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ASPDAC / VLSI 2002 - Tuto rial on "Functional Verif ication of SoCs" 1 ASPDAC/VLSI 2002 Tutorial unctional Verification of System on Chip - Practice Issues and Challenges

ASPDAC / VLSI 2002 - Tutorial on "Functional Verification of SoCs" 1 ASPDAC/VLSI 2002 Tutorial Functional Verification of System on Chip - Practices, Issues

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Page 1: ASPDAC / VLSI 2002 - Tutorial on "Functional Verification of SoCs" 1 ASPDAC/VLSI 2002 Tutorial Functional Verification of System on Chip - Practices, Issues

ASPDAC / VLSI 2002 - Tutorial on "Functional Verification of SoCs"

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ASPDAC/VLSI 2002 Tutorial

Functional Verification of System on Chip - Practices,Issues and Challenges

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Presenters: Subir K. Roy (Co-ordinator), Synplicity Inc., 935 Stewart Drive, Sunnyvale CA 94085, USA

Tel. : 408-215-6049 Fax. : 408-990-0296 Email: [email protected]

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Presenters: S.Ramesh Dept. of Computer Sc. & Engg., IIT-Bombay, Powai, Mumbai 400 076

Tel. : +91-22-576-7722 Fax. : +91-22-572-0290 Email: [email protected]

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Presenters: Supratik Chakraborty, Dept. of Computer Sc. & Engg., IIT-Bombay, Powai, Mumbai 400 076

Tel. : +91-22-576-7721 Fax. : +91-22-572-0290 Email: [email protected]

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Presenters: Tsuneo Nakata, Fujitsu Laboratories Limited, 1-1, Kamikodanaka, 4-Chome, Nakahara-ku, Kawasaki, 211-8588, Japan

Tel. : +81-44-754-2663 Fax. :+81-44-754-2664 Email: [email protected]

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Presenters: Sreeranga P. Rajan, Fujitsu Labs. Of America, 595 Lawrence Expressway, Sunnyvale CA 94086-3922, USA

Tel. : 408-530-4519 Fax. : 408-530-4515 Email: [email protected]

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Tutorial Outline

• Motivation & Introduction to SoC Design & Re-use.

• System Verification

• Techniques for Module Verification : Formal, Semi-

Formal

• Techniques for System Verification : Simulation,

Hybrid, Emulation

• Quality of Functional Verification : Coverage Issues

• Academic & Research Lab Verification Tools

• Case Studies

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Tutorial Outline (contd.)

• Commercial Tools

• Issues and Challenges / Future Research Topics

• Summary & Conclusions

• Bibliography

• Appendix

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Tutorial Outline (Contd.)

• Motivation & Introduction to SoC Design & Re-use

(Subir K. Roy)

• Motivation, Verification Heirarchy, System Level

Design Flow, SoC Design, SoC Core Types, SoC

Design Flow, Implications on Verification.

• System Verification (S. P. Rajan)

• Current Design Cycle, Design Cycle with System

Verification.

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Tutorial Outline (Contd.)

• Techniques for Module Verification

• Formal Approaches (S. Ramesh)

• Introduction to Formal Verification

• Formal Models, Modeling Languages, Formal

Methods, Formal Specification, Temporal

Logics, CTL, Automatic Verification, Theorem

Proving.

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Tutorial Outline (Contd.)

• Implementation of Formal Approaches

(S. Chakraborty)

• Binary Decision Diagrams, Combinational

Equivalence Checking, Sequential

Equivalence Checking, Commercial

Equivalence Checkers, Symbolic CTL Model

Checking of Sequential Circuits, Forward &

Backward Reachability, State of the Art,

Related Techniques.

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Tutorial Outline (Contd.)

• Techniques for Module Verification(contd.)

• Semi-Formal Approaches

• Semi-Formal Verification (S. Chakraborty)

• Interface Specification for Divide & Conquer

Verification (T. Nakata)

• Techniques for System Verification

• Symbolic Simulation & Symbolic Trajectory

Evaluation (S. Chakraborty)

• Hybrid Verification (S. P. Rajan)

• Emulation (Subir K. Roy)

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Tutorial Outline (Contd.)

• Quality of Functional Verification (Subir K. Roy)

• Coverage Metrics – Informal, Semi-Formal, Formal.

• Academic & Research Lab Verification Tools

• Verification Tools – 1 (S. Ramesh)

• VIS, SMC, FC2toolset, STeP

• Verification Tools – 2 (S. P. Rajan)

• Fujitsu High Level Model Checking Tool,

VeriSoft.

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Tutorial Outline (Contd.)

• Case Studies

• Case Study – 1 (S. P. Rajan)

• ATM Switch Verification

• Case Study – 2 (T. Nakata)

• Semi-Formal Verification of Media Instruction

Unit

• Commercial Tools (Subir K. Roy)

• FormalCheck, Specman Elite, ZeroIn-Search,

BlackTie

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Tutorial Outline (contd.)

• Issues and Challenges / Future Research Topics

• High Level Specification & Modeling using UML

(T. Nakata)

• Research Issues ( S. Chakraborty)

• Future Research Directions (S. P. Rajan)

• Summary & Conclusions

• Summary ( S. Chakraborty)

• Conclusions (Subir K. Roy)

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Tutorial Outline (contd.)

• Bibliography

• Papers, Books, Important Web Sites,

Conferences, Journals/Magazines.

• Appendix

• Linear Temporal Logic, -Automata based

Formal Verification (S. Ramesh)

• Neat Tricks in BDD Packages (S. Chakraborty)

• More Research Tools – SPIN, FormalCheck

(S. Ramesh)

• More on UML (T. Nakata)

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SoC Design & Re-use(Subir K. Roy)

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Motivation

• Pentium SRT Division Bug : $0.5 billion loss to Intel

• Mercury Space Probe : Veered off course due to a

failure to implement distance measurement in

correct units.

• Ariane-5 Flight 501 failure : Internal sw exception

during data conversion from 64 bit floating point to

16 bit signed integer value led to mission failure.

• The corresponding exception handling

mechanism contributed to the processor being

shutdown (This was part of the system

specification).

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Verification Hierarchy

Degree of Automation

Coverage/ExpressivePower

Simulation

Equivalence Checking of structurally similar circuits

Equivalence Checking

Assume-Guarantee basedsymbolic simulation/Model Checking

Temporal Logic BasedModel Checking

First-Order Theorem Proving

Higher-Order Theorem Proving

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System Level Design Flow

• Interface Definition

• Component Selection

• ASIC & Software Implementation

• Glue Logic Implementation

• PCB Layout Implementation

• Integration & Validation of Software into System

• Debugging

• Board - Manufacturing & Test

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SoC Design

• Core based design approach

• Design Complexity

• Time To Market

Core : A pre-designed, pre-verified Silicon circuit block. Eg. Microprocessor, VPU, Bus Interface, BIST Logic, SRAM, Memory.

• Core Integration

• Re-usable cores : different types, different

vendors

• User defined logic

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SoC Design

• Designing Cores for integration

• Parameterization

• Customizable soft cores. Core provider supp-

lies essential set of pre-verified parameters.

• Functionality

• Single core - preferable

• Multiple core - Needs good partitioning

• Interface

• Support std. buses to ease integration.

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SoC Core Types

[Anderson, 2001]

• Cell/Macro Library elements

• DSPs, Microcontrollers

• Implementation of Standards

• Function (MPEG, JPEG, CRC, PicoJava,…)

• Interconnects (PCI, SCSI, USB, 1394, IrDA,

Bus Bridges)

• Networking (10/100 ethernet, ATM etc.)

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SoC Core Types

• Soft Cores : Technology Independent Synthesizable

Description. White Box Implementation - Visible &

Modifiable. Core can be extended functionally.

• Firm Cores : Technology Dependent Gate Level

Netlist. Internal implementation of core cannot be

modified. User can parameterize I/O to remove

unwanted functionality.

• Hard Cores : Layout & Timing Information provided.

Cannot be re-synthesized. Integration is simple &

can result in highly predictable performance.

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SoC Design Flow

• Co-design approach : Software + Hardware

• Design exploration at behavioral level (C, C++,

etc.) by system architects

• Creation of Architecture Specification

• RTL Implementation (Verilog/VHDL) by hardware

designers

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SoC Design Flow

• Drawbacks

• Specification Errors - susceptible to late

detection

• Correlating validations at Behavioral & RTL level

difficult

• Common interface between system & hw

designers based on natural language

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SoC Implementation Approaches

• Vendor Based Approach : ASIC Vendor/Design

service group carries out implementation

• Partial Integration : System Designer implements

proprietary & application specific logic. ASIC

Vendor integrates above with their cores

• In house : ASIC Vendor designs specialized cores.

System Designer implements proprietary & appli-

cation specific logic, integrates cores & verifies

integrated design

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Multiple Sources for IP Reuse

• Semiconductor houses

• I/O Pad, Processor Core, Custom Logic, Memory,

Peripheral Interface

• IP/Core Suppliers

• Processor Core, Peripheral Interface, Analog

/Mixed Signal blocks (DAC, ADC, PLL)

• System Designer

• Controller, Custom Logic, AMS blocks

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Advantages of Core/IP based approach

• Short Time To Market (pre-designed)

• Less Expensive (reuse)

• Faster Performance (optimized algorithms and

implementation)

• Lesser Area (optimized algorithms and

implementation)

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Implications on Verification

• [Mosensoson, DesignCon 2000]

• Verification Focus

• Integration Verification & Complexity.

• Bug Classes

• Interactions between IP/Core/VC blocks

• Conflicts in accessing shared resources

• Deadlocks & Arbitration

• Priority conflicts in exception handling

• Unexpected HW/SW sequencing

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Implications on Verification

• Need to capture complexity of an SoC into an

executable verification environment

• Automation of all verification activities

• Reusability of verification components of unit

Cores/IPs/VCs

• Abstraction of verification goals (Eg., Signals to

Transcations, End to End Transactions)

• Checkers for internal properties

• Interface Monitors (BFM, Integration Monitors)

• Coverage monitors

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Implications on Verification

• Implication

• Rigorous verification of each individual SoC

component seperately

• Extensive verification of full system

• Requirements

• Efficient Verification Methodologies

• Efficient Tools

• High Level of Automation

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System Verification(S. P. Rajan)

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Current Design Cycle

OK

Modify RTL Source

Simulation +Formal Verification

RTL/logic Synthesis

Timing Analysis

Modify Script

RTL Description(from Spec/Doc)

NOT OK

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Current Design Cycle

• Methodology

• fixed parameter modeling

• large-scale simulation (expensive)

• synthesis

• large-scale validation (expensive)

• Design cycle iteration expensive for changes in design parameters

• Does RTL Description satisfy Specification?

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Design Cycle with System Verification

Validate = Formally Verify + Simulate

ValidateCycle Accurate Behavior

Generic Parameters

Cycle Accurate Behavior Cycle Accurate Behavior

Fixed ParametersFixed Parameters

Gate-Level(Large Design)

Gate-Level(Small) Validate

Chip Chip

Instantiation

High/RT-Level Synthesis

Logic Synthesis

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Design Cycle with System Verification

• Parametric Design Methodology: -- Higher abstraction level

-- Reusable generic parametric model

-- small-scale simulation (low cost)

-- formal verification viable

-- Automatic high-level synthesis -- validation on a small scale (low cost)

• Formal verification early in design cycle

• Drastic reduction in design cost, time-to-market

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Techniques forModule Verification

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Formal Verification(S. Ramesh)

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Formal Methods

• Functional verification• SOC context: block level verification, IP Blocks and

bus protocols• Formally check a formal model of a block against

its formal specification• Formal - Mathematical, precise, unambiguous,

rigorous• Static analysis • No test vectors• Exhaustive verification• Prove absence of bugs rather than their presence• Subtle bugs lying deep inside caught

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Three-step process

• Formal specification• Precise statement of properties• System requirements and environmental

constraints• Logic - PL, FOL, temporal logic• Automata, labeled transition systems

• Models• Flexible to model general to specific designs• Non-determinism, concurrency, fairness,• Transition systems, automata

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Three-step process (contd.)

• Verification• Checking that model satisfies specification• Static and exhaustive checking• Automatic or semi-automatic

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Formal verification• Major techniques

• Equivalence checking

• Model checking

• Language containment

• Theorem proving

Lang. Containment

Obs. Equivalence

Automata/ Tr. Systems

Th. Proving

Eq. Checking

Model Checking Logic

LogicTr. Systems/

Automata

Model

Spec

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EQUIVALENCE CHECKING• Checking equivalence of two similar circuits• Comparison of two boolean expressions - BDDs• Highly automatic and efficient• Useful for validating optimizations, scan chain

insertions• Works well for combinational circuits• Limited extension to sequential circuits• Most widely used formal verification technique.• Many commercial tools:

• Design VERIFYer (Chrysalis), Formality (Synopsis), FormalPro (Mentor Graphics), Vformal(Compass), Conformal (Verplex), etc.

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Model checking/Language Containment

• Another promising automatic technique• Checking design models against specifications• Specifications are temporal properties and

environment constraints • Design models are automata or HDL subsets• Checking is automatic and bug traces• Very effective for control-intensive designs• Commercial and Academic tools: FormalCheck

(Cadence), BlackTie (Verplex), VIS (UCB), SMV(CMU, Cadence), Spin (Bell labs.), etc.

• In-house tools: IBM (Rulebase), Intel, SUN, Fujitsu (Bingo), etc.

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Theorem proving

• Theoretically most powerful technique

• Specification and design are logical formulae

• Checking involves proving a theorem

• Semi-automatic

• High degree of human expertise required

• Mainly confined to academics

• Number of public domain tools

• ACL2 (Nqthm), PVS, STeP, HOL

• ACL2 used in proving correctness of floating point algorithms

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Formal verification (experiences)

• Very effective for small control-intensive designs-blocks of hundreds of latches

• Many subtle bugs have been caught in designs cleared by simulation

• Strong theoretical foundation

• High degree of confidence

• Hold a lot of promise

• Require a lot more effort and expertise

• Large designs need abstraction

• Many efforts are underway to improve

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Systems verified

• Various microprocessors (instruction level verification):• DLX pipelined architectures, AAMP5 (avionics

applications), FM9001 (32 bit processor), PowerPC

• Floating point units:• SRT division (Pentium), recent Intel ex-fpu, ADK

IEEE multiplier, AMD division• Multiprocessor coherence protocols

• SGI, sun S3.Mp architectures, Gigamax, futurebus+

• Memory subsystems of PowerPC• Fairisle ATM switch core

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State of the art

• FSM based methods : ~ 500 registers

• STE: ~ 10 - 20k registers

• Equivalence checking : ~ million gates designs

• Simulation : million gates capacity

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Challenges of formal verification

• Complexity of verification

• Automatic for finite state systems (HW, protocols)

• Semi-automatic in the general case of infinite state systems (software)

• State explosion problem

• Symbolic model checking

• Homomorphism reduction

• Compositional reasoning

• Partial-order reduction

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Formal Modeling(S. Ramesh)

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Models

• High level abstractions of real systems• Contain details of relevance• Full Systems detailed and complex• Physical components and external components

• e.g. buses, schedulers, OS/network support software

• Modeling• Modeling is a (pre-) design activity• Models relatively easier to build• Higher level than behavioral models (C models)

• early detection of bugs,• design space exploration and verification,• prototypes and synthesis

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Formal Models

• Mathematical description of models• Precise and unambiguous• Consistent and complete

Formal Verification• Applies to mathematical models and not to real

objects (hence called Design Verification)• Faithful models essential

• False negatives (Spurious Errors)• False positives (Models pass but System fails)

• Simulation/Testing cannot be dispensed with!

