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| <items xsi:type="am:Ticks"> |
| <extended key="Denver?type=ProcessingUnitDefinition"> |
| <value xsi:type="am:DiscreteValueStatistics" lowerBound="6199994" upperBound="12599994" average="8399994.0" /> |
| </extended> |
| <extended key="A57?type=ProcessingUnitDefinition"> |
| <value xsi:type="am:DiscreteValueStatistics" lowerBound="8399985" upperBound="17399985" average="1.0599985E7" /> |
| </extended> |
| </items> |
| <items xsi:type="am:LabelAccess" data="x_car_host?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="y_car_host?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="yaw_car_host?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Detection_host_to_device" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Image_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Image_device?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Detection_device_to_host" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Bounding_box_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Bounding_box_host?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Lane_Detection_host_to_device" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Image_lane_lines_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Image_lane_lines_device?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Lane_Detection_device_to_host" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Lane_boundaries_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Lane_boundaries_host?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="SFM_host_to_device" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="IMU_data_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Image_SFM_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Image_SFM_device?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="IMU_data_device?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="SFM_device_to_host" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Matrix_SFM_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Matrix_SFM_host?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Localization_host_to_device" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="Cloud_map_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Vehicle_status_host?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="Cloud_map_device?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="Vehicle_status_device?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Localization_device_to_host" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:LabelAccess" data="x_car_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="y_car_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="yaw_car_device?type=Label" access="read" /> |
| <items xsi:type="am:LabelAccess" data="x_car_host?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="y_car_host?type=Label" access="write" /> |
| <items xsi:type="am:LabelAccess" data="yaw_car_host?type=Label" access="write" /> |
| </activityGraph> |
| </runnables> |
| <runnables name="Detection_Function" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <extended key="GPU_def?type=ProcessingUnitDefinition"> |
| <value xsi:type="am:DiscreteValueStatistics" lowerBound="162000000" upperBound="174000000" average="1.65E8" /> |
| </extended> |
| </items> |
| </activityGraph> |
| </runnables> |
| <runnables name="AsyncOffloadingCosts" callback="false" service="false"> |
| <activityGraph> |
| <items xsi:type="am:Ticks"> |
| <extended key="Denver?type=ProcessingUnitDefinition"> |
| <value xsi:type="am:DiscreteValueConstant" value="5000" /> |
| </extended> |
| <extended key="A57?type=ProcessingUnitDefinition"> |
| <value xsi:type="am:DiscreteValueConstant" value="5000" /> |
| </extended> |
| </items> |
| </activityGraph> |
| </runnables> |
| <labels name="Cloud_map_host" constant="false" bVolatile="false"> |
| <size value="1500" unit="kB" /> |
| </labels> |
| <labels name="Occupancy_grid_host" constant="false" bVolatile="false"> |
| <size value="500" unit="kB" /> |
| </labels> |
| <labels name="Cloud_map_device" constant="false" bVolatile="false"> |
| <size value="1500" unit="kB" /> |
| </labels> |
| <labels name="Vehicle_status_host" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="Vehicle_status_device" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="x_car_host" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="y_car_host" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="yaw_car_host" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="x_car_device" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="y_car_device" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="yaw_car_device" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="vel_car" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="yaw_rate" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="steer_objective" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="speed_objective" constant="false" bVolatile="false"> |
| <size value="1" unit="kB" /> |
| </labels> |
