Diff: main.cpp

Revision:

150:b0ac087118cc

Parent:

149:b273ae9cec75

Child:

151:d0a6c06e8529

--- a/main.cpp	Fri Oct 09 08:17:17 2020 +0000
+++ b/main.cpp	Fri Oct 09 12:49:12 2020 +0000
@@ -1,4 +1,4 @@
-//201009-4
+//201009-5
 #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] = { 
-   {-0.6169755458831787f,0.5948215126991272f,0.12903714179992676f,0.5884579420089722f,-0.9432981610298157f,0.4874749183654785f,-0.17472904920578003f,0.44460251927375793f,-1.3207292556762695f,-0.25449368357658386f,-0.2339312732219696f,0.47591209411621094f,-0.2703731060028076f,-0.03621765598654747f,-0.2571594715118408f,-1.745444416999817f},
-{-0.7696728110313416f,0.6025012135505676f,-0.3927857577800751f,0.18237116932868958f,-0.8556034564971924f,0.2768941819667816f,-0.4054011106491089f,0.2682054340839386f,-0.8353373408317566f,-0.0415828675031662f,-0.27073076367378235f,0.25327548384666443f,0.2294783890247345f,-0.5943036079406738f,-0.20967772603034973f,-0.903499186038971f},
-{-0.8678860664367676f,0.5725551247596741f,0.36391180753707886f,-0.2636171877384186f,-0.39811229705810547f,0.35338619351387024f,0.2872133255004883f,0.4132649600505829f,-0.44572967290878296f,-0.12256179749965668f,-0.34459352493286133f,-0.4546497166156769f,-0.008530620485544205f,-0.14337007701396942f,0.05590221285820007f,-0.20182473957538605f},
-{-0.6535317897796631f,0.16435904800891876f,0.39742106199264526f,0.3013381063938141f,0.0075928992591798306f,-0.28438887000083923f,-0.11584559082984924f,0.49083566665649414f,0.3678398132324219f,0.07045812904834747f,0.09927131235599518f,-0.8109145760536194f,-0.1704373061656952f,-0.11016498506069183f,-0.2961459457874298f,1.1189262866973877f},
-{0.2888871729373932f,-0.14343173801898956f,-0.0051451027393341064f,0.15250109136104584f,0.5875188708305359f,-0.5056445002555847f,0.1294034719467163f,-0.36446136236190796f,0.9410679936408997f,0.31322237849235535f,0.3512546122074127f,-1.3186581134796143f,-0.07376156002283096f,0.466142475605011f,-0.3865056037902832f,1.2423783540725708f},
-{1.3994739055633545f,-1.7239813804626465f,0.21773302555084229f,0.07611975073814392f,1.6012725830078125f,-1.651916265487671f,0.16514194011688232f,-1.6280549764633179f,1.2326716184616089f,1.3550405502319336f,-0.24429886043071747f,-0.15746863186359406f,-0.27015793323516846f,1.5229518413543701f,-0.4132833778858185f,0.44188135862350464f},
-{0.39866718649864197f,0.16642259061336517f,-0.2501986622810364f,-1.024619698524475f,-0.3439548909664154f,0.5203994512557983f,0.06014183163642883f,-0.23343060910701752f,0.9580716490745544f,-0.4035128057003021f,0.1511380523443222f,0.3182518780231476f,-0.17843955755233765f,-0.10459809005260468f,-0.15618428587913513f,-0.9287129044532776f},
-{0.0785316601395607f,-0.3670685589313507f,-0.26619744300842285f,-0.12710848450660706f,-0.5723583698272705f,0.009777887724339962f,-0.17925891280174255f,-0.3827355206012726f,-0.21057161688804626f,0.1923319697380066f,0.10589253902435303f,0.14203622937202454f,0.36342835426330566f,0.16098101437091827f,0.04303058981895447f,-0.22491160035133362f},
-{0.29670801758766174f,-0.035655878484249115f,0.10248100757598877f,-0.6135661005973816f,-0.36749836802482605f,0.15164998173713684f,-0.07246989011764526f,-0.6397947669029236f,-0.8155761361122131f,0.6950511932373047f,-0.29665613174438477f,2.0973360538482666f,0.22101281583309174f,0.40356382727622986f,-0.30555272102355957f,-1.191580891609192f},
-{-0.04192425310611725f,-0.4759320020675659f,0.18462657928466797f,-0.34934404492378235f,-0.09540810436010361f,0.33820977807044983f,-0.2990540862083435f,-0.2171635925769806f,-0.5427071452140808f,-0.20592382550239563f,-0.0075898440554738045f,1.2421354055404663f,0.3641347289085388f,-0.10239019244909286f,0.3484981060028076f,-1.1702260971069336f},
-{0.3629056215286255f,0.029816236346960068f,0.37182438373565674f,0.061602648347616196f,-0.20005883276462555f,0.17882686853408813f,-0.20339298248291016f,0.020882783457636833f,-0.658286988735199f,0.11572472006082535f,0.3491577208042145f,0.7644428014755249f,-0.07471837103366852f,-0.0018598255701363087f,0.26688337326049805f,-0.7226802706718445f},
-{-0.2780630886554718f,-0.5210357308387756f,-0.40320003032684326f,-0.1715334802865982f,0.07301802188158035f,-0.03441068157553673f,0.1533789038658142f,0.3054661154747009f,-0.04069248214364052f,0.3940032124519348f,-0.41339191794395447f,0.684217095375061f,0.13649077713489532f,0.1101810559630394f,0.10493969917297363f,-0.0066968477331101894f},
-{0.0321117527782917f,-0.27469030022621155f,0.19847965240478516f,0.008619049564003944f,0.27372124791145325f,0.147988423705101f,-0.2404318004846573f,0.08296826481819153f,0.005448771640658379f,0.001319614122621715f,-0.10822436213493347f,-0.006367080844938755f,0.08386833965778351f,0.16397559642791748f,-0.22268100082874298f,-0.20400726795196533f},
-{-0.1663299798965454f,-0.0762108862400055f,0.4127817749977112f,-0.18933038413524628f,-0.3754563629627228f,-0.1961674690246582f,-0.32001304626464844f,-0.29224878549575806f,-0.09518685936927795f,-0.08264501392841339f,-0.19418920576572418f,-0.10590852797031403f,-0.32082730531692505f,0.04110307991504669f,0.0479682981967926f,0.16589368879795074f},
-{0.06994720548391342f,0.0633668452501297f,0.20282304286956787f,0.006450027227401733f,0.17445866763591766f,-0.06924864649772644f,0.04202890396118164f,0.3091362416744232f,0.15688040852546692f,0.21616044640541077f,-0.27863019704818726f,-0.39659392833709717f,0.09555865079164505f,0.02592609077692032f,0.0668090283870697f,0.13379117846488953f},
-{-0.15547308325767517f,-0.2905401885509491f,-0.40439701080322266f,-0.11864195019006729f,-0.2988205850124359f,0.020556630566716194f,-0.15568238496780396f,-0.01289344485849142f,0.059013765305280685f,0.17861860990524292f,-0.47299885749816895f,-0.330662339925766f,-0.2790428400039673f,0.13708925247192383f,-0.08245879411697388f,0.28014299273490906f},
-{-0.18751932680606842f,-0.13028556108474731f,0.16706281900405884f,0.08243079483509064f,-0.0856199711561203f,-0.31701093912124634f,-0.041414469480514526f,-0.03316572308540344f,-0.14375491440296173f,0.33842185139656067f,-0.3525752127170563f,-0.28301799297332764f,0.10419143736362457f,0.5677728056907654f,0.29427415132522583f,0.2742917835712433f},
+   {-1.1830772161483765f,0.907658040523529f,0.12903714179992676f,0.5383951663970947f,-1.3784873485565186f,0.9499120712280273f,-0.17472904920578003f,1.002619981765747f,-1.7543452978134155f,-0.8867285847663879f,-0.23530137538909912f,-0.42957326769828796f,-0.267672061920166f,-0.8692221641540527f,-0.2571594715118408f,-0.5540679097175598f},
+{-1.0442124605178833f,0.6711992621421814f,-0.3927857577800751f,0.161371111869812f,-1.027113437652588f,0.48737800121307373f,-0.4054011106491089f,0.5669645071029663f,-0.9325803518295288f,-0.393087238073349f,-0.2721322774887085f,-0.31204748153686523f,0.23209457099437714f,-1.14264714717865f,-0.20967772603034973f,-0.21403270959854126f},
+{-0.842063307762146f,0.3569277822971344f,0.36391180753707886f,-0.2558248043060303f,-0.34109964966773987f,0.319227397441864f,0.2872133255004883f,0.4288009703159332f,-0.37264129519462585f,-0.13999687135219574f,-0.3460467755794525f,-0.32766345143318176f,-0.006002379115670919f,-0.39334309101104736f,0.05590221285820007f,-0.38937288522720337f},
+{-0.41861075162887573f,-0.2758248746395111f,0.39742106199264526f,0.3407272696495056f,0.1967170685529709f,-0.4763898253440857f,-0.11584559082984924f,0.2967103123664856f,0.44338303804397583f,0.32886427640914917f,0.09776147454977036f,0.12019568681716919f,-0.16797608137130737f,-0.1573142111301422f,-0.2961459457874298f,0.007804698310792446f},
+{0.598658561706543f,-0.6489872336387634f,-0.0051451027393341064f,0.22924426198005676f,0.8158316016197205f,-0.7501839995384216f,0.1294034719467163f,-0.6177850365638733f,1.016576886177063f,0.6798464059829712f,0.3496463894844055f,-0.07733602821826935f,-0.0714043602347374f,0.43815308809280396f,-0.3865056037902832f,-0.21527224779129028f},
+{1.55979585647583f,-1.967300295829773f,0.21773302555084229f,0.19822651147842407f,1.7436163425445557f,-1.7791714668273926f,0.16514194011688232f,-1.652207851409912f,1.4707077741622925f,1.486377477645874f,-0.24593579769134521f,0.22179169952869415f,-0.26791638135910034f,1.2028114795684814f,-0.4132833778858185f,-0.12397683411836624f},
+{0.4482246935367584f,0.1669270247220993f,-0.2501986622810364f,-0.911369264125824f,-0.4311128258705139f,0.42859941720962524f,0.06014183163642883f,-0.13643471896648407f,0.3959755301475525f,-0.04473229497671127f,0.14985030889511108f,0.07622731477022171f,-0.17728494107723236f,-0.07673158496618271f,-0.15618428587913513f,-0.049247026443481445f},
+{-0.09273119270801544f,-0.0030676655005663633f,-0.26619744300842285f,-0.07936783134937286f,-0.5625535249710083f,0.11907440423965454f,-0.17925891280174255f,-0.09521269053220749f,0.4314958453178406f,-0.15800324082374573f,0.10396178066730499f,-0.3558410406112671f,0.36559608578681946f,-0.07188697159290314f,0.04303058981895447f,-0.08912382274866104f},
+{0.23644424974918365f,0.40761178731918335f,0.10248100757598877f,-0.5786457061767578f,-0.3129251301288605f,0.1711302250623703f,-0.07246989011764526f,-0.38457462191581726f,-0.0682055652141571f,0.34739673137664795f,-0.29864412546157837f,0.08505319058895111f,0.2231481969356537f,0.17763707041740417f,-0.30555272102355957f,-0.020129617303609848f},
+{0.12451469153165817f,-0.25632244348526f,0.18462657928466797f,-0.3402521014213562f,0.040230222046375275f,0.1803373396396637f,-0.2990540862083435f,-0.2551296353340149f,-0.0702180415391922f,-0.2230985164642334f,-0.009611605666577816f,-0.6821308135986328f,0.36620229482650757f,-0.134412944316864f,0.3484981060028076f,-0.19408752024173737f},
+{0.6051169633865356f,0.10314174741506577f,0.37182438373565674f,0.046950627118349075f,-0.1283050775527954f,-0.029393404722213745f,-0.20339298248291016f,-0.18833445012569427f,-0.6705865263938904f,0.3199700713157654f,0.3470311164855957f,-0.44842401146888733f,-0.07266867160797119f,0.07030421495437622f,0.26688337326049805f,-0.5026135444641113f},
+{-0.19083596765995026f,-0.38159599900245667f,-0.40320003032684326f,-0.2041625678539276f,-0.02804187312722206f,-0.08957882225513458f,0.1533789038658142f,0.16714826226234436f,-0.4532894194126129f,0.5235751271247864f,-0.4155062735080719f,0.0004430132976267487f,0.13858471810817719f,0.04627634957432747f,0.10493969917297363f,-0.25424498319625854f},
+{0.03792708367109299f,-0.11785188317298889f,0.19847965240478516f,-0.047751881182193756f,0.13481153547763824f,0.18088962137699127f,-0.2404318004846573f,-0.040893156081438065f,-0.47332456707954407f,0.06604837626218796f,-0.11030901223421097f,-0.4237665832042694f,0.08593606948852539f,0.027752768248319626f,-0.22268100082874298f,-0.5444576740264893f},
+{-0.10892666131258011f,0.009968937374651432f,0.4127817749977112f,-0.2793567478656769f,-0.40800797939300537f,-0.19251592457294464f,-0.32001304626464844f,-0.5095146298408508f,-0.3435235619544983f,0.009906679391860962f,-0.19619326293468475f,-0.4205239415168762f,-0.31876471638679504f,-0.06010248512029648f,0.0479682981967926f,-0.048994030803442f},
+{0.11952650547027588f,0.18229719996452332f,0.20282304286956787f,-0.120930016040802f,0.15983085334300995f,-0.023414038121700287f,0.04202890396118164f,0.08784963935613632f,0.07220371067523956f,0.25355392694473267f,-0.2805851101875305f,-0.6933444738388062f,0.09762527793645859f,-0.10557463020086288f,0.0668090283870697f,0.03950008749961853f},
+{-0.08377330750226974f,-0.2004806250333786f,-0.40439701080322266f,-0.27741357684135437f,-0.289584755897522f,0.089205302298069f,-0.15568238496780396f,-0.2935485541820526f,0.02226277068257332f,0.23374319076538086f,-0.4750020503997803f,-0.3566400706768036f,-0.2769638001918793f,0.002845979994162917f,-0.08245879411697388f,0.09818307310342789f},
+{-0.040118634700775146f,-0.12282180041074753f,0.16706281900405884f,-0.1026933491230011f,-0.03815985098481178f,-0.2689847946166992f,-0.041414469480514526f,-0.4210514724254608f,-0.17495512962341309f,0.4654959440231323f,-0.35469311475753784f,0.06952255964279175f,0.10625976324081421f,0.4583272635936737f,0.29427415132522583f,-0.04839852824807167f},
 };
 
