Diff: main.cpp

Revision:

185:f048add669fd

Parent:

184:75bbde569471

Child:

186:bf562c3c80b4

--- a/main.cpp	Wed Dec 16 00:34:42 2020 +0000
+++ b/main.cpp	Wed Dec 16 07:16:08 2020 +0000
@@ -1,4 +1,4 @@
-//201216-1
+//201216-2
 #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] = {
-    {-1.5377649068832397f,1.2348084449768066f,0.12903714179992676f,-0.7775466442108154f,-1.7313402891159058f,1.1328696012496948f,-0.17472904920578003f,-0.31568053364753723f,-1.6451395750045776f,0.08867859095335007f,-0.23520143330097198f,-1.8044253587722778f,-0.2673356235027313f,-0.7325633764266968f,-0.2571594715118408f,1.472490906715393f},
-{-1.1286786794662476f,0.7839595675468445f,-0.3927857577800751f,-0.6969871520996094f,-1.2280852794647217f,0.48096179962158203f,-0.4054011106491089f,-0.3208436667919159f,-1.0162376165390015f,0.3468303382396698f,-0.2720212936401367f,-1.157413363456726f,0.232293039560318f,-0.9538101553916931f,-0.20967772603034973f,1.1393009424209595f},
-{-0.81263667345047f,0.40442758798599243f,0.36391180753707886f,-0.7410301566123962f,-0.5623536705970764f,0.26899170875549316f,0.2872133255004883f,-0.01752573810517788f,-0.8192043304443359f,0.35837459564208984f,-0.3459203839302063f,-0.7548978924751282f,-0.0059507424011826515f,-0.33420637249946594f,0.05590221285820007f,0.33579739928245544f},
-{-0.29265180230140686f,-0.27822574973106384f,0.39742106199264526f,0.2536725103855133f,-0.03869828209280968f,-0.5511156320571899f,-0.11584559082984924f,0.37218543887138367f,-0.2952747344970703f,0.5005717277526855f,0.09789774566888809f,0.15287092328071594f,-0.1680694818496704f,-0.221437469124794f,-0.2961459457874298f,0.03926409035921097f},
-{0.9285116791725159f,-0.8077948093414307f,-0.0051451027393341064f,0.6920914649963379f,0.7559896111488342f,-0.9459089040756226f,0.1294034719467163f,0.15902996063232422f,0.3258247375488281f,0.32459303736686707f,0.3498339056968689f,0.6136358380317688f,-0.07163341343402863f,0.4614284634590149f,-0.3865056037902832f,-1.0294679403305054f},
-{2.3463828563690186f,-2.5303292274475098f,0.21773302555084229f,1.477303147315979f,2.240800619125366f,-2.3303043842315674f,0.16514194011688232f,0.05813070386648178f,1.3986808061599731f,0.34440353512763977f,-0.24573767185211182f,1.9037261009216309f,-0.268279105424881f,1.7655072212219238f,-0.4132833778858185f,-1.9700273275375366f},
-{-0.4369703531265259f,0.7387278079986572f,-0.2501986622810364f,-0.9271978139877319f,-1.1423627138137817f,1.097220540046692f,0.06014183163642883f,-1.050276517868042f,0.13420486450195312f,-0.2703655958175659f,0.15077415108680725f,-0.04091700538992882f,-0.17465755343437195f,-1.6798783540725708f,-0.15618428587913513f,-1.5135868787765503f},
-{-0.13573184609413147f,0.13010674715042114f,-0.26619744300842285f,-0.0794379785656929f,-0.70912104845047f,0.31772083044052124f,-0.17925891280174255f,-0.7659602761268616f,0.01908610202372074f,-0.16886766254901886f,0.10512365400791168f,-0.2623549699783325f,0.3695131838321686f,-0.7335740327835083f,0.04303058981895447f,-1.0657305717468262f},
-{0.7555938363075256f,-0.021008117124438286f,0.10248100757598877f,-0.00994115136563778f,0.31521323323249817f,-0.2205902636051178f,-0.07246989011764526f,-0.5589467883110046f,0.3382551074028015f,0.11823058128356934f,-0.29748186469078064f,0.6377660036087036f,0.22716356813907623f,1.0021276473999023f,-0.30555272102355957f,-0.732044517993927f},