| <labels name="NN_weights" constant="false" bVolatile="false"> |
| <size value="142" unit="MB" /> |
| </labels> |
| <labels name="Matrix_SFM_host" constant="true" bVolatile="false"> |
| <size value="24" unit="kB" /> |
| </labels> |
| <labels name="Matrix_SFM_device" constant="true" bVolatile="false"> |
| <size value="24" unit="kB" /> |
| </labels> |
| <labels name="Image_lane_lines_host" constant="false" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="Image_lane_lines_device" constant="false" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="Bounding_box_host" constant="false" bVolatile="false"> |
| <size value="750" unit="kB" /> |
| </labels> |
| <labels name="Bounding_box_device" constant="false" bVolatile="false"> |
| <size value="750" unit="kB" /> |
| </labels> |
| <labels name="Image_host" constant="true" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="Image_device" constant="true" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="Image_SFM_host" constant="true" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="Image_SFM_device" constant="true" bVolatile="false"> |
| <size value="2" unit="MB" /> |
| </labels> |
| <labels name="IMU_data_host" constant="false" bVolatile="false"> |
| <size value="256" unit="B" /> |
| </labels> |
| <labels name="IMU_data_device" constant="true" bVolatile="false"> |
| <size value="256" unit="B" /> |
| </labels> |
| <labels name="Lane_boundaries_host" constant="false" bVolatile="false"> |
| <size value="256" unit="B" /> |
| </labels> |
| <labels name="Lane_boundaries_device" constant="false" bVolatile="false"> |
| <size value="256" unit="B" /> |
| </labels> |
| <events name="Lane_detect_GPU" communicationOverheadInBit="0" /> |
| <events name="Detect" communicationOverheadInBit="0" /> |
| <events name="SFM" communicationOverheadInBit="0" /> |
| <events name="Localization_GPU" communicationOverheadInBit="0" /> |
| </swModel> |
| <hwModel> |
| <definitions xsi:type="am:ProcessingUnitDefinition" name="A57" puType="CPU" /> |
| <definitions xsi:type="am:ProcessingUnitDefinition" name="Denver" puType="CPU" /> |
| <definitions xsi:type="am:ProcessingUnitDefinition" name="GPU_def" puType="GPU" features="CudaCores/CudaCoreXSM_128?type=HwFeature SMs/SM_2?type=HwFeature" /> |
| <definitions xsi:type="am:MemoryDefinition" name="LPDDR4" memoryType="DRAM"> |
| <size value="8" unit="GB" /> |
| <accessLatency xsi:type="am:DiscreteValueConstant" value="0" /> |
| </definitions> |
| <definitions xsi:type="am:ConnectionHandlerDefinition" name="Interconnect" policy="RoundRobin" maxBurstSize="4" maxConcurrentTransfers="1" /> |
| <definitions xsi:type="am:CacheDefinition" name="CPU_L2" cacheType="unified" writeStrategy="writeback" nWays="4" coherency="false" exclusive="false" hitRate="0.0"> |
| <size value="2" unit="MB" /> |
| <lineSize value="64" unit="B" /> |
| </definitions> |
| <definitions xsi:type="am:CacheDefinition" name="GPU_L2" cacheType="data" writeStrategy="writeback" nWays="4" coherency="false" exclusive="false" hitRate="0.0"> |
| <size value="512" unit="kB" /> |
| <lineSize value="64" unit="B" /> |
| </definitions> |
| <featureCategories name="CudaCores" description="" featureType="performance"> |
| <features name="CudaCoreXSM_128" value="128.0" /> |
| </featureCategories> |
| <featureCategories name="SMs" featureType="performance"> |
| <features name="SM_2" value="2.0" /> |
| </featureCategories> |
| <structures name="JetsonTX2" structureType="System"> |
| <structures name="GPU island" structureType="Cluster"> |
| <modules xsi:type="am:ProcessingUnit" name="GP10B" frequencyDomain="GPU_Domain?type=FrequencyDomain" definition="GPU_def?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="128" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="GPUtoDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="5" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="5" /> |
| <dataRate value="20" unit="GBPerSecond" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:Cache" name="L2_GP10B" frequencyDomain="GPU_Domain?type=FrequencyDomain" definition="GPU_L2?type=CacheDefinition" /> |
| </structures> |
| <structures name="ARM island" structureType="Cluster"> |
| <modules xsi:type="am:ProcessingUnit" name="Core2" frequencyDomain="A57_Domain?type=FrequencyDomain" definition="A57?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C2toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:ProcessingUnit" name="Core3" frequencyDomain="A57_Domain?type=FrequencyDomain" definition="A57?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C3toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:ProcessingUnit" name="Core4" frequencyDomain="A57_Domain?type=FrequencyDomain" definition="A57?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C4toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:ProcessingUnit" name="Core5" frequencyDomain="A57_Domain?type=FrequencyDomain" definition="A57?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C5toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="40" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:Cache" name="L2_A57" frequencyDomain="A57_Domain?type=FrequencyDomain" definition="CPU_L2?type=CacheDefinition" /> |
