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psiddhclaude
psiddh
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claude
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Add Pico2 build validation CI (trunk only) (#18900)
Adds two parallel CI jobs that validate FP32 and CMSIS-NN INT8 Pico2 firmware builds on every push to main. Each job exports a model, cross- compiles firmware, and validates the .elf/.uf2 artifacts fit within Pico2 memory limits (520KB SRAM, 4MB flash). Triggered on push to main when examples/raspberry_pi/pico2/** or backends/cortex_m/** files change, plus a daily schedule and release branches --------- Co-authored-by: Claude <noreply@anthropic.com>
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‎.github/workflows/test-pico2-build.yml‎

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name: Pico2 Build Validation
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on:
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push:
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branches: [main, release/*]
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paths:
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- examples/raspberry_pi/pico2/**
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- backends/cortex_m/**
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- .ci/scripts/**
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- examples/arm/**
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- .github/workflows/test-pico2-build.yml
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schedule:
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# Run daily at 3 AM UTC to catch upstream breakages
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- cron: '0 3 * * *'
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concurrency:
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group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.event.pull_request.number || github.sha }}
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cancel-in-progress: true
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jobs:
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test-pico2-fp32-build:
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name: test-pico2-fp32-build
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uses: pytorch/test-infra/.github/workflows/linux_job_v2.yml@main
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permissions:
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id-token: write
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contents: read
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with:
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runner: linux.2xlarge.memory
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docker-image: ci-image:executorch-ubuntu-22.04-arm-sdk
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submodules: 'recursive'
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ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
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timeout: 120
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script: |
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set -euo pipefail
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# Activate conda environment from the docker image
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CONDA_ENV=$(conda env list --json | jq -r ".envs | .[-1]")
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conda activate "${CONDA_ENV}"
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source .ci/scripts/utils.sh
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install_executorch "--use-pt-pinned-commit"
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# Install ARM baremetal toolchain
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.ci/scripts/setup-arm-baremetal-tools.sh
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source examples/arm/arm-scratch/setup_path.sh
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echo "=== Step 1: Export FP32 model ==="
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cd examples/raspberry_pi/pico2
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python export_mlp_mnist.py
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test -f balanced_tiny_mlp_mnist.pte
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echo "FP32 model exported: $(ls -la balanced_tiny_mlp_mnist.pte)"
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cd -
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echo "=== Step 2: Build FP32 firmware ==="
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./examples/raspberry_pi/pico2/build_firmware_pico.sh --model=balanced_tiny_mlp_mnist.pte
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echo "=== Step 3: Validate FP32 artifacts ==="
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ELF_FILE=examples/raspberry_pi/pico2/build/executorch_pico.elf
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UF2_FILE=examples/raspberry_pi/pico2/build/executorch_pico.uf2
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test -f "${ELF_FILE}" || { echo "FAIL: .elf not found"; exit 1; }
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test -f "${UF2_FILE}" || { echo "FAIL: .uf2 not found"; exit 1; }
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echo "--- Section sizes ---"
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arm-none-eabi-size -A "${ELF_FILE}"
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echo "--- Section headers ---"
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arm-none-eabi-objdump -h "${ELF_FILE}"
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echo "--- Key symbols ---"
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arm-none-eabi-nm --print-size --size-sort --radix=d "${ELF_FILE}" | tail -20
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# Validate binary fits in Pico2 memory using aggregated totals:
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# flash = text + data (4MB = 4194304 bytes)
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# SRAM = data + bss (520KB = 532480 bytes)
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eval $(arm-none-eabi-size "${ELF_FILE}" | awk 'NR==2 {printf "TEXT_SIZE=%d DATA_SIZE=%d BSS_SIZE=%d", $1, $2, $3}')
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FLASH_USED=$((TEXT_SIZE + DATA_SIZE))
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SRAM_USED=$((DATA_SIZE + BSS_SIZE))
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echo "FP32 binary: text=${TEXT_SIZE} data=${DATA_SIZE} bss=${BSS_SIZE} => flash=${FLASH_USED} sram=${SRAM_USED}"
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if [ "${FLASH_USED}" -gt 4194304 ]; then
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echo "FAIL: flash usage (${FLASH_USED}) exceeds 4MB"
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exit 1
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fi
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if [ "${SRAM_USED}" -gt 532480 ]; then
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echo "FAIL: SRAM usage (${SRAM_USED}) exceeds 520KB"
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exit 1
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fi
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echo "PASS: FP32 firmware fits in Pico2 memory (SRAM: ${SRAM_USED}/532480, Flash: ${FLASH_USED}/4194304)"
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test-pico2-cmsis-build:
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name: test-pico2-cmsis-nn-build
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uses: pytorch/test-infra/.github/workflows/linux_job_v2.yml@main
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permissions:
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id-token: write
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contents: read
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with:
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runner: linux.2xlarge.memory
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docker-image: ci-image:executorch-ubuntu-22.04-arm-sdk
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submodules: 'recursive'
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ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
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timeout: 120
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script: |
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set -euo pipefail
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# Activate conda environment from the docker image
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CONDA_ENV=$(conda env list --json | jq -r ".envs | .[-1]")
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conda activate "${CONDA_ENV}"
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source .ci/scripts/utils.sh
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install_executorch "--use-pt-pinned-commit"
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# Install ARM baremetal toolchain
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.ci/scripts/setup-arm-baremetal-tools.sh
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source examples/arm/arm-scratch/setup_path.sh
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echo "=== Step 1: Export INT8 CMSIS-NN model ==="
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cd examples/raspberry_pi/pico2
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python export_mlp_mnist_cmsis.py
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test -f balanced_tiny_mlp_mnist_cmsis.pte
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echo "INT8 model exported: $(ls -la balanced_tiny_mlp_mnist_cmsis.pte)"
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cd -
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echo "=== Step 2: Build CMSIS-NN firmware ==="
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./examples/raspberry_pi/pico2/build_firmware_pico.sh --cmsis --model=balanced_tiny_mlp_mnist_cmsis.pte
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echo "=== Step 3: Validate CMSIS-NN artifacts ==="
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ELF_FILE=examples/raspberry_pi/pico2/build/executorch_pico.elf
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UF2_FILE=examples/raspberry_pi/pico2/build/executorch_pico.uf2
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test -f "${ELF_FILE}" || { echo "FAIL: .elf not found"; exit 1; }
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test -f "${UF2_FILE}" || { echo "FAIL: .uf2 not found"; exit 1; }
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echo "--- Section sizes ---"
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arm-none-eabi-size -A "${ELF_FILE}"
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echo "--- Section headers ---"
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arm-none-eabi-objdump -h "${ELF_FILE}"
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echo "--- Key symbols ---"
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arm-none-eabi-nm --print-size --size-sort --radix=d "${ELF_FILE}" | tail -20
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# Verify CMSIS-NN symbols are linked
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CMSIS_NN_SYMBOLS=$(arm-none-eabi-nm "${ELF_FILE}" | grep -E '(cmsis_nn|arm_nn)' || true)
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if [ -n "${CMSIS_NN_SYMBOLS}" ]; then
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echo "PASS: CMSIS-NN symbols found in binary"
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printf '%s\n' "${CMSIS_NN_SYMBOLS}" | head -20
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else
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echo "FAIL: No CMSIS-NN symbols detected — cortex_m backend may not be linked correctly"
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exit 1
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fi
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# Validate binary fits in Pico2 memory using aggregated totals:
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# flash = text + data (4MB = 4194304 bytes)
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# SRAM = data + bss (520KB = 532480 bytes)
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eval $(arm-none-eabi-size "${ELF_FILE}" | awk 'NR==2 {printf "TEXT_SIZE=%d DATA_SIZE=%d BSS_SIZE=%d", $1, $2, $3}')
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FLASH_USED=$((TEXT_SIZE + DATA_SIZE))
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SRAM_USED=$((DATA_SIZE + BSS_SIZE))
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echo "CMSIS-NN binary: text=${TEXT_SIZE} data=${DATA_SIZE} bss=${BSS_SIZE} => flash=${FLASH_USED} sram=${SRAM_USED}"
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if [ "${FLASH_USED}" -gt 4194304 ]; then
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echo "FAIL: flash usage (${FLASH_USED}) exceeds 4MB"
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exit 1
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fi
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if [ "${SRAM_USED}" -gt 532480 ]; then
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echo "FAIL: SRAM usage (${SRAM_USED}) exceeds 520KB"
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exit 1
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fi
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echo "PASS: CMSIS-NN firmware fits in Pico2 memory (SRAM: ${SRAM_USED}/532480, Flash: ${FLASH_USED}/4194304)"

‎examples/raspberry_pi/pico2/build_firmware_pico.sh‎

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# Resolve the model path for selective build. Using EXECUTORCH_SELECT_OPS_MODEL
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# auto-detects the exact operators the model needs from the .pte file, avoiding
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# "Operator missing" errors at runtime.
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# Note: skip selective build for CMSIS-NN models — their cortex_m:: ops are
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# registered by the cortex_m backend, not by portable kernel codegen.
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SELECT_OPS_FLAGS=""
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if [ -n "$MODEL_INPUT" ] && [ -f "${PICO2_DIR}/${MODEL_INPUT}" ]; then
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if [ $USE_CMSIS -eq 0 ] && [ -n "$MODEL_INPUT" ] && [ -f "${PICO2_DIR}/${MODEL_INPUT}" ]; then
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MODEL_ABS_PATH="$(cd "${PICO2_DIR}" && realpath "${MODEL_INPUT}")"
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SELECT_OPS_FLAGS="-DEXECUTORCH_SELECT_OPS_MODEL=${MODEL_ABS_PATH}"
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echo "Using selective build from model: ${MODEL_ABS_PATH}"

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