Implementation of OSQP on microcontroller or FPGA

[satheesh raju]

I would like to find out if someone implemented OSQP on either microcontroller or FPGA. Which one (FPGA or Microcontroller) will give better results with good performance?

[Paul Goulart]

I am not aware of anyone that has compiled OSQP for use on an FPGA (I assume that this is what you mean by 'implemented').   I would expect that this would require a significant amount of work and redevelopment to achieve good performance.   There are published results describing the use of ADMM on FPGAs that found that very high-speed performance is possible using algorithms similar to the one in OSQP, but they predate the actual development of the OSQP code.   See here for one such example.

For an MCU, then it should be possible to compile OSQP to run on it, but the details depend on the hardware.    Your MCU should have a C compiler, should be capable floating point arithmetic, and would ideally be 32 bit.  

[satheesh raju]

On Wednesday, June 12, 2019 at 12:16:57 PM UTC+2, Paul Goulart wrote:
> I am not aware of anyone that has compiled OSQP for use on an FPGA (I assume that this is what you mean by 'implemented').   I would expect that this would require a significant amount of work and redevelopment to achieve good performance.   There are published results describing the use of ADMM on FPGAs that found that very high-speed performance is possible using algorithms similar to the one in OSQP, but they predate the actual development of the OSQP code.   See here for one such example.
>
>

Thanks for the fast reply.
Are there any published results of compiling OSQP on MCU?.

[Paul Goulart]

Not that I know of from memory, but many of our users are companies who do not necessarily publish their results.

What platform do you want to use?

[satheesh raju]

I am planning to use TI Delfino MCU (32 bit; dual core), clock frequency of 200MHZ and capable of single precision FPU arithmetic.

But I am open to any other MCU.

[Paul Goulart]

We are doing some work to get OSQP to compile using the TI compilers/toolchain, but it is something of a side project and so will not be available until end of summer at the earliest.

That's not to say that it won't work for you or would be difficult to compile for that system (I honestly don't know) - it could well work right of the box.