diff --git a/ethosu/vela/register_command_stream_generator.py b/ethosu/vela/register_command_stream_generator.py
new file mode 100644
index 0000000..5563b96
--- /dev/null
+++ b/ethosu/vela/register_command_stream_generator.py
@@ -0,0 +1,945 @@
+# Copyright (C) 2020 Arm Limited or its affiliates. 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.
+
+
+# Description:
+# Register level (low-level) command stream generation for Ethos-U55. Takes a high-level command stream and generates
+# all the register settings. Calculates dependencies between commands and inserts wait operations. And generates a bit
+# stream suitable for interpretation by the Ethos-U55 processor.
+
+from collections import defaultdict
+from enum import Enum, IntEnum
+from .high_level_command_stream import CommandType
+from .ethos_u55_regs.ethos_u55_regs import *
+from .tensor import MemArea, TensorBlockTraversal
+from .operation import NpuBlockType
+from .numeric_util import quantise_float32, round_up, round_away_zero, round_up_to_int, clamp_sigmoid, clamp_tanh
+from .data_type import BaseType
+import numpy as np
+from .shared_buffer_allocation import SharedBufferAllocation
+from .architecture_features import SharedBufferArea, SHRAMElements, ArchitectureFeatures
+from .nn_graph import TensorFormat, SchedulingStrategy
+from .range_set import (
+    MemoryAccessSet,
+    AccessDirection,
+)
+from .mark_tensors import (
+    reshape_operations,
+)
+from .architecture_features import Block, Kernel, Rect
+from . import scaling
+
+
+class RegisterMachine:
+    def __init__(self):
+        self.n_banks = 1
+        self.registers = [defaultdict(lambda: None) for _ in range(self.n_banks)]
+        self.bank_idx = 0
+
+    def set_register(self, reg, value):
+        is_changed = self.registers[self.bank_idx][reg] != value
+        self.registers[self.bank_idx][reg] = value
+        # is_changed = True # force command
+        return is_changed
+
+    def switch_bank(self):
+        self.bank_idx = (self.bank_idx + 1) % self.n_banks
+
+
+class CmdMode(IntEnum):
+    NoPayload = 0x0000
+    Payload32 = 0x4000
+    Mask = 0xC000
+    CmdOpMask = 0x03FF
+
+
+class BasePointerIndex(IntEnum):
+    ReadOnly = 0  # base address slot index for weights and scaling
+    Scratch = 1  # base address slot index for scratch memory area
+
+
+# TODO: Replace with definitions from ethos_u55_regs
+class IFM2Broadcast(IntEnum):
+    BroadcastHdim = 1 << 0
+    BroadcastWdim = 1 << 1
+    BroadcastCdim = 1 << 2
+    ReverseOperandOrder = 1 << 6
+    UseIFM2Scalar = 1 << 7
+
+
+class CommandStreamEmitter:
+    def __init__(self):
+        self.cmd_stream = []
+        self.reg_machine = [RegisterMachine(), RegisterMachine()]
+        self.last_absolute_wait = defaultdict(int)
+
+    def get_reg_machine(self, cmd):
+        if "DMA" in cmd.name:
+            return self.reg_machine[1]
+        else:
+            return self.reg_machine[0]
+
+    def size_in_bytes(self):
+        sz = 0
+        for cmd in self.cmd_stream:
+            sz += len(cmd) * 4
+        return sz
+
+    def to_list(self):
+        return [elem for cmd in self.cmd_stream for elem in cmd]
+
+    def print_cmds(self):
+        print("Code:    Command:                       Param: Payload:")
+        for words_for_one_command in self.cmd_stream:
+            code = words_for_one_command[0] & 0x0000FFFF  # lower 16 bits
+            param = words_for_one_command[0] >> 16  # higher 16 bits
+
+            payload_mode = CmdMode(code & CmdMode.Mask)
+
+            # code and command
+            s = "  0x%04x " % code
+            if payload_mode == CmdMode.NoPayload:
+                s += str(cmd0(code & CmdMode.CmdOpMask))
+            else:
+                s += str(cmd1(code & CmdMode.CmdOpMask))
+
+            s = s.ljust(40)
+            s += "%5d" % param
+
+            # payload
+            if payload_mode == CmdMode.Payload32:
+                s += "   0x%08x (%d)" % (words_for_one_command[1], words_for_one_command[1])
+            else:
+                s += "   -"
+
+            print(s)
+
+    def cmd0_with_param(self, cmd, param):
+        if isinstance(param, Enum):
+            param = int(param.value)
+        else:
+            param = int(param)
+        param = param & 0xFFFF
+        command = cmd.value | (param << 16)
+        if not self.get_reg_machine(cmd).set_register(cmd, (command, param)):
+            return
+
+        # This is not a redundant command, actually write it
+        self.cmd_stream.append((command,))
+
+    def cmd1_with_offset(self, cmd, offset, param=0x0):
+        offset = int(offset) & 0xFFFFFFFFF
+        command = cmd.value | CmdMode.Payload32.value | (param << 16)
+
+        if not self.get_reg_machine(cmd).set_register(cmd, (command, offset)):
+            return
+
+        # This is not a redundant command, actually write it
+        self.cmd_stream.append((command, offset))
+
+    def cmd_wait(self, cmd, param, absolute_wait_time):
+        if absolute_wait_time <= self.last_absolute_wait[cmd]:
+            return
+
+        self.last_absolute_wait[cmd] = absolute_wait_time
+        param = int(param)
+        command = ((param & 0xFFFF) << 16) | cmd.value
+        self.cmd_stream.append((command,))
+
+    def cmd_do_operation(self, cmd, param=0):
+        param = int(param)
+        command = ((param & 0xFFFF) << 16) | cmd.value
+
+        self.cmd_stream.append((command,))
+        self.get_reg_machine(cmd).switch_bank()
+
+
+def calc_command_dependencies(cmd_stream, arch):
+    cmd_starts = {}
+    cmd_ends = {}
+    memory_accesses = {}
+
+    # Keep track of accumulated number of commands in command stream.