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Formal Modeling Languages

• Enable abstract and high level descriptions• Real languages often ambiguous• Variation in HDL semantics• Real languages require more details and effort

FeaturesLimited and High Level Data Types• Nondeterminism (arising out of abstractions)• Concurrency (to structure large systems)• Communication (for internal and external interaction)• Fairness (abstraction of real concurrency and

schedulers)

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Example Modeling Languages

• Finite State Machines

• CSP, CCS, SDL, Promela (for Asynchronous Systems and Protocols)

• Esterel, CFSM (Embedded Controllers)

• Statecharts, UM L (System level models)

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Models of Hardware• Hardware blocks are reactive systems:

• Reactive systems exhibit infinite behavior• Termination is a bad behavior• Timing/Causality information important

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Finite State Machines• Well-known model for describing control or

sequential circuits

• An example (3-bit counter)

• State labels describe bit status

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Another Example• A Traffic Light Controller

• States HG - Highway green, FY – Farm road Yellow• C - Car in Farm road, • S,L - Short and long timer signal• TGR - reset timer, set highway green and farm road

red

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States and Transitions

• States are abstract description of actual machine states

• decided by the states of latches and registers• Finite no. of States• No final state - reactive systems not supposed to

terminate• Edge labels - input/condition and output/action

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States and Transitions

• Many Flavors of State Machines• edge labeled - Mealy machines• state labeled - Kripke structures• state and edge labeled - Moore machines • Labels

• Boolean combination of input signals and outputs

• communication events (CSP, Promela)

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Semantics of Finite State Systems

• The above description is syntactic• Semantics associates behaviors

• Branching Time semantics• the tree of states obtained by unwinding

the state machine graph• possible choices are explicitly

represented • Linear Time Semantics

• the set of all possible `runs' in the system

• the set of all infinite paths in the state machine

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Non-determinism

• 2-master arbiter,• reqi - request from Master i• This machine is nondeterministic• In Idle state when req1 and req2 arrive.• Non-determinism due to abstraction• More than one behaviour for a given input

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Concurrency• A concurrent (and hierarchical) description of

Counter

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Concurrent Descriptions

• Compact and easy to understand

• Natural model for hardware and complex systems

• Clear semantics required

• Interleaved model and synchronous models

• Appropriate communication primitives

• Concurrent machines composed to a single global machine

• Global machine captures all possible executions

• Exponential blow-up

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Fairness Constraints

• In general, not every run in a state machine is a valid behavior

• Arbiter example• the run in which master 2 is never granted

the resource• But all runs are included in transition systems• Fairness constraints rule out certain runs• Modeling abstraction of real-time or schedulers

Example

• Every request eventually considered• The clock tick arrives infinitely often

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Fairness Constraints

• Not required with a more concrete description

• But concrete description too complex to verify

• A given property may not require concrete details

• For verification, abstract designs are preferable.

• proof is simpler

• proof is robust under alternate implementations.

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Generating Formal Models

• Pre-design activity

• Automatic Translation from circuits/HDL designs

• States decided by the latches/registers in the ckt.

• Exponential blow-up in the size (State-explosion problem)

• Usually abstractions required

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Design errors

Deadlock• Look at state (1,1)

• Unspecified Receptions• State (1,1)

• P1 can send message 2• P2 cannot receive this

• Non executable interaction - 'Dead code‘• State 3 of P1 cannot be reached at all

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Live lock/Divergence• An example:

• Formal Verification generalizes early approaches to detection of such errors!

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Formal Specification(S. Ramesh)

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Formal Specifications

• Verification involves checking that a design model meets its specification.

• Specification states what the system is supposed to do

• Design describes how this is done

Specification• Describes unambiguously and precisely the

expected behavior of a design.• In general, a list of properties.• Includes environment constraints.• Symbolic logic or automata formalisms• Consistency and Completeness

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Specification of Hardware blocks• Properties and Constraints specify possible

states and transitions• They state set of possible valid `runs'• Valid runs are infinite sequences (or trees) of

states and transitions• Formal specifications are finitistic and precise

descriptionsClassification of Properties:Safety properties

• "undesirable states are never reached",• "desirable things always happen".

• Progress or Liveness Properties• "desirable state repeatedly reached"• "desirable state eventually reached"

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ExamplesSafety Properties• A bus arbiter never grants the requests to two

masters• Message received is the message sent• Elevator does not reach a floor unless it is requested• At any time traffic is let either in the farm road or on

the highway• every received message was sentLiveness Properties• car on the farm road is eventually allowed to pass• Elevator attends to every request eventually• every bus request is eventually granted• every sent message was received

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Specification Formalisms

• Properties and Constraints specify permissible behaviours

• Behaviours are infinite runs (reactive systems)

• They are infinite objects, in general.

• We need finitistic representation of such infinite objects for precision

• Two Major formalisms:

• Symbolic Logics: Linear and Branching Temporal Logics,

• Automata

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Temporal Logics• Logics well-known for precise specification,• amenable to symbolic manipulations.• used in a variety of contexts:

• Propositional Logic/Boolean algebra for combinational HW

• Predicate logics for software• Higher order logics for language semantics.• Temporal logic for hardware and protocols.

• Qualitative temporal statements• Examples:

• If it is cloudy, eventually it will rain• It never rains here

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Properties of Hardware blocks

• Temporal in nature• At any time only one units is accessing the

bus• every request to access the bus is granted

ultimately.

• Two Kinds of TL

• Linear Temporal Logic (LTL):• Time is a linear sequence of events

• Branching time temporal logic (CTL, CTL*):• Time is a tree of events

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Computational Tree Logic (CTL)

• CTL formulae describe properties of Computation Trees

• Computation Trees are obtained by unwinding the transition system model of blocks

• Branching structure due to nondeterminism

• CTL is the simplest branching temporal logic

• CTL* is more powerful, includes CTL and LTL

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Syntax of CTL

• Every atomic proposition is a CTL formula• If f and g are formulae then so are

• f, (f g), (f g), (f g), (f g)• AG f - in all paths, in all state f (in all future, f)• EG f - in some path, in all states f• AF f - in all paths, in some state f (in every future f)• EF f - in some future f• A(f U g) - in all paths, f holds until g• E(f U g) - in some path, f holds until g• AX f - in every next state, f holds• EX f - in some next state f holds

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Examples

AG ¬ (farm_go high_go_B) AGAF (farm_car AF(farm_go)) AG (mem_wr U mem_ack) EF (req0 U grant0 )

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Model Checking(S. Ramesh)

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Automatic Verification

• Model Checking and Language Containment• For finite state systems like Hardware blocks,

protocols and controllers.• Systems modeled as transition systems or automata• Specifications temporal formulae (LTL, CTL) or

automata• Verification:

• Model Checking: A finite state system or automaton satisfies a temporal logic specification iff it is a model of the formula.

• Language Containment: An automaton model (M) of the system satisfies an automaton specification (S) if the language of M is contained in that of S.

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CTL model checking

(Clarke and Emerson, Quielle and Sifakis)

M╞ F

• M Transition System and F, CTL formulae

• M defines a tree (unwind the Transition System)

• F specifies existence of one or all paths satisfying some conditions.

• Verification involves checking whether these conditions hold for the tree defined by M.

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EXAMPLE

• Which of the following hold ?

• AG p, EF¬q, AX p, AG ¬q, EG ¬q, AX(p q)

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CTL Verification by Explicit Enumeration

• Iterative labeling algorithm that labels all the states with sub formulae.

• Start from the initial labels of atomic propositions

• Iteratively add sub formulae as labels with each state based on the following equations:

EF p = p EX p EX(EX p) EG p = p EX p EX(EX p) E (q U p) = p (q EX p)

(q EX(q EX p))

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CTL Verification

• Iteration terminates since states and subformulae are finite.

• If initial states are labeled with the given formula then the model checking succeeds

• if it fails, counterexample can be generated

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Illustration

• To compute EF p which is:

• EF p = p EX(p) EX(EX(p)) . . .

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Illustration contd.

Iterative computation

• I step :

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Illustration contd.

• II step :

• III step :

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Illustration contd.

• Computation terminates

• EF p Holds in all striped states• Computation involves backward breadth first

traversal and calculation of Strongly Connected Subgraphs (cycles)

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2. Compute EG p in

EG p = p EX p EX(EX p) . . .

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Illustration contd.

Start with

I iteration

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Illustration contd.

II iteration

III iteration

Iteration terminates

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Complexity of CTL model checking

• Algorithm involves backward traversal

• Linear on the sizes of both formulae and model

• Size of the model exponential in size of latches

• Reduction Techniques:

• Symbolic Model checking Techniques

• Compositional Verification

• Symmetry based reduction

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Verificationby

Theorem Proving(S. Ramesh)

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Theorem Proving

• Classical technique

• Most general and powerful

• non-automatic (in general)

Idea

• Properties specified in a Logical Language (SPEC)

• System behavior also in the same language (DES)

• Establish (DES SPEC) as a theorem.

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A Logical System

• A language defining constants, functions and predicates

• A no. of axioms expressing properties of the constants, function, types, etc.

• Inference Rules

A Theorem

• `follows' from axioms by application of inference rules has a proof

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Proof

• Syntactic object

A1, A2, . . . , An

• A1: axiom instance

• An: theorem

• Ai+1 - Syntactically obtainable from

• A1, . . . , Ai using inference rules.

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Examples

• Propositional logic and its natural deduction system

• Prove i=1 i = N(N + 1)/2, using Peano's axioms

and mathematical induction

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Full Adder

• sum := (x y) cin• cout := (x y) ((x y) cin)

Theorem: sum = x + y + cin – 2 * coutProof : Use properties of boolean and arithmetic

operators.

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Problems with the approach

• Verification is a laborious process• Manual proofs could contain error• If proof exists, system is correct otherwise, no

conclusion.Interactive Theorem Provers• Ease the process of theorem proving• Proof-Checking• Decision Procedures• Proof Strategies• Theory building• Many systems are available: Nqthm, PVS, HOL,

Isabelle, etc.

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Binary Decision Diagrams(S. Chakraborty)

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Boolean Function Representation

• Boolean logic: Foundation of digital design

• Need to represent and manipulate Boolean functions efficiently

• Common representations:

• Truth table, Karnaugh map, Canonical sum-of-products

• Size always 2n for n-arguments

• Operations (e.g. AND, NOT) inefficient

• Inappropriate for practical applications

• E.g., representing carry-out function of 64-bit adder

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Binary Decision Diagrams (BDDs)

• A graphical representation [Bryant ’96] • Allows efficient representation & manipulation

of Boolean functions• Worst-case behavior still exponential

• Example: f = x1.x2 + x3’

• Represent as binary tree• Evaluating f:

• Start from root• For each vertex xi

left branch if xi = 0else right branch

x3

x1x2

x3x3

1 0 1 11 0 1 0

x3

x2

0 1

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BDDs

• Underlying principle: Shannon decomposition

• f(x1, x2, x3) = x1.f(1, x2, x3) + x1’.f(0, x2, x3)

= x1. (x2 + x3’) + x1’. (x3’)

• Apply recursively to

f(1, x2, x3) and f(0, x2, x3)

• Extend to n arguments

• Number of nodes can be

exponential in number of

argumentsf = x1.x2 + x3’

x1 x2

x3x3

1 0 1 11 0 1 0

x3

x2

x3

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Restrictions on BDDs

• Ordering of variables

• In all paths from root to leaf, variable labels of nodes must appear in specified order

• Reduced graphs

• No two distinct vertices

represent same function

• Each non-leaf vertex has

distinct children

REDUCED ORDERED BDDs (ROBDDs): DAG

x1 x2

x3x2

1 0 1 11 0 1 0

x2

x3

x3

f = x1’.x2’ + x1.x2 + x1.x3’

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ROBDDs

• Example:

• Properties

• Unique representation of f for given

variable ordering

• Checking f1 = f2: ROBDD isomorphism

• Shared subgraphs: size reduction

• Every path might not have all labels

• Every non-leaf vertex has

path(s) to 0 and 1

So far good !

f = x1.x2 + x3’

10

x1 x2

x3

x1 x2

x3x3

1 0 1 11 0 1 0

x3

x2

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Variable Ordering Problem

1

0 1

3 3

5 5 5 5

2 2 2 2

4 4

6

10

3

5

2

4

6

1

f = x1.x2 + x3.x4 + x5.x6

Order 1,3,5,2,4,6

Order 1,2,3,4,5,6

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Variable Ordering Problem

• ROBDD size extremely sensitive to variable ordering

• f = x1.x2 + x3.x4 + … + x2n-1.x2n

• 2n+2 vertices for order 1, 2, 3, 4…2n-1, 2n

• 2n+1 vertices for order 1, n+1, 2, n+2,…n, 2n

• f = x1.x2.x3….xn

• n+2 vertices for all orderings • Output functions of integer multipliers

Exponential size for all orderings [Bryant ‘91]

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• Determining best variable order to minimize BDD size

• NP-complete [Bollig, Wegener ‘96]• Heuristics:

• Static and dynamic ordering [Fujita et al ‘92, Rudell ‘93]

• Sampling based schemes [Jain et al‘98]

Variable Ordering Problem

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Operations on BDDs

Operation Complexity

• Reduce O(|G|)

• G reduced to canonical form

• Apply O(|G1||G2|)

• Any binary Boolean op: AND, XOR …

• Compose O(|G1|2|G2|)

• g1(x1, x2, x5) composed with g2(x3, x4)

at position of x2: g1(x1, g2(x3,x4), x5)

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Operations on BDDs (Contd.)

Operation Complexity

• Satisfy-one O(n)

• Assignment of x1, … xn

for which f(x1,… xn) = 1

• Restrict O(|G|)

• ROBDD for f(x1, x2, …,1, ... xn)

or f (x1, x2, … 0 … xn)

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Operations on BDDs

• Operators: Take ROBDD arguments, return ROBDD result.

• Complexity polynomial in BDD size

• BDD size limiting factor in most applications

• Ongoing research on avoiding BDD blowup

• Variable ordering, Partitioned BDDs, Implicitly conjoined BDDs etc.

• Quantification with BDDs

• x1. f(x1, x2, x3) = f(0, x2, x3) + f(1, x2, x3)

• x1. f(x1, x2, x3) = f(0, x2, x3) . f(1, x2, x3)

• Useful in Symbolic Model Checking

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BDD Packages/Libraries Out There

• CUDD package (Colorado University)http://vlsi.colorado.edu/~fabio/CUDD/cuddIntro.html

• Carnegie Mellon BDD packagehttp://www-2.cs.cmu.edu/

afs/cs/project/modck/pub/www/bdd.html

• TiGeR BDD library (commercial package)

• CAL (University of California, Berkeley)http://www-cad.eecs.berkeley.edu/

Respep/Research/bdd/cal_bdd/

• BuDDyhttp://www.itu.dk/research/buddy

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BDD Packages/Libraries Out There• ABCD

http://i10www.ira.uka.de/armin/abcd/index.html

• BDDNOWhttp://www.diku.dk/students/lordtime/bddnow.tar.gz

• PPBFhttp://www-2.cs.cmu.edu/~bwolen/software/ppbf/

• ...

