design of embedded mixed-criticality control systems under ... · analysis and management in...

© 2013-2016 CONTREX consortium (Design of embedded mixed-criticality CONTRol systems under consideration of EXtra-functional properties)

Funded by the EC under

Grant Agreement 611146

Paris, France

Kim Grüttner (OFFIS)

The CONTREX consortium

EMC2 Project Conference

Design of embedded mixed-criticality CONTRol systems

under consideration of EXtra-functional properties

© 2013-2016 CONTREX consortium

Motivation: State-of-the-art

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Safety critical tasks

• Hard deadlines (e.g. d2->3)

• Static schedule based on BCET/WCET analysis

• No power constraints

• No temperature constraints

Mission critical tasks

• Soft deadlines (e.g. d4->5) based on QoS metrics

• Dynamic schedule

• Hard power constraints (e.g. battery limited)

• Hard temperature constraints

F1 F2 F3

MemoryCPU HW IP ...

F4 F5

CPU ...HW IP

F1

F2

F3t

d2->3

F4

F5 t

d4->5

Memory

Safety relevant system Non-Safety, performance (QoS)

critical system

© 2013-2016 CONTREX consortium

Motivation: Integration on a single chip!?

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We aim at:

- consideration of extra-functional requirements and constraints

(timing, power, temperature) at design entry

- representation of extra-functional properties

• timing

• power

• temperature

in executable prototypes and

- analysis of these properties

• under different application deployments and mappings and

• scheduling, power and thermal management decisions.

© 2013-2016 CONTREX consortium

Outline

► Introduction and Motivation

► Project Overview

► CONTREX Methodology Overview

► Modeling of EFPs and Criticalities

► EFP Modeling, Simulation, and Monitoring

► Runtime Management

► Summary

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© 2013-2016 CONTREX consortium

Project Overview and Consortium

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PARTICIPANT NO.

PARTICIPANT ORGANISATION NAME PART. SHORT NAME COUNTRY

1 (Coordinator) OFFIS e.V. OFFIS Germany

2 STMicroelectronics srl STM Italy

3 GMV Aerospace and Defence SA GMV Spain

4 Cobra Telematics SA Cobra Switzerland

5 EuroTech S.p.A. EUTH Italy

6 Intecs S.p.A. INTECS Italy

7 iXtronics GmbH iX Germany

8 EDALab srl EDALab Italy

9 Docea Power Docea France

10 Politecnico di Milano PoliMi Italy

11 Politecnico di Torino PoliTo Italy

12 Universidad de Cantabria UC Spain

13 Kungliga Tekniska Högskolan KTH Sweden

14 Electronic Chips & Systems design Initiative ECSI France

15 ST-POLITO Societa' consortile a r.l. ST-PoliTo Italy

16 Intel Corporation SAS Intel France

Starting date: 01/10/2013

Duration in month: 36

Call identifier: FP7-ICT-2013-10

Website: http://contrex.offis.de

Universities and Research Institutes

Industry

Small and Medium Size Enterprises

Other

© 2013-2016 CONTREX consortium

CONTREX Reference Architecture

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System Models(e.g. from 3rd party model-driven

design flow)

Legacy HW/SW

(e.g. existing C-Code, VHDL, Verilog, …)

CONTREX UML/MARTE Model

Generic Task Model

ForSyDe Model

User SW

MiddleWare (e.g. Kura)

OS with RT and Resource manager

Hardware Model

Off-Chip Network Model

Virtual Platform

Timing

Monitor

Power

Monitor

Temp.

Monitor

Timing

Model

Power

Model

Temp.

Model

Generic HW Model

Battery

Monitor

Battery

Model

Environment Model (functional & extra-functional)

Actual HW

(e.g. Xilinx Zynq, ST

iNemo, ST SeCSoC)

HW in-the-loop

facilities

Timing

Measurement

Power

Measurement

Tech. data: package

desc., floorplan,

technology, …

(Temperature

Measurement)

Starting point

Model capturing

and (timing)

analysis

Functional

and extra-

functional

analysis

Design

validation

Analytical DSE for timing

Simulative DSE for

power and temp.

© 2013-2016 CONTREX consortium

Use-Cases and Demonstrators

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Avionics Telecommunication

Flight Control Computer for a

Remotely Piloted Aircraft

Goal: Executes safety-,

mission- and non-critical

applications on the same

multi-core execution platform.

Criticalities: safety- and

mission-critical

Extra-functional properties: hard real-time, power, temperature, reliability

Ethernet over Radio System

Goal: Optimization of performance/cost characteristics of a GbitEthernet over radio system.

Criticalities: safety-, mission-, non-critical.

Extra-functional properties: real-time, power, temperature, reliability

Automotive Telematics

Automotive Telematics Box

Goal: Move processing from local (on-board) devices into the cloud.

Criticalities: mission- and non-critical.

