Diff: main.cpp

Revision:

165:6b7d096c4ff2

Parent:

164:0ca5f6b916bf

Child:

166:cdd224dca34b

--- a/main.cpp	Tue Oct 13 00:27:03 2020 +0000
+++ b/main.cpp	Tue Oct 13 02:08:26 2020 +0000
@@ -1,4 +1,4 @@
-//201013_1
+//201013_2
 #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] = { 
-   {-1.0275468826293945f,0.43926846981048584f,0.12903714179992676f,0.4701420068740845f,-2.603170871734619f,1.2352787256240845f,-0.17472904920578003f,1.33931565284729f,-2.285667896270752f,-0.5370298624038696f,-0.23918497562408447f,-2.2970659732818604f,-0.2573468089103699f,-0.5015426278114319f,-0.2571594715118408f,-0.6034055352210999f},
-{-1.3271386623382568f,0.7508835196495056f,-0.3927857577800751f,0.08956815302371979f,-2.090951919555664f,0.9666983485221863f,-0.4054011106491089f,1.063048005104065f,-1.6541582345962524f,-0.48293083906173706f,-0.27596044540405273f,-1.391426920890808f,0.24264559149742126f,-1.244568109512329f,-0.20967772603034973f,-0.23716892302036285f},
-{-1.494210124015808f,1.0132709741592407f,0.36391180753707886f,-0.3321636915206909f,-0.8958159685134888f,0.8947067260742188f,0.2872133255004883f,0.9576818346977234f,-0.9146316647529602f,-0.6344779133796692f,-0.34979507327079773f,-0.041588954627513885f,0.004788324702531099f,-0.9077112674713135f,0.05590221285820007f,-0.39047178626060486f},
-{-1.1651805639266968f,0.7061567306518555f,0.39742106199264526f,0.2539563477039337f,0.4142424762248993f,-0.05515221878886223f,-0.11584559082984924f,0.5919270515441895f,0.42622724175453186f,-0.2891632318496704f,0.09412087500095367f,1.729524850845337f,-0.15688329935073853f,-0.7519926428794861f,-0.2961459457874298f,0.024065889418125153f},
-{0.3275541663169861f,-0.05314060300588608f,-0.0051451027393341064f,0.12066979706287384f,1.7848690748214722f,-0.9574601054191589f,0.1294034719467163f,-0.9079204797744751f,1.644172191619873f,0.5305442214012146f,0.346163809299469f,1.850731372833252f,-0.05989838391542435f,0.44069361686706543f,-0.3865056037902832f,-0.18474432826042175f},
-{2.7969915866851807f,-2.863101005554199f,0.21773302555084229f,0.049874428659677505f,3.3449485301971436f,-3.4902470111846924f,0.16514194011688232f,-3.0111351013183594f,2.780473232269287f,2.8713512420654297f,-0.24927276372909546f,0.20904545485973358f,-0.25600966811180115f,2.930981159210205f,-0.4132833778858185f,-0.08806907385587692f},
-{0.14507338404655457f,-0.5466347336769104f,-0.2501986622810364f,-0.5623117089271545f,-0.5842210650444031f,1.0813305377960205f,0.06014183163642883f,-1.3890793323516846f,2.218482255935669f,0.2701410949230194f,0.1473282128572464f,8.030181884765625f,-0.16409292817115784f,1.363054633140564f,-0.15618428587913513f,-0.6547040939331055f},
-{-0.11376137286424637f,1.2962981462478638f,-0.26619744300842285f,-0.06334565579891205f,-0.017967332154512405f,0.7402953505516052f,-0.17925891280174255f,-0.23620754480361938f,-0.2303733229637146f,-0.7972359657287598f,0.10170961171388626f,0.976137638092041f,0.3803463280200958f,-0.6404311656951904f,0.04303058981895447f,-0.06777117401361465f},
-{0.9393667578697205f,0.409086674451828f,0.10248100757598877f,-0.6360602974891663f,-1.0584872961044312f,0.2865455448627472f,-0.07246989011764526f,-2.0908052921295166f,-2.1102006435394287f,0.9164959788322449f,-0.30078116059303284f,0.42822709679603577f,0.23859620094299316f,0.7837392091751099f,-0.30555272102355957f,0.10598413646221161f},
-{1.0390055179595947f,-0.8668026924133301f,0.18462657928466797f,-0.428294837474823f,-0.8970474004745483f,-0.07641282677650452f,-0.2990540862083435f,-1.8826488256454468f,-2.345081329345703f,0.6931765079498291f,-0.011696022935211658f,-1.3164994716644287f,0.38236182928085327f,0.730857789516449f,0.3484981060028076f,-0.011962189339101315f},
-{1.078703761100769f,-0.5194668173789978f,0.37182438373565674f,-0.026284512132406235f,-0.761788010597229f,-0.18165868520736694f,-0.20339298248291016f,-0.8829987049102783f,-2.1725661754608154f,0.7504070997238159f,0.3449837267398834f,-1.6039979457855225f,-0.05592392757534981f,0.45092856884002686f,0.26688337326049805f,-0.3181474804878235f},
-{-0.04786307364702225f,-0.9070568084716797f,-0.40320003032684326f,-0.2352007031440735f,-0.35294854640960693f,-0.17899975180625916f,0.1533789038658142f,0.354852557182312f,-0.7717488408088684f,0.6529988646507263f,-0.41759979724884033f,-1.1563547849655151f,0.15576402842998505f,0.1488793045282364f,0.10493969917297363f,-0.12203488498926163f},
-{0.05014846846461296f,-0.6795409321784973f,0.19847965240478516f,-0.027737237513065338f,-0.013307452201843262f,0.06092172488570213f,-0.2404318004846573f,0.4463799297809601f,0.09056004881858826f,0.17183999717235565f,-0.11239635199308395f,-1.1443365812301636f,0.10340824723243713f,0.16669702529907227f,-0.22268100082874298f,-0.4974827170372009f},
-{-0.18141792714595795f,-0.47597724199295044f,0.4127817749977112f,-0.20819373428821564f,-0.22629863023757935f,-0.4093320071697235f,-0.32001304626464844f,0.07264313846826553f,0.6717984080314636f,0.1116267517209053f,-0.19832663238048553f,-0.5138412117958069f,-0.30104967951774597f,0.1419636607170105f,0.0479682981967926f,-0.08052478730678558f},
-{-0.2207275629043579f,-0.1097341999411583f,0.20282304286956787f,-0.010844850912690163f,0.18393385410308838f,-0.09950534999370575f,0.04202890396118164f,0.43479958176612854f,1.1739306449890137f,0.1972566395998001f,-0.2827072739601135f,-0.2816276252269745f,0.11547433584928513f,0.05087324231863022f,0.0668090283870697f,-0.029975183308124542f},
-{-0.6290490627288818f,-0.5199962258338928f,-0.40439701080322266f,-0.15118825435638428f,-0.10213200747966766f,-0.06145118921995163f,-0.15568238496780396f,0.1703380048274994f,1.3332034349441528f,-0.012665068730711937f,-0.4771260619163513f,-0.37389233708381653f,-0.25903719663619995f,0.06176193431019783f,-0.08245879411697388f,0.08631396293640137f},
-{-0.7891360521316528f,-1.1776630878448486f,0.16706281900405884f,0.01360999420285225f,-0.06793910264968872f,-0.5176859498023987f,-0.041414469480514526f,0.5002788305282593f,2.1204869747161865f,0.10216822475194931f,-0.3568115830421448f,-1.6918138265609741f,0.12424659729003906f,0.6265965104103088f,0.29427415132522583f,0.09482437372207642f},
+   {-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},
 };
 
