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Working Fuzz Machine NDK model
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@jatinchowdhury18
jatinchowdhury18 committed Jul 5, 2023
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2 changes: 1 addition & 1 deletion src/CMakeLists.txt
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Expand Up @@ -75,7 +75,7 @@ target_sources(BYOD PRIVATE
processors/drive/diode_circuits/DiodeRectifier.cpp
processors/drive/flapjack/Flapjack.cpp
processors/drive/fuzz_machine/FuzzMachine.cpp
processors/drive/fuzz_machine/FuzzFaceSolver.cpp
processors/drive/fuzz_machine/FuzzFaceNDK.cpp
processors/drive/hysteresis/Hysteresis.cpp
processors/drive/hysteresis/HysteresisProcessing.cpp
processors/drive/junior_b/JuniorB.cpp
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211 changes: 211 additions & 0 deletions src/processors/drive/fuzz_machine/FuzzFaceNDK.cpp
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/*
* This file was generated on 2023-07-04 18:56:50.025991
* using the command: `/Users/jatin/ChowDSP/Research/NDK-Framework/generate_ndk_cpp.py fuzz_face_ndk_config.json`
*/
#include "FuzzFaceNDK.h"

namespace
{
// START USER ENTRIES
constexpr auto C1 = 2.2e-6;
constexpr auto C2 = 20.0e-6;
constexpr auto C3 = 0.01e-6;
constexpr auto R1 = 33.0e3;
constexpr auto R2 = 470.0;
constexpr auto R3 = 8.2e3;
constexpr auto R4 = 100.0e3;
constexpr auto RL = 500.0e3;
constexpr auto Vcc = 9.0;
constexpr auto Vt = 26.0e-3;
constexpr auto Is_Q1 = 20.3e-15;
constexpr auto BetaF_Q1 = 1430.0;
constexpr auto AlphaF_Q1 = (1.0 + BetaF_Q1) / BetaF_Q1;
constexpr auto BetaR_Q1 = 4.0;
constexpr auto Is_Q2 = 20.3e-15;
constexpr auto BetaF_Q2 = 1430.0;
constexpr auto AlphaF_Q2 = (1.0 + BetaF_Q2) / BetaF_Q2;
constexpr auto BetaR_Q2 = 4.0;
// END USER ENTRIES
} // namespace

void FuzzFaceNDK::reset_state()
{
// reset state vectors
for (size_t ch = 0; ch < MAX_NUM_CHANNELS; ++ch)
{
x_n[ch].setZero();
v_n[ch] = Eigen::Vector<T, num_nl_ports> { 1.43236, 1.77569, -0.636511, 0.021566 };
}
}

void FuzzFaceNDK::reset (T fs)
{
const auto Gr = Eigen::DiagonalMatrix<T, num_resistors> { (T) 1 / R1, (T) 1 / R2, (T) 1 / R3, (T) 1 / R4, (T) 1 / RL };
const auto Gx = Eigen::DiagonalMatrix<T, num_states> { (T) 2 * fs * C1, (T) 2 * fs * C2, (T) 2 * fs * C3 };
const auto Z = Eigen::DiagonalMatrix<T, num_states> { 1, 1, 1 };

// Set up component-defined matrices
const Eigen::Matrix<T, num_resistors, num_nodes> Nr {
{ +0, +0, +1, +0, +0, +0, +0, -1, +0 },
{ +0, +0, +0, +0, +0, +1, +0, -1, +0 },
{ +0, +0, +0, +0, +0, -1, +0, +0, +1 },
{ +0, +1, +0, -1, +0, +0, +0, +0, +0 },
{ +0, +0, +0, +0, +0, +0, +1, +0, +0 },
};

const Eigen::Matrix<T, num_pots, num_nodes> Nv {
{ +0, +0, +0, +1, -1, +0, +0, +0, +0 },
{ +0, +0, +0, +0, +1, +0, +0, +0, +0 },
};

const Eigen::Matrix<T, num_states, num_nodes> Nx {
{ +1, -1, +0, +0, +0, +0, +0, +0, +0 },
{ +0, +0, +0, +0, +1, +0, +0, +0, +0 },
{ +0, +0, +0, +0, +0, +1, -1, +0, +0 },
};

const Eigen::Matrix<T, num_voltages, num_nodes> Nu {
{ +1, +0, +0, +0, +0, +0, +0, +0, +0 },
{ +0, +0, +0, +0, +0, +0, +0, +1, +0 },
};

