Revision 6:4ea2ba88338f, committed 2017-12-02

Comitter:

ATCuriosity

Date:

Sat Dec 02 21:14:53 2017 +0000

Parent:

5:79b8cd191fa8

Commit message:

finally complete ! (95% accurate on all the data sets)

Changed in this revision

diff -r 79b8cd191fa8 -r 4ea2ba88338f Biases.txt
--- a/Biases.txt	Fri Dec 01 10:30:27 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,5 +0,0 @@
--1.0646535158157349,
--0.6977548003196716,
--0.005603725556284189,
-1.3278864622116089,
--1.2949254512786865,

diff -r 79b8cd191fa8 -r 4ea2ba88338f Weights.txt
--- a/Weights.txt	Fri Dec 01 10:30:27 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,300 +0,0 @@
--0.24571223556995392, -1.2547351121902466, -0.5151374340057373, -0.7628714442253113, 0.37868261337280273, 
--1.3155070543289185, -0.9980486035346985, -1.248487114906311, 1.7516164779663086, 0.5233801603317261, 
-0.21488504111766815, -1.421653389930725, -0.21514840424060822, -1.546012282371521, 1.9574376344680786, 
--0.7332760691642761, 0.008802240714430809, 1.3402708768844604, 0.7094124555587769, 0.8680424094200134, 
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--0.41870394349098206, 0.6573562026023865, 2.6433796882629395, -0.8333752155303955, 0.8722538352012634, 
--0.16796894371509552, 0.44822829961776733, -1.2626208066940308, 0.10006387531757355, -0.5416926741600037, 
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-0.3444811701774597, -0.5007097721099854, -0.8634229898452759, 0.9853735566139221, 0.5826707482337952, 
--0.58268141746521, -1.1399238109588623, -1.1591811180114746, -0.4172535836696625, -0.675905704498291, 
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--0.906055748462677, 0.9643391370773315, -0.6229026913642883, -0.02340785413980484, -0.33625367283821106, 
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--0.3499170243740082, 0.43359214067459106, 1.2608072757720947, -0.6052184104919434, -1.8603475093841553, 
--0.2730920910835266, 1.1910473108291626, 0.2258511632680893, 1.433384895324707, 1.234363317489624, 
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--1.2350103855133057, 0.2963707149028778, 0.9701659083366394, -1.0835926532745361, -0.11917296797037125, 
--0.37895825505256653, -1.7771995067596436, -0.019534138962626457, 2.9615883827209473, 0.25121763348579407, 
-0.8339133262634277, 0.22713664174079895, 0.9965538382530212, 0.5968238711357117, -1.5828763246536255, 
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--2.162511110305786, 0.7899621725082397, -0.15857213735580444, 0.28261488676071167, 2.414595127105713, 
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--0.5617250800132751, 1.0422673225402832, 1.6266191005706787, 1.7717909812927246, -0.7754138708114624, 
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--0.27144351601600647, -1.9862209558486938, -0.9538099765777588, 0.6054468750953674, 0.9940077662467957, 
--0.06766536831855774, 0.11968550831079483, 0.05768483132123947, -0.5280429720878601, 1.1563289165496826, 
--0.7475485801696777, -0.3628635108470917, 0.4201650619506836, -0.7420871257781982, 0.09786992520093918, 
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-0.8022302985191345, -1.2480902671813965, 0.47768324613571167, 0.21117296814918518, 1.9149134159088135, 
-1.7242094278335571, 0.8336970210075378, 0.41345974802970886, -0.9379270076751709, 2.1104962825775146, 
--2.49871563911438, 0.010669699870049953, 0.7397603392601013, -1.4014956951141357, -1.9628691673278809, 
--0.11874690651893616, -0.8464556336402893, -0.42584142088890076, 0.017458681017160416, -1.8545551300048828, 
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--0.25131914019584656, 0.6798037886619568, -0.48410695791244507, -0.5080237984657288, 0.058485954999923706, 
--0.037989646196365356, 1.3258992433547974, -0.7108741402626038, -0.8191260099411011, 1.5472145080566406, 
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-0.17005574703216553, 0.833899974822998, -0.7972658276557922, -0.6435285210609436, -2.0923526287078857, 
-1.023192048072815, -0.29334649443626404, -0.6297960877418518, 1.136114478111267, 0.03520612791180611, 
--0.18912947177886963, -1.2379231452941895, -2.0603222846984863, -0.7299221754074097, 1.1001360416412354, 
-1.0139005184173584, 1.240451693534851, 0.5343283414840698, 1.1729710102081299, 0.7688093185424805, 
--1.8992074728012085, 0.6157780885696411, 0.25491926074028015, 0.3645287752151489, -1.6406471729278564, 
--0.9560879468917847, 0.959143877029419, -0.017925290390849113, -0.5446258783340454, 1.4396666288375854, 
--1.420528531074524, 0.03796866908669472, -0.29537075757980347, -0.8458269834518433, -0.6738583445549011, 
--0.03177834302186966, -1.3860054016113281, 0.0018310340819880366, 1.0835442543029785, 0.03270955756306648, 
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-1.7277284860610962, 1.6250970363616943, 0.947969377040863, -0.09351341426372528, 0.4289342761039734, 
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--2.016120672225952, 0.6257203221321106, 1.0507885217666626, -0.029885414987802505, -2.5440011024475098, 
-1.6460753679275513, 1.1059083938598633, -1.5741223096847534, 0.5004421472549438, -0.28274595737457275, 
--0.6780849695205688, 1.1578879356384277, 2.211224317550659, 1.4035290479660034, -1.8716883659362793, 
--0.29758763313293457, 0.4424312710762024, -2.5813848972320557, -0.9491724371910095, -0.07292648404836655, 
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--0.5954411625862122, -0.017594752833247185, -0.3557453751564026, 0.3944736123085022, -1.0058554410934448, 
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--1.4033223390579224, 0.1664753258228302, 0.4766818583011627, 1.5686628818511963, -0.6600256562232971, 
--0.335094153881073, -0.5906346440315247, -2.035036563873291, 0.583794116973877, -0.06896258890628815, 
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--1.3854694366455078, 0.8130932450294495, 1.0910412073135376, 0.20034046471118927, -0.5161378383636475, 
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--0.32575589418411255, -1.1952637434005737, 0.8877434730529785, 0.11238182336091995, -1.5014374256134033, 
--1.3295249938964844, -1.0996168851852417, 1.843910813331604, -0.9227277636528015, 0.2040606588125229, 
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--0.29146111011505127, -0.24147692322731018, -0.2600655257701874, -1.8025357723236084, 0.8647507429122925, 
--0.1681271195411682, 0.28574103116989136, -0.43706080317497253, 0.41124245524406433, 0.5147752165794373, 
--0.2775876522064209, -0.4952861964702606, -0.2667485773563385, 0.3210819661617279, -0.40817344188690186, 
--0.06622244417667389, 0.8583413362503052, 0.14687955379486084, 0.05935690179467201, 0.5819144248962402, 
--0.7063305377960205, 0.43360021710395813, 1.095748782157898, -0.5009535551071167, 1.002533197402954, 
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--0.43224114179611206, 1.0758882761001587, 0.2726796865463257, 0.0005450983881019056, 0.48274311423301697, 
--0.013604583218693733, 0.5066549181938171, -2.1614344120025635, 0.9588053226470947, -0.2388698160648346, 
--0.397980660200119, 0.9987998604774475, 1.6461561918258667, 0.8425766229629517, 1.51308012008667, 
--1.047377109527588, 1.3987879753112793, -0.5345917344093323, -0.9388144612312317, 0.7743181586265564, 
--1.6612881422042847, -0.8800246715545654, -0.4126180410385132, -0.7180327773094177, 0.27906370162963867, 
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--0.5642552375793457, 0.017567146569490433, 0.7231954336166382, -0.13913965225219727, 1.3970544338226318, 
--0.14319008588790894, 0.5959615707397461, -0.23391467332839966, 0.9660151600837708, 1.0580672025680542, 