+    # First element kernel ops: (# of blocks, # of commands)
+    # Second element DMA ops: (# of commands)
+    pos = np.array((np.array((0, 0)), np.array([0])))
+
+    dependencies = {}
+
+    for cmd in cmd_stream:
+        cmd_starts[cmd] = pos
+        op_count = cmd.get_operation_count()
+        # Keep track of both num blocks and commands
+        cmd_add = 0 if (op_count[0] == 0) else 1
+        pos = np.array((pos[0] + np.array((op_count[0], cmd_add)), pos[1] + np.array([op_count[1]])))
+        cmd_ends[cmd] = np.array((pos[0], pos[1]))
+        memory_accesses[cmd] = cmd.get_memory_accesses()
+
+    for idx, cmd in enumerate(cmd_stream):
+        curr_accesses = memory_accesses[cmd]
+        # Keep track of command dependency.
+        # First element kernel ops: (# of blocks, # of commands)
+        # Second element DMA ops: (# of commands)
+        dep_offsets = np.array((np.array((-1, -1)), np.array([-1])))
+        dep_cmds = [None] * CommandType.Size.value
+        if idx > 0:
+            # Look at the previous commands in backwards order
+            for prev_cmd in cmd_stream[idx - 1 :: -1]:
+                assert prev_cmd is not cmd
+                if dep_cmds[prev_cmd.cmdtype] is None:
+                    is_dependency = False
+                    if cmd.cmdtype == CommandType.NpuStripe and prev_cmd.cmdtype == CommandType.NpuStripe:
+                        # Special handling here, as dpu -> dpu operations require additional care
+                        if not SharedBufferAllocation.is_compatible(prev_cmd.ps.shared_buffer, cmd.ps.shared_buffer):
+                            is_dependency = True
+                        elif memory_accesses[prev_cmd].conflicts(curr_accesses):
+                            is_dependency = True
+                    else:
+                        if memory_accesses[prev_cmd].conflicts(curr_accesses):
+                            is_dependency = True
+
+                    if is_dependency:
+                        new_offset = cmd_ends[prev_cmd][prev_cmd.cmdtype]
+                        if new_offset[0] > dep_offsets[prev_cmd.cmdtype][0]:
+                            dep_cmds[prev_cmd.cmdtype] = prev_cmd
+                            dep_offsets[prev_cmd.cmdtype] = new_offset
+
+                        # Check if we've got dependencies for all commands, in which case we can early out
+                        for dep in dep_cmds:
+                            if dep is None:
+                                break
+                        else:
+                            break  # all handled
+
+        # Convert absolute to relative dependencies, using None to signal the special case of no
+        # dependency of this kind
+        res = [None] * CommandType.Size.value
+        for i in range(CommandType.Size.value):
+            if dep_cmds[i] is not None:
+                res[i] = cmd_starts[cmd][i] - dep_offsets[i]
+
+        dependencies[cmd] = cmd_starts[cmd], res
+
+    return dependencies
+
+
+def get_op_kernel(ps):
+    if ps.primary_op is None:
+        return None
+
+    strides = ps.primary_op.attrs.get("strides", (1, 1, 1, 1))
+    dilation = ps.primary_op.attrs.get("dilation", (1, 1, 1, 1))
+    if ps.weight_tensor:
+        if ps.npu_block_type in set((NpuBlockType.VectorProduct, NpuBlockType.ElementWise)):
+            k_h = 1
+            k_w = 1
+        else:
+            k_h = ps.weight_tensor.shape[0]
+            k_w = ps.weight_tensor.shape[1]
+    else:
+        k_h = ps.primary_op.attrs.get("filter_height", 1)
+        k_w = ps.primary_op.attrs.get("filter_width", 1)
+
+    return Kernel(k_w, k_h, strides[2], strides[1], dilation[2], dilation[1])
+
+
+def full_shape(shape, fill):
+    return ([fill] * (4 - len(shape))) + shape
+
+
+def has_prev_op_dependency(prev_cmd, cmd):
+    if prev_cmd is None:
+        return False
+    if (prev_cmd.cmdtype == cmd.cmdtype == CommandType.NpuStripe) and (prev_cmd.ps != cmd.ps):
+        if prev_cmd.ofm_tensor == cmd.ifm_tensor:
+            return True
+        else:
+            return prev_cmd.ofm_tensor.equivalence_id == cmd.ifm_tensor.equivalence_id
+    return False
+
+
+def get_op_ofm_rect(cmd):
+    start = full_shape(cmd.ofm_box.start_coord, 0)
+    end = full_shape(cmd.ofm_box.end_coord, 1)
+    return Rect(start[-2], start[-3], start[-1], end[-2] - 1, end[-3] - 1, end[-1] - 1)
+
+
+def get_op_ifm_rect(cmd):
+    start = full_shape(cmd.ifm_box.start_coord, 0)
+    end = full_shape(cmd.ifm_box.end_coord, 1)
+    return Rect(start[-2], start[-3], start[-1], end[-2] - 1, end[-3] - 1, end[-1] - 1)
+
+
+def get_op_ifmofm_block_depth(arch, cmd):
+    # Note: NOT equivalent to the normal ifm block depth calculation since
+    # it takes into account 'depthless' block operations by returning full
+    # depth
+    if cmd.ps.npu_block_type in (NpuBlockType.ConvolutionDepthWise, NpuBlockType.Pooling, NpuBlockType.ElementWise):
+        return cmd.ofm_box.get_size_shape()[-1]
+
+    return arch.calc_ifm_block_depth(cmd.ifm_box.get_size_shape()[-1], cmd.ifm_tensor.dtype.bits)
+
+
+def get_op_padding_lt(cmd):
+    if cmd.ps.npu_block_type not in (
+        NpuBlockType.ConvolutionDepthWise,
+        NpuBlockType.Pooling,
