Tugas Mencari Jurnal Komputer

Rapid-Prototyping Emulation System for Embedded System

Hardware Verification, using a SystemC Control System

Environment and Reconfigurable Multimedia Hardware

Development Platform

Dave Carroll, Richard Gallery

dave.carroll@itb.ie , richard.gallery@itb.ie

School of Informatics and Engineering,

Institute of Technology Blanchardstown, Dublin 15, Ireland


This paper describes research into the suitability of using SystemC for rapid prototyping of

embedded systems. SystemC[1][2][3] communication interface protocols [4][5] are

interfaced with a reconfigurable hardware system platform to provide a real-time emulation

environment, allowing SystemC simulations to be directly translated into real-time solutions.

The consequent Rapid Prototyping Emulation System Platform1, suitable for the

implementation of consumer level multimedia systems, is described, including the system

architecture, SystemC Controller model, the FPGA configured MicroBlaze CPU system and

additional logic devices implemented on the Multimedia development board used for the

hardware in the PESP, illustrated in the context of a typical application.

1. Introduction

The paper describes research into the development for SystemC of an emulation environment

in which SystemC based specifications can be translated directly into real-time

hardware/software implementations. This would allow SystemC based designs to be

implemented directly as real-time solutions, and would provide a rapid prototyping route

(improved time-to-market) for complex hardware/software systems.

This paper describes a prototyping platform, incorporating hardware acceleration under

software control, suitable for the real-time implementation of SystemC designs,. The

development of

this system includes research into the architecture required to enable SystemC to be used

directly for real-time systems, and the implementation of a prototyping system, with an

application focus on consumer level multimedia systems, to investigate the viability of the


The SystemC section of the prototyping system provides a tool for the specification,

implementation and evaluation of different embedded system architectures and facilitates

selection and evaluation of different communication interface approaches between the

embedded SystemC functional models within the design.

The hardware acceleration platform, oriented towards consumer level multimedia

applications, is based on an FPGA multimedia development platform, which provides a

reconfigurable hardware real-time emulation environment, for prototyping real-time

application designs, in conjunction with the SystemC system model. The Hardware subsystem

is designed around a Xilinx MicroBaze and Multimedia Development Board[11]2,

incorporating a MicroBlaze3 processor[16] architecture implementation, on an Xilinx Virtex

II[9] FPGA based platform. Hardware functional blocks developed as part of the system are

written as VHDL4 models5 [18][19][20] in the FPGA.

2.  Real-time implementation of SystemC based designs

Research questions with regard to the practicality of developing real-time emulation systems

for SystemC designs include:

• Whether the underlying architecture of SystemC is suitable for direct real-time

implementation of a SystemC based model

ð If not, is there some subset of, or enhancement to, the SystemC approach, which is

suitable for real-time implementation.

ð Which modelling approaches, when deployed in SystemC based designs, are suitable

for (real-time) emulation.

• The interaction of SystemC with real-time OS. This is an active development area within

SystemC, and also in hardware-software co-verification systems (e.g. [6][7][8]).

• What hardware/software architecture(s) for emulation platforms are required to allow real

time implementation of SystemC designs?

• What hardware components are required within such real-time platforms to facilitate

SystemC designs?

• What interfaces are required between the software and hardware aspects of such systems?

This paper discusses the PESP and in doing so presents a suitable SystemC based design, that

when interfaced with a reconfigurable hardware system platform, using a suitable

communication interface protocol, demonstrates that the underlying architecture of SystemC

is suitable for direct real-time implementation of a SystemC based model. The paper discusses

a modular modelling approach, which when deployed in the PESP SystemC based design, is

suitable for (real-time) emulation. The author presents an hardware/software architecture for

1 Here after referred to as PESP

2 Here after referred to as MMDB

3 Harvard architecture, 32bit CPU, defined and supplied by Xilinx

4 VLSI Hardware Descriptive Language

5 Refers to a functional block configured within the FPGA, written in VHDL or Verilog.

an emulation platform that facilitates the real time implementation of the SystemC design and

defines the hardware components used in that design.

