Diff: main.cpp

Revision:

152:a1aa20ae5332

Parent:

151:d0a6c06e8529

Child:

153:0c49704a06ed

--- a/main.cpp	Sat Oct 10 03:46:31 2020 +0000
+++ b/main.cpp	Sat Oct 10 09:56:18 2020 +0000
@@ -1,4 +1,4 @@
-//201010-1
+//201010-2
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,72 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.4458138942718506f,0.9983195066452026f,0.12903714179992676f,0.5383951663970947f,-2.93015193939209f,0.552778959274292f,-0.17472904920578003f,2.2291035652160645f,-4.8842597007751465f,-1.1335140466690063f,-0.23530137538909912f,-0.42957326769828796f,-0.267672061920166f,-0.8692221641540527f,-0.2571594715118408f,-0.5540679097175598f},
-{-1.567903757095337f,0.9464848637580872f,-0.3927857577800751f,0.161371111869812f,-2.172548294067383f,-0.1844097524881363f,-0.4054011106491089f,1.6956110000610352f,-2.7575435638427734f,-0.6783028244972229f,-0.2721322774887085f,-0.31204748153686523f,0.23209457099437714f,-1.14264714717865f,-0.20967772603034973f,-0.21403270959854126f},
-{-1.607421875f,0.7845844626426697f,0.36391180753707886f,-0.2558248043060303f,-0.965721845626831f,-0.6742702722549438f,0.2872133255004883f,1.4398255348205566f,-0.6473278403282166f,-0.44190362095832825f,-0.3460467755794525f,-0.32766345143318176f,-0.006002379115670919f,-0.39334309101104736f,0.05590221285820007f,-0.38937288522720337f},
-{-0.9866515398025513f,-0.08105552941560745f,0.39742106199264526f,0.3407272696495056f,0.26069366931915283f,-1.678292989730835f,-0.11584559082984924f,0.8207827806472778f,1.630671501159668f,0.1542888730764389f,0.09776147454977036f,0.12019568681716919f,-0.16797608137130737f,-0.1573142111301422f,-0.2961459457874298f,0.007804698310792446f},
-{1.2153433561325073f,-1.5261080265045166f,-0.0051451027393341064f,0.22924426198005676f,1.8450169563293457f,-1.86265230178833f,0.1294034719467163f,-1.3884602785110474f,3.0717885494232178f,0.9407323598861694f,0.3496463894844055f,-0.07733602821826935f,-0.0714043602347374f,0.43815308809280396f,-0.3865056037902832f,-0.21527224779129028f},
-{4.60967493057251f,-4.951109409332275f,0.21773302555084229f,0.19822651147842407f,3.8876898288726807f,-2.393300771713257f,0.16514194011688232f,-4.792138576507568f,3.0278913974761963f,2.5706706047058105f,-0.24593579769134521f,0.22179169952869415f,-0.26791638135910034f,1.2028114795684814f,-0.4132833778858185f,-0.12397683411836624f},
-{0.06142641603946686f,1.068634271621704f,-0.2501986622810364f,-0.911369264125824f,-1.0467934608459473f,1.9098186492919922f,0.06014183163642883f,-0.05700468644499779f,1.4547255039215088f,-0.39567112922668457f,0.14985030889511108f,0.07622731477022171f,-0.17728494107723236f,-0.07673158496618271f,-0.15618428587913513f,-0.049247026443481445f},
-{-1.041608214378357f,1.3443719148635864f,-0.26619744300842285f,-0.07936783134937286f,0.11069657653570175f,1.4280222654342651f,-0.17925891280174255f,0.2256689816713333f,2.135171890258789f,-0.8369642496109009f,0.10396178066730499f,-0.3558410406112671f,0.36559608578681946f,-0.07188697159290314f,0.04303058981895447f,-0.08912382274866104f},
-{-0.049025800079107285f,1.2998840808868408f,0.10248100757598877f,-0.5786457061767578f,-0.6342775821685791f,1.2341686487197876f,-0.07246989011764526f,-0.47030237317085266f,-0.5140420794487f,0.10152942687273026f,-0.29864412546157837f,0.08505319058895111f,0.2231481969356537f,0.17763707041740417f,-0.30555272102355957f,-0.020129617303609848f},
-{0.20585091412067413f,0.36630409955978394f,0.18462657928466797f,-0.3402521014213562f,-0.8805280327796936f,0.9720800518989563f,-0.2990540862083435f,-0.5116473436355591f,-1.5843172073364258f,-0.18277478218078613f,-0.009611605666577816f,-0.6821308135986328f,0.36620229482650757f,-0.134412944316864f,0.3484981060028076f,-0.19408752024173737f},
-{0.7693850994110107f,0.5953582525253296f,0.37182438373565674f,0.046950627118349075f,-1.1591618061065674f,0.5888751745223999f,-0.20339298248291016f,-0.435875803232193f,-2.0941500663757324f,0.40410351753234863f,0.3470311164855957f,-0.44842401146888733f,-0.07266867160797119f,0.07030421495437622f,0.26688337326049805f,-0.5026135444641113f},
