File content as of revision 0:00f5cb5b0bd2:

#include "mbed.h"
#include "Eigen/Dense.h" 

using namespace std;
using namespace Eigen;
Timer t;

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
void Error_Handler(void);

/* USER CODE BEGIN PFP */
#if !defined  (HSE_VALUE)
#define HSE_VALUE    ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */
#endif /* HSE_VALUE */

#if !defined  (HSI_VALUE)
#define HSI_VALUE    ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */


int timer_while = 0;
MatrixXd Input = MatrixXd::Zero(1,22);     //input
MatrixXd h1 = MatrixXd::Zero(22,32);
MatrixXd h2 = MatrixXd::Zero(32,32);
MatrixXd h3 = MatrixXd::Zero(32,32);
MatrixXd hout = MatrixXd::Zero(32,1);

MatrixXd b1 = MatrixXd::Zero(32,1);
MatrixXd b2 = MatrixXd::Zero(32,1);
MatrixXd b3 = MatrixXd::Zero(32,1);
MatrixXd bout = MatrixXd::Zero(1,1);

MatrixXd X;
ArrayXf Y;
float NNoutput;
float input_array[6] ={0.0f};
float position_array[10] = {0.0f};

DigitalOut LED(PA_15);
int main(void)
{
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */
//    __IO uint32_t tmp = 0x00;
//    register uint32_t tmpreg = 0, timeout = 0xFFFF;
//    register __IO uint32_t index;
//    RCC->AHB1ENR |= 0x0000007D;
//    RCC->AHB1ENR |= 0x000001F8;
//    tmp = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);
//    /* Connect PAx pins to FMC Alternate function */
//    GPIOA->AFR[0]  |= 0xC0000000;
//    GPIOA->AFR[1]  |= 0x00000000;
//    /* Configure PDx pins in Alternate function mode */
//    GPIOA->MODER   |= 0x00008000;
//    /* Configure PDx pins speed to 50 MHz */
//    GPIOA->OSPEEDR |= 0x00008000;
//    /* Configure PDx pins Output type to push-pull */
//    GPIOA->OTYPER  |= 0x00000000;
//    /* No pull-up, pull-down for PDx pins */
//    GPIOA->PUPDR   |= 0x00000000;
//
//    /* Connect PCx pins to FMC Alternate function */
//    GPIOC->AFR[0]  |= 0x00CC0000;
//    GPIOC->AFR[1]  |= 0x00000000;
//    /* Configure PDx pins in Alternate function mode */
//    GPIOC->MODER   |= 0x00000A00;
//    /* Configure PDx pins speed to 50 MHz */
//    GPIOC->OSPEEDR |= 0x00000A00;
//    /* Configure PDx pins Output type to push-pull */
//    GPIOC->OTYPER  |= 0x00000000;
//    /* No pull-up, pull-down for PDx pins */
//    GPIOC->PUPDR   |= 0x00000000;
//
//    /* Connect PDx pins to FMC Alternate function */
//    GPIOD->AFR[0]  = 0x000000CC;
//    GPIOD->AFR[1]  = 0xCC000CCC;
//    /* Configure PDx pins in Alternate function mode */
//    GPIOD->MODER   = 0xA02A000A;
//    /* Configure PDx pins speed to 50 MHz */
//    GPIOD->OSPEEDR = 0xA02A000A;
//    /* Configure PDx pins Output type to push-pull */
//    GPIOD->OTYPER  = 0x00000000;
//    /* No pull-up, pull-down for PDx pins */
//    GPIOD->PUPDR   = 0x00000000;
//
//    /* Connect PEx pins to FMC Alternate function */
//    GPIOE->AFR[0]  = 0xC00000CC;
//    GPIOE->AFR[1]  = 0xCCCCCCCC;
//    /* Configure PEx pins in Alternate function mode */
//    GPIOE->MODER   = 0xAAAA800A;
//    /* Configure PEx pins speed to 50 MHz */
