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VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8 – Timing Closure
Original Authors:
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
1
Lienig
Andrew B. Kahng, Jens Lienig, Igor L. Markov, Jin Hu
© KLMH
Chapter 8 – Timing Closure
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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8.7 Conclusions
Introduction
© KLMH
8.1
System Specification
Partitioning
Architectural Design
ENTITY test is
port a: in bit;
end ENTITY test;
Functional Design
and Logic Design
Chip Planning
Circuit Design
Placement
Physical Design
DRC
LVS
ERC
Physical Verification
and Signoff
Clock Tree Synthesis
Signal Routing
Fabrication
Timing Closure
Packaging and Testing
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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Chip
Introduction
© KLMH
8.1
•
IC layout must satisfy geometric constraints and timing constraints
− Setup (long-path) constraints
− Hold (short-path) constraints
•
Chip designers must complete timing closure
− Optimization process that meets timing constraints
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− Integrates point optimizations discussed in previous chapters, e.g.,
placement and routing, with specialized methods to improve circuit performance
Introduction
© KLMH
8.1
Components of timing closure covered in this lecture:
•
Timing-driven placement (Sec. 8.3) minimizes signal delays
when assigning locations to circuit elements
•
Timing-driven routing (Sec. 8.4) minimizes signal delays
when selecting routing topologies and specific routes
•
Physical synthesis (Sec. 8.5) improves timing by changing the netlist.
− Sizing transistors or gates: increasing the width:length ratio of transistors
to decrease the delay or increase the drive strength of a gate
− Inserting buffers into nets to decrease propagation delays
− Restructuring the circuit along its critical paths
Performance-driven physical design flow (Sec. 8.6)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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•
Introduction
© KLMH
8.1
•
Timing optimization engines must estimate circuit delays quickly and accurately
to improve circuit timing
•
Timing optimizers adjust propagation delays through circuit components,
with the primary goal of satisfying timing constraints, including
− Setup (long-path) constraints, which specify the amount of time a data input signal
should be stable (steady) before the clock edge for each storage element
(e.g., flip-flop or latch)
− Hold-time (short-path) constraints, which specify the amount of time a data input
signal should be stable after the clock edge at each storage element
VLSI Physical Design: From Graph Partitioning to Timing Closure
t combDelay ≥ t hold + t skew
Chapter 8: Timing Closure
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t cycle ≥ t combDelay + t setup + t skew
Introduction
•
Timing closure is the process of satisfying timing constraints
through layout optimizations and netlist modifications
•
Industry jargon: “the design has closed timing”
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© KLMH
8.1
Timing Analysis and Performance Constraints
© KLMH
8.2
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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8.7 Conclusions
Timing Analysis and Performance Constraints
© KLMH
8.2
Sequential circuit, “unrolled” in time
Combinational
Logic
FF
Copy 1
Combinational
Logic
Copy 2
FF
Combinational
Logic
FF
Copy 3
Combinational logic
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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Storage elements
© 2011 Springer Verlag
Clock
Timing Analysis and Performance Constraints
© KLMH
8.2
•
Main delay concerns in sequential circuits
− Gate delays are due to gate transitions
− Wire delays are due to signal propagation along wires
− Clock skew is due to the difference in time the sequential elements activate
•
Need to quickly estimate sequential circuit timing
− Perform static timing analysis (STA)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− Assume clock skew is negligible, postpone until after clock network synthesis
Static Timing Analysis
© KLMH
8.2.1
•
STA: assume worst-case scenario where every gate transitions
•
Given combinational circuit, represent as directed acyclic graph (DAG)
