bus-based computer systems zbusses. zmemory devices. zi/o devices zdesigning with microprocessors....

Bus-Based Computer Systems

Busses.Memory devices.I/O devicesDesigning with microprocessors.Development and debugging.System-level performance analysis.

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The CPU busBus allows CPU, memory, devices to

communicate. Shared communication medium.

A bus is: A set of wires. A communications protocol.

Protocols are specified by state machines.asynchronous logic behavior

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Four-cycle handshake( 四周期握手协议 )

device 1 device 2enq

ack

time

device 1

device 2

1 2 3 4

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Four-cycle handshake, cont’.

1. Device 1 raises enq.2. Device 2 responds with ack.3. Device 2 lowers ack once it has

finished.4. Device 1 lowers enq.

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Microprocessor busses

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Bus read and write

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State diagrams for bus read

CPU device

Get data

Done

Adrs

Wait

See ack

Senddata

Release ack

Adrs

Wait

Ack

start

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Bus wait state

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Bus burst read(总线突发读 )

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Disconnected transfers( 非连接传输 )

The request and response are separate. A first operation requests the transfer The bus can then be used for other

operations When the data are ready, the transfer is

completed later.

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Small data bundles

Reduce the cost of the chip.How to form the data or address

Assembled inside the CPU’s bus logic before being presented to the CPU proper.

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Bus multiplexing（多路复用）

CPU

adrs

device

data

adrs

data enable

Adrs enable

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DMA（直接存储器访问）

Direct memory access (DMA) performs data transfers without executing instructions. CPU sets up transfer. DMA engine fetches, writes.

DMA controller is a separate unit.

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DMA（直接存储器访问）

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Bus mastership（总线主控器）

By default, CPU is bus master and initiates transfers.

DMA become bus master to perform its work. CPU can’t use bus while DMA operates.

Bus mastership protocol:(Four-cycle handshake protocol) Bus request. Bus grant.

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DMA operation

CPU sets DMA registers for start address, length. DMA status register controls the unit. Once DMA is bus master, it transfers automatically.

May run continuously until complete. May use every nth bus cycle.

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System bus configurations

Multiple busses allow parallelism: Slow devices on

one bus. Fast devices on

separate bus.

A bridge connects two busses.

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CPU slow device

memory

high-speeddevice

brid

ge

slow device

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Bridge state diagram

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ARM AMBA bus Two varieties:

AHB is high-performance. APB is lower-speed, lower cost.

AHB supports pipelining, burst transfers, split transactions, multiple bus masters.

All devices are slaves on APB.

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ARM AMBA bus

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Memory components

Each type of memory comes in varying: Capacities. Widths.

For a memory of a given size, there are several versions 256Mb

64M*432M*8

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I/O devices

KeyboardLedDisplay

7-segment LCD Touchscreen

Timer and counterA/D , D/A

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Keyboard---Switch debouncing

A switch must be debounced to multiple contacts caused by eliminate mechanical bouncing:

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Encoded keyboard

An array of switches is read by an encoder.

N-key rollover remembers multiple key depressions.

row

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LED(发光二极管 )

Must use resistor to limit current:

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display

Display Directly driven

Single-digit display consists of seven segments

Frame buffer(帧缓冲区 )Large display

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7-segment LCD display

May use parallel or multiplexed input.

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Types of high-resolution display

Liquid crystal display (LCD) is dominant form.

Plasma(等离子 ), Organic Light-Emitting Diode ； OLED ( 有机发光二极管显示面板 ) , etc.

Frame buffer holds current display contents. Written by processor. Read by video.

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Touchscreen(触摸屏 )

Includes input and output device.Input device is a two-dimensional

voltmeter:

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Touchscreen position sensing

ADC

voltage

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Timers and counters（定时器和计数器）

Very similar: a timer is incremented by a periodic

signal; a counter is incremented by an

asynchronous, occasional signal.Rollover causes interrupt.

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Watchdog timer(监视定时器 )

Watchdog timer is periodically reset by system timer.

If watchdog is not reset, it generates an interrupt to reset the host.

host CPU watchdogtimer

interrupt

reset

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Digital-to-analog conversion

Interface: only the data value The input value is continuously

converted to analog form

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A/D conversion

Types of A/D converter circuits A constant amount of time Variable-time converters provide a done signal

so that the microprocessor knows when the value is ready.

Interface: Analog inputs Two major digital input:

A data port allows A/D registers to be read and writtenA clock input

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System architectures

Architecture: a set of elements and the relationships between them that together form a single unit.

Architectures and components: software; hardware.

Some software is very hardware-dependent.

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Hardware platform architecture

Contains several elements:CPU;bus;memory;I/O devices: networking, sensors,

actuators, etc.How big/fast much each one be?

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Software architecture

Functional description must be broken into pieces:

division among people;conceptual organization;performance;testability;maintenance.

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Hardware and software architectures

Hardware and software are intimately related:

software doesn’t run without hardware;how much hardware you need is

determined by the software requirements: speed; memory.

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Evaluation boards(评估板 )

Designed by CPU manufacturer or others.Includes CPU, memory, some I/O devices.May include a serial link for downloading

programs.CPU manufacturer often gives out

evaluation board netlist(网表 ) and board layout---can be used as starting point for your custom board design.

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Adding logic to a board

Programmable logic devices (PLDs) provide low/medium density logic.

Field-programmable gate arrays (FPGAs) provide more logic and multi-level logic.

Application-specific integrated circuits (ASICs) are manufactured for a single purpose.

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The PC as a platform

Advantages: A wide variety of I/O devices rich and familiar software environment.

Disadvantages: Larger, more power hungry requires a lot of hardware resources; not well-adapted to real-time.

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Typical PC hardware platform

CPU

CPU bus

memory

DMAcontroller

timers

businterface

bus

inte

rfac

e

high-speed bus

low-speed bus

High-speeddevice

device

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Typical busses

PCI: standard for high-speed interfacing 33 or 66 MHz. PCI Express:wide buese with many data

and address bits along with multiple control bits.

USB (Universal Serial Bus), Firewire (IEEE 1394): relatively low-cost serial interface with high speed.

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Software elements

IBM PC uses BIOS (Basic I/O System) to implement low-level functions: boot-up; minimal device drivers.

BIOS has become a generic term for the lowest-level system software.

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Debugging embedded systems

Challenges: target system may be hard to observe; target may be hard to control; may be hard to generate realistic

inputs; setup sequence may be complex.

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Host/target design

Use a host system to prepare software for target system:

targetsystem

host systemserial line

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Host-based tools

Cross compiler:(交叉编译器 ) compiles code on host for target

system.Cross debugger:

displays target state, allows target system to be controlled.

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Software debuggers

Breakpoint LED.ICE.（电路内部仿真器）Logic analyzer

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Breakpoints

A breakpoint allows the user to stop execution, examine system state, and change state.

Replace the breakpointed instruction with a subroutine call to the monitor program.

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ARM breakpoints

0x400 MUL r4,r6,r60x404 ADD r2,r2,r40x408 ADD r0,r0,#10x40c B loop

uninstrumented code

0x400 MUL r4,r6,r60x404 ADD r2,r2,r40x408 ADD r0,r0,#10x40c BL bkpoint

code with breakpoint

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Breakpoint handler actions

Save registers.Allow user to examine machine.Before returning, restore system state.

Safest way to execute the instruction is to replace it and execute in place.

Put another breakpoint after the replaced breakpoint to allow restoring the original breakpoint.

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In-circuit emulators (ICE)

A microprocessor in-circuit emulator is a specially-instrumented microprocessor.

Allows you to stop execution, examine CPU state, modify registers.

JTAG

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Logic analyzers

A logic analyzer is an array of low-grade oscilloscopes(示波器 ):

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How to exercise code

Run on host system.Run on target system.Run in instruction-level simulator.Run on cycle-accurate simulator.Run in hardware/software co-

simulation environment.

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Debugging real-time code

Bugs in drivers can cause non-deterministic behavior in the foreground problem.

Bugs may be timing-dependent.

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System-level performance analysis

Performance depends on all the elements of the system: CPU. Cache. Bus. Main memory. I/O device.

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memory CPU

cache

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Bandwidth as performance

Bandwidth applies to several components: Memory. Bus. CPU fetches.

Different parts of the system run at different clock rates.

Different components may have different widths (bus, memory).

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Bandwidth and data transfers

Video frame: 320 x 240 x 3 = 230,400 bytes. Transfer in 1/30 sec=0.033 sec for a frame.

Transfer 1 byte/s, 0.23 sec per frame. Too slow.

Increase bandwidth: Increase bus width. Increase bus clock rate.

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Bus bandwidth

T: # bus cycles.P: time/bus_cycle.Total time for transfer:

t = TP.

W:W-wide set of bytes.D: data payload length.Overhead: O=O1 + O2

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O1 D O2

W

Tbasic(N) = (D+O)N/W

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Bus burst transfer bandwidth

T: # bus cycles.P: time/bus cycle.Total time for transfer:

t = TP.

B: a burst performs B transfers of w bytes.

D: data payload length.

O = O1 + O2 .

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B O

W

Tburst(N) = (BD+O)N/(BW)

21

…

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Bandwidth problems of memory----Memory aspect ratios(长宽比 )

64 M16 M

8 M

1 4 8

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Memory access times

Memory component access times comes from chip data sheet. Page modes allow faster access for

successive transfers on same page.If data doesn’t fit naturally into

physical words: A = [E*w/W]+1

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Bus performance bottlenecks

Transfer 320 x 240 video frame 30 frames/sec = 6,912,000 bytes/sec.

Is performance bottleneck bus or memory?

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memory CPU

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Bus performance bottlenecks, cont’d.

Bus: assume 1 MHz bus, D=1, O=3,w=2: Tbasic = (1+3)6,912,000/2 = 13,824,000

cycles = 13.82 sec.Memory: try burst mode B=4, width

w=0.5,D=1,O=4 ,100MHz bus. Tmem = (4*1+4)6,912,000/(4*0.5) =

27,648,000 cycles = 0.2765 sec.

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Performance spreadsheet

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Bus memory

Clock

1.00E-6 Clock

1.00E-8

W 2 W 0.5

D 1 D 1

O 3 O 4

B 4

N 6 912 000

N 6 912 000

Tbasic 13,824,000

Tmem 27,648,000

t 13.82 T 0.2765

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Parallelism

Speed things up by running several units at once.

DMA provides parallelism if CPU doesn’t need the bus: DMA + bus. CPU.

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summary

BusI/O devicesDevelopment and debug

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homework

1. 4-2,

2. 4-6,

3.

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