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Summary: Add Initial support to pico2 (Arm Cortex M) #12518
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| cmake_minimum_required(VERSION 3.10) | ||
| project(pico) | ||
|
|
||
| set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | ||
| set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../) | ||
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||
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| set(CMAKE_TOOLCHAIN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/arm-cortex-m0plus-toolchain.cmake) | ||
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| # Only include here, NOT in arm-cortex-m0plus-toolchain.cmake | ||
| include(${CMAKE_SOURCE_DIR}/tools/cmake/Codegen.cmake) | ||
|
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||
| target_sources(executorch_core PRIVATE ${CMAKE_CURRENT_LIST_DIR}/syscall_stubs.c) | ||
| gen_selected_ops(LIB_NAME "portable_ops_lib" ROOT_OPS "aten::add.out") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,29 @@ | ||
| # cortex-m0plus cmake | ||
|
|
||
| if(NOT DEFINED EXECUTORCH_BUILD_ARM_BAREMETAL) | ||
| # If not defined, assume we're building standalone | ||
| set(EXECUTORCH_BUILD_ARM_BAREMETAL ON) | ||
| endif() | ||
| set(CMAKE_SYSTEM_NAME Generic) | ||
| set(CMAKE_SYSTEM_PROCESSOR cortex-m0plus) | ||
|
|
||
| if(NOT DEFINED CMAKE_C_COMPILER) | ||
| set(CMAKE_C_COMPILER arm-none-eabi-gcc CACHE STRING "C compiler") | ||
| endif() | ||
|
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||
| if(NOT DEFINED CMAKE_CXX_COMPILER) | ||
| set(CMAKE_CXX_COMPILER arm-none-eabi-g++ CACHE STRING "C++ compiler") | ||
| endif() | ||
|
|
||
| set(CPU_FLAGS "-mcpu=cortex-m0plus -mthumb -mfloat-abi=soft") | ||
| # C flags (no RTTI or exceptions here, since RTTI is C++-only) | ||
| set(CMAKE_C_FLAGS "${CPU_FLAGS} -O2 -ffunction-sections -fdata-sections -fno-exceptions -fno-unwind-tables") | ||
|
|
||
| # C++ flags (RTTI-related flags go here) | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-use-cxa-atexit -ffunction-sections -fdata-sections") | ||
|
|
||
| # Linker flags | ||
| # set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections -nostartfiles -flto") | ||
|
|
||
| # Linker flags | ||
| set(CMAKE_EXE_LINKER_FLAGS "-nostartfiles") |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| cmake_minimum_required(VERSION 3.13) | ||
| include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake) | ||
| project(executorch_pico C CXX ASM) | ||
| pico_sdk_init() | ||
|
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||
| set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../../) | ||
| set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | ||
|
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||
| add_executable(executorch_pico main.cpp simple_addmodule_pte.c) | ||
| pico_enable_stdio_usb(executorch_pico 1) | ||
| pico_enable_stdio_uart(executorch_pico 0) | ||
|
|
||
| # Set correct flags for Pico (Cortex-M0+) | ||
| target_compile_options(executorch_pico PRIVATE | ||
| -mcpu=cortex-m0plus | ||
| -mfloat-abi=soft | ||
| -mthumb | ||
| ) | ||
|
|
||
| # Link Executorch and Pico libraries | ||
| target_link_libraries(executorch_pico | ||
| PRIVATE | ||
| ${EXECUTORCH_ROOT}/executorch/build/libexecutorch.a | ||
| ${EXECUTORCH_ROOT}/executorch/build/libexecutorch_core.a | ||
| -Wl,--whole-archive | ||
| ${EXECUTORCH_ROOT}/executorch/build/kernels/portable/libportable_ops_lib.a | ||
| -Wl,--no-whole-archive | ||
| ${EXECUTORCH_ROOT}/executorch/build/kernels/portable/libportable_kernels.a | ||
| pico_stdlib | ||
| pico_stdio_usb | ||
| ) | ||
|
|
||
| # Include Executorch and third-party headers | ||
| target_include_directories(executorch_pico PRIVATE | ||
| ${EXECUTORCH_ROOT} | ||
| ${EXECUTORCH_ROOT}/executorch/third-party/ | ||
| # Add other include paths as needed | ||
| ) | ||
|
|
||
| pico_add_extra_outputs(executorch_pico) | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,129 @@ | ||
| #include "pico/stdio_usb.h" | ||
| #include "pico/stdlib.h" | ||
|
|
||
| #include <executorch/extension/data_loader/buffer_data_loader.h> | ||
| #include <executorch/runtime/core/portable_type/scalar_type.h> | ||
| #include <executorch/runtime/executor/method.h> | ||
