diff --git a/phonelibs/opencl/include/CL/cl_ext_qcom.h b/phonelibs/opencl/include/CL/cl_ext_qcom.h new file mode 100644 index 0000000000..6328a1cd93 --- /dev/null +++ b/phonelibs/opencl/include/CL/cl_ext_qcom.h @@ -0,0 +1,255 @@ +/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved. + * Qualcomm Technologies Proprietary and Confidential. + */ + +#ifndef __OPENCL_CL_EXT_QCOM_H +#define __OPENCL_CL_EXT_QCOM_H + +// Needed by cl_khr_egl_event extension +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + + +/************************************ + * cl_qcom_create_buffer_from_image * + ************************************/ + +#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0 +#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1 + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateBufferFromImageQCOM(cl_mem image, + cl_mem_flags flags, + cl_int *errcode_ret); + + +/************************************ + * cl_qcom_limited_printf extension * + ************************************/ + +/* Builtin printf function buffer size in bytes. */ +#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049 + + +/************************************* + * cl_qcom_extended_images extension * + *************************************/ + +#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA +#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB +#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC +#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD +#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE +#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF + +/************************************* + * cl_qcom_perf_hint extension * + *************************************/ + +typedef cl_uint cl_perf_hint; + +#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2 + +/*cl_perf_hint*/ +#define CL_PERF_HINT_HIGH_QCOM 0x40C3 +#define CL_PERF_HINT_NORMAL_QCOM 0x40C4 +#define CL_PERF_HINT_LOW_QCOM 0x40C5 + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetPerfHintQCOM(cl_context context, + cl_perf_hint perf_hint); + +// This extension is published at Khronos, so its definitions are made in cl_ext.h. +// This duplication is for backward compatibility. + +#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM + +/********************************* +* cl_qcom_android_native_buffer_host_ptr extension +*********************************/ + +#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6 + + +typedef struct _cl_mem_android_native_buffer_host_ptr +{ + // Type of external memory allocation. + // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers. + cl_mem_ext_host_ptr ext_host_ptr; + + // Virtual pointer to the android native buffer + void* anb_ptr; + +} cl_mem_android_native_buffer_host_ptr; + +#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM + +/*********************************** +* cl_img_egl_image extension * +************************************/ +typedef void* CLeglImageIMG; +typedef void* CLeglDisplayIMG; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromEGLImageIMG(cl_context context, + cl_mem_flags flags, + CLeglImageIMG image, + CLeglDisplayIMG display, + cl_int *errcode_ret); + + +/********************************* +* cl_qcom_other_image extension +*********************************/ + +// Extended flag for creating/querying QCOM non-standard images +#define CL_MEM_OTHER_IMAGE_QCOM (1<<25) + +// cl_channel_type +#define CL_QCOM_UNORM_MIPI10 0x4159 +#define CL_QCOM_UNORM_MIPI12 0x415A +#define CL_QCOM_UNSIGNED_MIPI10 0x415B +#define CL_QCOM_UNSIGNED_MIPI12 0x415C +#define CL_QCOM_UNORM_INT10 0x415D +#define CL_QCOM_UNORM_INT12 0x415E +#define CL_QCOM_UNSIGNED_INT16 0x415F + +// cl_channel_order +// Dedicate 0x4130-0x415F range for QCOM extended image formats +// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format +#define CL_QCOM_BAYER 0x414E + +#define CL_QCOM_NV12 0x4133 +#define CL_QCOM_NV12_Y 0x4134 +#define CL_QCOM_NV12_UV 0x4135 + +#define CL_QCOM_TILED_NV12 0x4136 +#define CL_QCOM_TILED_NV12_Y 0x4137 +#define CL_QCOM_TILED_NV12_UV 0x4138 + +#define CL_QCOM_P010 0x413C +#define CL_QCOM_P010_Y 0x413D +#define CL_QCOM_P010_UV 0x413E + +#define CL_QCOM_TILED_P010 0x413F +#define CL_QCOM_TILED_P010_Y 0x4140 +#define CL_QCOM_TILED_P010_UV 0x4141 + + +#define CL_QCOM_TP10 0x4145 +#define CL_QCOM_TP10_Y 0x4146 +#define CL_QCOM_TP10_UV 0x4147 + +#define CL_QCOM_TILED_TP10 0x4148 +#define CL_QCOM_TILED_TP10_Y 0x4149 +#define CL_QCOM_TILED_TP10_UV 0x414A + +/********************************* +* cl_qcom_compressed_image extension +*********************************/ + +// Extended flag for creating/querying QCOM non-planar compressed images +#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27) + +// Extended image format +// cl_channel_order +#define CL_QCOM_COMPRESSED_RGBA 0x4130 +#define CL_QCOM_COMPRESSED_RGBx 0x4131 + +#define CL_QCOM_COMPRESSED_NV12_Y 0x413A +#define CL_QCOM_COMPRESSED_NV12_UV 0x413B + +#define CL_QCOM_COMPRESSED_P010 0x4142 +#define CL_QCOM_COMPRESSED_P010_Y 0x4143 +#define CL_QCOM_COMPRESSED_P010_UV 0x4144 + +#define CL_QCOM_COMPRESSED_TP10 0x414B +#define CL_QCOM_COMPRESSED_TP10_Y 0x414C +#define CL_QCOM_COMPRESSED_TP10_UV 0x414D + +#define CL_QCOM_COMPRESSED_NV12_4R 0x414F +#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150 +#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151 +/********************************* +* cl_qcom_compressed_yuv_image_read extension +*********************************/ + +// Extended flag for creating/querying QCOM compressed images +#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28) + +// Extended image format +#define CL_QCOM_COMPRESSED_NV12 0x10C4 + +// Extended flag for setting ION buffer allocation type +#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD +#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE + +/********************************* +* cl_qcom_accelerated_image_ops +*********************************/ +#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110 +#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111 +#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112 +#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113 +#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114 +#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115 + +//Extended flag for specifying weight image type +#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0) + +// Box Filter +typedef struct _cl_box_filter_size_qcom +{ + // Width of box filter on X direction. + float box_filter_width; + + // Height of box filter on Y direction. + float box_filter_height; +} cl_box_filter_size_qcom; + +// HOF Weight Image Desc +typedef struct _cl_weight_desc_qcom +{ + /** Coordinate of the "center" point of the weight image, + based on the weight image's top-left corner as the origin. */ + size_t center_coord_x; + size_t center_coord_y; + cl_bitfield flags; +} cl_weight_desc_qcom; + +typedef struct _cl_weight_image_desc_qcom +{ + cl_image_desc image_desc; + cl_weight_desc_qcom weight_desc; +} cl_weight_image_desc_qcom; + +/************************************* + * cl_qcom_protected_context extension * + *************************************/ + +#define CL_CONTEXT_PROTECTED_QCOM 0x40C7 +#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8 + +/************************************* + * cl_qcom_priority_hint extension * + *************************************/ +#define CL_PRIORITY_HINT_NONE_QCOM 0 +typedef cl_uint cl_priority_hint; + +#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9 + +/*cl_priority_hint*/ +#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA +#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB +#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_EXT_QCOM_H */ diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index 700459c5fc..0712b55a2a 100644 --- a/selfdrive/camerad/main.cc +++ b/selfdrive/camerad/main.cc @@ -319,6 +319,10 @@ void party(cl_device_id device_id, cl_context context) { server_thread.join(); } +#if defined(QCOM) || defined(QCOM2) +#include "CL/cl_ext_qcom.h" +#endif + int main(int argc, char *argv[]) { set_realtime_priority(51); #if defined(QCOM) @@ -331,7 +335,13 @@ int main(int argc, char *argv[]) { signal(SIGTERM, (sighandler_t)set_do_exit); cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); + +#if defined(QCOM) || defined(QCOM2) + const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; + cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); +#else cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); +#endif party(device_id, context);