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Applications of BDDs

• Extensively used in CAD for digital hardware

• Some applications (partial listing)

• Combinational logic verification through equivalence checking

• Sequential machine equivalence

• Using combinational equivalence of next-state logic

• Symbolic model checking

• Automatic test pattern generation (ATPG)

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Applications of BDDs

• Timing verification

• Representing false paths in circuits

• Representing discrete time encoded in binary

• Symbolic simulation

• Assigning symbolic values to circuit inputs and determining symbolic output values

• Symbolic trajectory evaluation

• Checking temporal properties over sequences of symbolic values

• Logic synthesis and optimization

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Combinational EquivalenceChecking

(S. Chakraborty)

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Combinational Equivalence Checking

• Given two combinational designs

• Same number of inputs and outputs

• Determine if each output of Design 1 is functionally equivalent to corresponding output of Design 2

• Design 1 could be a set of logic equations/RTL

• Design 2 could be a gate level/transistor level circuit

Design 1 Design 2

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Right Fit for ROBDDs• ROBDD for every function is canonical

• Construct ROBDDs for each output in terms of inputs

• Use same variable order

• Check if the graphs are isomorphic

• ROBDD isomorphism is simple

• Alternatively

Design 1

Design 2

F

Designs functionally equivalentif and only if F is identical to 0

(0 for all inputs)

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ROBDDs in Equivalence Checking

• Problem reduces to checking F for unsatisfiability

• If ROBDD has a non-leaf vertex or a 1 leaf, F is satisfiable

• But there are problems …

• For 32 bit multiplier, there are 64 inputs and BDD blows up

• Same is true for other real-life circuits

• Interestingly, several of these are actually easy to check for equivalence

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ROBDDs in Equivalence Checking

• Something smarter needed …

• Worst case must still be exponential complexity

• Unsatisfiability: co-NP complete!

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Using Structural Information• Structural similarities between designs help

• If A1 equivalent to A2 & B1 equivalent to B2, Design1 equivalent to Design2

• Simplifies equivalence checking

• But consider

B1 not equiv to B2, but Design 1 equiv to Design 2

A1 B1 A2 B2

A1 B1 A2 B2

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Using Structural Information

• False negative

Analysis indicates designs may not be equivalent, but designs are actually equivalent

• Use logical implication to reduce false negatives• If out1 is not equivalent to out2, out1 out2 is satisfiable

• Express out1 out2 in terms of internal signals in design1 and design2

Design 1

Design 2

FInternal signals

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Method of Implication

• Derive set of internal signals that must be not equivalent if out1 out2 is satisfiable

• Propagate implications back towards inputs

• Stop when

• Primary inputs reached

• Two primary inputs never equivalent

• So, out1 out2 is satisfiable

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Method of Implication

• Stop when

• Internal signals reached are known to be equivalent

• Conclude out1 out2 is unsatisfiable

• So, out1 is equivalent to out2

• Some pairs of signals can be quickly identified as not equivalent by random simulation

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Structural Simplifications

• Once two internal signals are found equivalent, the circuit can be simplified

• Suppose outputs of corresponding AND gates are equivalent

Helps reduce size of circuit to deal with later

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An Efficient Equivalence Checker• Finds pairs of equivalent signals in two designs

[Matsunaga ‘96]CEP: Candidate equivalent pairs

VEP: Verified equivalent pairs

Start

Random simulation CEP list

More pairs to verify?

Verify pair, update VEP listand CEP list,

Restructure circuit

Check if primary output pair is in VEP list

End

NO

YES

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Some Observations• Most non-equivalent pairs filtered by random simulation

• Equivalent pairs identified early by proper choice of internal variables when propagating implications backwards

• If pair under investigation is expressed in terms of already known equivalent pairs, we are done!

• Leverage Automatic Test Pattern Generation (ATPG) techniques to detect when a pair is not equivalent

Targets implementation error, error due to translation or incremental modification, NOT design error

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Checking Arithmetic Circuits• Equivalence checking of multipliers acknowledged to

be hard

• ROBDD blowup for bit-level representation

• Multiplicative Binary Moment Diagrams (*BMDs) [Bryant, Chen ‘95]

• Boolean assignment of variables maps to a number (integer, rational)

• Canonical representation of linear functions, e.g. integer multiplication

• Word level representation of function

• Allows efficient verification of multipliers and other arithmetic circuits

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Sequential Machine Equivalence

• Restricted case: Reduces to combinational equivalence

• Given machines M1 and M2 with correspondence between state and output variables

• Checking equivalence of M1 and M2 reduces to equivalence checking of next-state and output logic

CombLogic1

FF

CombLogic2

FF

Given Equivalence

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Equivalence Checking - Extensions

• For best results, knowledge about structure crucial

• Divide and conquer

• Learning techniques useful for determining implication

• State of the art tools claim to infer information about circuit structure automatically

• Potentially pattern matching for known subcircuits -- Wallace Tree multipliers, Manchester Carry Adders

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Equivalence Checkers Out There

• Commercial equivalence checkers in market

• Abstract,

• Avant!,

• Cadence,

• Synopsys,

• Verplex,

• Veritas (IBM internal) ...

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Symbolic Model Checking(S. Chakraborty)

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Model Checking Sequential Circuits

• Given:

• A sequential circuit

• Finite state transition graph

• Flip-flops with next-state logic

• Transition relation between present and next states

• A property in specialized logic

• Prove that MODEL satisfies SPECIFICATION

• In case of failure, counterexample desirable

MODEL

SPECIFICATION

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Example: 3-bit Counter

x2

x1

x0X0

X1

X2

Clk

ModelState transition graphdefined byX0 = NOT(x0)X1 = XOR(x1, x0)X2 = XOR(x2, x0. x1)

Property State x0, x1, x2 = 111 is reached infinitely often starting from state 000

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Basic Approaches• Explicit state model checking

• Requires explicit enumeration of states

• Impractical for circuits with large state spaces

• Useful tools exist: EMC, Murphi, SPIN, SMC …

• Symbolic model checking

• Represent transition relations and sets of states implicitly (symbolically)

• BDDs used to manipulate implicit representations

• Scales well to large state spaces (few 100 flip flops)

• Fairly mature tools exist: SMV, VIS, FormalCheck ...

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Model Checking

• Reachability analysis

• Find all states reachable from an initial set S0 of states

• Check if a safety condition is violated in any reachable state

• CTL property checking

• Express property as formula in Computation Tree Logic (CTL)

• Check if formula is satisfied by initial state in state transition graph

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Symbolic Model Checking

• For 3-bit counter, set of states x0, x1, x2 = {000, 010, 011, 001} can be represented by S (x0, x1, x2) = S(x) = x0’.

BDD:

• Set of state transitions can be represented

by N (x0, x1, x2, X0, X1, X2) = N (x, X) =

(X0 x0’) (X1 x1 x0)

(X2 x2 (x1. x0)) BDD:

1 0

x0

x0

1 0

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Forward Reachability

• Start from set S0 of states

• Set of states reachable in at most 1 step:

S1 = S0 { X | x in S0 N(x, X) = 1}

Expressed as Boolean functions:

Given S0 (x0, x1, x2),

S1 (X0, X1, X2) = S0 (X0, X1, X2)

x0, x1, x2 . [S0 (x0, x1, x2)

N(x0, x1, x2, X0, X1, X2)]

Given BDDs for S0 and N, BDD for S1 can be obtained

S0S1

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Forward Reachability• Compute S1 from S0, S2 from S1, S3 from S2, …

• Predicate transformer F: Si+1 = F (Si)

• Continue until Sk+1 = F (Sk) = Sk

• Least fixed point of F

• Sk = Set of all states reachable from S0

• Computed symbolically -- using BDDs

• Very large state sets can be represented compactlyS0

Reachablestates

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Backward Reachability

• Give a set Z0 of states

• Compute set of states from which some state in Z0 can be reached.

• Analogous to forward reachability with minor modifications

Z0

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Checking Safety Conditions

• Safety condition must ALWAYS hold

• E.g. Two bits in one-hot encoded state cannot be 1

• Z = set of states violating safety condition

• Given S0 = set of initial states of circuit,

• Compute R = set of all reachable states

• Determine if Z intersects R, i.e. (Z R) 0

• If YES, safety condition violated

Satisfying assignment of (Z R): counterexample

• If NO, circuit satisfies safety condition

• All computations in terms of BDDs

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Checking Safety Conditions

• Start from Z = set of “bad” states

• Find by backward reachability set of states B that can lead to a state in Z

• Determine if S0 intersects B

S0

R

Z

S0

Z

B

Forward Reachability Backward Reachability

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CTL Properties• “Once req goes high, grant eventually goes high”

• Not expressible as safety property

• Use formulae in Computation Tree Logic (CTL)

• CTL formulae at state S0

Atomic proposition: x1 = x2 = x3 = 0

AG f: In all paths from S0, f holds globally

AF f: In all paths from S0, f holds finally

AX f: In all paths from S0, f holds in next

state

A[f U g]: In all paths from S0, g holds

finally, and f holds until then

S0

Computation tree of states

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More on CTL • EG f, EF f, EX f, E [f U g] defined similarly

• “There exists a path from current state …”

• f and g can themselves be CTL formulae

• E.g., AG AF (x1 x2)

• x1 or x2 is satisfied infinitely often in the future

• Recall 3-bit counter example:

• “ The state x0, x1, x2 = 111 is reached infinitely

often starting from 000”

• x0’ x1’ x2’ AG AF (x0 x1 x2)

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CTL Model Checking

• Clarke, Emerson, Sistla proposed algorithm for CTL model checking on explicit state graph representation [Clarke et al ‘86]

• Linear in graph size and formula length

• Burch, Clarke, Long, McMillan, Dill gave algorithm for CTL model checking with BDDs [Burch et al’94]

• Suffices to have algorithms for checking EG f, EX f, and E [f U G]

• Other formulae expressed in terms of these

• EF f = E [true U f]

• AF f = (EG ( f))

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Symbolic CTL Model Checking• Given a model with set S0 of initial states and a CTL

formula f

• To determine if f is satisfied by all states in S0

• Convert f to g that uses only EX, EG, E[p U q]

• CHECK(g) returns set of states satisfying g

• If g = atomic proposition (e.g., x1. x2 + x3), CHECK returns BDD for g

• If g = EX p, EG p, E[p U q], CHECK uses reachability analysis to return BDD for set of states

• Worst-case exponential complexity

• Finally, determine if S0 CHECK(g)

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State of the Art

• Techniques to address memory/runtime bottlenecks

• Partitioned transition relations

Addresses BDD blowup in representing transitions

• Early quantification of variables

Addresses BDD blowup during image computation

• Iterative squaring

Exponential reduction in number of steps to fixed point

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State of the Art

• Techniques to address memory/runtime bottlenecks (contd.)

• Use domain knowledge to order BDD variables and order quantified variables

• Modified breadth first search

To explore state space of loosely coupled systems

• Active ongoing research …

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State of the Art

• Symbolic model checkers can analyze sequential circuits with ~ 200 flip flops

• For specific circuit types, larger state spaces have been analyzed

• Frontier constantly being pushed• Abstract, Avant!, IBM, Cadence, Intel & Motorola

(internal) ...

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State of the Art

• Specifying properties in specialized logic often daunts engineers

• Better interfaces needed for property specification

• Monitor-based model checking

• Monitor observes system states and flags when something “bad” happens

• Property to check: “Does monitor ever raise flag?”

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Related techniques• Model checking for bugs

Prioritize state space search to direct it towards bugs

• Start from error state and current state

• Compute pre-image of error states & image of current state

• Choose states for further expansion in order of their “proximity” to pre-image of error states

• Proximity metrics: Hamming distance, tracks, guideposts [Yang, Dill ‘98]

• Helps find bugs in erroneous circuits quickly

• No advantages if circuit is bug-free

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Related techniques• Approximate Model Checking

Representing exact state sets may involve large BDDs

Compute approximations to reachable states

• Potentially smaller representation

• Over-approximation :

• No bugs found Circuit verified correct

• Bugs found may be real or false

• Under-approximation :

• Bug found Real bug

• No bugs found Circuit may still contain bugs

Reachable states

Buggy states

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Related techniques• Bounded model checking

• Check property within k steps from given set S0 of states

• S0 F(S0) F2(S0) … Fk(S0)• Unroll sequential machine for k time steps

• To check property Z, test satisfiability of (S0 Z) (S0 Z) (S1 Z) … (Sk Z)

• Leverages work done on SAT solvers

PI PO

NSPS

PI0

S0

PI1

S1 S2

PI2

S3

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Semi-formal Methods(S. Chakraborty)

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Semi-formal Verification

• Formal verification still a bottleneck

• Simulation and emulation not keeping up with design complexity

• Designs with bugs being produced

• FV methods haven’t yet been able to scale to all types of industry designs

• Fundamental complexity limits restrict how much FV can do

• Need some viable alternative

• Use a hybrid of testing, simulation and formal methods to fill the gap

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Semi-formal Verification

Simulation Driver

Simulation Engine

Simulation Monitor

SymbolicSimulation

CoverageAnalysis

Diagnosis ofUnverifiedPortions

Guided vectorgeneration

Conventional

Extension

Devadas and Keutzer’s proposal:A pragmatic suggestion for SOC verification

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Semi-formal Verification• Smart simulation:

• Maximize chances of detecting bugs at small cost

• Coverage metrics crucial

• Code based (conditionals/assignments in HDL)

• Circuit-structure based (node toggle)

• State-space based (states reached)

• Functionality based (user defined event sequences)

• More to come ...

• Use metrics to determine• Unexercised parts of design: Guide vector generation

• Adequacy of verification: When to stop?

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Semi-formal Verification

• Metric Coverage

• Measure of how adequately design is exercised

• A measure of controllability

• Observability is another major issue

• Must propagate a mismatch in an internal signal value (which can cause problems later on) to the observable outputs

• “White Box” techniques help

Assertion checkers [0-In]

• Techniques from testing can be borrowed

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Semi-formal Verification

• Coverage + observability can be used to direct simulation

• Test generation

• Model design errors by fault model (e.g. stuck-at)

• Generate tests automatically that maximize coverage metric per test simulation cycle

• Sequential ATPG methods can be used

• But hard problem in general!

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Semi-formal Verification

• Test generation (contd.)

• Generate tests for FSMs (deep inside design) using model checking techniques

• Map test inputs of FSM deep inside design to design inputs

• User guided

• Automatic using sequential ATPG

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Semi-formal Verification

• Test Amplification

• Make use of interesting test cases already generated by ATPG or user

• Explore behavior “near” tested region of state space

• Rationale: Generated tests may take the design into an error-prone corner but may not detect any/all errors there.