 const float h2[16][16] = { 
-    {-1.6326528787612915f,-0.20672893524169922f,-0.06966331601142883f,1.2765157222747803f,-0.21907491981983185f,1.666675329208374f,0.01081257127225399f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.6372236013412476f,-0.5548837780952454f,-0.32044893503189087f,-1.725007176399231f,2.0033929347991943f,-0.5580283999443054f},
-{1.921709656715393f,-1.1422375440597534f,0.057057321071624756f,-1.0021346807479858f,-0.35503754019737244f,2.0659966468811035f,-0.5763883590698242f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.644859790802002f,-1.3685475587844849f,0.18744133412837982f,2.2031455039978027f,0.15429285168647766f,-0.795404314994812f},
+    {-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},
 {-0.22745239734649658f,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},
-{0.04437478631734848f,-0.28213173151016235f,-0.2894435524940491f,0.38555917143821716f,0.08946844935417175f,0.280143678188324f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.7276968359947205f,0.2562834322452545f,-0.5367405414581299f,-0.17552077770233154f,0.19840364158153534f,0.02696518413722515f},
-{-1.0135829448699951f,-2.755274534225464f,-0.25313520431518555f,1.7443945407867432f,0.036378175020217896f,2.327562093734741f,-0.515220046043396f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-3.727567195892334f,-7.49744987487793f,-0.12075038999319077f,-2.462291955947876f,-4.270298004150391f,-0.6961717009544373f},
-{1.6520311832427979f,1.110804557800293f,-0.3519742488861084f,-1.7938581705093384f,-0.3015052080154419f,-2.0978100299835205f,-0.6162646412849426f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.9287015199661255f,1.2982906103134155f,-0.48575785756111145f,1.8732341527938843f,-0.7732216119766235f,-0.6167786717414856f},
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 };
 