//    GPIOE->OSPEEDR = 0xAAAA800A;
//    /* Configure PEx pins Output type to push-pull */
//    GPIOE->OTYPER  = 0x00000000;
//    /* No pull-up, pull-down for PEx pins */
//    GPIOE->PUPDR   = 0x00000000;
//
//    /* Connect PFx pins to FMC Alternate function */
//    GPIOF->AFR[0]  = 0xCCCCCCCC;
//    GPIOF->AFR[1]  = 0xCCCCCCCC;
//    /* Configure PFx pins in Alternate function mode */
//    GPIOF->MODER   = 0xAA800AAA;
//    /* Configure PFx pins speed to 50 MHz */
//    GPIOF->OSPEEDR = 0xAA800AAA;
//    /* Configure PFx pins Output type to push-pull */
//    GPIOF->OTYPER  = 0x00000000;
//    /* No pull-up, pull-down for PFx pins */
//    GPIOF->PUPDR   = 0x00000000;
//
//    /* Connect PGx pins to FMC Alternate function */
//    GPIOG->AFR[0]  = 0xCCCCCCCC;
//    GPIOG->AFR[1]  = 0xCCCCCCCC;
//    /* Configure PGx pins in Alternate function mode */
//    GPIOG->MODER   = 0xAAAAAAAA;
//    /* Configure PGx pins speed to 50 MHz */
//    GPIOG->OSPEEDR = 0xAAAAAAAA;
//    /* Configure PGx pins Output type to push-pull */
//    GPIOG->OTYPER  = 0x00000000;
//    /* No pull-up, pull-down for PGx pins */
//    GPIOG->PUPDR   = 0x00000000;
//
//
//    /*-- FMC Configuration -------------------------------------------------------*/
//    /* Enable the FMC interface clock */
//    RCC->AHB3ENR |= 0x00000001;
//    /* Delay after an RCC peripheral clock enabling */
//    tmp = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);
//    FMC_Bank5_6->SDCR[0] = 0x00001954;
//    FMC_Bank5_6->SDCMR = 0x00000011;
//    tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
//    while((tmpreg != 0) && (timeout-- > 0)) {
//        tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
//    }
//
//    /* Delay */
//    for (index = 0; index<1000; index++);
//
//    /* PALL command */
//    FMC_Bank5_6->SDCMR = 0x00000012;
//    timeout = 0xFFFF;
//    while((tmpreg != 0) && (timeout-- > 0)) {
//        tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
//    }
//    /* Auto refresh command */
//    FMC_Bank5_6->SDCMR = 0x000000F3;
//    timeout = 0xFFFF;
//    while((tmpreg != 0) && (timeout-- > 0)) {
//        tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
//    }
//    /* MRD register program */
//    FMC_Bank5_6->SDCMR = 0x00044014;
//    timeout = 0xFFFF;
//    while((tmpreg != 0) && (timeout-- > 0)) {
//        tmpreg = FMC_Bank5_6->SDSR & 0x00000020;
//    }
//    /* Set refresh count */
//    tmpreg = FMC_Bank5_6->SDRTR;
//    FMC_Bank5_6->SDRTR = (tmpreg | (0x0000050C<<1));
//    /* Disable write protection */
//    tmpreg = FMC_Bank5_6->SDCR[0];
//    FMC_Bank5_6->SDCR[0] = (tmpreg & 0xFFFFFDFF);
//    
//    RCC->AHB3ENR         |= 0x00000001;

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    //HAL_Init();
    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();
    MX_GPIO_Init();

    /* USER CODE BEGIN SysInit */
    __HAL_RCC_SYSCFG_CLK_ENABLE();
    __HAL_RCC_PWR_CLK_ENABLE();
    /* USER CODE END SysInit */
    HAL_IncTick();

