6.1. Introduction

IDA is part of a software family called SUNDIALS: SUite of Nonlinear and DIfferential/ALgebraic equation Solvers [64]. This suite consists of CVODE, ARKODE, KINSOL, and IDA, and variants of these with sensitivity analysis capabilities, CVODES and IDAS.

IDA is a general purpose solver for the initial value problem (IVP) for systems of differential-algebraic equations (DAEs). The name IDA stands for Implicit Differential-Algebraic solver. IDA is based on DASPK [23, 24], but is written in ANSI-standard C rather than Fortran77. Its most notable features are that, (1) in the solution of the underlying nonlinear system at each time step, it offers a choice of Newton/direct methods and a choice of Inexact Newton/Krylov (iterative) methods; and (2) it is written in a data-independent manner in that it acts on generic vectors and matrices without any assumptions on the underlying organization of the data. Thus IDA shares significant modules previously written within CASC at LLNL to support the ordinary differential equation (ODE) solvers CVODE [37, 67] and PVODE [29, 30], and also the nonlinear system solver KINSOL [68].

At present, IDA may utilize a variety of Krylov methods provided in SUNDIALS that can be used in conjuction with Newton iteration: these include the GMRES (Generalized Minimal RESidual) [90], FGMRES (Flexible Generalized Minimum RESidual) [89], Bi-CGStab (Bi-Conjugate Gradient Stabilized) [107], TFQMR (Transpose-Free Quasi-Minimal Residual) [52], and PCG (Preconditioned Conjugate Gradient) [59] linear iterative methods. As Krylov methods, these require little matrix storage for solving the Newton equations as compared to direct methods. However, the algorithms allow for a user-supplied preconditioner, and, for most problems, preconditioning is essential for an efficient solution.

For very large DAE systems, the Krylov methods are preferable over direct linear solver methods, and are often the only feasible choice. Among the Krylov methods in SUNDIALS, we recommend GMRES as the best overall choice. However, users are encouraged to compare all options, especially if encountering convergence failures with GMRES. Bi-CGFStab and TFQMR have an advantage in storage requirements, in that the number of workspace vectors they require is fixed, while that number for GMRES depends on the desired Krylov subspace size. FGMRES has an advantage in that it is designed to support preconditioners that vary between iterations (e.g. iterative methods). PCG exhibits rapid convergence and minimal workspace vectors, but only works for symmetric linear systems.

6.1.1. Changes from previous versions

6.1.1.1. Changes in v6.5.0

Added the functions IDAGetJac(), IDAGetJacCj(), IDAGetJacTime(), IDAGetJacNumSteps() to assist in debugging simulations utilizing a matrix-based linear solver.

Added support for the SYCL backend with RAJA 2022.x.y.

Fixed an underflow bug during root finding.

A new capability to keep track of memory allocations made through the SUNMemoryHelper classes has been added. Memory allocation stats can be accessed through the SUNMemoryHelper_GetAllocStats() function. See the documentation for the SUNMemoryHelper classes for more details.

Added support for CUDA v12.

Fixed an issue with finding oneMKL when using the icpx compiler with the -fsycl flag as the C++ compiler instead of dpcpp.

Fixed the shape of the arrays returned by FN_VGetArrayPointer functions as well as the FSUNDenseMatrix_Data, FSUNBandMatrix_Data, FSUNSparseMatrix_Data, FSUNSparseMatrix_IndexValues, and FSUNSparseMatrix_IndexPointers functions. Compiling and running code that uses the SUNDIALS Fortran interfaces with bounds checking will now work.

6.1.1.2. Changes in v6.4.1

Fixed a bug with the Kokkos interfaces that would arise when using clang.

Fixed a compilation error with the Intel oneAPI 2022.2 Fortran compiler in the Fortran 2003 interface test for the serial N_Vector.

Fixed a bug in the SUNLINSOL_LAPACKBAND and SUNLINSOL_LAPACKDENSE modules which would cause the tests to fail on some platforms.

6.1.1.3. Changes in v6.4.0

CMake 3.18.0 or newer is now required for CUDA support.

A C++14 compliant compiler is now required for C++ based features and examples e.g., CUDA, HIP, RAJA, Trilinos, SuperLU_DIST, MAGMA, GINKGO, and KOKKOS.

Added support for GPU enabled SuperLU_DIST and SuperLU_DIST v8.x.x. Removed support for SuperLU_DIST v6.x.x or older. Fix mismatched definition and declaration bug in SuperLU_DIST matrix constructor.

Added support for the Ginkgo linear algebra library. This support includes new SUNMatrix and SUNLinearSolver implementations, see the sections §10.16 and §11.23.

Added new NVector, dense SUNMatrix, and dense SUNLinearSolver implementations utilizing the Kokkos Ecosystem for performance portability, see sections §9.19, §10.17, and §11.24 for more information.

Fixed a bug in the CUDA and HIP vectors where N_VMaxNorm() would return the minimum positive floating-point value for the zero vector.

6.1.1.4. Changes in v6.3.0

Added the function IDAGetUserData() to retrieve the user data pointer provided to IDASetUserData().

Fixed the unituitive behavior of the USE_GENERIC_MATH CMake option which caused the double precision math functions to be used regardless of the value of SUNDIALS_PRECISION. Now, SUNDIALS will use precision appropriate math functions when they are available and the user may provide the math library to link to via the advanced CMake option SUNDIALS_MATH_LIBRARY.

Changed SUNDIALS_LOGGING_ENABLE_MPI CMake option default to be ‘OFF’.

6.1.1.5. Changes in v6.2.0

Added the SUNLogger API which provides a SUNDIALS-wide mechanism for logging of errors, warnings, informational output, and debugging output.

Deprecated SUNNonlinSolSetPrintLevel_Newton(), SUNNonlinSolSetInfoFile_Newton(), SUNNonlinSolSetPrintLevel_FixedPoint(), SUNNonlinSolSetInfoFile_FixedPoint(), SUNLinSolSetInfoFile_PCG(), SUNLinSolSetPrintLevel_PCG(), SUNLinSolSetInfoFile_SPGMR(), SUNLinSolSetPrintLevel_SPGMR(), SUNLinSolSetInfoFile_SPFGMR(), SUNLinSolSetPrintLevel_SPFGMR(), SUNLinSolSetInfoFile_SPTFQM(), SUNLinSolSetPrintLevel_SPTFQMR(), SUNLinSolSetInfoFile_SPBCGS(), SUNLinSolSetPrintLevel_SPBCGS() it is recommended to use the SUNLogger API instead. The SUNLinSolSetInfoFile_** and SUNNonlinSolSetInfoFile_* family of functions are now enabled by setting the CMake option SUNDIALS_LOGGING_LEVEL to a value >= 3.

Added the function SUNProfiler_Reset() to reset the region timings and counters to zero.

Added the function IDAPrintAllStats() to output all of the integrator, nonlinear solver, linear solver, and other statistics in one call. The file scripts/sundials_csv.py contains functions for parsing the comma-separated value output files.

Added the function IDASetDetlaCjLSetup() to adjust the parameter that determines when a change in \(c_j\) requires calling the linear solver setup function.

Added the functions IDASetEtaFixedStepBounds(), IDASetEtaMax(), IDASetEtaMin(), IDASetEtaLow(), IDASetEtaMinErrFail(), and IDASetEtaConvFail() to adjust various parameters controlling changes in step size.

Added the function IDASetMinStep() to set a minimum step size.

The behavior of N_VSetKernelExecPolicy_Sycl() has been updated to be consistent with the CUDA and HIP vectors. The input execution policies are now cloned and may be freed after calling N_VSetKernelExecPolicy_Sycl(). Additionally, NULL inputs are now allowed and, if provided, will reset the vector execution policies to the defaults.

Fixed the SUNContext convenience class for C++ users to disallow copy construction and allow move construction.

A memory leak in the SYCL vector was fixed where the execution policies were not freed when the vector was destroyed.

The include guard in nvector_mpimanyvector.h has been corrected to enable using both the ManyVector and MPIManyVector NVector implementations in the same simulation.

Changed exported SUNDIALS PETSc CMake targets to be INTERFACE IMPORTED instead of UNKNOWN IMPORTED.

