Diff: main.cpp

Revision:

183:55044a4018a9

Parent:

182:11105b2528dc

Child:

184:75bbde569471

--- a/main.cpp	Tue Dec 15 07:44:57 2020 +0000
+++ b/main.cpp	Tue Dec 15 13:10:51 2020 +0000
@@ -1,4 +1,4 @@
-//201215-3
+//201215-4
 #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] = {
-    {0.08059316128492355f,1.7042620182037354f,0.12903714179992676f,0.4585042893886566f,-2.046114683151245f,1.790447473526001f,-0.17472904920578003f,0.8675141334533691f,-1.0225087404251099f,0.05025840923190117f,-0.22792614996433258f,-0.5645073056221008f,-0.26447197794914246f,0.34380945563316345f,-0.2571594715118408f,-3.199117660522461f},
-{-0.06843511015176773f,0.9968799352645874f,-0.3927857577800751f,0.15489579737186432f,-1.300863265991211f,0.8407458066940308f,-0.4054011106491089f,0.38545989990234375f,-0.4646437168121338f,0.3044531047344208f,-0.26472508907318115f,-0.2922133505344391f,0.23510316014289856f,-0.20713169872760773f,-0.20967772603034973f,-2.0135886669158936f},
-{-0.1643858551979065f,0.3226338028907776f,0.36391180753707886f,-0.18808580935001373f,-0.33240240812301636f,0.29631876945495605f,0.2872133255004883f,0.22914662957191467f,-0.20912274718284607f,0.3113968074321747f,-0.3386077284812927f,-0.15769506990909576f,-0.0031952743884176016f,0.25935444235801697f,0.05590221285820007f,-1.4654998779296875f},
-{-0.11569413542747498f,-0.6312764286994934f,0.39742106199264526f,0.48360368609428406f,0.4680686891078949f,-0.8365560173988342f,-0.11584559082984924f,0.14207300543785095f,0.320218950510025f,0.4483059346675873f,0.105223149061203f,0.4361564815044403f,-0.16538025438785553f,0.15540266036987305f,-0.2961459457874298f,-0.3090301752090454f},
-{0.35479822754859924f,-1.3713971376419067f,-0.0051451027393341064f,0.4487404525279999f,1.4452747106552124f,-1.491912603378296f,0.1294034719467163f,-0.6146387457847595f,0.7160201072692871f,0.2660955786705017f,0.3571736812591553f,0.3810521066188812f,-0.06901402026414871f,0.28377822041511536f,-0.3865056037902832f,0.4620778262615204f},
-{0.5522244572639465f,-3.20501708984375f,0.21773302555084229f,0.49587738513946533f,2.946180582046509f,-3.048198699951172f,0.16514194011688232f,-1.365500569343567f,1.1800137758255005f,0.278342604637146f,-0.23837466537952423f,0.8222489356994629f,-0.2657281160354614f,0.42007002234458923f,-0.4132833778858185f,1.9500197172164917f},
-{-0.5814220309257507f,0.825641393661499f,-0.2501986622810364f,-1.3750731945037842f,-0.8847044110298157f,1.2470667362213135f,0.06014183163642883f,0.10090184956789017f,0.4404393136501312f,-0.2917703688144684f,0.15766414999961853f,-0.6732032895088196f,-0.17225678265094757f,0.02596128359436989f,-0.15618428587913513f,2.311577796936035f},
-{-0.34514936804771423f,0.0981023907661438f,-0.26619744300842285f,-0.26967060565948486f,-0.6275944709777832f,0.21929745376110077f,-0.17925891280174255f,-0.48723337054252625f,-0.3202516734600067f,-0.04858541488647461f,0.11226584017276764f,-0.6202855706214905f,0.3721274733543396f,0.002934061223641038f,0.04303058981895447f,0.6881908178329468f},
-{-0.16485169529914856f,0.4232710599899292f,0.10248100757598877f,-0.7319263219833374f,-0.20308363437652588f,0.18487878143787384f,-0.07246989011764526f,-0.6742604970932007f,-0.42297714948654175f,0.19666269421577454f,-0.29032474756240845f,-0.08155026286840439f,0.22964464128017426f,0.10404440015554428f,-0.30555272102355957f,0.7166270017623901f},
-{-0.3842744827270508f,-0.07216982543468475f,0.18462657928466797f,-0.4709790349006653f,0.06952577084302902f,0.36096495389938354f,-0.2990540862083435f,-0.27193376421928406f,-0.17813938856124878f,-0.6121172904968262f,-0.001270004897378385f,-0.9109545946121216f,0.3726291358470917f,-0.32367831468582153f,0.3484981060028076f,0.41937875747680664f},
-{0.1562412679195404f,0.14713618159294128f,0.37182438373565674f,-0.07121864706277847f,0.080257847905159f,0.010518456809222698f,-0.20339298248291016f,-0.2737054228782654f,-0.44532719254493713f,-0.10405322909355164f,0.3553784191608429f,-0.5518741011619568f,-0.06626003235578537f,-0.09551427513360977f,0.26688337326049805f,0.23129546642303467f},
-{-0.5941224694252014f,-0.11353563517332077f,-0.40320003032684326f,-0.31705784797668457f,-0.0471339114010334f,0.17291274666786194f,0.1533789038658142f,0.3358571529388428f,-0.35246947407722473f,0.07836488634347916f,-0.4071876108646393f,-0.2756684124469757f,0.14495661854743958f,-0.10264411568641663f,0.10493969917297363f,0.17314757406711578f},
-{-0.25569793581962585f,-0.1296236664056778f,0.19847965240478516f,-0.15797235071659088f,0.35901764035224915f,0.15833406150341034f,-0.2404318004846573f,-0.05327387899160385f,-0.19945010542869568f,-0.31927502155303955f,-0.1020159125328064f,-0.5156699419021606f,0.09228844195604324f,-0.05963599309325218f,-0.22268100082874298f,0.022926460951566696f},
-{-0.3295969069004059f,0.09821423143148422f,0.4127817749977112f,-0.3861438035964966f,-0.33994007110595703f,-0.11753879487514496f,-0.32001304626464844f,-0.36401447653770447f,-0.28136587142944336f,-0.3484867215156555f,-0.1878705471754074f,-0.5784162282943726f,-0.3125506341457367f,-0.12499208748340607f,0.0479682981967926f,0.146632581949234f},
-{0.016594847664237022f,0.1700436770915985f,0.20282304286956787f,-0.22358374297618866f,0.2794434428215027f,-0.05081735551357269f,0.04202890396118164f,0.23039010167121887f,0.12280786782503128f,-0.04033491015434265f,-0.2722669839859009f,-0.8398635983467102f,0.1037883311510086f,-0.11886490881443024f,0.0668090283870697f,0.09598235040903091f},
-{-0.18911008536815643f,-0.1877383142709732f,-0.40439701080322266f,-0.3687029480934143f,-0.21750037372112274f,0.0806099995970726f,-0.15568238496780396f,-0.08411913365125656f,0.05758126825094223f,-0.12777215242385864f,-0.4666607081890106f,-0.45405423641204834f,-0.2708668112754822f,-0.06570909172296524f,-0.08245879411697388f,0.05250900611281395f},
-{-0.2098730206489563f,-0.05351436510682106f,0.16706281900405884f,-0.17491242289543152f,-0.022564927116036415f,-0.2206791192293167f,-0.041414469480514526f,-0.07866377383470535f,-0.1637478470802307f,-0.0332307405769825f,-0.34629935026168823f,0.014119500294327736f,0.11230245977640152f,0.28523188829421997f,0.29427415132522583f,-0.0828472152352333f},
+    {-1.6070621013641357f,1.4444793462753296f,0.12903714179992676f,0.45971256494522095f,-1.8895007371902466f,1.5912665128707886f,-0.17472904920578003f,1.3318427801132202f,-2.261326551437378f,-0.03385619446635246f,-0.23437689244747162f,-1.2534494400024414f,-0.26408806443214417f,-1.1718051433563232f,-0.2571594715118408f,-1.0255193710327148f},
