With its growth in spacecraft control applications,the microcontroller(MCU)becomes increasingly sensitive to radiation and the risks of system failure.In a radiation environment,the MCU is vulnerable to impacts from h...With its growth in spacecraft control applications,the microcontroller(MCU)becomes increasingly sensitive to radiation and the risks of system failure.In a radiation environment,the MCU is vulnerable to impacts from high-energy particles,which can lead to single-event effect(SEE)that disrupt normal system operations.The pipeline of MCU,being the core structure of the system,is particularly susceptible to single-event upset(SEU)and potentially causes execution failures.However,existing radiation-hardening techniques offer limited effectiveness for pipelines.To enhance SEU resistance,this study focused on a 32-bit MCU core with eight pipeline stages,proposing a pipeline hardening approach that utilizes lockstep technology to improve fault tolerance.Signals from two processors were compared including register write data,register contents and pre-fetched instructions.Any discrepancies triggered error flags to indicate faults.When an error flag was raised,recovery was initiated through an interrupt.The interrupt handler then retrieved state information from the advanced peripheral bus(APB)slave module to restore the CPU's operational state and resume execution.By combining hardware-based state preservation with software-driven error recovery,the proposed solution demonstrated significant improvements in fault tolerance rates and performance compared to traditional checkpoint-based techniques.After completing the pipeline hardening design,a fault injection platform was utilized in this paper to simulate real-world error conditions on internal processor modules.The platform was developed based on the circuit's register-transfer-level(RTL)design and statistical results.The fault injection platform was performed by automatically finding all registers within the target design.The register values were forced to upset at the tens of nanoseconds scale in the RTL description of the circuit's design.After running the circuit's functional simulation,the statistics of the faults in registers were displayed on the platform,which evaluated the influence of SEU.The vulnerability of SEU in the circuit could be observed from the results of the soft error statistics.The post-hardening soft error rates were then measured and compared to pre-hardening data,providing a quantitative evaluation of the improvements.Using this method,the soft error rates of the modules in the MCU core such as PFU,DPU,and Cache AXIM are 40.07%,26.36%,and 27.29%respectively before hardening.The soft error rates of modules mentioned above are reduced to 0%,0.69%,and 1.11%after hardening.The hardened and non-hardened designs of the entire core were implemented in FPGA.The total resource utilization of the triple mode redundancy(TMR)is 111984,as indicated by the number of look-up tables(LUTs)and registers consumed in the FPGA.The total resource utilization of this work is 78034,and the ratio of resource utilization between this work and TMR is approximately 69.68%.The error recovery time for the hardened MCU processor was analyzed using the completion cycles of a bubble sort algorithm as a benchmark.In this paper,the average recovery cycle using the software checkpoint roll-back method is 36479.06,and the average recovery cycle using this work is 26922.5.The ratio of recovery cycles between this work and checkpoint roll-back is about 73.8%.Assessments through random fault injection and FPGA implementation indicate that this approach effectively reduces processor faults caused by soft errors while optimizing resource utilization and efficiency over triplemodular redundancy.展开更多
在托卡马克等离子体的辅助加热系统中,随着高压电源设备的不断增加,对高压电源控制系统的实时传输和数据可靠性有了更严苛的要求。为保障HL-3装置高压电源控制系统的稳定性及数据准确性,研究选用了Chisel语言,设计并开发了一款高压电源...在托卡马克等离子体的辅助加热系统中,随着高压电源设备的不断增加,对高压电源控制系统的实时传输和数据可靠性有了更严苛的要求。为保障HL-3装置高压电源控制系统的稳定性及数据准确性,研究选用了Chisel语言,设计并开发了一款高压电源控制系统的RISC-V微控制器。设计的实现采用了诸如数据前推和分支预测等流水线相关技术以创建一个单发射五级流水线微控制器。这款微控制器已成功通过预定的测试集,并能在高云Tang Primer 25K开发板上顺利运行RT-Thread嵌入式实时操作系统的运行测试。在功耗受限的条件下,此RISC-V微控制器能够高效地执行数据处理,满足可控核聚变领域对嵌入式微控制器开源可定制化设计及可靠性的需求。展开更多
