Scratchpad Memory Management For Multicore Real-Time Embedded Systems

Multicore systems will continue to spread in the domain of real-time embedded systems due to the increasing need for high-performance applications. This research discusses some of the challenges associated with employing multicore systems for safety-critical real-time applications. Mainly, this work is concerned with providing: 1) efficient inter-core timing isolation for independent tasks, and 2) predictable task communication for communicating tasks. Principally, we introduce a new task execution model, based on the 3-phase execution model, that exploits the Direct Memory Access (DMA) controllers available in modern embedded platforms along with ScratchPad Memories (SPMs) to enforce strong timing isolation between tasks. The DMA and the SPMs are explicitly managed to pre-load tasks from main memory into the local (private) scratchpad memories. Tasks are then executed from the local SPMs without accessing main memory. This model allows CPU execution to be overlapped with DMA loading/unloading operations from and to main memory. We show that by co-scheduling task execution on CPUs and using DMA to access memory and I/O, we can efficiently hide access latency to physical resources. In turn, this leads to significant improvements in system schedulability, compared to both the case of unregulated contention for access to physical resources and to previous cache and SPM management techniques for real-time systems. The presented SPM-centric scheduling algorithms and analyses cover single-core, partitioned, and global real-time systems. The proposed scheme is also extended to support large tasks that do not fit entirely into the local SPM. Moreover, the schedulability analysis considers the case of recovering from transient soft errors (bit flips caused by a single event upset) in several levels of memories, that cannot be automatically corrected in hardware by the ECC unit. The proposed SPM-centric scheduling is integrated at the OS level; thus it is transparent to applications. The proposed scheme is implemented and evaluated on an FPGA platform and a Commercial-Off-The-Shelf (COTS) platform. In regards to real-time task communication, two types of communication are considered. 1) Asynchronous inter-task communication, between either sequential tasks (single-threaded) or parallel tasks (multi-threaded). 2) Intra-task communication, where parallel threads of the same application exchange data. A new task scheduling model for parallel tasks (Bundled Scheduling) is proposed to facilitate intra-task communication and reduce synchronization overheads. We show that the proposed bundled scheduling model can be applied to several parallel programming models, such as fork-join and DAG-based applications, leading to improved system schedulability. Finally, intra-task communication is governed by a predictable inter-core communication platform. Specifically, we propose HopliteRT, a lean and predictable Network-on-Chip that connects the private SPMs

A Dynamic Scratchpad Memory Unit for Predictable Real-Time Embedded Systems

Scratch-pad memory is a popular alternative to caches in real-time embedded systems due to its advantages in terms of timing predictability and power consumption. However, dynamic management of scratch-pad content is challenging in multitasking environments. To address this issue, this thesis proposes the design of a novel Real-Time Scratchpad Memory Unit (RSMU). The RSMU can be integrated into existing systems with minimal architectural modi cations. Furthermore, scratchpad management is performed at the OS level, requiring no application changes. In conjunction with a two-level scheduling scheme, the RSMU provides strong timing guarantees to critical tasks. Demonstration and evaluation of the system design is provided on an embedded FPGA platform

Worst Case Latency Analysis for Hoplite FPGA-based NoC

Overlay NoCs, such as Hoplite, are cheap to implement on an FPGA but provide no bounds on worst-case routing latency of packets traversing the NoC due to deflection routing. In this paper, we show how to adapt Hoplite to enable calculation of precise upper bounds on routing latency by modifying the routing function to prioritize deflections, and by regulating the injection of packets to meet certain throughput and burstiness constraints. We provide an analytical model for computing end-to-end latency in the form of (1) in-flight time in the network $T^f$, and (2) waiting time at the source node $T^s$. To bound in-flight time in an $m \times m$ NoC, we modify the routing function and switching crossbar richness in the Hoplite router to deliver $T^{f} =\Delta X + \Delta Y + (\Delta Y \times m) + 2$ where $\Delta X$ and $\Delta Y$ are differences of the source and destination address co-ordinates of the packet. To bound the waiting time at the source, we add a Token Bucket regulator with rate $\rho_i$ and burstiness $\sigma_i$ for each flow $f_i$node $(x,y)$ to deliver $(\lceil\frac{1}{\rho_{_i}}\rceil -1 ) + T^s$ : T^s =\lceil\frac{\sigma(\Gamma^C_f){1-\rho(\Gamma^C_f)} \rceil which depends on the regulator period $1/\rho_i$, burstiness $\sigma$ and the rate $\rho$ of all interfering flows $\Gamma^C_f$. A 64b implementation of our HopliteRT routerrequires $\approx$4\% fewer LUTs, and similar number of FFs compared to the original Hoplite router. We also need two small counters at each client port for regulating injection. We evaluate our model and RTL implementation across synthetic traffic patterns and observe behavior that conforms with the analytical bounds

Intelligent Sensing Using Multiple Sensors for Material Characterization

This paper presents a concept of an intelligent sensing technique based on modulating the frequency responses of microwave near-field sensors to characterize material parameters. The concept is based on the assumption that the physical parameters being extracted such as fluid concentration are constant over the range of frequency of the sensor. The modulation of the frequency response is based on the interactions between the material under test and multiple sensors. The concept is based on observing the responses of the sensors over a frequency wideband as vectors of many dimensions. The dimensions are then considered as the features for a neural network. With small datasets, the neural networks can produce highly accurate and generalized models. The concept is demonstrated by designing a microwave sensing system based on a two-port microstrip line exciting three-identical planar resonators. For experimental validation, the sensor is used to detect the concentration of a fluid material composed of two pure fluids. Very high accuracy is achieved.Applied Science, Faculty ofNon UBCReviewedFacult