Updating message handler firmware
The 'message handler' firmware was based on a custom interface between
Linux and the firmware. Because the kernel driver has been converted
into a rpmsg driver, the 'message handler' application has been updated
into an OpenAMP based firmware.
Change-Id: I1339180c4f53cbad42501a2827863b7b49561ff4
diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
index 11ed236..1fa2b2e 100644
--- a/applications/CMakeLists.txt
+++ b/applications/CMakeLists.txt
@@ -1,5 +1,5 @@
#
-# Copyright (c) 2021 Arm Limited. All rights reserved.
+# SPDX-FileCopyrightText: Copyright 2021, 2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
#
# SPDX-License-Identifier: Apache-2.0
#
@@ -26,7 +26,7 @@
add_subdirectory(threadx_demo)
-add_subdirectory(message_handler)
+add_subdirectory(message_handler_openamp)
if (CMAKE_CXX_COMPILER_ID STREQUAL "ARMClang")
# Only armclang supported for now
diff --git a/applications/message_handler/CMakeLists.txt b/applications/message_handler/CMakeLists.txt
deleted file mode 100644
index 5e95bdd..0000000
--- a/applications/message_handler/CMakeLists.txt
+++ /dev/null
@@ -1,63 +0,0 @@
-#
-# Copyright (c) 2020-2022 Arm Limited.
-#
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the License); you may
-# not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an AS IS BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-if(NOT TARGET freertos_kernel)
- message("Skipping message handler")
- return()
-endif()
-
-# Split total tensor arena equally for each NPU
-if(TARGET ethosu_core_driver AND ETHOSU_TARGET_NPU_COUNT GREATER 0)
- set(NUM_ARENAS ${ETHOSU_TARGET_NPU_COUNT})
-else()
- set(NUM_ARENAS 1)
-endif()
-
-set(MESSAGE_HANDLER_ARENA_SIZE 2000000 CACHE STRING "Total size of all message handler tensor arenas")
-math(EXPR TENSOR_ARENA_SIZE "${MESSAGE_HANDLER_ARENA_SIZE} / ${NUM_ARENAS}")
-
-add_subdirectory(lib)
-add_subdirectory(test)
-
-set(MESSAGE_HANDLER_MODEL_0 "" CACHE STRING "Path to built in model 0")
-set(MESSAGE_HANDLER_MODEL_1 "" CACHE STRING "Path to built in model 1")
-set(MESSAGE_HANDLER_MODEL_2 "" CACHE STRING "Path to built in model 2")
-set(MESSAGE_HANDLER_MODEL_3 "" CACHE STRING "Path to built in model 3")
-
-ethosu_add_executable(message_handler
- SOURCES
- main.cpp
- LIBRARIES
- message_handler_lib
- freertos_kernel)
-
-target_include_directories(message_handler PRIVATE
- indexed_networks
- ${LINUX_DRIVER_STACK_PATH}/kernel)
-
-target_compile_definitions(message_handler PRIVATE
- TENSOR_ARENA_SIZE=${TENSOR_ARENA_SIZE}
- $<$<BOOL:${MESSAGE_HANDLER_MODEL_0}>:MODEL_0=${MESSAGE_HANDLER_MODEL_0}>
- $<$<BOOL:${MESSAGE_HANDLER_MODEL_1}>:MODEL_1=${MESSAGE_HANDLER_MODEL_1}>
- $<$<BOOL:${MESSAGE_HANDLER_MODEL_2}>:MODEL_2=${MESSAGE_HANDLER_MODEL_2}>
- $<$<BOOL:${MESSAGE_HANDLER_MODEL_3}>:MODEL_3=${MESSAGE_HANDLER_MODEL_3}>)
-
-install(FILES $<TARGET_FILE:message_handler>
- DESTINATION "lib/firmware"
- RENAME "arm-${ETHOSU_TARGET_NPU_CONFIG}.fw"
-)
diff --git a/applications/message_handler/indexed_networks/indexed_networks.hpp b/applications/message_handler/indexed_networks/indexed_networks.hpp
deleted file mode 100644
index d37ddba..0000000
--- a/applications/message_handler/indexed_networks/indexed_networks.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef INDEXED_NETWORKS_H
-#define INDEXED_NETWORKS_H
-
-#include "networks.hpp"
-
-#include <cstdio>
-#include <inttypes.h>
-
-#define XSTRINGIFY(src) #src
-#define STRINGIFY(src) XSTRINGIFY(src)
-
-namespace {
-#if defined(__has_include)
-
-#if defined(MODEL_0)
-namespace Model0 {
-#include STRINGIFY(MODEL_0)
-}
-#endif
-
-#if defined(MODEL_1)
-namespace Model1 {
-#include STRINGIFY(MODEL_1)
-}
-#endif
-
-#if defined(MODEL_2)
-namespace Model2 {
-#include STRINGIFY(MODEL_2)
-}
-#endif
-
-#if defined(MODEL_3)
-namespace Model3 {
-#include STRINGIFY(MODEL_3)
-}
-#endif
-
-#endif
-} // namespace
-
-namespace MessageHandler {
-
-class WithIndexedNetworks : public BaseNetworks<WithIndexedNetworks> {
-public:
- static bool getIndexedNetwork(const uint32_t index, void *&data, size_t &size) {
- switch (index) {
-#if defined(MODEL_0)
- case 0:
- data = reinterpret_cast<void *>(Model0::networkModelData);
- size = sizeof(Model0::networkModelData);
- break;
-#endif
-
-#if defined(MODEL_1)
- case 1:
- data = reinterpret_cast<void *>(Model1::networkModelData);
- size = sizeof(Model1::networkModelData);
- break;
-#endif
-
-#if defined(MODEL_2)
- case 2:
- data = reinterpret_cast<void *>(Model2::networkModelData);
- size = sizeof(Model2::networkModelData);
- break;
-#endif
-
-#if defined(MODEL_3)
- case 3:
- data = reinterpret_cast<void *>(Model3::networkModelData);
- size = sizeof(Model3::networkModelData);
- break;
-#endif
-
- default:
- printf("Error: Network model index out of range. index=%" PRIu32 "\n", index);
- return true;
- }
-
- return false;
- }
-};
-
-} // namespace MessageHandler
-
-#endif
diff --git a/applications/message_handler/indexed_networks/network_template.hpp b/applications/message_handler/indexed_networks/network_template.hpp
deleted file mode 100644
index a477b84..0000000
--- a/applications/message_handler/indexed_networks/network_template.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <stdint.h>
-
-__attribute__((section(".sram.data"), aligned(16))) uint8_t networkModelData[] = {
- /* Add network model here */
-};
diff --git a/applications/message_handler/lib/CMakeLists.txt b/applications/message_handler/lib/CMakeLists.txt
deleted file mode 100644
index c17742a..0000000
--- a/applications/message_handler/lib/CMakeLists.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-#
-# Copyright (c) 2020-2022 Arm Limited.
-#
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the License); you may
-# not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an AS IS BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-add_library(message_handler_lib STATIC)
-
-target_include_directories(message_handler_lib PUBLIC include
- PRIVATE ${LINUX_DRIVER_STACK_PATH}/kernel)
-
-target_link_libraries(message_handler_lib
- PUBLIC
- ethosu_mailbox
- $<$<TARGET_EXISTS:ethosu_core_driver>:ethosu_core_driver>
- inference_process
- PRIVATE
- cmsis_device
- freertos_kernel
- tflu)
-
-target_sources(message_handler_lib PRIVATE
- message_handler.cpp
- message_queue.cpp
- core_driver_mutex.cpp
- freertos_allocator.cpp)
diff --git a/applications/message_handler/lib/include/message_handler.hpp b/applications/message_handler/lib/include/message_handler.hpp
deleted file mode 100644
index 98875f4..0000000
--- a/applications/message_handler/lib/include/message_handler.hpp
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) 2020-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef MESSAGE_HANDLER_H
-#define MESSAGE_HANDLER_H
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-
-#include "message_queue.hpp"
-#include "networks.hpp"
-#include <ethosu_core_interface.h>
-#if defined(ETHOSU)
-#include <ethosu_driver.h>
-#endif
-#include <inference_parser.hpp>
-#include <inference_process.hpp>
-#include <mailbox.hpp>
-
-#include <algorithm>
-#include <cstddef>
-#include <cstdio>
-#include <inttypes.h>
-#include <list>
-#include <vector>
-
-namespace MessageHandler {
-
-template <typename T, size_t capacity = 5>
-class Queue {
-public:
- using Predicate = std::function<bool(const T &data)>;
-
- Queue() {
- mutex = xSemaphoreCreateMutex();
- size = xSemaphoreCreateCounting(capacity, 0u);
-
- if (mutex == nullptr || size == nullptr) {
- printf("Error: failed to allocate memory for inference queue\n");
- }
- }
-
- ~Queue() {
- vSemaphoreDelete(mutex);
- vSemaphoreDelete(size);
- }
-
- bool push(const T &data) {
- xSemaphoreTake(mutex, portMAX_DELAY);
- if (list.size() >= capacity) {
- xSemaphoreGive(mutex);
- return false;
- }
-
- list.push_back(data);
- xSemaphoreGive(mutex);
-
- // increase number of available inferences to pop
- xSemaphoreGive(size);
- return true;
- }
-
- void pop(T &data) {
- // decrease the number of available inferences to pop
- xSemaphoreTake(size, portMAX_DELAY);
-
- xSemaphoreTake(mutex, portMAX_DELAY);
- data = list.front();
- list.pop_front();
- xSemaphoreGive(mutex);
- }
-
- bool erase(Predicate pred) {
- // let's optimistically assume we are removing an inference, so decrease pop
- if (pdFALSE == xSemaphoreTake(size, 0)) {
- // if there are no inferences return immediately
- return false;
- }
-
- xSemaphoreTake(mutex, portMAX_DELAY);
- auto found = std::find_if(list.begin(), list.end(), pred);
- bool erased = found != list.end();
- if (erased) {
- list.erase(found);
- }
- xSemaphoreGive(mutex);
-
- if (!erased) {
- // no inference erased, so let's put the size count back
- xSemaphoreGive(size);
- }
-
- return erased;
- }
-
-private:
- std::list<T> list;
-
- SemaphoreHandle_t mutex;
- SemaphoreHandle_t size;
-};
-
-class IncomingMessageHandler {
-public:
- IncomingMessageHandler(EthosU::ethosu_core_queue &inputMessageQueue,
- EthosU::ethosu_core_queue &outputMessageQueue,
- Mailbox::Mailbox &mailbox,
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> inferenceInputQueue,
- QueueHandle_t inferenceOutputQueue,
- SemaphoreHandle_t messageNotify,
- std::shared_ptr<Networks> networks);
-
- void run();
-
-private:
- bool handleMessage();
- bool handleInferenceOutput();
- static void handleIrq(void *userArg);
-
- void sendPong();
- void sendErrorAndResetQueue(EthosU::ethosu_core_msg_err_type type, const char *message);
- void sendVersionRsp();
- void sendCapabilitiesRsp(uint64_t userArg);
- void sendNetworkInfoRsp(uint64_t userArg, EthosU::ethosu_core_network_buffer &network);
- void sendInferenceRsp(EthosU::ethosu_core_inference_rsp &inference);
- void sendFailedInferenceRsp(uint64_t userArg, uint32_t status);
- void sendCancelInferenceRsp(uint64_t userArg, uint32_t status);
- void readCapabilties(EthosU::ethosu_core_msg_capabilities_rsp &rsp);
-
- MessageQueue::QueueImpl inputMessageQueue;
- MessageQueue::QueueImpl outputMessageQueue;
- Mailbox::Mailbox &mailbox;
- InferenceProcess::InferenceParser parser;
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> inferenceInputQueue;
- QueueHandle_t inferenceOutputQueue;
- SemaphoreHandle_t messageNotify;
- EthosU::ethosu_core_msg_capabilities_rsp capabilities;
- std::shared_ptr<Networks> networks;
-};
-
-class InferenceHandler {
-public:
- InferenceHandler(uint8_t *tensorArena,
- size_t arenaSize,
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> inferenceInputQueue,
- QueueHandle_t inferenceOutputQueue,
- SemaphoreHandle_t messageNotify,
- std::shared_ptr<Networks> networks);
-
- void run();
-
-private:
- void runInference(EthosU::ethosu_core_inference_req &req, EthosU::ethosu_core_inference_rsp &rsp);
- bool getInferenceJob(const EthosU::ethosu_core_inference_req &req, InferenceProcess::InferenceJob &job);
-
-#if defined(ETHOSU)
- friend void ::ethosu_inference_begin(struct ethosu_driver *drv, void *userArg);
- friend void ::ethosu_inference_end(struct ethosu_driver *drv, void *userArg);
-#endif
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> inferenceInputQueue;
- QueueHandle_t inferenceOutputQueue;
- SemaphoreHandle_t messageNotify;
- InferenceProcess::InferenceProcess inference;
- EthosU::ethosu_core_inference_req *currentReq;
- EthosU::ethosu_core_inference_rsp *currentRsp;
- std::shared_ptr<Networks> networks;
-};
-
-} // namespace MessageHandler
-
-#endif
diff --git a/applications/message_handler/lib/include/message_queue.hpp b/applications/message_handler/lib/include/message_queue.hpp
deleted file mode 100644
index ec9d7b6..0000000
--- a/applications/message_handler/lib/include/message_queue.hpp
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright (c) 2020-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef MESSAGE_QUEUE_H
-#define MESSAGE_QUEUE_H
-
-#include <cstddef>
-#include <ethosu_core_interface.h>
-
-namespace MessageQueue {
-
-template <uint32_t SIZE>
-struct Queue {
- EthosU::ethosu_core_queue_header header;
- uint8_t data[SIZE];
-
- constexpr Queue() : header({SIZE, 0, {0}, 0}) {}
-
- constexpr EthosU::ethosu_core_queue *toQueue() {
- return reinterpret_cast<EthosU::ethosu_core_queue *>(&header);
- }
-};
-
-class QueueImpl {
-public:
- struct Vec {
- const void *base;
- size_t length;
- };
-
- QueueImpl(EthosU::ethosu_core_queue &queue);
-
- bool empty() const;
- size_t available() const;
- size_t capacity() const;
- void reset();
- bool read(uint8_t *dst, uint32_t length);
- template <typename T>
- bool read(T &dst) {
- return read(reinterpret_cast<uint8_t *>(&dst), sizeof(dst));
- }
- bool write(const Vec *vec, size_t length);
- bool write(const uint32_t type, const void *src = nullptr, uint32_t length = 0);
- template <typename T>
- bool write(const uint32_t type, const T &src) {
- return write(type, reinterpret_cast<const void *>(&src), sizeof(src));
- }
-
-private:
- void cleanHeader() const;
- void cleanHeaderData() const;
- void invalidateHeader() const;
- void invalidateHeaderData() const;
-
- EthosU::ethosu_core_queue &queue;
-};
-} // namespace MessageQueue
-
-#endif
diff --git a/applications/message_handler/lib/include/networks.hpp b/applications/message_handler/lib/include/networks.hpp
deleted file mode 100644
index eb01d10..0000000
--- a/applications/message_handler/lib/include/networks.hpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef NETWORKS_H
-#define NETWORKS_H
-
-#include <ethosu_core_interface.h>
-
-#include <cstdio>
-#include <inttypes.h>
-
-using namespace EthosU;
-
-namespace MessageHandler {
-
-class Networks {
-public:
- virtual ~Networks() {}
- virtual bool getNetwork(const ethosu_core_network_buffer &buffer, void *&data, size_t &size) = 0;
-};
-
-template <typename T>
-class BaseNetworks : public Networks {
-public:
- bool getNetwork(const ethosu_core_network_buffer &buffer, void *&data, size_t &size) override {
- switch (buffer.type) {
- case ETHOSU_CORE_NETWORK_BUFFER:
- data = reinterpret_cast<void *>(buffer.buffer.ptr);
- size = buffer.buffer.size;
- return false;
- case ETHOSU_CORE_NETWORK_INDEX:
- return T::getIndexedNetwork(buffer.index, data, size);
- default:
- printf("Error: Unsupported network model type. type=%" PRIu32 "\n", buffer.type);
- return true;
- }
- }
-};
-
-class NoIndexedNetworks : public BaseNetworks<NoIndexedNetworks> {
- static bool getIndexedNetwork(const uint32_t index, void *&data, size_t &size) {
- printf("Error: Network model index out of range. index=%" PRIu32 "\n", index);
- return true;
- }
-};
-
-} // namespace MessageHandler
-
-#endif
diff --git a/applications/message_handler/lib/message_handler.cpp b/applications/message_handler/lib/message_handler.cpp
deleted file mode 100644
index 66623f9..0000000
--- a/applications/message_handler/lib/message_handler.cpp
+++ /dev/null
@@ -1,523 +0,0 @@
-/*
- * Copyright (c) 2020-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "message_handler.hpp"
-
-#include "cmsis_compiler.h"
-
-#ifdef ETHOSU
-#include <ethosu_driver.h>
-#include <pmu_ethosu.h>
-#endif
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-
-#include <cstring>
-#include <vector>
-
-using namespace EthosU;
-using namespace MessageQueue;
-
-namespace MessageHandler {
-
-/****************************************************************************
- * IncomingMessageHandler
- ****************************************************************************/
-
-IncomingMessageHandler::IncomingMessageHandler(
- EthosU::ethosu_core_queue &_inputMessageQueue,
- EthosU::ethosu_core_queue &_outputMessageQueue,
- Mailbox::Mailbox &_mailbox,
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> _inferenceInputQueue,
- QueueHandle_t _inferenceOutputQueue,
- SemaphoreHandle_t _messageNotify,
- std::shared_ptr<Networks> _networks) :
- inputMessageQueue(_inputMessageQueue),
- outputMessageQueue(_outputMessageQueue), mailbox(_mailbox), inferenceInputQueue(_inferenceInputQueue),
- inferenceOutputQueue(_inferenceOutputQueue), messageNotify(_messageNotify), networks(_networks) {