+        NpuBlockType.ConvolutionMxN,
+    ):
+        return (0, 0)
+
+    explicit_padding = list(cmd.ps.primary_op.attrs["explicit_padding"])  # (top, left, bottom, right)
+
+    # Check if this is for horizontal ifm streaming
+    if not (cmd.is_first_h_stripe and cmd.is_last_h_stripe):
+        explicit_padding[0] = cmd.pad_top
+        explicit_padding[2] = cmd.pad_bottom
+
+    return (explicit_padding[1], explicit_padding[0])
+
+
+def generate_register_command_stream(nng, sg, arch, verbose=False):
+    emit = CommandStreamEmitter()
+
+    base_ptr_idx_map = {
+        MemArea.Sram: BasePointerIndex.Scratch,
+        MemArea.OnChipFlash: BasePointerIndex.ReadOnly,
+        MemArea.OffChipFlash: BasePointerIndex.ReadOnly,
+        MemArea.Dram: BasePointerIndex.ReadOnly,
+    }
+
+    # Maps an AccumulatorType enum to the corresponding acc_format value
+    acc_format_map = {
+        SHRAMElements.Acc16: acc_format.FP_S5_10.value,
+        SHRAMElements.Acc32: acc_format.INT_32BIT.value,
+        SHRAMElements.Acc40: acc_format.INT_40BIT.value,
+    }
+
+    # Maps an elementwise op type to an elementwise_mode enum value used by NPU_OP_ELEMENTWISE
+    elementwise_mode_map = {
+        "MulAct": elementwise_mode.MUL.value,
+        "AddAct": elementwise_mode.ADD.value,
+        "SubAct": elementwise_mode.SUB.value,
+        "Minimum": elementwise_mode.MIN.value,
+        "Maximum": elementwise_mode.MAX.value,
+        "LeakyRelu": elementwise_mode.LRELU.value,
+        "Abs": elementwise_mode.ABS.value,
+    }
+
+    cmd_stream = []
+    for cmd in sg.high_level_command_stream:
+        if cmd.cmdtype == CommandType.NpuStripe and cmd.ps.npu_block_type == NpuBlockType.Default:
+            print("Warning: Skipping register command stream generation for", cmd.ps)
+        else:
+            cmd_stream.append(cmd)
+
+    dependencies = calc_command_dependencies(cmd_stream, arch)
+
+    # Initialise operator dependency state
+    prev_ifm_rect = cur_ifm_rect = None
+    prev_ifm_block_depth = cur_ifm_block_depth = None
+    prev_ofm_rect = cur_ofm_rect = None
+    prev_ofm_block = cur_ofm_block = None
+    prev_kernel = cur_kernel = None
+    prev_cmd = None
+
+    def emit_wait_commands(cmd):
+        # The command is fully set up, emit whatever wait commands we need
+        absolute_dep, relative_dep = dependencies[cmd]
+        if relative_dep[CommandType.NpuStripe] is not None:
+            if cmd.cmdtype == CommandType.DMA:
+                param = relative_dep[CommandType.NpuStripe][1]
+                if param <= 3:
+                    emit.cmd_wait(cmd0.NPU_OP_KERNEL_WAIT, param, absolute_dep[CommandType.NpuStripe][1])
+            else:
+                param = relative_dep[CommandType.NpuStripe][0]
+                param = min(param, 0xFFFF)  # Clamp to allowable wait amount
+
+        if relative_dep[CommandType.DMA] is not None:
+            param = relative_dep[CommandType.DMA][0]
+            param = min(param, 0xF)  # Clamp to allowable wait amount
+            emit.cmd_wait(cmd0.NPU_OP_DMA_WAIT, param, absolute_dep[CommandType.DMA][0])
+            prev_cmd = None  # Clear any dependency
+
+    # Start by issuing REGION commands since they remain the same
+    emit.cmd0_with_param(cmd0.NPU_SET_IFM_REGION, BasePointerIndex.Scratch)
+    emit.cmd0_with_param(cmd0.NPU_SET_IFM2_REGION, BasePointerIndex.Scratch)
+    emit.cmd0_with_param(cmd0.NPU_SET_OFM_REGION, BasePointerIndex.Scratch)
+    for cmd in cmd_stream:
+        if cmd.cmdtype == CommandType.DMA:
+            start_coord = cmd.box.start_coord
+
+            src_addr = cmd.in_tensor.address_for_coordinate(start_coord)
+            dst_addr = cmd.out_tensor.address_for_coordinate(start_coord)
+
+            if cmd.in_tensor.compressed_values is not None:
+                stream_index = cmd.in_tensor.compressed_stream_index_from_coord(start_coord)
+                sz = cmd.in_tensor.size_of_compressed_stream(stream_index)
+            else:
+                sz = cmd.in_tensor.address_for_coordinate(cmd.box.end_coord, is_top_box=True) - src_addr
+
+            # TODO: Yoda support needs to use feature_maps_not_in_fast_storage and force_outputs_to_fast_storage
+            emit.cmd0_with_param(cmd0.NPU_SET_DMA0_SRC_REGION, base_ptr_idx_map[cmd.in_tensor.mem_area])
+            emit.cmd1_with_offset(cmd1.NPU_SET_DMA0_SRC, src_addr)
+            emit.cmd0_with_param(cmd0.NPU_SET_DMA0_DST_REGION, base_ptr_idx_map[cmd.out_tensor.mem_area])
+            emit.cmd1_with_offset(cmd1.NPU_SET_DMA0_DST, dst_addr)
+            emit.cmd1_with_offset(cmd1.NPU_SET_DMA0_LEN, sz)
+            dma_channel = 0
+            mode = 0  # From external to external
+
+            emit_wait_commands(cmd)
+            emit.cmd_do_operation(cmd0.NPU_OP_DMA_START, dma_channel * 16 + mode)
+
+        elif cmd.cmdtype == CommandType.NpuStripe:
+
+            ps = cmd.ps
+            primary_op = ps.primary_op
+            npu_block_type = ps.npu_block_type
+            # Specifies if global scale from the NPU_SET_OFM_SCALE register should be used instead of per-channel scale
+            use_global_scale = False
+            # Specifies type of rounding to be used.
