Paper Details

Communicating Process Architectures (CPA)
 Title: Mapping CSP Models for Embedded Control Software to Hardware Using CλaSH
 Conference: Communicating Process Architectures 2016
 Authors: Frits P. Kuipersa, Rinse Westerb, Jan Kuperb, Jan F. Broeninka
(a) Robotics and Mechatronics, CTIT Institute, University of Twente
(b) Computer Architecture for Embedded Systems, CTIT Institute, University of Twente
 Abstract: Current robotic systems are becoming more and more complex. This is due to an increase in the number of subsystems that have to be controlled from a central processing unit as well as more stringent requirements on stability, reliability and timing. A possible solution is to offload computationally demanding parts to an FPGA controlled by the main processor. The parallel nature of FPGAs makes achieving hard real-time guarantees more easy. Additionally, due its parallel and sequential constructs, CSP matches structurally with an FPGA. In this paper, a CSP to hardware mapping is proposed where key CSP structures are translated to hardware using the functional language CλaSH. The CSP structures can be designed using the TERRA tool chain while CλaSH code is generated for implementing hardware. The functionality of the CSP mapping is illustrated using some producer-consumer examples. In this paper, the design, implementation and tests are presented. Future work is to implement the ALT construct and generate token diagrams for user understanding. 
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