altera university program cyclone v soc course blair fort

Altera University ProgramCyclone V SoC Course

Blair Fort

About the Presenter (me)

Ph.D. candidate at the University of Toronto- High-Level Synthesis as part of the LegUp group

Member of the Altera University Program since 2006- Course materials and exercises- Altera Monitor Program

About the University Program Staff

Members:- Prof. Stephen Brown- Prof. Zvonko Vranesic- Kevin Nam- Aja Canyon- Blair Fort

Successful books in print

Why Teach Students about FPGAs?

Field-Programmable Gate Arrays are programmable hardware chips- Can be used to implement any digital hardware circuit

Digital hardware is found is almost all modern products- Consumer produces, like audio and video players- Telephone and television equipment- Cars, airplanes, trains- Medical equipment, and industrial control

Why Teach Students about FPGAs?

Field-Programmable Gate Arrays are programmable hardware chips- Can be used to implement any digital hardware circuit

Digital hardware is found is almost all modern products- Consumer produces, like audio and video players- Telephone and television equipment- Cars, airplanes, trains- Medical equipment, and industrial control

FPGAs are … everywhere

About Altera Corporation

Altera Highlights

Founded in 1983 High-growth semiconductor company Products include

- FPGAs- structured ASICs- embedded soft processors- design software- IP- development kits

3,100 employees ~$2 billion in revenue

Altera Products

FPGAs:- Cyclone series: low cost, high performance- Arria series: Mid range, transceivers- Stratix series: largest, full featured, highest performance

Stratix 10- 2X core performance- Intel’s 14nm Tri-Gate process- 64-bit quad-core ARM Cortex-A53

CPLDs:- MAX series: for small, instant-on applications, non-volatile configuration

Design Support:- Quartus II: easy to use, complete CAD flow- Qsys System Integration tool

Development environment for embedded systems Nios II: embedded processor, ARM processor

- Embedded Design Suite: Nios II and ARM

Altera R&D Sites

San Jose, US• Headquarter

High Wycombe, UK

Toronto, Canada• New Device Architectures• CAD Algorithms• IP• University Program

Penang, Malaysia

Austin, US

Herlev, DenmarkSt. John’s, Canada

New Jersey, US

Altera University ProgramOverview

Altera’s University Program Advantage

Ready-to-teach course material for universities- Tutorials (written for students, not experienced engineers!)

- Lab exercises Written by experienced Professors Digital Logic, Computer Organization, Embedded Systems

- Design examples I.P. cores for all of the peripherals on our teaching boards Prebuilt Nios II and ARM computer systems for use in courses

- Software: Quartus II, Nios II and ARM development tools Easy to use, powerful tools All software licenses are free to universities

- Distributed through the Web (www.altera.com/education/univ)

Best-in-class lab boards for teaching

DE1-SoC

$150 USD Cyclone V SoC FPGA

Dual-core ARM Cortex-A9- 1GB DDR 3 SDRAM, MicroSD

- USB, Triple-speed Ethernet

- ADC, Accelerometer

- LED, Pushbutton

FPGA- 85K Programmable Logic Elements

- 64 MB SDRAM

- DVD-quality audio in/out, Video in/VGA out

- PS/2, IrDA

- 4 debounced pushbuttons, 10 slider switches, 10 red LEDs, six 7-segment displays

- Expansion headers

Built-in USB Blaster for FPGA programming

DE-series Design Objective

Boards are ideal for use across the curriculum:

- Introductory Digital Logic - Computer Organization- Embedded Systems- Advanced Digital Logic (System Design)- Senior Digital Design Projects

Research Platform: DE5-Net (Stratix V)

USB Blaster

SFP+ x4

PCI Express x8

SW x4 LED x47-seg x2

DDR3 SO-DIMM B DDR3 SO-DIMM ASATA x4

QDR II+ SRAM

Getting Started with the U.P.

Enroll as a member Professor at- http://university.altera.com

Receive free licenses for Quartus II CAD tools, Nios II processor, and other I.P. core designs

Request a free sample DE-series board

After evaluating the board:- Purchase additional boards (at Altera U.P. prices) from www.terasic.com or- Request a larger donation

(We also offer grants of FPGA chips for teaching & research projects)

Altera U.P. Web Site

Over 1,500 Universities with Altera Labs

Canada• 50 Labs

United States• 450 Labs

Europe• 500 Labs

East Asia• 500 Labs

ARM Cortex-A9

Tutorial #1

Founded in November 1990

Designs the ARM range of RISC processor cores- Licenses ARM core designs to semiconductor partners who fabricate and

sell to their customers- ARM does not fabricate silicon itself

Also develop technologies to assist with the designing of the ARM architecture- Software tools, boards, debug hardware- Application software- Bus architectures- Peripherals, etc

ARM Cortex Processor (v7) Families

ARM Cortex-A family (v7-A):- Applications processors for full OS

and 3rd party applications

ARM Cortex-R family (v7-R):- Embedded processors for real-time

signal processing, control applications

ARM Cortex-M family (v7-M):- Microcontroller-oriented processors

for MCU and SoC applications

ARM Cortex Processor (v7) Highlights

Reduced Instruction Set Computer (RISC) architecture- aka. Load/Store architecture

16 and 32-bit instruction modes- ARM (32-bits)- Thumb (16-bits)- Thumb 2 (16/32-bits)

32-bit word-length

16 general-purpose registers

Condition code flags, usable with many types of instructions

ARM Cortex-A9

Cyclone V SoC and Arria V SoC families- 1-2 Cores

Application-level processor

Features:- 800 MHz 32-bit processor- 32 KB instruction and data L1 caches- Snoop control unit (SCU)- Accelerator Coherency Port (ACP)- Unified 512KB L2 Cache- ARM NEON™ single instruction, multiple data (SIMD) coprocessor- Floating point unit

ARM Cortex-A9 MPCore

ARM Cortex-A9

SIMD and FPU

I-Cache D-Cache

Private Timers

Generic Interrupt Controller

ARM Cortex-A9

SIMD and FPU

I-Cache D-Cache

Private Timers

Accelerator Coherency Port and Snoop Controller

ARM Cortex-A9 Registers

Arguments and Result

Register variables- Must be preserved

Scratch register

Stack Pointer Link Register Program Counter

R13 / SP

R14 / LR

R15 / PC

This is defined by the Procedure Call Standard for the ARM Architecture (AAPCS)

Link register stores the return address for subroutine calls

ARM Cortex-A9 CPSR

Current Program Status Register (CPSR)

Condition code flags

Interrupt disable bits

ARM or Thumb operation

Processor mode

ARM Instruction Set

32-bit instructions

Unified Assembler Language (UAL)- Common syntax for ARM and Thumb instructions

Instruction Classes- Branch instructions- Data-processing instruction- Load and store instructions- Status register access instructions- Miscellaneous instructions

ARM Machine Code Format

Format:

Rd: Destination register

Rn: Operand 1

Operand 2- 12-bit immediate offset or- Rm (lower four bits) and shift_operand

Condition codes- For conditional execution of the instruction

31 28 27 16 15 12 111920 0

Condition Rd Immediate or RmOP code Rn

ARM Assembly Syntax

Operation Result, Operand 1, Operand 2

Operand 2: 12-bit immediateOP Rd, Rn, #value

Operand 2: registerOP Rd, Rn, Rm

Operand 2: register with shiftOP Rd, Rn, Rm, SHIFT #shift_value

SHIFT: left/right shift or rotate- 5-bit shift value- Changes contents of Rm prior to being used

31 28 27 16 15 12 111920 0

Branch Instructions

Branch target address- Program Counter (pc/r15) + 24-bit offset (2’s complement)

Syntax- B{condition code} LABEL- BEQ LOOP

31 28 27 0

Condition Offset or Rm

OP code

Branch Instructions

Branch target address- Program Counter (pc/r15) + 24-bit offset (2’s complement)

Syntax- B{condition code} LABEL- BEQ LOOP

Subroutine calls- Branch and Link instruction: BL LABEL- Next address is stored in LR, for return

Subroutine returns- Branch and Exchange: BX LR

31 28 27 0

Condition Offset or Rm

OP code

ARM Condition Codes

Data-processing Instructions

Arithmetic- ADD, SUB, MUL, MLA (multiple accumulate)

Logic- AND, ORR, EOR- BIC (bit clear), TST (test)

Move- MOV, MVN (move negative (not)), MOVT (move top)

Shift and rotate- ASR, LSL, LSR, ROR

Comparison- CMP, CMN (compare negative)

31 28 27 16 15 12 111920 0

Setting Condition Codes

Always set by comparison and test instructions

Arithmetic, logic and move instruction can optionally affect the flags.- ADD R2, R3, R4 (does not affect the flags)

- ADDS R2, R3, R4 (does affect the flags)

Conditional Execution

Most ARM instructions are executed conditionally.ADD R2, R3, R4 (always execute)ADDAL R2, R3, R4

ADDNE R2, R3, R4 (execute only if the Z flag is clear)

Example: c = (a > b) ? (a – b) : (b – a);

START: CMP R0, R1 BLT LESS

SUB R2, R0, R1 B ENDLESS: SUB R2, R1, R0END:

Example: c = (a > b) ? (a – b) : (b – a);

START: CMP R0, R1 START: CMP R0, R1 BLT LESS SUBGT R2, R0, R1

SUB R2, R0, R1 SUBLE R2, R1, R0 B ENDLESS: SUB R2, R1, R0END:

Assembler Directives

Directives provide information required by the assembler

GNU Assembler directives- .text

Identifies code section

- .global symbol Makes symbol visible outside the assembled object file

- .word expressions Comma separated expression are assembled into 32-bit numbers

- .end Marks the end of the source file

Hands-on Session 1

Create a software project targeting the ARM Cortex-A9 Compile the application Download the compiled software to the DE1-SoC Run and debug the application

Exercise 1: Greatest Common Divisor (GCD)

int a = 54, b = 24;do {

if ( a > b) a = a – b;else b = b – a;

} while (a != b);

int a = 54, b = 24;do {

if ( a > b) a = a – b;else b = b – a;

} while (a != b);

.global _start

_start: MOV R0, #54 /* Register R0 is the first number. */ MOV R1, #24 /* Register R1 is the second number. */

