Diff: main.cpp

Revision:

249:21430e06f706

Parent:

248:c925c863ea87

Child:

250:ae6e0c80029d

diff -r c925c863ea87 -r 21430e06f706 main.cpp
--- a/main.cpp	Fri Jan 08 04:06:04 2021 +0000
+++ b/main.cpp	Fri Jan 08 04:37:14 2021 +0000
@@ -1,4 +1,4 @@
-//210108_2  500Hz   num_input 17    210105 data
+//210108_3  500Hz   num_input 9    210105 data
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,72 +199,64 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {0.12029463052749634f,0.32439547777175903f,0.3253990113735199f,-0.40358179807662964f,0.32602089643478394f,0.17646153271198273f,-0.11076107621192932f,-0.15169337391853333f,-0.3098427653312683f,0.3232423663139343f,0.40315863490104675f,-0.29039695858955383f,0.2031967043876648f,-0.27791184186935425f,0.17944055795669556f,-0.10248809307813644f},
-{0.2289528250694275f,-0.11581733822822571f,-0.3210306167602539f,-0.009400676004588604f,0.14739708602428436f,0.18253393471240997f,-0.1888934224843979f,0.24952995777130127f,0.11685870587825775f,-0.17984692752361298f,-0.3189629912376404f,-0.2759281396865845f,-0.11419431865215302f,-0.41846609115600586f,0.15279953181743622f,-0.21088747680187225f},
-{-0.23407986760139465f,0.2746552526950836f,-0.27934324741363525f,0.281544029712677f,0.0691910833120346f,0.15362368524074554f,0.09164291620254517f,0.23460233211517334f,-0.2216859757900238f,-0.045391589403152466f,0.48829853534698486f,0.011129438877105713f,0.24279506504535675f,-0.24969372153282166f,0.1991954892873764f,-0.056837938725948334f},
-{0.28324830532073975f,-0.49235230684280396f,0.0893109068274498f,0.24444693326950073f,-0.28724706172943115f,0.4106735289096832f,0.012390375137329102f,-0.17277541756629944f,-0.01752597838640213f,0.09997862577438354f,0.3091915249824524f,0.060018718242645264f,0.18626005947589874f,-0.06163036823272705f,0.36356213688850403f,-0.3430219292640686f},
-{0.3904739022254944f,-0.1312386393547058f,0.11185256391763687f,-0.2410188466310501f,0.03473509103059769f,-0.026506241410970688f,-0.22494451701641083f,-0.08969682455062866f,-0.598922848701477f,0.3720676302909851f,0.1977512538433075f,0.12142705917358398f,-0.10239765048027039f,0.1201176643371582f,-0.2445002943277359f,0.17321054637432098f},
-{0.06815502047538757f,-0.9094702005386353f,0.1937963217496872f,0.3118898272514343f,-0.17545679211616516f,0.23099179565906525f,-0.3556491434574127f,0.015110224485397339f,-0.2232312113046646f,-0.09812286496162415f,0.269318163394928f,0.3328637480735779f,-0.24221044778823853f,0.3426499366760254f,0.3682255148887634f,-0.6424373984336853f},
-{-0.16411858797073364f,0.369585782289505f,-0.6314609050750732f,-0.5693538188934326f,0.6128901839256287f,-0.8363930583000183f,-0.141270250082016f,-0.12596392631530762f,0.2177102267742157f,-0.351109117269516f,-0.02605469524860382f,-0.0465674102306366f,-0.29820114374160767f,0.08629488945007324f,-0.6067855358123779f,0.026524588465690613f},
-{-0.2577098608016968f,0.10666954517364502f,-0.5034106373786926f,-0.23197859525680542f,0.43054795265197754f,-0.6309574246406555f,0.025958985090255737f,-0.12497517466545105f,-0.1766054481267929f,0.2610861659049988f,0.22995825111865997f,-0.41905614733695984f,0.0640576183795929f,-0.2940995991230011f,-0.359150767326355f,0.3654940128326416f},
