Table Of ContentCO-SYNTHESIS OF
HARDWARE AND SOFTWARE
FOR DIGITAL EMBEDDED SYSTEMS
THE KLUWER INTERNATIONAL SERIES
IN ENGINEERING AND COMPUTER SCIENCE
VLSI, COMPUTER ARCHITECTURE AND
DIGITAL SIGNAL PROCESSING
Consulting Editor
Jonathan Allen
Other books in the series:
LOGIC SYNTHESIS FOR FIELD-PROGRAMMABLE GATE ARRAYS, Rajeev Murgai,
Robert K. Brayton
ISBN: 0-7923-9596-4
CODE GENERATION FOR EMBEDDED PROCESSORS, P. Marwedel, G. Goossens
ISBN: 0-7923-9577-8
DIGITAL TIMING MACROMODELING FOR VLSI DESIGN VERIFICATION, Jeong
Taek Kong, David Overhauser
ISBN: 0-7923-9580-8
DIGIT-SERIAL COMPUTATION, Richard Hartley, Keshab K. Parhi
ISBN: 0-7923-9573-5
FORMAL SEMANTICS FOR VHDL, Carlos Delgado Kloos, Peter T. Breuer
ISBN: 0-7923-9552-2
ON OPTIMAL INTERCONNECTIONS FOR VLSI, Andrew B. Kahng, Gabriel Robins
ISBN: 0-7923-9483-6
SIMULATION TECHNIQUES AND SOLUTIONS FOR MIXED-SIGNAL COUPLING IN
INTEGRATED CIRCUITS, Nishath K. Verghese, Timothy J. Schmerbeck, David J. Allstot
ISBN: 0-7923-9544-1
MIXED-MODE SIMULATION AND ANALOG MULTILEVEL SIMULATION, Resve
Saleh, Shyh-Jye Jou, A. Richard Newton
ISBN: 0-7923-9473-9
CAD FRAMEWORKS: Principles and Architectures, Pieter van der Wolf
ISBN: 0-7923-9501-8
PIPELINED ADAPTIVE DIGITAL FILTERS, Naresh R. Shanbhag, Keshab K. Parhi
ISBN: 0-7923-9463-1
TIMED BOOLEAN FUNCTIONS: A Unified Formalism for Exact Timing Analysis, William
K.C. Lam, Robert K. Brayton
ISBN: 0-7923-9454-2
AN ANALOG VLSI SYSTEM FOR STEREOSCIPIC VISION, Misha Mahowald
ISBN: 0-7923-944-5
ANALOG DEVICE-LEVEL LAYOUT AUTOMATION, John M. Cohn, David J. Garrod,
Rob A. Rutenbar, L. Richard Carley
ISBN: 0-7923-9431-3
VLSI DESIGN METIlOOOLOGIES FOR DIGITAL SIGNAL PROCESSING
ARCHITECTURES, Magdy A. Bayoumi
ISBN: 0-7923-9428-3
CIRCUIT SYNTIIESIS WITII VHDL, Roland Airiau, Jean-Michel Berge, Vincent Olive
ISBN: 0-7923-9429-1
ASYMPTOTIC WAVEFORM EVALUATION, Eli Chiprout, Michel S. Nakhla
ISBN: 0-7923-9413-5
CO-SYNTHESIS OF
HARDWARE AND SOFTWARE
FOR DIGITAL EMBEDDED SYSTEMS
by
Rajesh Kumar Gupta
University of Illinois
~.
"
SPRINGER SCIENCE+BUSINESS MEDIA, LLC
ISBN 978-1-4613-5965-4 ISBN 978-1-4615-2287-4 (eBook)
DOI 10.1007/978-1-4615-2287-4
Library of Congress Cataloging-in-Publication Data
A C.I.P. Catalogue record for this book is available
from the Library of Congress.
Copyright © 1995 by Springer Science+Business Media New York
Originally published by Kluwer Academic Publishers in 1995
Softcover reprint of the hardcover 1s t edition 1995
AlI rights reserved. No part of this publication may be reproduced, stored in
a retrieval system or transmitted in any form or by any means, mechanical,
photo-copying, recording, or otherwise, without the prior written permis sion of
the publisher, Springer Science+Business Media, LLC.
Printed on acid1ree paper.
CO-SYNTHESIS OF
HARDWARE AND SOFTWARE
FOR DIGITAL EMBEDDED SYSTEMS
To Anand Swarup Gupta.
