MPLR2025-experiments

Resources for the experiments in MPLR 2025.

Difference from the paper

Naming

In Paper: Copro#run
Actually: Copro#sleep_and_run

Directory Structure

cm : C programs executed on the Main processor
cl : C programs executed on the Lp coprocessor
rm : mRuby programs executed entirely on the Main processor using the original mruby/c interpreter
rl : mRuby programs executed on the Lp coprocessor using our modified interpreter

sensor_sim : Sensor simulator programs running on the sensor simulator (ESP32).

runtime_code_size : runtime code size results on the main processor (Table 3, 4)
code_size         : log files to check the generated code size for the LP coprocessor (Table 5)
power_consumption : power consumption measurement data (Table 6, Figure 4)

To reproduce the experimental results, see README.md on each directory.

Compilation

Prerequisites

We are tested with ESP-IDF SDK v5.5.

We need a small modification to ESP-IDF SDK.
Please modify components/ulp/esp32ulp_mapgen.py:

@@ -59,7 +59,7 @@ def gen_ld_h_from_sym(f_sym: typing.TextIO, f_ld: typing.TextIO, f_h: typing.Tex
         ))

     # Format the regular expression to match the readelf output
-    expr = re.compile(r'^.*(?P<address>[a-f0-9]{8})\s+(?P<size>\d+) (OBJECT|NOTYPE)\s+GLOBAL\s+DEFAULT\s+[^ ]+ (?P<name>.*)$')
+    expr = re.compile(r'^.*(?P<address>[a-f0-9]{8})\s+(?P<size>\d+) (OBJECT|NOTYPE|FUNC)\s+GLOBAL\s+DEFAULT\s+[^ ]+ (?P<name>.*)$')
     for line in f_sym:
         # readelf format output has the following structure:
         #   Num:    Value  Size Type    Bind   Vis      Ndx Name

rl and rm are based on mruby/c v3.4.
https://github.com/mrubyc/mrubyc/tree/release3.4
The software license are under the Revised BSD License (a.k.a. 3-caluse license). See rm/components/mruby/LICENSE and rl/components/mruby/LICENSE.

How to compile

Please execute idf.py build under the following directories:

• rl
• rm
• cl/gather_sht30 : CL TEMP
• cl/gps_acc : CL LOC
• cl/tof : CL WL
• cl/breathingled : CL BLED
• cm/gather_sht30 : CM TEMP
• cm/gps_acc : CM LOC
• cm/tof : CM WL
• cm/breathingled : CM BLED
• sensor_sim/sht30 : For TEMP
• sensor_sim/adxl367 : For LOC

Because compiler options are stored in sdkconfig, you do not need to specify the compiler options.

How to switch the executing program

cl programs are split into TEMP and LOC. However, rl and rm are not.
You can switch the executing program by modifying main.c.

• TEMP : Please #include "gather_sht30.c" or #include "gather_sht30_fast.c".
• LOC : Please #include "gps_acc.c".
• WL : Please #include "tofsense.c" or #include "tofsense_fast.c".
• BLED : Please #include "breathingled.c".

FOO_fast.c is a variant of FOO.c. We modified the sleep duration.

How to translate ruby scripts to mruby bytecodes

Prerequisites

You can get mruby/c compiler by installing mruby toolkit.
We used mruby 3.2.0 (2023-02-24) from DragonflyBSD Ports.

Where the mruby scripts are

The mruby scripts are available on rl and rm. You can compile with:

$ mrbc -Bmrbbuf $FILENAME

Debug Options

Generated Code Output

hal/esp32/copro/dbg.h:2

#define MRBC_PROF_DBG_ENABLE 1

Allocations for Metadata and Generated Code

hal/esp32/copro/compile.c:78

#define DBG_ALLOCATION_PROFILE 1