3.  A Co-Verification Platform

There is already active research into the development of architectures and platforms suitable

for the emulation of systems described with system level description languages (such as

SystemC). To date the research is largely targeted towards co-verification platforms6, where

fast verification of a design is required, rather than real-time emulation [6]. Nevertheless there

is a significant correspondence in the research required to develop both fast verification

systems and real-time systems.

For example in [4] the functional requirements for a co-emulation modelling interface are

discussed and an architecture and API is provided (SCE-MI) to achieve these requirements.

SCE-MI has been developed to meet growing industry demands for verification platforms for

Systems-on-Chip (SoC) designs. It provides a mechanism via which the software aspects of

an SoC design may be simulated on a workstation, the hardware aspects may be simulated on

a hardware verification platform, and an efficient interface mechanism (hardware-software

transactors) between the two, represented in Figure 12. SCE-MI facilitates the use of a system

design language such as SystemC, as it offers the potential for fast verification (as the

hardware aspects of the system may be emulated using real hardware, as opposed to using a

workstation based software simulator).

In a SystemC design it would be normal to initially produce a high-level abstract model of the

entire system, with the process of refinement then being used to redesign the system, such that

software components of the system modelled at a high level of abstraction, and hardware

components modelled at an appropriate lower level of abstraction. Once this process of

refinement has taken place, the hardware components must be simulated and verified. The

Zebu system[21] provides a software/hardware co-verification platform using an

implementation of the SCE-MI protocol. Using Zebu the software and hardware components

of the design can be verified together, with the hardware emulation system allowing much

more rapid verification time than would be the case using a software simulation of the

hardware components.

The hardware-software transactor is a form of abstract gasket, which forms part of the SCEMI

infrastructure. The transactor communicates at the transactional level (e.g. Read and Write

commands) with the software side of the system model, decomposing untimed messages into

a series of cycle-accurate clocked signals. These clocked signals form the communication

interface between the transactor and the hardware, on the hardware side of the system model.

Similarly the hardware communicates with the transactor at the signal level, where the cycle

accurate signals are recomposed into transactional level messages, for transfer to the software

interface. Figure 13 shows an example of a message being translated from the software side of

a system model, through the transactor, to the hardware signal side of the transactor.

During the period from when the message is received by the transactor, controlled time will

be suspended within the software environment via handshaking between the transactor and

the SCE-MI infrastructure. The transactor will decompose the incoming message and generate

required cycle accurate bit level signals to drive the hardware. Once the transactor actions

have been completed, controlled time will be resumed via the transactor handshaking and the


4. PESP Description

The PESP has been developed with a focus on investigating the application of SystemC based

rapid prototyping in consumer level multimedia applications. Its is based around the concept

of a SystemC based control system, supported by application specific hardware accelerators

and other components, with communication between the software and hardware managed by

transactors based upon the SCE-MI protocol.

Currently this system is based on a SystemC control system using set-up on a host PC7 and a

MMDB[11] hardware development platform, containing a Xilinx, MicroBlaze softcore

processor[16] implemented on a XilinxVirtex II FPGA fabric, along with other ASIC devices.

The SystemC control system and the MMDB communicate through transactors, utilising a

serial or other interface (such as an Ethernet link) at the physical layer. It should be apparent

that the use of a PC in the development system is for convenience of development purposes

only, and that, outside of the research environment, the System C control system would

naturally be implemented, for example, on the MicroBlaze softcore processor.

5. Platform Architecture

The architecture of PESP can be described using a multi-layered model to describe the overall

system in an abstract form, de-coupling the system architecture from the implementation

details. The multi-layered architecture consists of an Application Layer (AL), Presentation

Layer (PL) and Driver Layer (DL), as shown in Figure 14.