+            rounding_mode = rounding.TFL
+            fmf = primary_op.attrs.get("fused_memory_function", None)
+            faf = primary_op.attrs.get("fused_activation_function", None)
+
+            # Specifies which operand to apply scaling to in bitexact elementwise ADD/SUB
+            op_to_scale = 0
+
+            # Update state history
+            prev_ifm_rect = cur_ifm_rect
+            prev_ifm_block_depth = cur_ifm_block_depth
+            prev_ofm_rect = cur_ofm_rect
+            prev_ofm_block = cur_ofm_block
+            prev_kernel = cur_kernel
+
+            block_config = ps.block_config
+            emit.cmd0_with_param(cmd0.NPU_SET_OFM_BLK_HEIGHT_M1, block_config[0] - 1)
+            emit.cmd0_with_param(cmd0.NPU_SET_OFM_BLK_WIDTH_M1, block_config[1] - 1)
+            emit.cmd0_with_param(cmd0.NPU_SET_OFM_BLK_DEPTH_M1, block_config[3] - 1)
+
+            shared_buffer = ps.shared_buffer
+
+            if npu_block_type == NpuBlockType.ElementWise:
+                ifm2_broadcast = 0
+
+                if cmd.ifm_tensor.shape == []:
+                    # The scalar has to be the ifm2 tensor so switch the ifms
+                    cmd.ifm_tensor, cmd.ifm2_tensor = cmd.ifm2_tensor, cmd.ifm_tensor
+                    cmd.ifm_box, cmd.ifm2_box = cmd.ifm2_box, cmd.ifm_box
+
+                    # Set ReverseOperandOrder bit to IFM2_BROADCAST
+                    ifm2_broadcast |= IFM2Broadcast.ReverseOperandOrder
+
+                # Calculate scales needed for arithmetic elementwise operators
+                if primary_op.type in set(("AddAct", "MulAct", "SubAct",)):
+                    input_scale = cmd.ifm_tensor.quantization.scale_f32
+                    input2_scale = cmd.ifm2_tensor.quantization.scale_f32
+                    output_scale = cmd.ofm_tensor.quantization.scale_f32
+                    use_global_scale = True
+
+                    if primary_op.type == "MulAct":
+                        if (faf == "Sigmoid") or (faf == "Tanh"):
+                            output_scale = 1 / 0x3000
+
+                        ofm_scale, shift = scaling.elementwise_mul_scale(input_scale, input2_scale, output_scale)
+                        emit.cmd1_with_offset(cmd1.NPU_SET_OFM_SCALE, ofm_scale, shift)
+                    else:  # AddAct/SubAct
+                        if (faf == "Sigmoid") or (faf == "Tanh"):
+                            output_scale = 1 / 0x3000
+
+                        if input_scale == input2_scale:
+                            opa_scale, opb_scale, ofm_scale, shift = scaling.simplified_elementwise_add_sub_scale(
+                                input_scale, input2_scale, output_scale
+                            )
+                            opa_shift = 0  # Unused for this case
+                        else:
+                            # Use advanced implementation only when input scales differ
+                            bitdepth = cmd.ifm_tensor.dtype.bits
+                            (
+                                opa_scale,
+                                opa_shift,
+                                ofm_scale,
+                                shift,
+                                op_to_scale,
+                            ) = scaling.advanced_elementwise_add_sub_scale(
+                                input_scale, input2_scale, output_scale, bitdepth
+                            )
+                            opb_scale = 0  # Unused for this case
+                            if ifm2_broadcast & IFM2Broadcast.ReverseOperandOrder:
+                                # If the operand order is reversed we also have to swap which operand is scaled
+                                if op_to_scale == scaling.OperandToScale.OPa:
+                                    op_to_scale = scaling.OperandToScale.OPb
+                                else:
+                                    op_to_scale = scaling.OperandToScale.OPa
+
+                        emit.cmd1_with_offset(cmd1.NPU_SET_OPA_SCALE, opa_scale, opa_shift)
+                        emit.cmd1_with_offset(cmd1.NPU_SET_OPB_SCALE, opb_scale)
+                        emit.cmd1_with_offset(cmd1.NPU_SET_OFM_SCALE, ofm_scale, shift)
+
+                if primary_op.type in set(("LeakyRelu", "Abs",)):
+                    output_scale = cmd.ofm_tensor.quantization.scale_f32
+                    use_global_scale = True
+
+                    if primary_op.type == "LeakyRelu":
+                        output_scale *= primary_op.attrs["alpha"]
+
+                    ofm_scale, shift = scaling.quantise_scale(output_scale)
+                    emit.cmd1_with_offset(cmd1.NPU_SET_OFM_SCALE, ofm_scale, shift)
+
+                # For elementwise set the required SHRAM to be equal to the total size of SHRAM
+                shram_required = arch.shram_total_banks
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_IB_END, shram_required)
+
+                # Acc buffers not needed so set AB_START to size of SHRAM
+                emit.cmd0_with_param(cmd0.NPU_SET_AB_START, arch.shram_total_banks)
+
+                # Is not a unary operator
+                if cmd.ifm2_tensor is not None:
+                    if cmd.ifm2_tensor.shape == []:
+                        # IFM2 is a constant, set UseIFM2Scalar bit to IFM2_BROADCAST
+                        ifm2_broadcast |= IFM2Broadcast.UseIFM2Scalar
+                    else:
+                        ifm_box_shape = cmd.ifm_box.get_size_shape()
+                        ifm2_box_shape = cmd.ifm2_box.get_size_shape()
+
+                        if len(cmd.ifm_tensor.shape) > 1 and ifm_box_shape[1] != ifm2_box_shape[1]:
+                            # Broadcast in 'H' dimension
