Diff: main.cpp

Revision:

166:cdd224dca34b

Parent:

165:6b7d096c4ff2

Child:

167:30f4c201a12e

Child:

168:f05a45d5f318

--- a/main.cpp	Tue Oct 13 02:08:26 2020 +0000
+++ b/main.cpp	Tue Oct 13 07:44:11 2020 +0000
@@ -1,4 +1,4 @@
-//201013_2
+//201013_3
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,72 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-0.9134685397148132f,0.47152289748191833f,0.12903714179992676f,0.3075399696826935f,-1.0103763341903687f,0.636618435382843f,-0.17472904920578003f,0.5219862461090088f,-0.9573919177055359f,-0.5472327470779419f,-0.23462967574596405f,-0.6496142745018005f,-0.2687501311302185f,-0.30852141976356506f,-0.2571594715118408f,-0.5148101449012756f},
-{-0.7974716424942017f,0.36665502190589905f,-0.3927857577800751f,-0.026231182739138603f,-0.7927666306495667f,0.24466918408870697f,-0.4054011106491089f,0.1524275243282318f,-0.5029696226119995f,-0.07623894512653351f,-0.27141711115837097f,-0.3645420968532562f,0.23086799681186676f,-0.6427722573280334f,-0.20967772603034973f,-0.23187580704689026f},
-{-0.6270912885665894f,0.19530081748962402f,0.36391180753707886f,-0.40053197741508484f,-0.25313279032707214f,0.15847307443618774f,0.2872133255004883f,0.08716024458408356f,-0.33401963114738464f,0.14947448670864105f,-0.3452884554862976f,-0.21262510120868683f,-0.0073607987724244595f,0.04231469705700874f,0.05590221285820007f,-0.4661090075969696f},
-{-0.3003062605857849f,-0.22791071236133575f,0.39742106199264526f,0.2387940138578415f,0.09850311279296875f,-0.49527478218078613f,-0.11584559082984924f,0.08828812837600708f,0.11261869966983795f,0.5164764523506165f,0.09856010973453522f,0.40660133957862854f,-0.16946998238563538f,0.16822700202465057f,-0.2961459457874298f,-0.1303456574678421f},
-{0.4762726426124573f,-0.24577325582504272f,-0.0051451027393341064f,0.1704016625881195f,0.45480313897132874f,-0.4964478611946106f,0.1294034719467163f,-0.5559053421020508f,0.41011661291122437f,0.5900117754936218f,0.35052505135536194f,0.3876333236694336f,-0.07302389293909073f,0.5519558787345886f,-0.3865056037902832f,-0.4240165054798126f},
-{1.0200930833816528f,-1.0290679931640625f,0.21773302555084229f,0.18283651769161224f,1.0359399318695068f,-1.094423532485962f,0.16514194011688232f,-1.1482166051864624f,0.7443006634712219f,0.8940601944923401f,-0.24501797556877136f,0.8777978420257568f,-0.26965659856796265f,0.9793119430541992f,-0.4132833778858185f,-0.4143127501010895f},
-{0.24261659383773804f,-0.05327805504202843f,-0.2501986622810364f,-0.6034898161888123f,-0.3920111060142517f,0.5010073781013489f,0.06014183163642883f,-0.11191493272781372f,0.37654319405555725f,-0.0888184905052185f,0.1502213031053543f,0.29583740234375f,-0.17514082789421082f,0.22016674280166626f,-0.15618428587913513f,-0.25883612036705017f},
-{-0.00469236122444272f,-0.3250938057899475f,-0.26619744300842285f,0.0068468633107841015f,-0.4649942219257355f,0.05662119761109352f,-0.17925891280174255f,-0.19927796721458435f,-0.033590517938137054f,0.08381734043359756f,0.10452523827552795f,-0.34540435671806335f,0.36794808506965637f,0.08098964393138885f,0.04303058981895447f,-0.060929685831069946f},
-{0.20405413210391998f,0.2075866013765335f,0.10248100757598877f,-0.49860912561416626f,-0.2410680204629898f,0.23090356588363647f,-0.07246989011764526f,-0.3231099247932434f,-0.272948682308197f,0.3842064440250397f,-0.2981110215187073f,0.10598671436309814f,0.2255394011735916f,0.2280091643333435f,-0.30555272102355957f,0.01608291268348694f},
-{0.0395650677382946f,-0.3704448342323303f,0.18462657928466797f,-0.2680302560329437f,0.14972278475761414f,0.28764110803604126f,-0.2990540862083435f,-0.07569549232721329f,0.0694427564740181f,-0.3439042568206787f,-0.009097885340452194f,-0.6398888826370239f,0.3686577379703522f,-0.12899449467658997f,0.3484981060028076f,-0.16416427493095398f},
-{0.59363853931427f,-0.051468994468450546f,0.37182438373565674f,0.10993491858243942f,0.07575221359729767f,0.004709271248430014f,-0.20339298248291016f,-0.011046785861253738f,-0.31469568610191345f,0.20681320130825043f,0.347558856010437f,-0.40608999133110046f,-0.07018248736858368f,0.13287465274333954f,0.26688337326049805f,-0.47693178057670593f},
-{-0.16581369936466217f,-0.5411351323127747f,-0.40320003032684326f,-0.15035052597522736f,0.20218154788017273f,-0.09600204229354858f,0.1533789038658142f,0.3663743734359741f,-0.027015255764126778f,0.412201464176178f,-0.4149737060070038f,0.03823520988225937f,0.14108167588710785f,0.13959474861621857f,0.10493969917297363f,-0.22328470647335052f},
-{0.11322732269763947f,-0.3215622007846832f,0.19847965240478516f,-0.0022561971563845873f,0.36415019631385803f,0.12364748120307922f,-0.2404318004846573f,0.1633000522851944f,-0.08962302654981613f,-0.009494226425886154f,-0.10974524170160294f,-0.4170663058757782f,0.0884089320898056f,0.15044717490673065f,-0.22268100082874298f,-0.4967944622039795f},
-{-0.039811789989471436f,-0.20089995861053467f,0.4127817749977112f,-0.24117572605609894f,-0.25490322709083557f,-0.2435271292924881f,-0.32001304626464844f,-0.24546930193901062f,-0.102024145424366f,-0.08323225378990173f,-0.19557662308216095f,-0.4584100842475891f,-0.3162972033023834f,0.03325960785150528f,0.0479682981967926f,0.028314808383584023f},
-{0.2383226752281189f,-0.10143738240003586f,0.20282304286956787f,-0.08951577544212341f,0.3082783818244934f,-0.12014582008123398f,0.04202890396118164f,0.36016133427619934f,0.27752813696861267f,0.1872105598449707f,-0.2799340784549713f,-0.7689655423164368f,0.10010885447263718f,-0.004661717917770147f,0.0668090283870697f,0.1482197642326355f},
-{0.06098514422774315f,-0.48572006821632385f,-0.40439701080322266f,-0.2520233392715454f,-0.1626404970884323f,-0.013345928862690926f,-0.15568238496780396f,0.022807763889431953f,0.2064189612865448f,0.14514531195163727f,-0.47434985637664795f,-0.40454432368278503f,-0.27451321482658386f,0.08782857656478882f,-0.08245879411697388f,0.2340376228094101f},