-{0.3232681155204773f,-0.40787485241889954f,0.18462657928466797f,0.12388432025909424f,0.49224865436553955f,0.06522741168737411f,-0.2990540862083435f,-0.13266541063785553f,0.48252439498901367f,-0.6622780561447144f,-0.008490024134516716f,-0.3987669348716736f,0.3702549934387207f,0.7228370904922485f,0.3484981060028076f,-0.32474222779273987f},
-{0.5499926209449768f,0.16501271724700928f,0.37182438373565674f,0.2804836630821228f,0.1178550198674202f,0.07621731609106064f,-0.20339298248291016f,-0.033771634101867676f,-0.12858600914478302f,-0.13823570311069489f,0.34812381863594055f,-0.4757518470287323f,-0.0686570256948471f,0.7044376134872437f,0.26688337326049805f,-0.16891999542713165f},
-{-0.32638248801231384f,-0.2681056559085846f,-0.40320003032684326f,-0.0554439052939415f,0.13748574256896973f,0.08285294473171234f,0.1533789038658142f,0.3311554193496704f,0.001971070421859622f,0.052262917160987854f,-0.41445285081863403f,-0.10799311101436615f,0.14259445667266846f,0.46168866753578186f,0.10493969917297363f,0.2548428475856781f},
-{-0.027842355892062187f,-0.08303984254598618f,0.19847965240478516f,0.09461163729429245f,0.32331663370132446f,0.2865959703922272f,-0.2404318004846573f,0.08309822529554367f,-0.1785000115633011f,-0.3414570987224579f,-0.10929234325885773f,-0.48389771580696106f,0.08989179879426956f,0.35135433077812195f,-0.22268100082874298f,0.014733131974935532f},
-{-0.06475397944450378f,-0.0561961904168129f,0.4127817749977112f,-0.10577572137117386f,-0.17697541415691376f,-0.1849510818719864f,-0.32001304626464844f,-0.36673668026924133f,-0.21330887079238892f,-0.3657089173793793f,-0.1951775997877121f,-0.3619512915611267f,-0.31488466262817383f,0.26527494192123413f,0.0479682981967926f,0.45723286271095276f},
-{0.10058767348527908f,0.18761076033115387f,0.20282304286956787f,-0.08738672733306885f,0.2697560787200928f,0.0342223234474659f,0.04202890396118164f,0.20938999950885773f,0.05025419965386391f,-0.052940960973501205f,-0.27958524227142334f,-0.7458251714706421f,0.10142271965742111f,0.16368134319782257f,0.0668090283870697f,0.6141231656074524f},
-{-0.1128726527094841f,-0.1546522080898285f,-0.40439701080322266f,-0.30092698335647583f,-0.24299722909927368f,0.15388551354408264f,-0.15568238496780396f,-0.037944644689559937f,0.05713915079832077f,-0.13745471835136414f,-0.47403645515441895f,-0.43296101689338684f,-0.27326998114585876f,0.4320793151855469f,-0.08245879411697388f,0.5419437885284424f},
-{0.04264898970723152f,-0.14219117164611816f,0.16706281900405884f,-0.06084718555212021f,0.0778137817978859f,-0.31440258026123047f,-0.041414469480514526f,0.07056988030672073f,0.15166155993938446f,-0.038817811757326126f,-0.3537028133869171f,0.07804109901189804f,0.10987777262926102f,1.3651574850082397f,0.29427415132522583f,0.09650146216154099f},
+    {-1.5013375282287598f,-2.4517619609832764f,0.12903714179992676f,0.28887537121772766f,-1.6980925798416138f,1.7201522588729858f,-0.17472904920578003f,1.8117555379867554f,-0.41719409823417664f,0.01702839322388172f,-0.025794951245188713f,-1.9491100311279297f,-0.2707951068878174f,-1.0531439781188965f,-0.2571594715118408f,1.4582438468933105f},
