Diff: main.cpp

Revision:

188:06adcbb57734

Parent:

187:6504dc812667

Child:

189:cc550c29e5bb

diff -r 6504dc812667 -r 06adcbb57734 main.cpp
--- a/main.cpp	Wed Dec 16 11:55:25 2020 +0000
+++ b/main.cpp	Thu Dec 17 01:20:14 2020 +0000
@@ -1,4 +1,4 @@
-//201216-3
+//201217_1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -198,72 +198,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-1.5374064445495605f,0.3835381269454956f,0.12903714179992676f,-1.0540982484817505f,-1.4977829456329346f,0.799557089805603f,-0.17472904920578003f,1.640777587890625f,-0.33628979325294495f,-1.022749900817871f,-0.23684848845005035f,-0.9042033553123474f,-0.25509142875671387f,-1.113432765007019f,-0.2571594715118408f,-0.6349852085113525f},
-{-0.8569321632385254f,-0.28481021523475647f,-0.3927857577800751f,-1.1701648235321045f,-0.7445976138114929f,0.11158730834722519f,-0.4054011106491089f,0.4344596862792969f,-0.13612186908721924f,0.4926294684410095f,-0.27370503544807434f,-0.5497169494628906f,0.24488189816474915f,-1.3379034996032715f,-0.20967772603034973f,-0.2520674169063568f},
-{-1.0156733989715576f,0.2303827404975891f,0.36391180753707886f,-1.4517995119094849f,-0.6804037690162659f,0.08477509766817093f,0.2872133255004883f,0.6242525577545166f,-0.23233523964881897f,0.11835410445928574f,-0.34768086671829224f,-0.4033336937427521f,0.006954585202038288f,-0.974044919013977f,0.05590221285820007f,-0.35799112915992737f},
-{-0.8714564442634583f,0.9709740877151489f,0.39742106199264526f,-0.220364049077034f,-0.8066199421882629f,-0.41667890548706055f,-0.11584559082984924f,0.9583095908164978f,-0.06620155274868011f,-0.8804064393043518f,0.09614303708076477f,0.20408129692077637f,-0.1548970490694046f,-0.6265993714332581f,-0.2961459457874298f,0.17067596316337585f},
-{0.6754429936408997f,1.0891026258468628f,-0.0051451027393341064f,1.0535486936569214f,0.11577604711055756f,-0.5531254410743713f,0.1294034719467163f,-0.26291272044181824f,-0.07107188552618027f,-1.05918288230896f,0.3479995131492615f,0.2231312096118927f,-0.058105532079935074f,0.8157122135162354f,-0.3865056037902832f,0.11934724450111389f},
-{3.669335126876831f,-2.520529270172119f,0.21773302555084229f,3.0248193740844727f,3.3947513103485107f,-1.961868166923523f,0.16514194011688232f,-3.380449056625366f,-0.0615205354988575f,2.449033498764038f,-0.2475488781929016f,0.8490079045295715f,-0.2543642520904541f,3.1460700035095215f,-0.4132833778858185f,0.3736213147640228f},
-{-0.2649390995502472f,3.137964963912964f,-0.2501986622810364f,-4.41010046005249f,-1.5325361490249634f,0.6246992349624634f,0.06014183163642883f,-1.5577740669250488f,0.06852987408638f,-1.5227625370025635f,0.15086963772773743f,-0.08829033374786377f,-0.17151489853858948f,3.2703564167022705f,-0.15618428587913513f,-0.29000696539878845f},
-{-1.1361333131790161f,1.4933043718338013f,-0.26619744300842285f,0.18904413282871246f,-1.3023492097854614f,0.38398781418800354f,-0.17925891280174255f,0.7752988338470459f,-0.10247176140546799f,-0.8943278193473816f,0.10430599004030228f,-0.8101029396057129f,0.3782026171684265f,-0.8220846652984619f,0.04303058981895447f,-0.20076002180576324f},
-{0.47431322932243347f,-1.8653429746627808f,0.10248100757598877f,-0.6880542039871216f,0.7735366225242615f,-0.7391023635864258f,-0.07246989011764526f,-1.2949172258377075f,-0.4540105164051056f,3.6055731773376465f,-0.2983750104904175f,-0.27986952662467957f,0.23655663430690765f,-0.3527243137359619f,-0.30555272102355957f,-0.650860607624054f},
-{-0.27583253383636475f,-2.078132390975952f,0.18462657928466797f,-0.8101276755332947f,0.2898740768432617f,-0.3763601779937744f,-0.2990540862083435f,-0.3598495125770569f,-0.1715877801179886f,1.3608026504516602f,-0.009420383721590042f,-1.114159345626831f,0.3801093101501465f,-0.5451788902282715f,0.3484981060028076f,-0.8675364851951599f},
-{0.1772964894771576f,-1.1816956996917725f,0.37182438373565674f,-0.18330180644989014f,-0.1935988813638687f,-0.3711324632167816f,-0.20339298248291016f,0.011945576407015324f,-0.5214647054672241f,0.6310030221939087f,0.34721440076828003f,-0.8592796921730042f,-0.05839260667562485f,0.006365128327161074f,0.26688337326049805f,-0.9529700875282288f},