-{0.206878662109375f,-0.407446026802063f,0.16706281900405884f,-0.08365430682897568f,0.15259699523448944f,-0.42422130703926086f,-0.041414469480514526f,-0.12416864931583405f,0.10428006947040558f,0.40790340304374695f,-0.35401591658592224f,0.15388426184654236f,0.10863793641328812f,0.6007674336433411f,0.29427415132522583f,0.1034761294722557f},
+   {-0.9422973394393921f,0.816138744354248f,0.12903714179992676f,0.4502071440219879f,-1.1140856742858887f,0.8009461164474487f,-0.17472904920578003f,0.6318963170051575f,-1.1436399221420288f,-0.6893237233161926f,-0.2402734011411667f,-0.9842925667762756f,-0.2659071385860443f,-0.5343328714370728f,-0.2571594715118408f,-0.5537636280059814f},
+{-0.8519548773765564f,0.6565931439399719f,-0.3927857577800751f,0.07483011484146118f,-0.9019891023635864f,0.3965883255004883f,-0.4054011106491089f,0.24833782017230988f,-0.6761838793754578f,-0.2098483443260193f,-0.2770787179470062f,-0.6331954598426819f,0.2338932603597641f,-0.8753694295883179f,-0.20967772603034973f,-0.1774672269821167f},
+{-0.7044785618782043f,0.42973583936691284f,0.36391180753707886f,-0.34168773889541626f,-0.3618927001953125f,0.2956364154815674f,0.2872133255004883f,0.16543300449848175f,-0.48478376865386963f,0.02830495871603489f,-0.350972443819046f,-0.3733316957950592f,-0.004153335001319647f,-0.19601291418075562f,0.05590221285820007f,-0.32414478063583374f},
+{-0.3552502989768982f,-0.1009606420993805f,0.39742106199264526f,0.25304022431373596f,0.030921420082449913f,-0.41105446219444275f,-0.11584559082984924f,0.11025658249855042f,0.024052847176790237f,0.4500434100627899f,0.0928492322564125f,0.3181978762149811f,-0.166091188788414f,-0.030338767915964127f,-0.2961459457874298f,0.10466702282428741f},
+{0.5342218279838562f,-0.3397206962108612f,-0.0051451027393341064f,0.13548119366168976f,0.5061395764350891f,-0.546393632888794f,0.1294034719467163f,-0.6671127676963806f,0.4504651725292206f,0.6643060445785522f,0.34480199217796326f,0.2930491268634796f,-0.06942032277584076f,0.48893359303474426f,-0.3865056037902832f,-0.10466403514146805f},
+{1.3246031999588013f,-1.5123186111450195f,0.21773302555084229f,0.09286653995513916f,1.3203978538513184f,-1.4014114141464233f,0.16514194011688232f,-1.5082521438598633f,1.0016365051269531f,1.235943078994751f,-0.2507423460483551f,0.6433713436126709f,-0.2658242881298065f,1.1912657022476196f,-0.4132833778858185f,-0.027060367166996002f},
+{0.1273804008960724f,0.13252614438533783f,-0.2501986622810364f,-0.5859838724136353f,-0.342183917760849f,0.3593035042285919f,0.06014183163642883f,-0.2289130538702011f,0.5002049803733826f,0.02584199793636799f,0.14808937907218933f,0.19150348007678986f,-0.17128024995326996f,0.365104079246521f,-0.15618428587913513f,-0.2701209485530853f},
+{-0.06399786472320557f,-0.09476010501384735f,-0.26619744300842285f,-0.04987308010458946f,-0.492236465215683f,0.01857869327068329f,-0.17925891280174255f,-0.20871999859809875f,0.12933646142482758f,0.06090860813856125f,0.10296232998371124f,0.14094074070453644f,0.3721265494823456f,0.055147673934698105f,0.04303058981895447f,-0.006053004413843155f},
+{0.2654061019420624f,0.26224228739738464f,0.10248100757598877f,-0.596210777759552f,-0.16576111316680908f,0.07295040041208267f,-0.07246989011764526f,-0.43253424763679504f,-0.07300584018230438f,0.4837280213832855f,-0.2996826469898224f,0.19941766560077667f,0.22998356819152832f,0.35608574748039246f,-0.30555272102355957f,0.07220940291881561f},
+{0.11786475032567978f,-0.41986238956451416f,0.18462657928466797f,-0.37801647186279297f,0.22378583252429962f,0.10312975198030472f,-0.2990540862083435f,-0.1843118965625763f,0.19073587656021118f,-0.22762800753116608f,-0.010670982301235199f,-0.9497440457344055f,0.3733196556568146f,0.037525616586208344f,0.3484981060028076f,-0.1094270572066307f},
+{0.6070651412010193f,-0.09914976358413696f,0.37182438373565674f,0.018310997635126114f,0.07455449551343918f,-0.12630106508731842f,-0.20339298248291016f,-0.045236699283123016f,-0.32284286618232727f,0.25843581557273865f,0.34605979919433594f,-1.0087871551513672f,-0.06535344570875168f,0.24279603362083435f,0.26688337326049805f,-0.4403117895126343f},
+{-0.22165389358997345f,-0.5628076195716858f,-0.40320003032684326f,-0.20227207243442535f,0.1302938610315323f,-0.1623421460390091f,0.1533789038658142f,0.4045383632183075f,-0.12937217950820923f,0.3980630338191986f,-0.41651004552841187f,-0.6266176700592041f,0.14604397118091583f,0.17627350986003876f,0.10493969917297363f,-0.21720585227012634f},
+{0.030336881056427956f,-0.3146386742591858f,0.19847965240478516f,-0.0050943773239851f,0.2731168866157532f,0.09094318747520447f,-0.2404318004846573f,0.228116974234581f,-0.19871845841407776f,-0.04024843871593475f,-0.1112145334482193f,-0.9000332355499268f,0.09352868050336838f,0.15391482412815094f,-0.22268100082874298f,-0.5411937236785889f},
+{-0.13979318737983704f,-0.1483089029788971f,0.4127817749977112f,-0.19421952962875366f,-0.3487865924835205f,-0.24741530418395996f,-0.32001304626464844f,-0.16491003334522247f,-0.19151969254016876f,-0.11659505218267441f,-0.1970081627368927f,-0.6741900444030762f,-0.31111955642700195f,0.017213257029652596f,0.0479682981967926f,-0.0767170637845993f},
+{0.1018039658665657f,0.02260236069560051f,0.20282304286956787f,-0.001347720855847001f,0.19300313293933868f,-0.08332309871912003f,0.04202890396118164f,0.4737999737262726f,0.17798906564712524f,0.13439501821994781f,-0.281271755695343f,-0.8036220073699951f,0.10531322658061981f,-0.0502358041703701f,0.0668090283870697f,-0.01713453233242035f},
+{-0.12013847380876541f,-0.3260125517845154f,-0.40439701080322266f,-0.13912852108478546f,-0.30754464864730835f,0.06261581927537918f,-0.15568238496780396f,0.17538794875144958f,0.0854315236210823f,0.07091780751943588f,-0.4755752980709076f,-0.43720322847366333f,-0.2693168520927429f,0.02042545937001705f,-0.08245879411697388f,0.05099216103553772f},
+{0.001502394676208496f,-0.30525463819503784f,0.16706281900405884f,0.034485120326280594f,-0.004272279795259237f,-0.339826375246048f,-0.041414469480514526f,0.04367552325129509f,-0.02342265099287033f,0.34166520833969116f,-0.35515230894088745f,-0.04239179193973541f,0.11384518444538116f,0.5522218346595764f,0.29427415132522583f,-0.038875143975019455f},
 };
 
