Diff: main.cpp

Revision:

186:bf562c3c80b4

Parent:

185:f048add669fd

Child:

187:6504dc812667

--- a/main.cpp	Wed Dec 16 07:16:08 2020 +0000
+++ b/main.cpp	Wed Dec 16 11:54:44 2020 +0000
@@ -1,4 +1,4 @@
-//201216-2
+//201216-3
 #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] = {
-    {-1.5013375282287598f,-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},
+    {-1.5374064445495605f,0.3835381269454956f,0.12903714179992676f,-1.0540982484817505f,-1.4977829456329346f,0.799557089805603f,-0.17472904920578003f,1.640777587890625f,-0.33628979325294495f,-1.022749900817871f,-0.23684848845005035f,-0.9042033553123474f,-0.25509142875671387f,-1.113432765007019f,-0.2571594715118408f,-0.6349852085113525f},
+{-0.8569321632385254f,-0.28481021523475647f,-0.3927857577800751f,-1.1701648235321045f,-0.7445976138114929f,0.11158730834722519f,-0.4054011106491089f,0.4344596862792969f,-0.13612186908721924f,0.4926294684410095f,-0.27370503544807434f,-0.5497169494628906f,0.24488189816474915f,-1.3379034996032715f,-0.20967772603034973f,-0.2520674169063568f},
+{-1.0156733989715576f,0.2303827404975891f,0.36391180753707886f,-1.4517995119094849f,-0.6804037690162659f,0.08477509766817093f,0.2872133255004883f,0.6242525577545166f,-0.23233523964881897f,0.11835410445928574f,-0.34768086671829224f,-0.4033336937427521f,0.006954585202038288f,-0.974044919013977f,0.05590221285820007f,-0.35799112915992737f},
+{-0.8714564442634583f,0.9709740877151489f,0.39742106199264526f,-0.220364049077034f,-0.8066199421882629f,-0.41667890548706055f,-0.11584559082984924f,0.9583095908164978f,-0.06620155274868011f,-0.8804064393043518f,0.09614303708076477f,0.20408129692077637f,-0.1548970490694046f,-0.6265993714332581f,-0.2961459457874298f,0.17067596316337585f},
+{0.6754429936408997f,1.0891026258468628f,-0.0051451027393341064f,1.0535486936569214f,0.11577604711055756f,-0.5531254410743713f,0.1294034719467163f,-0.26291272044181824f,-0.07107188552618027f,-1.05918288230896f,0.3479995131492615f,0.2231312096118927f,-0.058105532079935074f,0.8157122135162354f,-0.3865056037902832f,0.11934724450111389f},
+{3.669335126876831f,-2.520529270172119f,0.21773302555084229f,3.0248193740844727f,3.3947513103485107f,-1.961868166923523f,0.16514194011688232f,-3.380449056625366f,-0.0615205354988575f,2.449033498764038f,-0.2475488781929016f,0.8490079045295715f,-0.2543642520904541f,3.1460700035095215f,-0.4132833778858185f,0.3736213147640228f},
+{-0.2649390995502472f,3.137964963912964f,-0.2501986622810364f,-4.41010046005249f,-1.5325361490249634f,0.6246992349624634f,0.06014183163642883f,-1.5577740669250488f,0.06852987408638f,-1.5227625370025635f,0.15086963772773743f,-0.08829033374786377f,-0.17151489853858948f,3.2703564167022705f,-0.15618428587913513f,-0.29000696539878845f},
+{-1.1361333131790161f,1.4933043718338013f,-0.26619744300842285f,0.18904413282871246f,-1.3023492097854614f,0.38398781418800354f,-0.17925891280174255f,0.7752988338470459f,-0.10247176140546799f,-0.8943278193473816f,0.10430599004030228f,-0.8101029396057129f,0.3782026171684265f,-0.8220846652984619f,0.04303058981895447f,-0.20076002180576324f},
+{0.47431322932243347f,-1.8653429746627808f,0.10248100757598877f,-0.6880542039871216f,0.7735366225242615f,-0.7391023635864258f,-0.07246989011764526f,-1.2949172258377075f,-0.4540105164051056f,3.6055731773376465f,-0.2983750104904175f,-0.27986952662467957f,0.23655663430690765f,-0.3527243137359619f,-0.30555272102355957f,-0.650860607624054f},
+{-0.27583253383636475f,-2.078132390975952f,0.18462657928466797f,-0.8101276755332947f,0.2898740768432617f,-0.3763601779937744f,-0.2990540862083435f,-0.3598495125770569f,-0.1715877801179886f,1.3608026504516602f,-0.009420383721590042f,-1.114159345626831f,0.3801093101501465f,-0.5451788902282715f,0.3484981060028076f,-0.8675364851951599f},
+{0.1772964894771576f,-1.1816956996917725f,0.37182438373565674f,-0.18330180644989014f,-0.1935988813638687f,-0.3711324632167816f,-0.20339298248291016f,0.011945576407015324f,-0.5214647054672241f,0.6310030221939087f,0.34721440076828003f,-0.8592796921730042f,-0.05839260667562485f,0.006365128327161074f,0.26688337326049805f,-0.9529700875282288f},
+{-0.07317787408828735f,-1.2168822288513184f,-0.40320003032684326f,0.025210311636328697f,0.1553076207637787f,-0.5047181844711304f,0.1533789038658142f,0.1467759758234024f,-0.16939152777194977f,0.36547648906707764f,-0.4153592884540558f,-0.17172104120254517f,0.15277211368083954f,0.43687164783477783f,0.10493969917297363f,-0.41127416491508484f},
+{0.02281240187585354f,-0.8685509562492371f,0.19847965240478516f,0.31426671147346497f,0.28974810242652893f,-0.2262878566980362f,-0.2404318004846573f,0.18106479942798615f,-0.1452060043811798f,0.014419801533222198f,-0.10988222062587738f,-0.33172914385795593f,0.09968993812799454f,0.26250168681144714f,-0.22268100082874298f,-0.4445679485797882f},
+{-0.09246902912855148f,-0.6184863448143005f,0.4127817749977112f,0.4732179641723633f,-0.19029158353805542f,-0.5028371214866638f,-0.32001304626464844f,-0.24565637111663818f,-0.08077334612607956f,-0.008929888717830181f,-0.19549734890460968f,-0.11970767378807068f,-0.3054847717285156f,0.2516395151615143f,0.0479682981967926f,0.15816257894039154f},
+{0.024131957441568375f,-0.18219563364982605f,0.20282304286956787f,0.4282299876213074f,0.2521957457065582f,-0.20840142667293549f,0.04202890396118164f,0.3509533107280731f,0.3554973304271698f,0.19800402224063873f,-0.27989843487739563f,-0.3284192681312561f,0.11093859374523163f,0.18284760415554047f,0.0668090283870697f,0.2350914478302002f},
+{0.0035531315952539444f,-0.3449529707431793f,-0.40439701080322266f,0.6420384049415588f,-0.07720204442739487f,0.00661800242960453f,-0.15568238496780396f,-0.0394708625972271f,0.26091328263282776f,0.1271674782037735f,-0.47459378838539124f,-0.04844345897436142f,-0.2634789049625397f,0.24357618391513824f,-0.08245879411697388f,0.22769993543624878f},
+{-0.11964085698127747f,-0.2504226267337799f,0.16706281900405884f,1.3167107105255127f,0.018468953669071198f,-0.13184677064418793f,-0.041414469480514526f,0.14098282158374786f,0.009675423614680767f,0.09100230783224106f,-0.354688823223114f,0.17883950471878052f,0.12002348899841309f,0.7737550735473633f,0.29427415132522583f,0.016808994114398956f},
 };
 