A bug was fixed in the functions IDAGetNumNonlinSolvConvFails() and IDAGetNonlinSolvStats() where the number of nonlinear solver failures returned was the number of failed steps due to a nonlinear solver failure i.e., if a nonlinear solve failed with a stale Jacobian or preconditioner but succeeded after updating the Jacobian or preconditioner, the initial failure was not included in the nonlinear solver failure count. These functions have been updated to return the total number of nonlinear solver failures. As such users may see an increase in the number of failures reported.

The function IDAGetNumStepSolveFails() has been added to retrieve the number of failed steps due to a nonlinear solver failure. The count returned by this function will match those previously returned by IDAGetNumNonlinSolvConvFails() and IDAGetNonlinSolvStats().

6.1.1.6. Changes in v6.1.1

Fixed exported SUNDIALSConfig.cmake.

6.1.1.7. Changes in v6.1.0

Added new reduction implementations for the CUDA and HIP NVECTORs that use shared memory (local data storage) instead of atomics. These new implementations are recommended when the target hardware does not provide atomic support for the floating point precision that SUNDIALS is being built with. The HIP vector uses these by default, but the N_VSetKernelExecPolicy_Cuda() and N_VSetKernelExecPolicy_Hip() functions can be used to choose between different reduction implementations.

SUNDIALS::<lib> targets with no static/shared suffix have been added for use within the build directory (this mirrors the targets exported on installation).

CMAKE_C_STANDARD is now set to 99 by default.

Fixed exported SUNDIALSConfig.cmake when profiling is enabled without Caliper.

Fixed sundials_export.h include in sundials_config.h.

Fixed memory leaks in the SUNLINSOL_SUPERLUMT linear solver.

6.1.1.8. Changes in v6.0.0

SUNContext

SUNDIALS v6.0.0 introduces a new SUNContext object on which all other SUNDIALS objects depend. As such, the constructors for all SUNDIALS packages, vectors, matrices, linear solvers, nonlinear solvers, and memory helpers have been updated to accept a context as the last input. Users upgrading to SUNDIALS v6.0.0 will need to call SUNContext_Create() to create a context object with before calling any other SUNDIALS library function, and then provide this object to other SUNDIALS constructors. The context object has been introduced to allow SUNDIALS to provide new features, such as the profiling/instrumentation also introduced in this release, while maintaining thread-safety. See the documentation section on the SUNContext for more details.

A script upgrade-to-sundials-6-from-5.sh has been provided with the release (obtainable from the GitHub release page) to help ease the transition to SUNDIALS v6.0.0. The script will add a SUNCTX_PLACEHOLDER argument to all of the calls to SUNDIALS constructors that now require a SUNContext object. It can also update deprecated SUNDIALS constants/types to the new names. It can be run like this:

> ./upgrade-to-sundials-6-from-5.sh <files to update>

SUNProfiler

A capability to profile/instrument SUNDIALS library code has been added. This can be enabled with the CMake option SUNDIALS_BUILD_WITH_PROFILING. A built-in profiler will be used by default, but the Caliper library can also be used instead with the CMake option ENABLE_CALIPER. See the documentation section on profiling for more details. WARNING: Profiling will impact performance, and should be enabled judiciously.

SUNMemoryHelper

The SUNMemoryHelper functions SUNMemoryHelper_Alloc(), SUNMemoryHelper_Dealloc(), and SUNMemoryHelper_Copy() have been updated to accept an opaque handle as the last input. At a minimum, user-defined SUNMemoryHelper implementations will need to update these functions to accept the additional argument. Typically, this handle is the execution stream (e.g., a CUDA/HIP stream or SYCL queue) for the operation. The CUDA, HIP, and SYCL implementations have been updated accordingly. Additionally, the constructor SUNMemoryHelper_Sycl() has been updated to remove the SYCL queue as an input.

NVector

Two new optional vector operations, N_VDotProdMultiLocal() and N_VDotProdMultiAllReduce(), have been added to support low-synchronization methods for Anderson acceleration.

The CUDA, HIP, and SYCL execution policies have been moved from the sundials namespace to the sundials::cuda, sundials::hip, and sundials::sycl namespaces respectively. Accordingly, the prefixes “Cuda”, “Hip”, and “Sycl” have been removed from the execution policy classes and methods.

The Sundials namespace used by the Trilinos Tpetra NVector has been replaced with the sundials::trilinos::nvector_tpetra namespace.

The serial, PThreads, PETSc, hypre, Parallel, OpenMP_DEV, and OpenMP vector functions N_VCloneVectorArray_* and N_VDestroyVectorArray_* have been deprecated. The generic N_VCloneVectorArray() and N_VDestroyVectorArray() functions should be used instead.

The previously deprecated constructor N_VMakeWithManagedAllocator_Cuda and the function N_VSetCudaStream_Cuda have been removed and replaced with N_VNewWithMemHelp_Cuda() and N_VSetKerrnelExecPolicy_Cuda() respectively.

The previously deprecated macros PVEC_REAL_MPI_TYPE and PVEC_INTEGER_MPI_TYPE have been removed and replaced with MPI_SUNREALTYPE and MPI_SUNINDEXTYPE respectively.

SUNLinearSolver

The following previously deprecated functions have been removed:

Removed

Replacement

SUNBandLinearSolver

SUNLinSol_Band()

SUNDenseLinearSolver

SUNLinSol_Dense()

SUNKLU

SUNLinSol_KLU()

SUNKLUReInit

SUNLinSol_KLUReInit()

SUNKLUSetOrdering

SUNLinSol_KLUSetOrdering()

SUNLapackBand

SUNLinSol_LapackBand()

SUNLapackDense

SUNLinSol_LapackDense()

SUNPCG

SUNLinSol_PCG()

SUNPCGSetPrecType

SUNLinSol_PCGSetPrecType()

SUNPCGSetMaxl

SUNLinSol_PCGSetMaxl()

SUNSPBCGS

SUNLinSol_SPBCGS()

SUNSPBCGSSetPrecType

SUNLinSol_SPBCGSSetPrecType()

SUNSPBCGSSetMaxl

SUNLinSol_SPBCGSSetMaxl()

SUNSPFGMR

SUNLinSol_SPFGMR()

SUNSPFGMRSetPrecType

SUNLinSol_SPFGMRSetPrecType()

SUNSPFGMRSetGSType

SUNLinSol_SPFGMRSetGSType()

SUNSPFGMRSetMaxRestarts

SUNLinSol_SPFGMRSetMaxRestarts()

SUNSPGMR

SUNLinSol_SPGMR()

SUNSPGMRSetPrecType

SUNLinSol_SPGMRSetPrecType()

SUNSPGMRSetGSType

SUNLinSol_SPGMRSetGSType()

SUNSPGMRSetMaxRestarts

SUNLinSol_SPGMRSetMaxRestarts()

SUNSPTFQMR

SUNLinSol_SPTFQMR()

SUNSPTFQMRSetPrecType

SUNLinSol_SPTFQMRSetPrecType()

SUNSPTFQMRSetMaxl

SUNLinSol_SPTFQMRSetMaxl()

SUNSuperLUMT

SUNLinSol_SuperLUMT()

SUNSuperLUMTSetOrdering

SUNLinSol_SuperLUMTSetOrdering()

IDA

The IDA Fortran 77 interface has been removed. See §2.5 and the F2003 example programs for more details using the SUNDIALS Fortran 2003 module interfaces.

Deprecations

In addition to the deprecations noted elsewhere, many constants, types, and functions have been renamed so that they are properly namespaced. The old names have been deprecated and will be removed in SUNDIALS v7.0.0.

The following constants, macros, and typedefs are now deprecated:

Deprecated Name

New Name

realtype

sunrealtype

booleantype

sunbooleantype

RCONST

SUN_RCONST

BIG_REAL

SUN_BIG_REAL

SMALL_REAL

SUN_SMALL_REAL

UNIT_ROUNDOFF

SUN_UNIT_ROUNDOFF

PREC_NONE

SUN_PREC_NONE

PREC_LEFT

SUN_PREC_LEFT

PREC_RIGHT

SUN_PREC_RIGHT

PREC_BOTH

SUN_PREC_BOTH

MODIFIED_GS

SUN_MODIFIED_GS

CLASSICAL_GS

SUN_CLASSICAL_GS

ATimesFn

SUNATimesFn

PSetupFn

SUNPSetupFn

PSolveFn

SUNPSolveFn

DlsMat

SUNDlsMat

DENSE_COL

SUNDLS_DENSE_COL

DENSE_ELEM

SUNDLS_DENSE_ELEM

BAND_COL

SUNDLS_BAND_COL

BAND_COL_ELEM

SUNDLS_BAND_COL_ELEM

BAND_ELEM

SUNDLS_BAND_ELEM

In addition, the following functions are now deprecated (compile-time warnings will be thrown if supported by the compiler):

Deprecated Name

New Name

IDASpilsSetLinearSolver

IDASetLinearSolver

IDASpilsSetPreconditioner

IDASetPreconditioner

IDASpilsSetJacTimes

IDASetJacTimes

IDASpilsSetEpsLin

IDASetEpsLin

IDASpilsSetIncrementFactor

IDASetIncrementFactor

IDASpilsGetWorkSpace

IDAGetLinWorkSpace

IDASpilsGetNumPrecEvals

IDAGetNumPrecEvals

IDASpilsGetNumPrecSolves

IDAGetNumPrecSolves

IDASpilsGetNumLinIters

IDAGetNumLinIters

IDASpilsGetNumConvFails

IDAGetNumLinConvFails

IDASpilsGetNumJTSetupEvals

IDAGetNumJTSetupEvals

IDASpilsGetNumJtimesEvals

IDAGetNumJtimesEvals

IDASpilsGetNumResEvals

IDAGetNumLinResEvals

IDASpilsGetLastFlag

IDAGetLastLinFlag

IDASpilsGetReturnFlagName

IDAGetLinReturnFlagName

IDADlsSetLinearSolver

IDASetLinearSolver

IDADlsSetJacFn

IDASetJacFn

IDADlsGetWorkSpace

IDAGetLinWorkSpace

IDADlsGetNumJacEvals

IDAGetNumJacEvals

IDADlsGetNumResEvals

IDAGetNumLinResEvals

IDADlsGetLastFlag

IDAGetLastLinFlag

IDADlsGetReturnFlagName

IDAGetLinReturnFlagName

DenseGETRF

SUNDlsMat_DenseGETRF

DenseGETRS

SUNDlsMat_DenseGETRS

denseGETRF

SUNDlsMat_denseGETRF

denseGETRS

SUNDlsMat_denseGETRS

DensePOTRF

SUNDlsMat_DensePOTRF

DensePOTRS

SUNDlsMat_DensePOTRS

densePOTRF

SUNDlsMat_densePOTRF

densePOTRS

SUNDlsMat_densePOTRS

DenseGEQRF

SUNDlsMat_DenseGEQRF

DenseORMQR

SUNDlsMat_DenseORMQR

denseGEQRF

SUNDlsMat_denseGEQRF

denseORMQR

SUNDlsMat_denseORMQR

DenseCopy

SUNDlsMat_DenseCopy

denseCopy

SUNDlsMat_denseCopy

DenseScale

SUNDlsMat_DenseScale

denseScale

SUNDlsMat_denseScale

denseAddIdentity

SUNDlsMat_denseAddIdentity

DenseMatvec

SUNDlsMat_DenseMatvec

denseMatvec

SUNDlsMat_denseMatvec

BandGBTRF

SUNDlsMat_BandGBTRF

bandGBTRF

SUNDlsMat_bandGBTRF

BandGBTRS

SUNDlsMat_BandGBTRS

bandGBTRS

SUNDlsMat_bandGBTRS

BandCopy

SUNDlsMat_BandCopy

bandCopy

SUNDlsMat_bandCopy

BandScale

SUNDlsMat_BandScale

bandScale

SUNDlsMat_bandScale

bandAddIdentity

SUNDlsMat_bandAddIdentity

BandMatvec

SUNDlsMat_BandMatvec

bandMatvec

SUNDlsMat_bandMatvec

ModifiedGS

SUNModifiedGS

ClassicalGS

SUNClassicalGS

QRfact

SUNQRFact

QRsol

SUNQRsol

DlsMat_NewDenseMat

SUNDlsMat_NewDenseMat

DlsMat_NewBandMat

SUNDlsMat_NewBandMat

DestroyMat

SUNDlsMat_DestroyMat

NewIntArray

SUNDlsMat_NewIntArray

NewIndexArray

SUNDlsMat_NewIndexArray

NewRealArray

SUNDlsMat_NewRealArray

DestroyArray

SUNDlsMat_DestroyArray

AddIdentity

SUNDlsMat_AddIdentity

SetToZero

SUNDlsMat_SetToZero

PrintMat

SUNDlsMat_PrintMat

newDenseMat

SUNDlsMat_newDenseMat

newBandMat

SUNDlsMat_newBandMat

destroyMat

SUNDlsMat_destroyMat

newIntArray

SUNDlsMat_newIntArray

newIndexArray

SUNDlsMat_newIndexArray

newRealArray

SUNDlsMat_newRealArray

destroyArray

SUNDlsMat_destroyArray

In addition, the entire sundials_lapack.h header file is now deprecated for removal in SUNDIALS v7.0.0. Note, this header file is not needed to use the SUNDIALS LAPACK linear solvers.

6.1.1.9. Changes in v5.8.0

The RAJA N_Vector implementation has been updated to support the SYCL backend in addition to the CUDA and HIP backends. Users can choose the backend when configuring SUNDIALS by using the SUNDIALS_RAJA_BACKENDS CMake variable. This module remains experimental and is subject to change from version to version.

A new SUNMatrix and SUNLinearSolver implementation were added to interface with the Intel oneAPI Math Kernel Library (oneMKL). Both the matrix and the linear solver support general dense linear systems as well as block diagonal linear systems. See §11.14 for more details. This module is experimental and is subject to change from version to version.

Added a new optional function to the SUNLinearSolver API, SUNLinSolSetZeroGuess(), to indicate that the next call to SUNLinSolSolve() will be made with a zero initial guess. SUNLinearSolver implementations that do not use the SUNLinSolNewEmpty() constructor will, at a minimum, need set the setzeroguess function pointer in the linear solver ops structure to NULL. The SUNDIALS iterative linear solver implementations have been updated to leverage this new set function to remove one dot product per solve.

IDA now supports a new “matrix-embedded” SUNLinearSolver type. This type supports user-supplied SUNLinearSolver implementations that set up and solve the specified linear system at each linear solve call. Any matrix-related data structures are held internally to the linear solver itself, and are not provided by the SUNDIALS package.

Added the function IDASetNlsResFn() to supply an alternative residual side function for use within nonlinear system function evaluations.

The installed SUNDIALSConfig.cmake file now supports the COMPONENTS option to find_package.

A bug was fixed in SUNMatCopyOps() where the matrix-vector product setup function pointer was not copied.

A bug was fixed in the SPBCGS and SPTFQMR solvers for the case where a non-zero initial guess and a solution scaling vector are provided. This fix only impacts codes using SPBCGS or SPTFQMR as standalone solvers as all SUNDIALS packages utilize a zero initial guess.

6.1.1.10. Changes in v5.7.0

A new N_Vector implementation based on the SYCL abstraction layer has been added targeting Intel GPUs. At present the only SYCL compiler supported is the DPC++ (Intel oneAPI) compiler. See §9.17 for more details. This module is considered experimental and is subject to major changes even in minor releases.

A new SUNMatrix and SUNLinearSolver implementation were added to interface with the MAGMA linear algebra library. Both the matrix and the linear solver support general dense linear systems as well as block diagonal linear systems, and both are targeted at GPUs (AMD or NVIDIA). See §11.13 for more details.

6.1.1.11. Changes in v5.6.1

Fixed a bug in the SUNDIALS CMake which caused an error if the CMAKE_CXX_STANDARD and SUNDIALS_RAJA_BACKENDS options were not provided.

Fixed some compiler warnings when using the IBM XL compilers.

6.1.1.12. Changes in v5.6.0

A new N_Vector implementation based on the AMD ROCm HIP platform has been added. This vector can target NVIDIA or AMD GPUs. See §9.16 for more details. This module is considered experimental and is subject to change from version to version.

The NVECTOR_RAJA implementation has been updated to support the HIP backend in addition to the CUDA backend. Users can choose the backend when configuring SUNDIALS by using the SUNDIALS_RAJA_BACKENDS CMake variable. This module remains experimental and is subject to change from version to version.

A new optional operation, N_VGetDeviceArrayPointer(), was added to the N_Vector API. This operation is useful for N_Vectors that utilize dual memory spaces, e.g. the native SUNDIALS CUDA N_Vector.