Extra-functional properties: performance, power, security, reliability

© 2013-2016 CONTREX consortium

Early Modeling of EFPs and Criticalities:

Avionics Motivation & CONTREX answer

► Design of Remote Piloted Aircraft (RPA) equipment:

► Partitioning in early phases, based on design expertise

► Resource oversizing (avoid late integration issues)

► Adaption to new contexts difficult

► Size, Power, Weight constraints

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► System-Level Modeling and Design

approach

© 2013-2016 CONTREX consortium

CONTREX Eclipse Plugin

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© 2013-2016 CONTREX consortium

Modelling of EFPs and Criticalities

► EFPs and Criticalities: Fundamental and Necessary information for

DSE and for efficient design of Mixed-Critical Systems

► Captured in UML/MARTE

10

► EFPs:

► At System Inputs and Outputs

► At Application, Platform & System Level

► Criticalities:

► Associated to Components and to

EFPs and Performance requirements

► Novel & Minor extension of MARTE

(raised to OMG)

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© 2013-2016 CONTREX consortium

Modelling for Design Space Exploration

► DSE parameters: Define Design Space

► Design Space Exploration for

► Application parameters (e.g. task periods)

► Platform parameters

(e.g. working frequency)

► Performance Requirements

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© 2013-2016 CONTREX consortium

Use-Cases and Demonstrators

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Avionics Telecommunication

Flight Control Computer for a

Remotely Piloted Aircraft

Goal: Executes safety-,

mission- and non-critical

applications on the same

multi-core execution platform.

Criticalities: safety- and

mission-critical

Extra-functional properties: hard real-time, power, temperature, reliability

Ethernet over Radio System

Goal: Optimization of performance/cost characteristics of a GbitEthernet over radio system.

Criticalities: safety-, mission-, non-critical.

Extra-functional properties: real-time, power, temperature, reliability

Automotive Telematics

Automotive Telematics Box

Goal: Move processing from local (on-board) devices into the cloud.

Criticalities: mission- and non-critical.

Extra-functional properties: performance, power, security, reliability

© 2013-2016 CONTREX consortium

Telecom Demonstrator

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Out-Door Unit

► Software components developed within Intecs (except for L2Switch + Modem - FPGA)

► High reliability

► Automatic Transmit Power Control (ATPC)

► Timing guarantees

► Power, temperature, weight, and size constraints

The Telecom Demonstrator is based on the

Point-to-Point (P2P) Ethernet over Radio Microwave Wireless System

© 2013-2016 CONTREX consortium

VP-based EFP Modelling and Simulation

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Power mapper

Stream processing

Docea AcePlorer

Thermal

ProfilerPrimary traces

Functio

n(t)

VDD(t) fclk(t)

C(t)

VDD(t)

C(t)

Secondary traces

Pdyn(t)Ileak(t) Pdyn(t)Pdyn(t)

per comp.

Function-

call(t)

TRACE

ApplicationApplication Zynq

Component-Level

Floorplan

Total power map

Ptot(x,y,zi)

Temperature

map

θ(x,y,zi)

Zynq IC

package data

Zynq platform

modelApplication

Zynq power

model (PSM)

Thermal

model

ANY OTHER

I/O DATA

TOOL

Zynq Cadence

Virtual Platform

P = f( f_clk , proc_load , axi_load , …)

0 100 200 300 400 500 600 700 800 900 100040

50

60

70

80

90

100

110Temperature development of "CPU1"

Time [s]

Tem

pera

ture

[o C

]

Temperature by Docea

0

1

2CPU1

0

1

2

Pow

er

[W]

CPU2

0 100 200 300 400 500 600 700 800 900 10000

1

2

3

Time [s]

GPU

Source: Cadence

© 2013-2016 CONTREX consortium

Automatic IP Integration

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► Automatic abstraction to TLM

► Automatic PSM generation from power traces

► Automatic generation of VP component with power model

© 2013-2016 CONTREX consortium

Use-Cases and Demonstrators

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Avionics Telecommunication

Flight Control Computer for a

Remotely Piloted Aircraft

Goal: Executes safety-,

mission- and non-critical

applications on the same

multi-core execution platform.

Criticalities: safety- and

mission-critical

Extra-functional properties: hard real-time, power, temperature, reliability

Ethernet over Radio System

Goal: Optimization of performance/cost characteristics of a GbitEthernet over radio system.

Criticalities: safety-, mission-, non-critical.

Extra-functional properties: real-time, power, temperature, reliability

Automotive Telematics

Automotive Telematics Box

Goal: Move processing from local (on-board) devices into the cloud.

Criticalities: mission- and non-critical.

Extra-functional properties: performance, power, security, reliability

© 2013-2016 CONTREX consortium

Automotive Telematics Demonstrator

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Low-cost sensor node

Main ECU Telecommunication(GPS/GPRS)

Data Center

LAN/VPN

Control Room

In-Field Remote Facilities

Number ofoccupants

Self-calibrationImproved crash

detectionLow-energy crash

detection

MQTTProtocol

KuraPervasivePlatform

Cloud infrastructure

High-endsensor node

Services

© 2013-2016 CONTREX consortium

Runtime Resource Management with EFP

► Operating condition profiles derived at

design-time

► Decision based on three types of

information

► Functional status

► Operating mode (e.g. car motion

status, key on/off, …)

► Extra-functional status

► Metrics exposed by extra-functional

monitoring infrastructure

► Power sensor, temperature sensor,

battery status, …

► Design-time configurations

► Based on developer knowledge and

simulation results

► System characterisation framework

for hardware and software

► Battery models for easy integration in

EFP monitoring framework

► Based on SystemC and SystemC

AMS

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© 2013-2016 CONTREX consortium

Summary and Conclusion

► Tools for power and temperature specification,

analysis and management in combined multi-core

real-time and high-performance embedded

systems

► UML/MARTE modelling and analysis framework for

extra-functional properties

► Power and temperature aware simulation / virtual

platform

► Run-Time resource manager

► Enables energy efficient and cost-effective design

of highly integrated systems

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A B

Source: Trenz Electronics

© 2013-2016 CONTREX consortium

Thank you very much for your attention!

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Funded by the EC under

Grant Agreement 611146

Find more information at:

http://contrex.offis.de