 const float h2[16][16] = {
-    {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},
+    {-4.478320598602295f,0.6716787219047546f,-0.06966331601142883f,0.5540435910224915f,-0.21907491981983185f,3.100031614303589f,-0.06048932299017906f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.606074810028076f,-0.37958794832229614f,-0.08968941122293472f,-3.9108352661132812f,3.256657361984253f,-0.4451225697994232f},
+{-0.028025006875395775f,-0.9293018579483032f,0.057057321071624756f,-0.5842818021774292f,-0.35503754019737244f,-0.5360698103904724f,-0.6036195158958435f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.5737426280975342f,-0.7649829387664795f,0.13989053666591644f,-0.10075923055410385f,0.8140093684196472f,-0.6543750166893005f},
 {-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},
-{0.2285187542438507f,-0.4274887442588806f,-0.2894435524940491f,0.30252909660339355f,0.08946844935417175f,-0.006465560290962458f,-0.24277065694332123f,0.3510231077671051f,0.26211628317832947f,0.2953031361103058f,-0.5008765459060669f,0.13012845814228058f,-0.5136456489562988f,-0.18827885389328003f,0.36753395199775696f,-0.07897623628377914f},
-{-0.24988441169261932f,1.5957990884780884f,-0.25313520431518555f,1.7036648988723755f,0.036378175020217896f,-0.28388962149620056f,-0.6038032174110413f,-0.14559465646743774f,-0.024399548768997192f,-0.39465832710266113f,0.8099377155303955f,-1.2887321710586548f,-0.002571243094280362f,-1.853548288345337f,-0.3227944076061249f,0.3012075424194336f},
-{0.8380314111709595f,-0.4971805214881897f,-0.3519742488861084f,-0.740526556968689f,-0.3015052080154419f,0.375037282705307f,-0.4975310266017914f,-0.07942328602075577f,-0.23047015070915222f,0.3579089343547821f,0.07477552443742752f,1.3135530948638916f,-0.3267573416233063f,-1.0823695659637451f,0.229822039604187f,1.0299428701400757f},
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 };
 