• Goal : Detect as many “near-miss” bugs as possible by looking around paths taken by known tests

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Semi-formal Verification• Partial model checking

• When BDDs start to blow up, delete part of state space from consideration

• Choose parts to delete such that maximum number of states can be explored with given resources

• Hash tables in explicit model checking to prevent blow-up of state space

• Aliasing problem

• Suitable choice of hashing function gives very low alias prob

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Interface Specificationfor

Divide & Conquer Verification(T. Nakata)

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Verification engine

Constraints in Module Verification

• Constraints problem in a case study

• Not specified by the designers

• Defined by verification team through verification process

Result: # of constraints=1818, # of properties=118

(# of constraints < 50 if correctly specified)

Module under

verification

Properties

Inputconstraints

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Two Ways to Define Constraints

Module under

verification

Add pseudo module to inputs

Module under

verification

// PSE_BGN// PSE_ERR[ data == ‘CLD ][ data != ‘CB ]{,1}[ data == ‘CB ]// PSE_END

Specify constraints by a certain languageSpecify constraints by a certain languageInterface

specificationlanguage

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Category of I/F Spec. Languages

• Verification languages

e, VERA, TestBuilder, …

• Special syntax in HDLs or system description languages

SystemC, SpecC, VHDL+, …

• Dedicated languages for I/F specification

OwL, CWL, …

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Design supportVerification support

Design and Verification Support

I/F specification

Sim. pattern generation

Checker generationCoverage

criteria

I/F Synthesis

Spec. sheet generator

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Verification Support (1)

• Checker generation

• Input constraint checker that rules out invalid transactions

• Output checker that checks consistency to specification

Module

Error

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Verification Support (2)

• Simulation pattern generation

• Random pattern generator in conformance with input constraints

Module

Good pattern

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Verification Support (3)

• Abstraction level converter for verification scenarios

• Conversion between transaction-level and signal-level scenarios*

* e.g. TestBuilder TVM generator

ComparisonComparisondo { wait(); } while (!grant);m1.write(d);

ScenarioScenario

Module Level converter

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Example of I/F Specification Language

CWL (Component Wrapper Language)

• Jointly developed by Hitachi and Fujitsu

• Hierarchical description aimed at abstraction level conversion

• Support for split transactions

• Support for useful interface patterns

• Arrays

• FIFOs

• Priority queues

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Hierarchical Description: Base

signalset all = {clk,rst, en, ad,wait,dt}; N : { R, 1, 1, x, 1, x}; I : { R, 0, x, x, 1, x}; Q(a): { R, 1, 0, a, 1, x}; W : { R, 1, 1, x, 0, x}; S(d): { R, 1, 1, x, 1, d}; endsignalset

signalset all = {clk,rst, en, ad,wait,dt}; N : { R, 1, 1, x, 1, x}; I : { R, 0, x, x, 1, x}; Q(a): { R, 1, 0, a, 1, x}; W : { R, 1, 1, x, 0, x}; S(d): { R, 1, 1, x, 1, d}; endsignalset

clk

rst

en

ad[9:0]

wait

dt[7:0]

II NN Q(a)Q(a) WW WW S(d)S(d)

a

d

NN

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Hierarchical Description: Transaction

word; nop : N ; reset : I ; read(a,d) : Q(a) W* S(d) ; endword

word; nop : N ; reset : I ; read(a,d) : Q(a) W* S(d) ; endword

resetreset

clk

rst

en

ad[9:0]

wait

dt[7:0]

nopnop read(a,d)read(a,d) nopnop

I N Q(a) W W S(d) N

a

d

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Hierarchical Description: Sentence

sentence; reset [ nop | read ]+ ; endsentence

sentence; reset [ nop | read ]+ ; endsentence

clk

rst

en

ad[9:0]

wait

dt[7:0]

sentencesentence

reset nop read(a,d) nop

I N Q(a) W W S(d) N

a

d

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Split Transactions

sentence; INITIAL: reset; FOREGROUND: read; BACKGROUND: nop; endsentence

sentence; INITIAL: reset; FOREGROUND: read; BACKGROUND: nop; endsentence

I N N Q1 Q2 S1 Q3 S2 S3

resetreset nopnop nopnop read1read1 read1read1

read2read2 read2read2

read3read3 read3read3

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Summary

• Interface specification is crucial in module verification

• Design and verification support from I/F spec.

• Activities in I/F specification languages

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Techniques forSystem Verification

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Symbolic Simulation and

Symbolic Trajectory Evaluation(S. Chakraborty)

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Symbolic Simulation• Conventional simulation

• Combinational circuits: Output for a given set of inputs

• Sequential circuits: Output for a given initial state and sequence of inputs

• Inputs and initial state are specified constants

• Output is also a constant

• # Constant input combinations too large!

• Alternative approach

• Allow symbolic variables as inputs and initial state

• Compute outputs & states as symbolic expressions

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Symbolic Simulation• A symbolic expression represents a set of values

• Inputs: x = a, y = b, c = b’ • Output: f(x,y,z) = a + b’ represents set of values at

output on applying 001, 010, 101 and 110 to inputs

• Result of multiple simulations in one pass

• Examine expression for outputs to see if desired property is satisfied

a, 1, a

a’, b, a + b Sequential

Circuit

F1(a,S), F2(a,b,S), F3(a,b,S)

Initial state S

Primary outputs

G1(a,S), G2(a,b,S), G3(a,b,S)

Next states

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Low-level Symbolic Simulation• Symbolic simulation at gate and MOS transistor level

• Variables can take value {0, 1, X}

• X represents an unknown state of the signal

• Boolean functions extended to operate on {0, 1, X}• AND(0, {0,1,X}) = {0}

• AND(1, {1,X}) = {1,X}

• AND(X, {X}) = {X}

• Common use of X: Representing uninitialized state variables

• Outputs can be checked to see if desired value appears

• Simulators: COSMOS, Voss, Innologic, Intel Labs

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Low-level Symbolic Simulation• {0, 1, X} encoded in binary

• Two binary variables used to represent each symbolic variable

• Extend operations to pairs of binary variables

• AND( (a,b), (c,d) ) = (AND(a,c), AND(b,d))

• Each signal value now represented using two BDDs

• Generalizing, a vector of BDDs encodes a symbolic expression

• Operation on symbolic expressions = Operation on BDD vectors

0: 00 1: 11 X: 01

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High-level Symbolic Simulation• Variables: boolean, bitvectors, int, reals, arrays …

• Operations:

• Arithmetic, logical, bitvector operations

• Uninterpretted functions, equality, disequality

• Final expression contains variables and operators

• Decision procedures needed to check whether final

expression is as desired

• Final expressions can also be manually checked for

unexpected terms/variables, flagging errors -- e.g. in

JEM1 verification [Greve ‘98]

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High-level Symbolic Simulation• Manipulation of symbolic expressions done with

• Rewrite systems like in PVS• Boolean and algebraic simplifiers along with

theories of linear inequalities, equalities and uninterpretted functions

• Extensively used along with decision procedures in microprocessor verification• Pipelined processors: DLX• Superscalar processors: Torch (Stanford)• Retirement logic of Pentium Pro• Processors with out of order executions• JEM1 (no decision procedures used) ...

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Symbolic Trajectory Evaluation (STE)• Trajectory : Sequence of values of system variables• c = AND (a, b) and delay is 1

• A possible trajectory : (a,b,c) = (0, 1, X), (1, 1, 0), (1, 0, 1), (X, X, 0), (X, X, X) and so on

• Express behavior of system model as a set of trajectories I and express desired property as a set of trajectories S

• Determine if I is inconsistent with S Inconsistent: I says 0 but S says 1 for a signal at time t

Consistent: I says 0 but S says X or 0 for a signal at time t

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STE

• Several success stories with STE

• Verification of memories, TLBs in Power PC

• Verification of instruction length decoder in Intel x86 architecture

• Verification of Intel FP adder

• Microprocessor verification, ...

• Enables efficient analysis of much larger state spaces than symbolic model checking

• However, properties that can be checked are restricted compared to CTL

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Hybrid Verification(S. P. Rajan)

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Hybrid Verification

• Formal Verification using

• Theorem Proving + Model Checking (PVS)

• PVS = Prototype Verification System (SRI International)

• Tight integration of theorem prover and model checker

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Hybrid Verification

Model Checker

BDD

Arith

Rewriter

HardwareSpecification

Propertiesto be Verified

DecisionProceduresdata-structures

Model-Check

Simplify

Rewrite

Assert

BasicDecision Procedures

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PVS System Overview

• Powerful specification language

• Based on typed-higher-order logic

• Can express VHDL/verilog specifications

• Parametric specifications

• Combines theorem proving and model checking (using BDDs)

• Currently, there is no tool that can match PVS in the combined features of specification & verification

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PVS System Overview

• Decision procedures including BDDs and model-checking in PVS

• Support for verification strategies and quick proof prototyping

• Support for quick debugging: theory extensions on the fly

• PVS used to verify commercial designs (AAMP-5, Rockwell Collins)

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PVS Drawbacks

• Developing semi-automatic proof strategies difficult

• Large designs might challenge PVS resource usage

• VHDL/verilog to PVS translators yet to be developed (significant effort needed)

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Emulation(Subir K. Roy)

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Emulation Systems

• Systems using hardware emulators to do physical

prototyping.Hardware emulators : Specially designed h/w & s/w

systems using reconfigurable h/w such as FPGAs. Implements a design by mapping it to these FPGAs, which are mounted in fixed arrays on PCBs in a dedicated piece of equipment that communicates with the design environment.

• Prototype Design – Checked for functional correction

• In Circuit Emulation - Emulator can also be connected to target system.

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Emulation Systems

• Emulation justified when

• Absolute real time performances not required

• Simulation is extremely slow

• Design complexity significant

• Few bugs related to system integration remain

• Though accelerates simulation runs, debug and

design iterations can be long due to setup costs.

• Usually follows static functional verification of

modules.

• Emulation requires an additional design flow

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FPGAs as logic emulators

• ~ Several trillion gate evaluations/sec.

• Efficient high end synthesis tools available.

• Multiple FPGA board architectures give >5 million

gates (can be extended to 10 –15 million gates) –

Can target entire SoC designs.

• Same architecture can be re-used for other designs.

• Programmable interconnect makes it possible to

achieve optimal mapping of partitioned RTL

behaviors to different FPGAs.

• Can be tested by ICE or by test vectors.

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•Import Netlist•Generate Memory

•Clock Analysis•Constraint

•Design Partition

•System Setup•Vector Translation•Vector Debugging

•ICE Setup•Target Interface

•Logic Analyzer Setup

VerilogRTLCode

BehavioralSimulation

NetlistSynthesis

GateLevel

Simulation

Emulator Environment In CircuitEmulation

Error

Emulation Flow

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Total Emulation System

PCTargetBoard

ClockSource

Power

Host

TargetInterfaceModule

ViewStore

WorkStation

EmulationHardware

TargetSystem

LAN

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Emulation Systems - Major components

• Hardware in emulation box

• Multiple PCBs & specialized parallel architecture

around FPGAs/board.

• 1 CPU/board : Hyb. Emln, Behav. Test Bench

• Interconnect : Programmable Crossbars,

Nearest Neighbor Time Multiplexing I/Os.

• Memories : SRAMs, DRAMs, SDRAMs

• Target Interface h/w : ICE cable & interface.

• Logic Analyzer or specialized h/w to capture o/p

response.

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Emulation Systems - Major components

• Software

• Specialized compiler/synthesizer for mapping flattened RTL/gate netlists to emulation hardware.

• Mapper uses Multiway, Multilevel partitioning s/w to Multi-FPGA, Multi-Board emulator target architecture.

• Specialized timing analysis for clocking issues related to Multi-FPGA mapping.

• Execution software.

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Emulation Systems - Drawbacks

• Expensive & Proprietary hardware.

• Additional Design flow

• High designer skill in vendor specific tools.

• Design iterations can be time consuming.

• Requires high performance workstations

• On board memories require logic wrappers. DRAMs

& SDRAMs impose proper refresh strategies at

lower emulation speeds

• Needs careful attention to setup & hold times when

exercising test vectors.

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Emulation Systems - Drawbacks (contd.)

• Data buffers susceptible to overruns & underruns.

• Debugging difficult as errors can also arise due to

data interfaces to emulation model.

• Proprietary simulator

• ICE can impose target h/w to be slowed down.

• Inflexible due to interconnect architecture.

• SoCs will be limited by interconnect capacity.

• Facing competition : Simulation farms, Cheaper

Rapid Prototyping Systems.

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Commercial Emulators [Butts & Keutzer,’99]

• Cadence/Quickturn Mercury : 10M gates, Xilinx

FPGA, Two level time multi-plexed crossbar

interconnect, PowerPC/board (Verilog h/w

accelerator).

• IKOS VirtualLogic : 5M gates, Xilinx FPGAs, Nearest

neighbor time multiplexed interconnect (Virtual

Wires), Compiler analyzes clock trees to

synchronize time multiplexing.

• Axis Excite : FPGAs on PCI cards, Tightly coupled

to proprietary Verilog simulator.

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Quality of Verification(Subir K. Roy)

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Quality of Verification

• Motivation

• Has verification been done comprehensively?

• All expected behavior excited & observed?

• Compare runs based on different approaches.

• Semi-Formal (Simulation + Model Checking)

• Stopping criteria (Intelligent Simulation)

• Formal (Model Checking)

• Adequacy of set of properties?

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Coverage Metric - Informal

• Coverage Metric helpful in detecting

• Useful structures in a design

• Useful classes of behavior

• Classification : Based on abstraction and level of

design representation [Dill, Tesiran, ICCAD 99].

• Code (HDL code)

• Circuit structure (Netlist)

• State space (STG)

• Functional (User defined tasks)

• Specification (Executable)

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Coverage Metric - Informal

• Different Coverage Metrics :

• Branch

• Expression

• FSM Arc

• Functional

• Hardware Code

• Path

• Signal

• Statement

• Toggle

• Triggering

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Coverage Metric - Informal

• Desirable Qualities [Dill, Tesiran, ICCAD 99].

• Direct correspondence between metric & design

errors or bugs.

• Tolerable computational overhead to measure

coverage

• Reasonable analysis overhead

• Data interpretation• High Coverage• Stimuli generation

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Coverage Metric - Semi-formal

• Informal Coverage Metrics – Ad-hoc.

• Is it possible to formalize metrics for certain

classes of designs?

• Semi-formal [Gupta et. al. DAC 97]

• Mixes formal verification and simulation approaches.

• Generate : Test model - Simple ( Formal Ver-ification). Implementation model - Complex (Simulation)

• Use FV to drive test set (test vector seqs.)

• Coverage : Defined on Test model.

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Coverage Metric - Semi-formal

• Can coverage on test model be translated into good

coverage on implementation model?

• Coverage of design behavior

• Coverage of design errors

• Guarantees w.r.t. completeness of validation.

• Test model derived from Implementation model

through abstraction of data path & control part. Can

this be made more precise?

• Gupta et. al. show under a reasonable set of

assumptions one can define metrics formally.

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Coverage Metric - Semi-formal

• New Coverage Metric(TTM) : Based on Transition

Tour on test model

• Transition Tour : A test set that covers each transition in a FSM.

• Transition tours can catch all errors if there exists an input which produces a unique output in each state, & causes the FSM to stay in the same state.

• Test model based on Mealy machine.

• Test generator – Uses FV techniques to traverse reachable state space for desired target coverage.

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Coverage Metric - Semi-formal

• Limitation : Does not cover all sequences (path

coverage). Not all errors exposed. Transition tour

metric can excite errors, but may not expose errors.

• Complete test set generation rules

• Application

• TTM used in processor verification

• General Purpose Processors

• Digital Signal Processors

• Case Study - DLX RISC Processor.

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Coverage Metric - Formal

• Formal Verification : Is system correct with respect

to a specification?

• How complete is the set of specification?

• Coverage Metric captures relevance of different

parts of the system for the verification process

when modifications are effected in the System

Under Verification (SUV)

• What does it mean for a specification Φ to cover a

system/circuit S?

• Does Φ describes S exhaustively?

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Coverage Metric - Formal

• Intuitively, uncovered part of S amenable to

modification without falsifying Φ in S.

• Different definitions of coverage implies different

ways in which parts of S can be modified.

• Captures errors in the modeling of a system

• Vacuous satisfaction of specification

• Captures errors in validity of specification

• Sanity checks for constraint validation (Eg.

Enabling conditions, Variable values & usage).

grant) AF AG(req

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Coverage Metric - Formal

• Completeness of Specifications

• Erroneous behavior not caught if no spec

captures this behavior

• Fully describe all possible behavior of system

• Check if system contains redundancies

• Simplify system

• Analyzing coverage in MC can find portion of

design not relevant for verification to

succeed.

• Coverage check – Feedback mechanism.

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Coverage Metric - Formal

• Approaches in Temporal Logic MC [Katz et. al., ‘99]

• Compare SUV with Tableau of spec Φ [An abs-

tract system satisfying Φ and subsuming all

behavior allowed by Φ.]

• Detects portions irrelevant to satisfaction of Φ :

Behaviors indistinguishable by Φ & those

allowed by Φ but not generated by SUV

• Drawbacks : Imposes severe restriction on system

& its tableau, Supports only ACTL

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Coverage Metric - Formal

• [Hoskote et. al., DAC 99] Coverage : Effect of modi-

fications in system on satisfaction of the specs.

• Given, System : Modeled by a Kripke Structure, K;

Spec, Φ : A formula satisfied in K; q : Signal; w : A

state in K.

• Defn. : w in K is q-covered by Φ if K' derived from K

by flipping value of q in w no longer satisfies Φ.

• q-cover(K, Φ) : Set of states q-covered by Φ in K.

• CM Computation : Naïve – Perform model checking

of Φ in K' for each state w of K. {Acceptable ACTL }.

