Advanced Digital Design
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1 Advanced Digital Design Limits of Synchonous Design by A. Steininger and M. Delvai Vienna University of Technology
2 recall Previous Conclusion The purpose of a design style is to provide information for flow control. Boolean Logic alone cannot provide this information. Severe technological problems force us to question the current (synchronous) design practice. We shall focus on that. Alternatives must be evaluated very critically with respect to improvements concerning power, area, robustness, ease of composition, testability and performance. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 2
3 recall What we actually need When can SNK use its input? When it is valid and consistent SRC f(x) SNK When can SRC apply the next input? When SNK has consumed the previous one Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 3
4 recall Ideal Design Method An ideal design method minimizes power consumption miminizes circuit overhead naturally supports composability naturally aids testability yields robust circuits yields fast circuits. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 4
5 Outline Timed Communication Model Control Flow Conditions Classification of Sychronous Design Benefits of Synchronous Design Problems with Synchronous Design Evaluation Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 5
6 Timed Comm.. Model Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 6
7 The Issue Condition Control TRGSRC: Have SRC issue the next data word such that the current one can still be safely consumed by SNK. Formal Condition: t invalid,x > t safe,x μ src > - Δ invalid Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 7
8 The Capture Condition Control TRGSNK: Have SNK capture data only after it has become consistent. Formal Condition: t cons,x > t snkrdy,x μ snk > - Δ snktrg Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 8
9 Our Options We must only use consistent input vectors How can we tell an input vector is consistent? (1) use TIME to mark consistent phases synchronous approach / global time base asynchronous/bounded delay (2) use CODING to add information asynchronous/delay insensitive Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 9
10 Synchronous Philosophy If the problem originates from the time domain, why don t we solve it in the time domain! Process inputs only after they have become stable. Use clock to signal these instants. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 10
11 Control by Global Time Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 11
12 Synchronous Timing clock period active clock edge setup/hold window recovery from transients * clock to output delay * combinational delay * routing delay, HI LO Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 12
13 The Synchronous Concept FF1 f(x) FF2 T Clk After some TIME T clk FF2 can use f(x) s output and at the same time FF1 can apply a new input Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 13
14 The Implications Clock Period T Clk = Period π Must be determined by static timing analysis Phase ϕ = π (!) this implies that μ src = -(Δ snktrg + Δ cons still we must guarantee μ src > -Δ invalid therefore cons ) Δ invalid > Δ snktrg + Δ cons (issue condition) This is not formally safe but it works! Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 14
15 Benefits of Sync. Logic Simplicity improves productivity design on high level of abstraction truth table with previous state transients are irrelevent, all considered states are clearly defined timing analysis separate, after design clear distinction between data and clock simplifies timing analysis Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 15
16 Benefits of Sync. Logic (2) High implementation efficiency: one single control signal for the complete system! periodic clock is easy to generate single-rail data coding minimum number of transitions on the data rails clock also provides a time base Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 16
17 Resume 1 Synchronous design does work billions of working designs Synchronous design is VERY efficient wrt. design wrt. implementation So everything is solved Is it? Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 17
18 recall The Original Problem When can SNK use its input? When it is valid and consistent SRC f(x) SNK When can SRC apply the next input? When SNK has consumed the previous one Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 18
19 recall What have we done? We have expressed a simple information related condition by means of complicated timing related parameters that we don t even know! DOES IT MATTER? Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 19
20 That damned traffic light YES! It does matter Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 20
21 That damned Traffic light number of waiting cars Microwave oven temperature of the food Wiper visibility through the front shield Stairway light presence of a person in the stairway Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 21
22 What s wrong? Often events define important points in time. This does, however, not mean that the occurrence of the event can be a priori related to (absolute or relative) time. BUT: Time is relatively easy to measure Therefore it is often much more efficient to establish such an indirect relation than to observe the actual event (that is sometimes invisible) This starts to become annoying when the artificial relation between actual event and time model is too weak. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 22
23 The Synchronous Approach Relating flow control to time in this way is convenient and effective, but in fact the implied relation does not (naturally) exist! FF1 f(x) FF2 We need to establish this relation artificially during design (timing optimization & constraints) T Clk After some TIME T clk FF2 can use f(x) s output and at the same time FF1 can apply a new input Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 23
24 The annoying consequences need to determine clock period circuit functionality is technology dependent considerable design efforts,, large design loops need to make worst-case assumptions necessarily pessimistic no robustness wrt. exceeding them need to maintain global synchrony clock distribution problems power consumption problems Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 24
25 recall Can we predict Delay? after synthesis: logic depth complexity of operation optimization & mapping after routing: interconnect geometrie (lengths, capacitances) vias, switches during operation: actual values process variations temperature supply voltage Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 25
26 Timing Analysis not possible before the end of the design flow (large iteration loops!) Specification Validation Design-Entry Behavioral Simulation Synth. & Technol.-Mapping Prelayout-GL-Simulation Partitioning & Placement Routing Postlayout-GL-Simulation Manufact. Test Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 26
