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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import functools
from tinygrad.helpers import dtypes
from tinygrad.ops import TernaryOps
from tinygrad.renderer.cstyle import uops_to_cstyle, CStyleLanguage
type_map = { dtypes.uint8: "uchar", dtypes.uint32: "uint", dtypes.uint64: "ulong" }
class OpenCLLanguage(CStyleLanguage):
kernel_prefix = "__kernel "
buffer_prefix = "__global "
smem_align = "__attribute__ ((aligned (16))) "
smem_prefix = "__local "
arg_int_prefix = "const int"
half_prekernel = "#pragma OPENCL EXTENSION cl_khr_fp16 : enable"
barrier = "barrier(CLK_LOCAL_MEM_FENCE);"
float4 = "(float4)"
gid = [f'get_group_id({i})' for i in range(3)]
lid = [f'get_local_id({i})' for i in range(3)]
xid = [f'get_global_id({i})' for i in range(3)]
uses_vload = True
# NOTE: mad is used so the loads aren't reordered into the math on 845
code_for_op = {**CStyleLanguage().code_for_op, TernaryOps.MULACC: lambda a,b,c: f"mad({a},{b},{c})"}
OpenCLRenderer = functools.partial(uops_to_cstyle, OpenCLLanguage())