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Coverage Metric - Formal

• [Chockler et. al., CHARME 2000]: Distinction bet-

ween ways to model a system.

• State based : Design Level (Hoskote et. al.)-System

modeled as a circuit with state space .

• Logic based : Implementation Level - Signal value

fixed to 0, 1, or X everywhere, then model check for

satisfaction of Φ.

• Closed system : No env. inputs (Kripke Structure).

• Open System : Inputs from environment + Outputs

supplied by system to environment; Modeled by

sequential machines; Coverage metric w.r.t. o/ps.

v2

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Coverage Metric - Formal

• Coverage Metric Computation

• Naïve approach : Find set of covered states

(state based approach), or set of covered signals

(logic based approach) by model checking

every modified system.

• Alternative approaches

• Find uncovered parts of system

• Utilize overlaps among modified systems:

Each modification involves small change in

system.

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Coverage Metric - Formal

• Presentation of Output : What do we do after we

detect portions of system (or circuit) S that are not

covered w.r.t. a signal x?

• Compute : X = {x-cover(S, Φ) / for several x in O};

Coverage = | x-cover(S, Φ) | / |States in S|.

• Analysis : Is x-cover(S, Φ) empty? - Implies vacuity

(X can be used for generating uncovered computa-

tions). s in S not in x-cover(S, Φ)?- Implies Φ fails

to distinguish between S & S‘; Implies errors

arising out of erroneous values of signal x in s are

not captured by spec.

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Coverage Metric - Formal

• Advantages

• Applicable to full CTL.

• CM not sensitive to abstraction.

• CM is compositional

• Drawbacks

• Complexity of computing CM much greater

than that of model checking.

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Academic & Research Lab Verification Tools

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Verification Tools – 1(S. Ramesh)

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Verification tools

• A large number of tools exist

• Exhaustive review impossible

• For a comprehensive list and details:

• Formal Methods Home Page:

http://www.comlab.ox.ac.uk/archive/formal-methods.html

• Centre for Formal Design and Verification of Software (CFDVS) at IIT Bombay

http://www.cfdvs.iitb.ac.in

• BRIEF review of a VERY FEW model-checking tools in order now!

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VIS

• VIS Home page: http:// www-cad.eecs.berkeley.edu/ Respep/Research/vis/

• Verification Interacting with Synthesis.

• A research prototype tool (Proof of Concept)

• U. California, Berkeley (Brayton et. al.)

• U.Texas, Austin, U.Colorado, Boulder

• VIS integrates verification, simulation and synthesis of finite state HW system.

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Modeling Language

• A subset of Verilog

• VHDL and Esterel planned

• The back-end language is BLIFF-MV

Specification Language

• CTL, CTL* and Automata

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Verification

• Symbolic Model Checking

• Language Emptiness Check

• Equivalence Checking of Combinational designs

• Speciality:

• Simulation and Synthesis

• Various representations of Boolean functions (BDD, MDD, etc.)

• variable ordering heuristics

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Specification Examples

• AG ((bit[0] = 1) AX (bit[0] = 0))

Flipping of the zeroth bit in a counter.

• AG ((Req = 1) AF (Ack = 1) )

Every Req is greeted with an Ack eventually

• AG (EX:5 (State = TRST))

Always state TRST is reached in 5 steps.

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SMV

• Home page:• http://www-cad.eecs.berkeley.edu/ kenmcmil/smv/

• Experimental Research tool from Cadence Berkeley Labs. (McMillan)

• Originally from CMU (McMillan's Ph.D.thesis)• Modelling Language: Interacting State Machines,

Synchronous Verilog• Specification Language: CTL, LTL• Verification Approach: Symbolic Model Checking• Compositional and Symmetry-based Verification

Strategy

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Modeling language

• Interacting state machines

• synchronous and asynchronous concurrency

• allow modular and hierarchical description of finite state systems

• finite data types: Booleans, scalars, fixed arrays

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Examples:1. MODULE MAIN

VAR

request : boolean;

state : {ready, busy}

ASSIGN

init(state):=ready;

next(state):=case

state=ready&request: busy

1 : {ready,busy } ;

esac;

SPEC

AG (request ® AF state = busy)

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Examples:

1. Old Syntax

• `request' unconstrained (input)

• non-deterministic assignment

• OBDD representation of tr. reln. constructed and SMC performed.

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Example - 3bit counterMODULE mainVAR

bit0 : counter cell(1);bit1 : counter cell(bit0, carry-out);bit2 : counter cell(bit0, carry-out);

SPECAG AG bit2. carry-out

MODULE counter cell(carry-in)VAR value : boolean;ASSIGN

init(value) :=0;next(value) := value+carry-in mod 2;

DEFINE carry-out : = value & carry-in

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Example - 3bit counter

• Assign sections of bit0, bit1 and bit2 execute in parallel

• Data dependence respected

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FC2toolset

Home page:

http://www-sop.inria.fr/meije/verification/

• Automatic Verification of Finite State Communicating systems

• Form the basis for Esterel verification

• Developed at INRIA and Ecole de Mines, Sophia Antipolis

• Based upon process algebra notation

• Modeling Language: CSP/CCS, Esterel (Xeve tool)

• Specification language: abstract state machines

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Verification Approach

• Comparison of specification machine with the model after abstraction: use of Observational Equivalence, Symbolic Bisimulation

• Compositional Minimization and Abstraction

• A very powerful notion of abstraction

(re-labeling complex sequence into a single label)

• Explicit and BDD representation of state machines

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ExampleDLX Controller

• An Esterel model

• 100s of states

• abstracted using FC2tools:

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STePHomepage :

http://rodin.stanford.edu/

• Stanford Temporal Prover

• Interactive theorem proving tool for verification of concurrent and reactive systems

• Combines model-checking and deductive approaches and verifies

• parameterized(N-component) circuit designs

• parameterized(N-process) programs and

• programs with infinite data-domains

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STeP

• Modeling Language: SPL and fair Transition Systems

• Specification Language: LTL and First Order Logic

• Verification Approach: Theorem Proving and

Model-checking

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STeP overviewTemporal Logic

Formula

Reactive System(SPL) Program

Hardware

Description

Model

Checker

Fair Transition System

Automatic Prover

Verification RulesBottom-up Invarient

Generator

Strengthening of InvariantsPropagation

First-order Prover Simplification

Decision procedures

P- valid Counter example P- valid Debugging Guidance

Interactive

Prover

User

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Verification in STeP

• Very powerful theorem prover

• Automatic Invariant Generation,

• Collection of Simplification rules

• Decision procedures for linear arithmetic, arrays, bit vectors, etc.

• Generation of Verification Conditions

• BDD simplification

• Rich set of tactics and tacticals

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An example SPL Programmain ::[in a : int where ((a 127) ^ (a > - 128))in b : int where ((b<127) ^ (b > - 128))out c, d : intif (a > 0 ^ b > 0) then [

if (a > b) then [ 12 : skip;c:= a-b]else [ 13 : skip;c:=b-a]

]else if (a < 0 ^ b <0) then [ 14:skip;c:= -(b + 1)]

else [15: skip; c:=a + b ]]

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Specification file

SPECPROPERTYP1 : l2 ((a – b) 127 ) ((a – b) - 128)

PROPERTYP2 : l3 ((b – a) 127 ) ((b – a) - 128)

PROPERTYP3 : l4 (-(b + 1) 127 ) (-(b + 1) - 128)

PROPERTYP4 : l5 ((a + b) 127 ) ((a + b) - 128)

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Examples

• Leader-Election algorithms

• Needham-Schroeder Security protocol

• Ricart and Agrawala's mutual exclusion algorithm

• Bus scheduler verificationhttp://rodin.stanford.edu/case-studies/index.html

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Verification Tools – 2(S. P. Rajan)

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Fujitsu’s High-Level Model Checking Tool

• A high-level symbolic safety property checker based on Stanford Validity Checker (SVC) decision procedures

• Has a state-transition input language that extends SVC expression syntax

• Provides code to translate XE VHDL synthesis tool's ADDs into HMC input

• HMC has been applied for verification of portions of Fujitsu ATM switch specified in VHDL

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HMC Basics: Pre- and Back-Image

• Representing sets and relations with their characteristic functions:

• PreImage[Q] =s. s’. R(s,s') And Q(s')

• PreImage corresp. to EX Q in CTL.

• BackImage [Q] = s. s’. R(s,s') => Q(s')

• BackImage (aka. Weakest Precondition) corresp. to AX Q in CTL.

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Basics: Fixpoints and Safety Properties

• Z0 = Q

• Zi+1 = Q And BackImage [Zi]

• If [ k. Zk = Zk+1] then [Zk = Z. (Q And

BackImage [Z])]

• This fixpoint corresp. to AG Q

• If initial states Q0 is a subset of Zk, then Q is a

safety property.

• Otherwise, a counterexample trace exists, starting in Q0 \ Zj,

• where Zj is the first Zi s.t. Q0 is not a subset of Zi

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HMC: Data-Type and Expression Support

• Quantifier-free first order logic with linear arithmetic and uninterpreted functions

• Built-in theories in SVC: uninterpretted functions under equality, linear arithmetic, stores, records, bitvectors.

• Approach equally applicable to other decision procedures.

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VeriSoft from Lucent Bell Labs

• A New “Model Checking” approach.

• A New Approach to Communication Software Analysis

• What is VeriSoft?

• How does it work?

• Industrial applications.

• Related work and discussion.

• Project status and conclusions.

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What is VeriSoft?

• Concurrent Reactive System Analysis

• Each component is viewed as a ``reactive'' system, i.e., a system that continuously interacts with its environment.

• Precisely, we assume:

• finite set of processes executing aribitrary code (e.g., C, C++, Java, Tcl, ...);

• finite set of communication objects (e.g., message queues, semaphores, shared memory,...).

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What is VeriSoft? (contd.)

• Problem:

• Developing concurrent reactive systems is hard! (many possible interactions); Traditional testing is of limited help! (poor coverage); Scenarios leading to errors are hard to reproduce!

• Alternative: Systematic State Space Exploration

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How does VeriSoft work?

• VeriSoft looks simple! Why did we have to

• wait for so long (15 years) to have it?

• Existing state space exploration tools are restricted to the analysis of models (i.e., abstract descriptions) of software systems.

• Each state is represented by a unique identifier.

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How does VeriSoft work?(contd.)

• During state space exploration, visited states are saved in memory (hash table, BDD,...).

• With programming languages, states are much more complex!

• Computing and storing a ``unique identifier'’ for each state is unrealisitc!

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State Less Search

• Idea: perform a state less search!

• still terminate when state space is acyclic

• Equivalent to ``state space caching'' with an empty cache: this search technique is terribly inefficient! [H85,JJ91]

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An Efficient State Less Search

• [GHP92]: Redundant explorations due to state space caching can be strongly reduced by using Sleep Sets [G90], and ``partial order methods'' in general [G96].

• VeriSoft: original algorithm combining state less search, sleep sets [G90,GW93], conditional stubborn sets [V90,GP93,G96].

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An Efficient State Less Search(contd.)

• Theorem : For finite acyclic state spaces, the above algorithm can be used for the detection of deadlocks and assertion violations without incurring the risk of any incompleteness in the verification results.

• Observation : When using this algorithm, most of the states are visited only once during the search.

• Not necessary to store them!

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VeriSoft -- Summary

• VeriSoft is the first tool for systematically exploring the state spaces of systems

• Composed of several concurrent processes executing arbitrary (e.g., C or C++) code.

• Originality: Framework, Search, Tool [POPL'97].

• The key to make this approach tractable is to use smart state space exploration algorithms!

• In practice, the search is typically incomplete.

• From a given initial state, VeriSoft can always guarantee a complete coverage of the state space up to some depth.

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Industrial Applications

• Examples of Applications: (within Lucent Technologies)

• 4ESS Heart Beat Monitor analysis (debugging, reverse engineering).

• Wavestar 40G integration testing (testing).

• Automatic Protection Switching analysis (interoperability protocol testing).

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Conclusion

• VeriSoft (tool + approach) can find bugs in nontrivial concurrent/reactive software system.

• 1. Concurrent/reactive/real time software is hard to design and test.

• 2. Traditional testing techniques are not adequate (poor coverage, lack of observability and controllability).

• 3. Systematic testing using an approach specially developed for detecting race conditions and timing issues can rather easily expose previously unknown bugs.

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Case Studies

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Case Study 1(S. P. Rajan)

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Motivation: Real Buggy Chip

• Bug identified in a real chip design ATM Switch: 156 MHz, 111000 gates.

(B. Chen, M. Yamazaki, and M. Fujita)

• Field test showed abnormal behavior after several seconds

• Data disappeared/duplicated

• Simulation prohibitively expensive (100 million cycles required)

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Motivation: State Explosion

• Formal Verification to find bugs

• Symbolic Model Checking using SMV for control-block verification

• State-space explosion (large datapath)

• Abstraction to reduce state-space

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Motivation: Abstraction Expensive

• Too much abstraction revealed no bugs -

8 bit to 1 bit; Single module verification

• Trial-and-error method to come up with right abstraction:

• 8 bits to 2 bits

• Bug revealed: Reset incomplete!

• Coming up with right abstraction: Tedious

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Motivation: Design Change

• Changes in design require revalidation

• Revalidation expensive

• TAT too long

• Design cycle cost expensive

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Typical ATM Switch Fabric

2 x 2 Switch 2 x 2 Switch

2 x 2 Switch 2 x 2 Switch

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ATM Switch Architecture

HW_clk|SW_clk: Multiple Clocks

Cell FIFO

RAF0

RAF1

WAF

S/P P/S

WriteControl(WC)

ReadControl(RC)

Cell Counter(wBC)

Copy CellFlag ccf

iHW0/1 oHW0/1

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ATM Switch Highlights

• 2 X 2 switch

• multiple clocks: faster external HW_clk; slower internal SW_clk

• 1 cell-buffer shared by 2 ports

• address-FIFO for supplying cell addresses

• addresses recycled

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ATM Switch: Generic Parametric description

• Modification of existing fixed parameter high-level description in VHDL

• Parametrized the external/internal clock ratio:

• synthesized designs with specific ratios by simple instantiation

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ATM Switch Generic Parametric Description

• Parametrized the number of switch input/output ports:

• synthesized designs with specific number of ports by simple instantiation

• Parametrization of cell-buffer size also possible

• Reusable generic model

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Complexity of Design Spec

• ~ 20 Communicating Processes

• ~1500 lines of VHDL code at high-level

• ~20000 lines of VHDL at gate-level after synthesis

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Behavior Partitioning

• Partitioning based on

• clock: Faster HW_clk; slower SW_clk

• functionality: Serial/Parallel (S/P); Write Control (WC); Read Control (RC)

• throuput requirement: pipeline latency

• Modeling: VHDL process for partition

• “wait until clk = 1” for control step

• Define interface between partitions

• eg: clk conversion in S/P & P/S

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Generic ATM VHDL Model

entity: atm_sw is begin generic ( n: integer, -- ext/int clk ratio m: integer -- number of input/out ports

);

port ( ... );

end atm_sw

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SP conversion module 1: VHDL

iHW_sp1: process begin for i in 1 to n loop iHW_bword(1)(i) <= iHW_cell_word; if i = 1 then ... elsif i = n then iHW_cycle_counter <=

iHW_cycle_counter (n downto 2) & '1'; ... endif;

wait until (HW_clk'event and HW_clk = '1'); end loop; end process iHW_sp1;• Stores the incoming word and updates cycle

counter

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SP Conversion Module 2: VHDL

iHW_sp2: processbeginfor i in 2 to n loop ... iHW_bpc(i) <= iHW_bpc(i-1); for j in 1 to n loop iHW_bword(i)(j) <= iHW_bword(i-1)(j); end loop; wait until (HW_clk'event and HW_clk='1'); end loop; end process iHW_sp2;

• Shifts contents of registers by one place

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SP conversion module: VHDL model

to_FIFO: process begin ... for j in 1 to n loop iHW_word(j) <= iHW_bword(index-1)(j); header_parity_check := bit_or(iHW_bpc(j)); end loop; wait until (sw_clk'event and sw_clk='1'); end process;

• The proper word is fetched to the FIFO from the shift-register

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Synthesis: Generic Clock Ratio

Clk Ratio Ports Nets Cells Area (bc) delay (ns)

34

5

6

118

118

118

118

59362 52243 93580 223

62578 55259 97506 223

66245 58688 102208 223

69203 61376 107484 223

Area and delay of synthesized ATM switches different clock ratios Fujitsu CS35R technology Number of ATM input ports = 2 and ouput ports = 2

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Synthesis: Generic Clock Ratio

Clk Ratio Ports Nets Cells Area (bc) delay (ns)

34

5

6

118

118

118

118

59362 52243 93580 223

62578 55259 97506 223

66245 58688 102208 223

69203 61376 107484 223

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Synthesis: Generic number of in/out ports

Area and Delay of Synthesized ATM Switches Varying number of input/output ports Fujitsu CS35 technology Clock ratio = 3

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Formal Verification

Overall correctness property - Input cells switched to proper output ports,- The order of input cells is maintained at the output.