− Every edge (node) has weight = wire (gate) delay
•
Compute the slack = RAT – AAT for each node
− RAT is the required arrival time, latest time signal can transition
− AAT is the actual arrival time, latest possible transition time
− By convention, AAT is defined at the output of every node
⇒ Negative slack at any output means the circuit does not meet timing
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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⇒ Positive slack at all outputs means the circuit meets timing
Static Timing Analysis
© KLMH
8.2.1
Combinational circuit as DAG
(0.15)
a
y (2)
(0.2)
w (2)
(0.2)
f
(0.1)
(0.1) x (1)
(0.3)
z (2)
(0.1)
a (0)
(0)
(0)
y (2)
(0.15)
(0.1)
b (0) (0.1)
(0.2)
w (2) (0.2)
x (1)
(0.3)
(0.6)
c (0)
(0.1)
VLSI Physical Design: From Graph Partitioning to Timing Closure
f (0)
(0.25)
z (2)
Chapter 8: Timing Closure
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c
s
(0.25)
© 2011 Springer Verlag
b
Static Timing Analysis
© KLMH
8.2.1
Compute AATs at each node:
AAT (v) = max ( AAT (u ) + t (u, v) )
u∈FI ( v )
where FI(v) is the fanin nodes, and t(u,v) is the delay between u and v
(AATs of inputs are given)
y (2)
(0.15)
A 3.2
(0)
s
(0)
A0
(0.1)
b (0) (0.1)
A0
w (2) (0.2)
x (1)
A 1.1
(0.6)
c (0)
(0.2)
A 5.65
(0.3)
(0.1)
A 0.6
VLSI Physical Design: From Graph Partitioning to Timing Closure
f (0)
A 5.85
(0.25)
z (2)
A 3.4
Chapter 8: Timing Closure
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A0
© 2011 Springer Verlag
a (0)
Static Timing Analysis
© KLMH
8.2.1
Compute RATs at each node:
RAT (v) = min (RAT (u ) − t (u, v) )
u∈FO ( v )
where FO(v) are the fanout nodes, and t(u,v) is the delay between u and v
(RATs of outputs are given)
y (2)
(0.15)
R 3.1
(0)
s
(0)
R -0.35
(0.1)
b (0) (0.1)
R -0.35
w (2) (0.2)
x (1)
R 0.75
(0.6)
c (0)
(0.2)
R 5.3
(0.3)
(0.1)
R 0.95
VLSI Physical Design: From Graph Partitioning to Timing Closure
f (0)
R 5.5
(0.25)
z (2)
R 3.05
Chapter 8: Timing Closure
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R 0.95
© 2011 Springer Verlag
a (0)
Static Timing Analysis
© KLMH
8.2.1
Compute slacks at each node:
slack (v) = RAT (v) − AAT (v)
A0
R -0.35
S -0.35
(0)
b (0) (0.1)
(0.6)
A0
R -0.35
S -0.35
c (0)
A 3.2
(0.1) R 3.1 (0.2)
S -0.1
w (2) (0.2)
x (1)
A 1.1
R 0.75 (0.3)
S -0.35
(0.1)
A 0.6
R 0.95
S 0.35
VLSI Physical Design: From Graph Partitioning to Timing Closure
A 5.65
(0.25) R 5.3
S -0.35
f (0)
A 5.85
R 5.5
S -0.35
z (2)
A 3.4
R 3.05
S -0.35
Chapter 8: Timing Closure
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s
(0)
A0
R 0.95
S 0.95
y (2)
(0.15)
© 2011 Springer Verlag
a (0)
Delay Budgeting with the Zero-Slack Algorithm
© KLMH
8.2.2
•
Establish timing budgets for nets
− Gate and wire delays must be optimized during timing driven layout design
− Wire delays depend on wire lengths
− Wire lengths are not known until after placement and routing
•
Delay budgeting with the zero-slack algorithm
− Let vi be the logic gates
− Let ei be the nets
− Let DELAY(v) and DELAY(e) be the delay of the gate and net, respectively
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− Define the timing budget of a gate TB(v) = DELAY(v) + DELAY(e)
Delay Budgeting with the Zero-Slack Algorithm
© KLMH
8.2.2
Input: timing graph G(V,E)
Output: timing budgets TB for each v ∈ V
1. do
2.
(AAT,RAT,slack) = STA(G)
3.
foreach (vi ∈ V)
4.
TB[vi] = DELAY(vi) + DELAY(ei)
5.
slackmin = ∞
6.
foreach (v ∈ V)
7.
if ((slack[v] < slackmin) and (slack[v] > 0))
8.
slackmin = slack[v]
9.
vmin = v
10. if (slackmin ≠ ∞)
11.
path = vmin
12.
ADD_TO_FRONT(path,BACKWARD_PATH(vmin,G))
13.
ADD_TO_BACK(path,FORWARD_PATH(vmin,G))
14.
s = slackmin / |path|
15.
for (i = 1 to |path|)
16.
node = path[i]
// evenly distribute
17.
TB[node] = TB[node] + s
// slack along path
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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18. while (slackmin ≠ ∞)
Delay Budgeting with the Zero-Slack Algorithm
© KLMH
8.2.2
Forward Path Search (FORWARD_PATH(vmin,G))
Input: node vmin with minimum slack slackmin, timing graph G
Output: maximal downstream path path from vmin such that no node v ∈ V affects
the slack of path
1. path = vmin
2. do
3.
flag = false
4.
node = LAST_ELEMENT(path)
5.
foreach (fanout node fo of node)
6.
if ((RAT[fo] == RAT[node] + TB[fo]) and (AAT[fo] == AAT[node] + TB[fo]))
7.
