This article examines dynamic energy consumption caused by data during software execution on deeply embedded microprocessors, which can be significant on some devices. In worst-case energy consumption analysis, energy models are used to find the most costly execution path. Taking each instruction’s worst-case energy produces a safe but overly pessimistic upper bound. Algorithms for safe and tight bounds would be desirable. We show that finding exact worst-case energy is NP-hard, and that tight bounds cannot be approximated with guaranteed safety. We conclude that any energy model targeting tightness must either sacrifice safety or accept overapproximation proportional to data-dependent energy.
In real-time embedded systems, timing-predictable processors execute instructions within a fixed number of clock cycles, irrespective of the data the operation works on. This is particularly beneficial to WCET analysis, which can then focus on identifying the worst-case execution path which is determined by the control flow, rather than by the data flow of the computation. More advanced micro-architectural features, such as early-out of operations, or cache hierarchies, provide higher average performance at the cost of predictability. This makes WCET analysis far more challenging, as tight bounds firmly rely on timing predictability of the target architecture @cite_25 . However, even operations that have a variable execution time, such as serialized integer multiply and divide, or floating point operations, can be quantized by the processor's clock period into a tractable number of discrete possibilities. The range may be in the order of tens, hundreds, or thousands of cycles, depending on the type of operation. This extends into other architectural features, such as caches and branch predictors, which although more complex to analyse, can still be quantized.
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The architecture of tools for the determination of worst case execution times (WCETs) as well as the precision of the results of WCET analyses strongly depend on the architecture of the employed processor. The cache replacement strategy influences the results of cache behavior prediction; out-of-order execution and control speculation introduce interferences between processor components, e.g., caches, pipelines, and branch prediction units. These interferences forbid modular designs of WCET tools, which would execute the subtasks of WCET analysis consecutively. Instead, complex integrated designs are needed, resulting in high demand for memory space and analysis time. We have implemented WCET tools for a series of increasingly complex processors: SuperSPARC, Motorola ColdFire 5307, and Motorola PowerPC 755. In this paper, we describe the designs of these tools, report our results and the lessons learned, and give some advice as to the predictability of processor architectures. Embedded systems generally interact in some way with the outside world. This may involve measuring sensors and controlling actuators, communicating with other systems, or interacting with users. These functions impose real-time constraints on system design. Verification of these specifications requires computing an upper bound on the worst-case execution time (WCET) of a hardware software system. Furthermore, it is critical to derive a tight upper bound on WCET in order to make efficient use of system resources. The problem of bounding WCET is particularly difficult on modern processors. These processors use cache-based memory systems that vary memory access time based on the dynamic memory access pattern of the program. This must be accurately modeled in order to tightly bound WCET. Several analysis methods have been proposed to bound WCET on processors with instruction caches. Existing approaches either search all possible program paths, an intractable problem, or they use highly pessimistic assumptions to limit the search space. In this paper we present a more effective method for modeling instruction cache activity and computing a tight bound on WCET. The method uses an integer linear programming formulation and does not require explicit enumeration of program paths. The method is implemented in the program cinderella and we present some experimental results of this implementation. The determination of upper bounds on execution times, commonly called worst-case execution times (WCETs), is a necessary step in the development and validation process for hard real-time systems. This problem is hard if the underlying processor architecture has components, such as caches, pipelines, branch prediction, and other speculative components. This article describes different approaches to this problem and surveys several commercially available tools1 and research prototypes. Previous timing analysis methods have assumed that the worst-case instruction execution time necessarily corresponds to the worst-case behavior. We show that this assumption is wrong in dynamically scheduled processors. A cache miss, for example, can in some cases result in a shorter execution time than a cache hit. Many examples of such timing anomalies are provided. We first provide necessary conditions when timing anomalies can show up and identify what architectural features that may cause such anomalies. We also show that analyzing the effect of these anomalies with known techniques results in prohibitive computational complexities. Instead, we propose some simple code modification techniques to make it impossible