| #include <executorch/runtime/executor/program.h> | ||
| #include <executorch/runtime/platform/runtime.h> | ||
|
|
||
| // Declare your model data (from simple_addmodule_pte.c) | ||
| extern const uint8_t model_pte[] __attribute__((aligned(8))); | ||
| extern const unsigned int model_pte_len; | ||
|
|
||
| // Define GPIO pins for indicators | ||
| const uint INDICATOR_PIN_1 = 25; // Onboard LED | ||
| const uint INDICATOR_PIN_2 = 22; // External LED | ||
| const uint INDICATOR_PIN_3 = 23; // Onboard LED | ||
|
|
||
| static uint8_t method_allocator_pool[1024]; | ||
| static uint8_t activation_pool[512]; | ||
|
|
||
| void blink_indicator(uint pin, int times, int delay_ms = 100) { | ||
| gpio_init(pin); | ||
| gpio_set_dir(pin, GPIO_OUT); | ||
| for (int i = 0; i < times; ++i) { | ||
| gpio_put(pin, 1); | ||
| sleep_ms(delay_ms); | ||
| gpio_put(pin, 0); | ||
| sleep_ms(delay_ms); | ||
| } | ||
| } | ||
|
|
||
| int main() { | ||
| using namespace executorch::extension; | ||
| using namespace executorch::runtime; | ||
| using executorch::aten::Tensor; | ||
| using executorch::aten::TensorImpl; | ||
| using ScalarType = executorch::runtime::etensor::ScalarType; | ||
| using executorch::runtime::runtime_init; | ||
|
|
||
| stdio_init_all(); | ||
|
|
||
| // Give host time to enumerate USB serial | ||
| sleep_ms(1000); | ||
|
|
||
| int retry_usb_count= 0; | ||
| while (!stdio_usb_connected() && retry_usb_count++ < 10) { | ||
| printf("Retry again! USB not connected \n"); | ||
| sleep_ms(100); // Check every 100 ms | ||
| } | ||
| runtime_init(); | ||
|
|
||
| executorch::extension::BufferDataLoader loader(model_pte, model_pte_len); | ||
| MemoryAllocator method_allocator(sizeof(method_allocator_pool), method_allocator_pool); | ||
| method_allocator.enable_profiling("method allocator"); | ||
|
|
||
| Span<uint8_t> memory_planned_buffers[1]{{activation_pool, sizeof(activation_pool)}}; | ||
| HierarchicalAllocator planned_memory({memory_planned_buffers, 1}); | ||
|
|
||
| MemoryManager memory_manager(&method_allocator, &planned_memory); | ||
| auto program_result = Program::load(&loader); | ||
| if (!program_result.ok()) { | ||
| printf("Failed to load model: %d\n", (int)program_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return 1; | ||
| } | ||
| Program program = std::move(*program_result); | ||
|
|
||
| const char* method_name = nullptr; | ||
| // Get method name (usually "forward") | ||
| auto method_name_result = program.get_method_name(0); | ||
| if (!method_name_result.ok()) { | ||
| printf("Failed to get method name: %d\n", (int)method_name_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return 1; | ||
| } | ||
|
|
||
| method_name = *method_name_result; | ||
| // Load method | ||
| auto method_result = program.load_method(method_name, &memory_manager); | ||
| if (!method_result.ok()) { | ||
| printf("Failed to load method: %d\n", (int)method_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return 1; | ||
| } | ||
| printf("Method loaded [%s]\n", method_name); | ||
|
|
||
| auto method = std::move(*method_result); | ||
| // Prepare input tensor | ||
| float input_data_0[4] = {4.0, 109.0, 13.0, 123.0}; | ||
| float input_data_1[4] = {9.0, 27.0, 11.0, 8.0}; | ||
| TensorImpl::SizesType sizes[1] = {4}; | ||
| TensorImpl::DimOrderType dim_order[] = {0}; | ||
| TensorImpl impl0(ScalarType::Float, 1, sizes, input_data_0, dim_order); | ||
| TensorImpl impl1(ScalarType::Float, 1, sizes, input_data_1, dim_order); | ||
| Tensor input0(&impl0); | ||
| Tensor input1(&impl1); | ||
|
|
||
| // Set input | ||
| auto set_input_error0 = method.set_input(input0, 0); | ||
| auto set_input_error1 = method.set_input(input1, 1); | ||
| if (set_input_error0 != Error::Ok || set_input_error1 != Error::Ok) { | ||
| printf("Failed to set input(s)\n"); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return 1; | ||
| } | ||
|
|
||
| // Run inference | ||
| auto exec_error = method.execute(); | ||
| if (exec_error != Error::Ok) { | ||
| printf("Failed to execute: %d\n", (int)exec_error); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return 1; | ||
| } | ||
|
|
||
| // Get output | ||
| const EValue& output = method.get_output(0); | ||
| if (output.isTensor()) { | ||
| const auto& out_tensor = output.toTensor(); | ||