-{-0.07317787408828735f,-1.2168822288513184f,-0.40320003032684326f,0.025210311636328697f,0.1553076207637787f,-0.5047181844711304f,0.1533789038658142f,0.1467759758234024f,-0.16939152777194977f,0.36547648906707764f,-0.4153592884540558f,-0.17172104120254517f,0.15277211368083954f,0.43687164783477783f,0.10493969917297363f,-0.41127416491508484f},
-{0.02281240187585354f,-0.8685509562492371f,0.19847965240478516f,0.31426671147346497f,0.28974810242652893f,-0.2262878566980362f,-0.2404318004846573f,0.18106479942798615f,-0.1452060043811798f,0.014419801533222198f,-0.10988222062587738f,-0.33172914385795593f,0.09968993812799454f,0.26250168681144714f,-0.22268100082874298f,-0.4445679485797882f},
-{-0.09246902912855148f,-0.6184863448143005f,0.4127817749977112f,0.4732179641723633f,-0.19029158353805542f,-0.5028371214866638f,-0.32001304626464844f,-0.24565637111663818f,-0.08077334612607956f,-0.008929888717830181f,-0.19549734890460968f,-0.11970767378807068f,-0.3054847717285156f,0.2516395151615143f,0.0479682981967926f,0.15816257894039154f},
-{0.024131957441568375f,-0.18219563364982605f,0.20282304286956787f,0.4282299876213074f,0.2521957457065582f,-0.20840142667293549f,0.04202890396118164f,0.3509533107280731f,0.3554973304271698f,0.19800402224063873f,-0.27989843487739563f,-0.3284192681312561f,0.11093859374523163f,0.18284760415554047f,0.0668090283870697f,0.2350914478302002f},
-{0.0035531315952539444f,-0.3449529707431793f,-0.40439701080322266f,0.6420384049415588f,-0.07720204442739487f,0.00661800242960453f,-0.15568238496780396f,-0.0394708625972271f,0.26091328263282776f,0.1271674782037735f,-0.47459378838539124f,-0.04844345897436142f,-0.2634789049625397f,0.24357618391513824f,-0.08245879411697388f,0.22769993543624878f},
-{-0.11964085698127747f,-0.2504226267337799f,0.16706281900405884f,1.3167107105255127f,0.018468953669071198f,-0.13184677064418793f,-0.041414469480514526f,0.14098282158374786f,0.009675423614680767f,0.09100230783224106f,-0.354688823223114f,0.17883950471878052f,0.12002348899841309f,0.7737550735473633f,0.29427415132522583f,0.016808994114398956f},
+    {-1.5311622619628906f,1.2215044498443604f,0.12903714179992676f,0.033053863793611526f,-1.9360250234603882f,1.1342180967330933f,-0.17472904920578003f,1.3410218954086304f,-1.7471858263015747f,-0.5566369295120239f,-0.23686346411705017f,-0.5168386697769165f,-0.26205670833587646f,-0.4597594439983368f,-0.2571594715118408f,-0.39345231652259827f},
+{-0.9946148991584778f,0.6024636626243591f,-0.3927857577800751f,-0.20766094326972961f,-1.3630274534225464f,0.46734827756881714f,-0.4054011106491089f,0.43221184611320496f,-1.3323167562484741f,0.20701727271080017f,-0.27367573976516724f,-0.2924371659755707f,0.2375551164150238f,-0.7413603663444519f,-0.20967772603034973f,-0.06330179423093796f},
+{-1.0332233905792236f,0.7390528321266174f,0.36391180753707886f,-0.4938513934612274f,-0.9321340918540955f,0.6489329934120178f,0.2872133255004883f,0.6767103672027588f,-1.2058310508728027f,-0.23890767991542816f,-0.34757405519485474f,-0.21662749350070953f,-0.0006922125467099249f,-0.08951175212860107f,0.05590221285820007f,-0.25968170166015625f},
+{-0.6559482216835022f,0.546791136264801f,0.39742106199264526f,0.23345571756362915f,-0.29634571075439453f,0.23489560186862946f,-0.11584559082984924f,0.932518482208252f,-0.08808527141809464f,-0.6629128456115723f,0.09624255448579788f,0.3126813471317291f,-0.16282400488853455f,-0.017444096505641937f,-0.2961459457874298f,0.11506715416908264f},
+{0.9437552690505981f,-0.10467414557933807f,-0.0051451027393341064f,0.26189932227134705f,1.0593810081481934f,-0.1290513575077057f,0.1294034719467163f,-0.30817073583602905f,1.405556082725525f,-0.5142757892608643f,0.34818795323371887f,0.18164508044719696f,-0.06639711558818817f,0.37773770093917847f,-0.3865056037902832f,-0.12323042005300522f},