ADD_TO_BACK(path,fo)
8.
flag = true
9.
break
10. while (flag == true)
VLSI Physical Design: From Graph Partitioning to Timing Closure
// remove vmin
Chapter 8: Timing Closure
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11. REMOVE_FIRST_ELEMENT(path)
Delay Budgeting with the Zero-Slack Algorithm
© KLMH
8.2.2
Backward Path Search (BACKWARD_PATH(vmin,G))
Input: node vmin with minimum slack slackmin, timing graph G
Output: maximal upstream path path from vmin such that no node v ∈ V affects the
slack of path
1.
path = vmin
2.
do
3.
flag = false
4.
node = FIRST_ELEMENT(path)
5.
foreach (fanin node fi of node)
6.
if ((RAT[fi] == RAT[node] – TB[fi]) and (AAT[fi] == AAT[node] – TB[fi]))
7.
ADD_TO_FRONT(path,fi)
8.
flag = true
9.
break
10. while (flag == true)
VLSI Physical Design: From Graph Partitioning to Timing Closure
// remove vmin
Chapter 8: Timing Closure
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11. REMOVE_LAST_ELEMENT(path)
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
© KLMH
8.2.2
O1: <13,4,17>
I1
I2
I3
<1,4,5> [0]
O2: <6,8,14>
<3,4,7> [0]
2
<0,5,5> [0]
4
<7,4,11> [0]
<13,4,17> [0]
O1
6
<1,6,7> [0]
<6,8,14> [0]
<3,5,8> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<6,5,11> [0]
0
Chapter 8: Timing Closure
O2
20
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3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
© KLMH
8.2.2
O1: <13,4,17>
I1
I2
I3
<1,4,5> [0]
O2: <6,8,14>
<3,4,7> [0]
2
<0,5,5> [0]
4
<7,4,11> [0]
<13,4,17> [0]
O1
6
<1,6,7> [0]
<6,8,14> [0]
<3,5,8> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<6,5,11> [0]
0
Chapter 8: Timing Closure
O2
21
Lienig
3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
•
Distribute the slacks and update the timing budgets
© KLMH
8.2.2
O1: <17,0,17>
I1
I2
I3
<1,0,1> [1]
O2: <6,8,14>
<3,0,4> [1]
2
<0,2,2> [0]
4
<9,0,9> [1]
<16,0,16> [1]
O1
6
<1,4,5> [0]
<6,8,14> [0]
<3,4,7> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<6,4,10> [0]
0
Chapter 8: Timing Closure
O2
22
Lienig
3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
•
Distribute the slacks and update the timing budgets
© KLMH
8.2.2
O1: <17,0,17>
I1
I2
I3
<1,0,1> [1]
O2: <6,8,14>
<4,0,4> [1]
2
<0,0,0> [2]
4
<9,0,9> [1]
<16,0,16> [1]
O1
6
<1,4,5> [0]
<6,8,14> [0]
<3,4,7> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<6,4,10> [0]
0
Chapter 8: Timing Closure
O2
23
Lienig
3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
•
Distribute the slacks and update the timing budgets
© KLMH
8.2.2
O1: <16,0,16>
I1
I2
I3
<1,0,1> [1]
O2: <6,8,14>
<4,0,4> [1]
2
<0,0,0> [2]
4
<9,0,9> [1]
<16,0,16> [1]
O1
6
<1,2,3> [2]
<6,8,14> [0]
<3,2,5> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<6,2,8> [2]
0
Chapter 8: Timing Closure
O2
24
Lienig
3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
•
Distribute the slacks and update the timing budgets
© KLMH
8.2.2
O1: <17,0,17>
I1
I2
I3
<1,0,1> [1]
O2: <10,4,14>
<4,0,4> [1]
2
<0,0,0> [2]
4
<9,0,9> [1]
<16,0,16> [1]
O1
6
<1,0,1> [3]
<10,4,14> [0]
<3,1,4> [0]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<7,0,7> [3]
0
Chapter 8: Timing Closure
O2
25
Lienig
3
I4
Delay Budgeting with the Zero-Slack Algorithm Example
•
Example: Use the zero-slack algorithm to distribute slack
•
Format: <AAT, Slack, RAT>, [timing budget]
•
Find the path with the minimum slack
•
Distribute the slacks and update the timing budgets
© KLMH
8.2.2
O1: <17,0,17>
I1
I2
I3
<1,0,1> [1]
O2: <10,4,14>
<4,0,4> [1]
2
<0,0,0> [2]
4
<9,0,9> [1]
<16,0,16> [1]
O1
6
<1,0,1> [3]
<10,4,14> [4]
<3,0,3> [1]
VLSI Physical Design: From Graph Partitioning to Timing Closure
<7,0,7> [3]
0
Chapter 8: Timing Closure
O2
26
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3
I4
Timing-Driven Placement
© KLMH
8.3
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
27
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8.7 Conclusions
Timing-Driven Placement
© KLMH
8.3
•
Timing-driven placement optimizes circuit delay
•
