| /* |
| * 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; |
| } |