ATM is a complex design:-- Compositional verification technique: verify ATM modules separately and compose

Verification of the generic parametric model automatically implies the verification of a family of ATM designs

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Formal Verification : Bugs found

Address pointers to WAF not initialized to 0 Analysis by model checking in PVS Mistake due to hidden assumptions in synthesis Counter-example generated Combined with other verified modules

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SP conversion: PVS Spec

sp_conversion_theory[n: posnat]: THEORY BEGIN

IMPORTING signal,signal[n], bitvectors@bv_extractors, ...

register_array: TYPE = ARRAY ...

iHW0_bword: [nat -> register_array]

iHW0_cell_word: signal[16]

forloop0(t,i,n): bool = % i indexes rows

….

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SP conversion: PVS Spec

…...

iHW0_bword(t)(0,i) = iHW0_cell_word(t) AND

IF n > 1 THEN

(i = n-1 IMPLIES iHW0_cycle_counter(t+1) =

iHW0_cycle_counter(t)^(n-1,1) o b1)

ELSE iHW0_cycle_counter(t+1) = b1

ENDIF

END sp_conversion_theory

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SP Conversion: PVS Spec

loop0(t,i,m): RECURSIVE bool = IF i = n THEN TRUE

ELSE

iHW0_cycle_counter(t) = bvec0 AND

(forloop0(t,i,n) AND loop0(t+1,i+1,n)) ENDIF

MEASURE n-i sp(0,n) = ... to_fifo(n,n) = ...

• VHDL to PVS translation non-trivial

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SP Conversion:Formal Verification

• theorem2: THEOREM % When clk rising edges are synchronized FORALL (n:posnat):FORALL (i:nat|i<n): sp(0,n) AND to_fifo(n,n) IMPLIES iHW0_word(n)(i) = iHW0_cell_word(i)

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SP Conversion:Formal Verification

• Finaltheorem: THEOREM % When clk rising edges need not be synchronized FORALL (n:posnat): FORALL (i:nat|i<n): sp(0,n) AND to_fifo(n,n) IMPLIES EXISTS (t:time | n <= t AND t <= 2 * n) iHW0_word(t)(i) = iHW0_cell_word(i)

• Proof by induction and rewriting: 14.8 Secs on Sparc-20, 64 Meg RAM

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Address Recycle VerificationTheorem :

FORALL (t: time),

(ptr: {ptr: address_type |

RAF0_tptr(t) <= ptr AND

ptr <= RAF0_hptr(t)}):

whileloop(t) AND more(t) AND

RAF0_hptr_tptr_update(t) AND

RAF1_hptr_tptr_update(t)

IMPLIES

iHW0_write_addr(t) /=

MEM(t)(ptr)

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Address Recycle Verification

• Symbolic Model-Check proof strategy in PVS used

• Theorem not proved

• Counter-example evident from the proof script

• 19 Seconds cpu time on Sparc-20 / 32 Meg

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Address Recycling: Bug Found

• WAF_hptr and WAF_tpr not initialized to 0

• Bug found easily by model checking original VHDL description in an integrated theorem proving and model checking framework

• Another error suspected in cell buffer update

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Conclusions

• Introduced formal verification early in the design cycle to remove bugs

• Serious bugs found in initialization related to address recycling

• High-level parametric validation reduces cost of formal verification: small-scale gate-level validation suffices for sign-off

• Drastic reduction in cost and time-to-market

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Case Study 2[Formal meets semi-formal]

(T. Nakata)

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Outline

• Target design: media instruction unit (MU) of a VLIW multimedia processor core

• Verification strategy: divide-and-conquer

• Right tool in the right place

• Specification language

• Formal verifier

• Semi-formal verifier

• Logic simulator

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I/F specification

Pattern/property gen.

Checker

DRAM I/O

GDC

MPU

ROM

DSP

Divide-and-Conquer Verification

• Isolate a module using formal I/F specification

• Verify a module by integrated verification tools

ModuleModule

I/F

Integratedverification

engineModuleModule

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Verification Tools

• Interface specification toolkit (in-house)

• Language based on regular expression

• Pattern/property/checker generator

• Formal verifier (in-house)

• Model checker

• Automatic/semi-automatic design abstraction tool

• Semi-formal verifier

• 0-In Search & Checkerware

• Logic simulator

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Verification Flow

ScenariosScenariosDesign modelDesign model

Integrated verification engineIntegrated verification engine

Design under

verification

PropertiesPropertiesInput

constraints

Black-boxspec.

White-boxspec.

Verificationscenario

I/F spec.I/F spec.

I/F specification language

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Verification of MU

• MU

• Pipeline for media instruction

• RTL model: 14,000 lines in Verilog

• 2,000 registers in total

• Basic strategy

• As formal as possible*

• Semi-formal verification for the whole unit

• Formal verification for an important unit: instruction decoder

* Simulation completed before this attempt

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Test pattern

Verification of MU (1st)

MU

I/F spec. HDL

41 constraints4 properties

Test patterns

augmented by

0-In Search

Many design errors detected, but all from input patterns that do not satisfy input constraints

Result:

Insufficient constraints

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Test pattern

Verification of MU (2nd)

MU

I/F spec. HDLTest patterns

augmented by

0-In Search

Pseudo models(I/F spec. lang. and HDL)

A known error in interlock logic andan unknown error in decoder detected

Result:

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• Indicator of no hazards “e-wait” may be asserted under a certain hazard condition

• Length of augmented* patterns: 7 cycles

Detected Error

0x0

xxx

xxx 0x0

xxx 0xf

clock

m0_valid

m1_valid

i0_valid

m0_rd

m0_rs1

m1_rd

i0_rd

e_wait

0x0

* By 0-In Search

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Summary of MU Verification Flow

M-Unit(HDL)M-Unit(HDL)

Design databaseDesign

database

ConverterConverter

Constraints(I/F spec)

Constraints(I/F spec)

Properties(I/F spec)

Properties(I/F spec)

Properties/constraints(HDL+0-In Check)

Properties/constraints(HDL+0-In Check)

Pseudo(HDL)

Pseudo(HDL)

0-In compile0-In compile

Test vectors

Test vectors

0-In Search0-In Search

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Verification of Instruction Decoder• Instruction decoder

• Complete verification required• 200 registers

• Property and constraints• Property: detection of unsupported

instructions• Constraints: valid instructions• Described in I/F spec. language (460 lines)

• Results• Two errors detected• Correctness proven after revision

Model checker

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Decoder Verification Flow

M-Unit decoder

(HDL)

M-Unit decoder

(HDL)

Constraints(I/F spec)

Constraints(I/F spec)

Properties(I/F spec)

Properties(I/F spec)

Model checkerModel checker

Note:No abstraction/

reduction required in this example

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Statistics

• Verification team: 3 people

• Term: 4 months

• Build specification: 2 months

• Apply semi-formal verification: 3 months

• Apply model checker: 2 months

• Sources for verification

Properties (I/F spec. lang.) 118

1,818Constraints (I/F spec. lang.)

1,518Pseudo (HDL)

14,320MU (HDL)

Lines

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Conclusions

• Interface specification essential

• For module isolation

• For a single source for verification tools

• Formal/semi-formal verification mandatory

• Serious bugs may leak from simulation

• Earlier collaboration among designers and verification team will produce better results

• For extracting good constraints/properties

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Commercial Tools(Subir K. Roy)

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Commercial Tools

• Several tools available as commercial offerings.

• Different approaches taken. Most are based on

• Simulation

• Formal Verification

• Semi-Formal Verification

• Most support IP-verification re-use (intuitive, but

can be formally related to compositional

techniques).

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Assume & Guarantee - Basic Idea

Global Property defined on o2

P Qi1 o2o1

i2

Decompose

P Q

o1

i2

o1

i2Assumption Guarantee

Guarantee Assumption

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Smarter Simulation

[Gupta, Malik & Ashar, DAC 97]

TestSet

Generator

Behavioralsimulator

RTLsimulator

Test Model

Design Implmt(RTL Level

Description)

Design Spec(Behav LevelDescription)

Function Test Set =? Validation

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FormalCheck

• Model Checking based on COSPAN from Bell Labs

• Integrated debug environment with back references

to HDL source codes

• Property specification (Queries) based on template

approach with user guidance

• Two reduction technologies for large designs

• Supports hierarchical + IP + Re-use verification

• Assumptions stated as constraints on environment

using same format as behaviors or properties

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FormalCheck

TargetBlocks

SystemBlocks

Inte

rfac

e

=

=

System Properties

SystemConstraints

BlockProperties

BlockConstraints

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FormalCheck Architecture

Gates

QueryTemplateLibrary

QueryCapture

Formal Model

Query-SpecificReduction

RTL

Autorestrict

Probabilistic

Large Model

Early Model

Results &Error Traces

Inputs Outputs

Template-BasedQuery Inputs

Chip, Blocks, IP ModelsIn Verilog or VHDL

Results Display

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Specman Elite - Verisity

• Simulation & Spec-Based Verification (executable)

• White Box – Drive & Test Internal Signals

• On the Fly Test Generation

• Test Checking is automatic : On the Fly

• Supports metrics to track progress of verification

effort & measure coverage of functional test plan

• To verify temporal behavior & protocols - Cons-

tantly monitors design by sensing for triggers

signaling beginning of a sequence and follow it to

verify conformance to temporal/protocol rules.

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Specman Elite - Verisity

• New & Powerful temporal constructs to easily

specify complex checkers – Less Time Consuming

• Supports data checks &coverage based feedback

mechanism.

• Allows executable checkers around boundary of IP.

• Allows checks for arbitrarily complex, mode inde-

pendent, multi-cycle scenarios that IP vendor

specifies.

• Allows boundary checks to ensure correctness of

integration process.

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Specman Elite - Verisity

• Allows Internal Checks - Provides a handle to the IP

integrator to analyze failures in IP after integration.

SPECCONSTRAINTS

TESTCONSTRAINTS

CONSTRAINTSOLVER

HDL SIMULATION

Next Cycle’s Stimulus

ProtocolsI/O RelationshipsContext DependenciesInput Definition

Target AreasWeights/ProbabilitiesCorner Case TestsStructured Sequences

Signal & Register Values

Current Cycle’s HDL

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Specman Elite - Verisity

Bus Functional Model

BLOCK

BLOCK

Bus Functional Model

Monitor &

Protocol Checker

Monitor &

Protocol Checker

Monitor &

Protocol Checker

Coverage Collector

Coverage Collector

Coverage Collector

e-language

e-language

e-language

e-language

e-language

e-language

e-language

e-language

Verilog

Verilog

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ZeroIn-Search

• Semiformal verification based on formal techni-

ques & simulation -- Sweeps formal techniques

through a larger state space by extensively explo-

ring around each state in a “seed’’ trace. “Seed’’

comes from functional simulation test.

• Two step process

• Embedded Checkers - written in HDL (No sepe-

rate property or assertion language needed)

• Protocol Checkers - provides verification enviro-

nment (reports errors by models stimulating IP)

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ZeroIn-Search

0_In Check Tool

• Instruments the Core/IP/VC with embedded chec-

kers automatically based upon comments in RTL

code (increases observability & detects bugs at

source).

• 0_In provides CheckerWare Library of checkers

for internal design structures & interfaces + pre-

verified protocol monitors for standard buses -

PCI, PCI-X, Utopia. (Formal techniques try to find

new ways to fire embedded checkers.)

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ZeroIn-Search

• More than 50 embedded checkers

• Checkers for datapath elements, FSMs & other

control flow elements, buses and interfaces.

• Approach finds bugs, not just new coverage.

• If a checker fires in simulation, then a bug is

present. If amplification finds a new way to fire a

checker, it detects a bug.

• Stress tests interface to design interactions.

• Checkers & monitors track coverage statistics &

corner cases.

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0_inSearch Verification Flow

Verilog RTLwith

Directives

CheckerGenerator

CheckerLibrary

Simulation Fileswith Checkers

Verilog Simulator

CapturedSeed

Values

Verilog Tests&

Test Benches

Verilog RTLwith

Checkers

Firing Messages

inVerilog o/p

SemiformalAmplification

Tool

Informationon

New Firings

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BlackTie - Verplex

• Based on Formal Verification

• Allows full system level integration verification

(Multimillion gate capacity tool)

• Free open source assertion monitor library (Verilog)

• Simulation (through any Verilog simulator) & For-

mal Verification (BlackTie) can operate seamlessly

• With BlackTie no test vectors, exhaustive coverage,

automatic diagnosis.

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BlackTie - Verplex

• Automates checking of global & common place

errors. Automatic generation of checkers for,

• Contention Problems.

• Asynchronous Clock Domain Crossings

• Dead-End States

• Conflicting values loaded to Multi-Port Registers

• Simultaneous Set & Reset conditions

• Mutual Exclusivity Checks

• Tri-state stuck in a particular state.

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Issues & Challenges&

Future Research Topics

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High Level Specification and Modeling(T.Nakata)

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Why Specification?

• Specification errors/misunderstandings take 50% of SoC design man-power.

• Verification tools can’t handle such errors enough.

Design man-power for SoCs

OthersVerification 70%Simple

mistakesMisunderstanding

Of Spec.WrongSpec.Verif.

tools

Spec.designsupport

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Wrong specification

Misunderstanding of specification

Issues in Specification and Verification

We need:• Methodology for specification analysis• Standard language with formal semantics

Idea and/orrequirement

Specification Design data SoC

ValidationDoes specification

match requirement?

FormalizationIs specification defined

clearly?

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UML

UML is:

• Standard in object-oriented software design

• Devised and designed under the object-oriented analysis theory

• A set of diagrams that represent components of a system and relationships among them

• Modeling a system from multiple angles with

use-case/class/object/state/sequence/activity/collaboration/component/deployment

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Object-Oriented Analysis

• For system architect to understand “WHAT” to design not “HOW”

Analysis

Requirement

Interview with customers

Docs on existing systems

Use-case

Scenario

Structure

Behavior

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Analysis

Requirement

Interview with customers

Docs on existing systems

Use-case

Scenario

Structure

Behavior

UML and Object-Oriented Analysis

Use-case

Scenario

Structure

Behaviour

Use-case diagram

Sequence diagram

Class diagram State diagram

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Case Study

• Objectives --- getting answers to:

• Is object-oriented analysis by UML effective?

• Is there a way from UML to implementation?

