Diff: main.cpp

Revision:

214:231d27008443

Parent:

212:ec41f1449ef9

Child:

215:9aa288c10f68

--- a/main.cpp	Wed Dec 23 11:22:31 2020 +0000
+++ b/main.cpp	Thu Dec 24 07:47:32 2020 +0000
@@ -1,4 +1,4 @@
-//201223_4
+//201224_1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -199,72 +199,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = {
-    {-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},
+    {-1.5993059873580933f,0.43945008516311646f,0.12903714179992676f,-0.07903441786766052f,-1.8949874639511108f,1.868528962135315f,-0.17472904920578003f,0.4595896601676941f,-0.43561747670173645f,-0.04615814611315727f,-0.23684236407279968f,-1.5037455558776855f,-0.2676747143268585f,-0.6216555237770081f,-0.2571594715118408f,-0.43148016929626465f},
+{-0.8364126086235046f,0.09295114874839783f,-0.3927857577800751f,-0.2727188766002655f,-1.0385441780090332f,0.8977735042572021f,-0.4054011106491089f,0.44987189769744873f,-0.29669591784477234f,0.21184058487415314f,-0.2736198306083679f,-0.8792054653167725f,0.23191256821155548f,-0.8017642498016357f,-0.20967772603034973f,-0.9671813249588013f},
+{-0.8195819854736328f,0.4961153268814087f,0.36391180753707886f,-0.5226353406906128f,-0.6577441692352295f,0.879219651222229f,0.2872133255004883f,0.012673712335526943f,-0.41921380162239075f,0.2234516143798828f,-0.3474748432636261f,-0.5087661147117615f,-0.00637056166306138f,-0.18617482483386993f,0.05590221285820007f,-0.8012481927871704f},
+{-0.6319097280502319f,0.693636953830719f,0.39742106199264526f,0.24299956858158112f,-0.4228553771972656f,0.14725172519683838f,-0.11584559082984924f,-0.532391369342804f,-0.27385860681533813f,0.3663768470287323f,0.09638378769159317f,0.29256293177604675f,-0.16855108737945557f,-0.18148168921470642f,-0.2961459457874298f,0.8464841246604919f},
+{0.7461979985237122f,0.49180251359939575f,-0.0051451027393341064f,0.3333152234554291f,0.5794473886489868f,-0.6461761593818665f,0.1294034719467163f,-0.9835967421531677f,-0.3184085786342621f,0.19254086911678314f,0.34836387634277344f,0.49276548624038696f,-0.07216952741146088f,0.27343443036079407f,-0.3865056037902832f,1.4101264476776123f},
+{3.2343902587890625f,-2.2528445720672607f,0.21773302555084229f,0.5652960538864136f,3.148707151412964f,-3.1420209407806396f,0.16514194011688232f,0.6117509007453918f,-0.4235992729663849f,0.21656234562397003f,-0.24712057411670685f,1.274764895439148f,-0.2688344120979309f,1.1950470209121704f,-0.4132833778858185f,-0.05743548646569252f},
+{-0.6508892774581909f,0.7577239274978638f,-0.2501986622810364f,-0.7059148550033569f,-0.7778740525245667f,0.332052618265152f,0.06014183163642883f,-4.2988786697387695f,0.15086668729782104f,-0.12566223740577698f,0.1482049971818924f,0.7200766205787659f,-0.17589396238327026f,-0.14634668827056885f,-0.15618428587913513f,4.644230365753174f},
+{-0.7103012800216675f,-0.2914102077484131f,-0.26619744300842285f,0.1277981847524643f,-0.9090443849563599f,0.27241456508636475f,-0.17925891280174255f,-2.562246799468994f,-0.2821522653102875f,-0.020468801259994507f,0.1025993749499321f,0.01748223975300789f,0.36828503012657166f,0.025631556287407875f,0.04303058981895447f,1.7367496490478516f},
+{0.9912256598472595f,-1.6260329484939575f,0.10248100757598877f,-0.08735460788011551f,0.6570892930030823f,-0.48230504989624023f,-0.07246989011764526f,0.4992782473564148f,-0.6757456660270691f,0.2720978260040283f,-0.29995009303092957f,0.6254252791404724f,0.22595258057117462f,1.0093032121658325f,-0.30555272102355957f,-3.7701404094696045f},
+{0.14510750770568848f,-1.3076472282409668f,0.18462657928466797f,0.06593218445777893f,0.3851982653141022f,0.006654468830674887f,-0.2990540862083435f,0.5704181790351868f,-0.25464093685150146f,-0.5164272785186768f,-0.010852855630218983f,-0.6049553751945496f,0.36904722452163696f,0.27233806252479553f,0.3484981060028076f,-2.145130157470703f},
+{0.26558718085289f,-0.3769892454147339f,0.37182438373565674f,0.2574600577354431f,-0.0909450501203537f,-0.019266221672296524f,-0.20339298248291016f,0.24088642001152039f,-0.49957215785980225f,-0.008945263922214508f,0.3458111584186554f,-0.824551522731781f,-0.06989830732345581f,0.1074192151427269f,0.26688337326049805f,-0.892365574836731f},
+{-0.2389281839132309f,-0.7106818556785583f,-0.40320003032684326f,-0.1078604906797409f,0.28885725140571594f,-0.4250869154930115f,0.1533789038658142f,0.4056338965892792f,-0.1681622713804245f,0.16031795740127563f,-0.4167521595954895f,-0.43077829480171204f,0.1412402093410492f,0.07915178686380386f,0.10493969917297363f,-0.07082201540470123f},
+{-0.032855018973350525f,-0.42176827788352966f,0.19847965240478516f,-0.0030563066247850657f,0.3660206198692322f,-0.14558638632297516f,-0.2404318004846573f,0.2015019655227661f,-0.1734953671693802f,-0.2558341920375824f,-0.1115814819931984f,-0.7943522334098816f,0.08852691203355789f,0.1106438934803009f,-0.22268100082874298f,-0.17793765664100647f},
+{-0.1136455237865448f,-0.4325786232948303f,0.4127817749977112f,-0.24888765811920166f,-0.214561328291893f,-0.506905734539032f,-0.32001304626464844f,0.043893951922655106f,-0.12302793562412262f,-0.3023318648338318f,-0.19743306934833527f,-0.7400186061859131f,-0.3162824809551239f,0.03880959749221802f,0.0479682981967926f,-0.08764629065990448f},
+{-0.02834106795489788f,-0.06188807263970375f,0.20282304286956787f,-0.12476225942373276f,0.10336235910654068f,-0.12902821600437164f,0.04202890396118164f,0.21133063733577728f,0.32223421335220337f,-0.0071917143650352955f,-0.28180214762687683f,-1.0684038400650024f,0.09998573362827301f,-0.12126590311527252f,0.0668090283870697f,-0.014666617847979069f},
+{-0.005215412471443415f,-0.44697079062461853f,-0.40439701080322266f,-0.2776923179626465f,-0.2094569206237793f,-0.20221160352230072f,-0.15568238496780396f,-0.06442862749099731f,0.19860975444316864f,-0.10510893166065216f,-0.4762294590473175f,-0.7791360020637512f,-0.27474963665008545f,-0.020535530522465706f,-0.08245879411697388f,0.021409081295132637f},
+{-0.11663901060819626f,-0.6498048305511475f,0.16706281900405884f,-0.1073165163397789f,-0.1615286022424698f,-0.41682979464530945f,-0.041414469480514526f,0.18290041387081146f,-0.049576375633478165f,-0.01950126886367798f,-0.355907678604126f,-0.59775710105896f,0.10836437344551086f,0.30783337354660034f,0.29427415132522583f,0.02170461229979992f},
 };
 
