release gpu memory

commaai · Jul 29, 2024 · b2ad0bd · b2ad0bd
1 parent 5ebc65f
commit b2ad0bd
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Showing 2 changed files with 17 additions and 3 deletions.
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
@@ -31,6 +31,9 @@ class GPUMalloc {
  private:
  uint64_t base;
  int remaining;
+ uint64_t mmapsize;
+ unsigned int alloc_id;
+ int gpu_fd;
 };
 
 class CLQueuedKernel {

diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
@@ -116,21 +116,32 @@ int ioctl(int filedes, unsigned long request, void *argp) {
 
 // *********** GPUMalloc ***********
 
-GPUMalloc::GPUMalloc(int size, int fd) {
+GPUMalloc::GPUMalloc(int size, int fd) : gpu_fd(fd) {
  struct kgsl_gpuobj_alloc alloc;
  memset(&alloc, 0, sizeof(alloc));
  alloc.size = size;
  alloc.flags = 0x10000a00;
- ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
+ ioctl(gpu_fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc);
  void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000);
  assert(addr != MAP_FAILED);
 
  base = (uint64_t)addr;
  remaining = size;
+ mmapsize = alloc.mmapsize;
+ alloc_id = alloc.id;
 }
 
 GPUMalloc::~GPUMalloc() {
- // TODO: free the GPU malloced area
+ // Unmap the allocated GPU memory
+ int ret = munmap((void *)base, mmapsize);
+ assert(ret == 0);
+
+ // Free the allocated GPU object
+ struct kgsl_gpuobj_free free_ioctl;
+ memset(&free_ioctl, 0, sizeof(free_ioctl));
+ free_ioctl.id = alloc_id;
+ ret = ioctl(gpu_fd, IOCTL_KGSL_GPUOBJ_FREE, &free_ioctl);
+ assert(ret == 0);
 }
 
 void *GPUMalloc::alloc(int size) {