Real-Time USB Communication in the Quest Operating System
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1 Real-Time USB Communication in the Quest Operating System Eric Missimer, Ye Li, Richard West Eric Missimer, Ye Li, Richard West Real-Time USB 1
2 Table of contents 1 Contributions Eric Missimer, Ye Li, Richard West Real-Time USB 2
3 Quest USB Subsystem Quest: Boston University s in house operating system Developed for real-time and high-confidence systems Major Contributions: Bandwidth allocation guarantees when opening connections with endpoints Dynamic reordering of transfer requests to avoid unnecessary rejections Real-time guarantees for both asynchronous and periodic transfers Eric Missimer, Ye Li, Richard West Real-Time USB 3
4 Motivation - Why USB? Precise timing: 125 µs time granularity To date, USB 2.0 is the highest bandwidth I/O on SBC (BeagleBoard, PandaBoard, Raspberry Pi) USB 3.0 is just starting to appear on such SBC One common bus for I/O devices and communication Towards a real-time interconnect for distributed embedded systems Eric Missimer, Ye Li, Richard West Real-Time USB 4
5 USB 2.0 Contributions Master-Slave Protocol Time is broken up by 125 µs chunks called micro-frames 8 micro-frames make up one frame (1 millisecond) Transactions cannot cross micro-frames Four types of USB transactions: (1) Bulk and (2) Control - Asynchronous (3) Isochronous and (4) Interrupt - Periodic For each micro-frame at most 80% can be used for periodic transactions Eric Missimer, Ye Li, Richard West Real-Time USB 5
6 USB Transaction Types Endpoint Data Integrity Guaranteed Example Type Ensured Transfer Rate Control Yes No All Devices Bulk Yes No Mass Storage Isochronous No Yes Camera Interrupt Yes Yes Keyboard Eric Missimer, Ye Li, Richard West Real-Time USB 6
7 USB 2.0 Host and Device USB Host: Host controller makes all scheduling decisions More complex circuitry than a device USB Device: Device contains one or more endpoints Each endpoint has a: Number Direction Transaction Type Packet Size Interval (for periodic transactions, 2 n micro-frames) Eric Missimer, Ye Li, Richard West Real-Time USB 7
8 USB Device Stack Eric Missimer, Ye Li, Richard West Real-Time USB 8
9 EHCI - Enhanced Host Controller Interface Information for performing USB transactions are contained in transaction descriptors (TDs) Handles asynchronous and periodic transactions differently Separate scheduling data structures for each class of transactions Isochronous TDs (itds) and Queue Head (QH) plus queue TDs (qtds) Eric Missimer, Ye Li, Richard West Real-Time USB 9
10 EHCI Scheduling Eric Missimer, Ye Li, Richard West Real-Time USB 10
11 Processing TDs At the start of the micro-frame the host controller does the following: Use the frame index register to index into the periodic list Process the itds and QHs/qTDs in the periodic list pointed to by the periodic list entry Process the next QH in the asynchronous circular list until the end of the micro-frame Eric Missimer, Ye Li, Richard West Real-Time USB 11
12 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 12
13 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 13
14 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 14
15 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 15
16 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 16
17 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 17
18 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 18
19 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 19
20 EHCI Scheduling: Example Eric Missimer, Ye Li, Richard West Real-Time USB 20
21 Periodic USB requests can be represented as a tuple (w i, t i ). w i time to send transaction i t i interval of transaction i Scheduling problem is given a set of tuples {(w 1, t 1 ),(w 2, t 2 ),...,(w n, t n )} is there an assignment of USB transactions to micro-frames such that no micro-frame is over-committed. If a request is assigned to micro-frame f it is also assigned to micro-frames f + n t i, n N Eric Missimer, Ye Li, Richard West Real-Time USB 21
22 Scheduling Example Eric Missimer, Ye Li, Richard West Real-Time USB 22
23 Scheduling Example Eric Missimer, Ye Li, Richard West Real-Time USB 23
24 Scheduling Example Eric Missimer, Ye Li, Richard West Real-Time USB 24
25 Invalid Scheduling Example Eric Missimer, Ye Li, Richard West Real-Time USB 25
26 Quest USB Scheduling Quest Linux Heuristic that parallels first fit decreasing algorithm for bin-packing and rate monotonic scheduling Sort requests by interval from smallest to largest, breaking ties by sorting transmission delay from largest to smallest Assign sorted requests to first available micro-frame # Failed Schedules 1e+00 1e+01 1e+02 1e+03 1e+04 1e+05 1e+06 1e+07 1e+08 1 to 5 requests Intervals: 2, 4, 8, 16 Packet Sizes: 32, 64,..., 1024 Quest 150, 000 Linux 95, 000, 000 Eric Missimer, Ye Li, Richard West Real-Time USB 26
27 Beagleboard: Ångström Linux Custom USB-Gadget Device Driver Functionally equivalent Linux and Quest device drivers Eric Missimer, Ye Li, Richard West Real-Time USB 27
28 Maximum Throughput 9 isochronous endpoints with an interval of 1 and 9 bulk endpoints, packet size for all is 512-bytes 60 Periodic Asynchronous Data Rate (KB/ms) Linux Quest The design of the Quest USB subsystem is not detrimental to overall throughput Eric Missimer, Ye Li, Richard West Real-Time USB 28
29 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 29
30 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 30
31 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 31
32 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 32
33 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 33
34 Bandwidth Allocation Experiment Eric Missimer, Ye Li, Richard West Real-Time USB 34
35 Bandwidth Allocation: Results Tokens Passed Tokens Passed Third Beagleboard OS Without Third With Third Isoc Endpoints Beagleboard Beagleboard Opened Quest Linux Eric Missimer, Ye Li, Richard West Real-Time USB 35
36 Dynamic Reordering of Transactions System can reorder transactions in the periodic list to admit new USB requests that would otherwise be rejected Reordering algorithm is uses heuristic for USB scheduling problem Transactions are reordered while maintaining endpoint constraints Endpoints violate their poll/push rate for one interval at most Eric Missimer, Ye Li, Richard West Real-Time USB 36
37 Dynamic Reordered of Transactions: Example Eric Missimer, Ye Li, Richard West Real-Time USB 37
38 Dynamic Reordered of Transactions First Ordering: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 Second Ordering: 4, 5, 6, 7, 8, 9, 10, 0, 1, 2, Data Rate (KB/ms) Quest Ordering 1 Quest Ordering 2 Linux Ordering 1 Linux Ordering 2 Isoc 0-3 Interval = 2 Isoc 4-8 Interval = 1 Endpoint Isoc 9-10 Interval = 1 Eric Missimer, Ye Li, Richard West Real-Time USB 38
39 Real-Time Asynchronous In most systems, asynchronous transactions (Bulk & Control) are typically handled in a best effort manner Guaranteed at least 20% of each micro-frame In Quest, asynchronous transactions can be assigned an interval value just as periodic (specified by the device driver instead of the endpoint) Eric Missimer, Ye Li, Richard West Real-Time USB 39
40 Real-Time Asynchronous: Experiment and Results Seven bulk, four isochronous and three interrupt endpoints All have an interval of one and a packet size of 512-bytes 5 4 Quest Linux Data Rate (KB/ms) Bulk 0-6 Isoc 7-10 Interrupt Endpoint Eric Missimer, Ye Li, Richard West Real-Time USB 40
41 Contributions Heuristic algorithm that outperforms Linux s first fit approach for the USB scheduling problem Bandwidth allocation guarantees when opening connections with endpoints Dynamic reordering of transfer requests to avoid unnecessary rejections Real-time guarantees for both asynchronous and periodic transfers Eric Missimer, Ye Li, Richard West Real-Time USB 41
42 Thank You Contributions Thank you for your time More information can be found at: Eric Missimer, Ye Li, Richard West Real-Time USB 42
43 Questions? Contributions Questions? Eric Missimer, Ye Li, Richard West Real-Time USB 43
44 EHCI Transfer Descriptors Isochronous Transfer Descriptor (itd) Only used for Isochronous transactions Contains the information for at most 8 isochronous transactions Multiple itds for a single endpoint in the periodic list Eric Missimer, Ye Li, Richard West Real-Time USB 44
45 EHCI Transfer Descriptors cont. Queue Head (QH) and Queue Element Transfer Descriptor (qtd) Used for Control, Bulk and Interrupt transactions Contains the information for multiple transactions. Forms a linked list with other qtds Head of the list is a QH Eric Missimer, Ye Li, Richard West Real-Time USB 45
46 Real-Time Asynchronous cont. One caveat: Asynchronous transactions are in a circular linked list We have to schedule all asynchronous transactions as having an interval equal to the smallest asynchronous interval Can then leave room in periodic schedule for asynchronous transfers Eric Missimer, Ye Li, Richard West Real-Time USB 46
47 Dynamic Reordered of Transactions cont. Eric Missimer, Ye Li, Richard West Real-Time USB 47
48 Future Directions USB OTG and USB device to PCI (e.g. Net2280) support USB XHCI host controller driver USB FPGA-based router for P2P communication over USB Eric Missimer, Ye Li, Richard West Real-Time USB 48
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