159 lines
4.5 KiB
C++
159 lines
4.5 KiB
C++
#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <assert.h>
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#include <errno.h>
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#include <sys/mman.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <linux/ion.h>
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#include <CL/cl_ext.h>
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#include <msm_ion.h>
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#include "visionbuf.h"
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// keep trying if x gets interrupted by a signal
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#define HANDLE_EINTR(x) \
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({ \
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decltype(x) ret; \
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int try_cnt = 0; \
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do { \
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ret = (x); \
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} while (ret == -1 && errno == EINTR && try_cnt++ < 100); \
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ret; \
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})
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// just hard-code these for convenience
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// size_t device_page_size = 0;
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// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM,
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// sizeof(device_page_size), &device_page_size,
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// NULL);
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// size_t padding_cl = 0;
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// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM,
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// sizeof(padding_cl), &padding_cl,
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// NULL);
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#define DEVICE_PAGE_SIZE_CL 4096
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#define PADDING_CL 0
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static int ion_fd = -1;
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static void ion_init() {
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if (ion_fd == -1) {
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ion_fd = open("/dev/ion", O_RDWR | O_NONBLOCK);
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}
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}
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void VisionBuf::allocate(size_t length) {
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int err;
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ion_init();
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struct ion_allocation_data ion_alloc = {0};
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ion_alloc.len = length + PADDING_CL + sizeof(uint64_t);
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ion_alloc.align = 4096;
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ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID;
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ion_alloc.flags = ION_FLAG_CACHED;
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err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_ALLOC, &ion_alloc));
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assert(err == 0);
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struct ion_fd_data ion_fd_data = {0};
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ion_fd_data.handle = ion_alloc.handle;
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err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_SHARE, &ion_fd_data));
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assert(err == 0);
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void *mmap_addr = mmap(NULL, ion_alloc.len,
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PROT_READ | PROT_WRITE,
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MAP_SHARED, ion_fd_data.fd, 0);
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assert(mmap_addr != MAP_FAILED);
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memset(mmap_addr, 0, ion_alloc.len);
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this->len = length;
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this->mmap_len = ion_alloc.len;
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this->addr = mmap_addr;
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this->handle = ion_alloc.handle;
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this->fd = ion_fd_data.fd;
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this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
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}
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void VisionBuf::import(){
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int err;
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assert(this->fd >= 0);
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ion_init();
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// Get handle
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struct ion_fd_data fd_data = {0};
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fd_data.fd = this->fd;
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err = HANDLE_EINTR(ioctl(ion_fd, ION_IOC_IMPORT, &fd_data));
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assert(err == 0);
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this->handle = fd_data.handle;
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this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
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assert(this->addr != MAP_FAILED);
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this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL);
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}
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void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) {
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int err;
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assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0);
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cl_mem_ion_host_ptr ion_cl = {0};
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ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM;
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ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM;
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ion_cl.ion_filedesc = this->fd;
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ion_cl.ion_hostptr = this->addr;
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this->buf_cl = clCreateBuffer(ctx,
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CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
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this->len, &ion_cl, &err);
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assert(err == 0);
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}
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int VisionBuf::sync(int dir) {
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struct ion_flush_data flush_data = {0};
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flush_data.handle = this->handle;
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flush_data.vaddr = this->addr;
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flush_data.offset = 0;
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flush_data.length = this->len;
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// ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE
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// ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE
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// ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL
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struct ion_custom_data custom_data = {0};
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assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE);
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custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ?
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ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES;
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custom_data.arg = (unsigned long)&flush_data;
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return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_CUSTOM, &custom_data));
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}
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int VisionBuf::free() {
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int err = 0;
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if (this->buf_cl){
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err = clReleaseMemObject(this->buf_cl);
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if (err != 0) return err;
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}
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err = munmap(this->addr, this->mmap_len);
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if (err != 0) return err;
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err = close(this->fd);
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if (err != 0) return err;
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struct ion_handle_data handle_data = {.handle = this->handle};
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return HANDLE_EINTR(ioctl(ion_fd, ION_IOC_FREE, &handle_data));
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}
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