Add arm64 support
This patch adds `--config=arm64` and `--cpu=arm64` flags for users to
compile for the 64-bit version of the Raspberry Pi.
The existing 32-bit ARM build should still work. This patch only adds
additional 64-bit capabilities. Future patches can remove 32-bit
support.
Eigen needed some tweaks because we have `LDBL_MANT_DIG` of 113 on
arm64. None of the code paths that used the parameters `U` and `V`
actually gets compiled in. Adding `[[maybe_unused]]` fixed the error.
Signed-off-by: Philipp Schrader <philipp.schrader@gmail.com>
Change-Id: Ibf919b2964fe971769449a1c556c13e3bf1d48e9
diff --git a/.bazelrc b/.bazelrc
index c41b14b..1c6dbde 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -24,6 +24,7 @@
build:k8 --platforms=//tools/platforms:linux_x86
build:roborio --platforms=//tools/platforms:linux_roborio
build:armv7 --platforms=//tools/platforms:linux_armv7
+build:arm64 --platforms=//tools/platforms:linux_arm64
build:cortex-m4f --platforms=//tools/platforms:cortex_m4f
build:rp2040 --platforms=//tools/platforms:rp2040
diff --git a/WORKSPACE b/WORKSPACE
index 199822b..1ea9cce 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -51,6 +51,10 @@
python_gtk_debs = "files",
)
load(
+ "//debian:opencv_arm64.bzl",
+ opencv_arm64_debs = "files",
+)
+load(
"//debian:opencv_armhf.bzl",
opencv_armhf_debs = "files",
)
@@ -104,6 +108,8 @@
generate_repositories_for_debs(python_gtk_debs)
+generate_repositories_for_debs(opencv_arm64_debs)
+
generate_repositories_for_debs(opencv_armhf_debs)
generate_repositories_for_debs(opencv_amd64_debs)
@@ -139,6 +145,12 @@
llvm_version = llvm_version,
)
+llvm(
+ name = "llvm_aarch64",
+ distribution = "clang+llvm-%s-aarch64-linux-gnu.tar.xz" % llvm_version,
+ llvm_version = llvm_version,
+)
+
llvm_conlyopts = [
"-std=gnu99",
]
@@ -189,40 +201,49 @@
conlyopts = {
"linux-x86_64": llvm_conlyopts,
"linux-armv7": llvm_conlyopts,
+ "linux-aarch64": llvm_conlyopts,
},
copts = {
"linux-x86_64": llvm_copts,
"linux-armv7": llvm_copts,
+ "linux-aarch64": llvm_copts,
},
cxxopts = {
"linux-x86_64": llvm_cxxopts,
"linux-armv7": llvm_cxxopts,
+ "linux-aarch64": llvm_cxxopts,
},
dbg_copts = {
"linux-x86_64": llvm_dbg_copts,
"linux-armv7": llvm_dbg_copts,
+ "linux-aarch64": llvm_dbg_copts,
},
fastbuild_copts = {
"linux-x86_64": llvm_fastbuild_copts,
"linux-armv7": llvm_fastbuild_copts,
+ "linux-aarch64": llvm_fastbuild_copts,
},
llvm_version = llvm_version,
opt_copts = {
"linux-x86_64": llvm_opt_copts,
"linux-armv7": llvm_opt_copts,
+ "linux-aarch64": llvm_opt_copts,
},
standard_libraries = {
"linux-x86_64": "libstdc++-10",
"linux-armv7": "libstdc++-10",
+ "linux-aarch64": "libstdc++-10",
},
static_libstdcxx = False,
sysroot = {
"linux-x86_64": "@amd64_debian_sysroot//:sysroot_files",
"linux-armv7": "@armhf_debian_rootfs//:sysroot_files",
+ "linux-aarch64": "@arm64_debian_rootfs//:sysroot_files",
},
target_toolchain_roots = {
"linux-x86_64": "@llvm_k8//",
"linux-armv7": "@llvm_armv7//",
+ "linux-aarch64": "@llvm_aarch64//",
},
toolchain_roots = {
"linux-x86_64": "@llvm_k8//",
@@ -384,6 +405,17 @@
url = "https://www.frc971.org/Build-Dependencies/2021-10-30-raspios-bullseye-armhf-lite_rootfs.tar.bz2",
)
+# The main partition from https://downloads.raspberrypi.org/raspios_lite_armhf/images/raspios_lite_armhf-2021-11-08/2021-10-30-raspios-bullseye-armhf-lite.zip.sig
+# The following files and folders are removed to make bazel happy with it:
+# usr/share/ca-certificates
+# lib/systemd/system/system-systemd\\x2dcryptsetup.slice
+http_archive(
+ name = "arm64_debian_rootfs",
+ build_file = "@//:compilers/debian_rootfs.BUILD",
+ sha256 = "7e6ad432fec0a36f8b66c3fc2ab8795ea446e61f7dce7a206b55602677cf0904",
+ url = "https://www.frc971.org/Build-Dependencies/2021-10-30-raspios-bullseye-arm64-lite_rootfs.tar.bz2",
+)
+
# Created with:
# `debootstrap buster buster_sysroot`
# and then chrooting in and running:
@@ -813,6 +845,7 @@
extra_target_triples = [
"arm-unknown-linux-gnueabi",
"armv7-unknown-linux-gnueabihf",
+ "aarch64-unknown-linux-gnu",
],
version = "1.56.1",
)
@@ -856,6 +889,14 @@
url = "https://www.frc971.org/Build-Dependencies/2021-10-03_superstructure_shoot_balls.tar.gz",
)
+# OpenCV arm64 (for raspberry pi)
+http_archive(
+ name = "opencv_arm64",
+ build_file = "@//debian:opencv.BUILD",
+ sha256 = "d284fae46ca710cf24c81ff7ace34929773466bff38f365a80371bea3b36a2ed",
+ url = "https://www.frc971.org/Build-Dependencies/opencv_arm64.tar.gz",
+)
+
# OpenCV armhf (for raspberry pi)
http_archive(
name = "opencv_armhf",
@@ -883,6 +924,19 @@
)
# Downloaded from:
+# https://github.com/halide/Halide/releases/download/v8.0.0/halide-arm64-linux-64-trunk-65c26cba6a3eca2d08a0bccf113ca28746012cc3.tgz
+# which is "Halide 8.0.0" at https://github.com/halide/Halide/releases.