    /* Initialize all configured peripherals */
    /* USER CODE BEGIN 2 */
    Input <<
       0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023;


    h1 <<
       -0.02454003319144249,0.13071660697460175,0.08675816655158997,0.1402530074119568,-0.24982963502407074,0.12202739715576172,-0.13030944764614105,-0.11353740841150284,-0.2542628347873688,-0.04588286578655243,-0.14282149076461792,-0.2201535552740097,-0.18691661953926086,0.30389177799224854,-0.1729012429714203,-0.12240276485681534,-0.11355798691511154,0.2349482625722885,-0.24878336489200592,0.07184267044067383,-0.3221011161804199,0.08763179183006287,-0.27257153391838074,-0.06490874290466309,-0.06682667881250381,0.1505383551120758,-0.14478006958961487,-0.07367490231990814,0.23569869995117188,-0.1539779156446457,-0.1400003880262375,0.051764924079179764
       ,-0.19842876493930817,0.18337926268577576,0.24467620253562927,-0.29177823662757874,-0.08481606096029282,0.09983056783676147,0.17972804605960846,-0.07474377751350403,-0.1711931675672531,0.12607872486114502,-0.21832025051116943,-0.1755477339029312,-0.010855759494006634,0.2378554791212082,0.03758585453033447,-0.13797838985919952,-0.15582887828350067,0.08006728440523148,0.280606746673584,0.28338202834129333,-0.06711727380752563,-0.09894979000091553,-0.07788881659507751,0.22705963253974915,-0.0012174372095614672,0.240607351064682,0.1039358377456665,0.18501906096935272,-0.03155122324824333,0.08036407828330994,-0.20284514129161835,0.06699042022228241
       ,0.14068114757537842,0.13828633725643158,-0.0034593045711517334,0.1392701119184494,0.01057615876197815,-0.007689331658184528,0.07328304648399353,-0.14162643253803253,-0.04415355995297432,0.09164466708898544,0.24845272302627563,-0.05588914453983307,-0.054479751735925674,0.24456734955310822,-0.2598671317100525,-0.15801946818828583,0.2817283868789673,-0.19191598892211914,0.15788163244724274,0.28144943714141846,0.14735294878482819,-0.12544888257980347,0.11103320121765137,-0.20203278958797455,0.0017974432557821274,0.1191059947013855,-0.12710560858249664,0.1702873408794403,-0.09684925526380539,0.2480504810810089,-0.28676652908325195,-0.17398564517498016
       ,0.04844924807548523,-0.06973694264888763,-0.1682211458683014,-0.3513043522834778,-0.22794683277606964,0.08840374648571014,0.026485737413167953,-0.3492684066295624,0.1813228577375412,0.06481858342885971,0.11471711844205856,0.1854662299156189,-0.12381665408611298,0.35136616230010986,-0.10501053929328918,-0.016016438603401184,0.03148011490702629,-0.17074286937713623,-0.1689852625131607,0.1171770691871643,-0.23076696693897247,-0.07204706966876984,-0.12052477896213531,-0.23881052434444427,-0.004284285008907318,0.11600598692893982,0.10962119698524475,-0.012203623540699482,0.33345603942871094,0.1084047257900238,0.015447823330760002,0.1315833479166031
       ,0.12315890938043594,0.16742177307605743,0.0689031183719635,-0.29923000931739807,-0.10478553920984268,0.0034702986013144255,-0.06286507844924927,-0.3965417146682739,-0.24317654967308044,0.2535353899002075,-0.18702425062656403,0.2042631357908249,0.14613179862499237,0.2476590871810913,-0.20543844997882843,0.15613335371017456,-0.024847690016031265,-0.12820857763290405,0.13289833068847656,-0.033144671469926834,0.09313736855983734,0.19325080513954163,-0.20106908679008484,-0.061102136969566345,-0.028910696506500244,-0.2806609869003296,0.033241331577301025,-0.26521533727645874,0.33587634563446045,-0.13370811939239502,0.21700626611709595,0.008141759783029556
       ,0.3156174421310425,0.033245913684368134,0.24999621510505676,0.14565978944301605,0.02309553697705269,-0.05169738829135895,-0.15119729936122894,-0.10350330173969269,-0.3457512855529785,0.03809545189142227,0.25342249870300293,-0.19578632712364197,-0.05333413928747177,0.09492939710617065,0.17943906784057617,-0.21144242584705353,-0.1867227405309677,-0.23938390612602234,-0.2632395327091217,0.06656297296285629,0.0961865782737732,-0.00792744755744934,0.10312435030937195,0.27112916111946106,-0.12544961273670197,0.17053177952766418,-0.23970040678977966,0.16830605268478394,0.18481910228729248,-0.0010759234428405762,0.049939122051000595,-0.059725455939769745
