Diff: main.cpp

Revision:

92:c7eda9710d76

Parent:

91:ec77a57f947f

Child:

93:82ce526d307b

--- a/main.cpp	Tue Jul 28 13:08:53 2020 +0000
+++ b/main.cpp	Fri Jul 31 00:19:10 2020 +0000
@@ -1,4 +1,4 @@
-//200728-3
+//200731-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,72 +193,69 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.2045764923095703f,-0.02485206536948681f,0.12903714179992676f,0.1692826747894287f,-1.7091925144195557f,0.06678515672683716f,-0.17472904920578003f,0.5795590281486511f,-2.11746883392334f,-0.06562559306621552f,-0.23322346806526184f,-0.17399154603481293f,-0.2667962610721588f,-0.13195174932479858f,-0.2571594715118408f,-1.8036941289901733f},
-{-0.7016909122467041f,-0.2169734537601471f,-0.3927857577800751f,-0.10233694314956665f,-1.0367498397827148f,-0.5116228461265564f,-0.4054011106491089f,0.08144057542085648f,-1.2197529077529907f,0.206464022397995f,-0.2697264552116394f,0.01024568546563387f,0.23306965827941895f,-0.4916746914386749f,-0.20967772603034973f,-0.8833222389221191f},
-{-0.6923372745513916f,-0.10510539263486862f,0.36391180753707886f,-0.42305824160575867f,-0.5636495351791382f,-0.3642365634441376f,0.2872133255004883f,0.3611777424812317f,-1.124153971672058f,0.23270422220230103f,-0.34329819679260254f,0.006704795639961958f,-0.004922339227050543f,0.05072656273841858f,0.05590221285820007f,-0.9764589667320251f},
-{-1.0261441469192505f,0.10136393457651138f,0.39742106199264526f,0.2613149583339691f,-0.9092212319374084f,-0.351374089717865f,-0.11584559082984924f,1.2286179065704346f,-1.4192156791687012f,0.3871139883995056f,0.10081610828638077f,0.34635695815086365f,-0.1667657494544983f,-0.009388423524796963f,-0.2961459457874298f,-1.0842492580413818f},
-{-0.07618353515863419f,0.03889147937297821f,-0.0051451027393341064f,0.2518005073070526f,-0.5399696230888367f,-0.38818490505218506f,0.1294034719467163f,0.6968737244606018f,-1.1872122287750244f,0.22240447998046875f,0.3530246317386627f,0.10206691920757294f,-0.07012299448251724f,0.36810362339019775f,-0.3865056037902832f,-1.1093138456344604f},
-{3.994356632232666f,-3.284985065460205f,0.21773302555084229f,0.3546731472015381f,3.4075307846069336f,-3.822568416595459f,0.16514194011688232f,-2.9511349201202393f,2.4738118648529053f,0.2570652365684509f,-0.24222268164157867f,0.682106614112854f,-0.26652491092681885f,1.159996509552002f,-0.4132833778858185f,2.414874315261841f},
-{-1.1837544441223145f,2.042693614959717f,-0.2501986622810364f,-0.7289283871650696f,-2.1040024757385254f,3.048217296600342f,0.06014183163642883f,1.8297029733657837f,-0.28373897075653076f,-0.08550117909908295f,0.1522122472524643f,-2.0558958053588867f,-0.17333753407001495f,-0.7093504667282104f,-0.15618428587913513f,-1.011019229888916f},
-{0.7381495833396912f,0.11086411774158478f,-0.26619744300842285f,0.0026282949838787317f,-0.866230845451355f,0.9559378027915955f,-0.17925891280174255f,-0.061163634061813354f,0.6056218147277832f,0.023915044963359833f,0.10686657577753067f,-1.2551953792572021f,0.37086308002471924f,0.052173539996147156f,0.04303058981895447f,0.7411735653877258f},
-{1.3886348009109497f,0.1715136468410492f,0.10248100757598877f,-0.4182056486606598f,-0.3461568057537079f,0.5742411017417908f,-0.07246989011764526f,-1.0087774991989136f,0.686736524105072f,0.314855694770813f,-0.2954437732696533f,-0.22107811272144318f,0.22871431708335876f,0.357313871383667f,-0.30555272102355957f,1.3646327257156372f},
-{0.5064920783042908f,-0.17018389701843262f,0.18462657928466797f,-0.20958049595355988f,-0.30696263909339905f,1.0071170330047607f,-0.2990540862083435f,-0.8922479152679443f,0.3961635231971741f,-0.5006842017173767f,-0.006495190318673849f,-0.9311968684196472f,0.3718762993812561f,-0.188039168715477f,0.3484981060028076f,0.7810344696044922f},
-{0.764930009841919f,0.18533006310462952f,0.37182438373565674f,0.1710798293352127f,-0.3174598217010498f,0.8986842632293701f,-0.20339298248291016f,-1.0656275749206543f,-0.3244796395301819f,-0.020866239443421364f,0.3500066101551056f,-0.6749598383903503f,-0.06717753410339355f,-0.02112833969295025f,0.26688337326049805f,0.23522819578647614f},
-{-0.013853531330823898f,-0.38646379113197327f,-0.40320003032684326f,-0.0571451373398304f,0.12946301698684692f,0.6963969469070435f,0.1533789038658142f,-0.7647743821144104f,-0.018932288512587547f,0.15912452340126038f,-0.4126411974430084f,0.08778811246156693f,0.14389662444591522f,0.07021615654230118f,0.10493969917297363f,0.4731283485889435f},
-{0.03699635714292526f,-0.36537009477615356f,0.19847965240478516f,0.07069417089223862f,0.6746246814727783f,0.5485546588897705f,-0.2404318004846573f,-0.7978367209434509f,0.13918475806713104f,-0.2235451489686966f,-0.10738812386989594f,0.1654774248600006f,0.09131072461605072f,0.11426089704036713f,-0.22268100082874298f,0.12341437488794327f},
-{-0.5421447157859802f,-0.37162381410598755f,0.4127817749977112f,-0.22541047632694244f,0.16775773465633392f,-0.0702466070652008f,-0.32001304626464844f,-0.8966354131698608f,0.03508562594652176f,-0.2554728090763092f,-0.1931643933057785f,0.4695361852645874f,-0.3131785988807678f,-0.0025841747410595417f,0.0479682981967926f,0.11745736002922058f},
-{-0.4286018908023834f,-0.2663446068763733f,0.20282304286956787f,-0.09976184368133545f,0.6023834347724915f,-0.04434759169816971f,0.04202890396118164f,-0.032894305884838104f,0.09723319113254547f,0.031082788482308388f,-0.2777131199836731f,0.05025812238454819f,0.10295413434505463f,-0.10985486209392548f,0.0668090283870697f,-0.454736590385437f},
-{-0.43599778413772583f,-0.747663140296936f,-0.40439701080322266f,-0.23175373673439026f,0.3294720947742462f,-0.271278440952301f,-0.15568238496780396f,-0.26932790875434875f,0.22673556208610535f,-0.06962557137012482f,-0.47187256813049316f,0.2936002314090729f,-0.2717811167240143f,0.02432101033627987f,-0.08245879411697388f,-0.45053789019584656f},
-{-0.821532666683197f,-0.8938987851142883f,0.16706281900405884f,-0.05597909539937973f,0.39649075269699097f,-0.946435809135437f,-0.041414469480514526f,-0.050121814012527466f,0.006807052530348301f,0.027923285961151123f,-0.351508766412735f,0.7152565717697144f,0.11149675399065018f,0.3616260588169098f,0.29427415132522583f,-0.8877673745155334f},
+   {-2.636223077774048f,2.243234872817993f,0.13533532619476318f,2.4233856201171875f,-3.3432064056396484f,-2.774308204650879f,-0.18325737118721008f,1.4001487493515015f,-3.346646547317505f,0.008163847960531712f,0.16983994841575623f,-2.706968307495117f,-0.26757416129112244f,0.24524593353271484f,-0.26971113681793213f,-0.5010743141174316f},
+{-0.08952529728412628f,-0.20313316583633423f,-0.41195717453956604f,-0.45231756567955017f,-0.6821832656860352f,-0.2936117351055145f,-0.425188273191452f,-1.112612247467041f,-1.097312092781067f,0.3637164533138275f,-1.9392222166061401f,0.18047840893268585f,0.25669875741004944f,-0.35464173555374146f,-0.2199118435382843f,-0.15505185723304749f},
+{1.8727171421051025f,-2.095238208770752f,0.3816739320755005f,-2.71220326423645f,1.6868313550949097f,1.8927206993103027f,0.30123186111450195f,-2.723884344100952f,0.3088037669658661f,0.4519273340702057f,-3.6248373985290527f,2.232008457183838f,0.007061384618282318f,0.11372528225183487f,0.05863076448440552f,-0.36209121346473694f},
+{-0.7696437239646912f,0.9976058006286621f,0.41681867837905884f,0.2759222388267517f,0.05198448523879051f,-0.18448013067245483f,-0.12149989604949951f,1.2117013931274414f,1.9051657915115356f,-0.03225353732705116f,1.7395188808441162f,-0.10909049957990646f,-0.16952407360076904f,0.09711930900812149f,-0.31060048937797546f,0.0952095314860344f},
+{0.46873918175697327f,0.16299599409103394f,-0.005396246910095215f,-0.2735261023044586f,0.3464527130126953f,0.24212251603603363f,0.13571947813034058f,-0.3182293772697449f,1.7913312911987305f,-0.033547721803188324f,1.1432417631149292f,0.32865506410598755f,-0.06812751293182373f,0.2100047469139099f,-0.40537047386169434f,-0.254747599363327f},
+{0.6474926471710205f,-0.3885102868080139f,0.22836029529571533f,0.3597419857978821f,0.17005836963653564f,-0.45267313718795776f,0.17320233583450317f,-0.44595828652381897f,1.1760566234588623f,0.12391972541809082f,0.7677016854286194f,0.2040991485118866f,-0.27413249015808105f,0.3474045395851135f,-0.4334552586078644f,-0.41930830478668213f},
+{0.24128086864948273f,0.04589380323886871f,-0.26241058111190796f,-0.1605479121208191f,-0.6496112942695618f,-0.040162138640880585f,0.06307727098464966f,-0.01635139249265194f,1.224489688873291f,0.08213555812835693f,1.537510871887207f,-0.04966752976179123f,-0.17679321765899658f,0.3805965781211853f,-0.1638074517250061f,-0.21925397217273712f},
+{0.5807400345802307f,-0.5998976230621338f,-0.2791902422904968f,0.010019575245678425f,-0.28916454315185547f,-0.004041178617626429f,-0.18800833821296692f,-0.12002937495708466f,1.1164791584014893f,0.09512722492218018f,1.3150197267532349f,-0.27913761138916016f,0.3936273455619812f,0.12782473862171173f,0.04513084888458252f,0.04114608094096184f},
+{0.47128385305404663f,0.15318268537521362f,0.10748296976089478f,-0.19771212339401245f,-0.39191916584968567f,-0.07537200301885605f,-0.07600703835487366f,-0.0043637691996991634f,0.2844483256340027f,0.36843350529670715f,0.8857852220535278f,-0.08769991248846054f,0.24420581758022308f,0.21733689308166504f,-0.32046639919281006f,0.03942794352769852f},
+{0.1732984334230423f,-0.6440593004226685f,0.19363796710968018f,-0.05195067822933197f,0.01278105191886425f,0.0784035474061966f,-0.31365057826042175f,-0.11009003221988678f,0.17618030309677124f,-0.4172092080116272f,0.5049150586128235f,-0.6888574957847595f,0.39433738589286804f,-0.2418195605278015f,0.36550790071487427f,-0.1942736953496933f},
+{0.549104630947113f,-0.41158950328826904f,0.3899726867675781f,0.1083884984254837f,-0.015253588557243347f,-0.04276833310723305f,-0.21332034468650818f,-0.3486056625843048f,-0.547969400882721f,0.11509697139263153f,0.314342200756073f,-0.28358978033065796f,-0.06590432673692703f,-0.007751610595732927f,0.279909610748291f,-0.5137237310409546f},
+{-0.7033979296684265f,-0.6657086610794067f,-0.42287975549697876f,-0.08000577241182327f,-0.03872407227754593f,-0.20529375970363617f,0.1608651876449585f,0.2230621725320816f,-0.6050418615341187f,0.24793808162212372f,-0.48820748925209045f,-0.005761494394391775f,0.1554817259311676f,-0.02308785542845726f,0.11006170511245728f,-0.25518080592155457f},
+{-0.6173781752586365f,-0.4257122278213501f,0.2081671953201294f,0.0017440271330997348f,0.43724673986434937f,0.15821054577827454f,-0.2521669864654541f,-0.02800438366830349f,-0.60755854845047f,-0.1903579831123352f,-0.5224428176879883f,-0.2436826378107071f,0.10015113651752472f,0.012118409387767315f,-0.2335498034954071f,-0.5725377202033997f},
+{-1.1205565929412842f,-0.2731543481349945f,0.4329291582107544f,-0.1349230706691742f,-0.1791067123413086f,-0.47184258699417114f,-0.3356325030326843f,-0.5746006369590759f,-0.7583351731300354f,-0.19203944504261017f,-0.9278050065040588f,-0.161558598279953f,-0.32434722781181335f,-0.062287308275699615f,0.050309598445892334f,-0.07609463483095169f},
 };
 
 const float h2[16][16] = { 
-    {-2.919337034225464f,-0.5179003477096558f,-0.06966331601142883f,-0.9392852783203125f,-0.21907491981983185f,-0.6777383089065552f,1.4962505102157593f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.9343112707138062f,-0.5006767511367798f,0.09027843177318573f,1.7209340333938599f,-0.44259077310562134f,-0.34574827551841736f},
-{1.92194402217865f,-1.5673640966415405f,0.057057321071624756f,-0.9685341119766235f,-0.35503754019737244f,-1.4583938121795654f,-4.501441478729248f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.1407350301742554f,-0.7869279980659485f,0.30330753326416016f,0.8588218688964844f,-0.3557557761669159f,-4.33712100982666f},
+    {-0.4603257477283478f,0.8772760033607483f,-0.06966331601142883f,-4.041189670562744f,-0.21907491981983185f,0.7140710949897766f,-0.026191093027591705f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,4.737386226654053f,-1.5814257860183716f,-0.95693439245224f,0.020619748160243034f,-0.07004775106906891f,-0.76105797290802f},
+{0.020373234525322914f,-0.3936019539833069f,0.057057321071624756f,-2.4123518466949463f,-0.35503754019737244f,-0.7511828541755676f,-0.6510120034217834f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-5.747474193572998f,-3.005373239517212f,0.037916481494903564f,0.18941521644592285f,-0.4532434046268463f,-0.41316694021224976f},
 {-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},
-{-0.04316405951976776f,-0.29764148592948914f,-0.2894435524940491f,0.4101297855377197f,0.08946844935417175f,0.3228073716163635f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.1572064608335495f,0.3810839354991913f,-0.404754102230072f,-0.22342059016227722f,0.23477959632873535f,0.15143142640590668f},
-{-0.9464979767799377f,-0.3076140582561493f,-0.25313520431518555f,0.15904559195041656f,0.036378175020217896f,-0.1736764907836914f,0.8672381043434143f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.7515344619750977f,-0.8107926845550537f,-0.06211885064840317f,0.739771842956543f,-0.6062625646591187f,-4.735872268676758f},
-{1.36680006980896f,-0.6394650936126709f,-0.3519742488861084f,-0.6750951409339905f,-0.3015052080154419f,-0.9782511591911316f,1.7863214015960693f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.9839082360267639f,-0.5618821978569031f,-0.23864255845546722f,1.1040741205215454f,0.03634831681847572f,-5.446304798126221f},
+{-0.3944045603275299f,-1.9354594945907593f,-0.2894435524940491f,-4.7087626457214355f,0.08946844935417175f,-4.094192028045654f,-0.38398563861846924f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-6.836662292480469f,1.5429974794387817f,-0.5487178564071655f,4.68589448928833f,0.24202124774456024f,-3.6199753284454346f},
+{-0.5866785645484924f,1.7805474996566772f,-0.25313520431518555f,-4.881411075592041f,0.036378175020217896f,1.6190418004989624f,-0.5253432393074036f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-11.805133819580078f,0.763131856918335f,-0.5127856135368347f,-0.5718107223510742f,-0.36684390902519226f,-8.376072883605957f},
+{0.23423577845096588f,0.4247382581233978f,-0.3519742488861084f,-1.3697437047958374f,-0.3015052080154419f,0.5736976265907288f,-0.5804772973060608f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.11964000016450882f,-2.065199136734009f,-1.6034106016159058f,0.039161406457424164f,0.12672673165798187f,-1.2211551666259766f},
 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
-{1.1189454793930054f,-0.11695024371147156f,0.33083590865135193f,-0.46847426891326904f,-0.14358049631118774f,-0.3992745876312256f,-4.805781364440918f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.07924248278141022f,-0.8136246800422668f,-0.41615480184555054f,-0.1504054218530655f,-0.1362861543893814f,-0.8675174117088318f},
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 };
 
 const float h3[16][16] = { 
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 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
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+{0.1863725483417511f,0.31412801146507263f,-0.02558724395930767f,-1.6316707134246826f,-0.6495444774627686f,0.33418598771095276f,0.04860696196556091f,0.021626541391015053f,-0.01945028081536293f,0.1728840321302414f,-0.3929237127304077f,1.8320430517196655f,-0.026717016473412514f,3.916369915008545f,-2.8514344692230225f,-0.08481165766716003f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.22967581450939178f,-0.0717943012714386f,-0.024000566452741623f,-0.549458920955658f,-0.6117286682128906f,-0.09980393201112747f,0.003224039915949106f,0.07727165520191193f,1.3765428066253662f,0.9317008256912231f,-0.7084391117095947f,-0.04823613539338112f,1.021606206893921f,0.4870172142982483f,-0.17144380509853363f };
+const float hout[16] = { 0.45773375034332275f,0.3777436316013336f,-0.2657872140407562f,-0.39973798394203186f,-0.28962188959121704f,0.07055342197418213f,0.0030125975608825684f,0.030548786744475365f,-0.3354935646057129f,-0.17213624715805054f,0.23702484369277954f,-0.3935646712779999f,0.018389074131846428f,0.3758097290992737f,0.28183016180992126f,-0.46435898542404175f };
 
-const float b1[16] = { -0.03143974393606186f,4.176156997680664f,-1.7145336866378784f,0.1904430091381073f,2.418353319168091f,2.11586594581604f,-0.058932315558195114f,2.6734960079193115f,3.4673190116882324f,-0.9682435393333435f,0.5739635229110718f,-0.015039386227726936f,-0.3719368278980255f,-1.017250895500183f,-1.087764859199524f,3.270554780960083f };
+const float b1[16] = { 1.1100789308547974f,1.6171516180038452f,-1.7145336866378784f,0.8533738255500793f,2.615485668182373f,1.693860650062561f,-0.058932315558195114f,2.7782814502716064f,1.4163953065872192f,-1.0262794494628906f,1.345931887626648f,1.316428780555725f,-0.36870136857032776f,-0.8856639266014099f,-1.087764859199524f,1.0242702960968018f };
 
-const float b2[16] = { 0.2875247299671173f,-0.8313738107681274f,-1.4564176797866821f,-0.8466981649398804f,-0.6939148902893066f,0.011128111742436886f,0.5578509569168091f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.17395496368408203f,0.021093016490340233f,-0.1509302258491516f,-0.7613070607185364f,-0.18032704293727875f,2.2685976028442383f };
+const float b2[16] = { -0.2496151179075241f,-0.6192721128463745f,-1.4564176797866821f,3.241331100463867f,-0.6939148902893066f,0.7602152228355408f,-0.03064180351793766f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,1.3752033710479736f,0.2879711985588074f,-0.020430197939276695f,1.1505300998687744f,-0.12027230858802795f,2.9625840187072754f };
 
-const float b3[16] = { -1.963319182395935f,1.7754796743392944f,-0.002020448911935091f,-0.3760737478733063f,0.8974840044975281f,0.09867151826620102f,-1.0802415609359741f,-0.8115718960762024f,-0.01466897502541542f,-0.715161919593811f,-1.0395888090133667f,-0.8204963803291321f,0.41714078187942505f,2.1652324199676514f,-1.496157169342041f,-1.9632149934768677f };
+const float b3[16] = { -1.963319182395935f,-0.6181425452232361f,0.8923199772834778f,-2.4549334049224854f,-0.2526961863040924f,-1.480323076248169f,-0.45353031158447266f,-0.8093230128288269f,0.45166435837745667f,0.3302176892757416f,-0.22691340744495392f,-0.4341474175453186f,-0.807792067527771f,1.5697368383407593f,-1.69469153881073f,-0.5960760712623596f };
 
-const float bout[1] = { -0.07203265279531479f};
+const float bout[1] = { -0.021720387041568756f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;