-{-0.04630373790860176f,0.00503764022141695f,-0.40320003032684326f,-0.2041625678539276f,-0.731499433517456f,0.3926513195037842f,0.1533789038658142f,0.046181537210941315f,-1.174362063407898f,0.5450606942176819f,-0.4155062735080719f,0.0004430132976267487f,0.13858471810817719f,0.04627634957432747f,0.10493969917297363f,-0.25424498319625854f},
-{0.04570223018527031f,0.22854739427566528f,0.19847965240478516f,-0.047751881182193756f,-0.15677839517593384f,0.4776374101638794f,-0.2404318004846573f,0.10865268856287003f,-0.44430622458457947f,-0.033409785479307175f,-0.11030901223421097f,-0.4237665832042694f,0.08593606948852539f,0.027752768248319626f,-0.22268100082874298f,-0.5444576740264893f},
-{-0.026484623551368713f,0.11651984602212906f,0.4127817749977112f,-0.2793567478656769f,-0.2229687124490738f,-0.08443860709667206f,-0.32001304626464844f,-0.2887210249900818f,0.10227058082818985f,-0.11500227451324463f,-0.19619326293468475f,-0.4205239415168762f,-0.31876471638679504f,-0.06010248512029648f,0.0479682981967926f,-0.048994030803442f},
-{0.25017106533050537f,0.12442193925380707f,0.20282304286956787f,-0.120930016040802f,0.38738808035850525f,-0.003814073046669364f,0.04202890396118164f,0.32084426283836365f,0.03806644305586815f,0.07374051213264465f,-0.2805851101875305f,-0.6933444738388062f,0.09762527793645859f,-0.10557463020086288f,0.0668090283870697f,0.03950008749961853f},
-{0.0030329772271215916f,-0.3586612641811371f,-0.40439701080322266f,-0.27741357684135437f,-0.11264312267303467f,-0.2957873046398163f,-0.15568238496780396f,0.06148141250014305f,-0.2817177474498749f,0.1041640117764473f,-0.4750020503997803f,-0.3566400706768036f,-0.2769638001918793f,0.002845979994162917f,-0.08245879411697388f,0.09818307310342789f},
-{0.28614291548728943f,-0.6702405214309692f,0.16706281900405884f,-0.1026933491230011f,0.035589978098869324f,-0.9777131080627441f,-0.041414469480514526f,-0.24070721864700317f,-1.0843576192855835f,0.48338791728019714f,-0.35469311475753784f,0.06952255964279175f,0.10625976324081421f,0.4583272635936737f,0.29427415132522583f,-0.04839852824807167f},
+   {-0.8254300951957703f,0.7507821917533875f,0.12903714179992676f,0.4168238937854767f,-1.0212955474853516f,0.8029837608337402f,-0.17472904920578003f,0.6241715550422668f,-0.9273817539215088f,-0.7345587015151978f,-0.23348425328731537f,-0.6109985709190369f,-0.27126044034957886f,-0.37711063027381897f,-0.2571594715118408f,-0.5817620158195496f},
+{-0.7197705507278442f,0.574379026889801f,-0.3927857577800751f,0.037795133888721466f,-0.8019629120826721f,0.3929319977760315f,-0.4054011106491089f,0.26279690861701965f,-0.4696201682090759f,-0.2363312691450119f,-0.2703639566898346f,-0.47140437364578247f,0.2284385859966278f,-0.6859781742095947f,-0.20967772603034973f,-0.18805253505706787f},
+{-0.5507479906082153f,0.3231552243232727f,0.36391180753707886f,-0.3808029890060425f,-0.25124263763427734f,0.28023967146873474f,0.2872133255004883f,0.19817791879177094f,-0.28775754570961f,0.02548103593289852f,-0.3443242609500885f,-0.46265146136283875f,-0.009747563861310482f,0.03349454328417778f,0.05590221285820007f,-0.3138071596622467f},
+{-0.21567216515541077f,-0.19794155657291412f,0.39742106199264526f,0.21521669626235962f,0.12050507217645645f,-0.41127583384513855f,-0.11584559082984924f,0.18912489712238312f,0.17919127643108368f,0.43864011764526367f,0.09942778199911118f,0.017120322212576866f,-0.1717938780784607f,0.20313744246959686f,-0.2961459457874298f,0.134671151638031f},
+{0.5831760168075562f,-0.3482406437397003f,-0.0051451027393341064f,0.10491812229156494f,0.5081925392150879f,-0.4696034789085388f,0.1294034719467163f,-0.4849582016468048f,0.5045273303985596f,0.5730445981025696f,0.35131052136421204f,-0.12914538383483887f,-0.07530196011066437f,0.642650842666626f,-0.3865056037902832f,-0.03148502856492996f},
