Diff: main.cpp

Revision:

155:6430e3f23871

Parent:

154:cec78c7b20db

Child:

156:1f45755a3fc7

--- a/main.cpp	Sun Oct 11 05:55:47 2020 +0000
+++ b/main.cpp	Sun Oct 11 07:12:58 2020 +0000
@@ -1,4 +1,4 @@
-//201011-1
+//201011-2
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,72 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.4161242246627808f,0.992825984954834f,0.12903714179992676f,0.25115668773651123f,-1.7427406311035156f,0.8739340901374817f,-0.17472904920578003f,0.8986881971359253f,-1.996337652206421f,-0.962634265422821f,-0.23230072855949402f,-0.680978000164032f,-0.2679927349090576f,-0.44175010919570923f,-0.2571594715118408f,-0.5734421014785767f},
-{-1.379308819770813f,1.1080384254455566f,-0.3927857577800751f,-0.06697845458984375f,-1.5962985754013062f,0.5118698477745056f,-0.4054011106491089f,0.4064440131187439f,-1.6081712245941162f,-0.4829193949699402f,-0.26916202902793884f,-0.4671778976917267f,0.23165763914585114f,-1.146871566772461f,-0.20967772603034973f,-0.17520777881145477f},
-{-1.1355550289154053f,1.0175108909606934f,0.36391180753707886f,-0.42452186346054077f,-0.9684833884239197f,0.3060639202594757f,0.2872133255004883f,0.1651298701763153f,-1.3523883819580078f,-0.22674787044525146f,-0.34312736988067627f,-0.38029393553733826f,-0.0065175327472388744f,-0.7559125423431396f,0.05590221285820007f,-0.29146403074264526f},
-{-0.46463543176651f,0.32337769865989685f,0.39742106199264526f,0.2328469604253769f,-0.24613499641418457f,-0.7024598121643066f,-0.11584559082984924f,-0.07264973223209381f,-0.5539814829826355f,0.2218199521303177f,0.10067088901996613f,0.18400025367736816f,-0.16854804754257202f,-0.6136618852615356f,-0.2961459457874298f,0.16726955771446228f},
-{1.1648187637329102f,-0.6944136619567871f,-0.0051451027393341064f,0.18585360050201416f,0.9927390217781067f,-1.4784445762634277f,0.1294034719467163f,-1.0221235752105713f,0.6059274077415466f,0.475241094827652f,0.35257402062416077f,0.12681031227111816f,-0.07205254584550858f,0.596339225769043f,-0.3865056037902832f,0.007489339914172888f},
-{3.0825719833374023f,-3.2178292274475098f,0.21773302555084229f,0.22297228872776031f,2.977386474609375f,-3.2748260498046875f,0.16514194011688232f,-1.9934115409851074f,2.3213448524475098f,1.0544772148132324f,-0.2430162876844406f,0.5937198400497437f,-0.26862701773643494f,2.6702699661254883f,-0.4132833778858185f,0.16142210364341736f},
-{0.46075454354286194f,0.27374544739723206f,-0.2501986622810364f,-0.6352483034133911f,-0.19303849339485168f,1.4442561864852905f,0.06014183163642883f,-0.7219006419181824f,0.8586359620094299f,-0.03348755091428757f,0.1528216302394867f,0.2115553319454193f,-0.17632591724395752f,0.9790327548980713f,-0.15618428587913513f,-0.19608163833618164f},
-{-0.582243800163269f,0.7266157269477844f,-0.26619744300842285f,0.010298643261194229f,-0.8755942583084106f,0.7854861617088318f,-0.17925891280174255f,-0.5304920077323914f,0.01913788542151451f,0.0046152896247804165f,0.10697544366121292f,-0.4557430148124695f,0.36736738681793213f,-1.4727756977081299f,0.04303058981895447f,-0.03708870708942413f},
-{-0.13341276347637177f,0.7978390455245972f,0.10248100757598877f,-0.47335085272789f,-0.3980522155761719f,0.7353972792625427f,-0.07246989011764526f,-0.5362434983253479f,-0.03726188465952873f,0.31169697642326355f,-0.2956651747226715f,-0.001988660078495741f,0.22484730184078217f,-0.7079612016677856f,-0.30555272102355957f,-0.004499821458011866f},
-{-0.05304539203643799f,-0.2544385492801666f,0.18462657928466797f,-0.21820516884326935f,0.2486313432455063f,0.6026263236999512f,-0.2990540862083435f,-0.21822579205036163f,0.5066520571708679f,-0.35049867630004883f,-0.006599996238946915f,-0.7163792848587036f,0.3678649365901947f,-0.32229527831077576f,0.3484981060028076f,-0.20593155920505524f},
-{0.465713769197464f,-0.0314447246491909f,0.37182438373565674f,0.17747963964939117f,0.1555200070142746f,0.3744701147079468f,-0.20339298248291016f,-0.026266949251294136f,0.053150542080402374f,0.19730983674526215f,0.3501185178756714f,-0.4578896164894104f,-0.07096643000841141f,0.2618309259414673f,0.26688337326049805f,-0.5354568362236023f},
-{-0.3268105983734131f,-0.5547944903373718f,-0.40320003032684326f,-0.07368944585323334f,0.2612398564815521f,0.3266845941543579f,0.1533789038658142f,0.43531128764152527f,0.2821544110774994f,0.3745996057987213f,-0.41238293051719666f,-0.004811814520508051f,0.1403537392616272f,0.42670777440071106f,0.10493969917297363f,-0.2970612049102783f},
-{-0.11511554569005966f,-0.32295113801956177f,0.19847965240478516f,0.07562864571809769f,0.36586135625839233f,0.6069848537445068f,-0.2404318004846573f,0.30581098794937134f,0.12592767179012299f,-0.09637930244207382f,-0.10718625038862228f,-0.4543705880641937f,0.087755486369133f,0.49440330266952515f,-0.22268100082874298f,-0.5939084887504578f},
-{-0.24353362619876862f,-0.2789507806301117f,0.4127817749977112f,-0.16874001920223236f,-0.22386763989925385f,0.18394902348518372f,-0.32001304626464844f,-0.0963941290974617f,0.10942889750003815f,-0.19161711633205414f,-0.1930801421403885f,-0.4847225546836853f,-0.31692221760749817f,0.5080113410949707f,0.0479682981967926f,-0.09465524554252625f},
-{-0.17512278258800507f,-0.020960146561264992f,0.20282304286956787f,-0.0233761016279459f,0.12035879492759705f,0.37307101488113403f,0.04202890396118164f,0.5567061305046082f,0.2300788313150406f,0.03218941390514374f,-0.2774921655654907f,-0.8006455302238464f,0.09942074865102768f,0.3809644877910614f,0.0668090283870697f,0.0029880795627832413f},
-{-0.35989144444465637f,-0.5169287323951721f,-0.40439701080322266f,-0.1849556714296341f,-0.37137365341186523f,0.2710115611553192f,-0.15568238496780396f,0.15403564274311066f,0.08060277253389359f,0.021582655608654022f,-0.4719354808330536f,-0.45429301261901855f,-0.2751978933811188f,0.6362813115119934f,-0.08245879411697388f,0.08794624358415604f},
-{0.056587278842926025f,-1.0231857299804688f,0.16706281900405884f,-0.004800055641680956f,0.18465039134025574f,-0.7123168110847473f,-0.041414469480514526f,-0.11065896600484848f,0.13636545836925507f,0.3620643615722656f,-0.3516637682914734f,0.034812912344932556f,0.10793129354715347f,1.7956241369247437f,0.29427415132522583f,-0.02242809534072876f},
+   {-0.44977179169654846f,0.3948260247707367f,0.12903714179992676f,1.43081533908844f,-0.6674360632896423f,0.4676388204097748f,-0.17472904920578003f,0.24950629472732544f,-1.3887760639190674f,-0.3396924138069153f,-0.23695291578769684f,0.3578493893146515f,-0.26791033148765564f,0.05157523602247238f,-0.2571594715118408f,-0.9520675539970398f},
+{-0.6527871489524841f,0.5235224366188049f,-0.3927857577800751f,0.5244521498680115f,-0.7207949161529541f,0.31605663895606995f,-0.4054011106491089f,0.17542748153209686f,-0.8479114770889282f,-0.11173147708177567f,-0.27345848083496094f,0.0016560390358790755f,0.2320159673690796f,-0.5408682823181152f,-0.20967772603034973f,-0.3848436176776886f},
+{-0.7848262786865234f,0.5918911695480347f,0.36391180753707886f,-0.6633606553077698f,-0.42500826716423035f,0.43542391061782837f,0.2872133255004883f,0.40289226174354553f,-0.36048445105552673f,-0.15625199675559998f,-0.34707531332969666f,-0.7878936529159546f,-0.005905864294618368f,-0.10855978727340698f,0.05590221285820007f,-0.15942269563674927f},
+{-0.6048231720924377f,0.24274709820747375f,0.39742106199264526f,-0.683943510055542f,-0.16210460662841797f,-0.16492298245429993f,-0.11584559082984924f,0.5424031019210815f,0.4515489637851715f,0.04131592437624931f,0.0970098152756691f,-0.9495071172714233f,-0.16767056286334991f,-0.09117209166288376f,-0.2961459457874298f,0.638372540473938f},
+{0.32700082659721375f,-0.062916100025177f,-0.0051451027393341064f,-0.6812958717346191f,0.38475701212882996f,-0.37981119751930237f,0.1294034719467163f,-0.28653666377067566f,0.8239156603813171f,0.20144544541835785f,0.3492494821548462f,-0.9118066430091858f,-0.07079752534627914f,0.4808136820793152f,-0.3865056037902832f,0.5329561233520508f},
+{1.467099666595459f,-1.6653549671173096f,0.21773302555084229f,0.5316344499588013f,1.5549033880233765f,-1.5732975006103516f,0.16514194011688232f,-1.5386000871658325f,0.7443991303443909f,0.9719954133033752f,-0.24597316980361938f,0.9738253355026245f,-0.2669322192668915f,1.5356324911117554f,-0.4132833778858185f,0.2991514503955841f},
+{0.1617552638053894f,0.04051293805241585f,-0.2501986622810364f,-0.8847792744636536f,-0.43541744351387024f,0.27110418677330017f,0.06014183163642883f,-0.26505136489868164f,0.41542136669158936f,-0.018214726820588112f,0.1484811156988144f,0.8086675405502319f,-0.17443329095840454f,0.3614708185195923f,-0.15618428587913513f,-0.7166149020195007f},
+{-0.21142926812171936f,-0.007899087853729725f,-0.26619744300842285f,-1.337540626525879f,-0.7465472221374512f,0.1029415875673294f,-0.17925891280174255f,-0.08739151805639267f,0.15512296557426453f,-0.09121953696012497f,0.10272832214832306f,-1.0196138620376587f,0.36979132890701294f,-0.0530819445848465f,0.04303058981895447f,0.21607784926891327f},
+{0.1552765816450119f,0.2528732419013977f,0.10248100757598877f,-0.7338165044784546f,-0.3478407561779022f,0.121219702064991f,-0.07246989011764526f,-0.4506078362464905f,-0.5250601768493652f,0.48282405734062195f,-0.29982221126556396f,0.7041445374488831f,0.22746257483959198f,0.32223498821258545f,-0.30555272102355957f,-0.13285504281520844f},
+{-0.05379708111286163f,-0.40932583808898926f,0.18462657928466797f,0.17004311084747314f,0.04318913072347641f,0.20598414540290833f,-0.2990540862083435f,-0.20673829317092896f,-0.46671581268310547f,-0.253440797328949f,-0.010777603834867477f,0.2800823152065277f,0.3705475926399231f,-0.057806868106126785f,0.3484981060028076f,-0.5112036466598511f},
+{0.35640189051628113f,-0.01821262761950493f,0.37182438373565674f,0.8101783394813538f,-0.12120635062456131f,0.05101041495800018f,-0.20339298248291016f,-0.030144330114126205f,-0.9193416833877563f,0.1326439529657364f,0.34590986371040344f,0.2722753882408142f,-0.06831599771976471f,0.056205954402685165f,0.26688337326049805f,-0.8217717409133911f},
+{-0.3712668716907501f,-0.5352869629859924f,-0.40320003032684326f,0.7486341595649719f,0.043638527393341064f,-0.07092852890491486f,0.1533789038658142f,0.3126770853996277f,-0.5642567276954651f,0.2918032705783844f,-0.4166058897972107f,0.6226259469985962f,0.14306935667991638f,0.07773298025131226f,0.10493969917297363f,-0.46420973539352417f},
+{-0.04521137475967407f,-0.32780611515045166f,0.19847965240478516f,0.9109510183334351f,0.2524767518043518f,0.12077868729829788f,-0.2404318004846573f,0.08125817030668259f,-0.4472121000289917f,-0.13385021686553955f,-0.11130273342132568f,0.09301190823316574f,0.09050361812114716f,0.11255117505788803f,-0.22268100082874298f,-0.6180054545402527f},
+{-0.1654268503189087f,-0.2047339826822281f,0.4127817749977112f,0.6474820375442505f,-0.32670924067497253f,-0.2599560022354126f,-0.32001304626464844f,-0.3465961515903473f,-0.27056780457496643f,-0.19953489303588867f,-0.19715598225593567f,0.019440047442913055f,-0.3142251670360565f,0.008192992769181728f,0.0479682981967926f,-0.06206239387392998f},
+{0.09528405219316483f,-0.04510411620140076f,0.20282304286956787f,0.7805988788604736f,0.22455720603466034f,-0.11059501767158508f,0.04202890396118164f,0.2753780782222748f,0.22769597172737122f,0.06734973192214966f,-0.2815541625022888f,-0.3869366943836212f,0.10210978984832764f,-0.05223644897341728f,0.0668090283870697f,0.020562348887324333f},
+{-0.1309649646282196f,-0.3696885108947754f,-0.40439701080322266f,0.604080080986023f,-0.2957131564617157f,0.03649333119392395f,-0.15568238496780396f,-0.022349195554852486f,0.23081500828266144f,0.025447389110922813f,-0.4759751260280609f,-0.21101711690425873f,-0.27259042859077454f,0.0041765933856368065f,-0.08245879411697388f,0.10532893985509872f},
+{-0.11047562211751938f,-0.2355261594057083f,0.16706281900405884f,0.8696852922439575f,-0.09686018526554108f,-0.28514382243156433f,-0.041414469480514526f,-0.08266289532184601f,0.08155593276023865f,0.282812237739563f,-0.35562533140182495f,0.17248709499835968f,0.11064065992832184f,0.4467257857322693f,0.29427415132522583f,-0.04208621755242348f},
 };
 
 const float h2[16][16] = { 
-    {-3.079353094100952f,2.9523932933807373f,-0.06966331601142883f,0.7770768404006958f,-0.21907491981983185f,0.8435763120651245f,-7.13409948348999f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.711879730224609f,-0.160532608628273f,0.12968102097511292f,-4.521303653717041f,-2.8154895305633545f,-3.947878122329712f},
-{1.6069085597991943f,-1.4380403757095337f,0.057057321071624756f,-0.33994343876838684f,-0.35503754019737244f,-2.1135549545288086f,0.9560425281524658f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.6096528172492981f,-0.7201794385910034f,0.18671318888664246f,1.2456543445587158f,-4.5616865158081055f,-2.2581112384796143f},
+    {-1.7421740293502808f,0.1713748276233673f,-0.06966331601142883f,0.24026523530483246f,-0.21907491981983185f,1.5894222259521484f,0.19252325594425201f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.484993577003479f,-0.1661585122346878f,0.04025467112660408f,-1.1808747053146362f,-1.2809491157531738f,1.2215025424957275f},
+{0.857425332069397f,-0.7594625949859619f,0.057057321071624756f,-2.0878679752349854f,-0.35503754019737244f,-0.9062365293502808f,-0.4643614590167999f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.3635025918483734f,-0.617518961429596f,0.2550946772098541f,1.2984843254089355f,-0.9429086446762085f,-1.7327934503555298f},
 {-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},
-{0.0551699735224247f,-0.323109894990921f,-0.2894435524940491f,0.3285018503665924f,0.08946844935417175f,0.26955074071884155f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.23575431108474731f,0.3048303425312042f,-0.5546683669090271f,-0.17502905428409576f,0.2505001127719879f,0.07819174230098724f},
-{-2.0744740962982178f,1.5641807317733765f,-0.25313520431518555f,0.4918033182621002f,0.036378175020217896f,0.9555962681770325f,-3.5064315795898438f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-6.867672920227051f,-0.828600287437439f,-0.04846766218543053f,0.7092092633247375f,-1.1995843648910522f,-2.7397921085357666f},
-{0.7347037196159363f,-0.2847144901752472f,-0.3519742488861084f,-0.0833064466714859f,-0.3015052080154419f,-0.6718182563781738f,-4.230772972106934f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.13677889108657837f,-0.42962178587913513f,-0.35992568731307983f,-0.002143190475180745f,1.3481225967407227f,-6.509532451629639f},
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 };
 
