Summary: Add Initial support to pico2 (Arm Cortex M) #12518
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| # Copyright (c) Meta Platforms, Inc. and affiliates. | ||
| # All rights reserved. | ||
| # Copyright 2023-2025 Arm Limited and/or its affiliates. | ||
| # | ||
| # This source code is licensed under the BSD-style license found in the | ||
| # LICENSE file in the root directory of this source tree. | ||
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| cmake_minimum_required(VERSION 3.10) | ||
| project(pico) | ||
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| set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | ||
| set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../) | ||
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| set(CMAKE_TOOLCHAIN_FILE ${CMAKE_CURRENT_SOURCE_DIR}/arm-cortex-m0plus-toolchain.cmake) | ||
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| # Only include here, NOT in arm-cortex-m0plus-toolchain.cmake | ||
| include(${CMAKE_SOURCE_DIR}/tools/cmake/Codegen.cmake) | ||
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| target_sources(executorch_core PRIVATE ${CMAKE_CURRENT_LIST_DIR}/syscall_stubs.c) | ||
| #gen_selected_ops(LIB_NAME "portable_ops_lib" ROOT_OPS "aten::add.out") |
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| ## Overview | ||
| This document outlines the steps required to run a simple Add Module on the Pico2 microcontroller using executorch. | ||
| ## Steps | ||
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| ### (Pre-requisistes) Prepare the Environment for Arm | ||
| 1. See <a href="docs/source/backends-arm-ethos-u.md"/> for instructions on setting up the environment for Arm. | ||
| 2. Make sure you have the toolchain configured correctly. | ||
|
There was a problem hiding this comment. Do you want to link Arm page where to download this from? |
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| ```bash | ||
| which arm-none-eabi-gcc | ||
| ``` should return something like 'executorch/examples/arm/ethos-u-scratch/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc' | ||
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| ### 1. Cross Compile Executorch for Arm Cortex M Target | ||
| To begin, navigate to the executorch root directory and execute the following commands: | ||
| ```bash | ||
| mkdir baremetal_build | ||
| cd baremetal_build | ||
| cmake .. -DCMAKE_TOOLCHAIN_FILE=./examples/arm/rp_pi/pico2/arm-cortex-m0plus-toolchain.cmake -DEXECUTORCH_BUILD_ARM_BAREMETAL=ON -DCMAKE_BUILD_TYPE=Release -DROOT_OPS=aten::add.out | ||
| cmake --build . -j$(nproc) | ||
| ``` | ||
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| ### 2. Export PICO_SDK_PATH | ||
| Download the Pico SDK from GitHub: https://github.com/raspberrypi/pico-sdk and set the PICO_SDK_PATH environment variable: | ||
| ```bash | ||
| export PICO_SDK_PATH=<path_to_local_pico_sdk_folder> | ||
| ``` | ||
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| ### 3. Build the example for Pico2 | ||
| Go to the example directory and initiate the build process: | ||
| ```bash | ||
| cd examples/arm/rp_pi/pico2/ | ||
| rm -rf build | ||
| mkdir build | ||
| cd build | ||
| cmake .. -DPICO_BOARD=pico2 -DCMAKE_BUILD_TYPE=Release | ||
| cmake --build . -j$(nproc) | ||
| ``` | ||
| This will generate the firmware file executorch_pico.uf2. | ||
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| ### 4. Flash the Firmware | ||
| Press and hold the BOOTSEL button on the Pico2. | ||
| Connect the Pico2 to your computer; it should mount as RPI-RP2. | ||
| Copy the executorch_pico.uf2 file to the mounted drive. | ||
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| ### 5. Verify the Firmware | ||
| 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 | ||
| To view USB logs, use the following command (as an example): | ||
| ```bash | ||
| screen /dev/tty.usbmodem1101 115200 | ||
| ``` | ||
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| These steps complete the process required to run the simple Add Module on the Pico2 microcontroller using executorch. | ||
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| # Copyright (c) Meta Platforms, Inc. and affiliates. | ||
| # All rights reserved. | ||
