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Summary: Add Initial support to pico2 (Arm Cortex M) (#12518)
Test Plan: 1\ executorch/examples/rpi/build_firmware_pico.sh 2\ Flash the firmware - Hold BOOTSEL - Plug in Pico 2 - Mounts as RPI-RP2 - Copy executorch_pico.uf2 to that drive 3\ Check that LED light blinks 10 times (with 500 ms interval) , indicating that inference has been successful ### Summary [PLEASE REMOVE] See [CONTRIBUTING.md's Pull Requests](https://github.com/pytorch/executorch/blob/main/CONTRIBUTING.md#pull-requests) for ExecuTorch PR guidelines. [PLEASE REMOVE] If this PR closes an issue, please add a `Fixes #<issue-id>` line. [PLEASE REMOVE] If this PR introduces a fix or feature that should be the upcoming release notes, please add a "Release notes: <area>" label. For a list of available release notes labels, check out [CONTRIBUTING.md's Pull Requests](https://github.com/pytorch/executorch/blob/main/CONTRIBUTING.md#pull-requests). ### Test plan [PLEASE REMOVE] How did you test this PR? Please write down any manual commands you used and note down tests that you have written if applicable. Co-authored-by: sidart <[email protected]>
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‎examples/rpi/build_firmware_pico.sh‎

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#!/bin/bash
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# Copyright (c) Meta Platforms, Inc. and affiliates.
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# All rights reserved.
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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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#!/bin/bash
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# build_firmware_pico.sh
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# Simple script to cross-compile ExecuTorch and build Pico2 firmware with optional model input
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set -e
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# Paths
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ROOT_DIR="$(cd "$(dirname "$0")/../.." && pwd)" # examples/rpi/ -> root dir
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PICO2_DIR="${ROOT_DIR}/examples/rpi/pico2"
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BUILD_DIR="${PICO2_DIR}/build"
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EXECUTORCH_BUILD_DIR="${ROOT_DIR}/cmake-out"
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# Default model
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DEFAULT_MODEL="default_model.pte"
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usage() {
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echo "Usage: $0 [--clean] [--model=path/to/model.pte]"
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echo " --clean Clean build directories"
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echo " --model=FILE Specify model file to embed (relative to pico2/)"
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exit 1
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}
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# Parse args
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MODEL_INPUT=""
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CLEAN_BUILD=0
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for arg in "$@"; do
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case $arg in
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--clean)
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CLEAN_BUILD=1
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shift
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;;
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--model=*)
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MODEL_INPUT="${arg#*=}"
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shift
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;;
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*)
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usage
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;;
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esac
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done
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# Clean if requested
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if [ $CLEAN_BUILD -eq 1 ]; then
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echo "Cleaning build directories..."
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rm -rf "${EXECUTORCH_BUILD_DIR}" "${BUILD_DIR}"
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echo "Clean complete."
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exit 0
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fi
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# Step 1: Cross compile ExecuTorch from root dir
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echo "Cross compiling ExecuTorch baremetal ARM..."
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cmake -B "${EXECUTORCH_BUILD_DIR}" \
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-DCMAKE_TOOLCHAIN_FILE="${ROOT_DIR}/examples/arm/ethos-u-setup/arm-none-eabi-gcc.cmake" \
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-DTARGET_CPU=cortex-m0plus \
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-DEXECUTORCH_BUILD_ARM_BAREMETAL=ON \
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-DEXECUTORCH_PAL_DEFAULT=minimal \
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-DEXECUTORCH_DTYPE_SELECTIVE_BUILD=ON \
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-DCMAKE_BUILD_TYPE=MinSizeRel \
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-DEXECUTORCH_ENABLE_LOGGING=OFF \
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-DEXECUTORCH_SELECT_ALL_OPS=OFF \
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-DEXECUTORCH_BUILD_EXECUTOR_RUNNER=OFF \
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-DCMAKE_INSTALL_PREFIX="${EXECUTORCH_BUILD_DIR}" \
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"${ROOT_DIR}"
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cmake --build "${EXECUTORCH_BUILD_DIR}" --target install -j$(nproc)
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echo "ExecuTorch cross compile complete."
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# Step 2: Build firmware for Pico2 with model input
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cd "${PICO2_DIR}"
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if [ -n "$MODEL_INPUT" ]; then
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# Use specified model
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if [ ! -f "${MODEL_INPUT}" ]; then
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echo "Error: Specified model file '${MODEL_INPUT}' not found in pico2 directory."
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exit 1
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fi
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echo "Building firmware with model: ${MODEL_INPUT}"
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cmake -B "${BUILD_DIR}" -DPICO_BOARD=pico2 -DINPUT_MODEL="./${MODEL_INPUT}" -DCMAKE_BUILD_TYPE=Release
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else
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# Use default model
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echo "Building firmware with default model: ${DEFAULT_MODEL}"
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cmake -B "${BUILD_DIR}" -DPICO_BOARD=pico2 -DINPUT_MODEL="./${DEFAULT_MODEL}" -DCMAKE_BUILD_TYPE=Release
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fi
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cmake --build "${BUILD_DIR}" -j$(nproc)
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echo "Firmware build complete. Output in ${BUILD_DIR}, Binary: executorch_pico.uf2"

