add avh picodet demo (#6266)

deploy/third_engine/demo_avh/Makefile

+# 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.
+
+# Makefile to build demo
+
+# Setup build environment
+BUILD_DIR := build
+
+ARM_CPU = ARMCM55
+ETHOSU_PATH = /opt/arm/ethosu
+CMSIS_PATH ?= ${ETHOSU_PATH}/cmsis
+ETHOSU_PLATFORM_PATH ?= ${ETHOSU_PATH}/core_platform
+STANDALONE_CRT_PATH := $(abspath $(BUILD_DIR))/runtime
+CORSTONE_300_PATH = ${ETHOSU_PLATFORM_PATH}/targets/corstone-300
+PKG_COMPILE_OPTS = -g -Wall -O2 -Wno-incompatible-pointer-types -Wno-format -mcpu=cortex-m55 -mthumb -mfloat-abi=hard -std=gnu99
+CMAKE ?= cmake
+CC = arm-none-eabi-gcc
+AR = arm-none-eabi-ar
+RANLIB = arm-none-eabi-ranlib
+PKG_CFLAGS = ${PKG_COMPILE_OPTS} \
+	-I${STANDALONE_CRT_PATH}/include \
+	-I${STANDALONE_CRT_PATH}/src/runtime/crt/include \
+	-I${PWD}/include \
+	-I${CORSTONE_300_PATH} \
+	-I${CMSIS_PATH}/Device/ARM/${ARM_CPU}/Include/ \
+	-I${CMSIS_PATH}/CMSIS/Core/Include \
+	-I${CMSIS_PATH}/CMSIS/NN/Include \
+	-I${CMSIS_PATH}/CMSIS/DSP/Include \
+	-I$(abspath $(BUILD_DIR))/codegen/host/include
+CMSIS_NN_CMAKE_FLAGS = -DCMAKE_TOOLCHAIN_FILE=$(abspath $(BUILD_DIR))/../arm-none-eabi-gcc.cmake \
+	-DTARGET_CPU=cortex-m55 \
+	-DBUILD_CMSIS_NN_FUNCTIONS=YES
+PKG_LDFLAGS = -lm -specs=nosys.specs -static -T corstone300.ld
+
+$(ifeq VERBOSE,1)
+QUIET ?=
+$(else)
+QUIET ?= @
+$(endif)
+
+DEMO_MAIN = src/demo_bare_metal.c
+CODEGEN_SRCS = $(wildcard $(abspath $(BUILD_DIR))/codegen/host/src/*.c)
+CODEGEN_OBJS = $(subst .c,.o,$(CODEGEN_SRCS))
+CMSIS_STARTUP_SRCS = $(wildcard ${CMSIS_PATH}/Device/ARM/${ARM_CPU}/Source/*.c)
+UART_SRCS = $(wildcard ${CORSTONE_300_PATH}/*.c)
+
+demo: $(BUILD_DIR)/demo
+
+$(BUILD_DIR)/stack_allocator.o: $(STANDALONE_CRT_PATH)/src/runtime/crt/memory/stack_allocator.c
+	$(QUIET)mkdir -p $(@D)
+	$(QUIET)$(CC) -c $(PKG_CFLAGS) -o $@  $^
+
+$(BUILD_DIR)/crt_backend_api.o: $(STANDALONE_CRT_PATH)/src/runtime/crt/common/crt_backend_api.c
+	$(QUIET)mkdir -p $(@D)
+	$(QUIET)$(CC) -c $(PKG_CFLAGS) -o $@  $^
+
+# Build generated code
+$(BUILD_DIR)/libcodegen.a: $(CODEGEN_SRCS)
+	$(QUIET)cd $(abspath $(BUILD_DIR)/codegen/host/src) && $(CC) -c $(PKG_CFLAGS) $(CODEGEN_SRCS)
+	$(QUIET)$(AR) -cr $(abspath $(BUILD_DIR)/libcodegen.a) $(CODEGEN_OBJS)
+	$(QUIET)$(RANLIB) $(abspath $(BUILD_DIR)/libcodegen.a)
+
+# Build CMSIS startup code
+${BUILD_DIR}/libcmsis_startup.a: $(CMSIS_STARTUP_SRCS)
+	$(QUIET)mkdir -p $(abspath $(BUILD_DIR)/libcmsis_startup)
+	$(QUIET)cd $(abspath $(BUILD_DIR)/libcmsis_startup) && $(CC) -c $(PKG_CFLAGS) -D${ARM_CPU} $^
+	$(QUIET)$(AR) -cr $(abspath $(BUILD_DIR)/libcmsis_startup.a) $(abspath $(BUILD_DIR))/libcmsis_startup/*.o
+	$(QUIET)$(RANLIB) $(abspath $(BUILD_DIR)/libcmsis_startup.a)
+
+# Build CMSIS-NN
+${BUILD_DIR}/cmsis_nn/Source/SoftmaxFunctions/libCMSISNNSoftmax.a:
+	$(QUIET)mkdir -p $(@D)
+	$(QUIET)cd $(CMSIS_PATH)/CMSIS/NN && $(CMAKE) -B $(abspath $(BUILD_DIR)/cmsis_nn) $(CMSIS_NN_CMAKE_FLAGS)
+	$(QUIET)cd $(abspath $(BUILD_DIR)/cmsis_nn) && $(MAKE) all	
+
+# Build demo application
+$(BUILD_DIR)/demo: $(DEMO_MAIN) $(UART_SRCS) $(BUILD_DIR)/stack_allocator.o $(BUILD_DIR)/crt_backend_api.o \
+       ${BUILD_DIR}/libcodegen.a ${BUILD_DIR}/libcmsis_startup.a \
+       ${BUILD_DIR}/cmsis_nn/Source/SoftmaxFunctions/libCMSISNNSoftmax.a \
+       ${BUILD_DIR}/cmsis_nn/Source/FullyConnectedFunctions/libCMSISNNFullyConnected.a \
+       ${BUILD_DIR}/cmsis_nn/Source/SVDFunctions/libCMSISNNSVDF.a \
+       ${BUILD_DIR}/cmsis_nn/Source/ReshapeFunctions/libCMSISNNReshape.a \
+       ${BUILD_DIR}/cmsis_nn/Source/ActivationFunctions/libCMSISNNActivation.a \
+       ${BUILD_DIR}/cmsis_nn/Source/NNSupportFunctions/libCMSISNNSupport.a \
+       ${BUILD_DIR}/cmsis_nn/Source/ConcatenationFunctions/libCMSISNNConcatenation.a \
+       ${BUILD_DIR}/cmsis_nn/Source/BasicMathFunctions/libCMSISNNBasicMaths.a \
+       ${BUILD_DIR}/cmsis_nn/Source/ConvolutionFunctions/libCMSISNNConvolutions.a \
+       ${BUILD_DIR}/cmsis_nn/Source/PoolingFunctions/libCMSISNNPooling.a
+	$(QUIET)mkdir -p $(@D)
+	$(QUIET)$(CC) $(PKG_CFLAGS) $(FREERTOS_FLAGS) -o $@ -Wl,--whole-archive $^ -Wl,--no-whole-archive $(PKG_LDFLAGS)
+
+clean:
+	$(QUIET)rm -rf $(BUILD_DIR)/codegen
+
+cleanall:
+	$(QUIET)rm -rf $(BUILD_DIR)
+
+.SUFFIXES:
+
+.DEFAULT: demo