       ,0.021065108478069305,-0.17225059866905212,0.1334478259086609,0.09036531299352646,0.22687482833862305,0.03710803762078285,-0.1765347123146057,0.0036233423743396997,-0.17170532047748566,-0.11777474731206894,-0.054618652909994125,-0.17656885087490082,0.052830975502729416,0.10441931337118149,-0.14971962571144104,-0.24781031906604767,-0.023929525166749954,-0.04490154981613159,0.2847473621368408,0.014796234667301178,-0.14429597556591034,-0.14511936902999878,-0.21516084671020508,-0.20089882612228394,-0.10562898963689804,-0.12727710604667664,-0.09228193759918213,-0.08893769234418869,-0.12074583023786545,-0.028564512729644775,0.008117200806736946,0.08297917991876602
       ,0.19532811641693115,-0.05014912784099579,0.13636812567710876,0.048916492611169815,0.26100409030914307,-0.17881926894187927,0.012918300926685333,0.06905974447727203,0.16022373735904694,0.06287040561437607,-0.1698886901140213,-0.3164767324924469,0.06106283515691757,0.05603136122226715,0.04491907358169556,0.16258767247200012,0.06191227212548256,-0.2078513652086258,-0.26503077149391174,0.019191648811101913,-0.06990422308444977,0.018576622009277344,-0.10467308759689331,-0.023303329944610596,0.11910765618085861,0.014545410871505737,-0.2797531187534332,-0.014093500562012196,-0.09087783098220825,0.003536820411682129,-0.08422576636075974,0.20006318390369415
       ,0.03522654250264168,-0.15291047096252441,0.11232474446296692,0.08317171782255173,0.01103570032864809,-0.23718038201332092,-0.043577663600444794,-0.10673496872186661,-0.08802048116922379,0.06057487800717354,-0.2207462638616562,0.21330848336219788,0.06867198646068573,0.31874582171440125,0.19785529375076294,0.11854913830757141,0.0048002502880990505,0.07107115536928177,0.1471722573041916,-0.021459000185132027,-0.25434109568595886,-0.01829427480697632,-0.2427632212638855,0.06919881701469421,-0.2938772141933441,-0.06733335554599762,-0.07296852767467499,0.21985474228858948,0.27857765555381775,-0.09769320487976074,-0.2202656865119934,0.06659334897994995
       ,-0.18176554143428802,0.05808980390429497,-0.2002866566181183,0.2209930419921875,0.22003944218158722,-0.12194468080997467,0.16832226514816284,-0.32419517636299133,-0.31987497210502625,0.020202845335006714,-0.2701215445995331,0.15670055150985718,0.04660305753350258,0.2134874314069748,-0.21944394707679749,-0.25474902987480164,0.27780312299728394,0.28777045011520386,0.10909196734428406,-0.06471110135316849,-0.1670646369457245,0.13422733545303345,-0.09569443762302399,-0.2635143995285034,-0.14163701236248016,0.04615262150764465,0.11132439970970154,0.23280498385429382,0.23840151727199554,0.24882283806800842,0.0529453419148922,0.13884255290031433
       ,-0.10154614597558975,-0.21454781293869019,-0.05455450713634491,0.2060181051492691,-0.24331730604171753,-0.18322165310382843,0.08804970234632492,-0.09168499708175659,-0.3127654492855072,-0.20708662271499634,-0.26258623600006104,-0.2734098434448242,-0.1649116575717926,0.33747056126594543,0.014040976762771606,0.23592090606689453,-0.13581429421901703,-0.1899891048669815,0.19671878218650818,-0.23027168214321136,0.14086498320102692,-0.20761027932167053,0.19642561674118042,0.00928562879562378,-0.07803404331207275,0.08413159847259521,0.06599533557891846,-0.2540142834186554,0.209262415766716,0.0242612361907959,-0.008453809656202793,0.13509076833724976
       ,0.19965791702270508,0.15909932553768158,-0.2523933947086334,-0.024008844047784805,-0.3288625478744507,-0.3593894839286804,-0.10659854859113693,-0.09668480604887009,-0.25964510440826416,0.24553023278713226,0.2584691643714905,-0.13047806918621063,-0.045685749500989914,-0.027066625654697418,-0.24520277976989746,0.2635043263435364,0.06614753603935242,-0.14302769303321838,-0.22128811478614807,-0.2489294409751892,0.2430250197649002,0.1864563524723053,-0.19150227308273315,0.26879218220710754,-0.3449307382106781,0.1727219521999359,0.2771519124507904,0.08954040706157684,0.2631568908691406,0.12126106023788452,0.12375504523515701,-0.054388467222452164