A traditional air blast sprayer typically relies on an additional operator to manage the positioning of the spray delivery pipe.To eliminate the need for a second operator,a microcontroller-based embedded system was d...A traditional air blast sprayer typically relies on an additional operator to manage the positioning of the spray delivery pipe.To eliminate the need for a second operator,a microcontroller-based embedded system was developed and tested under laboratory conditions using a specialized setup.This system consisted of several components:a spray delivery pipe controller to regulate and rotate the spray delivery pipe based on signals received from the microcontroller,a signal generator to create signals by adjusting the lever via potentiometer R1 to specify the desired position of the spray delivery pipe,a mechanical position indicator to display the required or set location of the pipe and a microcontroller-based embedded system to process the signals generated by the signal generator and compare them with the current location signal.The embedded system then outputs a signal,which,when received by the motor,determines the angle and direction of rotation for the spray delivery pipe.This rotation is facilitated by the motor's command to rotate the ring gear through the rotation of the pinion gear,ultimately controlling the movement of the spray delivery pipe.The evaluation findings indicated that the developed system requires 36.48 s to execute a full rotation of the spray delivery pipe,with an angle error ranging from 0 to 2 degrees.Overall,the developed embedded system holds the potential to eliminate the need for a second operator,offering convenient management and control of the spray delivery pipe.展开更多
为提高NLMS算法在轻量级RISC-V处理器中的计算实时性,该文设计了一种基于RISC-V架构的最小均方算法(Normalized Least Mean Squares,NLMS)算法协处理器,并将其集成至蜂鸟E203处理器核。协处理器采用模块化结构,包含数据缓存、数值计算...为提高NLMS算法在轻量级RISC-V处理器中的计算实时性,该文设计了一种基于RISC-V架构的最小均方算法(Normalized Least Mean Squares,NLMS)算法协处理器,并将其集成至蜂鸟E203处理器核。协处理器采用模块化结构,包含数据缓存、数值计算及逻辑控制等功能模块。关键计算路径滤波器输出与权值更新模块采用双精度浮点运算,确保了NLMS算法的数值精度与收敛稳定性;误差计算等模块采用定点实现,用于平衡整体运算效率与资源压力。实验结果表明,相比纯软件实现,该协处理器在处理32阶滤波器的NLMS运算中,加速比达403。展开更多
摘要With its growth in spacecraft control applications,the microcontroller(MCU)becomes increasingly sensitive to radiation and the risks of system failure.In a radiation environment,the MCU is vulnerable to impacts from high-energy particles,which can lead to single-event effect(SEE)that disrupt normal system operations.The pipeline of MCU,being the core structure of the system,is particularly susceptible to single-event upset(SEU)and potentially causes execution failures.However,existing radiation-hardening techniques offer limited effectiveness for pipelines.To enhance SEU resistance,this study focused on a 32-bit MCU core with eight pipeline stages,proposing a pipeline hardening approach that utilizes lockstep technology to improve fault tolerance.Signals from two processors were compared including register write data,register contents and pre-fetched instructions.Any discrepancies triggered error flags to indicate faults.When an error flag was raised,recovery was initiated through an interrupt.The interrupt handler then retrieved state information from the advanced peripheral bus(APB)slave module to restore the CPU's operational state and resume execution.By combining hardware-based state preservation with software-driven error recovery,the proposed solution demonstrated significant improvements in fault tolerance rates and performance compared to traditional checkpoint-based techniques.After completing the pipeline hardening design,a fault injection platform was utilized in this paper to simulate real-world error conditions on internal processor modules.The platform was developed based on the circuit's register-transfer-level(RTL)design