EE382N-4
Advanced Microcontroller Systems
Embedded Software Optimization and
Power Aware Software Development
Mark McDermott
Steven P. Smith
Spring 2018
EE382M-8 Class Notes
Scope of our Treatment of Optimization
§ Optimization is a very broad term. For our purposes, assume:
– An embedded system is at capacity in some sense
• Power, performance, memory, I/O, etc.
– Additional functionality must be added
§ The need typically arises near project completion during system
integration and testing.
– Schedule pressures are at their peak
– Management is… (fill in the blanks)
4/17/18 EE382M-8 Class Notes 2
Optimization
§ Allow addition of incremental
functionality into system already
at capacity
§ Subsystem modified, but external
interfaces remain unchanged System Redesign
Complexity & Scope
§ Processor centric upgrades both
computer hardware and software Processor
Redesign
§ Software centric using existing
processor
SW
– Execute faster
– Use less memory
– Reduce input/output blockages
Cost & Schedule
– Allow integration and testing to
continue
4/17/18
4/9/2010 EE382M-8 Class Notes 3
Software Centric Optimization
System
Constraints
Lessons Software
Learned Roadmap of Requirements
Optimization Effort
Most of optimization
effort spent
benchmarking and
Benchmark/ verification Select
Verify Approach
Define
Process
4/17/18
4/9/2010 EE382M-8 Class Notes 4
Step 1: Define the Specific Process to be Followed
§ Determine what tools are available to assist in optimization.
– Emulators
– Instruction set simulators (ISS)
– Compilers and assemblers
– Linkers
– Code profiler
– Debugger
– System and sub-system tests
§ Identify the specific tools to be used.
§ Define the objective in specific and measurable terms. E.g.,
– Capture 1 KB of RAM for code execution.
– Add a specific function or set of functions whose resource requirements are
known.
– Force all program constants to fit into 4 KB of non-volatile memory.
4/17/18
4/9/2010 EE382M-8 Class Notes 5
Step 2: Establish a Baseline
§ Quantify current software in precise terms relevant to the
optimization objective.
– Code-only footprint size in bytes
– RAM-based dynamic data storage requirements in bytes
– Constant or non-volatile data storage requirements in bytes
– Slack-time in the current real-time schedule
– Processor utilization
§ Use linker to discover code footprint and constant storage size.
§ Instrument malloc() to track maximum dynamic memory use.
– May be data-dependent, so a number of trials may be needed.
– May be worthwhile to revisit the original decision to have dynamically
– allocated storage.
§ Identify and size sources of variability in baseline
4/17/18
4/9/2010 EE382M-8 Class Notes 6
Step 3: Modify Software
§ Edit software source files to move closer to the optimization
objectives.
§ Ensure that all knobs in the tool chain are tuned properly.
§ May also involve modifying the software operating environment
– Change memory model.
• Many 8-bit and 16-bit microprocessors support multiple memory models.
– Reorganize code to maximize reference locality.
§ Examine assembly code generated by compiler!
– Compilers for embedded architectures vary widely in quality.
§ Simple changes to HLL source code can have dramatic effects.
§ Consider rewriting portions in assembly language.
4/17/18
4/9/2010 EE382M-8 Class Notes 7
Potentially Helpful Software Modifications
§ More efficient conditionals
§ Combine loops
§ Unroll short loops
§ Convert array indexing to pointer offset-based addressing
§ In-line short functions
§ Collapse functions called only once
§ Reduce parameter passing
4/17/18
4/9/2010 EE382M-8 Class Notes 8
Step 4: Verify Functionality of Modified System
§ Regression test suite
§ Test bed
§ Function hit counts
§ Compare telemetry data sets
4/17/18
4/9/2010 EE382M-8 Class Notes 9
Step 5: Measure Enhancements
§ Use the same methodology as employed for baseline.
§ Assess whether objectives have been met.
§ Review.
– If objectives have not been met, assess options.
• Additional software modifications
• Try a different set of eyes on the code
• Plan B
4/17/18
4/9/2010 EE382M-8 Class Notes 10
Software Optimization Examples
§ Replace compound conditionals with arithmetic expressions,
using bit position coding instead of incrementing integers.
– OK: for (i = 0 ; i <=31 ; i++) {
if ((i ==0) || (i==5) || (i==11) || (i==14) || (i==20)) { …
– Better: for (i = 1 ; i != 0 ; i = i << 1) {
if ((i & (1<<0|1<<5|1<<11|1<<14|1<<20)) != 0) { …
§ Minimize variable sizes.
– OK: unsigned long i ;
for (i = 0 ; i < 100 ; i++) { …
– Better: unsigned char i ;
for (i = 0 ; i < 100 ; i++) { …
4/17/18
4/9/2010 EE382M-8 Class Notes 11
Software Optimization Examples
§ Make frequently used literal constants into global constants
– OK: #define ERROR_STRING Input error – try again
…
display_message(ERROR_STRING) ;
– Better: const char * Error_string = Input error – try again ;
…
display_message(Error_string ) ;
§ Replace divides with multiplies.
– OK: if ((f / g) < h) { …
– Better: if (f < (h * g)) { …
4/17/18
4/9/2010 EE382M-8 Class Notes 12
Software Optimization Examples
§ Use reciprocals to replace divides.
– OK: if ((1/y) < 0.5) { …
– Better: if (y < 2.0) { …
§ Use multiplication instead of square root calculations.
– OK: if (y < sqrt(z)) { …
– Better: if (y * y) < z) { …
§ For better typical execution times, sort compound conditionals in
order.
– For Boolean AND conditionals, place terms with the highest probability of
evaluating to a logic 0 first.
– For Boolean OR conditionals, place terms with the highest probability of
evaluating to a logic 1 first.
– For terms that have roughly equal probabilities, put simpler terms first.
4/17/18
4/9/2010 EE382M-8 Class Notes 13
Software Optimization Examples
§ For array accesses (especially multi-dimensional arrays), use
pointer expressions instead of array reference syntax.
– OK: for (j = 0 ; j < ASIZE ; j++) {
for (k = 0 ; k < BSIZE ; k++) {
a[j][k] = 0 ; …
– Better: p = &a[0][0] ;
for (j = 0 ; j < ASIZE * BSIZE ; j++) {
*p++ = 0.0 ; …
– For some compilers, the difference in the size and execution time of the
code generated can be dramatic.
4/17/18
4/9/2010 EE382M-8 Class Notes 14
Software Optimization Examples
§ For initialization of structures, declare a constant instance and
use memcpy() to initialize entries instead of using individual
assignments. Use memset() to initialize entire struct to 0.
– OK: if ((p = (struct mystruct *) malloc(sizeof(struct mystruct)) !=
NULL) {
p->field1 = 1 ;
p->field2 = 2 ; …
– Better: if ((p = (struct mystruct *) malloc(sizeof(struct mystruct)) !=
NULL) {
memcpy(p, &const_mystruct, sizeof(struct mystruct)) ;
4/17/18
4/9/2010 EE382M-8 Class Notes 15
Software Optimization Summary
§ Software optimization is the lowest cost and fastest means of
reducing resource requirements and execution times to make
room for additional functionality.
§ Begin with a precisely quantified baseline.
§ Set specific target objectives.
§ Use the compilers assembly language output option to examine
code generated (e.g., gcc –S option).
§ Get to know your compiler and all its knobs.
§ Consider using assembly code where significant gains appear to
be achievable.
