1 scaleable architecture for real-time applications, sara lennart lindh, tommy klevin and johan...
TRANSCRIPT
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Scaleable Architecture for Real-Time Applications, SARA
Lennart Lindh, Tommy Klevin and Johan Furunäs,
Department of Computer Engineering (IDT), Mälardalens Real-Time Center (MRTC)
Mälardalens University, Sweden
(http://www.mrtc.mdh.se/cal/)
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ApplicationControl System
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“Robot” Problems Today• Performance (>3 Processors today)
• Functionality in the base system (RTOS)– Communication protocol
• Static coupled multi-processor system
• We have added:– Predictability (robotics have some hard deadlines)– Observability and controllability– Small Overhead (simplification)– Fault Tolerance– Component oriented design
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Mixed HW/SW implementation
Hardware
Software
Software SoftwareHardware
HardwareHardware
The research question is: will it be possible to meet the SARA’s objectives if software functions and functions implements in hardware?
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Yesterday, Today and Tomorrow
OperatingSystem
Processors(hardware)
HardwareAccelerator
OperatingSystem
Component based/Application Software
ConventionalSolution
SARA- Scaleable Architecture for
Realtime Applications -
Processor(s)(hardware)
OperatingSystem
(software)
ApplicationSoftware
”New”HardwareFunctions
Architecture
”New” OperatingSystems functions
FASTCHART,FASTHARD and
RTUSolution
ApplicationSoftware
Processor(s)(hardware)
HardwareAccelerator
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Presentation of SARA, Scaleable Architecture for Real-Time Applications
• The SARA Approach
• Logical and physical architecture
• Hardware and Software
• Some benchmark results
• Conclusions
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SARA Approach (main objectives)
• Performance– Scalability
• Predictability (HW/SW)
• Simple
• Observability and controllability
• Component oriented design– “adapter” for different standards
• Fault Tolerance
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Logical architecture
Task 1
Task 2 Task N
IPC-bus
Free slot
MessageQueues
Slots
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Priority inheritanceof the mail priorities
Event A, Low priority
Event B, High priority
Tasks
(Servers)
IPC-SEND // For asynchrony messagesIPC-SENDWAIT// For synchrony messagesIPC-BROADCAST// For broadcast messages IPC-DISTRIBUTE//For multicast messages
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Hard tasks (Servers)
Software part for the IPC bus
Hardware part for the IPC bus
IPC Bus
Hardware Task
Hardware design
Formal methods Deadline controls8-16 bits applications
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Use of old software
Software part for the IPC bus
Hardware part for the IPC bus
IPC Bus
Old RTOS
Old Application
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Physical architecture
CPU
PCI-PCIBridge
Bridge
MemCPUMemMem CPU
BridgeBridge
PCI-PCIBridge
PCI-PCIBridge
System Board
Non System Boards
... Local bus toPCI bridge
RTUPMCBoard
Local PCI-Bus
Transparent Bridge
Non transparentBridge
DoorbellRegister
CompactPCI-Bus
GlobalMemory
PPC750, L1,L2
System on a Chip
Standard systems
Write/Read
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Hardware and Software
XilinxXC4085XL
PLX9080
Local bus
PCIbus
Bus-InterfaceReal Time Unit
PMC-slotInternal bus-protocol
Local bus-PCI busBridge
EPROM for configurationof the RTU and businterface
SROM for some pre-configuration of the Bridge
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Communication between RTU and CPU
RT-clock
IRQ Handler
RTUHW-Interrupt
Scheduler
CPU
RTU-gränssnitt
Avbrottsrutinför taskswitch
Semaphore
CPU
RTU-I/O
Task switchhandler
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IRQ-HandlerHardware and Software
• mult_resp2 (utan Cach)– task1 470.7 s– task2 634.4 s
• mult_resp2 (with Cach)– task1 452.9 s– task2 602.9 s
• mult_resp2 – task1 156,2 s– task2 326,5 s
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Kernel Overhead in Hardware
Round-Robin tid (ms):Antal task: 0.1 0.5 1 5 10 25 50
1 0.0004% 0.0004% 0.0004% 0.0004% 0.0004% 0.0004% 0.0004%5 19.1845% 4.7057% 2.4216% 0.4962% 0.2490% 0.1000% 0.0502%
10 19.1846% 4.7057% 2.4216% 0.4962% 0.2508% 0.1018% 0.0502%25 19.1846% 4.7058% 2.4216% 0.4962% 0.2490% 0.1000% 0.0520%50 19.1859% 4.7059% 2.4216% 0.4962% 0.2490% 0.1000% 0.0520%
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Conclusion
• The IPC is easy to use
• When a software function implements in hardware the response time and time gap between best and worst case execution time decrease, ex in RTU clock tick is 1us, in a software system 1ms. (RTU need 5 MHz)
• Demonstration of the SARA on SNART.
• Are you interesting in corporation?