Add message_handler application
This is an example application for communication with Ethos-U kernel driver
Change-Id: I1d602682cbfdf26a2b082a56ee6c38e93a49ab8d
diff --git a/applications/message_handler/main.cpp b/applications/message_handler/main.cpp
new file mode 100644
index 0000000..9f7c7cc
--- /dev/null
+++ b/applications/message_handler/main.cpp
@@ -0,0 +1,209 @@
+/*
+ * Copyright (c) 2019-2021 Arm Limited. All rights reserved.
+ *
+ * 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 "message_handler.hpp"
+#include "message_queue.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_NPU_COUNT)
+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 / NUM_PARALLEL_TASKS;
+
+__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 {
+// Queue used to pass inference requests to the inference runner task
+QueueHandle_t inferenceQueue;
+
+// Queue for message responses to the remote host
+QueueHandle_t outputQueue;
+
+// 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
+
+/****************************************************************************
+ * Mutex & Semaphore
+ ****************************************************************************/
+
+extern "C" {
+
+void *ethosu_mutex_create(void) {
+ return xSemaphoreCreateMutex();
+}
+
+void ethosu_mutex_lock(void *mutex) {
+ SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex);
+ xSemaphoreTake(handle, portMAX_DELAY);
+}
+
+void ethosu_mutex_unlock(void *mutex) {
+ SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex);
+ xSemaphoreGive(handle);
+}
+
+void *ethosu_semaphore_create(void) {
+ return xSemaphoreCreateBinary();
+}
+
+void ethosu_semaphore_take(void *sem) {
+ SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem);
+ xSemaphoreTake(handle, portMAX_DELAY);
+}
+
+void ethosu_semaphore_give(void *sem) {
+ SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem);
+ xSemaphoreGiveFromISR(handle, NULL);
+}
+}
+
+/****************************************************************************
+ * Application
+ ****************************************************************************/
+
+namespace {
+
+void mailboxIrqHandler() {
+ mailbox.handleMessage();
+}
+
+void inferenceTask(void *pvParameters) {
+ printf("Starting inference task\n");
+
+ uint8_t *arena = reinterpret_cast<uint8_t *>(pvParameters);
+ InferenceHandler process(arena, arenaSize, inferenceQueue, outputQueue);
+ process.run();
+}
+
+void inputMessageTask(void *pvParameters) {
+ (void)pvParameters;
+
+ printf("Starting input message task\n");
+
+ IncomingMessageHandler process(*inputMessageQueue.toQueue(), mailbox, inferenceQueue, outputQueue);
+ process.run();
+}
+
+void outputMessageTask(void *pvParameters) {
+ (void)pvParameters;
+
+ printf("Starting output message task\n");
+
+ MessageHandler::OutgoingMessageHandler process(*outputMessageQueue.toQueue(), mailbox, outputQueue);
+ process.run();
+}
+
+} // namespace
+
+// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
+int main() {
+ BaseType_t ret;
+
+#ifdef MHU_IRQ
+ // Register mailbox interrupt handler
+ NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
+ NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
+#endif
+
+ if (!mailbox.verifyHardware()) {
+ printf("Failed to verify mailbox hardware\n");
+ return 1;
+ }
+
+ // Create message queues for inter process communication
+ inferenceQueue = xQueueCreate(10, sizeof(ethosu_core_inference_req));
+ outputQueue = xQueueCreate(10, sizeof(OutputMessage));
+
+ // Task for handling incoming messages from the remote host
+ ret = xTaskCreate(inputMessageTask, "inputMessageTask", 512, nullptr, 2, nullptr);
+ if (ret != pdPASS) {
+ printf("Failed to create 'inputMessageTask'\n");
+ return ret;
+ }
+
+ // Task for handling outgoing messages resposes to the remote host
+ ret = xTaskCreate(outputMessageTask, "outputMessageTask", 512, nullptr, 2, nullptr);
+ if (ret != pdPASS) {
+ printf("Failed to create 'outputMessageTask'\n");
+ return ret;
+ }
+
+ // One inference task for each NPU
+ for (size_t n = 0; n < NUM_PARALLEL_TASKS; n++) {
+ ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &tensorArena[n], 3, nullptr);
+ if (ret != pdPASS) {
+ printf("Failed to create 'inferenceTask%d'\n", n);
+ return ret;
+ }
+ }
+
+ // Start Scheduler
+ vTaskStartScheduler();
+
+ return 1;
+}