-{-0.34239912033081055f,-0.03346605971455574f,0.4188571572303772f,-0.02161659300327301f,-0.2646237909793854f,-0.4273391664028168f,-0.3588126599788666f,-0.031578779220581055f,0.3110342025756836f,0.010242640972137451f,-0.3654257357120514f,0.371657133102417f,-0.13082590699195862f,0.1957080364227295f,0.30811935663223267f,0.10160328447818756f},
-{0.007106572389602661f,-0.2421773076057434f,0.46641460061073303f,-0.31366419792175293f,0.34302887320518494f,-0.06283218413591385f,0.0487118661403656f,-0.05797317624092102f,0.1252775937318802f,0.037577033042907715f,-0.4267411231994629f,-0.10185864567756653f,-0.35608401894569397f,0.3296334147453308f,-0.08692765235900879f,-0.3356909453868866f},
-{0.005361050367355347f,-0.17223995923995972f,-0.3541768193244934f,0.025221295654773712f,-0.38209959864616394f,0.06616703420877457f,0.2798372507095337f,-0.29855674505233765f,0.08199447393417358f,0.2170935869216919f,0.04863183572888374f,0.32450181245803833f,0.1565188616514206f,0.10987043380737305f,0.22269849479198456f,-0.38703325390815735f},
-{0.11118721961975098f,-0.32497215270996094f,-0.3421168327331543f,0.01932227611541748f,-0.39530959725379944f,0.1666279435157776f,-0.17080268263816833f,-0.011185973882675171f,-0.2096530944108963f,0.055823951959609985f,0.21810635924339294f,-0.08630678057670593f,0.18210454285144806f,-0.19973935186862946f,-0.32726141810417175f,0.12518195807933807f},
-{-0.3802122175693512f,-0.34527134895324707f,-0.3438180088996887f,-0.5019819140434265f,-0.15020138025283813f,0.27575546503067017f,-0.22263282537460327f,-0.4002646505832672f,-0.07560327649116516f,-0.02876487374305725f,0.20872855186462402f,-0.14311227202415466f,-0.041490986943244934f,0.17396080493927002f,-0.23381072282791138f,0.20905156433582306f},
-{0.08569753170013428f,0.06161818653345108f,0.18235889077186584f,0.28753721714019775f,-0.0010203318670392036f,-0.1345454752445221f,0.14085489511489868f,-0.0029449462890625f,0.15124951303005219f,-0.1663190722465515f,-0.15697185695171356f,0.24732691049575806f,-0.3126959204673767f,0.3553522825241089f,0.11084630340337753f,0.39049768447875977f},
-{-0.26055601239204407f,0.2590674161911011f,0.3975576162338257f,-0.29168701171875f,-0.34103190898895264f,0.13632021844387054f,0.37936437129974365f,-0.0660250186920166f,-0.19138023257255554f,0.3040957450866699f,-0.10151639580726624f,-0.4202289283275604f,-0.1619628220796585f,0.08887934684753418f,0.10887259244918823f,0.4763869643211365f},
-{0.11469399929046631f,-0.21290963888168335f,-0.05974477156996727f,0.12983649969100952f,0.3469894528388977f,-0.05137277767062187f,0.366621196269989f,-0.2244901806116104f,0.39662137627601624f,0.2527315616607666f,0.14986273646354675f,0.2841273546218872f,0.25556156039237976f,0.1657332181930542f,0.14632098376750946f,0.5411337018013f},
-{-0.059370726346969604f,-0.07226622849702835f,-0.11754117161035538f,0.0764244794845581f,-0.304899126291275f,0.20474858582019806f,-0.1551026999950409f,0.16547387838363647f,-0.019299617037177086f,-0.14976879954338074f,-0.11074484139680862f,0.20210683345794678f,-0.3744249939918518f,-0.33896559476852417f,0.2311168611049652f,0.25652533769607544f},