const Eigen::Matrix<T, num_nl_ports, num_nodes> Nn {
{ +0, -1, +1, +0, +0, +0, +0, +0, +0 },
{ +0, +0, +1, +0, +0, +0, +0, +0, +0 },
{ +0, +0, -1, +0, +0, +0, +0, +0, +1 },
{ +0, +0, +0, -1, +0, +0, +0, +0, +1 },
};

const Eigen::Matrix<T, num_outputs, num_nodes> No {
{ +0, +0, +0, +0, +0, +0, +1, +0, +0 },
};

static constexpr auto S_dim = num_nodes + num_voltages;
Eigen::Matrix<T, num_states, S_dim> Nx_0 = Eigen::Matrix<T, num_states, S_dim>::Zero();
Nx_0.block<num_states, num_nodes> (0, 0) = Nx;
Eigen::Matrix<T, num_nl_ports, S_dim> Nn_0 = Eigen::Matrix<T, num_nl_ports, S_dim>::Zero();
Nn_0.block<num_nl_ports, num_nodes> (0, 0) = Nn;
Eigen::Matrix<T, num_outputs, S_dim> No_0 = Eigen::Matrix<T, num_outputs, S_dim>::Zero();
No_0.block<num_outputs, num_nodes> (0, 0) = No;
Eigen::Matrix<T, num_pots, S_dim> Nv_0 = Eigen::Matrix<T, num_pots, S_dim>::Zero();
Nv_0.block<num_pots, num_nodes> (0, 0) = Nv;
Eigen::Matrix<T, num_voltages, S_dim> Zero_I = Eigen::Matrix<T, num_voltages, S_dim>::Zero();
Zero_I.block<2, 2> (0, 9).setIdentity();

Eigen::Matrix<T, S_dim, S_dim> S0_mat = Eigen::Matrix<T, S_dim, S_dim>::Zero();
S0_mat.block<num_nodes, num_nodes> (0, 0) = Nr.transpose() * Gr * Nr + Nx.transpose() * Gx * Nx;
S0_mat.block<num_nodes, num_voltages> (0, num_nodes) = Nu.transpose();
S0_mat.block<num_voltages, num_nodes> (num_nodes, 0) = Nu;
Eigen::Matrix<T, S_dim, S_dim> S0_inv = S0_mat.inverse();

// Pre-compute NDK and intermediate matrices
Q = Nv_0 * (S0_inv * Nv_0.transpose());
Ux = Nx_0 * (S0_inv * Nv_0.transpose());
Uo = No_0 * (S0_inv * Nv_0.transpose());
Un = Nn_0 * (S0_inv * Nv_0.transpose());
Uu = Zero_I * (S0_inv * Nv_0.transpose());
A0_mat = (T) 2 * (Z * (Gx * (Nx_0 * (S0_inv * Nx_0.transpose())))) - Z.toDenseMatrix();
B0_mat = (T) 2 * (Z * (Gx * (Nx_0 * (S0_inv * Zero_I.transpose()))));
C0_mat = (T) 2 * (Z * (Gx * (Nx_0 * (S0_inv * Nn_0.transpose()))));
D0_mat = No_0 * (S0_inv * Nx_0.transpose());
E0_mat = No_0 * (S0_inv * Zero_I.transpose());
F0_mat = No_0 * (S0_inv * Nn_0.transpose());
G0_mat = Nn_0 * (S0_inv * Nx_0.transpose());
H0_mat = Nn_0 * (S0_inv * Zero_I.transpose());
K0_mat = Nn_0 * (S0_inv * Nn_0.transpose());
two_Z_Gx = (T) 2 * (Z.toDenseMatrix() * Gx.toDenseMatrix());

reset_state();
}

void FuzzFaceNDK::update_pots (const std::array<T, num_pots>& pot_values)
{
Eigen::Matrix<T, num_pots, num_pots> Rv = Eigen::Matrix<T, num_pots, num_pots>::Zero();
Rv (0, 0) = pot_values[0]; // Rfp
Rv (1, 1) = pot_values[1]; // Rfm
Eigen::Matrix<T, num_pots, num_pots> Rv_Q_inv = (Rv + Q).inverse();

