M. Alderighi/F. Casini

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Scuola Nazionale "Rivelatori ed Elettronica per Fisica delle Alte Energie, Astrofisica, Applicazioni Spaziali e Fisica Medica" Simulare "Soft-error" in "SRAM-based FPGA": la piattaforma FLIPPER M. Alderighi/F. Casini monica@iasf-milano.inaf.it, fcasini@iasf-milano.inaf.it Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 1

Goal Introduction of FLIPPER as a tool for simulating soft error in SRAM-FPGAs Presentation of case studies on FLIPPER usage Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 2

Outline Overview of FPGAs Radiation effects on FPGAs FLIPPER Examples Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 3

FPGA Field Programmable Gate Array Programmability High integration density High performance Reduced development costs as compared to ASIC Applications Telecom, Avionics, Space, Consumer Electronics, Automotive Programmable logic elements and interconnections Hardware Description Language (VERILOG or VHDL) for configuration CAD tool Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 4

Programmability/configurability SWITCH MATRIX LUT FF 01010101111 11001100110 00011100011 11100101010 11000111000 01010 11001 00011 11100 0 1 SWITCH MATRIX LUT FF 11011111001 00110110010 10101101111 00101000010 01010001100 10101 00110 11011 01010 1 1 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 5

FPGA Species Antifuse (ACTEL) One time programmable FLASH (ACTEL) Programmable SRAM (XILINX, ALTERA, LATTICE) Programmable Dynamic programmable LATTICE < 5% ACTEL 8% ALTERA 32% XILINX 58% Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 6

SRAM-FPGA Unlimited programmability!!!! High flexibility A posteriori modifications of circuit functionalities Fault reparation Dynamic programmable Active partial reconfiguration (Xilinx) Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 7

SRAM-FPGA structure FSM Register 1 Register n Con nfiguration Unit SRAM based Configurable Logic Configurable logic CLB logical resources Interconnection resources Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 8 I/O resources

Interesting, but Susceptibility to ionizing radiation (protons, heavy ions) and neutrons Effects TID (Total Ionizing Dose) SEE (Single Event Effect) SEU (Single Event Upset)/MBU (Multiple Bit Upset) SEL (Single Event Latch-up) SET (Single Event Transient) SEFI (<single Event Functional Interrupt) Mitigation Manufacturing technology (TID) Design Hardening TMR tool, scrubbing Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 9

SEU in SRAM-FPGA Affect Functions Data Interconnections Configuration memory 01010101111 11001100110 00011100011 11100101010 11000111000 11011111001 00110110010 10101101111 00101000010 01010001100 01010 11001 00011 11100 10101 00110 11011 01010 Configuration logic Need suitable approach for space/avionic applications Study and analysis of effects Mitigation/protection techniques 0 1 1 1 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 10

Expected behavior & countermeasures SRAM FPGAs SEUs in configuration memory and flip-flops/user memory, SEFI, SEL, and TID Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 11

SEU in configuration memory SEUs in configuration memory affect internal architecture and interconnections Mitigation is classically achieved by scrubbing the entire configuration memory content the rate depends on the application and expected SEU rate Scrubbing is generally ruled by external circuit; for some devices it can be also performed by internal logic In some cases rewriting implies a device reset it might provokes short service interruptions The time a device takes to reconfigure depends on the device size and allowed reconfiguration frequency Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 12

SEUs in flip flops/user memory The traditional approach for mitigating SEUs in flip flops is modular redundancy with voting scheme For SEUs affecting registers and user memory, error detecting and correcting codes can also be employed In case of data that are frequently rewritten, mitigation is easily obtained as new data overwrite old and possibly corrupted ones In case of data that do not vary often, scrubbing of registers and user memory can also be adopted for mitigating SEUs If dual port memories are employed, scrubbing can be performed in parallel with data access Modular redundancy with voting can be applied at resource, i.e. flips flops, as well as device level Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 13

