Diff: main.cpp

Revision:

191:9ca80cca68e3

Parent:

190:ceb2bcd39667

Child:

192:637092202815

Child:

200:666d961bbac6

--- a/main.cpp	Thu Dec 17 12:31:21 2020 +0000
+++ b/main.cpp	Fri Dec 18 00:58:54 2020 +0000
@@ -1,4 +1,4 @@
-//201217_3
+//201218_1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -198,72 +198,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.1207894086837769f,0.11903887242078781f,0.12903714179992676f,-0.07067181169986725f,-1.3666995763778687f,1.0737475156784058f,-0.17472904920578003f,-0.21810932457447052f,-0.40764832496643066f,-0.06502553820610046f,-0.23684236407279968f,-0.4039178490638733f,-0.2676747143268585f,-1.2385258674621582f,-0.2571594715118408f,2.2077527046203613f},
-{-0.5851386189460754f,-0.19851532578468323f,-0.3927857577800751f,-0.26409125328063965f,-0.8272938132286072f,0.3482273519039154f,-0.4054011106491089f,-0.2952779233455658f,-0.2369799166917801f,0.19087964296340942f,-0.2736198306083679f,-0.22399084270000458f,0.23191256821155548f,-1.0678339004516602f,-0.20967772603034973f,1.577996015548706f},
-{-0.6128913760185242f,0.15684029459953308f,0.36391180753707886f,-0.5149809122085571f,-0.5162920951843262f,0.4419298470020294f,0.2872133255004883f,-0.0511334091424942f,-0.3304816484451294f,0.20013725757598877f,-0.3474749028682709f,-0.19952453672885895f,-0.006370564457029104f,-0.35292911529541016f,0.05590221285820007f,0.5734474658966064f},
-{-0.551689863204956f,0.5238215923309326f,0.39742106199264526f,0.24961261451244354f,-0.38436639308929443f,-0.03177526220679283f,-0.11584559082984924f,0.2850537896156311f,-0.15378326177597046f,0.34043049812316895f,0.09638378769159317f,0.2750474810600281f,-0.16855108737945557f,-0.21234971284866333f,-0.2961459457874298f,-0.09920983761548996f},
-{0.5003691911697388f,0.7489572763442993f,-0.0051451027393341064f,0.3413567841053009f,0.3185289204120636f,-0.3788270056247711f,0.1294034719467163f,0.013296476565301418f,-0.17004884779453278f,0.16348886489868164f,0.34836387634277344f,0.1070728674530983f,-0.07216952741146088f,0.5355852842330933f,-0.3865056037902832f,-1.6160576343536377f},
-{2.4414103031158447f,-1.3603116273880005f,0.21773302555084229f,0.5786158442497253f,2.3384199142456055f,-2.341205358505249f,0.16514194011688232f,-0.16069768369197845f,-0.23906369507312775f,0.1837228685617447f,-0.24712057411670685f,0.46230411529541016f,-0.2688344120979309f,1.8572421073913574f,-0.4132833778858185f,-2.6660830974578857f},
-{-1.2316234111785889f,2.3141636848449707f,-0.2501986622810364f,-0.7452970743179321f,-1.6727797985076904f,1.6263598203659058f,0.06014183163642883f,-1.3012621402740479f,0.05096759274601936f,-0.054887887090444565f,0.1482049971818924f,-0.1365739405155182f,-0.17589396238327026f,0.9735093712806702f,-0.15618428587913513f,-2.760838747024536f},
-{-0.7707603573799133f,0.44884923100471497f,-0.26619744300842285f,0.08961119502782822f,-1.3229494094848633f,0.8302067518234253f,-0.17925891280174255f,-1.0168284177780151f,-0.3114836513996124f,0.037049852311611176f,0.1025993674993515f,-0.4631269574165344f,0.36828500032424927f,0.7522405385971069f,0.04303058981895447f,-1.0034669637680054f},
