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Commit 3068e1b

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sidart
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Summary: Add Initial support to pico2 (Arm Cortex M)
Test Plan: TBD Reviewers: Subscribers: Tasks: Tags:
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+285
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‎CMakeLists.txt‎

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@@ -479,6 +479,7 @@ install(FILES tools/cmake/executorch-config.cmake
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if(EXECUTORCH_BUILD_ARM_BAREMETAL)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/backends/arm)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/backends/raspberry_pi)
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endif()
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if(EXECUTORCH_BUILD_CADENCE)

‎backends/raspberry_pi/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.10)
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project(pico)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../)
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/arm-cortex-m0plus-toolchain.cmake)
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# Only include here, NOT in arm-cortex-m0plus-toolchain.cmake
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include(${CMAKE_SOURCE_DIR}/tools/cmake/Codegen.cmake)
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target_sources(executorch_core PRIVATE ${CMAKE_CURRENT_LIST_DIR}/syscall_stubs.c)
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gen_selected_ops(LIB_NAME "portable_ops_lib" ROOT_OPS "aten::add.out")

‎backends/raspberry_pi/README.md‎

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TEST

‎backends/raspberry_pi/arm-cortex-m0plus-toolchain.cmake‎

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# cortex-m0plus cmake
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if(NOT DEFINED EXECUTORCH_BUILD_ARM_BAREMETAL)
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# If not defined, assume we're building standalone
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set(EXECUTORCH_BUILD_ARM_BAREMETAL ON)
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endif()
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set(CMAKE_SYSTEM_NAME Generic)
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set(CMAKE_SYSTEM_PROCESSOR cortex-m0plus)
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if(NOT DEFINED CMAKE_C_COMPILER)
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set(CMAKE_C_COMPILER arm-none-eabi-gcc CACHE STRING "C compiler")
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endif()
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if(NOT DEFINED CMAKE_CXX_COMPILER)
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set(CMAKE_CXX_COMPILER arm-none-eabi-g++ CACHE STRING "C++ compiler")
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endif()
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set(CPU_FLAGS "-mcpu=cortex-m0plus -mthumb -mfloat-abi=soft")
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# C flags (no RTTI or exceptions here, since RTTI is C++-only)
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set(CMAKE_C_FLAGS "${CPU_FLAGS} -O2 -ffunction-sections -fdata-sections -fno-exceptions -fno-unwind-tables")
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# C++ flags (RTTI-related flags go here)
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set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-use-cxa-atexit -ffunction-sections -fdata-sections")
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# Linker flags
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# set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections -nostartfiles -flto")
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# Linker flags
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set(CMAKE_EXE_LINKER_FLAGS "-nostartfiles")

‎backends/raspberry_pi/pico2/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.13)
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include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
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project(executorch_pico C CXX ASM)
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pico_sdk_init()
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set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../../)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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add_executable(executorch_pico main.cpp simple_addmodule_pte.c)
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pico_enable_stdio_usb(executorch_pico 1)
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pico_enable_stdio_uart(executorch_pico 0)
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# Set correct flags for Pico (Cortex-M0+)
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target_compile_options(executorch_pico PRIVATE
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-mcpu=cortex-m0plus
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-mfloat-abi=soft
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-mthumb
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)
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# Link Executorch and Pico libraries
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target_link_libraries(executorch_pico
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PRIVATE
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${EXECUTORCH_ROOT}/executorch/build/libexecutorch.a
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${EXECUTORCH_ROOT}/executorch/build/libexecutorch_core.a
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-Wl,--whole-archive
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${EXECUTORCH_ROOT}/executorch/build/kernels/portable/libportable_ops_lib.a
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-Wl,--no-whole-archive
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${EXECUTORCH_ROOT}/executorch/build/kernels/portable/libportable_kernels.a
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pico_stdlib
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pico_stdio_usb
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)
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# Include Executorch and third-party headers
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target_include_directories(executorch_pico PRIVATE
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${EXECUTORCH_ROOT}
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${EXECUTORCH_ROOT}/executorch/third-party/
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# Add other include paths as needed
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)
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pico_add_extra_outputs(executorch_pico)

‎backends/raspberry_pi/pico2/main.cpp‎

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#include "pico/stdio_usb.h"
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#include "pico/stdlib.h"
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#include <executorch/extension/data_loader/buffer_data_loader.h>
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#include <executorch/runtime/core/portable_type/scalar_type.h>
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#include <executorch/runtime/executor/method.h>
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#include <executorch/runtime/executor/program.h>
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#include <executorch/runtime/platform/runtime.h>
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// Declare your model data (from simple_addmodule_pte.c)
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extern const uint8_t model_pte[] __attribute__((aligned(8)));
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extern const unsigned int model_pte_len;
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// Define GPIO pins for indicators
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const uint INDICATOR_PIN_1 = 25; // Onboard LED
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const uint INDICATOR_PIN_2 = 22; // External LED
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const uint INDICATOR_PIN_3 = 23; // Onboard LED
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static uint8_t method_allocator_pool[1024];
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static uint8_t activation_pool[512];
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void blink_indicator(uint pin, int times, int delay_ms = 100) {
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gpio_init(pin);
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gpio_set_dir(pin, GPIO_OUT);
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for (int i = 0; i < times; ++i) {
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gpio_put(pin, 1);
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sleep_ms(delay_ms);
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gpio_put(pin, 0);
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sleep_ms(delay_ms);
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}
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}
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int main() {
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using namespace executorch::extension;
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using namespace executorch::runtime;
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using executorch::aten::Tensor;
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using executorch::aten::TensorImpl;
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using ScalarType = executorch::runtime::etensor::ScalarType;
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using executorch::runtime::runtime_init;
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stdio_init_all();
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// Give host time to enumerate USB serial
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sleep_ms(1000);
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int retry_usb_count= 0;
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while (!stdio_usb_connected() && retry_usb_count++ < 10) {
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printf("Retry again! USB not connected \n");
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sleep_ms(100); // Check every 100 ms
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}
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runtime_init();
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executorch::extension::BufferDataLoader loader(model_pte, model_pte_len);
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MemoryAllocator method_allocator(sizeof(method_allocator_pool), method_allocator_pool);
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method_allocator.enable_profiling("method allocator");
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Span<uint8_t> memory_planned_buffers[1]{{activation_pool, sizeof(activation_pool)}};
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HierarchicalAllocator planned_memory({memory_planned_buffers, 1});
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MemoryManager memory_manager(&method_allocator, &planned_memory);
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auto program_result = Program::load(&loader);
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if (!program_result.ok()) {
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printf("Failed to load model: %d\n", (int)program_result.error());
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blink_indicator(INDICATOR_PIN_1, 10);
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return 1;
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}
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Program program = std::move(*program_result);
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const char* method_name = nullptr;
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// Get method name (usually "forward")
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auto method_name_result = program.get_method_name(0);
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if (!method_name_result.ok()) {
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printf("Failed to get method name: %d\n", (int)method_name_result.error());
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blink_indicator(INDICATOR_PIN_1, 10);
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return 1;
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}
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method_name = *method_name_result;
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// Load method
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auto method_result = program.load_method(method_name, &memory_manager);
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if (!method_result.ok()) {
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printf("Failed to load method: %d\n", (int)method_result.error());
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blink_indicator(INDICATOR_PIN_1, 10);
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return 1;
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}
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printf("Method loaded [%s]\n", method_name);
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auto method = std::move(*method_result);
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// Prepare input tensor
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float input_data_0[4] = {4.0, 109.0, 13.0, 123.0};
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float input_data_1[4] = {9.0, 27.0, 11.0, 8.0};
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TensorImpl::SizesType sizes[1] = {4};
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TensorImpl::DimOrderType dim_order[] = {0};
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TensorImpl impl0(ScalarType::Float, 1, sizes, input_data_0, dim_order);
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TensorImpl impl1(ScalarType::Float, 1, sizes, input_data_1, dim_order);
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Tensor input0(&impl0);
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Tensor input1(&impl1);
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// Set input
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auto set_input_error0 = method.set_input(input0, 0);
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auto set_input_error1 = method.set_input(input1, 1);
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if (set_input_error0 != Error::Ok || set_input_error1 != Error::Ok) {
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printf("Failed to set input(s)\n");
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blink_indicator(INDICATOR_PIN_1, 10);
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return 1;
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}
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// Run inference
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auto exec_error = method.execute();
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if (exec_error != Error::Ok) {
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printf("Failed to execute: %d\n", (int)exec_error);
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blink_indicator(INDICATOR_PIN_1, 10);
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return 1;
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}
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// Get output
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const EValue& output = method.get_output(0);
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if (output.isTensor()) {
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const auto& out_tensor = output.toTensor();
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const float* out_data = out_tensor.const_data_ptr<float>();
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printf("Output: %f, %f, %f, %f\n", out_data[0], out_data[1], out_data[2], out_data[3]);
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} else {
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printf("Output is not a tensor!\n");
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blink_indicator(INDICATOR_PIN_1, 10);
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}
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blink_indicator(INDICATOR_PIN_1, 100, 500); // Blink onboard LED 10 times (~10 secs) to indicate success
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return 0;
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}

‎backends/raspberry_pi/pico2/simple_addmodule_pte.c‎

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__attribute__((aligned(8))) const unsigned char model_pte[] = {
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3+
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4+
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5+
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6+
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8+
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10+
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11+
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12+
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14+
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15+
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16+
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18+
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19+
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const unsigned int model_pte_len = sizeof(model_pte);

‎backends/raspberry_pi/syscall_stubs.c‎

Lines changed: 33 additions & 0 deletions
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <unistd.h>
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/*
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* We are adding a custom syscall_stubs.c file to provide dummy implementations for syscalls that are not
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* available on the Pico platform. This is necessary because the Pico does not have an operating system,
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* and therefore does not support standard C library functions like _exit, _sbrk, _read, etc.
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* By adding these stubs, we can resolve linker errors that occur when building our project for the Pico.
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* The stubs will be compiled and linked into our final executable, allowing it to run on the target hardware.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void *__dso_handle = 0;
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int fnmatch(const char *pattern, const char *string, int flags) { return 1; }
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ssize_t pread(int fd, void *buf, size_t count, off_t offset) { return -1; }
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void _fini(void) {}
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void _exit(int status) { while (1) {} }
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void* _sbrk(ptrdiff_t incr) { return (void*)-1; }
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int _read(int file, char *ptr, int len) { return -1; }
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int _write(int file, char *ptr, int len) { return -1; }
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int _close(int file) { return -1; }
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int _fstat(int file, void *st) { return 0; }
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int _lseek(int file, int ptr, int dir) { return 0; }
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int _isatty(int file) { return 1; }
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int _kill(int pid, int sig) { return -1; }
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int _getpid(void) { return 1; }
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int _open(const char *name, int flags, int mode) { return -1; }
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int _gettimeofday(void *tv, void *tz) { return -1; }
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#ifdef __cplusplus
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}
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#endif

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