+{-0.3526858389377594f,-2.1688826084136963f,-0.3927857577800751f,-0.1325455605983734f,-0.6244393587112427f,0.6952093243598938f,-0.4054011106491089f,1.4578801393508911f,-0.15431655943393707f,0.2332724779844284f,-0.6323928833007812f,-1.067729115486145f,0.2314668595790863f,-1.5879257917404175f,-0.20967772603034973f,0.3131011426448822f},
+{-0.58154296875f,-1.1726990938186646f,0.36391180753707886f,-0.5567300915718079f,-0.49212661385536194f,0.8783800601959229f,0.2872133255004883f,0.9983036518096924f,-0.18381649255752563f,0.20107638835906982f,-0.053520072251558304f,-1.1781998872756958f,-0.005709860473871231f,-0.6703454852104187f,0.05590221285820007f,0.12711438536643982f},
+{-1.0512467622756958f,0.3256222605705261f,0.39742106199264526f,0.03849322348833084f,-0.7964919209480286f,0.4466105103492737f,-0.11584559082984924f,-0.3316028416156769f,0.05495378002524376f,0.2956673800945282f,1.4041612148284912f,-0.5139945149421692f,-0.16739247739315033f,0.2987276017665863f,-0.2961459457874298f,0.9514555931091309f},
+{-0.05744419991970062f,2.103177547454834f,-0.0051451027393341064f,-0.12448863685131073f,-0.08427809923887253f,-0.2928526997566223f,0.1294034719467163f,-2.130411148071289f,0.13119284808635712f,0.06524427980184555f,1.6720010042190552f,0.6321855783462524f,-0.07084126025438309f,1.592971920967102f,-0.3865056037902832f,0.11760596185922623f},
+{3.555112361907959f,1.7275257110595703f,0.21773302555084229f,-0.32318443059921265f,3.5025413036346436f,-3.543180465698242f,0.16514194011688232f,-1.7323298454284668f,0.23217393457889557f,0.020219240337610245f,-2.3009300231933594f,4.047685146331787f,-0.26752111315727234f,1.3693186044692993f,-0.4132833778858185f,-3.3336987495422363f},
+{-1.0877293348312378f,3.9138736724853516f,-0.2501986622810364f,-0.307189404964447f,-1.5099453926086426f,1.1499419212341309f,0.06014183163642883f,-6.1682939529418945f,0.18797971308231354f,0.2755304276943207f,2.5558419227600098f,1.0854759216308594f,-0.1866893470287323f,6.203442573547363f,-0.15618428587913513f,0.8555394411087036f},
+{-0.8443594574928284f,1.5847866535186768f,-0.26619744300842285f,-0.08489542454481125f,-1.5553327798843384f,1.077002763748169f,-0.17925891280174255f,-2.874706506729126f,-0.1228489950299263f,0.17542578279972076f,1.1341639757156372f,-0.9218039512634277f,0.3572063446044922f,2.2253241539001465f,0.04303058981895447f,1.2150949239730835f},
+{1.853672742843628f,-1.7371110916137695f,0.10248100757598877f,-0.9567055106163025f,0.9686087965965271f,-0.1823621243238449f,-0.07246989011764526f,1.0764187574386597f,-0.39733952283859253f,0.272134393453598f,-2.787163496017456f,-0.4600156545639038f,0.2150629162788391f,-0.4352136254310608f,-0.30555272102355957f,-1.4898728132247925f},
+{0.4833950996398926f,-2.706174373626709f,0.18462657928466797f,-0.656234860420227f,0.6101309657096863f,0.1267082542181015f,-0.2990540862083435f,0.27411556243896484f,-0.16785068809986115f,-0.5924927592277527f,-1.7125433683395386f,-1.0376883745193481f,0.35812368988990784f,-0.11151380836963654f,0.3484981060028076f,-0.7358231544494629f},
+{0.35992318391799927f,-2.06345534324646f,0.37182438373565674f,-0.07933531701564789f,0.1750181019306183f,-0.045056723058223724f,-0.20339298248291016f,-0.2515711784362793f,-0.5949442386627197f,-0.0718102976679802f,-0.826651394367218f,-0.45050525665283203f,-0.08014928549528122f,0.16992752254009247f,0.26688337326049805f,-0.49146562814712524f},
