mirror of
https://github.com/firestar5683/StarPilot.git
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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.
208 lines
12 KiB
Python
208 lines
12 KiB
Python
import os, ctypes, pathlib, re, fcntl, functools, mmap, time
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import tinygrad.runtime.autogen.kfd as kfd
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from tinygrad.helpers import to_mv, getenv
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from extra.hip_gpu_driver import hip_ioctl
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import tinygrad.runtime.autogen.hsa as hsa
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from hexdump import hexdump
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libc = ctypes.CDLL("libc.so.6")
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libc.memset.argtypes = [ctypes.c_void_p, ctypes.c_char, ctypes.c_int]
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libc.mmap.argtypes = [ctypes.c_void_p, ctypes.c_size_t, ctypes.c_int, ctypes.c_int, ctypes.c_int, ctypes.c_long]
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libc.mmap.restype = ctypes.c_void_p
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MAP_NORESERVE = 0x4000
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MAP_FIXED = 0x10
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def kfd_ioctl(idir, nr, user_struct, fd, **kwargs):
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made = user_struct(**kwargs)
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ret = fcntl.ioctl(fd, (idir<<30) | (ctypes.sizeof(user_struct)<<16) | (ord('K')<<8) | nr, made)
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if ret != 0: raise RuntimeError(f"ioctl returned {ret}")
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return made
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def format_struct(s):
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sdats = []
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for field_name, field_type in s._fields_:
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dat = getattr(s, field_name)
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if isinstance(dat, int): sdats.append(f"{field_name}:0x{dat:X}")
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else: sdats.append(f"{field_name}:{dat}")
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return sdats
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idirs = {"IOW": 1, "IOR": 2, "IOWR": 3}
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def ioctls_from_header():
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hdr = pathlib.Path("/usr/include/linux/kfd_ioctl.h").read_text().replace("\\\n", "")
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pattern = r'#define\s+(AMDKFD_IOC_[A-Z0-9_]+)\s+AMDKFD_(IOW?R?)\((0x[0-9a-fA-F]+),\s+struct\s([A-Za-z0-9_]+)\)'
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matches = re.findall(pattern, hdr, re.MULTILINE)
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fxns = {}
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for name, idir, nr, sname in matches:
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fxns[name.replace("AMDKFD_IOC_", "").lower()] = functools.partial(kfd_ioctl, idirs[idir], int(nr, 0x10), getattr(kfd, "struct_"+sname))
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return type("KIO", (object, ), fxns)
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kio = ioctls_from_header()
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# sudo su -c "echo 'file drivers/gpu/drm/amd/* +p' > /sys/kernel/debug/dynamic_debug/control"
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def gpu_alloc_userptr(fd, size, flags):
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addr = libc.mmap(0, size, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED|mmap.MAP_ANONYMOUS, -1, 0)
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assert addr != 0xffffffffffffffff
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mem = kio.alloc_memory_of_gpu(fd, va_addr=addr, size=size, gpu_id=GPU_ID, flags=flags, mmap_offset=addr)
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return mem
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def gpu_alloc(fd, size, flags):
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addr = libc.mmap(0, size, 0, mmap.MAP_PRIVATE|mmap.MAP_ANONYMOUS|MAP_NORESERVE, -1, 0)
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assert addr != 0xffffffffffffffff
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mem = kio.alloc_memory_of_gpu(fd, va_addr=addr, size=size, gpu_id=GPU_ID, flags=flags)
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buf = libc.mmap(mem.va_addr, mem.size, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED|MAP_FIXED, drm_fd, mem.mmap_offset)
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assert buf != 0xffffffffffffffff
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assert addr == buf == mem.va_addr
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return mem
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if __name__ == "__main__":
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fd = os.open("/dev/kfd", os.O_RDWR)
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gpu_num = getenv("GPU", 0)
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drm_fd = os.open(f"/dev/dri/renderD{128+gpu_num}", os.O_RDWR)
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with open(f"/sys/devices/virtual/kfd/kfd/topology/nodes/{1+gpu_num}/gpu_id", "r") as f: GPU_ID = int(f.read())
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#ver = kio.get_version(fd)
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st = kio.acquire_vm(fd, drm_fd=drm_fd, gpu_id=GPU_ID)
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#exit(0)
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# 0xF0000001 = KFD_IOC_ALLOC_MEM_FLAGS_VRAM | KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | KFD_IOC_ALLOC_MEM_FLAGS_PUBLIC | KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE
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# 0xD6000002 = KFD_IOC_ALLOC_MEM_FLAGS_GTT | KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE
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# 0xD6000004 = KFD_IOC_ALLOC_MEM_FLAGS_USERPTR | KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE
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# 0x94000010 = KFD_IOC_ALLOC_MEM_FLAGS_MMIO_REMAP | KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE
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#addr = libc.mmap(0, 0x1000, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_PRIVATE|mmap.MAP_ANONYMOUS, -1, 0)
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#addr = libc.mmap(0, 0x1000, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED|mmap.MAP_ANONYMOUS, -1, 0)
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#mem = kio.AMDKFD_IOC_ALLOC_MEMORY_OF_GPU(fd, va_addr=addr, size=0x1000, gpu_id=GPU_ID, flags=0xD6000004)
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#mem = gpu_alloc(fd, 0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_VRAM |
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# kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE |
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# kfd.KFD_IOC_ALLOC_MEM_FLAGS_PUBLIC | kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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#arr = (ctypes.c_int32 * 1)(GPU_ID)
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#stm = kio.map_memory_to_gpu(fd, handle=mem.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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arr = (ctypes.c_int32 * 1)(GPU_ID)
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rw_ptr = gpu_alloc(fd, 0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_GTT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_COHERENT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_UNCACHED |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=rw_ptr.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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event_page = gpu_alloc(fd, 0x8000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_GTT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_COHERENT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_UNCACHED |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=event_page.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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ring_base = gpu_alloc_userptr(fd, 0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_USERPTR | kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_COHERENT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_UNCACHED |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=ring_base.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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signals = gpu_alloc_userptr(fd, 0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_USERPTR | kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_COHERENT | kfd.KFD_IOC_ALLOC_MEM_FLAGS_UNCACHED |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=signals.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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eop_buffer = gpu_alloc(fd, 0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_VRAM |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=eop_buffer.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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ctx_save_restore_address = gpu_alloc(fd, 0x2C02000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_VRAM |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_WRITABLE | kfd.KFD_IOC_ALLOC_MEM_FLAGS_EXECUTABLE |
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kfd.KFD_IOC_ALLOC_MEM_FLAGS_NO_SUBSTITUTE)
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stm = kio.map_memory_to_gpu(fd, handle=ctx_save_restore_address.handle, device_ids_array_ptr=ctypes.addressof(arr), n_devices=1)
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assert stm.n_success == 1
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#113.00 ms + 0.00 ms : 0 = AMDKFD_IOC_CREATE_QUEUE ring_base_address:0x797465200000 write_pointer_address:0x79751C068038 read_pointer_address:0x79751C068080 doorbell_offset:0x0 ring_size:0x800000 gpu_id:0x433D queue_type:0x2 queue_per
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#centage:0x64 queue_priority:0x7 queue_id:0x0 eop_buffer_address:0x79751C064000 eop_buffer_size:0x1000 ctx_save_restore_address:0x796E52400000 ctx_save_restore_size:0x2BEA000 ctl_stack_size:0xA000
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#113.84 ms + 0.59 ms : 0 = AMDKFD_IOC_CREATE_QUEUE ring_base_address:0x71AC3F600000 write_pointer_address:0x71B302AB0038 read_pointer_address:0x71B302AB0080 doorbell_offset:0xD0CF400000000008 ring_size:0x800000 gpu_id:0x433D queue_typ
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#e:0x2 queue_percentage:0x64 queue_priority:0x7 queue_id:0x1 eop_buffer_address:0x71B302AAC000 eop_buffer_size:0x1000 ctx_save_restore_address:0x71AC3C800000 ctx_save_restore_size:0x2BEA000 ctl_stack_size:0xA000
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#define KFD_MMAP_TYPE_SHIFT 62
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#define KFD_MMAP_TYPE_DOORBELL (0x3ULL << KFD_MMAP_TYPE_SHIFT)
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evt = kio.create_event(fd, event_page_offset=event_page.handle, auto_reset=1)
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nq = kio.create_queue(fd, ring_base_address=ring_base.va_addr, ring_size=0x1000, gpu_id=GPU_ID,
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queue_type=kfd.KFD_IOC_QUEUE_TYPE_COMPUTE_AQL, queue_percentage=kfd.KFD_MAX_QUEUE_PERCENTAGE,
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queue_priority=kfd.KFD_MAX_QUEUE_PRIORITY,
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eop_buffer_address=eop_buffer.va_addr, eop_buffer_size=0x1000,
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ctx_save_restore_address=ctx_save_restore_address.va_addr, ctx_save_restore_size=0x2C02000,
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ctl_stack_size = 0xa000,
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# write_pointer_address and read_pointer_address are on GART
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#write_pointer_address=0xaaaabbbb, read_pointer_address=0xaaaacccc)
