![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Original Version of STM Board
Diff: main.cpp
- Revision:
- 196:56a7e26a4a8a
- Parent:
- 195:dde3bb8e0d81
- Child:
- 197:50e95ba0ade2
- Child:
- 201:bf9b39a894df
diff -r dde3bb8e0d81 -r 56a7e26a4a8a main.cpp --- a/main.cpp Fri Dec 18 15:54:11 2020 +0000 +++ b/main.cpp Sat Dec 19 05:14:54 2020 +0000 @@ -1,4 +1,4 @@ -//201218_5 +//201219_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] = { - {-1.5049792528152466f,1.3884327411651611f,0.12903714179992676f,0.891964316368103f,-2.0343658924102783f,2.1200127601623535f,-0.17472904920578003f,0.1945325881242752f,-0.6159688234329224f,-2.1421313285827637f,0.646172046661377f,-1.4796212911605835f,-1.6515940427780151f,-1.0867961645126343f,-0.2571594715118408f,-0.6423998475074768f}, -{-0.8074502348899841f,0.6986951231956482f,-0.3927857577800751f,0.10117524862289429f,-1.0908969640731812f,0.9588668346405029f,-0.4054011106491089f,0.027100883424282074f,-0.20849254727363586f,-0.7737641334533691f,-0.0007267668261192739f,-0.559249222278595f,-0.34011590480804443f,-0.9275782108306885f,-0.20967772603034973f,0.00843813456594944f}, -{-0.1761643886566162f,-0.00044299568980932236f,0.36391180753707886f,-0.6050712466239929f,0.10568452626466751f,0.08904145658016205f,0.2872133255004883f,-0.04633462801575661f,-0.18011713027954102f,0.3201780915260315f,-0.6315233707427979f,0.2315744310617447f,0.21526654064655304f,0.2692757546901703f,0.05590221285820007f,0.1846989542245865f}, -{0.3208276033401489f,-0.5977734327316284f,0.39742106199264526f,-0.13856913149356842f,0.6892843246459961f,-0.9602494835853577f,-0.11584559082984924f,-0.06512385606765747f,0.1462620198726654f,0.9997460842132568f,-0.4601175785064697f,1.0265581607818604f,0.409962922334671f,0.5716820359230042f,-0.2961459457874298f,0.6279282569885254f}, -{1.2834209203720093f,-0.7100825905799866f,-0.0051451027393341064f,-0.48592910170555115f,1.3144265413284302f,-1.2957475185394287f,0.1294034719467163f,-0.3098825216293335f,0.4540647268295288f,1.3852906227111816f,-0.3826965093612671f,1.0702041387557983f,0.8663880825042725f,0.983588457107544f,-0.3865056037902832f,0.2630000412464142f}, -{0.7572326064109802f,-0.704451322555542f,0.21773302555084229f,0.2423843890428543f,0.74943608045578f,-1.221998691558838f,0.16514194011688232f,0.40929198265075684f,0.4561389982700348f,0.43248844146728516f,0.2699551284313202f,-0.26172181963920593f,0.477117657661438f,0.22961737215518951f,-0.4132833778858185f,-0.5123910307884216f}, -{0.10581762343645096f,1.3901673555374146f,-0.2501986622810364f,-0.1542971432209015f,-0.35934504866600037f,0.5287187695503235f,0.06014183163642883f,-0.40914610028266907f,0.3122667670249939f,0.3267156779766083f,0.07723409682512283f,0.10168510675430298f,-0.9989253282546997f,2.5577051639556885f,-0.15618428587913513f,-0.9690904021263123f}, -{-2.7382125854492188f,0.4130338430404663f,-0.26619744300842285f,1.700432538986206f,-1.3281302452087402f,-1.8974241018295288f,-0.17925891280174255f,-0.9012918472290039f,-0.07043382525444031f,-0.48516932129859924f,2.527921438217163f,-1.9383374452590942f,0.09208452701568604f,0.08270622044801712f,0.04303058981895447f,-1.6846622228622437f}, -{1.0545861721038818f,-1.4685617685317993f,0.10248100757598877f,-0.7680048942565918f,0.7788065075874329f,-0.5541813373565674f,-0.07246989011764526f,-3.9993937015533447f,-1.7258435487747192f,1.5052671432495117f,-2.6104493141174316f,2.101834535598755f,1.8155968189239502f,1.0661120414733887f,-0