CODA: a multiprocessor architecture for sensor fusion
K. Toda, K. Nishida, Shuichi Sakai, Yoshinobu Uchibori, T. Shimada · 2002
CODA, a multiprocessor architecture designed for sensor fusion in real-time applications, is discussed. The hardware characteristics of CODA are scalability, high performance in computation and communication, and priority control for hard real-time processing. CODA consists of multiple identical processors connected by means of a packet exchange interconnection network. The network is a prioritized multistage router network which is priority inversion free. The unit processor is a register-based architecture and realizes data synchronization on a register by a proposed instruction insertion method. By this method, all incoming data call be efficiently handled on the execution pipeline.>