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.
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import functools, importlib
from collections import defaultdict
from dataclasses import dataclass
from tinygrad.helpers import getbits, round_up
from tinygrad.runtime.autogen import pci
from tinygrad.runtime.support.usb import ASM24Controller
@dataclass(frozen=True)
class AMDRegBase:
name: str
offset: int
segment: int
fields: dict[str, tuple[int, int]]
def encode(self, **kwargs) -> int: return functools.reduce(int.__or__, (value << self.fields[name][0] for name,value in kwargs.items()), 0)
def decode(self, val: int) -> dict: return {name:getbits(val, start, end) for name,(start,end) in self.fields.items()}
def collect_registers(module, cls=AMDRegBase) -> dict[str, AMDRegBase]:
def _split_name(name): return name[:(pos:=next((i for i,c in enumerate(name) if c.isupper()), len(name)))], name[pos:]
offsets = {k:v for k,v in module.__dict__.items() if _split_name(k)[0] in {'reg', 'mm'} and not k.endswith('_BASE_IDX')}
bases = {k[:-len('_BASE_IDX')]:v for k,v in module.__dict__.items() if _split_name(k)[0] in {'reg', 'mm'} and k.endswith('_BASE_IDX')}
fields: defaultdict[str, dict[str, tuple[int, int]]] = defaultdict(dict)
for field_name,field_mask in module.__dict__.items():
if not ('__' in field_name and field_name.endswith('_MASK')): continue
reg_name, reg_field_name = field_name[:-len('_MASK')].split('__')
fields[reg_name][reg_field_name.lower()] = ((field_mask & -field_mask).bit_length()-1, field_mask.bit_length()-1)
# NOTE: Some registers like regGFX_IMU_FUSESTRAP in gc_11_0_0 are missing base idx, just skip them
return {reg:cls(name=reg, offset=off, segment=bases[reg], fields=fields[_split_name(reg)[1]]) for reg,off in offsets.items() if reg in bases}
def import_module(name:str, version:tuple[int, ...], version_prefix:str=""):
for ver in [version, version[:2]+(0,), version[:1]+(0, 0)]:
try: return importlib.import_module(f"tinygrad.runtime.autogen.am.{name}_{version_prefix}{'_'.join(map(str, ver))}")
except ImportError: pass
raise ImportError(f"Failed to load autogen module for {name.upper()} {'.'.join(map(str, version))}")
def setup_pci_bars(usb:ASM24Controller, gpu_bus:int, mem_base:int, pref_mem_base:int) -> dict[int, tuple[int, int]]:
for bus in range(gpu_bus):
# All 3 values must be written at the same time.
buses = (0 << 0) | ((bus+1) << 8) | ((gpu_bus) << 16)
usb.pcie_cfg_req(pci.PCI_PRIMARY_BUS, bus=bus, dev=0, fn=0, value=buses, size=4)
usb.pcie_cfg_req(pci.PCI_MEMORY_BASE, bus=bus, dev=0, fn=0, value=(mem_base>>16) & 0xffff, size=2)
usb.pcie_cfg_req(pci.PCI_MEMORY_LIMIT, bus=bus, dev=0, fn=0, value=0xffff, size=2)
usb.pcie_cfg_req(pci.PCI_PREF_MEMORY_BASE, bus=bus, dev=0, fn=0, value=(pref_mem_base>>16) & 0xffff, size=2)
usb.pcie_cfg_req(pci.PCI_PREF_MEMORY_LIMIT, bus=bus, dev=0, fn=0, value=0xffff, size=2)
usb.pcie_cfg_req(pci.PCI_PREF_BASE_UPPER32, bus=bus, dev=0, fn=0, value=pref_mem_base >> 32, size=4)
usb.pcie_cfg_req(pci.PCI_PREF_LIMIT_UPPER32, bus=bus, dev=0, fn=0, value=0xffffffff, size=4)
usb.pcie_cfg_req(pci.PCI_COMMAND, bus=bus, dev=0, fn=0, value=pci.PCI_COMMAND_IO | pci.PCI_COMMAND_MEMORY | pci.PCI_COMMAND_MASTER, size=1)
# resize bar 0
cap_ptr = 0x100
while cap_ptr:
if pci.PCI_EXT_CAP_ID(hdr:=usb.pcie_cfg_req(cap_ptr, bus=gpu_bus, dev=0, fn=0, size=4)) == pci.PCI_EXT_CAP_ID_REBAR:
cap = usb.pcie_cfg_req(cap_ptr + 0x04, bus=gpu_bus, dev=0, fn=0, size=4)
new_ctrl = (usb.pcie_cfg_req(cap_ptr + 0x08, bus=gpu_bus, dev=0, fn=0, size=4) & ~0x1F00) | ((int(cap >> 4).bit_length() - 1) << 8)
usb.pcie_cfg_req(cap_ptr + 0x08, bus=gpu_bus, dev=0, fn=0, value=new_ctrl, size=4)
cap_ptr = pci.PCI_EXT_CAP_NEXT(hdr)
mem_space_addr, bar_off, bars = [mem_base, pref_mem_base], 0, {}
while bar_off < 24:
cfg = usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off, bus=gpu_bus, dev=0, fn=0, size=4)
bar_mem, bar_64 = bool(cfg & pci.PCI_BASE_ADDRESS_MEM_PREFETCH), cfg & pci.PCI_BASE_ADDRESS_MEM_TYPE_64
if (cfg & pci.PCI_BASE_ADDRESS_SPACE) == pci.PCI_BASE_ADDRESS_SPACE_MEMORY:
usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off, bus=gpu_bus, dev=0, fn=0, value=0xffffffff, size=4)
lo = (usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off, bus=gpu_bus, dev=0, fn=0, size=4) & 0xfffffff0)
if bar_64: usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off + 4, bus=gpu_bus, dev=0, fn=0, value=0xffffffff, size=4)
hi = (usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off + 4, bus=gpu_bus, dev=0, fn=0, size=4) if bar_64 else 0)
bar_size = ((~(((hi << 32) | lo) & ~0xf)) + 1) & (0xffffffffffffffff if bar_64 else 0xffffffff)
usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off, bus=gpu_bus, dev=0, fn=0, value=mem_space_addr[bar_mem] & 0xffffffff, size=4)
if bar_64: usb.pcie_cfg_req(pci.PCI_BASE_ADDRESS_0 + bar_off + 4, bus=gpu_bus, dev=0, fn=0, value=mem_space_addr[bar_mem] >> 32, size=4)
bars[bar_off // 4] = (mem_space_addr[bar_mem], bar_size)
mem_space_addr[bar_mem] += round_up(bar_size, 2 << 20)
bar_off += 8 if bar_64 else 4
usb.pcie_cfg_req(pci.PCI_COMMAND, bus=gpu_bus, dev=0, fn=0, value=pci.PCI_COMMAND_IO | pci.PCI_COMMAND_MEMORY | pci.PCI_COMMAND_MASTER, size=1)
return bars