High-Level and Model-Based Design Targeting FPGAs and SoCs Sander - - PowerPoint PPT Presentation

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CO-DEVELOPMENT MANUFACTURING INNOVATION & SUPPORT High-Level and Model-Based Design Targeting FPGAs and SoCs Sander Ter Burg, FPGA System Engineer 3T B.V. What we do: Electronic and Embedded Systems Co-Development and Re-design

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CO-DEVELOPMENT MANUFACTURING INNOVATION & SUPPORT

Sander Ter Burg, FPGA System Engineer

High-Level and Model-Based Design

Targeting FPGAs and SoCs

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3T B.V.

 What we do: ■ Electronic and Embedded Systems ■ Co-Development and Re-design ■ Manufacturing (together with production partners) ■ Consulting & Support  Where we are: ■ Enschede + Eindhoven  More info: ■ www.3T.nl ■ info@3T.nl

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Summary

 High-Level Design and Synthesis  Model-Based Design  Model-Based Design Examples ■ SCARA Robot Braking Controller ■ Radar Tracking Module

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Traditional HDL Design example

 All code written in HDL  No CPUs on-board  HDL to Low Level Logic

HDL = Hardware Description Language

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FPGA Design HDL HDL HDL HDL

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High(er)-Level Design example

Higher Level Design Blocks  High-Level Model to HDL  C/C++ code running on a CPU HLS examples  C/C++ to HDL + synthesis  MATLAB to HDL + synthesis  … to HDL + synthesis

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PSoC Logic (FPGA) HDL HDL High-Level Model µC (Arm) C/C++

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High Level Design Tools

For FPGA devices:  Vivado HLS (Xilinx)  HLS Compiler (Intel)  HDL Coder (MathWorks)  and more… For SoC devices:  SDSoC (Xilinx)  SDK for OpenCL (Intel)  Embedded Coder (MathWorks)  and more…

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High Level Design Pros …

 Well suited for complex mathematical problems  Fast Functional Iterations  Freedom of implementation (CPU and/or Logic)  Simulation time reduction (in software)  Early resource estimation  HDL Co-Simulation in software environment  Software Engineers can now write Hardware

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High Level Design Cons …

 Hardware mind-set still needed  Code restructuring needed  Generated HDL is not very readable  Less suitable for (peripheral) interface controllers  But… tools keep getting better

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Model-Based Design

 A form of High-Level Designing  Mathematical and visual design method  To design: ■ Complex controllers ■ Signal processing ■ Communication systems  Applications fields examples: ■ Industrial ■ Aerospace ■ Automotive

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Real vs. Virtual World

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Controller Model Plant Model Application Model Plant Application Controller Virtual World Real World

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Model-Based Design

 Multidisciplinary Design Approach  Design with Virtual Models (without hardware)  Simulation in the Virtual environment  Models are always a complexity / effort trade-off  Controller Model as good as your Plant/Appl. Model

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Model-Based Design Examples

 SCARA Robot Braking Controller  Radar Tracking Module

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SCARA Robot Braking Application

 Move intermediate semiconductor products  Controlled emergency braking  Braking Requirements: ■ Follow robot trajectory while braking ■ Deviation from trajectory < 1mm ■ Rest is under NDA…  Customer provided Mechanical Models (in MATLAB Simulink) ■ SCARA Motor Model ■ Controller Model

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Simulink Model of Plant and Controller

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Braking Controller (Simulink) Torque SCARA Motor Model (Simulink) Angle Angular Velocity

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Simulink Braking Controller Model

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Braking Controller Model Torque Angle Angular Velocity Hardware Model FPGA Model E2M DAC ADC M2E

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Simulink FPGA Model

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FPGA Model Control / Status / Communication Logic Regulator Model Calculate Angle + Direction ADC Control Braking Controller DAC Control Comm. Motor Feedback Motor Controller

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Simulink Braking Regulator (Model to HDL)

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Variable Time Step Floating Point Model Fixed Time Step Fixed Point HDL Code Fixed Time Step Fixed Point Model Fixed Time Step Floating Point Model

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Braking Regulator HDL Co-Simulation

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Braking Controller (Simulink) SCARA Motor Model (Simulink) Torque Angle Angular Velocity Regulator Model HDL Simulation (ModelSim)

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Design and Verification Summary

 From “High Level Model” to “Generated HDL”

■ Various Model Translations

 Generated HDL for Regulator Model (HDL Coder)

■ Angle/Direction Calculation + Braking Controller

 Hardcoded Design Blocks (non HDL Coder)

■ ADC / DAC Control + Control / Status / Communication Blocks

 Design Verification:

■ Co-Simulation + Hardware-in-the-Loop

 Design Fine-tuning:

■ Timing Closure, Resource Sharing, ■ Xilinx IP Instantiation for FFT

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Radar Tracking Module example

 For Traffic Data processing  Customer provided a High-Level Model (MATLAB) including: ■ Radar Module ■ Signal Processing ■ Tracking Algorithm  System-on-Module Hardware Target ■ Enclustra Mars ZX3

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SoC implementation setup

 eCos RTOS on CPU1

■ For real-time Control and Communication

■ Only available RTOS for this SoM

 Tracking Algorithms on CPU2

■ Generated C/C++ from Matlab Model ■ Running bare-metal on CPU2

 Image Processing in FPGA LOGIC

■ 2D Traffic Data Matrices Operations

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FPGA LOGIC Dual ARM Core CPU 1 Control CPU 2 Tracking Ethernet Data Acquisition Image Processing

Ext. Buffers

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Radar Tracking Model

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Radar Tracking Model (MATLAB) Image Processing Model Dec. FFT 1 FFT 2 Tracking Algoritme Radar Model 2D Traffic Data Intermediate Result Files

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Image Processing Module Simulation

 Intermediate Model Results used in HDL TestBench  HDL TestBench Results verified in the Model

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Image Processing Block (Decimate / FFT1 / FFT2) File In File Out HDL TestBench

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Hardware-in-the-Loop Verification

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FPGA LOGIC Dual ARM Core CPU 2 Tracking CPU 1 Control Ethernet Data Acquisition Data Control External Buffers Decimate FFT 1 FFT 2

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Tooling

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 Mathworks Tools: ■ MATLAB: Complete Radar Tracking Model ■ Embedded coder: Tracking Algorithms Implementation ■ Instrument Control toolbox: Hardware-in-the-Loop Verification ■ Signal processing toolbox: Digital Filter Design  Xilinx Vivado: ■ Xilinx IP: FFTs for Image Processing ■ Xilinx IP: Gbit Ethernet for UDP communication ■ Custom IP: Decimate for Image Processing  Xilinx to MATLAB: Xilinx FFT C-model converted to MATLAB file

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Summary and More Info:

 High-Level Design and Synthesis  Model-Based Design  SCARA Robot Braking Controller  Radar Tracking Module  Email : Sander@3T.nl  Web : www.3T.nl  Stand: 7A108 Next Up:  Herman Kuster  Topic Embedded Systems  Hardware platform for industrial ultrasound steel plate Inspection

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3T B.V. Institutenweg 1 Esp 401 7521 PH Enschede 5633 AJ Eindhoven The Netherlands The Netherlands

T. +31 53 4 33 66 33
F. +31 53 4 33 68 69
E. info@3t.nl
W. www.3t.eu