Diff: main.cpp

Revision:

240:bffaba802829

Parent:

239:cfce386d54a3

Child:

241:01a01b683a42

--- a/main.cpp	Sun Jan 03 05:36:49 2021 +0000
+++ b/main.cpp	Sun Jan 03 06:18:00 2021 +0000
@@ -1,4 +1,4 @@
-//210103_1  500Hz   num_input 13
+//210103_2  500Hz   num_input 13    210102 data
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,68 +199,68 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {0.27129805088043213f,-0.26327311992645264f,-0.8411139845848083f,-1.9951435327529907f,-0.14487287402153015f,0.033287037163972855f,2.275852918624878f,0.10570615530014038f,-0.22152025997638702f,-0.15143045783042908f,-0.2270357608795166f,-1.6322144269943237f,-1.807586431503296f,-0.072050541639328f,-0.7541930079460144f,1.394510269165039f},
-{-0.45620307326316833f,0.019361712038517f,-0.6241646409034729f,-1.6013507843017578f,-0.12558257579803467f,0.05257459357380867f,1.426666021347046f,0.13501125574111938f,-0.10187676548957825f,-0.897335946559906f,-0.4488705098628998f,-1.4154459238052368f,-1.1477041244506836f,0.26257723569869995f,-0.34952011704444885f,0.6115957498550415f},
-{0.13503123819828033f,0.25241437554359436f,-1.101109504699707f,-0.3294941186904907f,-0.10467872023582458f,0.11260904371738434f,0.4058953523635864f,0.1402340531349182f,-0.4043404161930084f,-0.04674229025840759f,0.22504913806915283f,-1.1158376932144165f,-0.7041786909103394f,0.2898668050765991f,0.06395922601222992f,0.13391900062561035f},
-{0.08935610204935074f,0.2106296569108963f,-0.48310530185699463f,0.3162388205528259f,-0.4312995374202728f,-0.2152530401945114f,-0.3369220793247223f,0.3846672773361206f,-0.31987857818603516f,0.20966529846191406f,0.04822564125061035f,-0.8848797082901001f,-0.49668800830841064f,0.15704113245010376f,-0.006149047985672951f,-0.4984190762042999f},
-{-0.23924873769283295f,-0.06199616938829422f,0.46527180075645447f,0.6406799554824829f,-0.3423629701137543f,0.27507707476615906f,-1.302945613861084f,0.2620691657066345f,-0.22581344842910767f,0.26004424691200256f,-0.21999962627887726f,0.7585422992706299f,0.6990750432014465f,-0.23897065222263336f,-0.4200310707092285f,-0.7055225968360901f},
-{-1.698799729347229f,-0.3078902065753937f,2.5908987522125244f,2.922898054122925f,0.05794799327850342f,-0.2717558741569519f,-2.474329710006714f,-0.19574907422065735f,0.09996527433395386f,-0.39587369561195374f,0.17797690629959106f,2.107271671295166f,2.214550256729126f,0.41771095991134644f,0.42414018511772156f,-3.0877182483673096f},
-{3.239917755126953f,-0.18983937799930573f,-2.1157517433166504f,0.04122750833630562f,-0.28819194436073303f,-0.8967771530151367f,-0.9963980913162231f,-0.33463069796562195f,-0.19738835096359253f,-0.31420034170150757f,-0.036606550216674805f,-0.036103591322898865f,-0.3075484037399292f,0.35921841859817505f,-0.5412825345993042f,0.7807357311248779f},
-{1.1015052795410156f,-0.02947426587343216f,-0.9257070422172546f,-0.2492351531982422f,0.09860771894454956f,-0.18818393349647522f,-0.7662551999092102f,-0.1056668758392334f,-0.030347198247909546f,-0.26387539505958557f,-0.28012633323669434f,0.1903408318758011f,-0.43735843896865845f,0.2621787190437317f,-0.6697344779968262f,0.6820495128631592f},
