Diff: setting.h

Revision:

224:985dba42f261

Parent:

218:066030f7951f

diff -r e26830fbaffd -r 985dba42f261 setting.h
--- a/setting.h	Mon Dec 28 12:10:50 2020 +0000
+++ b/setting.h	Mon Dec 28 14:27:11 2020 +0000
@@ -4,10 +4,10 @@
 // pwm 
 #define PIN_V       PB_7
 #define PIN_W       PB_6
-//#define PWM_ARR 0x465         // loop 80k, pwm 40k 
+//#define PWM_ARR     0x465       // loop 80k, pwm 40k 
 //#define PWM_ARR     0x8CA       // loop 40k, pwm 20k
 #define PWM_ARR     0x1194      // loop 20k, pwm 10k
-//#define PWM_ARR     0x2328    // loop 10k, pwm 5k
+//#define PWM_ARR     0x2328      // loop 10k, pwm 5k
 #define TMR3_COUNT  0x4650      // loop 5k
 #define TMR2_COUNT  0x2710      // loop 500hz with prescale 18
 
@@ -54,7 +54,6 @@
 
 
 // User Function 
-
 void CurrentControl();
 void ValveControl(unsigned int ControlMode);
 
@@ -65,7 +64,6 @@
 #define             LATEST_VERSION      19032
 
 
-
 /*******************************************************************************
  * COMMON CONSTANTS
  ******************************************************************************/
@@ -442,100 +440,11 @@
 extern float K_LPF;
 extern float D_LPF;
 
-extern float totq_sen_past;
+extern float torq_sen_past;
 extern float torq_ref_past;
 extern float output_normalized;
 
 
-#define     numpast_u           0
-#define     numpast_x           5
-#define     numfuture_x         0
-#define     numpast_f           0
-#define     numfuture_f         10
-//#define     num_input           17  //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f
-#define     num_input           16  //numpast_x + 1 + numfuture_x + numpast_f + numfuture_f
-
-#define     num_array_u_past        1  // numpast_u * time_interval + 1
-#define     num_array_f_future      11  // numfuture_f * time_interval + 1
-#define     num_array_f_past        1  // numpast_f * time_interval + 1        
-#define     num_array_x_past        6  // numpast_x * time_interval + 1      
-#define     num_array_x_future      1  // numfuture_x * time_interval + 1
-
-#define     time_interval           1
-
-
-
-/////////////RL
-#define num_batch           10
-#define num_epoch           1
-#define batch_size          100
-#define num_input_RL        2
-#define num_hidden_unit1    10
-#define num_hidden_unit2    10
-
-extern int batch;
-extern float train_set_x[batch_size];
-extern float train_set_error[batch_size];
-extern float train_set_count[batch_size];
-extern float state_array[batch_size][num_input_RL];
-extern float V[batch_size];
-extern float r[batch_size];
-extern float td_target[batch_size];
-extern float delta[batch_size];
-extern float advantage[batch_size];
-extern float return_G[batch_size];
-
-extern float mean;
-extern float deviation;
-extern float mean_old;
-extern float deviation_old;
-extern float mean_before_SP;
-extern float deviation_before_SP;
-extern float mean_before_SP_array[batch_size];
-extern float deviation_before_SP_array[batch_size];
-extern float mean_array[batch_size];
-extern float mean_array_old[batch_size];
-extern float deviation_array[batch_size];
-extern float deviation_array_old[batch_size];
-
-extern float hx_c_sum[num_hidden_unit1];
-extern float hx_c_sum_array[batch_size][num_hidden_unit1];
-extern float hxh_c_sum[num_hidden_unit2];
-extern float hxh_c_sum_array[batch_size][num_hidden_unit2];
-extern float hxhh_c_sum;
-extern float hxhh_c_sum_array[batch_size];
-
-extern float hx_a_sum[num_hidden_unit1];
-extern float hx_a_sum_array[batch_size][num_hidden_unit1];
-extern float hxh_a_sum[num_hidden_unit2];
-extern float hxh_a_sum_array[batch_size][num_hidden_unit2];
-extern float hxhh_a_sum[2];
-extern float hxhh_a_sum_array[batch_size][2];
-
-extern float action;
-extern float action_array[batch_size];
-extern float ratio[batch_size];
-extern float pi[batch_size];
-extern float pi_old[batch_size];
-extern float epsilon;
-extern float surr1[batch_size];
-extern float surr2[batch_size];
-extern float loss[batch_size];
-extern float loss_batch;
-extern float gamma;
-extern float lmbda;
-extern char Update_Done_Flag;
-extern char Update_Case;
-extern float reward_sum; 
-
-extern float virt_pos;
-extern float logging1;
-extern float logging2;
-extern float logging3;
-extern float logging4;
-extern float logging5;
-
-