-{1.1463665962219238f,-2.00508713722229f,0.10248100757598877f,-0.1147058829665184f,0.33484309911727905f,-0.5105528235435486f,-0.07246989011764526f,-0.7750892639160156f,-0.6298611164093018f,0.31855830550193787f,-0.29995012283325195f,0.13688898086547852f,0.22595255076885223f,1.9230021238327026f,-0.30555272102355957f,0.4364432096481323f},
-{0.3599340319633484f,-1.7126232385635376f,0.18462657928466797f,0.046022627502679825f,0.35242894291877747f,-0.0635581910610199f,-0.2990540862083435f,-0.16806179285049438f,-0.21009381115436554f,-0.4708169400691986f,-0.010852859355509281f,-0.7255858778953552f,0.3690471947193146f,0.7015026807785034f,0.3484981060028076f,0.7052909135818481f},
-{0.40998557209968567f,-0.4533356726169586f,0.37182438373565674f,0.24620556831359863f,-0.04212367907166481f,-0.008847737684845924f,-0.20339298248291016f,0.08587904274463654f,-0.4661715626716614f,0.04152877628803253f,0.3458111584186554f,-0.5930091142654419f,-0.06989831477403641f,0.4418874680995941f,0.26688337326049805f,0.45477554202079773f},
-{-0.17343413829803467f,-0.6313080787658691f,-0.40320003032684326f,-0.10961535573005676f,0.31485167145729065f,-0.3106193542480469f,0.1533789038658142f,0.4940248727798462f,-0.12247034907341003f,0.21827702224254608f,-0.4167521595954895f,-0.11904768645763397f,0.141240194439888f,0.4707631468772888f,0.10493969917297363f,0.3073517978191376f},
-{0.0036753679160028696f,-0.25179633498191833f,0.19847965240478516f,0.00011799168714787811f,0.42277297377586365f,-0.02087358571588993f,-0.2404318004846573f,0.2430993765592575f,-0.12190371006727219f,-0.19089198112487793f,-0.11158150434494019f,-0.4564979076385498f,0.0885269045829773f,0.2844822108745575f,-0.22268100082874298f,-0.054818760603666306f},
-{-0.07422329485416412f,-0.18730443716049194f,0.4127817749977112f,-0.24456866085529327f,-0.07600237429141998f,-0.4701249301433563f,-0.32001304626464844f,-0.23252570629119873f,-0.0699765756726265f,-0.23060005903244019f,-0.19743308424949646f,-0.38015928864479065f,-0.3162824809551239f,0.19689230620861053f,0.0479682981967926f,0.13808809220790863f},
-{-0.02316875383257866f,0.07026105374097824f,0.20282304286956787f,-0.12191043794155121f,0.3012254536151886f,-0.15037906169891357f,0.04202890396118164f,0.31775209307670593f,0.3745761513710022f,0.06853658705949783f,-0.2818021774291992f,-0.6646410226821899f,0.09998573362827301f,0.08127274364233017f,0.0668090283870697f,0.11656997352838516f},
-{-0.08771541714668274f,-0.29093530774116516f,-0.40439701080322266f,-0.27386903762817383f,0.047894712537527084f,-0.2232920229434967f,-0.15568238496780396f,-0.000019472498024697416f,0.25417909026145935f,-0.027364736422896385f,-0.4762294590473175f,-0.39110928773880005f,-0.27474963665008545f,0.1116238385438919f,-0.08245879411697388f,-0.018915435299277306f},