+{-1.0846422910690308f,0.8761099576950073f,-0.3927857577800751f,0.10885071754455566f,-1.2603814601898193f,0.7932608127593994f,-0.4054011106491089f,0.5438631772994995f,-1.546224594116211f,0.22130662202835083f,-0.27116647362709045f,-0.7526845335960388f,0.23553097248077393f,-1.0961291790008545f,-0.20967772603034973f,-0.659416675567627f},
+{-0.8406979441642761f,0.5655145645141602f,0.36391180753707886f,-0.2829425036907196f,-0.6366292238235474f,0.6242642402648926f,0.2872133255004883f,0.39269590377807617f,-1.4623386859893799f,0.22947895526885986f,-0.34503698348999023f,-0.4441416561603546f,-0.00272137182764709f,-0.3268943130970001f,0.05590221285820007f,-1.1436342000961304f},
+{-0.35294806957244873f,-0.09107200056314468f,0.39742106199264526f,0.33738622069358826f,-0.11074129492044449f,-0.19795556366443634f,-0.11584559082984924f,0.2239270806312561f,-1.016740083694458f,0.367963969707489f,0.09880797564983368f,0.34261059761047363f,-0.16485224664211273f,-0.02963976189494133f,-0.2961459457874298f,-0.9800482988357544f},
+{1.1172692775726318f,-0.881708025932312f,-0.0051451027393341064f,0.24785789847373962f,0.949159562587738f,-0.8879446387290955f,0.1294034719467163f,-1.1183830499649048f,-0.18216757476329803f,0.18784251809120178f,0.35077041387557983f,0.5736857056617737f,-0.06842327117919922f,1.0481723546981812f,-0.3865056037902832f,-0.9325311183929443f},
+{3.2859668731689453f,-3.373445987701416f,0.21773302555084229f,0.23583510518074036f,3.153277635574341f,-3.0842037200927734f,0.16514194011688232f,-3.330359697341919f,1.6308770179748535f,0.20284788310527802f,-0.24478337168693542f,1.4629696607589722f,-0.26506540179252625f,3.084402084350586f,-0.4132833778858185f,0.3235807716846466f},
+{-0.16239909827709198f,0.652294397354126f,-0.2501986622810364f,-0.7905404567718506f,-0.6188644766807556f,0.8528907299041748f,0.06014183163642883f,-0.4905660152435303f,1.5433074235916138f,-0.1533675193786621f,0.15192021429538727f,-0.10490059852600098f,-0.1730978935956955f,0.015356072224676609f,-0.15618428587913513f,0.5344299077987671f},
+{-0.8749822974205017f,0.6992738246917725f,-0.26619744300842285f,-0.08359992504119873f,-1.2196704149246216f,0.7197252511978149f,-0.17925891280174255f,0.24655599892139435f,0.32290568947792053f,0.030707592144608498f,0.10629666596651077f,-0.48497965931892395f,0.37155985832214355f,-0.5724732875823975f,0.04303058981895447f,0.5185656547546387f},
+{0.44704651832580566f,0.0694582387804985f,0.10248100757598877f,-0.6408140659332275f,0.08685804158449173f,-0.24289385974407196f,-0.07246989011764526f,-0.8823809623718262f,0.975390613079071f,0.2915976345539093f,-0.2963060140609741f,0.3272884786128998f,0.22921693325042725f,0.7061342597007751f,-0.30555272102355957f,1.1997355222702026f},
+{0.10269708186388016f,-0.4119151830673218f,0.18462657928466797f,-0.4237739145755768f,0.28614145517349243f,-0.0384453721344471f,-0.2990540862083435f,-0.3690754175186157f,1.0338808298110962f,-0.506875216960907f,-0.007301787845790386f,-0.4488030672073364f,0.372331827878952f,0.18725666403770447f,0.3484981060028076f,0.7741178274154663f},
+{0.4530973434448242f,0.06094556301832199f,0.37182438373565674f,-0.03273813799023628f,0.0016666745068505406f,-0.13683553040027618f,-0.20339298248291016f,0.0006952928379178047f,0.36829644441604614f,0.007492598611861467f,0.3493041396141052f,-0.34462884068489075f,-0.06654797494411469f,0.2495005875825882f,0.26688337326049805f,0.2787923216819763f},