| </structures> |
| <structures name="Denver island" structureType="Cluster"> |
| <modules xsi:type="am:ProcessingUnit" name="Core0" frequencyDomain="Denver_Domain?type=FrequencyDomain" definition="Denver?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C0toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="16" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="16" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:ProcessingUnit" name="Core1" frequencyDomain="Denver_Domain?type=FrequencyDomain" definition="Denver?type=ProcessingUnitDefinition"> |
| <ports name="P1" bitWidth="64" priority="0" portType="initiator" portInterface="custom" /> |
| <accessElements name="C1toDRAM" destination="SYSTEM_DRAM?type=Memory"> |
| <readLatency xsi:type="am:DiscreteValueConstant" value="16" /> |
| <writeLatency xsi:type="am:DiscreteValueConstant" value="16" /> |
| </accessElements> |
| </modules> |
| <modules xsi:type="am:Cache" name="L2_Denver" frequencyDomain="Denver_Domain?type=FrequencyDomain" definition="CPU_L2?type=CacheDefinition" /> |
| </structures> |
| <modules xsi:type="am:Memory" name="SYSTEM_DRAM" frequencyDomain="DRAM_eff_Freq?type=FrequencyDomain" definition="LPDDR4?type=MemoryDefinition"> |
| <ports name="Mem_P1" bitWidth="128" priority="0" portType="responder" portInterface="AXI" /> |
| </modules> |
| <modules xsi:type="am:ConnectionHandler" name="Intercon" frequencyDomain="DRAM_eff_Freq?type=FrequencyDomain" definition="Interconnect?type=ConnectionHandlerDefinition"> |
| <ports name="Inter_P1" bitWidth="128" priority="0" portType="responder" portInterface="AXI" /> |
| <ports name="Inter_P2" bitWidth="128" priority="0" portType="responder" portInterface="AXI" /> |
| <ports name="Inter_P3" bitWidth="128" priority="0" portType="responder" portInterface="AXI" /> |
| <ports name="Inter_P4" bitWidth="128" priority="0" portType="initiator" portInterface="AXI" /> |
| </modules> |
| </structures> |
| <domains xsi:type="am:FrequencyDomain" name="A57_Domain" clockGating="false"> |
| <defaultValue value="2.0" unit="GHz" /> |
| </domains> |
| <domains xsi:type="am:FrequencyDomain" name="Denver_Domain" clockGating="false"> |
| <defaultValue value="2.0" unit="GHz" /> |
| </domains> |
| <domains xsi:type="am:FrequencyDomain" name="GPU_Domain" clockGating="false"> |
| <defaultValue value="1.5" unit="GHz" /> |
| </domains> |
| <domains xsi:type="am:FrequencyDomain" name="DRAM_eff_Freq" clockGating="false"> |
| <defaultValue value="1.5" unit="GHz" /> |
| </domains> |
| </hwModel> |
| <osModel> |
| <operatingSystems name="Sched_Cluster_A57"> |
| <taskSchedulers name="Scheduler_A57"> |
| <schedulingAlgorithm xsi:type="am:FixedPriorityPreemptive" /> |
| </taskSchedulers> |
| </operatingSystems> |
| <operatingSystems name="GPU_Cluster"> |
| <taskSchedulers name="GPU_Sched"> |
| <schedulingAlgorithm xsi:type="am:UserSpecificSchedulingAlgorithm"> |
| <parameterExtensions key="minimumTimeslice" value="1000 µs" /> |
| <parameterExtensions key="maximumTimeslice" value="50000 µs" /> |
| </schedulingAlgorithm> |
| </taskSchedulers> |
| </operatingSystems> |
| <operatingSystems name="Scheduling_Cluster_Denver"> |
| <taskSchedulers name="Scheduler_Denver"> |
| <schedulingAlgorithm xsi:type="am:FixedPriorityPreemptive" /> |
| </taskSchedulers> |
| </operatingSystems> |
| </osModel> |
| <stimuliModel> |
| <stimuli xsi:type="am:InterProcessStimulus" name="SFM_stim" /> |
| <stimuli xsi:type="am:InterProcessStimulus" name="Localization_stim" /> |
| <stimuli xsi:type="am:InterProcessStimulus" name="detection_stim" /> |
| <stimuli xsi:type="am:InterProcessStimulus" name="Lane_detection_stim" /> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_5ms"> |
| <recurrence value="5" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_10ms"> |
| <recurrence value="10" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_12ms"> |
| <recurrence value="12" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_15ms"> |
| <recurrence value="15" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_33ms"> |
| <recurrence value="33" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_66ms"> |
| <recurrence value="66" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_100ms"> |
| <recurrence value="100" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_200ms"> |
| <recurrence value="200" unit="ms" /> |
| </stimuli> |
| <stimuli xsi:type="am:PeriodicStimulus" name="periodic_400ms"> |
| <recurrence value="400" unit="ms" /> |
| </stimuli> |
| </stimuliModel> |
| <eventModel> |
| <events xsi:type="am:ProcessEvent" name="Lidar_Grabber" description="" eventType="start" entity="Lidar_Grabber?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="Localization_CPU" description="" eventType="start" entity="PRE_Localization_gpu_POST?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="EKF" description="" eventType="start" entity="EKF?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="Planner" eventType="start" entity="Planner?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="DASM" description="" eventType="start" entity="DASM?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="CAN" eventType="start" entity="CANbus_polling?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="Detection_CPU" description="" eventType="start" entity="PRE_Detection_gpu_POST?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="SFM_CPU" description="" eventType="start" entity="PRE_SFM_gpu_POST?type=Task" /> |
| <events xsi:type="am:ProcessEvent" name="Lane_Detection_CPU" eventType="start" entity="PRE_Lane_detection_gpu_POST?type=Task" /> |
| </eventModel> |
| <constraintsModel> |
| <eventChains name="EC_LidarGrabber_to_DASM" stimulus="Lidar_Grabber?type=ProcessEvent" response="DASM?type=ProcessEvent" itemType="sequence" minItemsCompleted="1"> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="lidarGrabber_to_localization_sub" stimulus="Lidar_Grabber?type=ProcessEvent" response="Localization_CPU?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="localization_to_EKF_sub" stimulus="Localization_CPU?type=ProcessEvent" response="EKF?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="EKF_to_planner_sub" stimulus="EKF?type=ProcessEvent" response="Planner?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="planner_to_DASM_sub" stimulus="Planner?type=ProcessEvent" response="DASM?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| </eventChains> |
| <eventChains name="EC_CAN_DASM" stimulus="CAN?type=ProcessEvent" response="DASM?type=ProcessEvent" itemType="sequence" minItemsCompleted="1"> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="CAN_to_localization_sub" stimulus="CAN?type=ProcessEvent" response="Localization_CPU?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="localization_to_EKF_sub" stimulus="Localization_CPU?type=ProcessEvent" response="EKF?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="EKF_to_planner_sub" stimulus="EKF?type=ProcessEvent" response="Planner?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="planner_to_DASM_sub" stimulus="Planner?type=ProcessEvent" response="DASM?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| </eventChains> |
| <eventChains name="EC_SFM_DASM" stimulus="SFM_CPU?type=ProcessEvent" response="DASM?type=ProcessEvent" itemType="sequence" minItemsCompleted="1"> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="SFM_to_planner_sub" stimulus="SFM_CPU?type=ProcessEvent" response="Planner?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="planner_to_DASM_sub" stimulus="Planner?type=ProcessEvent" response="DASM?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| </eventChains> |
| <eventChains name="EC_LaneDetection_DASM" stimulus="Lane_Detection_CPU?type=ProcessEvent" response="DASM?type=ProcessEvent" itemType="sequence" minItemsCompleted="1"> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="LaneDetection_to_planner_sub" stimulus="Lane_Detection_CPU?type=ProcessEvent" response="Planner?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="planner_to_DASM_sub" stimulus="Planner?type=ProcessEvent" response="DASM?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| </eventChains> |
| <eventChains name="EC_Detection_DASM" stimulus="Detection_CPU?type=ProcessEvent" response="DASM?type=ProcessEvent" itemType="sequence" minItemsCompleted="1"> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="Detection_to_planner_sub" stimulus="Detection_CPU?type=ProcessEvent" response="Planner?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| <items xsi:type="am:EventChainContainer"> |
| <eventChain name="planner_to_DASM_sub" stimulus="Planner?type=ProcessEvent" response="DASM?type=ProcessEvent" minItemsCompleted="1" /> |
| </items> |
| </eventChains> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_DASM" process="DASM?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="5" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_CAN" process="CANbus_polling?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="10" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_Planner" process="Planner?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="12" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_EKF" process="EKF?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="15" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_LIDAR" process="Lidar_Grabber?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="33" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_SFM" process="PRE_SFM_gpu_POST?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="33" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_Detection" process="PRE_Detection_gpu_POST?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="200" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_Lane_Detection" process="PRE_Lane_detection_gpu_POST?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="66" unit="ms" /> |
| </limit> |
| </requirements> |
| <requirements xsi:type="am:ProcessRequirement" name="Deadline_Task_Localization" process="PRE_Localization_gpu_POST?type=Task"> |
| <limit xsi:type="am:TimeRequirementLimit" limitType="UpperLimit" metric="ResponseTime"> |
| <limitValue value="400" unit="ms" /> |
| </limit> |
| </requirements> |
| </constraintsModel> |
| <mappingModel addressMappingType="address"> |
| <schedulerAllocation scheduler="GPU_Sched?type=TaskScheduler" responsibility="GP10B?type=ProcessingUnit" executingPU="GP10B?type=ProcessingUnit" /> |
| <schedulerAllocation scheduler="Scheduler_Denver?type=TaskScheduler" responsibility="Core0?type=ProcessingUnit Core1?type=ProcessingUnit" executingPU="Core0?type=ProcessingUnit" /> |
| <schedulerAllocation scheduler="Scheduler_A57?type=TaskScheduler" responsibility="Core2?type=ProcessingUnit Core3?type=ProcessingUnit Core4?type=ProcessingUnit Core5?type=ProcessingUnit" executingPU="Core0?type=ProcessingUnit" /> |
| <taskAllocation task="CANbus_polling?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core2?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="OS_Overhead?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core3?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="DASM?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core4?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="Lidar_Grabber?type=Task" scheduler="Scheduler_Denver?type=TaskScheduler" affinity="Core0?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="Planner?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core5?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="EKF?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core2?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="PRE_Detection_gpu_POST?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core5?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="PRE_Lane_detection_gpu_POST?type=Task" scheduler="Scheduler_A57?type=TaskScheduler" affinity="Core5?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="PRE_SFM_gpu_POST?type=Task" scheduler="Scheduler_Denver?type=TaskScheduler" affinity="Core0?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="PRE_Localization_gpu_POST?type=Task" scheduler="Scheduler_Denver?type=TaskScheduler" affinity="Core1?type=ProcessingUnit"> |
| <schedulingParameters priority="1" /> |
| </taskAllocation> |
| <taskAllocation task="Lane_detection?type=Task" scheduler="GPU_Sched?type=TaskScheduler" affinity="GP10B?type=ProcessingUnit"> |
| <parameterExtensions key="TimeSlice_Lane_detection" value="50000us" /> |
| </taskAllocation> |
| <taskAllocation task="Detection?type=Task" scheduler="GPU_Sched?type=TaskScheduler" affinity="GP10B?type=ProcessingUnit"> |
| <parameterExtensions key="TimeSlice_Detection" value="50000us" /> |
| </taskAllocation> |
| <taskAllocation task="SFM?type=Task" scheduler="GPU_Sched?type=TaskScheduler" affinity="GP10B?type=ProcessingUnit"> |
| <parameterExtensions key="TimeSlice_SFM" value="7200us" /> |
| </taskAllocation> |
| <taskAllocation task="Localization?type=Task" scheduler="GPU_Sched?type=TaskScheduler" affinity="GP10B?type=ProcessingUnit"> |
| <parameterExtensions key="TimeSlice_Localization" value="50000us" /> |
| </taskAllocation> |
| <memoryMapping abstractElement="Bounding_box_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Bounding_box_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Cloud_map_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Cloud_map_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_lane_lines_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_lane_lines_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_SFM_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Image_SFM_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="IMU_data_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="IMU_data_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Lane_boundaries_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Lane_boundaries_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Matrix_SFM_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Matrix_SFM_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="NN_weights?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Occupancy_grid_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="speed_objective?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="steer_objective?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Vehicle_status_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="Vehicle_status_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="vel_car?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="x_car_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="x_car_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="y_car_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="y_car_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="yaw_car_device?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="yaw_car_host?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| <memoryMapping abstractElement="yaw_rate?type=Label" memory="SYSTEM_DRAM?type=Memory" memoryPositionAddress="0x0" /> |
| </mappingModel> |
| </am:Amalthea> |