The SUNMATRIX_CUSPARSE and SUNLINEARSOLVER_CUSOLVERSP_BATCHQR implementations no longer require the SUNDIALS CUDA N_Vector. Instead, they require that the vector utilized provides the N_VGetDeviceArrayPointer() operation, and that the pointer returned by N_VGetDeviceArrayPointer() is a valid CUDA device pointer.

6.1.1.13. Changes in v5.5.0

Refactored the SUNDIALS build system. CMake 3.12.0 or newer is now required. Users will likely see deprecation warnings, but otherwise the changes should be fully backwards compatible for almost all users. SUNDIALS now exports CMake targets and installs a SUNDIALSConfig.cmake file.

Added support for SuperLU_DIST 6.3.0 or newer.

6.1.1.14. Changes in v5.4.0

Added the function IDASetLSNormFactor() to specify the factor for converting between integrator tolerances (WRMS norm) and linear solver tolerances (L2 norm) i.e., tol_L2 = nrmfac * tol_WRMS.

The expected behavior of SUNNonlinSolGetNumIters() and SUNNonlinSolGetNumConvFails() in the SUNNonlinearSolver API have been updated to specify that they should return the number of nonlinear solver iterations and convergence failures in the most recent solve respectively rather than the cumulative number of iterations and failures across all solves respectively. The API documentation and SUNDIALS provided SUNNonlinearSolver implementations have been updated accordingly. As before, the cumulative number of nonlinear iterations may be retreived by calling IDAGetNumNonlinSolvIters(), the cumulative number of failures with IDAGetNumNonlinSolvConvFails(), or both with IDAGetNonlinSolvStats().

A new API, SUNMemoryHelper, was added to support GPU users who have complex memory management needs such as using memory pools. This is paired with new constructors for the NVECTOR_CUDA and NVECTOR_RAJA modules that accept a SUNMemoryHelper object. Refer to §2.6 and §13 for more information.

The NVECTOR_RAJA module has been updated to mirror the NVECTOR_CUDA module. Notably, the update adds managed memory support to the NVECTOR_RAJA module. Users of the module will need to update any calls to the N_VMake_Raja() function because that signature was changed. This module remains experimental and is subject to change from version to version.

The NVECTOR_TRILINOS module has been updated to work with Trilinos 12.18+. This update changes the local ordinal type to always be an int.

Added support for CUDA v11.

6.1.1.15. Changes in v5.3.0

Fixed a bug in the iterative linear solver modules where an error is not returned if the ATimes function is NULL or, if preconditioning is enabled, the PSolve function is NULL.

Added a new function IDAGetNonlinearSystemData() which advanced users might find useful if providing a custom SUNNonlinSolSysFn.

Added the ability to control the CUDA kernel launch parameters for the NVECTOR_CUDA and SUNMATRIX_CUSPARSE modules. These modules remain experimental and are subject to change from version to version. In addition, the NVECTOR_CUDA kernels were rewritten to be more flexible. Most users should see equivalent performance or some improvement, but a select few may observe minor performance degradation with the default settings. Users are encouraged to contact the SUNDIALS team about any performance changes that they notice.

Added new capabilities for monitoring the solve phase in the SUNNONLINSOL_NEWTON and SUNNONLINSOL_FIXEDPOINT modules, and the SUNDIALS iterative linear solver modules. SUNDIALS must be built with the CMake option SUNDIALS_BUILD_WITH_MONITORING to use these capabilities.

Added the optional function IDASetJacTimesResFn() to specify an alternative residual function for computing Jacobian-vector products with the internal difference quotient approximation.

6.1.1.16. Changes in v5.2.0

Fixed a build system bug related to the Fortran 2003 interfaces when using the IBM XL compiler. When building the Fortran 2003 interfaces with an XL compiler it is recommended to set CMAKE_Fortran_COMPILER to f2003, xlf2003, or xlf2003_r.

Fixed a linkage bug affecting Windows users that stemmed from dllimport/dllexport attributes missing on some SUNDIALS API functions.

Added a new SUNMatrix implementation, SUNMATRIX_CUSPARSE, that interfaces to the sparse matrix implementation from the NVIDIA cuSPARSE library. In addition, the SUNLINSOL_CUSOLVER_BATCHQR linear solver has been updated to use this matrix, therefore, users of this module will need to update their code. These modules are still considered to be experimental, thus they are subject to breaking changes even in minor releases.

The function IDASetLinearSolutionScaling() was added to enable or disable the scaling applied to linear system solutions with matrix-based linear solvers to account for a lagged value of \(\alpha\) in the linear system matrix \(J = \frac{\partial F}{\partial y} + \alpha\frac{\partial F}{\partial \dot{y}}\). Scaling is enabled by default when using a matrix-based linear solver.

6.1.1.17. Changes in v5.1.0

Fixed a build system bug related to finding LAPACK/BLAS.

Fixed a build system bug related to checking if the KLU library works.

Fixed a build system bug related to finding PETSc when using the CMake variables PETSC_INCLUDES and PETSC_LIBRARIES instead of PETSC_DIR.

Added a new build system option, CUDA_ARCH, that can be used to specify the CUDA architecture to compile for.

Added two utility functions, FSUNDIALSFileOpen() and FSUNDIALSFileClose() for creating/destroying file pointers that are useful when using the Fortran 2003 interfaces.

6.1.1.18. Changes in v5.0.0

6.1.1.18.1. Build system changes

  • Increased the minimum required CMake version to 3.5 for most SUNDIALS configurations, and 3.10 when CUDA or OpenMP with device offloading are enabled.

  • The CMake option BLAS_ENABLE and the variable BLAS_LIBRARIES have been removed to simplify builds as SUNDIALS packages do not use BLAS directly. For third party libraries that require linking to BLAS, the path to the BLAS library should be included in the *_LIBRARIES variable for the third party library e.g., SUPERLUDIST_LIBRARIES when enabling SuperLU_DIST.

  • Fixed a bug in the build system that prevented the NVECTOR_PTHREADS module from being built.

6.1.1.18.2. NVECTOR module changes

  • Two new functions were added to aid in creating custom N_Vector objects. The constructor N_VNewEmpty() allocates an “empty” generic N_Vector with the object’s content pointer and the function pointers in the operations structure initialized to NULL. When used in the constructor for custom objects this function will ease the introduction of any new optional operations to the N_Vector API by ensuring only required operations need to be set. Additionally, the function N_VCopyOps() has been added to copy the operation function pointers between vector objects. When used in clone routines for custom vector objects these functions also will ease the introduction of any new optional operations to the N_Vector API by ensuring all operations are copied when cloning objects. See §9.1.1 for more details.

  • Two new N_Vector implementations, NVECTOR_MANYVECTOR and NVECTOR_MPIMANYVECTOR, have been created to support flexible partitioning of solution data among different processing elements (e.g., CPU + GPU) or for multi-physics problems that couple distinct MPI-based simulations together. This implementation is accompanied by additions to user documentation and SUNDIALS examples. See §9.22 and §9.23 for more details.

  • One new required vector operation and ten new optional vector operations have been added to the N_Vector API. The new required operation, N_VGetLength(), returns the global length of an N_Vector. The optional operations have been added to support the new NVECTOR_MPIMANYVECTOR implementation. The operation N_VGetCommunicator() must be implemented by subvectors that are combined to create an NVECTOR_MPIMANYVECTOR, but is not used outside of this context. The remaining nine operations are optional local reduction operations intended to eliminate unnecessary latency when performing vector reduction operations (norms, etc.) on distributed memory systems. The optional local reduction vector operations are N_VDotProdLocal(), N_VMaxNormLocal(), N_VMinLocal(), N_VL1NormLocal(), N_VWSqrSumLocal(), N_VWSqrSumMaskLocal(), N_VInvTestLocal(), N_VConstrMaskLocal(), and N_VMinQuotientLocal(). If an N_Vector implementation defines any of the local operations as NULL, then the NVECTOR_MPIMANYVECTOR will call standard N_Vector operations to complete the computation. See §9.2.4 for more details.

  • An additional N_Vector implementation, NVECTOR_MPIPLUSX, has been created to support the MPI+X paradigm where X is a type of on-node parallelism (e.g., OpenMP, CUDA). The implementation is accompanied by additions to user documentation and SUNDIALS examples. See §9.24 for more details.