+{-0.31148141622543335f,-1.624603509902954f,-0.40320003032684326f,-0.22531788051128387f,0.38007694482803345f,-0.3033977150917053f,0.1533789038658142f,0.07630462944507599f,-0.27439093589782715f,0.1508544534444809f,-1.2197290658950806f,0.302729994058609f,0.13159756362438202f,-0.04648786410689354f,0.10493969917297363f,-0.3269115388393402f},
+{-0.14483091235160828f,-0.5654767751693726f,0.19847965240478516f,0.02085668407380581f,0.406009703874588f,-0.031246501952409744f,-0.2404318004846573f,0.2800968289375305f,-0.2435898631811142f,-0.2157726287841797f,-0.6354538202285767f,-0.06485389173030853f,0.07888802140951157f,-0.1901865154504776f,-0.22268100082874298f,-0.5150110721588135f},
+{-0.14671391248703003f,-0.12946704030036926f,0.4127817749977112f,-0.13599200546741486f,-0.11653345078229904f,-0.5706874132156372f,-0.32001304626464844f,-0.09686329215765f,-0.16250349581241608f,-0.22955329716205597f,-0.5090378522872925f,0.17345395684242249f,-0.32617586851119995f,-0.22164183855056763f,0.0479682981967926f,-0.1317754089832306f},
+{-0.006373832002282143f,-0.013765837997198105f,0.20282304286956787f,0.12835122644901276f,0.25972050428390503f,-0.4390103220939636f,0.04202890396118164f,0.2521810829639435f,0.25843679904937744f,0.08579712361097336f,-0.028206923976540565f,-0.13998405635356903f,0.09068389981985092f,-0.087684765458107f,0.0668090283870697f,0.2267971634864807f},
+{0.03074430674314499f,-0.2839588522911072f,-0.40439701080322266f,0.004032118245959282f,-0.0647670105099678f,-0.62445467710495f,-0.15568238496780396f,-0.10264620184898376f,0.13651113212108612f,-0.0023032622411847115f,-0.20626582205295563f,0.08309732377529144f,-0.2764744758605957f,-0.07723642140626907f,-0.08245879411697388f,0.19340403378009796f},
+{-0.13897937536239624f,0.4293367862701416f,0.16706281900405884f,0.2511236369609833f,-0.0360260047018528f,-1.2155207395553589f,-0.041414469480514526f,-0.009588012471795082f,-0.16096723079681396f,0.09314790368080139f,-0.36924511194229126f,-0.021809687837958336f,0.10795029997825623f,0.04084998369216919f,0.29427415132522583f,0.37054234743118286f},
 };
 
 const float h2[16][16] = {
-    {-0.30360984802246094f,2.638908863067627f,-0.06966331601142883f,-2.1284985542297363f,-0.21907491981983185f,1.5969719886779785f,-0.11378823220729828f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.2562443017959595f,-0.4410564601421356f,-0.013608419336378574f,-2.052125930786133f,-0.3983412981033325f,-1.9826109409332275f},
-{0.04869420453906059f,-0.9130892157554626f,0.057057321071624756f,-0.5089913010597229f,-0.35503754019737244f,-1.2973040342330933f,-1.0162988901138306f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.071617841720581f,-0.8869436383247375f,0.23050862550735474f,1.0951136350631714f,1.5778846740722656f,-1.7874358892440796f},
+    {2.9904377460479736f,1.5402922630310059f,-0.06966331601142883f,1.8314383029937744f,-0.21907491981983185f,3.2976598739624023f,0.08332959562540054f,0.0306977778673172f,-0.43008196353912354f,-0.1415480375289917f,0.9023976922035217f,-2.1691060066223145f,0.029989013448357582f,-2.4485414028167725f,-1.6123756170272827f,2.557734966278076f},
