In computer science, software pipelining is a technique used to optimize loops, in a manner that parallels hardware pipelining. Software pipelining is a type of out-of-order execution, except that the reordering is done by a compiler (or in the case of hand written assembly code, by the programmer) instead of the processor. Some computer architectures have explicit support for software pipelining, notably Intel's IA-64 architecture.
It is important to distinguish software pipelining, which is a target code technique for overlapping loop iterations, from modulo scheduling, the currently most effective known compiler technique for generating software pipelined loops.
Software pipelining has been known to assembly language programmers of machines with instruction-level parallelism since such architectures existed. Effective compiler generation of such code dates to the invention of modulo scheduling by Rau and Glaeser.[1]
Lam showed that special hardware is unnecessary for effective modulo scheduling. Her technique, modulo variable expansion is widely used in practice.[2]
Gao et al. formulated optimal software pipelining in integer linear programming, culminating in validation of advanced heuristics in an evaluation paper.[3] This paper has a
good set of references on the topic.
^B.R. Rau and C.D. Glaeser, "Some scheduling techniques and an easily schedulable horizontal architecture for high performance scientific computing", In Proceedings of the Fourteenth Annual Workshop on Microprogramming (MICRO-14), December 1981, pages 183-198
^M. Lam, "Software pipelining: An effective scheduling technique for VLIW machines", In Proceedings of the ACM SIGPLAN 88 Conference on Programming Language Design and Implementation (PLDI 88), July 1988 pages 318-328. Also published as ACM SIGPLAN Notices 23(7).
^J. Ruttenberg, G.R. Gao, A. Stoutchinin, and W. Lichtenstein, "Software pipelining showdown: optimal vs. heuristic methods in a production compiler", In Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language Design and Implementation, June 1996, pages 1-11. Also published as ACM SIGPLAN Notices 31(5).
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