+{1.15403413772583f,-1.2988249063491821f,0.21773302555084229f,0.07684443891048431f,1.122854471206665f,-1.137669324874878f,0.16514194011688232f,-1.1202317476272583f,0.8649137616157532f,0.9448323249816895f,-0.24429729580879211f,0.23524552583694458f,-0.2719132900238037f,1.1298778057098389f,-0.4132833778858185f,0.11943458765745163f},
+{0.0733875185251236f,-0.050326842814683914f,-0.2501986622810364f,-0.5714490413665771f,-0.48090389370918274f,0.1535172313451767f,0.06014183163642883f,-0.5320321321487427f,0.22543857991695404f,0.1415068805217743f,0.15420372784137726f,0.2599380314350128f,-0.17985212802886963f,0.3277214467525482f,-0.15618428587913513f,-0.3626363277435303f},
+{-0.02625521458685398f,-0.27711668610572815f,-0.26619744300842285f,-0.04973488301038742f,-0.42900940775871277f,-0.14157706499099731f,-0.17925891280174255f,-0.39851468801498413f,0.006405356805771589f,0.24211496114730835f,0.10795889794826508f,-0.3910355269908905f,0.36379051208496094f,0.2107359766960144f,0.04303058981895447f,0.03499684855341911f},
+{0.11886928230524063f,0.3113223910331726f,0.10248100757598877f,-0.5355892181396484f,-0.26523807644844055f,0.09172051399946213f,-0.07246989011764526f,-0.4619968831539154f,-0.29571041464805603f,0.47565025091171265f,-0.29469719529151917f,0.09312517940998077f,0.22130082547664642f,0.29027897119522095f,-0.30555272102355957f,0.06503288447856903f},
+{-0.11729703843593597f,-0.2382141798734665f,0.18462657928466797f,-0.2830526828765869f,0.05397186428308487f,0.21832408010959625f,-0.2990540862083435f,-0.14459505677223206f,-0.025881795212626457f,-0.33147555589675903f,-0.0057074264623224735f,-0.6476274728775024f,0.3643333613872528f,-0.14579731225967407f,0.3484981060028076f,-0.15295149385929108f},
+{0.3912433683872223f,0.0967978984117508f,0.37182438373565674f,0.11428315192461014f,-0.0661507099866867f,-0.014863435178995132f,-0.20339298248291016f,-0.031010780483484268f,-0.4541774392127991f,0.161847323179245f,0.35092368721961975f,-0.4030248820781708f,-0.07453419268131256f,0.060415174812078476f,0.26688337326049805f,-0.5110751986503601f},
+{-0.3745262622833252f,-0.41436755657196045f,-0.40320003032684326f,-0.13045842945575714f,0.05236468464136124f,-0.10122650116682053f,0.1533789038658142f,0.35891976952552795f,-0.17215557396411896f,0.34526148438453674f,-0.4116147458553314f,0.06465048342943192f,0.13671906292438507f,0.04717200621962547f,0.10493969917297363f,-0.30010372400283813f},
+{-0.07955340296030045f,-0.20523695647716522f,0.19847965240478516f,0.02928774803876877f,0.2320202887058258f,0.11406565457582474f,-0.2404318004846573f,0.15049226582050323f,-0.21359969675540924f,-0.07628761976957321f,-0.1064448431134224f,-0.34715205430984497f,0.08407799899578094f,0.06246500834822655f,-0.22268100082874298f,-0.623881459236145f},
+{-0.19623248279094696f,-0.09420984238386154f,0.4127817749977112f,-0.20027711987495422f,-0.3459511399269104f,-0.2776871621608734f,-0.32001304626464844f,-0.28172504901885986f,-0.18096543848514557f,-0.12780389189720154f,-0.1923646777868271f,-0.3389253616333008f,-0.32064521312713623f,-0.02700648456811905f,0.0479682981967926f,-0.15467779338359833f},
+{0.09173628687858582f,0.029127590358257294f,0.20282304286956787f,-0.03988397866487503f,0.23678584396839142f,-0.15773610770702362f,0.04202890396118164f,0.32451656460762024f,0.22196155786514282f,0.14590544998645782f,-0.2767699956893921f,-0.6232771873474121f,0.09574126452207565f,-0.05542082339525223f,0.0668090283870697f,-0.08928685635328293f},
+{-0.10996658354997635f,-0.3418191075325012f,-0.40439701080322266f,-0.19195640087127686f,-0.24408096075057983f,-0.033885397017002106f,-0.15568238496780396f,0.013156994245946407f,0.1420391947031021f,0.08453238755464554f,-0.471200555562973f,-0.2810949385166168f,-0.2788753807544708f,0.022349270060658455f,-0.08245879411697388f,-0.036898329854011536f},
+{-0.0781601294875145f,-0.22968390583992004f,0.16706281900405884f,-0.011049232445657253f,-0.021497728303074837f,-0.35636264085769653f,-0.041414469480514526f,-0.03047158010303974f,-0.0543629415333271f,0.2552012801170349f,-0.35087165236473083f,0.16808921098709106f,0.10427239537239075f,0.44614723324775696f,0.29427415132522583f,-0.17896637320518494f},
 };
 
 const float h2[16][16] = { 
-    {-0.9771313071250916f,0.14759401977062225f,-0.06966331601142883f,-0.6984365582466125f,-0.21907491981983185f,-0.7827127575874329f,-9.575057983398438f,0.0904630720615387f,-0.43008196353912354f,-0.24786430597305298f,-4.2549004554748535f,-0.2399013638496399f,-0.027921104803681374f,-1.516003131866455f,-0.8816905617713928f,-1.5911288261413574f},
-{0.06420741975307465f,-1.534696340560913f,0.057057321071624756f,0.0452597476541996f,-0.35503754019737244f,-2.875443935394287f,-5.305951118469238f,-0.2990124225616455f,-0.33757925033569336f,0.16117975115776062f,-5.186746597290039f,-0.8968076109886169f,0.025220230221748352f,1.9313749074935913f,-0.25437185168266296f,-6.090187072753906f},
+    {-0.9383106231689453f,1.1018035411834717f,-0.06966331601142883f,0.660603940486908f,-0.21907491981983185f,1.6187254190444946f,-0.12359052151441574f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.1424168050289154f,-0.16137951612472534f,-0.014296061359345913f,-1.382235050201416f,-1.3216447830200195f,-0.3229021728038788f},
+{0.3241967260837555f,-0.5420487523078918f,0.057057321071624756f,-0.28702524304389954f,-0.35503754019737244f,-0.9248805642127991f,-0.5992633700370789f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.1757327318191528f,-0.7320427894592285f,0.21377265453338623f,0.6930166482925415f,0.3844112157821655f,-1.1101199388504028f},
 {-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},
-{-0.05919463559985161f,-0.20992223918437958f,-0.2894435524940491f,0.676190972328186f,0.08946844935417175f,0.4465484619140625f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.24604225158691406f,0.26175519824028015f,-0.5584275126457214f,-0.2923189103603363f,0.19649575650691986f,0.02162802778184414f},
-{-0.49668049812316895f,5.084133625030518f,-0.25313520431518555f,-0.157624751329422f,0.036378175020217896f,-0.8089457154273987f,-0.1688588261604309f,-0.08570799231529236f,-0.024399548768997192f,-0.4328964352607727f,-0.18319126963615417f,-0.898177444934845f,-0.15314756333827972f,3.0662121772766113f,-0.7655944228172302f,-1.1575708389282227f},
-{0.23198960721492767f,0.5797075033187866f,-0.3519742488861084f,0.1196594387292862f,-0.3015052080154419f,-1.6919108629226685f,-1.9537376165390015f,-0.019414573907852173f,-0.23047015070915222f,0.22310562431812286f,-0.5564684867858887f,-0.43983492255210876f,-0.5603109002113342f,-1.472894549369812f,0.16197814047336578f,-2.806149482727051f},
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 };
 
