Responsive processor for parallel/distributed real-time control

This paper describes the design and implementation of a responsive processor (RP) for parallel/distributed real-time control, which can control various embedded systems including robots, home automation, factory automation, etc. RP integrates an MPU core (SPARC), four responsive links (RLs) for real-time communication, and many peripheral functions including SDRAM I/F, DMAC, PCI, USB, PWM generators, pulse counters, A/D converters, D/A converters, etc., in an ASIC chip. At the core part of the chip, RL provides the scalable real-time communication by four pairs of a full-duplex event link and a full-duplex data,link. Each packet on the link is prioritized to enable overtaking and shortcut routing. Many kinds of control systems can be composed by connecting RPs using RLs