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.dtype import AddrSpace
from extra.thunder.tiny.tk import WARP_THREADS
class GL:
def __init__(self, shape, dtype, ker):
self.shape, self.dtype = shape, dtype
self._uop = ker.alloc(shape, dtype, AddrSpace.GLOBAL)
class ST:
def __init__(self, shape, dtype, ker):
self.shape, self.dtype = shape, dtype
self._uop = ker.alloc(shape, dtype, AddrSpace.LOCAL)
class RT:
TILE_ROW_DIM, TILE_COL_DIM = 16, 16
BASE_TILE_NE = TILE_ROW_DIM * TILE_COL_DIM
BASE_TILE_NEPT = BASE_TILE_NE // WARP_THREADS
def __init__(self, shape, dtype, ker):
assert len(shape) == 2
assert shape[0] % RT.TILE_ROW_DIM == 0
assert shape[1] % RT.TILE_COL_DIM == 0
height = shape[0] // RT.TILE_ROW_DIM
width = shape[1] // RT.TILE_COL_DIM
self.shape, self.dtype = (height, width, self.BASE_TILE_NEPT), dtype
self._uop = ker.alloc(self.shape, dtype, AddrSpace.REG)
class RV:
def __init__(self, length, dtype, layout, ker):
tiles = length // RT.TILE_ROW_DIM
match layout:
case "naive":
inner_dim = 1
outer_dim = (tiles + 1) // 2
case "ortho":
inner_dim = 1
outer_dim = tiles
case _: raise NotImplementedError(f"rv layout {layout} not implemented")
self.shape, self.dtype = (outer_dim, inner_dim, 2), dtype
self._uop = ker.alloc(self.shape, dtype, AddrSpace.REG)