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LIGHT2
Diff: main.cpp
- Revision:
- 65:a2d7c63419c2
- Parent:
- 64:6f1caa0993d0
- Child:
- 66:a8e6799dbce3
diff -r 6f1caa0993d0 -r a2d7c63419c2 main.cpp --- a/main.cpp Fri Apr 03 14:53:53 2020 +0000 +++ b/main.cpp Tue Apr 14 01:07:30 2020 +0000 @@ -7,12 +7,9 @@ #include "setting.h" #include "function_utilities.h" #include "stm32f4xx_flash.h" -#include "FlashWriter.h" -#include "Eigen/Dense.h" -#include "ST_F401_84MHZ.h" +#include "FlashWriter.h" using namespace std; -using namespace Eigen; Timer t; ///191008//// @@ -82,22 +79,7 @@ extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; -MatrixXd Input = MatrixXd::Zero(1,22); //input -MatrixXd h1 = MatrixXd::Zero(22,32); -MatrixXd h2 = MatrixXd::Zero(32,32); -MatrixXd h3 = MatrixXd::Zero(32,32); -MatrixXd hout = MatrixXd::Zero(32,1); -MatrixXd b1 = MatrixXd::Zero(32,1); -MatrixXd b2 = MatrixXd::Zero(32,1); -MatrixXd b3 = MatrixXd::Zero(32,1); -MatrixXd bout = MatrixXd::Zero(1,1); - -MatrixXd X; -ArrayXf Y; -float NNoutput; -float input_array[6] ={0.0f}; -float position_array[10] = {0.0f}; // ============================================================================= @@ -155,11 +137,1045 @@ MODE_SYSTEM_ID, //33 }; +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + + /** Configure the main internal regulator output voltage + */ + __HAL_RCC_PWR_CLK_ENABLE(); + __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); + /** Initializes the CPU, AHB and APB busses clocks + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; + RCC_OscInitStruct.HSIState = RCC_HSI_ON; + RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; + RCC_OscInitStruct.PLL.PLLM = 8;//8 + RCC_OscInitStruct.PLL.PLLN = 180; //180 + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; + RCC_OscInitStruct.PLL.PLLQ = 2; + RCC_OscInitStruct.PLL.PLLR = 2; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + //Error_Handler(); + } + /** Activate the Over-Drive mode + */ + if (HAL_PWREx_EnableOverDrive() != HAL_OK) + { + //Error_Handler(); + } + /** Initializes the CPU, AHB and APB busses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) + { + //Error_Handler(); + } +} + +const float input[22] = { 0.052414f, 0.066907f, 0.085407f, 0.109023f, + 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, + 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, + 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f }; + +const float h1[22][32] = { { -0.02454003319144249f, 0.13071660697460175f, + 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-0.26551106572151184f }; + +const float b1[32] = { 0.6920363306999207f, 0.9509658217430115f, + -1.7145336866378784f, 0.4119643270969391f, 1.0741286277770996f, + 0.8546265363693237f, -0.07467586547136307f, 0.93145751953125f, + 0.5193935036659241f, -0.8871728777885437f, 0.593039333820343f, + 1.6031073331832886f, -0.33494266867637634f, -0.8010779023170471f, + -1.087764859199524f, 1.1554406881332397f, 0.6632958650588989f, + -0.224932461977005f, 0.26702749729156494f, 0.5859951972961426f, + -0.31409698724746704f, -1.1118980646133423f, -1.6770726442337036f, + -1.2263047695159912f, 2.018333911895752f, -2.0880801677703857f, + -1.0489267110824585f, 0.7445360422134399f, 0.4031659960746765f, + -1.0887231826782227f, 1.5438745021820068f, -0.4563482999801636f }; + +const float b2[32] = { -0.10466054826974869f, -0.7642630338668823f, + -1.4564176797866821f, -0.528777003288269f, -0.7297643423080444f, + 0.2625555098056793f, 0.389851450920105f, -0.33048292994499207f, + -1.20063054561615f, -1.912178635597229f, 0.31253743171691895f, + 0.6883504390716553f, -0.04988760128617287f, 2.26581072807312f, + 0.13501279056072235f, 1.132785677909851f, -1.8237234354019165f, + -1.5844906568527222f, 0.26375624537467957f, -0.23789723217487335f, + 0.17283980548381805f, 0.3692796230316162f, 0.09335066378116608f, + -1.0231001377105713f, 1.2738454341888428f, 1.44853675365448f, + 0.9071134924888611f, 8.9274239144288e-05f, -0.6323830485343933f, + -0.4208582937717438f, -1.1864360570907593f, -1.3916414976119995f }; + +const float b3[32] = { -1.963319182395935f, -0.4028509557247162f, + 0.3184174597263336f, 0.1579766422510147f, 0.1897633820772171f, + 0.866980791091919f, -0.45353031158447266f, -0.6562485098838806f, + 0.5865635275840759f, 0.5033581852912903f, -0.14371006190776825f, + 0.050810977816581726f, -0.5131177306175232f, 0.5688209533691406f, + -1.1428403854370117f, -0.3598397970199585f, -1.3594286441802979f, + -1.0192245244979858f, -0.2365882694721222f, 0.5294732451438904f, + 1.530857801437378f, 1.2039998769760132f, -1.0573883056640625f, + -0.7962622046470642f, 0.7248114347457886f, -0.36519983410835266f, + -0.07752024382352829f, 0.767806887626648f, 0.2635451555252075f, + -2.3236680030822754f, 0.06150589883327484f, 1.0375205278396606f }; + +const float bout[1] = { -0.3124803602695465f }; int main() { - F401_init84 myinit(1); + //F401_init84 myinit(0); + //F401_init84 SystemClock_Config_84MHz_internal(); + HAL_Init(); + SystemClock_Config(); + __HAL_RCC_SYSCFG_CLK_ENABLE(); + __HAL_RCC_PWR_CLK_ENABLE(); + HAL_IncTick(); + /********************************* *** Initialization *********************************/ @@ -237,296 +1253,88 @@ ID_index_array[i] = (i+1) * 0.5f; } - printf("systemcoreclock = %d Hz\n", SystemCoreClock); - - - Input << - 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023; - - - h1 << - 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,0.06582912802696228,0.2796666920185089,-0.2556927502155304,0.0023079216480255127,0.2043982446193695,0.13894453644752502,0.06556430459022522,0.29767414927482605,0.24966773390769958,-0.16670267283916473,-0.1203770637512207,-0.06570860743522644,-0.015925198793411255,0.17675906419754028,-0.014884740114212036,-0.05300724506378174,0.26490333676338196,0.15243005752563477,-0.07319167256355286,0.2353842556476593,0.23596063256263733,0.1602974534034729,-0.04174882173538208,-0.11559568345546722,-0.06235519051551819,0.21069613099098206,-0.19532959163188934,-0.2486409693956375,0.032513976097106934,-0.2712400257587433,-0.19435247778892517,-0.23200613260269165 - ,-0.1299392580986023,-0.06208275258541107,-0.21278081834316254,0.04117914289236069,-0.25799769163131714,0.0023174630478024483,-0.19175797700881958,0.02903696894645691,-0.3028421998023987,0.016345679759979248,-0.24767392873764038,0.2033931314945221,-0.36241284012794495,0.1515057384967804,0.13206014037132263,0.15829482674598694,-0.21012049913406372,0.2088232934474945,-0.016727611422538757,-0.24573293328285217,0.20467910170555115,0.11925628036260605,-0.3039346933364868,-0.11097411066293716,0.34144315123558044,-0.007939159870147705,-0.20167969167232513,0.059701401740312576,0.20017050206661224,0.18135693669319153,-0.008151531219482422,0.029283329844474792 - ,0.07638216018676758,0.07996532320976257,-0.30373215675354004,-0.2700393795967102,0.11718190461397171,0.05212600901722908,0.2795381247997284,-0.25668495893478394,-0.100021593272686,0.1293344497680664,-0.026776641607284546,0.02524423599243164,0.07603725790977478,0.29519766569137573,-0.029521822929382324,-0.19500072300434113,0.06506577134132385,-0.011876672506332397,0.0938519686460495,0.2426283210515976,0.10203439742326736,0.03793451562523842,-0.15799765288829803,-0.17324526607990265,0.25468015670776367,0.1901901364326477,-0.22690120339393616,-0.09443645179271698,-0.0595262236893177,0.22636333107948303,-0.2613427937030792,0.21909776329994202; - - - hout << - 0.3285340666770935 - ,0.2858171761035919 - ,-0.36366742849349976 - ,-0.2632009983062744 - ,-0.25631460547447205 - ,0.33468252420425415 - ,0.002162247896194458 - ,0.1081397533416748 - ,-0.19566167891025543 - ,-0.007266071625053883 - ,0.1744336485862732 - ,-0.19491273164749146 - ,-0.16939763724803925 - ,0.1573415994644165 - ,0.2356991171836853 - ,-0.1462659239768982 - ,0.09851181507110596 - ,-0.21499931812286377 - ,-0.013007339090108871 - ,-0.26934152841567993 - ,-0.10125408321619034 - ,0.16949352622032166 - ,-0.2570975124835968 - ,-0.21437735855579376 - ,0.2278641164302826 - ,0.2520971894264221 - ,-0.38587644696235657 - ,-0.3990364372730255 - ,0.24998146295547485 - ,-0.3257754445075989 - ,-0.41329723596572876 - ,-0.26551106572151184; - - b1 << - 0.6920363306999207 - ,0.9509658217430115 - ,-1.7145336866378784 - ,0.4119643270969391 - ,1.0741286277770996 - ,0.8546265363693237 - ,-0.07467586547136307 - ,0.93145751953125 - ,0.5193935036659241 - ,-0.8871728777885437 - ,0.593039333820343 - ,1.6031073331832886 - ,-0.33494266867637634 - ,-0.8010779023170471 - ,-1.087764859199524 - ,1.1554406881332397 - ,0.6632958650588989 - ,-0.224932461977005 - ,0.26702749729156494 - ,0.5859951972961426 - ,-0.31409698724746704 - ,-1.1118980646133423 - ,-1.6770726442337036 - ,-1.2263047695159912 - ,2.018333911895752 - ,-2.0880801677703857 - ,-1.0489267110824585 - ,0.7445360422134399 - ,0.4031659960746765 - ,-1.0887231826782227 - ,1.5438745021820068 - ,-0.4563482999801636; - - b2 << - -0.10466054826974869 - ,-0.7642630338668823 - ,-1.4564176797866821 - ,-0.528777003288269 - ,-0.7297643423080444 - ,0.2625555098056793 - ,0.389851450920105 - ,-0.33048292994499207 - ,-1.20063054561615 - ,-1.912178635597229 - ,0.31253743171691895 - ,0.6883504390716553 - ,-0.04988760128617287 - ,2.26581072807312 - ,0.13501279056072235 - ,1.132785677909851 - ,-1.8237234354019165 - ,-1.5844906568527222 - ,0.26375624537467957 - ,-0.23789723217487335 - ,0.17283980548381805 - ,0.3692796230316162 - ,0.09335066378116608 - ,-1.0231001377105713 - ,1.2738454341888428 - ,1.44853675365448 - ,0.9071134924888611 - ,8.9274239144288e-05 - ,-0.6323830485343933 - ,-0.4208582937717438 - ,-1.1864360570907593 - ,-1.3916414976119995; - - b3 << - -1.963319182395935 - ,-0.4028509557247162 - ,0.3184174597263336 - ,0.1579766422510147 - ,0.1897633820772171 - ,0.866980791091919 - ,-0.45353031158447266 - ,-0.6562485098838806 - ,0.5865635275840759 - ,0.5033581852912903 - ,-0.14371006190776825 - ,0.050810977816581726 - ,-0.5131177306175232 - ,0.5688209533691406 - ,-1.1428403854370117 - ,-0.3598397970199585 - ,-1.3594286441802979 - ,-1.0192245244979858 - ,-0.2365882694721222 - ,0.5294732451438904 - ,1.530857801437378 - ,1.2039998769760132 - ,-1.0573883056640625 - ,-0.7962622046470642 - ,0.7248114347457886 - ,-0.36519983410835266 - ,-0.07752024382352829 - ,0.767806887626648 - ,0.2635451555252075 - ,-2.3236680030822754 - ,0.06150589883327484 - ,1.0375205278396606; - - bout << - -0.3124803602695465; /************************************ *** Program is operating! *************************************/ while(1) { -// if(timer_while==1000 && OPERATING_MODE==5) { -// //i2c -// read_field(i2c_slave_addr1); -// if(DIR_VALVE_ENC < 0) value = 1023 - value; -// // if(LED==1) { -// // LED=0; -// // } else -// // LED = 1; -// timer_while = 0; -// } -// timer_while ++; - - t.reset(); - t.start(); - - //X = (((Input*h1+b1.transpose())*h2+b2.transpose())*h3+b3.transpose())*hout+bout.transpose(); - -// Input << -// input_array[0],input_array[1],input_array[2],input_array[3],input_array[4]; + //if(timer_while==1000 && OPERATING_MODE==5) { + if(timer_while==1000) { + //i2c + read_field(i2c_slave_addr1); + if(DIR_VALVE_ENC < 0) value = 1023 - value; + // if(LED==1) { + // LED=0; + // } else + // LED = 1; + timer_while = 0; + } + + float output1[32] = { 0.0f }; + float output2[32] = { 0.0f }; + float output3[32] = { 0.0f }; + float output = 0.0f; + + timer_while ++; + +// t.reset(); +// t.start(); + + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 22; index1++) { + output1[index2] = output1[index2] + + h1[index1][index2] * input[index1]; + } + output1[index2] = output1[index2] + b1[index2]; + if (output1[index2] < 0) { + output1[index2] = 0; + } + } + + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output2[index2] = output2[index2] + + h2[index1][index2] * output1[index1]; + } + output2[index2] = output2[index2] + b2[index2]; + if (output2[index2] < 0) { + output2[index2] = 0; + } + } + + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output3[index2] = output3[index2] + + h3[index1][index2] * output2[index1]; + } + output3[index2] = output3[index2] + b3[index2]; + if (output3[index2] < 0) { + output3[index2] = 0; + } + } + + for (int index2 = 0; index2 < 1; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output = output + hout[index2] * output3[index1]; + } + output = output + bout[index2]; + output = 1.0f/(1.0f+exp(-output)); + } - X = Input*h1+b1.transpose(); - for(int i=0; i<32; i++){ - if(X(i)<0) - X(i) = 0; - } - X = X*h2+b2.transpose(); - for(int i=0; i<32; i++){ - if(X(i)<0) - X(i) = 0; - } - X = X*h3+b3.transpose(); - for(int i=0; i<32; i++){ - if(X(i)<0) - X(i) = 0; - } - X = X*hout+bout.transpose(); - NNoutput=1.0f/(1.0f+exp(-X(0,0))); +// t.stop(); + + //printf("NNoutput : %f\n", NNoutput); + //printf("time : %f\n", t.read()); + + //wait(1); - t.stop(); - - printf("NNoutput : %f\n", NNoutput); - printf("time : %f\n", t.read()); - - wait(1); - - //CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500 + //if(timer_while%10000==0) + if(LED==1) { + LED=0; + } else + LED = 1; + +// CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500 // PWM_out = NNoutput * 24000.0f - 12000.0f; // @@ -1806,6 +2614,10 @@ //PWM CAN_TX_PWM((int16_t) cur.sen); //1500 } + if (flag_data_request[3] == LOW) { + //PWM + CAN_TX_PWM((int16_t) 79); //1500 + } //for (i = 0; i < 10000; i++) { // ; // }