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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.
44 lines
2.1 KiB
Python
44 lines
2.1 KiB
Python
import ctypes, mmap, time
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from tinygrad.runtime.ops_amd import AMDDevice, kio, sdma_pkts, libc
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import tinygrad.runtime.autogen.amd_sdma as amd_sdma
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import tinygrad.runtime.autogen.kfd as kfd
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from tinygrad.helpers import to_mv
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if __name__ == "__main__":
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dev = AMDDevice()
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sdma_ring = dev._gpu_alloc(1 << 22, kfd.KFD_IOC_ALLOC_MEM_FLAGS_USERPTR, uncached=True)
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gart = dev._gpu_alloc(0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_GTT, uncached=True)
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sdma_queue = kio.create_queue(AMDDevice.kfd,
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ring_base_address=sdma_ring.va_addr, ring_size=sdma_ring.size, gpu_id=dev.gpu_id,
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queue_type=kfd.KFD_IOC_QUEUE_TYPE_SDMA, queue_percentage=kfd.KFD_MAX_QUEUE_PERCENTAGE, queue_priority=kfd.KFD_MAX_QUEUE_PRIORITY,
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write_pointer_address=gart.va_addr + 0x100, read_pointer_address=gart.va_addr + 0x108)
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doorbells_base = sdma_queue.doorbell_offset & (~0xfff)
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doorbells = libc.mmap(0, 8192, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED, AMDDevice.kfd, doorbells_base)
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sdma_read_pointer = to_mv(sdma_queue.read_pointer_address, 8).cast("Q")
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sdma_write_pointer = to_mv(sdma_queue.write_pointer_address, 8).cast("Q")
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sdma_doorbell = to_mv(doorbells + sdma_queue.doorbell_offset - doorbells_base, 4).cast("I")
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test_write_page = dev._gpu_alloc(0x1000, kfd.KFD_IOC_ALLOC_MEM_FLAGS_USERPTR, uncached=True)
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cmd = sdma_pkts.timestamp(op=amd_sdma.SDMA_OP_TIMESTAMP, sub_op=amd_sdma.SDMA_SUBOP_TIMESTAMP_GET_GLOBAL, addr=test_write_page.va_addr)
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sdma_doorbell_value = 0
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def blit_sdma_command(cmd):
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ctypes.memmove(sdma_ring.va_addr + (sdma_doorbell_value % sdma_ring.size), ctypes.addressof(cmd), sz:=ctypes.sizeof(cmd))
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return sz
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while True:
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sdma_doorbell_value += blit_sdma_command(cmd)
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sdma_write_pointer[0] = sdma_doorbell_value
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sdma_doorbell[0] = sdma_doorbell_value
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while sdma_read_pointer[0] != sdma_write_pointer[0]: continue
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tm = to_mv(test_write_page.va_addr, 0x1000).cast("Q")[0]/1e8
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print(f"{tm:.3f} s @ 0x{sdma_ring.va_addr + (sdma_doorbell_value % sdma_ring.size):X} R:0x{sdma_queue.read_pointer_address:X} W:0x{sdma_queue.write_pointer_address:X}")
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time.sleep(0.01)
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