SEFI An SEFI is a condition in which an SEU occurs in the device's control circuitry which prevents any further configurations As a countermeasure in case of a SEFI, a device reset is usually performed If that does not work, the device is power cycled Short service interruptions might occur Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 14

TID Countermeasures for TID are the choice of appropriate devices (technology), if possible, and adequate shielding Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 15

SEL Countermeasures for SELs are the same as for TID Ad hoc circuitry can also be developed which is able to detect progressively increase of current absorption and possibly switch off the device Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 16

SRAM-FPGA in space Venus Express Mars Reconnaissance Orbiter Mars Landers (pyro control) Mars Rovers (motor control) GRACE FedSat OPTUS Signal Processing TACSAT2 CIBOLA 17

Evaluation of SEU effects Radiation ground testing The higher the energy beams the better Complex experimental set-up Expensive! Simulation Slow Fault emulation Faster than simulation and nominal operation speed Static analysis Independence from test vectors STAR, RoRA by Politecnico di Torino Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 18

FLIPPER FLIPPER is funded by ESA http://www.esa.int/tec/microelectronics/semp 0NU681F_0.html FLIPPER injects bit-flips within the FPGA configuration memory by means of partial re-configuration The system consists of a hardware platform and a software application running on a PC DUT device is an XQR2V6000 hosted on a piggy-back board TID tolerance up to 200 krad(si) SEL immunity LET > 160 MeV cm2/mg Test vectors and reference values for the functional test of implemented designs are imported by the software application from an external HDL simulator Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 19

Fault Model Bit-flip of configuration memory cells Bit-flips in configuration memory may affect Logic functions Circuit topology G4 G3 G2 G1 A4 A3 A2 LUT G A1 WS DI 1 0 1 COUT YB Y BY CLK Logica di controllo Logica di controllo D S Q CE FF Clk R YQ CE SR F5 from another slice F5 F6 GSR F5 to another XB F4 F3 F2 F1 WS DI A4 O A3 A2 LUT F A1 1 0 1 slice D S Q CE FF Clk R X XQ BX CIN Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 20

Fault Model Bit-flip of configuration memory cells Bit-flips in configuration memory may affect Logic functions Circuit topology Configuration memory represents the majority of device Accelerator validation of FLIPPER at PSI, November 2008 XQR2V6000 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 21

What s FLIPPER for Quantitative characterization of design robustness Workload dependant analysis of sensitive bits Comparison of design hardening techniques Tuning of design redundancy and protection Optimization of radiation ground testing Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 22

An Example Design Entry Simulation TEST Vectors Synthesis Plain Design implementation Plain Design Hardening Hardened Design implementation Hardened Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 23

Basic Test Procedure Bit flip address set Test and gold vectors DUT bitstream Main steps: Control Board initialization DUT configuration Bit-flip injection by partial configuration Functional test Failure log file analysis Test vectors Gold vectors Output vectors Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 24

FI Campaigns How configuration memory locations to flip are chosen? Systematic identifies the design sensitive bits with respect to the applied set of test vectors Random mimics the irradiation experiment (bit-flip accumulation) Specific evaluates the impact of critical bits for a given workload 1 2 3 4 5 6 7 8 9 1 4 3 6 5 2 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 25

Systematic FI Campaign Identifies the design critical bits with respect to the applied set of test vectors each and every configuration memory bit is addressed and flipped the altered bit is restored before the successive injection is performed Results list of critical bits (i.e. bits that, when flipped, cause a failure) σ app-pseudo-stat = #critical bits σ bit Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 26

Systematic FI Campaign: an example Resources MULT_36 MULT_18 IOBs [#] 102 (12%) 84 (10%) LUTs [#] 40,957 (60%) 20,478 (30%) FFs [#] 2,304 (3%) 1,152 (1%) A(31..0) B(31..0) D(63..0) 64 bit register Q(63..0) 64 bit parity generator parity 1200 Test vector @10 MHz #critical bits = 1,799,480 σ app-pseudo-stat = 5.96 10-8 cm 2 Host Device XQR2V6000 # configuration cells = 19.742.976 #critical bits = 874.599 σ app-pseudo-stat = 2.89 10-8 cm 2 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 27

