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RTLinux in an FPGA Alejandro Lucero alucero@os3sl.com - PowerPoint PPT Presentation

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RTLinux in an FPGA Alejandro Lucero alucero@os3sl.com www.os3sl.com RTLinux in a FPGA 1. OpenRTU Project 2. FPGAs and soft processors 3. uClinux 4. RTLinux in Microblaze www.os3sl.com RTLinux in a FPGA 1. OpenRTU Project Spanish

  1. RTLinux in an FPGA Alejandro Lucero alucero@os3sl.com www.os3sl.com

  2. RTLinux in a FPGA 1. OpenRTU Project 2. FPGAs and soft processors 3. uClinux 4. RTLinux in Microblaze www.os3sl.com

  3. RTLinux in a FPGA 1. OpenRTU Project ● Spanish Industrial Research Project (Nov, 2004 – May, 2006) ● Financed by Spanish Industrial Ministry (PROFIT) ● Consortium: • TELVENT: real time company, RTUs • ESI: European Software Institute, Product Line • CSIC: Scientific Research Institution, FPGA Design • OS3: embedded Linux company, RTLinux www.os3sl.com

  4. RTLinux in a FPGA 1. OpenRTU: Project Goal Building a new generation of RTUs (Remote Terminal Units) using FPGAs and Open Source. ● More Flexibility ● Faster Development ● Better Scalability ● Avoiding Obsolescence Challenge www.os3sl.com

  5. RTLinux in a FPGA 1. OpenRTU Project: Results ● A prototype built and running uClinux and RTLinux in Microblaze ● HARD Real Time requirements achieved (Initially, 1ms) www.os3sl.com

  6. RTLinux in a FPGA 2. FPGAs and soft processors ● FPGA: Field Programmable Gate Array ● Device containing programmable logic and programmable interconnects. ● Field programmable = it can be programmed after the manufacturing process in the field ● You can program the HW !!! www.os3sl.com

  7. RTLinux in a FPGA 2. FPGAs: How it can be programmed ● FPGA design using VHDL (VHSIC & HDL) ● An Electronic Automation Tool obtains a netlist from the VHDL code ● Place & Route software fits the netlist to the FPGA ● Validation through timing analysis, simulation and verification tools ● A bitstream is generated to program the logic gate array www.os3sl.com

  8. RTLinux in a FPGA 2. FPGAs: How it can be programmed ● You can add IP (Intellectual Property) Cores to your design: libraries of predefined complex functions and circuits ● IP Cores: buses, codecs, DSPs, interfaces, ... and processors ● Soft processors (FPGA logic): picoblaze (Xilinx), Microblaze (Xilinx), Nios (Altera), LatticeMico32 www.os3sl.com

  9. RTLinux in a FPGA 2. FPGAs: Microblaze soft processor ● Xilinx Microblaze (4.0) 32 bits processor ● Three-stage pipeline ● RISC, Harvard architecture ● Configurable Code and Data Caches ● Hardware Debug Logic ● Non-MMU processor www.os3sl.com

  10. RTLinux in a FPGA 3. uClinux ● Linux for non MMU processors ● Available ports: DragonBall, Coldfire, QUICC, ARM7DMI, Intel i960, Blackfin, Microblaze, NEC V850 ● Commercial products based on uClinux: IP cameras, wireless routers, VoIP based telephones www.os3sl.com

  11. RTLinux in a FPGA 3. uClinux: drawbacks ● No protection between tasks, and even worse: a user process can crash the system ● This is the most well-known issue, but it is not the only one ● Using Linux code is not automatic www.os3sl.com

  12. RTLinux in a FPGA 3. uClinux: non MMU problems ● Processes are created using the vfork system call instead fork ● user stack per process is static in size ● memory management done by the OS is different ● dynamic libraries are not available (at least as standard) www.os3sl.com

  13. RTLinux in a FPGA 3. uClinux: Microblaze Architecture ● Port done in 2003 by John Williams, from Queensland University in Australia ● uCLinux 2.4 in Microblaze is being used in several commercial products ● Xilinx has recently released the uClinux 2.6 for Microblaze www.os3sl.com

  14. RTLinux in a FPGA 4. RTLinux ● RTLinux is a hard real time microkernel ● Interrupts are virtualized for Linux ● Linux runs as the task with the lowest priority inside RTLinux: Linux is the idle task for RTLinux www.os3sl.com

