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The What, Why, and How of MPSoCs 1
Ahmed Amine Jerraya and Wayne Wolf
1.1 Introduction 1
1.2 What are MPSoCs 1
1.3 Why MPSoCs? 5
1.4 Challenges 10
1.5 Design Methodologies 11
1.6 Hardware Architectures 13
1.7 Software 14
1.7.1 Programmer’s Viewpoint 14
1.7.2 Software architecture and design reuse viewpoint 15
1.7.3 Optimization Viewpoint 16
1.8 The Rest of the Book 18
PART I HARDWARE 19
2 Techniques for Designing Energy-Aware MPSoCs 21
Mary Jane Irwin, Luca Benini, N. Vijaykrishnan, and Mahmut Kandemir
2.1 Introduction 21
2.2 Energy-Aware Processor Design 23
2.2.1 Reducing Active Energy 24
2.2.2 Reducing Standby Energy 26
2.3 Energy-Aware Memory System Design 27
2.3.1 Reducing Active Energy 28
2.3.2 Reducing Standby Energy 28
2.3.3 Influence of Cache Architecture on Energy
Consumption 29
2.3.4 Reducing Snoop Energy 33
2.4 Energy-Aware On-Chip Communication System Design 34
2.4.1 Bus Encoding for Low Power 34
2.4.2 Low Swing Signaling 39
2.4.3 Energy Considerations in Advanced Interconnects 41
2.5 Energy-Aware Software 44
2.6 Conclusions 46
3 Networks on Chips: A New Paradigm for
Component-Based MPSoC Design 49
Luca Benini and Giovanni De Micheli
3.1 Introduction 49
3.1.1 Technology Trends 49
3.1.2 Nondeterminism in SoC Abstraction Models 50
3.1.3 A New Design Approach to SoCs 51
Contents
viii
3.2 Signal Transmission on Chip 52
3.2.1 Global Wiring and Signaling 53
3.2.2 Signal Integrity 55
3.3 Micronetwork Architecture and Control 57
3.3.1 Interconnection Network Architectures 58
3.3.2 Micronetwork Control 63
3.4 Software Layers 73
3.4.1 Programming Model 73
3.4.2 Middleware Architecture 75
3.4.3 Software Development Tools 78
3.5 Conclusions 80
4 Architecture of Embedded Microprocessors 81
Eric Rotenberg and Aravindh Anantaraman
4.1 Introduction 81
4.2 Embedded Versus High-Performance Processors:
A Common Foundation 82
4.3 Pipelining Techniques 85
4.3.1 Bypasses 86
4.3.2 Branch Prediction 87
4.3.3 Caches 90
4.3.4 Dynamic Scheduling 91
4.3.5 Deeper Pipelining, Multiple-Instruction Issue,
and Hardware Multithreading 93
4.4 Survey of General-purpose 32-bit Embedded
Microprocessors 96
4.4.1 ARM 98
4.4.2 High-end Embedded MPUs 103
4.4.3 Ubicom IP3023: Deterministic High Performance via
Multithreading 105
4.5 Virtual Simple Architecture (VISA): Integrating Non-Determinism
Without Undermining Safety 108
4.6 Conclusions 110
Contents
ix
5 Performance and Flexibility for Multiple-Processor
SoC Design 113
Chris Rowen
5.1 Introduction 113
5.2 The Limitations of Traditional ASIC Design 118
5.2.1 The Impact of SoC Integration 120
5.2.2 The Limitations of General-Purpose Processors 120
5.2.3 DSP as Application-Specific Processor 122
5.3 Extensible Processors as an Alternative to RTL 122
5.3.1 The Origins of Configurable Processors 123
5.3.2 Configurable, Extensible Processors 123
5.3.3 Configurable and Extensible Processor Features 130
5.3.4 Extending a Processor 132
5.3.5 Exploiting Extensibility 134
5.3.6 The Impact of Extensibility on Performance 136
5.3.7 Extensibility and Energy Efficiency 142
5.4 Toward Multiple-Processor SoCs 142
5.4.1 Modeling Systems with Multiple Processors 144
5.4.2 Developing an XTMP Model 144
5.5 Processors and Disruptive Technology 147
5.6 Conclusions 149
6 MPSoC Performance Modeling and Analysis 153
Rolf Ernst
6.1 Introduction 153
6.1.1 Complex Heterogeneous Architectures 153
6.1.2 Design Challenges 156
6.1.3 State of the Practice 157
6.1.4 Chapter Objectives 159
6.1.5 Structuring Performance Analysis 160
Contents
x
6.2 Architecture Component Performance Modeling and
Analysis 161
6.2.1 Processing Element Modeling and Analysis 161
6.2.2 Formal Processing Element Analysis 163
6.2.3 Communication Element Modeling and Analysis 165
6.2.4 Formal Communication Element Analysis 166
6.2.5 Memory Element Modeling and Analysis 167
6.2.6 Architecture Component Modeling and Analysis:
Summary 168
