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https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
17 lines
613 B
Python
17 lines
613 B
Python
from tinygrad import Tensor
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def bit_extract(x: Tensor, e: int, s: int) -> Tensor:
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mask = (1 << (e - s + 1)) - 1
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return (x >> s) & mask
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def u16_to_f16(x: Tensor) -> Tensor:
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sign = bit_extract(x, 15, 15).bool()
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exponent = bit_extract(x, 14, 10).float()
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fraction = bit_extract(x, 9, 0).float()
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return sign.where(-1, 1) * exponent.bool().where((exponent - 15.0).exp2() * (1 + fraction / 1024.0), 6.103515625e-5 * (fraction / 1024.0))
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def u32_to_f16(oo: Tensor) -> Tensor:
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f1 = u16_to_f16(oo>>16)
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f2 = u16_to_f16(oo&0xFFFF)
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return Tensor.cat(f2.reshape(-1, 1), f1.reshape(-1, 1), dim=1).flatten()
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