openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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from functools import lru_cache
from .tensor import Device, Function, register
@lru_cache
def compile_wrapper(ane, dat):
return ane.compile(dat)
def roundup(x, v):
return x + (v-x)%v
@lru_cache
def compile_relu(ane, sz):
dat = list(open("accel/ane/ops/relu.hwx", "rb").read())
# TODO: make this all nice and once
# number of engines? (max 0x100)
l2_stride = max(0x100, roundup(sz*2, 0x10))
# 0x1ec = L2.SourceChannelStride.Stride, 0x1f0 = L2.SourceRowStride.Stride
# 0x1f4, 0x1f8?
# 0x214 = L2.ResultBase.Addr
dat = ane.fill(dat, [0x1ec, 0x1f0, 0x1f4, 0x1f8, 0x214], "I", l2_stride)
stride = roundup(sz*2, 0x40)
dat = ane.filln(dat, {
"NeuronType": 0x11, # 0x10 makes this a copy, 0x11 = ReLU, 0x12 = crash
"InputWidth": sz, "OutputWidth": sz,
"InputRowStride": stride, "InputPlaneStride": stride, "InputDepthStride": stride,
"OutputRowStride": stride, "OutputPlaneStride": stride, "OutputDepthStride": stride,
})
return compile_wrapper(ane, bytes(dat))
class ReLU(Function):
def forward(ctx, input):
ret = ctx.ane.tensor(input.shape)
ctx.ane.run(compile_relu(ctx.ane, input.sz), input, ret)
return ret
def backward(ctx, grad_output):
return 0
register('relu', ReLU, device=Device.ANE)