Martin Schoeberl

A Java processor architecture for embedded real-time systems

Architectural advancements in modern processor designs increase average performance with features such as pipelines, caches, branch prediction, and out-of-order execution. However, these features complicate worst-case execution time analysis and lead to very conservative estimates. JOP (Java Optimized Processor) tackles this problem from the architectural perspective - by introducing a processor architecture in which simpler and more accurate WCET analysis is more important than average case performance. This paper presents a Java processor designed for time-predictable execution of real-time tasks. JOP is the implementation of the Java virtual machine in hardware. JOP is intended for applications in embedded real-time systems and the primary implementation technology is in a field programmable gate array. This paper demonstrates that a hardware implementation of the Java virtual machine results in a small design for resource-constrained devices.

A Time Predictable Instruction Cache for a Java Processor

Cache memories are mandatory to bridge the growing gap between CPU speed and main memory access time. Standard cache organizations improve the average execution time but are difficult to predict for worst case execution time (WCET) analysis. This paper proposes a different cache architecture, intended to ease WCET analysis. The cache stores complete methods and cache misses occur only on method invocation and return. Cache block replacement depends on the call tree, instead of instruction addresses.

Time-predictable computer architecture

Todays general-purpose processors are optimized for maximum throughput. Real-time systems need a processor with both a reasonable and a known worst-case execution time (WCET). Features such as pipelines with instruction dependencies, caches, branch prediction, and out-of-order execution complicate WCET analysis and lead to very conservative estimates. In this paper, we evaluate the issues of current architectures with respect to WCET analysis. Then, we propose solutions for a time-predictable computer architecture. The proposed architecture is evaluated with implementation of some features in a Java processor. The resulting processor is a good target for WCET analysis and still performs well in the average case.

A Statically Scheduled Time-Division-Multiplexed Network-on-Chip for Real-Time Systems

This paper explores the design of a circuit-switched network-on-chip (NoC) based on time-division-multiplexing (TDM) for use in hard real-time systems. Previous work has primarily considered application-specific systems. The work presented here targets general-purpose hardware platforms. We consider a system with IP-cores, where the TDM-NoC must provide directed virtual circuits - all with the same bandwidth - between all nodes. This may not be a frequent scenario, but a general platform should provide this capability, and it is an interesting point in the design space to study. The paper presents an FPGA-friendly hardware design, which is simple, fast, and consumes minimal resources. Furthermore, an algorithm to find minimum-period schedules for all-to-all virtual circuits on top of typical physical NoC topologies like 2D-mesh, torus, bidirectional torus, tree, and fat-tree is presented. The static schedule makes the NoC time-predictable and enables worst-case execution time analysis of communicating real-time tasks.

Towards a Time-predictable Dual-Issue Microprocessor: The Patmos Approach

Current processors are optimized for average case performance, often leading to a high worst-case execution time (WCET). Many architectural features that increase the average case performance are hard to be modeled for the WCET analysis. In this paper we present Patmos, a processor optimized for low WCET bounds rather than high average case performance. Patmos is a dual- issue, statically scheduled RISC processor. The instruction cache is organized as a method cache and the data cache is organized as a split cache in order to simplify the cache WCET analysis. To fill the dual-issue pipeline with enough useful instructions, Patmos relies on a customized compiler. The compiler also plays a central role in optimizing the application for the WCET instead of average case performance.

WCET analysis for a Java processor

In this paper we propose a solution for a worst-case execution time (WCET) analyzable Java system: a combination of a time predictable Java processor and a tool that performs WCET analysis of Java bytecode. We present a Java processor, called JOP, designed for time-predictable execution of real-time tasks. JOP is an implementation of the Java virtual machine (JVM) in hardware. The execution time of bytecodes, the instructions of the JVM, is known cycle accurate for JOP. Therefore, JOP simplifies the low-level WCET analysis. A method cache, that fills whole Java methods into the cache, is analyzable with respect to the WCET. The WCET analysis tool is based on integer linear programming. The tool performs the low-level analysis at the bytecode level and integrates the method cache analysis for a two block cache.

T-CREST

Real-time systems need time-predictable platforms to allow static analysis of the worst-case execution time (WCET). Standard multi-core processors are optimized for the average case and are hardly analyzable. Within the T-CREST project we propose novel solutions for time-predictable multi-core architectures that are optimized for the WCET instead of the average-case execution time. The resulting time-predictable resources (processors, interconnect, memory arbiter, and memory controller) and tools (compiler, WCET analysis) are designed to ease WCET analysis and to optimize WCET performance. Compared to other processors the WCET performance is outstanding.The T-CREST platform is evaluated with two industrial use cases. An application from the avionic domain demonstrates that tasks executing on different cores do not interfere with respect to their WCET. A signal processing application from the railway domain shows that the WCET can be reduced for computation-intensive tasks when distributing the tasks on several cores and using the network-on-chip for communication. With three cores the WCET is improved by a factor of 1.8 and with 15 cores by a factor of 5.7.The T-CREST project is the result of a collaborative research and development project executed by eight partners from academia and industry. The European Commission funded T-CREST.

JOP: A Java Optimized Processor

Java is still not a common language for embedded systems. It posses language features, like thread support, that can improve embedded system development, but common implementations as interpreter or just-in-time compiler are not practical. JOP is a hardware implementation of the Java Virtual Machine with focus on real-time applications. This paper describes the architecture of JOP and proposes a simple real-time extension of Java for JOP. First application in an industrial system showed that JOP is one way to use Java in the embedded world.

A Time-Triggered Network-on-Chip

In this paper we propose a time-triggered network-on-chip (NoC) for on-chip real-time systems. The NoC provides time predictable on-and off-chip communication, a mandatory feature for dependable real-time systems. A regular structured NoC with a pseudo-static communication schedule allows for a high bandwidth. In this paper we argue for a simple, time-triggered NoC structure to achieve maximum bandwidth. We have implemented the proposed TT-NoC in a low-cost FPGA. The base bandwidth is 29 Gbit/s and the peak bandwidth 230 Gbit/s for eight nodes. The idea is in line with current on-chip multiprocessor designs, such as the cell processor. The simple design of the network and the network interlace easiest certification of the proposed NoC for safety critical applications.

A Hardware Abstraction Layer in Java

Embedded systems use specialized hardware devices to interact with their environment, and since they have to be dependable, it is attractive to use a modern, type-safe programming language like Java to develop programs for them. Standard Java, as a platform-independent language, delegates access to devices, direct memory access, and interrupt handling to some underlying operating system or kernel, but in the embedded systems domain resources are scarce and a Java Virtual Machine (JVM) without an underlying middleware is an attractive architecture. The contribution of this article is a proposal for Java packages with hardware objects and interrupt handlers that interface to such a JVM. We provide implementations of the proposal directly in hardware, as extensions of standard interpreters, and finally with an operating system middleware. The latter solution is mainly seen as a migration path allowing Java programs to coexist with legacy system components. An important aspect of the proposal is that it is compatible with the Real-Time Specification for Java (RTSJ).