 const float h3[16][16] = { 
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+{0.15459725260734558f,0.6663669347763062f,0.15447743237018585f,-0.1494116336107254f,0.2162313312292099f,0.12406272441148758f,-0.08742031455039978f,-0.08877977728843689f,-0.22312171757221222f,-0.382569283246994f,1.0671898126602173f,-0.4559231698513031f,0.2793375253677368f,-0.43982332944869995f,0.6487590074539185f,0.5641830563545227f},
+{-0.408692330121994f,0.016371486708521843f,-0.015052502043545246f,0.0922636091709137f,-0.05427701026201248f,-0.07732619345188141f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4410666227340698f,-0.1862209588289261f,-0.058887600898742676f,0.26706549525260925f},
+{-0.2991822361946106f,0.30209603905677795f,-0.002302970737218857f,-0.05932474136352539f,0.16256305575370789f,0.1649704873561859f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09261304140090942f,-0.21129697561264038f,0.27628564834594727f,-0.09113387018442154f},
+{-0.2675279378890991f,0.1802166849374771f,0.44620615243911743f,0.6806220412254333f,-0.752817690372467f,-0.5313717722892761f,-0.32875844836235046f,-0.4644158184528351f,-0.5614993572235107f,-0.670883297920227f,-0.1793588548898697f,-0.565235435962677f,0.4421580135822296f,-1.5255053043365479f,0.20377327501773834f,0.45882365107536316f},
+{-0.015470266342163086f,-0.8597638607025146f,-1.495126724243164f,1.5367354154586792f,-0.6179211139678955f,-0.15979065001010895f,0.05196094512939453f,-0.15702523291110992f,-0.7202073335647583f,-0.4808347225189209f,-0.9332324862480164f,-0.26201513409614563f,-0.312499463558197f,0.5990298390388489f,-0.6806394457817078f,-0.10784654319286346f},
+{0.1863725483417511f,0.17898286879062653f,-0.36986491084098816f,-1.683462142944336f,-1.82279372215271f,0.09500758349895477f,0.04860696196556091f,0.03369637951254845f,-0.10048359632492065f,-0.002528432058170438f,-4.221633434295654f,0.044136758893728256f,0.3565516173839569f,-0.03390869125723839f,0.5161722302436829f,0.16866546869277954f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.20891045033931732f,-0.19229856133460999f,-0.24610121548175812f,-0.09112096577882767f,0.12801864743232727f,0.0030125975608825684f,-0.18999916315078735f,-0.09977942705154419f,0.2749788165092468f,0.07929548621177673f,-0.06773480772972107f,0.16691923141479492f,0.12430933117866516f,-0.047560084611177444f,-0.17298723757266998f };
+const float hout[16] = { 0.45773375034332275f,0.13818097114562988f,-0.16457362473011017f,-0.3320411443710327f,0.8004054427146912f,0.2612323462963104f,0.0030125975608825684f,-0.0019201530376449227f,0.052954092621803284f,-0.0872618779540062f,0.5991276502609253f,-0.20054621994495392f,-0.13570716977119446f,0.24903325736522675f,0.3348066508769989f,-0.28674229979515076f };
 
-const float b1[16] = { 0.730632483959198f,1.272716999053955f,-1.7145336866378784f,0.3003542721271515f,1.1872128248214722f,1.3541868925094604f,-0.058932315558195114f,0.4758504033088684f,1.2076046466827393f,-0.7591546773910522f,0.5739685297012329f,1.3422513008117676f,-0.3753078579902649f,-1.472243070602417f,-1.087764859199524f,0.9388694167137146f };
+const float b1[16] = { 0.8083637356758118f,0.980291485786438f,-1.7145336866378784f,-1.1434640884399414f,1.0065597295761108f,0.8613038063049316f,-0.058932315558195114f,0.9640621542930603f,0.9145992994308472f,-1.0353655815124512f,0.569646418094635f,0.6866811513900757f,-0.37313881516456604f,-0.8154466152191162f,-1.087764859199524f,1.2594672441482544f };
 
-const float b2[16] = { 0.3055112361907959f,-0.05030367895960808f,-1.4564176797866821f,-0.7465900182723999f,-0.6939148902893066f,0.9134646058082581f,0.1163691058754921f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.5280559062957764f,0.27654141187667847f,-0.22942231595516205f,1.1037718057632446f,1.5560165643692017f,2.019695281982422f };
+const float b2[16] = { 0.09094645828008652f,-0.33251744508743286f,-1.4564176797866821f,-0.576445996761322f,-0.6939148902893066f,0.1210879310965538f,0.2700756788253784f,-0.38606661558151245f,-1.20063054561615f,-1.912178635597229f,-0.09240054339170456f,0.3205389678478241f,-0.16828812658786774f,1.7857381105422974f,0.1792900264263153f,1.1057268381118774f };
 
-const float b3[16] = { -1.963319182395935f,0.2238638550043106f,0.6590237021446228f,-3.380625009536743f,-0.09588757902383804f,-0.7721090912818909f,-0.45353031158447266f,-0.8271439671516418f,0.8048295378684998f,-0.1682782620191574f,-0.40919509530067444f,-0.3696589171886444f,-0.2763950526714325f,0.6793963313102722f,-1.6541359424591064f,0.38260194659233093f };
+const float b3[16] = { -1.963319182395935f,-0.17125099897384644f,0.344965398311615f,0.003842052537947893f,-0.27836036682128906f,0.6057872176170349f,-0.45353031158447266f,-0.8039575219154358f,0.3511795103549957f,0.23721596598625183f,-0.24481096863746643f,-0.10274472832679749f,-0.5251089930534363f,-0.15920209884643555f,-1.0943777561187744f,-0.23026812076568604f };
 
-const float bout[1] = { -0.1391761153936386f };
+const float bout[1] = { -0.3709811866283417f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;