int main()
{
CyGlobalIntEnable; /* Enable global interrupts. */
Clock_Start();
SPIM_Start();
setup_matrix();
for(;;)
{
for(h=0;h<=256;h++)
{
for(i=0;i<8;i++)
{
dato=(((i+1)<<8)+fuente[h][i]);
SPIM_WriteTxData(dato);
CyDelay(1);
}
CyDelay(1000);
}
}
}
gsl_matrix* calc_Hs(double s, double tres, double* Qxx_m, double* Qyy_m, double* Qxy_m, double* Qyx_m, int kx, int ky) {
/*
*
*
* *H(s)
*I=eye(ky);
*expMat=mat_exp(-(s*I-Qyy)*tres);
*Hxx_s=Qxx+(Qxy*(s*I-Qyy)^-1)*(I-expMat)*Qyx;
*
*/
/* Initialise Qxx,Qxy,Qyx,Qyy */
gsl_matrix *Qxx=setup_matrix(Qxx_m,kx,kx);
gsl_matrix *Qxy=setup_matrix(Qxy_m,kx,ky);
gsl_matrix *Qyx=setup_matrix(Qyx_m,ky,kx);
gsl_matrix *Qyy=setup_matrix(Qyy_m,ky,ky);
gsl_matrix *ky_eye; //identitny matrix of dimension ky,ky
gsl_matrix *e_eye; //to hold the matrix exponential expMat
gsl_matrix *detected_tres; //matrix representing period in states y for tres followed by transition to x
gsl_matrix *seye2;
gsl_matrix *inv_sI_Qyy;
gsl_matrix *res;
gsl_matrix *res2;
gsl_matrix *res3;
gsl_matrix *eye3;
//printf("\tAllocate memory for the matrices\n");
//allocate memory for all the matrices
ky_eye=gsl_matrix_alloc(ky,ky);
e_eye=gsl_matrix_alloc(ky,ky);
seye2=gsl_matrix_alloc(ky,ky);
detected_tres=gsl_matrix_alloc(ky,ky);
inv_sI_Qyy=gsl_matrix_alloc(ky,ky);
res=gsl_matrix_alloc(kx,ky);
res2=gsl_matrix_alloc(ky,kx);
res3 = gsl_matrix_alloc(kx,kx);
eye3=gsl_matrix_alloc(ky,ky);
//printf("\tAllocated memory for the matrices\n");
gsl_matrix_set_identity(ky_eye);
//exp(-(s*I-Qyy)*tres)
//build from the identity matrix
gsl_matrix_memcpy (detected_tres,ky_eye);
gsl_matrix_scale(detected_tres,s);
gsl_matrix_sub(detected_tres,Qyy);
gsl_matrix_scale(detected_tres,-1);
gsl_matrix_scale(detected_tres,tres);
gsl_linalg_exponential_ss(detected_tres, e_eye, .01);
//printf("\tCalculated exp(-(s*I-Qyy)*tres)\n");
//(s*I-Qyy)
gsl_matrix_memcpy (seye2,ky_eye);
gsl_matrix_scale(seye2,s);
gsl_matrix_sub(seye2,Qyy);
//printf("\tCalculated s*I-Qyy\n");
//invert s*I-Qyy
int sc;
gsl_permutation * p = gsl_permutation_alloc (ky);
gsl_linalg_LU_decomp(seye2, p, &sc);
gsl_linalg_LU_invert(seye2, p, inv_sI_Qyy);
gsl_permutation_free(p);
//printf("\tInverted s*I-Qyy\n");
/*
for (int i=0; i<ky; i++){
for (int j=0; j<ky; j++){
mexPrintf("\t%f",gsl_matrix_get(inv_sI_Qyy,i,j));
}
mexPrintf("\n");
}
*/
//multiply Qxy * (s*I-Qyy)^-1
gsl_matrix_set_zero(res);
// res = (Qxy*(s*I-Qyy)^-1)
gsl_blas_dgemm (CblasNoTrans, CblasNoTrans,
1.0, Qxy, inv_sI_Qyy,
0.0, res);
//printf("\tCalculated Qxy * (s*I-Qyy)^-1\n");
//res2 =(I-expMat)*Qyx;
gsl_matrix_set_zero(res2);
gsl_matrix_memcpy (eye3,ky_eye);
//printf("\tMemcpy (I-expMat)\n");
gsl_matrix_sub(eye3,e_eye);
//printf("\tSubtract (I-expMat)\n");
gsl_blas_dgemm (CblasNoTrans, CblasNoTrans,
1.0, eye3, Qyx,
0.0, res2);
//res3 = (Qxy*(s*I-Qyy)^-1)*(I-expMat)*Qyx;
//res3 = res *res2
//res3 is the result we want to return
//printf("\t (I-expMat)*Qyx\n");
gsl_matrix_set_zero(res3);
gsl_blas_dgemm (CblasNoTrans, CblasNoTrans,
1.0, res, res2,
0.0, res3);
gsl_matrix_add(res3,Qxx);
/*
for (int i=0; i<kx; i++){
for (int j=0; j<kx; j++){
mexPrintf("\t%f",gsl_matrix_get(res3,i,j));
}
mexPrintf("\n");
}
*/
//printf("\t Calced H(s)\n");
//cleanup
gsl_matrix_free(Qxx);
gsl_matrix_free(Qxy);
gsl_matrix_free(Qyx);
gsl_matrix_free(Qyy);
gsl_matrix_free(ky_eye);
gsl_matrix_free(e_eye);
gsl_matrix_free(detected_tres);
gsl_matrix_free(seye2);
gsl_matrix_free(inv_sI_Qyy);
gsl_matrix_free(res);
gsl_matrix_free(res2);
gsl_matrix_free(eye3);
//printf("\t Cleaned up H(s)\n");
return res3;
}
ATTR_COLD void matrix_solver_t::setup_base(analog_net_t::list_t &nets)
{
log().debug("New solver setup\n");
m_nets.clear();
m_terms.clear();
for (auto & net : nets)
{
m_nets.push_back(net);
m_terms.push_back(palloc(terms_t));
m_rails_temp.push_back(palloc(terms_t));
}
for (std::size_t k = 0; k < nets.size(); k++)
{
log().debug("setting up net\n");
analog_net_t *net = nets[k];
net->m_solver = this;
for (core_terminal_t *p : net->m_core_terms)
{
log().debug("{1} {2} {3}\n", p->name(), net->name(), (int) net->isRailNet());
switch (p->type())
{
case terminal_t::TERMINAL:
switch (p->device().family())
{
case device_t::CAPACITOR:
if (!m_step_devices.contains(&p->device()))
m_step_devices.push_back(&p->device());
break;
case device_t::BJT_EB:
case device_t::DIODE:
case device_t::LVCCS:
case device_t::BJT_SWITCH:
log().debug("found BJT/Diode/LVCCS\n");
if (!m_dynamic_devices.contains(&p->device()))
m_dynamic_devices.push_back(&p->device());
break;
default:
break;
}
{
terminal_t *pterm = dynamic_cast<terminal_t *>(p);
add_term(k, pterm);
}
log().debug("Added terminal\n");
break;
case terminal_t::INPUT:
{
analog_output_t *net_proxy_output = nullptr;
for (auto & input : m_inps)
if (input->m_proxied_net == &p->net().as_analog())
{
net_proxy_output = input;
break;
}
if (net_proxy_output == nullptr)
{
//net_proxy_output = palloc(analog_output_t(*this,
// this->name() + "." + pfmt("m{1}")(m_inps.size())));
net_proxy_output = palloc(analog_output_t);
net_proxy_output->init_object(*this, this->name() + "." + pfmt("m{1}")(m_inps.size()));
m_inps.push_back(net_proxy_output);
net_proxy_output->m_proxied_net = &p->net().as_analog();
}
net_proxy_output->net().register_con(*p);
// FIXME: repeated
net_proxy_output->net().rebuild_list();
log().debug("Added input\n");
}
break;
default:
log().fatal("unhandled element found\n");
break;
}
}
log().debug("added net with {1} populated connections\n", net->m_core_terms.size());
}
/* now setup the matrix */
setup_matrix();
}
// render earth and terrain geometry
void miniview::render_geometry(float sbase, BOOLINT anaglyph)
{
minilayer *nst;
if (m_cam==NULL) return;
// start timer
starttimer();
// get camera lens
float fovy = m_cam->get_fovy();
float aspect = (float)get()->winwidth/get()->winheight;
double nearp = m_cam->get_nearp();
double farp = m_cam->get_farp();
// update camera lens
m_cam->set_lens(fovy, aspect, nearp, farp);
// propagate camera lens
PARAMS.fovy = fovy;
PARAMS.nearp = nearp;
PARAMS.farp = farp;
miniscene::propagate();
// set reference layer
nst = getearth()->getnearest(m_cam->get_eye());
getearth()->setreference(nst);
// update scene
cache(m_cam->get_eye(), m_cam->get_dir(), m_cam->get_up(), m_cam->get_aspect());
// clear scene
clear();
// render scene
if (sbase==0.0f)
{
setup_matrix();
render();
}
else
{
// left stereo channel
setup_matrix(-sbase);
if (anaglyph) enableRwriting();
else writeleftbuffer();
render();
// right stereo channel
setup_matrix(sbase);
cleardepthbuffer();
if (anaglyph) enableGBwriting();
else writerightbuffer();
render();
if (anaglyph) enableRGBwriting();
else writebackbuffer();
}
// get time spent
double delta = gettimer();
// update quality parameters
adapt(delta);
}
