void display_init() {
// Setting up ports.
SYSCTL_RCGC2_R |= SYSCTL_DC4_GPIOB; // Enable GPIOB
//maybe delay2 here
delay2(10000);
SYSCTL_RCGC2_R |= SYSCTL_DC4_GPIOD; // Enable GPIOD
delay2(10000);
GPIO_PORTB_DIR_R |= 0x7f;
GPIO_PORTD_DIR_R |= 0xe0;
GPIO_PORTB_AFSEL_R &= 0xffffff80;
GPIO_PORTD_AFSEL_R &= 0xffffff1f;
GPIO_PORTB_DEN_R |= 0x7f; // Enable port B
GPIO_PORTD_DEN_R |= 0xe0; // Enable port D
// Function set commands separated by delay2s, as per cycle
//delay2(100);
//SysCtldelay2(5*SysCtlClockGet()/(3*1000)); //5msec
delay2(5000); //5msec
function_set(0, 0);
//SysCtldelay2(5*SysCtlClockGet()/(3*1000)); //5msec
//delay2(10);
delay2(5000); //5msec
function_set(0, 0);
//SysCtldelay2(2*SysCtlClockGet()/(3*10000)); //200usec
delay2(200); //200usec
//delay2(10);
function_set(0, 0);
function_set(1, 0); //two lines
display_off();
clear_display();
entry_mode_set(1,0);
}
void initialize()
{
ON = 1;
BLON = 0;
clear_display();
set_entry();
function_set();
display_on();
}
void LCD_config()
{
function_set(1,1,0); //DL = 1 for 8-bit interface, N = 1 to set the fonts for 2 line display and if N = 1 then value of F doesn't matter
LCD_clear_display();
display_control(1,0,0); //D = 1, so that display is On, C = 0, so that cursor is Off, B = 0 so that cursor is not blinking
Entry_mode_set(1,0); // I_D = 1 so that the cursor position should increment after each character display. S = 0 because we don't want the display to shift after each character display
_delay_ms(50);
}
int main(void)
{
double y[EQ_N][2];
double (*func[EQ_N])();
double parameter[PARTICLE_N][PARA_N], parameter_memory[PARA_N], resampled_parameter[PARTICLE_N][PARA_N];
double time_point[TIME_POINT_N];
double ref_time_point[TIME_POINT_N];
int i, j, k, l, m;
int mcmc_num, pa_num, integral_num, particle_num, rk_num, timepoint_num, parameter_num, equation_num;
int x_flag = 0;
double X, dt;
double probability_before, probability_after, probability_ratio;
int move_count = 0;
double weight[PARTICLE_N], weight_tmp[PARTICLE_N];
double total_weight = 0, power_total_weight, partial_total_weight, upper_weight, lower_weight;
double log_weight[PARTICLE_N], log_weight_tmp[PARTICLE_N];
double total_likelihood[PARTICLE_N], total_likelihood_previous[PARTICLE_N];
double log_likelihood[PARTICLE_N], total_log_likelihood;
double epsilon[POPULATION_N] = {2, 1, 0.75, 0.5, 0.25};
double ess;
int sampling_num;
int resampling_count = 0;
int weighten_particle_num[POPULATION_N] = {0, 0, 0, 0, 0}, last_weighten_particle_num = 0;
int resampling_flag[POPULATION_N] = {0, 0, 0, 0, 0};
double effective_particle_num = 0, total_effective_particle_num = 0;
double weighten_particle_multiplier = 1;
int mcmc_step;
double unit_r, chosen_num;
FILE *fp1, *fp2, *fp3, *fp4, *fp5, *fp6, *fp7, *fin;
clock_t start, end;
dt = 0.01;
X = 1.0;
function_set(func);
/*** 計算開始 **********************************************************************************************************************************/
/* 時間を計る */
start = clock();
/* 乱数の初期化 */
init_genrand(12);
/* ファイル設定 */
fp1 = fopen("information12.data","w");
/* 実験データの読み込み */
fin = fopen("ref_time_point.data","r");
for(timepoint_num=0;timepoint_num<TIME_POINT_N;timepoint_num++){
fscanf(fin, "%lf", &ref_time_point[timepoint_num]);
}
fclose(fin);
/* 実験データの読み込み終了 */
/* サンプル番号初期化 */
sampling_num = 0;
printf("0 th population\n");