- mailbox.registerCallback(handleIrq, reinterpret_cast<void *>(this));
- readCapabilties(capabilities);
-}
-
-void IncomingMessageHandler::run() {
- while (true) {
- // Wait for event
- xSemaphoreTake(messageNotify, portMAX_DELAY);
-
- // Handle all inference outputs and all messages in queue
- while (handleInferenceOutput() || handleMessage()) {}
- }
-}
-
-void IncomingMessageHandler::handleIrq(void *userArg) {
- if (userArg == nullptr) {
- return;
- }
- IncomingMessageHandler *_this = reinterpret_cast<IncomingMessageHandler *>(userArg);
- xSemaphoreGiveFromISR(_this->messageNotify, nullptr);
-}
-
-void IncomingMessageHandler::sendErrorAndResetQueue(ethosu_core_msg_err_type type, const char *message) {
- ethosu_core_msg_err error;
- error.type = type;
-
- for (size_t i = 0; i < sizeof(error.msg) && message[i]; i++) {
- error.msg[i] = message[i];
- }
- printf("ERROR: Msg: \"%s\"\n", error.msg);
-
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_ERR, error)) {
- printf("ERROR: Msg: Failed to write error response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
- inputMessageQueue.reset();
-}
-
-bool IncomingMessageHandler::handleInferenceOutput() {
- struct ethosu_core_inference_rsp rsp;
- if (pdTRUE != xQueueReceive(inferenceOutputQueue, &rsp, 0)) {
- return false;
- }
-
- sendInferenceRsp(rsp);
- return true;
-}
-
-bool IncomingMessageHandler::handleMessage() {
- struct ethosu_core_msg msg;
-
- if (inputMessageQueue.available() == 0) {
- return false;
- }
-
- // Read msg header
- // Only process a complete message header, else send error message
- // and reset queue
- if (!inputMessageQueue.read(msg)) {
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_SIZE, "Failed to read a complete header");
- return false;
- }
-
- printf("Msg: header magic=%" PRIX32 ", type=%" PRIu32 ", length=%" PRIu32 "\n", msg.magic, msg.type, msg.length);
-
- if (msg.magic != ETHOSU_CORE_MSG_MAGIC) {
- printf("Msg: Invalid Magic\n");
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_MAGIC, "Invalid magic");
- return false;
- }
-
- switch (msg.type) {
- case ETHOSU_CORE_MSG_PING: {
- printf("Msg: Ping\n");
- sendPong();
- break;
- }
- case ETHOSU_CORE_MSG_ERR: {
- ethosu_core_msg_err error;
- if (!inputMessageQueue.read(error)) {
- printf("ERROR: Msg: Failed to receive error message\n");
- } else {
- printf("Msg: Received an error response, type=%" PRIu32 ", msg=\"%s\"\n", error.type, error.msg);
- }
-
- inputMessageQueue.reset();
- return false;
- }
- case ETHOSU_CORE_MSG_VERSION_REQ: {
- printf("Msg: Version request\n");
- sendVersionRsp();
- break;
- }
- case ETHOSU_CORE_MSG_CAPABILITIES_REQ: {
- ethosu_core_capabilities_req req;
- if (!inputMessageQueue.read(req)) {
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "CapabilitiesReq. Failed to read payload");
- break;
- }
-
- printf("Msg: Capabilities request.user_arg=0x%" PRIx64 "\n", req.user_arg);
- sendCapabilitiesRsp(req.user_arg);
- break;
- }
- case ETHOSU_CORE_MSG_INFERENCE_REQ: {
- ethosu_core_inference_req req;
- if (!inputMessageQueue.read(req)) {
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "InferenceReq. Failed to read payload");
- break;
- }
-
- printf("Msg: InferenceReq. user_arg=0x%" PRIx64 ", network_type=%" PRIu32 ", ", req.user_arg, req.network.type);
-
- if (req.network.type == ETHOSU_CORE_NETWORK_BUFFER) {
- printf("network.buffer={0x%" PRIx32 ", %" PRIu32 "},\n", req.network.buffer.ptr, req.network.buffer.size);
- } else {
- printf("network.index=%" PRIu32 ",\n", req.network.index);
- }
-
- printf("ifm_count=%" PRIu32 ", ifm=[", req.ifm_count);
- for (uint32_t i = 0; i < req.ifm_count; ++i) {
- if (i > 0) {
- printf(", ");
- }
-
- printf("{0x%" PRIx32 ", %" PRIu32 "}", req.ifm[i].ptr, req.ifm[i].size);
- }
- printf("]");
-
- printf(", ofm_count=%" PRIu32 ", ofm=[", req.ofm_count);
- for (uint32_t i = 0; i < req.ofm_count; ++i) {
- if (i > 0) {
- printf(", ");
- }
-
- printf("{0x%" PRIx32 ", %" PRIu32 "}", req.ofm[i].ptr, req.ofm[i].size);
- }
- printf("]\n");
-
- if (!inferenceInputQueue->push(req)) {
- printf("Msg: Inference queue full. Rejecting inference user_arg=0x%" PRIx64 "\n", req.user_arg);
- sendFailedInferenceRsp(req.user_arg, ETHOSU_CORE_STATUS_REJECTED);
- }
- break;
- }
- case ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ: {
- ethosu_core_cancel_inference_req req;
- if (!inputMessageQueue.read(req)) {
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "CancelInferenceReq. Failed to read payload");
- break;
- }
- printf("Msg: CancelInferenceReq. user_arg=0x%" PRIx64 ", inference_handle=0x%" PRIx64 "\n",
- req.user_arg,
- req.inference_handle);
-
- bool found =
- inferenceInputQueue->erase([req](auto &inf_req) { return inf_req.user_arg == req.inference_handle; });
-
- // NOTE: send an inference response with status ABORTED if the inference has been droped from the queue
- if (found) {
- sendFailedInferenceRsp(req.inference_handle, ETHOSU_CORE_STATUS_ABORTED);
- }
-
- sendCancelInferenceRsp(req.user_arg, found ? ETHOSU_CORE_STATUS_OK : ETHOSU_CORE_STATUS_ERROR);
- break;
- }
- case ETHOSU_CORE_MSG_NETWORK_INFO_REQ: {
- ethosu_core_network_info_req req;
- if (!inputMessageQueue.read(req)) {
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "NetworkInfoReq. Failed to read payload");
- break;
- }
-
- printf("Msg: NetworkInfoReq. user_arg=0x%" PRIx64 "\n", req.user_arg);
- sendNetworkInfoRsp(req.user_arg, req.network);
- break;
- }
- default: {
- char errMsg[128];
- snprintf(&errMsg[0],
- sizeof(errMsg),
- "Msg: Unknown type: %" PRIu32 " with payload length %" PRIu32 " bytes\n",
- msg.type,
- msg.length);
-
- sendErrorAndResetQueue(ETHOSU_CORE_MSG_ERR_UNSUPPORTED_TYPE, errMsg);
- return false;
- }
- }
-
- return true;
-}
-
-void IncomingMessageHandler::sendPong() {
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_PONG)) {
- printf("ERROR: Msg: Failed to write pong response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::sendVersionRsp() {
- ethosu_core_msg_version version = {
- ETHOSU_CORE_MSG_VERSION_MAJOR,
- ETHOSU_CORE_MSG_VERSION_MINOR,
- ETHOSU_CORE_MSG_VERSION_PATCH,
- 0,
- };
-
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_VERSION_RSP, version)) {
- printf("ERROR: Failed to write version response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::sendCapabilitiesRsp(uint64_t userArg) {
- capabilities.user_arg = userArg;
-
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_CAPABILITIES_RSP, capabilities)) {
- printf("ERROR: Failed to write capabilities response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::sendNetworkInfoRsp(uint64_t userArg, ethosu_core_network_buffer &network) {
- ethosu_core_network_info_rsp rsp;
- rsp.user_arg = userArg;
- rsp.ifm_count = 0;
- rsp.ofm_count = 0;
-
- void *buffer;
- size_t size;
-
- bool failed = networks->getNetwork(network, buffer, size);
-
- if (!failed) {
- failed = parser.parseModel(buffer,
- size,
- rsp.desc,
- InferenceProcess::makeArray(rsp.ifm_size, rsp.ifm_count, ETHOSU_CORE_BUFFER_MAX),
- InferenceProcess::makeArray(rsp.ofm_size, rsp.ofm_count, ETHOSU_CORE_BUFFER_MAX));
- }
- rsp.status = failed ? ETHOSU_CORE_STATUS_ERROR : ETHOSU_CORE_STATUS_OK;
-
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp)) {
- printf("ERROR: Msg: Failed to write network info response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::sendInferenceRsp(ethosu_core_inference_rsp &rsp) {
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)) {
- printf("ERROR: Msg: Failed to write inference response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::sendFailedInferenceRsp(uint64_t userArg, uint32_t status) {
- ethosu_core_inference_rsp rsp;
- rsp.user_arg = userArg;
- rsp.status = status;
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)) {
- printf("ERROR: Msg: Failed to write inference response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-void IncomingMessageHandler::sendCancelInferenceRsp(uint64_t userArg, uint32_t status) {
- ethosu_core_cancel_inference_rsp cancellation;
- cancellation.user_arg = userArg;
- cancellation.status = status;
- if (!outputMessageQueue.write(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancellation)) {
- printf("ERROR: Msg: Failed to write cancel inference response. No mailbox message sent\n");
- } else {
- mailbox.sendMessage();
- }
-}
-
-void IncomingMessageHandler::readCapabilties(ethosu_core_msg_capabilities_rsp &rsp) {
- rsp = {};
-
-#ifdef ETHOSU
- struct ethosu_driver_version version;
- ethosu_get_driver_version(&version);
-
- struct ethosu_hw_info info;
- struct ethosu_driver *drv = ethosu_reserve_driver();
- ethosu_get_hw_info(drv, &info);
- ethosu_release_driver(drv);
-
- rsp.user_arg = 0;
- rsp.version_status = info.version.version_status;
- rsp.version_minor = info.version.version_minor;
- rsp.version_major = info.version.version_major;
- rsp.product_major = info.version.product_major;
- rsp.arch_patch_rev = info.version.arch_patch_rev;
- rsp.arch_minor_rev = info.version.arch_minor_rev;
- rsp.arch_major_rev = info.version.arch_major_rev;
- rsp.driver_patch_rev = version.patch;
- rsp.driver_minor_rev = version.minor;
- rsp.driver_major_rev = version.major;
- rsp.macs_per_cc = info.cfg.macs_per_cc;
- rsp.cmd_stream_version = info.cfg.cmd_stream_version;
- rsp.custom_dma = info.cfg.custom_dma;
-#endif
-}
-
-/****************************************************************************
- * InferenceHandler
- ****************************************************************************/
-
-InferenceHandler::InferenceHandler(uint8_t *tensorArena,
- size_t arenaSize,
- std::shared_ptr<Queue<EthosU::ethosu_core_inference_req>> _inferenceInputQueue,
- QueueHandle_t _inferenceOutputQueue,
- SemaphoreHandle_t _messageNotify,
- std::shared_ptr<Networks> _networks) :
- inferenceInputQueue(_inferenceInputQueue),
- inferenceOutputQueue(_inferenceOutputQueue), messageNotify(_messageNotify), inference(tensorArena, arenaSize),
- networks(_networks) {}
-
-void InferenceHandler::run() {
- ethosu_core_inference_req req;
- ethosu_core_inference_rsp rsp;
-
- while (true) {
- inferenceInputQueue->pop(req);
-
- runInference(req, rsp);
-
- xQueueSend(inferenceOutputQueue, &rsp, portMAX_DELAY);
- xSemaphoreGive(messageNotify);
- }
-}
-
-void InferenceHandler::runInference(ethosu_core_inference_req &req, ethosu_core_inference_rsp &rsp) {
- currentReq = &req;
- currentRsp = &rsp;
-
- /*
- * Run inference
- */
-
- InferenceProcess::InferenceJob job;
- bool failed = getInferenceJob(req, job);
-
- if (!failed) {
- job.invalidate();
- failed = inference.runJob(job);
- job.clean();
- }
-
-#if defined(ETHOSU)
- /*
- * Print PMU counters
- */
-
- if (!failed) {
- const int numEvents = std::min(static_cast<int>(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX);
-
- for (int i = 0; i < numEvents; i++) {
- printf("ethosu_pmu_cntr%d : %" PRIu32 "\n", i, rsp.pmu_event_count[i]);
- }
-
- if (rsp.pmu_cycle_counter_enable) {
- printf("ethosu_pmu_cycle_cntr : %" PRIu64 " cycles\n", rsp.pmu_cycle_counter_count);
- }
- }
-#endif
-
- /*
- * Send inference response
- */
-
- rsp.user_arg = req.user_arg;
- rsp.ofm_count = job.output.size();
- rsp.status = failed ? ETHOSU_CORE_STATUS_ERROR : ETHOSU_CORE_STATUS_OK;
-
- for (size_t i = 0; i < job.output.size(); ++i) {
- rsp.ofm_size[i] = job.output[i].size;
- }
-
- currentReq = nullptr;
- currentRsp = nullptr;
-}
-
-bool InferenceHandler::getInferenceJob(const ethosu_core_inference_req &req, InferenceProcess::InferenceJob &job) {
- bool failed = networks->getNetwork(req.network, job.networkModel.data, job.networkModel.size);
- if (failed) {
- return true;
- }
-
- for (uint32_t i = 0; i < req.ifm_count; ++i) {
- job.input.push_back(InferenceProcess::DataPtr(reinterpret_cast<void *>(req.ifm[i].ptr), req.ifm[i].size));
- }
-
- for (uint32_t i = 0; i < req.ofm_count; ++i) {
- job.output.push_back(InferenceProcess::DataPtr(reinterpret_cast<void *>(req.ofm[i].ptr), req.ofm[i].size));
- }
-
- job.externalContext = this;
-
- return false;
-}
-
-} // namespace MessageHandler
-
-#if defined(ETHOSU)
-extern "C" void ethosu_inference_begin(struct ethosu_driver *drv, void *userArg) {
- MessageHandler::InferenceHandler *self = static_cast<MessageHandler::InferenceHandler *>(userArg);
-
- // Calculate maximum number of events
- const int numEvents = std::min(static_cast<int>(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX);
-
- // Enable PMU
- ETHOSU_PMU_Enable(drv);
-
- // Configure and enable events
- for (int i = 0; i < numEvents; i++) {
- ETHOSU_PMU_Set_EVTYPER(drv, i, static_cast<ethosu_pmu_event_type>(self->currentReq->pmu_event_config[i]));
- ETHOSU_PMU_CNTR_Enable(drv, 1 << i);
- }
-
- // Enable cycle counter
- if (self->currentReq->pmu_cycle_counter_enable) {
- ETHOSU_PMU_PMCCNTR_CFG_Set_Stop_Event(drv, ETHOSU_PMU_NPU_IDLE);
- ETHOSU_PMU_PMCCNTR_CFG_Set_Start_Event(drv, ETHOSU_PMU_NPU_ACTIVE);
-
- ETHOSU_PMU_CNTR_Enable(drv, ETHOSU_PMU_CCNT_Msk);
- ETHOSU_PMU_CYCCNT_Reset(drv);
- }
-
- // Reset all counters
- ETHOSU_PMU_EVCNTR_ALL_Reset(drv);
-}
-
-extern "C" void ethosu_inference_end(struct ethosu_driver *drv, void *userArg) {
- MessageHandler::InferenceHandler *self = static_cast<MessageHandler::InferenceHandler *>(userArg);
-
- // Get cycle counter
- self->currentRsp->pmu_cycle_counter_enable = self->currentReq->pmu_cycle_counter_enable;
- if (self->currentReq->pmu_cycle_counter_enable) {
- self->currentRsp->pmu_cycle_counter_count = ETHOSU_PMU_Get_CCNTR(drv);
- }
-
- // Calculate maximum number of events
- const int numEvents = std::min(static_cast<int>(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX);
-
- // Get event counters
- int i;
- for (i = 0; i < numEvents; i++) {
- self->currentRsp->pmu_event_config[i] = self->currentReq->pmu_event_config[i];
- self->currentRsp->pmu_event_count[i] = ETHOSU_PMU_Get_EVCNTR(drv, i);
- }
-
- for (; i < ETHOSU_CORE_PMU_MAX; i++) {
- self->currentRsp->pmu_event_config[i] = 0;
- self->currentRsp->pmu_event_count[i] = 0;
- }
-
- // Disable PMU
- ETHOSU_PMU_Disable(drv);
-}
-#endif
diff --git a/applications/message_handler/lib/message_queue.cpp b/applications/message_handler/lib/message_queue.cpp
deleted file mode 100644
index 4001f8c..0000000
--- a/applications/message_handler/lib/message_queue.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * Copyright (c) 2020-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "message_queue.hpp"
-
-#include <cstddef>
-#include <cstdio>
-#include <cstring>
-#include <inttypes.h>
-
-namespace MessageQueue {
-
-QueueImpl::QueueImpl(EthosU::ethosu_core_queue &_queue) : queue(_queue) {
- cleanHeaderData();
-}
-
-bool QueueImpl::empty() const {
- invalidateHeaderData();
-
- return queue.header.read == queue.header.write;
-}
-
-size_t QueueImpl::available() const {
- invalidateHeaderData();
-
- size_t avail = queue.header.write - queue.header.read;
-
- if (queue.header.read > queue.header.write) {
- avail += queue.header.size;
- }
-
- return avail;
-}
-
-size_t QueueImpl::capacity() const {
- return queue.header.size - available() - 1;
-}
-
-bool QueueImpl::read(uint8_t *dst, uint32_t length) {
- const uint8_t *end = dst + length;
-
- // Available will invalidate the cache
- if (length > available()) {
- return false;
- }
-
- uint32_t rpos = queue.header.read;
-
- while (dst < end) {
- *dst++ = queue.data[rpos];
- rpos = (rpos + 1) % queue.header.size;
- }
-
- queue.header.read = rpos;
-
- cleanHeader();
-
- return true;
-}
-
-bool QueueImpl::write(const Vec *vec, size_t length) {
- size_t total = 0;
-
- for (size_t i = 0; i < length; i++) {
- total += vec[i].length;
- }
-
- invalidateHeader();
-
- if (total > capacity()) {
- return false;
- }
-
- uint32_t wpos = queue.header.write;
-
- for (size_t i = 0; i < length; i++) {
- const uint8_t *src = reinterpret_cast<const uint8_t *>(vec[i].base);
- const uint8_t *end = src + vec[i].length;
-
- while (src < end) {
- queue.data[wpos] = *src++;
- wpos = (wpos + 1) % queue.header.size;
- }
- }
-
- // Update the write position last
