1. 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

2. 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 W 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

3. 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

4. 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

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