 const float h3[16][16] = { 
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+{-0.408692330121994f,0.05640428885817528f,0.015476289205253124f,0.0922636091709137f,-0.09097275882959366f,-0.13131535053253174f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4727741479873657f,-0.2052210122346878f,-0.2832203805446625f,0.26399797201156616f},
+{-0.2991822361946106f,0.2299049347639084f,0.07126309722661972f,-0.05932474136352539f,0.23586148023605347f,0.09267810732126236f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1661069095134735f,-0.285138875246048f,0.36124154925346375f,-0.019058478996157646f},
+{-0.2675279378890991f,-1.0863761901855469f,0.5292060375213623f,-0.09389131516218185f,0.3824571967124939f,-0.6287492513656616f,-0.32875844836235046f,-0.31893211603164673f,-0.5581942200660706f,-0.7265578508377075f,-0.4693334698677063f,-0.558107852935791f,0.31332170963287354f,-0.8428490161895752f,0.3242134749889374f,0.19597497582435608f},
+{-0.015470266342163086f,-0.9976857304573059f,-0.20039521157741547f,0.28386130928993225f,-0.5411551594734192f,-0.27113837003707886f,0.05196094512939453f,-0.008358269929885864f,-0.2797526717185974f,-0.4552937150001526f,0.1043054386973381f,-0.2392103672027588f,0.3208872079849243f,-1.3335907459259033f,0.017159735783934593f,-0.342132568359375f},
+{0.1863725483417511f,0.18209926784038544f,-0.02728877030313015f,-0.4539196491241455f,0.5091639161109924f,0.014209233224391937f,0.04860696196556091f,0.17769548296928406f,-0.136858269572258f,0.3378079831600189f,-0.45165103673934937f,0.09161068499088287f,0.3767045736312866f,0.07624506205320358f,-0.07254623621702194f,-0.06170674413442612f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.1895303577184677f,0.04147753864526749f,-0.051637958735227585f,-0.2525380849838257f,0.20449551939964294f,-0.09849799424409866f,0.021462121978402138f,0.026230910792946815f,-0.014191311784088612f,0.032114457339048386f,0.02098562940955162f,-0.16564421355724335f,-0.18251071870326996f,0.28826022148132324f,-0.15119028091430664f };
+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 b1[16] = { 1.190064787864685f,2.114572525024414f,-1.7145336866378784f,0.29340583086013794f,2.1843721866607666f,1.146247148513794f,-0.058932315558195114f,2.322197914123535f,0.063370481133461f,-1.6794458627700806f,0.5686121582984924f,-0.6303002834320068f,-0.36297622323036194f,-1.6388936042785645f,-1.087764859199524f,0.7172530889511108f };
+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 b2[16] = { 0.842756450176239f,-1.0624419450759888f,-1.4564176797866821f,0.12403412908315659f,-0.6939148902893066f,-0.5006171464920044f,0.1587718278169632f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.7691335678100586f,1.0488225221633911f,-0.29241377115249634f,1.8845067024230957f,-0.6308862566947937f,0.520842969417572f };
+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 b3[16] = { -1.963319182395935f,0.9528792500495911f,-0.22007086873054504f,-0.24310991168022156f,-0.931567907333374f,0.32041361927986145f,-0.5152284502983093f,-0.8134126663208008f,0.10645922273397446f,0.19873133301734924f,-0.38279810547828674f,-0.351564884185791f,-0.3853115141391754f,2.0537312030792236f,-1.3424131870269775f,-0.11876320093870163f };
+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 bout[1] = { -0.07777782529592514f };
+const float bout[1] = { -0.47209107875823975f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;