autonomously reprogramme these
devices in the field is being exploited for reliability in application domains like
aerospace, defence, military, and nuclear power stations. In such applications, real-time
computing is important and is often a necessity for reliability. As such, applications and
algorithms resident on these devices must be implemented with sufficient
considerations for real-time processing and reliability.
Often, to manage a reconfigurable hardware device as a computing platform for a
multiplicity of homogenous and heterogeneous tasks, reconfigurable operating systems
(ROSes) have been proposed to give a software look to hardware-based computation.
The key requirements of a ROS include partitioning, task scheduling and allocation,
task configuration or loading, and inter-task communication and synchronization.
Existing ROSes have met these requirements to varied extents. However, they are
limited in reliability, especially regarding the flexibility of placing the hardware circuits
of tasks on device’s chip area, the problem arising more from the partitioning
approaches used. Indeed, this problem is deeply rooted in the static nature of the on-chip
inter-communication among tasks, hampering the flexibility of runtime task
relocation for reliability.
This thesis proposes the enabling frameworks for reliable, available, real-time,
efficient, secure, and high-performance reconfigurable computing by providing
techniques and mechanisms for reliable runtime reconfiguration, and dynamic inter-circuit communication and synchronization for circuits on reconfigurable hardware.
This work provides task configuration infrastructures for reliable reconfigurable
computing. Key features, especially reliability-enabling functionalities, which have
been given little or no attention in state-of-the-art are implemented. These features
include internal register read and write for device diagnosis; configuration operation
abort mechanism, and tightly integrated selective-area scanning, which aims to
optimize access to the device’s reconfiguration port for both task loading and error
mitigation.
In addition, this thesis proposes a novel reliability-aware inter-task communication
framework that exploits the availability of dedicated clocking infrastructures in a
typical FPGA to provide inter-task communication and synchronization. The clock
buffers and networks of an FPGA use dedicated routing resources, which are distinct
from the general routing resources. As such, deploying these dedicated resources for
communication sidesteps the restriction of static routes and allows a better relocation
of circuits for reliability purposes.
For evaluation, a case study that uses a NASA/JPL spectrometer data processing
application is employed to demonstrate the improved reliability brought about by the
implemented configuration controller and the reliability-aware dynamic
communication infrastructure. It is observed that up to 74% time saving can be achieved
for selective-area error mitigation when compared to state-of-the-art vendor
implementations. Moreover, an improvement in overall system reliability is observed
when the proposed dynamic communication scheme is deployed in the data processing
application.
Finally, one area of reconfigurable computing that has received insufficient
attention is security. Meanwhile, considering the nature of applications which now turn
to reconfigurable computing for accelerating compute-intensive processes, a high
premium is now placed on security, not only of the device but also of the applications,
from loading to runtime execution. To address security concerns, a novel secure and
efficient task configuration technique for task relocation is also investigated, providing
configuration time savings of up to 32% or 83%, depending on the device; and resource
usage savings in excess of 90% compared to state-of-the-art
Dynamic partial reconfiguration management for high performance and reliability in FPGAs
Modern Field-Programmable Gate Arrays (FPGAs) are no longer used to implement
small “glue logic” circuitries. The high-density of reconfigurable logic resources in
today’s FPGAs enable the implementation of large systems in a single chip. FPGAs
are highly flexible devices; their functionality can be altered by simply loading a new
binary file in their configuration memory. While the flexibility of FPGAs is
comparable to General-Purpose Processors (GPPs), in the sense that different
functions can be performed using the same hardware, the performance gain that can
be achieved using FPGAs can be orders of magnitudes higher as FPGAs offer the
ability for customisation of parallel computational architectures.
Dynamic Partial Reconfiguration (DPR) allows for changing the functionality of
certain blocks on the chip while the rest of the FPGA is operational. DPR has
sparked the interest of researchers to explore new computational platforms where
computational tasks are off-loaded from a main CPU to be executed using dedicated
reconfigurable hardware accelerators configured on demand at run-time. By having a
battery of custom accelerators which can be swapped in and out of the FPGA at runtime,
a higher computational density can be achieved compared to static systems
where the accelerators are bound to fixed locations within the chip. Furthermore, the
ability of relocating these accelerators across several locations on the chip allows for
the implementation of adaptive systems which can mitigate emerging faults in the
FPGA chip when operating in harsh environments. By porting the appropriate fault
mitigation techniques in such computational platforms, the advantages of FPGAs can
be harnessed in different applications in space and military electronics where FPGAs
are usually seen as unreliable devices due to their sensitivity to radiation and extreme
environmental conditions.
In light of the above, this thesis investigates the deployment of DPR as: 1) a method
for enhancing performance by efficient exploitation of the FPGA resources, and 2) a
method for enhancing the reliability of systems intended to operate in harsh
environments. Achieving optimal performance in such systems requires an efficient
internal configuration management system to manage the reconfiguration and
execution of the reconfigurable modules in the FPGA. In addition, the system needs
to support “fault-resilience” features by integrating parameterisable fault detection
and recovery capabilities to meet the reliability standard of fault-tolerant
applications. This thesis addresses all the design and implementation aspects of an
Internal Configuration Manger (ICM) which supports a novel bitstream relocation
model to enable the placement of relocatable accelerators across several locations on
the FPGA chip. In addition to supporting all the configuration capabilities required to
implement a Reconfigurable Operating System (ROS), the proposed ICM also
supports the novel multiple-clone configuration technique which allows for cloning
several instances of the same hardware accelerator at the same time resulting in much
shorter configuration time compared to traditional configuration techniques. A faulttolerant
(FT) version of the proposed ICM which supports a comprehensive faultrecovery
scheme is also introduced in this thesis. The proposed FT-ICM is designed
with a much smaller area footprint compared to Triple Modular Redundancy (TMR)
hardening techniques while keeping a comparable level of fault-resilience.
The capabilities of the proposed ICM system are demonstrated with two novel
applications. The first application demonstrates a proof-of-concept reliable FPGA
server solution used for executing encryption/decryption queries. The proposed
server deploys bitstream relocation and modular redundancy to mitigate both
permanent and transient faults in the device. It also deploys a novel Built-In Self-
Test (BIST) diagnosis scheme, specifically designed to detect emerging permanent
faults in the system at run-time. The second application is a data mining application
where DPR is used to increase the computational density of a system used to
implement the Frequent Itemset Mining (FIM) problem
Towards the development of flexible, reliable, reconfigurable, and high-performance imaging systems
Current FPGAs can implement large systems because of the high density of
reconfigurable logic resources in a single chip. FPGAs are comprehensive devices
that combine flexibility and high performance in the same platform compared to
other platform such as General-Purpose Processors (GPPs) and Application Specific
Integrated Circuits (ASICs). The flexibility of modern FPGAs is further enhanced by
introducing Dynamic Partial Reconfiguration (DPR) feature, which allows for
changing the functionality of part of the system while other parts are functioning.
FPGAs became an important platform for digital image processing applications
because of the aforementioned features. They can fulfil the need of efficient and
flexible platforms that execute imaging tasks efficiently as well as the reliably with
low power, high performance and high flexibility. The use of FPGAs as accelerators
for image processing outperforms most of the current solutions. Current FPGA
solutions can to load part of the imaging application that needs high computational
power on dedicated reconfigurable hardware accelerators while other parts are
working on the traditional solution to increase the system performance. Moreover,
the use of the DPR feature enhances the flexibility of image processing further by
swapping accelerators in and out at run-time. The use of fault mitigation techniques
in FPGAs enables imaging applications to operate in harsh environments following
the fact that FPGAs are sensitive to radiation and extreme conditions.
The aim of this thesis is to present a platform for efficient implementations of
imaging tasks. The research uses FPGAs as the key component of this platform and
uses the concept of DPR to increase the performance, flexibility, to reduce the power
dissipation and to expand the cycle of possible imaging applications. In this context,
it proposes the use of FPGAs to accelerate the Image Processing Pipeline (IPP)
stages, the core part of most imaging devices. The thesis has a number of novel
concepts. The first novel concept is the use of FPGA hardware environment and
DPR feature to increase the parallelism and achieve high flexibility. The concept also
increases the performance and reduces the power consumption and area utilisation.
Based on this concept, the following implementations are presented in this thesis: An
implementation of Adams Hamilton Demosaicing algorithm for camera colour
interpolation, which exploits the FPGA parallelism to outperform other equivalents.
In addition, an implementation of Automatic White Balance (AWB), another IPP
stage that employs DPR feature to prove the mentioned novelty aspects. Another
novel concept in this thesis is presented in chapter 6, which uses DPR feature to
develop a novel flexible imaging system that requires less logic and can be
implemented in small FPGAs. The system can be employed as a template for any
imaging application with no limitation. Moreover, discussed in this thesis is a novel
reliable version of the imaging system that adopts novel techniques including
scrubbing, Built-In Self Test (BIST), and Triple Modular Redundancy (TMR) to
detect and correct errors using the Internal Configuration Access Port (ICAP)
primitive. These techniques exploit the datapath-based nature of the implemented
imaging system to improve the system's overall reliability. The thesis presents a
proposal for integrating the imaging system with the Robust Reliable Reconfigurable
Real-Time Heterogeneous Operating System (R4THOS) to get the best out of the
system. The proposal shows the suitability of the proposed DPR imaging system to
be used as part of the core system of autonomous cars because of its unbounded
flexibility. These novel works are presented in a number of publications as shown in section
1.3 later in this thesis
Design Disjunction for Resilient Reconfigurable Hardware
Contemporary reconfigurable hardware devices have the capability to achieve high performance, power efficiency, and adaptability required to meet a wide range of design goals. With scaling challenges facing current complementary metal oxide semiconductor (CMOS), new concepts and methodologies supporting efficient adaptation to handle reliability issues are becoming increasingly prominent. Reconfigurable hardware and their ability to realize self-organization features are expected to play a key role in designing future dependable hardware architectures. However, the exponential increase in density and complexity of current commercial SRAM-based field-programmable gate arrays (FPGAs) has escalated the overhead associated with dynamic runtime design adaptation. Traditionally, static modular redundancy techniques are considered to surmount this limitation; however, they can incur substantial overheads in both area and power requirements. To achieve a better trade-off among performance, area, power, and reliability, this research proposes design-time approaches that enable fine selection of redundancy level based on target reliability goals and autonomous adaptation to runtime demands. To achieve this goal, three studies were conducted: First, a graph and set theoretic approach, named Hypergraph-Cover Diversity (HCD), is introduced as a preemptive design technique to shift the dominant costs of resiliency to design-time. In particular, union-free hypergraphs are exploited to partition the reconfigurable resources pool into highly separable subsets of resources, each of which can be utilized by the same synthesized application netlist. The diverse implementations provide reconfiguration-based resilience throughout the system lifetime while avoiding the significant overheads associated with runtime placement and routing phases. Evaluation on a Motion-JPEG image compression core using a Xilinx 7-series-based FPGA hardware platform has demonstrated the potential of the proposed FT method to achieve 37.5% area saving and up to 66% reduction in power consumption compared to the frequently-used TMR scheme while providing superior fault tolerance. Second, Design Disjunction based on non-adaptive group testing is developed to realize a low-overhead fault tolerant system capable of handling self-testing and self-recovery using runtime partial reconfiguration. Reconfiguration is guided by resource grouping procedures which employ non-linear measurements given by the constructive property of f-disjunctness to extend runtime resilience to a large fault space and realize a favorable range of tradeoffs. Disjunct designs are created using the mosaic convergence algorithm developed such that at least one configuration in the library evades any occurrence of up to d resource faults, where d is lower-bounded by f. Experimental results for a set of MCNC and ISCAS benchmarks have demonstrated f-diagnosability at the individual slice level with average isolation resolution of 96.4% (94.4%) for f=1 (f=2) while incurring an average critical path delay impact of only 1.49% and area cost roughly comparable to conventional 2-MR approaches. Finally, the proposed Design Disjunction method is evaluated as a design-time method to improve timing yield in the presence of large random within-die (WID) process variations for application with a moderately high production capacity
HAL-ASOS - Linux com aceleração em hardware para sistemas operativos dedicados à aplicação
Programa doutoral em Engenharia Eletrónica e de Computadores (PDEEC) (especialidade de Informática Industrial e Sistemas Embebidos)O ecossistema de sistemas embebidos de hoje tornou-se enorme, cobrindo vários e diferentes sistemas,
exigindo desempenho e mobilidade completa enquanto atingem autonomias de bateria cada vez maiores.