 const float h2[16][16] = { 
-    {-0.7429003119468689f,1.123412013053894f,-0.06966331601142883f,0.915560781955719f,-0.21907491981983185f,1.0826795101165771f,0.08530882745981216f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-3.82865834236145f,-0.194941446185112f,-0.02325684018433094f,-0.6531063318252563f,-0.8647879362106323f,-0.630700945854187f},
-{0.4736104905605316f,-0.5098397731781006f,0.057057321071624756f,-0.4393746256828308f,-0.35503754019737244f,-0.5611493587493896f,-0.4862334728240967f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5004004240036011f,-0.6202396750450134f,0.1985103040933609f,0.1904723346233368f,-0.1293286234140396f,0.5461441278457642f},
+    {-0.6470258235931396f,0.9234167337417603f,-0.06966331601142883f,-0.014286808669567108f,-0.21907491981983185f,1.380876064300537f,0.07633070647716522f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-5.604593753814697f,-0.32560282945632935f,0.051604073494672775f,-1.2667008638381958f,-0.7034933567047119f,-2.5710673332214355f},
+{-0.45135530829429626f,-1.0134674310684204f,0.057057321071624756f,0.010767251253128052f,-0.35503754019737244f,-1.7479071617126465f,-0.619813859462738f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.36765870451927185f,-0.9216219186782837f,0.0722721517086029f,0.373965859413147f,1.5379374027252197f,-1.6105296611785889f},
 {-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},
-{-0.022007526829838753f,-0.23249894380569458f,-0.2894435524940491f,0.07259730249643326f,0.08946844935417175f,0.3442848324775696f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.27235135436058044f,0.31772884726524353f,-0.5437182784080505f,-0.3104669749736786f,0.15957525372505188f,0.06426951289176941f},
-{-0.31421342492103577f,0.6290507316589355f,-0.25313520431518555f,0.8894535303115845f,0.036378175020217896f,0.3088131546974182f,-0.3925705850124359f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.8230472207069397f,-0.6750732660293579f,-0.03844673931598663f,-0.36439189314842224f,-0.2437761127948761f,-0.5632670521736145f},
-{0.5597587823867798f,0.11848146468400955f,-0.3519742488861084f,0.07206510752439499f,-0.3015052080154419f,-0.745124340057373f,-0.5857446789741516f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.414008855819702f,-0.2503798007965088f,-0.3482326567173004f,0.8679000735282898f,0.6080195903778076f,-0.30021804571151733f},
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 };
 
 const float h3[16][16] = { 
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+{-0.408692330121994f,-0.12167225778102875f,-0.11162155121564865f,0.0922636091709137f,-0.12863297760486603f,-0.1449405699968338f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6882802844047546f,-0.19589252769947052f,-0.3583527207374573f,0.07805956155061722f},
+{-0.2991822361946106f,0.3794580399990082f,0.014117272570729256f,-0.05932474136352539f,0.1678178459405899f,0.1392442286014557f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.3626573383808136f,0.09562748670578003f,-0.21479249000549316f,0.36124154925346375f,-0.0492718480527401f},
+{-0.2675279378890991f,-0.20912638306617737f,0.3860570192337036f,-0.10026536881923676f,0.750762403011322f,-0.3292187452316284f,-0.32875844836235046f,-0.31893211603164673f,-0.8638364672660828f,0.0629776194691658f,-0.5012393593788147f,-0.5317681431770325f,0.9589196443557739f,-0.8428072929382324f,0.34423255920410156f,0.7128982543945312f},
+{-0.015470266342163086f,-0.44555407762527466f,0.25433310866355896f,0.20409812033176422f,-0.22110849618911743f,-0.8526780009269714f,0.05196094512939453f,-0.008358269929885864f,-1.8200902938842773f,-1.404388666152954f,0.04944964125752449f,1.2042348384857178f,-0.6587819457054138f,-0.01796478033065796f,0.10451231151819229f,0.4006541967391968f},
+{0.1863725483417511f,0.2446456104516983f,-0.011895897798240185f,-0.46003812551498413f,-0.09950538724660873f,0.7812361121177673f,0.04860696196556091f,0.17769548296928406f,-0.21045884490013123f,-0.02392253838479519f,-0.5194469094276428f,-0.7190624475479126f,0.9879310727119446f,-0.04284123703837395f,-0.017980048432946205f,0.010620726272463799f},
 };
 
-const float hout[16] = { 0.45773375034332275f,2.7933547496795654f,-1.0942281484603882f,-0.06221064180135727f,-0.8583951592445374f,0.6017218232154846f,0.0030125975608825684f,0.15066689252853394f,-0.11637454479932785f,0.028249269351363182f,0.23011033236980438f,-0.2627098262310028f,-0.9272217750549316f,0.47340723872184753f,0.3908718526363373f,-0.18785491585731506f };
+const float hout[16] = { 0.45773375034332275f,0.8294255137443542f,-0.6711450219154358f,-0.1830643117427826f,0.7750869989395142f,0.35511845350265503f,0.0030125975608825684f,0.022223524749279022f,0.04753764718770981f,-0.7876517176628113f,-0.003175719641149044f,0.0392247810959816f,0.6021333932876587f,-0.3109360337257385f,0.23280669748783112f,-1.4544168710708618f };
 
-const float b1[16] = { 0.7052567005157471f,0.985894501209259f,-1.7145336866378784f,0.30826279520988464f,1.0146307945251465f,1.07547128200531f,-0.058932315558195114f,1.0926586389541626f,0.49180278182029724f,-0.9488286972045898f,0.5715416073799133f,1.3945960998535156f,-0.3748215436935425f,-0.8922675848007202f,-1.087764859199524f,0.8254845142364502f };
+const float b1[16] = { 0.7056122422218323f,1.1291390657424927f,-1.7145336866378784f,0.2956685423851013f,1.0393290519714355f,0.9797787070274353f,-0.058932315558195114f,1.0276665687561035f,0.7101954817771912f,-0.9258805513381958f,0.5699434876441956f,1.9668344259262085f,-0.37089529633522034f,-0.8922005295753479f,-1.087764859199524f,0.8579965233802795f };
 
-const float b2[16] = { -0.014960902743041515f,-0.9276975393295288f,-1.4564176797866821f,-0.31621667742729187f,-0.6939148902893066f,0.0037372063379734755f,0.292667418718338f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.15271921455860138f,0.47667497396469116f,-0.21788959205150604f,2.2636473178863525f,0.3592086136341095f,0.9436594843864441f };
+const float b2[16] = { 0.30709776282310486f,-1.0053777694702148f,-1.4564176797866821f,-0.5643334984779358f,-0.6939148902893066f,-0.09909917414188385f,0.11684336513280869f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.40117043256759644f,0.19153909385204315f,-0.38083168864250183f,1.8678460121154785f,0.29272031784057617f,0.6278016567230225f };
 
-const float b3[16] = { -1.963319182395935f,-0.7325666546821594f,0.41471558809280396f,-0.24339453876018524f,-0.03444989025592804f,0.6245070695877075f,-0.45353031158447266f,-0.6562485098838806f,0.3659083843231201f,0.21765132248401642f,-0.23807579278945923f,-0.08727303147315979f,-0.612500786781311f,0.10198431462049484f,-1.2002406120300293f,-0.417548805475235f };
+const float b3[16] = { -1.963319182395935f,-0.6741920113563538f,0.12937204539775848f,-0.21879643201828003f,-0.9361562132835388f,-0.30483272671699524f,-0.45353031158447266f,-0.814145028591156f,0.053998082876205444f,0.6373391151428223f,-0.4335314631462097f,0.11158346384763718f,-0.267436146736145f,-0.325805127620697f,-1.3426309823989868f,-0.44092661142349243f };
 
-const float bout[1] = { -0.47209107875823975f };
+const float bout[1] = { -0.17210061848163605f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;