       ,0.19592446088790894,-0.34142163395881653,0.15802547335624695,0.18388450145721436,0.031184343621134758,-0.08831250667572021,-0.20661622285842896,0.06958860903978348,-0.161506786942482,0.25045934319496155,-0.10389973968267441,0.21004287898540497,-0.2358747273683548,-0.1947477161884308,0.05316495895385742,-0.0015946561470627785,-0.15815018117427826,0.1855827420949936,0.01572786457836628,-0.2823503911495209,-0.19912849366664886,0.022287487983703613,0.01019778847694397,-0.002432197332382202,0.1125744953751564,0.024761438369750977,0.28052565455436707,0.06848252564668655,0.07588296383619308,-0.2828674018383026,-0.1949537843465805,0.0682394951581955
       ,-0.06400725990533829,-0.039301756769418716,0.05148342251777649,0.15645751357078552,-0.015306415967643261,-0.027875764295458794,0.19478058815002441,-0.1143186166882515,-0.11950938403606415,0.21234765648841858,0.2555554211139679,-0.05989915132522583,0.014815526083111763,0.12010202556848526,0.08785843849182129,0.0018573424313217402,-0.014310447499155998,0.08359912782907486,-0.05963675677776337,0.08984222263097763,-0.17661209404468536,-0.01255887746810913,0.09742525219917297,-0.2715410590171814,0.019773131236433983,-0.12170138955116272,0.21204951405525208,-0.0392717681825161,0.22050541639328003,0.1981203556060791,-0.12718753516674042,0.18615314364433289
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       ,0.07555973529815674,-0.0029259920120239258,-0.08789914846420288,0.06678077578544617,-0.11083845794200897,0.11010000109672546,-0.14982634782791138,0.12075316905975342,-0.2766430675983429,0.013024389743804932,0.18159812688827515,-0.20200279355049133,0.2637675702571869,-0.1856893002986908,0.2882818281650543,0.05304515361785889,-0.15297894179821014,0.07341468334197998,0.05268138647079468,0.1067940890789032,-0.2661813795566559,-0.2009473443031311,0.1843600869178772,0.2517976462841034,-0.07343396544456482,-0.051110416650772095,-0.23432010412216187,0.16746872663497925,-0.2205146849155426,-0.017525076866149902,0.20926335453987122,-0.2141496241092682
       ,0.06582912802696228,0.2796666920185089,-0.2556927502155304,0.0023079216480255127,0.2043982446193695,0.13894453644752502,0.06556430459022522,0.29767414927482605,0.24966773390769958,-0.16670267283916473,-0.1203770637512207,-0.06570860743522644,-0.015925198793411255,0.17675906419754028,-0.014884740114212036,-0.05300724506378174,0.26490333676338196,0.15243005752563477,-0.07319167256355286,0.2353842556476593,0.23596063256263733,0.1602974534034729,-0.04174882173538208,-0.11559568345546722,-0.06235519051551819,0.21069613099098206,-0.19532959163188934,-0.2486409693956375,0.032513976097106934,-0.2712400257587433,-0.19435247778892517,-0.23200613260269165
       ,-0.1299392580986023,-0.06208275258541107,-0.21278081834316254,0.04117914289236069,-0.25799769163131714,0.0023174630478024483,-0.19175797700881958,0.02903696894645691,-0.3028421998023987,0.016345679759979248,-0.24767392873764038,0.2033931314945221,-0.36241284012794495,0.1515057384967804,0.13206014037132263,0.15829482674598694,-0.21012049913406372,0.2088232934474945,-0.016727611422538757,-0.24573293328285217,0.20467910170555115,0.11925628036260605,-0.3039346933364868,-0.11097411066293716,0.34144315123558044,-0.007939159870147705,-0.20167969167232513,0.059701401740312576,0.20017050206661224,0.18135693669319153,-0.008151531219482422,0.029283329844474792
       ,0.07638216018676758,0.07996532320976257,-0.30373215675354004,-0.2700393795967102,0.11718190461397171,0.05212600901722908,0.2795381247997284,-0.25668495893478394,-0.100021593272686,0.1293344497680664,-0.026776641607284546,0.02524423599243164,0.07603725790977478,0.29519766569137573,-0.029521822929382324,-0.19500072300434113,0.06506577134132385,-0.011876672506332397,0.0938519686460495,0.2426283210515976,0.10203439742326736,0.03793451562523842,-0.15799765288829803,-0.17324526607990265,0.25468015670776367,0.1901901364326477,-0.22690120339393616,-0.09443645179271698,-0.0595262236893177,0.22636333107948303,-0.2613427937030792,0.21909776329994202;
    