/* ランダムサンプリングによる 粒子数個のパラメータセットの発生 **************************************************************************************/
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
/* パラメータ、合計濃度、変動係数を発生させる */
parameter_set(parameter[particle_num]);
parameter_generation(parameter[particle_num]);
}
/* 重みを初期化 正規化 */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
weight[particle_num] = 1.0/PARTICLE_N;
}
/* ランダムサンプリングによる初期パラメータ発生 終了 ************************************************************************************************/
/* Population annealing 開始 *****************************************************************************************************************/
for(pa_num=0;pa_num<POPULATION_N;pa_num++){
printf("%d th population\n", pa_num+1);
/* 各粒子ごとに尤度の計算 */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
total_likelihood[particle_num] = 0; /* 初期化 */
total_likelihood_previous[particle_num] = 0; /* 初期化 */
}
/* 中間分布の計算 */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
/* time point データの発生 */
y[0][0] = 0.0;
y[1][0] = 0.0;
rk_search(X, dt, func, y, parameter[particle_num], time_point);
/* 尤度の計算 */
total_likelihood[particle_num] = indicator_function(time_point, ref_time_point, epsilon[pa_num]);
if(pa_num==0){
total_likelihood_previous[particle_num] = 1;
}
else{
total_likelihood_previous[particle_num] = indicator_function(time_point, ref_time_point, epsilon[pa_num-1]);
}
}
/* 中間分布の計算終了 */
/* 重みの計算 */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
weight[particle_num] = weight[particle_num] * total_likelihood[particle_num]/total_likelihood_previous[particle_num];
if(total_likelihood[particle_num]==0 || total_likelihood_previous[particle_num]==0) weight[particle_num] = 0.0;
}
total_weight = 0.0;
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
total_weight = total_weight + weight[particle_num];
}
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
weight[particle_num] = weight[particle_num]/total_weight;
}
/* 重みを持つ粒子数の計算 */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
if(weight[particle_num]!=0) weighten_particle_num[pa_num]++;
}
fprintf(fp1, "weighten particle num = %d\n", weighten_particle_num[pa_num]);
/* 各粒子ごとに */
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
/* 重みが0なら飛ばす */
if(weight[particle_num]==0) continue;
/* フラグの初期化 */
x_flag = 0;
/* MCMC 計算 */
for(mcmc_num=0;mcmc_num<MCMC_MAX_STEP;mcmc_num++){
/* 許容されなければ、元のままのパラメータ */
if(x_flag == 1){
for(parameter_num=0;parameter_num<PARA_N;parameter_num++){
parameter[particle_num][parameter_num] = parameter_memory[parameter_num];
}
}
/* 確率の初期化 */
probability_before = 1.0;
probability_after = 1.0;
/* フラグの初期化 */
x_flag = 0;
/* 新候補の計算前の値を記憶 */
for(parameter_num=0;parameter_num<PARA_N;parameter_num++){
parameter_memory[parameter_num] = parameter[particle_num][parameter_num];
}
/* 移動前の確率を計算 */
probability_before = probability_before*pdf_uniform_parameter(parameter[particle_num]); /* 事前分布を乗じる */
total_likelihood[particle_num] = 0.0; /* 初期化 */
/* time point データの発生 */
y[0][0] = 0.0;
y[1][0] = 0.0;
rk_search(X, dt, func, y, parameter[particle_num], time_point);
/* 尤度の計算 */
total_likelihood[particle_num] = indicator_function(time_point, ref_time_point, epsilon[pa_num]);
probability_before = probability_before * total_likelihood[particle_num]; /* 移動前の確率 */
/* 新候補を計算 パラメータの中から1つだけ動かす */
unit_r = genrand_real2();
chosen_num = PERTURB_PARA_N*unit_r;
parameter_sampler(parameter[particle_num]);
/* 移動後の確率を計算 : 一様事前分布を乗じる */
