Is your memory hierarchy stopping your microprocessor from performing at the high level it should be? Memory Systems: Cache, DRAM, Disk shows you how to resolve this problem. The book tells you everything you need to know about the logical design and operation, physical design and operation, performance characteristics and resulting design trade-offs, and the energy consumption of modern memory hierarchies. You learn how to to tackle the challenging optimization problems that result from the side-effects that can appear at any point in the entire hierarchy.As a result you will be able to design and emulate the entire memory hierarchy. . Understand all levels of the system hierarchy -Xcache, DRAM, and disk. . Evaluate the system-level effects of all design choices. . Model performance and energy consumption for each component in the memory hierarchy.

Memory Systems: Cache, DRAM, Disk

This paper surveys the design of embedded computer systems, which use software running on programmable computers to implement system functions. Creating an embedded computer system which meets its performance, cost, and design time goals is a hardware-software co-design problem-the design of the hardware and software components influence each other. This paper emphasizes a historical approach to show the relationships between well-understood design problems and the as-yet unsolved problems in co-design. We describe the relationship between hardware and software architecture in the early stages of embedded system design. We describe analysis techniques for hardware and software relevant to the architectural choices required for hardware-software co-design. We also describe design and synthesis techniques for co-design and related problems. >

http://home.engineering.iastate.edu/~zambreno/classes/cpre583/documents/Wol94A.pdf

Hardware-software co-design of embedded systems

An accurate and safe estimation of a task's worst case execution time (WCET) is crucial for reasoning about the timing properties of real-time systems. In RISC processors, the execution time of a program construct (e.g., a statement) is affected by various factors such as cache hits/misses and pipeline hazards, and these factors impose serious problems in analyzing the WCETs of tasks. To analyze the timing effects of RISC's pipelined execution and cache memory, we propose extensions to the original timing schema where the timing information associated with each program construct is a simple time-bound. In our approach, associated with each program construct is worst case timing abstraction, (WCTA), which contains detailed timing information of every execution path that might be the worst case execution path of the program construct. This extension leads to a revised timing schema that is similar to the original timing schema except that concatenation and pruning operations on WCTAs are newly defined to replace the add and max operations on time-bounds in the original timing schema. Our revised timing schema accurately accounts for the timing effects of pipelined execution and cache memory not only within but also across program constructs. This paper also reports on preliminary results of WCET analysis for a RISC processor. Our results show that tight WCET bounds (within a maximum of about 30% overestimation) can be obtained by using the revised timing schema approach.

An accurate worst case timing analysis for RISC processors

We propose a technique for analyzing cache-related preemption delays of tasks that cause unpredictable variation in task execution time in the context of fixed-priority preemptive scheduling. The proposed technique consists of two steps. The first step performs a per-task analysis to estimate cache-related preemption cost for each execution point in a given task. The second step computes the worst case response time of each task that includes the cache-related preemption delay using a response time equation and a linear programming technique. This step takes as its input the preemption cost information of tasks obtained in the first step. This paper also compares the proposed approach with previous approaches. The results show that the proposed approach gives a prediction of the worst case cache-related preemption delay that is up to 60 percent tighter than those obtained from the previous approaches.

Analysis of cache-related preemption delay in fixed-priority preemptive scheduling

With the widespread adoption of multicore architectures, multiprocessors are now a standard deployment platform for (soft) real-time applications. This dissertation addresses two questions fundamental to the design of multicore-ready real-time operating systems: (1) Which scheduling policies offer the greatest flexibility in satisfying temporal constraints; and (2) which locking algorithms should be used to avoid unpredictable delays? 
With regard to Question 1, LITMUSRT, a real-time extension of the Linux kernel, is presented and its design is discussed in detail. Notably, LITMUSRT implements link-based scheduling, a novel approach to controlling blocking due to non-preemptive sections. Each implemented scheduler (22 configurations in total) is evaluated under consideration of overheads on a 24-core Intel Xeon platform. The experiments show that partitioned earliest-deadline first (EDF) scheduling is generally preferable in a hard real-time setting, whereas global and clustered EDF scheduling are effective in a soft real-time setting. 
With regard to Question 2, real-time locking protocols are required to ensure that the maximum delay due to priority inversion can be bounded a priori. Several spinlock- and semaphore-based multiprocessor real-time locking protocols for mutual exclusion (mutex), reader-writer (RW) exclusion, and k-exclusion are proposed and analyzed. A new category of RW locks suited to worst-case analysis, termed phase-fair locks, is proposed and three efficient phase-fair spinlock implementations are provided (one with few atomic operations, one with low space requirements, and one with constant RMR complexity). 
Maximum priority-inversion blocking is proposed as a natural complexity measure for semaphore protocols. It is shown that there are two classes of schedulability analysis, namely suspension-oblivious and suspension-aware analysis, that yield two different lower bounds on blocking. Five asymptotically optimal locking protocols are designed and analyzed: a family of mutex, RW, and k-exclusion protocols for global, partitioned, and clustered scheduling that are asymptotically optimal in the suspension-oblivious case, and a mutex protocol for partitioned scheduling that is asymptotically optimal in the suspension-aware case. A LITMUSRT-based empirical evaluation is presented that shows these protocols to be practical.

https://cdr.lib.unc.edu/downloads/5138jf819

Scheduling and locking in multiprocessor real-time operating systems

A discussion is presented as to why the present approach to cache architecture design results in unpredictable performance improvements in real-time systems with priority-based preemptive scheduling algorithms. The SMART cache design is shown to be compatible with the goals of scheduling in a real-time system. The results of this research provide a scheme not only for utilizing the performance enhancement provided by hierarchical memory designs, but also for fine tuning these enhancements to provide increased benefit to the desired scheduling goal. >

SMART (strategic memory allocation for real-time) cache design

SMART, a technique for providing predictable cache performance for real-time systems with priority-based preemptive scheduling, is presented. The technique is implemented in a R3000 cache design. The value density acceleration (VDA) cache allocation algorithm is also introduced, and shown to be suitable for run-time cache allocation. >

SMART (strategic memory allocation for real-time) cache design using the MIPS R3000

The author investigates the use of a priori knowledge of program behavior to partition an instruction cache of size C into a static partition of size S and an LRU partition of size C-S. The value of S is task-dependent and is nonzero for most programs running on the system. Example programs are presented, and their behavior in various size caches is discussed. Cache partitions are generated and evaluated to determine the increase in cache performance and predictability. A high-level hardware design is presented that provides the desired partitioning scheme. >

D.B. Kirk

Papers

SMART (strategic memory allocation for real-time) cache design

SMART (strategic memory allocation for real-time) cache design using the MIPS R3000

Process dependent static cache partitioning for real-time systems