+                            assert cmd.ifm2_tensor.shape[1] == 1
+                            ifm2_broadcast |= IFM2Broadcast.BroadcastHdim
+
+                        if len(cmd.ifm_tensor.shape) > 2 and ifm_box_shape[2] != ifm2_box_shape[2]:
+                            # Broadcast in 'W' dimension
+                            assert cmd.ifm2_tensor.shape[2] == 1
+                            ifm2_broadcast |= IFM2Broadcast.BroadcastWdim
+
+                        if len(cmd.ifm_tensor.shape) > 3 and ifm_box_shape[3] != ifm2_box_shape[3]:
+                            # Broadcast in 'C' dimension
+                            assert cmd.ifm2_tensor.shape[3] == 1
+                            ifm2_broadcast |= IFM2Broadcast.BroadcastCdim
+
+                        # Set IFM2_IB_START to the latter half of the IB space
+                        ifm_ib_start = shared_buffer.bank_locations[SharedBufferArea.IFM]
+                        emit.cmd0_with_param(
+                            cmd0.NPU_SET_IFM2_IB_START, (shram_required - ifm_ib_start) / 2 + ifm_ib_start
+                        )
+
+                    emit.cmd0_with_param(cmd0.NPU_SET_IFM2_BROADCAST, ifm2_broadcast)
+
+            else:
+                emit.cmd0_with_param(
+                    cmd0.NPU_SET_IFM_IB_END,
+                    shared_buffer.bank_locations[SharedBufferArea.IFM]
+                    + shared_buffer.banks_required[SharedBufferArea.IFM],
+                )
+                emit.cmd0_with_param(cmd0.NPU_SET_AB_START, shared_buffer.bank_locations[SharedBufferArea.Accumulators])
+
+            emit.cmd0_with_param(cmd0.NPU_SET_ACC_FORMAT, acc_format_map[shared_buffer.use_accumulator_element])
+
+            emit.cmd0_with_param(cmd0.NPU_SET_IFM_UPSCALE, 0)
+
+            if npu_block_type in set(
+                (NpuBlockType.ConvolutionMxN, NpuBlockType.ConvolutionDepthWise, NpuBlockType.Pooling)
+            ):
+                # Set up padding
+                explicit_padding = list(primary_op.attrs["explicit_padding"])  # (top, left, bottom, right)
+
+                # Check if this is for horizontal ifm streaming
+                if not (cmd.is_first_h_stripe and cmd.is_last_h_stripe):
+                    explicit_padding[0] = cmd.pad_top
+                    explicit_padding[2] = cmd.pad_bottom
+
+                # Indexing from end since a 1x1 Avgpool might have been added with non 4-dimensional input/output,
+                # because of activation function needed to be fused.
+                if cmd.ifm_box.start_coord[-2] > 0:
+                    explicit_padding[1] = 0
+                if cmd.ifm_box.end_coord[-2] < cmd.ifm_tensor.shape[-2]:
+                    explicit_padding[3] = 0
+
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_TOP, explicit_padding[0])
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_LEFT, explicit_padding[1])
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_BOTTOM, explicit_padding[2])
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_RIGHT, explicit_padding[3])
+
+                stride = primary_op.attrs["strides"][2] - 1
+                stride |= (primary_op.attrs["strides"][1] - 1) << 1
+
+                if npu_block_type == NpuBlockType.Pooling:
+                    k_height, k_width = primary_op.attrs["ksize"][1:3]
+                    emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_HEIGHT_M1, k_height - 1)
+                    emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_WIDTH_M1, k_width - 1)
+
+                    valid_padding = sum(explicit_padding) == 0
+
+                    if primary_op.type in set(("AvgPool", "AvgPoolAct")) and valid_padding:
+                        # For valid padding vela has to output scaling values
+                        if faf == "Sigmoid" or faf == "Tanh":
+                            rescale = 0x3000 * cmd.ifm_tensor.quantization.scale_f32
+                            rescale_bits = len(bin(round_up_to_int(rescale))) - 2 + 1
+
+                            scale, shift = scaling.quantise_pooling_scale(k_height * k_width, rescale_bits)
+                            scale = int(round_away_zero(scale * rescale))
+                        else:
+                            # In case avg pool fused with concat or other memory operation, rescaling might be needed.
+                            # k_height == k_width == 1 is allways true in this case
+                            # Normally the scale is maximised, to get maximum precision, which means that
+                            # if rescale != 1, scale need to consider the number of bits needed for rescaling
+                            rescale = cmd.ifm_tensor.quantization.scale_f32 / cmd.ofm_tensor.quantization.scale_f32
+                            rescale_bits = 0
+                            if k_height == k_width == 1:
+                                if fmf == "ConcatSliceWrite":
+                                    rounding_mode = rounding.NATURAL
+                                if rescale > 1:
+                                    rescale_bits = len(bin(round_up_to_int(rescale))) - 2 + 1
+                                elif rescale < 1:
+                                    rescale_bits = -(len(bin(round_up_to_int(1 / rescale))) - 2 - 1)
+                            scale, shift = scaling.quantise_pooling_scale(k_height * k_width, rescale_bits)
+                            scale = int(round_away_zero(scale * rescale))
+
+                        emit.cmd1_with_offset(cmd1.NPU_SET_OFM_SCALE, scale, shift)
+                        # Valid-padded average pool should use the global scale from
+                        # NPU_SET_OFM_SCALE register, which is set above.