+{3.3554351329803467f,-3.037956476211548f,0.21773302555084229f,0.3865581452846527f,3.331406593322754f,-2.266171932220459f,0.16514194011688232f,-3.0584089756011963f,2.9307427406311035f,1.7993361949920654f,-0.24734951555728912f,0.5408426523208618f,-0.2629496455192566f,0.958703875541687f,-0.4132833778858185f,-0.027743525803089142f},
+{-0.53192138671875f,-0.05714607611298561f,-0.2501986622810364f,-0.6607210636138916f,-0.835250973701477f,6.03158712387085f,0.06014183163642883f,-0.7328592538833618f,1.9366014003753662f,-5.050229072570801f,0.150299072265625f,0.15599359571933746f,-0.1737729012966156f,0.3276987075805664f,-0.15618428587913513f,-0.6801899075508118f},
+{-0.7914456129074097f,0.8974534869194031f,-0.26619744300842285f,0.025165753439068794f,-0.9369274973869324f,1.2313348054885864f,-0.17925891280174255f,0.7491068840026855f,-0.4204663634300232f,-0.8690670132637024f,0.10463108122348785f,-0.5030022263526917f,0.3709419369697571f,-0.0012537387665361166f,0.04303058981895447f,-0.0186854749917984f},
+{0.6931253671646118f,-1.2119964361190796f,0.10248100757598877f,-0.4085768461227417f,-0.12525808811187744f,-1.1924095153808594f,-0.07246989011764526f,-1.666281819343567f,-1.784010410308838f,2.3959622383117676f,-0.2979821562767029f,-0.18418405950069427f,0.2288188338279724f,0.5329566597938538f,-0.30555272102355957f,0.16609734296798706f},
+{-0.06742935627698898f,-1.2435587644577026f,0.18462657928466797f,-0.1813543140888214f,-0.29592907428741455f,-1.5152968168258667f,-0.2990540862083435f,-0.6704934239387512f,-1.3931883573532104f,1.1895267963409424f,-0.008929966948926449f,-1.0560450553894043f,0.3720368444919586f,0.07663324475288391f,0.3484981060028076f,-0.012029101140797138f},
+{0.28955838084220886f,-0.47414740920066833f,0.37182438373565674f,0.1734911948442459f,-0.46498042345046997f,-1.7470192909240723f,-0.20339298248291016f,-0.26857617497444153f,-1.0419949293136597f,1.0860812664031982f,0.3477185070514679f,-0.7686545252799988f,-0.06686156243085861f,0.17347773909568787f,0.26688337326049805f,-0.3890383839607239f},
+{-0.2846226394176483f,-0.6680328249931335f,-0.40320003032684326f,-0.08735401183366776f,0.0075522055849432945f,-1.8351863622665405f,0.1533789038658142f,0.022274481132626534f,-0.09666468948125839f,1.0798860788345337f,-0.41482847929000854f,-0.11989966779947281f,0.14430087804794312f,0.10769995301961899f,0.10493969917297363f,-0.21339687705039978f},
+{-0.09937647730112076f,-0.15444153547286987f,0.19847965240478516f,0.07757232338190079f,0.25284281373023987f,-1.3226441144943237f,-0.2404318004846573f,-0.016747144982218742f,0.03592253848910332f,0.4216395914554596f,-0.10963847488164902f,-0.3532784879207611f,0.09164450317621231f,0.0926702693104744f,-0.22268100082874298f,-0.5550960302352905f},
+{-0.23297637701034546f,0.05702805519104004f,0.4127817749977112f,-0.1364835798740387f,-0.17328223586082458f,-1.3096810579299927f,-0.32001304626464844f,-0.2982214391231537f,0.011834701523184776f,0.18544243276119232f,-0.1955135613679886f,-0.24695760011672974f,-0.31312841176986694f,-0.030824929475784302f,0.0479682981967926f,-0.07853478193283081f},
+{0.008636204525828362f,0.022919030860066414f,0.20282304286956787f,0.04053569957613945f,0.303198903799057f,-0.8867018818855286f,0.04202890396118164f,0.1889110654592514f,0.2309308797121048f,0.4338735342025757f,-0.27989521622657776f,-0.530148983001709f,0.10311337560415268f,-0.05951927602291107f,0.0668090283870697f,0.023457825183868408f},
+{-0.13145147264003754f,-0.2711496651172638f,-0.40439701080322266f,-0.10286334156990051f,-0.07861099392175674f,-0.48361736536026f,-0.15568238496780396f,0.0016387773212045431f,0.28945621848106384f,0.17250511050224304f,-0.4743227958679199f,-0.2902921438217163f,-0.27164894342422485f,-0.008808882907032967f,-0.08245879411697388f,0.11585502326488495f},
+{-0.20077916979789734f,-0.28044986724853516f,0.16706281900405884f,0.07617825269699097f,-0.07860121130943298f,-0.6876357197761536f,-0.041414469480514526f,0.021423693746328354f,0.36324843764305115f,0.33736371994018555f,-0.35401779413223267f,-0.0123513825237751f,0.11138944327831268f,0.3358703553676605f,0.29427415132522583f,-0.004698142409324646f},
 };
 
 const float h2[16][16] = {
-    {-4.478320598602295f,0.6716787219047546f,-0.06966331601142883f,0.5540435910224915f,-0.21907491981983185f,3.100031614303589f,-0.06048932299017906f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.606074810028076f,-0.37958794832229614f,-0.08968941122293472f,-3.9108352661132812f,3.256657361984253f,-0.4451225697994232f},
-{-0.028025006875395775f,-0.9293018579483032f,0.057057321071624756f,-0.5842818021774292f,-0.35503754019737244f,-0.5360698103904724f,-0.6036195158958435f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5737426280975342f,-0.7649829387664795f,0.13989053666591644f,-0.10075923055410385f,0.8140093684196472f,-0.6543750166893005f},
+    {-2.7932868003845215f,0.16712452471256256f,-0.06966331601142883f,1.498529076576233f,-0.21907491981983185f,1.6057066917419434f,-0.053468767553567886f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.12140687555074692f,-2.627872943878174f,-0.05614539980888367f,-4.63734245300293f,-0.8119884133338928f,-2.6696791648864746f},
+{0.29035383462905884f,-0.44502395391464233f,0.057057321071624756f,-0.4896225929260254f,-0.35503754019737244f,-2.726242780685425f,-0.7551739811897278f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.4328194856643677f,-1.4518643617630005f,0.2138679027557373f,-1.413927435874939f,-0.4723600447177887f,-1.7233710289001465f},
 {-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},
-{-0.3530214726924896f,0.37367120385169983f,-0.2894435524940491f,0.04954472929239273f,0.08946844935417175f,-0.0830949917435646f,-0.48501384258270264f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,-0.2055853009223938f,0.020002810284495354f,-0.5509099364280701f,0.2916066348552704f,0.15504296123981476f,-0.1687486618757248f},
-{-1.1048613786697388f,1.9262434244155884f,-0.25313520431518555f,0.6254236698150635f,0.036378175020217896f,0.8531525135040283f,-0.6155303120613098f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.9143216609954834f,-0.91059809923172f,-0.22020277380943298f,-1.2446138858795166f,0.9248043894767761f,-0.6073963046073914f},
-{-0.16543826460838318f,0.021899903193116188f,-0.3519742488861084f,0.09473834186792374f,-0.3015052080154419f,-0.3208472728729248f,-0.7214264273643494f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.20117740333080292f,-0.3499281406402588f,-0.3562796711921692f,-0.33363988995552063f,0.005666304845362902f,-0.934236466884613f},
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 };
 
