Download Thermal modeling

© Mircea Stan, Kevin Skadron, David Brooks, 2002
Overview
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Motivation (Kevin)
Thermal issues (Kevin)
Power modeling (David)
Thermal management (David)
Optimal DTM (Lev)
Clustering (Antonio)
Power distribution (David)
What current chips do (Lev)
HotSpot (Kevin)
PowerPC G3 Microprocessor
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• On-chip temperature sensor (junction
temperature)
– Based on differential voltage change
across 2 diodes of different sizes
– Implemented in PowerPC G3/G4
processors
• OS required for control
• Instruction Cache Throttling used to
dynamically lower junction
temperature
Pentium III
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• On-die thermal diode
– Coupled with board-level thermal diode
sensor
• Uses
– Monitor long-term temperature and
environmental trends
– Provide indication of catastrophic failure
Pentium 4
• Thermal ramp rates ~50ºC/second
© Mircea Stan, Kevin Skadron, David Brooks, 2002
(over whole package)
• Much too high for coarse-grained
solutions
• Thermal Monitor
– Highly-accurate on-die temperature
sensing circuit
– Fast acting temperature control circuit
(~50ns)
Temperature Sensing Diode
Reference
Current
Source
PROCHOT
#
Current
Comparator
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Pentium 4 -- Thermal Monitor
• Trip Point is calibrated at
manufacturing time
• Simple response
– Turn processor clocks on/off at 50% duty
cycle
– For 1.5GHz processor, ~2s on + ~2s off?
Pentium 4 -- Results
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• For 200 traces (TPC-C, SPEC,
Microsoft)
– Thermal design point can be reduced to
75% of true “max power” with minimal
performance loss
Pentium 4
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Thermal monitors allow
– Tradeoff between cost and performance
– Cheaper package
• More triggers, Less Performance
– Expensive package
• No triggers, no performance loss
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Architecture-level Thermal Management
• Dynamically adjust execution to control
temperature
• Avoid catastrophic failure (heat sink, fan)
• Permit use of less expensive package
– Design for less than the worst case
– Package costs ~$1/W above ~40 W
– Heat sinks, heat pipes, thinned wafers, fans
• Fans reduce battery life
– Peak power as high as 150 W now and > 200W in
1-2 generations
– Temperatures over 100°C
• More fundamentally -- there is a need for
architecture-level thermal modeling
– What’s actually going on in there?
© Mircea Stan, Kevin Skadron, David Brooks, 2002
HotSpot project
• Collaboration between HPLP and
LAVA Labs (ECE and CS depts. UVa)
• Deal with “hot spots”
– Localized heating occurs much
faster than chip-wide
• microsec. to millisec.
– Chip-wide treatment is too conservative
• seconds to minutes
• but there is significant lateral
thermal coupling through the package
• How do we model this?
• Prove temperature will be
safely bounded
Hot spots in Power4
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Temperature “landscape”: space and time
How to estimate early in the design cycle?
Thermal modeling
• Want a fine-grained, dynamic model of
© Mircea Stan, Kevin Skadron, David Brooks, 2002
temperature
– At a granularity architects can reason
about
– That accounts for adjacency and package
– That does not require detailed designs
– That is fast enough for practical use
• HotSpot - a compact model based on
thermal R, C
– Parameterized to automatically derive a
model based on various
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Architectures
Power models
Floorplans
Thermal Packages
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Dynamic compact thermal model
Electrical-thermal duality
V temp (T)
I power (P)
R thermal resistance (Rth)
C thermal capacitance (Cth)
RC time constant (Rth Cth)
T_hot
T_amb
Kirchoff Current Law
differential eq.
I = C · dV/dt + V/R
thermal domain P = Cth · dT/dt + T/Rth
where T = T_hot – T_amb
At higher granularities of P, Rth, Cth
P, T are vectors and Rth, Cth are circuit matrices
Package we model
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Heat sink
IC Package
Heat spreader
PCB
Die
Pin
Interface
material
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Modeling the package
• Thermal management allows for packaging
alternatives/shortcuts/interactions
• HotSpot needs a model of packaging
• Basic thermal model:
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Heat spreader
Heatsink
Interface materials (e.g. phase-change films)
Fan/Active cooler (TEC)
• Thermal resistance due to convection
• Constriction and bulk resistance for fins
• Spreading constriction and bulk resistance
for heatsink base and heat spreader
• Thermal resistance for bonding material
• Thermal capacitance heat spreader and
heatsink
“Optimal” package
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Default package is found using:
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Power dissipation
Target temperature on chip
Chip area
Clock speed – high or low performance
• Power dissipation and target
temperature used to determine
resistance value needed
• Needs more work: modern packages
are incredibly complex, yet there is
still a need to model at higher levels
Now: what can we do with HotSpot?
Equivalent vertical network
• Diagram is simplified – peripheral
nodes
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Chip
Peripheral spreader nodes
Interface
Spreader
Interface + Sink
Convection
Vertical network parameters
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Resistances
– Determined by the corresponding areas
and their cross sectional thickness
– R = resistivity x thickness / Area
• Capacitances
– C = specific heat x thickness x Area
• Peripheral node areas
Spreader
North
West Chip East
South
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Lateral resistances
• Determined by the floorplan and the
length of shared edges between
adjacent blocks
– "Heat Spreading and Conduction in Compressed
Heatsinks", Jaana Behm and Jari Huttunen, in
proceedings of the 10th International Flotherm
User Conference, May 2001.
Lateral resistances – contd...
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Lengths used for silicon
• Lengths used in the spreader
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Our model (lateral and vertical)
Interface material
(not shown)
Temperature equations
• Fundamental RC differential equation
– P = C dT/dt + T / R
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Steady state
– dT/dt = 0
– P=T/R
• When R and C are network matrices
– Steady state – T = R x P
– Modified transient equation
• dT/dt + (RC)-1 x T = C-1 x P
– HotSpot software mainly solves these two
equations
HotSpot
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Time evolution of temperature is driven
by unit activities and power dissipations
averaged over 10K cycles
– Power dissipations can come from any power
simulator, act as “current sources” in RC
circuit ('P' vector in the equations)
– Simulation overhead in Wattch/SimpleScalar:
< 1%
• Requires models of
– Floorplan: important for adjacency
– Package: important for spreading and time
constants
– R and C matrices are derived from the above
Implementation
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Primarily a circuit solver
• Steady state solution
– Mainly matrix inversion – done in two
steps
• Decomposition of the matrix into lower and
upper triangular matrices
• Successive backward substitution of solved
variables
– Implements the pseudocode from CLR
• Transient solution
– Inputs – current temperature and power
– Output – temperature for the next interval
– Computed using a fourth order RungeKutta (RK4) method
Transient solution
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Solves differential equations of the form
dT + AT = B where A and B are constants
– In HotSpot, A is constant but B depends on
the power dissipation
– Solution – assume constant average power
dissipation within an interval (10 K cycles)
and call RK4 at the end of each interval
• In RK4, current temperature (at t) is
advanced in very small steps (t+h, t+2h
...) till the next interval (10K cycles)
• RK – `4` because error term is 4th order
i.e., O(h^4)
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Transient solution contd...
• 4th order error has to be within the
required precision
• The step size (h) has to be small
enough even for the maximum slope of
the temperature evolution curve
• Transient solution for the differential
equation is of the form Ae-Bt with A and
B are dependent on the RC network
• Thus, the maximum value of the slope
(AxB) and the step size are computed
accordingly
Validation
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Validated and calibrated using MICRED
test chips
– 9x9 array of power dissipators and sensors
– Compared to HotSpot configured with
same grid, package
• Within 7% for both steady-state and
transient step-response
– Interface material (chip/spreader) matters
Current features
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Specification of arbitrary floorplans
• Format of floorplan file:
– One line per unit
– Line format – <unit-name> \t <width> \t
<height> \t <left-x> \t <bottom-y> \n
• Takes a power trace file as an input
and outputs corresponding
temperature trace
• Ability to modify package
specifactions (type of interface
material, size and type of heat
spreader and heat sink etc.)
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Current floorplan
•Modeled after an Alpha 21364
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Current floorplan – CPU core
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Soon to be features
• Grid model – RC network per grid cell
instead of a block
• Temperature models for wires, pads
and interface material between heat
sink and spreader
• Better (more user friendly) floorplan
specification
• Automatic floorplan generation using
classical floorplanning algorithms
Better floorplan specification
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Floorplan of current microprocessors
has a structural similarity
• Floorplans similar to MIPS R10K,
Pentium and the Alpha 21264
• Pipeline order corresponds to floorplan
adjacency
Better floorplan specification
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Sample specification (with % areas)
that takes advantage of pipeline order
Automatic floorplan for architects
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Why develop an architectural
floorplanning tool?
– Thermal modeling requires adjacency
information.
– Wire delays make performance depend
on the floorplan.
• Goal
– Derive a realistic floorplan using only
microarchitectural information
– Trade off thermal efficiency against
latency
– Simulated annealing based floorplan
optimization for thermal, delay and
combined metrics
• Current work. Results will be
available soon
Sensors
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Caveat emptor:
We are not well-versed on sensor
design; the following is a digest of
information we have been able to
collect from industry sources and the
research literature.
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Desirable Sensor Characteristics
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Small area
Low Power
High Accuracy + Linearity
Easy access and low access time
Fast response time (slew rate)
Easy calibration
Low sensitivity to process and supply
noise
© Mircea Stan, Kevin Skadron, David Brooks, 2002
PowerPC G3
• (Sanchez et al, Symp. on VLSI
Circuits ‘97, COMPCON ‘97)
• 0.35 μ, 2.5V
• Area 0.2 mm2
• Power: 10 mW
• Precision: ±4.5°
• Offset: 12° at process corners
• Linearity: < ±4°
• Based on thermal diodes and current
mirrors
Types of Sensors
(In approx. order of increasing ease to build)
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Thermocouples – voltage output
– Junction between wires of different materials; voltage
at terminals is α Tref – Tjunction
– Often used for external measurements
• Thermal diodes – voltage output
– Biased p-n junction; voltage drop for a known current
is temperature-dependent
• Biased resistors (thermistors) – voltage output
– Voltage drop for a known current is temperature
dependent
• You can also think of this as varying R
– Example: 1 KΩ metal “snake”
• BiCMOS, CMOS – voltage or current output
– Rely on reference voltage or current generated from a
reference band-gap circuit; current-based designs
often depend on temp-dependence of threshold
Thermal Sensors in PowerPC
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• On-chip temperature sensor (junction
temperature)
– Based on differential voltage change
across 2 diodes of different sizes
– Implemented in PowerPC G3/G4
processors
• Instruction Cache Throttling used to
dynamically lower junction
temperature
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Typical Sensor Configuration
PTAT – Proportional to Absolute Temperature
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Absolute Sensor 1
Syal, Lee, Ivanov, Altet, Online Testing Workshop, 2001
Schematics of Delta Vgs Current Reference (left)
Generator and Delay Cell (right)
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Sensors: Problem Issues
• Poor control of CMOS transistor
parameters
• Noisy environment
– Cross talk
– Ground noise
– Power supply noise
• These can be reduced by making the
sensor larger
– This increases power dissipation
– But we may want many sensors
© Mircea Stan, Kevin Skadron, David Brooks, 2002
“Reasonable” Values
• Based on conversations with
engineers at Sun, Intel, and
HP (Alpha)
• Linearity: not a problem for range of
temperatures of interest
• Slew rate: < 1 μs
– This is the time it takes for the physical
sensing process (e.g., current) to reach
equilibrium
• Sensor bandwidth: << 1 MHz, probably
100-200 kHz
– This is the sampling rate; 100 kHz = 10 μs
– Limited by slew rate but also A/D
• Consider digitization using a counter
“Reasonable” Values: Precision
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Mid 1980s: < 0.1° was possible
• Precision
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±
±
±
<
3° is very reasonable
P: 10s of mW
2° is reasonable
1° is feasible but expensive
± 1° is really hard
• The limited precision of the G3
sensor seems to have been a design
choice involving the digitization
Calibration
• Accuracy vs. Precision
© Mircea Stan, Kevin Skadron, David Brooks, 2002
– Analogous to mean vs. stdev
• Calibration deals with accuracy
– The main issue is to reduce inter-die
variations in offset
• Typically requires per-part testing
and configuration
• Basic idea: measure offset, store it,
then subtract this from dynamic
measurements
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Dynamic Offset Cancelation
• Rich area of research
• Build circuit to continuously,
dynamically detect offset and
cancel it
• Typically uses an op-amp
• Has the advantage that it adapts to
changing offsets
• Has the disadvantage of more
complex circuitry
Role of Precision
© Mircea Stan, Kevin Skadron, David Brooks, 2002
• Suppose:
– Junction temperature is J
– Max variation in sensor is S
– Thermal emergency is T
• T=J–S
• Spatial gradients
– If sensors cannot be located exactly at
hotspots, measured temperature may be
G° lower than true hotspot
• T=J–S–G
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Rate of change of temperature
• Our FEM simulations suggest
maximum 0.1° in about 25-100 μs
• This is for power density < 1 W/mm2
die thickness between 0.2 and 0.7mm,
and contemporary packaging
• This means slew rate is not an issue
• But sampling rate is!
Sensors Summary
• Sensor precision cannot be ignored
© Mircea Stan, Kevin Skadron, David Brooks, 2002
– Reducing operating threshold by 1-2
degrees will affect performance
• Precision of 1° is conceivable but
expensive
– Maybe reasonable for a single sensor or
a few
• Precision of 2-3° is reasonable even
for a moderate number of sensors
• Power and area are probably
negligible from the architecture
standpoint
• Sampling period <= 10-20 μs
© Mircea Stan, Kevin Skadron, David Brooks, 2002
HotSpot Summary
• HotSpot is a simple, accurate and
fast architecture level thermal
model for microprocessors
• Over 90 downloads till now
• Ongoing active development –
architecture level floorplanning will
be available soon
• Download site
– http://lava.cs.virginia.edu/HotSpot
• Mailing list
– www.cs.virginia.edu/mailman/listinfo/hotspot
© Mircea Stan, Kevin Skadron, David Brooks, 2002
Temperature-aware computing:
Optimize performance subject to a
thermal constraint