10 CubeAI部署rtt后使用

发布于 2023-09-02 19:04:51 浏览：5434 订阅该版

硬件

stm32u575

环境

RT-Thread Studio

程序:

使用CubeIDE成功的:https://github.com/Hengbote/CubeIDE_use_Cubeai
使用rtt成功的:https://github.com/Hengbote/RT_Thread_use_Cubeai

流程

使用Cubemx添加了Cube-ai加入了模型并验证通过

把生成的文件(network.c等)加入构建,添加(cubemx-Middlewares-ST-AI-lnc)头文件路径.
添加库(cubemx-Middlewares-ST-AI-Lib-NetworkRuntime810_CM33_GCC.a)
在这里本身生成的是NetworkRuntime810_CM33_IAR.a但是不能使用IAR.
所以我就换成了在CubeIDE成功的例子中生成的GCC.a
开发环境选stm32CubeIDE会生成gcc文件
{984CF4D2-BB89-42bb-A99B-10ABA0511D2B}.png

然后打开硬浮点
最后修改程序编译通过, 下载进板子运行失败,debug也会直接输出相同的错误

#include <rtthread.h>
#include <stdio.h>
/* 模型头文件 */
#include "ai_datatypes_defines.h"
#include "ai_platform.h"
#include "network_data.h"
#include "network.h"
#include "main.h"
#define DBG_TAG "main"
#define DBG_LVL DBG_LOG
#include <rtdbg.h>
/* 模型句柄 */
static ai_handle network = AI_HANDLE_NULL;
/* 神经网络中间值 (激活缓冲区 ) */
AI_ALIGNED(32)
static ai_u8 activations[AI_NETWORK_DATA_ACTIVATIONS_SIZE];
/* 输入张量的缓冲区 */
AI_ALIGNED(32)
static ai_float in_data[AI_NETWORK_IN_1_SIZE];
// static ai_u8 in_data[AI_NETWORK_IN_1_SIZE_BYTES];
/* 输出张量的缓冲区 */
AI_ALIGNED(32)
static ai_float out_data[AI_NETWORK_OUT_1_SIZE];
// static ai_u8 out_data[AI_NETWORK_OUT_1_SIZE_BYTES];
/* 模型输入输出张量指针 */
static ai_buffer *ai_input;
static ai_buffer *ai_output;
rt_mutex_t lock;                    //互斥量
//测试输入
uint8_t data[AI_NETWORK_IN_1_SIZE] = {
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 239,239,239,  91, 91, 91,  80, 80, 80,  80, 80, 80,  80, 80, 80, 252,252,252, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 104,104,104,   7,  7,  7,   7,  7,  7,   4,  4,  4,   0,  0,  0, 124,124,124, 254,254,254, 254,254,254, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 254,254,254, 157,157,157,   3,  3,  3,  32, 32, 32, 116,116,116, 116,116,116,  21, 21, 21,  14, 14, 14, 176,176,176, 254,254,254, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 202,202,202,  22, 22, 22,   8,  8,  8, 129,129,129, 252,252,252, 255,255,255, 109,109,109,   0,  0,  0,  52, 52, 52, 215,215,215, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  87, 87, 87,   2,  2,  2,  67, 67, 67, 252,252,252, 255,255,255, 255,255,255, 248,248,248,  43, 43, 43,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  78, 78, 78,   0,  0,  0, 250,250,250, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  76, 76, 76,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 230,230,230,   3,  3,  3, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  83, 83, 83,   1,  1,  1, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   1,  1,  1, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  79, 79, 79,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  76, 76, 76,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  76, 76, 76,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  83, 83, 83,   1,  1,  1, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  98, 98, 98,   3,  3,  3, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   1,  1,  1, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  92, 92, 92,   2,  2,  2, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 230,230,230,   4,  4,  4, 128,128,128, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  77, 77, 77,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   1,  1,  1, 128,128,128, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  85, 85, 85,   3,  3,  3, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 230,230,230,   1,  1,  1, 128,128,128, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  83, 83, 83,   1,  1,  1, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  79, 79, 79,   0,  0,  0, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  76, 76, 76,   0,  0,  0, 250,250,250, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 229,229,229,   0,  0,  0, 127,127,127, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  78, 78, 78,   1,  1,  1, 182,182,182, 254,254,254, 255,255,255, 255,255,255, 253,253,253, 164,164,164,   0,  0,  0, 128,128,128, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 114,114,114,   8,  8,  8,  36, 36, 36, 221,221,221, 255,255,255, 255,255,255, 207,207,207,  21, 21, 21,  17, 17, 17, 153,153,153, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,  53, 53, 53,   4,  4,  4,  85, 85, 85, 238,238,238, 239,239,239,  24, 24, 24,  19, 19, 19,  97, 97, 97, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 241,241,241,  26, 26, 26,   8,  8,  8,  20, 20, 20,  18, 18, 18,   2,  2,  2,  38, 38, 38, 244,244,244, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 193,193,193,  10, 10, 10,   1,  1,  1,   0,  0,  0,   3,  3,  3, 214,214,214, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 247,247,247, 179,179,179, 175,175,175, 175,175,175, 176,176,176, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255, 255,255,255,
      };
static int aiInit(void);
static int aiRun(const void *in_data, void *out_data);
int main(void)
{
//    uint32_t timestamp;
//    uint32_t timestamp1;
    float y_val[10];
    float y_vall[10];
    int y_valll[10];
    float min, max, Radius;
    lock        = rt_mutex_create("mutex_AI", RT_IPC_FLAG_FIFO);                    //创建摄像头互斥锁
    if(lock     == RT_NULL)
        LOG_E("无法创建互斥锁");
    MX_CRC_Init();
    /* 启用CRC IP时钟以使用神经网络运行时库 */
    __HAL_RCC_CRC_CLK_ENABLE();
    /* 初始化推理 */
    aiInit();
    while (1)
    {
        // 填充输入缓冲区 */
        for (uint32_t i = 0; i < AI_NETWORK_IN_1_SIZE; i++)
        {
          ((ai_float *)in_data)[i] = data[i];
        }
//        /* 获取当前时间戳 */
//        timestamp = htim16.Instance->CNT;
        /* 运行推理 */
        aiRun(in_data, out_data);
//        /* 获取当前时间戳 */
//        timestamp1 = htim16.Instance->CNT;
//
//        if(timestamp > timestamp1)
//            timestamp1 = timestamp1 + 65535 - timestamp;
//        else
//            timestamp1 = timestamp1 - timestamp;
//
//        /* 输出推理时间 (微秒) */
//        LOG_I("duration: %lu us\r\n",
//                timestamp1);
        /* 读取神经网络的输出 */
        for(int i = 0; i < AI_NETWORK_OUT_1_SIZE; i++)
            y_val[i] = ((float *)out_data)[i];
        min = y_val[0];
        max = y_val[0];
        for (int i = 0; i < AI_NETWORK_OUT_1_SIZE; i++)
        {
            if (y_val[i] < min)
                min = y_val[i];
            if (y_val[i] > max)
                max = y_val[i];
        }
        Radius = max - min;
        for (int i = 0; i < AI_NETWORK_OUT_1_SIZE; i ++)
        {
            y_vall[i] = (y_val[i] - min) / Radius;
            y_valll[i] = (int)(y_vall[i]*1000*100);
            LOG_I("number: %d  output: %6d\r\n",
                    i,
                    y_valll[i]);
        }
//        LOG_D("Hello");
//        rt_thread_mdelay(1000);
    }
    return RT_EOK;
}
/*
 * 初始化推理
 */
int aiInit(void) {
  ai_error err;
  /* 创建和初始化模型 */
  const ai_handle acts[] = { activations };
  err = ai_network_create_and_init(&network, acts, NULL);
  if (err.type != AI_ERROR_NONE) {
        LOG_I("Error: could not create NN instance or initialize\r\n");
        while(1);
  };
  /* 获取指向模型的输入/输出张量的指针 */
  ai_input = ai_network_inputs_get(network, NULL);
  ai_output = ai_network_outputs_get(network, NULL);
  return 0;
}
/*
 * 运行推理
 */
int aiRun(const void *in_data, void *out_data) {
  ai_i32 n_batch;
  ai_error err;
  /* 1 - 更新输入和输出缓冲区的数据指针 */
  ai_input[0].data = AI_HANDLE_PTR(in_data);
  ai_output[0].data = AI_HANDLE_PTR(out_data);
  /* 2 - 使用神经网络进行推理 */
  if(rt_mutex_take(lock, RT_WAITING_FOREVER) != RT_EOK)       //上锁
          LOG_E("获取互斥量失败\r\n");
  n_batch = ai_network_run(network, &ai_input[0], &ai_output[0]);
  rt_mutex_release(lock);                                     //解锁
  if (n_batch != 1) {
      err = ai_network_get_error(network);
      LOG_I("Error: could not run inference because of %d\r\n",
              err.type);
  };
  return 0;
}

报错输出:

 \ | /
- RT -     Thread Operating System
 / | \     4.1.1 build Sep  2 2023 16:59:42
 2006 - 2022 Copyright by RT-Thread team
psr: 0x21000000
r00: 0x00000001
r01: 0x00000210
r02: 0x00000ab4
r03: 0x28167670
r04: 0xdeadbeef
r05: 0xdeadbeef
r06: 0xdeadbeef
r07: 0x2002f5c0
r08: 0xdeadbeef
r09: 0xdeadbeef
r10: 0xdeadbeef
r11: 0xdeadbeef
r12: 0x00000000
 lr: 0x08002979
 pc: 0x08002a48
hard fault on thread: main
thread   pri  status      sp     stack size max used left tick  error
-------- ---  ------- ---------- ----------  ------  ---------- ---
tidle0    31  ready   0x00000044 0x00000100    26%   0x00000020 OK
timer      4  suspend 0x0000007c 0x00000200    24%   0x00000009 OK
main      10  running 0x00000040 0x00000800    10%   0x00000014 OK
bus fault:
SCB_CFSR_BFSR:0x82 PRECISERR SCB->BFAR:28167678

其他尝试:

我在CubeIDE上使用该程序可以成功
通过反汇编发现出错的位置在rt_smem_alloc()
lr指向RT_ASSERT(rt_object_is_systemobject(&m->parent));
pc指向((struct rt_small_mem_item *)&small_mem->heap_ptr[mem2->next])->prev = ptr2;
这是堆栈溢出了吗,是不是因为我任务堆栈太小了

2 个回答

小黑兹 2023-09-04

这家伙很懒，什么也没写！

额没人回答,已经解决了.起码单独使用没有问题了
系统内存管理方式使用slab algorithm for large memory就ok了
优化要开到-O3

上面的这个方法还是有些问题,会在任务调度的时候出问题.
改用以下方法:
不需要更改内存算法,使用初始的small内存算法就行.
也不用改优化
我们需要注意两个关键的地方.
1.关注FPU,不同的芯片可能设置不同.
我stm32u575要用fpv4-sp-d16
{0E29E55A-ABD9-44e1-BA09-18F680766C17}.png
2.注意芯片内核与编译器
在设置修改arm后工程中rtthread-libcpu-arm文件夹下并没有自动更改内核文件夹,需要我们手动添加/排除构建
{41F26C64-59BA-4425-B3C8-67AEFCEA2860}.png