Random FI Campaign Random: mimics the irradiation experiment configuration memory bits to be flipped are randomly addressed the altered bit is NOT restored before the successive injection is performed several injection RUNs RUN -> injection procedure iterates until a predefined number of injection is reached or design failure occurs Results: Injections to failure distribution Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 28

How to define a Random FI campaign Maximum number of injections per RUN? High -> accumulation effects are highlighted Low -> realistic application case, upsets into configuration memory should not be allowed to accumulate Whole circuit or per module analysis? Modules are defined by output partitions Injections are always performed into the whole configuration memory Failed modules are ruled out (by dynamically masking their output) SEU sensitivity analysis of different design parts can be easily accomplished Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 29

Random FI Campaign: an example ESA benchmark design consisting of modules FFT: Fourier Transform of a data matrix MULT16_LUT: 2-stage 16x16 bit multiplier instantiated twice MULT16_MULT18: 10-stage 16x16 bit multiplier instantiated twice (embedded) FFmatrix: two identical copies of a shift register chain (480 bits each) ROMff: two copies of a shift register (256 bit each); the former is loaded and holds the stored values, the latter reads the values stored by the former Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 30

Example: V1 and V2 variants V1 and V2 design variants V1 is a TMR version of the plain design, voters are inserted only in the last stage and after flip-flops with feedback paths. In V2 voter are inserted after EACH flip-flop Combinatorial Logic Flip-Flop Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Redundant Domain 1 Redundant Domain 1 Combinatorial Logic Flip-Flop Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Redundant Domain 2 Redundant Domain 2 Combinatorial Logic Flip-Flop Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Combinatorial Logic Flip-Flop V Redundant Domain 3 Redundant Domain 3 First Stage Last Stage First Stage Last Stage Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 31

FPGA resource usage Example: resource usage Host Device XQR2V6000 # configuration cells 19.742.976 Resource Plain V1 V2 FF LUT IOB MULT 18x18 GCLK 2,926 (4%) 3,806 (5%) 87 (10%) 32 (22%) 1 (6%) 8,778 (12%) 13,437 (19%) 264 (32%) 96 (66%) 3 18%) 8,778 (12%) 29,217 (43%) 267 (32%) 96 (66%) 3 (18%) FFmatrix V1 V2 FF (DFF) 3,313 3,313 LUT (FG) 813 7,437 MULT 18x18 0 0 Mult16_LUT V1 V2 FF (DFF) 579 579 LUT (FG) 3543 4701 MULT 18x18 0 0 FFTout V1 V2 FF (DFF) 1080 1080 LUT (FG) 5382 6468 MULT 18x18 36 36 Mult16_Mult18 V1 V2 FF (DFF) 2139 2139 LUT (FG) 507 4785 MULT 18x18 60 60 ROMff V1 V2 FF (DFF) 1572 1572 LUT (FG) 2421 4758 MULT 18x18 0 0 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 32

Example: per module results Max 100k injections per RUN 28000 test vector @10 MHz Per module analysis MOST sensitive module -> Mult16_Mult18 LESS sensitive module -> Mult16_LUT Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 33

Example: V1 and V2 results General behaviour V2 better than V1 with different grade depending on module Exception FFT, not completely surprising -> bit-flips accumulation invalidates the redundant domains independence Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 34

Specific FI Campaign Evaluates the impact of critical bits for a given workload selected bits in the configuration memory are injected the altered bit is restored before the successive injection is performed Results: list of sensitive bits w.r.t. a selected workload Example Simple 8 bit counter protected by TMR List of critical bit idenfied by STAR (Static Analysis Tool by Politecnico di Torino) X-TMR Circuit CLB [#] IOBs [#] Slices [#] LUTs [#] FFs [#] COUNT8 33 90 130 144 120 Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 35

