COMPMID-2706: Add the ability to build bootcode for bare metal

Adds an option for providing a linker script and also adds the
bootcode folder, it it exists, in the build path and links it
with the executable binaries.

Change-Id: I4119b21bdf1b4dd7fe38c4ee66741460666f53a1
Signed-off-by: Michalis Spyrou <michalis.spyrou@arm.com>
Reviewed-on: https://review.mlplatform.org/c/2051
Comments-Addressed: Arm Jenkins <bsgcomp@arm.com>
Reviewed-by: Michele Di Giorgio <michele.digiorgio@arm.com>
Tested-by: Arm Jenkins <bsgcomp@arm.com>

8 files changed, 68 insertions, 15 deletions

diff --git a/SConscript b/SConscript
index 0b7729cced..66dfff4511 100644
--- a/SConscript
+++ b/SConscript
@@ -31,6 +31,14 @@ Import('env')
 Import('vars')
 Import('install_lib')
 
+def build_bootcode_objs(sources):
+
+    arm_compute_env.Append(ASFLAGS = "-I bootcode/")
+    obj = arm_compute_env.Object(sources)
+    obj = install_lib(obj)
+    Default(obj)
+    return obj
+
 def build_library(name, sources, static=False, libs=[]):
     if static:
         obj = arm_compute_env.StaticLibrary(name, source=sources, LIBS = arm_compute_env["LIBS"] + libs)
@@ -240,6 +248,12 @@ if env['gles_compute']:
 
     graph_files += Glob('src/graph/backends/GLES/*.cpp')
 
+bootcode_o = []
+if env['os'] == 'bare_metal':
+    bootcode_files = Glob('bootcode/*.s')
+    bootcode_o = build_bootcode_objs(bootcode_files)
+Export('bootcode_o')
+
 arm_compute_core_a = build_library('arm_compute_core-static', core_files, static=True)
 Export('arm_compute_core_a')
 
diff --git a/SConstruct b/SConstruct
index 216920f059..139c0e568a 100644
--- a/SConstruct
+++ b/SConstruct
@@ -59,6 +59,7 @@ vars.AddVariables(
     PathVariable("build_dir", "Specify sub-folder for the build", ".", PathVariable.PathAccept),
     PathVariable("install_dir", "Specify sub-folder for the install", "", PathVariable.PathAccept),
     BoolVariable("exceptions", "Enable/disable C++ exception support", True),
+    PathVariable("linker_script", "Use an external linker script", "", PathVariable.PathAccept),
     #FIXME Remove before release (And remove all references to INTERNAL_ONLY)
     BoolVariable("internal_only", "Enable ARM internal only tests", False),
     ("toolchain_prefix", "Override the toolchain prefix", ""),
@@ -105,6 +106,10 @@ Export('install_bin')
 
 Help(vars.GenerateHelpText(env))
 
+if env['linker_script'] and env['os'] != 'bare_metal':
+    print("Linker script is only supported for bare_metal builds")
+    Exit(1)
+
 if env['build'] == "embed_only":
     SConscript('./SConscript', variant_dir=build_path, duplicate=0)
     Return()
@@ -330,8 +335,14 @@ if env['gles_compute'] and env['os'] != 'android':
 
 SConscript('./SConscript', variant_dir=build_path, duplicate=0)
 
-if env['examples'] and env['os'] != 'bare_metal' and env['exceptions']:
+if env['examples'] and env['exceptions']:
+    if env['os'] == 'bare_metal' and env['arch'] == 'armv7a':
+        print("Building examples for bare metal and armv7a is not supported. Use examples=0.")
+        Exit(1)
     SConscript('./examples/SConscript', variant_dir='%s/examples' % build_path, duplicate=0)
 
-if env['os'] != 'bare_metal' and env['exceptions']:
+if env['exceptions']:
+    if env['os'] == 'bare_metal' and env['arch'] == 'armv7a':
+        print("WARNING: Building tests for bare metal and armv7a is not supported")
+        Return()
     SConscript('./tests/SConscript', variant_dir='%s/tests' % build_path, duplicate=0)
diff --git a/support/ToolchainSupport.h b/support/ToolchainSupport.h
index deaded34f3..f90d65c9d9 100644
--- a/support/ToolchainSupport.h
+++ b/support/ToolchainSupport.h
@@ -155,7 +155,7 @@ inline std::string to_string(T && value)
 template <typename T>
 inline T nearbyint(T value)
 {
-    return ::nearbyint(value);
+    return static_cast<T>(::nearbyint(value));
 }
 