Let T be the set of all timing endpoints
•
Circuit delay is measured by worst negative slack (WNS)
WNS = min(slack ( τ) )
τ∈Τ
•
Or total negative slack (TNS)
TNS =
∑ slack (τ)
τ∈Τ, slack ( τ ) < 0
Classifications: net-based, path-based, integrated
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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•
Net-Based Techniques
© KLMH
8.3.1
•
Net weights are added to each net – placer optimizes weighted wirelength
•
Static net weights: computed before placement (never changes)
 ω1 if slack > 0
w
=

− Discrete net weights:
where ω1 > 0, ω2 > 0, and ω2 > ω1
slack
ω
if
≤
0
 2
slack 

− Continuous net weights: w = 1 −

t 

α
where t is the longest path delay
and α is a criticality exponent
− Based on net sensitivity to TNS and slack
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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w = wo + α( slack target − slack ) ⋅ s wSLACK + β ⋅ s wTNS
Net-Based Techniques
© KLMH
8.3.1
•
Dynamic net weights: (re)computed during placement
− Estimate slack at every iteration:
slack k = slack k −1 − s LDELAY ⋅ ∆L
where ∆L is the change in wirelength
1
 2 (υ k −1 + 1) if among the top 3% of critical nets
− Update net criticality: υ k = 
1
 υ k −1
otherwise
2
− Update net weight:
Variations include updating every j iterations, different relations
between criticality and net weight
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
30
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•
wk = wk −1 ⋅ (1 + υ k )
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
Construct a set of constraints for timing-driven placement
− Physical constraints define locations of cells
− Timing constraints define slack requirements
•
Optimize an optimization objective
− Improving worst negative slack (WNS)
− Improving total negative slack (TNS)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− Improving a combination of both WNS and TNS
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
For physical constraints, let:
− xv and yv be the center of cell v ∈ V
− Ve be the set of cells connected to net e ∈ E
− left(e), right(e), bottom(e), and top(e) respectively be the coordinates
of the left, right, bottom, and top boundaries of e’s bounding box
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− δx(v,e) and δy(v,e) be pin offsets from xv and yv for v’s pin connected to e
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
Then, for all v ∈ Ve:
left(e) ≤ xv + δ x (v, e)
right(e) ≥ xv + δ x (v, e)
bottom(e) ≤ yv + δ y (v, e)
top(e) ≥ yv + δ y (v, e)
•
Define e’s half-perimeter wirelength (HPWL):
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
33
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L(e) = right (e) − left (e) + top (e) − bottom (e)
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
For timing constraints, let
− tGATE(vi,vo) be the gate delay from an input pin vi to the output pin vo for cell v
− tNET(e,uo,vi) be net e’s delay from cell u’s output pin uo to cell v’s input pin vi
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
34
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− AAT(vj) be the arrival time on pin j of cell v
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
For every input pin vi of cell v :
AAT (vi ) = AAT (u o ) + t NET (u o , vi )
•
For every output pin vo of cell v :
AAT (vo ) ≥ AAT (vi ) + tGATE (vi , vo )
•
For every pin τp in a sequential cell τ:
slack ( τ p ) ≤ RAT ( τ p ) − AAT ( τ p )
Ensure that every slack(τp) ≥ 0
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
35
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•
Embedding STA into Linear Programs for Placement
© KLMH
8.3.2
•
Optimize for total negative slack:
max :
∑ slack (τ
p)
τ p ∈Pins ( τ ), τ∈Τ
•
Optimize for worst negative slack:
max : WNS
•
Optimize for both TNS and WNS:
min :
∑ L(e) − α ⋅ WNS
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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e∈E
