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Add FreeRTOS variant of NPU demo (#10004)
* Add FreeRTOS variant of NPU demo This adds an extra flag to the existing NPU demo that runs it using the FreeRTOS kernel task scheduling and queues. * Add FreeRTOS notes to tutorial * Update FreeRTOS demo to run in demo script Also, minor text fixes. * Minor text fixes * Fix docs formatting
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,3 @@ | ||
| include/inputs.h | ||
| include/outputs.h | ||
| include/labels.h |
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| /* | ||
| * Licensed to the Apache Software Foundation (ASF) under one | ||
| * or more contributor license agreements. See the NOTICE file | ||
| * distributed with this work for additional information | ||
| * regarding copyright ownership. The ASF licenses this file | ||
| * to you 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 | ||
| * | ||
| * http://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. | ||
| */ | ||
|
|
||
| /* Please refer to http://www.freertos.org/a00110.html for refernce. */ | ||
| #ifndef FREERTOS_CONFIG_H | ||
| #define FREERTOS_CONFIG_H | ||
| /****************************************************************************** | ||
| * Defines | ||
| **********SYSTEM_CORE_CLOCK********************************************************************/ | ||
| /* Hardware features */ | ||
| #define configENABLE_MPU 0 | ||
| #define configENABLE_FPU 0 | ||
| #define configENABLE_TRUSTZONE 0 | ||
| /* Scheduling */ | ||
| #define configCPU_CLOCK_HZ 25000000 | ||
| #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 | ||
| #define configUSE_PREEMPTION 1 | ||
| #define configUSE_TIME_SLICING 0 | ||
| #define configMAX_PRIORITIES 5 | ||
| #define configIDLE_SHOULD_YIELD 1 | ||
| #define configUSE_16_BIT_TICKS 0 | ||
| #define configRUN_FREERTOS_SECURE_ONLY 1 | ||
| /* Stack and heap */ | ||
| #define configMINIMAL_STACK_SIZE (uint16_t)128 | ||
| #define configMINIMAL_SECURE_STACK_SIZE 1024 | ||
| #define configTOTAL_HEAP_SIZE (size_t)(50 * 1024) | ||
| #define configMAX_TASK_NAME_LEN 12 | ||
| /* OS features */ | ||
| #define configUSE_MUTEXES 1 | ||
| #define configUSE_TICKLESS_IDLE 1 | ||
| #define configUSE_APPLICATION_TASK_TAG 0 | ||
| #define configUSE_NEWLIB_REENTRANT 0 | ||
| #define configUSE_CO_ROUTINES 0 | ||
| #define configUSE_COUNTING_SEMAPHORES 1 | ||
| #define configUSE_RECURSIVE_MUTEXES 1 | ||
| #define configUSE_QUEUE_SETS 0 | ||
| #define configUSE_TASK_NOTIFICATIONS 1 | ||
| #define configUSE_TRACE_FACILITY 1 | ||
| /* Hooks */ | ||
| #define configUSE_IDLE_HOOK 0 | ||
| #define configUSE_TICK_HOOK 0 | ||
| #define configUSE_MALLOC_FAILED_HOOK 0 | ||
| /* Debug features */ | ||
| #define configCHECK_FOR_STACK_OVERFLOW 0 | ||
| #define configASSERT(x) \ | ||
| if ((x) == 0) { \ | ||
| taskDISABLE_INTERRUPTS(); \ | ||
| for (;;) \ | ||
| ; \ | ||
| } | ||
| #define configQUEUE_REGISTRY_SIZE 0 | ||
| /* Timers and queues */ | ||
| #define configUSE_TIMERS 1 | ||
| #define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) | ||
| #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE | ||
| #define configTIMER_QUEUE_LENGTH 5 | ||
| /* Task settings */ | ||
| #define INCLUDE_vTaskPrioritySet 1 | ||
| #define INCLUDE_uxTaskPriorityGet 1 | ||
| #define INCLUDE_vTaskDelete 1 | ||
| #define INCLUDE_vTaskCleanUpResources 0 | ||
| #define INCLUDE_vTaskSuspend 1 | ||
| #define INCLUDE_vTaskDelayUntil 1 | ||
| #define INCLUDE_vTaskDelay 1 | ||
| #define INCLUDE_uxTaskGetStackHighWaterMark 0 | ||
| #define INCLUDE_xTaskGetIdleTaskHandle 0 | ||
| #define INCLUDE_eTaskGetState 1 | ||
| #define INCLUDE_xTaskResumeFromISR 0 | ||
| #define INCLUDE_xTaskGetCurrentTaskHandle 1 | ||
| #define INCLUDE_xTaskGetSchedulerState 0 | ||
| #define INCLUDE_xSemaphoreGetMutexHolder 0 | ||
| #define INCLUDE_xTimerPendFunctionCall 1 | ||
| #define configUSE_STATS_FORMATTING_FUNCTIONS 1 | ||
| #define configCOMMAND_INT_MAX_OUTPUT_SIZE 2048 | ||
| #ifdef __NVIC_PRIO_BITS | ||
| #define configPRIO_BITS __NVIC_PRIO_BITS | ||
| #else | ||
| #define configPRIO_BITS 3 | ||
| #endif | ||
| /* Interrupt settings */ | ||
| #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x07 | ||
| #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 | ||
| #define configKERNEL_INTERRUPT_PRIORITY \ | ||
| (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS)) | ||
| #define configMAX_SYSCALL_INTERRUPT_PRIORITY \ | ||
| (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS)) | ||
| #ifndef __IASMARM__ | ||
| #define configGENERATE_RUN_TIME_STATS 0 | ||
| #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() | ||
| #define portGET_RUN_TIME_COUNTER_VALUE() 0 | ||
| #define configTICK_RATE_HZ (TickType_t)1000 | ||
| #endif /* __IASMARM__ */ | ||
| #define xPortPendSVHandler PendSV_Handler | ||
| #define vPortSVCHandler SVC_Handler | ||
| #define xPortSysTickHandler SysTick_Handler | ||
| #endif /* FREERTOS_CONFIG_H */ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,131 @@ | ||
| /* | ||
| * Licensed to the Apache Software Foundation (ASF) under one | ||
| * or more contributor license agreements. See the NOTICE file | ||
| * distributed with this work for additional information | ||
| * regarding copyright ownership. The ASF licenses this file | ||
| * to you 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 | ||
| * | ||
| * http://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. | ||
| */ | ||
|
|
||
| #include <FreeRTOS.h> | ||
| #include <queue.h> | ||
| #include <stdio.h> | ||
| #include <task.h> | ||
| #include <tvm_runtime.h> | ||
|
|
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| #include "ethosu_mod.h" | ||
| #include "uart.h" | ||
|
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| // Header files generated by convert_image.py and convert_labels.py | ||
| #include "inputs.h" | ||
| #include "labels.h" | ||
| #include "outputs.h" | ||
|
|
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| static void prvInferenceTask(void* pvParameters); | ||
| static void prvDataCollectionTask(void* pvParameters); | ||
|
|
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| #define mainQUEUE_INFERENCE_TASK_PRIORITY (tskIDLE_PRIORITY + 3) | ||
| #define mainQUEUE_INFERENCE_TASK_STACK_SIZE 4096 | ||
| #define mainQUEUE_DATA_TASK_PRIORITY (tskIDLE_PRIORITY + 2) | ||
| #define mainQUEUE_DATA_TASK_STACK_SIZE configMINIMAL_STACK_SIZE | ||
| #define mainQUEUE_LENGTH (1) | ||
| #define mainQUEUE_SEND_FREQUENCY_MS (100 / portTICK_PERIOD_MS) | ||
|
|
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| /* The queue used to pass data to run through our model */ | ||
| static QueueHandle_t xQueue = NULL; | ||
|
|
||
| int main(void) { | ||
| // Platform UART | ||
| uart_init(); | ||
| // NPU | ||
| EthosuInit(); | ||
| // TVM Memory Manager | ||
| StackMemoryManager_Init(&app_workspace, g_aot_memory, WORKSPACE_SIZE); | ||
|
|
||
| // Queue for inferences | ||
| xQueue = xQueueCreate(mainQUEUE_LENGTH, sizeof(uint8_t*)); | ||
|
|
||
| if (xQueue != NULL) { | ||
| // Inference task | ||
| xTaskCreate(prvInferenceTask, "Inference", mainQUEUE_INFERENCE_TASK_STACK_SIZE, NULL, | ||
| mainQUEUE_INFERENCE_TASK_PRIORITY, NULL); | ||
|
|
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| // Data collector task | ||
| xTaskCreate(prvDataCollectionTask, "Data", mainQUEUE_DATA_TASK_STACK_SIZE, NULL, | ||
| mainQUEUE_DATA_TASK_PRIORITY, NULL); | ||
|
|
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| // Start the task scheduling | ||
| vTaskStartScheduler(); | ||
| } | ||
|
|
||
| // The task scheduler should take over before this is reached | ||
| printf("Unreachable code reached!\n"); | ||
| } | ||
|
|
||
| /* | ||
| * This task emulates collection of data and sending it to another inference task | ||
| * for processing | ||
| */ | ||
| static void prvDataCollectionTask(void* pvParameters) { | ||
| // Unused | ||
| (void)pvParameters; | ||
|
|
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| // Working | ||
| vTaskDelay(mainQUEUE_SEND_FREQUENCY_MS); | ||
|
|
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| // Construct pointer to copy to queue | ||
| uint8_t** pucInputData = &input; | ||
| xQueueSend(xQueue, &pucInputData, 0U); | ||
| } | ||
|
|
||
| /* | ||
| * This task emulates the inference of data sent by the collector task | ||
| */ | ||
| static void prvInferenceTask(void* pvParameters) { | ||
| uint8_t* pucReceivedData; | ||
|
|
||
| // Unused | ||
| (void)pvParameters; | ||
|
|
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| // Wait for data collection | ||
| xQueueReceive(xQueue, &pucReceivedData, portMAX_DELAY); | ||
|
|
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| // Print output of inference and exit task | ||
| printf("Running inference\n"); | ||
| struct tvmgen_default_inputs xInputs = { | ||
| .tfl_quantize = pucReceivedData, | ||
| }; | ||
| struct tvmgen_default_outputs xOutputs = { | ||
| .output = output, | ||
| }; | ||
| struct ethosu_driver* xDriver = ethosu_reserve_driver(); | ||
| struct tvmgen_default_devices xDevices = { | ||
| .ethos_u = xDriver, | ||
| }; | ||
| tvmgen_default_run(&xInputs, &xOutputs, &xDevices); | ||
| ethosu_release_driver(xDriver); | ||
|
|
||
| // Calculate index of max value | ||
| int8_t ucMaxValue = -128; | ||
| int32_t lMaxIndex = -1; | ||
| for (unsigned int i = 0; i < output_len; ++i) { | ||
| if (output[i] > ucMaxValue) { | ||
| ucMaxValue = output[i]; | ||
| lMaxIndex = i; | ||
| } | ||
| } | ||
| printf("The image has been classified as '%s'\n", labels[lMaxIndex]); | ||
|
|
||
| // The FVP will shut down when it receives "EXITTHESIM" on the UART | ||
| printf("EXITTHESIM\n"); | ||
| } |
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