Diff: main.cpp

Revision:

148:24859a1574b4

Parent:

146:0b606cae0984

Child:

149:b273ae9cec75

diff -r 0b606cae0984 -r 24859a1574b4 main.cpp
--- a/main.cpp	Thu Oct 08 15:08:05 2020 +0000
+++ b/main.cpp	Fri Oct 09 07:04:54 2020 +0000
@@ -1,4 +1,4 @@
-//201008-7
+//201009-3
 #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] = { 
-   {-1.6627988815307617f,1.689679503440857f,0.12903714179992676f,-0.028425397351384163f,-2.1872446537017822f,1.2403403520584106f,-0.17472904920578003f,-1.886802315711975f,-2.406830072402954f,-0.021496662870049477f,-1.3500123023986816f,-2.2068614959716797f,-0.3112890422344208f,0.12391278892755508f,-0.2571594715118408f,-0.47236964106559753f},
-{-1.381664514541626f,1.2620534896850586f,-0.3927857577800751f,-0.19832521677017212f,-1.8025355339050293f,0.693915843963623f,-0.4054011106491089f,-1.6766685247421265f,-1.7032458782196045f,0.2480389028787613f,-0.42174920439720154f,-1.6672577857971191f,0.1945696771144867f,-0.36673375964164734f,-0.20967772603034973f,-0.111662358045578f},
-{-1.003912091255188f,0.7221937775611877f,0.36391180753707886f,-0.4060608148574829f,-1.0618658065795898f,0.414018452167511f,0.2872133255004883f,-1.120452642440796f,-1.2568409442901611f,0.2706662118434906f,0.5177021026611328f,-1.2214397192001343f,-0.037333592772483826f,0.16135536134243011f,0.05590221285820007f,-0.2672636806964874f},
-{-0.2645265460014343f,-0.25272974371910095f,0.39742106199264526f,0.40521150827407837f,-0.28898918628692627f,-0.6148050427436829f,-0.11584559082984924f,-0.32234206795692444f,-0.35482358932495117f,0.4238269627094269f,1.5489381551742554f,-0.09643156826496124f,-0.19255642592906952f,0.12040631473064423f,-0.2961459457874298f,0.14989489316940308f},
-{1.375768780708313f,-1.2201155424118042f,-0.0051451027393341064f,0.5210340023040771f,0.9836415648460388f,-1.402570366859436f,0.1294034719467163f,0.2551320791244507f,0.8263972997665405f,0.25849586725234985f,1.2432891130447388f,0.8512498140335083f,-0.08928148448467255f,0.3137078881263733f,-0.3865056037902832f,-0.05689297616481781f},
-{3.283848762512207f,-3.381458282470703f,0.21773302555084229f,0.7311626672744751f,3.048537492752075f,-3.2376301288604736f,0.16514194011688232f,1.3209459781646729f,2.5281128883361816f,0.2880972921848297f,-1.4275550842285156f,2.8310680389404297f,-0.2785148322582245f,0.5166174173355103f,-0.4132833778858185f,0.04700315371155739f},
-{-0.2477567195892334f,-0.03391794487833977f,-0.2501986622810364f,-0.7054698467254639f,-0.5440302491188049f,0.8894060850143433f,0.06014183163642883f,1.4146497249603271f,0.7707645297050476f,-0.118942029774189f,7.1783833503723145f,0.28236573934555054f,-0.1867785006761551f,0.1498458832502365f,-0.15618428587913513f,-0.44090068340301514f},
-{-0.41546180844306946f,0.0153290294110775f,-0.26619744300842285f,-0.11270474642515182f,-0.590191662311554f,0.7070063948631287f,-0.17925891280174255f,0.5507276654243469f,0.15978597104549408f,-0.048357926309108734f,4.890599250793457f,-0.21268300712108612f,0.3623357117176056f,-0.04248649254441261f,0.04303058981895447f,-0.165463387966156f},
-{0.18501468002796173f,0.4303830564022064f,0.10248100757598877f,-0.5278356075286865f,0.1187845766544342f,0.5596485137939453f,-0.07246989011764526f,0.09394808858633041f,0.1875840127468109f,0.20981678366661072f,-0.11032117903232574f,0.6727064847946167f,0.22502805292606354f,0.0878206416964531f,-0.30555272102355957f,-0.08113229274749756f},
-{0.15599371492862701f,-0.19558745622634888f,0.18462657928466797f,-0.23348158597946167f,0.6647528409957886f,0.4366305470466614f,-0.2990540862083435f,0.10997026413679123f,0.627809464931488f,-0.585625946521759f,-2.7932279109954834f,0.03036535158753395f,0.37282595038414f,-0.3158237040042877f,0.3484981060028076f,-0.253265380859375f},
-{0.5513425469398499f,0.2421947568655014f,0.37182438373565674f,0.16140490770339966f,0.38079768419265747f,0.21445119380950928f,-0.20339298248291016f,-0.10662516951560974f,0.05280638486146927f,-0.06538926810026169f,-3.1581833362579346f,0.042692992836236954f,-0.06213831529021263f,-0.07145534455776215f,0.26688337326049805f,-0.570157527923584f},
-{-0.3319697678089142f,-0.22095021605491638f,-0.40320003032684326f,-0.11837419867515564f,0.30020999908447266f,0.16003543138504028f,0.1533789038658142f,0.11464016139507294f,0.12973037362098694f,0.12696807086467743f,-3.1749515533447266f,0.2956480383872986f,0.1524103730916977f,-0.07244279235601425f,0.10493969917297363f,-0.3317506015300751f},
-{-0.0734708160161972f,-0.06019791588187218f,0.19847965240478516f,-0.004942567087709904f,0.3596061170101166f,0.33417168259620667f,-0.2404318004846573f,-0.10214386135339737f,-0.054763711988925934f,-0.26340484619140625f,-1.7250633239746094f,-0.24570141732692719f,0.10303905606269836f,-0.028076933696866035f,-0.22268100082874298f,-0.6296404600143433f},
-{-0.11337855458259583f,-0.10399991273880005f,0.4127817749977112f,-0.2784721851348877f,-0.2179596871137619f,-0.20361734926700592f,-0.32001304626464844f,-0.42778241634368896f,-0.05969907343387604f,-0.2839629352092743f,-0.6971715092658997f,-0.24165061116218567f,-0.2983836531639099f,-0.09094668924808502f,0.0479682981967926f,-0.13018736243247986f},
-{0.07571787387132645f,0.0571720190346241f,0.20282304286956787f,-0.15216705203056335f,0.19308774173259735f,-0.07270306348800659f,0.04202890396118164f,0.04910655692219734f,0.12453056126832962f,0.03467751294374466f,-0.24530723690986633f,-0.714690089225769f,0.12137787789106369f,-0.07775271683931351f,0.0668090283870697f,-0.03104713186621666f},
-{-0.07402808219194412f,-0.4083878695964813f,-0.40439701080322266f,-0.30952703952789307f,-0.3302675783634186f,-0.10663765668869019f,-0.15568238496780396f,-0.20262248814105988f,-0.06795552372932434f,-0.04217049479484558f,-0.5476718544960022f,-0.4268353581428528f,-0.24997447431087494f,-0.013295453041791916f,-0.08245879411697388f,0.051119960844516754f},