Timing-Driven Routing
© KLMH
8.4
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
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8.7 Conclusions
Timing-Driven Routing
© KLMH
8.4
•
Timing-driven routing seeks to minimize:
− Maximum sink delay: delay from the source to any sink in a net
− Total wirelength: routed length of the net
•
For a signal net net, let
− s0 be the source node
− sinks = {s1, … ,sn} be the sinks
− G = (V,E) be a corresponding weighted graph where:
− V = {v0,v1, … ,vn} represents the source and sink nodes of net, and
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− the weight of an edge e(vi,vj) ∈ E represents the routing cost between vi and vj
Timing-Driven Routing
© KLMH
8.4
•
For any spanning tree T over G, let:
− radius(T) be the length of the longest source-sink path in T
− cost(T) be the total edge weight of T
•
Trade off between “shallow” and “light” trees
•
“Shallow” trees have minimum radius
− Shortest-paths tree
− Constructed by Dijkstra’s Algorithm
•
“Light” trees have minimum cost
− Minimum spanning tree (MST)
VLSI Physical Design: From Graph Partitioning to Timing Closure
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− Constructed by Prim’s Algorithm
Timing-Driven Routing
© KLMH
8.4
2
3
2
2
3
3
6
6
7
5
5
s0
s0
radius(T) = 8
cost(T) = 20
radius(T) = 13
cost(T) = 13
radius(T) = 11
cost(T) = 16
“Shallow”
“Light”
Tradeoff between
shallow and light
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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s0
© 2011 Springer Verlag
5
The Bounded-Radius, Bounded-Cost Algorithm
© KLMH
8.4.1
•
Trades off radius for cost by setting upper bounds on both
•
In the bounded-radius, bounded-cost (BRBC) algorithm, let:
− TS be the shortest-paths tree
− TM be the minimum spanning tree
•
TBRBC is the tree constructed with parameter ε that satisfies:
radius (TBRBC ) ≤ (1 + ε ) ⋅ radius (TS )
and
•
When ε = 0, TBRBC has minimum radius
•
When ε = ∞, TBRBC has minimum cost
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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 2
cost (TBRBC ) ≤ 1 +  ⋅ cost (TM )
 ε
Prim-Dijkstra Tradeoff
© KLMH
8.4.2
•
Prim-Dijkstra Tradeoff based on Prim’s algorithm and Dijkstra’s algorithm
•
From the set of sinks S, iteratively add sink s based on different cost function
− Prim’s algorithm cost function:
− Dijkstra’s algorithm cost function:
− Prim-Dijkstra Tradeoff cost function:
cost ( s0 , si ) + cost ( si , s j )
γ ⋅ cost ( s0 , si ) + cost ( si , s j )
γ is a constant between 0 and 1
VLSI Physical Design: From Graph Partitioning to Timing Closure
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•
cost ( si , s j )
Prim-Dijkstra Tradeoff
© KLMH
8.4.2
4
4
7
11
7
s0
9
s0
radius(T) = 19
cost(T) = 35
radius(T) = 15
cost(T) = 39
γ = 0.25
γ = 0.75
VLSI Physical Design: From Graph Partitioning to Timing Closure
7
Chapter 8: Timing Closure
43
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9
8
© 2011 Springer Verlag
8
Minimization of Source-to-Sink Delay
© KLMH
8.4.3
•
Iteratively forms a tree by adding sinks, and optimizes for critical sink(s)
•
In the critical-sink routing tree (CSRT) problem, minimize:
n
∑ α(i) ⋅ t (s , s )
0
i
i =1
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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where α(i) are sink criticalities for sinks si, and t(s0,si) is the delay from s0 to si
Minimization of Source-to-Sink Delay
© KLMH
8.4.3
•
In the critical-sink Steiner tree problem, construct a
minimum-cost Steiner tree T for all sinks except for the most critical sink sc
•
Add in the critical sink by:
− H0: a single wire from sc to s0
− H1: the shortest possible wire that can join sc to T, so long as the path
from s0 to sc is the shortest possible total length
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− HBest: try all shortest connections from sc to edges in T and from sc to s0.
