/* do store Parameter in virtual EEPROM -------------------------------------*/
void dofComm()
{
// add 2 chars to int from 0..99
u8 set = (line[1] - 0x30) * 10 + (line[2] - 0x30);
writeFlashParameter(set, readInt(4));
print_para(set);
}
/* do read from flash and print Parameter -----------------------------------------*/
void dorComm()
{
// add 2 chars to int from 0..99
u8 set = (line[1] - 0x30) * 10 + (line[2] - 0x30);
print_para(set);
send(OK);
}
void run(char* model_root, char* prefix, char* infofile) {
twtm_model* model = new twtm_model(model_root, prefix, infofile);
char pre[100];
srand(time(NULL));
double sum_lik = 0.0;
int docid, labelid, topicid, wordid;
double lik;
int num_words = model->num_words;
int num_topics = model->num_topics;
double temp;
while (scanf("%s", pre) != EOF) {
if (strcmp(pre, "lik") == 0) {
scanf("%d%lf", &docid, &lik);
sum_lik += lik;
}
else if (strcmp(pre, "pi") == 0) {
scanf("%d%lf", &labelid, &temp);
model->pi[labelid] = temp;
}
else if (strcmp(pre,"phi") == 0) {
scanf("%d%d%lf", &topicid, &wordid, &temp);
model->log_phi[topicid * num_words + wordid] = temp;
}
else if (strcmp(pre,"theta") == 0) {
scanf("%d%d%lf", &labelid, &topicid, &temp);
model->log_theta[labelid * num_topics + topicid] = temp;
}
}
normalize_log_matrix_rows(model->log_theta, model->num_labels, num_topics);
normalize_log_matrix_rows(model->log_phi, num_topics, model->num_words);
print_para(model, model_root, prefix);
printf("%lf\n", sum_lik);
delete model;
}
void print_para(int left_para, int right_para, char *str, int count) {
if (left_para < 0 || left_para > right_para)
return;
if (!left_para && !right_para) {
printf("%s\n", str);
}
else {
if (left_para > 0) {
str[count] = '(';
print_para(left_para-1, right_para, str, count+1);
}
if (right_para > left_para) {
str[count] = ')';
print_para(left_para, right_para-1, str, count+1);
}
}
}
int main() {
int right_para = 3;
int left_para = 3;
char str[3+3] = {""};
int count = 0;
print_para(left_para, right_para, str, count);
}
/* do print Parameter -------------------------------------------------------------*/
void dopComm()
{
if (line[1] == 'a')
{
u8 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
print_para(i);
Delay(5); // prevent txbuffer overvlow
}
}
else
{
// add 2 chars to int from 0..99
u8 set = (line[1] - 0x30) * 10 + (line[2] - 0x30);
print_para(set);
send(OK);
}
}
/* flash parameter ---------------------------------------------------------*/
void flashAllParameter()
{
u16 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
writeFlashParameter(i, getParameter(i));
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
// info user over uart1
send(OK);
}
/* do set Parameter -------------------------------------------------------------*/
void dosComm()
{
if (line[1] == 'a')
{
zeroACC();
}
else
{
// add 2 chars to int from 0..99
u8 set = (line[1] - 0x30) * 10 + (line[2] - 0x30);
setParameter(set, readInt(4));
print_para(set);
}
}
/* load Parameter from virtual EEPROM ---------------------------------------*/
void loadParameter()
{
u16 val;
u16 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
EE_ReadVariable(VirtAddVarTab[i], &val);
parameter[i] = val;
// for test
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
}
/* load default parameter to flash ------------------------------------------*/
void loadDefault()
{
//#########################################################################
// store default set if flash - only set 1
//#########################################################################
EE_WriteVariable(VirtAddVarTab[PARA_SET], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_DEBUG], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_HW], 0x01);
EE_WriteVariable(VirtAddVarTab[PARA_VOLT], 0x8BC); //2236 = 10 Volt
EE_WriteVariable(VirtAddVarTab[PARA_SW], 0x01);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_X_ZERO], 0x7FF);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Y_ZERO], 0x7F1);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Z_ZERO], 0x7F8);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_ACC], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_GYRO], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_RC], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_X_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Y_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Z_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_FORCE], 0x1F4);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_CORR], 0x1F4);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO0_CH], 0x5);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO1_CH], 0x6);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO2_CH], 0x7);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO3_CH], 0x8);
EE_WriteVariable(VirtAddVarTab[PARA_CAM_X], 0x5014); //servo 2 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_CAM_Y], 0x7724); //servo 3 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_MIN_GAS], 0x20);
//#########################################################################
u16 val;
u16 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
EE_ReadVariable(VirtAddVarTab[i], &val);
parameter[i] = val;
// for test
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
// info user over uart1
send(DEFAULT);
}
/* load Parameter from virtual EEPROM ---------------------------------------*/
void loadParameter()
{
u16 val;
u16 i;
// test if flash is clear
EE_ReadVariable(401, &val);
if (val != 99)
{
loadDefault();
}
EE_WriteVariable(401, 99);
for (i = 0;i <= USED_PARAMETER; i++)
{
EE_ReadVariable(VirtAddVarTab[i], &val);
parameter[i] = val;
// for test
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
}
/* load default parameter to flash ------------------------------------------*/
void loadDefault()
{
//#########################################################################
// store default set if flash - only set 1
//#########################################################################
EE_WriteVariable(VirtAddVarTab[PARA_SET], 0);
EE_WriteVariable(VirtAddVarTab[PARA_DEBUG], 0);
EE_WriteVariable(VirtAddVarTab[PARA_HW], 3); //0=RC,1=PC,2=MotMix,4=Compass
EE_WriteVariable(VirtAddVarTab[PARA_VOLT], 2236); //2236 = 10 Volt
EE_WriteVariable(VirtAddVarTab[PARA_SW], 1); //0=HH,1=acc,2=comp2, 3=DCM
EE_WriteVariable(VirtAddVarTab[PARA_ACC_X_ZERO], 20536); //20470
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Y_ZERO], 20369); //20330
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Z_ZERO], 20452); //24450
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_ACC], 200);
EE_WriteVariable(VirtAddVarTab[PARA_STICK_FACTOR], 20);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_RC], 00);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_X_90], 2200);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Y_90], 2200);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Z_90], 2200);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_FORCE], 300); //50
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_CORR], 50); //25
EE_WriteVariable(VirtAddVarTab[PARA_SERVO0_CH], 5); //Kanal 5
EE_WriteVariable(VirtAddVarTab[PARA_SERVO1_CH], 6); //Kanal 6
