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

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@@ -548,6 +548,7 @@ 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}/examples/arm/rp_pi)
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list(APPEND _executorch_backends executorch_delegate_ethos_u)
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endif()
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‎examples/arm/rp_pi/CMakeLists.txt‎

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# Copyright (c) Meta Platforms, Inc. and affiliates.
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# All rights reserved.
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# Copyright 2023-2025 Arm Limited and/or its affiliates.
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#
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# This source code is licensed under the BSD-style license found in the
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# LICENSE file in the root directory of this source tree.
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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")

‎examples/arm/rp_pi/README.md‎

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## Overview
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This document outlines the steps required to run a simple Add Module on the Pico2 microcontroller using executorch.
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## Steps
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### (Pre-requisistes) Prepare the Environment for Arm
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1. See <a href="docs/source/backends-arm-ethos-u.md"/> for instructions on setting up the environment for Arm.
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2. Make sure you have the toolchain configured correctly.
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```bash
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which arm-none-eabi-gcc
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``` should return something like 'executorch/examples/arm/ethos-u-scratch/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc'
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### 1. Cross Compile Executorch for Arm Cortex M Target
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To begin, navigate to the executorch root directory and execute the following commands:
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```bash
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mkdir baremetal_build
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cd baremetal_build
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cmake .. -DCMAKE_TOOLCHAIN_FILE=./examples/arm/rp_pi/pico2/arm-cortex-m0plus-toolchain.cmake -DEXECUTORCH_BUILD_ARM_BAREMETAL=ON -DCMAKE_BUILD_TYPE=Release -DROOT_OPS=aten::add.out
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cmake --build . -j$(nproc)
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```
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### 2. Export PICO_SDK_PATH
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Download the Pico SDK from GitHub: https://github.com/raspberrypi/pico-sdk and set the PICO_SDK_PATH environment variable:
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```bash
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export PICO_SDK_PATH=<path_to_local_pico_sdk_folder>
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```
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### 3. Build the example for Pico2
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Go to the example directory and initiate the build process:
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```bash
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cd examples/arm/rp_pi/pico2/
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rm -rf build
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mkdir build
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cd build
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cmake .. -DPICO_BOARD=pico2 -DCMAKE_BUILD_TYPE=Release
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cmake --build . -j$(nproc)
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```
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This will generate the firmware file executorch_pico.uf2.
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### 4. Flash the Firmware
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Press and hold the BOOTSEL button on the Pico2.
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Connect the Pico2 to your computer; it should mount as RPI-RP2.
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Copy the executorch_pico.uf2 file to the mounted drive.
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### 5. Verify the Firmware
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Check that the Pico2's LED blinks 10 times to confirm successful firmware execution.
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### 6. (Optional) Check USB Logs on Mac
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To view USB logs, use the following command (as an example):
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```bash
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screen /dev/tty.usbmodem1101 115200
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```
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These steps complete the process required to run the simple Add Module on the Pico2 microcontroller using executorch.

‎examples/arm/rp_pi/arm-cortex-m0plus-toolchain.cmake‎

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# Copyright (c) Meta Platforms, Inc. and affiliates.
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# All rights reserved.
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# Copyright 2023-2025 Arm Limited and/or its affiliates.
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#
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# This source code is licensed under the BSD-style license found in the
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# LICENSE file in the root directory of this source tree.
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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")

‎examples/arm/rp_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 ${CMAKE_CURRENT_SOURCE_DIR}/../../../../..)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# Replace xxx_pte.c with your model's pte file
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add_executable(executorch_pico main.cpp simple_addmodule_pte.c)
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pico_enable_stdio_usb(executorch_pico 1)
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pico_enable_stdio_uart(executorch_pico 0)
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target_include_directories(executorch_pico PRIVATE
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${EXECUTORCH_ROOT}/executorch/runtime/core/portable_type/c10
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)
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add_compile_definitions(C10_USING_CUSTOM_GENERATED_MACROS)
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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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set(BAREMETAL_BUILD_DIR ${EXECUTORCH_ROOT}/executorch/baremetal_build/)
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# Link Executorch and Pico libraries
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target_link_libraries(executorch_pico
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PRIVATE
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${BAREMETAL_BUILD_DIR}/libexecutorch.a
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${BAREMETAL_BUILD_DIR}/libexecutorch_core.a
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-Wl,--whole-archive
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${BAREMETAL_BUILD_DIR}/kernels/portable/libportable_ops_lib.a
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-Wl,--no-whole-archive
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${BAREMETAL_BUILD_DIR}/kernels/portable/libportable_kernels.a
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pico_stdlib
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pico_stdio_usb
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)
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# Include Executorch and third-party headers
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target_include_directories(executorch_pico PRIVATE
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${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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#set(CMAKE_C_FLAGS "-Os -ffunction-sections -fdata-sections")
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set(CMAKE_EXE_LINKER_FLAGS "-Wl,--gc-sections")
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pico_add_extra_outputs(executorch_pico)

