Xylo-IMU

Xylo-IMU#

Xylo-IMU is a full digital AI chip which consists of

a dedicated IMU data acquisition (MC3632) and conversion block (IMU_IF)

and a processing core (Xylo-Core) of Spiking Neural Network (SNN).

If enabled IMU_IF will read external IMU via SPI master interface, convert IMU data to spike and send the spike to Xylo-Core.

Xylo-Core is a highly configurable SNN processing core, which supports both reservoir and feed-forward network.

Xylo-IMU supports up to 16 input neurons (IN0 ~ IN15), 128 configurable input expansion neurons (IEN0 ~ IEN127), 496 configurable recurrent neurons (RN0 ~ RN495), 128 configurable output expansion neurons (OEN0 ~ OEN127) and up to 16 output readout neurons (ON0 ~ ON15) for classification purpose.

Register / RAM configuration of Xylo-IMU is done via SPI slave interface, internal event (e.g. classification done) could be sent out via interrupt.

Operation Mode:#

Xylo-Core can be configured to one of three operation mode:

1. Manual mode#

Manual mode is debug/test mode of Xylo-IMU. Everything is expected to be done manually in this mode. The procedure is:

2. Accelerated mode#

Accelerated mode bases on manual mode, and it mocks realtime mode by triggering processing and reading readout automatically. The procedure is:

  • Input samna.xyloImu.event.Spike with precise and increasing timestep. When spike with latter timestep is received on FPGA, spikes of former timestep will be processed automatically.

  • Send samna.xyloImu.event.TriggerProcessing event with target timestep to keep triggering processing by FPGA until target timestep reaches.

  • Read/write register and memory manually to get state after processing.

It has following features:

  • Input spikes are processed automatically when spike of latter timestep is received.

  • Processing result of each timestep is read by FPGA automatically as samna.xyloImu.event.Readout.

  • It runs in a high speed comparable to realtime mode.

  • It stops automatically when target timestep reaches.

  • You can debug like as manual mode when it stops.

3. RealTime mode#

RealTime mode is a mode that chip triggers processing automatically.

According to its input, there are two use cases of this mode:

With acceleration input#

You can debug with acceleration input under realtime mode. The procedure is:

With sensor input#

Realtime mode with sensor input is typically used for production. The procedure is:

  • Apply a configuration of realtime mode with input interface enabled and data source as sensor input.

  • Send a default samna.xyloImu.event.TriggerProcessing to trigger processing infinitely.

  • Keep running.

Basic Examples:#

Api reference:#

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