    
    hout <<
         0.3285340666770935
         ,0.2858171761035919
         ,-0.36366742849349976
         ,-0.2632009983062744
         ,-0.25631460547447205
         ,0.33468252420425415
         ,0.002162247896194458
         ,0.1081397533416748
         ,-0.19566167891025543
         ,-0.007266071625053883
         ,0.1744336485862732
         ,-0.19491273164749146
         ,-0.16939763724803925
         ,0.1573415994644165
         ,0.2356991171836853
         ,-0.1462659239768982
         ,0.09851181507110596
         ,-0.21499931812286377
         ,-0.013007339090108871
         ,-0.26934152841567993
         ,-0.10125408321619034
         ,0.16949352622032166
         ,-0.2570975124835968
         ,-0.21437735855579376
         ,0.2278641164302826
         ,0.2520971894264221
         ,-0.38587644696235657
         ,-0.3990364372730255
         ,0.24998146295547485
         ,-0.3257754445075989
         ,-0.41329723596572876
         ,-0.26551106572151184;

    b1 <<
       0.6920363306999207
       ,0.9509658217430115
       ,-1.7145336866378784
       ,0.4119643270969391
       ,1.0741286277770996
       ,0.8546265363693237
       ,-0.07467586547136307
       ,0.93145751953125
       ,0.5193935036659241
       ,-0.8871728777885437
       ,0.593039333820343
       ,1.6031073331832886
       ,-0.33494266867637634
       ,-0.8010779023170471
       ,-1.087764859199524
       ,1.1554406881332397
       ,0.6632958650588989
       ,-0.224932461977005
       ,0.26702749729156494
       ,0.5859951972961426
       ,-0.31409698724746704
       ,-1.1118980646133423
       ,-1.6770726442337036
       ,-1.2263047695159912
       ,2.018333911895752
       ,-2.0880801677703857
       ,-1.0489267110824585
       ,0.7445360422134399
       ,0.4031659960746765
       ,-1.0887231826782227
       ,1.5438745021820068
       ,-0.4563482999801636;
       
    b2 <<
       -0.10466054826974869
       ,-0.7642630338668823
       ,-1.4564176797866821
       ,-0.528777003288269
       ,-0.7297643423080444
       ,0.2625555098056793
       ,0.389851450920105
       ,-0.33048292994499207
       ,-1.20063054561615
       ,-1.912178635597229
       ,0.31253743171691895
       ,0.6883504390716553
       ,-0.04988760128617287
       ,2.26581072807312
       ,0.13501279056072235
       ,1.132785677909851
       ,-1.8237234354019165
       ,-1.5844906568527222
       ,0.26375624537467957
       ,-0.23789723217487335
       ,0.17283980548381805
       ,0.3692796230316162
       ,0.09335066378116608
       ,-1.0231001377105713
       ,1.2738454341888428
       ,1.44853675365448
       ,0.9071134924888611
       ,8.9274239144288e-05
       ,-0.6323830485343933
       ,-0.4208582937717438
       ,-1.1864360570907593
       ,-1.3916414976119995;
       
    b3 <<
       -1.963319182395935
       ,-0.4028509557247162
       ,0.3184174597263336
       ,0.1579766422510147
       ,0.1897633820772171
       ,0.866980791091919
       ,-0.45353031158447266
       ,-0.6562485098838806
       ,0.5865635275840759
       ,0.5033581852912903
       ,-0.14371006190776825
       ,0.050810977816581726
       ,-0.5131177306175232
       ,0.5688209533691406
       ,-1.1428403854370117
       ,-0.3598397970199585
       ,-1.3594286441802979
       ,-1.0192245244979858
       ,-0.2365882694721222
       ,0.5294732451438904
       ,1.530857801437378
       ,1.2039998769760132
       ,-1.0573883056640625
       ,-0.7962622046470642
       ,0.7248114347457886
       ,-0.36519983410835266
       ,-0.07752024382352829
       ,0.767806887626648
       ,0.2635451555252075
       ,-2.3236680030822754
       ,0.06150589883327484
       ,1.0375205278396606;
       
    bout <<
         -0.3124803602695465;
         
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1) {
        /* USER CODE END WHILE */
//        if(timer_while==1000 && OPERATING_MODE==5) {
//            //i2c
//            read_field(i2c_slave_addr1);
//            if(DIR_VALVE_ENC < 0) value = 1023 - value;
//            //            if(LED==1) {
//            //                LED=0;
//            //            } else
//            //                LED = 1;
//            timer_while = 0;
//        }
        timer_while ++;
        
        t.reset();
        t.start();
        
        //X = (((Input*h1+b1.transpose())*h2+b2.transpose())*h3+b3.transpose())*hout+bout.transpose();
        
//        Input <<
//        input_array[0],input_array[1],input_array[2],input_array[3],input_array[4];
        
        X = Input*h1+b1.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*h2+b2.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*h3+b3.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*hout+bout.transpose();
        NNoutput=1.0f/(1.0f+exp(-X(0,0)));
        
        t.stop();
        
        //printf("NNoutput : %f\n", NNoutput);
        //printf("time : %f\n", t.read());
        
        //wait(1);
        
        //if(timer_while%10000==0)
        if(LED==1) {
             LED=0;
        } else
            LED = 1;
        
        
        /* USER CODE BEGIN 3 */
    }
    /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

    /** Configure the main internal regulator output voltage
    */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
    /** Initializes the CPU, AHB and APB busses clocks
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLM = 8;  //8
    RCC_OscInitStruct.PLL.PLLN = 180;//180
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    RCC_OscInitStruct.PLL.PLLQ = 2;
    RCC_OscInitStruct.PLL.PLLR = 2;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        Error_Handler();
    }
    /** Activate the Over-Drive mode
    */
    if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
        Error_Handler();
    }
    /** Initializes the CPU, AHB and APB busses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                  |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
        Error_Handler();
    }
    HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
    HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
}

static void MX_GPIO_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};

    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();

    /*Configure GPIO pin : PC9 */
    GPIO_InitStruct.Pin = GPIO_PIN_9;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    /*Configure GPIO pin : PA8 */
    GPIO_InitStruct.Pin = GPIO_PIN_8;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

}
/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */

    /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/