We demonstrate a new approach to implementing automated coverage metrics including line, toggle, and finite state machine coverage. Each metric is implemented through a compiler pass with a report generator. They are decoupled from the backend simulation, emulation, or formal verification tool through a simple API designed around a single new cover primitive. Our prototype for the Chisel hardware construction language demonstrates support across three software simulators, the FPGA-accelerated FireSim simulator and a formal tool. We demonstrate collecting line coverage while booting Linux with FireSim at a target frequency of 65MHz. By construction, coverage can be trivially merged across backends.

Continued improvement in computing efficiency requires functional specialization of hardware designs. We present an agile design flow for custom SoCs using the Chipyard framework, an integrated SoC research and implementation environment for custom systems. Chipyard includes configurable, composable, open-source, generator-based designs that can be used across multiple stages of the hardware development flow while maintaining design intent and integration consistency. Through cloud FPGA simulation and rapid ASIC implementation, we demonstrate an iterative agile hardware design cycle which enables continuous validation of physically-realizable customized systems.

Recent work in FPGA-accelerated simulation of ASICs has shown that much of a simulator can be automatically generated from ASIC RTL. Alas, these works rely on simple models of the outer cache hierarchy and DRAM, as mapping ASIC RTL for these components into an FPGA fabric is too complex and resource intensive. To improve FPGA simulation model accuracy, we present FASED, a parameterized generator of composable, high-fidelity, FPGA-hosted last-level-cache and DRAM models. FASED instances are highly performant, yet they maintain timing faithfulness independently of the behavior of the host-FPGA memory system. For a given scheduling policy, a single FASED instance can model nearly the entire space of realizable single-channel DDR3 memory organizations, without resynthesizing the simulator RTL. We demonstrate FASED by integrating it into a flow that automatically transforms RTL for multicore RISC-V processors into full-system simulators that execute at up to 150 target MHz on cloud-hosted FPGAs.

We present Golden Gate, an FPGA-based simulation tool that decouples the timing of an FPGA host platform from that of the target RTL design. In contrast to previous work in static time-multiplexing of FPGA resources, Golden Gate employs the Latency-Insensitive Bounded Dataflow Network (LI-BDN) formalism to decompose the simulator into subcomponents, each of which may be independently and automatically optimized. This structure allows Golden Gate to support a broad class of optimizations that improve resource utilization by implementing FPGA-hostile structures over multiple cycles, while the LI-BDN formalism ensures that the simulator still produces bit- and cycle-exact results. To verify that these optimizations are implemented correctly, we also present LIME, a model-checking tool that provides a push-button flow for checking whether optimized subcomponents adhere to an associated correctness specification, while also guaranteeing forward progress. Finally, we use Golden Gate to generate a cycle-exact simulator of a multi-core SoC, where we reduce LUT utilization by up to 26% by coercing multi-ported, combinationally read memories into simulation models backed by time-multiplexed block RAMs, enabling us to simulate 50% more cores on a single FPGA.

We present DESSERT, an FPGA-accelerated methodology for simulation-based RTL verification. The RTL design is automatically transformed and instrumented to allow deterministic simulation on the FPGA with initialization and state snapshot capture. Assert statements, which are present in RTL for error checking in software simulation, are automatically synthesized for quick hardware-based error checking. Print statements in the RTL design are also automatically transformed to generate logs from the FPGA, which are compared on the fly against a functional golden-model software simulator for more exhaustive error checking. To rapidly provide waveforms for debugging, two parallel deterministic FPGA-accelerated RTL simulations are run spaced apart in simulation time to support capture and replay of state snapshots immediately before an error. We demonstrate DESSERT, running on public-cloud FPGAs at extremely low cost, by catching bugs in a complex out-of-order processor hundreds of billions of cycles into SPEC2006int benchmarks running under Linux.

