Reconfigurable Architectures

(1)

Programming of Coarse-Grained

Reconfigurable Architectures

(2)

Örebro Studies in Technology 48

Zain-ul-Abdin

Programming of Coarse-Grained

Reconfigurable Architectures

(3)

Örebro Studies in Technology 48

Zain-ul-Abdin

Programming of Coarse-Grained

Reconfigurable Architectures

(4)

Title: Programming of Coarse-Grained Reconfigurable Architectures.

Publisher: Örebro University 2011 www.publications.oru.se

trycksaker@oru.se

Printer: Intellecta Infolog, Kållered 04/2011

issn 1650-8580 isbn 978-91-7668-786-4

(5)

Title: Programming of Coarse-Grained Reconfigurable Architectures.

Publisher: Örebro University 2011 www.publications.oru.se

trycksaker@oru.se

Printer: Intellecta Infolog, Kållered 04/2011

issn 1650-8580 isbn 978-91-7668-786-4

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

(17)

(18)

+

(19)

+

(20)

+

(21)

+

(22)

(23)

(24)

+ +

(25)

+ +

(26)

×

+

(27)

×

+

(28)

(29)

(30)

+

(31)

+

(32)

(33)

(34)

+

(35)

+

(36)

+

(37)

+

(38)

(39)

(40)

¯ u ¯o

A|B| C = u(e).¯e. ´A(u, e) o.B(o, u) + ¯u(o). ´B(u) C

= ¯o. ´A(u, o) ´B(u) C

(41)

¯ u ¯o

A|B| C = u(e).¯e. ´A(u, e) o.B(o, u) + ¯u(o). ´B(u) C

= ¯o. ´A(u, o) ´B(u) C

(42)

u! o =⇒ u ! o → (o := undefined)

u? e =⇒ u ? o → discard.e → (e := o)

(43)

u! o =⇒ u ! o → (o := undefined)

u? e =⇒ u ? o → discard.e → (e := o)

(44)

(45)

(46)

(47)

(48)

×

(49)

×

(50)

(51)

(52)

(53)

(54)

(55)

(56)

(57)

(58)

(59)

(60)

+

(61)

+

(62)

+

(63)

+

(64)

+

(65)

+

(66)

(67)

TABLE I

UTILIZEDRESOURCES ANDPERFORMANCE RESULTS.

Implementations Resources Performance

ALUs FREGs/BREGs IRAMs IOs Configuration + Latency Throughput (cycles) (million samples/sec.) 16-tap Integer FIR

NML 16 34 0 2 455 64

XPP-VC 22 58 0 2 494 64

Occam-pi Opt-I 31 45 0 2 469 64

Occam-pi Opt-II 16 54 0 2 507 64

1D-DCT NML 28 141 10 2 - 32

XPP-VC 6 56 3 2 3843 0.019

Occam-pi 42 84 0 2 989 21.3

Reconfigurable 1D-DCT

Stage1(Occam-pi) 8 53 1 1 533 64

Stage2(Occam-pi) 7 49 2 0 439 32

Stage3(Occam-pi) 14 35 2 0 462 21.3

Stage4(Occam-pi) 12 45 1 1 482 21.3

From the programmability point of view, it is observed that programming in occam-pi exposes the communica- tion requirements in an application in a more profound way compared to programming in XPP-VC. Knowing the com- munication dependencies, the programmer can parallelize the design according to the available resources and performance requirements. The turnaround time for implementing various designs in occam-pi is significantly less as compared to the low-level NML language. The feature of the REAL data type in occam-pi also reduces the overall burden on the programmer by converting the floating-point arithmetics to fixed-point by the compiler backend, as compared to manually implementing the fixed-point arithmetics. Furthermore, the support for expressing reconfigurability enables effective reuse of resources.

Raising the abstraction level for the programmer, while not compromising the performance benefits, will be the key to success for the adoption of the emerging reconfigurable architectures in the mainstream computing industry. In short, we can conclude that occam-pi raises the abstraction level to a similar level as that of the XPP-VC language, thus making it easier for the programmer (measured in lines of code metric and development effort), while the implementation results (measured in terms of throughput) achieved from occam-pi programs are comparable to those of NML programs.

Future work will focus on porting more complex applications developed in the occam-pi language to XPP, such as autofocus criterion calculation developed for Ambric in previous work [19], and to exploit the run-time reconfiguration capability of XPP for such complex applications. We would also like to extend the compiler framework to target other reconfigurable architectures such as picoarray or Element CXI.

ACKNOWLEDGMENT

The authors would like to thank PACT XPP Technologies for giving access to their software development suite. This research is part of the CERES research program funded by the Knowledge Foundation and the ELLIIT strategic research initiative funded by the Swedish government. The support from European Union Artemis Project SMECY is also ac- knowledged.

