diff --git a/README.md b/README.md
index 046f406..b20718a 100644
--- a/README.md
+++ b/README.md
@@ -59,6 +59,101 @@
 $ FVP_Corstone_SSE-300_Ethos-U55 applications/freertos/freertos.elf
 ```
 
+# Multi NPU
+
+The Tensorflow Lite for Microcontrollers (TFLu) framework supports running
+multiple parallel inferences. Each parallel inference requires a TFLu arena
+(costs memory) and a stack (requires an RTOS). The examples provided in this
+repo are implemented in the application layer, which means that any RTOS could
+be used.
+
+The Ethos-U NPU driver is implemented in plain C. To enable thread safety in a
+multi-threading environment the driver defines a set of weak functions that the
+application is expected to override, providing implementations for mutex and
+semaphore primitives.
+
+The weak function can be found in
+[ethosu_driver.c](https://git.mlplatform.org/ml/ethos-u/ethos-u-core-driver.git/tree/src/ethosu_driver.c?id=35b5d0eebf9709a3439d362a0b53d6270cbc4a94#n173).
+An example based on FreeRTOS how to override and implement these functions can
+be found in
+[applications/freertos/main.cpp](https://git.mlplatform.org/ml/ethos-u/ethos-u-core-platform.git/tree/applications/freertos/main.cpp?id=991af2bd8fb6c79dfb317837353857f34a727b17#n108).
+
+The sequence diagram below illustrates the call stack for a multi NPU system.
+Please note how the `ethosu_mutex_*` and `ethosu_semaphore_*` functions are
+implemented in the application layer. Mutexes are used for thread safety and
+semaphores for sleeping.
+
+![Multi NPU](docs/multinpu.svg "Multi NPU sequence diagram")
+
+## Tradeoffs
+
+A single Cortex-M is capable of driving multiple Ethos-U. What the optimal
+number of Ethos-U is, that is impossible to tell without knowing which network
+to run or without detailed knowledge about the limitations of the embedded
+system.
+
+Each parallel inference requires an arena. The arena should for optimal
+performance be placed in a high bandwidth low latency memory like SRAM, which is
+a cost that has to be considered. The size of the arena varies greatly depending
+on the network.
+
+For networks that map fully to Ethos-U, the memory bandwidth might become a
+limiting factor. For networks that run partly in software, the Cortex-M might
+become the limiting factor. The placement of the TFLu model and arena (flash,
+DRAM, SRAM, etc) will also have a big impact on the performance.
+
+# Startup
+
+The applications in this repo use
+[CMSIS Device](https://github.com/ARM-software/CMSIS_5/tree/develop/Device/) to
+startup the Cortex-M. The standard procedure is to copy and modify the CMSIS
+templates, but in this repo we have chosen to include the unmodified templates
+directly from CMSIS.
+
+The sequence diagram below describes what happens after the Cortex-M reset is
+lifted, up until the execution enters the application `main()`.
+
+![Startup](docs/startup.svg "Startup sequence diagram")
+
+## CMSIS Device
+
+First thing that happens is that the CPU loads index 0 from the interrupt vector
+into the SP register and index 1 into the PC register, and then starts executing
+from the PC location.
+
+Index 1 in the VTOR is referred to as the reset handler and is resposible for
+initializing the CPU. If the CPU for example has a FPU or MVE extension, then
+these are enabled.
+
+## Compiler runtime
+
+The entry function for the compiler runtime setup varies depending on which
+compiler that is used. For Arm Clang this function is called `__main()`, not to
+be confused with the application `main()`!
+
+The runtime is responsible for initializing the memory segments and setting up
+the runtime environment. Please refer to the compiler documentation for detailed
+information about the runtime setup.
+
+## Target
+
+The [`init()`](targets/common/src/init.cpp) is defined as a constructor, which
+will be called before the application `main()`. We use this constructor to run
+`targetSetup()` to initialize the platform.
+
+For each target there is a `targets/<target>` directory, which contains linker
+scripts and code needed to setup the target. `targetSetup()` is implemented in
+this folder and is responsible for initializing drivers, configuring the MPU,
+enabling caches etc.
+
+Adding a new target would involve creating a new `targets/<target>` directory,
+providing linker scripts and implementing `targetSetup()`.
+
+## Application
+
+Finally the runtime calls application `main()`. Ideally the application code
+should be generic and have no knowledge about which target it is executing on.