‎examples/arm/rp_pi/pico2/main.cpp‎

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/* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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* Copyright 2023-2025 Arm Limited and/or its affiliates.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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// Model data
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#include "simple_addmodule_pte.h"
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// Pico includes
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#include "pico/stdio_usb.h"
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#include "pico/stdlib.h"
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// Executorch includes
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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/executor/memory_manager.h>
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#include <executorch/runtime/platform/runtime.h>
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// Std c++ includes
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#include <memory>
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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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// 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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void wait_for_usb() {
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const int kMaxRetryCount = 10;
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int retry_usb_count = 0;
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while (!stdio_usb_connected() && retry_usb_count++ < kMaxRetryCount) {
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printf("Retry again! USB not connected \n");
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sleep_ms(100);
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}
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}
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// Make sure blink_indicator is defined somewhere, or add a stub if not
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void blink_indicator(uint pin, int times, int delay_ms = 100) {
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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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bool load_and_prepare_model(std::unique_ptr<Program>& program_ptr, std::unique_ptr<Method>& method_ptr, MemoryManager& memory_manager) {
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executorch::extension::BufferDataLoader loader(model_pte, model_pte_len);
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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 false;
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}
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program_ptr = std::make_unique<Program>(std::move(*program_result));
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auto method_name_result = program_ptr->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 false;
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}
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auto method_result = program_ptr->load_method(*method_name_result, &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 false;
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}
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method_ptr = std::make_unique<Method>(std::move(*method_result));
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printf("Method loaded [%s]\n", *method_name_result);
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return true;
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}
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bool run_inference(Method& method) {
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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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if (method.set_input(input0, 0) != Error::Ok || method.set_input(input1, 1) != 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 false;
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}
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if (method.execute() != Error::Ok) {
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printf("Failed to execute\n");
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blink_indicator(INDICATOR_PIN_1, 10);
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return false;
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}
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const EValue& output = method.get_output(0);
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if (output.isTensor()) {
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const float* out_data = output.toTensor().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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return false;
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}
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return true;
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}
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int executor_runner() {
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stdio_init_all();
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sleep_ms(1000);
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wait_for_usb();
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runtime_init();
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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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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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std::unique_ptr<Program> program_ptr;
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std::unique_ptr<Method> method_ptr;
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if (!load_and_prepare_model(program_ptr, method_ptr, memory_manager)) {
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printf("Failed to load and prepare model\n");
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return 1;
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}
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if (!run_inference(*method_ptr)) {
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printf("Failed to run inference\n");
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return 1;
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}
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blink_indicator(INDICATOR_PIN_1, 100, 500);
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return 0;
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}
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int main() {
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return executor_runner();
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}

‎examples/arm/rp_pi/pico2/simple_addmodule_pte.c‎

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/* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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* Copyright 2023-2025 Arm Limited and/or its affiliates.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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#include "simple_addmodule_pte.h"
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const uint8_t model_pte[] __attribute__((aligned(8))) = {
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0x1c, 0x00, 0x00, 0x00, 0x45, 0x54, 0x31, 0x32, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x18, 0x00, 0x00, 0x00, 0x04, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x14, 0x00, 0x10, 0x00, 0x00, 0x00,
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0x44, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x0c, 0xff, 0xff, 0xff, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0x00, 0x28, 0x00, 0x04, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x14, 0x00, 0x18, 0x00, 0x1c, 0x00,
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0x20, 0x00, 0x24, 0x00, 0x16, 0x00, 0x00, 0x00, 0x9c, 0x03, 0x00, 0x00, 0x10, 0x02, 0x00, 0x00, 0xdc, 0x00, 0x00, 0x00, 0xcc, 0x00, 0x00, 0x00, 0xc0, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0x00,
17+
0x24, 0x00, 0x00, 0x00, 0x1c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
18+
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x38, 0xfe, 0xff, 0xff, 0x10, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6f, 0x75, 0x74, 0x00,
19+
0x09, 0x00, 0x00, 0x00, 0x61, 0x74, 0x65, 0x6e, 0x3a, 0x3a, 0x61, 0x64, 0x64, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x10, 0x00, 0x04, 0x00,
20+
0x08, 0x00, 0x0c, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x4c, 0x00, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x24, 0xff, 0xff, 0xff,
21+
0x00, 0x00, 0x00, 0x01, 0x0c, 0x00, 0x00, 0x00, 0x08, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
22+
0x01, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
23+
0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0xd4, 0x00, 0x00, 0x00, 0x8c, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
24+
0x44, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x02, 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x04, 0x00, 0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
25+
0x00, 0x00, 0x00, 0x00, 0x68, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x05, 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x12, 0x00, 0x16, 0x00, 0x07, 0x00, 0x00, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x00, 0x00,
26+
0x00, 0x00, 0x10, 0x00, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x24, 0x00, 0x00, 0x00, 0x18, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x08, 0x00, 0x04, 0x00,
27+
0x06, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x08, 0x00, 0x0c, 0x00, 0x07, 0x00, 0x08, 0x00,
28+
0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x04, 0x00, 0x00, 0x00, 0xba, 0xff, 0xff, 0xff, 0x00, 0x00, 0x00, 0x06, 0x20, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
29+
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const unsigned int model_pte_len = sizeof(model_pte);

‎examples/arm/rp_pi/pico2/simple_addmodule_pte.h‎

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/* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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* Copyright 2023-2025 Arm Limited and/or its affiliates.
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*
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* This source code is licensed under the BSD-style license found in the
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* LICENSE file in the root directory of this source tree.
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*/
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#pragma once
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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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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#ifdef __cplusplus
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}
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#endif

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