-{0.07196523249149323f,-0.44367191195487976f,0.16706281900405884f,-0.10607284307479858f,-0.12597426772117615f,-0.6621214151382446f,-0.041414469480514526f,-0.1590031385421753f,-0.42586904764175415f,0.06347038596868515f,-1.0352861881256104f,0.012130762450397015f,0.13589197397232056f,0.35345810651779175f,0.29427415132522583f,-0.07089969515800476f},
+   {-0.5391774773597717f,0.39459413290023804f,0.12903714179992676f,0.23971417546272278f,-1.7553921937942505f,0.23461808264255524f,-0.17472904920578003f,0.07980377972126007f,-1.7674821615219116f,-0.09692216664552689f,-1.4786144495010376f,1.7235578298568726f,-0.29386940598487854f,0.12840086221694946f,-0.2571594715118408f,-0.24729375541210175f},
+{-1.0028589963912964f,0.8362699747085571f,-0.3927857577800751f,0.0013307844055816531f,-1.965639591217041f,0.4206589162349701f,-0.4054011106491089f,0.22024913132190704f,-1.7508646249771118f,0.16952082514762878f,-1.1074979305267334f,1.4081093072891235f,0.21232673525810242f,-0.6558182239532471f,-0.20967772603034973f,-0.5124022960662842f},
+{-1.474237084388733f,1.2080758810043335f,0.36391180753707886f,-0.27925029397010803f,-1.9039968252182007f,0.8235093951225281f,0.2872133255004883f,0.9463601112365723f,-1.8797903060913086f,0.18923968076705933f,0.001633316744118929f,-0.23820088803768158f,-0.019061915576457977f,-0.6907675266265869f,0.05590221285820007f,-1.611603856086731f},
+{-1.2989332675933838f,0.8199542164802551f,0.39742106199264526f,0.46377190947532654f,-1.5591282844543457f,0.14736711978912354f,-0.11584559082984924f,1.6680612564086914f,-1.0742555856704712f,0.3393990397453308f,1.8557710647583008f,-1.9931303262710571f,-0.17380963265895844f,-1.0808627605438232f,-0.2961459457874298f,-1.810049057006836f},
+{0.45903661847114563f,-0.26011842489242554f,-0.0051451027393341064f,0.5292483568191528f,-0.18269433081150055f,-0.8014674186706543f,0.1294034719467163f,0.5932726263999939f,0.43838661909103394f,0.17132964730262756f,2.395914077758789f,-2.7526845932006836f,-0.06959218531847f,-0.351777583360672f,-0.3865056037902832f,-1.196404218673706f},
+{4.024477481842041f,-3.9894824028015137f,0.21773302555084229f,0.7237673401832581f,3.1660914421081543f,-3.8389313220977783f,0.16514194011688232f,-3.125580072402954f,3.001132011413574f,0.19894488155841827f,-1.220471978187561f,2.2527618408203125f,-0.2577652335166931f,2.5225419998168945f,-0.4132833778858185f,2.8007524013519287f},
+{-0.011310599744319916f,0.24946507811546326f,-0.2501986622810364f,-0.8816968202590942f,-0.3686523735523224f,0.4924907982349396f,0.06014183163642883f,-1.6479686498641968f,1.9060884714126587f,-0.0017323290230706334f,3.273784875869751f,-5.7665486335754395f,-0.17935927212238312f,0.05504779517650604f,-0.15618428587913513f,0.05808372423052788f},
+{-0.22189822793006897f,-0.015988502651453018f,-0.26619744300842285f,-0.2079189419746399f,-0.3074694871902466f,0.4015502333641052f,-0.17925891280174255f,-2.8648953437805176f,0.23751555383205414f,0.06484299153089523f,0.26807937026023865f,-0.8434060215950012f,0.3709881901741028f,2.499021530151367f,0.04303058981895447f,1.0254873037338257f},
+{0.2375566065311432f,0.3459382653236389f,0.10248100757598877f,-0.576600968837738f,0.16235916316509247f,0.504014253616333f,-0.07246989011764526f,-2.952346086502075f,-0.2120700627565384f,0.3160681128501892f,-2.3957817554473877f,3.1422948837280273f,0.23466862738132477f,3.780216932296753f,-0.30555272102355957f,1.3122657537460327f},
+{-0.24045763909816742f,0.1584128737449646f,0.18462657928466797f,-0.31623831391334534f,0.19137167930603027f,0.8520259857177734f,-0.2990540862083435f,-0.9546290040016174f,-0.06860948354005814f,-0.4896220564842224f,-1.8186185359954834f,1.6129069328308105f,0.3821505606174469f,1.3353029489517212f,0.3484981060028076f,0.41309139132499695f},
+{0.3433090150356293f,0.34731683135032654f,0.37182438373565674f,0.03839244693517685f,0.38068631291389465f,0.43302610516548157f,-0.20339298248291016f,0.06754434108734131f,-0.07404784858226776f,0.02042931318283081f,-0.14464162290096283f,0.28650814294815063f,-0.05367383733391762f,-0.15681298077106476f,0.26688337326049805f,-0.2110361009836197f},
+{-0.2724418044090271f,-0.4098975658416748f,-0.40320003032684326f,-0.24393324553966522f,0.8852542638778687f,0.1408403366804123f,0.1533789038658142f,0.45686399936676025f,0.4720439910888672f,0.2046501338481903f,-0.3275690972805023f,0.4410105347633362f,0.1602371335029602f,-0.4212232232093811f,0.10493969917297363f,0.026777684688568115f},
+{0.0250006802380085f,-0.22699081897735596f,0.19847965240478516f,-0.11016523838043213f,1.081355333328247f,0.36846381425857544f,-0.2404318004846573f,0.3834404945373535f,0.2804113030433655f,-0.1921449899673462f,-0.22452819347381592f,0.06680287420749664f,0.11048870533704758f,-0.39280158281326294f,-0.22268100082874298f,-0.45355942845344543f},
+{-0.1391890048980713f,-0.13208922743797302f,0.4127817749977112f,-0.35954952239990234f,0.34895798563957214f,-0.03233657404780388f,-0.32001304626464844f,0.13076581060886383f,0.011575589887797832f,-0.21877500414848328f,-0.6484295129776001f,0.10535576194524765f,-0.2911722660064697f,-0.6765049695968628f,0.0479682981967926f,-0.1850130707025528f},
+{0.04523872956633568f,-0.09568798542022705f,0.20282304286956787f,-0.21763867139816284f,0.7222434878349304f,-0.01668154075741768f,0.04202890396118164f,0.9265015721321106f,0.007596075534820557f,0.09358415007591248f,-0.8935897350311279f,0.03570370003581047f,0.12766724824905396f,-0.5751539468765259f,0.0668090283870697f,-0.26897409558296204f},
+{-0.22048141062259674f,-0.5126572251319885f,-0.40439701080322266f,-0.36166179180145264f,-0.06317420303821564f,-0.026087496429681778f,-0.15568238496780396f,0.9305192232131958f,-0.4274589419364929f,0.00926499255001545f,-1.4270097017288208f,0.14081589877605438f,-0.2446974515914917f,-0.6733102202415466f,-0.08245879411697388f,-0.5800500512123108f},
+{0.0003174336743541062f,-0.7243605256080627f,0.16706281900405884f,-0.15288002789020538f,-0.0962081328034401f,-0.7339073419570923f,-0.041414469480514526f,1.0410723686218262f,-0.8618423938751221f,0.1065572202205658f,-2.380552053451538f,0.4902736246585846f,0.1410515010356903f,-0.4971206784248352f,0.29427415132522583f,-0.9882739782333374f},
 };
 
 const float h2[16][16] = { 
-    {-0.9987452030181885f,3.3935937881469727f,-0.06966331601142883f,0.32826343178749084f,-0.21907491981983185f,1.3458980321884155f,-0.18878600001335144f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,3.012113094329834f,-0.6179535984992981f,-0.010508446022868156f,-2.135960340499878f,-0.3565736413002014f,0.37050101161003113f},
-{0.11482957750558853f,-2.5367531776428223f,0.057057321071624756f,-0.3046393096446991f,-0.35503754019737244f,-2.6862707138061523f,-0.6087021827697754f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.805957794189453f,-0.9253348708152771f,0.19726914167404175f,-0.7390051484107971f,-0.43896082043647766f,-5.975200176239014f},
+    {-4.60468864440918f,2.131378650665283f,-0.06966331601142883f,0.10892010480165482f,-0.21907491981983185f,2.6552937030792236f,-0.12888698279857635f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.0013025148073211312f,-0.5862739682197571f,-0.025005504488945007f,-2.328867197036743f,1.115570306777954f,-0.2078929990530014f},
+{2.0235300064086914f,0.8596984148025513f,0.057057321071624756f,-0.1866421103477478f,-0.35503754019737244f,-2.5662477016448975f,-0.6065406203269958f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,0.06960289925336838f,-0.9175828695297241f,0.18136079609394073f,0.7756555080413818f,-7.386626243591309f,-7.464320182800293f},
 {-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},
-{-0.09517102688550949f,-0.4040478467941284f,-0.2894435524940491f,0.31236496567726135f,0.08946844935417175f,0.2939286231994629f,-0.37694162130355835f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.9005283117294312f,0.22425100207328796f,-0.5604109168052673f,-0.23977504670619965f,0.20297080278396606f,0.13403202593326569f},
-{-0.6756513714790344f,1.7751318216323853f,-0.25313520431518555f,0.38244307041168213f,0.036378175020217896f,0.33037832379341125f,-0.6265403628349304f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,0.24658918380737305f,-0.991762638092041f,-0.03835582733154297f,-1.3179413080215454f,-0.5390550494194031f,-3.302323579788208f},
-{0.3466867208480835f,-0.6372466683387756f,-0.3519742488861084f,0.0721508041024208f,-0.3015052080154419f,-1.0549768209457397f,-0.5512104034423828f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-3.1079416275024414f,-0.9416651725769043f,-0.3521951138973236f,0.6223772168159485f,0.2127152532339096f,-2.8317995071411133f},
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 };
 
