Seamless Hardware Module Swapping for Partially Reconfigurable Stream Processing Systems Abelardo Jara-Berrocal Joseph Antoon Ph.D. Students NSF CHREC Center, University of Florida Dr. Ann Gordon-Ross Assistant Professor of ECE

Adaptive Embedded Systems Analysis Basic Kalman filter Constant-gain Kalman filter Slices (VLX25) 1033 (9%) 280 (2%) Throughput 21 clocks/sample 8 clocks/sample Max. clock 156.2 MHz 71.4 MHz Power 0.08092 W 0.06118 W Adaptive behavior is critical to embedded systems Power management Fault tolerance Changing environment Partial Reconfiguration enables such behavior in hardware Allows reconfiguration of an FPGA region without disturbing operation May be used to swap peripherals for a reconfigurable system on a chip Demonstration: adaptive target tracking Tracks a target with a basic, or low-power constant-gain Kalman filter Adaptively switches to the low-power filter when the target is slow Filter output Repository of Kalman filters ICAP Constant gain Basic Filter A Central Controlling Agent PRR Sensor Coverage Area Target 1 Target 2 Target 0 External Trigger

Seamless Filter Swapping in VAPRES Region 2 PR Socket MicroBlaze™ Processor Switch 2 IF MACS IO Module O I Filter A Filter B Reconfiguration is downtime Seamless swapping allows the system to keep functioning while reconfiguring Prevents downtime-related errors Steps for seamless filter swapping Filter A operation Filter A gain tested Filter B loaded Presend B data A flags IOM when done A sends state to MicroBlaze MicroBlaze initializes B IOM flags B to begin Filter B operation MicroBlaze™ Processor PR Socket * IO Module O I PR Region 2 Filter B PR Region 2 Filter A * * * * * * * * * * * Switch 2 IF MACS

Camera Interface Image 1 channel each direction Experimental Setup Low-power adaptive target tracking of a ball using a camera and seamless filter swapping MicroBlaze IOM Camera Interface Image Decoder PRR 1 constant gain Kalman Filter PRR 2 variable gain Kalman MACS Interconnect 3 switches 1 channel each direction Equipment Target Ball on cloth backdrop C3188A camera module Omnivision OV7620 sensor 640x480 color 16-bit raw YUV interface Xilinx ML401 FPGA board Virtex-4 LX25 FPGA 64MB DDR SDRAM Y X

QUESTIONS? This work was supported in part by the I/UCRC Program of the National Science Foundation under Grant No. EEC-0642422. We also gratefully acknowledge tools provided by Xilinx.