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.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

187 lines
8.2 KiB

//==============================================================================
//
// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
// All Rights Reserved.
// Confidential and Proprietary - Qualcomm Technologies, Inc.
//
//==============================================================================
//==============================================================================
/*
* THIS HEADER FILE IS COPIED FROM HEXAGON-NN PROJECT
*
*/
//==============================================================================
// Header to be used by a DSP Hexnn UDO Implementation library
#ifndef SNPE_UDO_IMPL_DSP_H
#define SNPE_UDO_IMPL_DSP_H
#include <stdio.h>
#include "SnpeUdo/UdoImpl.h"
/** @addtogroup c_plus_plus_apis C++
@{ */
/**
* @brief A function to validate that a set of params is supported by an operation
* This function is HexNN specific, use case is when registration library is not in use.
* Optional function.
*
* @param[in] operationType Operation type
* @param[in] numOfStaticParams Number of static params defined by the op
* @param[in] staticParams Array of static params to the op
* @return Error code, indicating if the operation can be created on this set of configuration or not.
*
*/
SnpeUdo_ErrorType_t
SnpeUdo_validateOperation (SnpeUdo_String_t operationType,
uint32_t numOfStaticParams,
const SnpeUdo_Param_t* staticParams);
typedef SnpeUdo_ErrorType_t (*SnpeUdo_ValidateOperationFunction_t) (SnpeUdo_String_t,
uint32_t,
const SnpeUdo_Param_t*);
// enum used for indicating input/outout tensor data layouts on DSP, plain vs d32
typedef enum {
SNPE_UDO_DSP_TENSOR_LAYOUT_PLAIN,
SNPE_UDO_DSP_TENSOR_LAYOUT_D32
} SnpeUdo_HexNNTensorLayout_t;
/**
* @brief A function to query numbers of inputs and outputs,
* quantization type of each input and each output as arrays,
* and data layout (plain vs d32) of each input and each output as arrays
* of an operation.
* inputsQuantTypes and inputsLayouts should point to arrays of size numOfInputs
* outputsQuantTypes and outputsLayouts should point to arrays of size numOfOutputs
*
* Note: inputsLayouts and inputsLayouts can point to NULL, in this case, it is
* assumed all inputs and/or outputs have plain data layouts, i.e. no D32
*
* @param[in] operationType Operation type
* @param[in] numOfStaticParams Number of static params defined by the op
* @param[in] staticParams Array of static params to the op
* @param[in,out] numOfInputs Number of input tensors to the op
* @param[in,out] inputsQuantTypes Array of Quantization info for each input tensor
* @param[in,out] inputsLayouts Array of layout type for each input tensor
* @param[in,out] numOfOutputs Number of output tensors to the op
* @param[in,out] outputsQuantTypes Array of Quantization info for each output tensor
* @param[in,out] outputsLayouts Array of layout type for each output tensor
* @return error code, indicating status of query
*/
SnpeUdo_ErrorType_t
SnpeUdo_queryOperation (SnpeUdo_String_t operationType,
uint32_t numOfStaticParams,
const SnpeUdo_Param_t* staticParams,
uint32_t* numOfInputs,
SnpeUdo_QuantizationType_t** inputsQuantTypes,
SnpeUdo_HexNNTensorLayout_t** inputsLayouts,
uint32_t* numOfOutputs,
SnpeUdo_QuantizationType_t** outputsQuantTypes,
SnpeUdo_HexNNTensorLayout_t** outputsLayouts);
typedef SnpeUdo_ErrorType_t (*SnpeUdo_QueryOperationFunction_t) (SnpeUdo_String_t,
uint32_t,
const SnpeUdo_Param_t*,
uint32_t*,
SnpeUdo_QuantizationType_t**,
SnpeUdo_HexNNTensorLayout_t**,
uint32_t*,
SnpeUdo_QuantizationType_t**,
SnpeUdo_HexNNTensorLayout_t**);
// Global infrastructure functions supported by Hexagon-NN v2
typedef void (*workerThread_t) (void* perOpInfrastructure, void* userData);
typedef int (*udoSetOutputTensorSize_t) (void* perOpInfrastructure, uint32_t outIdx, uint32_t size);
typedef int (*udoGetInputD32Paddings_t) (void* perOpInfrastructure, uint32_t inIdx,
uint32_t* heightPadBefore, uint32_t* heightPadAfter,
uint32_t* widthPadBefore, uint32_t* widthPadAfter,
uint32_t* depthPadBefore, uint32_t* depthPadAfter);
typedef int (*udoSetOutputD32ShapeSizePaddings_t) (void* perOpInfrastructure, uint32_t outIdx,
uint32_t batch,
uint32_t height, uint32_t heightPadBefore, uint32_t heightPadAfter,
uint32_t width, uint32_t widthPadBefore, uint32_t widthPadAfter,
uint32_t depth, uint32_t depthPadBefore, uint32_t depthPadAfter,
SnpeUdo_DataType_t dataType);
typedef void* (*udoMemalign_t) (size_t n, size_t size);
typedef void* (*udoMalloc_t) (size_t size);
typedef void* (*udoCalloc_t) (size_t n, size_t size);
typedef void (*udoFree_t) (void* ptr);
typedef uint32_t (*udoGetVtcmSize_t) (void* perOpInfrastructure);
typedef void* (*udoGetVtcmPtr_t) (void* perOpInfrastructure);
typedef uint32_t (*udoVtcmIsReal_t) (void* perOpInfrastructure);
typedef void (*udoRunWorkerThreads_t) (void* perOpInfrastructure, uint32_t nThreads, workerThread_t w, void* userData);
typedef struct hexNNv2GlobalInfra {
udoSetOutputTensorSize_t udoSetOutputTensorSize;
udoGetInputD32Paddings_t udoGetInputD32Paddings;
udoSetOutputD32ShapeSizePaddings_t udoSetOutputD32ShapeSizePaddings;
udoMemalign_t udoMemalign;
udoMalloc_t udoMalloc;
udoCalloc_t udoCalloc;
udoFree_t udoFree;
udoGetVtcmSize_t udoGetVtcmSize;
udoGetVtcmPtr_t udoGetVtcmPtr;
udoVtcmIsReal_t udoVtcmIsReal;
udoRunWorkerThreads_t udoRunWorkerThreads;
} SnpeUdo_HexNNv2GlobalInfra_t;
// hexnn types
typedef enum hexnnInfraType {
UDO_INFRA_HEXNN_V2,
UDO_INFRA_HEXNN_V3 // reserved, do not use
} SnpeUdo_HexNNInfraType_t;
/**
* @brief Infrastructures needed by a developer of DSP Hexnn UDO Implementation library.
*
* The framework/runtime which loads the Hexnn UDO implementation library provides
* this infrastructure to the loaded library by calling "SnpeUdo_initImplLibrary"
* function, and passing it (cast to void*). The Hexnn UDO library is expected
* to cast it back to this structure.
*
*/
typedef struct dspGlobalInfrastructure {
SnpeUdo_Version_t dspInfraVersion; // api version
SnpeUdo_HexNNInfraType_t infraType;
SnpeUdo_HexNNv2GlobalInfra_t hexNNv2Infra;
} SnpeUdo_DspGlobalInfrastructure_t;
/**
* hexnn v2 per op factory infrastructure
*
* The framework/runtime passes per op factory infrastructure as a void pointer
* to HexNN UDO implementation library by calling function "SnpeUdo_createOpFactory".
* UDO implementation library is expected to cast it back to this following struct.
*
*/
typedef struct hexnnv2OpFactoryInfra {
unsigned long graphId;
} SnpeUdo_HexNNv2OpFactoryInfra_t;
/**
* hexnn v2 per operation infrastructure
*
* The framework/runtime passes per operation infrastructure as a void pointer
* to HexNN UDO implementation library by calling function "SnpeUdo_createOperation".
* UDO implementation library is expected to cast it to the following type and save it.
*
* This is needed to be passed back into some functions from global infrastructure.
*
*/
typedef void* SnpeUdo_HexNNv2OpInfra_t;
/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
#endif // SNPE_UDO_IMPL_DSP_H