+{-0.41628196835517883f,-0.34683796763420105f,-0.40320003032684326f,-0.26510435342788696f,0.01427370309829712f,-0.12881697714328766f,0.1533789038658142f,0.6213264465332031f,0.43982186913490295f,0.1924997866153717f,-0.41328826546669006f,-0.0027057332918047905f,0.14470605552196503f,0.13542859256267548f,0.10493969917297363f,0.358428418636322f},
+{-0.09863808006048203f,-0.15524423122406006f,0.19847965240478516f,-0.08667934685945511f,0.2108737826347351f,0.0608486607670784f,-0.2404318004846573f,0.5305993556976318f,0.29834941029548645f,-0.20526979863643646f,-0.10813693702220917f,-0.45609328150749207f,0.09201034903526306f,0.16512572765350342f,-0.22268100082874298f,-0.07933637499809265f},
+{-0.1803528368473053f,-0.07565825432538986f,0.4127817749977112f,-0.29987478256225586f,-0.3406386971473694f,-0.3658057749271393f,-0.32001304626464844f,0.18756037950515747f,0.23431532084941864f,-0.23265855014324188f,-0.19404397904872894f,-0.44801175594329834f,-0.31276315450668335f,0.09663949906826019f,0.0479682981967926f,0.23482243716716766f},
+{0.09787440299987793f,0.05535588413476944f,0.20282304286956787f,-0.1285126656293869f,0.21852988004684448f,-0.23995305597782135f,0.04202890396118164f,0.899287223815918f,0.4933943748474121f,0.07827243953943253f,-0.2784428298473358f,-0.7169914841651917f,0.10353262722492218f,0.041469767689704895f,0.0668090283870697f,0.10634815692901611f},
+{-0.17166218161582947f,-0.24739637970924377f,-0.40439701080322266f,-0.278349369764328f,-0.34712228178977966f,-0.047724951058626175f,-0.15568238496780396f,0.7170681357383728f,0.2422538846731186f,-0.006808132864534855f,-0.47287464141845703f,-0.4041852056980133f,-0.2711547017097473f,0.0345175676047802f,-0.08245879411697388f,-0.017156904563307762f},
+{0.10945872962474823f,-0.3796606957912445f,0.16706281900405884f,-0.1058274433016777f,0.09715140610933304f,-0.6114601492881775f,-0.041414469480514526f,0.459582656621933f,0.15684588253498077f,0.09002777934074402f,-0.35252657532691956f,0.13107328116893768f,0.11200001835823059f,0.6847966313362122f,0.29427415132522583f,-0.10886158049106598f},
 };
 
 const float h2[16][16] = {
-    {-0.05400395393371582f,-0.22951123118400574f,-0.06966331601142883f,-0.10873724520206451f,-0.21907491981983185f,0.39131346344947815f,0.2356909215450287f,-0.008777995593845844f,-0.43008196353912354f,-0.1415480375289917f,0.06827273964881897f,-0.13159732520580292f,0.12968102097511292f,0.07670671492815018f,-0.0314212366938591f,-0.21922312676906586f},
-{1.5409116744995117f,-0.9921830296516418f,0.057057321071624756f,-0.20214742422103882f,-0.35503754019737244f,-0.46737948060035706f,-0.7939614653587341f,-0.7452677488327026f,-0.4557425379753113f,0.2895788848400116f,-0.9277383685112f,-0.6820167899131775f,0.3234713673591614f,0.6391531825065613f,-0.6123669743537903f,-2.2830169200897217f},
+    {-0.2100285440683365f,0.5450449585914612f,-0.06966331601142883f,-0.16327691078186035f,-0.21907491981983185f,-0.7174352407455444f,-0.08997400104999542f,0.03496444225311279f,-0.43008196353912354f,-0.1415480375289917f,-1.024130940437317f,-0.43296945095062256f,0.12968102097511292f,-1.543792724609375f,-0.4490607678890228f,-4.010191440582275f},
