executorch/.github/workflows/test-pico2-build.yml at main · CodeLinaro/executorch · GitHub

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name: Pico2 Build Validation

on:
  push:
    branches: [main, release/*]
    paths:
      - examples/raspberry_pi/pico2/**
      - backends/cortex_m/**
      - .ci/scripts/**
      - examples/arm/**
      - .github/workflows/test-pico2-build.yml
  schedule:
    # Run daily at 3 AM UTC to catch upstream breakages
    - cron: '0 3 * * *'

concurrency:
  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.event.pull_request.number || github.ref_name }}-${{ github.ref_type == 'branch' && github.sha }}
  cancel-in-progress: true

jobs:
  docker-image:
    name: Resolve CI docker image
    uses: ./.github/workflows/_docker-image.yml

  test-pico2-fp32-build:
    needs: docker-image
    name: test-pico2-fp32-build
    uses: pytorch/test-infra/.github/workflows/linux_job_v3.yml@main
    permissions:
      id-token: write
      contents: read
    with:
      runner: mt-l-x86iavx512-8-64
      docker-image: ${{ needs.docker-image.outputs.docker-registry }}/ci-image:executorch-ubuntu-22.04-arm-sdk-${{ needs.docker-image.outputs.ci-docker-hash }}
      submodules: 'recursive'
      ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
      timeout: 120
      script: |
        set -euo pipefail
        # Activate conda environment from the docker image
        CONDA_ENV=$(conda env list --json | jq -r ".envs | .[-1]")
        conda activate "${CONDA_ENV}"

        source .ci/scripts/utils.sh
        install_executorch "--use-pt-pinned-commit"

        # Install ARM baremetal toolchain
        .ci/scripts/setup-arm-baremetal-tools.sh --disable-fvps
        source examples/arm/arm-scratch/setup_path.sh

        echo "=== Step 1: Export FP32 model ==="
        cd examples/raspberry_pi/pico2
        python export_mlp_mnist.py
        test -f balanced_tiny_mlp_mnist.pte
        echo "FP32 model exported: $(ls -la balanced_tiny_mlp_mnist.pte)"
        cd -

        echo "=== Step 2: Build FP32 firmware ==="
        ./examples/raspberry_pi/pico2/build_firmware_pico.sh --model=balanced_tiny_mlp_mnist.pte

        echo "=== Step 3: Validate FP32 artifacts ==="
        ELF_FILE=examples/raspberry_pi/pico2/build/executorch_pico.elf
        UF2_FILE=examples/raspberry_pi/pico2/build/executorch_pico.uf2

        test -f "${ELF_FILE}" || { echo "FAIL: .elf not found"; exit 1; }
        test -f "${UF2_FILE}" || { echo "FAIL: .uf2 not found"; exit 1; }

        echo "--- Section sizes ---"
        arm-none-eabi-size -A "${ELF_FILE}"

        echo "--- Section headers ---"
        arm-none-eabi-objdump -h "${ELF_FILE}"

        echo "--- Key symbols ---"
        arm-none-eabi-nm --print-size --size-sort --radix=d "${ELF_FILE}" | tail -20

        # Validate binary fits in Pico2 memory using aggregated totals:
        #   flash = text + data (4MB = 4194304 bytes)
        #   SRAM  = data + bss  (520KB = 532480 bytes)
        eval $(arm-none-eabi-size "${ELF_FILE}" | awk 'NR==2 {printf "TEXT_SIZE=%d DATA_SIZE=%d BSS_SIZE=%d", $1, $2, $3}')

        FLASH_USED=$((TEXT_SIZE + DATA_SIZE))
        SRAM_USED=$((DATA_SIZE + BSS_SIZE))
        echo "FP32 binary: text=${TEXT_SIZE} data=${DATA_SIZE} bss=${BSS_SIZE} => flash=${FLASH_USED} sram=${SRAM_USED}"

        if [ "${FLASH_USED}" -gt 4194304 ]; then
          echo "FAIL: flash usage (${FLASH_USED}) exceeds 4MB"
          exit 1
        fi
        if [ "${SRAM_USED}" -gt 532480 ]; then
          echo "FAIL: SRAM usage (${SRAM_USED}) exceeds 520KB"
          exit 1
        fi
        echo "PASS: FP32 firmware fits in Pico2 memory (SRAM: ${SRAM_USED}/532480, Flash: ${FLASH_USED}/4194304)"

  test-pico2-cmsis-build:
    needs: docker-image
    name: test-pico2-cmsis-nn-build
    uses: pytorch/test-infra/.github/workflows/linux_job_v3.yml@main
    permissions:
      id-token: write
      contents: read
    with:
      runner: mt-l-x86iavx512-8-64
      docker-image: ${{ needs.docker-image.outputs.docker-registry }}/ci-image:executorch-ubuntu-22.04-arm-sdk-${{ needs.docker-image.outputs.ci-docker-hash }}
      submodules: 'recursive'
      ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
      timeout: 120
      script: |
        set -euo pipefail
        # Activate conda environment from the docker image
        CONDA_ENV=$(conda env list --json | jq -r ".envs | .[-1]")
        conda activate "${CONDA_ENV}"

        source .ci/scripts/utils.sh
        install_executorch "--use-pt-pinned-commit"

        # Install ARM baremetal toolchain
        .ci/scripts/setup-arm-baremetal-tools.sh --disable-fvps
        source examples/arm/arm-scratch/setup_path.sh

        echo "=== Step 1: Export INT8 CMSIS-NN model ==="
        cd examples/raspberry_pi/pico2
        python export_mlp_mnist_cmsis.py
        test -f balanced_tiny_mlp_mnist_cmsis.pte
        echo "INT8 model exported: $(ls -la balanced_tiny_mlp_mnist_cmsis.pte)"
        cd -

        echo "=== Step 2: Build CMSIS-NN firmware ==="
        ./examples/raspberry_pi/pico2/build_firmware_pico.sh --cmsis --model=balanced_tiny_mlp_mnist_cmsis.pte

        echo "=== Step 3: Validate CMSIS-NN artifacts ==="
        ELF_FILE=examples/raspberry_pi/pico2/build/executorch_pico.elf
        UF2_FILE=examples/raspberry_pi/pico2/build/executorch_pico.uf2

        test -f "${ELF_FILE}" || { echo "FAIL: .elf not found"; exit 1; }
        test -f "${UF2_FILE}" || { echo "FAIL: .uf2 not found"; exit 1; }

        echo "--- Section sizes ---"
        arm-none-eabi-size -A "${ELF_FILE}"

        echo "--- Section headers ---"
        arm-none-eabi-objdump -h "${ELF_FILE}"

        echo "--- Key symbols ---"
        arm-none-eabi-nm --print-size --size-sort --radix=d "${ELF_FILE}" | tail -20

        # Verify CMSIS-NN symbols are linked
        CMSIS_NN_SYMBOLS=$(arm-none-eabi-nm "${ELF_FILE}" | grep -E '(cmsis_nn|arm_nn)' || true)
        if [ -n "${CMSIS_NN_SYMBOLS}" ]; then
          echo "PASS: CMSIS-NN symbols found in binary"
          printf '%s\n' "${CMSIS_NN_SYMBOLS}" | head -20
        else
          echo "FAIL: No CMSIS-NN symbols detected — cortex_m backend may not be linked correctly"
          exit 1
        fi

        # Validate binary fits in Pico2 memory using aggregated totals:
        #   flash = text + data (4MB = 4194304 bytes)
        #   SRAM  = data + bss  (520KB = 532480 bytes)
        eval $(arm-none-eabi-size "${ELF_FILE}" | awk 'NR==2 {printf "TEXT_SIZE=%d DATA_SIZE=%d BSS_SIZE=%d", $1, $2, $3}')

        FLASH_USED=$((TEXT_SIZE + DATA_SIZE))
        SRAM_USED=$((DATA_SIZE + BSS_SIZE))
        echo "CMSIS-NN binary: text=${TEXT_SIZE} data=${DATA_SIZE} bss=${BSS_SIZE} => flash=${FLASH_USED} sram=${SRAM_USED}"

        if [ "${FLASH_USED}" -gt 4194304 ]; then
          echo "FAIL: flash usage (${FLASH_USED}) exceeds 4MB"
          exit 1
        fi
        if [ "${SRAM_USED}" -gt 532480 ]; then
          echo "FAIL: SRAM usage (${SRAM_USED}) exceeds 520KB"
          exit 1
        fi
        echo "PASS: CMSIS-NN firmware fits in Pico2 memory (SRAM: ${SRAM_USED}/532480, Flash: ${FLASH_USED}/4194304)"