.30555272102355957f,2.365203619003296f}, -{-0.8168604373931885f,2.0169551372528076f,0.18462657928466797f,-3.2892398834228516f,1.213491439819336f,0.017481716349720955f,-0.2990540862083435f,1.388200283050537f,3.561858892440796f,-0.5190175771713257f,-0.29394879937171936f,-2.029303550720215f,1.6247004270553589f,0.7122467160224915f,0.3484981060028076f,-2.1400225162506104f}, -{1.007614254951477f,-0.9092363715171814f,0.37182438373565674f,1.7689789533615112f,-0.4636596143245697f,0.44717833399772644f,-0.20339298248291016f,1.655295729637146f,-2.704533576965332f,0.4038698971271515f,1.1270475387573242f,-0.9903129935264587f,-0.006957195699214935f,0.191023051738739f,0.26688337326049805f,-0.8353675007820129f}, -{0.3204830288887024f,-0.3771741986274719f,-0.40320003032684326f,0.8849078416824341f,-0.39249494671821594f,-0.11090171337127686f,0.1533789038658142f,-0.33072859048843384f,0.2818801701068878f,0.6622859239578247f,0.36905643343925476f,-0.027050090953707695f,0.031340520828962326f,0.22625774145126343f,0.10493969917297363f,1.2014644145965576f}, -{-0.027245059609413147f,-0.12394643574953079f,0.19847965240478516f,0.049304619431495667f,0.21819953620433807f,0.5548239350318909f,-0.2404318004846573f,0.34036731719970703f,0.2525804936885834f,-0.22883126139640808f,-0.282358318567276f,0.26164373755455017f,0.054766684770584106f,-0.10002446919679642f,-0.22268100082874298f,0.2973868250846863f}, -{0.06438226252794266f,-0.07111430168151855f,0.4127817749977112f,-0.06975249946117401f,-0.26233044266700745f,-0.24256393313407898f,-0.32001304626464844f,-0.22010767459869385f,0.21593058109283447f,0.0920371562242508f,-0.02842799946665764f,0.06874515116214752f,0.13893914222717285f,0.04359567537903786f,0.0479682981967926f,0.15775953233242035f}, -{-0.1833210438489914f,0.18803685903549194f,0.20282304286956787f,0.1314825862646103f,0.10088987648487091f,0.17484170198440552f,0.04202890396118164f,0.11449118703603745f,0.14355172216892242f,-0.01671559177339077f,-0.07656802237033844f,0.04497041553258896f,-0.010590135119855404f,-0.04078643396496773f,0.0668090283870697f,-0.31613799929618835f}, -{0.03417176753282547f,-0.3786371052265167f,-0.40439701080322266f,-0.0856500118970871f,-0.07531658560037613f,-0.010137107223272324f,-0.15568238496780396f,-0.07548399269580841f,-0.09875830262899399f,-0.022417474538087845f,-0.19422344863414764f,0.024653606116771698f,-0.006860379129648209f,0.06817493587732315f,-0.08245879411697388f,-0.16006922721862793f}, -{-0.02824515290558338f,-0.056637030094861984f,0.16706281900405884f,0.02173255942761898f,-0.07349086552858353f,0.11741489917039871f,-0.041414469480514526f,-0.003831858281046152f,0.17465364933013916f,0.020348260179162025f,0.14337372779846191f,0.13839061558246613f,0.052412476390600204f,-0.013077993877232075f,0.29427415132522583f,0.19772164523601532f}, + {-2.05708909034729f,3.186411142349243f,0.12903714179992676f,1.1522443294525146f,-4.77985954284668f,4.988513469696045f,-0.17472904920578003f,-0.7710135579109192f,-1.6287260055541992f,-4.90599250793457f,-0.1063576489686966f,-2.722536325454712f,-3.285773992538452f,-1.8041954040527344f,-0.2571594715118408f,-0.19243751466274261f}, +{-0.5134673714637756f,0.850974977016449f,-0.3927857577800751f,-0.35398679971694946f,-1.7932156324386597f,2.4975759983062744f,-0.4054011106491089f,-0.1427018940448761f,-0.8026003837585449f,-1.3023022413253784f,-0.6186515688896179f,-0.6010700464248657f,-0.52750563621521f,-1.032634973526001f,-0.20967772603034973f,0.07275804