+    {0.29663917422294617f,0.41587597131729126f,-0.40238484740257263f,-0.31135293841362f,0.09028628468513489f,-0.15008357167243958f,0.0060180313885211945f,-0.25428661704063416f,-0.38775452971458435f,-0.08711326122283936f,0.029678843915462494f,-0.5523331761360168f,0.17435714602470398f,0.049568623304367065f,-0.11123791337013245f,0.11293289065361023f},
+{-0.13885954022407532f,0.008150720968842506f,0.47685256600379944f,0.2796906530857086f,0.32721421122550964f,-0.15552201867103577f,0.13772499561309814f,-0.03211083635687828f,-0.33916792273521423f,0.5187415480613708f,-0.2988690733909607f,-0.5000523328781128f,-0.3222626745700836f,-0.22863739728927612f,-0.3115236759185791f,0.08912834525108337f},
+{-0.36185380816459656f,-0.01113466639071703f,-0.17586973309516907f,-0.40819093585014343f,-0.25984901189804077f,0.016262324526906013f,-0.5287548899650574f,-0.0727643221616745f,0.21207480132579803f,-0.2510138154029846f,-0.3024713099002838f,-0.2796802222728729f,-0.0891394317150116f,0.3824678361415863f,-0.12040254473686218f,0.056863874197006226f},
+{0.15546533465385437f,0.4914516508579254f,-0.2568590044975281f,-0.43472781777381897f,0.2994142472743988f,0.15819527208805084f,0.14573554694652557f,-0.2842216193675995f,-0.3083231747150421f,-0.3176731467247009f,-0.17488853633403778f,0.20977792143821716f,-0.2630729377269745f,-0.27504676580429077f,-0.4301341474056244f,-0.08075663447380066f},
+{0.48212262988090515f,0.40492209792137146f,-0.06806144118309021f,-0.3792468011379242f,-0.11923012137413025f,-0.23530688881874084f,-0.21158641576766968f,-0.42907828092575073f,-0.14715367555618286f,0.4203021228313446f,0.006408415734767914f,0.3745218813419342f,-0.419051855802536f,-0.40804523229599f,0.24169525504112244f,0.03659626841545105f},
+{-0.12619352340698242f,0.19174300134181976f,-0.31877976655960083f,-0.04390779882669449f,-0.14006736874580383f,-0.21398991346359253f,-0.7291432619094849f,-0.2562205493450165f,0.44291412830352783f,0.6389468312263489f,-0.16900624334812164f,0.3231842815876007f,-0.35098129510879517f,-0.15950220823287964f,-0.2785465717315674f,-0.2435975819826126f},
+{0.04468771815299988f,0.2694479525089264f,0.3779745399951935f,0.10625391453504562f,-0.286765992641449f,-0.6106315851211548f,0.06032551825046539f,0.1240493655204773f,0.04552985727787018f,0.20586301386356354f,0.5519559979438782f,-1.0102519989013672f,0.4520128071308136f,0.11482951045036316f,-0.1275120973587036f,-0.1722896695137024f},
+{-0.4707544147968292f,-0.39714711904525757f,-0.1917957365512848f,-0.021674744784832f,-0.18413209915161133f,-0.8700361847877502f,0.5609602928161621f,0.2770845890045166f,0.09915876388549805f,-0.2328445464372635f,0.6780804991722107f,0.27046671509742737f,-0.347939670085907f,-0.42903608083724976f,0.1774953305721283f,0.2401047646999359f},
+{-0.15439578890800476f,-0.5200294256210327f,-0.2624427080154419f,0.3273162245750427f,-0.2676073908805847f,0.20046526193618774f,0.03604237735271454f,-0.1507950872182846f,0.8252518177032471f,0.06839548051357269f,-0.2259593904018402f,1.0545680522918701f,0.23076865077018738f,-0.04404708743095398f,-0.44072574377059937f,0.15690186619758606f},
 };
 
