Merge pull request #35854 from mansnils:renode

PiperOrigin-RevId: 295777715
Change-Id: I5561aee7f8367d45cf55a717213da38a94867d3d

tensorflow/lite/micro/stm32f4/debug_log.cc

@@ -0,0 +1,25 @@
+/* Copyright 2020 The TensorFlow Authors. All Rights Reserved.
+
+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
+
+    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 "tensorflow/lite/micro/debug_log.h"
+
+extern "C" void DebugLog(const char* s) {
+  asm("mov r0, #0x04\n"  // SYS_WRITE0
+      "mov r1, %[str]\n"
+      "bkpt #0xAB\n"
+      :
+      : [ str ] "r"(s)
+      : "r0", "r1");
+}

tensorflow/lite/micro/testing/Dockerfile.bluepill

@@ -1,4 +1,4 @@
-# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
+# Copyright 2020 The TensorFlow Authors. All Rights Reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

tensorflow/lite/micro/testing/Dockerfile.stm32f4

@@ -0,0 +1,21 @@
+# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
+#
+# 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
+#
+#     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.
+# ==============================================================================
+
+# This docker configuration file lets you emulate a stm32f4 board
+# on an x86 desktop or laptop, which can be useful for debugging and
+# automated testing.
+FROM antmicro/renode:latest
+
+LABEL maintainer="Pete Warden <petewarden@google.com>"

tensorflow/lite/micro/testing/bluepill.resc

@@ -1,4 +1,4 @@
-# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
+# Copyright 2020 The TensorFlow Authors. All Rights Reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

tensorflow/lite/micro/testing/stm32f4.resc

@@ -0,0 +1,33 @@
+# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
+#
+# 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
+#
+#     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.
+# ==============================================================================
+
+using sysbus
+
+mach create
+machine LoadPlatformDescription @platforms/cpus/stm32f4.repl
+
+# These lines are needed to show the results of DebugLog calls in the output.
+machine LoadPlatformDescriptionFromString "uartSemihosting: UART.SemihostingUart @ cpu"
+showAnalyzer cpu.uartSemihosting Antmicro.Renode.Analyzers.LoggingUartAnalyzer
+
+logFile @/tmp/renode_stm32f4_log.txt
+
+macro reset
+"""
+    sysbus LoadELF $bin
+"""
+
+runMacro $reset
+

tensorflow/lite/micro/testing/stm32f4.robot

@@ -0,0 +1,23 @@
+*** Settings ***
+Suite Setup                   Setup
+Suite Teardown                Teardown
+Test Setup                    Reset Emulation
+Resource                      /opt/renode/tests/renode-keywords.robot
+
+*** Variables ***
+${UART}                       sysbus.cpu.uartSemihosting
+
+*** Test Cases ***
+Should Run Stm32f4 Test
+    [Documentation]           Runs a Stm32f4 test and waits for a specific string on the semihosting UART
+    [Tags]                    stm32f4  uart  tensorflow  arm
+    ${BIN} =                  Get Environment Variable    BIN
+    ${SCRIPT} =               Get Environment Variable    SCRIPT
+    ${EXPECTED} =             Get Environment Variable    EXPECTED
+    Execute Command           $bin = @${BIN}
+    Execute Script            ${SCRIPT}
+
+    Create Terminal Tester    ${UART}  timeout=30
+    Start Emulation
+
+    Wait For Line On Uart     ${EXPECTED}