The PL is responsible for the management of the data-flow, which implements the various

functions of the platform and is controlled by the AL. The PL converts information received

from the AL into a defined order and communicates with the DL, sending requests to and

receiving status from the DL. The DL controls each of the hardware components (e.g. in the

case of a Digital camera application, a task may consist of image capture) directly, passing

required parameters and enabling the hardware components. The DL will receive status

information from the hardware components and pass appropriate status response to the PL.

Where several tasks are required to complete one single user command (e.g. capture an image

and save it to memory), the PL will define the sequence of execution and control the

execution, through the DL.

The DL is the only layer that interfaces directly with the Hardware Components of the

system. Thus if any changes are required to the hardware, only the DL will be required to be

modified to accommodate the change. The Hardware Component blocks are under the control

of the DL and may be implemented directly in hardware, software, or a combination of both

hardware and software. For example an image compression feature may be implemented in

hardware, in software or in a combination of both, depending on the optimal implementation

for the particular system, which will be determined by the design engineer based on system

design goals and constraints. For example, hardware implementation of the compression

feature might result in a faster execution of this feature than the software implementation of

the same feature, however this may result in an unacceptable increase in hardware costs.

 6. SystemC and MMDB Communications Interface

The overall platform architecture described above is now mapped to an implementation

incorporating SystemC, a re-configurable hardware board. The communications interface

between the SystemC model and the re-configurable hardware is modelled on the Standard

Co-Emulation API: Modelling Interface[4]. This specification describes a modelling interface

based on a multi-channel abstract bridge, providing multiple communication channels that

allow software models describing system behaviour, such as the PESP SystemC controller

Figure 15 shows a high level view of the communications interface between the SystemC

controller system and the MMDB based hardware emulation system. The SystemC system is

on the left of the figure and consists of several SystemC models describing the controller

functions, the Xilinx MMDB platform is on the right of the figure. The Transactor performs

the interface mechanism linking the high level SystemC controller description and the

hardware implementation of functions within the FPGA MMDB development platform. The

Transactor implementation consists of several layers of software and hardware, from the

SystemC model down to the PC hardware drivers, across the physical serial interface to the

MMDB development platform and onto the MicroBlaze system implemented on the FPGA


7. SystemC Controller System Description

The PESP SystemC is constructed using a modular approach to provide partitioning between

the different functional elements of the overall controller. Some of the benefits obtained from

using this approach include:

1. The ability to break the complex system to smaller more manageable pieces, which

proved useful when defining the overall SystemC system. A list of sub-functions required

by the system was initially generated and a SystemC model created for each sub-function.

Each model was then tested individually to ensure functionality. When the overall system

was built, errors were diagnosed quickly by focusing on the interconnections between the

system sub-elements.

2. The movement of functionality between different models, which proved useful during the

Control model design. For example, moving all of the message display functions to the

message display model, which has previously been contained in the system control

model. The modular nature of the system made the movement of the functionality a

relatively straightforward process, with only two SystemC models affected.

3. The simplification of addition and/or removal of models from the system. This was

particularly useful when moving functionality from the SystemC Controller System to

hardware, as the hardware platform was being built. Additional SystemC models were

required in order to implement the SCE-MI protocol. It was simply a matter of defining

the functionality and inserting the models into the existing SystemC system. The ability to

change or refine the communication interfacing between the different models is relatively

straightforward when the system is designed with a modular construction. This proved

very useful when deciding which interface channel type to use to connect the SystemC

models that make up the overall SystemC Controller system. Different interface channel

and port types can affect the flow of data from one SystemC model to another,

communication refinement is described in detail in [2][3] and [5]. Primitive channels

(sc_fifo) were chosen for communications between SystemC models in this system. The

sc_fifo primitive channel provides the ability to communicate between SystemC models

using a blocking and non-blocking read/write instruction; which ensures that data does

not get lost between data transfers. Primitive channels also suspend the operation of a

Thread model if the channel is full or empty, depending on the requested command.