Results COUNT8 Bit position STAR FLIPPER Resource CLB coordinates Fault type 10,510,980 x SM R[15]C[60] Short PIP OMUX14 XQ0 10,637,088 x x LUT R[17]C[61] LUT first bit upset 10,629,222 x x MUX Y R[17]C[61] 10,629,230 x x MUX OUT R[17]C[61] Control bit upset Control bit upset Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 36

Results COUNT8 Short of feedback voter signals of different TMR domains Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 37

Results COUNT8 Bit position STAR FLIPPER Resource CLB coordinates Fault type 10,510,980 x SM R[15]C[60] Short PIP OMUX14 XQ0 10,637,088 x x LUT R[17]C[61] LUT first bit upset 10,629,222 x x MUX Y R[17]C[61] 10,629,230 x x MUX OUT R[17]C[61] Control bit upset Control bit upset Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 38

Future of the work Improve system performances Upgrade FLIPPER to further device families and accelerator validation Improve the integrated FLIPPER/STAR-RoRA flow for SEU susceptibility analysis (ESA) Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 39

References C.R. Yount, D.P. Sieworek, A methodology for the rapid injection of transient hardware errors, IEEE Trans. on Computers, vol. 45. n.8, August 1996, pp. 881-891. P.E. Dodd and L.W. Massengill, Basic Mechanisms and Modeling of Single-Event Upset in Digital Microelectronics, IEEE Trans. on Nucl. Sci., vol. 50, n. 3, pp 583-602, June 2003. M. Caffrey, P. Graham, E. Johnson and M. Wirthlin,, Single-Event Upsets in SRAM FPGAs, in Proc. of the Military and Aerospace Applications of Programmable Devices Int l Conference (MAPLD), September 2002. M. Alderighi, F. Casini, S. D'Angelo, M. Mancini, S. Pastore, G.R. Sechi, and R. Weigand, Evaluation of Single Event Upset Mitigation Schemes for SRAM based FPGAs using the FLIPPER Fault Injection Platform, Proc. of the 22th IEEE Int'l Symp. on Defect and Fault Tolerance in VLSI Systems, Rome, Italy, pp. 105-113, Sept. 2007. M. Alderighi, F. Casini, S. D'Angelo, M. Mancini, S. Pastore, L. Sterpone, and M. Violante, "Soft errors in SRAM-based FPGAs: a comparison of two complementary approaches", IEEE Trans. on Nucl. Sci., vol. 55, n. 4, August 2008, pp. 2267-2273. M. Alderighi, F. Casini, M. Citterio, S. D'Angelo, M. Mancini, S. Pastore, G.R. Sechi, G. Sorrenti, Using FLIPPER to Predict Irradiation Results for VIRTEX 2 Devices, Proceedings of the 2008 European Workshop on Radiation Effects on Components and Systems, Jyväskylä, Finland, Sept. 10-12, 2008. M. Alderighi, F. Casini, S. D'Angelo, M. Mancini, D. Merodio Codinachs, S. Pastore, G. Sorrenti, L. Sterpone, R. Weigand, and M. Violante, Robustness analysis of soft error accumulation in SRAM-FPGAs using FLIPPER and STAR/RoRA, Proceedings of the 2008 European Workshop on Radiation Effects on Components and Systems, Jyväskylä, Finland, Sept. 10-12, 2008. M. Alderighi, F. Casini, M. Citterio, S. D'Angelo, M. Mancini, S. Pastore, G.R. Sechi, G. Sorrenti, Using FLIPPER to Predict Irradiation Results for VIRTEX 2 Devices, Proceedings of the 2008 European Workshop on Radiation Effects on Components and Systems, Jyväskylä, Finland, Sept. 10-12, 2008. M. Alderighi, F. Casini, M. Citterio, S. D'Angelo, M. Mancini, S. Pastore, G.R. Sechi, G. Sorrenti, Using FLIPPER to Predict Proton Irradiation Results for VIRTEX 2 Devices: a Case Study, IEEE Trans. on Nucl. Sci., in print. Scuola Nazionale Laboratori Nazionali di Legnaro, INFN, 23 Aprile 2009 40

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