  15. RTLinux in a FPGA Virtualization technology is in fashion www.os3sl.com

  16. RTLinux in a FPGA RTLinux Virtualization technology www.os3sl.com

  17. RTLinux in a FPGA 4. RTLinux in Microblaze ● RTLinux DOES NOT need an MMU (but can use it) ● RTLinux needs Linux or uClinux: uClinux port in Microblaze done by John Williams in 2003 ● What HARD real time performance can be achieved with a 75Mhz soft processor running a GPOS? www.os3sl.com

  18. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT ● We had some initial doubts about the technology ● These doubts were reinforced when we found a bug in the processor IP core implementation ● This led us to put most of the blame on the technology when latencies were not as expected www.os3sl.com

  19. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT ● We decided to divide the work clearly: 1) Interrupts virtualization layer 2) RTLinux microkernel ● In case of problems with the full RTLinux microkernel coexisting with uClinux kernel, we could just make use of the virtualization mechanism for a simple system executing critical code when an event raises an interrupt without uClinux interference www.os3sl.com

  20. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Once the Interrupt Virtualization layer was implemented, first tests ● showed latencies higher than expected The measurements were done with the timer interrupt, and Linux ● could be interfering with the results We decided to wait until we knew what latencies we had with the ● full RTLinux microkernel working ... But we suspected OPB (On-Chip peripheral Bus) was ● introducing the delays www.os3sl.com

  21. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT The second part of the work was done to implement the full ● RTLinux microkernel: threads creation and destruction, scheduling, timer programming (one shot and periodic) and threads synchronization and communication The RTLinux microkernel code is composed of architecture ● specific part, and by independent architecture which will run without changes www.os3sl.com

  22. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Once the full RTLinux microkernel was implemented, tests showed ● peak latencies higher than expected We did some code inspection but in C language level ● Due to our initial doubts about the uncertainty of the technology, ● we suspected OPB was introducing the delays This took us to the longest route to solve the problems, but on the ● positive side, this was not a complete waste of time. www.os3sl.com

  23. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT The solution taken was to make use of a special Microblaze ● configuration avoiding the execution of real time code from DRAM or SRAM LMB and Microblaze caches have 1 cycle access ● The idea was to allocate the real time code into these special ● memories avoiding the peak latencies when the code had to go through the OPB www.os3sl.com

  24. RTLinux in a FPGA www.os3sl.com

  25. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Drawbacks when using 1 cycle access memories LMB Ram Blocks are used by FPGA designers, so we can not take ● them for free. Microblaze cache is write-through, so if the problem is when RAM ● or SRAM is accessed, we are in the same point www.os3sl.com

  26. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT The first problem was maximum space available (Spartan3) using ● LMB was 16Kbytes (just 12Kbytes aligned) RTLinux modules: ● ➔ rtl.o: 8192 bytes (only code) ➔ rtl_time.o 2264 bytes (only code) ➔ rtl_sched.o 13692 bytes (only code) www.os3sl.com

  27. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT RTLinux code distribution was modified, creating a new module ● where "real" real time code is allocated In the old modules we left the code just used during initialization ● the new module rtl_previous_core had a final size of 8K, so it ● could be allocated in the LMB www.os3sl.com

  28. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT We did other changes in uClinux related with interrupts code: a new ● section was created in the elf kernel file for this code, and during the initialization it is copied to LMB Once we had all the code related with real time in 1 cycle memory ● access, we did new tests and ... Peaks latencies had survived the attack ● www.os3sl.com

  29. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Technology was absolved. We had the real guilty: The RTLinux Port Implementation was buggy www.os3sl.com

  30. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Some problems hard to find: Microblaze has not lock instructions: changes in set_bit , test_bit, ● clear_bit, test_and_set, test_and_clear, which need to disable interrupts. Some cli uClinux operations were not being virtualized ● compilation flags: muls and divs by software introduce high ● latencies buggy gcc 2.95 with 64 bits operations (needed for timers) ● www.os3sl.com

  31. RTLinux in a FPGA 4. RTLinux in Microblaze: Results www.os3sl.com

  32. RTLinux in a FPGA 4. RTLinux in Microblaze: Doing the PORT Conclusions we followed the longest route to achieve the hard real time ● performance The usual way would had been to suspect first that the ● implementation is buggy, but we had some preconceived ideas... On the positive side, we have now the best performance we can get ● using RTLinux and uClinux in Microblaze www.os3sl.com

  33. RTLinux in a FPGA Thank you Alejandro Lucero alucero@os3sl.com www.os3sl.com

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