4/17/18
4/9/2010 EE382M-8 Class Notes 16
Power Aware Software Development
4/17/18
4/9/2010 EE382M-8 Class Notes 17
Opportunities to Reduce Power Consumption
Algorithms ⟹ Minimize Operating Time
HLL Source Code ⟹ Optimized Code
Compiler ⟹ Energy Miser
Operating System ⟹ Scheduling
Instruct Set Architecture ⟹ Energy Exposed
Microarchitecture ⟹ Clocked Gating
Circuit Design ⟹ Low Voltage Swings
Manufacturing ⟹ Low-k dielectric
4/17/18
4/9/2010 EE382M-8 Class Notes 18
Power Aware Software
§ Software structured to minimize system power consumption
§ Most often associated with battery-powered devices
§ Becoming increasingly important in all classes of systems,
including line-powered
§ As with hardware, power is becoming another key optimization
criteria.
§ In many embedded systems, power is the most critical factor.
§ There is no Moore’s Law for batteries.
– Progress in battery efficiency has been comparatively slow.
4/17/18
4/9/2010 EE382M-8 Class Notes 19
Hardware Techniques for Reducing Energy Consumption
§ Modern embedded systems make a variety of hardware-based
energy consumption reduction controls accessible to software.
– Voltage scaling
– Frequency scaling
– Power domains and sleep modes
– Clock domains and gated clocking
§ A great many other techniques exist, of course, but are beyond
the scope of this discussion.
4/17/18
4/9/2010 EE382M-8 Class Notes 20
Other Important Aspects of Power Aware Systems
§ Beyond the topic of local power aware software, there exist other
issues that also play a key role in certain classes of embedded
systems.
– For wireless devices such as sensor networks, the routing algorithm used by
the MANet (mobile ad hoc network) is a key factor in overall energy
consumption.
• Shortest path routing may lead to over-stressed nodes.
• It is wise to ensure that battery-powered operating times be generally equivalent
throughout the network.
• Synchronizing ON intervals to facilitate routing is a challenge.
– For distributed embedded systems, load balancing in general can play a
significant role in overall energy consumption.
4/17/18
4/9/2010 EE382M-8 Class Notes 21
How can Software Reduce Power Consumption?
§ Minimize execution time through selection of a fast algorithm.
§ Minimize bit widths for all data.
§ Minimize off-chip accesses.
§ Optimize cache usage through data and code structuring.
§ For devices with current-driven switching (TTL), encode data to
maximize the occurrence of lower-power logic values (logic 1).
§ Take advantage of hardware power management modes
accessible to software.
§ Put idle hardware elements in sleep mode where possible.
§ Use low-power instructions where possible.
§ Power aware task scheduling
4/17/18
4/9/2010 EE382M-8 Class Notes 22
Power Consumption and Software
Power (P) consumed by a microprocessor
P = Vdd * I
Energy (E) required for program execution
E = P * Tp Tp = Program execution time
Program execution time
Tp = N * Tclk N = Cycles required for program
execution
Tclk = Clock Period
∴ E = Vdd * I * N * Tclk
If Vdd and Tclk are fixed, N is the only variable under software
control.
4/17/18
4/9/2010 EE382M-8 Class Notes 23
Calculating Energy and Power in CMOS circuits
Recall the basic current equation for a capacitor:
I = C * dv/dt
P = Vdd * I
\ P = C * dv/dt * V
Also recall that
dt = 1/frequency and generally dv = V
For example if Freq=10MHz, Capacitance = 5pf, Vdd = 1.0Volts
I = 5e-12f * 10e+6 = 5e-6 amps (50 µA)
and
P = 50 µA *1.0V 50e-6 watts (50µW)
and
E = 5 µW/MHz
Therefore every clock cycle 50 μA of current is used
4/17/18
4/9/2010 EE382M-8 Class Notes 24
Calculating Energy and Power in a Battery
Battery capacity is measured in mA-Hour. Typically it is the amount
of current (milli-Amp) that can be sustained for 20 Hours.
Example: an AA battery (1.5V) with 2890 mA-Hour capacity can
provide 144.5 mA for 20 Hours (2890 ma-Hour ÷ 20 Hours)
Energy in a battery is measured in Joules:
3600 Joule = 1 Watt-Hour (W-H)
An AA Battery can theoretically provide approximately 15600
Joules of energy, e.g.,
2890 mA-Hour * 1.5 V = 4.333 Watt-Hour * 3600 Joules/W-H
= 15606 Joules
4/17/18
4/9/2010 EE382M-8 Class Notes 25
Example
§ Assume a system with two basic power states: fully operational
and asleep.