 const float h2[16][16] = { 
-    {-1.4991356134414673f,-0.4428083598613739f,-0.06966331601142883f,0.1967444270849228f,-0.21907491981983185f,0.9966632723808289f,0.28873929381370544f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.9076564311981201f,-0.21810698509216309f,-0.25772976875305176f,-0.818320631980896f,-1.330167293548584f,-1.0718622207641602f},
-{0.8618813157081604f,-0.8748403191566467f,0.057057321071624756f,-0.2028317004442215f,-0.35503754019737244f,-0.5499786138534546f,-0.5643825531005859f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,1.4778800010681152f,-0.6772118806838989f,0.2140946090221405f,0.8742734789848328f,-0.757195234298706f,-1.1809730529785156f},
+    {-0.8191378712654114f,0.5852739214897156f,-0.06966331601142883f,-0.6984365582466125f,-0.21907491981983185f,1.4826886653900146f,-8.994036674499512f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.458963394165039f,-0.2399013638496399f,0.12968102097511292f,-1.551897406578064f,-0.8816905617713928f,-0.06509020924568176f},
+{0.22238706052303314f,-0.7853630781173706f,0.057057321071624756f,0.0452597476541996f,-0.35503754019737244f,-0.8241657614707947f,-4.370403289794922f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.1893624067306519f,-0.8968076109886169f,0.18270426988601685f,0.6902068257331848f,-0.10020449012517929f,-0.8818033337593079f},
 {-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},
-{-0.009984130039811134f,-0.30000436305999756f,-0.2894435524940491f,0.5964742302894592f,0.08946844935417175f,0.35389357805252075f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.48026028275489807f,0.2649420201778412f,0.2603621482849121f,-0.17744247615337372f,0.19240126013755798f,0.06972163915634155f},
-{-0.8961815237998962f,-2.5839736461639404f,-0.25313520431518555f,0.20026060938835144f,0.036378175020217896f,-0.4976740777492523f,-0.40996047854423523f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-2.1841514110565186f,-0.7194414138793945f,-0.033286239951848984f,0.58295077085495f,-0.4543146789073944f,0.8327545523643494f},
-{0.9096110463142395f,0.42002537846565247f,-0.3519742488861084f,0.044624269008636475f,-0.3015052080154419f,-0.3457305431365967f,-0.6627653241157532f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.9428110122680664f,-0.30588483810424805f,-0.5022498369216919f,0.19978851079940796f,0.6076751351356506f,-0.4376809597015381f},
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 };
 
 const float h3[16][16] = { 
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+{-0.408692330121994f,-0.03736360743641853f,-0.046689990907907486f,0.0922636091709137f,-0.10973645001649857f,0.036243122071027756f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5363480448722839f,-0.08788041770458221f,-0.22022756934165955f,0.20333699882030487f},
+{-0.2991822361946106f,0.2886410653591156f,-0.008879102766513824f,-0.05932474136352539f,0.15862831473350525f,0.07548534125089645f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.029665851965546608f,-0.23580245673656464f,0.36124154925346375f,-0.0708257332444191f},
+{-0.2675279378890991f,-0.2911551296710968f,0.36195290088653564f,-0.0742000937461853f,0.17168813943862915f,-0.17726589739322662f,-0.32875844836235046f,-0.31893211603164673f,-0.5975505709648132f,-0.5123520493507385f,-0.5051290392875671f,-0.5699688792228699f,0.7555776238441467f,-0.4512740671634674f,0.32570356130599976f,0.2001260370016098f},
+{-0.015470266342163086f,-1.013896107673645f,1.2686545848846436f,0.3059275448322296f,0.9742163419723511f,-1.2714152336120605f,0.05196094512939453f,-0.008358269929885864f,-0.4632815718650818f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,1.7317372560501099f,-1.074276089668274f,0.05684695392847061f,0.13363729417324066f},
+{0.1863725483417511f,0.2588604688644409f,0.14517664909362793f,-0.4587732255458832f,0.5101640224456787f,-0.052523400634527206f,0.04860696196556091f,0.17769548296928406f,-0.07567992806434631f,0.3378079831600189f,-0.5175046920776367f,0.19592127203941345f,0.41557058691978455f,0.04753263667225838f,-0.0671350508928299f,0.012366940267384052f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.46150368452072144f,-0.1613515466451645f,-0.07821951061487198f,-0.3364546298980713f,0.45417219400405884f,0.0030125975608825684f,0.05208330228924751f,-0.12402372807264328f,-0.05899381637573242f,-0.028325878083705902f,0.015735700726509094f,-0.24386273324489594f,0.7545584440231323f,0.8510534167289734f,-0.35208162665367126f };
+const float hout[16] = { 0.45773375034332275f,0.4934138059616089f,-0.31276360154151917f,-0.11094537377357483f,-0.4379214942455292f,0.275130957365036f,0.0030125975608825684f,0.15066689252853394f,-0.03219647705554962f,-0.137367382645607f,0.14630194008350372f,-0.13120849430561066f,-0.5213952660560608f,0.2428734451532364f,0.5468740463256836f,-1.172336459159851f };
 