 /** Convert string values to float.
@@ -286,7 +286,7 @@ inline std::string to_string(T &&value)
 template <typename T>
 inline T nearbyint(T value)
 {
-    return std::nearbyint(value);
+    return static_cast<T>(std::nearbyint(value));
 }
 
 /** Convert string values to float.
diff --git a/tests/SConscript b/tests/SConscript
index 663216906f..0c56a7475c 100644
--- a/tests/SConscript
+++ b/tests/SConscript
@@ -73,6 +73,9 @@ else:
     test_env.Append(LIBS = ["arm_compute_graph", "arm_compute", "arm_compute_core"])
     arm_compute_lib = arm_compute_graph_so
 
+if env['os'] in ['bare_metal']:
+    Import("bootcode_o")
+
 #FIXME Delete before release
 if env['internal_only']:
     test_env.Append(CPPDEFINES=['INTERNAL_ONLY'])
@@ -121,8 +124,14 @@ if env['neon']:
     if env['internal_only']:
         files_benchmark += Glob('../3rdparty/tests/benchmark/NEON/' + filter_pattern)
 
-    files_validation += Glob('validation/NEON/*/' + filter_pattern)
     files_validation += Glob('validation/NEON/' + filter_pattern)
+    if env['os'] == 'bare_metal':
+        files_validation += Glob('validation/NEON/UNIT/MemoryManager.cpp' + filter_pattern)
+        files_validation += Glob('validation/NEON/UNIT/DynamicTensor.cpp' + filter_pattern)
+        files_validation += Glob('validation/NEON/UNIT/TensorAllocator.cpp' + filter_pattern)
+    else:
+        files_validation += Glob('validation/NEON/*/' + filter_pattern)
+
 
 if env['gles_compute']:
     test_env.Append(CPPDEFINES=['ARM_COMPUTE_GC'])
@@ -146,12 +155,22 @@ if test_env['benchmark_tests']:
     Default(arm_compute_benchmark)
     Export('arm_compute_benchmark')
 
+bm_link_flags = []
+if test_env['linker_script']:
+    bm_link_flags = ['-Wl,--build-id=none', '-T', env['linker_script']]
+
 if test_env['validation_tests']:
     arm_compute_validation_framework = env.StaticLibrary('arm_compute_validation_framework', Glob('validation/reference/*.cpp') + Glob('validation/*.cpp'), LIBS= [ arm_compute_test_framework, arm_compute_core_a])
     Depends(arm_compute_validation_framework , arm_compute_test_framework)
     Depends(arm_compute_validation_framework , arm_compute_core_a)
 
-    arm_compute_validation = test_env.Program('arm_compute_validation', files_validation + common_objects, LIBS=[arm_compute_validation_framework] + test_env['LIBS'])
+    program_objects = files_validation + common_objects
+    if test_env['os'] == 'bare_metal':
+        Depends(arm_compute_validation_framework , bootcode_o)
+        program_objects += bootcode_o
+
+
+    arm_compute_validation = test_env.Program('arm_compute_validation', program_objects, LIBS=[arm_compute_validation_framework] + test_env['LIBS'], LINKFLAGS=test_env['LINKFLAGS'] + bm_link_flags)
     arm_compute_validation = install_bin(arm_compute_validation)
     Depends(arm_compute_validation, arm_compute_validation_framework)
     Depends(arm_compute_validation, arm_compute_test_framework)
@@ -162,11 +181,14 @@ if test_env['validation_tests']:
 
     if test_env['validate_examples']:
         files_validate_examples = [ test_env.Object('validate_examples/RunExample.cpp') ] + [ x for x in common_objects if not "main.o" in str(x)]
+        if test_env['os'] == 'bare_metal':
+            files_validate_examples += bootcode_o
+
         arm_compute_validate_examples = []
         if test_env['neon']:
             for file in Glob("validate_examples/neon_*.cpp"):
                 example = "validate_" + os.path.basename(os.path.splitext(str(file))[0])
-                arm_compute_validate_examples += [ test_env.Program(example, [ test_env.Object(source=file, target=example) ] + files_validate_examples, LIBS = [ arm_compute_validation_framework]) ]
+                arm_compute_validate_examples += [ test_env.Program(example, [ test_env.Object(source=file, target=example) ] + files_validate_examples, LIBS = [ arm_compute_validation_framework], LINKFLAGS=test_env['LINKFLAGS'] + bm_link_flags) ]
         if test_env['opencl']:
             cl_examples = []
             files = Glob("validate_examples/cl_*.cpp")
@@ -181,7 +203,7 @@ if test_env['validation_tests']:
                 for file in Glob("validate_examples/graph_*.cpp"):
                     example = "validate_" + os.path.basename(os.path.splitext(str(file))[0])
                     if env['os'] in ['android', 'bare_metal'] or env['standalone']:
-                        prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils]+ files_validate_examples, LIBS = test_env["LIBS"] + [ arm_compute_validation_framework ], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--whole-archive',arm_compute_lib,'-Wl,--no-whole-archive'])
+                        prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils]+ files_validate_examples, LIBS = test_env["LIBS"] + [ arm_compute_validation_framework ], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--whole-archive',arm_compute_lib,'-Wl,--no-whole-archive'] + bm_link_flags)
                         arm_compute_validate_examples += [ prog ]
                     else:
                         #-Wl,--allow-shlib-undefined: Ignore dependencies of dependencies
@@ -196,6 +218,8 @@ if test_env['validation_tests']:
 
 if test_env['benchmark_examples']:
     files_benchmark_examples = test_env.Object('benchmark_examples/RunExample.cpp')
+    if test_env['os'] == 'bare_metal':
+        files_benchmark_examples += bootcode_o
     graph_utils = test_env.Object(source="../utils/GraphUtils.cpp", target="GraphUtils")
     graph_params = test_env.Object(source="../utils/CommonGraphOptions.cpp", target="CommonGraphOptions")
     arm_compute_benchmark_examples = []
@@ -203,7 +227,7 @@ if test_env['benchmark_examples']:
         if test_env['neon']:
             for file in Glob("%s/neon_*.cpp" % examples_folder):
                 example = "benchmark_" + os.path.basename(os.path.splitext(str(file))[0])
-                arm_compute_benchmark_examples += [ test_env.Program(example, [ test_env.Object(source=file, target=example) ] + files_benchmark_examples) ]
+                arm_compute_benchmark_examples += [ test_env.Program(example, [ test_env.Object(source=file, target=example) ] + files_benchmark_examples, LINKFLAGS=test_env["LINKFLAGS"]+ bm_link_flags) ]
         if test_env['opencl']:
             cl_examples = []
             files = Glob("%s/cl_*.cpp" % examples_folder)
@@ -228,11 +252,11 @@ if test_env['benchmark_examples']:
         for file in Glob("%s/graph_*.cpp" % examples_folder ):
             example = "benchmark_" + os.path.basename(os.path.splitext(str(file))[0])
             if env['os'] in ['android', 'bare_metal'] or env['standalone']:
-                prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils, graph_params]+ files_benchmark_examples, LIBS = test_env["LIBS"], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--whole-archive',arm_compute_lib,'-Wl,--no-whole-archive'])
+                prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils, graph_params]+ files_benchmark_examples, LIBS = test_env["LIBS"], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--whole-archive',arm_compute_lib,'-Wl,--no-whole-archive'] + bm_link_flags)
                 arm_compute_benchmark_examples += [ prog ]
             else:
                 #-Wl,--allow-shlib-undefined: Ignore dependencies of dependencies
-                prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils, graph_params]+ files_benchmark_examples, LIBS = test_env["LIBS"] + ["arm_compute_graph"], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--allow-shlib-undefined'] )
+                prog = test_env.Program(example, [ test_env.Object(source=file, target=example), graph_utils, graph_params]+ files_benchmark_examples, LIBS = test_env["LIBS"] + ["arm_compute_graph"], LINKFLAGS=test_env["LINKFLAGS"]+['-Wl,--allow-shlib-undefined'])
                 arm_compute_benchmark_examples += [ prog ]
     arm_compute_benchmark_examples = install_bin(arm_compute_benchmark_examples)
     Depends(arm_compute_benchmark_examples, arm_compute_test_framework)
diff --git a/tests/benchmark_examples/RunExample.cpp b/tests/benchmark_examples/RunExample.cpp
index 5c9dd7136e..f3de308bef 100644
--- a/tests/benchmark_examples/RunExample.cpp
+++ b/tests/benchmark_examples/RunExample.cpp
@@ -163,8 +163,12 @@ int run_example(int argc, char **argv, std::unique_ptr<Example> example)
     }
     framework.set_throw_errors(options.throw_errors->value());
     arm_compute::test::framework::detail::TestSuiteRegistrar suite{ "Examples" };
-    framework.add_test_case<ExampleTest>(basename(argv[0]), framework::DatasetMode::ALL, arm_compute::test::framework::TestCaseFactory::Status::ACTIVE);
 
+#ifdef BARE_METAL
+    framework.add_test_case<ExampleTest>(argv[0], framework::DatasetMode::ALL, arm_compute::test::framework::TestCaseFactory::Status::ACTIVE);
+#else  /* BARE_METAL */
+    framework.add_test_case<ExampleTest>(basename(argv[0]), framework::DatasetMode::ALL, arm_compute::test::framework::TestCaseFactory::Status::ACTIVE);
+#endif /* BARE_METAL */
     //func(argc, argv);
     bool success = framework.run();
     if(options.log_level->value() > framework::LogLevel::NONE)
diff --git a/tests/validation/CPP/DetectionPostProcessLayer.cpp b/tests/validation/CPP/DetectionPostProcessLayer.cpp
index 51f3452b3d..f4528fb593 100644
--- a/tests/validation/CPP/DetectionPostProcessLayer.cpp
+++ b/tests/validation/CPP/DetectionPostProcessLayer.cpp
@@ -89,7 +89,7 @@ inline QuantizationInfo qinfo_scaleoffset_from_minmax(const float min, const flo
         }
         else
         {
-            uint8_offset = static_cast<uint8_t>(std::round(f_offset));
+            uint8_offset = static_cast<uint8_t>(arm_compute::support::cpp11::round(f_offset));
         }
         offset = uint8_offset;
     }
diff --git a/tests/validation/NEON/DetectionPostProcessLayer.cpp b/tests/validation/NEON/DetectionPostProcessLayer.cpp
index f479a13b4b..4413ed470f 100644
--- a/tests/validation/NEON/DetectionPostProcessLayer.cpp
+++ b/tests/validation/NEON/DetectionPostProcessLayer.cpp
@@ -89,7 +89,7 @@ inline QuantizationInfo qinfo_scaleoffset_from_minmax(const float min, const flo
         }
         else
         {
-            uint8_offset = static_cast<uint8_t>(std::round(f_offset));
+            uint8_offset = static_cast<uint8_t>(support::cpp11::round(f_offset));
         }
         offset = uint8_offset;
     }
diff --git a/tests/validation/reference/ElementWiseUnary.cpp b/tests/validation/reference/ElementWiseUnary.cpp
index 06beb2ac09..eaaaa4ec1e 100644
--- a/tests/validation/reference/ElementWiseUnary.cpp
+++ b/tests/validation/reference/ElementWiseUnary.cpp
@@ -59,7 +59,7 @@ SimpleTensor<T> elementwise_unary(const SimpleTensor<T> &src, ElementWiseUnary o
                 dst[i] = std::sin(src[i]);
                 break;
             case ElementWiseUnary::ROUND:
-                dst[i] = std::nearbyint(src[i]);
+                dst[i] = arm_compute::support::cpp11::nearbyint(src[i]);
                 break;
             default:
                 ARM_COMPUTE_ERROR("Not implemented");