-{-0.17197364568710327f,-0.1777856945991516f,0.16706281900405884f,-0.10206405073404312f,0.2941252291202545f,-0.5609397292137146f,-0.041414469480514526f,0.013804765418171883f,-0.008053786121308804f,0.059366535395383835f,-0.355907678604126f,-0.06494681537151337f,0.10836436599493027f,0.31674882769584656f,0.29427415132522583f,0.1281813383102417f},
+    {-1.5377649068832397f,1.2348084449768066f,0.12903714179992676f,-0.7775466442108154f,-1.7313402891159058f,1.1328696012496948f,-0.17472904920578003f,-0.31568053364753723f,-1.6451395750045776f,0.08867859095335007f,-0.23520143330097198f,-1.8044253587722778f,-0.2673356235027313f,-0.7325633764266968f,-0.2571594715118408f,1.472490906715393f},
+{-1.1286786794662476f,0.7839595675468445f,-0.3927857577800751f,-0.6969871520996094f,-1.2280852794647217f,0.48096179962158203f,-0.4054011106491089f,-0.3208436667919159f,-1.0162376165390015f,0.3468303382396698f,-0.2720212936401367f,-1.157413363456726f,0.232293039560318f,-0.9538101553916931f,-0.20967772603034973f,1.1393009424209595f},
+{-0.81263667345047f,0.40442758798599243f,0.36391180753707886f,-0.7410301566123962f,-0.5623536705970764f,0.26899170875549316f,0.2872133255004883f,-0.01752573810517788f,-0.8192043304443359f,0.35837459564208984f,-0.3459203839302063f,-0.7548978924751282f,-0.0059507424011826515f,-0.33420637249946594f,0.05590221285820007f,0.33579739928245544f},
+{-0.29265180230140686f,-0.27822574973106384f,0.39742106199264526f,0.2536725103855133f,-0.03869828209280968f,-0.5511156320571899f,-0.11584559082984924f,0.37218543887138367f,-0.2952747344970703f,0.5005717277526855f,0.09789774566888809f,0.15287092328071594f,-0.1680694818496704f,-0.221437469124794f,-0.2961459457874298f,0.03926409035921097f},
+{0.9285116791725159f,-0.8077948093414307f,-0.0051451027393341064f,0.6920914649963379f,0.7559896111488342f,-0.9459089040756226f,0.1294034719467163f,0.15902996063232422f,0.3258247375488281f,0.32459303736686707f,0.3498339056968689f,0.6136358380317688f,-0.07163341343402863f,0.4614284634590149f,-0.3865056037902832f,-1.0294679403305054f},
+{2.3463828563690186f,-2.5303292274475098f,0.21773302555084229f,1.477303147315979f,2.240800619125366f,-2.3303043842315674f,0.16514194011688232f,0.05813070386648178f,1.3986808061599731f,0.34440353512763977f,-0.24573767185211182f,1.9037261009216309f,-0.268279105424881f,1.7655072212219238f,-0.4132833778858185f,-1.9700273275375366f},
+{-0.4369703531265259f,0.7387278079986572f,-0.2501986622810364f,-0.9271978139877319f,-1.1423627138137817f,1.097220540046692f,0.06014183163642883f,-1.050276517868042f,0.13420486450195312f,-0.2703655958175659f,0.15077415108680725f,-0.04091700538992882f,-0.17465755343437195f,-1.6798783540725708f,-0.15618428587913513f,-1.5135868787765503f},
+{-0.13573184609413147f,0.13010674715042114f,-0.26619744300842285f,-0.0794379785656929f,-0.70912104845047f,0.31772083044052124f,-0.17925891280174255f,-0.7659602761268616f,0.01908610202372074f,-0.16886766254901886f,0.10512365400791168f,-0.2623549699783325f,0.3695131838321686f,-0.7335740327835083f,0.04303058981895447f,-1.0657305717468262f},