A_mat = A0_mat - (two_Z_Gx * (Ux * (Rv_Q_inv * Ux.transpose())));
Eigen::Matrix<T, num_states, num_voltages> B_mat = B0_mat - (two_Z_Gx * (Ux * (Rv_Q_inv * Uu.transpose())));
B_mat_var = B_mat.leftCols<num_voltages_variable>();
B_u_fix = B_mat.rightCols<num_voltages_constant>() * Eigen::Vector<T, num_voltages_constant> { Vcc };
C_mat = C0_mat - (two_Z_Gx * (Ux * (Rv_Q_inv * Un.transpose())));
D_mat = D0_mat - (Uo * (Rv_Q_inv * Ux.transpose()));
Eigen::Matrix<T, num_outputs, num_voltages> E_mat = E0_mat - (Uo * (Rv_Q_inv * Uu.transpose()));
E_mat_var = E_mat.leftCols<num_voltages_variable>();
E_u_fix = E_mat.rightCols<num_voltages_constant>() * Eigen::Vector<T, num_voltages_constant> { Vcc };
F_mat = F0_mat - (Uo * (Rv_Q_inv * Un.transpose()));
G_mat = G0_mat - (Un * (Rv_Q_inv * Ux.transpose()));
Eigen::Matrix<T, num_nl_ports, num_voltages> H_mat = H0_mat - (Un * (Rv_Q_inv * Uu.transpose()));
H_mat_var = H_mat.leftCols<num_voltages_variable>();
H_u_fix = H_mat.rightCols<num_voltages_constant>() * Eigen::Vector<T, num_voltages_constant> { Vcc };
K_mat = K0_mat - (Un * (Rv_Q_inv * Un.transpose()));
}

void FuzzFaceNDK::process (std::span<float> channel_data, size_t ch) noexcept
{
Eigen::Vector<T, num_voltages_variable> u_n_var;
Eigen::Vector<T, num_nl_ports> p_n;
Eigen::Matrix<T, num_nl_ports, num_nl_ports> Jac = Eigen::Matrix<T, num_nl_ports, num_nl_ports>::Zero();
Eigen::Vector<T, num_nl_ports> i_n;
Eigen::Vector<T, num_nl_ports> F_min;
Eigen::Matrix<T, num_nl_ports, num_nl_ports> A_solve;
const Eigen::Matrix<T, num_nl_ports, num_nl_ports> eye = Eigen::Matrix<T, num_nl_ports, num_nl_ports>::Identity();
Eigen::Vector<T, num_nl_ports> delta_v;
Eigen::Vector<T, num_outputs> y_n;

for (auto& sample : channel_data)
{
u_n_var (0) = (T) sample;
p_n.noalias() = G_mat * x_n[ch] + H_mat_var * u_n_var + H_u_fix;

T exp_v1_v0;
T exp_mv0;
T exp_v3_v2;
T exp_mv2;
const auto calc_currents = [&]
{
exp_v1_v0 = std::exp ((v_n[ch](1) - v_n[ch](0)) / Vt);
exp_mv0 = std::exp (-v_n[ch](0) / Vt);
i_n (0) = Is_Q1 * ((exp_v1_v0 - (T) 1) / BetaF_Q1 + (exp_mv0 - (T) 1) / BetaR_Q1);
i_n (1) = -Is_Q1 * (-(exp_mv0 - (T) 1) + AlphaF_Q1 * (exp_v1_v0 - (T) 1));

exp_v3_v2 = std::exp ((v_n[ch](3) - v_n[ch](2)) / Vt);
exp_mv2 = std::exp (-v_n[ch](2) / Vt);
i_n (2) = Is_Q2 * ((exp_v3_v2 - (T) 1) / BetaF_Q2 + (exp_mv2 - (T) 1) / BetaR_Q2);
i_n (3) = -Is_Q2 * (-(exp_mv2 - (T) 1) + AlphaF_Q2 * (exp_v3_v2 - (T) 1));
};

const auto calc_jacobian = [&]
{
Jac (0, 0) = (Is_Q1 / Vt) * (-exp_v1_v0 / BetaF_Q1 - exp_mv0 / BetaR_Q1);
Jac (0, 1) = (Is_Q1 / Vt) * (exp_v1_v0 / BetaF_Q1);
Jac (1, 0) = (Is_Q1 / Vt) * (-exp_mv0 + AlphaF_Q1 * exp_v1_v0);
Jac (1, 1) = (Is_Q1 / Vt) * (-AlphaF_Q1 * exp_v1_v0);

Jac (2, 2) = (Is_Q2 / Vt) * (-exp_v3_v2 / BetaF_Q2 - exp_mv2 / BetaR_Q2);
Jac (2, 3) = (Is_Q2 / Vt) * (exp_v3_v2 / BetaF_Q2);
Jac (3, 2) = (Is_Q2 / Vt) * (-exp_mv2 + AlphaF_Q2 * exp_v3_v2);
Jac (3, 3) = (Is_Q2 / Vt) * (-AlphaF_Q2 * exp_v3_v2);
};

T delta;
int nIters = 0;
do
{
calc_currents();
calc_jacobian();

F_min.noalias() = p_n + K_mat * i_n - v_n[ch];
A_solve.noalias() = K_mat * Jac - eye;
delta_v.noalias() = A_solve.householderQr().solve (F_min);
v_n[ch] -= delta_v;
delta = delta_v.array().abs().sum();
} while (delta > 1.0e-2 && ++nIters < 8);
calc_currents();

y_n.noalias() = D_mat * x_n[ch] + E_mat_var * u_n_var + E_u_fix + F_mat * i_n;
sample = (float) y_n (0);
x_n[ch] = A_mat * x_n[ch] + B_mat_var * u_n_var + B_u_fix + C_mat * i_n;
}
}
72 changes: 72 additions & 0 deletions src/processors/drive/fuzz_machine/FuzzFaceNDK.h
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/*
* This file was generated on 2023-07-04 18:56:50.025866
* using the command: `/Users/jatin/ChowDSP/Research/NDK-Framework/generate_ndk_cpp.py fuzz_face_ndk_config.json`
*/
#pragma once

#include <array>
#include <cmath>
#include <span>

// START USER INCLUDES
#include <modules/Eigen/Eigen/Dense>
// END USER INCLUDES

struct FuzzFaceNDK
{
// START USER ENTRIES
static constexpr size_t MAX_NUM_CHANNELS = 2;
static constexpr double VRfuzz = 1.0e3;
// END USER ENTRIES

using T = double;
static constexpr int num_nodes = 9;
static constexpr int num_resistors = 5;
static constexpr int num_pots = 2;
static constexpr int num_states = 3;
static constexpr int num_nl_ports = 4;
static constexpr int num_voltages_variable = 1;
static constexpr int num_voltages_constant = 1;
static constexpr int num_voltages = num_voltages_variable + num_voltages_constant;
static constexpr int num_outputs = 1;

// State Variables
std::array<Eigen::Vector<T, num_states>, MAX_NUM_CHANNELS> x_n;
std::array<Eigen::Vector<T, num_nl_ports>, MAX_NUM_CHANNELS> v_n;

// NDK Matrices
Eigen::Matrix<T, num_states, num_states> A_mat;
Eigen::Matrix<T, num_states, num_voltages_variable> B_mat_var;
Eigen::Vector<T, num_states> B_u_fix;
Eigen::Matrix<T, num_states, num_nl_ports> C_mat;
Eigen::Matrix<T, num_outputs, num_states> D_mat;
Eigen::Matrix<T, num_outputs, num_voltages_variable> E_mat_var;
Eigen::Vector<T, num_outputs> E_u_fix;
Eigen::Matrix<T, num_outputs, num_nl_ports> F_mat;
Eigen::Matrix<T, num_nl_ports, num_states> G_mat;
Eigen::Matrix<T, num_nl_ports, num_voltages_variable> H_mat_var;
Eigen::Vector<T, num_nl_ports> H_u_fix;
Eigen::Matrix<T, num_nl_ports, num_nl_ports> K_mat;

// Intermediate matrices for NDK matrix updates;
Eigen::Matrix<T, num_pots, num_pots> Q;
Eigen::Matrix<T, num_states, num_pots> Ux;
Eigen::Matrix<T, num_outputs, num_pots> Uo;
Eigen::Matrix<T, num_nl_ports, num_pots> Un;
Eigen::Matrix<T, num_voltages, num_pots> Uu;
Eigen::Matrix<T, num_states, num_states> A0_mat;
Eigen::Matrix<T, num_states, num_voltages> B0_mat;
Eigen::Matrix<T, num_states, num_nl_ports> C0_mat;
Eigen::Matrix<T, num_outputs, num_states> D0_mat;
Eigen::Matrix<T, num_outputs, num_voltages> E0_mat;
Eigen::Matrix<T, num_outputs, num_nl_ports> F0_mat;
Eigen::Matrix<T, num_nl_ports, num_states> G0_mat;
Eigen::Matrix<T, num_nl_ports, num_voltages> H0_mat;
Eigen::Matrix<T, num_nl_ports, num_nl_ports> K0_mat;
Eigen::Matrix<T, num_states, num_states> two_Z_Gx;

void reset_state();
void reset (T fs);
void update_pots (const std::array<T, num_pots>& pot_values);
void process (std::span<float> channel_data, size_t channel_index) noexcept;
};
71 changes: 0 additions & 71 deletions src/processors/drive/fuzz_machine/FuzzFaceSolver.cpp
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29 changes: 0 additions & 29 deletions src/processors/drive/fuzz_machine/FuzzFaceSolver.h
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