![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
2011
Diff: main.cpp
- Revision:
- 100:ac788a23ab07
- Parent:
- 99:7bbcb3c0fb06
- Child:
- 101:50159049a518
--- a/main.cpp Mon Sep 07 13:24:15 2020 +0000 +++ b/main.cpp Tue Sep 08 01:14:04 2020 +0000 @@ -1,4 +1,4 @@ -//200819-1 +//200908-1 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" @@ -193,82 +193,82 @@ float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { - {0.007510149385780096f,-0.08546054363250732f,0.1069919764995575f,0.08509496599435806f,0.07903794199228287f,-0.1684821993112564f,-0.14487768709659576f,0.042127542197704315f,0.1335487961769104f,-0.05927852913737297f,-0.0996183305978775f,-0.27109065651893616f,-0.9693920612335205f,0.24347235262393951f,-0.2132253646850586f,0.22068142890930176f}, -{-0.05294409766793251f,-0.041867922991514206f,-0.3256807327270508f,-0.034878261387348175f,-0.07026512175798416f,-0.22861075401306152f,-0.33614084124565125f,-0.18136321008205414f,0.09246346354484558f,0.1471434235572815f,-0.21722227334976196f,-0.18577393889427185f,-0.4844173789024353f,-0.18735669553279877f,-0.17385557293891907f,0.1741510033607483f}, 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+{-0.11075524985790253f,0.1662895828485489f,0.008588135242462158f,-0.18531081080436707f,-0.20160110294818878f,0.0031360506545752287f,0.013287186622619629f,-0.10477010905742645f,0.20667634904384613f,-0.20318958163261414f,-0.0011674987617880106f,-0.14986133575439453f,0.11168224364519119f,-0.1283273547887802f,-0.1702093929052353f,-0.029348228126764297f}, +{0.20272181928157806f,-0.1255539357662201f,0.06708025932312012f,0.23287977278232574f,0.19730404019355774f,0.17395472526550293f,0.27470332384109497f,-0.10465449094772339f,-0.06794644147157669f,-0.0433085672557354f,0.04268309101462364f,-0.16848035156726837f,0.031149502843618393f,0.13248731195926666f,0.11447501182556152f,-0.1983349621295929f}, }; const float h2[16][16] = { - 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+{-0.3626471757888794f,0.7156172394752502f,-0.15798500180244446f,2.0958058834075928f,-0.37393757700920105f,0.03073740191757679f,-0.1401001513004303f,-0.4187661111354828f,-0.3764709532260895f,0.2424570620059967f,1.1321351528167725f,-0.48643267154693604f,0.18914110958576202f,-0.41340401768684387f,-0.9417580962181091f,-1.1570900678634644f}, +{-0.28509533405303955f,0.6864480972290039f,-0.2018718123435974f,-0.22834159433841705f,0.07545611262321472f,-0.12742458283901215f,-0.33396974205970764f,-0.26103681325912476f,-0.24509364366531372f,0.19522181153297424f,1.016654133796692f,-1.4945483207702637f,-0.5131900310516357f,-0.339977890253067f,0.30054378509521484f,0.4884703457355499f}, {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, -{-0.4194699823856354f,0.5423954129219055f,0.12081471085548401f,-0.24402080476284027f,0.29976895451545715f,0.2541932463645935f,-0.3327784240245819f,0.16180357336997986f,-0.3893685042858124f,-0.02222958207130432f,-0.11276795715093613f,-0.34143054485321045f,0.5664615631103516f,-0.053445033729076385f,0.8375953435897827f,0.243302583694458f}, +{-0.45554113388061523f,-0.21074046194553375f,0.12081471085548401f,0.5717184543609619f,0.29976895451545715f,1.031011700630188f,-0.41204968094825745f,0.18378953635692596f,-0.3893685042858124f,-0.02222958207130432f,0.844425618648529f,0.6993454694747925f,-0.5635847449302673f,0.46124067902565f,0.7853267788887024f,0.009538305923342705f}, }; const float h3[16][16] = { - {-0.36079341173171997f,-0.07178293913602829f,-0.09227152168750763f,-0.3770010769367218f,-0.20116505026817322f,0.0549815408885479f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.26079756021499634f,0.4001283347606659f,0.00983765535056591f,0.32200857996940613f,-0.2931734621524811f,0.1405516117811203f}, 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+{0.047732532024383545f,0.382931113243103f,-0.9373628497123718f,-0.540813148021698f,-0.25092998147010803f,-0.12487810105085373f,-0.3198729455471039f,-0.025552408769726753f,-0.17903807759284973f,-0.040940821170806885f,1.012068748474121f,-0.3128277659416199f,-0.2322005033493042f,0.5240523219108582f,-0.5182741284370422f,-0.18848972022533417f}, {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, -{-0.30922991037368774f,0.9416791796684265f,-0.017252547666430473f,-1.943901538848877f,0.013195735402405262f,-0.49353185296058655f,0.20021501183509827f,-0.047183796763420105f,-1.2068167924880981f,-0.6804701089859009f,0.5606593489646912f,0.1098930612206459f,0.8157970905303955f,-0.32578280568122864f,-0.045937977731227875f,-0.04012180492281914f}, +{-0.30922991037368774f,-0.378269225358963f,0.34528040885925293f,-0.6936429738998413f,-0.9290411472320557f,-0.6539890766143799f,0.20021501183509827f,-0.05345221608877182f,-0.34684479236602783f,0.551261842250824f,1.4039827585220337f,0.41021624207496643f,0.5317771434783936f,-0.958977460861206f,-0.0719471126794815f,-0.1573108732700348f}, {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, -{-0.37449589371681213f,-1.0109825134277344f,-1.1120526790618896f,-0.516460657119751f,0.4546630084514618f,-0.10830622911453247f,-0.18732719123363495f,0.1023317277431488f,-0.5616535544395447f,-0.29796507954597473f,-0.8586224317550659f,-0.10938023030757904f,0.34202808141708374f,-0.3437815010547638f,0.11390715837478638f,-0.42449504137039185f}, -{0.4110594093799591f,0.22258628904819489f,-0.151726633310318f,0.5069118738174438f,0.2633327543735504f,-0.1975315660238266f,-0.08670487999916077f,-0.25336313247680664f,0.09567403793334961f,-0.06259563565254211f,-0.1663835644721985f,0.35313835740089417f,0.33005842566490173f,-0.04149754345417023f,0.3126353323459625f,-0.3391006588935852f}, -{-0.40892091393470764f,0.16079013049602509f,-0.5589035749435425f,0.0648638904094696f,0.15512557327747345f,0.13415980339050293f,-0.23312048614025116f,-0.390264093875885f,0.15892928838729858f,-0.1559126079082489f,-0.03546514734625816f,-0.0003446042537689209f,-0.42272207140922546f,-0.23001641035079956f,0.07994696497917175f,0.005298197269439697f}, +{-0.37449589371681213f,-1.201096773147583f,0.5920363664627075f,-0.09837193042039871f,0.7291061282157898f,-0.5595909953117371f,-0.18732719123363495f,0.06593009829521179f,-0.4283922016620636f,0.6031066179275513f,0.2844913601875305f,0.040939148515462875f,0.9712563753128052f,0.6961747407913208f,0.03177299723029137f,-0.1881311684846878f}, +{0.4110594093799591f,0.06665301322937012f,-0.15713489055633545f,0.37246426939964294f,0.37014853954315186f,-0.28005847334861755f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.3002784252166748f,0.35313835740089417f,0.3444467782974243f,0.07210832834243774f,0.3126353323459625f,-0.18213681876659393f}, +{-0.40892091393470764f,0.1513758897781372f,-0.48923084139823914f,0.25968697667121887f,0.21361234784126282f,-0.045282695442438126f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.13780227303504944f,-0.0003446042537689209f,-0.3347875773906708f,-0.2383403778076172f,0.08461052924394608f,-0.08403428643941879f}, {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, -{0.15459725260734558f,0.1563560962677002f,-2.715458393096924f,0.29225197434425354f,0.004532767925411463f,-0.13399820029735565f,-0.08742031455039978f,0.05785742402076721f,0.4778056740760803f,-0.432364821434021f,1.0425382852554321f,-0.527778685092926f,-0.885683536529541f,-0.9473130702972412f,0.24802905321121216f,0.13823994994163513f}, -{-0.408692330121994f,-0.15431173145771027f,0.2030905932188034f,0.058152828365564346f,0.11729760468006134f,-0.35118550062179565f,0.03285527229309082f,0.38763079047203064f,-0.17373010516166687f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.39998891949653625f,-0.3768051266670227f,-0.3348248600959778f,0.31507667899131775f}, -{-0.2991822361946106f,0.4162381589412689f,-0.24455799162387848f,1.4502341747283936f,0.08580417931079865f,-0.06097564101219177f,-0.11253207921981812f,0.34576353430747986f,0.03363130986690521f,-0.35770976543426514f,0.5319743752479553f,-0.36229726672172546f,0.7186808586120605f,-0.5638260841369629f,0.36124154925346375f,-0.16869547963142395f}, -{-0.2675279378890991f,0.7483115792274475f,-1.0489211082458496f,0.3543209731578827f,0.3239535391330719f,0.1036515012383461f,-0.32875844836235046f,-0.31893211603164673f,0.5136343836784363f,-0.5733040571212769f,-0.35725829005241394f,-0.5610737204551697f,1.1791003942489624f,-2.648066759109497f,0.23093374073505402f,0.03521662577986717f}, -{-0.015470266342163086f,-0.637820303440094f,1.954310417175293f,-0.10706640034914017f,0.9550812244415283f,-0.9942391514778137f,0.05196094512939453f,-0.11002077907323837f,-0.9482583403587341f,-0.5521947145462036f,0.03016444481909275f,-0.40535640716552734f,-0.30352818965911865f,-0.39103496074676514f,-0.15696723759174347f,-0.644324004650116f}, -{0.1863725483417511f,0.2030995935201645f,-0.3770821690559387f,0.8871026635169983f,0.22455444931983948f,0.8570596575737f,0.04860696196556091f,0.055102329701185226f,1.3874585628509521f,0.07449810206890106f,-0.16386890411376953f,-0.09843162447214127f,0.3051011860370636f,0.8180931210517883f,-0.27652546763420105f,-0.2139001488685608f}, +{0.15459725260734558f,0.7303779125213623f,-0.14170929789543152f,-0.3918849527835846f,-0.3932904303073883f,-0.24396364390850067f,-0.08742031455039978f,-0.06361637264490128f,-0.45792415738105774f,-3.600414514541626f,-0.23141351342201233f,-0.30447322130203247f,0.1891656517982483f,-0.9835952520370483f,0.13774916529655457f,-0.13530805706977844f}, +{-0.408692330121994f,0.6255720853805542f,0.7329188585281372f,-0.20464634895324707f,1.0601736307144165f,-0.21558696031570435f,0.03285527229309082f,0.24242457747459412f,-0.20705322921276093f,-1.6309973001480103f,0.3865607976913452f,0.03996849060058594f,0.37277746200561523f,0.8966895937919617f,-0.33430081605911255f,3.8933417797088623f}, +{-0.2991822361946106f,0.03684067726135254f,0.09064116328954697f,-0.05932474136352539f,0.32539287209510803f,-0.1075403243303299f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.27204033732414246f,-0.33187779784202576f,-0.36229726672172546f,0.3473217785358429f,-0.40683186054229736f,0.35020312666893005f,-0.14019730687141418f}, +{-0.2675279378890991f,0.05023667961359024f,-0.6284725666046143f,-0.1852927953004837f,0.5861676931381226f,-0.2974196672439575f,-0.32875844836235046f,-0.4730899930000305f,-0.6182461380958557f,-1.001299500465393f,-0.7717978358268738f,-0.5690205693244934f,-0.11000235378742218f,-0.24170082807540894f,0.08752793073654175f,0.7927411198616028f}, +{-0.015470266342163086f,0.09972165524959564f,1.1208674907684326f,0.2817140817642212f,0.3754902482032776f,-0.16274574398994446f,0.05196094512939453f,-0.031816188246011734f,-0.48440781235694885f,1.4005353450775146f,-0.288275808095932f,-0.27183401584625244f,0.7272746562957764f,0.49798253178596497f,-0.2910749316215515f,0.9508339762687683f}, +{0.1863725483417511f,0.651580810546875f,0.7092840671539307f,-0.7156075239181519f,0.9787057638168335f,-0.41881075501441956f,0.04860696196556091f,0.051371075212955475f,-0.06240145489573479f,0.5102224946022034f,-1.134521484375f,0.037909068167209625f,0.08846279978752136f,0.6706823110580444f,-0.2567557394504547f,-2.4031741619110107f}, }; -const float hout[16] = { 0.45773375034332275f,0.3032819628715515f,-0.6421300172805786f,-0.4649045169353485f,-0.16619624197483063f,0.3455820381641388f,0.0030125975608825684f,0.10301974415779114f,-0.3167792856693268f,-0.0909297913312912f,0.4971315264701843f,-0.036371998488903046f,-0.27461063861846924f,0.8862571716308594f,0.19961613416671753f,0.17008529603481293f }; +const float hout[16] = { 0.45773375034332275f,0.13197922706604004f,-0.1375853270292282f,-0.048743341118097305f,-0.36748799681663513f,0.10402646660804749f,0.0030125975608825684f,0.0152152543887496f,-0.015293147414922714f,-0.38666924834251404f,0.28481343388557434f,-0.2470267117023468f,-0.15145397186279297f,0.31919413805007935f,0.13424155116081238f,-0.11630474030971527f }; -const float b1[16] = { 0.8876581192016602f,1.2934176921844482f,-1.7145336866378784f,0.47413814067840576f,0.5421417355537415f,0.9176424145698547f,-0.058932315558195114f,0.5991071462631226f,0.17831164598464966f,-0.9105180501937866f,0.45373937487602234f,0.8390357494354248f,-1.4578003883361816f,-0.8427186012268066f,-1.087764859199524f,1.3814316987991333f }; +const float b1[16] = { 1.4650994539260864f,0.6028204560279846f,-1.7145336866378784f,0.6144894361495972f,0.48340240120887756f,0.9535374045372009f,-0.058932315558195114f,0.8230153322219849f,0.534460186958313f,-1.4429326057434082f,2.3309805393218994f,0.4888681471347809f,-0.8482300043106079f,-1.7240482568740845f,-1.087764859199524f,1.3414850234985352f }; -const float b2[16] = { -0.2414330244064331f,-0.6640310883522034f,-1.4564176797866821f,-0.46412673592567444f,-0.6939148902893066f,0.19327175617218018f,0.23848557472229004f,-0.49110376834869385f,-1.20063054561615f,-1.912178635597229f,0.7704527974128723f,0.4352988004684448f,0.18021315336227417f,2.032188892364502f,0.36258646845817566f,1.5754528045654297f }; +const float b2[16] = { -0.20191192626953125f,-0.7284278273582458f,-1.4564176797866821f,-0.4845729172229767f,-0.6939148902893066f,0.5635812282562256f,0.04644674062728882f,-0.4364173710346222f,-1.20063054561615f,-1.912178635597229f,0.24028050899505615f,1.0980777740478516f,-0.5021564364433289f,2.146627426147461f,0.6193303465843201f,1.14039146900177f }; -const float b3[16] = { -1.963319182395935f,-0.48238012194633484f,0.3164938986301422f,0.14207158982753754f,0.15110278129577637f,0.91092848777771f,-0.45353031158447266f,-0.7655421495437622f,0.5736603140830994f,0.24439877271652222f,-0.008955814875662327f,-0.25053882598876953f,-0.3661997616291046f,-0.7193557024002075f,-1.3624762296676636f,-0.5095552206039429f }; +const float b3[16] = { -1.963319182395935f,-0.28526341915130615f,-0.12477435171604156f,-0.16373418271541595f,0.11069058626890182f,0.7716238498687744f,-0.45353031158447266f,-0.7867750525474548f,0.046030376106500626f,-0.14008677005767822f,-0.6905379891395569f,-0.1071791872382164f,-0.20729561150074005f,0.8568269610404968f,-1.4714709520339966f,-0.6465596556663513f }; -const float bout[1] = { -0.28574320673942566f }; +const float bout[1] = { 0.059294138103723526f }; float VALVE_POS_RAW_NN = 0.0f;