 const float h2[16][16] = {
-    {0.32990679144859314f,-0.22771379351615906f,0.39505013823509216f,-0.0683324933052063f,0.22545382380485535f,-0.007979273796081543f,0.2395780384540558f,-0.034219563007354736f,0.37450137734413147f,-0.22071784734725952f,0.16612449288368225f,-0.07834556698799133f,-0.3467230498790741f,-0.05756679177284241f,0.22580644488334656f,0.3757082521915436f},
-{0.34812483191490173f,-0.58417147397995f,-0.44621726870536804f,0.4399251639842987f,-0.23112468421459198f,0.09719876199960709f,-0.2090800404548645f,0.21919211745262146f,-0.04730355739593506f,-0.33060699701309204f,-0.08424825221300125f,0.1875980794429779f,0.27315768599510193f,-0.3667793273925781f,-0.3713403046131134f,-0.25764328241348267f},
-{-0.2573432922363281f,-0.16238933801651f,0.36038342118263245f,0.45852696895599365f,0.3246026933193207f,-0.10405118763446808f,-0.2722679078578949f,-0.27011042833328247f,0.1605333387851715f,0.40474843978881836f,-0.2670339345932007f,-0.4318048059940338f,-0.13144290447235107f,0.2453850507736206f,0.02393771894276142f,-0.29326876997947693f},
-{-0.09597927331924438f,-0.3034897744655609f,-0.18075206875801086f,0.03972805663943291f,-0.3099406957626343f,0.3536432981491089f,-0.372884601354599f,0.04856431484222412f,-0.18917545676231384f,-0.3822404146194458f,0.3714853823184967f,0.016138523817062378f,0.5202351808547974f,-0.657880425453186f,-0.2189570665359497f,-0.440679669380188f},
-{0.05158650875091553f,-0.384009450674057f,-0.2007094919681549f,0.2446175068616867f,-0.32137784361839294f,0.1877688467502594f,0.10627549886703491f,0.40803369879722595f,-0.21114446222782135f,-0.3937692940235138f,0.1887626349925995f,0.05310100317001343f,0.38025572896003723f,-0.20281358063220978f,0.1391090303659439f,0.30554768443107605f},
-{0.06702008843421936f,0.23674213886260986f,0.34845250844955444f,-0.057588331401348114f,-0.10817387700080872f,0.15095187723636627f,0.22771301865577698f,0.033474892377853394f,-0.17704206705093384f,0.06516788899898529f,0.2942393124103546f,-0.07012924551963806f,0.11481969803571701f,0.39096930623054504f,-0.20555482804775238f,0.2799214720726013f},
-{-0.12732923030853271f,0.12529191374778748f,0.33626797795295715f,-0.19384245574474335f,-0.3017725944519043f,0.4070797860622406f,0.07241907715797424f,0.04820999503135681f,0.006740838289260864f,0.09349516034126282f,0.07114943861961365f,0.27705106139183044f,-0.38285964727401733f,0.3795633614063263f,0.326577752828598f,0.08675161004066467f},
-{-0.25684091448783875f,0.18890580534934998f,0.3560451567173004f,0.17962011694908142f,-0.1718338131904602f,0.417229026556015f,0.09605774283409119f,0.2547163665294647f,-0.023149937391281128f,0.028311043977737427f,-0.11622235178947449f,0.2842167913913727f,0.20045164227485657f,0.24821874499320984f,-0.27735579013824463f,0.35005876421928406f},
-{0.2597649395465851f,0.6654161810874939f,0.6269409656524658f,0.4609566032886505f,-0.134059339761734f,-0.2682721018791199f,0.5755676627159119f,0.37231728434562683f,0.3463006913661957f,0.4490346312522888f,0.07144501060247421f,-0.40448126196861267f,-0.23961472511291504f,-0.513441264629364f,0.23401369154453278f,0.37098371982574463f},
-{0.3404812514781952f,0.24143943190574646f,-0.1403423249721527f,0.4042727053165436f,-0.012187391519546509f,-0.03508862853050232f,0.2788313925266266f,0.05689254403114319f,0.30420395731925964f,-0.2130228877067566f,-0.27042829990386963f,0.09785637259483337f,-0.0689181387424469f,-0.060743749141693115f,-0.27287566661834717f,0.023455113172531128f},
-{0.008799105882644653f,3.4324190616607666f,3.4501841068267822f,0.21141117811203003f,-0.41768965125083923f,-3.744389772415161f,3.3473763465881348f,-0.11425420641899109f,0.3958878219127655f,3.4478015899658203f,0.1567380726337433f,-0.02250140905380249f,-3.237753391265869f,3.5955066680908203f,3.4332306385040283f,3.3855905532836914f},
-{0.14732906222343445f,0.026133209466934204f,-0.33983778953552246f,0.2787051498889923f,-0.3774802088737488f,0.4297333061695099f,-0.06640854477882385f,0.023566514253616333f,0.1720668375492096f,0.3811666667461395f,-0.3013334274291992f,0.0631561279296875f,0.19861474633216858f,-0.2652350068092346f,0.19145837426185608f,-0.37609031796455383f},
-{0.08282116055488586f,-0.4041024446487427f,-0.19468042254447937f,-0.40714138746261597f,-0.3936988413333893f,0.1502033770084381f,-0.1295778453350067f,-0.4109485149383545f,0.013534128665924072f,0.20062419772148132f,0.3415384888648987f,0.3936344087123871f,0.056454554200172424f,-0.1623954176902771f,0.2702265679836273f,0.3704809248447418f},
-{-0.37750962376594543f,-0.43168607354164124f,0.2613445818424225f,-0.09158360958099365f,-0.22593891620635986f,-0.27911579608917236f,0.31599172949790955f,0.31067004799842834f,0.40325191617012024f,0.0981883704662323f,0.05980768799781799f,0.09857037663459778f,0.17739048600196838f,0.2240789830684662f,0.309121698141098f,0.08850201964378357f},
-{0.03596067428588867f,2.219564914703369f,2.0520761013031006f,-0.08760329335927963f,-0.28528958559036255f,-2.2146286964416504f,1.8476011753082275f,-0.2531716227531433f,-0.3853277564048767f,1.6306650638580322f,-0.05052439495921135f,0.14657148718833923f,-1.6547781229019165f,0.7158820629119873f,1.6761053800582886f,2.3707761764526367f},
-{-0.36665526032447815f,0.11255808174610138f,-0.10575105994939804f,0.3767031729221344f,0.013457924127578735f,0.2852111756801605f,-0.04517848417162895f,-0.048774510622024536f,-0.040078431367874146f,-0.03326001018285751f,-0.04099993780255318f,0.04545673727989197f,0.3553937077522278f,-1.213148832321167f,0.1546936184167862f,-0.8471413850784302f},
+    {-0.3888300061225891f,-0.33301249146461487f,-0.1355518400669098f,-0.37952423095703125f,0.21257463097572327f,-0.36136317253112793f,0.24208763241767883f,0.33804598450660706f,-0.2569337487220764f,-0.08110451698303223f,-0.27817511558532715f,0.35469159483909607f,-0.29972952604293823f,0.15880760550498962f,-0.35889360308647156f,-0.08369413018226624f},
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 };
 
 const float h3[16][16] = {
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+{-4.242254257202148f,3.9532933235168457f,-4.220984935760498f,-3.2578203678131104f,-0.28594839572906494f,-0.2543869614601135f,0.3854757249355316f,-0.35510146617889404f,3.874885082244873f,3.38134503364563f,0.025140076875686646f,-0.09252285957336426f,3.5076000690460205f,0.020325958728790283f,-0.2821711599826813f,-0.31494733691215515f},
+{-0.19829243421554565f,-0.036789268255233765f,0.40402278304100037f,0.08938947319984436f,-0.3003213703632355f,-0.13985875248908997f,-0.05300605297088623f,0.2158009111881256f,-0.045280009508132935f,0.3853699862957001f,-0.28284311294555664f,-0.38101786375045776f,0.20273366570472717f,-0.2851206660270691f,-0.23302911221981049f,-0.04975670576095581f},
+{-2.3402528762817383f,2.251093626022339f,-1.8143333196640015f,-1.686104416847229f,0.28627198934555054f,-0.05089947581291199f,-0.21972325444221497f,-0.12107464671134949f,1.4696484804153442f,1.7204586267471313f,0.42002591490745544f,0.2625511586666107f,2.0771658420562744f,0.20424117147922516f,-0.14932382106781006f,0.05037429928779602f},
+{0.01017003320157528f,0.5383520722389221f,0.09068045765161514f,-0.3059485852718353f,-0.1828690618276596f,0.12154242396354675f,-0.3135022222995758f,-0.05303463339805603f,0.2918146252632141f,0.4535827040672302f,0.19363173842430115f,0.17974761128425598f,0.21057143807411194f,0.3842782974243164f,0.1783216893672943f,0.15743878483772278f},
+{0.2572315037250519f,-0.7767909169197083f,0.5495519042015076f,0.8770574331283569f,0.29163259267807007f,0.3491267263889313f,0.2651456296443939f,0.27459242939949036f,-0.37017369270324707f,-0.9690517783164978f,0.0338018536567688f,-0.015062451362609863f,-0.9156760573387146f,-0.31157001852989197f,-0.1419163942337036f,-0.4173831343650818f},
+{-0.7403416633605957f,0.7024995684623718f,-0.38165247440338135f,-0.6589585542678833f,0.18063348531723022f,0.4021502435207367f,-0.18067532777786255f,0.0808744728565216f,0.13344483077526093f,0.5048403143882751f,0.1375615894794464f,-0.3139927089214325f,0.32810354232788086f,-0.28314903378486633f,0.295305460691452f,0.26069560647010803f},
 };
 
-const float hout[16] = { 0.2481980174779892f,-0.016965270042419434f,0.2990952134132385f,-0.3580540418624878f,4.602396488189697f,-0.3819909393787384f,0.23506540060043335f,-1.8231533765792847f,-0.2465997040271759f,-1.2787277698516846f,0.8465975522994995f,-0.1766282618045807f,0.5051735639572144f,0.5268286466598511f,-1.6327191591262817f,0.1137319803237915f };
-
-const float b1[16] = { -0.9725186228752136f,1.5392283201217651f,0.4737415015697479f,0.39264023303985596f,1.210579514503479f,1.495548129081726f,-1.166344404220581f,-0.5649668574333191f,0.8760673999786377f,-1.107372522354126f,-1.1786530017852783f,-0.21172259747982025f,0.21644939482212067f,-1.315019130706787f,-0.7975879311561584f,0.33155956864356995f };
-
-const float b2[16] = { -1.964282751083374f,1.8368951082229614f,-0.10498178005218506f,-0.4555990695953369f,-0.34926503896713257f,-0.1103285625576973f,-0.4479595124721527f,-2.1116275787353516f,-1.8302065134048462f,1.3305860757827759f,-1.1562929153442383f,-0.7495974898338318f,1.358338475227356f,-0.5001242160797119f,0.5774686336517334f,-0.012902485206723213f };
-
-const float b3[16] = { 1.0208133459091187f,0.2389478087425232f,0.03310447558760643f,-0.6187915802001953f,-1.0014171600341797f,-0.6332045793533325f,-0.7213670611381531f,0.5915477275848389f,-0.22222131490707397f,-0.45918989181518555f,0.11774744093418121f,-1.832419753074646f,-0.013567646965384483f,0.619306743144989f,0.3450506925582886f,-1.0727126598358154f };
-
-const float bout[1] = { -0.5529015064239502f };
+const float hout[16] = { -4.399260997772217f,0.904973030090332f,-1.0306147336959839f,-1.186169147491455f,-0.24832315742969513f,-0.1935586929321289f,-0.5914010405540466f,0.5897116661071777f,2.2783241271972656f,0.4730304181575775f,-0.31953302025794983f,-0.20998573303222656f,0.40309593081474304f,-0.33466991782188416f,0.07082188129425049f,0.5935964584350586f };
+
+const float b1[16] = { -0.5132032632827759f,-1.1938527822494507f,-0.7500218152999878f,1.0411573648452759f,-1.3620671033859253f,1.3940210342407227f,0.8505174517631531f,1.1860228776931763f,0.3311760723590851f,-0.16578342020511627f,0.41973596811294556f,1.2696189880371094f,-0.40242457389831543f,-0.13635645806789398f,-0.85361248254776f,-0.41521793603897095f };
+
+const float b2[16] = { 0.5477832555770874f,-0.05469924956560135f,-0.36899566650390625f,-0.7305267453193665f,-0.6980655789375305f,0.3870934545993805f,-1.2705386877059937f,-0.5881870985031128f,1.4541643857955933f,0.053963299840688705f,0.042596764862537384f,-0.9409856796264648f,-0.49485892057418823f,0.5978859066963196f,0.21442629396915436f,-0.16960793733596802f };
+
+const float b3[16] = { 0.8192553520202637f,0.4740256071090698f,1.4711703062057495f,1.393757939338684f,-0.5335577726364136f,-0.5553005933761597f,-0.5806921124458313f,-1.019081473350525f,-0.13486835360527039f,1.6698031425476074f,-1.9048346281051636f,-2.072582483291626f,1.185135006904602f,-0.8330573439598083f,-0.9093554615974426f,-0.6499820947647095f };
+
+const float bout[1] = { -0.06959325075149536f };
 
 float valve_ref_pos_buffer[10] = {0.0f};