+# The "2019/08/27" release was renamed as per the release notes:
+# https://github.com/halide/Halide/releases/tag/v8.0.0
+http_archive(
+ name = "halide_arm64",
+ build_file = "@//debian:halide.BUILD",
+ sha256 = "97b3e54565cd9df52abdd6452f3720ffd38861524154d74ae3d20dc949ed2a63",
+ strip_prefix = "halide/",
+ url = "https://www.frc971.org/Build-Dependencies/halide-arm64-linux-64-trunk-65c26cba6a3eca2d08a0bccf113ca28746012cc3.tgz",
+)
+
+# Downloaded from:
# https://github.com/halide/Halide/releases/download/release_2019_08_27/halide-arm32-linux-32-trunk-65c26cba6a3eca2d08a0bccf113ca28746012cc3.tgz
# which is "Halide 2019/08/27" at https://github.com/halide/Halide/releases.
http_archive(
diff --git a/aos/events/logging/BUILD b/aos/events/logging/BUILD
index 6d28343..d190120 100644
--- a/aos/events/logging/BUILD
+++ b/aos/events/logging/BUILD
@@ -54,7 +54,7 @@
"@boringssl//:crypto",
] + select({
"//tools:cpu_k8": [":lzma_encoder"],
- "//tools:cpu_aarch64": [":lzma_encoder"],
+ "//tools:cpu_arm64": [":lzma_encoder"],
"//conditions:default": [],
}),
)
@@ -421,7 +421,7 @@
srcs = ["logger_test.cc"],
copts = select({
"//tools:cpu_k8": ["-DLZMA=1"],
- "//tools:cpu_aarch64": ["-DLZMA=1"],
+ "//tools:cpu_arm64": ["-DLZMA=1"],
"//conditions:default": [],
}),
data = [
diff --git a/debian/BUILD b/debian/BUILD
index 76bcf28..2aeabf2 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -47,6 +47,10 @@
python_gtk_debs = "files",
)
load(
+ ":opencv_arm64.bzl",
+ opencv_arm64_debs = "files",
+)
+load(
":opencv_armhf.bzl",
opencv_armhf_debs = "files",
)
@@ -387,6 +391,12 @@
)
generate_deb_tarball(
+ name = "opencv_arm64",
+ files = opencv_arm64_debs,
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
+generate_deb_tarball(
name = "opencv_armhf_v4",
files = opencv_armhf_debs,
target_compatible_with = ["@platforms//os:linux"],
diff --git a/debian/gstreamer.BUILD b/debian/gstreamer.BUILD
index 205db5a..b203772 100644
--- a/debian/gstreamer.BUILD
+++ b/debian/gstreamer.BUILD
@@ -159,6 +159,7 @@
"usr/lib/arm-linux-gnueabihf/libxcb.so.1",
"usr/lib/arm-linux-gnueabihf/libxml2.so.2",
],
+ "arm64": [],
"cortex-m": [],
"cortex-m0plus": [],
}),
@@ -181,6 +182,7 @@
"usr/include/glib-2.0",
"usr/include/gstreamer-1.0",
],
+ "arm64": [],
"roborio": [],
"cortex-m": [],
"cortex-m0plus": [],
diff --git a/debian/opencv.BUILD b/debian/opencv.BUILD
index 0fad68c..c989e22 100644
--- a/debian/opencv.BUILD
+++ b/debian/opencv.BUILD
@@ -266,6 +266,7 @@
"usr/lib/x86_64-linux-gnu/libnuma.so.1",
],
"@platforms//cpu:armv7": [s % "arm-linux-gnueabihf" if "%" in s else s for s in _common_srcs_list],
+ "@platforms//cpu:arm64": [s % "aarch64-linux-gnu" if "%" in s else s for s in _common_srcs_list],
}),
hdrs = glob([
"usr/include/opencv4/**",
@@ -285,6 +286,9 @@
"@platforms//cpu:armv7": [
"@platforms//os:linux",
],
+ "@platforms//cpu:arm64": [
+ "@platforms//os:linux",
+ ],
}),
visibility = ["//visibility:public"],
)
diff --git a/debian/opencv_arm64.bzl b/debian/opencv_arm64.bzl
new file mode 100644
index 0000000..6596271
--- /dev/null
+++ b/debian/opencv_arm64.bzl
@@ -0,0 +1,362 @@
+files = {
+ "adwaita-icon-theme_3.38.0-1_all.deb": "2046876c82fc1c342b38ace9aa0661bcb3e167837c984b4bdc89702bc78df5ac",
+ "coreutils_8.32-4_arm64.deb": "6210c84d6ff84b867dc430f661f22f536e1704c27bdb79de38e26f75b853d9c0",