  • The *_MPICuda and *_MPIRaja functions have been removed from the NVECTOR_CUDA and NVECTOR_RAJA implementations respectively. Accordingly, the nvector_mpicuda.h, nvector_mpiraja.h, libsundials_nvecmpicuda.lib, and libsundials_nvecmpicudaraja.lib files have been removed. Users should use the NVECTOR_MPIPLUSX module coupled in conjunction with the NVECTOR_CUDA or NVECTOR_RAJA modules to replace the functionality. The necessary changes are minimal and should require few code modifications. See the programs in examples/ida/mpicuda and examples/ida/mpiraja for examples of how to use the NVECTOR_MPIPLUSX module with the NVECTOR_CUDA and NVECTOR_RAJA modules respectively.

  • Fixed a memory leak in the NVECTOR_PETSC module clone function.

  • Made performance improvements to the NVECTOR_CUDA module. Users who utilize a non-default stream should no longer see default stream synchronizations after memory transfers.

  • Added a new constructor to the NVECTOR_CUDA module that allows a user to provide custom allocate and free functions for the vector data array and internal reduction buffer. See §9.15 for more details.

  • Added new Fortran 2003 interfaces for most N_Vector modules. See §9 for more details on how to use the interfaces.

  • Added three new N_Vector utility functions, FN_VGetVecAtIndexVectorArray(), FN_VSetVecAtIndexVectorArray(), and FN_VNewVectorArray(), for working with N_Vector arrays when using the Fortran 2003 interfaces. See §9.1.1 for more details.

6.1.1.18.3. SUNMatrix module changes

  • Two new functions were added to aid in creating custom SUNMatrix objects. The constructor SUNMatNewEmpty() allocates an “empty” generic SUNMatrix with the object’s content pointer and the function pointers in the operations structure initialized to NULL. When used in the constructor for custom objects this function will ease the introduction of any new optional operations to the SUNMatrix API by ensuring only required operations need to be set. Additionally, the function SUNMatCopyOps() has been added to copy the operation function pointers between matrix objects. When used in clone routines for custom matrix objects these functions also will ease the introduction of any new optional operations to the SUNMatrix API by ensuring all operations are copied when cloning objects. See §10.1 for more details.

  • A new operation, SUNMatMatvecSetup(), was added to the SUNMatrix API to perform any setup necessary for computing a matrix-vector product. This operation is useful for SUNMatrix implementations which need to prepare the matrix itself, or communication structures before performing the matrix-vector product. Users who have implemented custom SUNMatrix modules will need to at least update their code to set the corresponding ops structure member, matvecsetup, to NULL. See §10.1 for more details.

  • The generic SUNMatrix API now defines error codes to be returned by SUNMatrix operations. Operations which return an integer flag indicating success/failure may return different values than previously.

  • A new SUNMatrix (and SUNLinearSolver) implementation was added to facilitate the use of the SuperLU_DIST library with SUNDIALS. See §10.15 for more details.

  • Added new Fortran 2003 interfaces for most SUNMatrix modules. See §10 for more details on how to use the interfaces.

6.1.1.18.4. SUNLinearSolver module changes

  • A new function was added to aid in creating custom SUNLinearSolver objects. The constructor SUNLinSolNewEmpty() allocates an “empty” generic SUNLinearSolver with the object’s content pointer and the function pointers in the operations structure initialized to NULL. When used in the constructor for custom objects this function will ease the introduction of any new optional operations to the SUNLinearSolver API by ensuring only required operations need to be set. See §11.1.8 for more details.

  • The return type of the SUNLinearSolver API function SUNLinSolLastFlag() has changed from long int to sunindextype to be consistent with the type used to store row indices in dense and banded linear solver modules.

  • Added a new optional operation to the SUNLinearSolver API, SUNLinSolGetID(), that returns a SUNLinearSolver_ID for identifying the linear solver module.

  • The SUNLinearSolver API has been updated to make the initialize and setup functions optional.

  • A new SUNLinearSolver (and SUNMatrix) implementation was added to facilitate the use of the SuperLU_DIST library with SUNDIALS. See §11.20 for more details.

  • Added a new SUNLinearSolver implementation, SUNLinearSolver_cuSolverSp_batchQR, which leverages the NVIDIA cuSOLVER sparse batched QR method for efficiently solving block diagonal linear systems on NVIDIA GPUs. See §11.22 for more details.

  • Added three new accessor functions to the SUNLINSOL_KLU module, SUNLinSol_KLUGetSymbolic(), SUNLinSol_KLUGetNumeric(), and SUNLinSol_KLUGetCommon(), to provide user access to the underlying KLU solver structures. See §11.10 for more details.

  • Added new Fortran 2003 interfaces for most SUNLinearSolver modules. See §11 for more details on how to use the interfaces.

6.1.1.18.5. SUNNonlinearSolver module changes

  • A new function was added to aid in creating custom SUNNonlinearSolver objects. The constructor SUNNonlinSolNewEmpty() allocates an “empty” generic SUNNonlinearSolver with the object’s content pointer and the function pointers in the operations structure initialized to NULL. When used in the constructor for custom objects this function will ease the introduction of any new optional operations to the SUNNonlinearSolver API by ensuring only required operations need to be set. See §12.1.7 for more details.

  • To facilitate the use of user supplied nonlinear solver convergence test functions the SUNNonlinSolSetConvTestFn function in the SUNNonlinearSolver API has been updated to take a void* data pointer as input. The supplied data pointer will be passed to the nonlinear solver convergence test function on each call.

  • The inputs values passed to the first two inputs of the SUNNonlinSolSolve() function in the SUNNonlinearSolver have been changed to be the predicted state and the initial guess for the correction to that state. Additionally, the definitions of SUNNonlinSolLSetupFn and SUNNonlinSolLSolveFn in the SUNNonlinearSolver API have been updated to remove unused input parameters. For more information see §12.

  • Added a new SUNNonlinearSolver implementation, SUNNONLINSOL_PETSC, which interfaces to the PETSc SNES nonlinear solver API. See §12.9 for more details.

  • Added new Fortran 2003 interfaces for most SUNNonlinearSolver modules. See §12 for more details on how to use the interfaces.

6.1.1.18.6. IDA changes

  • A bug was fixed in the IDA linear solver interface where an incorrect Jacobian-vector product increment was used with iterative solvers other than SUNLINSOL_SPGMR and SUNLINSOL_SPFGMR.

  • Fixed a memeory leak in FIDA when not using the default nonlinear solver.

  • Removed extraneous calls to N_VMin() for simulations where the scalar valued absolute tolerance, or all entries of the vector-valued absolute tolerance array, are strictly positive. In this scenario, IDA will remove at least one global reduction per time step.

  • The IDALS interface has been updated to only zero the Jacobian matrix before calling a user-supplied Jacobian evaluation function when the attached linear solver has type SUNLINEARSOLVER_DIRECT.

  • Added the new functions, IDAGetCurrentCj(), IDAGetCurrentY(), IDAGetCurrentYp(), IDAComputeY(), and IDAComputeYp() which may be useful to users who choose to provide their own nonlinear solver implementations.

  • Added a Fortran 2003 interface to IDA. See §2.5 for more details.

6.1.1.19. Changes in v4.1.0

An additional N_Vector implementation was added for the TPETRA vector from the TRILINOS library to facilitate interoperability between SUNDIALS and TRILINOS. This implementation is accompanied by additions to user documentation and SUNDIALS examples.

A bug was fixed where a nonlinear solver object could be freed twice in some use cases.

The EXAMPLES_ENABLE_RAJA CMake option has been removed. The option EXAMPLES_ENABLE_CUDA enables all examples that use CUDA including the RAJA examples with a CUDA back end (if the RAJA N_Vector is enabled).

The implementation header file ida_impl.h is no longer installed. This means users who are directly manipulating the IDAMem structure will need to update their code to use IDA’s public API.

Python is no longer required to run make test and make test_install.

6.1.1.20. Changes in v4.0.2

Added information on how to contribute to SUNDIALS and a contributing agreement.

Moved definitions of DLS and SPILS backwards compatibility functions to a source file. The symbols are now included in the IDA library, libsundials_ida.

6.1.1.21. Changes in v4.0.1

No changes were made in this release.

6.1.1.22. Changes in v4.0.0

IDA’s previous direct and iterative linear solver interfaces, IDADLS and IDASPILS, have been merged into a single unified linear solver interface, IDALS, to support any valid SUNLinearSolver module. This includes the “DIRECT” and “ITERATIVE” types as well as the new “MATRIX_ITERATIVE” type. Details regarding how IDALS utilizes linear solvers of each type as well as discussion regarding intended use cases for user-supplied SUNLinearSolver implementations are included in §11. All IDA example programs and the standalone linear solver examples have been updated to use the unified linear solver interface.

The unified interface for the new IDALS module is very similar to the previous IDADLS and IDASPILS interfaces. To minimize challenges in user migration to the new names, the previous C and Fortran routine names may still be used; these will be deprecated in future releases, so we recommend that users migrate to the new names soon. Additionally, we note that Fortran users, however, may need to enlarge their iout array of optional integer outputs, and update the indices that they query for certain linear-solver-related statistics.

The names of all constructor routines for SUNDIALS-provided SUNLinearSolver implementations have been updated to follow the naming convention SUNLinSol_ where * is the name of the linear solver. The new names are SUNLinSol_Band(), SUNLinSol_Dense(), SUNLinSol_KLU(), SUNLinSol_LapackBand(), SUNLinSol_LapackDense(), SUNLinSol_PCG(), SUNLinSol_SPBCGS(), SUNLinSol_SPFGMR(), SUNLinSol_SPGMR(), SUNLinSol_SPTFQMR(), and SUNLinSol_SuperLUMT(). Solver-specific “set” routine names have been similarly standardized. To minimize challenges in user migration to the new names, the previous routine names may still be used; these will be deprecated in future releases, so we recommend that users migrate to the new names soon. All IDA example programs and the standalone linear solver examples have been updated to use the new naming convention.

The SUNBandMatrix constructor has been simplified to remove the storage upper bandwidth argument.

SUNDIALS integrators have been updated to utilize generic nonlinear solver modules defined through the SUNNonlinearSolver API. This API will ease the addition of new nonlinear solver options and allow for external or user-supplied nonlinear solvers. The SUNNonlinearSolver API and SUNDIALS provided modules are described in §12 and follow the same object oriented design and implementation used by the N_Vector, SUNMatrix, and SUNLinearSolver modules. Currently two SUNNonlinearSolver implementations are provided, SUNNONLINSOL_NEWTON and SUNNONLINSOL_FIXEDPOINT. These replicate the previous integrator specific implementations of a Newton iteration and a fixed-point iteration (previously referred to as a functional iteration), respectively. Note the SUNNONLINSOL_FIXEDPOINT module can optionally utilize Anderson’s method to accelerate convergence. Example programs using each of these nonlinear solver modules in a standalone manner have been added and all IDA example programs have been updated to use generic SUNNonlinearSolver modules.

By default IDA uses the SUNNONLINSOL_NEWTON module. Since IDA previously only used an internal implementation of a Newton iteration no changes are required to user programs and functions for setting the nonlinear solver options (e.g., IDASetMaxNonlinIters()) or getting nonlinear solver statistics (e.g., IDAGetNumNonlinSolvIters()) remain unchanged and internally call generic SUNNonlinearSolver functions as needed. While SUNDIALS includes a fixed-point nonlinear solver module, it is not currently supported in IDA. For details on attaching a user-supplied nonlinear solver to IDA see :numref:IDA.Usage.CC. Additionally, the example program idaRoberts_dns.c explicitly creates an attaches a SUNNONLINSOL_NEWTON object to demonstrate the process of creating and attaching a nonlinear solver module (note this is not necessary in general as IDA uses the SUNNONLINSOL_NEWTON module by default).

Three fused vector operations and seven vector array operations have been added to the N_Vector API. These optional operations are disabled by default and may be activated by calling vector specific routines after creating an N_Vector (see §9 for more details). The new operations are intended to increase data reuse in vector operations, reduce parallel communication on distributed memory systems, and lower the number of kernel launches on systems with accelerators. The fused operations are N_VLinearCombination(), N_VScaleAddMulti(), and N_VDotProdMulti() and the vector array operations are N_VLinearCombinationVectorArray(), N_VScaleVectorArray(), N_VConstVectorArray(), N_VWrmsNormVectorArray(), N_VWrmsNormMaskVectorArray(), N_VScaleAddMultiVectorArray(), and N_VLinearCombinationVectorArray().

If an N_Vector implementation defines any of these operations as NULL, then standard N_Vector operations will automatically be called as necessary to complete the computation.

Multiple updates to NVECTOR_CUDA were made:

  • Changed N_VGetLength_Cuda() to return the global vector length instead of the local vector length.

  • Added N_VGetLocalLength_Cuda() to return the local vector length.

  • Added N_VGetMPIComm_Cuda() to return the MPI communicator used.

  • Removed the accessor functions in the namespace suncudavec.

  • Changed the N_VMake_Cuda() function to take a host data pointer and a device data pointer instead of an N_VectorContent_Cuda object.

  • Added the ability to set the cudaStream_t used for execution of the NVECTOR_CUDA kernels. See the function N_VSetCudaStreams_Cuda().

  • Added N_VNewManaged_Cuda(), N_VMakeManaged_Cuda(), and N_VIsManagedMemory_Cuda() functions to accommodate using managed memory with the NVECTOR_CUDA.

Multiple changes to NVECTOR_RAJA were made:

  • Changed N_VGetLength_Raja() to return the global vector length instead of the local vector length.

  • Added N_VGetLocalLength_Raja() to return the local vector length.

  • Added N_VGetMPIComm_Raja() to return the MPI communicator used.

  • Removed the accessor functions in the namespace suncudavec.

A new N_Vector implementation for leveraging OpenMP 4.5+ device offloading has been added, NVECTOR_OPENMPDEV. See §9.20 for more details.

6.1.1.23. Changes in v3.2.1

The changes in this minor release include the following:

  • Fixed a bug in the CUDA N_Vector where the N_VInvTest() operation could write beyond the allocated vector data.

  • Fixed library installation path for multiarch systems. This fix changes the default library installation path to CMAKE_INSTALL_PREFIX/CMAKE_INSTALL_LIBDIR from CMAKE_INSTALL_PREFIX/lib. Note CMAKE_INSTALL_LIBDIR is automatically set, but is available as a CMake option that can be modified.

6.1.1.24. Changes in v3.2.0

Fixed a problem with setting sunindextype which would occur with some compilers (e.g. armclang) that did not define __STDC_VERSION__.

Added hybrid MPI/CUDA and MPI/RAJA vectors to allow use of more than one MPI rank when using a GPU system. The vectors assume one GPU device per MPI rank.

Changed the name of the RAJA N_Vector library to libsundials_nveccudaraja.lib from libsundials_nvecraja.lib to better reflect that we only support CUDA as a backend for RAJA currently.

Several changes were made to the build system:

  • CMake 3.1.3 is now the minimum required CMake version.

  • Deprecate the behavior of the SUNDIALS_INDEX_TYPE CMake option and added the SUNDIALS_INDEX_SIZE CMake option to select the sunindextype integer size.

  • The native CMake FindMPI module is now used to locate an MPI installation.

  • If MPI is enabled and MPI compiler wrappers are not set, the build system will check if CMAKE_<language>_COMPILER can compile MPI programs before trying to locate and use an MPI installation.

  • The previous options for setting MPI compiler wrappers and the executable for running MPI programs have been have been depreated. The new options that align with those used in native CMake FindMPI module are MPI_C_COMPILER, MPI_CXX_COMPILER, MPI_Fortran_COMPILER, and MPIEXEC_EXECUTABLE.

  • When a Fortran name-mangling scheme is needed (e.g., ENABLE_LAPACK is ON) the build system will infer the scheme from the Fortran compiler. If a Fortran compiler is not available or the inferred or default scheme needs to be overridden, the advanced options SUNDIALS_F77_FUNC_CASE and SUNDIALS_F77_FUNC_UNDERSCORES can be used to manually set the name-mangling scheme and bypass trying to infer the scheme.

  • Parts of the main CMakeLists.txt file were moved to new files in the src and example directories to make the CMake configuration file structure more modular.

6.1.1.25. Changes in v3.1.2

The changes in this minor release include the following:

  • Updated the minimum required version of CMake to 2.8.12 and enabled using rpath by default to locate shared libraries on OSX.

  • Fixed Windows specific problem where sunindextype was not correctly defined when using 64-bit integers for the SUNDIALS index type. On Windows sunindextype is now defined as the MSVC basic type __int64.

  • Added sparse SUNMatrix “Reallocate” routine to allow specification of the nonzero storage.

  • Updated the KLU SUNLinearSolver module to set constants for the two reinitialization types, and fixed a bug in the full reinitialization approach where the sparse SUNMatrix pointer would go out of scope on some architectures.

  • Updated the SUNMatScaleAdd() and SUNMatScaleAddI() implementations in the sparse SUNMatrix module to more optimally handle the case where the target matrix contained sufficient storage for the sum, but had the wrong sparsity pattern. The sum now occurs in-place, by performing the sum backwards in the existing storage. However, it is still more efficient if the user-supplied Jacobian routine allocates storage for the sum \(I+\gamma J\) manually (with zero entries if needed).

  • Changed the LICENSE install path to instdir/include/sundials.

6.1.1.26. Changes in v3.1.1

The changes in this minor release include the following:

  • Fixed a potential memory leak in the SUNLINSOL_SPGMR and SUNLINSOL_SPFGMR linear solvers: if “Initialize” was called multiple times then the solver memory was reallocated (without being freed).

  • Updated KLU SUNLinearSolver module to use a typedef for the precision-specific solve function to be used (to avoid compiler warnings).

  • Added missing typecasts for some (void*) pointers (again, to avoid compiler warnings).

  • Bugfix in sunmatrix_sparse.c where we had used int instead of sunindextype in one location.

  • Added missing #include <stdio.h> in N_Vector and SUNMatrix header files.

  • Added missing prototype for IDASpilsGetNumJTSetupEvals().

  • Fixed an indexing bug in the CUDA N_Vector implementation of N_VWrmsNormMask() and revised the RAJA N_Vector implementation of N_VWrmsNormMask() to work with mask arrays using values other than zero or one. Replaced double with realtype in the RAJA vector test functions.

  • Fixed compilation issue with GCC 7.3.0 and Fortran programs that do not require a SUNMatrix module (e.g., iterative linear solvers).

In addition to the changes above, minor corrections were also made to the example programs, build system, and user documentation.

6.1.1.27. Changes in v3.1.0

Added N_Vector print functions that write vector data to a specified file (e.g., N_VPrintFile_Serial()).

Added make test and make test_install options to the build system for testing SUNDIALS after building with make and installing with make install respectively.

6.1.1.28. Changes in v3.0.0

All interfaces to matrix structures and linear solvers have been reworked, and all example programs have been updated. The goal of the redesign of these interfaces was to provide more encapsulation and to ease interfacing of custom linear solvers and interoperability with linear solver libraries. Specific changes include:

  • Added generic SUNMatrix module with three provided implementations: dense, banded, and sparse. These replicate previous SUNDIALS Dls and Sls matrix structures in a single object-oriented API.

  • Added example problems demonstrating use of generic SUNMatrix modules.

  • Added generic SUNLinearSolver module with eleven provided implementations: SUNDIALS native dense, SUNDIALS native banded, LAPACK dense, LAPACK band, KLU, SuperLU_MT, SPGMR, SPBCGS, SPTFQMR, SPFGMR, and PCG. These replicate previous SUNDIALS generic linear solvers in a single object-oriented API.

  • Added example problems demonstrating use of generic SUNLinearSolver modules.

  • Expanded package-provided direct linear solver (Dls) interfaces and scaled, preconditioned, iterative linear solver (Spils) interfaces to utilize generic SUNMatrix and SUNLinearSolver objects.

  • Removed package-specific, linear solver-specific, solver modules (e.g. CVDENSE, KINBAND, IDAKLU, ARKSPGMR) since their functionality is entirely replicated by the generic Dls/Spils interfaces and SUNLinearSolver and SUNMatrix modules. The exception is CVDIAG, a diagonal approximate Jacobian solver available to CVODE and CVODES.

  • Converted all SUNDIALS example problems and files to utilize the new generic SUNMatrix and SUNLinearSolver objects, along with updated Dls and Spils linear solver interfaces.

  • Added Spils interface routines to ARKODE, CVODE, CVODES, IDA, and IDAS to allow specification of a user-provided “JTSetup” routine. This change supports users who wish to set up data structures for the user-provided Jacobian-times-vector (“JTimes”) routine, and where the cost of one JTSetup setup per Newton iteration can be amortized between multiple JTimes calls.

Two additional N_Vector implementations were added – one for CUDA and one for RAJA vectors. These vectors are supplied to provide very basic support for running on GPU architectures. Users are advised that these vectors both move all data to the GPU device upon construction, and speedup will only be realized if the user also conducts the right-hand-side or residual function evaluation on the device. In addition, these vectors assume the problem fits on one GPU. For further information about RAJA, users are referred to the web site, https://software.llnl.gov/RAJA/. These additions are accompanied by updates to various interface functions and to user documentation.

All indices for data structures were updated to a new sunindextype that can be configured to be a 32- or 64-bit integer data index type. sunindextype is defined to be int32_t or int64_t when portable types are supported, otherwise it is defined as int or long int. The Fortran interfaces continue to use long int for indices, except for their sparse matrix interface that now uses the new sunindextype. This new flexible capability for index types includes interfaces to PETSc, hypre, SuperLU_MT, and KLU with either 32-bit or 64-bit capabilities depending how the user configures SUNDIALS.

To avoid potential namespace conflicts, the macros defining booleantype values TRUE and FALSE have been changed to SUNTRUE and SUNFALSE respectively.

Temporary vectors were removed from preconditioner setup and solve routines for all packages. It is assumed that all necessary data for user-provided preconditioner operations will be allocated and stored in user-provided data structures.

The file include/sundials_fconfig.h was added. This file contains SUNDIALS type information for use in Fortran programs.

The build system was expanded to support many of the xSDK-compliant keys. The xSDK is a movement in scientific software to provide a foundation for the rapid and efficient production of high-quality, sustainable extreme-scale scientific applications. More information can be found at, https://xsdk.info.

Added functions SUNDIALSGetVersion() and SUNDIALSGetVersionNumber() to get SUNDIALS release version information at runtime.

In addition, numerous changes were made to the build system. These include the addition of separate BLAS_ENABLE and BLAS_LIBRARIES CMake variables, additional error checking during CMake configuration, minor bug fixes, and renaming CMake options to enable/disable examples for greater clarity and an added option to enable/disable Fortran 77 examples. These changes included changing EXAMPLES_ENABLE to EXAMPLES_ENABLE_C, changing CXX_ENABLE to EXAMPLES_ENABLE_CXX, changing F90_ENABLE to EXAMPLES_ENABLE_F90, and adding an EXAMPLES_ENABLE_F77 option.

A bug fix was done to add a missing prototype for IDASetMaxBacksIC() in ida.h.

Corrections and additions were made to the examples, to installation-related files, and to the user documentation.

6.1.1.29. Changes in v2.9.0

Two additional N_Vector implementations were added – one for Hypre (parallel) ParVector vectors, and one for PETSc vectors. These additions are accompanied by additions to various interface functions and to user documentation.

Each N_Vector module now includes a function, N_VGetVectorID(), that returns the N_Vector module name.

An optional input function was added to set a maximum number of linesearch backtracks in the initial condition calculation. Also, corrections were made to three Fortran interface functions.

For each linear solver, the various solver performance counters are now initialized to 0 in both the solver specification function and in solver linit function. This ensures that these solver counters are initialized upon linear solver instantiation as well as at the beginning of the problem solution.

A memory leak was fixed in the banded preconditioner interface. In addition, updates were done to return integers from linear solver and preconditioner “free” functions.

The Krylov linear solver Bi-CGstab was enhanced by removing a redundant dot product. Various additions and corrections were made to the interfaces to the sparse solvers KLU and SuperLU_MT, including support for CSR format when using KLU.

New examples were added for use of the OpenMP vector.

Minor corrections and additions were made to the IDA solver, to the Fortran interfaces, to the examples, to installation-related files, and to the user documentation.

6.1.1.30. Changes in v2.8.0

Two major additions were made to the linear system solvers that are available for use with the IDA solver. First, in the serial case, an interface to the sparse direct solver KLU was added. Second, an interface to SuperLU_MT, the multi-threaded version of SuperLU, was added as a thread-parallel sparse direct solver option, to be used with the serial version of the N_Vector module. As part of these additions, a sparse matrix (CSC format) structure was added to IDA.

Otherwise, only relatively minor modifications were made to IDA:

In IDARootfind(), a minor bug was corrected, where the input array rootdir was ignored, and a line was added to break out of root-search loop if the initial interval size is below the tolerance ttol.

In IDALapackBand, the line smu = MIN(N-1,mu+ml) was changed to smu = mu + ml to correct an illegal input error for DGBTRF/DGBTRS.

A minor bug was fixed regarding the testing of the input tstop on the first call to IDASolve().

In order to avoid possible name conflicts, the mathematical macro and function names MIN, MAX, SQR, RAbs, RSqrt, RExp, RPowerI, and RPowerR were changed to SUNMIN, SUNMAX, SUNSQR, SUNRabs, SUNRsqrt, SUNRexp, SRpowerI, and SUNRpowerR, respectively. These names occur in both the solver and in various example programs.

In the FIDA optional input routines FIDASETIIN, FIDASETRIN, and FIDASETVIN, the optional fourth argument key_length was removed, with hardcoded key string lengths passed to all strncmp tests.

In all FIDA examples, integer declarations were revised so that those which must match a C type long int are declared INTEGER*8, and a comment was added about the type match. All other integer declarations are just INTEGER. Corresponding minor corrections were made to the user guide.

Two new N_Vector modules have been added for thread-parallel computing environments — one for OpenMP, denoted NVECTOR_OPENMP, and one for Pthreads, denoted NVECTOR_PTHREADS.

With this version of SUNDIALS, support and documentation of the Autotools mode of installation is being dropped, in favor of the CMake mode, which is considered more widely portable.

6.1.1.31. Changes in v2.7.0

One significant design change was made with this release: The problem size and its relatives, bandwidth parameters, related internal indices, pivot arrays, and the optional output lsflag have all been changed from type int to type long int, except for the problem size and bandwidths in user calls to routines specifying BLAS/LAPACK routines for the dense/band linear solvers. The function NewIntArray is replaced by a pair NewIntArray and NewLintArray, for int and long int arrays, respectively.

A large number of minor errors have been fixed. Among these are the following: After the solver memory is created, it is set to zero before being filled. To be consistent with IDAS, IDA uses the function IDAGetDky for optional output retrieval. In each linear solver interface function, the linear solver memory is freed on an error return, and the **Free function now includes a line setting to NULL the main memory pointer to the linear solver memory. A memory leak was fixed in two of the IDASp***Free functions. In the rootfinding functions IDARcheck1 and IDARcheck2, when an exact zero is found, the array glo of \(g\) values at the left endpoint is adjusted, instead of shifting the \(t\) location tlo slightly. In the installation files, we modified the treatment of the macro SUNDIALS_USE_GENERIC_MATH, so that the parameter GENERIC_MATH_LIB is either defined (with no value) or not defined.

6.1.1.32. Changes in v2.6.0

Two new features were added in this release: (a) a new linear solver module, based on BLAS and LAPACK for both dense and banded matrices, and (b) option to specify which direction of zero-crossing is to be monitored while performing rootfinding.

The user interface has been further refined. Some of the API changes involve: (a) a reorganization of all linear solver modules into two families (besides the already present family of scaled preconditioned iterative linear solvers, the direct solvers, including the new LAPACK-based ones, were also organized into a direct family); (b) maintaining a single pointer to user data, optionally specified through a Set-type function; (c) a general streamlining of the band-block-diagonal preconditioner module distributed with the solver.

6.1.1.33. Changes in v2.5.0

The main changes in this release involve a rearrangement of the entire SUNDIALS source tree (see §6.3). At the user interface level, the main impact is in the mechanism of including SUNDIALS header files which must now include the relative path (e.g. #include <cvode/cvode.h>). Additional changes were made to the build system: all exported header files are now installed in separate subdirectories of the installation include directory.

A bug was fixed in the internal difference-quotient dense and banded Jacobian approximations, related to the estimation of the perturbation (which could have led to a failure of the linear solver when zero components with sufficiently small absolute tolerances were present).

The user interface to the consistent initial conditions calculations was modified. The IDACalcIC() arguments t0, yy0, and yp0 were removed and a new function, IDAGetConsistentIC() is provided.

The functions in the generic dense linear solver (sundials_dense and sundials_smalldense) were modified to work for rectangular \(m \times n\) matrices (\(m \le n\)), while the factorization and solution functions were renamed to DenseGETRF / denGETRF and DenseGETRS / denGETRS, respectively. The factorization and solution functions in the generic band linear solver were renamed BandGBTRF and BandGBTRS, respectively.

6.1.1.34. Changes in v2.4.0

FIDA, a Fortran-C interface module, was added.

IDASPBCG and IDASPTFQMR modules have been added to interface with the Scaled Preconditioned Bi-CGstab (SPBCG) and Scaled Preconditioned Transpose-Free Quasi-Minimal Residual (SPTFQMR) linear solver modules, respectively (for details see :numref:IDA.Usage.CC). At the same time, function type names for Scaled Preconditioned Iterative Linear Solvers were added for the user-supplied Jacobian-times-vector and preconditioner setup and solve functions.

The rootfinding feature was added, whereby the roots of a set of given functions may be computed during the integration of the DAE system.

A user-callable routine was added to access the estimated local error vector.

The deallocation functions now take as arguments the address of the respective memory block pointer.

To reduce the possibility of conflicts, the names of all header files have been changed by adding unique prefixes (ida_ and sundials_). When using the default installation procedure, the header files are exported under various subdirectories of the target include directory. For more details see Appendix §14.

6.1.1.35. Changes in v2.3.0

The user interface has been further refined. Several functions used for setting optional inputs were combined into a single one. An optional user-supplied routine for setting the error weight vector was added. Additionally, to resolve potential variable scope issues, all SUNDIALS solvers release user data right after its use. The build systems has been further improved to make it more robust.

6.1.1.36. Changes in v2.2.2

Minor corrections and improvements were made to the build system. A new chapter in the User Guide was added — with constants that appear in the user interface.

6.1.1.37. Changes in v2.2.1

The changes in this minor SUNDIALS release affect only the build system.

6.1.1.38. Changes in v2.2.0

The major changes from the previous version involve a redesign of the user interface across the entire SUNDIALS suite. We have eliminated the mechanism of providing optional inputs and extracting optional statistics from the solver through the iopt and ropt arrays. Instead, IDA now provides a set of routines (with prefix IDASet) to change the default values for various quantities controlling the solver and a set of extraction routines (with prefix IDAGet) to extract statistics after return from the main solver routine. Similarly, each linear solver module provides its own set of Set- and Get-type routines. For more details see §6.4.5.12.

Additionally, the interfaces to several user-supplied routines (such as those providing Jacobians and preconditioner information) were simplified by reducing the number of arguments. The same information that was previously accessible through such arguments can now be obtained through Get-type functions.

Installation of IDA (and all of SUNDIALS) has been completely redesigned and is now based on configure scripts.

6.1.2. Reading this User Guide

The structure of this document is as follows:

  • In Chapter §6.2, we give short descriptions of the numerical methods implemented by IDA for the solution of initial value problems for systems of DAEs, along with short descriptions of preconditioning (§6.2.3) and rootfinding (§6.2.4).

  • The following chapter describes the structure of the SUNDIALS suite of solvers (§6.3) and the software organization of the IDA solver (§6.3.1).

  • Chapter §6.4 is the main usage document for IDA for C and C++ applications. It includes a complete description of the user interface for the integration of DAE initial value problems. This is followed by documentation for using IDA with Fortran applications and on GPU accelerated systems.

  • Chapter §9 gives a brief overview of the generic N_Vector module shared among the various components of SUNDIALS, as well as details on the N_Vector implementations provided with SUNDIALS.

  • Chapter §10 gives a brief overview of the generic SUNMatrix module shared among the various components of SUNDIALS, and details on the SUNMatrix implementations provided with SUNDIALS.

  • Chapter §11 gives a brief overview of the generic SUNLinearSolver module shared among the various components of SUNDIALS. This chapter contains details on the SUNLinearSolver implementations provided with SUNDIALS. The chapter also contains details on the SUNLinearSolver implementations provided with SUNDIALS that interface with external linear solver libraries.

  • Chapter §12 describes the SUNNonlinearSolver API and nonlinear solver implementations shared among the various components of SUNDIALS.

  • Finally, in the appendices, we provide detailed instructions for the installation of IDA, within the structure of SUNDIALS (Appendix §14), as well as a list of all the constants used for input to and output from IDA functions (Appendix §6.5).

6.1.3. SUNDIALS License and Notices

All SUNDIALS packages are released open source, under the BSD 3-Clause license for more details see the LICENSE and NOTICE files provided with all SUNDIALS packages.