and statistical results.The fault injection platform was performed by automatically finding all registers within the target design.The register values were forced to upset at the tens of nanoseconds scale in the RTL description of the circuit's design.After running the circuit's functional simulation,the statistics of the faults in registers were displayed on the platform,which evaluated the influence of SEU.The vulnerability of SEU in the circuit could be observed from the results of the soft error statistics.The post-hardening soft error rates were then measured and compared to pre-hardening data,providing a quantitative evaluation of the improvements.Using this method,the soft error rates of the modules in the MCU core such as PFU,DPU,and Cache AXIM are 40.07%,26.36%,and 27.29%respectively before hardening.The soft error rates of modules mentioned above are reduced to 0%,0.69%,and 1.11%after hardening.The hardened and non-hardened designs of the entire core were implemented in FPGA.The total resource utilization of the triple mode redundancy(TMR)is 111984,as indicated by the number of look-up tables(LUTs)and registers consumed in the FPGA.The total resource utilization of this work is 78034,and the ratio of resource utilization between this work and TMR is approximately 69.68%.The error recovery time for the hardened MCU processor was analyzed using the completion cycles of a bubble sort algorithm as a benchmark.In this paper,the average recovery cycle using the software checkpoint roll-back method is 36479.06,and the average recovery cycle using this work is 26922.5.The ratio of recovery cycles between this work and checkpoint roll-back is about 73.8%.Assessments through random fault injection and FPGA implementation indicate that this approach effectively reduces processor faults caused by soft errors while optimizing resource utilization and efficiency over triplemodular redundancy.
摘要在托卡马克等离子体的辅助加热系统中,随着高压电源设备的不断增加,对高压电源控制系统的实时传输和数据可靠性有了更严苛的要求。为保障HL-3装置高压电源控制系统的稳定性及数据准确性,研究选用了Chisel语言,设计并开发了一款高压电源控制系统的RISC-V微控制器。设计的实现采用了诸如数据前推和分支预测等流水线相关技术以创建一个单发射五级流水线微控制器。这款微控制器已成功通过预定的测试集,并能在高云Tang Primer 25K开发板上顺利运行RT-Thread嵌入式实时操作系统的运行测试。在功耗受限的条件下,此RISC-V微控制器能够高效地执行数据处理,满足可控核聚变领域对嵌入式微控制器开源可定制化设计及可靠性的需求。
摘要A traditional air blast sprayer typically relies on an additional operator to manage the positioning of the spray delivery pipe.To eliminate the need for a second operator,a microcontroller-based embedded system was developed and tested under laboratory conditions using a specialized setup.This system consisted of several components:a spray delivery pipe controller to regulate and rotate the spray delivery pipe based on signals received from the microcontroller,a signal generator to create signals by adjusting the lever via potentiometer R1 to specify the desired position of the spray delivery pipe,a mechanical position indicator to display the required or set location of the pipe and a microcontroller-based embedded system to process the signals generated by the signal generator and compare them with the current location signal.The embedded system then outputs a signal,which,when received by the motor,determines the angle and direction of rotation for the spray delivery pipe.This rotation is facilitated by the motor's command to rotate the ring gear through the rotation of the pinion gear,ultimately controlling the movement of the spray delivery pipe.The evaluation findings indicated that the developed system requires 36.48 s to execute a full rotation of the spray delivery pipe,with an angle error ranging from 0 to 2 degrees.Overall,the developed embedded system holds the potential to eliminate the need for a second operator,offering convenient management and control of the spray delivery pipe.
摘要为提高NLMS算法在轻量级RISC-V处理器中的计算实时性,该文设计了一种基于RISC-V架构的最小均方算法(Normalized Least Mean Squares,NLMS)算法协处理器,并将其集成至蜂鸟E203处理器核。协处理器采用模块化结构,包含数据缓存、数值计算及逻辑控制等功能模块。关键计算路径滤波器输出与权值更新模块采用双精度浮点运算,确保了NLMS算法的数值精度与收敛稳定性;误差计算等模块采用定点实现,用于平衡整体运算效率与资源压力。实验结果表明,相比纯软件实现,该协处理器在处理32阶滤波器的NLMS运算中,加速比达403。