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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.
31 lines
1.9 KiB
Python
31 lines
1.9 KiB
Python
import subprocess
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from tinygrad.device import Compiler
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from tinygrad.helpers import getenv, capstone_flatdump, cpu_objdump
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class ClangCompiler(Compiler):
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def __init__(self, arch:list[str], cachekey="compile_clang_obj"):
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assert len(arch) >= 2, f"invalid arch string: {','.join(arch)!r}, expected '<arch>,<cpu>,[<feats>]' (eg. 'x86_64,znver2')"
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self.arch, cpu, *feats = arch
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match self.arch:
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case "x86_64": self.args = [f"-march={cpu}"] + [f"-mno{f}" if f.startswith("-") else f"-m{f}" for f in feats]
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# on arm march means "runs on this arch and superset" instead of "optimize for this arch". x86 march == arm mcpu
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# x18 is a reserved platform register. It is clobbered on context switch in macos and is used to store TEB pointer in windows on arm
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case "arm64": self.args = ["-ffixed-x18", "-mcpu=" + "+".join([cpu] + ["no"+f[1:] if f.startswith("-") else f for f in feats])]
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case "riscv64": self.args = ["-march=" + "_".join(["rv64g" if cpu == "native" else cpu] + feats)]
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case _: raise RuntimeError(f"unsupported arch: {self.arch!r}")
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super().__init__(f"{cachekey}_{'_'.join(arch)}")
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def compile(self, src:str) -> bytes:
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"""Compile C source to ELF object file (before linking)."""
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# -fno-math-errno is required for __builtin_sqrt to become an instruction instead of a function call
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return subprocess.check_output([getenv("CC", 'clang'), '-c', '-x', 'c', '-O2', '-fPIC', '-ffreestanding', '-fno-math-errno', '-nostdlib',
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'-fno-ident', f'--target={self.arch}-none-unknown-elf', *self.args, '-', '-o', '-'], input=src.encode('utf-8'))
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def disassemble(self, lib: bytes): cpu_objdump(lib)
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class X86Compiler(Compiler):
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def __init__(self): super().__init__(None)
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def compile(self, src:str) -> bytes: return bytes.fromhex(src)
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def disassemble(self, lib:bytes): return capstone_flatdump(lib, "x86_64")
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