probability_after = probability_after*pdf_uniform_parameter(parameter[particle_num]); /* 事前分布を乗じる */
if(probability_after == 0.0){
x_flag = 1;
for(parameter_num=0;parameter_num<PARA_N;parameter_num++){
parameter[particle_num][parameter_num] = parameter_memory[parameter_num];
}
continue;
}
/* 移動後の確率を計算 */
total_likelihood[particle_num] = 0.0; /* 初期化 */
/* time point データの発生 */
y[0][0] = 0.0;
y[1][0] = 0.0;
rk_search(X, dt, func, y, parameter[particle_num], time_point);
/* 尤度の計算 */
total_likelihood[particle_num] = indicator_function(time_point, ref_time_point, epsilon[pa_num]);
probability_after = probability_after * total_likelihood[particle_num]; /* 移動後の確率 */
if(probability_after == 0.0){
x_flag = 1;
for(parameter_num=0;parameter_num<PARA_N;parameter_num++){
parameter[particle_num][parameter_num] = parameter_memory[parameter_num];
}
continue;
}
/* 移動前と移動後の確率の比の計算 */
probability_ratio = probability_after/probability_before;
/* [0,1) 単位乱数の発生 */
unit_r = genrand_real2();
/* 移動の判定 */
if(probability_ratio > unit_r){
move_count++;
}
else{
x_flag = 1;
for(parameter_num=0;parameter_num<PARA_N;parameter_num++){
parameter[particle_num][parameter_num] = parameter_memory[parameter_num];
}
continue;
}
}
/* particle_num 番目の粒子の MCMC 終了 */
}
/* 全粒子の MCMC 終了 */
/* リサンプリング ********************************************************/
power_total_weight = 0.0;
ess = 0.0;
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
power_total_weight = power_total_weight + pow(weight[particle_num], 2);
}
/* Effective Sample Size の計算 */
ess = 1.0/power_total_weight;
//if(pa_num==4) ess = 0.0;
fprintf(fp1, "%d th population", pa_num);
fprintf(fp1, "ESS = %f\t particle_num/2 = %f\n\n", ess, PARTICLE_N/2.0);
/* リサンプリングの判定と実行 */
if(ess < PARTICLE_N/2){
fprintf(fp1, "resampling\n");
resampling_count++;
resampling_flag[pa_num] = 1;
fprintf(fp1, "resampling flag = %d\n", resampling_flag[pa_num]);
/* 粒子数個リサンプリングする 重複可 */
for(m=0;m<PARTICLE_N;m++){
/* [0,1) 乱数発生 */
unit_r = genrand_real2();
partial_total_weight = 0.0;
/* l 番目の粒子が選ばれる */
for(l=0;l<PARTICLE_N;l++){
partial_total_weight = partial_total_weight + weight[l];
upper_weight = partial_total_weight;
lower_weight = partial_total_weight - weight[l];
if((unit_r >= lower_weight) && (unit_r < upper_weight)){
for(i=0;i<PARA_N;i++){
resampled_parameter[m][i] = parameter[l][i];
}
break;
}
}
}
/* 粒子数個リサンプリング終了 */
/* リサンプル後のパラメータと活性化時間の再設定 */
for(l=0;l<PARTICLE_N;l++){
for(i=0;i<PARA_N;i++){
parameter[l][i] = resampled_parameter[l][i];
}
}
/* リサンプル後の重みを初期化 正規化 */
for(l=0;l<PARTICLE_N;l++){
weight[l] = 1.0/PARTICLE_N;
}
}
/* リサンプリングの判定と実行 終了 */
/* リサンプリング終了 ****************************************************/
}
/* Population annealing 終了 *****************************************************************************************************************/
for(pa_num=0;pa_num<POPULATION_N;pa_num++){
if(resampling_flag[pa_num]==1){
weighten_particle_multiplier = weighten_particle_multiplier * weighten_particle_num[pa_num]/PARTICLE_N;
}
}
/* 重みを持つ粒子数の計算 */
last_weighten_particle_num = 0;
for(particle_num=0;particle_num<PARTICLE_N;particle_num++){
if(weight[particle_num]!=0) last_weighten_particle_num++;
}
effective_particle_num = last_weighten_particle_num*weighten_particle_multiplier;
fprintf(fp1, "effective particle number = %f\n", effective_particle_num);
/* 移動回数、 リサンプリング回数、 モデル数を出力 */
fprintf(fp1, "%d times move\n", move_count);
fprintf(fp1, "%d times resampling\n", resampling_count);
end = clock();
/* 計算時間の出力 */
fprintf(fp1, "%f min\n", (double)(end - start)/CLOCKS_PER_SEC/60.0);
fclose(fp1);
return 0;
}
int main(void)
{
double y[EQ_N][2];
double (*func[EQ_N])();
double parameter[PARA_N];
double ref_parameter[PARA_N];
double time_point[TIME_POINT_N];
double ref_time_point[TIME_POINT_N];
double epsilon = 0.01;
int accept_particle_number = 0;
int i, j, k, l, m;
int mcmc_num, pa_num, integral_num, particle_num, rk_num, timepoint_num, parameter_num, equation_num;
int x_flag = 0;
double dt;
int sampling_num;
double unit_r, chosen_num;
FILE *fp1, *fp2, *fp3, *fp4, *fp5, *fp6, *fp7, *fin;
clock_t start, end;
dt = 0.001;
function_set(func);
/*** 計算開始 **********************************************************************************************************************************/
/* 時間を計る */
start = clock();
/* 乱数の初期化 */
init_genrand(2);
/* ファイル設定 */
fp1 = fopen("information2.data","w");
/* 実験データの読み込み */
fin = fopen("ref_time_point.data","r");
for(timepoint_num=0;timepoint_num<TIME_POINT_N;timepoint_num++){
fscanf(fin, "%lf", &ref_time_point[timepoint_num]);
}
fclose(fin);
/* 実験データの読み込み終了 */
/* 参照パラメータ値設定 */
parameter_set(ref_parameter);
/* ランダムサンプリングによる 粒子数個のパラメータセットの発生 **************************************************************************************/
for(sampling_num=0;sampling_num<PARTICLE_N;sampling_num++){
/* パラメータを発生させる */
parameter_set(parameter);
parameter_generation(parameter, ref_parameter);
/* time point データの発生 */
initial_condition_set(y);
rk_search(1, dt, func, y, parameter, time_point);
if(indicator_function(time_point, ref_time_point, epsilon)==1.0){
accept_particle_number++;
}
}
/* ランダムサンプリングによる初期パラメータ発生 終了 ************************************************************************************************/
fprintf(fp1, "accept particle number = %d\n", accept_particle_number);
end = clock();
/* 計算時間の出力 */
fprintf(fp1, "%f min\n", (double)(end - start)/CLOCKS_PER_SEC/60.0);
fclose(fp1);
return 0;
}
int main(void){
//ustawienie portow
DDRD = 0xff;
DDRC = 0x0f;
PORTC = 0x30;
DDRB = 0x00;
PORTB = 0x02;
display_on();
display_clear();
set_entry_mode();
function_set();
print("Ladies and");
_delay_ms(1500);
clear_line(0);
print("Gentlemen");
_delay_ms(1500);
clear_line(0);
print("We are floating");
_delay_ms(1500);
clear_line(0);
print("in space");
_delay_ms(1500);
clear_line(0);
short offset = 0;
while(1){
if(!(PINC & 0x20)){
++offset;
data_write('a'+offset);
shift_cursor(SH_LEFT);
_delay_ms(20); // przeczekaj drgania stykow
uint8_t step = 10, counter = 0;
while(!(PINC & 0x20)){ //dopoki wcisniety
if(counter>100){
step = 3;
counter = 0;
++offset;
data_write('a'+offset);
shift_cursor(SH_LEFT);
}else
++counter;
_delay_ms(step);
}
_delay_ms(20); // przeczekaj drgania stykow
}
if(!(PINC & 0x10)){
--offset;
data_write('a'+offset);
shift_cursor(SH_LEFT);
_delay_ms(20); // przeczekaj drgania stykow
uint8_t step = 10, counter = 0;
while(!(PINC & 0x10)){ //dopoki wcisniety
if(counter>100){
step = 3;
counter = 0;
--offset;
data_write('a'+offset);
shift_cursor(SH_LEFT);
}else
++counter;
_delay_ms(step);
}
_delay_ms(20); // przeczekaj drgania stykow
}
if(!(PINB & 0x2)){
shift_cursor(SH_RIGHT);
data_write('a');
shift_cursor(SH_LEFT);
offset = 0;
_delay_ms(20); // przeczekaj drgania stykow
while(!(PINB & 0x2)){} //dopoki wcisniety
_delay_ms(20); // przeczekaj drgania stykow
}
}
}