for any anomalies to occur. These modifications make it possible to estimate WCET by known techniques. Our evaluation shows that the pessimism imposed by these techniques is fairly limited; it is less than 27 for the programs in our benchmark suite. This paper contributes a comprehensive study of a framework to bound worst-case instruction cache performance for caches with arbitrary levels of associativity. The framework is formally introduced, operationally described and its correctness is shown. Results of incorporating instruction cache predictions within pipeline simulation show that timing predictions for set-associative caches remain just as tight as predictions for direct-mapped caches. The low cache simulation overhead allows interactive use of the analysis tool and scales well with increasing associativity. The approach taken is based on a data-flow specification of the problem and provides another step toward worst-case execution time prediction of contemporary architectures and its use in schedulability analysis for hard real-time systems. The contributions of this paper are twofold. First, an automatic tool-based approach is described to bound worst-case data cache performance. The given approach works on fully optimized code, performs the analysis over the entire control flow of a program, detects and exploits both spatial and temporal locality within data references, produces results typically within a few seconds, and estimates, on average, 30 tighter WCET bounds than can be predicted without analyzing data cache behavior. Results obtained by running the system on representative programs are presented and indicate that timing analysis of data cache behavior can result in significantly tighter worst-case performance predictions. Second, a framework to bound worst-case instruction cache performance for set-associative caches is formally introduced and operationally described. Results of incorporating instruction cache predictions within pipeline simulation show that timing predictions for set-associative caches remain just as tight as predictions for direct-mapped caches. The cache simulation overhead scales linearly with increasing associativity. Recent high-performance processors employ sophisticated techniques to overlap and simultaneously execute multiple computation and memory operations. Intuitively, these techniques should help database applications, which are becoming increasingly compute and memory bound. Unfortunately, recent studies report that faster processors do not improve database system performance to the same extent as scientific workloads. Recent work on database systems focusing on minimizing memory latencies, such as cache-conscious algorithms for sorting and data placement, is one step toward addressing this problem. However, to best design high performance DBMSs we must carefully evaluate and understand the processor and memory behavior of commercial DBMSs on today’s hardware platforms. In this paper we answer the question “Where does time go when a database system is executed on a modern computer platform?” We examine four commercial DBMSs running on an Intel Xeon and NT 4.0. We introduce a framework for analyzing query execution time on a DBMS running on a server with a modern processor and memory architecture. To focus on processor and memory interactions and exclude effects from the I O subsystem, we use a memory resident database. Using simple queries we find that database developers should (a) optimize data placement for the second level of data cache, and not the first, (b) optimize instruction placement to reduce first-level instruction cache stalls, but (c) not expect the overall execution time to decrease significantly without addressing stalls related to subtle implementation issues (e.g., branch prediction). Processing-in-memory (PIM) is rapidly rising as a viable solution for the memory wall crisis, rebounding from its unsuccessful attempts in 1990s due to practicality concerns, which are alleviated with recent advances in 3D stacking technologies. However, it is still challenging to integrate the PIM architectures with existing systems in a seamless manner due to two common characteristics: unconventional programming models for in-memory computation units and lack of ability to utilize large on-chip caches. In this paper, we propose a new PIM architecture that (1) does not change the existing sequential programming models and (2) automatically decides whether to execute PIM operations in memory or processors depending on the locality of data. The key idea is to implement simple in-memory computation using compute-capable memory commands and use specialized instructions, which we call PIM-enabled instructions, to invoke in-memory computation. This allows PIM operations to be interoperable with existing programming models, cache coherence protocols, and virtual memory mechanisms with no modification. In addition, we introduce a simple hardware structure that monitors the locality of data accessed by a PIM-enabled instruction at runtime to adaptively execute the instruction at the host processor (instead of in memory) when the instruction can benefit from large on-chip caches. Consequently, our architecture provides the illusion that PIM operations are executed as if they were host processor instructions. We provide a case study of how ten emerging data-intensive workloads can benefit from our new PIM abstraction and its hardware implementation. Evaluations show that our architecture significantly improves system performance and, more importantly, combines the best parts of conventional and PIM architectures by adapting to data locality of applications. Modern dynamically scheduled processors use branch prediction hardware to speculatively fetch and execute most likely executed paths in a program. Complex branch predictors have been proposed which attempt to identify these paths accurately such that the hardware can benefit from out-of-order (OOO) execution. Recent studies have shown that inspite of such complex prediction schemes, there still exist many frequently executed branches which are difficult to predict. Predicated execution has been proposed as an alternative technique to eliminate some of these branches in various forms ranging from a restrictive support to a full-blown support. We call the restrictive form of predicated execution as guarded execution. In this paper, we propose a new algorithm which uses profiling and selectively performs if-conversion for architectures with guarded execution support. Branch profiling is used to gather the taken, non-taken and misprediction counts for every branch. This combined with block profiling is used to select paths which suffer from heavy mispredictions and are profitable to if-convert. Effects of three different selection criterias, namely size-based, predictability-based and profiled-based, on net cycle improvements, branch mispredictions and mis-speculated instructions are then studied. We also propose new mechanisms to convert unsafe instructions to safe form to enhance the applicability of the technique. Finally, we explain numerous adjustments that were made to the selection criterias to better reflect the OOO processor behavior. Cycle accurate simulation has long been the primary tool for micro-architecture design and evaluation. Though accurate, the slow speed often imposes constraints on the extent of design exploration. In this work, we propose a fast, accurate Monte-Carlo based model for predicting processor performance. We apply this technique to predict the CPI of in-order architectures and validate it against the Itanium-2. The Monte Carlo model uses micro-architecture independent application characteristics, and cache, branch predictor statistics to predict CPI with an average error of less than 7 . Since prediction is achieved in a few seconds, the model can be used for fast design space exploration that can efficiently cull the space for cycle-accurate simulations. Besides accurately predicting CPI, the model also breaks down CPI into various components, where each component quantifies the effect of a particular stall condition (branch misprediction, cache miss, etc.) on overall CPI. Such a CPI decomposition can help processor designers quickly identify and resolve critical performance bottlenecks Cache-partitioning techniques have been invented to make modern processors with an extensive cache structure useful in real-time systems where task switches disrupt cache working sets and hence make execution times unpredictable. This paper describes an OS-controlled application-transparent cache-partitioning technique. The resulting partitions can be transparently assigned to tasks for their exclusive use. The major drawbacks found in other cache-partitioning techniques, namely waste of memory and additions on the critical performance path within CPUs, are avoided using memory coloring techniques that do nor require changes within the chips of modern CPUs or on the critical path for performance. A simple filter algorithm commonly used in real-time systems, a matrix-multiplication algorithm and the interaction of both are analysed with regard to cache-induced worst case penalties. Worst-case penalties are determined for different widely-used cache architectures. Some insights regarding the impact of cache architectures on worst-case execution are described. This work takes a fresh look at the simulation of cache memories. It introduces the technique of static cache simulation that statically predicts a large portion of cache references. To efficiently utilize this technique, a method to perform efficient on-the-fly analysis of programs in general is developed and proved correct. This method is combined with static cache simulation for a number of applications. The application of fast instruction cache analysis provides a new framework to evaluate instruction cache memories that outperforms even the fastest techniques published. Static cache simulation is shown to address the issue of predicting cache behavior, contrary to the belief that cache memories introduce unpredictability to real-time systems that cannot be efficiently analyzed. Static cache simulation for instruction caches provides a large degree of predictability for real-time systems. In addition, an architectural modification through bit-encoding is introduced that provides fully predictable caching behavior. Even for regular instruction caches without architectural modifications, tight bounds for the execution time of real-time programs can be derived from the information provided by the static cache simulator. Finally, the debugging of real-time applications can be enhanced by displaying the timing information of the debugged program at breakpoints. The timing information is determined by simulating the instruction cache behavior during program execution and can be used, for example, to detect missed deadlines and locate time-consuming code portions. Overall, the technique of static cache simulation provides a novel approach