Figure 16 shows the SystemC models designed for this system and the interconnections



Figure 16: Block diagram for PESP SystemC Controller

The controller system architecture can be represented as a multi-layered architecture model as

shown in Figure 17, where the AL of the system consists of the SystemC application model.

The PL function of the controller system architecture is defined in the control model. The PL

puts commands received from the AL in a defined order and communicates with the DL,

sending requests and receiving status. The PL defines the order of execution and controls the

hardware component activities through the DL. The PL will interpret commands and ensure

that only predefined and acceptable user commands will be responded to and passed on to the

DL. The PL will also communicate command execution status to the user, via the AL. In this

system the DL is spread across the Port Interface model (Figure 16) and on to the MMDB

platform. The DL contains the transactors, resident on the MMDB, and is responsible for all

communications with the hardware.

 8.  Reconfigurable Hardware

The MMDB was chosen to provide the reconfigurable hardware as it provided a range of

multimedia oriented features (such as video and audio codecs), combined with an FPGA to

allow additional hardware functionality to be developed. This system is built around the

Xilinx MicroBlaze 32-bit RISC Soft processor, which, as currently configured, acts as part of

the transactor, interpreting commands from the SystemC controller, controlling hardware

components on the MMDB, and managing dataflow between those hardware components

themselves, and the higher level SystemC modules. The transactor is implemented through

software (written in C programming language[17]) and hardware, which instructs the

MicroBlaze hardware to initialise the image grabber hardware using clock cycle accurate bit

signals through the MicroBlaze Peripheral Bus interface registers Figure 18.

As has been eluded to earlier, the higher level SystemC models are currently implemented on

a PC, but it would be the intention, in a later stage of development, to transfer all software

functionality to the MicroBlaze itself, in which case it would implement the entire system

architecture described in Figure 14.

Figure 19 shows the hardware components that were developed as part of the research and are

controlled by the transactor. The Display Engine Module, Image Grabber, Workarea Control

Module and Resync Module are all VHDL modules, designed, constructed and tested using

the Xilinx ISE design environment [12]. The peripherals are attached to the MicroBlaze CPU

via the OPB8 Interface Bus, which is a 32Bits data bus and is configured to run at 81 MHz.

All devices are accessed and controlled by software running on the MicroBlaze processor.

Video images are decoder external to the FPGA and enter the FPGA via the Video Resync

module9 in 10-bit YCbCr PAL data format [13][14][15]. Here the data is synchronised with

the output from a 27 MHz-clock generator model, contained in the FPGA (not shown in the

figure). Data exiting the Video Resync model is passed directly to the Video Encoder, a single

chip, outside the FPGA boundary, on the development board.

Image display switching between the live video input data stream and the Display Engine

output (containing a saved image) is controlled by the Display Engine under the control of the

software running on the MicroBlaze.

The Image Grabber VHDL model is used to capture and store images, and is under the control

of the MicroBlaze software. Communications to and from, the software takes place through

Control, Status and Data models connected to the OPB interface bus. Images are stored in the

Image Memory10 device, located outside the FPGA. The SRAM is controlled by the Image

Grabber VHDL model.

The Display Engine model is responsible for the display of captured images. It provides a

continuous stream of 10-bit video data to the Video Resync module, synchronised with the

system 27 MHz clock. The Display Engine also controls the contents of the Image Display

Memory device, which is located on the MMDB, external to the FPGA. The Display Engine

is under the control of the MicroBlaze via a Control, Status and Data models connected to the

OPB interface bus.

The Interrupt Controller is used to interrupt the CPU upon request from the Uart Serial

Control model, which is connected to the RS232 interface and the OPB interface bus.

Commands to and from the SystemC Controller are sent through the Uart model. The JTAG

Interface Control model is used for debug interface access for the EDK system.