REFERENCES

[1] Zain-ul-Abdin and Svensson, B.: Evolution in architectures and programming methodologies of coarse-grained reconfigurable computing.

Microprocessors and Microsystems, Vol. 33(3), 161-178. (2009) [2] Hind, M.: Pointer analysis: Haven’t we solved this problem yet? In

Proceedings of PASTE’01. (2001)

[3] Lee, E. A.: The problem with threads. Computer, Vol. 39(5), 33-42. (2006) [4] Hoare, C.A.R.: Communicating Sequential Processes. Prentice-Hall.

(1985)

[5] Occam^R 2.1 Reference Manual, SGS-Thomson Microelectronics Lim- ited. (1995)

[6] Milner, R., Parrow, J., and Walker, D.: A calculus of mobile processes, Part I. Information and Computation, 100. (1989)

[7] Welch, P.H., and Barnes, F.R.M.: Communicating mobile processes: In- troducing occam-pi. Lecture Notes in Computer Science, Springer Verlag.

175-210. (2005)

[8] Zain-ul-Abdin and Svensson, B.: A study of design efficiency with a high-level language for FPGAs. Proceedings of 14’th Reconfigurable Architectures Workshop (RAW) held in conjunction with International Parallel and Distributed Processing Symposium (IPDPS). (2007) [9] Zain-ul-Abdin, and Svensson, B.: Using a CSP based programming

model for reconfigurable processor arrays. Proceedings of International Conference on Reconfigurable Computing and FPGAs. (2008) [10] Baumgarte, V., Ehlers, G., May, F., Nuckel, A., Vorbach, M., and Wein-

hardt, M.: PACT XPP: A self-reconfigurable data processing architecture.

Proceedings of International Conference on Engineering of Reconfigurable Systems and Algorithms (ERSA). (2001)

[11] Handel-C Language Reference Manual, Version 3.1, Celoxica Inc.

(2002)

[12] Frigo, J., Gokhale, M., and Lavenier, D.: Evaluation of the Streams-C C-to-FPGA compiler: an applications perspective. Proceedings of the 2001 ACM/SIGDA Ninth International Symposium on Field Programmable Gate Arrays. 134-140. (2001)

[13] Mobius Language Manual. Codetronix LLC. (2006)

[14] Welch, P.H., and Barnes, F.R.M.: Prioritised dynamic communicating processes: Part I. Communicating Process Architectures, IOS Press. 321- 352. (2002)

[15] Welch, P.H., and Barnes, F.R.M.: Prioritised dynamic communicating processes: Part II. Communicating Process Architectures, IOS Press. 353- 370. (2002)

[16] Tock: Translator from Occam to C by Kent.

“https://www.cs.kent.ac.uk/research/groups/sys/wiki/Tock”, [Online;

accessed 8^thJuly, 2008]

[17] XAPP610: Video compression using DCT.

“http://direct.xilinx.com/bvdocs/appnotes/xapp610.pdf”, [Online; accessed 16^thSeptember, 2006]

[18] Single Configuration DCT32. PACT XPP Technologies AG. (2003) [19] Zain-ul-Abdin and Svensson, B.: Programming real-time autofocus on

a massively parallel reconfigurable architecture using Occam-pi. Technical Report IDE1102, Halmstad University, 2011.

Publications in the series Örebro Studies in Technology

1. Bergsten, Pontus (2001) Observers and Controllers for Takagi – Sugeno Fuzzy Systems. Doctoral Dissertation.

2. Iliev, Boyko (2002) Minimum-time Sliding Mode Control of Robot Manipulators. Licentiate Thesis.

3. Spännar, Jan (2002) Grey box modelling for temperature estimation. Licentiate Thesis.

4. Persson, Martin (2002) A simulation environment for visual servoing. Licentiate Thesis.

5. Boustedt, Katarina (2002) Flip Chip for High Volume and Low Cost – Materials and Production Technology. Licentiate Thesis.

6. Biel, Lena (2002) Modeling of Perceptual Systems – A Sensor Fusion Model with Active Perception. Licentiate Thesis.

7. Otterskog, Magnus (2002) Produktionstest av

mobiltelefonantenner i mod-växlande kammare. Licentiate Thesis.

8. Tolt, Gustav (2003) Fuzzy-Similarity-Based Low-level Image Processing. Licentiate Thesis.

9. Loutﬁ, Amy (2003) Communicating Perceptions: Grounding Symbols to Artificial Olfactory Signals. Licentiate Thesis.

10. Iliev, Boyko (2004) Minimum-time Sliding Mode Control of Robot Manipulators. Doctoral Dissertation.

11. Pettersson, Ola (2004) Model-Free Execution Monitoring in Behavior-Based Mobile Robotics. Doctoral Dissertation.

12. Överstam, Henrik (2004) The Interdependence of Plastic Behaviour and Final Properties of Steel Wire, Analysed by the Finite Element Metod. Doctoral Dissertation.

13. Jennergren, Lars (2004) Flexible Assembly of Ready-to-eat Meals.

Licentiate Thesis.

14. Jun, Li (2004) Towards Online Learning of Reactive Behaviors in Mobile Robotics. Licentiate Thesis.

15. Lindquist, Malin (2004) Electronic Tongue for Water Quality Assessment. Licentiate Thesis.

16. Wasik, Zbigniew (2005) A Behavior-Based Control System for Mobile Manipulation. Doctoral Dissertation.

(68)

17. Berntsson, Tomas (2005) Replacement of Lead Baths with Environment Friendly Alternative Heat Treatment Processes in Steel Wire Production. Licentiate Thesis.

18. Tolt, Gustav (2005) Fuzzy Similarity-based Image Processing.

Doctoral Dissertation.

19. Munkevik, Per (2005) ”Artificial sensory evaluation – appearance-based analysis of ready meals”. Licentiate Thesis.

20. Buschka, Pär (2005) An Investigation of Hybrid Maps for Mobile Robots. Doctoral Dissertation.

21. Loutﬁ, Amy (2006) Odour Recognition using Electronic Noses in Robotic and Intelligent Systems. Doctoral Dissertation.

22. Gillström, Peter (2006) Alternatives to Pickling; Preparation of Carbon and Low Alloyed Steel Wire Rod. Doctoral Dissertation.

23. Li, Jun (2006) Learning Reactive Behaviors with Constructive Neural Networks in Mobile Robotics. Doctoral Dissertation.

24. Otterskog, Magnus (2006) Propagation Environment Modeling Using Scattered Field Chamber. Doctoral Dissertation.

25. Lindquist, Malin (2007) Electronic Tongue for Water Quality Assessment. Doctoral Dissertation.

26. Cielniak, Grzegorz (2007) People Tracking by Mobile Robots using Thermal and Colour Vision. Doctoral Dissertation.

27. Boustedt, Katarina (2007) Flip Chip for High Frequency Applications – Materials Aspects. Doctoral Dissertation.

28. Soron, Mikael (2007) Robot System for Flexible 3D Friction Stir Welding. Doctoral Dissertation.

29. Larsson, Sören (2008) An industrial robot as carrier of a laser profile scanner. – Motion control, data capturing and path planning. Doctoral Dissertation.

30. Persson, Martin (2008) Semantic Mapping Using Virtual Sensors and Fusion of Aerial Images with Sensor Data from a Ground Vehicle. Doctoral Dissertation.

31. Andreasson, Henrik (2008) Local Visual Feature based Localisation and Mapping by Mobile Robots. Doctoral Dissertation.

32. Bouguerra, Abdelbaki (2008) Robust Execution of Robot

Task-Plans: A Knowledge-based Approach. Doctoral Dissertation.

33. Lundh, Robert (2009) Robots that Help Each Other:

Self-Configuration of Distributed Robot Systems.

34. Skoglund, Alexander (2009) Programming by Demonstration of Robot Manipulators. Doctoral Dissertation.

35. Ranjbar, Parivash (2009) Sensing the Environment:

Development of Monitoring Aids for Persons with Profound Deafness or Deafblindness. Doctoral Dissertation.

36. Magnusson, Martin (2009) The Three-Dimensional Normal- Distributions Transform – an Efficient Representation for Registration, Surface Analysis, and Loop Detection.

37. Rahayem, Mohamed (2010) Segmentation and fitting for Geometric Reverse Engineering. Processing data captured by a laser profile scanner mounted on an industrial robot.

38. Karlsson, Alexander (2010) Evaluating Credal Set Theory as a Belief Framework in High-Level Information Fusion for Automated Decision-Making. Doctoral Dissertation.

39. LeBlanc, Kevin (2010) Cooperative Anchoring – Sharing Information About Objects in Multi-Robot Systems. Doctoral Dissertation.

40. Johansson, Fredrik (2010) Evaluating the Performance of TEWA Systems. Doctoral Dissertation.

41. Trincavelli, Marco (2010) Gas Discrimination for Mobile Robots.

42. Cirillo, Marcello (2010) Planning in Inhabited Environments:

Human-Aware Task Planning and Activity Recognition.

43. Nilsson, Maria (2010) Capturing Semi-Automated Decision Making: The Methodology of CASADEMA. Doctoral Dissertation.

44. Dahlbom, Anders (2011) Petri nets for Situation Recognition.

45. Ahmed, Muhammad Rehan (2011) Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction.

46. Riveiro, Maria (2011) Visual Analytics for Maritime Anomaly Detection. Doctoral Dissertation.

47. Rashid, Md. Jayedur (2011) Extending a Networked Robot System to Include Humans, Tiny Devices, and Everyday Objects.

48. Zain-ul-Abdin (2011) Programming of Coarse-Grained Reconfigurable Architectures. Doctoral Dissertation.

(69)