to analyze cache memories and has been shown to be very efficient for numerous applications. Establishing Worst Case Execution Times (WCET) using Measurement-Based Timing Analysis (MBTA) is only effective if we have reasonable confidence that we have fed the worst case execution trace into the analysis. Therefore for certification, the quality of these traces is of paramount importance. This paper aims to investigate how search algorithms can be used to automatically, and reliably, generate test cases so that appropriate execution traces are available to support MBTA. The work carried out in this paper uses a standard search algorithm and created a number of fitness functions to target the generation of 'good data'. The results are then input into a commercial measurement-based WCET analysis tool. The new fitness functions focus on achieving a combination of full branch coverage and a high number of loop counts, or partial path coverage, however are shown to achieve reliable approximations of the WCET particularly when combined with an MBTA tool. The code items used for the analysis included off the shelf benchmarks, as well as industrial safety-critical aircraft engine control software. Recent trends in System-on-a-Chip show that an increasing number of special-purpose processors are being added to improve the efficiency of common operations. Unfortunately, the use of these processors may introduce suspension delays incurred by communication, synchronization and external I O operations. When these processors are used in real-time systems, conventional schedulability analyses incorporate these delays in the worst-case execution response time, hence significantly reducing the schedulable utilization. In this paper, we provide schedulability analyses and propose segment-fixed priority scheduling for self-suspending tasks. We model the tasks as segments of execution separated by suspensions. We start from providing response-time analyses for self-suspending tasks under Rate Monotonic Scheduling (RMS). While RMS is shown to not be optimal, it can be used effectively in some special cases that we have identified. We then derive a utilization bound for the cases as a function of the ratio of the suspension duration to the period of the tasks. For general cases, we develop a segment-fixed priority scheduling scheme. Our scheme assigns individual segments different priorities and phase offsets that are used for phase enforcement to control the unexpected self-suspending nature. With the exact schedulability analysis designed for our scheme, our experiments show that the proposed scheme provides up to 40 times more schedulable utilization than RMS. The fact that energy is a scarce resource in many embedded real-time systems creates the need for energy-aware task schedulers, which not only guarantee timing constraints but also consider energy consumption. Unfortunately, existing approaches to analyze the worst-case execution time (WCET) of a task usually cannot be directly applied to determine its worst-case energy consumption (WCEC) due to execution time and energy consumption not being closely correlated on many state-of-the-art processors. Instead, a WCEC analyzer must take into account the particular energy characteristics of a target platform. In this paper, we present 0g, a comprehensive approach to WCEC analysis that combines different techniques to speed up the analysis and to improve results. If detailed knowledge about the energy costs of instructions on the target platform is available, our tool is able to compute upper bounds for the WCEC by statically analyzing the program code. Otherwise, a novel approach allows 0g to determine the WCEC by measurement after having identified a set of suitable program inputs based on an auxiliary energy model, which specifies the energy consumption of instructions in relation to each other. Our experiments for three target platforms show that 0g provides precise WCEC estimates. In the context of mobile embedded devices, reducing energy is one of the prime objectives. Memories are responsible for a significant percentage of a system's aggregate energy consumption. Consequently, novel memories as well as novel-memory architectures are being designed to reduce the energy consumption. Caches and scratchpads are two contrasting memory architectures. The former relies on hardware logic while the latter relies on software for its utilization. To meet different requirements, most contemporary high-end embedded microprocessors include on-chip instruction and data caches along with a scratchpad. Previous approaches for utilizing scratchpad did not consider caches and hence fail for the contemporary high-end systems. Instructions are allocated onto the scratchpad, while taking into account the behavior of the instruction cache present in the system. The problem of scratchpad allocation is solved using a heuristic and also optimally using an integer linear programming formulation. An average reduction of 7 and 23 in processor cycles and instruction-memory energy, respectively, is reported when compared against a previously published technique. The average deviation between optimal and nonoptimal solutions was found to be less than 6 both in terms of processor cycles and energy. The scratchpad in the presented architecture is similar to a preloaded loop cache. Comparing the energy consumption of the presented approach against that of a preloaded loop cache, an average reduction of 9 and 29 in processor cycles and instruction-memory