a hardware/software co-design approach for control ... · mps pa bridge avnet zedboard source:...

Embedded Systems for Information Technology (ESIT)Ruhr-University Bochum Prof. Dr.-Ing. habil. Michael Hübner

A Hardware/Software Co-Design Approach for

Control Applications with Static Real-TimeReallocation

IPDPS • 23-27.5.201623rd Reconfigurable Architectures Workshop

Benedikt Janßen, Moataz Nasserddin, Michael Hübner

2Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

• Control Sytem Design– Usually done in Mathworks Matlab

– Critical component that should be fault tolerant

• Hardware/Software Co-Design for Fault-Tolerant Controller– High-Level Synthesis based development flow approach

– Seamless control algorithm reallocation between hardware and softwaredomain• Load balacing during run-time

• Handling of faulty components

Motivation

3Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

Controlled System

Tank

Reservoir

Pump

FlowSensor

LevelSensor

4Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

Controller and Supervisor

5Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

Design Flow

6Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

Avnet ZedboardBridgeMPS PA Workstation

Avnet ZedboardBridgeMPS PA Workstation

Source: Festo Didactic

System Architecture

7Embedded Systems for Information Technology (ESIT)Ruhr-University BochumProf. Dr.-Ing. habil. Michael Hübner

Evaluation

• Cycle time 100ms Dynamic reallocation during run-time

• Resource usage PS: ~3% (workload), Slices: 5% , BRAM: 0% , DSP48E1: 2%