Real-Time Multi/Many-Core Architecture Heechul Yun 1 Real-Time - - PowerPoint PPT Presentation

Real-Time Multi/Many-Core Architecture

Heechul Yun

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Real-Time Multi/Many-Core Architecture

• Projects on Real-Time CPU Architectures
• Assigned Papers

– Shedding the Shackles of Time-Division Multiplexing, RTSS, 2018 – Deterministic Memory Abstraction and Supporting Multicore System Architecture. ECRTS, 2018

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Trends in Automotive E/E Systems

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• A. Hamann (Bosch). “Industrial Challenge: Moving from Classical to High-Performance Real-Time Systems.” WATER, 2018.

Source: Bosch

Centralization & High-Performance HW

Modern System-on-a-Chip (SoC)

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Core1 Core2 GPU NPU… Memory Controller (MC) Shared Cache

• Integrate multiple cores, GPU, accelerators
• Good performance, size, weight, power
• Challenges: time predictability

DRAM

Worst-Case Execution Time (WCET)

• Real-time scheduling theory is based on the

assumption of known WCETs of real-time tasks

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Image source: [Wilhelm et al., 2008]

Computing WCET

• Static analysis

– Input: program code, architecture model – output: WCET – Problem: architecture model is hard and pessimistic

• Measurement

– No guarantee on true worst-case – But, widely used in practice

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Memory Hierarchies, Pipelines, and Buses for Future Architectures in Time-Critical Embedded Systems

IEEE TCAD, 2009

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“Problematic” CPU Features

• Architectures are optimized to reduce average

performance

• WCET estimation is hard because of

– Pipelining – TLBs/Caches – Super-scalar – Out-of-order scheduling – Branch predictors – Hardware prefetchers – Basically anything that affect processor state

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Static Timing Analysis

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[11]–[13]. control-flo flo first first

• l-flow

program’ flo control-flo identifies

• l-flow

processor’ finally control-flo ely—together interactions—to influence influence influence

Control Flow Graph (CFG)

• Analyze code
• Split basic blocks
• Compute per-block WCET

– use abstract CPU model

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Timing Anomalies

• Locally faster != globally faster

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Image source: [Wilhelm et al., 2008]

Timing Anomalies

• Locally faster != globally faster

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Image source: [Wilhelm et al., 2008]

Challenge: Shared Memory Hierarchy

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• Memory performance varies widely due to

interference

• Task WCET can be extremely pessimistic

Core1 Core2 Core3 Core4 Memory Controller (MC) Shared Cache DRAM

Task 1 Task 2 Task 3 Task 4

I D I D I D I D

Effect of Memory Interference

• DNN control task suffers >10X slowdown

– When co-scheduling different tasks on on idle cores.

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2 4 6 8 10 12 DNN (Core 0,1) BwWrite (Core 2,3) Normalized Exeuction Time Solo Corun

DRAM LLC Core1 Core2 Core3 Core4

DNN BwWrite

Waqar Ali and Heechul Yun. “RT-Gang: Real-Time Gang Scheduling Framework for Safety-Critical Systems.” RTAS, 2019 (to appear)

Cache Denial-of-Service Attacks

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Michael G. Bechtel and Heechul Yun. “Denial-of-Service Attacks on Shared Cache in Multicore: Analysis and Prevention.” In RTAS, 2019 (to appear, Outstanding Paper Award)

LLC Core1 Core2 Core3 Core4

victim attackers

• Observed worst-case: >300X (times) slowdown

– On simple in-order multicores (Raspberry Pi3, Odroid C2)

Difficult to guarantee predictable timing

Real-Time CPU Architectures

• PRET

– UC Berkeley.

• MERASA/parMERASA project

– EU

• ACROSS

– EU

• ARAMIS

– Germany

• EMC2

– EU

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FlexPRET: A Processor Platform for Mixed-Criticality Systems

RTAS, 2014

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PRET Pipeline

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FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E EXCEPT FETCH DECOD E REGACC MEM EXECUT E FETCH DECOD E REGACC MEM FETCH DECOD E REGACC FETCH DECOD E FETCH

t

THREAD#1 THREAD#2 THREAD#3 THREAD#4 THREAD#5 THREAD#6

1 clock Thread 1, Instruction 1 Thread 1, Instruction 2

FlexPRET Pipeline

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Hardware Support for WCET Analysis of Hard Real-Time Multicore Systems

ISCA 2009

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Analyzable Multicore Architecture

• Idea1: Bound interference on shared

resources

– On-chip shared bus – (shared) L2 cache

• Idea2: WCET computation mode

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Architecture

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Round-Robin Bus Arbitration

• UBD = (NHRT – 1) * Lbus

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Request vs. Job-level WCET Analysis

• Request-level analysis

– Assume worst-case interference for each access of the task under analysis – Pessimistic as not all accesses will get interference

• Job-level analysis

– Assume the total number of competing memory access is known – Can reduce pessimism

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Summary

• Timing anomalies

– Locally fast != globally fast on non-timing compositional architectures (i.e., most architectures)

• Timing compositional architecture

– Free of timing anomalies

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Discussion

• Why is this interesting?
• Are assumptions realistic?

– Task model – Cache model – Memory model – CPU (pipeline) model

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Discussion

• Why is this interesting?
• Are assumptions realistic?

– Task model – Cache model – Memory model – CPU (pipeline) model

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Atomic vs. Split-Transaction Bus

• …

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• J. P. Shen and M. H. Lipasti. Modern Processor Design: Fundamentals of Superscalar Processors. Wav

eland Press, 2013.

Announcement

• Mini Project #1
• DeepPicar Competition

– Build a self-driving car – Based on DeepPicar – Competition format

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Acknowledgement

• Some slides are from:

– Prof. Rodolfo Pellizzoni, University of Waterloo – Prof. Edward A. Lee, University of Berkeley

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