• Example: error correction with two code types

• Bit-wise error correction: Code A

• Word-wise error correction: Code B

• Claims before analysis

• Two code types are similar

• HW implementation cannot be shared though

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Error Correction

Encoder Decoder

Message

Systematiccode

Channel

Sent word Received word

Errors

Noise

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Analysis and Design Flow

• Step 1 Extract concepts

• Step 2 Build structure

• Step 3 Enumerate scenarios

• Step 4 Identify hardware modules

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Analysis and Design Flow

• Step 1 Extract functions

• Inputs: requirement from users

• Flow:

• Find actors that cause stimulus

• Define use-cases from viewpoints of actors

• Relate use-cases and actors

• Output: use-case diagram

• Step 2 Build structure

• Step 3 Enumerate scenarios

• Step 4 Identify hardware modules

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Use-Case Diagram of Error Correction

Receiver

Sender

Channel

Encode

Decode

Send

Receive

Encode B

Encode A<<extend>>

<<extend>>

Decode B

Decode A <<extend>>

<<extend>>

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Analysis and Design Flow

• Step 1 Extract functions

• Step 2 Build structure

• Input: use-case diagram

• Flow:

• Refine use-cases

• Extracting concepts --- candidates of classes

• Define and relate classes

• Output: class diagram

• Step 3 Enumerate scenarios

• Step 4 Identify hardware modules

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Use-case Refinement

• Example: decoding code A

• Refine a use-case with natural language

• Extract important nouns

1. Calculate syndrome from received word and received code polynomial

2. Judge as no errors detected if syndrome is 03. Calculate coefficients of error location polynomial4. Calculate roots as many as degrees of error

location polynomial5. Correct word by flipping bits designated by roots

1. Calculate syndrome from received word and received code polynomial

2. Judge as no errors detected if syndrome is 03. Calculate coefficients of error location polynomial4. Calculate roots as many as degrees of error

location polynomial5. Correct word by flipping bits designated by roots

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Concept Extraction

• Classifying classes and properties

Received word

Error location polynomial

Coefficient

Degree Root

Decoded word Code word

Message length

Syndrome polynomial

Syndrome Generator polynomial

Code

Parity Block code

LFSR

Generator matrix Error

Galois field Code lengthElement

Message length

Code length

Properties rather than

classes

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Relationships among Classes

Code word Code A

Code B

{Bit-wise}

{Word-wise}

Code A is a special case of Code B.

Data structure is deduced from relationships.

Vector

Message word

Systematic code

Code word

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Class DiagramDecode

Coefficient

Root

Received word

Syndrome

Received code

polynomial

Polynomial

Error location polynomial

Galois field

*

*

Input

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Analysis and Design Flow

• Step 1 Extract functions• Step 2 Build structure• Step 3 Enumerate scenarios

• Inputs: use-case sentences, class diagram• Flow:

• Describe sequence diagrams corresponding to refined use-cases

• Define methods and properties from sequence diagrams

• Outputs: sequence diagram, class diagram with methods

• Step 4 Identify hardware modules

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Sequence Diagram for Decoder1:received word

Input :received polynomial :error location polynomial

Generate()

IsZero()

Calc_coef(s[])

Calc_loc(coef)

Correct (location, value)Calc_error(root)

Receive

Assign(r1)

s1: syndrome

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Complete Class Diagram

Decode

Coefficient

Root

-Code length-Corrections

+Correct(loc, val)

Received word

Polynomial+Assign(val)

Galois field

+sum()+multiply()+divide()+exp(power)+IsZero()

+Order

*

*

Syndrome

-Index-Value

*

Error location polynomial

+Calc_coef(syndrome)-Calc_loc(coef)

Error loc. poly. for A

-Calc_error(root)

Error loc. poly. for B

-Calc_error(root)

Input

+Receive()

Input for A

+Receive()

Input for B

+Receive() Received code

polynomial

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Analysis and Design Flow

• Step 1Extract functions

• Step 2Build structure

• Step 3Enumerate scenarios

• Step 4Identify hardware modules

• Input: class diagram

• Flow• Correspond methods to hardware modules

• Define messages from relationships among modules

• Define interfaces from messages

• Outputs: class diagram, block diagram (in hardware design context)

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Methods to Hardware Modules

• Disband classes

• Map each methods to modules

• Re-bundle modules if possible

Galois field

+sum(). . .+IsZero()

+Order

Error loc. poly.

+Calc_coef(syndrome)-Calc_loc(coef) Error loc. calculator

Coefficient calculator

Galois adder

Galois 0 checker

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Decode

Correction module

Assignment module for received poly.

Error calculator for Code A

Error calculator for Code B

Receiver

Receiver for Code B

Receiver for Code A

Coefficient calculator

Location calculator

Error calculator

Syndrome

-Index-Value

CoefficientRoot

Error info

-Location-Value

Received word-Code length

-Corrections

Galois adderGalois adderGalois adderGalois adder

Initial Block Diagram

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+received word: input+syndrome: output+clock: input+reset: input+enable: input+received word: input+syndrome: output

From Messages to Interface

Assignment module for received polynomial

Syndrome

- Index- Value

Received word

- Code length- Corrections

C++ / HDL

HWdesign

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Block Diagram of Decoder

Assignment

Coefficient calculation

Location calculation

Correction

Code A receiver

Code B receiver

Error location calculation for

Code A

enable

Error location calculation for

Code B

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Conclusions

• Is object-oriented analysis by UML effective?

• For common understandings

• For validation

• For analyses of specification changes

• Is there a way from UML to HW implementation?

• For design optimization

• For verification

Already proven in software designsProven this time (partially)

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Verification Issues

• For simulation-based verification

• Develop a systematic way to co-verification models

• Generate corner case scenarios from existing use-cases and scenarios

• Prioritize verification scenarios for efficient verification

• For formal verification

• Build up mathematical model

• Define important properties for system level designs

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Issues & Challenges(S. Chakraborty)

(S. P. Rajan)

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Where do we stand?

Scale (gates)

Coverage

1 FSM 50K 250K 2M

Modelchecking

Random simulation

Manual testw/ coverage

FSM-basedgeneration

Symbolicsimulation

Based on Dill and Tesiran’99

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Research Issues• Fundamental complexity hurdles in scaling

formal verification methods with design sizes• Approximate verification methods, semi-formal

methods will be important tools in future• Approximate methods:

• Model approximations should be driven by property being checked

• Available computing resources can be used to guide nature of approximation

• Verification should give some coverage metric on termination• “Out of memory” after 48 hours not of any

use!

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Research Issues• Abstraction of system behavior crucial for

analyzing large designs• Must employ right degree of abstraction

automatically or semi-automatically

• More research needed• Different degrees of abstraction at different levels

of hierarchical designs

• Can this be done automatically?• Approximate and semi-formal methods

• “Test of the pudding” is on large real examples• Most published examples are small• A lot of ideas -- no clear winners so far• An active area of research

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Research Issues

• With IP based designs, supplier of IP must provide hints on how to verify IP core

• RTL with assertion checks

• Hints on exercising combinations of inputs

• IP verification test suite with coverage metric

• Formal verification of IP-based SOCs will be challenging

• Success constrained by verifiability, controllability and observability of IP-core

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Research Issues

• Runtime/memory bottlenecks of existing formal verification methodologies must be addressed to scale them to larger designs

• Active field of ongoing research

• Suitable combination of techniques (random simulation, model checking, theorem-proving …) to be selected for each verification task

• Understanding which techniques work well under what circumstances

• Can this be automated?

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Research Issues

• Sequential verification still very limited to under 500 latches

• Concurrent system verification very difficult without abstraction

• Real-time systems verification not yet practical

• Formal verification at RTL and above not in the main stream

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Future Research Directions

• How to come up with a verification framework which involves different verification methods cooperating in a single environment?

• What should be the data structure?

• Design for Verifiability -- is it viable and practical?

• How do we integrate formal verification with conventional simulation and testing?

• How do we integrate verification tools with synthesis tools?

• How do we generate counter-examples for sequential, concurrent, and real-time systems verifiers?

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Summary & Conclusions(S. Chakraborty)

(Subir K. Roy)

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Summary• Formal verification of SOCs has brought hard-

core engineers and theoreticians on a common platform

• Model checking most successful so far• Equivalence checking successful in restricted

cases, catching up fast• The gap between VLSI advancements and

advancements in FV techinques can be filled to some extent by semi-formal methods• Hard to measure “success” for such

techniques?• I might not have detected one out of 100000

bugs, but this might be the killer bug

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Summary

• SOC verification will be an important area in future

• Simulation and emulation still predominant techniques used in industry and justifiably so

• However, formal methods ARE NEEDED when applicable and when one can’t afford to miss a bug

• Success stories: Protocols, FSMs, specific processors, floating point arithmetic etc.

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Conclusions • Functional verification of SoCs critically dependent

on verification re-use of Cores/IPs/VCs.

• Semi-Formal approach based on application of diff-

erent combinations of verification technologies

seem important. No single approach will suffice.

• Formal & executable specifications have to be used

at all levels of design hierarchy.

• High degree of automation will be needed to over-

come complexities inherent in SoCs.

• Exciting Area for Research.

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Bibliography

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Papers

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• T. L. Anderson, “Accelerating Bug Discovery with White-Box Verification”, Proc. Of DAC 2000.

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Papers

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Papers

• A. Gupta, S. Malik and P. Ashar, ”Toward Formalizing a Validation Methodology Using Simulation Coverage”, Proceedings of DAC, 1997.

• S. Devadas, A. Ghosh and K. Keutzer, " An Observability-Based Code Coverage Metric for Functional Simulation”, Proceedings of ICCAD, 1996.

• H. Chockler, O. Kupferman, and M. Y. Vardi, "Coverage Metrics for Temporal Logic Model Checking", TACAS 2001, LNCS 2031, Springer-Verlag, pp. 528-542.

• Y. Hoskote, T. Kam, P. Ho and X. Zhao, ``Coverage Estimation for Symbolic Model Checking'', Proc. of the 36th Design Automation Conference, New Orleans, June 1999.

• S. Katz, O. Grumberg and D. Geist, ``Have I written enough properties? - A method of comparison between specification and implementation'', Technical Report, IBM Haifa Research Laboratory, Haifa, Israel, 1999.

• S. Campos, E. Clarke, W. Marrero and M. Minea, ``Verifying the Performance of the PCI Local Bus using Symbolic Techniques'', Technical Report - CMU-CS-96-147, School of Computer Science, Carnegie Mellon University, June, 1996.

• S. Chakraborty, D. L. Dill and K. Y. Yun, "Min-max Timing Analysis and an Application to Asynchronous Circuits", Proc. of the IEEE, Vol. 87, No. 2, pp. 332-346, Feb 1999.

• R. Hersemeule, B. Clement, E. Lantreibecq, P. Coulomb, B. Ramanadin, and F. Pogodalla, ”Fast Prototyping : A System Design Flow applied to a complex System-On-Chip Multiprocessor Design", DAC 1999.

• A. J. Hu, “Formal Hardware Verification with BDDs : An Introduction”, ACM Transactions on Programming Languages and Systems, 1997.

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Papers

• K. L. McMillan, "A compositional rule for hardware design refinement", Computer Aided Verification (CAV97), O. Grumberg (Ed.), Haifa, Israel, pp. 24-35, 1997.

• T.A.Henzinger, S. Qadeer, and S.K.Rajamani, "You assume, We guarantee : Methodology and Case Studies" CAV98: Computer Aided Verification, Lecture Notes in Computer Science, Springer-Verlag, pp. 440-451, 1998.

• M. C. Browne, E. M. Clarke and D. L. Dill and B. Mishra, ``Automatic Verification of Sequential Circuits using Temporal Logic'', IEEE Transactions on Computers, Vol. C-35, No. 12, pp 1035-1043, Dec. 1986.

• E. M. Clarke, E. A. Emerson and A. P. Sistla, ``Automatic Verification of Finite-State Concurrent Systems Using Temporal Logic Specifications'', ACM Trans. on Programming Language and Systems, Vol.8, No.2, pp 244-263, April 1986.

• G. Mosensoson, “Practical Approaches to SoC Verification”, DATE 2000.• J. L. Nielsen, H. R. Andersen, G. Behrmann, H. Hulgaard, K. Kristoffersen and K. G.

Larsen, “Verification of Large State/Event Systems using Compositionality and Dependency Analysis”, Proceedings of TACAS 1998, LNCS 1384, April 1998.

• S. Bose and A. Fisher, “Verifying Pipelined hardware using symbolic logic simulation”, ICCD 1989.

• D. Geist, G. Biran, T. Arons, M. Slavkin, Y. Nustov, M. Farkas, and K. Holtz, “A Methodology for the verification of a System on Chip”, Proc. Of DAC 1999, pp. 574-579.

• A. Evans, A. Silburt, G. Vrckovnik, T. Brown, M. Dufresne, G. Hall, T. Ho and Y. Liu,

“Functional Verification of Large ASICs”, Proc. Of DAC, 1998.

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Papers

• S. Taylor, M. Quinn, D. Brown, N. Dohm, S. Hildebrandt, J. Higgins and C. Ramey, “Functional Verification of a Multiple-issue, Out-of-Order, Superscalar Alpha Processor – the DEC Alpha 21264 Microprocessor”, Proc. Of DAC, 1998.

• S. Ramesh and P. Bhaduri, “Validation of Pipelined Processor Designs using Esterel Tools: A Case Study”, Proc. of CAV '99, LNCS Vol. 1633, 1999.

• J. R. Burch, E. M. Clarke, D. Long, K. L. McMillan, D. L. Dill, “Symbolic Model Checking for Sequential Circuit Verification”, IEEE Trans. Computer Aided Design, 13, 1994, 401-424.

• E. M. Clarke, R. P. Kurshan, “Computer Aided Verification”, IEEE Spectrum, June 1996, 61-67.

• D. Cyrluk, S. Rajan, N. Shankar and M. K. Srivas, “Effective Theorem Proving for Hardware Verification”, pp. 287-305, TPCD94.

• S. J. Garland and J. V. Guttag, “An Overview of LP: the Larch Prover”, Proceedings of the Third International Conference on Rewriting Techniques and Applications, 1989, Springer-Verlag.

• J. Staunstrup and M. Greenstreet, “Synchronized Transitions”, Formal Methods for VLSI Design, 1990, IFIP, North-Holland.

• R. Vemuri, “How to Prove the Completeness of a Set of Register Level Design Transformations”, Proceedings of the 27th ACM/IEEE Design Automation Conference, 1990, 207—212.

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Papers

• Jeffrey J. Joyce and Carl-Johan H. Seger, “Linking Bdd Based Symbolic Evaluation to Interactive Theorem Proving”, Proceedings of the 30th Design Automation Conference, 1993.

• S. P. Rajan, N. Shankar and M. Srivas, “An Integration of Model-Checking with Automated Proof Checking”, 7th Conference on Computer-Aided Verification, July, 1995.

• R. E. Bryant, “Graph Based Algorithms for Boolean Function Manipulation”, IEEE Transactions on Computers, Vol. C-35-8, pp. 677- 691, August 1986

• R. E. Bryant, “On the Complexity of VLSI Implementations and Graph Representations of Boolean Functions with Application to Integer Multiplication”, IEEE Transactions on Computers, Vol. 40, No. 2, pp, 205-213, February 1991

• B. Bollig and I. Wegener, “Improving the variable ordering for OBDDs is NP-complete”, IEEE Transactions on Computers, Vol. 45, No. 9, pp. 993-1002, September 1996

• M. Fujita, H. Fujitsawa and Y. Matsunaga, “Variable Ordering Algorithms for Ordered Binary Decision Diagrams and their Evaluation”, IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, Vol. 12, No. 1, pp. 6- 12, January 1993

• R. Rudell, “Dynamic Variable Ordering for Ordered Binary Decision Diagrams”, Proceedings of ICCAD 1993, pp. 42- 45

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Papers

• J. Jain, W. Adams and M .Fujita, “Sampling Schemes for Computing OBDD Variable Orderings”, Proceedings of ICCAD 1998, pp. 331-338

• J. Jain, R. Mukherjee and M. Fujita, “Advanced Verification Technique Based on Learning”, Proceedings of DAC 1995, pp. 420-426

• Y. Matsunaga, “An Efficient Equivalence Checker for Combinational Circuits”, Proceedings of DAC 1996, pp. 629-634

• A. Kuehlmann and F. Krohm, “Equivalence Checking using Cuts and Heaps”, Proceedings of DAC 1997, pp. 263-268

• C. H. Yang and D. L. Dill, “Validation with Guided Search of the State Space”, Proceedings of DAC 1998

• R. E. Bryant, “Symbolic Simulation -- Techniques and Applications”, Proceedings of DAC 1990

• A. Jain, “Formal Hardware Verification by Symbolic Trajectory Evaluation”, Ph.D. Thesis, Dept. of Electrical and Computer Engineering, Carnegie Mellon University, August 1997

• C.-J.H. Seger and R.E. Bryant, “Formal Verification by Symbolic Evaluation of Partially Ordered Trajectories”, Formal Methods in System Design, Vol. 6, No. 2, pp. 147-190, 1995

• R. E. Bryant, D. L. Beatty and C.-J.H. Seger, “Formal Hardware Verification by Symbolic Trajectory Evaluation”, Proceedings of DAC 1991

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Papers

• D. Greve, “Symbolic Simulation of the JEM1 Microprocessor”, Proceedings of FMCAD 1998, pp. 321-333

• D.L. Dill and S. Tesiran, “Simulation meets Formal Verification”, Embedded Tutorial at ICCAD 1999

• R.B. Jones, M.D. Aagard and C.-J.H. Seger, “Formal Verification using Parametric Representations of Boolean Constraints”, Proceedings of DAC 1999, pp. 402-407

• R.B. Jones, “Applications of Symbolic Simulation to the Formal Verification of Microprocessors”, Ph.D. Thesis, Computer Systems Laboratory, Stanford University, August 1999

• J.U. Skakkebaek, R.B. Jones and D.L. Dill, “Formal Verification of Out-of-Order Execution using Incremental Flushing”, Proceedings of CAV 1998, pp. 98-109

• R.B. Jones, C.-J.H. Seger and D.L. Dill, “Self Consistency Checking”, Proceedings of FMCAD 1996, pp. 159-171

• M.D. Aagard, R.B. Jones and C.-J.H. Seger, “Combining Theorem Proving and Trajectory Evaluation in an Industrial Environment”, Proceedings of DAC 1998, pp. 538-541

• C.W. Barrett, D.L. Dill and J.R. Levitt, “A Decision Procedure for Bit-Vector Arithmetic”, Proceedings of DAC 1998

• J.R. Burch and D.L. Dill, “Automatic Verification of Pipelined Microprocessor Control”, Proceedings of CAV 1994

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Papers

• M.N. Velev, “Automatic Abstraction of Memories in the Formal Verification of Superscalar Microprocessors”, Proceedings of Tools and Algorithms for the Construction and Analysis of Systems (TACAS) 2001, pp. 252-267

• M.N. Velev, “Formal Verification of VLIW Microprocessors with Speculative Execution”, Proceedings of CAV 2000, pp. 296-311

• M. Pandey, “Formal Verification of Memory Arrays”, Ph.D. Thesis, School of Computer Science, Carnegie Mellon University, May 1997

• J.X. Su, D.L. Dill and C.W. Barrett, “Automatic Generation of Invariants in Processor Verification”, Proceedings of FMCAD 1996

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Books

• K. L. McMillan, ``Symbolic Model Checking'', Kluwer Academic Publishers, 1993.

• Z. Manna and A. Pnueli, Temporal Specification and Verification of Reactive Systems Vol. I and II, Springer 1995.

• Ching-Tsun Chou, "The Mathematical Foundation of Symbolic Trajectory Evaluation", Springer-Verlag 1999.

• Thomas Kropf: "Introduction to Formal Hardware Verification", (Springer Verlag; ISBN: 3540654453, 299 pages, January 2000)

• E. M. Clarke, O. Grumberg and D. Peled, "Model Checking", (MIT Press; ISBN: 0262032708; 330 pages; January 2000)

• L. Bening and H. Foster, “Principles of Verifiable RTL Design: Functional Coding Style Supporting Verification Processes in Verilog”, published by Kluwer Academic Publishers, 2000.

• M. Yoeli, "Formal Verification of Hardware Design", IEEE Computer Society Press, 1991. (Book containing a collection of papers)

• R. P. Kurshan, “Computer Aided Verification of Coordinating Processes”, Princeton University Press, 1994.

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Books

• G. J. Holzmann, “Design and Validation of Computer Protocols”, Prentice Hall, 1991.

• M. P. Fourman, “Formal System Design”, Formal Methods for VLSI Design, IFIP, 1990, North-Holland.

• C. Meinel and T. Theobald, “Algorithms and Data Structures in VLSI Design”, Springer-Verlag, 1998.

• M. Kaufmann, P. Manolios, and J S. Moore, "Computer-Aided Reasoning: An Approach", (Kluwer Academic Publishers, June 2000; ISBN 0792377443)

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Important web-sites:

• http://www.comlab.ox.ac.uk/archive/formal-methods.html

• http://www.csl.sri.com

• http://dimacs.rutgers.edu/Workshops/SYLA-Tutorials/program.html

• http://www-cad.eecs.Berkeley.edu/ vis

• http://godel.ece.utexas.edu/texas97-benchmarks/

• http://citeseer.nj.nec.com/

• http://www.rational.com/uml (Universal Modelling Language HOME-PAGE)

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Conference Proceedings

• Computer Aided Verification (CAV)

• Formal Methods in Computer Aided Design (FMCAD)

• International Conference on Computer-Aided Design (ICCAD)

• International Conference on Computer Design (ICCD)

• Design Automation Conference (DAC)

• Asia South Pacific Design Automation Conference (ASPDAC)

• International Conference on VLSI Design (VLSI)

• Advanced Research Working Conference on Correct Hardware Design and

Verification Methods (CHARME)

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Journals/Magazines

• IEEE Design and Test of Computers

• IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems

• IEEE Transactions on Computers

• IEEE Transactions on VLSI Systems

• ACM Transactions on Design Automation of ELectronic Systems

• Formal Methods in System Design

• Formal Aspects of Computing

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Appendix

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Formal Modeling(S. Ramesh)

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Non-determinism (another example)

• 3- floor elevator controller, Si - in floor i• ri - request from floor i• This machine is also nondeterministic• In S2 state when r1 and r3 arrive.

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Formal Specification(S. Ramesh)

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Linear Temporal Logic

Syntax

• Atomic propositions are formulae

• If f, g are formulae then so are

• ¬f, f g, f g, f g, f g

• □ f - Henceforth f

• ◊ f - Eventually f

• f U g - f until g

• f W g - f unless g

• f - next f

• state formulae - no temporal operators

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Semantics

• Formulae interpreted over infinite sequences of states

• States evaluate state formulae

• Let = q0, q1 , … be a sequence

• Each qi assigns truth values to atomic propositions

• Semantic definition defines when a formula satisfies a sequence

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Semantic Definition

• Notation: ╞ A

stands for A holds in .

• ╞ A iff ( ,0) ╞ A

• ( , j) ╞ A - defined inductively

• Base case:

( , j) ╞ f for any state formula f iff f holds in

the state [j]

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Semantics of Temporal Operators

• □( , j) ╞ □f iff k j, (, k) ╞ f

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Semantics Contd.

• ( , j) ╞ ◊f iff k , ( ,k) ╞ f

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Semantics Contd.

• ( , j) ╞ f U g iff k j : (, k)╞ g and i s.t. j i k, (, i)╞ f

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Semantics Contd.

• ( , j) ╞ f W g iff ( , j) ╞ f U g or

( , j) ╞ □ f

• ( , j) ╞ Ο f iff ( , j + 1) ╞ f

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Examples

• p □q If p holds in the beginning then q holds always

• □(p □q) Whenever p holds there is a future instant in

which q holds

• □ ◊ p p holds infinitely often

• ◊ □ p p holds at all but finitely many positions

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Examples - Properties

• □¬(farm_go high_go)

• □ (farm_car ◊ farm_go)

• □ (mem_rd ◊ mem_ack)

• □ (mem_rd mem_rd W mem_ack)

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- Automata

• An alternate formalism for specifying infinite objects

• Extension of Finite Automata to specify properties about infinite runs

• The simplest kind is Büchi automaton:

< Q, , , q0 , A >

• Q - finite no. of states

• - Edge labels

• q0 - initial state

• Q x xQ

• A Q, Accepting (not final) states

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Behavior of - Automata

• starts from the initial state,

• `runs forever'

• accepts infinite sequences over label alphabet

• s = l0, l1, l2, . . . is accepted by the automaton, provided there exists q0, q1,… s.t.

• (qi, li, qi+1) Є for i = 0, 1, …

• there is an accepting state that occurs infinitely often in s.

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Examples

• All sequences containing only 1.

• An infinite set of infinite sequences!

• But finite description

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Examples contd.

• All sequences that has at least one occurrence of 1

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Examples contd.

• Sequences containing all but finitely many occurrences of 1s

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Examples contd.

• All sequences containing infinitely many 1s

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Features of- automata

• useful for specifying properties and constraints

• precise and unambiguous

• consistency can be checked (Emptiness of automata)

• has many properties useful for verification:

• - languages closed under union, intersection and complementation

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Model Checking(S. Ramesh)

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LTL Model Checking

(Pnueli, Lichtenstein, Vardi, Wolper)

M╞ F

Read: M `contains' only models of F

• M a finite state system or an automaton

• F a linear TL formula

• M defines a set of infinite state sequences LM and F another set of sequences LF .

• Checking M╞ F amounts to checking LM LF

• Hence referred to as language containment problem

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Illustration

Which of the following hold for all the sequences generated by the above

• ◊p, ◊¬q, □p, □ (p q)• ◊(p q), ◊ (p q), □◊(p q),• ◊ □p, (p ◊q).

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LTL Verification Method

• Two related Methods:

• Tableau – based

• Automata – based

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Automata based Method• Obtain an -automaton for the negation of the

formula• Take the product of system model and -

Automaton• Check whether the resulting automaton accepts

any string at all (Emptiness Check).• Existence of an accepting cycle in the product

graph• If no cycle then original property holds.• A cycle gives a counterexample - an execution

trace that violates the formula; useful for debugging

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Example

1. To check whether this is a model for □ P,

construct first a - Automata for ◊¬p

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Example contd.

Construct the product of the two automata:

• No reachable accepting cycle

• It is a model of □ p.

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Another Example

Check whether the following automaton satisfies □ ◊¬p

- Automata for : ¬( ◊ □ ¬p)

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Product Automata

• There is a cycle and hence the automaton is not a model

• If state 4 is the only accepting state then the formula holds

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Complexity of LTL model-checking

• Linear on model size and exp. on formula size• Formulae are generally small!• Model size exponential on block size (no. of storage

elements).• State Explosion Problem• Various Reduction Techniques:

• Nested depth first search for cycles• On the fly checking• Partial order reduction• Clever hashing techniques• OBDD based Symbolic techniques• Compositional Verification

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Binary Decision Diagrams(S. Chakraborty)

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Neat Tricks in BDD Packages• Shared BDDs (SBDDs)

• Multiple functions represented simultaneously as a multi-rooted DAG.

• Each root and descendants form an ROBDD

• Different roots can share subgraphs

• Representing functions using ITE operator

• if-then-else (x, y, z) = x.y + x’z• Natural implementation using BDDs• Can express any binary Boolean operation :

NAND(x, y) = ITE(x, y’, 0); NOT(x) = ITE(x, 0, 1)

• Efficient algorithm for computing ITE with BDDs exists

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Neat Tricks in BDD Packages

• Complement edges

• If a vertex is reached by a

complement edge, take the

complement of the function

represented by the vertex

• Simplifies complementation

• Saves duplication of computation

• Hash Tables and Caches

• Facilitates identifying ROBDD node

for an already computed function

• Avoids computation duplication

f = x1.x2 + x3’

f = (x1.x2’x3’ + x1’x3)’

10

x1 x2

x3

x1 x2

x3

0 1

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Academic & Research Lab Verification Tools

(S. Ramesh)

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Spin

• Home page:http://netlib.bell-labs.com/netlib/spin/whatispin.html

• Bell Labs. (G. Holzmann)• Verification of asynchronous protocol descriptions• Modeling Language: PROMELA• Specification Language: LTL• Verification Approach: Automata Containment

(Explicit Model Checking)• Symbolic verification (recent addition)Promela (Protocol Modeling Language)• Concurrent and nondeterministic processes• Process communication: messages via buffered

and non buffered channels

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An Example Promela Program

chan in = [size] of {short}

chan out1 = [16] of {short}

chan out2 = [16] of {short}

proctype split()

{short x

do :: in?x ®

if :: (x>=100) ® out1!x

:: (x<=100) ® out2!x

fi

od

}

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An Example Promela Program

proctype merge()

{ short y

do :: if

:: out1?y

:: out2?y

fi;

out!y

od

}

init {run split(); run merge() }

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Spin Features

• Random Simulation

• Deadlock detection and Formal verification

• A clever implementation of on-the- fly model checking algorithm

• A number of powerful reduction techniques:

• Supertrace algorithm: bit state hashing

• Partial order reduction

• Symbolic techniques

• Many telecommunication protocols have been verified

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More on FormalCheck

Home page:http://www.cadence.com/datasheets/formalcheck.html

• Commercial model-checking tool (Cadence)• Originated from COSPAN (Bell Labs.)• Modeling languages: synthesizable subsets of

Verilog and VHDL• Specification Language: FQL – FormalCheck Query

language (A variant of LTL, Syntax same as HDL)• Verification Approach: Automata Containment• Powerful compositional reduction strategies• Clever representation for specifications

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Example Specifications

• after { Req == 1 }

eventually { Ack == 1 }

• after { Timer.Start == 1 }

always { Timer.counting == 1 }

unless { Timer.Restart == 1 }

After timer starts, counting is on unless it is restarted

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Example contd.

• never { TAP.State == TRST }

within -delay 0 -duration 6

{ Clock.rising }

• States that it is not possible to reach the TRST state in 5 steps.

• after { Counter.bit[0] == 1 }

eventually { Counter.bit[0] == 0 }

within -delay 0 -duration 2

{Clock.rising }

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FQL Formulae

• after( ) always/never( ) [unless[ after]( )] [within(m,n)]

• always/never( ) [unless[ after]( )]• after( ) eventually( ) [unless( )] [within(m,n)]• eventually( ) [unless( )]• after( ) eventually always( ) [unless( )] [within(m,n)]• eventually always( ) [unless( )]• if repeatedly( ) eventually always( )

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Appendix High Level Specification and Modeling

(T. Nakata)

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UML : Use-Case Diagram

• Define system functions from users’ view

Vending machine

Buy a juice

Actor Use-case

Customer

Refill products

Gather changes

Supplier

Services

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UML : Sequence Diagram

• Describe a scenario --- an instance of a use-case

• Specify interactions among objects in order of time

Scenario: buy juice

:Panel :Container :Emitter

Inject a coin

Choose juice

Send

Emit a can of juice

Equal to price

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UML : Class Diagram

• Describe static aspects of a system by relationships among classes

• A class represents a “concept” in a system

Employee PCName: stringID: integer

Name: stringCPU: string

uses

0..1 1..*

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UML : State Diagram

• Describe states and their transitions of objects

• Almost the same as hierarchical FSMs

Ground floor

Ascend to floor fl

Up(fl)

Stoptimer=0inc timer

Arrived Up(fl)

Descend to floor fl

Arrived

Down(fl)

[timer=time_out]/Down(0)