+ "dconf-gsettings-backend_0.38.0-2_arm64.deb": "8d1df67abd7bca93f361ca26f5bb70821c91b5c4d5924941fef524f76fc6d473",
+ "dconf-service_0.38.0-2_arm64.deb": "b76a7d724cc9f18f91cc22aff58afcb090cc7a28ec9b9a21cdd1aa069c7a4cef",
+ "fontconfig-config_2.13.1-4.2_all.deb": "48afb6ad7d15e6104a343b789f73697301ad8bff77b69927bc998f5a409d8e90",
+ "fontconfig_2.13.1-4.2_arm64.deb": "166e5e6d47af2e1a48eff6fb66e89f0e6e0f390d04f7c9abe8b4f36812378267",
+ "fonts-croscore_20201225-1_all.deb": "64904820b729ff40038f85683004e3b94b328d969bc0fbba263c58d635452923",
+ "fonts-dejavu-core_2.37-2_all.deb": "1f67421437b6eb18669d2868e3e02cb88668683d635198142f48aacc5b397118",
+ "fonts-freefont-otf_20120503-10_all.deb": "0b63996c80c6c660424af6d3832818e647960d6f65a51de010bb57dd0762faa7",
+ "fonts-freefont-ttf_20120503-10_all.deb": "4ca1c21ebc479198a3a5879d236c8317d6f7b2f1c403f7890e24c02eead05615",
+ "fonts-liberation2_2.1.3-1_all.deb": "e0805f0085132f5e6dd30f88c0d7260caf1e5450832fe2e3988a20fa9fa2150e",
+ "fonts-liberation_1.07.4-11_all.deb": "efd381517f958b01969343634ffcbdd60056be7779af84c6f53a005090430204",
+ "fonts-texgyre_20180621-3.1_all.deb": "cb7e9a4b2471cfdd57194c16364f9102f0639816a2662fed4b30d2a158747076",
+ "fonts-urw-base35_20200910-1_all.deb": "f95a139adb7f1b60626e76d4d45d1b35aad1bc2c2597394c291ef5f84b5dcb43",
+ "gdal-data_3.2.2+dfsg-2+deb11u1_all.deb": "3ae44cc2f51dccc023f9c3cfbea3411508e24f1335651fa0e6cba74b7b9b87aa",
+ "glib-networking-common_2.66.0-2_all.deb": "a07370151ce5169e48ee7799b9bd9a7a035467a21f5cf3373b2aff090968609c",
+ "glib-networking-services_2.66.0-2_arm64.deb": "7fc232a31f09d8d08242ce08f53286e3b296c7b146834cdb41da75303f5417e1",
+ "glib-networking_2.66.0-2_arm64.deb": "3da5e3ba93a1e9a18a4cb14cfda44f938b270291004f0e88fa7d6316dfc9aebb",
+ "gsettings-desktop-schemas_3.38.0-2_all.deb": "3758968491a770e50cd85122c00d141944ffb43cb7a5c886a37290fef848cee3",
+ "gtk-update-icon-cache_3.24.24-4_arm64.deb": "00ced0c66d177d53b41739a9e8cc79cb891e2c1675c98feabf30014575cd55ce",
+ "hicolor-icon-theme_0.17-2_all.deb": "20304d34b85a734ec1e4830badf3a3a70a5dc5f9c1afc0b2230ecd760c81b5e0",
+ "iso-codes_4.6.0-1_all.deb": "4e044d72a9f810aabf2c8addf126327fa845eaf8e983b51eb6356b9ed5108348",
+ "libaec0_1.0.4-1_arm64.deb": "d71f8f3448d2aa6df31707bb97db9b307305011f9e3ae19a270f2a8858657a45",
+ "libaom0_1.0.0.errata1-3_arm64.deb": "600536f50bf36cbcfabfc8eacb43a8f26bff7a8f8f52304ce35fc1a117dcd06e",
+ "libarchive13_3.4.3-2+b1_arm64.deb": "b3fea698fc1c3ce6448a7c92e2c3197cfa5d24c42bd74b11f168dfcdc025a217",
+ "libarmadillo10_10.1.2+dfsg-6_arm64.deb": "d937aa4788605c00a4cb6e1bfcc233ab53981761e7f04cc6b1c324607f397bbe",
+ "libarpack2_3.8.0-1_arm64.deb": "d9baf93cd93b528c331f9fd23ed0ad8fa901cd15ff6b07c914ceffa051eb02fe",
+ "libatk-bridge2.0-0_2.38.0-1_arm64.deb": "a977c4a2be6d46185cd4f529ba226017dfcdc9a4056ff80ae97f7c67799885b2",
+ "libatk1.0-0_2.36.0-2_arm64.deb": "53c9c45ba719f1df44f5477396d276530e7e2fc210bc598e48e624194b8a1173",
+ "libatk1.0-data_2.36.0-2_all.deb": "86c1acae473977f8a78b905090847df654306996324493f9a39d9f27807778b2",
+ "libatspi2.0-0_2.38.0-4_arm64.deb": "ca3db48d64bdd6f6e26931a5d52ddb73bc6d915957a678bc2779e03aeacf467b",
+ "libattr1_2.4.48-6_arm64.deb": "cb9b59be719a6fdbaabaa60e22aa6158b2de7a68c88ccd7c3fb7f41a25fb43d0",
+ "libavahi-client3_0.8-5_arm64.deb": "b255f51854f9984a9e69a52bbce6cab5ce6141ed7dc232cc810053c228514ce3",
+ "libavahi-common-data_0.8-5_arm64.deb": "59e6d7f43ab387989e4cb116fe35292e07cb6e6a9125b944acd417c288f88f35",
+ "libavahi-common3_0.8-5_arm64.deb": "bd51e2159b0350ffbaf653f44131ce522f0a6eeab0d60c2ccd72182a0001cb5b",
+ "libavcodec-dev_4.3.3-0+deb11u1_arm64.deb": "189dae2788f471312d20bc57587a2fda447eaf992d6ebfb63657f75254e8e424",
+ "libavcodec58_4.3.3-0+deb11u1_arm64.deb": "f86160f51ad8e2feb6bd6a4c241e9724f6e48248a7d6f54f844df08867f196a7",
+ "libavformat-dev_4.3.3-0+deb11u1_arm64.deb": "321ffce7b99458ea358112d16c803465821370328cbda19d2c3edc3c574ed7c2",
+ "libavformat58_4.3.3-0+deb11u1_arm64.deb": "1d8dcb480bf88ab3920eecbed6531210fd756748e869222e7ed9eeb1e806355f",
+ "libavutil-dev_4.3.3-0+deb11u1_arm64.deb": "c39d6ede6e43123843db5d25ae006c2e7c8cae16cc07053550d1430e62f53b86",
+ "libavutil56_4.3.3-0+deb11u1_arm64.deb": "b0e732ed95860f3098ddcfa95b52e865376a5ad279fe34fa61324e472406094c",
+ "libblas3_3.9.0-3_arm64.deb": "99806c4a490d55ae1ba50640460a2f62c491a8920af4e804560849fc5fe9d73f",
+ "libblkid1_2.36.1-8+deb11u1_arm64.deb": "f6daca6d84eab01e281bf59d7c06f55125b8af443da936afdd255fa32f939928",
+ "libbluray2_1.2.1-4+deb11u1_arm64.deb": "ccc3d64b9f3d5aa37223ce9f331b137ebeb10eb26d933bf83179772d2571fb2a",
+ "libbrotli1_1.0.9-2+b2_arm64.deb": "52ca7f90de6cb6576a0a5cf5712fc4ae7344b79c44b8a1548087fd5d92bf1f64",
+ "libbsd0_0.11.3-1_arm64.deb": "b6e7fa54a05e5a3a5e1ec5dceb57a470e9a0883081594aea643ca58264071e7a",
+ "libcairo-gobject2_1.16.0-5_arm64.deb": "971311ba4fa99a4611205b2f7fbb8278b3798faf3409336e6f0b0d32106f7b7b",
+ "libcairo2_1.16.0-5_arm64.deb": "5b18336974b045dda5fbd64799f06247f6b216ee54f3391adc90f0bf81596de5",
+ "libcap2-bin_2.44-1_arm64.deb": "37915f4cc73cfaef7862043f2bdad062d1b1639df04c511665f1f9321c84d0db",
+ "libcap2_2.44-1_arm64.deb": "7c5729a1cfd14876685217c5f0545301e7ff1b839262fb487d6a778e8cd8c05a",
+ "libcfitsio9_3.490-3_arm64.deb": "b538f9fedc7055a6b878f4de16e0a6de96a26c3e03ddc857aeda22da946be7d8",
+ "libcharls2_2.2.0+dfsg-2_arm64.deb": "bbbf7b985fd559d4fb6226dd04a35eb745bbd22285bea98e2550cef785ff55ac",
+ "libchromaprint1_1.5.0-2_arm64.deb": "b2462da2f97fdd9ff14861451309ce3d86c4a579422c41dbdf858b2d1cfd237d",
+ "libcodec2-0.9_0.9.2-4_arm64.deb": "325c2106a587e3c054b31cf6ab8325f61a32f141eee2cea3f2eaa0423b3398d5",
+ "libcolord2_1.4.5-3_arm64.deb": "6b0d8c1debb73d9d4a97f38804e46e384d28869c6d4458d5fe807d207eecf7a6",
+ "libcups2_2.3.3op2-3+deb11u1_arm64.deb": "5badecf1e5c921ae50584378af49e4e185221e855d209ba9f2c4955d825de06d",
+ "libcurl3-gnutls_7.74.0-1.3+deb11u1_arm64.deb": "8e8ae4b7c49ff981aab871069a6457f3413d3648597b26c73500cbe7474141c4",
+ "libcurl4_7.74.0-1.3+deb11u1_arm64.deb": "1ec03ae6ededc45d9bc0906259e72ec27dd91d6d4b50e69904a5c1de13606176",
+ "libdap27_3.20.7-6_arm64.deb": "0df6382891cf0196c94d3d3edfb85991c85cc0345aa007011b69be5f3afce520",
+ "libdapclient6v5_3.20.7-6_arm64.deb": "12dd444ba9a7e2f4949af376dc874cd0cf2bdcb6fc15beba0855de0b8d861088",
+ "libdatrie1_0.2.13-1_arm64.deb": "e2953eec7abf0addebb53d6690a5b52b0e8429492328636e495ce016d819c4c7",
+ "libdav1d4_0.7.1-3_arm64.deb": "4ec26df2faceb35a9d0d821e4ad4a15ff899b07dea83263ccd51d38c57d8c760",
+ "libdb5.3_5.3.28+dfsg1-0.8_arm64.deb": "cf9aa3eae9cfc4c84f93e32f3d11e2707146e4d9707712909e3c61530b50353e",
+ "libdbus-1-3_1.12.20-2_arm64.deb": "2c8e07966435aae522bca50c4d699d940b34931f7906202e83b36982d9783c2b",
