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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 "indexed_networks.hpp"
#include "message_handler.hpp"
#include "message_queue.hpp"
#include "networks.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) && defined(ETHOSU_NPU_COUNT) && ETHOSU_NPU_COUNT > 0
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;
__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 {
// 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
/****************************************************************************
* Application
****************************************************************************/
namespace {
struct TaskParams {
TaskParams() :
messageNotify(xSemaphoreCreateBinary()),
inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()),
inferenceOutputQueue(xQueueCreate(10, sizeof(ethosu_core_inference_rsp))),
networks(std::make_shared<WithIndexedNetworks>()) {}
SemaphoreHandle_t messageNotify;
// Used to pass inference requests to the inference runner task
std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue;
// Queue for message responses to the remote host
QueueHandle_t inferenceOutputQueue;
// Networks provider
std::shared_ptr<Networks> networks;
};
struct InferenceTaskParams {
TaskParams *taskParams;
uint8_t *arena;
};
#ifdef MHU_IRQ
void mailboxIrqHandler() {
mailbox.handleMessage();
}
#endif
void inferenceTask(void *pvParameters) {
printf("Starting inference task\n");
InferenceTaskParams *params = reinterpret_cast<InferenceTaskParams *>(pvParameters);
InferenceHandler process(params->arena,
arenaSize,
params->taskParams->inferenceInputQueue,
params->taskParams->inferenceOutputQueue,
params->taskParams->messageNotify,
params->taskParams->networks);
process.run();
}
void messageTask(void *pvParameters) {
printf("Starting message task\n");
TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters);
IncomingMessageHandler process(*inputMessageQueue.toQueue(),
*outputMessageQueue.toQueue(),
mailbox,
params->inferenceInputQueue,
params->inferenceOutputQueue,
params->messageNotify,
params->networks);
#ifdef MHU_IRQ
// Register mailbox interrupt handler
NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler);
NVIC_EnableIRQ((IRQn_Type)MHU_IRQ);
#endif
process.run();
}
/*
* Keep task parameters as global data as FreeRTOS resets the stack when the
* scheduler is started.
*/
TaskParams taskParams;
InferenceTaskParams infParams[NUM_PARALLEL_TASKS];
} // namespace
// FreeRTOS application. NOTE: Additional tasks may require increased heap size.
int main() {
BaseType_t ret;
if (!mailbox.verifyHardware()) {
printf("Failed to verify mailbox hardware\n");
return 1;
}
// Task for handling incoming /outgoing messages from the remote host
ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr);
if (ret != pdPASS) {
printf("Failed to create 'messageTask'\n");
return ret;
}
// One inference task for each NPU
for (size_t n = 0; n < NUM_PARALLEL_TASKS; n++) {
infParams[n].taskParams = &taskParams;
infParams[n].arena = reinterpret_cast<uint8_t *>(&tensorArena[n]);
ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &infParams[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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