+{0.09335885941982269f,-2.328054904937744f,0.057057321071624756f,-0.4136889576911926f,-0.35503754019737244f,-1.8548954725265503f,-0.5476264953613281f,-0.3163917064666748f,-0.33757925033569336f,0.2895788848400116f,-3.989751100540161f,-0.2958875000476837f,0.33698758482933044f,2.3762283325195312f,-0.10209953784942627f,-1.2367063760757446f},
 {-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},
-{-0.9565858244895935f,0.2860046923160553f,-0.2894435524940491f,0.42715516686439514f,0.08946844935417175f,0.7670595645904541f,-0.23805393278598785f,0.5817441344261169f,0.10972626507282257f,0.2953031361103058f,0.6121941208839417f,0.38107964396476746f,-0.404754102230072f,-0.8919617533683777f,0.17776212096214294f,-0.5585567951202393f},
-{-0.4788811206817627f,0.5473698377609253f,-0.25313520431518555f,0.14784954488277435f,0.036378175020217896f,-0.0028403012547641993f,-0.44647786021232605f,-0.13930337131023407f,-0.17753788828849792f,-0.39465832710266113f,-0.4082062542438507f,-0.767912745475769f,-0.01364572998136282f,-2.31123423576355f,-0.49290531873703003f,-0.8521535396575928f},
-{1.785435676574707f,-0.5293550491333008f,-0.3519742488861084f,0.03246952220797539f,-0.3015052080154419f,-0.9451113939285278f,-0.7369685769081116f,-0.5327492952346802f,-0.3814910650253296f,0.3579089343547821f,-0.48080307245254517f,-0.29607895016670227f,-0.20959392189979553f,0.8405733704566956f,0.019378995522856712f,-1.860490322113037f},
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 };
 
 const float h3[16][16] = {
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-{0.1863725483417511f,0.2275526225566864f,-0.4062952995300293f,-0.45637550950050354f,-0.2698935866355896f,0.5717117786407471f,0.04860696196556091f,0.17769548296928406f,0.06988368183374405f,0.21612535417079926f,-0.32679811120033264f,0.19592127203941345f,-0.09173236042261124f,0.6130602955818176f,-0.04827544093132019f,-0.114141084253788f},
+{0.15459725260734558f,0.8427432179450989f,0.679609477519989f,-0.1838339865207672f,-0.8048290014266968f,1.4805269241333008f,-0.08742031455039978f,0.05785742402076721f,-0.4665476381778717f,0.49658796191215515f,-0.08510879427194595f,-0.309722363948822f,-0.2896781861782074f,-0.9483605027198792f,0.4396055340766907f,0.17858834564685822f},
+{-0.408692330121994f,0.15604840219020844f,-0.11896948516368866f,0.0922636091709137f,-0.1451295167207718f,0.10412421077489853f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.07742909342050552f,0.12809070944786072f,0.03996849060058594f,-0.4220041334629059f,-0.2886850833892822f,-0.3350064158439636f,0.3153386116027832f},
+{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,0.4225318431854248f,-1.3180500268936157f,0.011379898525774479f,1.3076831102371216f,0.03549259528517723f,-0.32875844836235046f,-0.31893211603164673f,-0.9009249806404114f,-0.3250093460083008f,-0.5623511672019958f,-0.42054229974746704f,0.48087817430496216f,2.155684232711792f,0.3168305456638336f,0.050804875791072845f},
+{-0.015470266342163086f,-0.5833328366279602f,0.6117988228797913f,0.3354269862174988f,0.33325907588005066f,-0.5840275883674622f,0.05196094512939453f,-0.008358269929885864f,-0.5232630372047424f,-0.37522807717323303f,0.06831542402505875f,-0.11511552333831787f,0.5202909708023071f,-0.2629256248474121f,-0.06220770627260208f,-0.4585099518299103f},
