DSP for Embedded and Real-Time Systems. Expert Guide

635 Pages·21.126 MB·English

by  Oshana R.

DSP for Embedded
and Real-Time Systems
Expert Guide
Robert Oshana
AMSTERDAM(cid:129)BOSTON(cid:129)HEIDELBERG(cid:129)LONDON(cid:129)NEWYORK(cid:129)OXFORD
PARIS(cid:129)SANDIEGO(cid:129)SANFRANCISCO(cid:129)SINGAPORE(cid:129)SYDNEY(cid:129)TOKYO
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Contents
.............- ... .. ................ ....,
,8' rtI
psp in Embedded S~s: A Roadmap ............................................................ uin
Introduc-tiOlt to Digital S~ Process;", ...........................................~
~Oyeryiew offieal=titrfe lind Em~1L.S.mem.s ... ,. ... "., ... "" .. ,."""., ... , IS
w
, ~
Rc!ahLim'---Aif-'D"'-'.'-"<>-----~~-~-~~--~-~-----------............
Recovering (rom fai'urM ??
Oistrih"ed and multi-processor an:bjtr(~'''rrs ??
Inj.juljz3.jon of Ibe system ??
Preee559f i,HeF4'aees .................................................................................................. 2.1
LeeEf Efi5ft'ihtuiBft ....................................................................................................... 23
rr u..tmts
Centml;z.ed re.wurce allQC3J; n ond monaaemem """"",,,..w,,,,,,,,,,,,,, " ""..""""",21
Embedded SystclDS ....... __ ..................... ___. ....... _23
u ......... _ .................... ___ ....................
Embedded
CIIa"... 3: Owtviftr ofEMIMdtJ.tJ Systnu On."".., Lif!gd!
Usi" DSP •.••.••••.••.•.•.•••..•...•..•.••••..••.•••.•.•..•..••..•.•.•••••..••••••••.•.••••••• 29
Embedded . y. terru ....... __ ..................... ___ ..................... .. .................. _._ .................... _29
em lifec)lcle using DSP ............................................_ ...................... _30
Ex.am;ne tbe oyemIJ ow of tbe sYMCDl"""", .. ·_·""",,,.,,,,,,,,,, .,.""""..JO
Select the hardware component required for the , y,tem """"""""""",31
Honlwnre aateS '"" "'""',,,, J I
p_" ••••• p"",,"'" 'pp,,',," ""." , •••• ,'"" " '",, " ',, " "" " "" """ ,,'"
Software programJDahle ,,'. """" " 12
'II" "" """' ,, " ... " " " ,,' ,, ' , """
C.encral QU!J)O!IC proce.4\. . ................, . .... __ ............. " ..... ___ .................... __ ............ 33
MicwcOJumllers 33
FPGA sohlriQAs
P"occ.s:s0"' .. ___ ................, . ...._ _ ................, . .. ___ ................ ,. .. __ ._ ..........
