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/*
* Copyright (c) 2019-2022 Arm Limited.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/****************************************************************************
* Includes
****************************************************************************/
#include "FreeRTOS.h"
#include "queue.h"
#include "semphr.h"
#include "task.h"
#include <inttypes.h>
#include <stdio.h>
#include "ethosu_core_interface.h"
#include "message_handler.hpp"
#include "message_queue.hpp"
#include <mailbox.hpp>
#if defined(MHU_V2)
#include <mhu_v2.hpp>
#elif defined(MHU_JUNO)
#include <mhu_juno.hpp>
#else
#include <mhu_dummy.hpp>
#endif
/* Disable semihosting */
__asm(".global __use_no_semihosting\n\t");
using namespace EthosU;
using namespace MessageHandler;
/****************************************************************************
* Defines
****************************************************************************/
// Nr. of tasks to process inferences with, reserves driver & runs inference (Normally 1 per NPU, but not a must)
#if defined(ETHOSU_NPU_COUNT)
constexpr size_t NUM_PARALLEL_TASKS = ETHOSU_NPU_COUNT;
#else
constexpr size_t NUM_PARALLEL_TASKS = 1;
#endif
// TensorArena static initialisation
constexpr size_t arenaSize = TENSOR_ARENA_SIZE / NUM_PARALLEL_TASKS;
__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[NUM_PARALLEL_TASKS][arenaSize];
// Message queue from remote host
__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue;
// Message queue to remote host
__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue;
namespace {
// Queue used to pass inference requests to the inference runner task
QueueHandle_t inferenceQueue;
// Queue for message responses to the remote host
QueueHandle_t outputQueue;
// Mailbox driver
#ifdef MHU_V2
Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase
#elif defined(MHU_JUNO)
Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS);
#else
Mailbox::MHUDummy mailbox;
#endif
} // namespace
/****************************************************************************
* Mutex & Semaphore
****************************************************************************/
extern "C" {
void *ethosu_mutex_create(void) {
return xSemaphoreCreateMutex();
}
void ethosu_mutex_lock(void *mutex) {
SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex);
xSemaphoreTake(handle, portMAX_DELAY);
}
void ethosu_mutex_unlock(void *mutex) {
SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex);
xSemaphoreGive(handle);
}
void *ethosu_semaphore_create(void) {
return xSemaphoreCreateBinary();
}
void ethosu_semaphore_take(void *sem) {
SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem);
xSemaphoreTake(handle, portMAX_DELAY);
}
void ethosu_semaphore_give(void *sem) {
SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem);
xSemaphoreGiveFromISR(handle, NULL);
}
}
/****************************************************************************
* Application
****************************************************************************/
namespace {
#ifdef MHU_IRQ
void mailboxIrqHandler() {
mailbox.handleMessage();
}
#endif
void inferenceTask(void *pvParameters) {
printf("Starting inference task\n");
uint8_t *arena = reinterpret_cast<uint8_t *>(pvParameters);
InferenceHandler process(arena, arenaSize, inferenceQueue, outputQueue);
process.run();
}
void inputMessageTask(void *pvParameters) {
(void)pvParameters;
printf("Starting input message task\n");
IncomingMessageHandler process(*inputMessageQueue.toQueue(), mailbox, inferenceQueue, outputQueue);
process.run();
}
void outputMessageTask(void *pvParameters) {
(void)pvParameters;
printf("Starting output message task\n");
MessageHandler::OutgoingMessageHandler process(*outputMessageQueue.toQueue(), mailbox, outputQueue);
process.run();
}
} // namespace
// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
int main() {
BaseType_t ret;
#ifdef MHU_IRQ
// Register mailbox interrupt handler
NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
#endif
if (!mailbox.verifyHardware()) {
printf("Failed to verify mailbox hardware\n");
return 1;
}
// Create message queues for inter process communication
inferenceQueue = xQueueCreate(10, sizeof(ethosu_core_inference_req));
outputQueue = xQueueCreate(10, sizeof(OutputMessage));
// Task for handling incoming messages from the remote host
ret = xTaskCreate(inputMessageTask, "inputMessageTask", 1024, nullptr, 2, nullptr);
if (ret != pdPASS) {
printf("Failed to create 'inputMessageTask'\n");
return ret;
}
// Task for handling outgoing messages resposes to the remote host
ret = xTaskCreate(outputMessageTask, "outputMessageTask", 512, nullptr, 2, nullptr);
if (ret != pdPASS) {
printf("Failed to create 'outputMessageTask'\n");
return ret;
}
// One inference task for each NPU
for (size_t n = 0; n < NUM_PARALLEL_TASKS; n++) {
ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &tensorArena[n], 3, nullptr);
if (ret != pdPASS) {
printf("Failed to create 'inferenceTask%d'\n", n);
return ret;
}
}
// Start Scheduler
vTaskStartScheduler();
return 1;
}
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