+                        use_global_scale = True
+
+                else:  # Convolution
+                    assert cmd.weight_tensor.block_traversal != TensorBlockTraversal.Default
+                    emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_HEIGHT_M1, cmd.weight_tensor.shape[0] - 1)
+                    emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_WIDTH_M1, cmd.weight_tensor.shape[1] - 1)
+                    if cmd.weight_tensor.block_traversal == TensorBlockTraversal.PartKernelFirst:
+                        # Part-kernel-first weight ordering
+                        assert npu_block_type == NpuBlockType.ConvolutionMxN
+                        stride |= 1 << 2
+
+                emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_STRIDE, stride)
+
+            elif npu_block_type in set((NpuBlockType.VectorProduct,)):
+                # Vector product is implemented using a 1x1 convolution so need
+                # to setup the appropriate padding and kernel info
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_TOP, 0)
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_LEFT, 0)
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_BOTTOM, 0)
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_PAD_RIGHT, 0)
+
+                # kernel stride reg = 0 means stride(1,1) + depth first weight
+                # order + dilation(0,0) + kernel_split_size=8
+                emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_STRIDE, 0)
+
+                emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_HEIGHT_M1, 0)
+                emit.cmd0_with_param(cmd0.NPU_SET_KERNEL_WIDTH_M1, 0)
+
+            if npu_block_type in set(
+                (NpuBlockType.ConvolutionMxN, NpuBlockType.ConvolutionDepthWise, NpuBlockType.VectorProduct)
+            ):
+                # Emit Weight base address commands, only maps the area required for
+                # this command's weights from the larger tensor.
+                stream_index = cmd.weight_tensor.compressed_stream_index_from_coord(cmd.weight_box.start_coord)
+                weight_addr = cmd.weight_tensor.address_for_coordinate(cmd.weight_box.start_coord)
+                weight_len = cmd.weight_tensor.size_of_compressed_stream(stream_index)
+                # Select weight/scale region depending on where permanent storage was defined
+                weight_region = base_ptr_idx_map[cmd.weight_tensor.mem_area]
+                if arch.permanent_storage_mem_area == MemArea.Sram:
+                    weight_region = BasePointerIndex.ReadOnly
+                emit.cmd0_with_param(cmd0.NPU_SET_WEIGHT_REGION, weight_region)
+                emit.cmd1_with_offset(cmd1.NPU_SET_WEIGHT_BASE, weight_addr)
+                emit.cmd1_with_offset(cmd1.NPU_SET_WEIGHT_LENGTH, weight_len)
+
+                # Emit Scale & Bias base address commands, with length matching the amount required by
+                # the weight tensors.
+                if cmd.scale_tensor is not None:
+                    # Get address and size of the scale/bias data area
+                    scale_addr = cmd.scale_tensor.address_for_coordinate(cmd.weight_box.start_coord[-1:])
+                    scale_len = (
+                        cmd.scale_tensor.address_for_coordinate(cmd.weight_box.end_coord[-1:], True) - scale_addr
+                    )
+                    # Emit base address for NPU to access scale & bias data
+                    scale_region = base_ptr_idx_map[cmd.scale_tensor.mem_area]
+                    if arch.permanent_storage_mem_area == MemArea.Sram:
+                        scale_region = BasePointerIndex.ReadOnly
+                    emit.cmd0_with_param(cmd0.NPU_SET_SCALE_REGION, scale_region)
+                    emit.cmd1_with_offset(cmd1.NPU_SET_SCALE_BASE, scale_addr)
+                    emit.cmd1_with_offset(cmd1.NPU_SET_SCALE_LENGTH, round_up(scale_len, 16))
+
+            ofm_quant = cmd.ofm_tensor.quantization
+            ofm_quant_qmin = cmd.ofm_tensor.quantization.quant_min
+            ofm_quant_qmax = cmd.ofm_tensor.quantization.quant_max
+            ifm_min = cmd.ifm_tensor.quantization.min
+            ifm_max = cmd.ifm_tensor.quantization.max
+
+            # Emit commands for any fused activation function
+            if faf == None:
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.NONE)
+                # Even if no activation function, values need to be set to override previous values
+                faf_min = ofm_quant_qmin
+                faf_max = ofm_quant_qmax
+            elif faf == "Relu":
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.NONE)
+                faf_min = quantise_float32(0.0, ofm_quant.scale_f32, ofm_quant.zero_point)
+                faf_max = ofm_quant_qmax
+            elif faf == "Relu6":
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.NONE)
+                faf_min = quantise_float32(0.0, ofm_quant.scale_f32, ofm_quant.zero_point)
+                faf_max = quantise_float32(6.0, ofm_quant.scale_f32, ofm_quant.zero_point)
+            elif faf == "ReluN1To1":
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.NONE)
+                faf_min = quantise_float32(-1.0, ofm_quant.scale_f32, ofm_quant.zero_point)
+                faf_max = quantise_float32(1.0, ofm_quant.scale_f32, ofm_quant.zero_point)
+            elif faf == "Tanh":
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.TANH)
+                faf_min = quantise_float32(clamp_tanh(ifm_min), ofm_quant.scale_f32, ofm_quant.zero_point)
+                faf_max = quantise_float32(clamp_tanh(ifm_max), ofm_quant.scale_f32, ofm_quant.zero_point)
+            elif faf == "Sigmoid":
+                emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION, activation.SIGMOID)
+                faf_min = quantise_float32(clamp_sigmoid(ifm_min), ofm_quant.scale_f32, ofm_quant.zero_point)
+                faf_max = quantise_float32(clamp_sigmoid(ifm_max), ofm_quant.scale_f32, ofm_quant.zero_point)
+            else:
+                raise Exception("Unsupported fused_activation_function = " + faf)
+
+            # Activation range needs to be set based upon the quantisation range and the fused activation range
+            emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION_MIN, max(ofm_quant_qmin, faf_min))
+            emit.cmd0_with_param(cmd0.NPU_SET_ACTIVATION_MAX, min(ofm_quant_qmax, faf_max))
+
+            out_shape = cmd.ofm_box.get_size_shape()
+            if len(out_shape) >= 4:
+                emit.cmd0_with_param(cmd0.NPU_SET_OFM_HEIGHT_M1, out_shape[-3] - 1)
+            else:
+                emit.cmd0_with_param(cmd0.NPU_SET_OFM_HEIGHT_M1, 0)
+            if len(out_shape) >= 2:
+                emit.cmd0_with_param(cmd0.NPU_SET_OFM_WIDTH_M1, out_shape[-2] - 1)
+            else:
+                emit.cmd0_with_param(cmd0.NPU_SET_OFM_WIDTH_M1, 0)
+            emit.cmd0_with_param(cmd0.NPU_SET_OFM_DEPTH_M1, out_shape[-1] - 1)
+
+            if npu_block_type in set((NpuBlockType.ConvolutionMxN, NpuBlockType.VectorProduct)):
+                in_shape = cmd.ifm_box.get_size_shape()
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_DEPTH_M1, in_shape[-1] - 1)
+            else:
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM_DEPTH_M1, out_shape[-1] - 1)
+
+            for tens, box, ptr_ops, stride_ops, zero_point_op in (
+                (
+                    cmd.ifm_tensor,
+                    cmd.ifm_box,
+                    (cmd1.NPU_SET_IFM_BASE0, cmd1.NPU_SET_IFM_BASE1, cmd1.NPU_SET_IFM_BASE2, cmd1.NPU_SET_IFM_BASE3),
+                    (cmd1.NPU_SET_IFM_STRIDE_C, cmd1.NPU_SET_IFM_STRIDE_Y, cmd1.NPU_SET_IFM_STRIDE_X),
+                    cmd0.NPU_SET_IFM_ZERO_POINT,
+                ),
+                (
+                    cmd.ifm2_tensor,
+                    cmd.ifm2_box,
+                    (
+                        cmd1.NPU_SET_IFM2_BASE0,
+                        cmd1.NPU_SET_IFM2_BASE1,
+                        cmd1.NPU_SET_IFM2_BASE2,
+                        cmd1.NPU_SET_IFM2_BASE3,
+                    ),
+                    (cmd1.NPU_SET_IFM2_STRIDE_C, cmd1.NPU_SET_IFM2_STRIDE_Y, cmd1.NPU_SET_IFM2_STRIDE_X),
+                    cmd0.NPU_SET_IFM2_ZERO_POINT,
+                ),
+                (
+                    cmd.ofm_tensor,
+                    cmd.ofm_box,
+                    (cmd1.NPU_SET_OFM_BASE0, cmd1.NPU_SET_OFM_BASE1, cmd1.NPU_SET_OFM_BASE2, cmd1.NPU_SET_OFM_BASE3),
+                    (cmd1.NPU_SET_OFM_STRIDE_C, cmd1.NPU_SET_OFM_STRIDE_Y, cmd1.NPU_SET_OFM_STRIDE_X),
+                    cmd0.NPU_SET_OFM_ZERO_POINT,
+                ),
+            ):
+
+                if tens == None:
+                    continue
+
+                need_zero_point = (faf != None) or (fmf == "ConcatSliceWrite")
+                if (
+                    primary_op.type in set(("AvgPool", "AvgPoolAct")) and not need_zero_point
+                ) or tens.quantization == None:
+                    # Actual integer operation, just set scale to 1 and zero point to 0
+                    emit.cmd0_with_param(zero_point_op, 0)
+                else:
+                    assert tens.quantization.zero_point is not None, "need an actual zero point set"
+                    emit.cmd0_with_param(zero_point_op, int(tens.quantization.zero_point))
+
+                if tens.shape == []:
+                    # Empty shape, elementwise constant
+                    ifm2_scalar = tens.quant_values.astype(np.uint8)
+                    assert ifm2_scalar.size == 1
+                    emit.cmd0_with_param(cmd0.NPU_SET_IFM2_SCALAR, ifm2_scalar.item(0))
+                    continue
+
+                height_0, height_1, width_0, addresses = tens.addresses_for_rolling_buffer(
+                    box.start_coord, box.end_coord
+                )
+                if npu_block_type != NpuBlockType.VectorProduct:
+                    if tens == cmd.ifm_tensor:
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM_HEIGHT0_M1, height_0 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM_HEIGHT1_M1, height_1 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM_WIDTH0_M1, width_0 - 1)
+                    elif tens == cmd.ofm_tensor:
+                        emit.cmd0_with_param(cmd0.NPU_SET_OFM_HEIGHT0_M1, height_0 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_OFM_HEIGHT1_M1, height_1 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_OFM_WIDTH0_M1, width_0 - 1)
+                    elif tens == cmd.ifm2_tensor:
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM2_HEIGHT0_M1, height_0 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM2_HEIGHT1_M1, height_1 - 1)
+                        emit.cmd0_with_param(cmd0.NPU_SET_IFM2_WIDTH0_M1, width_0 - 1)
+                else:
+                    if len(out_shape) == 2:
+                        # TODO: N is put in W-dimension for now
+                        # Should be spread over H and W, but then block size selectetion,
+                        # and stride calculation should be changed
+                        if tens == cmd.ifm_tensor:
+                            emit.cmd0_with_param(cmd0.NPU_SET_IFM_WIDTH0_M1, out_shape[-2] - 1)
+                        elif tens == cmd.ofm_tensor:
+                            emit.cmd0_with_param(cmd0.NPU_SET_OFM_WIDTH0_M1, out_shape[-2] - 1)
+                    else:
+                        assert False
+
+                for idx, addr in enumerate(addresses):
+                    if addr is None:
+                        addresses[idx] = 0
+
