Diff: main.cpp

Revision:

61:bc8c8270f0ab

Parent:

60:64181f1d3e60

Child:

62:b5452adfb2cd

--- a/main.cpp	Tue Mar 31 05:12:37 2020 +0000
+++ b/main.cpp	Fri Apr 03 01:55:08 2020 +0000
@@ -8,6 +8,11 @@
 #include "function_utilities.h"
 #include "stm32f4xx_flash.h"
 #include "FlashWriter.h"
+#include "Eigen/Dense.h"
+
+using namespace std;
+using namespace Eigen;
+Timer t;
 
 ///191008////
 
@@ -76,6 +81,24 @@
 extern int CID_TX_VOUT;
 extern int CID_TX_VALVE_POSITION;
 
+MatrixXd Input = MatrixXd::Zero(1,22);     //input
+MatrixXd h1 = MatrixXd::Zero(22,32);
+MatrixXd h2 = MatrixXd::Zero(32,32);
+MatrixXd h3 = MatrixXd::Zero(32,32);
+MatrixXd hout = MatrixXd::Zero(32,1);
+
+MatrixXd b1 = MatrixXd::Zero(32,1);
+MatrixXd b2 = MatrixXd::Zero(32,1);
+MatrixXd b3 = MatrixXd::Zero(32,1);
+MatrixXd bout = MatrixXd::Zero(1,1);
+
+MatrixXd X;
+ArrayXf Y;
+//ArrayXf NNoutput = ArrayXf::Zero(1,1);
+float NNoutput;
+
+
+
 // =============================================================================
 // =============================================================================
 // =============================================================================
@@ -131,13 +154,15 @@
     MODE_SYSTEM_ID,                                     //33
 };
 
+
+
 int main()
 {
     /*********************************
     ***     Initialization
     *********************************/
     LED = 1;
-    //pc.baud(9600);
+    pc.baud(9600);
 
     // i2c init
     i2c.frequency(400 * 1000);          // 0.4 mHz
@@ -210,6 +235,246 @@
             ID_index_array[i] =  (i+1) * 0.5f;
     }
 
+
+    
+
+    Input <<
+       0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.369522,0.471698;
+
+
+    h1 <<
+       -0.02454003319144249,0.13071660697460175,0.08675816655158997,0.1402530074119568,-0.24982963502407074,0.12202739715576172,-0.13030944764614105,-0.11353740841150284,-0.2542628347873688,-0.04588286578655243,-0.14282149076461792,-0.2201535552740097,-0.18691661953926086,0.30389177799224854,-0.1729012429714203,-0.12240276485681534,-0.11355798691511154,0.2349482625722885,-0.24878336489200592,0.07184267044067383,-0.3221011161804199,0.08763179183006287,-0.27257153391838074,-0.06490874290466309,-0.06682667881250381,0.1505383551120758,-0.14478006958961487,-0.07367490231990814,0.23569869995117188,-0.1539779156446457,-0.1400003880262375,0.051764924079179764
+       ,-0.19842876493930817,0.18337926268577576,0.24467620253562927,-0.29177823662757874,-0.08481606096029282,0.09983056783676147,0.17972804605960846,-0.07474377751350403,-0.1711931675672531,0.12607872486114502,-0.21832025051116943,-0.1755477339029312,-0.010855759494006634,0.2378554791212082,0.03758585453033447,-0.13797838985919952,-0.15582887828350067,0.08006728440523148,0.280606746673584,0.28338202834129333,-0.06711727380752563,-0.09894979000091553,-0.07788881659507751,0.22705963253974915,-0.0012174372095614672,0.240607351064682,0.1039358377456665,0.18501906096935272,-0.03155122324824333,0.08036407828330994,-0.20284514129161835,0.06699042022228241
+       ,0.14068114757537842,0.13828633725643158,-0.0034593045711517334,0.1392701119184494,0.01057615876197815,-0.007689331658184528,0.07328304648399353,-0.14162643253803253,-0.04415355995297432,0.09164466708898544,0.24845272302627563,-0.05588914453983307,-0.054479751735925674,0.24456734955310822,-0.2598671317100525,-0.15801946818828583,0.2817283868789673,-0.19191598892211914,0.15788163244724274,0.28144943714141846,0.14735294878482819,-0.12544888257980347,0.11103320121765137,-0.20203278958797455,0.0017974432557821274,0.1191059947013855,-0.12710560858249664,0.1702873408794403,-0.09684925526380539,0.2480504810810089,-0.28676652908325195,-0.17398564517498016
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+       ,-0.06400725990533829,-0.039301756769418716,0.05148342251777649,0.15645751357078552,-0.015306415967643261,-0.027875764295458794,0.19478058815002441,-0.1143186166882515,-0.11950938403606415,0.21234765648841858,0.2555554211139679,-0.05989915132522583,0.014815526083111763,0.12010202556848526,0.08785843849182129,0.0018573424313217402,-0.014310447499155998,0.08359912782907486,-0.05963675677776337,0.08984222263097763,-0.17661209404468536,-0.01255887746810913,0.09742525219917297,-0.2715410590171814,0.019773131236433983,-0.12170138955116272,0.21204951405525208,-0.0392717681825161,0.22050541639328003,0.1981203556060791,-0.12718753516674042,0.18615314364433289
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+    
+  h2 << 
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+       ,-1.1428403854370117
+       ,-0.3598397970199585
+       ,-1.3594286441802979
+       ,-1.0192245244979858
+       ,-0.2365882694721222
+       ,0.5294732451438904
+       ,1.530857801437378
+       ,1.2039998769760132
+       ,-1.0573883056640625
+       ,-0.7962622046470642
+       ,0.7248114347457886
+       ,-0.36519983410835266
+       ,-0.07752024382352829
+       ,0.767806887626648
+       ,0.2635451555252075
+       ,-2.3236680030822754
+       ,0.06150589883327484
+       ,1.0375205278396606;
+       
+    bout <<
+         -0.3124803602695465;
+
     /************************************
     ***     Program is operating!
     *************************************/
@@ -225,6 +490,36 @@
             timer_while = 0;
         }
         timer_while ++;
+        
+        t.reset();
+        t.start();
+        
+        X = Input*h1+b1.transpose();
+        for(int i=0; i<32; i++){
+            if(X(i)<0)
+                X(i) = 0;
+        }
+        X = X*h2+b2.transpose();
+        for(int i=0; i<32; i++){
+            if(X(i)<0)
+                X(i) = 0;
+        }
+        X = X*h3+b3.transpose();
+        for(int i=0; i<32; i++){
+            if(X(i)<0)
+                X(i) = 0;
+        }
+        X = X*hout+bout.transpose();
+        NNoutput=1.0f/(1.0f+exp(-X(0,0)));
+        
+        t.stop();
+        
+        
+        printf("NNoutput : %f\n", NNoutput);
+        printf("time : %f\n", t.read());
+
+        wait(1);
+        
     }
 }
 