27 Timing Analysis not possible before the end of the design flow (large iteration loops!) tight & safe esti- mation has become a major issue sync model transients reality setup/hold Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 27
28 Timing Analysis not possible before D the end of the FF1 CLK design flow D (large iteration FF2loops!) CLK tight & safe esti- D FFk mation has become CLK a major issue t PD,CLK combin. logic t dly,data,1m feasible with ideal clock net only t dly,data,2m original idea: avoid having to deal with transients current practice: timing analysis most difficult D CLK FFm t dly,data,km Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 28
29 Worst-Case Assumptions normally too pessimistic real, chip could run faster no tolerance when exceeded graceful degradation desirable Η(α) α lim α Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 29
30 ! Performance Efficiency E perf = t F t F t F 44 % real computation time lib: worst vs. typ crosstalk, IR drop process variation clock skew unbalanced stages [Cortadella, ICCD 04] Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 30
31 Clock Distribution clock distribution network widely spread over chip minimization of delay & skew very tedious and costly A Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 31
32 ! Area Efficiency area proportion devoted to intended logic function E area = A F A + F A Ctrl = 50 % area proportion devoted to necessary flow control overhead: clock network 45% [Wilton IEEE Jnl. SSC 2/2005] Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 32
33 Power Dissipation clock network con- sumes much energy concurrent switching => current peaks => voltage drops permanent switching => artificial activity D CLK D CLK according to CLK publications D 40% (DEC, e.g.).) CLK D D CLK Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 33
34 ! Power Efficiency dissipated power (total) power for intended function P tot = ( 1 δ) P + δ P + P = (1 + δ) P F F clk F static part dynamic part circuit utilization E pwr * [Duarte] α P = P tot F α PF = 1.9 P F control part (dynamic only * ) α = % 5.3% * clk δ P F P δ 90% ( α = ( α = 100%) 10%) Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 34
35 Electromagn. Interference long clock rails are good antennas virtually all radiated energy is con- centrated to one single spectral line E(f) max / CE f A Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 35
36 ! Composability each and every small change in the design requires a completely new timing analysis a switch to a new technology completely changes the timing interoperation between IP cores on a chip requires detailed specification (and matching) ) of both logic function and timing behavior Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 36
37 Asynchronous Inputs clock period T clk dec. win. T 0 setup/hold asynchronous event probability of setup/hold violation P violate T = 0 >0 T clk Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 37
38 Multiple Clock Domains CLK 1 (Ref) CLK 2 arbitrary phase relation setup/hold violation inevitable (fundamentally!) A Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 38
39 Latch: : Operation Model transparent hold Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 39
40 Response Time of a FF An input transition during the decision wwindow leads to an (unbounded) increase of clock-to-output delay t clk2out CLK D t clk2out,nom t setup 0 t hold t clk2data Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 40
41 Physical Equivalent Ball may remain on top ( metastable ) for unbounded time A small disturbance causes the ball to fall in either direction Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 41
42 Metastability Propagation u out Invertercharacteristics data D Metastab. X D X u in clk CLK CLK A The inverter maps metastable inputs to metastable outputs Therefore metastability can propagate Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 42
43 Inconsistent Perception D Metastab. X CLK D D A CLK B CLK 0 1 CMOS 3V threshold A treshold B 2.0V 0.8V 3.3V 2.4V X 0.4V 0.0V The metastable state may be regarded as 1 by one FF and as 0 by another A Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 43
44 Resolution Time t r = T clk t comb t SU clk asyn syn t clk2out t r t comb t SU normal operation: t clk2out < t r upset: asyn clk D CLK syn comb. logic D CLK t clk2out > t r Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 44
45 Mean Time Between Upset Upset metastable output is captured by subsequent FF after t r Mean Time Between Upset (MTBU) expected value (statistics!) for interval between two subsequent upsets MTBU = tr exp τ c T 0 f 1 clk f dat Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 45
46 Parameters Resolution time t r interval available for output to settle after active clock edge Flip-Flop Flop parameters τ c,t 0 experimentally determined time constant τ c dep.. on transit frequ. T 0 from effective width of decision window Clock period of FF T clk = 1/f clk Average rate of change f dat average data rate at FF data input Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 46
47 Derivation of formula upset-rate transition rate at data input 1 MTBU T r Rupset 0 = = exp τc Tclk t f dat probability of metastable state not being resolved during t r probability of transition hitting decision window Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 47
48 Synchronizer Example: Cascade of n Input-FFs asyn D D syn clk CLK CLK Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 48
49 ! Robustness metastability Issues clock = single point of failure non-redundant signal coding no gracxeful degradation timing margins help masking faults but they are shrinking! Fault Injection Results for SPEAR [Thesis Rahbaran] Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 49
50 ! Testability Test Pattern Generator register chain register chain comb logic comb logic comb logic register chain Response Analysis Scan test turns sequential problem into combinational one => hard to beat! Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 50
51 Conclusion An analysis of the data transfer process allows mapping the trigger conditions for data source and sink to the time domain, yielding an issue condition and a capture condition. This convenient solution is used by some design styles,, in particular the synchronous design. This mapping is, however, not natural. As an alternative signal coding may be used to control the triggers of source and sink. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 51
52 Conclusion Synchronous design is extremely efficient wrt. design and testing. It establishes a relation between handshake events and time that becomes increasingly cumbersome. Weak points are inherent robustness and composability Power efficiency, area efficiency and performance efficiency are very good in principle, but limitations in clock distributions tend to foil these benefits. Lecture "Advanced Digital Design" A. Steininger & M. Delvai / TU Vienna 52
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