EE_WriteVariable(VirtAddVarTab[PARA_SERVO2_CH], 7); //Kanal 7
EE_WriteVariable(VirtAddVarTab[PARA_SERVO3_CH], 8); //Kanal 8
EE_WriteVariable(VirtAddVarTab[PARA_CAM_X], 20500); //servo 2 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_CAM_Y], 30500); //servo 3 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_MIN_GAS], 10); // min gas 24
EE_WriteVariable(VirtAddVarTab[PARA_P_X], 1000); //23:1000
EE_WriteVariable(VirtAddVarTab[PARA_I_X], 0); //24:
EE_WriteVariable(VirtAddVarTab[PARA_D_X], 3000); //25:3000
EE_WriteVariable(VirtAddVarTab[PARA_P_Y], 1000); //26:
EE_WriteVariable(VirtAddVarTab[PARA_I_Y], 0); //27:
EE_WriteVariable(VirtAddVarTab[PARA_D_Y], 3000); //28:
EE_WriteVariable(VirtAddVarTab[PARA_P_Z], 0); //29:
EE_WriteVariable(VirtAddVarTab[PARA_I_Z], 0); //30:
EE_WriteVariable(VirtAddVarTab[PARA_D_Z], 0); //31:
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_X], 0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_Y], 0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_Z], 0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_DECL], 0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_FORCE], 0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT1A], 25600); //100, 0
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT1B], 40092); //-100, -100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT2A], 25600); //100, 0
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT2B], 25756); //100, -100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT3A], 25700); //100, 100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT3B], 100); //0, 100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT4A], 25828); //100, -100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT4B], 100); //0, 100
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT5A], 25600); //100, 0 - Motor not used
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT5B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT6A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT6B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT7A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT7B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT8A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT8B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT9A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT9B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT10A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT10B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT11A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT11B], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT12A], 25600);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT12B], 25600);
//#########################################################################
u16 val;
u16 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
EE_ReadVariable(VirtAddVarTab[i], &val);
parameter[i] = val;
// for test
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
// info user over uart1
send(DEFAULT);
}
/* load default parameter to flash ------------------------------------------*/
void loadDefault()
{
//#########################################################################
// store default set if flash - only set 1
//#########################################################################
EE_WriteVariable(VirtAddVarTab[PARA_SET], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_DEBUG], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_HW], 0x01);
EE_WriteVariable(VirtAddVarTab[PARA_VOLT], 0x8BC); //2236 = 10 Volt
EE_WriteVariable(VirtAddVarTab[PARA_SW], 0x01); //0=HH,1=acc,2=comp2
EE_WriteVariable(VirtAddVarTab[PARA_ACC_X_ZERO], 0x4FF6);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Y_ZERO], 0x4F6A);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_Z_ZERO], 0x4FB0);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_ACC], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_GYRO], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_SMOOTH_RC], 0x00);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_X_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Y_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_Z_90], 0x898);
EE_WriteVariable(VirtAddVarTab[PARA_ACC_FORCE], 0x1F4);
EE_WriteVariable(VirtAddVarTab[PARA_GYRO_CORR], 0x1F4);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO0_CH], 0x5);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO1_CH], 0x6);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO2_CH], 0x7);
EE_WriteVariable(VirtAddVarTab[PARA_SERVO3_CH], 0x8);
EE_WriteVariable(VirtAddVarTab[PARA_CAM_X], 0x5014); //servo 2 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_CAM_Y], 0x7724); //servo 3 , 0, wert 500
EE_WriteVariable(VirtAddVarTab[PARA_MIN_GAS], 0x18); // min gas 24
EE_WriteVariable(VirtAddVarTab[PARA_P_X], 0x64);
EE_WriteVariable(VirtAddVarTab[PARA_I_X], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_D_X], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_P_Y], 0x64);
EE_WriteVariable(VirtAddVarTab[PARA_I_Y], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_D_Y], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_P_Z], 0x64);
EE_WriteVariable(VirtAddVarTab[PARA_I_Z], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_D_Z], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_X], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_Y], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_CORR_Z], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_DECL], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_COMP_FORCE], 0x1F4);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT1A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT1B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT2A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT2B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT3A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT3B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT4A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT4B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT5A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT5B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT6A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT6B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT7A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT7B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT8A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT8B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT9A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT9B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT10A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT10B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT11A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT11B], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT12A], 0x0);
EE_WriteVariable(VirtAddVarTab[PARA_MIXER_MOT12B], 0x0);
//#########################################################################
u16 val;
u16 i;
for (i = 0;i <= USED_PARAMETER; i++)
{
EE_ReadVariable(VirtAddVarTab[i], &val);
parameter[i] = val;
// for test
print_para(i);
Delay(2); // prevent txbuffer overvlow
}
// info user over uart1
send(DEFAULT);
}
