Diff: main.cpp

Revision:

6:4ea2ba88338f

Parent:

5:79b8cd191fa8

--- a/main.cpp	Fri Dec 01 10:30:27 2017 +0000
+++ b/main.cpp	Sat Dec 02 21:14:53 2017 +0000
@@ -30,8 +30,8 @@
 #define ACQ_TIMER_PERIOD        0.005  // Time between 2 acquisitions (here 5 mSec)
 #define N_PTS                   100    // Number of points for each axis used to detect mvt
 #define N_MVTS                  5      // Number of mvts detected
-#define THRESHOLD_MVT           0.5    // threshold to validate a mvt
-#define THRESHOLD_SHOCK         0.5    // threshold to detect shock
+#define THRESHOLD_MVT           0.4    // threshold to validate a mvt
+#define THRESHOLD_SHOCK         0.45   // threshold to detect shock
 
 MMA8491Q my8491(PTE0, PTE1, MMA8491_I2C_ADDRESS); // Setup I2C for MMA8491
 
@@ -83,14 +83,20 @@
 int flash_base_address = RESERVED_SECTOR * SECTOR_SIZE ; // Store Flash Base Address
 int flash_next_address; // next address for saving data in flash
 int flash_base_address_cmd; // base address where the parameters are saved
-/*
-const float Weights[3*N_PTS*N_MVTS] = {
-    #include "Weights.txt"
+
+const float w_s_l [3*N_PTS] = {
+    #include "weights_samples_layer.txt"
+};
+const float b_s_l [N_PTS] = {
+    #include "biases_samples_layer.txt"
 };
-const float Biases[N_MVTS] = {
-    #include "Biases.txt"
+const float w_o_l [N_PTS*N_MVTS] = {
+    #include "weights_output_layer.txt"
 };
-*/
+const float b_o_l [N_MVTS] = {
+    #include "biases_output_layer.txt"
+};
+
 // ------------------------ Function Declaration ------------------------
 void Init(void);
 void DisplayFlashInfos(void);   // display memory use
@@ -111,7 +117,10 @@
 void Log(void);                 // read data, detect shock and movement
 void Rotate(int16_t *AccDataLog, int amount, int16_t *inputs); // inputs = AccDataLog rotated of amount
 void PrintSet(MvtSet mvtSet);   // display set of data
-void Softmax (float *inputs, float *result); // softmax function (used by neural network)
+
+float Map (float x);            // inputs mapped between 0 and 1
+float Sigmoid (float x);        // sigmoid function
+void Softmax (float *inputs, float *result); // softmax function
 Mvt SelectMvt(int16_t *inputs); // compute probabilities for each mvt based on the inputs
 
 // -------------------------------------------------------------------------------------------------------
@@ -260,9 +269,18 @@
     {
         char cmd = Host_Comm.getc();
         if ((cmd == 'E') || (cmd == 'e')) {
-            EraseAllSectors();
-            flash_next_address = flash_base_address;
-            Host_Comm.printf("Erase done.\n\r");
+            Host_Comm.printf("Press 'E' again to confirm.\n\r");
+            wait_ms(1000);
+            if(Host_Comm.readable()) {
+                cmd = Host_Comm.getc();
+                if ((cmd == 'E') || (cmd == 'e')) {
+                    EraseAllSectors();
+                    flash_next_address = flash_base_address;
+                    Host_Comm.printf("Erase done.\n\r");
+                }
+            }
+            else
+                Host_Comm.printf("Erase aborded.\n\r");
         }
         else if ((cmd == 'C') || (cmd == 'c')) {
             mode = CONSOLE;
@@ -555,6 +573,15 @@
     Host_Comm.printf("------- End Set -------\n\n\r");
 }
 
+// -------------------------------------------------------------------------------------------------------
+// -------------------------------------------------------------------------------------------------------
+
+// -------------------------------- Map ---------------------------------
+float Map (float x) { return (x+OFFSET)/RANGE; }
+
+// ------------------------------ Sigmoid -------------------------------
+float Sigmoid (float x) { return 1/(1+exp(-x)); }
+
 // ------------------------------ Softmax -------------------------------
 void Softmax (float *inputs, float *result)
 {
@@ -573,26 +600,28 @@
 // ----------------------------- SelectMvt ------------------------------
 Mvt SelectMvt(int16_t *inputs)
 {
-    /*
     int i, j;
-    float selection [N_MVTS] = {};
+    
+    float samples [N_PTS];
+    for (i = 0; i < N_PTS; i++)
+        samples[i] = Sigmoid( Map(inputs[i*3])*w_s_l[i*3] + Map(inputs[i*3+1])*w_s_l[i*3+1] + Map(inputs[i*3+2])*w_s_l[i*3+2] + b_s_l[i] );
+    
+    float probabilities [N_MVTS] = {};
     for (j = 0; j < N_MVTS; j++) {
-        for (i = 0; i < N_PTS*3; i++)
-            selection[j] += (inputs[i]+OFFSET)/RANGE * Weights[i*N_MVTS+j];
-        selection[j] = selection[j]+Biases[j];
+        for (i = 0; i < N_PTS; i++)
+            probabilities[j] += samples[i] * w_o_l[i*N_MVTS+j];
+        probabilities[j] = probabilities[j] + b_o_l[j];
     }
-    Softmax(selection,selection);
+    Softmax(probabilities,probabilities);
     
     Mvt mvt = Undefined;
     Host_Comm.printf("Proba mvt : ");
     for (i = 0; i < N_MVTS; i++) {
-        if (selection[i] > THRESHOLD_MVT)
+        if (probabilities[i] > THRESHOLD_MVT)
             mvt = static_cast<Mvt>(i+1);
-        Host_Comm.printf("%f ",selection[i]);
+        Host_Comm.printf("%f ",probabilities[i]);
     }
     Host_Comm.printf("\n\r");
     
     return mvt;
-    */
-    return SmashShot;
 }