Perform timing analysis on each of these trees and pick the one
with the lowest delay at sc
Physical Synthesis
© KLMH
8.5
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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8.7 Conclusions
Physical Synthesis
© KLMH
8.5
•
Physical synthesis is a collection of timing optimizations to fix negative slack
•
Consists of creating timing budgets and performing timing corrections
•
Timing budgets include:
− allocating target delays along paths or nets
− often during placement and routing stages
− can also be during timing correction operations
•
Timing corrections include:
− gate sizing
− buffer insertion
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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− netlist restructuring
Gate Sizing
© KLMH
8.5.1
size (vC ) > size (v B ) > size (v A )
•
Let a gate v have 3 sizes A, B, C, where:
•
Gate with a larger size has lower output resistance
•
When load capacitances are large:
t ( vC ) < t ( v B ) < t ( v A )
•
Gate with a smaller size has higher output resistance
•
When load capacitances are small:
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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t ( vC ) > t ( v B ) > t ( v A )
Gate Sizing
© KLMH
8.5.1
•
Let a gate v have 3 sizes A, B, C, where:
size (vC ) > size (v B ) > size (v A )
40
40
35
35
Delay (ps)
30
25
20
15
23
18
24
21
25
24
30
27
30
26
27
33
28
A
B
C
20
15
0.5
1.0
1.5
2.0
2.5
Load Capacitance (fF)
VLSI Physical Design: From Graph Partitioning to Timing Closure
3.0
Chapter 8: Timing Closure
49
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5
© 2011 Springer Verlag
10
Gate Sizing
© KLMH
8.5.1
a
b
vA
v
d
C(d) = 1.5
e
C(e) = 1.0
f
C(f) = 0.5
t(vA) = 40
VLSI Physical Design: From Graph Partitioning to Timing Closure
C(d) = 1.5
e
C(e) = 1.0
f
C(f) = 0.5
a
b
vC
d
C(d) = 1.5
e
C(e) = 1.0
f
C(f) = 0.5
t(vC) = 28
Chapter 8: Timing Closure
50
Lienig
a
b
d
Buffering
© KLMH
8.5.2
•
Buffer: a series of two serially-connected inverters
•
Improve delays by
− speeding up the circuit or serving as delay elements
− changing transition times
− shielding capacitive load
•
Drawbacks:
− Increased area usage
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Chapter 8: Timing Closure
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− Increased power consumption
Buffering
© KLMH
8.5.2
vB
f C(f) = 1
g C(g) = 1
C(vB) = 5 fF
h C(h) = 1
t(vB) = 45 ps
d C(d) = 1
e C(e) = 1
a
b
vB
y
C(vB) = 3 fF
f C(f) = 1
g C(g) = 1
h C(h) = 1
t(vB) = 33 ps
C(y) = 3 fF
t(y) = t(vB) + t(y) = 66 ps
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Chapter 8: Timing Closure
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a
b
d C(d) = 1
e C(e) = 1
Netlist Restructuring
© KLMH
8.5.3
•
Netlist restructuring only changes existing gates, does not change functionality
•
Changes include
− Cloning: duplicating gates
− Redesign of fanin or fanout tree: changing the topology of gates
− Swapping communicative pins: changing the connections
− Gate decomposition: e.g., changing AND-OR to NAND-NAND
− Boolean restructuring: e.g., applying Boolean laws to change circuit gates
Can also do reverse transformations of above, e.g., downsizing, merging
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•
Netlist Restructuring
© KLMH
8.5.3
•
a
b
vB
d
e
C(d) = 1
C(e) = 1
f
C(f) = 1
g
C(g) = 1
h
C(h) = 1
a
d C(d) = 1
e C(e) = 1
vA
b
f
vB
C(f) = 1
g C(g) = 1
h C(h) = 1
and reduce downstream capacitance
d
e
v
f
…
…
a
b
d
v
e
f
g
h
VLSI Physical Design: From Graph Partitioning to Timing Closure
v’
…
g
h
Chapter 8: Timing Closure
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a
b
Cloning can reduce fanout capacitance
© 2011 Springer Verlag
•
Netlist Restructuring
© KLMH
8.5.3
Redesigning the fanin tree can change AATs
a <4>
b <3>
(1)
c <1>
d <0>
(1)
a <4>
f <6>
b <3>
c <1>
d <0>
f <5>
(1)
(1)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© 2011 Springer Verlag
(1)
(1)
Netlist Restructuring
© KLMH
8.5.3
Redesigning fanout trees can change delays on specific paths
path1
path1
y1 (1)
(1)
(1)
(1)
(1)
y2 (1)
path2
path2
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Chapter 8: Timing Closure
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© 2011 Springer Verlag
y2 (1)
Netlist Restructuring
© KLMH
8.5.3
Swapping commutative pins can change the final delay
a <0>
b <1>
f <5>
(1)
(2)
c <2>
b <1>
a <0>
(1)
(1)
f <3>
(1)
(2)
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Chapter 8: Timing Closure
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© 2011 Springer Verlag
c <2>