877281189f}, +{-0.066841721534729f,-0.7892441749572754f,0.36391180753707886f,-1.1049953699111938f,0.8302334547042847f,0.145523339509964f,0.2872133255004883f,-0.23196928203105927f,-0.8545001149177551f,1.5305473804473877f,-1.3627126216888428f,1.4795163869857788f,0.9375577569007874f,0.6764299273490906f,0.05590221285820007f,0.4362540543079376f}, +{0.4236474335193634f,-1.4789464473724365f,0.39742106199264526f,-0.9245060086250305f,1.6349233388900757f,-1.8302228450775146f,-0.11584559082984924f,-1.033275842666626f,-0.2314160317182541f,2.3230981826782227f,-1.3284986019134521f,2.215522050857544f,0.9562681913375854f,1.3459151983261108f,-0.2961459457874298f,1.4592657089233398f}, +{2.2037711143493652f,-2.3931355476379395f,-0.0051451027393341064f,-1.6210885047912598f,4.003640651702881f,-3.840949773788452f,0.1294034719467163f,-0.8414157629013062f,1.5438644886016846f,3.9199259281158447f,-0.8511825799942017f,2.865309000015259f,1.4463257789611816f,2.064455032348633f,-0.3865056037902832f,0.3730478286743164f}, +{-0.11275540292263031f,0.9484487175941467f,0.21773302555084229f,2.8727660179138184f,-0.1065288633108139f,-1.7705634832382202f,0.16514194011688232f,3.2009992599487305f,2.407309055328369f,-1.1651065349578857f,4.242412567138672f,-3.063631534576416f,0.47985541820526123f,-1.2354117631912231f,-0.4132833778858185f,-2.181981086730957f}, +{-0.09938614070415497f,3.5773942470550537f,-0.2501986622810364f,-0.13928787410259247f,-0.037008676677942276f,-0.03511349856853485f,0.06014183163642883f,-0.4759536683559418f,-0.06337887793779373f,0.14054207503795624f,-0.42060503363609314f,0.19486430287361145f,-4.041183948516846f,4.967502117156982f,-0.15618428587913513f,-0.5009685754776001f}, +{-6.928924560546875f,0.6427025198936462f,-0.26619744300842285f,3.9012463092803955f,-2.184589385986328f,-3.624392509460449f,-0.17925891280174255f,-2.07382869720459f,0.13725543022155762f,-0.8136168122291565f,4.00950813293457f,-1.4740347862243652f,-1.433410406112671f,0.022372480481863022f,0.04303058981895447f,-1.781483769416809f}, +{3.6579532623291016f,-3.307387590408325f,0.10248100757598877f,-2.6607558727264404f,0.5396132469177246f,0.6482411623001099f,-0.07246989011764526f,-7.981725215911865f,-3.1790192127227783f,1.7948887348175049f,-7.444221019744873f,3.593710422515869f,4.345944404602051f,0.9924588799476624f,-0.30555272102355957f,2.0975594520568848f}, +{-3.400193214416504f,2.0092344284057617f,0.18462657928466797f,-6.360235214233398f,1.7909657955169678f,-0.017668945714831352f,-0.2990540862083435f,3.4985127449035645f,6.280633926391602f,-0.7703721523284912f,0.5939630270004272f,-5.173768520355225f,3.7344818115234375f,2.7632744312286377f,0.3484981060028076f,0.9411026239395142f}, +{1.6706088781356812f,-0.5848070383071899f,0.37182438373565674f,3.818086862564087f,-0.6287387013435364f,-0.04289967194199562f,-0.20339298248291016f,2.0016133785247803f,-6.318286418914795f,0.41212618350982666f,3.4429900646209717f,-0.8561667799949646f,-0.6144111752510071f,-0.15154114365577698f,0.26688337326049805f,-7.914551734924316f}, +{3.817580223083496f,-0.9478880167007446f,-0.40320003032684326f,1.9463788270950317f,-1.1352602243423462f,-1.0062247514724731f,0.1533789038658142f,0.31628814339637756f,1.0758967399597168f,0.20902790129184723f,0.8699947595596313f,0.035382118076086044f,0.4103728234767914f,0.7292467355728149f,0.10493969917297363f,5.7628936767578125f}, +{-1.4826020002365112f,-0.017168715596199036f,0.19847965240478516f,0.5530301928520203f,0.8296269774436951f,1.094685673713684f,-0.2404318004846573f,0.2031107395887375f,1.0775611400604248f,-0.36457428336143494f,-0.08059465140104294f,1.811431884765625f,0.13296887278556824f,0.5637132525444031f,-0.22268100082874298f,0.9920644164085388f}, +{0.10934057831764221f,0.29417213797569275f,0.4127817749977112f,-0.2295745611190796f,-0.06648509204387665f,-0.335322767496109f,-0.32001304626464844f,-0.08723939955234528f,-0.1633664220571518f,0.024810004979372025f,-0.3360883295536041f,-0.1956489086151123f,0.2085038125514984f,-0.11261153966188431f,0.0479682981967926f,-0.34844690561294556f}, +{-0.4475245475769043f,-0.06329675763845444f,0.20282304286956787f,-0.29542261362075806f,-0.06878867000341415f,0.18237599730491638f,0.04202890396118164f,-0.21386225521564484f,0.18389460444450378f,0.07724341750144958f,0.59593266248703f,0.02376031130552292f,-0.23211097717285156f,-0.027928775176405907f,0.0668090283870697f,-0.1131569892168045f}, +{-0.05932091549038887f,0.024183889850974083f,-0.40439701080322266f,0.06835188716650009f,-0.0013422847259789705f,0.07840344309806824f,-0.15568238496780396f,0.09824986755847931f,0.09857259690761566f,0.001587049220688641f,-0.2749989628791809f,0.4360615015029907f,0.08637247234582901f,0.11287035793066025f,-0.08245879411697388f,-0.26716044545173645f}, +{0.03818594291806221f,-0.09347709268331528f,0.16706281900405884f,-0.0405823290348053f,0.07498817145824432f,-0.062178123742341995f,-0.041414469480514526f,-0.042331963777542114f,-0.3425905108451843f,-0.09295454621315002f,0.13697385787963867f,-0.357461154460907f,-0.01628359965980053f,0.0008555047679692507f,0.29427415132522583f,0.11630304902791977f}, }; const float h2[16][16] = { - 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-{-0.2675279378890991f,0.22752805054187775f,0.9918881058692932f,-0.3263375759124756f,-0.49688720703125f,-0.6219033002853394f,-0.5266007781028748f,-0.5405108332633972f,1.1606967449188232f,-0.6998274326324463f,-0.6930839419364929f,-0.783081591129303f,0.5205210447311401f,-0.2892443835735321f,-0.4750079810619354f,1.0206432342529297f}, -{-0.015470266342163086f,-1.648854374885559f,-0.2384277582168579f,-2.0957741737365723f,-1.6361477375030518f,0.43126505613327026f,0.05196094512939453f,-0.18505549430847168f,-2.268740653991699f,-0.5114141702651978f,-0.03054753504693508f,-0.11511552333831787f,-0.7582811713218689f,0.5420505404472351f,-0.5685442090034485f,-0.9316728711128235f}, -{0.1863725483417511f,0.7245519161224365f,0.3409687578678131f,-0.9061988592147827f,1.1212410926818848f,-0.5218710899353027f,0.04860696196556091f,0.12026743590831757f,-1.0126233100891113f,0.03679993748664856f,-0.3252358138561249f,0.10295852273702621f,0.978594183921814f,-0.625475287437439f,1.5447208881378174f,-0.03620874881744385f}, +{-0.2675279378890991f,0.6203365921974182f,1.4428101778030396f,-0.3342827558517456f,0.2550843358039856f,-1.0007736682891846f,-0.5266007781028748f,-0.6508864164352417f,-0.9974082112312317f,-0.8438001871109009f,-0.6930839419364929f,-0.4682348966598511f,1.0650571584701538f,-0.4838383197784424f,0.46341273188591003f,0.5192927122116089f}, +{-0.015470266342163086f,-1.8956760168075562f,-0.08410447835922241f,-6.254400730133057f,-1.7777941226959229f,0.2078683078289032f,0.05196094512939453f,-0.18505549430847168f,-10.860576629638672f,-0.5114141702651978f,-0.03054753504693508f,-4.667637348175049f,-0.8007304072380066f,-0.11897039413452148f,-0.8937392830848694f,-1.3230712413787842f}, +{0.1863725483417511f,1.2183045148849487f,0.40503326058387756f,-0.4035680592060089f,1.890458345413208f,-0.33654242753982544f,0.04860696196556091f,0.12026743590831757f,-1.4774972200393677f,-0.03228182718157768f,-0.3252358138561249f,0.811850368976593f,1.4008933305740356f,-0.25755757093429565f,2.1992106437683105f,1.1227765083312988f}, }; -const float hout[16] = { 0.45773375034332275f,0.17375539243221283f,-0.23764771223068237f,-0.09143640846014023f,-0.16163280606269836f,0.23837842047214508f,-0.05339581519365311f,-0.03423803672194481f,-0.15247350931167603f,0.0028862894978374243f,-0.025371452793478966f,0.005703639704734087f,-0.16284745931625366f,-0.11569779366254807f,0.14603784680366516f,-0.16416245698928833f }; - -const float b1[16] = { 0.6616275310516357f,-0.13481281697750092f,-1.7145336866378784f,0.07440292090177536f,0.8951196074485779f,1.0816856622695923f,-0.058932315558195114f,1.3293917179107666f,0.020480668172240257f,-0.5892835259437561f,0.21089354157447815f,1.3534598350524902f,-1.2202963829040527f,-1.9916216135025024f,-1.087764859199524f,0.9760429859161377f }; - -const float b2[16] = { -0.09380006790161133f,-1.064509630203247f,-1.4564176797866821f,0.2678755223751068f,-0.6939148902893066f,-0.12803801894187927f,0.10122966021299362f,-0.35512855648994446f,-1.20063054561615f,-1.912178635597229f,0.1515641063451767f,0.8412038087844849f,-0.415097177028656f,1.7469533681869507f,0.5643869042396545f,1.505944848060608f }; - -const float b3[16] = { -1.963319182395935f,-0.021264158189296722f,-1.0536612272262573f,0.7838545441627502f,-0.9922052621841431f,1.3160772323608398f,-0.6213743686676025f,-0.8503386974334717f,-1.0721707344055176f,0.18971462547779083f,-0.4227040708065033f,-0.3531782329082489f,-1.2684650421142578f,-0.21604318916797638f,-0.9929291605949402f,-0.17358574271202087f }; - -const float bout[1] = { -0.18828609585762024f }; +const float hout[16] = { 0.45773375034332275f,0.10733845829963684f,-0.13171051442623138f,-0.08234205096960068f,-0.10416366159915924f,0.1268671751022339f,-0.05339581519365311f,0.08802822232246399f,-0.051159054040908813f,0.00122738815844059f,0.030993694439530373f,0.08779297769069672f,-0.08789035677909851f,-0.08475720137357712f,0.11542049050331116f,-0.1343373954296112f }; + +const float b1[16] = { 1.5671610832214355f,-0.6650322079658508f,-1.7145336866378784f,-0.13631387054920197f,0.809053897857666f,1.7169852256774902f,-0.058932315558195114f,2.673710584640503f,0.8016091585159302f,-0.2220122516155243f,-0.3671777844429016f,1.3159983158111572f,-0.9628874659538269f,-4.3406147956848145f,-1.087764859199524f,0.49714064598083496f }; + +const float b2[16] = { 0.028378725051879883f,-1.541205883026123f,-1.4564176797866821f,-0.4409101605415344f,-0.6939148902893066f,-0.4014190435409546f,0.10122966021299362f,-0.5010198950767517f,-1.20063054561615f,-2.055778741836548f,1.1678540706634521f,-0.6804684996604919f,-0.415097177028656f,2.260073184967041f,1.3790706396102905f,1.498458743095398f }; + +const float b3[16] = { -1.963319182395935f,-1.167460322380066f,-2.419935703277588f,1.7481459379196167f,-1.9929835796356201f,1.982991337776184f,-0.6213743686676025f,-1.0484195947647095f,-0.2641257643699646f,-0.0314469188451767f,-0.5554727911949158f,0.33601483702659607f,-2.5726656913757324f,-0.1076522171497345f,-3.430584192276001f,-1.4368791580200195f }; + +const float bout[1] = { -0.10351773351430893f }; /////////////////////////////////////////////////////////////////////////////////////////////RL float input_RL[num_input_RL] = { 0.0f };