+{-0.7001262903213501f,-8.917220115661621f,0.057057321071624756f,0.24170854687690735f,-0.35503754019737244f,0.5531149506568909f,-0.33918139338493347f,-0.35795170068740845f,-0.33757925033569336f,0.2895788848400116f,0.6506037712097168f,-0.3345935642719269f,0.23849435150623322f,1.3481338024139404f,2.7143707275390625f,0.8891097903251648f},
 {-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},
-{0.0389205701649189f,-0.2350102663040161f,-0.2894435524940491f,0.6463852524757385f,0.08946844935417175f,0.02936168573796749f,-0.504420280456543f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.22434934973716736f,0.036702197045087814f,-0.5147730708122253f,-0.26475679874420166f,-0.012437191791832447f,0.2709595263004303f},
-{-0.40975338220596313f,0.9070354104042053f,-0.25313520431518555f,0.48267850279808044f,0.036378175020217896f,1.1078479290008545f,-0.5186612010002136f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.4139823019504547f,-0.9831398129463196f,-0.03532028570771217f,-2.3388190269470215f,0.6467065215110779f,-0.33112117648124695f},
-{0.24459777772426605f,0.1711728870868683f,-0.3519742488861084f,-1.8791543245315552f,-0.3015052080154419f,-1.0918842554092407f,-1.0872746706008911f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.936398446559906f,-0.4908921718597412f,-0.32434627413749695f,0.8514059782028198f,1.6185284852981567f,-3.258086919784546f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,1.2752927541732788f,-1.6545041799545288f,-0.20037266612052917f,0.39016175270080566f,1.9760658740997314f,-0.08742031455039978f,0.05785742402076721f,-0.05112358555197716f,1.0813504457473755f,-0.362364798784256f,-0.3496132493019104f,-0.5545885562896729f,-0.27296289801597595f,0.23658986389636993f,1.6276973485946655f},
+{-0.408692330121994f,-0.44630852341651917f,1.1387239694595337f,0.8076159954071045f,-0.2189072221517563f,0.3286019563674927f,-0.06926552206277847f,0.14518515765666962f,-0.6130588054656982f,2.60966157913208f,-0.6552008390426636f,-0.319575697183609f,-1.5199129581451416f,-0.13730570673942566f,-0.7592024207115173f,1.654757022857666f},
+{-0.2991822361946106f,0.3338809609413147f,-0.03855340555310249f,0.07829055190086365f,0.12482636421918869f,0.19699984788894653f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.053959451615810394f,-0.17654627561569214f,0.36124154925346375f,-0.12281776964664459f},
+{-0.2675279378890991f,0.6107541918754578f,-1.008222222328186f,1.5792343616485596f,-0.6861075162887573f,-3.220947027206421f,-0.32875844836235046f,-0.44406580924987793f,-0.9110980033874512f,0.29485467076301575f,-0.9977014660835266f,-0.638107419013977f,0.47325292229652405f,-0.22768151760101318f,0.2166542261838913f,0.31593501567840576f},
+{-0.015470266342163086f,-0.9941576719284058f,0.7507451772689819f,-0.5620654821395874f,0.7716580033302307f,0.430758535861969f,-0.043972477316856384f,-0.16491542756557465f,-0.6689051985740662f,-2.0817174911499023f,0.1916329562664032f,-0.46564021706581116f,1.4392123222351074f,-4.728946208953857f,-0.2524336278438568f,-0.5035194158554077f},
+{0.1863725483417511f,0.25948718190193176f,-1.302160620689392f,0.18372789025306702f,-0.15693089365959167f,-1.5854798555374146f,0.04860696196556091f,0.02496984414756298f,-0.3602295517921448f,-1.01317298412323f,-0.2549864649772644f,-0.059077948331832886f,1.666966199874878f,-0.38277119398117065f,-0.1854449361562729f,0.150127574801445f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.6198812127113342f,3.075077533721924f,-0.6007036566734314f,0.24847236275672913f,1.247266173362732f,0.0030125975608825684f,0.15066689252853394f,0.05033086612820625f,0.0533946268260479f,0.11185391992330551f,-0.1749655306339264f,-1.0110498666763306f,1.219071388244629f,1.8872015476226807f,-0.16191136837005615f };
-
-const float b1[16] = { 0.5638260245323181f,1.1806942224502563f,-1.7145336866378784f,0.24818021059036255f,0.8975874781608582f,1.2844585180282593f,-0.058932315558195114f,0.825614333152771f,1.6077704429626465f,-1.1153591871261597f,0.5720832943916321f,1.1545846462249756f,-0.3732912540435791f,-1.3868684768676758f,-1.087764859199524f,0.9789383411407471f };
-
-const float b2[16] = { -0.2617855966091156f,-0.8839436173439026f,-1.4564176797866821f,-0.6468855738639832f,-0.6939148902893066f,0.16817186772823334f,0.09135577827692032f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.1662583202123642f,0.14832311868667603f,-0.23087339103221893f,1.7029191255569458f,0.10706561803817749f,0.5922772884368896f };
-
-const float b3[16] = { -1.963319182395935f,-0.13796980679035187f,-0.907817006111145f,0.09013273566961288f,-0.1457054167985916f,0.9321498870849609f,-0.45353031158447266f,-0.6562485098838806f,-0.01854712702333927f,-0.023044707253575325f,-0.4521785378456116f,-0.06036800891160965f,-1.33890962600708f,0.4787708818912506f,-1.2732046842575073f,-0.41846638917922974f };
-
-const float bout[1] = { -1.3581293821334839f };
+const float hout[16] = { 0.45773375034332275f,0.28639528155326843f,0.14207343757152557f,-0.2956777513027191f,-0.22413568198680878f,0.1186593621969223f,-0.1435798704624176f,-0.07997605949640274f,-0.06115203723311424f,0.21337322890758514f,0.0535825677216053f,0.046808481216430664f,0.1616642028093338f,0.21228934824466705f,0.2757498025894165f,-0.21836845576763153f };
+
+const float b1[16] = { 0.2102552056312561f,0.6125742197036743f,-1.7145336866378784f,0.43877431750297546f,0.5826082229614258f,0.6864737868309021f,-0.058932315558195114f,3.713123083114624f,0.5071762800216675f,-0.84734046459198f,2.3294942378997803f,1.0448524951934814f,-0.38463300466537476f,-3.6441001892089844f,-1.087764859199524f,0.881416916847229f };
+
+const float b2[16] = { -1.5956038236618042f,0.28981077671051025f,-1.4564176797866821f,-0.5988649725914001f,-0.6939148902893066f,0.2937571704387665f,0.04075077548623085f,-0.36968058347702026f,-1.20063054561615f,-1.912178635597229f,1.3844938278198242f,0.6507935523986816f,-0.18289311230182648f,1.4374712705612183f,1.325400948524475f,0.9660302400588989f };
+
+const float b3[16] = { -1.963319182395935f,-0.3919384479522705f,0.4780821204185486f,0.4793388843536377f,1.0898507833480835f,-0.5794898271560669f,-0.5699690580368042f,-0.9183242321014404f,0.2521483898162842f,0.11304529756307602f,-0.4799327850341797f,-0.41564828157424927f,0.11918739974498749f,0.737025797367096f,-1.3145921230316162f,-1.622807502746582f };
+
+const float bout[1] = { -0.4126623868942261f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };