I tried to run microtvm autotune example (https://tvm.apache.org/docs/how_to/work_with_microtvm/micro_autotune.html) on ESP32, but stuck by the error:
with tvm.micro.Session(project.transport()) as session: File “/home/zgs/github/tvm/python/tvm/micro/session.py”, line 128, in enter _rpc_connect( File “/home/zgs/github/tvm/python/tvm/_ffi/_ctypes/packed_func.py”, line 237, in call raise get_last_ffi_error() tvm._ffi.base.TVMError: MicroSessionTimeoutError: session start handshake failed after 5s
Below is my steps with some work-around:
1. Add board info in file
~/github/tvm/build/microtvm_template_projects/zephyr/boards.json:
"esp32": { "board": "esp32", "model": "esp32", "is_qemu": false, "fpu": false, "vid_hex": "", "pid_hex": "" }
2. Fix zephyr_base in the example code:
module_loader = tvm.micro.AutoTvmModuleLoader( template_project_dir=pathlib.Path(tvm.micro.get_microtvm_template_projects(“zephyr”)), project_options={ “zephyr_board”: BOARD, “west_cmd”: “west”, “verbose”: False, “project_type”: “host_driven”, “zephyr_base”: “/home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr”, }, )
3. Checkout to zephyr v2.7-branch and install zephyr-sdk-0.13.1
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v0.13.1/zephyr-sdk-0.13.1-linux-x86_64-setup.run chmod +x zephyr-sdk-0.13.1-linux-x86_64-setup.run ./zephyr-sdk-0.13.1-linux-x86_64-setup.run – -d ~/zephyr-sdk-0.13.1 cd ~/zephyrproject/zephyr git checkout v2.7-branch cd … && west update export ZEPHYR_BASE=~/zephyrproject/zephyr
4. Work-around for esp32 compiled error with Zephyr
Due to the compile error:
/home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/include/posix/time.h:90:15: error: static declaration of ‘clock_gettime’ follows non-static declaration
__syscall int clock_gettime(clockid_t clock_id, struct timespec *ts);
^~~~~~~~~~~~~
In file included from /home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/include/posix/time.h:12,
from /home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/lib/posix/pthread_common.c:10:
/home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/xtensa-esp32-elf/sys-include/time.h:187:5: note: previous declaration of ‘clock_gettime’ was here
int clock_gettime (clockid_t clock_id, struct timespec *tp);
^~~~~~~~~~~~~
In file included from /home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/lib/posix/pthread_common.c:10:
/home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/include/posix/time.h:94:5: error: conflicting types for ‘timer_create’
int timer_create(clockid_t clockId, struct sigevent *evp, timer_t *timerid);
^~~~~~~~~~~~
In file included from /home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/include/posix/time.h:12,
from /home/zgs/github/demo/ai/microtvm/zephyrproject/zephyr/lib/posix/pthread_common.c:10:
/home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/xtensa-esp32-elf/sys-include/time.h:192:5: note: previous declaration of ‘timer_create’ was here
int timer_create (clockid_t clock_id,
^~~~~~~~~~~~
make[2]: *** [zephyr/lib/posix/CMakeFiles/lib__posix.dir/build.make:76: zephyr/lib/posix/CMakeFiles/lib__posix.dir/pthread_common.c.obj] Error 1
make[1]: *** [CMakeFiles/Makefile2:2950: zephyr/lib/posix/CMakeFiles/lib__posix.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs…
I modify ~/github/demo/ai/microtvm/zephyrproject/zephyr/include/posix/time.h as follow to work-around the error:
5. Link error
/home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /home/zgs/.espressif/tools/zephyr/xten sa-esp32-elf/xtensa-esp32-elf/lib/./libc.a(lib_a-locale.o): in function __locale_ctype_ptr_l’: /builds/idf/crosstool-NG/.build/xtensa-esp32-elf/src/newlib/newlib/libc/locale/locale.c:983: undefined reference to __getreent’ /home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /home/zgs/.espressif/tools/zephyr/xten sa-esp32-elf/xtensa-esp32-elf/lib/./libc.a(lib_a-locale.o): in function __locale_ctype_ptr’: /builds/idf/crosstool-NG/.build/xtensa-esp32-elf/src/newlib/newlib/libc/locale/locale.c:989: undefined reference to __getreent’ /home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /home/zgs/.espressif/tools/zephyr/xten sa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/libgcc.a(unwind-dw2-fde.o): in function __register_frame_info_bases’: /builds/idf/crosstool-NG/.build/xtensa-esp32-elf/src/gcc/libgcc/unwind-dw2-fde.c:100: undefined reference to pthread_mutex_lock’ … /home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /builds/idf/crosstool-NG/.build/xtensa -esp32-elf/src/newlib/newlib/libc/stdio/fclose.c:81: undefined reference to pthread_setcancelstate’ /home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /builds/idf/crosstool-NG/.build/xtensa -esp32-elf/src/newlib/newlib/libc/stdio/fclose.c:106: undefined reference to pthread_setcancelstate’ /home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: /builds/idf/crosstool-NG/.build/xtensa -esp32-elf/src/newlib/newlib/libc/stdio/fclose.c:109: undefined reference to __getreent’ collect2: error: ld returned 1 exit status make[2]: *** [zephyr/CMakeFiles/zephyr_prebuilt.dir/build.make:119: zephyr/zephyr_prebuilt.elf] Error 1 make[1]: *** [CMakeFiles/Makefile2:2701: zephyr/CMakeFiles/zephyr_prebuilt.dir/all] Error 2
make: *** [Makefile:91: all] Error 2
I modified ~/github/demo/ai/microtvm/zephyrproject/zephyr/lib/libc/newlib/libc-hooks.c
And applied a patch from Sylvioalves:
git remote add upstream https://github.com/sylvioalves/zephyr.git
git fetch upstream
git cherry-pick 12e9cc5f6b1aa890690e1e8ae074eccf00ed7d38
6. elf too large
I modified the size of dram0_1_seg as above to fix the error:
/home/zgs/.espressif/tools/zephyr/xtensa-esp32-elf/bin/…/lib/gcc/xtensa-esp32-elf/8.4.0/…/…/…/…/xtensa-esp32-elf/bin/ld.bfd: region `dram0_1_seg’ overflowed by 153 824 bytes collect2: error: ld returned 1 exit status make[2]: *** [zephyr/CMakeFiles/zephyr_prebuilt.dir/build.make:119: zephyr/zephyr_prebuilt.elf] Error 1 make[1]: *** [CMakeFiles/Makefile2:2701: zephyr/CMakeFiles/zephyr_prebuilt.dir/all] Error 2
make: *** [Makefile:91: all] Error 2
7. Add flash runner
Add flash_runner for esp32 in tvm/build/microtvm_template_projects/zephyr/microtvm_api_server.py
After the above tricky steps I can run microtvm_autotune example and got the results in microtvm_autotune.log.txt:
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 27, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 2]], [“tile_ow”, “sp”, [-1, 5]], [“unroll_kw”, “ot”, true]]}, “result”: [[1000000000.0], 7, 100, 1650001086.9535518], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 87, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 6]], [“tile_ow”, “sp”, [-1, 8]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001189.9725153], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 31, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 6]], [“tile_ow”, “sp”, [-1, 5]], [“unroll_kw”, “ot”, true]]}, “result”: [[1000000000.0], 7, 100, 1650001297.914291], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 81, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 1]], [“tile_ow”, “sp”, [-1, 8]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001401.2738233], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 59, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 2]], [“tile_ow”, “sp”, [-1, 2]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001500.5659993], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 77, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 3]], [“tile_ow”, “sp”, [-1, 5]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001606.5663857], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 28, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 1]], [“tile_oc”, “sp”, [-1, 3]], [“tile_ow”, “sp”, [-1, 5]], [“unroll_kw”, “ot”, true]]}, “result”: [[1000000000.0], 7, 100, 1650001704.2812748], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 89, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 3]], [“tile_oc”, “sp”, [-1, 1]], [“tile_ow”, “sp”, [-1, 10]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001806.0494645], “version”: 0.2, “tvm_version”: “0.9.dev0”}
{“input”: [“c -keys=cpu -link-params=0 -model=esp32”, “conv2d_NCHWc.x86”, [[“TENSOR”, [1, 3, 10, 10], “float32”], [“TENSOR”, [6, 3, 5, 5], “float32”], [1, 1], [2, 2, 2, 2], [1, 1], “NCHW”, “NCHW”, “float32”], {}], “config”: {“index”: 90, “code_hash”: null, “entity”: [[“tile_ic”, “sp”, [-1, 1]], [“tile_oc”, “sp”, [-1, 2]], [“tile_ow”, “sp”, [-1, 10]], [“unroll_kw”, “ot”, false]]}, “result”: [[1000000000.0], 7, 100, 1650001915.5923896], “version”: 0.2, “tvm_version”: “0.9.dev0”}
But when I try to timing the tuned program, I got stuck:
Leaving…
Hard resetting via RTS pin…
Built target flash
____________serial_port=/dev/ttyUSB0
Traceback (most recent call last):
File “untune_profile.py”, line 97, in
with tvm.micro.Session(project.transport()) as session:
File “/home/zgs/github/tvm/python/tvm/micro/session.py”, line 128, in enter
_rpc_connect(
File “/home/zgs/github/tvm/python/tvm/_ffi/_ctypes/packed_func.py”, line 237, in call
raise get_last_ffi_error()
tvm._ffi.base.TVMError: MicroSessionTimeoutError: session start handshake failed after 5s
Any suggestions to debug with this?