- queue.header.write = wpos;
-
- cleanHeaderData();
-
- return true;
-}
-
-bool QueueImpl::write(const uint32_t type, const void *src, uint32_t length) {
- EthosU::ethosu_core_msg msg = {ETHOSU_CORE_MSG_MAGIC, type, length};
- Vec vec[2] = {{&msg, sizeof(msg)}, {src, length}};
-
- return write(vec, 2);
-}
-
-// Skip to magic or end of queue
-void QueueImpl::reset() {
- invalidateHeader();
- queue.header.read = queue.header.write;
- cleanHeader();
-}
-
-void QueueImpl::cleanHeader() const {
-#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
- SCB_CleanDCache_by_Addr(reinterpret_cast<uint32_t *>(&queue.header), sizeof(queue.header));
-#endif
-}
-
-void QueueImpl::cleanHeaderData() const {
-#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
- SCB_CleanDCache_by_Addr(reinterpret_cast<uint32_t *>(&queue.header), sizeof(queue.header));
- uintptr_t queueDataPtr = reinterpret_cast<uintptr_t>(&queue.data[0]);
- SCB_CleanDCache_by_Addr(reinterpret_cast<uint32_t *>(queueDataPtr & ~3), queue.header.size + (queueDataPtr & 3));
-#endif
-}
-
-void QueueImpl::invalidateHeader() const {
-#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
- SCB_InvalidateDCache_by_Addr(reinterpret_cast<uint32_t *>(&queue.header), sizeof(queue.header));
-#endif
-}
-
-void QueueImpl::invalidateHeaderData() const {
-#if defined(__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U)
- SCB_InvalidateDCache_by_Addr(reinterpret_cast<uint32_t *>(&queue.header), sizeof(queue.header));
- uintptr_t queueDataPtr = reinterpret_cast<uintptr_t>(&queue.data[0]);
- SCB_InvalidateDCache_by_Addr(reinterpret_cast<uint32_t *>(queueDataPtr & ~3),
- queue.header.size + (queueDataPtr & 3));
-#endif
-}
-} // namespace MessageQueue
diff --git a/applications/message_handler/main.cpp b/applications/message_handler/main.cpp
deleted file mode 100644
index 4bd721e..0000000
--- a/applications/message_handler/main.cpp
+++ /dev/null
@@ -1,194 +0,0 @@
-/*
- * Copyright (c) 2019-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/****************************************************************************
- * Includes
- ****************************************************************************/
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-#include "task.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "ethosu_core_interface.h"
-#include "indexed_networks.hpp"
-#include "message_handler.hpp"
-#include "message_queue.hpp"
-#include "networks.hpp"
-
-#include <mailbox.hpp>
-#if defined(MHU_V2)
-#include <mhu_v2.hpp>
-#elif defined(MHU_JUNO)
-#include <mhu_juno.hpp>
-#else
-#include <mhu_dummy.hpp>
-#endif
-
-/* Disable semihosting */
-__asm(".global __use_no_semihosting\n\t");
-
-using namespace EthosU;
-using namespace MessageHandler;
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-// Nr. of tasks to process inferences with, reserves driver & runs inference (Normally 1 per NPU, but not a must)
-#if defined(ETHOSU) && defined(ETHOSU_NPU_COUNT) && ETHOSU_NPU_COUNT > 0
-constexpr size_t NUM_PARALLEL_TASKS = ETHOSU_NPU_COUNT;
-#else
-constexpr size_t NUM_PARALLEL_TASKS = 1;
-#endif
-
-// TensorArena static initialisation
-constexpr size_t arenaSize = TENSOR_ARENA_SIZE;
-
-__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[NUM_PARALLEL_TASKS][arenaSize];
-
-// Message queue from remote host
-__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue;
-
-// Message queue to remote host
-__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue;
-
-namespace {
-
-// Mailbox driver
-#ifdef MHU_V2
-Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase
-#elif defined(MHU_JUNO)
-Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS);
-#else
-Mailbox::MHUDummy mailbox;
-#endif
-
-} // namespace
-
-/****************************************************************************
- * Application
- ****************************************************************************/
-namespace {
-
-struct TaskParams {
- TaskParams() :
- messageNotify(xSemaphoreCreateBinary()),
- inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()),
- inferenceOutputQueue(xQueueCreate(5, sizeof(ethosu_core_inference_rsp))),
- networks(std::make_shared<WithIndexedNetworks>()) {}
-
- SemaphoreHandle_t messageNotify;
- // Used to pass inference requests to the inference runner task
- std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue;
- // Queue for message responses to the remote host
- QueueHandle_t inferenceOutputQueue;
- // Networks provider
- std::shared_ptr<Networks> networks;
-};
-
-struct InferenceTaskParams {
- TaskParams *taskParams;
- uint8_t *arena;
-};
-
-#ifdef MHU_IRQ
-void mailboxIrqHandler() {
- mailbox.handleMessage();
-}
-#endif
-
-void inferenceTask(void *pvParameters) {
- printf("Starting inference task\n");
- InferenceTaskParams *params = reinterpret_cast<InferenceTaskParams *>(pvParameters);
-
- InferenceHandler process(params->arena,
- arenaSize,
- params->taskParams->inferenceInputQueue,
- params->taskParams->inferenceOutputQueue,
- params->taskParams->messageNotify,
- params->taskParams->networks);
-
- process.run();
-}
-
-void messageTask(void *pvParameters) {
- printf("Starting message task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- IncomingMessageHandler process(*inputMessageQueue.toQueue(),
- *outputMessageQueue.toQueue(),
- mailbox,
- params->inferenceInputQueue,
- params->inferenceOutputQueue,
- params->messageNotify,
- params->networks);
-
-#ifdef MHU_IRQ
- // Register mailbox interrupt handler
- NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
- NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
-#endif
-
- process.run();
-}
-
-/*
- * Keep task parameters as global data as FreeRTOS resets the stack when the
- * scheduler is started.
- */
-TaskParams taskParams;
-InferenceTaskParams infParams[NUM_PARALLEL_TASKS];
-
-} // namespace
-
-// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
-int main() {
- BaseType_t ret;
-
- if (!mailbox.verifyHardware()) {
- printf("Failed to verify mailbox hardware\n");
- return 1;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- // One inference task for each NPU
- for (size_t n = 0; n < NUM_PARALLEL_TASKS; n++) {
- infParams[n].taskParams = &taskParams;
- infParams[n].arena = reinterpret_cast<uint8_t *>(&tensorArena[n]);
- ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &infParams[n], 3, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'inferenceTask%d'\n", n);
- return ret;
- }
- }
-
- // Start Scheduler
- vTaskStartScheduler();
-
- return 1;
-}
diff --git a/applications/message_handler/test/CMakeLists.txt b/applications/message_handler/test/CMakeLists.txt
deleted file mode 100644
index 3334ff2..0000000
--- a/applications/message_handler/test/CMakeLists.txt
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-# Copyright (c) 2022 Arm Limited.
-#
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the License); you may
-# not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an AS IS BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-add_subdirectory(test_message_handler)
-
-set(TEST_MESSAGE_HANDLER_MODEL_0 "model.h" CACHE STRING "Path to built in model 0")
-set(TEST_MESSAGE_HANDLER_MODEL_1 "" CACHE STRING "Path to built in model 1")
-set(TEST_MESSAGE_HANDLER_MODEL_2 "" CACHE STRING "Path to built in model 2")
-set(TEST_MESSAGE_HANDLER_MODEL_3 "" CACHE STRING "Path to built in model 3")
-
-function(ethosu_add_message_handler_test testname)
- if(TARGET ethosu_core_driver)
- file(GLOB models LIST_DIRECTORIES true "${CMAKE_CURRENT_SOURCE_DIR}/../../baremetal/models/${ETHOSU_TARGET_NPU_CONFIG}/*")
- endif()
-
- foreach(model ${models})
- get_filename_component(modelname ${model} NAME)
- ethosu_add_executable_test(mh_${testname}_${modelname}
- SOURCES
- ${testname}.cpp
- message_client.cpp
- LIBRARIES
- message_handler_lib
- freertos_kernel)
-
- get_target_property(INTERFACE_LINK_LIBRARIES ethosu_target_startup INTERFACE_LINK_LIBRARIES)
- if (NOT ethosu_mhu_dummy IN_LIST INTERFACE_LINK_LIBRARIES)
- target_link_libraries(mh_${testname}_${modelname} PRIVATE ethosu_mhu_dummy)
- endif()
-
-
- target_include_directories(mh_${testname}_${modelname} PRIVATE
- ../indexed_networks
- ${model}
- ${LINUX_DRIVER_STACK_PATH}/kernel)
-
- target_compile_definitions(mh_${testname}_${modelname} PRIVATE
- TENSOR_ARENA_SIZE=${MESSAGE_HANDLER_ARENA_SIZE}
- $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_0}>:MODEL_0=${TEST_MESSAGE_HANDLER_MODEL_0}>
- $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_1}>:MODEL_1=${TEST_MESSAGE_HANDLER_MODEL_1}>
- $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_2}>:MODEL_2=${TEST_MESSAGE_HANDLER_MODEL_2}>
- $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_3}>:MODEL_3=${TEST_MESSAGE_HANDLER_MODEL_3}>)
- endforeach()
-endfunction()
-
-ethosu_add_message_handler_test(run_inference_test)
-ethosu_add_message_handler_test(cancel_reject_inference_test)
diff --git a/applications/message_handler/test/cancel_reject_inference_test.cpp b/applications/message_handler/test/cancel_reject_inference_test.cpp
deleted file mode 100644
index 9f4f9b4..0000000
--- a/applications/message_handler/test/cancel_reject_inference_test.cpp
+++ /dev/null
@@ -1,255 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/****************************************************************************
- * Includes
- ****************************************************************************/
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-#include "task.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "ethosu_core_interface.h"
-#include "indexed_networks.hpp"
-#include "message_client.hpp"
-#include "message_handler.hpp"
-#include "message_queue.hpp"
-#include "networks.hpp"
-#include "test_assertions.hpp"
-#include "test_helpers.hpp"
-
-#include <mailbox.hpp>
-#include <mhu_dummy.hpp>
-
-/* Disable semihosting */
-__asm(".global __use_no_semihosting\n\t");
-
-using namespace EthosU;
-using namespace MessageHandler;
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-// TensorArena static initialisation
-constexpr size_t arenaSize = TENSOR_ARENA_SIZE;
-
-__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[arenaSize];
-
-// Message queue from remote host
-__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue;
-
-// Message queue to remote host
-__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue;
-
-namespace {
-Mailbox::MHUDummy mailbox;
-} // namespace
-
-/****************************************************************************
- * Application
- ****************************************************************************/
-namespace {
-
-struct TaskParams {
- TaskParams() :
- messageNotify(xSemaphoreCreateBinary()),
- inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()),
- inferenceOutputQueue(xQueueCreate(5, sizeof(ethosu_core_inference_rsp))),
- networks(std::make_shared<WithIndexedNetworks>()) {}
-
- SemaphoreHandle_t messageNotify;
- // Used to pass inference requests to the inference runner task
- std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue;
- // Queue for message responses to the remote host
- QueueHandle_t inferenceOutputQueue;
- // Networks provider
- std::shared_ptr<Networks> networks;
-};
-
-void messageTask(void *pvParameters) {
- printf("Starting message task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- IncomingMessageHandler process(*inputMessageQueue.toQueue(),
- *outputMessageQueue.toQueue(),
- mailbox,
- params->inferenceInputQueue,
- params->inferenceOutputQueue,
- params->messageNotify,
- params->networks);
- process.run();
-}
-
-void testCancelInference(MessageClient client) {
- const uint64_t fake_inference_user_arg = 42;
- const uint32_t network_index = 0;
- ethosu_core_inference_req inference_req =
- inferenceIndexedRequest(fake_inference_user_arg, network_index, nullptr, 0, nullptr, 0);
-
- const uint64_t fake_cancel_inference_user_arg = 55;
- ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg};
-
- ethosu_core_inference_rsp inference_rsp;
- ethosu_core_cancel_inference_rsp cancel_rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, inference_req));
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req));
-
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, inference_rsp));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp));
-
- TEST_ASSERT(inference_req.user_arg == inference_rsp.user_arg);
- TEST_ASSERT(inference_rsp.status == ETHOSU_CORE_STATUS_ABORTED);
-
- TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg);
- TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_OK);
-}
-
-void testCancelNonExistentInference(MessageClient client) {
- const uint64_t fake_inference_user_arg = 42;
- const uint64_t fake_cancel_inference_user_arg = 55;
- ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg};
- ethosu_core_cancel_inference_rsp cancel_rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp));
-
- TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg);
- TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_ERROR);
-}
-
-void testCannotCancelRunningInference(MessageClient client,
- std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue) {
- const uint64_t fake_inference_user_arg = 42;
- const uint32_t network_index = 0;
- ethosu_core_inference_req inference_req =
- inferenceIndexedRequest(fake_inference_user_arg, network_index, nullptr, 0, nullptr, 0);
-
- const uint64_t fake_cancel_inference_user_arg = 55;
- ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg};
- ethosu_core_cancel_inference_rsp cancel_rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, inference_req));
-
- // fake start of the inference by removing the inference from the queue
- ethosu_core_inference_req start_req;
- inferenceInputQueue->pop(start_req);
- TEST_ASSERT(inference_req.user_arg == start_req.user_arg);
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp));
-
- TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg);
- TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_ERROR);
-}
-
-void testRejectInference(MessageClient client) {
- int runs = 6;
- const uint64_t fake_inference_user_arg = 42;
- const uint32_t network_index = 0;
- const uint64_t fake_cancel_inference_user_arg = 55;
- ethosu_core_inference_req req;
- ethosu_core_inference_rsp rsp;
-
- for (int i = 0; i < runs; i++) {
-
- req = inferenceIndexedRequest(fake_inference_user_arg + i, network_index, nullptr, 0, nullptr, 0);
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- vTaskDelay(150);
- }
-
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp));
- TEST_ASSERT(uint64_t(fake_inference_user_arg + runs - 1) == rsp.user_arg);
- TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_REJECTED);
-
- // let's cleanup the queue
- ethosu_core_cancel_inference_req cancel_req = {0, 0};
- ethosu_core_cancel_inference_rsp cancel_rsp;
- ethosu_core_inference_rsp inference_rsp;
-
- for (int i = 0; i < runs - 1; i++) {
- cancel_req.user_arg = fake_cancel_inference_user_arg + i;
- cancel_req.inference_handle = fake_inference_user_arg + i;
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req));
-
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, inference_rsp));
- TEST_ASSERT(inference_rsp.user_arg = cancel_req.inference_handle);
-
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp));
- TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg);
- TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_OK);
- }
-}
-
-void clientTask(void *pvParameters) {
- printf("Starting client task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- MessageClient client(*inputMessageQueue.toQueue(), *outputMessageQueue.toQueue(), mailbox);
-
- vTaskDelay(50);
-
- testCancelInference(client);
- testCancelNonExistentInference(client);
- testCannotCancelRunningInference(client, params->inferenceInputQueue);
- testRejectInference(client);
-
- exit(0);
-}
-
-/*
- * Keep task parameters as global data as FreeRTOS resets the stack when the
- * scheduler is started.