+                emit.cmd1_with_offset(ptr_ops[0], addresses[0])
+                emit.cmd1_with_offset(ptr_ops[1], addresses[1])
+                emit.cmd1_with_offset(ptr_ops[2], addresses[2])
+                emit.cmd1_with_offset(ptr_ops[3], addresses[3])
+
+                strides = tens.get_strides()
+                emit.cmd1_with_offset(stride_ops[0], strides[1])  # stride between 16-byte channel blocks (C)
+                emit.cmd1_with_offset(stride_ops[2], strides[3])  # stride between horisontal values (W)
+                emit.cmd1_with_offset(stride_ops[1], strides[2])  # stride between vertical values (H)
+
+                if tens.format == TensorFormat.NHCWB16:
+                    # Check that all BasePointer addresses are aligned to 16 bytes
+                    assert (int(addresses[0]) % 16) == 0
+                    assert (int(addresses[1]) % 16) == 0
+                    assert (int(addresses[2]) % 16) == 0
+                    assert (int(addresses[3]) % 16) == 0
+
+            ofm_dtype = cmd.ofm_tensor.dtype
+            assert ofm_dtype.type & BaseType.Int
+            prec = 0
+            if ofm_dtype.size_in_bits() == 8:
+                prec = 0
+            elif ofm_dtype.size_in_bits() == 16:
+                prec = 2
+            else:
+                assert 0
+
+            if ofm_dtype.type & BaseType.Signed:
+                prec += 1
+
+            if use_global_scale:
+                # Set global scale bit, as opposed to using per channel scale
+                prec |= 1 << 8
+
+            if cmd.ofm_tensor.format == TensorFormat.NHCWB16:
+                prec |= 1 << 6
+
+            prec |= rounding_mode.value << 14
+
+            emit.cmd0_with_param(cmd0.NPU_SET_OFM_PRECISION, prec)
+
+            prec = None
+            weight_bits = 8
+            if cmd.weight_tensor is not None:
+                weight_bits = cmd.weight_tensor.dtype.size_in_bits()
+
+            ifm_dtype = cmd.ifm_tensor.dtype
+
+            assert weight_bits == 8, "Unsupported weight bit depth"
+            assert ifm_dtype.size_in_bits() in {8, 16}
+
+            if ifm_dtype.size_in_bits() == 8:
+                if ifm_dtype.type & BaseType.Signed:
+                    prec = ifm_precision.W8_S8
+                else:
+                    prec = ifm_precision.W8_U8
+            elif ifm_dtype.size_in_bits() == 16:
+                if ifm_dtype.type & BaseType.Signed:
+                    prec = ifm_precision.W8_S16
+                else:
+                    prec = ifm_precision.W8_U16
+
+            ifm_prec = prec.value
+            ifm2_prec = ifm_prec
+
+            if cmd.ifm_tensor.format == TensorFormat.NHCWB16:
+                ifm_prec |= 1 << 6
+
+            ifm_prec |= op_to_scale << 8
+
+            emit.cmd0_with_param(cmd0.NPU_SET_IFM_PRECISION, ifm_prec)
+
+            if cmd.ifm2_tensor is not None:
+                if cmd.ifm2_tensor.format == TensorFormat.NHCWB16:
+                    ifm2_prec |= 1 << 6
+                emit.cmd0_with_param(cmd0.NPU_SET_IFM2_PRECISION, ifm2_prec)
+
+            emit_wait_commands(cmd)
+
+            # Get op parameters
+            cur_ifm_block_depth = get_op_ifmofm_block_depth(arch, cmd)
+            cur_ofm_block = Block(ps.block_config[1], ps.block_config[0], ps.block_config[3])
+            cur_ofm_rect = get_op_ofm_rect(cmd)
+            cur_ifm_rect = get_op_ifm_rect(cmd)
+            cur_kernel = get_op_kernel(cmd.ps)
+            cur_padLT = get_op_padding_lt(cmd)
+            if (prev_kernel is not None) and (cur_kernel is not None) and has_prev_op_dependency(prev_cmd, cmd):
+                if cmd.ifm_tensor.shape == prev_cmd.ofm_tensor.shape:
+                    blockdep = arch.calc_block_dep(
+                        prev_ifm_rect,
+                        prev_ofm_rect,
+                        prev_ifm_block_depth,
+                        prev_ofm_block,
+                        prev_kernel,
+                        cur_ifm_rect,
+                        cur_ofm_rect,
+                        cur_ifm_block_depth,
+                        cur_ofm_block,
+                        cur_kernel,
+                        cur_padLT,
+                    )
+                else:
+                    blockdep = 0
+            else:
+                blockdep = ArchitectureFeatures.MAX_BLOCKDEP
+
+            # Set between every op (dependent or not)
+            blockdep = min(blockdep, arch.max_blockdep)
+            emit.cmd0_with_param(cmd0.NPU_SET_BLOCKDEP, blockdep)
+            prev_cmd = cmd
+
+            if npu_block_type == NpuBlockType.ConvolutionMxN:
+                emit.cmd_do_operation(cmd0.NPU_OP_CONV)
+            elif npu_block_type == NpuBlockType.ConvolutionDepthWise:
+                emit.cmd_do_operation(cmd0.NPU_OP_DEPTHWISE)
+            elif npu_block_type == NpuBlockType.VectorProduct:
+                # Vector product is implemented using a 1x1 convolution
+                emit.cmd_do_operation(cmd0.NPU_OP_CONV)
+            elif npu_block_type == NpuBlockType.Pooling:
+                param = "Max" not in primary_op.type
+                emit.cmd_do_operation(cmd0.NPU_OP_POOL, param=param)
+            elif npu_block_type == NpuBlockType.ElementWise:
+                param = elementwise_mode_map[primary_op.type]
+                emit.cmd_do_operation(cmd0.NPU_OP_ELEMENTWISE, param)
+            else:
+                print("Warning: Skipping register command stream generation for", ps)
+
+    # Fill in final part of command stream:
+    emit.cmd_do_operation(cmd0.NPU_OP_STOP, param=0xFFFF)
+
+    sg.register_command_stream = emit.to_list()
+    if verbose:
+        emit.print_cmds()
+        print("number of commands", len(emit.cmd_stream))
+        print("command stream length in words", len(sg.register_command_stream))