mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 13:33:42 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
126 lines
4.4 KiB
Python
Executable File
126 lines
4.4 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os, ctypes, time, fcntl, mmap
|
|
import llvmlite.binding as llvm
|
|
from tinygrad.helpers import getenv, to_mv
|
|
from tinygrad.runtime.support.elf import elf_loader
|
|
from hexdump import hexdump
|
|
from tinygrad.runtime.autogen import libc
|
|
if getenv("IOCTL"): import run # noqa: F401 # pylint: disable=unused-import
|
|
|
|
adsp = ctypes.CDLL(ctypes.util.find_library("adsprpc"))
|
|
import adsprpc
|
|
import ion
|
|
import msm_ion
|
|
ION_IOC_ALLOC = 0
|
|
ION_IOC_MAP = 2
|
|
ION_IOC_SHARE = 4
|
|
ION_IOC_CUSTOM = 6
|
|
ION_ADSP_HEAP_ID = 22
|
|
ION_IOMMU_HEAP_ID = 25
|
|
|
|
def ion_iowr(fd, nr, args):
|
|
ret = fcntl.ioctl(fd, (3 << 30) | (ctypes.sizeof(args) & 0x1FFF) << 16 | (ord(ion.ION_IOC_MAGIC) & 0xFF) << 8 | (nr & 0xFF), args)
|
|
if ret != 0: raise RuntimeError(f"ioctl returned {ret}")
|
|
|
|
if __name__ == "__main__":
|
|
# TODO: mmap tensors to the DSP
|
|
# call the target function with the mmaped tensors
|
|
ion_fd = os.open("/dev/ion", os.O_RDWR | os.O_CLOEXEC)
|
|
arg3 = ion.struct_ion_allocation_data(len=0x1000, align=0x1000, heap_id_mask=1<<msm_ion.ION_SYSTEM_HEAP_ID, flags=ion.ION_FLAG_CACHED)
|
|
ion_iowr(ion_fd, ION_IOC_ALLOC, arg3)
|
|
print(arg3.handle)
|
|
arg2 = ion.struct_ion_fd_data(handle=arg3.handle)
|
|
ion_iowr(ion_fd, ION_IOC_SHARE, arg2)
|
|
print(arg2.fd)
|
|
|
|
res = libc.mmap(0, 0x1000, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED, arg2.fd, 0)
|
|
print("mmapped", hex(res))
|
|
to_mv(res, 0x10)[1] = 0xaa
|
|
|
|
from tinygrad.runtime.ops_dsp import ClangCompiler
|
|
cc = ClangCompiler(args=["--target=hexagon", "-mcpu=hexagonv65", "-fuse-ld=lld", "-nostdlib"])
|
|
|
|
obj = cc.compile("""
|
|
typedef unsigned long long remote_handle64;
|
|
typedef struct { void *pv; unsigned int len; } remote_buf;
|
|
typedef struct { int fd; unsigned int offset; } remote_dma_handle;
|
|
typedef union { remote_buf buf; remote_handle64 h64; remote_dma_handle dma; } remote_arg;
|
|
void* HAP_mmap(void *addr, int len, int prot, int flags, int fd, long offset);
|
|
int HAP_munmap(void *addr, int len);
|
|
#define HAP_MEM_CACHE_WRITETHROUGH 0x40
|
|
|
|
int entry(unsigned long long handle, unsigned int sc, remote_arg* pra) {
|
|
if (sc>>24 == 1) {
|
|
//void *mmaped = *((void**)pra[0].buf.pv);
|
|
void *a = HAP_mmap(0, 0x1000, 3, 0, pra[1].dma.fd, 0);
|
|
((char*)a)[0] = 0x55;
|
|
((char*)a)[4] = 0x55;
|
|
((char*)a)[8] = 0x99;
|
|
//((char*)a)[1] = 0x9b;
|
|
//char ret = ((char*)a)[1];
|
|
HAP_munmap(a, 0x1000);
|
|
return 0;
|
|
|
|
//return ((int)mmaped)&0xFFFF;
|
|
//return ((char*)mmaped)[1];
|
|
//return sizeof(void*);
|
|
|
|
//((char*)mmaped)[0] = 55;
|
|
//return ((int)mmaped)&0xFFFF;
|
|
|
|
//void addr = *((void**)pra[1])
|
|
//return sizeof(remote_buf);
|
|
//((char*)pra[1].h64)[0] = 55;
|
|
|
|
//return ((char*)mmaped)[1];
|
|
//((char*)mmaped)[0] = 55;
|
|
// NOTE: you have to return 0 for outbufs to work
|
|
//return ((int)pra[1].h64)&0xFFFF;
|
|
}
|
|
return 0;
|
|
}
|
|
""")
|
|
with open("/tmp/swag.so", "wb") as f: f.write(obj)
|
|
|
|
handle = ctypes.c_int64(-1)
|
|
adsp.remote_handle64_open(ctypes.create_string_buffer(b"file:////tmp/swag.so?entry&_modver=1.0&_dom=cdsp"), ctypes.byref(handle))
|
|
print("HANDLE", handle.value)
|
|
#print(adsp.remote_handle64_invoke(handle, 0, None))
|
|
|
|
#rem = adsp.remote_register_buf(res, 0x1000, arg2.fd, 4)
|
|
#rem = adsp.remote_register_dma_handle(arg2.fd, 0x1000)
|
|
#print("remote_register_buf_attr", rem)
|
|
|
|
#out = ctypes.c_uint64(0)
|
|
#ret = adsp.remote_mmap(arg2.fd, 0, 0, 0x1000, ctypes.byref(out))
|
|
#print(ret)
|
|
#print("mapped at", hex(out.value))
|
|
|
|
#arg_2 = ctypes.c_int64(out.value)
|
|
arg_2 = ctypes.c_int64(arg2.fd)
|
|
pra = (adsprpc.union_remote_arg64 * 3)()
|
|
pra[0].buf.pv = ctypes.addressof(arg_2)
|
|
pra[0].buf.len = 8
|
|
pra[1].dma.fd = arg2.fd
|
|
pra[1].dma.len = 0x1000
|
|
print("invoke")
|
|
ret = adsp.remote_handle64_invoke(handle, (1<<24) | (1<<16) | (1 << 4), pra)
|
|
print("return value", ret, hex(ret))
|
|
#print(hex(arg_2.value), arg_2.value)
|
|
#time.sleep(0.1)
|
|
|
|
# flush the cache
|
|
"""
|
|
flush_data = msm_ion.struct_ion_flush_data(handle=arg3.handle, vaddr=res, offset=0, length=0x1000)
|
|
# ION_IOC_CLEAN_INV_CACHES
|
|
cd = ion.struct_ion_custom_data(
|
|
cmd=(3 << 30) | (ctypes.sizeof(flush_data) & 0x1FFF) << 16 | (ord(msm_ion.ION_IOC_MSM_MAGIC) & 0xFF) << 8 | (2 & 0xFF),
|
|
arg=ctypes.addressof(flush_data))
|
|
ret = ion_iowr(ion_fd, ION_IOC_CUSTOM, cd)
|
|
|
|
res2 = libc.mmap(0, 0x1000, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED, arg2.fd, 0)
|
|
"""
|
|
hexdump(to_mv(res, 0x10))
|
|
os._exit(0)
|
|
|