energy, respectively, is reported In this article, we discuss how different aspects of modern CPU architecture can be effectively used by database systems. While we shall try to cover most important aspects of modern architectures, we shall not aim to provide an exhaustive survey of the literature. Rather, we will use examples from our own recent work to illustrate the principles involved. While there is related work on using other components of modern machines such as graphics cards and intelligent disk controllers for database work, we limit our discussion here to just a single CPU and the memory hierarchy (excluding disks). In recent years the primary focus of database performance research has fundamentally shifted from disks to main memory. Systems with a very large main memory allow a database’s working set to fit in RAM. At the same time processors have continued to double in performance roughly every eighteen months in line with “Moore’s Law,” while memory speed improvements have been marginal. The CPU now spends many hundreds of cycles waiting for data to arrive from main memory, and database workloads are often memory-bound. Because of this bottleneck, database research at Columbia and elsewhere has focused on effectively using the cache hierarchy to improve database performance. Changes in processor technology have also influenced database research. Modern processors feature a very long pipeline, which helps to provide better performance. It also results in a higher branch misprediction penalty, because the pipeline must be flushed and restarted when a branch is mispredicted. Modern CPUs provide the database programmer with a rich instruction set. Using specialized instructions, such as SIMD instructions, database performance can be improved by allowing a degree of parallelism and eliminating some conditional branch instructions, thus reducing the impact of branch mispredictions. The evolution of battery technology is not being able to keep up with the increasing performance demand of mobile embedded systems. Therefore, battery life has become an important design constraint. As battery-operated embedded devices are deployed in mission critical systems, designers should ensure that the energy constraints are satisfied in addition to the timing constraints  the battery should not drain out before a critical task completes execution. Giving these guarantees requires the knowledge of the worst-case execution time and energy of a task. Significant progress has been made in estimating the worst-case execution time through static analysis. In contrast, existing energy estimation techniques use average-case execution profile of a program and as such cannot guarantee the satisfiability of energy constraints. In this paper, we present a static analysis technique to estimate the worst-case energy consumption of a task on complex micro-architectures. Estimating a bound on energy is non-trivial as it is unsafe to assume any direct correlation with the bound on execution time. Experimental evaluation with a number of benchmark programs indicates the accuracy of our worst-case energy consumption estimates. Modern Application Specific Instruction Set Processors (ASIPs) have customizable caches, where the size, associativity and line size can all be customized to suit a particular application. To find the best cache size suited for a particular embedded system, the application(s) is are executed, traces obtained, and caches simulated. Typically, program trace files can range from a few megabytes to several gigabytes. Simulation of cache performance using large program trace files is a time consuming process. In this paper, a novel instruction cache simulation methodology that can operate directly on a compressed program trace file without the need for decompression is presented. This feature allowed our simulation methodology to have an average speed up of 9.67 times compared to the existing state of the art tool (Dinero IV cache simulator), for a range of applications from the Mediabench suite. Information flow is an important security property that must be incorporated from the ground up, including at hardware design time, to provide a formal basis for a system's root of trust. We incorporate insights and techniques from designing information-flow secure programming languages to provide a new perspective on designing secure hardware. We describe a new hardware description language, Caisson, that combines domain-specific abstractions common to hardware design with insights from type-based techniques used in secure programming languages. The proper combination of these elements allows for an expressive, provably-secure HDL that operates at a familiar level of abstraction to the target audience of the language, hardware architects. We have implemented a compiler for Caisson that translates designs into Verilog and then synthesizes the designs using existing tools. As an example of Caisson's usefulness we have addressed an open problem in secure hardware by creating the first-ever provably information-flow secure processor with micro-architectural features including pipelining and cache. We synthesize the secure processor and empirically compare it in terms of chip area, power consumption, and clock frequency with both a standard (insecure) commercial processor and also a processor augmented at the gate level to dynamically track information flow. Our processor is competitive with the insecure processor and significantly better than dynamic tracking.