| # Copyright 2023-2025 Arm Limited and/or its affiliates. | ||
| # | ||
| # This source code is licensed under the BSD-style license found in the | ||
| # 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) | ||
| # If not defined, assume we're building standalone | ||
| set(EXECUTORCH_BUILD_ARM_BAREMETAL ON) | ||
| endif() | ||
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| set(CMAKE_SYSTEM_NAME Generic) | ||
| set(CMAKE_SYSTEM_PROCESSOR cortex-m0plus) | ||
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| if(NOT DEFINED CMAKE_C_COMPILER) | ||
| set(CMAKE_C_COMPILER arm-none-eabi-gcc CACHE STRING "C compiler") | ||
| endif() | ||
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| if(NOT DEFINED CMAKE_CXX_COMPILER) | ||
| set(CMAKE_CXX_COMPILER arm-none-eabi-g++ CACHE STRING "C++ compiler") | ||
| endif() | ||
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| set(CPU_FLAGS "-mcpu=cortex-m0plus -mthumb -mfloat-abi=soft") | ||
| # C flags (no RTTI or exceptions here, since RTTI is C++-only) | ||
| 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) | ||
| set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-use-cxa-atexit -ffunction-sections -fdata-sections") | ||
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| # Linker flags | ||
| set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections -nostartfiles -flto") | ||
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| cmake_minimum_required(VERSION 3.13) | ||
| include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake) | ||
| project(executorch_pico C CXX ASM) | ||
| pico_sdk_init() | ||
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| set(EXECUTORCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../../../../..) | ||
| set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | ||
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| # Replace xxx_pte.c with your model's pte file | ||
| add_executable(executorch_pico main.cpp simple_addmodule_pte.c) | ||
| pico_enable_stdio_usb(executorch_pico 1) | ||
| pico_enable_stdio_uart(executorch_pico 0) | ||
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| target_include_directories(executorch_pico PRIVATE | ||
| ${EXECUTORCH_ROOT}/executorch/runtime/core/portable_type/c10 | ||
| ) | ||
| add_compile_definitions(C10_USING_CUSTOM_GENERATED_MACROS) | ||
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| # Set correct flags for Pico (Cortex-M0+) | ||
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There was a problem hiding this comment. Do we need these on top of the toolchain file? |
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| target_compile_options(executorch_pico PRIVATE | ||
| -mcpu=cortex-m0plus | ||
| -mfloat-abi=soft | ||
| -mthumb | ||
| ) | ||
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| set(BAREMETAL_BUILD_DIR ${EXECUTORCH_ROOT}/executorch/baremetal_build/) | ||
| # Link Executorch and Pico libraries | ||
| target_link_libraries(executorch_pico | ||
| PRIVATE | ||
| ${BAREMETAL_BUILD_DIR}/libexecutorch.a | ||
| ${BAREMETAL_BUILD_DIR}/libexecutorch_core.a | ||
| -Wl,--whole-archive | ||
| ${BAREMETAL_BUILD_DIR}/kernels/portable/libportable_ops_lib.a | ||
| -Wl,--no-whole-archive | ||
| ${BAREMETAL_BUILD_DIR}/kernels/portable/libportable_kernels.a | ||
| pico_stdlib | ||
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There was a problem hiding this comment. make sure we don't also include newlib from the compiler, by checking symbols in the baremetal elf. |
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| pico_stdio_usb | ||
| ) | ||
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| # Include Executorch and third-party headers | ||
| target_include_directories(executorch_pico PRIVATE | ||
| ${EXECUTORCH_ROOT} | ||
| ${EXECUTORCH_ROOT}/executorch/third-party/ | ||
| # Add other include paths as needed | ||
| ) | ||
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| #set(CMAKE_C_FLAGS "-Os -ffunction-sections -fdata-sections") | ||
| set(CMAKE_EXE_LINKER_FLAGS "-Wl,--gc-sections") | ||
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| pico_add_extra_outputs(executorch_pico) | ||
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| /* Copyright (c) Meta Platforms, Inc. and affiliates. | ||