-{-1.486767053604126f,-0.1912635713815689f,1.1074020862579346f,0.11053598672151566f,0.32415270805358887f,-0.35157865285873413f,-0.06249008700251579f,-0.17457884550094604f,0.37095171213150024f,0.3016795814037323f,0.1854521632194519f,0.6224623918533325f,0.6913073658943176f,0.4085165858268738f,-0.5315712094306946f,0.052943769842386246f},
-{-1.1275967359542847f,-0.4498770534992218f,0.9786672592163086f,0.20075395703315735f,0.44279974699020386f,-0.23632627725601196f,-0.052523378282785416f,-0.35350510478019714f,0.019421100616455078f,0.6643745303153992f,-0.4424104392528534f,-0.29819193482398987f,0.23877201974391937f,0.19192266464233398f,-0.6676661372184753f,-0.1115335151553154f},
-{-0.45439693331718445f,0.20732282102108002f,0.7169840931892395f,-0.32938477396965027f,-0.264940083026886f,0.3793957829475403f,-0.1478579342365265f,-0.07423117756843567f,-0.395535409450531f,0.18505890667438507f,0.057104289531707764f,0.14808307588100433f,-0.276614248752594f,-0.20463010668754578f,-0.6305270791053772f,0.04536904767155647f},
-{0.690695583820343f,-0.280142217874527f,0.24655281007289886f,-0.23689241707324982f,-0.08700317144393921f,0.6507786512374878f,0.11938972026109695f,-0.0490185022354126f,-0.2538357973098755f,0.47351518273353577f,-0.06763717532157898f,-0.2595674395561218f,-0.6761330366134644f,-0.31936192512512207f,-0.12736926972866058f,-0.23895053565502167f},
-{-0.2949267327785492f,-0.39869192242622375f,0.9087414741516113f,0.03417085483670235f,-0.05999407172203064f,0.4309628903865814f,-0.08123058825731277f,-0.43552157282829285f,-0.06561344861984253f,0.9857105612754822f,-0.44651398062705994f,0.07958663254976273f,0.4699391722679138f,-0.36004769802093506f,-0.28303399682044983f,-0.22659188508987427f},
+    {2.122974395751953f,-0.38776177167892456f,-0.42449960112571716f,2.0468480587005615f,-0.18718937039375305f,0.11834079772233963f,-0.03311857581138611f,-0.054195523262023926f,-1.8910423517227173f,-0.04320235922932625f,-0.1637221872806549f,-0.022264301776885986f,1.3689982891082764f,-1.3352489471435547f,-0.014840304851531982f,-1.893905758857727f},
+{1.054883599281311f,-0.38444966077804565f,0.1132459044456482f,1.1167829036712646f,0.1572902798652649f,0.1293565332889557f,0.15329760313034058f,-0.20474094152450562f,-1.1521263122558594f,0.0402907058596611f,0.2308642417192459f,0.027331318706274033f,1.1790597438812256f,-0.25108602643013f,0.11683917045593262f,-1.3148897886276245f},
+{0.3260919451713562f,-0.20189961791038513f,-0.20909681916236877f,0.35111910104751587f,-0.20735450088977814f,0.16978304088115692f,-0.21266265213489532f,0.12177395820617676f,-0.4303519129753113f,-0.47478383779525757f,0.25495073199272156f,-0.4649527668952942f,0.9698973298072815f,-0.6320164799690247f,0.21537500619888306f,-0.6965923309326172f},
+{-0.2091784030199051f,-0.2055417001247406f,-0.27100086212158203f,0.13696816563606262f,-0.09469953179359436f,-0.2871801257133484f,-0.10579374432563782f,0.09893089532852173f,0.08474475890398026f,-0.09117371588945389f,-0.0946950688958168f,-0.1597663164138794f,0.10443052649497986f,0.40466687083244324f,-0.44673171639442444f,0.4296048581600189f},
+{-1.072396993637085f,-0.4420686662197113f,-0.23704257607460022f,-1.532881498336792f,-0.06314542889595032f,-0.190965935587883f,-0.1467491090297699f,-0.32198232412338257f,0.672989547252655f,0.3549209535121918f,0.15744635462760925f,0.08820515871047974f,-1.0165066719055176f,0.3843304216861725f,0.2870906591415405f,0.9832358956336975f},
+{-2.5933806896209717f,-0.49318426847457886f,0.24129003286361694f,-2.101083517074585f,0.25041860342025757f,-0.3333922326564789f,0.1312219500541687f,0.4296189546585083f,1.8742114305496216f,-0.0453566238284111f,-0.30207350850105286f,-0.02464285120368004f,-2.6114871501922607f,1.7934314012527466f,0.21352016925811768f,2.4308128356933594f},
+{1.4060094356536865f,-0.4593402147293091f,-0.17035451531410217f,-2.0941596031188965f,-0.2231789529323578f,-0.7733786106109619f,-0.30459409952163696f,0.08766061067581177f,-1.5012120008468628f,-0.5738863348960876f,0.28786879777908325f,0.07115523517131805f,1.3073227405548096f,-2.0536022186279297f,-0.13316160440444946f,0.612513542175293f},
+{0.4193624258041382f,0.2952363193035126f,0.1189124584197998f,-0.801013708114624f,-0.19704079627990723f,-0.9535843133926392f,-0.3993116319179535f,0.13529682159423828f,-0.09175866842269897f,-0.22769828140735626f,-0.18271225690841675f,-0.2803727984428406f,-0.12039829790592194f,-0.569157600402832f,-0.350609689950943f,-0.19401194155216217f},
+{-0.6279920339584351f,-0.3600463271141052f,0.32874053716659546f,0.9218637347221375f,-0.43446803092956543f,-0.6581318378448486f,-0.3732292056083679f,-0.03713726997375488f,1.1847983598709106f,-0.3185393214225769f,-0.014060413464903831f,0.1525433510541916f,-1.4669981002807617f,2.6286604404449463f,0.24592554569244385f,-0.5994797348976135f},
+{-0.4040067791938782f,-0.45135271549224854f,-0.43931299448013306f,0.20023031532764435f,-0.40003886818885803f,-0.09406930953264236f,-0.28505805134773254f,-0.025462865829467773f,0.2026372104883194f,0.09695766121149063f,0.012715869583189487f,0.2449764609336853f,-0.8653539419174194f,0.32294973731040955f,0.21423685550689697f,-0.5703613758087158f},
+{-0.5376168489456177f,0.2158193290233612f,-0.38009896874427795f,0.14540553092956543f,0.3989499807357788f,0.24190852046012878f,0.444122850894928f,0.2396908402442932f,0.059057943522930145f,0.20812928676605225f,-0.49277493357658386f,0.04622955247759819f,-0.04156821593642235f,-0.7683967351913452f,-0.06324887275695801f,-0.4491087794303894f},
+{-0.29452797770500183f,-0.3503324091434479f,0.009307235479354858f,0.20129835605621338f,0.0268385112285614f,0.5140036344528198f,-0.3031163811683655f,0.11987882852554321f,-0.20511949062347412f,-0.31979477405548096f,0.3825034499168396f,-0.2279401421546936f,0.10135215520858765f,-1.0714203119277954f,0.12017554044723511f,-0.07516074925661087f},
+{-0.27208060026168823f,0.07206348329782486f,0.10736191272735596f,0.3668510317802429f,-0.3137713074684143f,0.08469216525554657f,0.283999502658844f,-0.3683045208454132f,0.5107637643814087f,0.42085954546928406f,0.06602732837200165f,0.31689608097076416f,-0.6041010618209839f,-0.5318670868873596f,0.3271452784538269f,-0.37038949131965637f},
 };
 
 const float h2[16][16] = {
-    {-0.21036449074745178f,-0.1165812686085701f,0.03890746086835861f,-0.29017066955566406f,0.1582350730895996f,0.39632782340049744f,-0.39482197165489197f,-1.3370285034179688f,-0.979823887348175f,-0.11581858992576599f,0.18905022740364075f,-0.3178834617137909f,1.4061373472213745f,0.351841539144516f,-0.418458491563797f,-1.6785600185394287f},
-{0.0858018696308136f,-0.2673152685165405f,0.3634365499019623f,0.09080123156309128f,0.23325398564338684f,-0.17339682579040527f,-0.43299493193626404f,0.05999861657619476f,0.31613588333129883f,0.42929479479789734f,0.2987208664417267f,-0.2709915041923523f,-0.2182316780090332f,-0.1622065007686615f,-0.01720908284187317f,-0.03861325979232788f},
-{0.20706436038017273f,-0.5168852806091309f,-0.4352167844772339f,-0.3710166811943054f,-0.29665637016296387f,-0.29575151205062866f,-0.18257027864456177f,-0.1372070461511612f,-0.5257076621055603f,0.0032114386558532715f,-0.16430535912513733f,2.6688225269317627f,-4.405387878417969f,0.16661030054092407f,0.3688402473926544f,-0.1341625601053238f},
-{-0.07150664925575256f,-0.07037899643182755f,0.3807899057865143f,-0.1838146299123764f,-0.15602844953536987f,0.14062795042991638f,0.26958754658699036f,-0.6752872467041016f,-0.743759274482727f,-0.010245352983474731f,-0.2804213762283325f,2.5621111392974854f,3.4790198802948f,0.08922258019447327f,-0.034710973501205444f,-0.9833502769470215f},
-{0.19401517510414124f,0.11748430132865906f,0.060581862926483154f,-0.2663313150405884f,0.3453809320926666f,0.16245242953300476f,-0.24281641840934753f,0.4014129340648651f,-0.05801382660865784f,0.2868408262729645f,0.33146342635154724f,0.35748377442359924f,0.3443669378757477f,-0.326143741607666f,0.02167487144470215f,0.27806350588798523f},
-{-0.2542678117752075f,0.20247718691825867f,0.23715631663799286f,0.20885010063648224f,0.060438573360443115f,-0.09561040997505188f,-0.025697648525238037f,-0.49242162704467773f,-0.7723267674446106f,-0.16918781399726868f,0.33879539370536804f,-0.15141190588474274f,-0.12072261422872543f,0.3678347170352936f,0.305215060710907f,-0.5763906240463257f},
-{0.09324470162391663f,-0.39980611205101013f,-0.9619078636169434f,-0.24463573098182678f,-0.415401428937912f,-0.03176993131637573f,-0.3723878860473633f,-1.6295626163482666f,-0.7340795397758484f,-0.1073366105556488f,-0.10192310810089111f,-0.47594979405403137f,-1.9320030212402344f,-0.19922783970832825f,-0.16886916756629944f,-1.0232590436935425f},
-{0.20792827010154724f,-0.31854984164237976f,0.2981450855731964f,0.3392891585826874f,0.29666414856910706f,0.22557583451271057f,0.02845907211303711f,-0.0673595666885376f,0.22143122553825378f,-0.33435511589050293f,-0.12020620703697205f,-0.33907124400138855f,-0.01842007040977478f,0.19371464848518372f,0.06714418530464172f,0.3299846351146698f},
-{0.34738728404045105f,0.05534055829048157f,-0.1142396628856659f,-0.09000736474990845f,0.22402480244636536f,0.3334931433200836f,-0.20826607942581177f,0.40756043791770935f,0.01275685429573059f,-0.23594672977924347f,-0.30536890029907227f,-0.2096325308084488f,-0.36651578545570374f,-0.06306898593902588f,0.41190746426582336f,-0.13776269555091858f},
-{0.06315797567367554f,0.24467769265174866f,-0.08166135847568512f,-0.581722617149353f,-0.11208859086036682f,0.3681338131427765f,-0.025185495615005493f,-0.1050800234079361f,-0.5106925368309021f,-0.40124595165252686f,0.16385123133659363f,0.1490139663219452f,0.09398871660232544f,-0.4880881607532501f,0.18939366936683655f,-1.3594781160354614f},
-{-0.137151837348938f,-0.2662311792373657f,-0.4088067412376404f,0.19464048743247986f,0.4036111533641815f,-0.13499993085861206f,-0.0031629204750061035f,0.30979958176612854f,0.03356730937957764f,-0.017782777547836304f,-0.05176997184753418f,0.15545442700386047f,0.15632620453834534f,0.05224683880805969f,-0.0757463276386261f,0.1627422273159027f},
-{0.14506134390830994f,-0.49817925691604614f,0.20001660287380219f,2.3562092781066895f,-0.3487517535686493f,0.26278600096702576f,-0.4136088490486145f,-4.7947516441345215f,-0.7539332509040833f,0.2896214425563812f,0.008849263191223145f,1.5363504886627197f,-0.6599268913269043f,0.040065664798021317f,-0.3481926918029785f,-7.36983060836792f},
-{0.22331616282463074f,-0.0773380696773529f,-0.5090305805206299f,-1.000752568244934f,-0.12819969654083252f,-0.1852414608001709f,-0.22197456657886505f,-3.9182615280151367f,-0.7986771464347839f,-0.16592463850975037f,-0.36554720997810364f,0.9630739092826843f,-0.1338542103767395f,-0.1562097817659378f,-0.3024305999279022f,-9.974847793579102f},
-{-0.35083866119384766f,0.22605279088020325f,0.3915311396121979f,0.30329957604408264f,-0.0795525312423706f,-0.046863675117492676f,-0.3418675363063812f,0.14024153351783752f,-0.24872979521751404f,0.006887227296829224f,0.41247323155403137f,0.19765040278434753f,0.42944392561912537f,0.3273095190525055f,-0.25286686420440674f,0.25121548771858215f},
-{-0.4035545885562897f,-0.42581987380981445f,-0.09782712906599045f,-0.20598207414150238f,-0.38041868805885315f,0.20198193192481995f,0.35028156638145447f,-0.24950791895389557f,-0.24620792269706726f,-0.2589012384414673f,0.4229624569416046f,0.29950013756752014f,-0.1759597212076187f,0.23178531229496002f,0.2735741138458252f,0.21281711757183075f},
-{0.3850635588169098f,-0.5451380610466003f,-0.346036434173584f,-2.717503070831299f,0.05630726367235184f,-0.22060304880142212f,-0.017435193061828613f,-7.510067462921143f,-1.0102704763412476f,0.2978500425815582f,-0.18101778626441956f,-1.8728718757629395f,-0.5694166421890259f,-0.23812080919742584f,-0.35606688261032104f,-1.2097482681274414f},
+    {-0.20274241268634796f,2.421971082687378f,0.3970688283443451f,0.1834750473499298f,2.4249231815338135f,0.5273239612579346f,-0.4416234493255615f,0.3705202639102936f,0.7134361267089844f,0.2516556680202484f,-1.4060431718826294f,-0.2831149697303772f,-0.05893652141094208f,-0.9120204448699951f,0.36879292130470276f,0.13572558760643005f},
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 };
 
 const float h3[16][16] = {
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+{0.10831388831138611f,-0.42922312021255493f,0.4159962236881256f,-0.4228442311286926f,-0.17440855503082275f,-0.14694729447364807f,-0.08575206995010376f,-0.03497600555419922f,0.12500670552253723f,0.1220981776714325f,0.42109981179237366f,0.2404528558254242f,0.15480300784111023f,-0.046617358922958374f,0.1445848047733307f,0.208059161901474f},
+{-0.16982737183570862f,-0.08366802334785461f,0.021271735429763794f,-0.23457923531532288f,0.3594605624675751f,0.12175920605659485f,0.196598082780838f,0.0048421225510537624f,0.455380380153656f,0.2666841447353363f,0.3527265787124634f,-0.36466607451438904f,-0.07807370275259018f,-0.024496499449014664f,0.24257664382457733f,-0.01678675413131714f},
+{-0.4233904778957367f,-0.5184310674667358f,0.10355612635612488f,-0.17819368839263916f,0.2248094230890274f,0.25831249356269836f,0.3987707197666168f,-0.20740818977355957f,0.3185001015663147f,-0.39416059851646423f,-0.7869706153869629f,-1.8323378562927246f,-2.679171562194824f,-1.9532601833343506f,0.510806143283844f,0.1838276982307434f},
+{0.4077700078487396f,-0.3607521951198578f,0.43178996443748474f,0.4325244724750519f,0.2711908519268036f,0.12385454773902893f,-0.39350762963294983f,0.3581089675426483f,0.4176264703273773f,-0.24286937713623047f,-0.2572516202926636f,0.3357771337032318f,-0.016610532999038696f,-0.244097501039505f,0.20021793246269226f,0.4071304500102997f},
+{0.03745567798614502f,0.31836649775505066f,-0.05532115697860718f,0.028223276138305664f,0.117482990026474f,0.3893933594226837f,0.3383820354938507f,-0.0021976232528686523f,-0.23759111762046814f,-0.31924113631248474f,-0.2046361118555069f,-0.3622658848762512f,-0.0513286292552948f,-0.18417160212993622f,-0.3451819121837616f,-0.2967826724052429f},
 };
 
-const float hout[16] = { -1.0431702136993408f,0.7617992758750916f,0.2802157998085022f,-0.4887925982475281f,-0.4660526216030121f,0.37130600214004517f,0.9276490807533264f,0.020355679094791412f,0.0018642216455191374f,-0.02869153395295143f,1.0385676622390747f,-0.34923428297042847f,0.1714203655719757f,0.36723965406417847f,0.8554050326347351f,-0.09045511484146118f };
-
-const float b1[16] = { 1.150247573852539f,0.3787740468978882f,-0.37591612339019775f,0.35016560554504395f,-1.493345022201538f,-0.014888311736285686f,1.1452380418777466f,-0.7101595997810364f,-0.835256814956665f,-1.015454888343811f,0.06858895719051361f,1.841330885887146f,1.4855725765228271f,-1.0548001527786255f,1.3771636486053467f,1.6997805833816528f };
-
-const float b2[16] = { -2.127044677734375f,-0.05024205148220062f,-0.10912598669528961f,0.4193979501724243f,-0.3629087209701538f,-2.0801820755004883f,-0.9151886105537415f,0.23505888879299164f,0.15858112275600433f,-1.2868983745574951f,-0.32605794072151184f,0.3689916431903839f,0.4501989781856537f,-0.579530656337738f,-0.5911619067192078f,-0.0021712039597332478f };
-
-const float b3[16] = { 1.2424890995025635f,-0.19155673682689667f,1.6300463676452637f,-0.6151836514472961f,-1.518149733543396f,1.4923145771026611f,1.0071033239364624f,-0.24371950328350067f,-0.340782105922699f,-0.12960892915725708f,0.41212695837020874f,-0.8292514681816101f,-0.04682595282793045f,-1.1554399728775024f,-0.14774371683597565f,-1.9604157209396362f };
-
-const float bout[1] = { -1.081741213798523f };
+const float hout[16] = { 0.5272732973098755f,0.29130640625953674f,-0.5444002151489258f,-0.3080372214317322f,-0.46838802099227905f,0.22877520322799683f,0.12085825204849243f,0.11469389498233795f,-0.3717977702617645f,0.4081546664237976f,-0.34571924805641174f,2.4782423973083496f,-0.49329257011413574f,-0.18705929815769196f,0.470443993806839f,-0.07612967491149902f };
+
+const float b1[16] = { 0.6079384684562683f,0.7488086819648743f,0.2734024226665497f,0.6207621693611145f,-0.10124898701906204f,0.6065471768379211f,-1.3996264934539795f,-0.8490302562713623f,0.7256325483322144f,0.29943183064460754f,-0.413175493478775f,-0.18533024191856384f,1.0015991926193237f,1.0738469362258911f,-1.4473942518234253f,1.0611149072647095f };
+
+const float b2[16] = { -0.5715829730033875f,0.024753810837864876f,-0.5197042226791382f,-0.9603403210639954f,1.2647051811218262f,-0.4483911395072937f,-0.10769303143024445f,-0.356192022562027f,0.09464974701404572f,-0.2368306964635849f,0.5349050760269165f,-0.33337149024009705f,-0.4760465621948242f,1.2915849685668945f,-0.41767919063568115f,-1.0683845281600952f };
+
+const float b3[16] = { -2.198793888092041f,-0.39774423837661743f,-0.7633510828018188f,-1.8875172138214111f,-0.9303251504898071f,-0.5480363965034485f,-1.3439136743545532f,-0.1289718896150589f,0.781519889831543f,-0.049977123737335205f,0.3549143671989441f,-0.22415409982204437f,-2.2565112113952637f,1.0141292810440063f,1.966643214225769f,-0.3500630259513855f };
+
+const float bout[1] = { 0.2728830575942993f };
 
 float valve_ref_pos_buffer[10] = {0.0f};