+{0.1863725483417511f,1.084182858467102f,-1.0181115865707397f,-0.4724007248878479f,-0.33689597249031067f,0.9457219839096069f,0.04860696196556091f,0.17769548296928406f,-0.12625347077846527f,0.3378079831600189f,-0.4645434319972992f,0.19592127203941345f,-0.12818381190299988f,1.0687506198883057f,-0.028336618095636368f,-0.11500971764326096f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.8770678043365479f,-0.05322321876883507f,-0.06896117329597473f,-0.8307928442955017f,0.6735170483589172f,0.0030125975608825684f,0.15066689252853394f,-1.7281666994094849f,-0.06617481261491776f,2.1506714820861816f,-0.009316653944551945f,-0.48932963609695435f,0.6871699094772339f,0.3788313567638397f,-0.1722545176744461f };
-
-const float b1[16] = { 0.29917195439338684f,1.5863289833068848f,-1.7145336866378784f,-0.009053205139935017f,0.6142445206642151f,1.4830039739608765f,-0.058932315558195114f,0.7650035619735718f,0.11918079107999802f,-1.1111444234848022f,0.5792149901390076f,1.1139918565750122f,-0.37065640091896057f,-1.0110033750534058f,-1.087764859199524f,1.8545383214950562f };
-
-const float b2[16] = { 0.4763451814651489f,-0.9527223110198975f,-1.4564176797866821f,-0.686187207698822f,-0.6939148902893066f,-0.07072640210390091f,0.17482882738113403f,-0.42512816190719604f,-1.3534284830093384f,-1.912178635597229f,0.046489447355270386f,0.38299959897994995f,-0.20176979899406433f,0.9037725925445557f,-0.08131035417318344f,0.41722238063812256f };
-
-const float b3[16] = { -1.963319182395935f,-0.3596874177455902f,-0.6447494029998779f,-0.21615983545780182f,-1.0010017156600952f,1.3828965425491333f,-0.45353031158447266f,-0.6562485098838806f,1.1819510459899902f,-0.1262352615594864f,-0.27314963936805725f,-0.239946648478508f,-1.1275979280471802f,2.787477970123291f,-1.1661463975906372f,-0.39268162846565247f };
-
-const float bout[1] = { -0.06226887181401253f };
+const float hout[16] = { 0.45773375034332275f,1.3250397443771362f,-0.4248747229576111f,-0.16762784123420715f,-0.8701521158218384f,-0.003051317995414138f,0.0030125975608825684f,0.15066689252853394f,-0.0765313059091568f,0.410363107919693f,0.11355479061603546f,-0.2710728645324707f,-1.0137888193130493f,0.31872233748435974f,0.46201157569885254f,-0.1275034099817276f };
+
+const float b1[16] = { 0.34279701113700867f,1.5129735469818115f,-1.7145336866378784f,0.27451324462890625f,0.7754346132278442f,1.2727166414260864f,-0.058932315558195114f,0.9473782777786255f,1.5622917413711548f,-1.0377662181854248f,0.5732393264770508f,1.2818049192428589f,-0.37127330899238586f,-1.0851714611053467f,-1.087764859199524f,2.291581153869629f };
+
+const float b2[16] = { -0.1286313831806183f,-1.2512075901031494f,-1.4564176797866821f,-0.8030261397361755f,-0.6939148902893066f,-0.16376319527626038f,0.1311706006526947f,-0.3665841221809387f,-1.20063054561615f,-1.912178635597229f,-0.45517241954803467f,0.411864310503006f,-0.07918518036603928f,1.8873447179794312f,-0.0411815345287323f,0.7242259383201599f };
+
+const float b3[16] = { -1.963319182395935f,-0.7351341247558594f,0.32978370785713196f,-0.1386529505252838f,0.019260885193943977f,-0.056516703218221664f,-0.45353031158447266f,-0.6562485098838806f,-0.015211169607937336f,0.6103503704071045f,-0.34831100702285767f,-0.014407366514205933f,-0.753882646560669f,-1.2588518857955933f,-1.226777195930481f,-0.5482154488563538f };
+
+const float bout[1] = { 0.2236381620168686f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };