Introduction

note: SDK v2.1.x is compatible with Kneron PLUS v2.1.x
note: SDK v2.x.x is NOT COMPATIBLE with v1.x.x

This document mentions the usage of prebuilt features, how to customize a model application, and peripheral features

1. Prerequisite

Hardware:

Board with KL720 chip, like dongle, 96board, m.2 board.

(for MIPI application example) Kneron LW 3D module

(for ToF application example) ToF_ISR module

Software:

required OS: native Windows 10-x86_64 64-bit

licensed software: ARM Keil MDK ARM Keil/MDK docs

licensed software: Cadence Tensilica Xtensa SDK

Initialize Xtensa environment: Xtensa IDE installation and configuration for KL720

2. File Structure

The firmware folder structure is architected with modularize and stratification for all source code. Source code belonged to the same feature is put in a dedicated folder and easy to be included or excluded. Refer to basic FW architecture shown below, the listed items will have corresponding folders.

.
└── firmware
    ├── app                                          # model flow control example
    ├── build
    │   ├── example_kdrv                             # some middleware/driver examples
    │   ├── lib
    │   ├── solution_XXX                             # solution examples
    ├── include                                      # shared header files 
    ├── lib                                          # libraries
    │   ├── kmdw_dfs_fuzzy_720.lib
    │   └── system_720.lib
    ├── mdw                                          # middleware source code
    ├── platform
    │   ├── board                                    # board configuraiton header files
    │   ├── dev                                      # device drivers
    │   └── kl720                                    # chip API interface
    │       ├── common                                       
    │       ├── ncpu
    │       │   ├── libs                             # ncpu driver API (library only)
    │       │   └── ncpu_main                        # main entry to hook pre/post process functions
    │       └── scpu
    │           ├── drv                              # ncpu driver API and source code
    │           ├── rtos/rtx
    │           └── startup
    └── utils
        ├── bin_gen
        ├── dfu
        ├── minion
        ├── flash_programmer
        ├── FLM
        ├── JLink_programmer
        ├── nef_utility
        └── pinmux_config/Kneron_pinmux_config.xlsm

2.1 Folder Tree Root - 'firmware'

firmware: Contains all device FW source/lib code, utilities, build environment

└───firmware
    ├───app         # source code for application layer
    ├───build       # Build environment. Include (Keil) project files, project dependent source code.
    ├───include     # C header files for all source code
    ├───mdw         # Middleware. It's kind of "service", "manager". EX, software timer, DFU function, memory management, etc.
    ├───platform    # Platform consists of an SoC, a PCB, and some onboard devices(flash, eeprom...).
    └───utils       # some useful utilities, such as flash programming, calculate checksum...

In general, firmware source_code = app + mdw + platform(+include).

Source code is suggested to be put in these 3 folders and will not be influenced by any projects. That is, it's a source code data base. All project related code will be put under build folder.

2.2 'firmware/build'

There are some components in build folder, example projects and solution projects. As the name implies, small app demo, simple peripheral drivers demo, or any features demonstration belong to example projects. The purpose is to show how to use our SDK. Solution projects is solution examples for customer. It contains more features, or complex functions in a single project. Also, If you need to build a library and share with other projects, create lib projects in lib folder.

└────firmware/build
    ├───example_kdrv    # keil projects and example code for example projects
    ├───lib             # Keil projects and header files for prebuilt libraries
    └────solution_**    # Keil projects for example solutions

2.3 'firmware/mdw'

firmware/mdw collects independent modules to become middle ware here. It can be generic flash driver, firmware upgrade manager, file system, etc.

└────firmware/mdw
    ├───console
    ├───dfu
    ├───flash
        ...

2.4 'firmware/platform'

firmware/platform collects board, device drivers, SoC chip drivers, OS interface, etc.

Platform = board + dev + ASIC-KL720

ASIC-KL720 is composed of 2 cores:

Core	OS	Description
SCPU (ARM CM4)	Keil RTX	system flow control and handle data in/ data out via provided drivers
NCPU(Xtensa VP6)	FreeRTOS	handle pre/post process and trigger NPU core to run a model

└───firmware/platform
    ├───board              # PCB information, flash size, IO mapping, and board level configuration
    |
    ├───dev                # device drivers, such as drivers for flash, eeprom, panel, sensor, etc.
    │   ├───panel
    │   └───nand
    |       ...            
    └────kl720             # KL720 SoC
        ├───common         # shared header files
        ├────scpu        
        |    ├───drv       # all peripheral drivers
        |    ├───rtos      # Keil RTX operation system 
        |    └───startup   # startup assembly code
        └────ncpu
             ├───ncpu_main # entry to hook model pre/post process functions
             └───libs      # builtin ncpu libraries to contron NCPU(DSP) core

2.5 'firmware/utils'

Utility	Description	References
bin_gen	To generate single image from several image components	ch 3.3 in README
dfu	To satisfy flash address alignment. It is called by post_build.bat in each Keil project Note: Need to `chmod +x gen_dfu_binary_for_linux` if in linux	see readme.txt
flash_programmer	Tool to program firmware/model/data via UART interface	ch 3.4 in README
JLink_programmer	Script to program firmware/model/data via JLink	ch 4 in README
nef_utility	utility for NEF model file Note: Need to `chmod +x nef_utility_linux` if in linux	execute "nef_utility -h"
pinmux_config	pinmux table	see Kneron_pinmux_config.xlsm
sbtenc	KL720 provides secure boot protected with AES and SHA	README
minion	Allows device to boot from uart or usb without external flash	see readme.txt

3. Construct a Customized AI Application

This section describes the concept of customization on input/output interface by modifying the firmware example which takes USB interface to communicate with PC via Kneron PLUS.

Below is a recommended flow of AI application construction:

Prepare your AI model(s)
Convert and verify model(s) via Kneron Toolchain
With a PC, it is convenient to verify converted NEF models and easy to test variant data on target device via Kneron PLUS
note: If your application is designed as host-companion architecture with USB interface, you can stop here and go ahead with Kneron PLUS.
- See Kneron PLUS - generic inference for model-only verification
- See Kneron PLUS - customized API for model and pre/post process function implementation.
Replace implementation of data Input and result output flow according to application requirement if your application is not designed as host-companion architecture. That's to replace the related code for data-in/data-out over USB interface which is designed for Kneron PLUS control protocol library by your implementation.

For example, to consider an application which requires a connected MIPI sensor to chip as image source and output result through UART interface.

After step 1-3, implementation of model inference flow and verification is done. Refer to the diagram below. The inference flow behind kmdw_inference_image_dispatcher_thread is verified and ready. All you have to do is to modify the firmware, solution_kdp2_user_ex, which is used with Kneron PLUS for model verification by replacing the threads for data/input and result/output to become a customized firmware. The implementation is easy by calling kmdw_fifiq_manager_XXX() APIs to arrange data flow for inference tasks.

Cross reference for the modification:

	FW for Kneron PLUS (As the start FW)	FW for MIPI in and UART out (Example of modification)	Description/key information
Solution	solution_kdp2_user_ex	solution_kdp2_host_in_uart_out
Thread table	.../main_scpu/include/task_handler.h	<- the same	In section, "Application specific threads", Replace input/output thread settings
Application Entry	.../mdw/usb_companion/kdp2_usb_companion.c kdp2_usb_companion_init()	.../main_scpu/kdp2_host_in_uart_out.c kdp2_host_in_uart_out_init()	Config fifiq size/count kmdw_fifoq_manager_store_fifoq_config() load mode kmdw_model_load_model()
data/input thread	kdp2_usb_companion_image_thread()	kdp2_host_recv_uart_cmd_thread	image source handling enqueue image to image fifoq
result/output thread	kdp2_usb_companion_result_thread()	kdp2_host_update_result_thread()	result handling dequeue result from result fifoq
other thread	none	kdp2_host_recv_usb_cmd_thread()

4. Solution Project Examples

This SDK provides the following solution project examples.

Solution Project	Required Chip	Peripherals	Description	Document Link
solution_kdp2_user_ex	kl720_9x9	none	data input and result output via Kneron PLUS API and customized model inference flow	README
solution_kdp2_hico_mipi	kl720_11x11	Kneron LW 3D module	image from MIPI camera sensor and output to connected PC via USB	README
solution_kdp2_hico_tof	kl720_11x11	ToF_ISR module	image from MIPI ToF module and output to connected PC via USB	README
solution_kdp2_host_in_uart_out	kl720_11x11	Kneron LW 3D module	image from MIPI camera sensor and output to connected PC via UART	README

General common files:

Keil project path: ./firmware/build/soluiton_XXX
version info file: ./firmware/include/version.h
project configuration: ./firmware/build/solution_xxx/sn720xxx/project.h

5. SoC Peripheral Drivers

The peripheral definitions and prototypes for the application programming reference.

Peripheral Driver APIs

Supported/Unsupported Peripheral Table

Image Input

Peripherals	Companion	HICO
MIPI CSI RX	x	driver/example
DVP	x	driver/example
UVC Host	x	specified cameras
USB(proprietary)	O	x
SPI Master, non-DMA, DMA	x	driver/example
SPI Slave, non-DMA, DMA	x	driver/example
UART	x	x

Image/Result Output

Peripherals	Companion	HICO
MIPI DSI TX	x	x
MIPI CSI TX	x	x
DVP	x	O
UVC device	x	x
USB bulk	x	O
USB(proprietary)	O	x
SPI Master, non-DMA, DMA	x	driver/example
SPI Slave, non-DMA, DMA	x	driver/example
UART	x	O
I2C	x	driver/example
I2S	x	x
INTEL 8080	x	x

6. Appendix

item	Description	References
Xtensa Guide	Xtensa Xploer overview, installation and build tutorial	link
Power Management	Provide functions to allow developers control the power states switching	link
No-Flash Design	Support usb boot and no-flash design	link