 const float h3[16][16] = { 
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+{0.15459725260734558f,1.847203016281128f,-0.20702162384986877f,-0.18694625794887543f,-0.38738688826560974f,1.808054804801941f,-0.08742031455039978f,0.05785742402076721f,-0.033114273101091385f,-0.21430663764476776f,0.1268840730190277f,-0.30447322130203247f,-0.07351867109537125f,-0.4680652916431427f,0.4414437711238861f,0.4711373448371887f},
+{-0.408692330121994f,0.06622173637151718f,0.053418613970279694f,0.0922636091709137f,-0.02326192334294319f,-0.13765206933021545f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.40041646361351013f,-0.306822270154953f,-0.3139876425266266f,0.34044501185417175f},
+{-0.2991822361946106f,0.243866965174675f,0.057913534343242645f,-0.05932474136352539f,0.22261089086532593f,0.10624121874570847f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.15249380469322205f,-0.27166613936424255f,0.22517405450344086f,-0.03341919556260109f},
+{-0.2675279378890991f,-0.05893629789352417f,0.1110338568687439f,-0.0006368464673869312f,0.04936349764466286f,-0.21596567332744598f,-0.32875844836235046f,-0.31893211603164673f,-0.41233378648757935f,-0.5010577440261841f,-0.3685331642627716f,-0.41174250841140747f,0.5733410120010376f,-0.5403127074241638f,0.3135620057582855f,0.47427576780319214f},
+{-0.015470266342163086f,-2.7333335876464844f,0.773011326789856f,0.28740301728248596f,0.09213997423648834f,-0.3367389440536499f,0.05196094512939453f,-0.008358269929885864f,-0.41446444392204285f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.7641319036483765f,-0.060428280383348465f,-0.20003503561019897f,0.5673503875732422f},
+{0.1863725483417511f,0.024578282609581947f,-0.041027557104825974f,-0.47461920976638794f,0.5052651762962341f,-0.07427752763032913f,0.04860696196556091f,0.17769548296928406f,-0.022646836936473846f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,-0.11775971949100494f,0.05651840567588806f,-0.019543873146176338f,-0.15145954489707947f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.2717304527759552f,-0.20405617356300354f,0.0007209036848507822f,-0.26379576325416565f,0.1039927750825882f,0.0030125975608825684f,0.15066689252853394f,-0.06871195882558823f,0.2955557107925415f,-0.04143309220671654f,-0.13120849430561066f,-0.17768670618534088f,0.37661510705947876f,0.40079009532928467f,-0.7932237386703491f };
+const float hout[16] = { 0.45773375034332275f,0.8504605889320374f,-0.47981545329093933f,-0.016836805269122124f,-0.0256032831966877f,0.49317023158073425f,0.0030125975608825684f,0.15066689252853394f,-0.26404035091400146f,-0.08780593425035477f,0.24303162097930908f,-0.2715643346309662f,-0.7156689763069153f,-0.09383254498243332f,0.6383092999458313f,-1.0312845706939697f };
 
-const float b1[16] = { 0.6666421294212341f,1.6433405876159668f,-1.7145336866378784f,0.2161281704902649f,2.5156750679016113f,2.9096062183380127f,-0.058932315558195114f,0.637333333492279f,2.6370177268981934f,-1.545054316520691f,0.5709254145622253f,1.3733630180358887f,-0.377168744802475f,-0.9282650947570801f,-1.087764859199524f,0.8483772277832031f };
+const float b1[16] = { 0.6962379813194275f,0.9604794979095459f,-1.7145336866378784f,0.23827297985553741f,1.056889533996582f,0.8638935685157776f,-0.058932315558195114f,0.8794180154800415f,0.5413942933082581f,-0.7722088098526001f,0.574961245059967f,1.2480543851852417f,-0.3789219558238983f,-0.7435240149497986f,-1.087764859199524f,0.9895656108856201f };
 
-const float b2[16] = { -0.35374265909194946f,-0.8880521655082703f,-1.4564176797866821f,-0.7850483059883118f,-0.6939148902893066f,0.1815483272075653f,0.4453078806400299f,-0.30969977378845215f,-1.20063054561615f,-2.0019190311431885f,0.7826797962188721f,0.11196072399616241f,-0.5413222312927246f,1.1316555738449097f,-0.09906341880559921f,1.3477294445037842f };
+const float b2[16] = { -0.11788398772478104f,-0.8130703568458557f,-1.4564176797866821f,-0.6179319620132446f,-0.6939148902893066f,0.10162337869405746f,0.16136431694030762f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.3580690622329712f,0.3422625660896301f,-0.2033599615097046f,2.0198655128479004f,0.09860430657863617f,0.6925148367881775f };
 
-const float b3[16] = { -1.963319182395935f,-1.9548192024230957f,-0.7769867181777954f,-0.37627869844436646f,-4.409831523895264f,-0.12517809867858887f,-0.45353031158447266f,-0.6562485098838806f,-0.08616812527179718f,1.3618383407592773f,-0.5772532224655151f,-0.10731422901153564f,0.276481032371521f,0.7345516681671143f,-1.348840594291687f,-0.6906635165214539f };
+const float b3[16] = { -1.963319182395935f,-0.21402834355831146f,0.00163638882804662f,-0.12286757677793503f,-0.10734277963638306f,0.8261970281600952f,-0.45353031158447266f,-0.6562485098838806f,0.507068395614624f,0.44553086161613464f,-0.14371006190776825f,0.050810977816581726f,-0.3875081241130829f,0.24544529616832733f,-1.170535922050476f,-0.220807746052742f };
 
-const float bout[1] = { -0.20518898963928223f };
+const float bout[1] = { -0.2519563138484955f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;