 const float h2[16][16] = {
-    {-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},
+    {-3.331204652786255f,2.0385022163391113f,-0.06966331601142883f,1.720950722694397f,-0.21907491981983185f,0.2909059226512909f,-0.20208165049552917f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.7166439294815063f,-1.0790513753890991f,0.12968102097511292f,-4.269101619720459f,-0.05299738049507141f,1.0905885696411133f},
+{0.12682826817035675f,0.15102382004261017f,0.057057321071624756f,3.000434398651123f,-0.35503754019737244f,-1.6939725875854492f,-0.34237051010131836f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.5491377115249634f,-0.9465551376342773f,0.33698758482933044f,1.559537410736084f,0.15979686379432678f,0.18765288591384888f},
 {-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},
-{0.05469902977347374f,-0.25110578536987305f,-0.2894435524940491f,0.5345750451087952f,0.08946844935417175f,0.4574865400791168f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.3205234110355377f,0.3810727894306183f,-0.404754102230072f,-0.2590928077697754f,0.2257760912179947f,0.16342028975486755f},
-{-0.25391754508018494f,0.49998918175697327f,-0.25313520431518555f,0.0678805261850357f,0.036378175020217896f,-0.5025586485862732f,-0.58262699842453f,-0.12088710814714432f,-0.024399548768997192f,-0.39465832710266113f,-1.5418189764022827f,-0.7374540567398071f,0.10077962279319763f,-0.42483294010162354f,-0.49100643396377563f,-0.64886075258255f},
-{0.34239134192466736f,-1.3530895709991455f,-0.3519742488861084f,0.014243300072848797f,-0.3015052080154419f,-1.4964323043823242f,-0.6469179391860962f,-0.04728340730071068f,-0.23047015070915222f,0.3579089343547821f,-2.080329179763794f,-0.22948884963989258f,-0.20959392189979553f,1.1190712451934814f,0.13593792915344238f,-2.15841007232666f},
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 };
 
 const float h3[16][16] = {
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-{-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},
+{-0.2675279378890991f,-0.23570792376995087f,-0.01309112273156643f,-0.14364181458950043f,2.3846588134765625f,0.27895113825798035f,-0.32875844836235046f,-0.3456351161003113f,-0.6392947435379028f,-0.7831358909606934f,-0.5172973275184631f,-0.6358556747436523f,0.8432692885398865f,-0.12324223667383194f,-1.3170307874679565f,0.1775851845741272f},
+{-0.015470266342163086f,0.5634241700172424f,0.4926322102546692f,0.19412125647068024f,-1.3362925052642822f,-1.78391695022583f,0.05196094512939453f,-0.22771868109703064f,-0.42801159620285034f,-0.7967047095298767f,0.13606210052967072f,-0.11511552333831787f,-0.7230550646781921f,-0.9689664244651794f,-0.9805216789245605f,-0.45693734288215637f},
+{0.1863725483417511f,0.9234558343887329f,-0.6948419213294983f,-0.577112078666687f,-0.6471362709999084f,-0.23756158351898193f,0.04860696196556091f,0.10497421026229858f,-0.2648492157459259f,-0.029172860085964203f,-0.3929237127304077f,0.006962045561522245f,1.1317983865737915f,-0.006108184810727835f,1.8698254823684692f,-0.1434863805770874f},
 };
 
-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 };
+const float hout[16] = { 0.45773375034332275f,0.22031302750110626f,-0.22895072400569916f,-0.08917035162448883f,-0.21897420287132263f,0.30220961570739746f,0.0030125975608825684f,-0.08943580090999603f,0.04779195412993431f,0.05501026287674904f,0.13024552166461945f,-0.008789191953837872f,-0.2990529239177704f,-0.14942577481269836f,0.24388819932937622f,-0.16097530722618103f };
+
+const float b1[16] = { 0.3074685037136078f,2.8402159214019775f,-1.7145336866378784f,0.2683033347129822f,0.6521741151809692f,0.9830023646354675f,-0.058932315558195114f,2.291895627975464f,0.9298062920570374f,-0.9408509135246277f,0.5694966912269592f,1.5112576484680176f,-0.3744742274284363f,-1.0548338890075684f,-1.087764859199524f,0.652208149433136f };
+
+const float b2[16] = { 0.607563853263855f,-0.624976396560669f,-1.4564176797866821f,-0.5622974634170532f,-0.6939148902893066f,0.9215688705444336f,-0.0477285161614418f,-0.30969977378845215f,-1.200630784034729f,-1.912178635597229f,0.5984750390052795f,-0.04530715569853783f,-0.07918518036603928f,0.8109871745109558f,0.44521400332450867f,1.101615309715271f };
+
+const float b3[16] = { -1.963319182395935f,0.4337054193019867f,1.1488401889801025f,-0.260453462600708f,-0.34370261430740356f,0.9030342102050781f,-0.45353031158447266f,-0.7651545405387878f,0.2843529284000397f,0.16309885680675507f,-0.24944843351840973f,-0.1642707735300064f,-0.16599836945533752f,-0.14029185473918915f,-0.7783859372138977f,-0.42885565757751465f };
+
+const float bout[1] = { -0.08854273706674576f };
 
 /////////////////////////////////////////////////////////////////////////////////////////////RL
 float input_RL[num_input_RL] = { 0.0f };