‎examples/rpi/pico2/CMakeLists.txt‎

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# Copyright (c) Meta Platforms, Inc. and affiliates.
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# All rights reserved.
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#
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# This source code is licensed under the BSD-style license found in the LICENSE
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# file in the root directory of this source tree.
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cmake_minimum_required(VERSION 3.13)
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# Include FetchContent for Pico SDK
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include(FetchContent)
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FetchContent_Declare(
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pico_sdk
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GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk.git
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GIT_TAG 2.0.0
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)
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FetchContent_MakeAvailable(pico_sdk)
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set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
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include(${PICO_SDK_PATH}/pico_sdk_init.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 ${CMAKE_CURRENT_SOURCE_DIR}/../../../..)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# Configure input model file
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set(INPUT_MODEL
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"default_model.pte"
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CACHE STRING "Input PTE model file to embed"
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)
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# Convert relative paths to absolute
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if(NOT IS_ABSOLUTE "${INPUT_MODEL}")
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set(INPUT_MODEL "${CMAKE_CURRENT_SOURCE_DIR}/${INPUT_MODEL}")
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endif()
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message(STATUS "Using model file: ${INPUT_MODEL}")
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# Validate model file exists
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if(NOT EXISTS "${INPUT_MODEL}")
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message(FATAL_ERROR "Model file '${INPUT_MODEL}' does not exist.")
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endif()
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# Create model_pte.c if it doesn't exist
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set(MODEL_PTE_C "${CMAKE_CURRENT_SOURCE_DIR}/model_pte.c")
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if(NOT EXISTS "${MODEL_PTE_C}")
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file(
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WRITE "${MODEL_PTE_C}"
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"#include \"model_pte.h\"\n"
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"\n"
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"const uint8_t model_pte[] __attribute__((aligned(8))) = {\n"
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" // Model data will be injected here\n"
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"};\n"
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"\n"
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"const unsigned int model_pte_len = sizeof(model_pte);\n"
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)
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message(STATUS "Created initial model_pte.c")
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endif()
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# Use a stamp file instead of declaring model_pte.c as OUTPUT
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set(MODEL_STAMP "${CMAKE_CURRENT_BINARY_DIR}/model_pte.stamp")
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add_custom_command(
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OUTPUT ${MODEL_STAMP}
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COMMAND python3 ${EXECUTORCH_ROOT}/executorch/examples/rpi/pte_to_array.py
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--model ${INPUT_MODEL} --file ${MODEL_PTE_C}
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COMMAND ${CMAKE_COMMAND} -E touch ${MODEL_STAMP}
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DEPENDS ${INPUT_MODEL}
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${EXECUTORCH_ROOT}/executorch/examples/rpi/pte_to_array.py
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COMMENT "Injecting PTE data from '${INPUT_MODEL}' into model_pte.c"
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VERBATIM
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)
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# Target to ensure model injection happens
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add_custom_target(inject_model_data ALL DEPENDS ${MODEL_STAMP})
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# Check if source files exist
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if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/main.cpp")
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message(FATAL_ERROR "main.cpp not found in ${CMAKE_CURRENT_SOURCE_DIR}")
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endif()
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# Create the executable
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add_executable(
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executorch_pico main.cpp ${MODEL_PTE_C} # Use the full path to be explicit
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)
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# Ensure model data is injected before building
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add_dependencies(executorch_pico inject_model_data)
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# Set correct target properties for Pico2/RP2350
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set_target_properties(
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executorch_pico PROPERTIES SUFFIX ".elf" OUTPUT_NAME "executorch_pico"
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)
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# Configure Pico-specific settings
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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 Pico2 (RP2350)
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target_compile_options(
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executorch_pico PRIVATE -mcpu=cortex-m33 -mfloat-abi=soft -mthumb
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)
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target_include_directories(
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executorch_pico
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PRIVATE ${EXECUTORCH_ROOT} ${EXECUTORCH_ROOT}/executorch/third-party
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${EXECUTORCH_ROOT}/executorch/runtime/core/portable_type/c10
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)
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target_compile_definitions(
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executorch_pico
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PRIVATE C10_USING_CUSTOM_GENERATED_MACROS EXECUTORCH_ENABLE_LOGGING=OFF
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EXECUTORCH_PAL_DEFAULT=minimal
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)
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# Optimization flags
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target_compile_options(
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executorch_pico PRIVATE -Os -ffunction-sections -fdata-sections
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)
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set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
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set(BAREMETAL_BUILD_DIR ${EXECUTORCH_ROOT}/executorch/cmake-out/)
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# Link ExecuTorch and Pico libraries
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target_link_libraries(
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executorch_pico
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PRIVATE ${BAREMETAL_BUILD_DIR}/lib/libexecutorch.a
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${BAREMETAL_BUILD_DIR}/lib/libexecutorch_core.a
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-Wl,--whole-archive
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${BAREMETAL_BUILD_DIR}/lib/libportable_ops_lib.a
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-Wl,--no-whole-archive
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${BAREMETAL_BUILD_DIR}/lib/libportable_kernels.a
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pico_stdlib
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pico_stdio_usb
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)
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# Only add extra outputs if the target builds successfully
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if(TARGET executorch_pico)
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pico_add_extra_outputs(executorch_pico)
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endif()