 const float h3[16][16] = { 
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+{-0.408692330121994f,-0.1774040162563324f,-0.07135714590549469f,0.0922636091709137f,0.02450498938560486f,0.5377879738807678f,0.03285527229309082f,0.5418570041656494f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.3288362920284271f,0.20047692954540253f,-0.1884039342403412f,0.10154416412115097f},
+{-0.2991822361946106f,0.3557475805282593f,-0.07273796200752258f,-0.05932474136352539f,0.09151226282119751f,0.22994504868984222f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.016865311190485954f,-0.1392846703529358f,0.36124154925346375f,-0.16869547963142395f},
+{-0.2675279378890991f,0.026982862502336502f,-1.4290748834609985f,0.014674745500087738f,1.156470775604248f,-0.5175734162330627f,-0.34526437520980835f,-2.1798133850097656f,-0.8058183789253235f,-0.7355859875679016f,-0.6557437181472778f,-0.6299757957458496f,1.993207335472107f,-2.6451828479766846f,0.10933384299278259f,0.5743248462677002f},
+{-0.015470266342163086f,1.331382155418396f,-2.041633367538452f,0.1916993260383606f,1.8626195192337036f,1.2849215269088745f,-0.029416298493742943f,-1.4763147830963135f,-0.758314847946167f,-0.38441595435142517f,0.023597268387675285f,-0.16400480270385742f,1.8707743883132935f,-1.219574213027954f,0.27632343769073486f,0.07438213378190994f},
+{0.1863725483417511f,1.258126139640808f,-2.8785998821258545f,-0.679178774356842f,-1.9536710977554321f,1.0000137090682983f,0.04860696196556091f,-0.4158812165260315f,-0.14610783755779266f,0.09710219502449036f,-0.8095475435256958f,-0.00298866699449718f,1.294432282447815f,-0.8672913312911987f,-0.03188243880867958f,0.7572516202926636f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.16584675014019012f,-0.48410648107528687f,-0.29569676518440247f,-0.22813785076141357f,-0.09326917678117752f,0.0030125975608825684f,0.15066689252853394f,0.57107013463974f,0.20166325569152832f,-0.1152174323797226f,-0.14428594708442688f,-0.05426580458879471f,-0.049925144761800766f,0.026914965361356735f,-0.7076529860496521f };
+const float hout[16] = { 0.45773375034332275f,0.25683534145355225f,0.10269259661436081f,-0.09886153042316437f,-0.14727230370044708f,0.14305056631565094f,-0.040428634732961655f,-0.25981852412223816f,0.17771703004837036f,0.1439041644334793f,-0.02130241133272648f,0.11746034026145935f,-0.320387601852417f,0.23103196918964386f,0.7381985783576965f,-0.22942443192005157f };
 