The Workspace Memory consists of a single SRAM device on the MMDB and is controlled

by the Workarea Controller connected to the OPB bus. This storage facility is used for

temporary storage of images as they are being manipulated.

9.  Sample PESP Application Implementation

A digital camera was used as the focus application for functional testing of the PESP

platform. The digital camera application is an example of a widely available digital system,

which is sufficiently complex to provide scope for different architecture and technology

configurations. The digital camera functions also suited the application devices, which are

integrated into the Xilinx MMDB hardware development board (however PESP is not board

specific). A digital camera is an example of a system that uses several data processing

functions, which are relatively self-contained and as such simplify the implementation of

functions using a modular approach. For example the image grab function is not dependent on

image display function and as such both functions can be implemented in separate hardware


10.  Conclusion & Future work

This paper discussed the PESP, which consists of an integration of both a SystemC controller

and a reconfigurable multi-media hardware development platform.

This paper presented a suitable SystemC based design, that when interfaced with a

reconfigurable hardware system platform, using a suitable communication interface protocol,

demonstrates that the underlying architecture of SystemC is suitable for direct real-time

implementation of a SystemC based model.

The paper discussed a modular modelling approach, which when deployed in the PESP

SystemC based design, is suitable for (real-time) emulation. The paper also discussed an

hardware/software architecture for an emulation platform that facilitates the real time

implementation of the SystemC design and defines the hardware components used in that


The higher level SystemC models used in PESP are currently implemented on a PC, however

models could be transferred from the PC platform to the MicroBlaze itself, which would

implement the entire system architecture described in Figure 14 on the MMDB. The

interaction of SystemC with real-time OS was not considered as part of this paper and could


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[2] OSCI; “Functional Specification for SystemC 2.0”, available at http://www.systemc.org

[3] T. Grotker, S Liao, G. Martin, S Swan; “System Design with SystemC”; Kluer Academic

Publishers, ISBN 1-4020-7072-1

[4] Standard Co-Emulation Modelling Interface (SCE-MI) Reference Manual, Version 1.0, Published

by Accellera, available from http://www.eda.org/itc

[5] J. Stickley, Duaine Pryor; “Functional Requirements Specification: Standard Co-Emulation

Modeling Interface (SCE-MI)”; http://www.systemc.org

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ASIC Design and Embedded Software Developers”; http://www.eve-team.com

[7] Jon Connell, Bruce Johnson , Early Hardware/Software Integration Using SystemC 2.0, ESC San

Francisco 2002.

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Computer, April 2003, pp. 53-59.

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[10] Embedded Systems Tools Guide (EDK 3.2.2), http://www.xilinx.com

[11] Xilinx Virtex II MicroBlaze and Multimedia Development Board, http://www.xilinx.com

[12] ISE user guide, http://www.xilinx.com

[13] A Technical Introduction to Digital Video, Charles Poynton, John Wiley & Sons, ISBN 0-471-


[14] Video & Television Engineering, J. Whitaker and B. Benson, McGraw Hill, ISBN 0-07-069627-6

[15] ADV7185 Video NTSC/PAL Decoder data sheet, http://www.analog.com

[16] MicroBlaze RISC 32-Bit Soft Processor data sheet, http://www.xilinx.com

[17] The C Programming Language, Kernighan & Ritchie, Prentice Hall, ISBN 0-13-110362-8

[18] VHDL made Easy, D. Pellerin & D. Taylor, Prentice Hall, ISBN 0-13-650763-8

[19] VHDL for Designers, S. Sjoholm & L. Lindh, Prentice Hall, ISBN 0-13-473414-9

[20] Digital System Design with VHDL, M.Zwolinski, Prentice Hall. ISBN 0-201-36063-2

[21] Co-Simulation Between SystemC and a New Generation Emulator, C. Alquier, S. Guerinneau,

L.Rizzatti, L. Burgun, DesignCon 2003

sumber: ITB Jurnal

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