SaaP: Rearchitect SoC-as-a-Processor to Orchestrate Hardware Heterogeneity

Due to the end of Moore’s Law and Dennard Scaling, Domain-Specific Accelerators (DSAs) have come to a Cambrian explosion. Especially when advancing into the intelligent era, more and more DSAs are integrated into System-on-Chips (SoCs) as intellectual property (IP) blocks to provide high performance and efficiency. Currently, IPs usually expose IP-dependent hardware interfaces, requiring SoCs to manage them as isolated devices with software running on the host CPU. However, such software-managed heterogeneity in CPU-centric SoCs leads to low IP utilization. This inefficiency arises from the dependence on software optimization, coupled with the control and data exchange overheads. To improve IP utilization of heterogeneous SoCs, in this article, we rearchitect the SoC as a processor (i.e., SaaP) to orchestrate hardware heterogeneity. SaaP features an orchestration pipeline where DSAs are integrated as execution units and managed directly by the hardware pipeline to conceal the hardware heterogeneity from software. Moreover, SaaP redesigns the register file and data paths to implement an IP-level data-forwarding mechanism, avoiding the costly control and data exchange in the CPU-centric execution model. Block data dependence among different DSAs is carefully resolved to exploit mixed-level parallelism and inter-IP data exchange. SaaP abstracts tasks as mixed-scale instructions, where each instruction can be mapped to different IPs. Experimental results show that compared against Xavier on six fully software-optimized benchmarks from different domains, SaaP-rearchitected Xavier achieves a $2.08{\times }$ speedup, with an 8.21% area reduction and only 2.98% increase in power consumption.