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.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 
 

122 lines
6.8 KiB

import itertools
from tinygrad.opt.kernel import Kernel, Opt, OptOps, KernelOptError, AxisType
from tinygrad.helpers import getenv, DEBUG, prod, NOLOCALS
from tinygrad.dtype import ImageDType
from tinygrad.uop.ops import Ops, resolve
def hand_coded_optimizations(k:Kernel) -> list[Opt]:
# make a copy so it does not mutate the input
k = k.copy()
# should use matvec - TODO: adjust/tune based on the wide vs tall/large vs small mat
MV_BLOCKSIZE, MV_THREADS_PER_ROW, MV_ROWS_PER_THREAD = getenv("MV_BLOCKSIZE", 4), getenv("MV_THREADS_PER_ROW", 8), getenv("MV_ROWS_PER_THREAD", 4)
if k.opts.has_local and getenv("MV",1) != 0 and (MV_BLOCKSIZE > 1 or MV_THREADS_PER_ROW > 1 or MV_ROWS_PER_THREAD > 1) and \
k.reduceop is not None and k.reduceop.arg[0] is Ops.ADD and len(k.full_shape) >= 2 and k.opts.has_shared and \
(mulop:=k.reduceop.src[0]).op is Ops.MUL and mulop.src[0].op is Ops.LOAD and mulop.src[1].op is Ops.LOAD:
st0, st1 = k.sts[k.bufs.index(mulop.src[0])], k.sts[k.bufs.index(mulop.src[1])]
strides0, strides1 = st0.real_strides(), st1.real_strides()
def has_expanded_axis(shape, strides): return any(resolve(s > 1) and not resolve(st != 0) for s,st in zip(shape,strides))
if strides0[first_reduce:=(k.axes_of(AxisType.REDUCE)[0])] == 1 and \
not (has_expanded_axis(st0.shape, strides0) and has_expanded_axis(st1.shape, strides1)):
for global_idx in k.axes_of(AxisType.GLOBAL):
if k.full_shape[first_reduce]%MV_THREADS_PER_ROW == 0 and k.full_shape[global_idx]%(MV_BLOCKSIZE*MV_ROWS_PER_THREAD) == 0:
if DEBUG >= 3:
print(f"MATVEC: {k.full_shape=} {first_reduce=} {strides0=} {MV_BLOCKSIZE=} {MV_THREADS_PER_ROW=} {MV_ROWS_PER_THREAD=}")
if MV_THREADS_PER_ROW > 1: k.apply_opt(Opt(OptOps.GROUP, 0, MV_THREADS_PER_ROW))
if MV_BLOCKSIZE > 1: k.apply_opt(Opt(OptOps.LOCAL, global_idx, MV_BLOCKSIZE))
if MV_ROWS_PER_THREAD > 1: k.apply_opt(Opt(OptOps.UPCAST, global_idx, MV_ROWS_PER_THREAD))
return k.applied_opts
# are we grouping? (requires local shape support)
if resolve(prod(k.sts[0].shape[i] for i in k.upcastable_dims) <= 2048, False):
for sz in [16]:
try:
k.apply_opt(Opt(OptOps.GROUPTOP, 0, sz))
break
except KernelOptError: pass
# upcast float4 images
for buf_index,buf in enumerate(k.bufs):
if isinstance(buf.src[0].dtype, ImageDType):
if (unit_stride_axes_mul_4 := [i for i in k.sts[buf_index].unit_stride_axes(ignore_valid=True) if k.sts[buf_index].shape[i]%4 == 0]):
if (axis:=unit_stride_axes_mul_4[0]) in k.upcastable_dims:
k.apply_opt(Opt(OptOps.UPCAST, axis, 4))
elif axis in k.unrollable_dims:
k.apply_opt(Opt(OptOps.UNROLL, k.unrollable_dims.index(axis), 4))
# no more opt if we are grouping
if k.group_for_reduces: return k.applied_opts
# **** below this line need to be optional and benchmarked ****
# if there are small dims with lots of valid masks, upcast them (they might be from Tensor.stack)
to_upcast: list[int] = []
# upcast leading axes first (hack-ish for winograd; we actually want to upcast masked axes with low stride first)
for axis in k.upcastable_dims:
if k.full_shape[axis] <= 7 and any(st.axis_is_masked(axis) for st in k.sts) and \
prod(k.full_shape[j] for j in to_upcast) * k.full_shape[axis] <= 7 * 7:
if DEBUG >= 4: print(f"upcasting masked axis : {axis}")
to_upcast.append(axis)
for axis in to_upcast[::-1]: k.apply_opt(Opt(OptOps.UPCAST, axis, 0))
# potentially do more upcasts of non reduce axes based on a heuristic
is_dsp = k.opts is not None and k.opts.device == "DSP"
upcasted_axis: set[int] = set()
while resolve(prod(k.sts[0].shape[i] for i in k.upcastable_dims) >= 1024):
xb_choices = []
# consider all upcastable axes with 3 or 4 upcast (128 on the DSP)
for axis, upcast_amount in itertools.product(k.upcastable_dims, ([128] if not len(upcasted_axis) else []) if is_dsp else [3,4]):
# if we haven't upcasted it, it mods, and buffer has stride 0 on axis while having no stride 0 in the upcasted axis already
if axis in upcasted_axis or k.full_shape[axis]%upcast_amount != 0: continue
if any(st.views[-1].strides[axis] == 0 and \
all(x != 0 for t,x in zip(k.axis_types, st.real_strides()) if t in (AxisType.UPCAST, AxisType.UNROLL)) for st in k.sts):
xb_choices.append((sum(st.views[-1].strides[axis]>0 for st in k.sts),
sum(st.views[-1].strides[axis] for st in k.sts), axis, upcast_amount))
if xb_choices:
xb_choices = sorted(xb_choices)
if DEBUG >= 4: print(f"more upcast axis : {xb_choices}")
k.apply_opt(Opt(OptOps.UPCAST, xb_choices[0][2], xb_choices[0][3]))
upcasted_axis.add(xb_choices[0][2])
else: break
# if last reduce dim is small(ish), loop unroll the reduce
upcast_size = prod(k.full_shape[a] for a in k.axes_of(AxisType.UPCAST, AxisType.UNROLL))
if k.unrollable_dims and (upcast_size <= 4 or not k.axes_of(AxisType.UNROLL)) and (upcast_size < 64):
if (s:=k.full_shape[k.unrollable_dims[-1]]) <= 32:
k.apply_opt(Opt(OptOps.UNROLL, len(k.unrollable_dims)-1, 0))
# if it's small, upcast a second reduce dimension too
if k.unrollable_dims and s <= 3 and k.full_shape[k.unrollable_dims[-1]] <= 3:
k.apply_opt(Opt(OptOps.UNROLL, len(k.unrollable_dims)-1, 0))
else:
for splits in [4]:
if k.full_shape[axis:=k.unrollable_dims[-1]]%splits == 0:
k.apply_opt(Opt(OptOps.UNROLL, len(k.unrollable_dims)-1, splits))
break
# if nothing at all is upcasted and it's easy to, do an upcast
for splits in [4]:
# TODO: somehow this never hits a reduce
if not k.upcasted and k.upcastable_dims and k.full_shape[k.upcastable_dims[-1]] % splits == 0:
k.apply_opt(Opt(OptOps.UPCAST, k.upcastable_dims[-1], splits))
# **** local groups ****
if k.opts.has_local:
if NOLOCALS:
k.apply_opt(Opt(OptOps.NOLOCALS))
else:
# prioritize making expand axes local
local_axis_ranking = [(any(st.views[-1].strides[axis] == 0 for st in k.sts), axis) for axis in k.axes_of(AxisType.GLOBAL, AxisType.LOOP)]
to_local: list[tuple[int, int]] = []
for _, axis in sorted(local_axis_ranking, key=lambda x: (-x[0], -x[1])):
local_size = prod(sz for _, sz in to_local)
local_sz: int|None = next((x for x in ([32] * (axis == 0) + [16,8,4,3,2]) if k.full_shape[axis] % x == 0 and local_size * x <= 128), None)
if local_sz is not None: to_local.append((axis, local_sz))
deleted_shape = 0
for axis, local_sz in sorted(to_local[:3]):
axis = axis - deleted_shape
will_delete_shape = local_sz == k.full_shape[axis]
k.apply_opt(Opt(OptOps.LOCAL, axis, local_sz))
if will_delete_shape: deleted_shape += 1
return k.applied_opts