Dieital sig.nal ~
A aeneml ·;8n81 pcocesSDa lUlhs;oo " ....... """"". . """ ...0 '7"""""""""",,,..,,,,,"',,.,,,,, ..... 40
DSP acceleration decisioos 41
SIe,p ;\ - Uoclerstand DSP haS;c.~ and IIcch;lcctufe"""""!!'77l!!"""""""""""""",,,,44
Models of nS(> processiog , ,,' "" ' " " "",,' """.' "W"",,' """ "".",,46
II' " .. """"",," ""
Inpur/o"lp'" npc;oo, '""',, """,,"" III,,' ""',, !!i""'"'' ""',,',, " ,,'" """"",, ,,' ',,""" "",,48
Calallatjoe DSP pe.r{ormaoce" ' ' '' .. " ,,'" ""·"""""""""'li'"""",,',,,, "" 48
q -II,,' " ,
DSP soft"eas:e SI
Code "!Oin~ lIod optimizatjon
,," II f , If If' !I' " If'
Typ;c,,1 DSP de\'Clollmenl flow ... """""".""""""",,,,,," .. IT!'!! HUITT! I TI u_ .-U!7' 7: 7HZ tt! T! T! U·
PI'tling i' all .ogether ~9
Cha.ptg 4: I'ro;Jrll....a"" DSP Anhif«tlufs .................................................... 63
nsp
Common ft"Pturrs of POOfIilDlmabJe prchj'CCDlf£S 63
P$P OPflO aA(t 1S.l:A f.l.-AlllflOfL""""L ... " .. .I."""'" "LLlI"'"'' ... lI.6~
,,1. " '"'' ii' I. .. ,,,,, .11. ,,' ii
Memoa' architecture"",. . 70
s"" "" , ,,"',," " "''''''''''',, "',," ,,' " EI" " "" '!71" " ''',, tt',," """ "'""''',, ,,'
Access sizes 70
A lienmcnl i$ ltc, """",," "'3""",, "" """""" 3"""'",, """"'" "'33'"",, """""",,"" "'",, ,,' 71
Dara operations 71
C"""., 5: FPCA III Wjrylcss Cpmmunjartjons Allplignions """"". .." ". .. ,,"" ...... 75
IA~EI\,Ie:lj9A." ....................... , ........................ , ........................ , ........................ , .......... , ....... +)
Spalial 'DultiplclCjoS MII\10 SYBtems """ ",,·11',,'" Ii",,',," ".." II''''!"Ii Ii"" '" """ II'" i !"un
Flex-Sphere dercclor 79
Modified JX=:ul·vu1Ilat decomposition (M.RYD) ordering 81
Conte#rts ""
FPOA lor for SDR handsel. .. ~ ............................. 82
.................... ~ .... 84
_. .................... __ ....8 5
Simulation [C-S. . hs 86
BeamfO(JJ)ine for WiMAX ',,'''''''' "",,,,, ,,'''''' ,,"" " ""',,"'" ,,'!! ,,"" " ",,',,"'" ,S7
"'tI "" " " " ,,"'"
Bc::umforoling in ..~ ,tjdeband sy ms ................................................................ ~. ...... 87
Computational requirements and performance of a beamforming
. eln ........... "_ .................. ", ...................... ". __ ............... ,.,,,, ................. ,',., .......... ,9.
Bcamfonning experiments using WARPLab ......................... _. ......................... _ ....9 4
Experiment setUP and resull1 ....................... __ .... 97
Conct •• sion 100
c""o""............................................
u 6: TM DSP Htlnlwa re 10 3
In·roct.!C'ion 103
FPGA in embedded de i~n .. _. .. " ......... 104
.." •••••••••••••••• __. ..... , ................. __ ••• or ................ ..
fPGA computatjonal tbmu~bput and power ",-'"",,,",,,,,,,,,,"5"',,,,,,,,",,,,,,,,,,, ,,105
Applic;ation specific iotewnued circuit VCGW fPGA 111""""""""""""""""''""",,,,,,,,111 107
Adyun13ae.S Qf ASICs 0 er fPClAs """"""""",."",,",,"""""",,. . ,,"""""""",,11 .... 108
Software programmable digital signal processing .............. _. .................... _. ............. 108
C.cnentl purpose embe<klcd corell""""""""""""""""""". oS ", t, , "" 3 §,,,,,,, t """"'",, 109
PUlling il all lo:cthf1 110
"if ' II ' It
,1\«~it~11lG? 0 0 0"" 110" ii'"'''' 0 0 0 0 0 0 " ., """ ii' ""0 0 0 0 0 0 0 0" "'" 0 0 0,," 110 0 0 0 0 0 0 0 0" , ZiiiiJiJii1&11iiiiii£12 Oll t to
Appl;erui n dri en desgn"o,,'" ... """ .... "'""" .... ",, ....... ,,"",, ... """ ... · .. 0"."".· ..... I I I
'U 7: Otlel1fiew 'O~ ••••••••••••••••••••••••••••••••••••••••••••••••••••••- ... 113
111
... ................. __ ._ .. ................... - ..... ................ _. ... " ......... 114
:: :: :
Aliasin, "" o· o· o· """'"",, " .. o· .I, 166
0 0'" ,,',," 0" II,,' 0" 0 0 0 0 0 0 0 ,,',," " ',, ",," 0 0 0 0" ",,' " " ,, ,,',,' 0' 0' 0 0'"",,"
The hagc 0, P. y"lcm
"1'1'""""'"1'"" """1'1' .. "1'''01'""""0"""""0"""",,,,,,,,,,'0,,,,,,'1',,,,,,'
Elfers )18
Frequency analysis IIQ
f ~ '" II"' II· II' " !i"" ~ f !ill'"~
119
C9FF1?liniC?R "Ii" t 20
0010 0 .... " 0 01 II "'" 10" 0 0 0 0 0:' .. '" II II "220" 0 0 0 0 0:" .•• " 10' II. 0 0 0 0 0 0:' .. "'" 0"" "" 0 0 0 0 0 0 0 II ... '
Designing f1R Oller 120
DO
WjndQ\ljD2" 122
0'" n,,' 0"" """ 0' 0" 0" "" "'" "",," 0 0 0 0 0' ". 0 "" " It, ,,'" 0 0 0' 0' 0 no ,,'" 0 ,," ,," 0' 0 0 0 0' n " "
Alporitbm implemc.nlalion - DSp arcbilecture 124
"""01""011'0,,1',,,,"",,"",,1'1' 0 • ,,'''1',,1'01'
~h~"'~e-f f9R1UU ................. 00 ...................... 0.01 ..................... 010 ..................... '."' ........ 12~
averaoo• aad saturatina 1"6
126
COIf"""
nii
Utilizing n-chill RJ\k\t .......................................................................................... ITl
Special MAC insouction .. __ ...................... __ .................... _ ...................... .. ...... 128
Block fillering .................. __ ..................... __ .................... _._ .................... _ ........ 128
Scp:unle progrnm and dal bus'. ................................................................ .. ...... 128
7..em overhead 100000nK",,·.. .."""" .. """"". .."" .. ",,",,",," ... "" .. """" .. " ,."" "" 129
rimulae buffers0 .. 13D
S tcm issues ................................................................................................................... 130
Cogcl"sioo J3J
Clulpt!r 8: HigIt·I.wI Tools (0, CAmpla DSP Applit:tltiotts ..................... 133
ffiKh-lc\'el synlbcris;s dcsiKD metbndoIQ~Y." ... " """"""·z.··.,, ... ""."""".,,,.,, ... ""."."" ... I JJ
High·Je\cl design tool ... _ ............................................................................................... 135
[-Map,,11 C""", """""" """""',, """""'",, I""".,, """""'"""""",,,, ",,' """" u""",, """",,,,' I :l,~
P(CYl 138
System Gc;ncralor ...... '.", ....... , .. " ....... "" ... _ ................ ", ..................... "" ..... _. .. ,., ... 140
141
LDre; decoder dc:siKD example U! ina PlCo"""'·"""'·.'--n" .. " .. " .. """·" " .. """.",,,,,,,,·.14 I
Malri" Dlulliplicatjon deS,n example uRng Catap"h C"""""""" .. """" .. """ .... "" .. "" 145
OR dccompo,ltjljno desjQn ,,,umple ,,~jnR System Genemlnr"""""""",m"""""""""", I <)
Cogcl"sion J 54
s,ttw" -
CM"". 9; Qptitr!iPc asp BlntluMrlci'U «HI Pm61i",
DSP S ntl ••••••••••••••••••••' • ••••••••••••••••••••••••••••• 157
eo• ••••••••••- •••••••••••' ......
IAlflQd",C\.iQA ....................... ,• •• " ......... ,., ........................ , ....... ,.,. .................. " ..................... J5 7
WriljOIl a ICSI harness 11'11 '" '""11"'''.11',',,,,,''',,,,'''11.1111'1'',,'1'1'1''11' 11.,,'1' z- "",,' FI! if " ,,' " I "8
Teg harness inpms ourpms and curectOCS$ cbecking
Isolating a asp kernel 161
prorecljng agajnSI aggrt &siB build lools 161
Allowing flc1ibility for Code placement 162
Modeling or 'me sys'em behaviors 162
Memory latency effects """,,161
!!III Pit """ "OC" " f! 'tltt" II' " "",," " ',, " ',, .. !!!! !I,,'
S)"Slcm cfTc£IS, , If ' fi' , " , " , , , ,,' '" "",," ,,", 161
RTOS Q"er:bc~'1 16)
~3,jc::c,"j~ iA .. AK,hicQ~h:tnllc:iIilE"';cq ~';F'QA~~t .. "" .... ,. ........ ,.,,,.,,,,, ., ......... ,"" ... ,,!., 163
MtlbodS for mcnsnrinp pcdormnncc 161
Measuring tbe measurement 165
EICludjng non-related elteors 165
InlNDlptS 1M
Run'ime ljhClC)' (uDC.jons "sed in .he benchmark 166
Si~ylafeEi ~ea!itlFe~eR(",., .............. ,.",." ........... ,. .... """ , ........ , ......... """ " ....... ,. .. ,.J~
Con_"
IX
H,«'WAn: "'C' 9":e01CO' 166
Profiling results_ ........................................... __ ..................... __ ..................... _. ... 167
How 1.0 inlCmrel re ul .................... . ..................... _. ...................... _. ... I6R
LII"..,.!
Clwpt., 10: Opti",izi"l DSP Softwllre - HiJlt·/ewJ
arttI Pro&'rP",mi"" Models .........- •••••••••••.••••••••••••••••• _ •••••••••••••••••••••• 169
j~ scmbty tanguaGc ............. __ ..................... _....................... .. .................... _ ................ 169
Advamage-s and disadvaorage-s 170
C Programming laDKuagc with i",riD~ig; and nmgrna" 010"" --'r':!· .... •··•·· .. ·!··· ..... "" ....... 170
FIR in C 171
Intrinsic ("De,ioos 17'"
Prae mas 174
II "" '" " II,," " II '" II"" " " " II,," " II" II'"'''''' '"''II''' II !II II II"'" II'" 11"'" " II II 11" "" II,,"
Fmbcddc" C 176
C±t for embedded _ .. " .............. ___ ............. 176
AU!OoYCCtOri7..iDK compilcr tcchnology."" ... __ .""" ......... "... t 77
...11 ................. _ .. ., ............
Moriah I ,ahvicw and FErW-lik. gcoemlor suires 178
Mariah and natiyc compiled e<xk 178
~iilli"e ~e 19 ~4allat? iR{illilk9R e~"Iiilli9R ................. ,,"", ...... .: ......... """" ....... 179
C1ttIJItu 11: Qpti",izi. DSP SoftwMe - CoM OptiIfIizptioll ............................ 1B 1
Optimizatjon process 82
I Ising 'he develop'"c'" lOOts 8'
(.ownj Ie{ ope jmjzDtjoD II ....... ," IT. ,,',,'" ,,',,"""" "'",,',, "" "',,"',,' ".,."." ",,'",,''''' "" '"
Bosic compiler configllC3'iotl 83
EOj1hling optimizalions",""""" 84
'''""'"''''""1111'1'',,"''1'''','1"''1'1 '1''1'"'1''11''"11" '" l'
Addirional 0ptimjzation configurarions 8~
J Ising ,be pro6kr 81i
Analyzing compiled roctc 81i
nsp
Background - understandjng the archiln=Dnr 186
R~gtl~ "" I A6
11.11 ... ' "'" ' .. " .11 II II ... , ... !. .. ," ... , "'" " ' .... :., II "" ... " "" '" ' .... II II II" ... ' 11 "" II!. ... '
Busic C op.jmizalion techniqucs 187
Choosing .be right dala 'ypes 188
J'sc 01 jnlr;ns;cs '0 leverage DSP fe-M"CCS 189
Ji'yReliefli§ ..... ,., ............. ,. ........... , ..................... , .......... " ...... , ..... , ............ , .................. I9G
PointCD and memory lICCCSS 194
Ensuring allgnmenl 194
Res.na and pointer aliasing 196
I ,oops 196
CQQ)mlloio 1ling lmlp cOlin' inConnJUion 196
Hardware loops 197
Addi.jon;" rips and trjcks 198
JC CAIrt,nts
Memory oonten. ion .. "" ,,,,, 0',,',," "T!"" "',,'"'''''''''''',,''' """",,"''''''''T!'''''''''' ,. """,,' , C)<)
Use of unaligned acces5eS .................................................. _. .................................. 199
Cache accesses 199
Inline small ("flcrims 199
., , , "lQQ
i , II .. Ii
Gcnentl p .ransfonnations ', ....... ,." ....... ,,"", ...... .,", ....... ," "', ...... ., ............. ,',. .... ."." ... 200
Loop unmllinll, .. · .. .,,,, .. · _.. . " '" ,. ...... "' ... 200
0 "'" ,,"""" "".-..... ,," " ,. ...... ,,"" " " "" '" ....... ,,,' ..
BackJIDund """''',, """"",, '""'",, ,200
" 57" ,," " """ "'"" " ,,'"'''' """""" " """""",, """ ,,',,
Im plemen';Uion . ""'"""',,,, ',,',," '"''''''''"''''',,',,,, ,,"',,""'" ,," "',, "',,,,"""'" ". """ ",20 I
1\111ltisamping "" """" ,,' ",201
,,'I'" """",,,,, 'I'" ,,"'" "',, ",,' """,,',, •• "',,,,' "" "'",, ",,'" "" ,,' ""'",,
Bock ,roll nd '"',,',, """"",, "'"",,',, """""',, "p, ""',, """",,' '" ",20 I
'Pi!" " """""" """, """
Implementation procedure, .... , .. " ......... ,. ...... _. ............... ,. ...................................... 202
Implc;men'3t.ion ......... ,." ............. " ...... "',, ....... , .. " ........ "" ......... ,." ........ ", .. ........... 202
Pa~illl f\J~~I"iQ'A":.",, J.iI'Ii.;; J.til": iil;;iI;; j:' i.: iliiiili '''''.:. '''''''ii' '''''' 20l
Backw)und .... , ,,"""'" ,,' " _. "',," " .... "", .. - ... "" .. 20:l
..... 7ZTT ....... T!!' •• y_ ___ ..... ITJ .. z ••••• T7!' ....
Implemen.a.ion QJOC<edUfe",." ", ",,''8'' ,,' """"""',, "",," """"""',,,, ""'''',, ",204
" ,,!II,,'"
Im piemcn.;U jon ",,' "'""'",, ="',, ", .. ,.,,, "", ,,'''''',,'' "'''',, """"""'",, ..... ,"",, ""'"",, ".204
Sofuvare pipeljnjng,,,,,, ,,"'" ,. . ",,' ,,"',,' "If',," ,. . ,,,' " ...... " 1"' .. ' ' .. ' ," ',,' .. ' .. "" .... " .. , " .. ,,', .... , .. 204
Brtckgmllnd """" """". ,.""",,. """" "'''''''' """"". """"" """". ' "'' 204
Implemcma'ioo 206
Example applicatjon of optimization "xtmiqucs= cmss rorrcla.ion 206
SclUp 206
Onmoa! implementation .. ,. .. """ .. """"., -.. ... " ",,,,,,,,,,,., "."" .. 208
Step J; t lse jnltio. ie. for fi;tctjonal opcrarions and . pecjfy
... ",,,,,.208
Inqp counY "',," """",, .. ",,' ." "" "" ""' .. " ". '" """,,..,,,,,, " """,, '''' .. ".,,, .....
S.Cf) 2' Specify da.a alignment and modify for mllJlisampiing
"Iprothro,,, ' """"',,,,,,,,,,,, "'''''''''''''''''' if"" i!""" "i" f"" " " ' "' """,,,208
II if II "I" II ! ii
S.eep l ' Assemhl)' language op'imizarioo 213
ella iZ4fiolt .................................. 2' 7
')J7
Code size opljmizo.jons 218
Compiler flags lind Hag mining 218
Tar:gCl ISA for size and pcrfowlancc rradcoO"s 219
V I
n on.hogonul • izc! ."""."""""".".,,226
Memoe)' layout o.p«imjz..arjon" . ,," ,,' " " , ,. " " "" ' " ,,211
Qycryjew of memO()' QPlimj7otjoo "'"",, '"""',,,, "",,', 'i'" ""',,',, ",,,,.,,,,,, "",""',, ,,,2.12
flornsing o.p«imjz,arjon effons 212
VC'.doriZ8lioo and .be dynamjc codc-comp"rc ratjo 211
Con_b
XI
Loop optimizations for memorY performance ................................................ _. ... 238
tiOIf •••••••••••••••••••••••••••••• 241
Introduction 242
Under.uanding POWeI' onsumplion ......................... __ ............... ___ ...................... ___ ........... 243
Measuring JX)\\'Cr usin2 an 8Jl1.1DCler ................................................................. _. ...2 46
Profiling vour application'. power consumption ................ _. ......................... ............. 249
M;n;mi7.;ng (!!wc,. con.~ump!ion ............................ ,. ............................................... " ....... 251
H4tdw supporl .. ,. ................_ .... ,. .................. _. ..................... _ ................ ,. ......... 25 I
Clock and vohaac control "='-,, """"""",,'" """""""",,,," '_""""""",, ""'r.-"""",, .. ,,25:;
and usawe example. of low vower mode: """"""""""""""""",,2$6
.261
" " "',, IT' En""" ',, ",," ,,' " ',,,,""'" "",,,,.. ,,' ,,-,,""'" " ',,,,'" " '0""""',," ,,
Redtlcjne VOWel conSJlmpljon for JDeIDO[)' ac«.sses!!, "",,' !Iii""""'""",, ..
!!!! !
DOR 0vet"ic'"
OOR dalO Dow Qp«jmjzarjoo for VOwtr 264
prrjphcrallcommllnjcarion IItilizarjon 276
OM A or dOh) vers"s cpr J 277
Algorithmjc opeirniz8'ion 280
·284
E1jmjn3rjne recursjon ""',,,,"" """'",,,, ",,' ,,"'" """'"'' ""'"',,,,,,'" """,, "',,,,""" ,,'
Summary lind ,Iwjna remark ""',,',, ,,,""" "''',,,,'' """",," ""'",,"',, 286
IT' """" ,, """"'"",, ""
Cltqpter 14; QSP Operqtion ~msu. . ' .. n'u .." 'U,t. . ""u',. ." " .. uu"",uu", .. ,u. . 291
IR'Fc;>~c'iQR ...
i,iiillllll •. ,ii,IIII .... " illllllll,.iiililll"" iiillllll.II,IIilllll"" i,llllill,i .. iiilillii.iii,1111IIIII .. ii191
as
asp f"od,ment,'s
Re~J" ;me cONtraints
Processes .hrrMs lind jnrcm1pts 294
II" II II' 1i
~'I\lllicoce COAsidC!:'oI.ioAii 298
30e;
n" ,,' ... ,, ,' I I" ' ..._ ... " , " ''''",, I I'" ....... ,,' ,.,. ''',,' I I" ,.,. ...... , ";t .. ,,,, I' ".tt r ,,;\OS
.ntlal DlCmory and rngnory pmlccrioo, """".;\06
I I I" """""" "",,"I '" """",,'" " " ,,',, I"
Nr.wmking 306
Inrer-pror.e.\-wr ooolmllnjc;ujon ",,' "I"" "p, ,;\06
I' " ,,",,'1 I I I I II ',,' I" ,. I"'",, I I I I' I II "',," "1'1 I 1'1'1
Inreme.Jworkjng ,Q9
3JO
ScbeduJjog