+ "libdc1394-25_2.2.6-3_arm64.deb": "09ba9019e1797379a0b662fe24309887a2c6c3e6e8de32f6e33704c65bccdbd4",
+ "libdc1394-dev_2.2.6-3_arm64.deb": "947c7302121d61af8e8b7dfdde910bc2b4342d239fbf5da719bc1b37dc7b5174",
+ "libdconf1_0.38.0-2_arm64.deb": "c89b11d34fbba55da7fc8a43fda7975eec59cd1b65695d485b7139815c44fb65",
+ "libde265-0_1.0.8-1_arm64.deb": "34097553c0c1075d16e59a8514f318000e26961592e135bf9c0f742a49f9f7d8",
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+ "libxcb-shm0_1.14-3_arm64.deb": "e7f59fc41744fe6b8b9ba97b262a051621173689e2a3e5ebb26dc253c9bdc48b",
+ "libxcb-sync1_1.14-3_arm64.deb": "ba70a2194fa7875f1a3ef6fb31bdd4cca5ca970926e3201994a166c5026ce442",
+ "libxcb-xfixes0_1.14-3_arm64.deb": "8185fca98fda89fc5a020b9a8cd92b093929830a29cf92e6a1eba04bd88bcf5f",
+ "libxcb1_1.14-3_arm64.deb": "48f82b65c93adb7af7757961fdd2730928316459f008d767b7104a56bc20a8f1",
+ "libxcomposite1_0.4.5-1_arm64.deb": "cfe39326fdb822e9d060ed5eb3f95b14459dd6b73793c5290000f9b27f8bad37",
+ "libxcursor1_1.2.0-2_arm64.deb": "2e309833ccf7e6b62560240cd84e325cafcb2ce70b1fb297469957360cee4478",
+ "libxdamage1_1.1.5-2_arm64.deb": "696cb56f414e7c0ea9a3bcbcb63b07f6ed8e980023c1b35006d5c1dc0d0213ed",
+ "libxdmcp6_1.1.2-3_arm64.deb": "e92569ac33247261aa09adfadc34ced3994ac301cf8b58de415a2d5dbf15ccfc",
+ "libxerces-c3.2_3.2.3+debian-3_arm64.deb": "59311a05cc1d2c693840db899c02c0e8d1ba2e9e66961e8284053255d4c38866",
+ "libxext6_1.3.3-1.1_arm64.deb": "57237ecf54662372e206b154c0ab6096e05955e048552575b45d3ad14a6ff6e5",
+ "libxfixes3_5.0.3-2_arm64.deb": "eb70f12af1d13e1632ee29ddf103617af00a078faf6c3a2531ab3d01b395606b",
+ "libxft2_2.3.2-2_arm64.deb": "6941176bcc78bf02d1635575a8cc726a7eb0628d8476efca7607718bdc1f50c5",
+ "libxi6_1.7.10-1_arm64.deb": "0a6788844441f160d970fc7d61004607fe92cfad8966d0b371291703201b3971",
+ "libxinerama1_1.1.4-2_arm64.deb": "bbdef95d025fb804797a5b1a71f319f5f74c0114e90d759b3e9ecf7654442598",
+ "libxkbcommon0_1.0.3-2_arm64.deb": "91c19f642af34ae8cb909d00d08bc83f0b4f8e87ddde6984bd8bff0f7bf83204",
+ "libxml2_2.9.10+dfsg-6.7_arm64.deb": "655b9374cdb737f2c12e021cb0a705c8225b25f5a9bee2eeab9c485303cd115e",
+ "libxpm4_3.5.12-1_arm64.deb": "48ae9f8f91e36956e25bf724fc0fb815ce6202ca610570bd6eb5a077f3580b5a",
+ "libxrandr2_1.5.1-1_arm64.deb": "04c9c59ba1e9648e0ec80d66fa34bab7bf039822f32eb31f706656968052e915",
+ "libxrender1_0.9.10-1_arm64.deb": "fcae69900b599e7b31b31eafa203a184e00376ade1d2f74f9b3d7b24991573a0",
+ "libxshmfence1_1.3-1_arm64.deb": "fa2edaae6902681ecd02534dcdf8389ac48714d3385d572cc17747160957acc8",
+ "libxss1_1.2.3-1_arm64.deb": "e0ff80e309eacda5face68b9a3bd56718fed2750af429324c35d7c9491c335f4",
+ "libxvidcore4_1.3.7-1_arm64.deb": "b950edcb42803f158f94cd2ee44850082c98c92d54e20982ad933936f5f1d181",
+ "libxxf86vm1_1.1.4-1+b2_arm64.deb": "8a4826772ac480804d6b8d776a4130d95260c036b9b218de4c8a0f07eb9c5bba",
+ "libz3-4_4.8.10-1_arm64.deb": "ae1ea58ecfdd4b5ec53d734e60ac2df37fddb11888b7730a19335f1a9b09f489",
+ "libzmq5_4.3.4-1_arm64.deb": "e5eaecc454d6792848a2ff866d73e3123b9ccdd08c9bd9e6096b52f08e484a13",
+ "libzstd1_1.4.8+dfsg-2.1_arm64.deb": "dd01659c6c122f983a3369a04ede63539f666585d52a03f8aa2c27b307e547e0",
+ "libzvbi-common_0.2.35-18_all.deb": "53ed21370b937a9385e1fcf1626400891bd4fd86a76b31654fb45e0875d8bfb8",
+ "libzvbi0_0.2.35-18_arm64.deb": "40626984d48d486b62f08c255eb9397a04f52ca2983e8d689e5de5e94e29a4b1",
+ "lsb-base_11.1.0_all.deb": "89ed6332074d827a65305f9a51e591dff20641d61ff5e11f4e1822a9987e96fe",
+ "mariadb-common_10.5.12-0+deb11u1_all.deb": "08df6568dd15e9e4b72717539e84ada558a868472e26144f114db82bc22f6421",
+ "mysql-common_5.8+1.0.7_all.deb": "22b3130e002c2c2fa6a1124aaccbe3a6ddbbb4d6bf03beed8a6f044027dcb720",
+ "ocl-icd-libopencl1_2.2.14-2_arm64.deb": "988af69eca9c4b7433572d11ecbc048a7680ae15afa78941782945b18ff185d7",
+ "odbcinst1debian2_2.3.6-0.1+b1_arm64.deb": "3b22a944687b3007a3484673a68e2a4483fd9237530b0ec359e423c8a745ca0e",
+ "odbcinst_2.3.6-0.1+b1_arm64.deb": "c0a9b4ade83bc9a28967e1e981cd1c93f9e6654cf6d53f1fa86db84b3bb8ad89",
+ "perl_5.32.1-4+deb11u2_arm64.deb": "625a2d0cafb5089953012d60d3a5ba726b692d9d49955a251b78b8cce884d05b",
+ "pkg-config_0.29.2-1_arm64.deb": "074d64f7a6bb5fb9139661aea20815438d8ffe8d7bb44b7c3f58e220c153fdbd",
+ "proj-data_7.2.1-1_all.deb": "40c64f7808d8233c08f3aa2745211e705828b4ae6fc5dbd62a934d8c3e9fd6e5",
+ "sensible-utils_0.0.14_all.deb": "b9a447dc4ec8714196b037e20a2209e62cd669f5450222952f259bda4416b71f",
+ "shared-mime-info_2.0-1_arm64.deb": "33257bc679bee7b2627a001eb747f3378ea8c8063863d2cb6edb6ad7f37f280a",
+ "ttf-bitstream-vera_1.10-8.1_all.deb": "ba622edf73744b2951bbd20bfc113a1a875a9b0c6fed1ac9e9c7f4b54dd8a048",
+ "tzdata_2021a-1+deb11u2_all.deb": "4a34cbe17d391e6351386f3530b7ffd096c2cc8582e970f745addc636fa7c397",
+ "ucf_3.0043_all.deb": "ebef6bcd777b5c0cc2699926f2159db08433aed07c50cb321fd828b28c5e8d53",
+ "x11-common_7.7+22_all.deb": "5d1c3287826f60c3a82158b803b9c0489b8aad845ca23a53a982eba3dbb82aa3",
+ "xkb-data_2.29-2_all.deb": "9122cccc67e6b3c3aef2fa9c50ef9d793a12f951c76698a02b1f4ceb9e3634e5",
+ "zlib1g-dev_1.2.11.dfsg-2_arm64.deb": "1e6ed652eebd3761454d75db5459c247cd5d29e58bbe9f6b4b62a62d96f7c279",
+}
diff --git a/platform_mappings b/platform_mappings
index 04f55df..1816850 100644
--- a/platform_mappings
+++ b/platform_mappings
@@ -15,6 +15,9 @@
//tools/platforms:rp2040
--cpu=rp2040
+ //tools/platforms:linux_arm64
+ --cpu=arm64
+
flags:
--cpu=k8
//tools/platforms:linux_x86
@@ -30,3 +33,6 @@
--cpu=rp2040
//tools/platforms:rp2040
+
+ --cpu=arm64
+ //tools/platforms:linux_arm64
diff --git a/third_party/BUILD b/third_party/BUILD
index 040d3f7..aff739f 100644
--- a/third_party/BUILD
+++ b/third_party/BUILD
@@ -42,6 +42,7 @@
deps = select({
"//tools:cpu_k8": ["@opencv_k8//:opencv"],
"//tools:cpu_armhf": ["@opencv_armhf//:opencv"],
+ "//tools:cpu_arm64": ["@opencv_arm64//:opencv"],
"//conditions:default": [":unavailable"],
}),
)
@@ -86,6 +87,7 @@
deps = select({
"//tools:cpu_k8": ["@halide_k8//:runtime"],
"//tools:cpu_armhf": ["@halide_armhf//:runtime"],
+ "//tools:cpu_arm64": ["@halide_arm64//:runtime"],
"//conditions:default": [":unavailable"],
}),
)
@@ -95,7 +97,7 @@
visibility = ["//visibility:public"],
deps = select({
"//tools:cpu_k8": ["@lzma_amd64//:lib"],
- "//tools:cpu_aarch64": ["@lzma_arm64//:lib"],
+ "//tools:cpu_arm64": ["@lzma_arm64//:lib"],
"//conditions:default": [":unavailable"],
}),
)
diff --git a/third_party/bazel-toolchain/toolchain/internal/llvm_distributions.bzl b/third_party/bazel-toolchain/toolchain/internal/llvm_distributions.bzl
index 4ba4601..4cdbf75 100644
--- a/third_party/bazel-toolchain/toolchain/internal/llvm_distributions.bzl
+++ b/third_party/bazel-toolchain/toolchain/internal/llvm_distributions.bzl
@@ -180,6 +180,7 @@
"clang+llvm-13.0.0-x86_64-apple-darwin.tar.xz": "d051234eca1db1f5e4bc08c64937c879c7098900f7a0370f3ceb7544816a8b09",
"clang+llvm-13.0.0-x86_64-linux-gnu-ubuntu-16.04.tar.xz": "76d0bf002ede7a893f69d9ad2c4e101d15a8f4186fbfe24e74856c8449acd7c1",
"clang+llvm-13.0.0-x86_64-linux-gnu-ubuntu-20.04.tar.xz": "2c2fb857af97f41a5032e9ecadf7f78d3eff389a5cd3c9ec620d24f134ceb3c8",
+ "clang+llvm-13.0.0-aarch64-linux-gnu.tar.xz": "968d65d2593850ee9b37fcda074fb7641529bd45d2f976af6c8197de3c22612f",
}
# Note: Unlike the user-specified llvm_mirror attribute, the URL prefixes in
diff --git a/third_party/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/third_party/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
index e5ebbcf..3519611 100644
--- a/third_party/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
+++ b/third_party/eigen/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
@@ -264,7 +264,7 @@
struct matrix_exp_computeUV<MatrixType, long double>
{
template <typename ArgType>
- static void run(const ArgType& arg, MatrixType& U, MatrixType& V, int& squarings)
+ static void run(const ArgType& arg, [[maybe_unused]] MatrixType& U, [[maybe_unused]] MatrixType& V, int& squarings)
{
#if LDBL_MANT_DIG == 53 // double precision
matrix_exp_computeUV<MatrixType, double>::run(arg, U, V, squarings);
@@ -273,7 +273,7 @@
using std::frexp;
using std::pow;
- const long double l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
+ [[maybe_unused]] const long double l1norm = arg.cwiseAbs().colwise().sum().maxCoeff();
squarings = 0;
#if LDBL_MANT_DIG <= 64 // extended precision
diff --git a/third_party/gperftools/BUILD b/third_party/gperftools/BUILD
index 7dd86dc..2022ee6 100644
--- a/third_party/gperftools/BUILD
+++ b/third_party/gperftools/BUILD
@@ -102,12 +102,18 @@
"-DPRIuS=\\\"lu\\\"",
"-DPRIxS=\\\"lx\\\"",
],
- "arm": [
+ "arm32": [
"-DPC_FROM_UCONTEXT=uc_mcontext.arm_pc",
"-DPRIdS=\\\"d\\\"",
"-DPRIuS=\\\"u\\\"",
"-DPRIxS=\\\"x\\\"",
],
+ "arm64": [
+ "-DPC_FROM_UCONTEXT=uc_mcontext.pc",
+ "-DPRIdS=\\\"ld\\\"",
+ "-DPRIuS=\\\"lu\\\"",
+ "-DPRIxS=\\\"lx\\\"",
+ ],
}) + compiler_select({
"clang": [
"-Wno-unused-const-variable",
diff --git a/tools/BUILD b/tools/BUILD
index 2e470fa..a7d165d 100644
--- a/tools/BUILD
+++ b/tools/BUILD
@@ -47,11 +47,14 @@
config_setting(
name = "cpu_armhf",
- constraint_values = ["@//tools/platforms/hardware:raspberry_pi"],
+ constraint_values = [
+ "@platforms//cpu:armv7",
+ "//tools/platforms/hardware:raspberry_pi",
+ ],
)
config_setting(
- name = "cpu_aarch64",
+ name = "cpu_arm64",
constraint_values = ["@platforms//cpu:arm64"],
)
diff --git a/tools/build_rules/select.bzl b/tools/build_rules/select.bzl
index cdeeb25..5d78a2b 100644
--- a/tools/build_rules/select.bzl
+++ b/tools/build_rules/select.bzl
@@ -7,6 +7,7 @@
"amd64",
"roborio",
"armhf",
+ "arm64",
"cortex-m",
"cortex-m0plus",
]
@@ -30,10 +31,23 @@
if cpu != "arm":
new_values[cpu] = values[cpu]
new_values["armhf"] = values["arm"]
+ new_values["arm64"] = values["arm"]
new_values["roborio"] = values["arm"]
new_values["cortex-m"] = values["arm"]
new_values["cortex-m0plus"] = values["arm"]
values = new_values
+ elif "arm32" in values:
+ if "arm64" not in values:
+ fail("Need to handle 'arm64' CPU if handling 'arm32' CPU.")