--0.6308073401451111, -0.2844630479812622, -0.9570762515068054, -0.17585760354995728, 0.6175369620323181, 
--0.4797804653644562, -0.7332133650779724, 1.0722174644470215, -0.5180562734603882, 0.44341766834259033, 
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--0.5283777713775635, -0.13056285679340363, 1.7861558198928833, 1.1118049621582031, 0.023035619407892227, 
-0.8867878317832947, 0.20952709019184113, -1.0908615589141846, 0.44646450877189636, 0.1203150674700737, 
--0.08161653578281403, -0.9132283926010132, 1.2480424642562866, 1.043677568435669, 1.4476314783096313, 
-0.9541173577308655, 0.5862772464752197, -0.5088291764259338, 1.5552773475646973, -0.3268165588378906, 
--0.8960882425308228, -0.706878662109375, 0.4968663454055786, 0.043684981763362885, -0.1972479522228241, 
-0.03657980635762215, 0.6149055361747742, -0.03446078673005104, -0.2132982611656189, 0.7714595198631287, 
--0.270560085773468, -0.04509641230106354, 1.7853329181671143, 0.006397714838385582, -2.7257449626922607, 
--1.3830292224884033, -1.2513301372528076, -1.2270413637161255, -2.2081449031829834, 1.068936824798584, 
--0.9967105388641357, -1.4176737070083618, -1.617468237876892, 0.039301976561546326, 0.09694920480251312, 
-1.0827531814575195, -1.1814264059066772, 1.0057880878448486, 0.8533228635787964, -0.7631391882896423, 
--0.24893881380558014, 0.5981446504592896, 0.7981404066085815, -1.655669927597046, 0.22737352550029755, 
-0.12930887937545776, 1.8057129383087158, 1.5131651163101196, 2.1643309593200684, -1.3595128059387207, 
-0.5336093306541443, 1.9204450845718384, -0.03952101990580559, 0.637104868888855, -0.7934021949768066, 
--0.5868478417396545, -1.510240912437439, -0.524418294429779, 1.0649091005325317, 0.05972880497574806, 
--1.0382444858551025, -0.012967342510819435, 0.5729777812957764, 2.0507876873016357, -2.8616888523101807, 
-1.250059723854065, 1.6747651100158691, 0.5358275175094604, -1.3041059970855713, 1.4657577276229858, 
--0.31538471579551697, -0.16719190776348114, 1.357993721961975, -0.11212803423404694, 0.8421339988708496, 
--1.7066630125045776, -0.10603433847427368, 1.6580501794815063, 0.8335152268409729, 1.0102025270462036, 
-0.4938548803329468, 0.362338125705719, -1.206067442893982, 1.3892029523849487, -0.19357240200042725, 
--0.3922188878059387, 0.10690675675868988, 0.32008758187294006, 1.8203095197677612, 0.591988742351532, 
--0.4966576397418976, 0.00580607820302248, 0.844944953918457, 0.33273762464523315, 1.2646454572677612, 
-0.7739227414131165, 1.583108901977539, 0.410776823759079, 0.8327687382698059, -1.7758195400238037, 
--0.759372889995575, -0.0356706939637661, -0.12336110323667526, 0.3210195004940033, -1.8825874328613281, 
--0.16823963820934296, 0.5235546231269836, -0.037861090153455734, -0.2774212658405304, -1.3357977867126465, 
--0.25447559356689453, -0.9409592747688293, -0.4950021505355835, 0.20604264736175537, -1.372945785522461, 
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-1.0733623504638672, 0.8108218908309937, -1.8777872323989868, -0.4558943808078766, -0.19966039061546326, 
-0.34224486351013184, -0.474256694316864, 0.7173314690589905, 0.5382103323936462, 0.1558445394039154, 
--0.9937874674797058, 1.5274988412857056, 1.6436188220977783, 0.4879588484764099, -0.0455688051879406, 
--0.17023444175720215, -0.8190378546714783, 0.5665439367294312, 0.8219445943832397, -0.5749495029449463, 
-0.5257431864738464, -0.632213830947876, 1.4793148040771484, -0.5781370997428894, -0.13768716156482697, 
-2.063453435897827, -1.472749948501587, -1.393918514251709, 0.5929126739501953, 1.350251317024231, 
--0.5676105618476868, 0.19563230872154236, 0.14220485091209412, -0.7228379249572754, 0.2624388039112091, 
-1.8941563367843628, -0.09321978688240051, -0.9016468524932861, 0.7969010472297668, 0.6370030641555786
\ No newline at end of file

diff -r 79b8cd191fa8 -r 4ea2ba88338f biases_output_layer.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/biases_output_layer.txt	Sat Dec 02 21:14:53 2017 +0000
@@ -0,0 +1,5 @@
+1.046273112297058,
+1.2933000326156616,
+-2.6970293521881104,
+0.22565095126628876,
+-1.3082348108291626
\ No newline at end of file

diff -r 79b8cd191fa8 -r 4ea2ba88338f biases_samples_layer.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/biases_samples_layer.txt	Sat Dec 02 21:14:53 2017 +0000
@@ -0,0 +1,100 @@
+1.2839854955673218,
+0.844560444355011,
+-0.9599889516830444,
+-0.28173181414604187,
+-0.7556612491607666,
+0.4844706952571869,
+-0.41522833704948425,
+0.11125683784484863,
+-0.13264158368110657,
+-1.4656951427459717,
+-0.6944068670272827,
+0.06977055966854095,
+1.4905098676681519,
+0.5831243395805359,
+-1.1652263402938843,
+1.3002569675445557,
+1.369484543800354,
+1.1341967582702637,
+0.4264237582683563,
+0.14997832477092743,
+0.6767251491546631,
+-0.5880087018013,
+-0.24395346641540527,
+-0.5318885445594788,
+3.139577865600586,
+-0.30305585265159607,
+0.050287120044231415,
+0.9818302989006042,
+0.3075530529022217,
+-0.8817423582077026,
+0.20989981293678284,
+-1.3815406560897827,
+0.09841000288724899,
+-1.6288092136383057,
+1.0597361326217651,
+-0.33830392360687256,
+2.407935380935669,
+-0.46230483055114746,
+0.15525832772254944,
+0.7853626012802124,
+0.8132264018058777,
+-1.3183537721633911,
+0.17298023402690887,
+-0.6979860067367554,
+0.7119547724723816,
+-1.392679214477539,
+-0.26977643370628357,
+-0.3344902992248535,
+-0.4499512314796448,
+0.7309167385101318,
+0.4638931453227997,
+-0.3446531891822815,
+-0.4022730588912964,
+-0.5872006416320801,
+1.0412873029708862,
+-0.6543596386909485,
+-0.573635995388031,
+0.5825256109237671,
+0.26941901445388794,
+-0.05702151730656624,
+-0.45687413215637207,
+-1.2664389610290527,
+0.24614040553569794,
+-1.6083775758743286,
+-0.24198085069656372,
+0.352922260761261,
+-0.3957057297229767,
+1.6292335987091064,
+-1.6753135919570923,
+0.44008755683898926,
+-0.4512365460395813,
+-0.7904369831085205,
+-1.2897789478302002,
+-0.19778940081596375,
+0.6819683313369751,
+-0.9121500253677368,
+0.24416685104370117,
+0.441783607006073,
+-0.07064472138881683,
+-0.01949775405228138,
+0.5159420371055603,
+0.15058153867721558,
+-0.635097861289978,
+0.1641169637441635,
+0.11039312928915024,
+-0.8112671971321106,
+0.5832013487815857,
+0.7378504872322083,
+-0.2872060537338257,
+0.03293687477707863,
+-1.7732337713241577,
+-0.6498776078224182,
+-0.19854162633419037,
+-0.1391322910785675,
+-1.0905576944351196,
+-0.8330727815628052,
+-0.04723380133509636,
+0.651992678642273,
+-1.4250738620758057,
+-0.6021254658699036
\ No newline at end of file

diff -r 79b8cd191fa8 -r 4ea2ba88338f main.cpp
--- 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;
 }

diff -r 79b8cd191fa8 -r 4ea2ba88338f weights_output_layer.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/weights_output_layer.txt	Sat Dec 02 21:14:53 2017 +0000
@@ -0,0 +1,100 @@
+-0.5420050024986267, 0.5869160890579224, 0.05389264225959778, -0.5913965702056885, -2.425096273422241, 
+-1.0003925561904907, -1.097780704498291, -0.497514009475708, 0.5402132272720337, -0.05606909841299057, 
+-1.2179789543151855, 2.8080153465270996, 1.855914831161499, -1.713951826095581, 0.07847507297992706, 
+-0.34620946645736694, 2.2162039279937744, -0.7811248898506165, 1.7119351625442505, 1.3000222444534302, 
+-1.7032727003097534, 0.7473033666610718, 2.55963397026062, -0.020724013447761536, -0.058701686561107635, 
+-1.146972417831421, -0.6883780360221863, -1.0168401002883911, 1.5918679237365723, -0.942190945148468, 
+0.8738690614700317, 0.9838008284568787, -0.3479006588459015, -0.5306583046913147, 0.5928286910057068, 
+-1.719947338104248, -0.5982359647750854, 1.2436224222183228, 2.302950143814087, -0.5401427745819092, 
+3.218435287475586, -1.681931495666504, -0.686454713344574, -0.32819968461990356, -1.8301751613616943, 
+2.1310229301452637, -2.1517865657806396, -1.49229097366333, 2.464606761932373, 1.999384880065918, 
+0.004270622972398996, 1.8081399202346802, -0.011434733867645264, -2.3271262645721436, -2.212893009185791, 
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diff -r 79b8cd191fa8 -r 4ea2ba88338f weights_samples_layer.txt
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/weights_samples_layer.txt	Sat Dec 02 21:14:53 2017 +0000
@@ -0,0 +1,100 @@
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