CO-DEVELOPMENT MANUFACTURING INNOVATION & SUPPORT

Sander Ter Burg, FPGA System Engineer

High-Level and Model-Based DesignTargeting FPGAs and SoCs

3T B.V.

What we do:

■ Electronic and Embedded Systems

■ Co-Development and Re-design

■ Manufacturing (together with production partners)

■ Consulting & Support

Where we are:

■ Enschede + Eindhoven

More info:

■ www.3T.nl

■ info@3T.nl

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Summary

High-Level Design and Synthesis

Model-Based Design

Model-Based Design Examples

■ SCARA Robot Braking Controller

■ Radar Tracking Module

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Traditional HDL Design example

All code written in HDL

No CPUs on-board

HDL to Low Level Logic

HDL = Hardware Description Language

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FPGA Design

HDL

HDLHDL

HDL

High(er)-Level Design example

Higher Level Design Blocks

High-Level Model to HDL

C/C++ code running on a CPU

HLS examples

C/C++ to HDL + synthesis

MATLAB to HDL + synthesis

… to HDL + synthesis

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PSoC

Logic (FPGA)

HDL

HDL

High-Level Model

µC (Arm)

C/C++

High Level Design Tools

For FPGA devices:

Vivado HLS (Xilinx)

HLS Compiler (Intel)

HDL Coder (MathWorks)

and more…

For SoC devices:

SDSoC (Xilinx)

SDK for OpenCL (Intel)

Embedded Coder (MathWorks)

and more…

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High Level Design Pros …

Well suited for complex mathematical problems

Fast Functional Iterations

Freedom of implementation (CPU and/or Logic)

Simulation time reduction (in software)

Early resource estimation

HDL Co-Simulation in software environment

Software Engineers can now write Hardware

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High Level Design Cons …

Hardware mind-set still needed

Code restructuring needed

Generated HDL is not very readable

Less suitable for (peripheral) interface controllers

But… tools keep getting better

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Model-Based Design

A form of High-Level Designing

Mathematical and visual design method

To design:

■ Complex controllers

■ Signal processing

■ Communication systems

Applications fields examples:

■ Industrial

■ Aerospace

■ Automotive

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Real vs. Virtual World

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ControllerModel

PlantModel

ApplicationModel

Plant ApplicationController

VirtualWorld

RealWorld

Model-Based Design

Multidisciplinary Design Approach

Design with Virtual Models (without hardware)

Simulation in the Virtual environment

Models are always a complexity / effort trade-off

Controller Model as good as your Plant/Appl. Model

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Model-Based Design Examples

SCARA Robot Braking Controller

Radar Tracking Module

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SCARA Robot Braking Application

Move intermediate semiconductor products

Controlled emergency braking

Braking Requirements:

■ Follow robot trajectory while braking

■ Deviation from trajectory < 1mm

■ Rest is under NDA…

Customer provided Mechanical Models (in MATLAB Simulink)

■ SCARA Motor Model

■ Controller Model

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Simulink Model of Plant and Controller

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Braking Controller(Simulink)

Torque SCARA Motor Model(Simulink)Angle

Angular Velocity

Simulink Braking Controller Model

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Braking Controller Model

Torque

Angle

AngularVelocity

Hardware Model

FPGA Model E2MDACADCM2E

Simulink FPGA Model

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FPGA Model

Control / Status / Communication Logic

Regulator Model

Calculate Angle +

Direction

ADC Control

Braking Controller

DAC Control

Comm.

MotorFeedback

MotorController

Simulink Braking Regulator (Model to HDL)

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Variable Time StepFloating Point Model

Fixed Time StepFixed Point HDL Code

Fixed Time StepFixed Point Model

Fixed Time StepFloating Point Model

Braking Regulator HDL Co-Simulation

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Braking Controller(Simulink)

SCARA Motor Model(Simulink)

Torque

Angle

Angular Velocity

Regulator Model HDL Simulation

(ModelSim)

Design and Verification Summary

From “High Level Model” to “Generated HDL”

■ Various Model Translations

Generated HDL for Regulator Model (HDL Coder)

■ Angle/Direction Calculation + Braking Controller

Hardcoded Design Blocks (non HDL Coder)

■ ADC / DAC Control + Control / Status / Communication Blocks

Design Verification:

■ Co-Simulation + Hardware-in-the-Loop

Design Fine-tuning:

■ Timing Closure, Resource Sharing,

■ Xilinx IP Instantiation for FFT

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Radar Tracking Module example

For Traffic Data processing

Customer provided a High-Level Model (MATLAB) including:

■ Radar Module

■ Signal Processing

■ Tracking Algorithm

System-on-Module Hardware Target

■ Enclustra Mars ZX3

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SoC implementation setup

eCos RTOS on CPU1 ■ For real-time Control and Communication

■ Only available RTOS for this SoM

Tracking Algorithms on CPU2

■ Generated C/C++ from Matlab Model

■ Running bare-metal on CPU2

Image Processing in FPGA LOGIC

■ 2D Traffic Data Matrices Operations

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FPGA LOGIC

Dual ARM Core

CPU 1

Control

CPU 2

Tracking

Ethernet

Data Acquisition

Image Processing

Ext. Buffers

Radar Tracking Model

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Radar Tracking Model (MATLAB)

Image Processing Model

Dec. FFT 1 FFT 2Tracking

Algoritme

Radar Model

2D Traffic Data

Intermediate Result Files

Image Processing Module Simulation

Intermediate Model Results used in HDL TestBench

HDL TestBench Results verified in the Model

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Image Processing Block(Decimate / FFT1 / FFT2)

File In File OutHDL TestBench

Hardware-in-the-Loop Verification

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FPGA LOGIC

Dual ARM Core

CPU 2

Tracking

CPU 1

Control

Ethernet

Data Acquisition

Data Control

External Buffers

Decimate FFT 1 FFT 2

Tooling

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Mathworks Tools:

■ MATLAB: Complete Radar Tracking Model

■ Embedded coder: Tracking Algorithms Implementation

■ Instrument Control toolbox: Hardware-in-the-Loop Verification

■ Signal processing toolbox: Digital Filter Design

Xilinx Vivado:

■ Xilinx IP: FFTs for Image Processing

■ Xilinx IP: Gbit Ethernet for UDP communication

■ Custom IP: Decimate for Image Processing

Xilinx to MATLAB: Xilinx FFT C-model converted to MATLAB file

Summary and More Info:

High-Level Design and Synthesis

Model-Based Design

SCARA Robot Braking Controller

Radar Tracking Module

Email : Sander@3T.nl

Web : www.3T.nl

Stand: 7A108

Next Up:

Herman Kuster

Topic Embedded Systems

Hardware platform for industrial ultrasound steel plate Inspection

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3T B.V.Institutenweg 1 Esp 4017521 PH Enschede 5633 AJ EindhovenThe Netherlands The Netherlands

T. +31 53 4 33 66 33F. +31 53 4 33 68 69E. info@3t.nlW. www.3t.eu