| * All rights reserved. | ||
| * Copyright 2023-2025 Arm Limited and/or its affiliates. | ||
| * | ||
| * This source code is licensed under the BSD-style license found in the | ||
| * LICENSE file in the root directory of this source tree. | ||
| */ | ||
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| // Model data | ||
| #include "simple_addmodule_pte.h" | ||
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| // Pico includes | ||
| #include "pico/stdio_usb.h" | ||
| #include "pico/stdlib.h" | ||
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| // Executorch includes | ||
| #include <executorch/extension/data_loader/buffer_data_loader.h> | ||
| #include <executorch/runtime/core/portable_type/scalar_type.h> | ||
| #include <executorch/runtime/executor/method.h> | ||
| #include <executorch/runtime/executor/program.h> | ||
| #include <executorch/runtime/executor/memory_manager.h> | ||
| #include <executorch/runtime/platform/runtime.h> | ||
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| // Std c++ includes | ||
| #include <memory> | ||
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| using namespace executorch::runtime; | ||
| using executorch::aten::Tensor; | ||
| using executorch::aten::TensorImpl; | ||
| using ScalarType = executorch::runtime::etensor::ScalarType; | ||
| using executorch::runtime::runtime_init; | ||
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| // Define GPIO pins for indicators | ||
| const uint INDICATOR_PIN_1 = 25; // Onboard LED | ||
| const uint INDICATOR_PIN_2 = 22; // External LED | ||
| const uint INDICATOR_PIN_3 = 23; // Onboard LED | ||
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| void wait_for_usb() { | ||
| const int kMaxRetryCount = 10; | ||
| int retry_usb_count = 0; | ||
| while (!stdio_usb_connected() && retry_usb_count++ < kMaxRetryCount) { | ||
| printf("Retry again! USB not connected \n"); | ||
| sleep_ms(100); | ||
| } | ||
| } | ||
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| // Make sure blink_indicator is defined somewhere, or add a stub if not | ||
| void blink_indicator(uint pin, int times, int delay_ms = 100) { | ||
| for (int i = 0; i < times; ++i) { | ||
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There was a problem hiding this comment. somewhere the documentation says 10 times? |
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| gpio_put(pin, 1); | ||
| sleep_ms(delay_ms); | ||
| gpio_put(pin, 0); | ||
| sleep_ms(delay_ms); | ||
| } | ||
| } | ||
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| bool load_and_prepare_model(std::unique_ptr<Program>& program_ptr, std::unique_ptr<Method>& method_ptr, MemoryManager& memory_manager) { | ||
| executorch::extension::BufferDataLoader loader(model_pte, model_pte_len); | ||
| auto program_result = Program::load(&loader); | ||
| if (!program_result.ok()) { | ||
| printf("Failed to load model: %d\n", (int)program_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| program_ptr = std::make_unique<Program>(std::move(*program_result)); | ||
| auto method_name_result = program_ptr->get_method_name(0); | ||
| if (!method_name_result.ok()) { | ||
| printf("Failed to get method name: %d\n", (int)method_name_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| auto method_result = program_ptr->load_method(*method_name_result, &memory_manager); | ||
| if (!method_result.ok()) { | ||
| printf("Failed to load method: %d\n", (int)method_result.error()); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| method_ptr = std::make_unique<Method>(std::move(*method_result)); | ||
| printf("Method loaded [%s]\n", *method_name_result); | ||
| return true; | ||
| } | ||
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| bool run_inference(Method& method) { | ||
| float input_data_0[4] = {4.0, 109.0, 13.0, 123.0}; | ||
| float input_data_1[4] = {9.0, 27.0, 11.0, 8.0}; | ||
| TensorImpl::SizesType sizes[1] = {4}; | ||
| TensorImpl::DimOrderType dim_order[] = {0}; | ||
| TensorImpl impl0(ScalarType::Float, 1, sizes, input_data_0, dim_order); | ||
| TensorImpl impl1(ScalarType::Float, 1, sizes, input_data_1, dim_order); | ||
| Tensor input0(&impl0); | ||
| Tensor input1(&impl1); | ||
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| if (method.set_input(input0, 0) != Error::Ok || method.set_input(input1, 1) != Error::Ok) { | ||
| printf("Failed to set input(s)\n"); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| if (method.execute() != Error::Ok) { | ||
| printf("Failed to execute\n"); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| const EValue& output = method.get_output(0); | ||
| if (output.isTensor()) { | ||
| const float* out_data = output.toTensor().const_data_ptr<float>(); | ||
| printf("Output: %f, %f, %f, %f\n", out_data[0], out_data[1], out_data[2], out_data[3]); | ||
| } else { | ||
| printf("Output is not a tensor!\n"); | ||
| blink_indicator(INDICATOR_PIN_1, 10); | ||
| return false; | ||
| } | ||
| return true; | ||
| } | ||
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| int executor_runner() { | ||
| stdio_init_all(); | ||
| sleep_ms(1000); | ||
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| wait_for_usb(); | ||
| runtime_init(); | ||
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| static uint8_t method_allocator_pool[1024]; | ||
| static uint8_t activation_pool[512]; | ||
| MemoryAllocator method_allocator(sizeof(method_allocator_pool), method_allocator_pool); | ||
| method_allocator.enable_profiling("method allocator"); | ||
| Span<uint8_t> memory_planned_buffers[1]{{activation_pool, sizeof(activation_pool)}}; | ||
| HierarchicalAllocator planned_memory({memory_planned_buffers, 1}); | ||
| MemoryManager memory_manager(&method_allocator, &planned_memory); | ||
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| std::unique_ptr<Program> program_ptr; | ||
| std::unique_ptr<Method> method_ptr; | ||
| if (!load_and_prepare_model(program_ptr, method_ptr, memory_manager)) { | ||
| printf("Failed to load and prepare model\n"); | ||
| return 1; | ||
| } | ||
| if (!run_inference(*method_ptr)) { | ||
| printf("Failed to run inference\n"); | ||
| return 1; | ||
| } | ||
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| blink_indicator(INDICATOR_PIN_1, 100, 500); | ||
| return 0; | ||
| } | ||
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| int main() { | ||
| return executor_runner(); | ||
| } | ||
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| /* Copyright (c) Meta Platforms, Inc. and affiliates. | ||
|
There was a problem hiding this comment. can we write a simple python script which generates this from add nn.module? |
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| * All rights reserved. | ||
| * Copyright 2023-2025 Arm Limited and/or its affiliates. | ||
| * | ||
| * This source code is licensed under the BSD-style license found in the | ||
| * LICENSE file in the root directory of this source tree. | ||
| */ | ||
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| #include "simple_addmodule_pte.h" | ||
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| const uint8_t model_pte[] __attribute__((aligned(8))) = { | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
| 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, | ||
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| 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, | ||
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|
|
||
| const unsigned int model_pte_len = sizeof(model_pte); | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| /* Copyright (c) Meta Platforms, Inc. and affiliates. | ||
| * All rights reserved. | ||
| * Copyright 2023-2025 Arm Limited and/or its affiliates. | ||
| * | ||
| * This source code is licensed under the BSD-style license found in the | ||
| * LICENSE file in the root directory of this source tree. | ||
| */ | ||
|
|
||
| #pragma once | ||
| #include <stdint.h> | ||
|
|
||
| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
|
|
||
| extern const uint8_t model_pte[] __attribute__((aligned(8))); | ||
| extern const unsigned int model_pte_len; | ||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif |
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Is this ok ?
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s/rp/raspberrypi :p
Do we want to signal that this is baremetal and not Raspberrry Pi 5 which runs Linux. I will leave it up to upi
Curious why under arm if we want to expand this to RISC-v?