- */
-TaskParams taskParams;
-
-} // namespace
-
-// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
-int main() {
- BaseType_t ret;
-
- if (!mailbox.verifyHardware()) {
- printf("Failed to verify mailbox hardware\n");
- return 1;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(clientTask, "clientTask", 1024, &taskParams, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- // Start Scheduler
- vTaskStartScheduler();
-
- return 1;
-}
diff --git a/applications/message_handler/test/message_client.cpp b/applications/message_handler/test/message_client.cpp
deleted file mode 100644
index 39d1392..0000000
--- a/applications/message_handler/test/message_client.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#include "ethosu_core_interface.h"
-#include "message_client.hpp"
-
-using namespace EthosU;
-
-namespace MessageHandler {
-
-MessageClient::MessageClient(EthosU::ethosu_core_queue &_inputMessageQueue,
- EthosU::ethosu_core_queue &_outputMessageQueue,
- Mailbox::Mailbox &_mailbox) :
- input(_inputMessageQueue),
- output(_outputMessageQueue), mailbox(_mailbox) {}
-
-bool MessageClient::sendInputMessage(const uint32_t type, const void *src, uint32_t length) {
- if (!input.write(type, src, length)) {
- printf("ERROR: Msg: Failed to write message request. No mailbox message sent\n");
- return false;
- }
-
- mailbox.sendMessage();
- mailbox.handleMessage();
- return true;
-}
-
-bool MessageClient::waitAndReadOutputMessage(const uint32_t expected_type, uint8_t *dst, uint32_t length) {
- constexpr TickType_t delay = pdMS_TO_TICKS(5);
- constexpr TickType_t deadline = pdMS_TO_TICKS(/* 1 minute */ 60 * 1000 * 1000);
- struct ethosu_core_msg msg;
-
- TickType_t totalDelay = 0;
- while (output.available() == 0) {
- vTaskDelay(delay);
- totalDelay += delay;
- if (totalDelay >= deadline) {
- return false;
- }
- }
-
- if (!output.read(msg)) {
- printf("ERROR: Failed to read msg header\n");
- return false;
- }
-
- if (msg.magic != ETHOSU_CORE_MSG_MAGIC) {
- printf("ERROR: Invalid Magic\n");
- return false;
- }
-
- if (msg.type != expected_type) {
- printf("ERROR: Wrong message type. Got %" PRIu32 " expected %" PRIu32 "\n", msg.type, expected_type);
- return false;
- }
-
- if (msg.length != length) {
- printf("ERROR: Wrong message size\n");
- return false;
- }
-
- if (length == 0) {
- return true;
- }
-
- if (!output.read(dst, length)) {
- printf("ERROR: Failed to read msg payload\n");
- return false;
- }
-
- return true;
-}
-} // namespace MessageHandler
diff --git a/applications/message_handler/test/message_client.hpp b/applications/message_handler/test/message_client.hpp
deleted file mode 100644
index e90843b..0000000
--- a/applications/message_handler/test/message_client.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef MESSAGE_CLIENT_H
-#define MESSAGE_CLIENT_H
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "message_queue.hpp"
-#include <mailbox.hpp>
-
-namespace MessageHandler {
-
-class MessageClient {
-public:
- MessageClient(EthosU::ethosu_core_queue &inputMessageQueue,
- EthosU::ethosu_core_queue &outputMessageQueue,
- Mailbox::Mailbox &mailbox);
-
- template <typename T>
- bool sendInputMessage(const uint32_t type, const T &src) {
- return sendInputMessage(type, reinterpret_cast<const uint8_t *>(&src), sizeof(src));
- }
- bool sendInputMessage(const uint32_t type, const void *src = nullptr, uint32_t length = 0);
- template <typename T>
- bool waitAndReadOutputMessage(const uint32_t expected_type, T &dst) {
- return waitAndReadOutputMessage(expected_type, reinterpret_cast<uint8_t *>(&dst), sizeof(dst));
- }
- bool waitAndReadOutputMessage(const uint32_t expected_type, uint8_t *dst = nullptr, uint32_t length = 0);
-
-private:
- MessageQueue::QueueImpl input;
- MessageQueue::QueueImpl output;
- Mailbox::Mailbox &mailbox;
-};
-} // namespace MessageHandler
-
-#endif
diff --git a/applications/message_handler/test/run_inference_test.cpp b/applications/message_handler/test/run_inference_test.cpp
deleted file mode 100644
index d05224f..0000000
--- a/applications/message_handler/test/run_inference_test.cpp
+++ /dev/null
@@ -1,418 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/****************************************************************************
- * Includes
- ****************************************************************************/
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-#include "task.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "ethosu_core_interface.h"
-#include "indexed_networks.hpp"
-#include "input.h"
-#include "message_client.hpp"
-#include "message_handler.hpp"
-#include "message_queue.hpp"
-#include "networks.hpp"
-#include "output.h"
-#include "test_assertions.hpp"
-#include "test_helpers.hpp"
-
-#include <mailbox.hpp>
-#include <mhu_dummy.hpp>
-
-/* Disable semihosting */
-__asm(".global __use_no_semihosting\n\t");
-
-using namespace EthosU;
-using namespace MessageHandler;
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-// TensorArena static initialisation
-constexpr size_t arenaSize = TENSOR_ARENA_SIZE;
-
-__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[arenaSize];
-
-// Message queue from remote host
-__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue;
-
-// Message queue to remote host
-__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue;
-
-namespace {
-Mailbox::MHUDummy mailbox;
-} // namespace
-
-/****************************************************************************
- * Application
- ****************************************************************************/
-namespace {
-
-struct TaskParams {
- TaskParams() :
- messageNotify(xSemaphoreCreateBinary()),
- inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()),
- inferenceOutputQueue(xQueueCreate(5, sizeof(ethosu_core_inference_rsp))),
- networks(std::make_shared<WithIndexedNetworks>()) {}
-
- SemaphoreHandle_t messageNotify;
- // Used to pass inference requests to the inference runner task
- std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue;
- // Queue for message responses to the remote host
- QueueHandle_t inferenceOutputQueue;
- // Networks provider
- std::shared_ptr<Networks> networks;
-};
-
-void inferenceTask(void *pvParameters) {
- printf("Starting inference task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- InferenceHandler process(tensorArena,
- arenaSize,
- params->inferenceInputQueue,
- params->inferenceOutputQueue,
- params->messageNotify,
- params->networks);
-
- process.run();
-}
-
-void messageTask(void *pvParameters) {
- printf("Starting message task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- IncomingMessageHandler process(*inputMessageQueue.toQueue(),
- *outputMessageQueue.toQueue(),
- mailbox,
- params->inferenceInputQueue,
- params->inferenceOutputQueue,
- params->messageNotify,
- params->networks);
- process.run();
-}
-
-void testPing(MessageClient client) {
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_PING));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_PONG));
-}
-
-void testVersion(MessageClient client) {
- ethosu_core_msg_version ver;
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_VERSION_REQ));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_VERSION_RSP, ver));
-
- TEST_ASSERT(ver.major == ETHOSU_CORE_MSG_VERSION_MAJOR);
- TEST_ASSERT(ver.minor == ETHOSU_CORE_MSG_VERSION_MINOR);
- TEST_ASSERT(ver.patch == ETHOSU_CORE_MSG_VERSION_PATCH);
-}
-
-void readCapabilities(ethosu_core_msg_capabilities_rsp &rsp) {
-#ifdef ETHOSU
- struct ethosu_driver_version version;
- ethosu_get_driver_version(&version);
-
- struct ethosu_hw_info info;
- struct ethosu_driver *drv = ethosu_reserve_driver();
- ethosu_get_hw_info(drv, &info);
- ethosu_release_driver(drv);
-
- rsp.version_status = info.version.version_status;
- rsp.version_minor = info.version.version_minor;
- rsp.version_major = info.version.version_major;
- rsp.product_major = info.version.product_major;
- rsp.arch_patch_rev = info.version.arch_patch_rev;
- rsp.arch_minor_rev = info.version.arch_minor_rev;
- rsp.arch_major_rev = info.version.arch_major_rev;
- rsp.driver_patch_rev = version.patch;
- rsp.driver_minor_rev = version.minor;
- rsp.driver_major_rev = version.major;
- rsp.macs_per_cc = info.cfg.macs_per_cc;
- rsp.cmd_stream_version = info.cfg.cmd_stream_version;
- rsp.custom_dma = info.cfg.custom_dma;
-#endif
-}
-
-void testCapabilities(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- ethosu_core_capabilities_req req = {fake_user_arg};
- ethosu_core_msg_capabilities_rsp expected_rsp;
- ethosu_core_msg_capabilities_rsp rsp;
-
- readCapabilities(expected_rsp);
- expected_rsp.user_arg = req.user_arg;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CAPABILITIES_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CAPABILITIES_RSP, rsp));
-
- TEST_ASSERT(expected_rsp.version_status == rsp.version_status);
- TEST_ASSERT(expected_rsp.version_minor == rsp.version_minor);
- TEST_ASSERT(expected_rsp.version_major == rsp.version_major);
- TEST_ASSERT(expected_rsp.product_major == rsp.product_major);
- TEST_ASSERT(expected_rsp.arch_patch_rev == rsp.arch_patch_rev);
- TEST_ASSERT(expected_rsp.arch_minor_rev == rsp.arch_minor_rev);
- TEST_ASSERT(expected_rsp.arch_major_rev == rsp.arch_major_rev);
- TEST_ASSERT(expected_rsp.driver_patch_rev == rsp.driver_patch_rev);
- TEST_ASSERT(expected_rsp.driver_minor_rev == rsp.driver_minor_rev);
- TEST_ASSERT(expected_rsp.driver_major_rev == rsp.driver_major_rev);
- TEST_ASSERT(expected_rsp.macs_per_cc == rsp.macs_per_cc);
- TEST_ASSERT(expected_rsp.cmd_stream_version == rsp.cmd_stream_version);
- TEST_ASSERT(expected_rsp.custom_dma == rsp.custom_dma);
-
-#ifdef ETHOSU
- TEST_ASSERT(rsp.version_status > 0);
- TEST_ASSERT(rsp.product_major > 0);
- TEST_ASSERT(rsp.arch_major_rev > 0 || rsp.arch_minor_rev > 0 || rsp.arch_patch_rev > 0);
- TEST_ASSERT(rsp.driver_major_rev > 0 || rsp.driver_minor_rev > 0 || rsp.driver_patch_rev > 0);
- TEST_ASSERT(rsp.macs_per_cc > 0);
-#endif
-}
-
-void testNetworkInfoIndex(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- const uint32_t network_index = 0;
- ethosu_core_network_info_req req = networkInfoIndexedRequest(fake_user_arg, network_index);
- ethosu_core_network_info_rsp rsp;
- ethosu_core_network_info_rsp expected_rsp = networkInfoResponse(fake_user_arg);
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp));
-
- TEST_ASSERT(expected_rsp.user_arg == rsp.user_arg);
- TEST_ASSERT(std::strncmp(expected_rsp.desc, rsp.desc, sizeof(rsp.desc)) == 0);
- TEST_ASSERT(expected_rsp.ifm_count == rsp.ifm_count);
- TEST_ASSERT(expected_rsp.ofm_count == rsp.ofm_count);
- TEST_ASSERT(expected_rsp.status == rsp.status);
-}
-
-void testNetworkInfoNonExistantIndex(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- const uint32_t network_index = 1;
- ethosu_core_network_info_req req = networkInfoIndexedRequest(fake_user_arg, network_index);
- ethosu_core_network_info_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp));
-
- TEST_ASSERT(fake_user_arg == rsp.user_arg);
- TEST_ASSERT(ETHOSU_CORE_STATUS_ERROR == rsp.status);
-}
-
-void testNetworkInfoBuffer(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- uint32_t size = sizeof(Model0::networkModelData);
- unsigned char *ptr = Model0::networkModelData;
- ethosu_core_network_info_req req = networkInfoBufferRequest(fake_user_arg, ptr, size);
- ethosu_core_network_info_rsp rsp;
- ethosu_core_network_info_rsp expected_rsp = networkInfoResponse(fake_user_arg);
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp));
-
- TEST_ASSERT(expected_rsp.user_arg == rsp.user_arg);
- TEST_ASSERT(std::strncmp(expected_rsp.desc, rsp.desc, sizeof(rsp.desc)) == 0);
- TEST_ASSERT(expected_rsp.ifm_count == rsp.ifm_count);
- TEST_ASSERT(expected_rsp.ofm_count == rsp.ofm_count);
- TEST_ASSERT(expected_rsp.status == rsp.status);
-}
-
-void testNetworkInfoUnparsableBuffer(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- uint32_t size = sizeof(Model0::networkModelData) / 4;
- unsigned char *ptr = Model0::networkModelData + size;
- ethosu_core_network_info_req req = networkInfoBufferRequest(fake_user_arg, ptr, size);
- ethosu_core_network_info_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp));
-
- TEST_ASSERT(42 == rsp.user_arg);
- TEST_ASSERT(ETHOSU_CORE_STATUS_ERROR == rsp.status);
-}
-
-void testInferenceRunIndex(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- const uint32_t network_index = 0;
- uint8_t data[sizeof(expectedOutputData)];
- ethosu_core_inference_req req =
- inferenceIndexedRequest(fake_user_arg, network_index, inputData, sizeof(inputData), data, sizeof(data));
- ethosu_core_inference_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp));
-
- TEST_ASSERT(req.user_arg == rsp.user_arg);
- TEST_ASSERT(rsp.ofm_count == 1);
- TEST_ASSERT(std::memcmp(expectedOutputData, data, sizeof(expectedOutputData)) == 0);
- TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_OK);
- TEST_ASSERT(rsp.pmu_cycle_counter_enable == req.pmu_cycle_counter_enable);
- TEST_ASSERT(std::memcmp(rsp.pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0);
-}
-
-void testInferenceRunNonExistingIndex(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- const uint32_t network_index = 1;
- uint8_t data[sizeof(expectedOutputData)];
- ethosu_core_inference_req req =
- inferenceIndexedRequest(fake_user_arg, network_index, inputData, sizeof(inputData), data, sizeof(data));
- ethosu_core_inference_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp));
-
- TEST_ASSERT(req.user_arg == rsp.user_arg);
- TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_ERROR);
-}
-
-void testInferenceRunBuffer(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- uint32_t network_size = sizeof(Model0::networkModelData);
- unsigned char *network_ptr = Model0::networkModelData;
- uint8_t data[sizeof(expectedOutputData)];
- ethosu_core_inference_req req = inferenceBufferRequest(
- fake_user_arg, network_ptr, network_size, inputData, sizeof(inputData), data, sizeof(data));
- ethosu_core_inference_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp));
-
- TEST_ASSERT(req.user_arg == rsp.user_arg);
- TEST_ASSERT(rsp.ofm_count == 1);
- TEST_ASSERT(std::memcmp(expectedOutputData, data, sizeof(expectedOutputData)) == 0);
- TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_OK);
- TEST_ASSERT(rsp.pmu_cycle_counter_enable == req.pmu_cycle_counter_enable);
- TEST_ASSERT(std::memcmp(rsp.pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0);
-}
-
-void testInferenceRunUnparsableBuffer(MessageClient client) {
- const uint64_t fake_user_arg = 42;
- uint32_t network_size = sizeof(Model0::networkModelData) / 4;
- unsigned char *network_ptr = Model0::networkModelData + network_size;
- uint8_t data[sizeof(expectedOutputData)];
- ethosu_core_inference_req req = inferenceBufferRequest(
- fake_user_arg, network_ptr, network_size, inputData, sizeof(inputData), data, sizeof(data));
- ethosu_core_inference_rsp rsp;
-
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp));
-
- TEST_ASSERT(req.user_arg == rsp.user_arg);
- TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_ERROR);
-}
-
-void testSequentiallyQueuedInferenceRuns(MessageClient client) {
- int runs = 5;
- uint8_t data[runs][sizeof(expectedOutputData)];
- const uint64_t fake_user_arg = 42;
- const uint32_t network_index = 0;
- ethosu_core_inference_req req;
- ethosu_core_inference_rsp rsp[runs];
-
- for (int i = 0; i < runs; i++) {
- vTaskDelay(150);
-
- req = inferenceIndexedRequest(
- fake_user_arg + i, network_index, inputData, sizeof(inputData), data[i], sizeof(data[i]));
- TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req));
- }
-
- for (int i = 0; i < runs; i++) {
- TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp[i]));
- TEST_ASSERT(uint64_t(fake_user_arg + i) == rsp[i].user_arg);
- TEST_ASSERT(rsp[i].ofm_count == 1);
- TEST_ASSERT(std::memcmp(expectedOutputData, data[i], sizeof(expectedOutputData)) == 0);
- TEST_ASSERT(rsp[i].status == ETHOSU_CORE_STATUS_OK);
- TEST_ASSERT(rsp[i].pmu_cycle_counter_enable == req.pmu_cycle_counter_enable);
- TEST_ASSERT(std::memcmp(rsp[i].pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0);
- }
-}
-
-void clientTask(void *) {
- printf("Starting client task\n");
-
- MessageClient client(*inputMessageQueue.toQueue(), *outputMessageQueue.toQueue(), mailbox);
-
- vTaskDelay(50);
-
- testPing(client);
- testVersion(client);
- testCapabilities(client);
- testNetworkInfoIndex(client);
- testNetworkInfoNonExistantIndex(client);
- testNetworkInfoBuffer(client);
- testNetworkInfoUnparsableBuffer(client);
- testInferenceRunIndex(client);
- testInferenceRunNonExistingIndex(client);
- testInferenceRunBuffer(client);
- testInferenceRunUnparsableBuffer(client);
- testSequentiallyQueuedInferenceRuns(client);
-
- exit(0);
-}
-
-/*
- * Keep task parameters as global data as FreeRTOS resets the stack when the
- * scheduler is started.
- */
-TaskParams taskParams;
-
-} // namespace
-
-// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
-int main() {
- BaseType_t ret;
-
- if (!mailbox.verifyHardware()) {
- printf("Failed to verify mailbox hardware\n");
- return 1;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &taskParams, 3, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'inferenceTask'\n");
- return ret;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(clientTask, "clientTask", 1024, nullptr, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- // Start Scheduler
- vTaskStartScheduler();
-
- return 1;
-}
diff --git a/applications/message_handler/test/test_assertions.hpp b/applications/message_handler/test/test_assertions.hpp
deleted file mode 100644
index 7c4cb5c..0000000
--- a/applications/message_handler/test/test_assertions.hpp
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef TEST_ASSERTIONS_H
-#define TEST_ASSERTIONS_H
-
-#include <stddef.h>
-#include <stdio.h>
-
-#define TEST_ASSERT(v) \
- do { \
- if (!(v)) { \
- fprintf(stderr, "%s:%d ERROR test failed: '%s'\n", __FILE__, __LINE__, #v); \
- exit(1); \
- } \
- } while (0)
-
-#endif
diff --git a/applications/message_handler/test/test_helpers.hpp b/applications/message_handler/test/test_helpers.hpp
deleted file mode 100644
index 0440b58..0000000
--- a/applications/message_handler/test/test_helpers.hpp
+++ /dev/null
@@ -1,131 +0,0 @@
-
-/*
- * Copyright (c) 2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef TEST_HELPERS_H
-#define TEST_HELPERS_H
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "ethosu_core_interface.h"
-
-namespace MessageHandler {
-
-ethosu_core_network_info_req networkInfoIndexedRequest(uint64_t user_arg, uint32_t index) {
- ethosu_core_network_info_req req = {user_arg, // user_arg
- { // network
- ETHOSU_CORE_NETWORK_INDEX, // type
- {{
- index, // index
- 0 // ignored padding of union
- }}}};
- return req;
-}
-
-ethosu_core_network_info_req networkInfoBufferRequest(uint64_t user_arg, unsigned char *ptr, uint32_t ptr_size) {
- ethosu_core_network_info_req req = {user_arg, // user_arg
- { // network
- ETHOSU_CORE_NETWORK_BUFFER, // type
- {{
- reinterpret_cast<uint32_t>(ptr), // ptr
- ptr_size // size
- }}}};
- return req;
-}
-
-ethosu_core_network_info_rsp networkInfoResponse(uint64_t user_arg) {
- ethosu_core_network_info_rsp rsp = {
- user_arg, // user_arg
- "Vela Optimised", // description
- 1, // ifm_count
- {/* not comparable */}, // ifm_sizes
- 1, // ofm_count
- {/* not comparable */}, // ofm_sizes
- ETHOSU_CORE_STATUS_OK // status
- };
- return rsp;
-}
-
-ethosu_core_inference_req inferenceIndexedRequest(uint64_t user_arg,
- uint32_t index,
- unsigned char *input_data,
- uint32_t input_data_size,
- uint8_t *output_data,
- uint32_t output_data_size) {
- ethosu_core_inference_req req = {
- user_arg, // user_arg
- 1, // ifm_count
- { // ifm
- {
- reinterpret_cast<uint32_t>(input_data), // ptr
- input_data_size // size
- }},
- 1, // ofm_count
- { // ofm
- {
- reinterpret_cast<uint32_t>(output_data), // ptr
- output_data_size // size
- }},
- { // network
- ETHOSU_CORE_NETWORK_INDEX, // type
- {{
- index, // index
- 0 // ignored padding of union
- }}},
- {0, 0, 0, 0, 0, 0, 0, 0}, // pmu_event_config
- 0 // pmu_cycle_counter_enable
- };
- return req;
-}
-
-ethosu_core_inference_req inferenceBufferRequest(uint64_t user_arg,
- unsigned char *ptr,
- uint32_t ptr_size,
- unsigned char *input_data,
- uint32_t input_data_size,
- uint8_t *output_data,
- uint32_t output_data_size) {
- ethosu_core_inference_req req = {
- user_arg, // user_arg
- 1, // ifm_count
- { // ifm
- {
- reinterpret_cast<uint32_t>(input_data), // ptr
- input_data_size // size
- }},
- 1, // ofm_count
- { // ofm
- {
- reinterpret_cast<uint32_t>(output_data), // ptr
- output_data_size // size
- }},
- { // network
- ETHOSU_CORE_NETWORK_BUFFER, // type
- {{
- reinterpret_cast<uint32_t>(ptr), // ptr
- ptr_size // size
- }}},
- {0, 0, 0, 0, 0, 0, 0, 0}, // pmu_event_config
- 0 // pmu_cycle_counter_enable
- };
- return req;
-}
-} // namespace MessageHandler
-
-#endif
diff --git a/applications/message_handler/test/test_message_handler/CMakeLists.txt b/applications/message_handler/test/test_message_handler/CMakeLists.txt
deleted file mode 100644
index bdccf54..0000000
--- a/applications/message_handler/test/test_message_handler/CMakeLists.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-#
-# Copyright (c) 2020-2022 Arm Limited.
-#
-# SPDX-License-Identifier: Apache-2.0
-#
-# Licensed under the Apache License, Version 2.0 (the License); you may
-# not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-# www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an AS IS BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-
-if(NOT BUILD_TEST_MESSAGE_HANDLER OR NOT TARGET freertos_kernel)
- message("Skipping test message handler")
- return()
-endif()
-
-ethosu_add_executable(test_message_handler
- SOURCES
- main.cpp
- LIBRARIES
- message_handler_lib
- freertos_kernel)
-
-target_include_directories(test_message_handler PRIVATE
- ../../indexed_networks
- ${LINUX_DRIVER_STACK_PATH}/kernel)
-
-install(FILES $<TARGET_FILE:test_message_handler>
- DESTINATION "lib/firmware"
- RENAME "arm-test-${ETHOSU_TARGET_NPU_CONFIG}.fw"
-)
diff --git a/applications/message_handler/test/test_message_handler/main.cpp b/applications/message_handler/test/test_message_handler/main.cpp
deleted file mode 100644
index 0a83a56..0000000
--- a/applications/message_handler/test/test_message_handler/main.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/*
- * Copyright (c) 2019-2022 Arm Limited.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/****************************************************************************
- * Includes
- ****************************************************************************/
-
-#include "FreeRTOS.h"
-#include "queue.h"
-#include "semphr.h"
-#include "task.h"
-
-#include <inttypes.h>
-#include <stdio.h>
-
-#include "ethosu_core_interface.h"
-#include "indexed_networks.hpp"
-#include "message_handler.hpp"
-#include "message_queue.hpp"
-#include "networks.hpp"
-
-#include <mailbox.hpp>
-#if defined(MHU_V2)
-#include <mhu_v2.hpp>
-#elif defined(MHU_JUNO)
-#include <mhu_juno.hpp>
-#else
-#include <mhu_dummy.hpp>
-#endif
-
-/* Disable semihosting */
-__asm(".global __use_no_semihosting\n\t");
-
-using namespace EthosU;
-using namespace MessageHandler;
-
-/****************************************************************************
- * Defines
- ****************************************************************************/
-
-// Message queue from remote host
-__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue;
-
-// Message queue to remote host
-__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue;
-
-namespace {
-
-// Mailbox driver
-#ifdef MHU_V2
-Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase
-#elif defined(MHU_JUNO)
-Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS);
-#else
-Mailbox::MHUDummy mailbox;
-#endif
-
-} // namespace
-
-/****************************************************************************
- * Application
- ****************************************************************************/
-namespace {
-
-struct TaskParams {
- TaskParams() :
- messageNotify(xSemaphoreCreateBinary()),
- inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()),
- inferenceOutputQueue(xQueueCreate(10, sizeof(ethosu_core_inference_rsp))),
- networks(std::make_shared<WithIndexedNetworks>()) {}
-
- SemaphoreHandle_t messageNotify;
- // Used to pass inference requests to the inference runner task
- std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue;
- // Queue for message responses to the remote host
- QueueHandle_t inferenceOutputQueue;
- // Networks provider
- std::shared_ptr<Networks> networks;
-};
-
-#ifdef MHU_IRQ
-void mailboxIrqHandler() {
- mailbox.handleMessage();
-}
-#endif
-
-void messageTask(void *pvParameters) {
- printf("Starting message task\n");
- TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
-
- IncomingMessageHandler process(*inputMessageQueue.toQueue(),
- *outputMessageQueue.toQueue(),
- mailbox,
- params->inferenceInputQueue,
- params->inferenceOutputQueue,
- params->messageNotify,
- params->networks);
-
-#ifdef MHU_IRQ
- // Register mailbox interrupt handler
- NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
- NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
-#endif
-
- process.run();
-}
-
-/*
- * Keep task parameters as global data as FreeRTOS resets the stack when the
- * scheduler is started.
- */
-TaskParams taskParams;
-
-} // namespace
-
-// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
-int main() {
- BaseType_t ret;
-
- if (!mailbox.verifyHardware()) {
- printf("Failed to verify mailbox hardware\n");
- return 1;
- }
-
- // Task for handling incoming /outgoing messages from the remote host
- ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr);
- if (ret != pdPASS) {
- printf("Failed to create 'messageTask'\n");
- return ret;
- }
-
- // Start Scheduler
- vTaskStartScheduler();
-
- return 1;
-}
diff --git a/applications/message_handler_openamp/CMakeLists.txt b/applications/message_handler_openamp/CMakeLists.txt
new file mode 100644
index 0000000..f2624c3
--- /dev/null
+++ b/applications/message_handler_openamp/CMakeLists.txt
@@ -0,0 +1,76 @@
+#
+# SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the License); you may
+# not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an AS IS BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+if(NOT TARGET freertos_kernel)
+ message("Skipping message handler openamp")
+ return()
+endif()
+
+#############################################################################
+# Configuration
+#############################################################################
+
+set(MESSAGE_HANDLER_MODEL_0 "" CACHE STRING "Path to built in model 0")
+set(MESSAGE_HANDLER_MODEL_1 "" CACHE STRING "Path to built in model 1")
+set(MESSAGE_HANDLER_MODEL_2 "" CACHE STRING "Path to built in model 2")
+set(MESSAGE_HANDLER_MODEL_3 "" CACHE STRING "Path to built in model 3")
+
+set(MESSAGE_HANDLER_ARENA_SIZE 2000000 CACHE STRING "Total size of all message handler tensor arenas")
+
+#############################################################################
+# TFLM arena
+#############################################################################
+
+# Split total tensor arena equally for each NPU
+if(TARGET ethosu_core_driver AND ETHOSU_TARGET_NPU_COUNT GREATER 0)
+ set(NUM_ARENAS ${ETHOSU_TARGET_NPU_COUNT})
+else()
+ set(NUM_ARENAS 1)
+endif()
+
+math(EXPR TENSOR_ARENA_SIZE "${MESSAGE_HANDLER_ARENA_SIZE} / ${NUM_ARENAS}")
+
+#############################################################################
+# Message handler application
+#############################################################################
+
+ethosu_add_executable(message_handler_openamp
+ SOURCES
+ main.cpp
+ core_driver_mutex.cpp
+ freertos_allocator.cpp
+ inference_runner.cpp
+ message_handler.cpp
+ remoteproc.cpp
+ LIBRARIES
+ $<$<TARGET_EXISTS:ethosu_core_driver>:ethosu_core_driver>
+ ethosu_log
+ ethosu_mailbox
+ freertos_kernel
+ inference_process
+ openamp-freertos)
+
+target_include_directories(message_handler_openamp PRIVATE
+ ${LINUX_DRIVER_STACK_PATH}/kernel)
+
+target_compile_definitions(message_handler_openamp PRIVATE
+ TENSOR_ARENA_SIZE=${TENSOR_ARENA_SIZE}
+ $<$<BOOL:${MESSAGE_HANDLER_MODEL_0}>:MODEL_0=${MESSAGE_HANDLER_MODEL_0}>
+ $<$<BOOL:${MESSAGE_HANDLER_MODEL_1}>:MODEL_1=${MESSAGE_HANDLER_MODEL_1}>
+ $<$<BOOL:${MESSAGE_HANDLER_MODEL_2}>:MODEL_2=${MESSAGE_HANDLER_MODEL_2}>
+ $<$<BOOL:${MESSAGE_HANDLER_MODEL_3}>:MODEL_3=${MESSAGE_HANDLER_MODEL_3}>)
diff --git a/applications/message_handler/lib/core_driver_mutex.cpp b/applications/message_handler_openamp/core_driver_mutex.cpp
similarity index 100%
rename from applications/message_handler/lib/core_driver_mutex.cpp
rename to applications/message_handler_openamp/core_driver_mutex.cpp
diff --git a/applications/message_handler/lib/freertos_allocator.cpp b/applications/message_handler_openamp/freertos_allocator.cpp
similarity index 90%
rename from applications/message_handler/lib/freertos_allocator.cpp
rename to applications/message_handler_openamp/freertos_allocator.cpp
index 883ada8..9850928 100644
--- a/applications/message_handler/lib/freertos_allocator.cpp
+++ b/applications/message_handler_openamp/freertos_allocator.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 Arm Limited.
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
*
* SPDX-License-Identifier: Apache-2.0
*
diff --git a/applications/message_handler_openamp/inference_runner.cpp b/applications/message_handler_openamp/inference_runner.cpp
new file mode 100644
index 0000000..2f9d8ec
--- /dev/null
+++ b/applications/message_handler_openamp/inference_runner.cpp
@@ -0,0 +1,194 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include "inference_runner.hpp"
+
+#include <cstdlib>
+
+#include <ethosu_log.h>
+
+#if defined(ETHOSU)
+#include <ethosu_driver.h>
+#include <pmu_ethosu.h>
+#endif
+
+/*****************************************************************************
+ * InferenceRunner
+ *****************************************************************************/
+
+InferenceRunner::InferenceRunner(uint8_t *tensorArena,
+ size_t arenaSize,
+ MessageHandler::InferenceQueue &_inferenceQueue,
+ MessageHandler::ResponseQueue &_responseQueue) :
+ inferenceQueue(_inferenceQueue),
+ responseQueue(_responseQueue), inference(tensorArena, arenaSize) {
+ BaseType_t ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, this, 4, &taskHandle);
+ if (ret != pdPASS) {
+ LOG_ERR("Failed to create inference task");
+ abort();
+ }
+}
+
+InferenceRunner::~InferenceRunner() {
+ vTaskDelete(taskHandle);
+}
+
+void InferenceRunner::inferenceTask(void *param) {
+ auto _this = static_cast<InferenceRunner *>(param);
+
+ LOG_DEBUG("Starting inference task");
+
+ while (true) {
+ Message *message;
+ auto ret = _this->inferenceQueue.receive(message);
+ if (ret) {
+ abort();
+ }
+
+ auto &rpmsg = message->rpmsg;
+
+ switch (rpmsg.header.type) {
+ case EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ: {
+ _this->handleInferenceRequest(message->src, rpmsg.header.msg_id, rpmsg.inf_req);
+ break;
+ }
+ default: {
+ LOG_WARN("Unsupported message for inference runner. type=%lu", rpmsg.header.type);
+ }
+ }
+
+ delete message;
+ }
+}
+
+void InferenceRunner::handleInferenceRequest(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_msg_inference_req &request) {
+ auto message =
+ new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_inference_rsp));
+ auto &response = message->rpmsg.inf_rsp;
+
+ // Setup PMU configuration
+ response.pmu_cycle_counter_enable = request.pmu_cycle_counter_enable;
+
+ for (int i = 0; i < ETHOSU_CORE_PMU_MAX; i++) {
+ response.pmu_event_config[i] = request.pmu_event_config[i];
+ }
+
+ // Run inference
+ auto job = makeInferenceJob(request, response);
+ auto failed = inference.runJob(job);
+
+ // Send response rpmsg
+ response.ofm_count = job.output.size();
+ response.status = failed ? EthosU::ETHOSU_CORE_STATUS_ERROR : EthosU::ETHOSU_CORE_STATUS_OK;
+
+ for (size_t i = 0; i < job.output.size(); ++i) {
+ response.ofm_size[i] = job.output[i].size;
+ }
+
+ responseQueue.send(message);
+}
+
+InferenceProcess::InferenceJob InferenceRunner::makeInferenceJob(const EthosU::ethosu_core_msg_inference_req &request,
+ EthosU::ethosu_core_msg_inference_rsp &response) {
+ InferenceProcess::InferenceJob job;
+
+ job.networkModel =
+ InferenceProcess::DataPtr(reinterpret_cast<void *>(request.network.buffer.ptr), request.network.buffer.size);
+
+ for (uint32_t i = 0; i < request.ifm_count; ++i) {
+ job.input.push_back(
+ InferenceProcess::DataPtr(reinterpret_cast<void *>(request.ifm[i].ptr), request.ifm[i].size));
+ }
+
+ for (uint32_t i = 0; i < request.ofm_count; ++i) {
+ job.output.push_back(
+ InferenceProcess::DataPtr(reinterpret_cast<void *>(request.ofm[i].ptr), request.ofm[i].size));
+ }
+
+ job.externalContext = &response;
+
+ return job;
+}
+
+#if defined(ETHOSU)
+extern "C" {
+
+void ethosu_inference_begin(ethosu_driver *drv, void *userArg) {
+ LOG_DEBUG("");
+
+ auto response = static_cast<EthosU::ethosu_core_msg_inference_rsp *>(userArg);
+
+ // Calculate maximum number of events
+ const int numEvents = std::min(static_cast<int>(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX);
+
+ // Enable PMU
+ ETHOSU_PMU_Enable(drv);
+
+ // Configure and enable events
+ for (int i = 0; i < numEvents; i++) {
+ ETHOSU_PMU_Set_EVTYPER(drv, i, static_cast<ethosu_pmu_event_type>(response->pmu_event_config[i]));
+ ETHOSU_PMU_CNTR_Enable(drv, 1 << i);
+ }
+
+ // Enable cycle counter
+ if (response->pmu_cycle_counter_enable) {
+ ETHOSU_PMU_PMCCNTR_CFG_Set_Stop_Event(drv, ETHOSU_PMU_NPU_IDLE);
+ ETHOSU_PMU_PMCCNTR_CFG_Set_Start_Event(drv, ETHOSU_PMU_NPU_ACTIVE);
+
+ ETHOSU_PMU_CNTR_Enable(drv, ETHOSU_PMU_CCNT_Msk);
+ ETHOSU_PMU_CYCCNT_Reset(drv);
+ }
+
+ // Reset all counters
+ ETHOSU_PMU_EVCNTR_ALL_Reset(drv);
+}
+
+void ethosu_inference_end(ethosu_driver *drv, void *userArg) {
+ auto response = static_cast<EthosU::ethosu_core_msg_inference_rsp *>(userArg);
+
+ // Get cycle counter
+ if (response->pmu_cycle_counter_enable) {
+ response->pmu_cycle_counter_count = ETHOSU_PMU_Get_CCNTR(drv);
+ }
+
+ // Calculate maximum number of events
+ const int numEvents = std::min(static_cast<int>(ETHOSU_PMU_Get_NumEventCounters()), ETHOSU_CORE_PMU_MAX);
+
+ // Get event counters
+ int i;
+ for (i = 0; i < numEvents; i++) {
+ response->pmu_event_count[i] = ETHOSU_PMU_Get_EVCNTR(drv, i);
+ }
+
+ for (; i < ETHOSU_CORE_PMU_MAX; i++) {
+ response->pmu_event_config[i] = 0;
+ response->pmu_event_count[i] = 0;
+ }
+
+ // Disable PMU
+ ETHOSU_PMU_Disable(drv);
+}
+}
+
+#endif
diff --git a/applications/message_handler_openamp/inference_runner.hpp b/applications/message_handler_openamp/inference_runner.hpp
new file mode 100644
index 0000000..c9461a0
--- /dev/null
+++ b/applications/message_handler_openamp/inference_runner.hpp
@@ -0,0 +1,56 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include "message_handler.hpp"
+
+#include <inference_process.hpp>
+
+/*****************************************************************************
+ * InferenceRunner
+ *****************************************************************************/
+
+class InferenceRunner {
+public:
+ InferenceRunner(uint8_t *tensorArena,
+ size_t arenaSize,
+ MessageHandler::InferenceQueue &inferenceQueue,
+ MessageHandler::ResponseQueue &responseQueue);
+ ~InferenceRunner();
+
+private:
+ static void inferenceTask(void *param);
+
+ void handleInferenceRequest(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_msg_inference_req &request);
+ InferenceProcess::InferenceJob makeInferenceJob(const EthosU::ethosu_core_msg_inference_req &request,
+ EthosU::ethosu_core_msg_inference_rsp &response);
+
+ MessageHandler::InferenceQueue &inferenceQueue;
+ MessageHandler::ResponseQueue &responseQueue;
+ InferenceProcess::InferenceProcess inference;
+
+ // FreeRTOS
+ TaskHandle_t taskHandle;
+};
diff --git a/applications/message_handler_openamp/main.cpp b/applications/message_handler_openamp/main.cpp
new file mode 100644
index 0000000..2aad224
--- /dev/null
+++ b/applications/message_handler_openamp/main.cpp
@@ -0,0 +1,122 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <memory>
+#include <stdio.h>
+
+#include <ethosu_log.h>
+#include <mailbox.hpp>
+
+#if defined(MHU_V2)
+#include <mhu_v2.hpp>
+#elif defined(MHU_JUNO)
+#include <mhu_juno.hpp>
+#else
+#include <mhu_dummy.hpp>
+#endif
+
+#include "inference_runner.hpp"
+#include "message_handler.hpp"
+#include "remoteproc.hpp"
+
+/*****************************************************************************
+ * TFLM arena
+ *****************************************************************************/
+
+// Number of parallell inference tasks. Typically one per NPU.
+#if defined(ETHOSU) && defined(ETHOSU_NPU_COUNT) && ETHOSU_NPU_COUNT > 0
+constexpr size_t NUM_PARALLEL_TASKS = ETHOSU_NPU_COUNT;
+#else
+constexpr size_t NUM_PARALLEL_TASKS = 1;
+#endif
+
+#ifndef TENSOR_ARENA_SIZE
+#define TENSOR_ARENA_SIZE 2000000
+#endif
+
+// TensorArena static initialisation
+constexpr size_t arenaSize = TENSOR_ARENA_SIZE;
+
+/*****************************************************************************
+ * Resource table
+ *****************************************************************************/
+
+extern "C" {
+__attribute__((section(".resource_table"))) ResourceTable resourceTable(8, sizeof(arenaSize *NUM_PARALLEL_TASKS));
+}
+
+/*****************************************************************************
+ * Mailbox
+ *****************************************************************************/
+
+namespace {
+
+#ifdef MHU_V2
+Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase
+#elif defined(MHU_JUNO)
+Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS);
+#else
+Mailbox::MHUDummy mailbox;
+#endif
+
+#ifdef MHU_IRQ
+void mailboxIrqHandler() {
+ LOG_DEBUG("");
+ mailbox.handleMessage();
+}
+#endif
+
+} // namespace
+
+/*****************************************************************************
+ * main
+ *****************************************************************************/
+
+int main() {
+ printf("Ethos-U Message Handler OpenAMP\n");
+
+ auto mem = std::make_shared<MetalIO>();
+ auto rproc = std::make_shared<RProc>(mailbox, resourceTable.table, sizeof(resourceTable), *mem);
+ auto messageHandler = std::make_shared<MessageHandler>(*rproc, "ethos-u-0.0");
+
+ std::array<std::shared_ptr<InferenceRunner>, NUM_PARALLEL_TASKS> inferenceRunner;
+
+ for (size_t i = 0; i < NUM_PARALLEL_TASKS; i++) {
+ auto tensorArena = static_cast<uint8_t *>(messageHandler->physicalToVirtual(resourceTable.carveout.pa));
+
+ inferenceRunner[i] = std::make_shared<InferenceRunner>(&tensorArena[arenaSize * i],
+ arenaSize,
+ messageHandler->getInferenceQueue(),
+ messageHandler->getResponseQueue());
+ }
+
+#ifdef MHU_IRQ
+ // Register mailbox interrupt handler
+ NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
+ NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
+#endif
+
+ // Start Scheduler
+ vTaskStartScheduler();
+
+ return 0;
+}
diff --git a/applications/message_handler_openamp/message_handler.cpp b/applications/message_handler_openamp/message_handler.cpp
new file mode 100644
index 0000000..4bd611d
--- /dev/null
+++ b/applications/message_handler_openamp/message_handler.cpp
@@ -0,0 +1,437 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include "message_handler.hpp"
+
+#include <cinttypes>
+#include <cstdlib>
+
+#include <ethosu_log.h>
+#include <inference_parser.hpp>
+
+#ifdef ETHOSU
+#include <ethosu_driver.h>
+#endif
+
+/*****************************************************************************
+ * Networks
+ *****************************************************************************/
+
+namespace {
+#if defined(__has_include)
+
+#if defined(MODEL_0)
+namespace Model0 {
+#include STRINGIFY(MODEL_0)
+}
+#endif
+
+#if defined(MODEL_1)
+namespace Model1 {
+#include STRINGIFY(MODEL_1)
+}
+#endif
+
+#if defined(MODEL_2)
+namespace Model2 {
+#include STRINGIFY(MODEL_2)
+}
+#endif
+
+#if defined(MODEL_3)
+namespace Model3 {
+#include STRINGIFY(MODEL_3)
+}
+#endif
+
+#endif
+
+bool getIndexedNetwork(const uint32_t index, void *&data, size_t &size) {
+ switch (index) {
+#if defined(MODEL_0)
+ case 0:
+ data = reinterpret_cast<void *>(Model0::networkModelData);
+ size = sizeof(Model0::networkModelData);
+ break;
+#endif
+
+#if defined(MODEL_1)
+ case 1:
+ data = reinterpret_cast<void *>(Model1::networkModelData);
+ size = sizeof(Model1::networkModelData);
+ break;
+#endif
+
+#if defined(MODEL_2)
+ case 2:
+ data = reinterpret_cast<void *>(Model2::networkModelData);
+ size = sizeof(Model2::networkModelData);
+ break;
+#endif
+
+#if defined(MODEL_3)
+ case 3:
+ data = reinterpret_cast<void *>(Model3::networkModelData);
+ size = sizeof(Model3::networkModelData);
+ break;
+#endif
+
+ default:
+ LOG_WARN("Network model index out of range. index=%" PRIu32, index);
+ return true;
+ }
+
+ return false;
+}
+
+} // namespace
+
+/*****************************************************************************
+ * MessageHandler
+ *****************************************************************************/
+
+MessageHandler::MessageHandler(RProc &_rproc, const char *const _name) :
+ Rpmsg(_rproc, _name), capabilities(getCapabilities()) {
+ BaseType_t ret = xTaskCreate(responseTask, "responseTask", 1024, this, 3, &taskHandle);
+ if (ret != pdPASS) {
+ LOG_ERR("Failed to create response task");
+ abort();
+ }
+}
+
+MessageHandler::~MessageHandler() {
+ vTaskDelete(taskHandle);
+}
+
+int MessageHandler::handleMessage(void *data, size_t len, uint32_t src) {
+ auto rpmsg = static_cast<EthosU::ethosu_core_rpmsg *>(data);
+
+ LOG_DEBUG("Msg: src=%" PRIX32 ", len=%zu, magic=%" PRIX32 ", type=%" PRIu32,
+ src,
+ len,
+ rpmsg->header.magic,
+ rpmsg->header.type);
+
+ if (rpmsg->header.magic != ETHOSU_CORE_MSG_MAGIC) {
+ LOG_WARN("Msg: Invalid Magic");
+ sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_MAGIC, "Invalid magic");
+ return 0;
+ }
+
+ switch (rpmsg->header.type) {
+ case EthosU::ETHOSU_CORE_MSG_PING: {
+ LOG_INFO("Msg: Ping");
+ sendPong(src, rpmsg->header.msg_id);
+ break;
+ }
+ case EthosU::ETHOSU_CORE_MSG_VERSION_REQ: {
+ LOG_INFO("Msg: Version request");
+ sendVersionRsp(src, rpmsg->header.msg_id);
+ break;
+ }
+ case EthosU::ETHOSU_CORE_MSG_CAPABILITIES_REQ: {
+ if (len != sizeof(rpmsg->header)) {
+ sendError(
+ src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect capabilities request payload length.");
+ break;
+ }
+
+ LOG_INFO("Msg: Capabilities request");
+
+ sendCapabilitiesRsp(src, rpmsg->header.msg_id);
+ break;
+ }
+ case EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ: {
+ if (len != sizeof(rpmsg->header) + sizeof(rpmsg->inf_req)) {
+ sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect inference request payload length.");
+ break;
+ }
+
+ forwardInferenceReq(src, rpmsg->header.msg_id, rpmsg->inf_req);
+ break;
+ }
+ case EthosU::ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ: {
+ if (len != sizeof(rpmsg->header) + sizeof(rpmsg->cancel_req)) {
+ sendError(
+ src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect cancel inference request payload length.");
+ break;
+ }
+
+ auto &request = rpmsg->cancel_req;
+ bool found = false;
+ inferenceQueue.erase([request, &found](auto &message) {
+ if (message->rpmsg.header.msg_id == request.inference_handle) {
+ found = true;
+ delete message;
+ return true;
+ }
+
+ return false;
+ });
+
+ if (found) {
+ sendInferenceRsp(src, request.inference_handle, EthosU::ETHOSU_CORE_STATUS_ABORTED);
+ }
+
+ sendCancelInferenceRsp(
+ src, rpmsg->header.msg_id, found ? EthosU::ETHOSU_CORE_STATUS_OK : EthosU::ETHOSU_CORE_STATUS_ERROR);
+ break;
+ }
+ case EthosU::ETHOSU_CORE_MSG_NETWORK_INFO_REQ: {
+ if (len != sizeof(rpmsg->header) + sizeof(rpmsg->net_info_req)) {
+ sendError(
+ src, EthosU::ETHOSU_CORE_MSG_ERR_INVALID_PAYLOAD, "Incorrect network info request payload length.");
+ break;
+ }
+
+ LOG_INFO("Msg: NetworkInfoReq. network={ type=%" PRIu32 ", index=%" PRIu32 ", buffer={ ptr=0x%" PRIX32
+ ", size=%" PRIu32 " } }",
+ rpmsg->net_info_req.network.type,
+ rpmsg->net_info_req.network.index,
+ rpmsg->net_info_req.network.buffer.ptr,
+ rpmsg->net_info_req.network.buffer.size);
+
+ sendNetworkInfoRsp(src, rpmsg->header.msg_id, rpmsg->net_info_req.network);
+ break;
+ }
+ default: {
+ LOG_WARN("Msg: Unsupported message. type=%" PRIu32, rpmsg->header.type);
+
+ char errMsg[128];
+ snprintf(
+ &errMsg[0], sizeof(errMsg), "Msg: Unknown message. type=%" PRIu32 ", length=%zu", rpmsg->header.type, len);
+
+ sendError(src, EthosU::ETHOSU_CORE_MSG_ERR_UNSUPPORTED_TYPE, errMsg);
+ }
+ }
+
+ return 0;
+}
+
+void MessageHandler::sendError(const uint32_t src, const EthosU::ethosu_core_err_type type, const char *msg) {
+ auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_ERR, 0, sizeof(EthosU::ethosu_core_msg_err));
+
+ message->rpmsg.error.type = type;
+
+ for (size_t i = 0; i < sizeof(message->rpmsg.error.msg) && msg[i]; i++) {
+ message->rpmsg.error.msg[i] = msg[i];
+ }
+
+ responseQueue.send(message);
+}
+
+void MessageHandler::sendPong(const uint32_t src, const uint64_t msgId) {
+ auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_PONG, msgId);
+
+ responseQueue.send(message);
+}
+
+void MessageHandler::sendVersionRsp(const uint32_t src, const uint64_t msgId) {
+ auto message =
+ new Message(src, EthosU::ETHOSU_CORE_MSG_VERSION_RSP, msgId, sizeof(EthosU::ethosu_core_msg_version_rsp));
+
+ message->rpmsg.version_rsp = {
+ ETHOSU_CORE_MSG_VERSION_MAJOR,
+ ETHOSU_CORE_MSG_VERSION_MINOR,
+ ETHOSU_CORE_MSG_VERSION_PATCH,
+ 0,
+ };
+
+ responseQueue.send(message);
+}
+
+void MessageHandler::sendCapabilitiesRsp(const uint32_t src, const uint64_t msgId) {
+ auto message = new Message(
+ src, EthosU::ETHOSU_CORE_MSG_CAPABILITIES_RSP, msgId, sizeof(EthosU::ethosu_core_msg_capabilities_rsp));
+
+ message->rpmsg.cap_rsp = capabilities;
+
+ responseQueue.send(message);
+}
+
+EthosU::ethosu_core_msg_capabilities_rsp MessageHandler::getCapabilities() const {
+ EthosU::ethosu_core_msg_capabilities_rsp cap = {};
+
+#ifdef ETHOSU
+ ethosu_driver_version version;
+ ethosu_get_driver_version(&version);
+
+ ethosu_hw_info info;
+ ethosu_driver *drv = ethosu_reserve_driver();
+ ethosu_get_hw_info(drv, &info);
+ ethosu_release_driver(drv);
+
+ cap.version_status = info.version.version_status;
+ cap.version_minor = info.version.version_minor;
+ cap.version_major = info.version.version_major;
+ cap.product_major = info.version.product_major;
+ cap.arch_patch_rev = info.version.arch_patch_rev;
+ cap.arch_minor_rev = info.version.arch_minor_rev;
+ cap.arch_major_rev = info.version.arch_major_rev;
+ cap.driver_patch_rev = version.patch;
+ cap.driver_minor_rev = version.minor;
+ cap.driver_major_rev = version.major;
+ cap.macs_per_cc = info.cfg.macs_per_cc;
+ cap.cmd_stream_version = info.cfg.cmd_stream_version;
+ cap.custom_dma = info.cfg.custom_dma;
+#endif
+
+ return cap;
+}
+
+void MessageHandler::sendNetworkInfoRsp(const uint32_t src,
+ const uint64_t msgId,
+ EthosU::ethosu_core_network_buffer &network) {
+ auto message = new Message(
+ src, EthosU::ETHOSU_CORE_MSG_NETWORK_INFO_RSP, msgId, sizeof(EthosU::ethosu_core_msg_network_info_rsp));
+ auto &rsp = message->rpmsg.net_info_rsp;
+
+ rsp.ifm_count = 0;
+ rsp.ofm_count = 0;
+
+ bool failed = networkToVirtual(network);
+
+ if (!failed) {
+ InferenceProcess::InferenceParser parser;
+
+ failed = parser.parseModel(reinterpret_cast<void *>(network.buffer.ptr),
+ network.buffer.size,
+ rsp.desc,
+ InferenceProcess::makeArray(rsp.ifm_size, rsp.ifm_count, ETHOSU_CORE_BUFFER_MAX),
+ InferenceProcess::makeArray(rsp.ofm_size, rsp.ofm_count, ETHOSU_CORE_BUFFER_MAX));
+ }
+
+ rsp.status = failed ? EthosU::ETHOSU_CORE_STATUS_ERROR : EthosU::ETHOSU_CORE_STATUS_OK;
+
+ responseQueue.send(message);
+}
+
+void MessageHandler::forwardInferenceReq(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_msg_inference_req &inference) {
+ auto message = new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_REQ, msgId);
+ auto &req = message->rpmsg.inf_req;
+
+ req = inference;
+
+ for (uint32_t i = 0; i < req.ifm_count; i++) {
+ bufferToVirtual(req.ifm[i]);
+ }
+
+ for (uint32_t i = 0; i < req.ofm_count; i++) {
+ bufferToVirtual(req.ofm[i]);
+ }
+
+ networkToVirtual(req.network);
+
+ inferenceQueue.send(message);
+}
+
+void MessageHandler::sendInferenceRsp(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_status status) {
+ auto message =
+ new Message(src, EthosU::ETHOSU_CORE_MSG_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_inference_rsp));
+
+ message->rpmsg.inf_rsp.status = status;
+
+ responseQueue.send(message);
+}
+
+void MessageHandler::sendCancelInferenceRsp(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_status status) {
+ auto message = new Message(
+ src, EthosU::ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, msgId, sizeof(EthosU::ethosu_core_msg_cancel_inference_rsp));
+
+ message->rpmsg.cancel_rsp.status = status;
+
+ responseQueue.send(message);
+}
+
+bool MessageHandler::getNetwork(const EthosU::ethosu_core_network_buffer &buffer, void *&data, size_t &size) {
+ switch (buffer.type) {
+ case EthosU::ETHOSU_CORE_NETWORK_BUFFER:
+ data = physicalToVirtual(buffer.buffer.ptr);
+ size = buffer.buffer.size;
+ return false;
+ case EthosU::ETHOSU_CORE_NETWORK_INDEX:
+ return getIndexedNetwork(buffer.index, data, size);
+ default:
+ LOG_WARN("Unsupported network model type. type=%" PRIu32, buffer.type);
+ return true;
+ }
+}
+
+bool MessageHandler::bufferToVirtual(EthosU::ethosu_core_buffer &buffer) {
+ void *ptr = physicalToVirtual(buffer.ptr);
+ if (ptr == nullptr) {
+ return true;
+ }
+
+ buffer.ptr = reinterpret_cast<uint32_t>(ptr);
+
+ return false;
+}
+
+bool MessageHandler::networkToVirtual(EthosU::ethosu_core_network_buffer &buffer) {
+ switch (buffer.type) {
+ case EthosU::ETHOSU_CORE_NETWORK_BUFFER:
+ return bufferToVirtual(buffer.buffer);
+ case EthosU::ETHOSU_CORE_NETWORK_INDEX: {
+ void *ptr;
+ size_t size;
+ if (getIndexedNetwork(buffer.index, ptr, size)) {
+ return true;
+ }
+
+ buffer.type = EthosU::ETHOSU_CORE_NETWORK_BUFFER;
+ buffer.buffer.ptr = reinterpret_cast<uint32_t>(ptr);
+ buffer.buffer.size = size;
+
+ return false;
+ }
+ default:
+ LOG_WARN("Unsupported network model type. type=%" PRIu32, buffer.type);
+ return true;
+ }
+}
+
+void MessageHandler::responseTask(void *param) {
+ auto _this = static_cast<MessageHandler *>(param);
+
+ LOG_DEBUG("Starting message response task");
+
+ while (true) {
+ Message *message;
+ auto ret = _this->responseQueue.receive(message);
+ if (ret) {
+ abort();
+ }
+
+ LOG_DEBUG("Sending message. type=%" PRIu32, message->rpmsg.header.type);
+
+ _this->send(&message->rpmsg, sizeof(message->rpmsg.header) + message->length, message->src);
+
+ delete message;
+ }
+}
diff --git a/applications/message_handler_openamp/message_handler.hpp b/applications/message_handler_openamp/message_handler.hpp
new file mode 100644
index 0000000..779b05f
--- /dev/null
+++ b/applications/message_handler_openamp/message_handler.hpp
@@ -0,0 +1,106 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <ethosu_core_rpmsg.h>
+#include <mailbox.hpp>
+
+#include "queue.hpp"
+#include "remoteproc.hpp"
+
+/*****************************************************************************
+ * Messages
+ *****************************************************************************/
+
+struct Message {
+ Message() {}
+
+ Message(const uint32_t _src,
+ const EthosU::ethosu_core_msg_type _type = EthosU::ETHOSU_CORE_MSG_MAX,
+ const uint64_t msgId = 0,
+ const uint32_t _length = 0) :
+ src(_src),
+ length(_length) {
+ rpmsg.header.magic = ETHOSU_CORE_MSG_MAGIC;
+ rpmsg.header.type = _type;
+ rpmsg.header.msg_id = msgId;
+ }
+
+ uint32_t src = 0;
+ uint32_t length = 0;
+ EthosU::ethosu_core_rpmsg rpmsg;
+};
+
+/*****************************************************************************
+ * MessageHandler
+ *****************************************************************************/
+
+class MessageHandler : public Rpmsg {
+public:
+ using InferenceQueue = Queue<Message *>;
+ using ResponseQueue = Queue<Message *>;
+
+ MessageHandler(RProc &rproc, const char *const name);
+ virtual ~MessageHandler();
+
+ InferenceQueue &getInferenceQueue() {
+ return inferenceQueue;
+ }
+
+ InferenceQueue &getResponseQueue() {
+ return responseQueue;
+ }
+
+protected:
+ // Handle incoming rpmsg
+ int handleMessage(void *data, size_t len, uint32_t src) override;
+
+ // Outgoing messages
+ void sendError(const uint32_t src, const EthosU::ethosu_core_err_type type, const char *message);
+ void sendPong(const uint32_t src, const uint64_t msgId);
+ void sendVersionRsp(const uint32_t src, const uint64_t msgId);
+ void sendCapabilitiesRsp(const uint32_t src, const uint64_t msgId);
+ void sendNetworkInfoRsp(const uint32_t src, const uint64_t msgId, EthosU::ethosu_core_network_buffer &network);
+ void forwardInferenceReq(const uint32_t src,
+ const uint64_t msgId,
+ const EthosU::ethosu_core_msg_inference_req &inference);
+ void sendInferenceRsp(const uint32_t src, const uint64_t msgId, const EthosU::ethosu_core_status status);
+ void sendCancelInferenceRsp(const uint32_t src, const uint64_t msgId, const EthosU::ethosu_core_status status);
+
+ EthosU::ethosu_core_msg_capabilities_rsp getCapabilities() const;
+ bool getNetwork(const EthosU::ethosu_core_network_buffer &buffer, void *&data, size_t &size);
+
+ // Tasks returning response messages
+ static void responseTask(void *param);
+
+private:
+ bool bufferToVirtual(EthosU::ethosu_core_buffer &buffer);
+ bool networkToVirtual(EthosU::ethosu_core_network_buffer &buffer);
+
+ InferenceQueue inferenceQueue;
+ ResponseQueue responseQueue;
+ EthosU::ethosu_core_msg_capabilities_rsp capabilities;
+
+ // FreeRTOS
+ TaskHandle_t taskHandle;
+};
diff --git a/applications/message_handler_openamp/queue.hpp b/applications/message_handler_openamp/queue.hpp
new file mode 100644
index 0000000..dcf676b
--- /dev/null
+++ b/applications/message_handler_openamp/queue.hpp
@@ -0,0 +1,87 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <FreeRTOS.h>
+#include <queue.h>
+
+#include <cstdlib>
+#include <functional>
+
+#include <ethosu_log.h>
+
+/*****************************************************************************
+ * Queue
+ *****************************************************************************/
+
+template <typename T>
+class Queue {
+public:
+ using Predicate = std::function<bool(const T &data)>;
+
+ Queue(const size_t size = 10) : queue(xQueueCreate(size, sizeof(T))) {}
+
+ ~Queue() {
+ vQueueDelete(queue);
+ }
+
+ int send(const T &msg, TickType_t delay = portMAX_DELAY) {
+ if (pdPASS != xQueueSend(queue, &msg, delay)) {
+ LOG_ERR("Failed to send message");
+ return -1;
+ }
+
+ return 0;
+ }
+
+ int receive(T &msg, TickType_t delay = portMAX_DELAY) {
+ if (pdTRUE != xQueueReceive(queue, &msg, delay)) {
+ LOG_ERR("Failed to receive message");
+ return -1;
+ }
+
+ return 0;
+ }
+
+ void erase(Predicate pred) {
+ const size_t count = uxQueueMessagesWaiting(queue);
+ for (size_t i = 0; i < count; i++) {
+ T data;
+
+ if (pdPASS != xQueueReceive(queue, &data, 0)) {
+ LOG_ERR("Failed to dequeue message");
+ abort();
+ }
+
+ if (!pred(data)) {
+ if (pdPASS != xQueueSend(queue, &data, 0)) {
+ LOG_ERR("Failed to requeue message");
+ abort();
+ }
+ }
+ }
+ }
+
+private:
+ QueueHandle_t queue;
+};
diff --git a/applications/message_handler_openamp/remoteproc.cpp b/applications/message_handler_openamp/remoteproc.cpp
new file mode 100644
index 0000000..f355634
--- /dev/null
+++ b/applications/message_handler_openamp/remoteproc.cpp
@@ -0,0 +1,243 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include "remoteproc.hpp"
+
+#include <cinttypes>
+
+#include <ethosu_log.h>
+
+/*****************************************************************************
+ * MetalIO
+ *****************************************************************************/
+
+extern "C" {
+
+__attribute__((weak)) void *ethosu_phys_to_virt(const uint64_t pa) {
+ return reinterpret_cast<void *>(pa);
+}
+}
+
+MetalIO::MetalIO() :
+ ops{.read = nullptr,
+ .write = nullptr,
+ .block_read = nullptr,
+ .block_write = nullptr,
+ .block_set = nullptr,
+ .close = nullptr,
+ .offset_to_phys = nullptr,
+ .phys_to_offset = physToOffset} {
+ remoteproc_init_mem(&mem, "shm", 0, 0, 0xffffffff, ®ion);
+
+ metal_io_init(®ion,
+ reinterpret_cast<void *>(0), /* virt */
+ &mem.pa, /* physmap */
+ 0xffffffff, /* size */
+ -1L, /* pagemask */
+ 0, /* attributes */
+ &ops); /* ops */
+}
+
+remoteproc_mem *MetalIO::operator&() {
+ return &mem;
+}
+
+unsigned long MetalIO::physToOffset(metal_io_region *io, metal_phys_addr_t pa) {
+ auto offset = reinterpret_cast<unsigned long>(ethosu_phys_to_virt(pa));
+ LOG_DEBUG("Translate PA to offset. pa=%lx, offset=%lx", pa, offset);
+ return offset;
+}
+
+/*****************************************************************************
+ * RProc
+ *****************************************************************************/
+
+RProc::RProc(Mailbox::Mailbox &_mailbox, resource_table &table, size_t tableSize, MetalIO &_mem) :
+ mailbox(_mailbox), mem(_mem),
+ ops{
+ .init = init, // initialize the remoteproc instance
+ .remove = remove, // remove the remoteproc instance
+ .mmap = nullptr, // memory mapped the memory with physical address as input
+ .handle_rsc = nullptr, // handle the vendor specific resource
+ .config = nullptr, // configure the remoteproc to make it ready to load and run executable
+ .start = nullptr, // kick the remoteproc to run application
+ .stop = nullptr, // stop the remoteproc from running application, the resource such as memory may not be off.
+ .shutdown = nullptr, // shutdown the remoteproc and release its resources.
+ .notify = notify, // notify the remote
+ .get_mem = nullptr, // get remoteproc memory I/O region.
+ },
+ vdev(nullptr), notifySemaphore(xSemaphoreCreateBinary()) {
+ mailbox.registerCallback(mailboxCallback, static_cast<void *>(this));
+
+ if (!remoteproc_init(&rproc, &ops, this)) {
+ LOG_ERR("Failed to intialize remoteproc");
+ abort();
+ }
+
+ int ret = remoteproc_set_rsc_table(&rproc, &table, tableSize);
+ if (ret) {
+ LOG_ERR("Failed to set resource table. ret=%d", ret);
+ abort();
+ }
+
+ vdev = remoteproc_create_virtio(&rproc, 0, VIRTIO_DEV_DEVICE, nullptr);
+ if (!vdev) {
+ LOG_ERR("Failed to create vdev");
+ abort();
+ }
+
+ BaseType_t taskret = xTaskCreate(notifyTask, "notifyTask", 1024, this, 2, ¬ifyHandle);
+ if (taskret != pdPASS) {
+ LOG_ERR("Failed to create remoteproc notify task");
+ abort();
+ }
+}
+
+RProc::~RProc() {
+ mailbox.deregisterCallback(mailboxCallback, static_cast<void *>(this));
+ vTaskDelete(notifyHandle);
+}
+
+remoteproc *RProc::getRProc() {
+ return &rproc;
+}
+
+virtio_device *RProc::getVDev() {
+ return vdev;
+}
+
+void RProc::mailboxCallback(void *userArg) {
+ auto _this = static_cast<RProc *>(userArg);
+
+ xSemaphoreGiveFromISR(_this->notifySemaphore, nullptr);
+}
+
+void RProc::notifyTask(void *param) {
+ LOG_DEBUG("Starting message notify task");
+
+ auto _this = static_cast<RProc *>(param);
+
+ while (true) {
+ // Wait for event
+ xSemaphoreTake(_this->notifySemaphore, portMAX_DELAY);
+
+ // Read virtio queue and notify all rpmsg clients
+ rproc_virtio_notified(_this->vdev, RSC_NOTIFY_ID_ANY);
+ }
+}
+
+struct remoteproc *RProc::init(remoteproc *rproc, const remoteproc_ops *ops, void *arg) {
+ LOG_DEBUG("");
+
+ auto _this = static_cast<RProc *>(arg);
+
+ rproc->ops = ops;
+ rproc->priv = arg;
+ remoteproc_add_mem(rproc, &_this->mem);
+
+ return rproc;
+}
+
+void RProc::remove(remoteproc *rproc) {
+ LOG_DEBUG("");
+}
+
+int RProc::notify(remoteproc *rproc, uint32_t id) {
+ LOG_DEBUG("");
+
+ auto *_this = static_cast<RProc *>(rproc->priv);
+ _this->mailbox.sendMessage();
+ return 0;
+}
+
+/*****************************************************************************
+ * Rpmsg
+ *****************************************************************************/
+
+Rpmsg::Rpmsg(RProc &rproc, const char *const name) {
+
+ metal_io_region *region = remoteproc_get_io_with_name(rproc.getRProc(), "shm");
+ if (!region) {
+ LOG_ERR("Failed to get shared mem region");
+ abort();
+ }
+
+ if (rpmsg_init_vdev(&rvdev, rproc.getVDev(), nullptr, region, nullptr)) {
+ LOG_ERR("Failed to initialize rpmsg vdev");
+ abort();
+ }
+
+ rdev = rpmsg_virtio_get_rpmsg_device(&rvdev);
+ if (!rdev) {
+ LOG_ERR("Failed to get rpmsg dev");
+ abort();
+ }
+
+ int ret =
+ rpmsg_create_ept(&endpoint, rdev, name, RPMSG_ADDR_ANY, RPMSG_ADDR_ANY, endpointCallback, nsUnbindCallback);
+ if (ret != RPMSG_SUCCESS) {
+ LOG_ERR("Failed to create rpmsg endpoint. ret=%d", ret);
+ abort();
+ }
+
+ endpoint.priv = static_cast<void *>(this);
+}
+
+int Rpmsg::send(void *data, size_t len, uint32_t dst) {
+ LOG_DEBUG("Sending rpmsg. dst=%" PRIu32 ", len=%zu", dst, len);
+
+ int ret = rpmsg_sendto(&endpoint, data, len, dst);
+ return ret;
+}
+
+void *Rpmsg::physicalToVirtual(metal_phys_addr_t pa) {
+ return metal_io_phys_to_virt(rvdev.shbuf_io, pa);
+}
+
+void Rpmsg::rpmsgNsBind(rpmsg_device *rdev, const char *name, uint32_t dest) {
+ LOG_DEBUG("");
+}
+
+void Rpmsg::nsUnbindCallback(rpmsg_endpoint *ept) {
+ LOG_DEBUG("");
+}
+
+int Rpmsg::endpointCallback(rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv) {
+ LOG_DEBUG("src=%" PRIX32 ", len=%zu", src, len);
+
+ auto _this = static_cast<Rpmsg *>(priv);
+ _this->handleMessage(data, len, src);
+
+ return 0;
+}
+
+int Rpmsg::handleMessage(void *data, size_t len, uint32_t src) {
+ LOG_DEBUG("Receiving rpmsg. src=%" PRIu32 ", len=%zu", src, len);
+
+ auto c = static_cast<char *>(data);
+ for (size_t i = 0; i < len; i++) {
+ printf("%c", c[i]);
+ }
+ printf("\n");
+
+ return 0;
+}
diff --git a/applications/message_handler_openamp/remoteproc.hpp b/applications/message_handler_openamp/remoteproc.hpp
new file mode 100644
index 0000000..2f16e24
--- /dev/null
+++ b/applications/message_handler_openamp/remoteproc.hpp
@@ -0,0 +1,200 @@
+/*
+ * SPDX-FileCopyrightText: Copyright 2022-2023 Arm Limited and/or its affiliates <open-source-office@arm.com>
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use _this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+/*****************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <FreeRTOS.h>
+#include <queue.h>
+#include <semphr.h>
+
+#include <metal/alloc.h>
+#include <openamp/open_amp.h>
+#include <openamp/remoteproc.h>
+
+#include <mailbox.hpp>
+
+/*****************************************************************************
+ * Resource table
+ *****************************************************************************/
+
+struct ResourceTable {
+ static constexpr uint32_t VERSION = 1;
+ static constexpr uint32_t NUM_RESOURCES = 2;
+ static constexpr uint32_t NUM_VRINGS = 2;
+ static constexpr uint32_t VRING_ALIGN = 0x100;
+ // static constexpr uint32_t VRING_SIZE = 0x10;
+ static constexpr uint32_t RESERVED = 0;
+
+ resource_table table;
+ uint32_t offset[NUM_RESOURCES];
+ fw_rsc_vdev vdev;
+ fw_rsc_vdev_vring vring[NUM_VRINGS];
+ fw_rsc_carveout carveout;
+
+ // clang-format off
+ constexpr ResourceTable(const uint32_t vringSize = 0x100, const uint32_t carveoutSize = 0) :
+ table {
+ VERSION,
+ NUM_RESOURCES,
+ { RESERVED, RESERVED },
+ {}
+ },
+ offset {
+ offsetof(ResourceTable, vdev),
+ offsetof(ResourceTable, carveout),
+ },
+ vdev {
+ RSC_VDEV,
+ VIRTIO_ID_RPMSG,
+ 2, // Notify ID
+ 1 << VIRTIO_RPMSG_F_NS,
+ 0,
+ 0,
+ 0,
+ NUM_VRINGS,
+ { 0, RESERVED },
+ {}
+ },
+ vring {
+ {
+ FW_RSC_U32_ADDR_ANY,
+ VRING_ALIGN,
+ vringSize,
+ 1,
+ RESERVED
+ },
+ {
+ FW_RSC_U32_ADDR_ANY,
+ VRING_ALIGN,
+ vringSize,
+ 2,
+ RESERVED
+ }
+ },
+ carveout {
+ RSC_CARVEOUT,
+ FW_RSC_U32_ADDR_ANY,
+ FW_RSC_U32_ADDR_ANY,
+ carveoutSize,
+ 0,
+ RESERVED,
+ "TFLM arena"
+ }
+ {}
+ // clang-format off
+} __attribute__((packed));
+
+/*****************************************************************************
+ * MetalIO
+ *****************************************************************************/
+
+class MetalIO {
+public:
+ MetalIO();
+
+ remoteproc_mem *operator&();
+
+private:
+ static metal_phys_addr_t offsetToPhys(metal_io_region *io, unsigned long offset);
+ static unsigned long physToOffset(metal_io_region *io, metal_phys_addr_t phys);
+
+ metal_io_ops ops;
+ metal_io_region region;
+ remoteproc_mem mem;
+};
+
+/*****************************************************************************
+ * RProc
+ *****************************************************************************/
+
+class RProc {
+public:
+ RProc(Mailbox::Mailbox &_mailbox, resource_table &table, size_t tableSize, MetalIO &_mem);
+ ~RProc();
+
+ remoteproc *getRProc();
+ virtio_device *getVDev();
+
+private:
+ // IRQ notification callback
+ static void mailboxCallback(void *userArg);
+
+ // Notification task handling virtio messages
+ static void notifyTask(void *param);
+
+ // Remote proc ops
+ static struct remoteproc *init(remoteproc *rproc, const remoteproc_ops *ops, void *arg);
+ static void remove(remoteproc *rproc);
+ static void *mmap(remoteproc *rproc,
+ metal_phys_addr_t *pa,
+ metal_phys_addr_t *da,
+ size_t size,
+ unsigned int attribute,
+ metal_io_region **io);
+ static int notify(remoteproc *rproc, uint32_t id);
+ static struct remoteproc_mem *getMem(remoteproc *rproc,
+ const char *name,
+ metal_phys_addr_t pa,
+ metal_phys_addr_t da,
+ void *va,
+ size_t size,
+ remoteproc_mem *buf);
+
+ // IRQ notification
+ Mailbox::Mailbox &mailbox;
+
+ // Remoteproc
+ MetalIO &mem;
+ remoteproc rproc;
+ remoteproc_ops ops;
+ virtio_device *vdev;
+
+ // FreeRTOS
+ SemaphoreHandle_t notifySemaphore;
+ TaskHandle_t notifyHandle;
+};
+
+/*****************************************************************************
+ * Rpmsg
+ *****************************************************************************/
+
+class Rpmsg {
+public:
+ Rpmsg(RProc &rproc, const char *const name);
+
+ int send(void *data, size_t len, uint32_t dst = 0);
+ void *physicalToVirtual(metal_phys_addr_t pa);
+
+protected:
+ virtual int handleMessage(void *data, size_t len, uint32_t src);
+
+private:
+ // RPMsg ops
+ static void rpmsgNsBind(rpmsg_device *rdev, const char *name, uint32_t dest);
+ static void nsUnbindCallback(rpmsg_endpoint *ept);
+ static int endpointCallback(rpmsg_endpoint *ept, void *data, size_t len, uint32_t src, void *priv);
+
+ // RPMsg
+ rpmsg_virtio_device rvdev;
+ rpmsg_device *rdev;
+ rpmsg_endpoint endpoint;
+};