@@ -359,8 +654,8 @@
         if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
             ENC_UPDATE();
         }
-        
-        ADC1->CR2  |= 0x40000000;   
+
+        ADC1->CR2  |= 0x40000000;
         if (SENSING_MODE == 0) {
             // Torque Sensing (0~210)bar =============================================
             float pres_A_new = (((float) ADC1->DR) - 2047.5f);
@@ -384,7 +679,7 @@
                 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
             }
         }
-        
+
 //        //Pressure sensor A
 //        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
 //        //while((ADC1->SR & 0b10));
@@ -616,16 +911,16 @@
                         //REFERENCE_MODE = MODE_REF_NO_ACT;
                         if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
                         else pos.ref = pos.ref - 2.0f;
-                        
+
 //                        pos.err = pos.ref_home_pos - pos.sen;
 //                        float VALVE_POS_RAW_POS_FB = 0.0f;
 //                        VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
 //                        valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
 //                        VALVE_POS_CONTROL(valve_pos.ref);
-                
+
                         CONTROL_MODE = MODE_JOINT_CONTROL;
                         alpha_trans = 0.0f;
-                    
+
 
                     } else {
                         ENC_SET(HOMEPOS_OFFSET);
@@ -645,7 +940,7 @@
                     vel.ref = 0.0f;
 
                     // input for position control
-                    
+
                     CONTROL_MODE = MODE_JOINT_CONTROL;
                     alpha_trans = 0.0f;
 //                    pos.err = pos.ref - (float)pos.sen;
@@ -921,7 +1216,7 @@
                         } else {
                             DZ_case = 0;
                         }
-                        
+
                         CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
 
                         first_check = 1;
@@ -986,7 +1281,7 @@
                                 valve_pos.ref = VALVE_MAX_POS;
                             }
                             VALVE_POS_CONTROL(valve_pos.ref);
-        
+
                         } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                             Vout.ref = 0.0f;
                         } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
@@ -1031,7 +1326,7 @@
                                 valve_pos.ref = VALVE_MAX_POS;
                             }
                             VALVE_POS_CONTROL(valve_pos.ref);
-                
+
                         } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                             Ref_Valve_Pos_Old = valve_pos.ref;
                             FINAL_POS = pos.sen;
@@ -1074,7 +1369,7 @@
                         } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                             Ref_Valve_Pos_Old = valve_pos.ref;
                             FINAL_POS = pos.sen;
-                            
+
                             if((FINAL_POS - START_POS)>100) {
                                 DZ_DIRECTION = 1;
                             } else if((FINAL_POS - START_POS)<-100) {
@@ -1091,7 +1386,7 @@
                                 first_check = 0;
                                 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
-                                
+
                                 ROM_RESET_DATA();
 
                                 CONTROL_UTILITY_MODE = MODE_NO_ACT;
@@ -1296,9 +1591,9 @@
                             torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                         }
                     }
-                    
+
                     VALVE_POS_CONTROL(valve_pos.ref);
-                    
+
                     Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                     V_out = (float) Vout.ref;
 
@@ -1426,6 +1721,12 @@
         TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
 
 
+
+
+        //anotherMatrix = Matrix1 * Matrix2 * Matrix3 * Matrix3 * Matrix4;
+
+        
+
         if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
 
             // Position, Velocity, and Torque (ID:1200)
@@ -1477,6 +1778,10 @@
                 //PWM
                 CAN_TX_PWM((int16_t) cur.sen); //1500
             }
+            if (flag_data_request[3] == LOW) {
+                //PWM
+                CAN_TX_PWM((int16_t) 77); //1500
+            }
             //for (i = 0; i < 10000; i++) {
 //                ;
 //            }