+
 # License
 
 The Arm Ethos-U core platform is provided under an Apache-2.0 license. Please
diff --git a/docs/multinpu.puml b/docs/multinpu.puml
new file mode 100644
index 0000000..e5248b1
--- /dev/null
+++ b/docs/multinpu.puml
@@ -0,0 +1,82 @@
+@startuml
+
+skinparam backgroundColor #EEEBDC
+
+box "Application" #00C1DE
+participant "main()" as app
+end box
+
+box "Tensorflow" #FF6B00
+participant "TFLu" as tflu
+participant "Ethos-U custom op" as custom
+end box
+
+box "Ethos-U driver" #95D600
+participant "Driver" as driver
+end box
+
+box "Hardware" #FFC700
+participant "Cortex-M" as cortexm
+participant "Ethos-U" as ethosu
+end box
+
+app -> tflu++: Invoke()
+    tflu -> custom++: Eval()
+        custom -> driver++: ethosu_reserve_driver()
+            loop Find and reserve driver
+                driver -> app++: ethosu_mutex_lock()
+                return
+
+                driver -> driver: ethosu_find_and_reserve_driver()
+
+                driver -> app++: ethosu_mutex_unlock()
+                return
+
+                alt Found free driver
+                    note over driver
+                        Return free driver
+                    end note
+                else No driver available
+                    driver -> app++: ethosu_semaphore_take()
+                        note over app
+                            Block on semaphore
+                        end note
+                    return
+                end
+            end loop
+        return
+
+        custom -> driver++: ethosu_invoke()
+            driver -\\ ethosu: Configure NPU and trigger inference
+
+            driver -> driver++: wait_for_irq()
+                note over driver
+                    Driver sleeping waiting for IRQ
+                end note
+
+                ethosu -\\ cortexm: IRQ
+                cortexm -\\ driver: ethosu_irq_handler()
+
+                note over driver
+                    Driver woken up by IRQ handler
+                end note
+            return
+        return
+
+        custom -> driver++: ethosu_release_driver()
+            driver -> app++: ethosu_mutex_lock()
+            return
+
+            driver -> app++: ethosu_semaphore_give()
+                note over app
+                    Wake up threads blocking on the semaphore
+                end note
+            return
+
+            driver -> app++: ethosu_mutex_unlock()
+            return
+        return
+    return
+return
+
+@enduml
diff --git a/docs/multinpu.svg b/docs/multinpu.svg
new file mode 100644
index 0000000..bc3b6b0
--- /dev/null
+++ b/docs/multinpu.svg
@@ -0,0 +1,95 @@
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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="172.5" x2="555.5" y1="286.2266" y2="286.2266"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="184.5" y="281.2935">ethosu_mutex_unlock()</text><polygon fill="#A80036" points="544.5,296.3594,554.5,300.3594,544.5,304.3594,548.5,300.3594" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="162.5" x2="550.5" y1="300.3594" y2="300.3594"/><rect fill="none" height="153.3359" style="stroke: #000000; stroke-width: 2.0;" width="565" x="74" y="315.3594"/><polygon fill="#EEEEEE" points="74,315.3594,138,315.3594,138,322.3594,128,332.3594,74,332.3594,74,315.3594" style="stroke: #000000; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="13" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="19" x="89" y="328.4263">alt</text><text fill="#000000" font-family="sans-serif" font-size="11" font-weight="bold" lengthAdjust="spacingAndGlyphs" textLength="121" x="153" y="327.5698">[Found free driver]</text><polygon fill="#FBFB77" filter="url(#f161eqf8p7fyeb)" points="493,337.4922,493,362.4922,625,362.4922,625,347.4922,615,337.4922,493,337.4922" style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="226" x2="226" y1="420.5625" y2="430.5625"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="236" x2="226" y1="430.5625" y2="430.5625"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="131" x="90" y="437.6294">Block on semaphore</text><polygon fill="#A80036" points="544.5,456.6953,554.5,460.6953,544.5,464.6953,548.5,460.6953" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="162.5" x2="550.5" y1="460.6953" y2="460.6953"/><polygon fill="#A80036" points="374.5,484.6953,364.5,488.6953,374.5,492.6953,370.5,488.6953" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="368.5" x2="560.5" y1="488.6953" y2="488.6953"/><polygon fill="#A80036" points="544.5,513.6953,554.5,517.6953,544.5,521.6953,548.5,517.6953" style="stroke: #A80036; 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stroke-width: 1.0;" x1="571.5" x2="581.5" y1="686.3594" y2="682.3594"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="571.5" x2="819.5" y1="686.3594" y2="686.3594"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="132" x="588.5" y="681.4263">ethosu_irq_handler()</text><polygon