‎examples/rpi/pico2/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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## (Pre-requisistes) Prepare the Environment for Arm
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1. See <a href="https://docs.pytorch.org/executorch/main/tutorial-arm.html#set-up-the-developer-environment"/> 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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--> 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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```
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## Build Pico2 Firmware with Executorch
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This step involves two sub steps
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1. Cross Compile Executorch for Arm Cortex M, Pico2 target
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2. Build the firmware with the input model provided (If not provided, it will use the default_model.pte)
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Use the following command to build the firmware:
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``` bash
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executorch/examples/rpi/build_firmware_pico.sh --model=<path_to_model.pte>
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```
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### Flash Firmware
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Hold the BOOTSEL button on the Pico2 and connect it to your computer; it will mount as RPI-RP2. Copy the executorch_pico.uf2 file to this drive.
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### Verify Execution
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Check that the Pico2's LED blinks 10 times at 500 ms interval to confirm successful firmware execution.
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The Pico2's LED should blink 10 times at 500 ms intervals, indicating successful firmware execution. If connected via serial, you should see:
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```bash
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Method loaded [forward]
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Output: 13.000000, 136.000000, 24.000000, 131.000000
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```
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### Debugging via Serial Terminal
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On macOS or Linux, open a serial terminal with:
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```bash
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screen /dev/tty.usbmodem1101 115200
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```
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Replace /dev/tty.usbmodem1101 with your device path. This terminal shows program logs and errors. If
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the LED blinks 10 times at 100 ms intervals, your program hit an error state—check the logs here.
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These steps complete running the simple model on Pico2 using ExecuTorch.

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