§ Assume that the power consumed per unit time in both states is:
– 40mW when fully operational
– 200μW when in sleep mode
§ Assume that 20% of the time the system is active and 80% of the
time it is in sleep mode. How long would a AA battery last?
– We know that Vdd = 1.5V (how?)
\ 40mW ÷ 1.5 = 26.66 mA of operational current * 20% = 5.33mA
200μW ÷ 1.5 = 0.133 mA of sleep current * 80% = .1 mA
Total = 5.43mA
Total time = (144.5mA ÷ 5.43mA) * 20 hours = 532 hours (22.1 days)
Question: What is the optimal current draw from a battery such
that it provides the stated mA-Hour capacity
4/17/18
4/9/2010 EE382M-8 Class Notes 26
Models for Power Aware Software
§ Instruction-level power modeling.
– Information needed:
• Power (or current) for each specific instruction type
• The number of cycles required for each specific instruction
• Overhead of executing the next instruction (stall probability)
– Power consumed by instruction type is not widely available from vendors,
but can be measured empirically.
• Block of identical instructions configured to execute from cache.
• Other inputs such as data values should be randomized across a number of trials.
– An instruction set simulator (ISS) can be instrumented to predict power.
– Some, but not all, modeling tools account for potentially important but
complex effects, such as cache behavior, pipeline stalls, data values, branch
prediction accuracy, etc.
4/17/18
4/9/2010 EE382M-8 Class Notes 27
Low-level Code Optimization for Reducing Power
§ If power consumption per instruction information is available,
then prefer lower-power instructions where possible.
§ Unroll small loops to reduce overhead.
§ Use the smallest possible data types.
§ Pack data.
§ Organize data and instructions to optimize cache performance.
– Avoid going to external memory wherever possible.
– It may be practical to tune certain embedded applications to achieve near
ideal cache performance, and the effort may be justified for high volume
gadgets.
• i.e., approaching Belady’s optimal cache algorithm, where cache replacements are
selected based on perfect knowledge of which entry will be unneeded for the
longest period in the future.
4/17/18
4/9/2010 EE382M-8 Class Notes 28
System-level Power Aware Programming Techniques
§ Leverage all available controls that influence power consumption
while still meeting system performance criteria.
§ Reduce voltage or clock frequencies whenever workload is light.
§ Put power domains that are not currently in use in sleep mode.
– Many devices used in embedded systems contain a number of separately
controllable power domains.
• Cypress PSoC separate analog power domains from digital.
• Atmel ATMega processors have separately controllable on-chip peripherals.
§ Put entire device in sleep mode when idle.
– But how will you awaken?
• Countdown timer
• External event triggers an interrupt
4/17/18
4/9/2010 EE382M-8 Class Notes 29
Real-Time Scheduling in Power Aware Programming
§ Goal is to modulate voltage, clock frequency, and/or sleep
periods to minimize system power consumption while still
meeting real-time performance criteria.
Task 1
Task 2
Task 3
What is the optimal supply voltage, clock frequency, etc., for
each task in order to obtain minimum energy consumption?
4/17/18
4/9/2010 EE382M-8 Class Notes 30
Power Aware Programming Summary
§ Power aware programming is a key issue in most embedded
systems development.
§ Low-level power aware coding techniques are helpful, but are
typically heavily outweighed by the influence of system-level
software controllable power management.
– Cache optimization may offer the best return per unit engineering time
among the low-level techniques.
§ Exploiting system-level software-based power management
techniques in real-time systems presents some considerable
challenges.
§ Similarly, power aware programming for networked devices
requires careful synchronization and consideration of routing.
4/17/18
4/9/2010 EE382M-8 Class Notes 31