+ new_values = {}
+ for cpu in values:
+ if cpu != "arm32":
+ new_values[cpu] = values[cpu]
+ new_values["armhf"] = values["arm32"]
+ new_values["roborio"] = values["arm32"]
+ new_values["cortex-m"] = values["arm32"]
+ new_values["cortex-m0plus"] = values["arm32"]
+ values = new_values
for cpu in all_cpus:
if cpu not in values:
if "else" in values:
@@ -47,6 +61,7 @@
"@//tools:cpu_k8": values["amd64"],
"@//tools:cpu_roborio": values["roborio"],
"@//tools:cpu_armhf": values["armhf"],
+ "@//tools:cpu_arm64": values["arm64"],
"@//tools:cpu_cortex_m4f": values["cortex-m"],
"@//tools:cpu_cortex_m0plus": values["cortex-m0plus"],
# TODO(phil): Support this properly.
@@ -67,6 +82,7 @@
fail("Need to handle 64 bit addresses!", "values")
return select({
"@//tools:cpu_k8": values["64"],
+ "@//tools:cpu_arm64": values["64"],
"@//tools:cpu_roborio": values["32"],
"@//tools:cpu_armhf": values["32"],
"@//tools:cpu_cortex_m4f": values["32"],
diff --git a/tools/ci/buildkite.yaml b/tools/ci/buildkite.yaml
index b2ee1e3..c4af4a4 100644
--- a/tools/ci/buildkite.yaml
+++ b/tools/ci/buildkite.yaml
@@ -29,6 +29,11 @@
- tools/ci/clean-disk.sh
- tools/bazel ${STARTUP} --output_base=../armv7_output_base build ${COMMON} --config=armv7 ${TARGETS}
+ - label: "arm64"
+ commands:
+ - tools/ci/clean-disk.sh
+ - tools/bazel ${STARTUP} --output_base=../arm64_output_base build ${COMMON} --config=arm64 ${TARGETS}
+
- label: "cortex-m4f"
commands:
- tools/ci/clean-disk.sh
diff --git a/tools/cpp/BUILD b/tools/cpp/BUILD
index 6ff661a..bac0c0b 100644
--- a/tools/cpp/BUILD
+++ b/tools/cpp/BUILD
@@ -7,6 +7,7 @@
toolchains = {
"k8": "@llvm_toolchain//:cc-clang-x86_64-linux",
"armv7": "@llvm_toolchain//:cc-clang-armv7-linux",
+ "arm64": "@llvm_toolchain//:cc-clang-aarch64-linux",
"roborio": ":cc-compiler-roborio",
"cortex-m4f": ":cc-compiler-cortex-m4f",
"rp2040": ":cc-compiler-rp2040",
diff --git a/tools/platforms/BUILD b/tools/platforms/BUILD
index d6a63c7..4127883 100644
--- a/tools/platforms/BUILD
+++ b/tools/platforms/BUILD
@@ -26,6 +26,7 @@
constraint_values = [
"@platforms//os:linux",
"@platforms//cpu:arm64",
+ "//tools/platforms/hardware:raspberry_pi",
"//tools/platforms/go:lacks_support",
"//tools/platforms/rust:has_support",
],
diff --git a/y2020/vision/sift/fast_gaussian.bzl b/y2020/vision/sift/fast_gaussian.bzl
index fdf5afe..1560f6a 100644
--- a/y2020/vision/sift/fast_gaussian.bzl
+++ b/y2020/vision/sift/fast_gaussian.bzl
@@ -38,15 +38,16 @@
"amd64": "k8",
"roborio": "roborio",
"armhf": "armv7",
+ "arm64": "aarch64",
"cortex-m": "cortex-m",
"cortex-m0plus": "cortex-m0plus",
}),
outs = headers + objects + htmls,
- # The tool doesn't support anything other than k8 and armv7.
- # right now.
+ # The tool doesn't support everything right now.
target_compatible_with = platforms.any_of([
+ "@platforms//cpu:arm64",
"@platforms//cpu:x86_64",
- "//tools/platforms/hardware:raspberry_pi",
+ "//tools:cpu_armhf",
]),
)
diff --git a/y2020/vision/sift/fast_gaussian_runner.py b/y2020/vision/sift/fast_gaussian_runner.py
index cc45208..d812f3f 100755
--- a/y2020/vision/sift/fast_gaussian_runner.py
+++ b/y2020/vision/sift/fast_gaussian_runner.py
@@ -16,6 +16,7 @@
target_cpu = sys.argv[3]
target = {
+ 'aarch64': 'arm-64-linux-no_asserts',
'armv7': 'arm-32-linux-no_asserts',
'k8': 'x86-64-linux-no_asserts',
}[target_cpu]