-const float b1[16] = { 0.9123589992523193f,1.0290874242782593f,-1.7145336866378784f,0.1726180613040924f,1.0475683212280273f,0.9286171793937683f,-0.058932315558195114f,0.9587783217430115f,0.8604491353034973f,-0.932363748550415f,0.5728248357772827f,0.08530331403017044f,-0.37935054302215576f,-0.7848360538482666f,-1.087764859199524f,1.9914882183074951f };
+const float b1[16] = { 0.806250274181366f,1.0885556936264038f,-1.7145336866378784f,0.2161281704902649f,1.0408236980438232f,0.9784020781517029f,-0.058932315558195114f,1.0601048469543457f,0.944878339767456f,-0.9926996827125549f,0.5709254145622253f,1.3733630180358887f,-0.377168744802475f,-0.9282650947570801f,-1.087764859199524f,0.8483772277832031f };
 
-const float b2[16] = { 0.1742895245552063f,-0.7612563371658325f,-1.4564176797866821f,-0.7200983166694641f,-0.6939148902893066f,0.1939559280872345f,0.2192271202802658f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.03863578662276268f,0.41583994030952454f,-0.2901434004306793f,1.971176028251648f,0.2521037757396698f,0.7886443138122559f };
+const float b2[16] = { -0.19609975814819336f,-0.5893186330795288f,-1.4564176797866821f,-0.7850483059883118f,-0.6939148902893066f,0.33516204357147217f,0.30513012409210205f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.07262703031301498f,0.11196072399616241f,-0.3845836818218231f,1.9019356966018677f,0.059040557593107224f,0.6883239150047302f };
 
-const float b3[16] = { -1.963319182395935f,-0.2411147952079773f,0.37178677320480347f,-0.07739337533712387f,0.34993961453437805f,0.5473472476005554f,-0.45353031158447266f,-0.8083206415176392f,0.36311396956443787f,0.10367195308208466f,-0.27569082379341125f,-0.13503602147102356f,-0.3063124120235443f,0.6951006054878235f,-1.3749268054962158f,-0.20929524302482605f };
+const float b3[16] = { -1.963319182395935f,-0.5097787380218506f,0.3766120374202728f,-0.22088897228240967f,-0.5989260077476501f,0.6555646061897278f,-0.45353031158447266f,-0.6562485098838806f,0.3250890374183655f,0.43368595838546753f,-0.2800405025482178f,-0.10731422901153564f,-0.2914130687713623f,0.2388453334569931f,-1.1914259195327759f,-0.531191885471344f };
 
-const float bout[1] = { -0.49270275235176086f };
+const float bout[1] = { -0.18633674085140228f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;