GCD: CMP R0, R1 /* Set the condition codes. */SUBGT R0, R0, R1 /* If (R0 > R1) then R0 = R0 - R1. */SUBLT R1, R1, R0 /* If (R0 < R1) then R1 = R1 - R0. */BNE GCD /* If (R0 != R1) then loop again. */

STOP: B STOP /* If (R0 == R1) then stop. */

Exercise 1: Greatest Common Divisor (GCD)

Step 1: Start Altera Monitor Program

Step 2: Create a New Project

Sets up the Altera Monitor Program- Select files to work with- Specify target system

Step 2.1: Specify name, directory and architecture

Step 2.2: Select the ARM Cortex-A9 System

Step 2.3: Select Program Type

Step 2.4: Add Source File

Step 2.5: Set Board Connection and Select Processor

Step 2.6: Leave Default Memory Settings

Step 3: Compile and Load

Compile your assembly language program

Load the compiled code into the memory on the DE1-SoC board

Step 4: Disassembly Window

Disassembly

Registers

Info & Error Msgs

Terminal

Step 5: Single Step your Program

Step 6: Change Register View

Step 7: Single Step your Program Again

Step 8: Set a Breakpoint

Step 9: Run to the Breakpoint

Step 10: Change Register View

Step 11: Look at CPSR

Condition code flags

Interrupt disable bits

ARM or Thumb operation

Processor mode

CPSR = 0x200001D3

0 0 1 0

CPSR = 0x200001D3

What should have happened in our code?

0 0 1 0

GCD: CMP R0, R1SUBGT R0, R0, R1SUBLT R1, R1, R0BNE GCD

CPSR = 0x200001D3

Note- GT is Z clear and N equals V- LT is N is not equal to V- NE is Z clear

0 0 1 0

CPSR = 0x200001D3

Note- GT is Z clear and N equals V- LT is N is not equal to V- NE is Z clear

0 0 1 0

Step 12: Set a Breakpoint at the End and Run

Step 13: Restart the Program

Step 14: Single Step

Step 15: Modify R0

Step 16: Run to Breakpoint

Step 17: Disconnect from the DE1-SoC Board

Load and Store Instructions

Reading data from memory- How do we read the memory contents at

address 0x40 into register R1

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

LDR R1, [R0]

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

MOV R0, #0x40LDR R1, [R0]

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x12345678

0x00000000

0x00000004

0x00000008

address 0xFF200040 into register R1

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

MOV R0, #0xFF200040LDR R1, [R0]

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

MOV R0, #0xFF200040LDR R1, [R0]

0xFF200040 is larger than 16 bits

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

MOV R0, #0x0040MOVT R0, #0xFF20LDR R1, [R0]

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0xFF200040

0x00000000

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0xFF200040

0xFEDCBA90

0x00000000

0x00000004

0x00000008

0x00000000

LDR R0, =0xFF200040LDR R1, [R0]

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

LDR R0, =0xFF200040LDR R1, [R0]

Assembled code:

LDR R0, [pc, #0]LDR R1, [R0]

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

0x00000000

LDR R0, =0xFF200040LDR R1, [R0]

Assembled code:

LDR R0, [pc, #0]LDR R1, [R0]

0x00000004

0x00000008

0x00000040

0xFF200040

0x12345678

0xFEDCBA90

LiteralPool

0x00000000

Writing data to memory- How do we write the contents of R1 to the

memory location 0x40

LDR R0, =0x00000040STR R1, [R0]

0x00000004

0x00000008

0x00000040

0xFF200040

0x00000040

0x12345678

0xFEDCBA90

0x00000000

Writing data to memory- How do we write the contents of R1 to the

memory location 0x40

LDR R0, =0x00000040STR R1, [R0]

Assembled code:

LDR R0, [pc, #0]STR R1, [R0]

0x00000004

0x00000008

0x00000040

0xFF200040

0x00000040

0x12345678

0xFEDCBA90

Addressing Modes

Register indirect:- Register offset: [Rn]

Offset mode:- Immediate offset: [Rn, #offset]- Register offset: [Rn, ± Rm, shift]

Addressing Modes

Indexed mode:- Updates the contents of Rn

Addressing Modes

Indexed mode:- Updates the contents of Rn

Pre-indexed mode:- Immediate offset: [Rn, #offset]!- Register offset: [Rn, ± Rm, shift]!

Post-indexed mode:- Immediate offset: [Rn], #offset- Register offset: [Rn], ± Rm, shift

Storing and Loading Multiple Registers

Two pseudo-instructions- PUSH and POP- For storing and loading multiple registers

- PUSH {R1, R3-R5}

- POP {R1, R3-R5}

- PUSH {R1, R3-R5} STMDB SP!, {R1, R3-R5}

- POP {R1, R3-R5} LDMIA SP!, {R1, R3-R5}

Exercise 2: Dot product

Step 3: Notice the use of the Literal Pool

Step 4: Go to the Memory Window

Step 5: Find the Address of AVECTOR

Step 6: Find the Address of BVECTOR

Step 7: Find the Data of the Vectors

Step 8: Change to Signed Representation

Step 9: Change to Decimal Format

Step 10: Find Literal Pool in the Disassembly Window

Step 11: Single Step or Set Breakpoints and Run

Step 12: Final Result in R3

Step 12: … And in the Memory Location DOTP

Summary #1

What did we learn?- ARM Cortex-A9- Unified Assembly Language (UAL)- How to run and debug programs using the Altera Monitor Program

Where did we go from here?- Tutorials:

Introduction to the ARM Processor Altera Monitor Program Tutorial for ARM

- http://university.altera.com

- Literature: ARM Architecture Reference Manual

- http://infocenter.arm.com/help/index.jsp?topic=/com.arm.doc.ddi0406c/index.html

Intro to Cyclone V’sHard Processor System (HPS)

Tutorial #2

ARM Cortex-A9 MPCore

ARM Cortex-A9

SIMD and FPU

I-Cache D-Cache

Private Timers

Generic Interrupt Controller

ARM Cortex-A9

SIMD and FPU

I-Cache D-Cache

Private Timers

Accelerator Coherency Port and Snoop Controller

Altera HPS Block Diagram

MPCore

L2 Cache

MPCore

L2 Cache

L3 Interconnect

Boot ROM

MPCore

L2 Cache

Boot Region0 GB

Boot ROM

MPCore

DDR3Chips

L2 Cache

SDRAMController SDRAM

Window

Boot Region0 GB

Boot ROM

MPCore

DDR3Chips

L2 Cache

Window

Boot Region0 GB

Boot ROM

MPCore

On-Chip RAM

DDR3Chips

L2 Cache

Window

Boot Region0 GB

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

L2 Cache

Window

Boot Region0 GB

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

L2 Cache

Window

Boot Region0 GB

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

Window

Boot Region0 GB

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

Window

Boot Region0 GB

4 GBPeripherals

Hands-on Session 2

Write a program that uses HPS peripherals

Write a program that uses FPGA peripherals

Write a program that uses printf and scanf

Exercise 3: HPS Peripherals

The program will use the HPS pushbutton and LED

HPS Pushbutton and LED

Both are attached to the memory-mapped GPIO 1 port- Base address: 0xFF709000- 16 registers

Data, Interrupts, Configuration, etc.

External Port

Data Register

Direction Register

Interrupt Enable

Each bit corresponds to a different I/O pin

External Port

Data Register

Direction Register

Interrupt Enable

Each bit corresponds to a different I/O pin- LED

Bit 24

External Port

Data Register

Direction Register

Interrupt Enable

Each bit corresponds to a different I/O pin- LED

Bit 24- Pushbutton

Bit 25

External Port

Data Register

Direction Register

Interrupt Enable

Program

Read the pushbutton and display the value on the LED

#define bit_25_pattern 0x02000000

int main(void)(volatile int * HPS_GPIO1_Data = (int *) 0xFF709000;volatile int * HPS_GPIO1_Direction = (int *) 0xFF709004;volatile int * HPS_GPIO1_External = (int *) 0xFF709050;

*HPS_GPIO1_Direction = (1 << 24); // Set bit 24 (LEDG) of GPIO1 // to be an output

while(1){

int value = *HPS_GPIO1_External; // Read the value of the GPIO port

value &= bit_25_pattern; // Mask out the pushbutton value

*HPS_GPIO1_Data = (value >> 1); // Set the LEDG to the read value}

Compile your C language program

Step 3: Go to the Memory Window

Step 4: Jump to the GPIO’s Address Range

Step 5: Why is the Memory Window Blank?

Step 6: Highlight the First Two Registers of the GPIO Port

Step 7: Right Click and Read Selected Address Range

Step 8: Read the GPIO’s External Port

Step 9: Hold Down the Button and Re-read the Location

Step 11: Jump to Main

Step 12: Set a Breakpoint and Run to Main

Step 13: Single Step or Run

Step 14: Stop while Holding Down the Pushbutton

How About Communication with the FPGA?

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

Window

Boot Region0 GB

4 GBPeripheralsFPGA

There are Several Bridges Between the HPS and FPGA

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

Bridges

SDRAMWindow

Boot Region0 GB

4 GBPeripherals

HPS-to-FPGA Bridge

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

On-Chip Cores

LEDRSwitches

SDRAMWindow

Boot Region

FPGASlave

Region

4 GBPeripherals

FPGAHPS

Lightweight HPS-to-FPGA Bridge

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

LW H2F

LEDRSwitches

SDRAMWindow

Boot Region

FPGASlave

Region

4 GBPeripherals

On-Chip Cores

Exercise 4: FPGA Peripherals

Circuit must be configured in the FPGA

Pre-built DE1-SoC Computer System

Download the system onto the DE1-SoC board- Can be configured to load on power-

Develop programs using the Altera Monitor Program

Exercise 4: FPGA Peripherals

We will use the red LEDs, seven-segment display and the slider switches

In the DE1-SoC, they are connecting to the Lightweight HPS-to-FPGA bridge using the Altera Parallel I/O (PIO) component

PIO Components

Parallel I/O (PIO) Component- Depending on the PIO’s settings, not

are registers are usable

Edgecapture Register

Data Register

Direction Register

Interruptmask Register

PIO Components

Parallel I/O (PIO) Component- Depending on the PIO’s settings, not

are registers are usable

DE1-SoC Computer- Red LEDs

Base address: 0xFF200000

- Seven segment displays Base address: 0xFF200020

- Slider switches Base address: 0xFF200040

Edgecapture Register

Data Register

Direction Register

Interruptmask Register

Program

Read switches and display on LEDs and 7-Segs

int main(void)(volatile int * LEDs = (int *) 0xFF200000;volatile int * HEX3_HEX0 = (int *) 0xFF200020;volatile int * SW_switch = (int *) 0xFF200040;int hex_conversions[16] = {0x3F, ..., 0x71};while(1){

int value = *SW_switch;*LEDs = value;int first_digit = value & 0xF;int second_digit = (value >> 4) & 0xF;

int third_digit = (value >> 8) & 0xF;int hex_value = hex_conversions[first_digit];hex_value |= hex_conversions[second_digit] << 8;hex_value |= hex_conversions[third_digit] << 16;*HEX3_HEX0 = hex_value;

Step 1.2: Select the DE1-SoC Computer System

Step 2: Program the FPGA with the Computer System

Step 4: Jump to the FPGA’s Address Range

Step 5: Read the Switches, LEDs and 7-Segs Locations

Step 6: Toggle Some Switches and Re-read

Step 7: Write Some Values to the LEGs and 7-Segs

Step 8: Go to the Main Function

Step 9: Set a Breakpoint at the Load from Switches

Step 10: Toggle Some Switches and then Single Step

Step 11: Single Step until the LEDs are Set

Step 12: Single Step or Run

Can FPGA Components access the HPS Memory?

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

Bridges

On-Chip Cores

LEDRSwitches

SDRAMWindow

Boot Region

FPGASlave

Region

4 GBPeripherals

Yes, by using the FPGA to HPS bridge.

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

On-Chip Cores

LEDRSwitches

SDRAMWindow

FPGASlave

Region

4 GBPeripherals

What about the MPCore’s Cached Data?

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

On-Chip Cores

LEDRSwitches

SDRAMWindow

FPGASlave

Region

4 GBPeripherals

Accelerator Coherency Port (ACP)

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

On-Chip Cores

LEDRSwitches

SDRAMWindow

FPGASlave

Region

4 GBPeripherals

ACP ACPWindow

What if the FPGA Requires Access to the SDRAM?

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

Bridges

On-Chip Cores

LEDRSwitches

SDRAMWindow

FPGASlave

Region

Peripherals

ACPWindow

FPGA to SDRAM Direct Access

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

Bridges

On-Chip Cores

LEDRSwitches

Exercise 5: Semihosting

Virtual Operating System

Allows C programs to make system calls- I/O functions- Time functions- File operations

Altera Monitor Program supports a subset- printf and scanf to and from the terminal window.- Some time functions

Program

Printf, scanf and time functions

#include <stdio.h>#include <time.h>

int main(void)(char str[64];int age = 0;// Get the initial timestampclock_t start_time = clock();while(1){

printf("What is your name?\n");scanf("%s",str);printf("What is your age?\n");scanf("%d",&age);...

}return 0;

Step 1.3: Select Program Type and Sample Program

Step 1.4: Automatically Includes Example’s Source Files

Step 4: Run

Step 5: Type in your name

Step 6: Type in your age

Step 7: See the Result of the Semi-hosting Functions

Typical ARM Cortex-A9 Boot Sequence

Boot ROM- Hard coded by Altera- Determines the boot source by reading the boot select pins

Preloader- In Flash/SD Card or FPGA- Typically initializes the DDR3 SDRAM and HPS I/O pins

Boot loader- Loads and starts the operating system

Boot Sequence with Altera Monitor Program

Resets the HPS

Halts the code in the Boot ROM

Loads a preloader into the HPS on-chip RAM- Preloader comes pre-compiled with the Monitor Program- Initializes the DDR3 SDRAM and HPS I/O pins- Enables the HPS-FPGA bridges- Disables the watchdog timers- Re-maps the DDR3 SDRAM to address 0x00000000

Loads the user’s code into the DDR3 SDRAM- Pauses the processor at the first instruction

Summary #2

What did we learn?- Altera HPS peripherals- Memory layout of the HPS - How to communicate between the HPS and FPGA- ARM Cortex-A9 Boot Sequence

Introduction to the ARM Processor Altera Monitor Program Tutorial for ARM DE1-SoC Computer System

- Literature: Cyclone V Handbook

- http://www.altera.com/literature/lit-cyclone-v.jsp Address Map for HPS

- http://www.altera.com/literature/hb/cyclone-v/hps.html

ARM’s Generic Interrupt Controller

Tutorial #3

Processor Modes

ARM processor modes- User Non-privileged execution (user programs)- Supervisor (SVC) 1 Privileged execution (OS code)- Abort Error condition mode- Undefined Undefined instruction fetched- System “Same” as Supervisor- IRQ 2 Interrupt mode- FIQ Fast interrupt mode- Monitor Secure mode (only for “security extensions”)

1. The ARM A9 is in SVC mode after being reset2. IRQ mode is entered when a hardware interrupt occurs

Current Program Status Register

The Current Program Status Register (CPSR) includes mode bits: writing to these bits can change the mode

Processor mode: 10000 (User), 10001 (FIQ), 10010 (IRQ), 10011 (SVC), 10111 (Abort), 11011 (Undefined), 11111 (System)

ARM Banked Registers for each Mode

Separate copies exist of some registers in each mode

Each mode has a unique SP and LR

SPSR is a saved copy of previous CPSR

Modes and Exceptions

Processor mode can be changed manuallyMOV R1, #0x12 // mode bit pattern for IRQ mode

MSR CPSR, R1 // change to IRQ mode

Processor mode can be changed due to an exception

Reset of the ARM processor Error conditions

- fetched an unimplemented instruction- unaligned word read/write- unaligned instruction fetch

Execution of the SVC instruction causes an exception External hardware interrupt

Exception Processing

instructioninstruction…instructioninstruction…

Exception

The ARM processor automatically:

1. Saves CPSR into banked SPRS2. Saves return address into banked LR3. Changes CPSR to reflect the Exception Mode4. Fetches instruction from exception vector table

Exception Vector Table

Address Exception Priority Mode entered

0x0 Reset 1 SVC

0x4 Unimplemented instruction

6 Undefined

0x8 SVC instruction - SVC

0xC Data access violation

2 Abort

0x10 Instruction access violation

5 Abort

0x18 Interrupt 4 IRQ

0x1C Fast interrupt 3 FIQ

Returning from an Exception

The LR is “related” to the return address:

Example: SUBS PC, LR, #4 // returns from IRQ handler

Note: SUBS with destination PC means “return from exception”. It causes SPSR to be restored back into CPSR!

Processor mode Return address

Data Abort LR-8

IRQ, FIQ, pre-fetch Abort LR-4

SVC instruction LR

Undefined instruction LR

Exception Vector Table (Assembly code)

.section .vectors, “ax”

B _start // reset vector

B SERVICE_UND // undefined instruction vector

B SERVICE_SVC // software interrrupt vector

B SERVICE_ABT_INST // aborted prefetch vector

B SERVICE_ABT_DATA // aborted data vector

.word 0 // unused vector

B SERVICE_IRQ // IRQ interrupt vector

B SERVICE_FIQ // FIQ interrupt vector

Main: …

SERVICE_IRQ:

// code for handling the IRQ exception goes here

SUBS PC, LR, #4 // return from IRQ mode

Exception Handlers (and Vectors) in C code

// Define the IRQ exception handlers void __attribute__ ((interrupt)) __cs3_reset (void) { … }void __attribute__ ((interrupt)) __cs3_isr_undef (void) { … }void __attribute__ ((interrupt)) __cs3_isr_swi (void) { … }void __attribute__ ((interrupt)) __cs3_isr_pabort (void) { … }void __attribute__ ((interrupt)) __cs3_isr_dabort (void) { …}void __attribute__ ((interrupt)) __cs3_isr_irq (void){

code for handling the IRQ exception goes here … }void __attribute__ ((interrupt)) __cs3_isr_fiq (void) { … }

The C compiler and linker will automatically make the exception vector table

ARM Interrupt Architecture

GIC: handles up to 255 interrupt sources; sends IRQ to either/both A9 Cores

Various peripherals, MMU, etc.

Peripheral IRQPeripheral IRQ

Peripheral IRQ

A9 Core A9 Core

IRQ IRQ

Generic Interrupt Controller (GIC)

PPI: private peripheral interrupt (IRQ for a specific processor) SPI: share peripheral interrupt (IRQ for either processor)

SGI: software generated interrupt (IRQ caused by writing to

a special register in the GIC

Interrupt IDs

Each peripheral is assigned an interrupt ID DE1-SoC Computer Interrupt IDs:

GIC Example

KEY interrupt signal is received by Distributor. If ID 73 is enabled for CPU 0, send to CPU Interface 0, which can send to A9 core

Pushbutton KEYIRQ 73

(ID 73)

Summary of Interrupt-driven Code

1. Set up vector table

2. Main program initializes SP for IRQ mode, initializes GIC for each interrupt ID, initializes peripherals (like KEY port), enables interrupts on A9 processor (CPSR bit I = 0), then loops

3. Exception handler for IRQi. Queries GIC to find the interrupt IDii. Calls the appropriate interrupt service routine (ISR)iii. Returns from exception (SUBS PC, LR, #4)

4. Interrupt Service Routine (ISR)i. Clears interrupt sourceii. Performs interrupt function

Exercise 6: Handling Interrupts

We will look at the code required for handling interrupts generated by the FPGA’s pushbutton keys- 1. Assembly code- 2. C code

Handling Interrupts: Assembly Code

Step 1: Set up vector table

.section .vectors, "ax"

B _start // reset vectorB SERVICE_UND // undefined instruction vectorB SERVICE_SVC // software interrrupt vectorB SERVICE_ABT_INST // aborted prefetch vectorB SERVICE_ABT_DATA // aborted data vector.word 0 // unused vectorB SERVICE_IRQ // IRQ interrupt vectorB SERVICE_FIQ // FIQ interrupt vector

Step 2: Set stack pointers

/* Set up stack pointers for IRQ and SVC processor modes */MOV R1, #INT_DISABLE | IRQ_MODEMSR CPSR_c, R1 // change to IRQ modeLDR SP, =A9_ONCHIP_END - 3 // set IRQ stack to top of A9 onchip memory/* Change to SVC (supervisor) mode with interrupts disabled */MOV R1, #INT_DISABLE | SVC_MODEMSR CPSR, R1 // change to supervisor modeLDR SP, =DDR_END - 3 // set SVC stack to top of DDR3 memory

Step 2: Enable interrupts

/* To configure the FPGA KEYS interrupt (ID 73): * 1. set the target to cpu0 in the ICDIPTRn register (addr 0xFFFED848) * 2. enable the interrupt in the ICDISERn register (addr 0xFFFED108) */LDR R0, =0xFFFED848 // ICDIPTRn: processor targets registerLDR R1, =0x00000100 // set targets to cpu0STR R1, [R0]

LDR R0, =0xFFFED108 // ICDISERn: set enable registerLDR R1, =0x00000200 // set interrupt enableSTR R1, [R0]

Step 3: Exception Handler

SERVICE_IRQ:PUSH {R0-R7, LR}/* Read the ICCIAR from the CPU interface */LDR R4, =MPCORE_GIC_CPUIFLDR R5, [R4, #ICCIAR] // read the interrupt ID

FPGA_IRQ1_HANDLER:CMP R5, #FPGA_IRQ1

UNEXPECTED:BNE UNEXPECTED // if not recognized, stop hereBL KEY_ISR

EXIT_IRQ: /* Write to the End of Interrupt Register (ICCEOIR) */STR R5, [R4, #ICCEOIR]POP {R0-R7, LR}SUBS PC, LR, #

Step 4: Interrupt Service Routine (ISR)

KEY_ISR:LDR R0, =KEY_BASE // base address of pushbutton KEY parallel portLDR R1, [R0, #0xC] // read edge capture registerMOV R2, #0xFSTR R2, [R0, #0xC] // clear the interrupt

END_KEY_ISR:BX LR

Step 1.6: Choose the Exceptions Memory Settings

Step 4: Notice the Starting Address

Step 5: Look at the Vector Table

Step 6: Look at the Exception Handler

Step 7: Look at the Interrupt Service Routine

Step 8: Set a Breakpoint at the Beginning of the ISR

Step 9: Single Step and Notice the Change of Mode

Step 10: Single Step and Notice the new Stack Pointer

Step 11: Single Step and Notice the Change of Mode

Step 12: Single Step and Notice the new Stack Pointer

Step 13: Run the Program

Step 14: Single Step Through the ISR

Step 15: See the value of the Edge Capture Register

Handling Interrupts: C Language Code

Step 1: Set up vector table

// Define the remaining exception handlersvoid __attribute__ ((interrupt)) __cs3_reset (void){ while(1);}

void __attribute__ ((interrupt)) __cs3_isr_undef (void){ while(1);}

Step 2: Set stack pointers

int stack, mode;// top of A9 onchip memory, aligned to 8 bytesstack = A9_ONCHIP_END - 7;

/* change processor to IRQ mode with interrupts disabled */mode = INT_DISABLE | IRQ_MODE;asm("msr cpsr, %[ps]" : : [ps] "r" (mode));/* set banked stack pointer */asm("mov sp, %[ps]" : : [ps] "r" (stack));

/* go back to SVC mode before executing subroutine return! */mode = INT_DISABLE | SVC_MODE;asm("msr cpsr, %[ps]" : : [ps] "r" (mode));

Step 2: Enable interrupts

/* configure the FPGA KEYs interrupts */*((int *) 0xFFFED848) = 0x00000100;*((int *) 0xFFFED108) = 0x00000200;

Step 3: Exception Handler

void __attribute__ ((interrupt)) __cs3_isr_irq (void){

// Read the ICCIAR from the processor interface int address = MPCORE_GIC_CPUIF + ICCIAR; int int_ID = *((int *) address);

if (int_ID == KEYS_IRQ) // check if interrupt is from the KEYs

pushbutton_ISR ();else

while (1); // if unexpected, then stay here

// Write to the End of Interrupt Register (ICCEOIR)address = MPCORE_GIC_CPUIF + ICCEOIR;*((int *) address) = int_ID;

return;}

Step 4: Interrupt Service Routine (ISR)

void pushbutton_ISR( void ){

volatile int * KEY_ptr = (int *) KEY_BASE;volatile int * HEX3_HEX0_ptr = (int *) HEX3_HEX0_BASE;int press, HEX_bits;

press = *(KEY_ptr + 3); // read the pushbutton interrupt register*(KEY_ptr + 3) = press; // Clear the interrupt

return;}

Step 1.4: Add C Source File

Step 1.6: Choose the Exceptions Memory Settings

Step 4: Look at the Exception Handler

Step 5: Set a Breakpoint at the Interrupt Service Routine

Step 6: Set a Breakpoint and Run to the Main Function

Step 7: Single Step through Setting the Stack Pointers

Summary #3

What did we learn?- Banked registers- Generic Interrupt Controller- Setting the stack pointers

Introduction to the ARM Processor Altera Monitor Program Tutorial for ARM DE1-SoC Computer System

- http://university.altera.com- Literature:

Cyclone V Handbook- http://www.altera.com/literature/lit-cyclone-v.jsp

Creating a Custom FPGA System for ARM

Tutorial #4

What if you want to create a custom system?

Boot ROM

MPCore

On-Chip RAM

Timers

DDR3Chips

LEDGKEY

USBEthernet

L2 Cache

SDRAMController

Bridges

On-Chip Cores

LEDRSwitches

Quartus II System Integration Tool (Qsys)

Qsys Windows

Selected ComponentsAnd connectivity

Messages

AvailableComponents

Select Components to add to the System

Configure the Components using their Wizards

HPS Component:Adding/Removing FPGA to SDRAM Bridges

HPS Component: Editing HPS Peripherals

HPS Component: Editing SDRAM Parameters

Component is now in the System

Creating a Custom System

Select a processor- Altera HPS or a Nios II

Add off-the-shelf with standard interfaces (SPI, I2C, JTAG, etc.) to help solve the problem- Use existing drivers or write one yourself- Sometimes an existing driver needs to be augmented for a particular

application

Add custom components when the needed ones are not available (or too expensive)

Add I/O as needed Write code to run on the system

- Usually a single program

How to put them together?

Qsys system integration tool- Add components

Quartus II software- Synthesize circuit for the FPGA

Altera Monitor Program- For compiling and debugging software

Hands-on Session 4

Build a system using the Qsys system integration tool

Compile the system using the Quartus II software

Download the system to the board

Run the previous software application

Exercise 7: Making a Custom System

Using Qsys make a system with:

- Altera HPS component

- PIO cores for: Red LEDs Seven Segments Displays Slider switches

Step 1: Open the DE1_SoC Project in Quartus II

Step 2: Open the DE1_SoC Project in Quartus II

Step 3: Launch Qsys

Step 4: Select the Computer System

Step 5: The Pre-Started System

Step 6: Add PIO Component for the LEDRs

Step 7: Configure the PIO for the LEDRs

Step 8: Add and Configure a PIO for the 7-Segs

Step 9: Add and Configure a PIO for the Switches

Step 10: Current System

Step 11: Export PIOs’ External Connections

Step 12: Minimize the PIOs

Step 13: Make Connections

Step 14: Go to Address Map Tab

Step 15: Set the Slave Addresses

Step 16: Generate the System

Step 17: Generate the System

Step 18: System Generation Finished

Step 18: Generated System

7-Segs

Switches

HPSHPS

module Computer_System (clk_clk,reset_reset_n,

// LEDsledr_export,

// Seven Segshex3_hex0_export,

// Slider Switchessw_export,

Step 19: Create Top Level File for project

System must be instantiated in your design- Must connect system ports to the I/O ports

In this demo the top level file has been created for you- Compile your project.

Approximately 2 minutes.- Open the DE1_SoC.v to examine the system connectivity while Quartus II

compiles the project.

Step 20: Compile the System in Quartus II

Step 21: Wait for Compilation to Finish

Step 22.2: Select a Custom System

Step 23: Program the FPGA with the Custom System

Step 25: View Memory Content

Summary #4

What did we learn?- How to create a custom system with the Altera HPS component

Introduction to the Altera Qsys System Integration Tool Making Qsys Components Quartus II Introduction

- Literature: Quartus II Handbook

- Volume 1: Section II. System Design with Qsys- http://www.altera.com/literature/lit-qts.jsp

Other Tools

Tutorial #5

ARM DS-5 Altera Edition

ARM Development Studio 5 (DS-5)- Eclipse Based IDE- Baremetal & Linux Development and Debug

What Makes DS-5 FPGA Adaptive?

Altera USB-Blaster Support- A single cable to debug FPGA & SOC simultaneously

QSys CMSIS Generation and Peripheral Discovery- DS-5 automatically adapts to the peripherals on the FPGA

Cross-triggering between the CPU and FPGA domains- Want to know why that Soft IP keeps sending unexpected interrupts?

Add customer performance counters in FPGA fabric to DS-5 Streamline

CoreSight compatible FPGA IP is visible from DS-5- Make your very own non-intrusive debug-able IP core

StreamlineSystem-Level Performance Analysis

Performance analysis of Linux systems- Profiling reports from process-level

down to assembly level- Support for software events and

CPU performance counters- Requires only a TCP connection

to the target

Streamline enables- Analyse how your software runs

on single & multi-core targets- Spot bottlenecks and code

inefficiencies- Can also analyse power usage with a third party adapter

Summary #5

What did we learn?- About other available tools for ARM

Introduction to the ARM Processor Using ARM Toolchain- http://university.altera.com

- Literature: Altera SoC Embedded Design Suite User Guide

- http://www.altera.com/literature/lit-soc.jsp

- Software: ARM DS-5 License Request

- http://www.arm.com/support/university/educators/processor/microprocessor-systemsapplications-software-tools-for-educators.php

Keil- http://www.keil.com/

Thank You

http://university.altera.com/

university@altera.com

altera university program cyclone v soc course blair fort

programmable hardware

university of torontohigh

altera productsfpgas

arm computer systems

high performancearria

transceiversstratix

max series

cyclone series

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