-const float b1[16] = { 0.07012127339839935f,1.584446668624878f,-1.7145336866378784f,-0.048737164586782455f,1.2184536457061768f,1.647783875465393f,-0.058932315558195114f,2.4932973384857178f,1.3932501077651978f,-1.0123265981674194f,1.1282522678375244f,1.8440312147140503f,-0.3751928508281708f,-0.8866792321205139f,-1.087764859199524f,0.8239107131958008f };
+const float b1[16] = { 0.34920957684516907f,1.5879549980163574f,-1.7145336866378784f,-0.2492268681526184f,2.44551682472229f,1.714568018913269f,-0.058932315558195114f,2.2690889835357666f,2.216073751449585f,-0.8915195465087891f,3.6109790802001953f,0.49270865321159363f,-0.3803519308567047f,-2.3657329082489014f,-1.087764859199524f,2.2678914070129395f };
 
-const float b2[16] = { -0.26858481764793396f,-0.9540778398513794f,-1.4564176797866821f,-0.6713765263557434f,-0.6939148902893066f,-0.31448236107826233f,-0.05448133125901222f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.01897319033741951f,0.06015050411224365f,-0.21795499324798584f,1.2159000635147095f,-0.09618169069290161f,1.9159427881240845f };
+const float b2[16] = { 0.5859363675117493f,-2.0544838905334473f,-1.4564176797866821f,-0.7034727334976196f,-0.6939148902893066f,-0.12358913570642471f,0.08653870224952698f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.18094295263290405f,0.23272359371185303f,-0.2365279495716095f,2.786655902862549f,0.8425362706184387f,1.1348179578781128f };
 
-const float b3[16] = { -1.963319182395935f,0.9334189891815186f,1.2832523584365845f,-0.24647945165634155f,-0.18659168481826782f,-0.22085510194301605f,-0.45353031158447266f,-0.6562485098838806f,1.610432505607605f,-0.09482147544622421f,-0.5352585315704346f,-0.16963209211826324f,-0.8799285888671875f,-0.2767029404640198f,-1.5108531713485718f,-0.6651496887207031f };
+const float b3[16] = { -1.963319182395935f,0.2189684808254242f,-0.36385029554367065f,-0.26613104343414307f,-1.088571548461914f,0.1981901228427887f,-0.6529271006584167f,-1.2547568082809448f,0.07332992553710938f,-0.10717277973890305f,-0.4783993661403656f,-0.3101188540458679f,-2.357795238494873f,-2.0888407230377197f,-1.6876097917556763f,-0.2026701420545578f };
 
-const float bout[1] = { -0.1899082362651825f };
+const float bout[1] = { -0.10198569297790527f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;