 const float h3[16][16] = {
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+{-0.408692330121994f,-0.9928522706031799f,0.9207500219345093f,0.0922636091709137f,-0.218761146068573f,-0.7064892649650574f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.5487708449363708f,0.04190991446375847f,-0.6028997898101807f,-0.7766126394271851f,-0.6358649134635925f,1.0932292938232422f,0.1505926102399826f},
+{-0.2991822361946106f,0.2430352121591568f,0.06997359544038773f,-0.05932474136352539f,0.22252558171749115f,0.09186293184757233f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.15250977873802185f,-0.27718591690063477f,0.21638604998588562f,-0.032620642334222794f},
+{-0.2675279378890991f,2.283629894256592f,0.6192396283149719f,-0.09322933852672577f,-0.1486014425754547f,0.21914122998714447f,-0.32875844836235046f,-0.31893211603164673f,-0.8386218547821045f,-3.4282517433166504f,-0.6547098159790039f,-0.6914016008377075f,-0.1655053347349167f,-0.08671190589666367f,1.3811959028244019f,0.12306978553533554f},
+{-0.015470266342163086f,0.2835947275161743f,0.23104417324066162f,0.20350171625614166f,0.1442382037639618f,-0.4490983188152313f,0.05196094512939453f,-0.008358269929885864f,-0.4102620780467987f,-0.3847755491733551f,0.13179203867912292f,-0.11511552333831787f,0.58179771900177f,-1.130089282989502f,1.005839467048645f,0.20838046073913574f},
+{0.1863725483417511f,-0.3366849720478058f,-1.219565749168396f,-0.6089721322059631f,0.098382867872715f,0.801507294178009f,0.04860696196556091f,0.17769548296928406f,-0.017368249595165253f,-1.9098711013793945f,-0.3929237127304077f,-9.123802185058594f,0.4509769082069397f,-1.3815637826919556f,-1.9458316564559937f,-0.027309749275445938f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.20839427411556244f,-0.286900132894516f,-0.009697429835796356f,-0.13530978560447693f,0.19692537188529968f,0.0030125975608825684f,0.04752444475889206f,-0.23159381747245789f,0.057547036558389664f,0.13517257571220398f,-0.26330289244651794f,-0.20440427958965302f,0.3342217206954956f,0.14822421967983246f,-0.20425057411193848f };
-
-const float b1[16] = { 0.7066448926925659f,2.140770435333252f,-1.7145336866378784f,1.7084197998046875f,1.188542366027832f,1.0270514488220215f,-0.058932315558195114f,1.182727575302124f,0.5485185980796814f,-1.4000262022018433f,0.5711912512779236f,1.4113762378692627f,-0.36514076590538025f,-1.5810291767120361f,-1.087764859199524f,1.332677960395813f };
-
-const float b2[16] = { 0.9494333863258362f,-1.7556997537612915f,-1.4564176797866821f,-0.6939772963523865f,-0.6939148902893066f,0.2535880506038666f,-0.01476240810006857f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.39812394976615906f,0.15750396251678467f,-0.3006303012371063f,1.7163671255111694f,0.4909166097640991f,0.4069630801677704f };
-
-const float b3[16] = { -1.963319182395935f,0.9086827039718628f,-0.6904996633529663f,-0.3776831030845642f,0.2719821333885193f,0.3897067904472351f,-0.45353031158447266f,-0.8076379895210266f,1.1965830326080322f,0.07242175191640854f,-0.39867648482322693f,-0.09921017289161682f,-1.064653992652893f,0.7527020573616028f,-0.6090213060379028f,-0.600900411605835f };
-
-const float bout[1] = { -0.3956489562988281f };
+const float hout[16] = { 0.45773375034332275f,0.23607201874256134f,-0.3147691488265991f,-0.04260948672890663f,-0.02334880642592907f,0.4148070812225342f,0.0030125975608825684f,0.15066689252853394f,-0.2544001638889313f,0.12996906042099f,0.15506184101104736f,-0.25653913617134094f,-0.33112633228302f,0.17714855074882507f,0.21202529966831207f,-0.42234814167022705f };
+
+const float b1[16] = { 0.7210463881492615f,1.7435375452041626f,-1.7145336866378784f,0.31947922706604004f,1.439984679222107f,1.8084275722503662f,-0.058932315558195114f,1.4304403066635132f,1.0224155187606812f,-0.6716840863227844f,0.5715821385383606f,1.474446177482605f,-0.37206971645355225f,-0.9106371402740479f,-1.087764859199524f,0.8449752330780029f };
+
+const float b2[16] = { 0.3605976104736328f,-0.8230704069137573f,-1.4564176797866821f,-0.09596439450979233f,-0.6939148902893066f,0.44506022334098816f,-0.030644390732049942f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1477353721857071f,0.8785129189491272f,-0.3402523994445801f,1.7544682025909424f,-0.16518579423427582f,1.145194172859192f };
+
+const float b3[16] = { -1.963319182395935f,-0.6235404014587402f,0.45143476128578186f,-0.2284822016954422f,-0.28700459003448486f,1.111316442489624f,-0.45353031158447266f,-0.6562485098838806f,-0.03606545552611351f,0.03490031883120537f,-0.18756742775440216f,-1.3188648223876953f,-1.1204591989517212f,0.47624367475509644f,-1.0596234798431396f,-0.5879763960838318f };
+
+const float bout[1] = { -0.47135838866233826f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };