Diff: main.cpp

Revision:

73:f80dc3970c99

Parent:

72:3436ce769b1e

Child:

74:2bd13b02ed17

--- a/main.cpp	Tue May 19 01:36:27 2020 +0000
+++ b/main.cpp	Mon Jun 08 11:00:23 2020 +0000
@@ -1,4 +1,4 @@
-//200518-5
+//200522-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -189,107 +189,112 @@
 float f_past[num_array_f_past] = {0.0f};
 float f_future[num_array_f_future] = {0.0f};
 
-float input[num_input] = { 0.0f };
+float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][32] = { 
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-{-1.1674734354019165f,0.7666152119636536f,0.29864487051963806f,-0.7858529090881348f,-0.8153032660484314f,0.38648831844329834f,0.005260761361569166f,0.5857726335525513f,0.5050831437110901f,-0.27091121673583984f,-0.31120190024375916f,0.1015682965517044f,0.021212786436080933f,0.1308889240026474f,0.045876264572143555f,-0.7258760333061218f,0.2787801921367645f,0.06295260787010193f,0.8768393993377686f,0.5829216241836548f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.22578246891498566f,0.2936786115169525f,0.12686115503311157f,-0.46410071849823f,-0.6578801274299622f,0.09809011220932007f,-0.35250869393348694f,1.0430457592010498f},
-{-0.4347030520439148f,0.4434410333633423f,-0.0042223334312438965f,-0.4880976974964142f,-0.6320772171020508f,0.5300382971763611f,-0.05236375704407692f,0.36149340867996216f,0.6912349462509155f,-0.22590239346027374f,0.25978198647499084f,0.534641444683075f,-0.03282937407493591f,0.1653469204902649f,-0.31718650460243225f,-0.9508377313613892f,0.8650888800621033f,-0.2658354640007019f,0.7296754717826843f,0.7955288887023926f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.39863649010658264f,0.14537742733955383f,-0.15514154732227325f,-0.2733694911003113f,-0.6065505146980286f,0.302763432264328f,-0.4336198568344116f,0.32752689719200134f},
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 };
 
 const float h2[32][32] = { 
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 };
 
 const float h3[32][32] = { 
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 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
-{0.07638216018676758f,0.06527131050825119f,-0.30373215675354004f,-0.2754420042037964f,0.14434225857257843f,0.00017172039952129126f,0.2795381247997284f,-0.25668495893478394f,-0.0660800188779831f,-0.11634080111980438f,-0.026776641607284546f,0.02524423599243164f,0.1270872950553894f,0.24200080335140228f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.1485162079334259f,0.2475007325410843f,0.15105272829532623f,-0.014869635924696922f,-0.19381891191005707f,-0.17324526607990265f,0.20202405750751495f,0.1901901364326477f,-0.28288236260414124f,-0.04761365056037903f,-0.11869554221630096f,0.22636333107948303f,-0.2677184045314789f,0.20162822306156158f},
+{0.07638216018676758f,0.07996532320976257f,-0.4532916247844696f,-0.286763995885849f,-0.14361587166786194f,0.15333548188209534f,0.2795381247997284f,-0.25668495893478394f,1.5776686668395996f,-0.3557981550693512f,-4.558074474334717f,-0.0959593802690506f,-0.2420492321252823f,1.8044195175170898f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.9772398471832275f,-1.1837528944015503f,1.1952396631240845f,-0.7478441596031189f,-0.15799765288829803f,-0.17324526607990265f,0.7002406120300293f,0.017084553837776184f,-0.2846224009990692f,-0.2008575201034546f,-0.8861852288246155f,0.22636333107948303f,-0.3774070739746094f,-0.03760375455021858f},
 };
 
-const float hout[32] = { 0.3285340666770935f,0.21559861302375793f,-0.08759381622076035f,-0.18752218782901764f,-0.07880980521440506f,0.24804820120334625f,-0.14023931324481964f,-0.013787297531962395f,-0.06430239975452423f,0.2420935183763504f,0.06614154577255249f,-0.06488268822431564f,-0.13233189284801483f,0.07787903398275375f,0.2356991171836853f,-0.12399186939001083f,0.07342065125703812f,-0.21499931812286377f,-0.17105859518051147f,-0.23412150144577026f,0.11204441636800766f,0.09496966749429703f,-0.10224377363920212f,-0.09258242696523666f,0.10437283664941788f,0.2520971894264221f,-0.33695727586746216f,-0.1872805953025818f,0.14851516485214233f,-0.3257754445075989f,-0.28138089179992676f,-0.3072269856929779f };
+const float hout[32] = { 0.3285340666770935f,0.32595810294151306f,-0.16531020402908325f,-0.1120261549949646f,-0.02814103290438652f,0.20109859108924866f,-0.0071088592521846294f,0.1081397533416748f,0.14690308272838593f,-0.04607205465435982f,0.1793166697025299f,-0.09312135726213455f,-0.2741614878177643f,0.973639726638794f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.22608381509780884f,-0.19660963118076324f,-0.13850048184394836f,0.33182141184806824f,-0.2774904668331146f,-0.175692617893219f,0.12098437547683716f,0.062369804829359055f,-0.26919692754745483f,-0.09816103428602219f,0.8765497207641602f,-0.3257754445075989f,-0.19969786703586578f,-0.5018784403800964f };
 
-const float b1[32] = { 0.6303730607032776f,1.2771244049072266f,-1.7145336866378784f,-0.024331381544470787f,0.9595928192138672f,1.065868616104126f,-0.1704230010509491f,0.8563094139099121f,0.6089017987251282f,-1.044298768043518f,0.5565745234489441f,1.726973533630371f,-0.3425353467464447f,-0.8952552676200867f,-1.087764859199524f,1.1323175430297852f,0.5307965874671936f,-0.26377663016319275f,0.5580302476882935f,0.7606151700019836f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.5647425651550293f,-2.0880801677703857f,-1.0489267110824585f,0.6971176862716675f,0.16526353359222412f,-1.0887231826782227f,1.415956735610962f,-0.7934260368347168f };
+const float b1[32] = { 0.360392302274704f,1.3258261680603027f,-1.7145336866378784f,0.11188247054815292f,1.0527279376983643f,0.5051818490028381f,-0.10494530200958252f,1.3075183629989624f,0.5332803726196289f,-1.3167273998260498f,0.5802411437034607f,2.0797219276428223f,-0.3425353467464447f,-0.8710014224052429f,-1.087764859199524f,0.34449902176856995f,0.6696957945823669f,-0.26377663016319275f,0.22221045196056366f,0.7987192273139954f,-0.3121899664402008f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.8851773738861084f,-2.0880801677703857f,-1.0489267110824585f,0.6635584235191345f,0.4126681685447693f,-1.0887231826782227f,0.7133725881576538f,-0.4426153898239136f };
 
-const float b2[32] = { -0.10466054826974869f,-0.7642630338668823f,-1.4564176797866821f,-0.4875738024711609f,-0.6939148902893066f,0.11667700856924057f,0.05593651905655861f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3189098536968231f,0.31611981987953186f,-0.07918518036603928f,2.4898033142089844f,0.15618184208869934f,1.179538607597351f,-1.798204779624939f,-1.5844906568527222f,-0.47564440965652466f,-0.3313511312007904f,-0.49963441491127014f,0.07379159331321716f,-0.07159822434186935f,-1.0362731218338013f,0.758223831653595f,0.1655489057302475f,-0.2961638867855072f,-0.22285382449626923f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.354332685470581f };
+const float b2[32] = { -0.21426281332969666f,-0.7642630338668823f,-1.4564176797866821f,-0.4739953577518463f,-0.6939148902893066f,0.08300478756427765f,-0.4721355140209198f,-0.4483444094657898f,-1.20063054561615f,-1.912178635597229f,-0.07969088852405548f,0.6989963054656982f,-0.3409772515296936f,1.5607539415359497f,-0.1873372495174408f,0.5244904160499573f,-1.798204779624939f,-1.5844906568527222f,-0.06145767867565155f,-0.2975791394710541f,-0.05740395933389664f,0.1989542841911316f,0.09335066378116608f,-1.0665833950042725f,0.060874372720718384f,1.2573281526565552f,0.9455531239509583f,0.3112686574459076f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-0.8882189989089966f };
 
-const float b3[32] = { -1.963319182395935f,-0.5059564113616943f,-0.17237482964992523f,-0.17604026198387146f,-0.13820096850395203f,-0.06550032645463943f,-0.5431802868843079f,-0.7197896242141724f,-0.007029889151453972f,1.0352654457092285f,-0.23477809131145477f,-0.08210232108831406f,-0.7245506048202515f,0.11592133343219757f,-1.1428403854370117f,-0.5011612176895142f,-1.5022703409194946f,-1.0192245244979858f,-0.8375463485717773f,0.09358791261911392f,1.242738962173462f,1.2594772577285767f,-1.1541656255722046f,-0.9588961005210876f,1.081007719039917f,-0.36519983410835266f,-0.17800214886665344f,-0.6829278469085693f,-0.11213456094264984f,-2.3236680030822754f,-0.23607516288757324f,-1.4480558633804321f };
+const float b3[32] = { -1.963319182395935f,-0.49897506833076477f,-0.04165864363312721f,-0.24708756804466248f,-0.12295565754175186f,0.8161247372627258f,-0.490390807390213f,-0.6562485098838806f,-0.11963385343551636f,-0.35514017939567566f,-1.653018593788147f,-0.1486135721206665f,-0.8058865666389465f,-2.3385539054870605f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.8995988368988037f,0.8749277591705322f,0.11804358661174774f,1.180364966392517f,-1.026091456413269f,-0.8066051602363586f,0.5967051982879639f,-0.565889835357666f,-0.2720939517021179f,-0.15897169709205627f,0.0058806478045880795f,-2.3236680030822754f,-0.21091698110103607f,-2.045327663421631f };
 
-const float bout[1] = { -0.11509382724761963f };
+const float bout[1] = { -0.08369258046150208f };
 
 
 int main()
@@ -395,8 +400,11 @@
         
         timer_while ++;
         
+        if(NN_Control_Flag == 0) {
+            LED = 0;
+        }
         
-        if(NN_Control_Flag == 1) {
+        else if(NN_Control_Flag == 1) {
             float output1[32] = { 0.0f };
             float output2[32] = { 0.0f };
             float output3[32] = { 0.0f };
@@ -405,7 +413,7 @@
             for (int index2 = 0; index2 < 32; index2++) {
                 for (int index1 = 0; index1 < num_input; index1++) {
                     output1[index2] = output1[index2]
-                                      + h1[index1][index2] * input[index1];
+                                      + h1[index1][index2] * input_NN[index1];
                 }
                 output1[index2] = output1[index2] + b1[index2];
                 if (output1[index2] < 0) {
@@ -437,12 +445,12 @@
 
             for (int index2 = 0; index2 < 1; index2++) {
                 for (int index1 = 0; index1 < 32; index1++) {
-                    output = output + hout[index2] * output3[index1];
+                    output = output + hout[index1] * output3[index1];
                 }
                 output = output + bout[index2];
-                output = 1.0f/(1.0f+exp(-output));
+                
             }
-
+            output = 1.0f/(1.0f+exp(-output));
             output = output * 20000.0f - 10000.0f;
             if(output>=0) {
                 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
@@ -1820,14 +1828,15 @@
 
             if (flag_data_request[3] == HIGH) {
                 //PWM
-                CAN_TX_PWM((int16_t) value); //1500
+                //CAN_TX_PWM((int16_t) value); //1500
+                CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
             }
             //for (i = 0; i < 10000; i++) {
 //                ;
 //            }
             if (flag_data_request[4] == HIGH) {
                 //valve position
-                CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
+                CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
             }
 
             // Others : Reference position, Reference FT, PWM, Current  (ID:1300)