fill="#FBFB77" filter="url(#f161eqf8p7fyeb)" points="450,699.4922,450,724.4922,669,724.4922,669,709.4922,659,699.4922,450,699.4922" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="659" x2="659" y1="699.4922" y2="709.4922"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="669" x2="659" y1="709.4922" y2="709.4922"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="198" x="456" y="716.5591">Driver woken up by IRQ handler</text><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="571.5" x2="613.5" y1="744.625" y2="744.625"/><line style="stroke: #A80036; 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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="172.5" x2="555.5" y1="824.7578" y2="824.7578"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="134" x="184.5" y="819.8247">ethosu_mutex_lock()</text><polygon fill="#A80036" points="544.5,834.8906,554.5,838.8906,544.5,842.8906,548.5,838.8906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="162.5" x2="550.5" y1="838.8906" y2="838.8906"/><polygon fill="#A80036" points="178.5,863.8906,168.5,867.8906,178.5,871.8906,174.5,867.8906" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="172.5" x2="555.5" y1="867.8906" y2="867.8906"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="167" x="184.5" y="862.9575">ethosu_semaphore_give()</text><polygon fill="#FBFB77" filter="url(#f161eqf8p7fyeb)" points="8,881.0234,8,906.0234,314,906.0234,314,891.0234,304,881.0234,8,881.0234" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="304" x2="304" y1="881.0234" y2="891.0234"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="314" x2="304" y1="891.0234" y2="891.0234"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="285" x="14" y="898.0903">Wake up threads blocking on the semaphore</text><polygon fill="#A80036" points="544.5,917.1563,554.5,921.1563,544.5,925.1563,548.5,921.1563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="162.5" x2="550.5" y1="921.1563" y2="921.1563"/><polygon fill="#A80036" points="178.5,946.1563,168.5,950.1563,178.5,954.1563,174.5,950.1563" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="172.5" x2="555.5" y1="950.1563" y2="950.1563"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="150" x="184.5" y="945.2231">ethosu_mutex_unlock()</text><polygon fill="#A80036" points="544.5,960.2891,554.5,964.2891,544.5,968.2891,548.5,964.2891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="162.5" x2="550.5" y1="964.2891" y2="964.2891"/><polygon fill="#A80036" points="374.5,974.2891,364.5,978.2891,374.5,982.2891,370.5,978.2891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="368.5" x2="560.5" y1="978.2891" y2="978.2891"/><polygon fill="#A80036" points="263.5,988.2891,253.5,992.2891,263.5,996.2891,259.5,992.2891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="257.5" x2="357.5" y1="992.2891" y2="992.2891"/><polygon fill="#A80036" points="173.5,1002.2891,163.5,1006.2891,173.5,1010.2891,169.5,1006.2891" style="stroke: #A80036; stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 2.0,2.0;" x1="167.5" x2="246.5" y1="1006.2891" y2="1006.2891"/><!--
+@startuml
+
+skinparam backgroundColor #EEEBDC
+
+box "Application" #00C1DE
+participant "main()" as app
+end box
+
+box "Tensorflow" #FF6B00
+participant "TFLu" as tflu
+participant "Ethos-U custom op" as custom
+end box
+
+box "Ethos-U driver" #95D600
+participant "Driver" as driver
+end box
+
+box "Hardware" #FFC700
+participant "Cortex-M" as cortexm
+participant "Ethos-U" as ethosu
+end box
+
+app -> tflu++: Invoke()
+    tflu -> custom++: Eval()
+        custom -> driver++: ethosu_reserve_driver()
+            loop Find and reserve driver
+                driver -> app++: ethosu_mutex_lock()
+                return
+
+                driver -> driver: ethosu_find_and_reserve_driver()
+
+                driver -> app++: ethosu_mutex_unlock()
+                return
+
+                alt Found free driver
+                    note over driver
+                        Return free driver
+                    end note
+                else No driver available
+                    driver -> app++: ethosu_semaphore_take()
+                        note over app
+                            Block on semaphore
+                        end note
+                    return
+                end
+            end loop
+        return
+
+        custom -> driver++: ethosu_invoke()
+            driver -\\ ethosu: Configure NPU and trigger inference
+
+            driver -> driver++: wait_for_irq()
+                note over driver
+                    Driver sleeping waiting for IRQ
+                end note
+
+                ethosu -\\ cortexm: IRQ
+                cortexm -\\ driver: ethosu_irq_handler()
+
+                note over driver
+                    Driver woken up by IRQ handler
+                end note
+            return
+        return
+
+        custom -> driver++: ethosu_release_driver()
+            driver -> app++: ethosu_mutex_lock()
+            return
+
+            driver -> app++: ethosu_semaphore_give()
+                note over app
+                    Wake up threads blocking on the semaphore
+                end note
+            return
+
+            driver -> app++: ethosu_mutex_unlock()
+            return
+        return
+    return
+return
+
+@enduml
+
+PlantUML version 1.2017.15(Mon Jul 03 18:45:34 CEST 2017)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.10+9-Ubuntu-0ubuntu1.18.04
+Operating System: Linux
+OS Version: 5.4.0-70-generic
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
\ No newline at end of file
diff --git a/docs/startup.puml b/docs/startup.puml
new file mode 100644
index 0000000..f9cb528
--- /dev/null
+++ b/docs/startup.puml
@@ -0,0 +1,71 @@
+@startuml
+
+skinparam backgroundColor #EEEBDC
+
+box "Hardware" #FFC700
+participant "Cortex-M" as cortexm
+participant "Ethos-U" as ethosu
+end box
+
+box "CMSIS Device" #0091BD
+participant "__VECTOR_TABLE" as ivec
+participant "Reset_Handler()" as reset
+end box
+
+box "Compiler" #FF6B00
+participant "Runtime" as runtime
+end box
+
+box "Target" #95D600
+participant "common" as common
+participant "corstone-300" as target
+end box
+
+box "Drivers" #00C1DE
+participant "NPU" as driver
+participant "UART" as uart
+participant "MPU" as mpu
+end box
+
+box "Application" #7D868C
+participant "main()" as main
+end box
+
+cortexm -> ivec++:
+    ivec -> reset++: Reset_Handler()
+        reset -> reset++: SystemInit()
+        deactivate reset
+
+        reset -> runtime++: __main()
+        note over runtime
+            Scatter loading
+            Initializing stack and heap
+        end note
+
+        note over runtime
+            Calling constructors
+        end note
+
+        runtime -> common++: init() [constructor]
+            note over common
+                The constructor is called after stack and heap have been initialized,
+                but before the main() function is called
+            end note
+
+            common -> target++: targetSetup()
+                target -> uart++: uart_init()
+                return
+
+                target -> driver++: ethosu_init()
+                return
+
+                target -> mpu++: loadAndEnableConfig()
+                return
+            return
+        return
+
+        runtime -> main++: main()
+            note over main
+                Running application
+            end note
+@enduml
diff --git a/docs/startup.svg b/docs/startup.svg
new file mode 100644
index 0000000..a2c9f52
--- /dev/null
+++ b/docs/startup.svg
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stroke-width: 1.0;"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1138" x2="1138" y1="610.2891" y2="620.2891"/><line style="stroke: #A80036; stroke-width: 1.0;" x1="1148" x2="1138" y1="620.2891" y2="620.2891"/><text fill="#000000" font-family="sans-serif" font-size="13" lengthAdjust="spacingAndGlyphs" textLength="124" x="1009" y="627.356">Running application</text><!--
+@startuml
+
+skinparam backgroundColor #EEEBDC
+
+box "Hardware" #FFC700
+participant "Cortex-M" as cortexm
+participant "Ethos-U" as ethosu
+end box
+
+box "CMSIS Device" #0091BD
+participant "__VECTOR_TABLE" as ivec
+participant "Reset_Handler()" as reset
+end box
+
+box "Compiler" #FF6B00
+participant "Runtime" as runtime
+end box
+
+box "Target" #95D600
+participant "common" as common
+participant "corstone-300" as target
+end box
+
+box "Drivers" #00C1DE
+participant "NPU" as driver
+participant "UART" as uart
+participant "MPU" as mpu
+end box
+
+box "Application" #7D868C
+participant "main()" as main
+end box
+
+cortexm -> ivec++:
+    ivec -> reset++: Reset_Handler()
+        reset -> reset++: SystemInit()
+        deactivate reset
+
+        reset -> runtime++: __main()
+        note over runtime
+            Scatter loading
+            Initializing stack and heap
+        end note
+
+        note over runtime
+            Calling constructors
+        end note
+
+        runtime -> common++: init() [constructor]
+            note over common
+                The constructor is called after stack and heap have been initialized,
+                but before the main() function is called
+            end note
+
+            common -> target++: targetSetup()
+                target -> uart++: uart_init()
+                return
+
+                target -> driver++: ethosu_init()
+                return
+
+                target -> mpu++: loadAndEnableConfig()
+                return
+            return
+        return
+
+        runtime -> main++: main()
+            note over main
+                Running application
+            end note
+@enduml
+
+PlantUML version 1.2017.15(Mon Jul 03 18:45:34 CEST 2017)
+(GPL source distribution)
+Java Runtime: OpenJDK Runtime Environment
+JVM: OpenJDK 64-Bit Server VM
+Java Version: 11.0.10+9-Ubuntu-0ubuntu1.18.04
+Operating System: Linux
+OS Version: 5.4.0-70-generic
+Default Encoding: UTF-8
+Language: en
+Country: US
+--></g></svg>
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