+{0.7555938363075256f,-0.021008117124438286f,0.10248100757598877f,-0.00994115136563778f,0.31521323323249817f,-0.2205902636051178f,-0.07246989011764526f,-0.5589467883110046f,0.3382551074028015f,0.11823058128356934f,-0.29748186469078064f,0.6377660036087036f,0.22716356813907623f,1.0021276473999023f,-0.30555272102355957f,-0.732044517993927f},
+{0.3232681155204773f,-0.40787485241889954f,0.18462657928466797f,0.12388432025909424f,0.49224865436553955f,0.06522741168737411f,-0.2990540862083435f,-0.13266541063785553f,0.48252439498901367f,-0.6622780561447144f,-0.008490024134516716f,-0.3987669348716736f,0.3702549934387207f,0.7228370904922485f,0.3484981060028076f,-0.32474222779273987f},
+{0.5499926209449768f,0.16501271724700928f,0.37182438373565674f,0.2804836630821228f,0.1178550198674202f,0.07621731609106064f,-0.20339298248291016f,-0.033771634101867676f,-0.12858600914478302f,-0.13823570311069489f,0.34812381863594055f,-0.4757518470287323f,-0.0686570256948471f,0.7044376134872437f,0.26688337326049805f,-0.16891999542713165f},
+{-0.32638248801231384f,-0.2681056559085846f,-0.40320003032684326f,-0.0554439052939415f,0.13748574256896973f,0.08285294473171234f,0.1533789038658142f,0.3311554193496704f,0.001971070421859622f,0.052262917160987854f,-0.41445285081863403f,-0.10799311101436615f,0.14259445667266846f,0.46168866753578186f,0.10493969917297363f,0.2548428475856781f},
+{-0.027842355892062187f,-0.08303984254598618f,0.19847965240478516f,0.09461163729429245f,0.32331663370132446f,0.2865959703922272f,-0.2404318004846573f,0.08309822529554367f,-0.1785000115633011f,-0.3414570987224579f,-0.10929234325885773f,-0.48389771580696106f,0.08989179879426956f,0.35135433077812195f,-0.22268100082874298f,0.014733131974935532f},
+{-0.06475397944450378f,-0.0561961904168129f,0.4127817749977112f,-0.10577572137117386f,-0.17697541415691376f,-0.1849510818719864f,-0.32001304626464844f,-0.36673668026924133f,-0.21330887079238892f,-0.3657089173793793f,-0.1951775997877121f,-0.3619512915611267f,-0.31488466262817383f,0.26527494192123413f,0.0479682981967926f,0.45723286271095276f},
+{0.10058767348527908f,0.18761076033115387f,0.20282304286956787f,-0.08738672733306885f,0.2697560787200928f,0.0342223234474659f,0.04202890396118164f,0.20938999950885773f,0.05025419965386391f,-0.052940960973501205f,-0.27958524227142334f,-0.7458251714706421f,0.10142271965742111f,0.16368134319782257f,0.0668090283870697f,0.6141231656074524f},
+{-0.1128726527094841f,-0.1546522080898285f,-0.40439701080322266f,-0.30092698335647583f,-0.24299722909927368f,0.15388551354408264f,-0.15568238496780396f,-0.037944644689559937f,0.05713915079832077f,-0.13745471835136414f,-0.47403645515441895f,-0.43296101689338684f,-0.27326998114585876f,0.4320793151855469f,-0.08245879411697388f,0.5419437885284424f},
+{0.04264898970723152f,-0.14219117164611816f,0.16706281900405884f,-0.06084718555212021f,0.0778137817978859f,-0.31440258026123047f,-0.041414469480514526f,0.07056988030672073f,0.15166155993938446f,-0.038817811757326126f,-0.3537028133869171f,0.07804109901189804f,0.10987777262926102f,1.3651574850082397f,0.29427415132522583f,0.09650146216154099f},
 };
 
 const float h2[16][16] = {
-    {-1.6047674417495728f,0.8495492935180664f,-0.06966331601142883f,2.817436456680298f,-0.21907491981983185f,3.1094212532043457f,0.008114581927657127f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.10793275386095047f,-0.9441298842430115f,-0.010457868687808514f,-2.780761241912842f,-1.8892736434936523f,0.01779891736805439f},
-{-0.45909565687179565f,-0.7035843729972839f,0.057057321071624756f,2.0733749866485596f,-0.35503754019737244f,-1.5058544874191284f,-0.6647531390190125f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.8379774689674377f,-0.655921995639801f,0.19520677626132965f,-0.19097934663295746f,-0.18388774991035461f,-0.12604431807994843f},
+    {-0.30360984802246094f,2.638908863067627f,-0.06966331601142883f,-2.1284985542297363f,-0.21907491981983185f,1.5969719886779785f,-0.11378823220729828f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.2562443017959595f,-0.4410564601421356f,-0.013608419336378574f,-2.052125930786133f,-0.3983412981033325f,-1.9826109409332275f},
+{0.04869420453906059f,-0.9130892157554626f,0.057057321071624756f,-0.5089913010597229f,-0.35503754019737244f,-1.2973040342330933f,-1.0162988901138306f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.071617841720581f,-0.8869436383247375f,0.23050862550735474f,1.0951136350631714f,1.5778846740722656f,-1.7874358892440796f},
 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
-{0.10331474989652634f,-0.4038846790790558f,-0.2894435524940491f,0.4437093436717987f,0.08946844935417175f,0.24970977008342743f,-0.28879258036613464f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.10153894126415253f,0.20395836234092712f,-0.404754102230072f,-0.34202659130096436f,0.007985788397490978f,0.10125377774238586f},
-{-1.8563618659973145f,0.48397037386894226f,-0.25313520431518555f,0.10140231996774673f,0.036378175020217896f,0.4735713601112366f,-0.6719755530357361f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.7959779500961304f,-3.1445391178131104f,-0.04379420727491379f,-0.958714485168457f,-1.587273120880127f,-4.58107328414917f},
-{0.31593552231788635f,-0.963300883769989f,-0.3519742488861084f,0.7961648106575012f,-0.3015052080154419f,-0.1805102676153183f,-0.9833030104637146f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.40652498602867126f,0.6048603653907776f,-0.353130042552948f,0.16878701746463776f,0.6769192814826965f,-7.104231834411621f},
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+{-0.40975338220596313f,0.9070354104042053f,-0.25313520431518555f,0.48267850279808044f,0.036378175020217896f,1.1078479290008545f,-0.5186612010002136f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.4139823019504547f,-0.9831398129463196f,-0.03532028570771217f,-2.3388190269470215f,0.6467065215110779f,-0.33112117648124695f},
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 };
 
 const float h3[16][16] = {
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+{-0.408692330121994f,0.00016882641648408026f,0.07694726437330246f,-0.20951619744300842f,-0.07695908844470978f,-0.13925538957118988f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4803943336009979f,-0.1641838550567627f,-0.133147731423378f,0.31533604860305786f},
+{-0.2991822361946106f,0.379294216632843f,-0.07897943258285522f,-0.09465082734823227f,0.08582660555839539f,0.2713330388069153f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.004417163785547018f,-0.10467953234910965f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,-0.34640875458717346f,-0.44033652544021606f,0.997279942035675f,0.1495940089225769f,0.5893060564994812f,-0.32875844836235046f,-0.31893211603164673f,-0.8021053075790405f,-0.7621317505836487f,-0.5216618776321411f,-0.5296260714530945f,1.14543616771698f,-0.7926355600357056f,0.11776287108659744f,0.18698225915431976f},
+{-0.015470266342163086f,-1.1242914199829102f,-1.333337664604187f,0.5949698090553284f,-1.0383976697921753f,-2.408407688140869f,0.05196094512939453f,-0.008358269929885864f,-0.6119314432144165f,-0.6426531076431274f,0.13179203867912292f,-0.04501182585954666f,-1.284587025642395f,2.8592796325683594f,-0.5470286011695862f,-0.4591246545314789f},
+{0.1863725483417511f,2.1868832111358643f,-0.9707214832305908f,-0.549004316329956f,-0.573555052280426f,1.7018946409225464f,0.04860696196556091f,0.17769548296928406f,-0.08241094648838043f,0.22327333688735962f,-0.3929237127304077f,0.19592127203941345f,0.30913761258125305f,1.387982726097107f,0.10862469673156738f,-0.1303754299879074f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.10399800539016724f,-0.14760561287403107f,-0.1568564623594284f,-0.20530475676059723f,0.11688082665205002f,0.0030125975608825684f,0.09003929793834686f,-0.11696770042181015f,-0.43652406334877014f,0.10312434285879135f,0.01772494614124298f,-0.26845306158065796f,0.33403483033180237f,0.36010104417800903f,-0.1654316484928131f };
-
-const float b1[16] = { 0.4092628061771393f,1.5205157995224f,-1.7145336866378784f,0.26850801706314087f,1.0515241622924805f,0.7952827215194702f,-0.058932315558195114f,0.7741511464118958f,0.7118774652481079f,-0.9102972745895386f,0.5694966912269592f,1.34639573097229f,-0.37447425723075867f,-2.45182204246521f,-1.087764859199524f,0.9683187007904053f };
-
-const float b2[16] = { 0.6843794584274292f,-0.8435906767845154f,-1.4564176797866821f,-0.6941748261451721f,-0.6939148902893066f,0.16359400749206543f,0.0005342058720998466f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.5774162411689758f,0.40758979320526123f,-0.22874252498149872f,0.7875402569770813f,0.3559374511241913f,0.8383235335350037f };
-
-const float b3[16] = { -1.963319182395935f,-0.3471168279647827f,0.6637545824050903f,-0.15220783650875092f,0.3992299735546112f,0.48744434118270874f,-0.45353031158447266f,-0.9704262018203735f,1.1186553239822388f,1.7476211786270142f,-0.29535505175590515f,-0.33639708161354065f,-0.5262699127197266f,0.6289868354797363f,-0.5319778919219971f,-0.7022217512130737f };
-
-const float bout[1] = { -0.17621539533138275f };
+const float hout[16] = { 0.45773375034332275f,0.6198812127113342f,3.075077533721924f,-0.6007036566734314f,0.24847236275672913f,1.247266173362732f,0.0030125975608825684f,0.15066689252853394f,0.05033086612820625f,0.0533946268260479f,0.11185391992330551f,-0.1749655306339264f,-1.0110498666763306f,1.219071388244629f,1.8872015476226807f,-0.16191136837005615f };
+
+const float b1[16] = { 0.5638260245323181f,1.1806942224502563f,-1.7145336866378784f,0.24818021059036255f,0.8975874781608582f,1.2844585180282593f,-0.058932315558195114f,0.825614333152771f,1.6077704429626465f,-1.1153591871261597f,0.5720832943916321f,1.1545846462249756f,-0.3732912540435791f,-1.3868684768676758f,-1.087764859199524f,0.9789383411407471f };
+
+const float b2[16] = { -0.2617855966091156f,-0.8839436173439026f,-1.4564176797866821f,-0.6468855738639832f,-0.6939148902893066f,0.16817186772823334f,0.09135577827692032f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1662583202123642f,0.14832311868667603f,-0.23087339103221893f,1.7029191255569458f,0.10706561803817749f,0.5922772884368896f };
+
+const float b3[16] = { -1.963319182395935f,-0.13796980679035187f,-0.907817006111145f,0.09013273566961288f,-0.1457054167985916f,0.9321498870849609f,-0.45353031158447266f,-0.6562485098838806f,-0.01854712702333927f,-0.023044707253575325f,-0.4521785378456116f,-0.06036800891160965f,-1.33890962600708f,0.4787708818912506f,-1.2732046842575073f,-0.41846638917922974f };
+
+const float bout[1] = { -1.3581293821334839f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };