fpgaを用いた処理のロボット向けコンポーネントの設計生産性評価

PEAR-LAB Utsunomiya Univ.

FPGA

2017/2/18 @ 1


1.

2. ROS FPGA3. cReComp (creator Reconfigurable Component)4. cReComp5.

6. T

2017/2/18 @ 2


FPGA

•• SLAM HW• SLAM Simultaneous Localization and Mapping

•

•FPGA

• FPGA (Field Programmable Gate Array)• i LSI• c

http://www.pirobot.org/blog/0015/

2017/2/18 @ 3


FPGA

• FPGA• Intel Altera [1]• FPGA [2]• CNN FPGA [3]

• FPGA →• × FPGA•• ROS Open-RTM aist, OROCOS…•

• FPGA[1] Intel Completes Acquisition of Altera : https://newsroom.intel.com/news-releases/intel-completes-acquisition-of-altera/[2] . "FPGA ." �� Fundamentals Review 10.2 (2016), 104-112, 2016.[3] , , , `` FPGA ’’,

, vol. 116, no. 417, RECONF2016-69, pp. 127-132, 2017 1 .

2017/2/18 @ 4


•FPGA

• FPGA

2017/2/18 @ 5


1.


6. T

2017/2/18 @ 6


• ROS Robot Operating System• p

c

• p

• Publish/Subscribe o i

Node

Publication Subscription

Subscriber

Publisher Topic

Massage (data) :

Node Node Node

2017/2/18 @ 7


ROS FPGA [4]

• FPGAHW/SW

• FPGA• ROS FPGA p

• SoC ARM FPGA• On chip p p HW-SW• Linux OpenCV c

ARM( ) FPGA ( )

ROSNode_0

Topic

ROSNode_2

ROSNode_1

Topic

FPGAROS

SoC

ROS FPGA

[4] Kazushi Yamashina, Takeshi Ohkawa, Kanemitsu Ootsu and Takashi Yokota : “Proposal of ROS-compliant FPGA Component for Low- Power Robotic Systems -case study on image processing application -”, Proceedings of 2nd International Workshop on FPGAs for Software Programmers, FSP2015, pp. 62-67, 2015.

2017/2/18 @ 8


ROS FPGA

•• CPU-FPGA p p

•• c• I/O cp c

i

HWóSWo

HWóSWo

i

FPGA

ROS

i

ROS node

i

HWóSWo

HWóSWo

i

FPGA

ROS

i

ROS node

2017/2/18 @ 9


1.


6. T

2017/2/18 @ 10


cReComp creator for Reconfigurable Component

• FPGA ROS FPGA

• FPGA• FPGAc cp

• FPGA p

• HW-SW

2017/2/18 @ 11


cReComp

•1.

2.

•

1.

• c cp• FPGA CPU

2. FPGA• c

2017/2/18 @ 12


cReComp ×

• o• RTL•

• c cp•

• c cp

• c cp p c••

•

2017/2/18 @ 13


CPU-FPGA

• Xillybus Xillybus IP Core• Linux cp c FPGA

• CPU o c i

• o I/F

Forinput

FIFO

Foroutput

FIFO

XillybusIP coreCPU

full

wr_en

data

empty

rd_en

data

empty

rd_en

data

full

wr_en

data

UserLogic

AXI bus

2017/2/18 @ 14


FPGA HW SW

• publish/subscribe message op

• message

• I/F message

• I/F o p

16

16

32

data_in_0 [15:0]

data_in_1 [15:0]

data_out [31:0]

o

int16 input_data_in_0int16 input_data_in_1int32 output_data_out

msg

devicefile

32bit

devicefile

I/F

xillybus_ip

write

read

publish/subscribeo i

I/F

2017/2/18 @ 15


FPGA HW SW


• message

• I/F message

• I/F o p

16

16

32

data_in_0 [15:0]

data_in_1 [15:0]

data_out [31:0]

o


msg

devicefile

32bit

devicefile

I/F

xillybus_ip

write

read


I/F

2017/2/18 @ 16


FPGA HW SW


• message

• I/F message

• I/F

16

16

32

data_in_0 [15:0]

data_in_1 [15:0]

data_out [31:0]

o


msg

devicefile

32bit

devicefile

I/F

xillybus_ip

write

read


I/F

2017/2/18 @ 17


cReComp I/F

FIFO CtrlROS APP

Verilog-HDL

FIFO

FIFO

ccReComp

o

Output

ROS-compliant FPGA component

PythonC++

HardwareSoftware

Input

• c 2 1• Python or scrp (specification for cReComp)• HW-SW

• c

o HDLc

I/FI/F

XillybusFIFO Xillybus_ip

2017/2/18 @ 18


cReComp I/F

FIFO CtrlROS APP

Verilog-HDL

FIFO

FIFO

c

o

ROS-compliant FPGA component

PythonC++

HardwareSoftware

Input

• I/F 2 I/F• I/F o CPU• I/F publish/subscribe o i DF p

• Python C++• ROS o p

o HDLc

I/FI/F

XillybusFIFO Xillybus_ip

I/FI/F

cReCompOutput

2017/2/18 @ 19


1.


6. T

2017/2/18 @ 20


cReCompROS FPGA

• ROS FPGA

•

i

HWóSWo

HWóSWo

i

FPGA

ROS

i

ROS nodeROS

2017/2/18 @ 21


Python

adder.vC++ Python

2017/2/18 @ 22


1.


6. T

2017/2/18 @ 23


•• 10• cReComp PWM

p• cReComp

•• FPGA 1 2• Python 1• ROS 3• Linux 1 3

••• 5 5 1•

opwm_ctl.v

2017/2/18 @ 24


a) cReComp

b) ROS FPGA HW

c) ROS

d) ROS FPGA

e)

f)

a I/F

cReCompROS FPGA

cReCompROS FPGA

2017/2/18 @ 25


• 11• I/F e + f 36•

• cReComp

a) cReComp

b) ROS FPGA HW

c) ROS p

d) ROS FPGA

e)

f)

Zedboard AvnetProgrammable SoC Zynq-7020 XilinxOS Ubuntu14.04ROS Indigo

0 5 10 15 20 25 30 35 40

a

b

c

d

e

f

2 26

2017/2/18 @ 26


• a 16 6•

• c 55 22• d 23 66

0 10 20 30 40 50 60 70

a

c

d

exp1 exp2 exp3 exp4 exp5 exp6 exp7 exp8 exp9 exp10

a) cReCompc) ROSd) ROS FPGA

→ Python ROS

2017/2/18 @ 27


•• a) HW SW

d) c cp• a dT 5 4• FPGA

a) cReComp 4.5b) ROS FPGA HW 4.2c) ROS 4.1d) ROS FPGA 4.2e) 1.9f) 3.2

2017/2/18 @ 28


1.


6.

2017/2/18 @ 29


••

FPGA FPGAcReComp

• cReComp FPGAROS p

•• Xillybus FIFO• c cp

2017/2/18 @ 30


• SCOPE 152103014

cReComp is available !https://github.com/kazuyamashi/cReComp

COCOREhttps://github.com/kazuyamashi/cocoreFPGA Linux

2017/2/18 @ 31

fpgaを用いた処理のロボット向けコンポーネントの設計生産性評価

Engineering