deploy/third_engine/demo_avh/README.md

+<!--- 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. -->
+Running PP-PicoDet via TVM on bare metal Arm(R) Cortex(R)-M55 CPU and CMSIS-NN
+===============================================================
+
+This folder contains an example of how to use TVM to run a PP-PicoDet model
+on bare metal Cortex(R)-M55 CPU and CMSIS-NN.
+
+Prerequisites
+-------------
+If the demo is run in the ci_cpu Docker container provided with TVM, then the following
+software will already be installed.
+
+If the demo is not run in the ci_cpu Docker container, then you will need the following:
+- Software required to build and run the demo (These can all be installed by running
+  tvm/docker/install/ubuntu_install_ethosu_driver_stack.sh.)
+  - [Fixed Virtual Platform (FVP) based on Arm(R) Corstone(TM)-300 software](https://developer.arm.com/tools-and-software/open-source-software/arm-platforms-software/arm-ecosystem-fvps)
+  - [cmake 3.19.5](https://github.com/Kitware/CMake/releases/)
+  - [GCC toolchain from Arm(R)](https://developer.arm.com/-/media/Files/downloads/gnu-rm/10-2020q4/gcc-arm-none-eabi-10-2020-q4-major-x86_64-linux.tar.bz2)
+  - [Arm(R) Ethos(TM)-U NPU driver stack](https://review.mlplatform.org)
+  - [CMSIS](https://github.com/ARM-software/CMSIS_5)
+- The python libraries listed in the requirements.txt of this directory
+  - These can be installed by running the following from the current directory:
+    ```bash
+    pip install -r ./requirements.txt
+    ```
+
+You will also need TVM which can either be:
+  - Built from source (see [Install from Source](https://tvm.apache.org/docs/install/from_source.html))
+    - When building from source, the following need to be set in config.cmake:
+      - set(USE_CMSISNN ON)
+      - set(USE_MICRO ON)
+      - set(USE_LLVM ON)
+  - Installed from TLCPack(see [TLCPack](https://tlcpack.ai/))
+
+You will need to update your PATH environment variable to include the path to cmake 3.19.5 and the FVP.
+For example if you've installed these in ```/opt/arm``` , then you would do the following:
+```bash
+export PATH=/opt/arm/FVP_Corstone_SSE-300/models/Linux64_GCC-6.4:/opt/arm/cmake/bin:$PATH
+```
+
+Running the demo application
+----------------------------
+Type the following command to run the bare metal text recognition application ([src/demo_bare_metal.c](./src/demo_bare_metal.c)):
+```bash
+./run_demo.sh
+```
+If the Ethos(TM)-U platform and/or CMSIS have not been installed in /opt/arm/ethosu then
+the locations for these can be specified as arguments to run_demo.sh, for example:
+
+```bash
+./run_demo.sh --cmsis_path /home/tvm-user/cmsis \
+--ethosu_platform_path /home/tvm-user/ethosu/core_platform
+```
+
+This will:
+- Download a PP-PicoDet text recognition model
+- Use tvmc to compile the text recognition model for Cortex(R)-M55 CPU and CMSIS-NN
+- Create a C header file inputs.c containing the image data as a C array
+- Create a C header file outputs.c containing a C array where the output of inference will be stored
+- Build the demo application
+- Run the demo application on a Fixed Virtual Platform (FVP) based on Arm(R) Corstone(TM)-300 software
+- The application will report the text on the image and the corresponding score.
+
+Using your own image
+--------------------
+The create_image.py script takes a single argument on the command line which is the path of the
+image to be converted into an array of bytes for consumption by the model.
+
+The demo can be modified to use an image of your choice by changing the following line in run_demo.sh
+
+```bash
+python3 ./convert_image.py ../../demo/000000014439_640x640.jpg
+```
+
+Model description
+-----------------
+In this demo, the model we used is based on [PP-PicoDet](https://github.com/PaddlePaddle/PaddleDetection/tree/release/2.4/configs/picodet). Because of the excellent performance, PP-PicoDet are very suitable for deployment on mobile or CPU. And it is released by [PaddleDetection](https://github.com/PaddlePaddle/PaddleDetection).

deploy/third_engine/demo_avh/arm-none-eabi-gcc.cmake

+# 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.
+
+if (__TOOLCHAIN_LOADED)
+    return()
+endif()
+set(__TOOLCHAIN_LOADED TRUE)
+
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_C_COMPILER "arm-none-eabi-gcc")
+set(CMAKE_CXX_COMPILER "arm-none-eabi-g++")
+set(CMAKE_SYSTEM_PROCESSOR "cortex-m55" CACHE STRING "Select Arm(R) Cortex(R)-M architecture. (cortex-m0, cortex-m3, cortex-m33, cortex-m4, cortex-m55, cortex-m7, etc)")
+
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_CXX_STANDARD 14)
+
+# The system processor could for example be set to cortex-m33+nodsp+nofp.
+set(__CPU_COMPILE_TARGET ${CMAKE_SYSTEM_PROCESSOR})
+string(REPLACE "+" ";" __CPU_FEATURES ${__CPU_COMPILE_TARGET})
+list(POP_FRONT __CPU_FEATURES CMAKE_SYSTEM_PROCESSOR)
+
+string(FIND ${__CPU_COMPILE_TARGET} "+" __OFFSET)
+if(__OFFSET GREATER_EQUAL 0)
+    string(SUBSTRING ${__CPU_COMPILE_TARGET} ${__OFFSET} -1 CPU_FEATURES)
+endif()
+
+# Add -mcpu to the compile options to override the -mcpu the CMake toolchain adds
+add_compile_options(-mcpu=${__CPU_COMPILE_TARGET})
+
+# Set floating point unit
+if("${__CPU_COMPILE_TARGET}" MATCHES "\\+fp")
+    set(FLOAT hard)
+elseif("${__CPU_COMPILE_TARGET}" MATCHES "\\+nofp")
+    set(FLOAT soft)
+elseif("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "cortex-m33" OR
+       "${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "cortex-m55")
+    set(FLOAT hard)
+else()
+    set(FLOAT soft)
+endif()
+
+add_compile_options(-mfloat-abi=${FLOAT})
+add_link_options(-mfloat-abi=${FLOAT})
+
+# Link target
+add_link_options(-mcpu=${__CPU_COMPILE_TARGET})
+add_link_options(-Xlinker -Map=output.map)
+
+#
+# Compile options
+#
+set(cxx_flags "-fno-unwind-tables;-fno-rtti;-fno-exceptions")
+
+add_compile_options("-Wall;-Wextra;-Wsign-compare;-Wunused;-Wswitch-default;\
+-Wdouble-promotion;-Wredundant-decls;-Wshadow;-Wnull-dereference;\
+-Wno-format-extra-args;-Wno-unused-function;-Wno-unused-label;\
+-Wno-missing-field-initializers;-Wno-return-type;-Wno-format;-Wno-int-conversion"
+    "$<$<COMPILE_LANGUAGE:CXX>:${cxx_flags}>"
+)

deploy/third_engine/demo_avh/convert_image.py

+# 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.
+
+import os
+import pathlib
+import re
+import sys
+import cv2
+import math
+from PIL import Image
+import numpy as np
+
+def resize_norm_img(img, image_shape, padding=True):
+    imgC, imgH, imgW = image_shape
+    img = cv2.resize(
+        img, (imgW, imgH), interpolation=cv2.INTER_LINEAR)
+    img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+    img = np.transpose(img, [2, 0, 1]) / 255
+    img = np.expand_dims(img, 0)
+    img_mean = np.array([0.485, 0.456, 0.406]).reshape((3, 1, 1))
+    img_std = np.array([0.229, 0.224, 0.225]).reshape((3, 1, 1))
+    img -= img_mean
+    img /= img_std
+    return img.astype(np.float32)
+
+
+def create_header_file(name, tensor_name, tensor_data, output_path):
+    """
+    This function generates a header file containing the data from the numpy array provided.
+    """
+    file_path = pathlib.Path(f"{output_path}/" + name).resolve()
+    # Create header file with npy_data as a C array
+    raw_path = file_path.with_suffix(".h").resolve()
+    with open(raw_path, "a") as header_file:
+        header_file.write(
+            "\n"
+            + f"const size_t {tensor_name}_len = {tensor_data.size};\n"
+            + f'__attribute__((section(".data.tvm"), aligned(16))) float {tensor_name}[] = '
+        )
+
+        header_file.write("{")
+        for i in np.ndindex(tensor_data.shape):
+            header_file.write(f"{tensor_data[i]}, ")
+        header_file.write("};\n\n")
+
+
+def create_headers(image_name):
+    """
+    This function generates C header files for the input and output arrays required to run inferences
+    """
+    img_path = os.path.join("./", f"{image_name}")
+
+    # Resize image to 32x320
+    img = cv2.imread(img_path)
+    img = resize_norm_img(img, [3,32,320])
+    img_data = img.astype("float32")
+    
+    # # Add the batch dimension, as we are expecting 4-dimensional input: NCHW.
+    img_data = np.expand_dims(img_data, axis=0)
+
+    os.remove("./include/inputs.h")
+    os.remove("./include/outputs.h")
+    # Create input header file
+    create_header_file("inputs", "input", img_data, "./include")
+    # Create output header file
+    output_data = np.zeros([8500], np.float)
+    create_header_file(
+        "outputs",
+        "output0",
+        output_data,
+        "./include",
+    )
+    output_data = np.zeros([170000], np.float)
+    create_header_file(
+        "outputs",
+        "output1",
+        output_data,
+        "./include",
+    )
+
+
+if __name__ == "__main__":
+    create_headers(sys.argv[1])

deploy/third_engine/demo_avh/corstone300.ld

+/*
+ * 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.
+ */
+
+/*------------------ Reference System Memories -------------
+  +===================+============+=======+============+============+
+  | Memory            | Address    | Size  | CPU Access | NPU Access |
+  +===================+============+=======+============+============+
+  | ITCM              | 0x00000000 | 512KB | Yes (RO)   | No         |
+  +-------------------+------------+-------+------------+------------+
+  | DTCM              | 0x20000000 | 512KB | Yes (R/W)  | No         |
+  +-------------------+------------+-------+------------+------------+
+  | SSE-300 SRAM      | 0x21000000 |   2MB | Yes (R/W)  | Yes (R/W)  |
+  +-------------------+------------+-------+------------+------------+
+  | Data SRAM         | 0x01000000 |   2MB | Yes (R/W)  | Yes (R/W)  |
+  +-------------------+------------+-------+------------+------------+
+  | DDR               | 0x60000000 |  32MB | Yes (R/W)  | Yes (R/W)  |
+  +-------------------+------------+-------+------------+------------+ */
+
+/*---------------------- ITCM Configuration ----------------------------------
+  <h> Flash Configuration
+    <o0> Flash Base Address <0x0-0xFFFFFFFF:8>
+    <o1> Flash Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+  -----------------------------------------------------------------------------*/
+__ROM_BASE = 0x00000000;
+__ROM_SIZE = 0x00080000;
+
+/*--------------------- DTCM RAM Configuration ----------------------------
+  <h> RAM Configuration
+    <o0> RAM Base Address    <0x0-0xFFFFFFFF:8>
+    <o1> RAM Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+ -----------------------------------------------------------------------------*/
+__RAM_BASE = 0x20000000;
+__RAM_SIZE = 0x00080000;
+
+/*----------------------- Data SRAM Configuration ------------------------------
+  <h> Data SRAM Configuration
+    <o0> DATA_SRAM Base Address    <0x0-0xFFFFFFFF:8>
+    <o1> DATA_SRAM Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+ -----------------------------------------------------------------------------*/
+__DATA_SRAM_BASE = 0x01000000;
+__DATA_SRAM_SIZE = 0x00200000;
+
+/*--------------------- Embedded SRAM Configuration ----------------------------
+  <h> SRAM Configuration
+    <o0> SRAM Base Address    <0x0-0xFFFFFFFF:8>
+    <o1> SRAM Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+ -----------------------------------------------------------------------------*/
+__SRAM_BASE = 0x21000000;
+__SRAM_SIZE = 0x00200000;
+
+/*--------------------- Stack / Heap Configuration ----------------------------
+  <h> Stack / Heap Configuration
+    <o0> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
+    <o1> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+  -----------------------------------------------------------------------------*/
+__STACK_SIZE = 0x00008000;
+__HEAP_SIZE  = 0x00008000;
+
+/*--------------------- Embedded RAM Configuration ----------------------------
+  <h> DDR Configuration
+    <o0> DDR Base Address    <0x0-0xFFFFFFFF:8>
+    <o1> DDR Size (in Bytes) <0x0-0xFFFFFFFF:8>
+  </h>
+ -----------------------------------------------------------------------------*/
+__DDR_BASE = 0x60000000;
+__DDR_SIZE = 0x02000000;
+
+/*
+ *-------------------- <<< end of configuration section >>> -------------------
+ */
+
+MEMORY
+{
+  ITCM       (rx)  : ORIGIN = __ROM_BASE, LENGTH = __ROM_SIZE
+  DTCM       (rwx) : ORIGIN = __RAM_BASE, LENGTH = __RAM_SIZE
+  DATA_SRAM  (rwx) : ORIGIN = __DATA_SRAM_BASE, LENGTH = __DATA_SRAM_SIZE
+  SRAM       (rwx) : ORIGIN = __SRAM_BASE, LENGTH = __SRAM_SIZE
+  DDR        (rwx) : ORIGIN = __DDR_BASE, LENGTH = __DDR_SIZE
+}
+
+/* Linker script to place sections and symbol values. Should be used together
+ * with other linker script that defines memory regions ITCM and RAM.
+ * It references following symbols, which must be defined in code:
+ *   Reset_Handler : Entry of reset handler
+ *
+ * It defines following symbols, which code can use without definition:
+ *   __exidx_start
+ *   __exidx_end
+ *   __copy_table_start__
+ *   __copy_table_end__
+ *   __zero_table_start__
+ *   __zero_table_end__
+ *   __etext
+ *   __data_start__
+ *   __preinit_array_start
+ *   __preinit_array_end
+ *   __init_array_start
+ *   __init_array_end
+ *   __fini_array_start
+ *   __fini_array_end
+ *   __data_end__
+ *   __bss_start__
+ *   __bss_end__
+ *   __end__
+ *   end
+ *   __HeapLimit
+ *   __StackLimit
+ *   __StackTop
+ *   __stack
+ */
+ENTRY(Reset_Handler)
+
+SECTIONS
+{
+  /* .ddr is placed before .text so that .rodata.tvm is encountered before .rodata* */
+  .ddr :
+  {
+    . = ALIGN (16);
+    *(.rodata.tvm)
+    . = ALIGN (16);
+    *(.data.tvm);
+    . = ALIGN(16);    
+  } > DDR
+
+  .text :
+  {
+    KEEP(*(.vectors))
+    *(.text*)
+
+    KEEP(*(.init))
+    KEEP(*(.fini))
+
+    /* .ctors */
+    *crtbegin.o(.ctors)
+    *crtbegin?.o(.ctors)
+    *(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
+    *(SORT(.ctors.*))
+    *(.ctors)
+
+    /* .dtors */
+    *crtbegin.o(.dtors)
+    *crtbegin?.o(.dtors)
+    *(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
+    *(SORT(.dtors.*))
+    *(.dtors)
+
+    *(.rodata*)
+
+    KEEP(*(.eh_frame*))
+  } > ITCM
+
+  .ARM.extab :
+  {
+    *(.ARM.extab* .gnu.linkonce.armextab.*)
+  } > ITCM
+
+  __exidx_start = .;
+  .ARM.exidx :
+  {
+    *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+  } > ITCM
+  __exidx_end = .;
+
+  .copy.table :
+  {
+    . = ALIGN(4);
+    __copy_table_start__ = .;
+    LONG (__etext)
+    LONG (__data_start__)
+    LONG (__data_end__ - __data_start__)
+    /* Add each additional data section here */
+    __copy_table_end__ = .;
+  } > ITCM
+
+  .zero.table :
+  {
+    . = ALIGN(4);
+    __zero_table_start__ = .;
+    __zero_table_end__ = .;
+  } > ITCM
+
+  /**
+   * Location counter can end up 2byte aligned with narrow Thumb code but
+   * __etext is assumed by startup code to be the LMA of a section in DTCM
+   * which must be 4byte aligned
+   */
+  __etext = ALIGN (4);
+
+  .sram :
+  {
+    . = ALIGN(16);
+  } > SRAM AT > SRAM
+
+  .data : AT (__etext)
+  {
+    __data_start__ = .;
+    *(vtable)
+    *(.data)
+    *(.data.*)
+
+    . = ALIGN(4);
+    /* preinit data */
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP(*(.preinit_array))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+
+    . = ALIGN(4);
+    /* init data */
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP(*(SORT(.init_array.*)))
+    KEEP(*(.init_array))
+    PROVIDE_HIDDEN (__init_array_end = .);
+
+
+    . = ALIGN(4);
+    /* finit data */
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP(*(SORT(.fini_array.*)))
+    KEEP(*(.fini_array))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+
+    KEEP(*(.jcr*))
+    . = ALIGN(4);
+    /* All data end */
+    __data_end__ = .;
+
+  } > DTCM
+
+  .bss.NoInit :
+  {
+    . = ALIGN(16);
+    *(.bss.NoInit)
+    . = ALIGN(16);
+  } > DDR AT > DDR
+
+  .bss :
+  {
+    . = ALIGN(4);
+    __bss_start__ = .;
+    *(.bss)
+    *(.bss.*)
+    *(COMMON)
+    . = ALIGN(4);
+    __bss_end__ = .;
+  } > DTCM AT > DTCM
+
+  .data_sram :
+  {
+    . = ALIGN(16);
+  } > DATA_SRAM
+
+  .heap (COPY) :
+  {
+    . = ALIGN(8);
+    __end__ = .;
+    PROVIDE(end = .);
+    . = . + __HEAP_SIZE;
+    . = ALIGN(8);
+    __HeapLimit = .;
+  } > DTCM
+
+  .stack (ORIGIN(DTCM) + LENGTH(DTCM) - __STACK_SIZE) (COPY) :
+  {
+    . = ALIGN(8);
+    __StackLimit = .;
+    . = . + __STACK_SIZE;
+    . = ALIGN(8);
+    __StackTop = .;
+  } > DTCM
+  PROVIDE(__stack = __StackTop);
+
+  /* Check if data + stack exceeds DTCM limit */
+  ASSERT(__StackLimit >= __bss_end__, "region DTCM overflowed with stack")
+}

deploy/third_engine/demo_avh/include/crt_config.h

+/*
+ * 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.
+ */
+
+#ifndef TVM_RUNTIME_CRT_CONFIG_H_
+#define TVM_RUNTIME_CRT_CONFIG_H_
+
+/*! Log level of the CRT runtime */
+#define TVM_CRT_LOG_LEVEL TVM_CRT_LOG_LEVEL_DEBUG
+
+#endif // TVM_RUNTIME_CRT_CONFIG_H_

deploy/third_engine/demo_avh/include/tvm_runtime.h

+/*
+ * 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 <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <tvm/runtime/c_runtime_api.h>
+#include <tvm/runtime/crt/stack_allocator.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void __attribute__((noreturn)) TVMPlatformAbort(tvm_crt_error_t error_code) {
+  printf("TVMPlatformAbort: %d\n", error_code);
+  printf("EXITTHESIM\n");
+  exit(-1);
+}
+
+tvm_crt_error_t TVMPlatformMemoryAllocate(size_t num_bytes, DLDevice dev,
+                                          void **out_ptr) {
+  return kTvmErrorFunctionCallNotImplemented;
+}
+
+tvm_crt_error_t TVMPlatformMemoryFree(void *ptr, DLDevice dev) {
+  return kTvmErrorFunctionCallNotImplemented;
+}
+
+void TVMLogf(const char *msg, ...) {
+  va_list args;
+  va_start(args, msg);
+  vfprintf(stdout, msg, args);
+  va_end(args);
+}
+
+TVM_DLL int TVMFuncRegisterGlobal(const char *name, TVMFunctionHandle f,
+                                  int override) {
+  return 0;
+}
+
+#ifdef __cplusplus
+}
+#endif

deploy/third_engine/demo_avh/requirements.txt

+paddlepaddle
+numpy
+opencv-python

deploy/third_engine/demo_avh/run_demo.sh

+#!/bin/bash
+# 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.
+export PATH=/opt/arm/FVP_Corstone_SSE-300/models/Linux64_GCC-6.4:/opt/arm/cmake/bin:$PATH
+set -e
+set -u
+set -o pipefail
+
+# Show usage
+function show_usage() {
+    cat <<EOF
+Usage: run_demo.sh
+-h, --help
+    Display this help message.
+--cmsis_path CMSIS_PATH
+    Set path to CMSIS.
+--ethosu_platform_path ETHOSU_PLATFORM_PATH
+    Set path to Arm(R) Ethos(TM)-U core platform.
+--fvp_path FVP_PATH
+   Set path to FVP.
+--cmake_path
+   Set path to cmake.
+EOF
+}
+
+# Parse arguments
+while (( $# )); do
+    case "$1" in
+        -h|--help)
+            show_usage
+            exit 0
+            ;;
+
+        --cmsis_path)
+            if [ $# -gt 1 ]
+            then
+                export CMSIS_PATH="$2"
+                shift 2
+            else
+                echo 'ERROR: --cmsis_path requires a non-empty argument' >&2
+                show_usage >&2
+                exit 1
+            fi
+            ;;
+
+        --ethosu_platform_path)
+            if [ $# -gt 1 ]
+            then
+                export ETHOSU_PLATFORM_PATH="$2"
+                shift 2
+            else
+                echo 'ERROR: --ethosu_platform_path requires a non-empty argument' >&2
+                show_usage >&2
+                exit 1
+            fi
+            ;;
+
+        --fvp_path)
+            if [ $# -gt 1 ]
+            then
+                export PATH="$2/models/Linux64_GCC-6.4:$PATH"
+                shift 2
+            else
+                echo 'ERROR: --fvp_path requires a non-empty argument' >&2
+                show_usage >&2
+                exit 1
+            fi
+            ;;
+
+        --cmake_path)
+            if [ $# -gt 1 ]
+            then
+                export CMAKE="$2"
+                shift 2
+            else
+                echo 'ERROR: --cmake_path requires a non-empty argument' >&2
+                show_usage >&2
+                exit 1
+            fi
+            ;;
+
+        -*|--*)
+            echo "Error: Unknown flag: $1" >&2
+            show_usage >&2
+            exit 1
+            ;;
+    esac
+done
+
+
+# Directories
+script_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+# Make build directory
+make cleanall
+mkdir -p build
+cd build
+
+# Compile model for Arm(R) Cortex(R)-M55 CPU and CMSIS-NN
+# An alternative to using "python3 -m tvm.driver.tvmc" is to call
+# "tvmc" directly once TVM has been pip installed.
+python3 -m tvm.driver.tvmc compile --target=cmsis-nn,c \
+    --target-cmsis-nn-mcpu=cortex-m55 \
+    --target-c-mcpu=cortex-m55 \
+    --runtime=crt \
+    --executor=aot \
+    --executor-aot-interface-api=c \
+    --executor-aot-unpacked-api=1 \
+    --pass-config tir.usmp.enable=1 \
+    --pass-config tir.usmp.algorithm=hill_climb \
+    --pass-config tir.disable_storage_rewrite=1 \
+    --pass-config tir.disable_vectorize=1 ../models/picodet_s_320_coco_lcnet_no_nms/model \
+    --output-format=mlf \
+    --model-format=paddle \
+    --module-name=picodet \
+    --input-shapes image:[1,3,320,320] \
+    --output=picodet.tar
+tar -xf picodet.tar
+
+
+# Create C header files
+cd ..
+python3 ./convert_image.py ../../demo/000000014439_640x640.jpg
+
+# Build demo executable
+echo "Build demo executable..."
+cd ${script_dir}
+echo ${script_dir}
+make
+echo "End build demo executable..."
+
+# Run demo executable on the FVP
+FVP_Corstone_SSE-300_Ethos-U55 -C cpu0.CFGDTCMSZ=15 \
+-C cpu0.CFGITCMSZ=15 -C mps3_board.uart0.out_file=\"-\" -C mps3_board.uart0.shutdown_tag=\"EXITTHESIM\" \
+-C mps3_board.visualisation.disable-visualisation=1 -C mps3_board.telnetterminal0.start_telnet=0 \
+-C mps3_board.telnetterminal1.start_telnet=0 -C mps3_board.telnetterminal2.start_telnet=0 -C mps3_board.telnetterminal5.start_telnet=0 \
+./build/demo

deploy/third_engine/demo_avh/src/demo_bare_metal.c

+/*
+ * 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 <stdio.h>
+#include <tvm_runtime.h>
+#include <tvmgen_picodet.h>
+
+#include "uart.h"
+
+// Header files generated by convert_image.py
+#include "inputs.h"
+#include "outputs.h"
+
+int main(int argc, char **argv) {
+  uart_init();
+  printf("Starting PicoDet inference:\n");
+  struct tvmgen_picodet_outputs rec_outputs = {
+      .output0 = output0, .output1 = output1,
+  };
+  struct tvmgen_picodet_inputs rec_inputs = {
+      .image = input,
+  };
+
+  tvmgen_picodet_run(&rec_inputs, &rec_outputs);
+
+  // post process
+  for (int i = 0; i < output0_len / 4; i++) {
+    float score = 0;
+    int32_t class = 0;
+    for (int j = 0; j < 80; j++) {
+      if (output1[i + j * 2125] > score) {
+        score = output1[i + j * 2125];
+        class = j;
+      }
+    }
+    if (score > 0.1 && output0[i * 4] > 0 && output0[i * 4 + 1] > 0) {
+      printf("box: %f, %f, %f, %f, class: %d, score: %f\n", output0[i * 4] * 2,
+             output0[i * 4 + 1] * 2, output0[i * 4 + 2] * 2,
+             output0[i * 4 + 3] * 2, class, score);
+    }
+  }
+  return 0;
+}