6.3 Process Execution Modeling 168
6.3.1 Activation Modeling 168
6.3.2 Software Architecture 170
6.3.3 Process Execution Modeling: Summary 170
6.4 Modeling Shared Resources 171
6.4.1 Resource Sharing Principle and Impact 171
6.4.2 Static Execution Order Scheduling 172
6.4.3 Time-Driven Scheduling 173
6.4.4 Priority-Driven Scheduling 176
6.4.5 Resource Sharing-Summary 178
6.5 Global Performance Analysis 179
6.6 Conclusions 185
7 Design of Communication Architectures for High-
Performance and Energy-Efficient Systems-on-Chips 187
Sujit Dey, Kanishka Lahiri, and Anand Raghunathan
7.1 Introduction 187
7.2 On-Chip Communication Architectures 189
7.2.1 Terminology 190
7.2.2 Communication Architecture Topologies 190
7.2.3 On-Chip Communication Protocols 192
7.2.4 Communication Interfaces 194
7.3 System-Level Analysis for Designing Communication
Architectures 194
7.3.1 Trace-Based Analysis of Communication Architectures 196
Contents
xi
7.4 Design Space Exploration for Customizing Communication
Architectures 203
7.4.1 Communication Architecture Templates 203
7.4.2 Communication Architecture Template
Customization 204
7.5 Adaptive Communication Architectures 210
7.5.1 Communication Architecture Tuners 210
7.6 Communication Architectures for Energy/Battery-Efficient
Systems 216
7.6.1 Minimizing Energy Consumed by the Communication
Architecture 216
7.6.2 Improving System Battery Efficiency Through
Communication Architecture Design 218
7.7 Conclusions 222
8 Design Space Exploration of On-Chip Networks:
A Case Study 223
Bishnupriya Bhattacharya, Luciano Lavagno, and Laura Vanzago
8.1 Introduction 223
8.2 Background 225
8.2.1 Function/Architecture Co-Design Methodology 225
8.2.2 Performance Modeling with Architecture Services 227
8.2.3 Mechanics of Architecture Services 229
8.2.4 Architecture Topology Binds Services 230
8.2.5 Communication Patterns 231
8.3 Modeling of Dataflow Networks 233
8.4 Case Study: Hiperlan/2 Application 235
8.4.1 Modeling the Hiperlan/2 Physical Layer 236
8.5 The Architectural Platform 238
8.5.1 Architectural Modeling 240
8.5.2 Mapping and Communication Refinement 241
8.6 Results 243
8.6.1 Communication Refinement 245
8.6.2 FPGA Alternatives 246
8.7 Conclusions 248
Contents
xii
PART II SOFTWARE 249
9 Memory Systems and Compiler Support for
MPSoC Architectures 251
Mahmut Kandemir and Nikil Dutt
9.1 Introduction and Motivation 251
9.2 Memory Architectures 252
9.2.1 Types of Architectures 254
9.2.2 Customization of Memory Architectures 261
9.2.3 Reconfigurability and Challenges 267
9.3 Compiler Support 269
9.3.1 Problems 269
9.3.2 Solutions 271
9.4 Conclusions 281
10 A SystemC-Based Abstract Real-Time Operating
System Model for Multiprocessor System-on-Chips 283
Jan Madsen, Kashif Virk, and Mercury Jair Gonzalez
10.1 Introduction 283
10.2 Basic Concepts and Terminology 286
10.2.1 Platform Architecture 286
10.2.2 Tasks 286
10.2.3 Basics of Scheduling 288
10.3 Basic System Model 290
10.4 Uniprocessor Systems 292
10.4.1 Link Model 292
10.4.2 Task Model 293
10.4.3 Scheduler Model 296
10.4.4 Synchronization Model 300
10.4.5 Resource Allocation Model 302
Contents
xiii
10.5 Multiprocessor Systems 303
10.5.1 Multiprocessing Anomalies 306
10.5.2 Interprocessor Communication 308
10.5.3 Multiprocessor Example 309
10.6 Summary 311
11 Cost-Efficient Mapping of Dynamic
Concurrent Tasks in Embedded Real-Time
Multimedia Systems 313
Peng Yang, Paul Marchal, Chun Wong, Stefaan Himpe, Francky Catthoor,
Patrick David, Johan Vounckx, and Rudy Lauwereins
11.1 Introduction 313
11.2 Platform Based Design 314
11.3 Related Work 315
11.4 Target Platform Architecture and Model 319
11.5 Task Concurrency Management 320
11.5.1 Global TCM Methodology 321
11.5.2 Two-Phase Scheduling Stage 321
11.5.3 Scenarios to Characterize Data-Dependent TFs 324
11.5.4 Platform Simulation Environment 326
11.6 3D Rendering QoS Application 327
11.7 Experimental Results 329
11.7.1 Gray-Box Model 329
11.7.2 Scenario Selection 329
11.7.3 Reference Cases for Comparison 331
11.7.4 Discussion of All Results 332
11.8 Conclusions 335
12 ILP-Based Resource-Aware Compilation 337
Jens Palsberg and Mayur Naik
12.1 Introduction 337
12.2 Examples 339
Contents
xiv
12.2.1 Instruction Scheduling 341
12.2.2 Energy Efficiency 343
12.2.3 Code-Size Minimization 345
12.2.4 Register Allocation 348
12.3 Open Problems 350
12.3.1 Combination 351
12.3.2 Correctness 352
12.3.3 Relationships with Other Approaches 353
12.4 Conclusions 354
PART III METHODOLOGY AND APPLICATIONS 355
13 Component-Based Design for Multiprocessor
Systems-on-Chip 357
Wander O. Cesário and Ahmed A. Jerraya
13.1 From ASIC to System and Network on Chip 357
13.1.1 Applications for MPSoC 358
13.2 Basics for MPSoC Design 359
13.2.1 MPSoC Software Architectures 361
13.2.2 MPSoC Design Methods 362
13.2.3 Component Interface Abstraction 364
13.2.4 Component-Based Approach 365
13.3 Design Models for Component Abstraction 367
13.3.1 Conceptual Design Flow 368
13.3.2 Virtual Architecture Model 368
13.3.3 Target Architecture Model 370
13.3.4 The Hardware/Software Wrapper Concept 370
13.4 Component-Based Design Environment 371
13.4.1 Hardware Generation 371
13.4.2 Memory Wrapper Generation 375
Contents
xv
13.4.3 Software Wrapper Generation 378
13.4.4 Simulation Model Generation 382
13.5 Component-Based Design of a VDSL Application 385
13.5.1 The VDSL Modem Architecture Specification 385
13.5.2 Virtual Architecture Specification 387
13.5.3 Resulting MPSoC Architecture 388
13.5.4 Evaluation 391
13.6 Conclusions 392
14 MPSoCs for Video 395
Santanu Dutta, Jens Rennert, Teihan Lv, Jiang Xu, Shengqi Yang,
and Wayne Wolf
14.1 Introduction 395
14.2 Multimedia Algorithms 396
14.2.1 Compression 396
14.2.2 Recognition 401
14.3 Architectural Approaches to Video Processing 402
14.4 Optimal CPU Configurations and Interconnections 406
14.4.1 Monolithic CPUs 406
14.4.2 Reconfigurable CPUs 407
14.4.3 Networked CPUs 408
14.4.4 Smart Interconnects 409
14.4.5 Software Support 409
14.5 The Challenges of SoC Integration and IP Reuse 410
14.6 The Panacea/Promise of Platform-Based Design 413
14.7 The Ever Critical Communication Bus Structures 416
14.7.1 PNX-8500 Structure 417
14.8 Design for Testability 421
14.9 Application-Driven Architecture Design 423
14.9.1 Application Characterization 423
14.9.2 Architectural Characterization 424
14.10 Conclusions 429
Contents
xvi
15 Models of Computation for Systems-on-Chips 431
JoAnn M. Paul and Donald E. Thomas
15.1 Introduction 431
15.1.1 Evolution of Models of Computation 432
15.1.2 What Makes a Good Model of Computation? 434
15.1.3 Toward an MoC for SoCs 436
15.2 MoC Classifications 437
15.2.1 Conventional Classifications 437
15.2.2 Classification Based on Applicability to Computer
Design 445
15.3 Models of Computation and Computer Models 448
15.4 Modeling Environment for Software and Hardware 451
15.4.1 Programmable Heterogeneous Multiprocessors 452
15.4.2 A New Simulation Foundation 454
15.4.3 Description of Layered Simulation 455
15.5 Conclusions 462
16 Metropolis: A Design Environment for
Heterogeneous Systems 465
Felice Balarin, Harry Hsieh, Luciano Lavagno, Claudio Passerone,
Alessandro Pinto, Alberto Sangiovanni-Vincentelli, Yosinori Watanabe,
and Guang Yang
16.1 Introduction 465
16.1.2 Related Work 471
16.2 The Metropolis Meta-Model 473
16.2.1 Function Modeling 474
16.2.2 Constraint Modeling 475
16.2.3 Architecture Modeling 477
16.2.4 Mapping 478
16.2.5 Recursive Paradigm of Platforms 480
16.3 Tools 481
16.3.1 Simulation 482
Contents
xvii
16.3.2 Property Verification 482
16.3.3 Synthesis 483
16.4 The Picture-in-Picture Design Example 484
16.4.1 Functional Description 484
16.4.2 Architectural Platform 489
16.4.3 Mapping Strategy 492
16.5 Conclusions 495
Glossary 497
References 513
Contributor Biographies 557
Subject Index 567
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