 const float h3[16][16] = {
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+{0.15459725260734558f,0.103854700922966f,-0.13472476601600647f,-0.20622020959854126f,0.15703324973583221f,1.9991956949234009f,-0.08742031455039978f,-0.08710519969463348f,1.804847240447998f,-0.4718508720397949f,-0.017247267067432404f,-0.30447322130203247f,1.1471065282821655f,-2.24104905128479f,1.6059950590133667f,-1.369703769683838f},
+{-0.408692330121994f,0.05310394987463951f,0.006142709869891405f,0.0922636091709137f,-0.06141231954097748f,-0.10681948065757751f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5435109734535217f,-0.26423168182373047f,-0.06897956132888794f,-0.005480319261550903f},
+{-0.2991822361946106f,0.5421392321586609f,-0.041166435927152634f,-0.05932474136352539f,-0.08543997257947922f,0.38893923163414f,-0.11253207921981812f,0.34576353430747986f,0.05750038102269173f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.17417269945144653f,0.037287238985300064f,0.3277091085910797f,-0.13692602515220642f},
+{-0.2675279378890991f,0.05565696209669113f,1.8674126863479614f,-0.196403369307518f,-0.5837585926055908f,0.08096788823604584f,-0.32875844836235046f,-0.31893211603164673f,-0.6524229049682617f,-0.6586599349975586f,-0.5574883818626404f,-0.553442120552063f,1.8045989274978638f,-0.7395002841949463f,0.4633432626724243f,0.14980892837047577f},
+{-0.015470266342163086f,-1.672305703163147f,-0.6794090867042542f,0.19432266056537628f,0.14330853521823883f,-1.080587387084961f,0.05196094512939453f,-0.008358269929885864f,-0.7439616918563843f,-0.42180460691452026f,-0.10627111047506332f,-0.11511552333831787f,-0.30818647146224976f,0.4314022958278656f,-1.838819980621338f,2.3195979595184326f},
+{0.1863725483417511f,0.2846532464027405f,-0.18863269686698914f,-0.5003810524940491f,0.3160429000854492f,0.2056346833705902f,0.04860696196556091f,0.17769548296928406f,0.012768898159265518f,0.3378079831600189f,-0.3929237127304077f,0.19592127203941345f,0.34371641278266907f,0.2283545434474945f,-0.004608725663274527f,-0.08839904516935349f},
 };
 
-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 };
+const float hout[16] = { 0.45773375034332275f,0.20839427411556244f,-0.286900132894516f,-0.009697429835796356f,-0.13530978560447693f,0.19692537188529968f,0.0030125975608825684f,0.04752444475889206f,-0.23159381747245789f,0.057547036558389664f,0.13517257571220398f,-0.26330289244651794f,-0.20440427958965302f,0.3342217206954956f,0.14822421967983246f,-0.20425057411193848f };
+
+const float b1[16] = { 0.7066448926925659f,2.140770435333252f,-1.7145336866378784f,1.7084197998046875f,1.188542366027832f,1.0270514488220215f,-0.058932315558195114f,1.182727575302124f,0.5485185980796814f,-1.4000262022018433f,0.5711912512779236f,1.4113762378692627f,-0.36514076590538025f,-1.5810291767120361f,-1.087764859199524f,1.332677960395813f };
+
+const float b2[16] = { 0.9494333863258362f,-1.7556997537612915f,-1.4564176797866821f,-0.6939772963523865f,-0.6939148902893066f,0.2535880506038666f,-0.01476240810006857f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.39812394976615906f,0.15750396251678467f,-0.3006303012371063f,1.7163671255111694f,0.4909166097640991f,0.4069630801677704f };
+
+const float b3[16] = { -1.963319182395935f,0.9086827039718628f,-0.6904996633529663f,-0.3776831030845642f,0.2719821333885193f,0.3897067904472351f,-0.45353031158447266f,-0.8076379895210266f,1.1965830326080322f,0.07242175191640854f,-0.39867648482322693f,-0.09921017289161682f,-1.064653992652893f,0.7527020573616028f,-0.6090213060379028f,-0.600900411605835f };
+
+const float bout[1] = { -0.3956489562988281f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };