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Example for running IREE in a bare-metal Arm environment.

CMake 30.21% RobotFramework 17.91% Shell 15.63% C 33.86% Python 2.40%

iree-bare-metal-arm's Introduction

IREE Bare-Metal Arm Sample

DISCLAIMER: This project is not intended for everyday use and made available without any support. However, we welcome any kind of feedback via the issue tracker or if appropriate via IREE's communication channels, e.g. via the Discord server.

This projects demonstrates how to build IREE with the Arm GNU Toolchain for bare-metal Arm targets using either the open-source firmware library libopencm3 or CMSIS.

The project was originally initiated at Fraunhofer IML.

Target Support

The samples can be build for several STM32 32-bit Arm Cortex MCUs, for the Nordic nRF52840 SoC, for the application core of the Nordic nRF5340 SoC and for the Arm Corstone-300.

Getting Started

See the Getting Started guide for instructions on how to build this project.

Further Resources

Running on a bare-metal platform; IREE.dev Guide.
TinyIREE: An ML Execution Environment for Embedded Systems From Compilation to Deployment; H.-I. C. Liu, M. Brehler, M. Ravishankar, N. Vasilache, B. Vanik and S. Laurenzo; IEEE Micro, vol. 42, no. 5, pp. 9-16, Sept.-Oct. 2022.
(Tiny)IREE on bare-metal Arm Platforms (slides, recording); M. Brehler, L. Camphausen and S. Camphausen; OpenXLA Fall Dev Summit, October 19, 2023.

Licensing

The samples are licensed under the terms of the Apache 2.0 License with LLVM Exceptions.

The repository contains further files that are licensed under other terms. Licensing information for each file is specified via SPDX-License-Identifier tags.

iree-bare-metal-arm's People

Contributors

Stargazers

Watchers

Forkers

dpotop heidebro lucas-camp marbre grandeep rockyrhodes simon-camp goodluck14 henri-gruender jeremymorlier step-security-bot scotttodd makslevental

iree-bare-metal-arm's Issues

Update nrfx submodule to version v3.2.0

Add reuse-action

A reuse-action should be added to the repository. reuse lint should run on every pull request and the check must be added to the branch protection rule.

Update Renode to version 1.14.0

Update Renode to release v1.14.0.

Update Arm GNU Toolchain

The Arm GNU Toolchain should be updated to version 12.3.Rel1.

Test with renode fails for CMSIS with target STM32L476

Hello!
Although the build and the renode test is done successfully for the target STM32F407, when I do the build and test with renode for the STM32L476 target the build is done successfuly but when I test with renode I get the error below:
19:01:35.7345 [WARNING] sysbus: [cpu: 0x0] ReadByte from non existing peripheral at 0x0.
19:01:35.7346 [ERROR] cpu: CPU abort [PC=0x0]: Trying to execute code outside RAM or ROM at 0x00000000.

The target is build with this:
cmake -GNinja
-DBUILD_WITH_CMSIS=ON
-DCMAKE_TOOLCHAIN_FILE="realpath/iree-bare-metal-arm/build_tools/cmake/arm-none-eabi-gcc.cmake"
-DARM_TOOLCHAIN_ROOT="realpath/opt/gcc-arm-none-eabi"
-DARM_CPU="cortex-m4"
-DARM_TARGET="STM32L476"
-DIREE_ERROR_ON_MISSING_SUBMODULES=OFF
-DIREE_HAL_DRIVER_LOCAL_SYNC=ON
-DIREE_HAL_EXECUTABLE_LOADER_EMBEDDED_ELF=ON
-DIREE_HAL_EXECUTABLE_LOADER_VMVX_MODULE=ON
-DIREE_HOST_BIN_DIR="/realpath/iree-bare-metal-arm/build-iree-host-install/bin"
-DCUSTOM_ARM_LINKER_FLAGS=""
-DLINKER_SCRIPT="realpath/iree-bare-metal-arm/build_tools/stm32l476xg-cmsis.ld"
-DUSE_UART2=ON
..
cmake --build . --target sample_vmvx_sync

then I started renode and included resc file and loaded the elf file.
(monitor) include @/home/gbouzikas/Thesis/iree-bare-metal-arm/third_party/renode/stm32l476.resc
(STM32F407) sysbus LoadELF @/home/gbouzikas/Thesis/iree-bare-metal-arm/build/samples/simple_embedding/sample_vmvx_sync.elf
(STM32F407) start

And then I get this:

Starting emulation...
19:01:35.6314 [INFO] cpu: Guessing VectorTableOffset value to be 0x8000000.
19:01:35.6344 [INFO] cpu: Setting initial values: PC = 0x8071C4D, SP = 0x20018000.
19:01:35.6357 [INFO] STM32L476: Machine started.
19:01:35.7111 [INFO] usart2: [host: 9.44s (+9.44s)|virt: 0.2ms (+0.2ms)] Running simple_embedding...
19:01:35.7345 [WARNING] sysbus: [cpu: 0x0] ReadByte from non existing peripheral at 0x0.
19:01:35.7346 [ERROR] cpu: CPU abort [PC=0x0]: Trying to execute code outside RAM or ROM at 0x00000000.

host build failure with ninja

When trying to build host tools with ninja:

CMake Error at build_tools/third_party/flatcc/CMakeLists.txt:54 (add_executable):
The install of the iree-flatcc-cli target requires changing an RPATH from
the build tree, but this is not supported with the Ninja generator unless
on an ELF-based platform. The CMAKE_BUILD_WITH_INSTALL_RPATH variable may
be set to avoid this relinking step.

ARM GNU Toolchain 13.2

Issue when compiling with ARM GUN Toolchain 13.2 rel1
Compiling options :

export CUSTOM_ARM_LINKER_FLAGS=""
export PATH_TO_LINKER_SCRIPT="`realpath ../build_tools/stm32f407xg-cmsis.ld`"
export PATH_TO_IREE_HOST_BIN_DIR="`realpath ../build-iree-host-tools/bin`"
cmake -GNinja \
      -DBUILD_WITH_CMSIS=ON \
      -DCMAKE_TOOLCHAIN_FILE="`realpath ../build_tools/cmake/arm-none-eabi-gcc.cmake`" \
      -DARM_TOOLCHAIN_ROOT="${PATH_TO_ARM_TOOLCHAIN}" \
      -DARM_CPU="cortex-m4" \
      -DARM_TARGET="STM32F407" \
      -DIREE_ERROR_ON_MISSING_SUBMODULES=OFF \
      -DIREE_HAL_DRIVER_LOCAL_SYNC=ON \
      -DIREE_HAL_EXECUTABLE_LOADER_EMBEDDED_ELF=ON \
      -DIREE_HAL_EXECUTABLE_LOADER_VMVX_MODULE=ON \
      -DIREE_HOST_BIN_DIR="${PATH_TO_IREE_HOST_BIN_DIR}" \
      -DCUSTOM_ARM_LINKER_FLAGS="${CUSTOM_ARM_LINKER_FLAGS}" \
      -DLINKER_SCRIPT="${PATH_TO_LINKER_SCRIPT}" \
      -DUSE_UART2=ON \
      ..

log :

[3/129] Building C object third_party/iree/runtim...ns_ukernel_ukernel_noweak.objects.dir/mmt4d.c.obj
FAILED: third_party/iree/runtime/src/iree/builtins/ukernel/CMakeFiles/iree_builtins_ukernel_ukernel_noweak.objects.dir/mmt4d.c.obj 
PATH/Toolchain/arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc -DFLATCC_USE_GENERIC_ALIGNED_ALLOC -DIREE_PLATFORM_GENERIC -DIREE_STATUS_FEATURES=0 -DIREE_SYNCHRONIZATION_DISABLE_UNSAFE=1 -isystem PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree -isystem PATH/Documents/MLIR/iree-bare-metal-arm/build/third_party/iree -isystem PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/.. -isystem PATH/Documents/MLIR/iree-bare-metal-arm/build/third_party/iree/runtime/src/iree/.. -mthumb -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -DIREE_TIME_NOW_FN="{ return 0; }" -DIREE_WAIT_UNTIL_FN=wait_until -Wl,--gc-sections -ffunction-sections -fdata-sections  -Wno-char-subscripts -Wno-format -Wno-implicit-function-declaration -Wno-unused-variable -fPIC -fvisibility=hidden -Wall -Werror -Wno-address-of-packed-member -Wno-comment -Wno-format-zero-length -Wno-uninitialized -Wno-pointer-sign -Wno-sign-compare -Wno-unused-function -fmacro-prefix-map=PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree=iree -std=gnu11 -MD -MT third_party/iree/runtime/src/iree/builtins/ukernel/CMakeFiles/iree_builtins_ukernel_ukernel_noweak.objects.dir/mmt4d.c.obj -MF third_party/iree/runtime/src/iree/builtins/ukernel/CMakeFiles/iree_builtins_ukernel_ukernel_noweak.objects.dir/mmt4d.c.obj.d -o third_party/iree/runtime/src/iree/builtins/ukernel/CMakeFiles/iree_builtins_ukernel_ukernel_noweak.objects.dir/mmt4d.c.obj -c PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/mmt4d.c
In file included from PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/mmt4d.h:10,
                 from PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/mmt4d.c:7:
PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/common.h: In function 'iree_uk_f16_to_f32':
PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/common.h:791:3: error: '_Float16' is not supported on this target
  791 |   _Float16 builtin_float16_value;
      |   ^~~~~~~~
PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/common.h: In function 'iree_uk_f32_to_f16':
PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/common.h:803:3: error: '_Float16' is not supported on this target
  803 |   _Float16 builtin_float16_value = (_Float16)value;
      |   ^~~~~~~~
PATH/Documents/MLIR/iree-bare-metal-arm/third_party/iree/runtime/src/iree/builtins/ukernel/common.h:803:37: error: '_Float16' is not supported on this target
  803 |   _Float16 builtin_float16_value = (_Float16)value;
      | ```

ARM GNU Toolchain 12.3 and 11.3

I try building iree bare metal arm on Ubuntu 22.04. IREE is obtained using the snapshot method described in the Getting Started.md
Compiling options

export CUSTOM_ARM_LINKER_FLAGS=""
export PATH_TO_LINKER_SCRIPT="`realpath ../build_tools/stm32f407xg-cmsis.ld`"
export PATH_TO_IREE_HOST_BIN_DIR="`realpath ../build-iree-host-tools/bin`"
cmake -GNinja \
      -DBUILD_WITH_CMSIS=ON \
      -DCMAKE_TOOLCHAIN_FILE="`realpath ../build_tools/cmake/arm-none-eabi-gcc.cmake`" \
      -DARM_TOOLCHAIN_ROOT="${PATH_TO_ARM_TOOLCHAIN}" \
      -DARM_CPU="cortex-m4" \
      -DARM_TARGET="STM32F407" \
      -DIREE_ERROR_ON_MISSING_SUBMODULES=OFF \
      -DIREE_HAL_DRIVER_LOCAL_SYNC=ON \
      -DIREE_HAL_EXECUTABLE_LOADER_EMBEDDED_ELF=ON \
      -DIREE_HAL_EXECUTABLE_LOADER_VMVX_MODULE=ON \
      -DIREE_HOST_BIN_DIR="${PATH_TO_IREE_HOST_BIN_DIR}" \
      -DCUSTOM_ARM_LINKER_FLAGS="${CUSTOM_ARM_LINKER_FLAGS}" \
      -DLINKER_SCRIPT="${PATH_TO_LINKER_SCRIPT}" \
      -DUSE_UART2=ON \
      ..

Same issues with 11.3 and 12.3, some warnings
log with 11.3 rel1

[0/2] Re-checking globbed directories...
[129/129] Linking C executable samples/simple_embedding/sample_vmvx_sync.elf
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-closer.o): in function `_close_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/closer.c:47: warning: _close is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-fstatr.o): in function `_fstat_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/fstatr.c:55: warning: _fstat is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-signalr.o): in function `_getpid_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/signalr.c:83: warning: _getpid is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-isattyr.o): in function `_isatty_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/isattyr.c:52: warning: _isatty is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-signalr.o): in function `_kill_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/signalr.c:53: warning: _kill is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-lseekr.o): in function `_lseek_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/lseekr.c:49: warning: _lseek is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/11.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-readr.o): in function `_read_r':
/data/jenkins/workspace/GNU-toolchain/arm-11/src/newlib-cygwin/newlib/libc/reent/readr.c:49: warning: _read is not implemented and will always fail

log with 12.3rel1 :

[0/2] Re-checking globbed directories...
[129/129] Linking C executable samples/simple_embedding/sample_vmvx_sync.elf
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-closer.o): in function `_close_r':
closer.c:(.text._close_r+0xc): warning: _close is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-fstatr.o): in function `_fstat_r':
fstatr.c:(.text._fstat_r+0x12): warning: _fstat is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-signalr.o): in function `_getpid_r':
signalr.c:(.text._getpid_r+0x0): warning: _getpid is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-isattyr.o): in function `_isatty_r':
isattyr.c:(.text._isatty_r+0xc): warning: _isatty is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-signalr.o): in function `_kill_r':
signalr.c:(.text._kill_r+0x12): warning: _kill is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-lseekr.o): in function `_lseek_r':
lseekr.c:(.text._lseek_r+0x14): warning: _lseek is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a(libc_a-readr.o): in function `_read_r':
readr.c:(.text._read_r+0x14): warning: _read is not implemented and will always fail
PATH/Toolchain/arm-gnu-toolchain-12.3.rel1-x86_64-arm-none-eabi/bin/../lib/gcc/arm-none-eabi/12.3.1/../../../../arm-none-eabi/bin/ld: warning: samples/simple_embedding/sample_vmvx_sync.elf has a LOAD segment with RWX permissions

"IREE system clock needs to be set up for your platform"

Hello! When I try to cmake --build . --target sample_vmvx_sync I get an error about "IREE system clock needs to be set up for your platform". In more details:
realpath/iree-bare-metal-arm/third_party/iree/runtime/src/iree/base/time.c: In function ‘iree_time_now’:
realpath/iree-bare-metal-arm/third_party/iree/runtime/src/iree/base/time.c:39:2: error: #error "IREE system clock needs to be set up for your platform"
39 | #error "IREE system clock needs to be set up for your platform"
| ^~~~~
realpath/iree-bare-metal-arm/iree-bare-metal-arm/third_party/iree/runtime/src/iree/base/time.c:41:1: error: control reaches end of non-void function [-Werror=return-type]
41 | }