tensorflow/lite/micro/testing/test_stm32f4_binary.sh

@@ -0,0 +1,60 @@
+#!/bin/bash -e
+# Copyright 2020 The TensorFlow Authors. All Rights Reserved.
+#
+# 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
+#
+#     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.
+# ==============================================================================
+#
+# Tests a 'stm32f4' STM32F4 ELF by parsing the log output of Renode emulation.
+#
+# First argument is the ELF location.
+# Second argument is a regular expression that's required to be in the output logs
+# for the test to pass.
+#
+# This script must be run from the top-level folder of the tensorflow github
+# repository as it mounts `pwd` to the renode docker image (via docker run -v)
+# and paths in the docker run command assume the entire tensorflow repo is mounted.
+
+declare -r ROOT_DIR=`pwd`
+declare -r TEST_TMPDIR=/tmp/test_stm32f4_binary/
+declare -r MICRO_LOG_PATH=${TEST_TMPDIR}
+declare -r MICRO_LOG_FILENAME=${MICRO_LOG_PATH}/logs.txt
+mkdir -p ${MICRO_LOG_PATH}
+
+docker build -t renode_stm32f4 \
+  -f ${ROOT_DIR}/tensorflow/lite/micro/testing/Dockerfile.stm32f4 \
+  ${ROOT_DIR}/tensorflow/lite/micro/testing/
+
+exit_code=0
+# running in `if` to avoid setting +e
+if ! docker run \
+  --log-driver=none -a stdout -a stderr \
+  -v ${ROOT_DIR}:/workspace \
+  -v /tmp:/tmp \
+  -e BIN=/workspace/$1 \
+  -e SCRIPT=/workspace/tensorflow/lite/micro/testing/stm32f4.resc \
+  -e EXPECTED="$2" \
+  -it renode_stm32f4 \
+  /bin/bash -c "/opt/renode/tests/test.sh /workspace/tensorflow/lite/micro/testing/stm32f4.robot 2>&1 >${MICRO_LOG_FILENAME}"
+then
+  exit_code=1
+fi
+
+echo "LOGS:"
+cat ${MICRO_LOG_FILENAME}
+if [ $exit_code -eq 0 ]
+then
+  echo "$1: PASS"
+else
+  echo "$1: FAIL - '$2' not found in logs."
+fi
+exit $exit_code

tensorflow/lite/micro/tools/ci_build/test_all.sh

@@ -49,4 +49,8 @@ tensorflow/lite/micro/tools/ci_build/test_sparkfun.sh
 echo "Running x86 tests at `date`"
 tensorflow/lite/micro/tools/ci_build/test_x86.sh
 
+# TODO(b/149597202): Disabled until we can get Docker running inside Docker.
+#echo "Running stm32f4 tests at `date`"
+#tensorflow/lite/micro/tools/ci_build/test_stm32f4.sh
+
 echo "Finished all micro tests at `date`"

tensorflow/lite/micro/tools/ci_build/test_stm32f4.sh

@@ -0,0 +1,40 @@
+#!/usr/bin/env bash
+# Copyright 2020 The TensorFlow Authors. All Rights Reserved.
+#
+# 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
+#
+#     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.
+# ==============================================================================
+#
+# Tests the microcontroller code for stm32f4
+
+set -e
+
+TARGET=stm32f4
+TAGS=cmsis-nn
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROOT_DIR=${SCRIPT_DIR}/../../../../..
+cd ${ROOT_DIR}
+pwd
+
+source tensorflow/lite/micro/tools/ci_build/helper_functions.sh
+
+readable_run make -f tensorflow/lite/micro/tools/make/Makefile clean
+
+# TODO(b/143715361): downloading first to allow for parallel builds.
+readable_run make -f tensorflow/lite/micro/tools/make/Makefile TAGS=${TAGS} TARGET=${TARGET} third_party_downloads
+
+# Build test binaries first
+readable_run make -j8 -f tensorflow/lite/micro/tools/make/Makefile TAGS=${TAGS} TARGET=${TARGET} build
+
+# Parallell builds doesn't work very well with this
+readable_run make -f tensorflow/lite/micro/tools/make/Makefile TAGS=${TAGS} TARGET=${TARGET} test
+

tensorflow/lite/micro/tools/make/Makefile

@@ -81,6 +81,8 @@ CC_PREFIX :=
 # runtime that can be linked in to other programs.
 MICROLITE_LIB_NAME := libtensorflow-microlite.a
 
+MICRO_LITE_EXAMPLE_TESTS := $(wildcard tensorflow/lite/micro/examples/*/Makefile.inc)
+
 MICROLITE_TEST_SRCS := \
 $(wildcard tensorflow/lite/micro/*test.cc) \
 $(wildcard tensorflow/lite/micro/kernels/*test.cc) \
@@ -242,7 +244,7 @@ CC := $(CC_PREFIX)${TARGET_TOOLCHAIN_PREFIX}${CC_TOOL}
 AR := $(CC_PREFIX)${TARGET_TOOLCHAIN_PREFIX}${AR_TOOL}
 
 # Load the examples.
-include $(wildcard tensorflow/lite/micro/examples/*/Makefile.inc)
+include $(MICRO_LITE_EXAMPLE_TESTS)
 
 # Create rules for downloading third-party dependencies.
 THIRD_PARTY_TARGETS :=
@@ -310,6 +312,9 @@ $(eval $(call microlite_test,kernel_$(notdir $(basename $(TEST_TARGET))),$(TEST_
 
 test: $(MICROLITE_TEST_TARGETS)
 
+# Just build the test targets
+build: $(MICROLITE_BUILD_TARGETS)
+
 generate_projects: $(ALL_PROJECT_TARGETS)
 
 generate_non_kernel_projects: $(filter-out generate_kernel%,$(ALL_PROJECT_TARGETS))

tensorflow/lite/micro/tools/make/helper_functions.inc

@@ -392,6 +392,7 @@ test_$(1): $$($(1)_BINARY)
 	$$(TEST_SCRIPT) $$($(1)_BINARY) '~~~ALL TESTS PASSED~~~'
 ifneq (,$(findstring _test,$(1)))
   MICROLITE_TEST_TARGETS += test_$(1)
+  MICROLITE_BUILD_TARGETS += $$($(1)_BINARY)
 endif
 $(eval $(call generate_microlite_projects,$(1),$(call specialize,$(2)),$(3)))
 endef

tensorflow/lite/micro/tools/make/targets/stm32f4/stm32f4.lds

@@ -0,0 +1,102 @@
+/* Copyright 2020 Google Inc. All Rights Reserved.
+
+Copyright 2020 The TensorFlow Authors. All Rights Reserved.
+
+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
+    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.
+==============================================================================*/
+
+/* Copied and modified from: tensorflow/lite/micro/tools/make/targets/bluepill/bluepill.lds
+
+*/
+
+/*
+ * 0x00000000 - 0x07ffffff - aliased to flash or sys memory depending on BOOT jumpers.
+ * 0x08000000 - 0x0801ffff - Flash.
+ * 0x1ffff000 - 0x1ffff7ff - Boot firmware in system memory.
+ * 0x1ffff800 - 0x1fffffff - Option bytes.
+ * 0x20000000 - 0x20004fff - SRAM.
+ * 0x40000000 - 0x40023400 - Peripherals
+ */
+
+/* Define main entry point */
+ENTRY(_main)
+
+/* 32K of RAM and 256K of FLASH */
+MEMORY {
+RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 32K
+FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 256K
+}
+
+/* Compute where the stack ends rather than hard coding it */
+_ld_stack_end_addr = ORIGIN(RAM) + LENGTH(RAM);
+_ld_min_stack_size = 0x200;
+
+SECTIONS {
+
+/* interrupt vector goes to top of flash */
+
+.interrupt_vector : {
+  . = ALIGN(4);
+  KEEP(*(.interrupt_vector))
+  . = ALIGN(4);
+} >FLASH
+
+/* read only .text and .rodata go to flash */
+
+.text : {
+  . = ALIGN(4);
+  KEEP(*(.text.interrupt_handler))
+  *(.text*)
+} >FLASH
+
+.rodata : {
+  . = ALIGN(4);
+  *(.rodata*)
+  . = ALIGN(4);
+} >FLASH
+
+/* read mwrite data needs to be stored in flash but copied to ram */
+.data : {
+  . = ALIGN(4);
+  _ld_data_load_dest_start = .; /* export where to load from */
+  *(.data*)
+  . = ALIGN(4);
+  _ld_data_load_dest_stop = .; /* export where to load from */
+} >RAM AT> FLASH
+_ld_data_load_source = LOADADDR(.data);
+
+/* unitialized data section needs zero initialization */
+.bss :
+{
+  . = ALIGN(4);
+  _ld_bss_data_start = .;
+  *(.bss*)
+  . = ALIGN(4);
+  _ld_bss_data_stop = .;
+} >RAM
+
+._user_heap_stack :
+{
+  . = ALIGN(8);
+  . += _ld_min_stack_size;
+  PROVIDE(end = .);
+  . = ALIGN(8);
+} >RAM
+
+/DISCARD/ :
+{
+  libc.a (*)
+  libm.a (*)
+  libgcc.a (*)
+}
+
+}  /* SECTIONS */