| const float* out_data = out_tensor.const_data_ptr<float>(); | ||
| printf("Output: %f, %f, %f, %f\n", out_data[0], out_data[1], out_data[2], out_data[3]); | ||
| } else { | ||
| printf("Output is not a tensor!\n"); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| } | ||
|
|
||
| blink_indicator(INDICATOR_PIN_1, 100, 500); // Blink onboard LED 10 times (~10 secs) to indicate success | ||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| __attribute__((aligned(8))) const unsigned char model_pte[] = { | ||
| 0x1c, 0x00, 0x00, 0x00, 0x45, 0x54, 0x31, 0x32, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x18, 0x00, 0x00, 0x00, 0x04, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x14, 0x00, 0x10, 0x00, 0x00, 0x00, | ||
| 0x44, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x0c, 0xff, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x28, 0x00, 0x04, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x14, 0x00, 0x18, 0x00, 0x1c, 0x00, | ||
| 0x20, 0x00, 0x24, 0x00, 0x16, 0x00, 0x00, 0x00, 0x9c, 0x03, 0x00, 0x00, 0x10, 0x02, 0x00, 0x00, 0xdc, 0x00, 0x00, 0x00, 0xcc, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00, | ||
| 0x24, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x38, 0xfe, 0xff, 0xff, 0x10, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6f, 0x75, 0x74, 0x00, | ||
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| 0x08, 0x00, 0x0c, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x24, 0xff, 0xff, 0xff, | ||
| 0x00, 0x00, 0x00, 0x01, 0x0c, 0x00, 0x00, 0x00, 0x08, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
| 0x01, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, | ||
| 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xd4, 0x00, 0x00, 0x00, 0x8c, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, | ||
| 0x44, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x02, 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x04, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, | ||
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| 0x22, 0x3a, 0x20, 0x22, 0x5b, 0x5d, 0x22, 0x2c, 0x20, 0x22, 0x63, 0x68, 0x69, 0x6c, 0x64, 0x72, 0x65, 0x6e, 0x5f, 0x73, 0x70, 0x65, 0x63, 0x22, 0x3a, 0x20, 0x5b, 0x5d, 0x7d, 0x5d, 0x7d, 0x5d, | ||
| 0x00, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x66, 0x6f, 0x72, 0x77, 0x61, 0x72, 0x64, 0x00, }; | ||
|
|
||
|
|
||
| const unsigned int model_pte_len = sizeof(model_pte); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| #include <sys/types.h> | ||
| #include <sys/stat.h> | ||
| #include <unistd.h> | ||
|
|
||
| /* | ||
| * We are adding a custom syscall_stubs.c file to provide dummy implementations for syscalls that are not | ||
| * available on the Pico platform. This is necessary because the Pico does not have an operating system, | ||
| * and therefore does not support standard C library functions like _exit, _sbrk, _read, etc. | ||
| * By adding these stubs, we can resolve linker errors that occur when building our project for the Pico. | ||
| * The stubs will be compiled and linked into our final executable, allowing it to run on the target hardware. | ||
| */ | ||
| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
| void *__dso_handle = 0; | ||
| int fnmatch(const char *pattern, const char *string, int flags) { return 1; } | ||
| ssize_t pread(int fd, void *buf, size_t count, off_t offset) { return -1; } | ||
| void _fini(void) {} | ||
| void _exit(int status) { while (1) {} } | ||
| void* _sbrk(ptrdiff_t incr) { return (void*)-1; } | ||
| int _read(int file, char *ptr, int len) { return -1; } | ||
| int _write(int file, char *ptr, int len) { return -1; } | ||
| int _close(int file) { return -1; } | ||
| int _fstat(int file, void *st) { return 0; } | ||
| int _lseek(int file, int ptr, int dir) { return 0; } | ||
| int _isatty(int file) { return 1; } | ||
| int _kill(int pid, int sig) { return -1; } | ||
| int _getpid(void) { return 1; } | ||
| int _open(const char *name, int flags, int mode) { return -1; } | ||
| int _gettimeofday(void *tv, void *tz) { return -1; } | ||
| #ifdef __cplusplus | ||
| } | ||
| #endif |
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All files in this repo seem to more fit in https://github.com/pytorch/executorch/tree/main/examples/arm