Mas a crescente frequência de relógio que resultou em dispositivos cada vez mais rápidos começou a
estagnar antes dos transístores pararem de encolher. Plataformas Field Programmable Gate Array (FPGA)
são uma solução alternativa para a implementação de sistemas completos e reconfiguráveis. Fornecem
desempenho e eficiência computacional para satisfazer requisitos da aplicação e do sistema embebido.
Vários Sistemas Operativos (SO) assistidos por FPGA foram propostos, mas ao estreitar seu foco na síntese
do datapath do acelerador de hardware, a grande maioria ignora a integração semântica destes no
SO. Ambientes de síntese de alto nível (HLS) elevaram a abstração além da linguagem de transferência de
registo (RTL), seguindo uma abordagem específica de domínio enquanto misturam software e abstrações
de hardware ad hoc, que dificultam as otimizações. Além disso, os modelos de programação para software
e hardware reconfigurável carecem de semelhanças, o que com o tempo dificultará a Exploração
do Ambiente de Design (DSE) e diminuirá o potencial de reutilização de código. Para responder a estas
necessidades, propomos HAL-ASOS, uma ferramenta para implementar sistemas embebidos baseados
em Linux que fornece (1) elasticidade no design em conformidade com a natureza evolutiva deste SO, (2)
integração semântica profunda de tarefas de hardware nos modelos de programação do Linux, (3) facilidade
na gestão de complexidade através de metodologia e ferramentas para apoiar o design, verificação
e implementação, (4) orientada por princípios de design híbridos e eficiência no sistema. Para avaliar as
funcionalidades da ferramenta, foi implementado um aplicativo criptográfico que demonstra alcance de
desempenho enquanto se emprega a metodologia de design. Novos níveis de desempenho são atingidos
numa aplicação de Visão por Computador que explora recursos de programação assíncrona-síncrona. Os
resultados demonstram uma abordagem flexível na reconfiguração entre hardware e software, e desempenho
que aumenta consistentemente com acréscimo de recursos ou frequência de relógio.Today’s embedded systems ecosystem became huge while covering several and different computer-based
systems, demanding for performance and complete mobility while experiencing longer battery lives. But
the rampant frequency that resulted in faster devices began hitting a wall even before transistors stopped
shrinking. Field Programmable Gate Array (FPGA) platforms are an alternative solution towards implementing
complete reconfigurable systems. They provide computational power, efficiency, in a lightweight
solution to serve the application requirements and increase performance in the overall system. Several
FPGA-assisted Operating Systems (OS) have been proposed, but by narrowing their focus on datapath
synthesis of the hardware accelerator, they completely ignore the deep semantic integration of these accelerators
into the OS. State-of-the-art High-Level Synthesis (HLS) environments have raised the level of
abstraction beyond Register Transfer Language (RTL) by following a domain-specific approach while mixing
ad hoc software and hardware abstractions, making harder for performance optimizations. Furthermore,
the programming models for software and reconfigurable hardware lack commonalities, which in time will
hinder the Design Space Exploration (DSE) and lower the potential for code reuse. To overcome these
issues, we propose HAL-ASOS, a framework to implement Linux-based Embedded systems which provides
(1) elasticity by design to comply with the evolutive nature of Linux, (2) deep semantic integration of the
hardware tasks in the Linux programming models, (3) easy complexity management using methodology
and tools to fully support design, verification and deployment, (4) hybrid and efficiency-oriented design
principles. To evaluate the framework functionalities, a cryptographic application was implemented and
demonstrates performance achievements while using the promoted application-driven design methodology.
To demonstrate new levels of performance that can be achieved, a Computer Vision application
explores several mixed asynchronous-synchronous programming features. Experiments demonstrate a
flexible design approach in terms of hardware and software reconfiguration, and significant performance
that increases consistently with the rising in processing resources or clock frequencies.Financial support received from Portuguese Foundation for Science and Technology (FCT) with the PhD grant SFRH/BD/82732/2011