We present FireSim, an open-source simulation platform that enables cycle-exact microarchitectural simulation of large scale-out clusters by combining FPGA-accelerated simulation of silicon-proven RTL designs with a scalable, distributed network simulation. Unlike prior FPGA-accelerated simulation tools, FireSim runs on Amazon EC2 F1, a public cloud FPGA platform, which greatly improves usability, provides elasticity, and lowers the cost of large-scale FPGA-based experiments. We describe the design and implementation of FireSim and show how it can provide sufficient performance to run modern applications at scale, to enable true hardware-software co-design. As an example, we demonstrate automatically generating and deploying a target cluster of 1,024 3.2 GHz quad-core server nodes, each with 16 GB of DRAM, interconnected by a 200 Gbit/s network with 2 microsecond latency, which simulates at a 3.4 MHz processor clock rate (less than 1,000x slowdown over real-time). In aggregate, this FireSim instantiation simulates 4,096 cores and 16 TB of memory, runs ~14 billion instructions per second, and harnesses 12.8 million dollars worth of FPGAs—at a total cost of only ~$100 per simulation hour to the user. We present several examples to show how FireSim can be used to explore various research directions in warehouse-scale machine design, including modeling networks with high-bandwidth and low-latency, integrating arbitrary RTL designs for a variety of commodity and specialized datacenter nodes, and modeling a variety of datacenter organizations, as well as reusing the scale-out FireSim infrastructure to enable fast, massively parallel cycle-exact single-node microarchitectural experimentation.

We study the implementation of a hardware accelerator that computes a dot product of IEEE-754 floating-point numbers exactly. The accelerator uses a wide (640 or 4288 bits for single or double-precision respectively) fixed-point representation into which intermediate floating-point products are accumulated. We designed the accelerator as a generator in Chisel, which can synthesize various configurations of the accelerator that make different area-performance trade-offs. We integrated eight different configurations into an SoC comprised of RISC-V in-order scalar core, split L1 instruction and data caches, and unified L2 cache. In a TSMC 45 nm technology, the accelerator area ranges from 0.05 mm2to 0.32 mm2, and all configurations could be clocked at frequencies in excess of 900MHz. The accelerator successfully saturates the SoC's memory system, achieving the same per-element efficiency (1 cycle-per-element) as Intel MKL running on an x86 machine with a similar cache configuration.

Commercialization of desktop milling machines has made rapid Printed Circuit Board (PCB) fabrication accessible. Unfortunately, PCB design for embedded and robotic systems is still a tedious and time consuming activity. In this paper, we present a technique, Just In Time Printed Circuit Board (JITPCB) for designing PCB systems at speeds commensurate with the capability of desktop PCB milling machines. We propose designing boards by writing software circuit generators that wire together and lay out circuit components in a hierarchical and reusable fashion. We have developed a declarative design mechanism allowing users to specify desired input and output peripherals and well as application code. Given this input, our system produces a complete working circuit board design, along with necessary initialization and networking code. Our system is an open framework that allows users to create a set of highly reusable parametric hardware/software modules. We demonstrate our approach by showing some common robotics applications designed with JITPCB to show its utility and generality.

One of the key challenges for the FPGA industry going forward is to make the task of designing hardware easier. A significant portion of that design task is the creation of the interconnect pathways between functional structures. We present a synthesis tool that automates this process and focuses on the interconnect needs in the fine-grained (sub-IP-block) design space. Here there are several issues that prior research and tools do not address well: the need to have fixed, deterministic latency between communicating units (to enable high-performance local communication without the area overheads of latency insensitivity), and the ability to avoid generating unnecessary arbitration hardware when the application design can avoid it. Using a design example, our tool generates interconnect that requires 69% fewer lines of specification code than a handwritten Verilog implementation, which is a 32% overall reduction for the entire application. The resulting system, while requiring 6% more total functional and interconnect area, achieves the same performance. We also show a quantitative and qualitative advantages against an existing commercial interconnect synthesis tool, over which we achieve a 25% performance advantage and 15%/57% logic/memory area savings.

One of the key challenges for the FPGA industry going forward is to make the task of designing hardware easier. A significant portion of that design task is the creation of the interconnect pathways between functional structures. We present a synthesis tool that automates this process and focuses on the interconnect needs in the fine-grained (sub-IP-block) design space. Here there are several issues that prior research and tools do not address well: the need to have fixed, deterministic latency between communicating units (to enable high-performance local communication without the area overheads of latency-insensitivity), and the ability to avoid generating un-necessary arbitration hardware when the application design can avoid it. Using a design example, our tool generates interconnect that requires 72% fewer lines of specification code than a hand-written Verilog implementation, which is a 33% overall reduction for the entire application. The resulting system, while requiring 4% more total functional and interconnect area, achieves the same performance. We also show a quantitative and qualitative advantages against an existing commercial interconnect synthesis tool, over which we achieve a 25% performance advantage and 17%/57% logic/memory area savings.