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write_pointer_address=rw_ptr.va_addr+0, read_pointer_address=rw_ptr.va_addr+0x8)
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doorbell = libc.mmap(0, 8192, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED, fd, nq.doorbell_offset)
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print("doorbell", hex(doorbell))
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to_mv(signals.va_addr, 0x40)
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"""
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hexdump(to_mv(event_page.va_addr, 0x40))
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kio.set_event(fd, event_id=evt.event_id)
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hexdump(to_mv(event_page.va_addr, 0x40))
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kio.reset_event(fd, event_id=evt.event_id)
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hexdump(to_mv(event_page.va_addr, 0x40))
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"""
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# KFD_EVENT_TYPE_SIGNAL
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BARRIER_HEADER = 1 << hsa.HSA_PACKET_HEADER_BARRIER
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BARRIER_HEADER |= hsa.HSA_FENCE_SCOPE_SYSTEM << hsa.HSA_PACKET_HEADER_SCACQUIRE_FENCE_SCOPE
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BARRIER_HEADER |= hsa.HSA_FENCE_SCOPE_SYSTEM << hsa.HSA_PACKET_HEADER_SCRELEASE_FENCE_SCOPE
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BARRIER_HEADER |= hsa.HSA_PACKET_TYPE_BARRIER_AND << hsa.HSA_PACKET_HEADER_TYPE
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AQL_PACKET_SIZE = ctypes.sizeof(hsa.hsa_kernel_dispatch_packet_t)
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EMPTY_SIGNAL = hsa.hsa_signal_t()
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ds = to_mv(rw_ptr.va_addr, 0x100).cast("Q")
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ds[0] = 1 #ring_base.va_addr + AQL_PACKET_SIZE
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ds[1] = 0 #ring_base.va_addr
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#libc.memset(rw_ptr.va_addr, 0xaa, 0x100)
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#hexdump(to_mv(rw_ptr.va_addr, 0x100))
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#packet = hsa.hsa_barrier_and_packet_t.from_address(rw_ptr.va_addr+0x38)
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packet = hsa.hsa_barrier_and_packet_t.from_address(ring_base.va_addr)
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packet.reserved0 = 0
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packet.reserved1 = 0
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for i in range(5): packet.dep_signal[i] = EMPTY_SIGNAL
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#packet.dep_signal[0] = hsa.hsa_signal_t(evt.event_id)
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packet.reserved2 = 0
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#packet.completion_signal = EMPTY_SIGNAL
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packet.completion_signal = hsa.hsa_signal_t(signals.va_addr)
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packet.header = BARRIER_HEADER
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hexdump(to_mv(ring_base.va_addr, AQL_PACKET_SIZE))
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# _HsaEventData
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to_mv(signals.va_addr, 0x40).cast("Q")[0] = 1
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to_mv(signals.va_addr, 0x40).cast("Q")[1] = 1
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#to_mv(signals.va_addr, 0x40).cast("Q")[2] = event_page
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to_mv(signals.va_addr, 0x40).cast("Q")[2] = event_page.va_addr + evt.event_slot_index*8 # HWData2=HWAddress
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to_mv(signals.va_addr, 0x40).cast("Q")[3] = evt.event_trigger_data # HWData3=HWData
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print(hex(ds[0]), hex(ds[1]), hex(ds[2]))
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hexdump(to_mv(signals.va_addr, 0x40))
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# 10 08 49 3E 46 77 00 00
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# ring doorbell
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print(hex(to_mv(doorbell, 0x10).cast("I")[0]))
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#to_mv(doorbell, 0x10).cast("I")[0] = 0xffffffff
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to_mv(doorbell, 0x10).cast("I")[0] = 0
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evt_arr = (kfd.struct_kfd_event_data * 1)()
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evt_arr[0].event_id = evt.event_id
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kio.wait_events(fd, events_ptr=ctypes.addressof(evt_arr), num_events=1, wait_for_all=0, timeout=1000)
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print(hex(ds[0]), hex(ds[1]), hex(ds[2]))
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hexdump(to_mv(signals.va_addr, 0x40))
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#nq = kio.create_queue(fd, ring_base_address=buf, ring_size=0x1000, gpu_id=GPU_ID,
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# queue_type=kfd.KFD_IOC_QUEUE_TYPE_COMPUTE_AQL, queue_percentage=kfd.KFD_MAX_QUEUE_PERCENTAGE,
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# queue_priority=kfd.KFD_MAX_QUEUE_PRIORITY, write_pointer_address=buf+8, read_pointer_address=buf+0x10)
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#print(nq)
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#mv = to_mv(buf, 0x1000)
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#addr = libc.mmap(0, 0x1000, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_PRIVATE|mmap.MAP_ANONYMOUS, -1, 0)
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#print('\n'.join(format_struct(ver)))
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#print('\n'.join(format_struct(st)))
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