(1)
(1)
Netlist Restructuring
© KLMH
8.5.3
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© 2011 Springer Verlag
Gate decomposition can change the general structure of the circuit
Netlist Restructuring
© KLMH
8.5.3
Boolean restructuring uses laws or properties,
e.g., distributive law, to change circuit topology
(a + b)(a + c) = a + bc
a <4>
(1)
b <1>
(1)
y <6>
b <1>
c <2>
x <5>
(1)
y <6>
(1)
(1)
(1)
(1)
x(a,b,c) = (a + b)(a + c)
x(a,b,c) = a + bc
y(a,b,c) = (a + c)(b + c)
y(a,b,c) = ab + c
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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c <2>
(1)
x <6>
(1)
© 2011 Springer Verlag
a <4>
Performance-Driven Design Flow
© KLMH
8.6
8.1
Introduction
8.2
Timing Analysis and Performance Constraints
8.2.1 Static Timing Analysis
8.2.2 Delay Budgeting with the Zero-Slack Algorithm
8.3 Timing-Driven Placement
8.3.1 Net-Based Techniques
8.3.2 Embedding STA into Linear Programs for Placement
8.4 Timing-Driven Routing
8.4.1 The Bounded-Radius, Bounded-Cost Algorithm
8.4.2 Prim-Dijkstra Tradeoff
8.4.3 Minimization of Source-to-Sink Delay
8.5 Physical Synthesis
8.5.1 Gate Sizing
8.5.2 Buffering
8.5.3 Netlist Restructuring
8.6 Performance-Driven Design Flow
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8.7 Conclusions
Performance-Driven Design Flow
© KLMH
8.6
Baseline Physical Design Flow
1. Floorplanning, I/O placement, power planning
2. Logic synthesis and technology mapping
3. Global placement and sequential element legalization
4. Clock network synthesis
5. Global routing and layer assignment
6. Congestion-driven detailed placement and legalization
7. Detailed routing
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8. Manufacturing, electrical verification, and mask generation
© KLMH
Performance-Driven Design Flow
Video
Video
Pre/Postprocessing Codec DSP
Control + DSP
Audio
Audio
Pre/Postprocessing
Codec
Embedded
Protocol
Controller for
Processing
Dataplane
Processing
Baseband DSP
Baseband
PHY
MAC/Control
Main Applications
Security
Memory
CPU
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Chapter 8: Timing Closure
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Analog-to-Digital and
Digital-to-Analog Converter
Analog Processing
Floorplanning Example
© 2011 Springer Verlag
8.6
Performance-Driven Design Flow
© KLMH
8.6
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© 2011 Springer Verlag
Global Placement Example
Performance-Driven Design Flow
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© 2011 Springer Verlag
Clock Network Synthesis Example
© KLMH
8.6
Performance-Driven Design Flow
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Chapter 8: Timing Closure
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© 2011 Springer Verlag
Global Routing Congestion Example
© KLMH
8.6
Performance-Driven Design Flow
© KLMH
8.6
Chip Planning and Logic Design
Performance-Driven
Block Shaping, Sizing
and Placement
I/O Placement
Chip Planning
With Optional Net Weights
Performance-Driven
Block-Level
Delay Budgeting
Single Global Net Routes
and Buffering
Trial Synthesis and
Floorplanning
fails
Logic Synthesis and
Technology Mapping
Power Planning
RTL
Timing Estimation
passes
(see full flow chart in Figure 8.26)
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© 2011 Springer Verlag
Block-level or Top-level Global Placement
Performance-Driven Design Flow
© KLMH
8.6
Block-level or Top-level Global Placement
Global Placement
Obstacle-Avoiding Single
Global Net Topologies
With Optional Net Weights
Physical Buffering
Delay Estimation
Using Buffers
OR
Layer Assignment
Virtual Buffering
Buffer Insertion
Physical Synthesis
(see full flow chart in Figure 8.26)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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Static
Timing Analysis
passes with
fixable violations
© 2011 Springer Verlag
fails
Performance-Driven Design Flow
© KLMH
8.6
Physical Synthesis
Timing Correction
Timing-Driven
Restructuring
Boolean Restructuring
and Pin Swapping
AND
passes
Gate Sizing
Redesign of Fanin
and Fanout Trees
Routing
(see full flow chart in Figure 8.26)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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Static
Timing Analysis
© 2011 Springer Verlag
fails
Performance-Driven Design Flow
© KLMH
8.6
Routing
Legalization of
Sequential Elements
Clock Network Synthesis
With Layer Assignment
Timing-Driven Routing
passes
(Re-)Buffering and
Timing Correction
Global Routing
fails
Static
Timing Analysis
Detailed Routing
Timing-driven
Legalization + CongestionDriven Detailed Placement
2.5D or 3D
Parasitic Extraction
(see full flow chart in Figure 8.26)
VLSI Physical Design: From Graph Partitioning to Timing Closure
Chapter 8: Timing Closure
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© 2011 Springer Verlag
Sign-off
Performance-Driven Design Flow
© KLMH
8.6
Sign-off
passes
Manufacturability,
Electrical, Reliability
Verification
passes
Mask Generation
Design Rule Checking
Layout vs. Schematic
Antenna Effects
Electrical Rule Checking
(see full flow chart in Figure 8.26)
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Static Timing Analysis
fails
© 2011 Springer Verlag
ECO Placement and Routing
fails
© KLMH
Summary of Chapter 8 – Timing Constraints and Timing Analysis
•
Circuit delay is measured on signal paths
− From primary inputs to sequential elements; from sequentials to primary outputs
− From sequentials to sequentials
•
Components of path delay
− Gate delays: over-estimated by worst-case transition per gate
(to ensure fast Static Timing Analysis)
− Wire delays: depend on wire length and (for nets with >2 pins) topology
•
Timing constraints
− Actual arrival times (AATs) at primary inputs and output pins of sequentials
− Required arrival times (RATs) at primary outputs and input pins of sequentials
•
Static timing analysis
− Two linear-time traversals compute AATs and RATs for each gate (and net)
− At each timing point: slack = RAT-AAT
− Negative slack = timing violation; critical nets/gates are those with negative slack
Time budgeting: divides prescribed circuit delay into net delay bounds
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•
© KLMH
Summary of Chapter 8 – Timing-Driven Placement
•
Gate/cell locations affect wire lengths, which affect net delays
•
Timing-driven placement optimizes gate/cell locations to improve timing
− Interacts with timing analysis to identify critical nets, then biases placement opt.
− Must keep total wirelength low too, otherwise routing will fail
− Timing optimization may increase routing congestion
•
Placement by net weighting
− The least invasive technique for timing-driven placement
− Performs tentative placement, then changes net weights based on timing analysis
•
Placement by net budgeting
− Allocates delay bounds for each net; translates delay bounds into length bounds
− Performs placement subject to length constraints for individual nets
•
Placement based on linear programming
− Placement is cast as a system of equations and inequalities
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− Timing analysis and optimization are incorporated using additional inequalities
© KLMH
Summary of Chapter 8 – Timing-Driven Routing
•
Timing-driven routing has several aspects
− Individual nets: trading longer wires for shorter source-to-sink paths
− Coupling capacitance and signal integrity: parallel wires act as capacitors
and can slow-down/speed-up signal transitions
− Full-netlist optimization: prioritize the nets that should be optimized first
•
Individual net optimization
− One extreme: route each source-to-sink path independently (high wirelength)
− Another extreme: use a Minimum Spanning Tree (low wirenegth, high delay)
− Tunable tradeoff: a hybrid of Prim and Dijkstra algorithms
•
Coupling capacitance and signal integrity
− Parallel wires are only worth attention when they transition at the same time
− Identify critical nets, push neighboring wires further away to limit crosstalk
•
Full-netlist optimization
− Run trial routing, then run timing analysis to identify critical nets
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− Then adjust accordingly, repeat until convergence
© KLMH
Summary of Chapter 8 – Physical Synthesis
•
Traditionally, place-and-route have been performed after the netlist is known
•
However, fixing gate sizes and net topologies early
does not account for placement-aware timing analysis
− Gate locations and net routes are not available
•
Physical synthesis uses information from trial placement to modify the netlist
•
Net buffering: splits a net into smaller (approx. equal length) segments
− A long net has high capacitance, the driver may be too weak
•
Gate/buffer sizing: increases driver strength & physical size of a gate
− Large gates have higher input pin capacitance, but smaller driver resistance
− Larger gates can drive larger fanouts, longer nets; faster trasitions
− Large gates require more space, larger upstream drivers
•
Gate cloning: splits large fanouts
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− Cloned gates can be placed separately, unlike with a single larger gate