CONTENTS
FOREWORD
PREFACE
1 INTRODUCTION 1
1.1 Design of Embedded Systems 3
1.2 Synthesis Solutions 5
1.3 Co-design and Co-synthesis 6
1.4 Motivations for Hardware-Software Co-synthesis 8
1.5 Applications 12
1.6 The Opportunity of Co-synthesis 13
1.7 Scope and Contributions 18
1.8 Outline of the Book 18
2 RELATED WORK 21
2.1 CAD Systems for Hardware-Software Co-design 22
2.2 CAD for Hardware-Software Co-synthesis 26
3 SYSTEM MODELING 33
3.1 System Specification using Procedural HDL 34
3.2 System Model and its Representation 39
3.3 The Flow Graph Model 41
3.4 Interaction Between System and its Environment 57
3.5 }/1J, Execution Rate and Communication 59
3.6 Constraints 63
3.7 Summary 69
CO-SYNTHESIS FOR DIGITAL EMBEDDED SYSTEMS
4 CONSTRAINT ANALYSIS 71
:1:.1 Scheduling of Operations 72
4.2 Deterministic Analysis of Min/max Delay Constraints 78
4.3 Deterministic Analysis of Execution Rate Constraints 81
4.4 Constraints Across Graph Models 99
4.5 N'D Cycles in A Constraint Graph 100
4.6 Probabilistic Analysis of Min/max and Rate Constraints 108
4.7 Flow Graph as a Stochastic Process 114
4.8 Summary 122
5 SOFTWARE AND RUNTIME
ENVIRONMENT 125
5.1 Processor Cost Model 126
5.2 A Model for Software and Runtime System 130
5.3 Estimation of Software Performance 133
5.4 Estimation of Software Size 136
5.5 Software Synthesis 155
5.6 Step I: Generation of Program Threads 159
5.7 Step II: Generation of Program Routines 167
5.8 Step III: Code Synthesis 169
5.9 Issues in Code Synthesis from Program Routines 171
5.10 Summary 174
6 SYSTEM PARTITIONING 177
6.1 Partition Cost Model 179
6.2 Local versus Global Properties 184
6.3 Partitioning Feasibility 186
6.4 Partitioning Based on Separation of Control and Execute
Procedures 191
6.5 Partitioning Based on Division of N'D Operations 191
6.6 Partition Related Transformations 195
6.7 Summary 197
7 SYSTEM IMPLEMENTATION 199
7.1 Vulcan System Implementation 199
7.2 Implementation of Target Architecture in Vulcan 206
Contents
7.3 Co-simulation Environment 214
7.4 Summary 220
8 EXAMPLES AND RESULTS 221
8.1 Graphics Controller 222
8.2 Network Controller 227
9 SUMMARY, CONCLUSIONS, AND FUTURE
WORK 235
9.1 Future Work 237
Bibliography 239
REFERENCES 239
A A NOTE ON HARDWAREC 251
B BILOGIC GRAPHS 253
C PROCESSOR CHARACTERIZATION IN
VULCAN 257
D RUNTIME SCHEDULER ROUTINES 259
INDEX 263
FOREWORD
Hardware/software co-design problems stem from the need of balancing the
components of a digital system in the search for implementations with maximal
performance under cost and power-consumption constraints. Whereas such
problems have been solved for years by the ingenuity of digital designers, it
is now clear that computer-aided solutions to the evaluation and synthesis of
hardware/software systems can lead to better implementations with reduced
design-time and cost. This explains the increasing interest in industry and in
academia on computer aids to hardware/software co-design.
Efficient solutions to co-design problems are particularly important for em
bedded systems, which are digital systems dedicated to specific applications.
Embedded systems, such as signal processing and control systems, have ex
tensive applications in the transportation industry (e.g., automotive control,
aircraft and ship guidance), in the manufacturing industry (e.g., plant control,
robots), in the telecommunication domain, and for the environmental control
and defense of the territory.
A seminal research on computer-aided analysis and synthesis of hardware/soft
ware systems started at Stanford University in 1990. This book highlights
major findings achieved in five years of research and experimentation. This
research represents the evolution of techniques developed for hardware chip
synthesis in the direction of supporting system-level hardware/software syn
thesis. It questions the need for developing application-specific integrated cir
cuits and argues for their most efficient use in conjunction with programmable,
off-the-shelf processors and processor core macro-cells.
A prerequisite for this type of research is to perform a broad analysis of the
models for hardware and software that allows a designer or a computer pro
gram to extract quality measures of the implementations of both the hardware
and software components. This book provides the reader with modeling and
analysis techniques, as well as with synthesis methods for hardware, software
and interfaces under different types of constraints that are specific to embedded
systems.
