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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from tinygrad import Tensor, dtypes, Device
from tinygrad.helpers import getenv, DEBUG
from tinygrad.codegen.kernel import Kernel, Opt, OptOps
from tinygrad.engine.realize import CompiledRunner, ExecItem
from dataclasses import replace
N = 4096
if __name__ == "__main__":
if getenv("GEMV"):
A, B = Tensor.empty(1, N, dtype=dtypes.float), Tensor.empty(14336, N, dtype=dtypes.float16).T
else:
A, B = Tensor.empty(N, N, dtype=dtypes.float16), Tensor.empty(N, N, dtype=dtypes.float16)
C = A.matmul(B)
si = C.schedule()[-1]
ast = si.ast
k = Kernel(ast, opts=Device[Device.DEFAULT].renderer)
if getenv("GEMV"):
opts = [
Opt(op=OptOps.UNROLL, axis=0, amt=8),
Opt(op=OptOps.GROUP, axis=0, amt=32),
]
else:
opts = [
Opt(op=OptOps.TC, axis=0, amt=0),
Opt(op=OptOps.UPCAST, axis=0, amt=4),
Opt(op=OptOps.UPCAST, axis=1, amt=8),
Opt(op=OptOps.LOCAL, axis=0, amt=2),
Opt(op=OptOps.LOCAL, axis=1, amt=2),
Opt(op=OptOps.LOCAL, axis=0, amt=2),
]
for opt in opts: k.apply_opt(opt)
prg = k.to_program()
new_src = prg.src
# can mod source here
prg = replace(prg, src=new_src)
ei = ExecItem(CompiledRunner(prg), [x.ensure_allocated() for x in si.bufs], si.metadata)
for i in range(5): ei.run(wait=True)