carrot efee1712aa
KerryGoldModel, AGNOS12.3, ButtonMode3, autoDetectLFA2, (#181)
* fix.. speed_limit error...

* draw tpms settings.

* fix.. traffic light stopping only..

* fix.. waze cam

* fix.. waze...

* add setting (Enable comma connect )

* auto detect LFA2

* fix.. cruisespeed1

* vff2 driving model.

* fix..

* agnos 12.3

* fix..

* ff

* ff

* test

* ff

* fix.. drawTurnInfo..

* Update drive_helpers.py

* fix..

support eng  voice

eng sounds

fix settings... english

fix.. mph..

fix.. roadlimit speed bug..

* new vff model.. 250608

* fix soundd..

* fix safe exit speed..

* fix.. sounds.

* fix.. radar timeStep..

* KerryGold model

* Update drive_helpers.py

* fix.. model.

* fix..

* fix..

* Revert "fix.."

This reverts commit b09ec459afb855c533d47fd7e8a1a6b1a09466e7.

* Revert "fix.."

This reverts commit 290bec6b83a4554ca232d531a911edccf94a2156.

* fix esim

* add more acc table. 10kph

* kg update..

* fix cruisebutton mode3

* test atc..cond.

* fix.. canfd

* fix.. angle control limit
2025-06-13 15:59:36 +09:00

128 lines
5.4 KiB
Python

from typing import Dict, Set
import yaml
from tinygrad.codegen.uops import UOpGraph, UOps, UOp
from tinygrad.uop.ops import BinaryOps
from tinygrad.dtype import dtypes
def uops_to_rdna(function_name:str, uops:UOpGraph) -> str:
replace: Dict[UOp, UOp] = {}
seen: Set[UOp] = set()
for u in uops:
if u in seen: continue
seen.add(u)
for o,n in replace.items():
if o in u.vin and u is not n:
u.vin = tuple(n if x == o else x for x in u.vin)
# pointer indexing
if u.uop in {UOps.LOAD, UOps.STORE} and u.vin[0].dtype.itemsize > 1:
val = UOp(UOps.CONST, dtypes.int, tuple(), arg=u.vin[0].dtype.itemsize, insert_before=uops.uops.index(u))
ptr = UOp(UOps.ALU, dtypes.int, (u.vin[1], val), arg=BinaryOps.MUL, insert_before=uops.uops.index(u))
u.vin = (u.vin[0], ptr) + u.vin[2:]
#uops.print()
args = []
ins = []
v_cnt = 3 # v[0:2] is local_xyz
s_cnt = 5 # s[0:1] is the address, s[2:4] is global_xyz
r: Dict[UOp, str] = {}
for u in uops:
if u.uop == UOps.SPECIAL:
if u.arg[1].startswith("lidx"):
r[u] = f'v{u.arg[0]}'
elif u.arg[1].startswith("gidx"):
r[u] = f's{2+u.arg[0]}'
else:
raise NotImplementedError
elif u.uop == UOps.CONST:
#r[u] = u.arg
# TODO: sometimes we can use s
#r[u] = f"s{s_cnt}"
#s_cnt += 1
#ins.append(f"s_mov_b32 {r[u]}, {u.arg}")
r[u] = f"v{v_cnt}"
v_cnt += 1
ins.append(f"v_mov_b32 {r[u]}, {u.arg}")
elif u.uop == UOps.ALU:
if u.arg == BinaryOps.ADD:
r[u] = f"v{v_cnt}"
v_cnt += 1
ins.append(f"v_add_f32_e32 {r[u]}, {r[u.vin[0]]}, {r[u.vin[1]]}")
elif u.arg == BinaryOps.MUL:
r[u] = f"v{v_cnt}"
v_cnt += 1
if dtypes.is_float(u.dtype):
ins.append(f"v_mul_f32_e32 {r[u]}, {r[u.vin[0]]}, {r[u.vin[1]]}")
else:
ins.append(f"v_mul_u32_u24 {r[u]}, {r[u.vin[0]]}, {r[u.vin[1]]}")
else:
raise NotImplementedError
elif u.uop == UOps.LOAD:
r[u] = f"v{v_cnt}"
v_cnt += 1
ins.append(f"global_load_b32 {r[u]}, {r[u.vin[1]]}, {r[u.vin[0]]}")
ins.append("s_waitcnt vmcnt(0)")
elif u.uop == UOps.STORE:
ins.append(f"global_store_b32 {r[u.vin[1]]}, {r[u.vin[2]]}, {r[u.vin[0]]}")
elif u.uop == UOps.DEFINE_GLOBAL:
i = u.arg[0]
args.append({'.address_space': 'global', '.name': f'buf_{i}', '.offset': i*8, '.size': 8,
'.type_name': u.dtype.name+"*", '.value_kind': 'global_buffer'})
s_cnt += s_cnt%2 # skip
r[u] = f"s[{s_cnt}:{s_cnt+1}]"
s_cnt += 2
ins.append(f"s_load_b64 {r[u]}, s[0:1], {i*8}")
ins.append("s_waitcnt lgkmcnt(0)")
else:
raise NotImplementedError(f"can't render {u.uop}")
# *** boilerplate rendering ***
metadata = {
'amdhsa.kernels': [{'.args': args,
'.group_segment_fixed_size': 0, '.kernarg_segment_align': 8, '.kernarg_segment_size': args[-1][".offset"] + args[-1][".size"],
'.language': 'OpenCL C', '.language_version': [1, 2], '.max_flat_workgroup_size': 256,
'.name': function_name, '.private_segment_fixed_size': 0, '.sgpr_count': s_cnt, '.sgpr_spill_count': 0,
'.symbol': f'{function_name}.kd', '.uses_dynamic_stack': False, '.vgpr_count': v_cnt, '.vgpr_spill_count': 0,
'.wavefront_size': 32}],
'amdhsa.target': 'amdgcn-amd-amdhsa--gfx1100', 'amdhsa.version': [1, 2]}
boilerplate_start = f"""
.rodata
.global {function_name}.kd
.type {function_name}.kd,STT_OBJECT
.align 0x10
.amdhsa_kernel {function_name}"""
kernel_desc = {
'.amdhsa_group_segment_fixed_size': 0, '.amdhsa_private_segment_fixed_size': 0, '.amdhsa_kernarg_size': 0,
'.amdhsa_next_free_vgpr': v_cnt, # this matters!
'.amdhsa_reserve_vcc': 0, '.amdhsa_reserve_xnack_mask': 0,
'.amdhsa_next_free_sgpr': s_cnt,
'.amdhsa_float_round_mode_32': 0, '.amdhsa_float_round_mode_16_64': 0, '.amdhsa_float_denorm_mode_32': 3, '.amdhsa_float_denorm_mode_16_64': 3,
'.amdhsa_dx10_clamp': 1, '.amdhsa_ieee_mode': 1, '.amdhsa_fp16_overflow': 0,
'.amdhsa_workgroup_processor_mode': 1, '.amdhsa_memory_ordered': 1, '.amdhsa_forward_progress': 0, '.amdhsa_enable_private_segment': 0,
'.amdhsa_system_sgpr_workgroup_id_x': 1, '.amdhsa_system_sgpr_workgroup_id_y': 1, '.amdhsa_system_sgpr_workgroup_id_z': 1,
'.amdhsa_system_sgpr_workgroup_info': 0, '.amdhsa_system_vgpr_workitem_id': 2, # is amdhsa_system_vgpr_workitem_id real?
'.amdhsa_exception_fp_ieee_invalid_op': 0, '.amdhsa_exception_fp_denorm_src': 0,
'.amdhsa_exception_fp_ieee_div_zero': 0, '.amdhsa_exception_fp_ieee_overflow': 0, '.amdhsa_exception_fp_ieee_underflow': 0,
'.amdhsa_exception_fp_ieee_inexact': 0, '.amdhsa_exception_int_div_zero': 0,
'.amdhsa_user_sgpr_dispatch_ptr': 0, '.amdhsa_user_sgpr_queue_ptr': 0, '.amdhsa_user_sgpr_kernarg_segment_ptr': 1,
'.amdhsa_user_sgpr_dispatch_id': 0, '.amdhsa_user_sgpr_private_segment_size': 0, '.amdhsa_wavefront_size32': 1, '.amdhsa_uses_dynamic_stack': 0}
code_start = f""".end_amdhsa_kernel
.text
.global {function_name}
.type {function_name},@function
.p2align 8
{function_name}:
"""
ins += ['s_sendmsg sendmsg(MSG_DEALLOC_VGPRS)', 's_endpgm', 's_code_end']
return ".amdgpu_metadata\n" + yaml.dump(metadata) + ".end_amdgpu_metadata" + \
boilerplate_start + "\n" + '\n'.join("%s %d" % x for x in kernel_desc.items()) + "\n" + code_start + \
'\n'.join(ins) + f"\n.size {function_name}, .-{function_name}"