Diff: main.cpp

Revision:

95:60f380adfdd0

Parent:

94:44ae3b5a3bff

Child:

96:71a161975a4e

--- a/main.cpp	Thu Aug 06 09:33:32 2020 +0000
+++ b/main.cpp	Fri Aug 07 05:26:36 2020 +0000
@@ -1,4 +1,4 @@
-//200806-2
+//200807-1
 #include "mbed.h"
 #include "FastPWM.h"
 #include "INIT_HW.h"
@@ -193,69 +193,72 @@
 float input_NN[num_input] = { 0.0f };
 
 const float h1[num_input][16] = { 
-   {-1.963043212890625f,0.015004287473857403f,0.13533532619476318f,1.4252461194992065f,-2.064927577972412f,-0.04286407679319382f,-0.18325737118721008f,0.281577467918396f,-1.9616422653198242f,-1.49474036693573f,0.7598258256912231f,-2.0010058879852295f,-0.2661750614643097f,-1.3525208234786987f,-0.26971113681793213f,0.9658187031745911f},
-{-0.8787243962287903f,0.1859530359506607f,-0.41195717453956604f,-0.20809273421764374f,-0.674298882484436f,-0.06167679280042648f,-0.425188273191452f,-0.20522037148475647f,-0.47495657205581665f,0.11714152246713638f,-0.06905350834131241f,-0.6974107027053833f,0.2579839527606964f,-0.5297649502754211f,-0.2199118435382843f,0.1454169899225235f},
-{0.932813823223114f,0.29505985975265503f,0.3816739320755005f,-2.4131741523742676f,1.5926390886306763f,0.24176615476608276f,0.30123186111450195f,-0.39279159903526306f,1.2621344327926636f,2.086148500442505f,-1.6665315628051758f,1.0276610851287842f,0.00829596072435379f,1.9490678310394287f,0.05863076448440552f,-1.8875789642333984f},
-{-0.031219489872455597f,-0.2923046350479126f,0.41681867837905884f,0.34140005707740784f,0.14258523285388947f,-0.38576745986938477f,-0.12149989604949951f,0.30871331691741943f,0.1575150489807129f,0.2960202097892761f,0.8576183319091797f,0.07271303236484528f,-0.16665874421596527f,0.07571949064731598f,-0.31060048937797546f,0.2250320166349411f},
-{0.26971566677093506f,-0.03084159642457962f,-0.005396246910095215f,0.7376466393470764f,-0.14348290860652924f,-0.15112927556037903f,0.13571947813034058f,-0.19012069702148438f,0.07547261565923691f,0.007039226591587067f,0.4160690903663635f,0.00960183423012495f,-0.0654422715306282f,0.397073358297348f,-0.40537047386169434f,-0.10345643758773804f},
-{0.5341939330101013f,-0.6167353987693787f,0.22836029529571533f,0.537230372428894f,0.35416141152381897f,-0.4741230309009552f,0.17320233583450317f,-0.5147087574005127f,0.324430912733078f,0.2835429310798645f,-0.3897288143634796f,0.541561484336853f,-0.2716478705406189f,0.8329599499702454f,-0.4334552586078644f,-0.19467635452747345f},
-{-0.08570978790521622f,-0.2931893765926361f,-0.26241058111190796f,-0.183466836810112f,-0.411259263753891f,0.03150376304984093f,0.06307727098464966f,-0.5256645083427429f,0.5538625717163086f,-0.04620828852057457f,0.7182741165161133f,0.37059661746025085f,-0.17420996725559235f,0.6881060600280762f,-0.1638074517250061f,0.3303564786911011f},
-{0.08658113330602646f,-0.5449877381324768f,-0.2791902422904968f,0.1466515064239502f,-0.2339358627796173f,-0.3444323241710663f,-0.18800833821296692f,-0.5271945595741272f,0.3837786614894867f,0.14816084504127502f,0.697123646736145f,0.016901837661862373f,0.39644840359687805f,0.3650294542312622f,0.04513084888458252f,0.34459394216537476f},
-{0.11592582613229752f,0.02167455293238163f,0.10748296976089478f,-0.09244681149721146f,-0.4129270613193512f,-0.20819306373596191f,-0.07600703835487366f,-0.5996463894844055f,-0.27206647396087646f,0.30653059482574463f,-0.08816258609294891f,0.2984832525253296f,0.24698613584041595f,0.00610219594091177f,-0.32046639919281006f,0.4325462281703949f},
-{0.21472881734371185f,-0.528688371181488f,0.19363796710968018f,-0.110680490732193f,0.0816967636346817f,0.024434411898255348f,-0.31365057826042175f,-0.3086670935153961f,0.15675820410251617f,-0.035505954176187515f,-0.7795049548149109f,-0.1942906379699707f,0.39697206020355225f,-0.16612550616264343f,0.36550790071487427f,-0.22927340865135193f},
-{0.5017411708831787f,-0.1687530279159546f,0.3899726867675781f,0.18212741613388062f,0.05187850072979927f,-0.19427010416984558f,-0.21332034468650818f,-0.1761755794286728f,-0.27655401825904846f,0.43001410365104675f,0.08275233954191208f,-0.16393283009529114f,-0.06339302659034729f,-0.28966739773750305f,0.279909610748291f,-0.34861424565315247f},
-{-0.4059267044067383f,-0.7185561060905457f,-0.42287975549697876f,0.12207406759262085f,0.09988117218017578f,-0.37759798765182495f,0.1608651876449585f,0.29438477754592896f,-0.18027105927467346f,0.34256309270858765f,-0.30703526735305786f,-0.08198640495538712f,0.15805940330028534f,-0.33154505491256714f,0.11006170511245728f,-0.07437236607074738f},
-{0.20905812084674835f,-0.517874002456665f,0.2081671953201294f,0.26199454069137573f,0.49750348925590515f,-0.1549171358346939f,-0.2521669864654541f,0.04194226488471031f,-0.15982773900032043f,0.061027977615594864f,-0.41953322291374207f,-0.37924763560295105f,0.10275253653526306f,-0.056523796170949936f,-0.2335498034954071f,-0.7443153858184814f},
-{0.11417270451784134f,-0.3810805678367615f,0.4329291582107544f,-0.011520566418766975f,-0.017149589955806732f,-0.5052298903465271f,-0.3356325030326843f,-0.511318027973175f,-0.13828693330287933f,0.15965227782726288f,-0.8224735856056213f,-0.2821078598499298f,-0.32179391384124756f,-0.3591322600841522f,0.050309598445892334f,-0.3893372416496277f},
+   {-2.8398470878601074f,0.6193283796310425f,0.12903714179992676f,0.5167921781539917f,-2.9680557250976562f,1.2951633930206299f,-0.17472904920578003f,0.4641677439212799f,-2.412757396697998f,-0.3652467429637909f,-0.2333867847919464f,-2.022353172302246f,-0.26348453760147095f,-0.7644635438919067f,-0.2571594715118408f,-2.0745327472686768f},
+{-2.067868232727051f,0.1564812958240509f,-0.3927857577800751f,0.1317148059606552f,-2.017406702041626f,0.4895585775375366f,-0.4054011106491089f,-0.1517474502325058f,-1.380297064781189f,0.21619710326194763f,-0.2699335813522339f,-0.9855594038963318f,0.23649367690086365f,-0.7913738489151001f,-0.20967772603034973f,-1.2367783784866333f},
+{-1.810051679611206f,0.23925012350082397f,0.36391180753707886f,-0.28798815608024597f,-1.3201149702072144f,0.6065874099731445f,0.2872133255004883f,0.10069674253463745f,-1.121034860610962f,0.03665628656744957f,-0.34347283840179443f,-0.9276648759841919f,-0.0013653822243213654f,-0.3784019947052002f,0.05590221285820007f,-1.5249348878860474f},
+{-1.4985265731811523f,0.3095228374004364f,0.39742106199264526f,0.30592191219329834f,-0.9633183479309082f,0.3891645073890686f,-0.11584559082984924f,0.5953580737113953f,-0.43430089950561523f,-0.2335168570280075f,0.10071082413196564f,-1.4091436862945557f,-0.16311706602573395f,-0.7475653290748596f,-0.2961459457874298f,-1.5017070770263672f},
+{0.1639259159564972f,-0.19264478981494904f,-0.0051451027393341064f,0.18278539180755615f,0.29258835315704346f,-0.16537047922611237f,0.1294034719467163f,-0.48302626609802246f,1.0344970226287842f,0.003881702898070216f,0.35295185446739197f,-1.817507028579712f,-0.06637570261955261f,0.00020343283540569246f,-0.3865056037902832f,-1.2658499479293823f},
+{3.5226595401763916f,-3.8910415172576904f,0.21773302555084229f,0.12742145359516144f,3.8099546432495117f,-3.773838996887207f,0.16514194011688232f,-3.712245464324951f,4.016517639160156f,2.522937774658203f,-0.2422771006822586f,1.597900629043579f,-0.262627512216568f,2.9437081813812256f,-0.4132833778858185f,1.6044585704803467f},
+{0.5298309326171875f,0.645086944103241f,-0.2501986622810364f,-0.6320685744285583f,-0.21611358225345612f,0.5605753064155579f,0.06014183163642883f,0.15844355523586273f,1.091471552848816f,0.3617567718029022f,0.1512620896100998f,0.027080470696091652f,-0.16920821368694305f,0.38405799865722656f,-0.15618428587913513f,1.549833059310913f},
+{1.752773642539978f,0.24747805297374725f,-0.26619744300842285f,-0.22543148696422577f,0.8222247362136841f,-0.032656822353601456f,-0.17925891280174255f,0.3822891414165497f,0.9663873314857483f,-0.29047030210494995f,0.10626212507486343f,0.480464905500412f,0.37580054998397827f,-0.3655668795108795f,0.04303058981895447f,2.2091176509857178f},
+{1.5919779539108276f,0.23339682817459106f,0.10248100757598877f,-0.6890998482704163f,0.7124201059341431f,-0.1378057301044464f,-0.07246989011764526f,-0.1262863576412201f,0.12226836383342743f,0.7040022015571594f,-0.2960217297077179f,1.793251633644104f,0.2337968796491623f,0.3650861084461212f,-0.30555272102355957f,1.9488884210586548f},
+{0.7929409146308899f,-0.19633033871650696f,0.18462657928466797f,-0.41113781929016113f,0.49624335765838623f,0.27704986929893494f,-0.2990540862083435f,0.20519299805164337f,0.26225489377975464f,-0.0009923784527927637f,-0.006844776216894388f,-0.026139043271541595f,0.3769318759441376f,0.23515281081199646f,0.3484981060028076f,1.2790707349777222f},
+{1.0052663087844849f,0.21766312420368195f,0.37182438373565674f,0.03326691314578056f,0.10429742187261581f,0.12684360146522522f,-0.20339298248291016f,0.17294499278068542f,0.07091208547353745f,0.49463531374931335f,0.35001638531684875f,-1.0357372760772705f,-0.06227460876107216f,0.5203415751457214f,0.26688337326049805f,1.0582129955291748f},
+{-0.009967411868274212f,-0.20030762255191803f,-0.40320003032684326f,-0.17532263696193695f,0.07007589191198349f,0.0698668584227562f,0.1533789038658142f,0.5579044818878174f,0.05135143920779228f,0.5766482949256897f,-0.412638396024704f,-0.258128821849823f,0.14867377281188965f,0.5353510975837708f,0.10493969917297363f,1.0005464553833008f},
+{-0.20331288874149323f,-0.21851132810115814f,0.19847965240478516f,0.00805686879903078f,0.007025514263659716f,0.05012793838977814f,-0.2404318004846573f,0.1803596019744873f,-0.9538044929504395f,0.49284112453460693f,-0.10772302746772766f,1.2581406831741333f,0.09621597081422806f,0.9510980844497681f,-0.22268100082874298f,0.22397258877754211f},
+{-0.6508997082710266f,-0.005330599378794432f,0.4127817749977112f,-0.18556444346904755f,-0.6933119893074036f,-0.3204803168773651f,-0.32001304626464844f,-0.1965908706188202f,-1.1774673461914062f,0.3878006637096405f,-0.1934521198272705f,1.7537204027175903f,-0.3080941140651703f,0.6027981638908386f,0.0479682981967926f,-0.4101039469242096f},
+{-0.30106139183044434f,0.007497094571590424f,0.20282304286956787f,0.010503530502319336f,0.032386597245931625f,-0.3577798306941986f,0.04202890396118164f,0.21007822453975677f,-0.5572863817214966f,0.7413191795349121f,-0.2778761684894562f,1.2456766366958618f,0.10794247686862946f,0.47872665524482727f,0.0668090283870697f,-0.8287897109985352f},
+{-0.2796498239040375f,-0.3129813075065613f,-0.40439701080322266f,-0.1320924609899521f,-0.15521378815174103f,-0.3492761254310608f,-0.15568238496780396f,-0.112495556473732f,-0.6156744956970215f,0.48157981038093567f,-0.47240906953811646f,1.4889256954193115f,-0.2668617367744446f,0.2596912980079651f,-0.08245879411697388f,-1.1128588914871216f},
+{-0.37335193157196045f,-0.12954241037368774f,0.16706281900405884f,0.042002953588962555f,0.029660088941454887f,-0.728316605091095f,-0.041414469480514526f,-0.08492930978536606f,-1.3732367753982544f,0.5850858688354492f,-0.3521037995815277f,2.2308602333068848f,0.1164640337228775f,0.3607781231403351f,0.29427415132522583f,-2.0208303928375244f},
 };
 
 const float h2[16][16] = { 
-    {-1.9509391784667969f,0.14084668457508087f,-0.06966331601142883f,0.14623679220676422f,-0.21907491981983185f,-0.10117511451244354f,0.027126450091600418f,-0.02197800762951374f,-0.43008196353912354f,-0.1415480375289917f,-0.2979885935783386f,-0.39775967597961426f,-2.7734076976776123f,-0.7008452415466309f,-0.27143293619155884f,-0.608835756778717f},
-{0.10992950946092606f,-0.20079074800014496f,0.057057321071624756f,0.09341119974851608f,-0.35503754019737244f,-0.25873130559921265f,-0.37153491377830505f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.32728350162506104f,-0.4258429706096649f,0.27868348360061646f,0.08470615744590759f,-0.3198310434818268f,-0.3511825203895569f},
+    {-2.6471354961395264f,-2.679286479949951f,-0.21649284660816193f,-1.7232879400253296f,-0.21907491981983185f,-2.729369640350342f,-0.284547358751297f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.236062049865723f,-4.173418998718262f,-0.23334987461566925f,-0.9168315529823303f,3.094501256942749f,0.9049396514892578f},
+{3.518364667892456f,-4.636336803436279f,-0.0792427808046341f,-2.1648776531219482f,-0.35503754019737244f,-1.789704442024231f,-0.6473678350448608f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.1890182495117188f,-1.316067099571228f,0.05698845908045769f,2.936434745788574f,1.0156790018081665f,-2.7771856784820557f},
 {-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},
-{-1.4898258447647095f,-1.9549109935760498f,-0.2894435524940491f,-0.5024607181549072f,0.08946844935417175f,-1.782486081123352f,-0.4730691909790039f,0.2983686029911041f,0.26211628317832947f,0.2953031361103058f,-1.5245325565338135f,0.1871659755706787f,-1.371577262878418f,1.0606229305267334f,0.6527656316757202f,0.821809709072113f},
-{-2.8143932819366455f,1.1819502115249634f,-0.25313520431518555f,0.23312035202980042f,0.036378175020217896f,-0.7305564284324646f,-0.5931391716003418f,-0.1986749768257141f,-0.024399548768997192f,-0.39465832710266113f,-5.651285648345947f,-0.8679283261299133f,-2.4645915031433105f,-0.7347169518470764f,-0.6904176473617554f,-1.1736375093460083f},
-{0.24798628687858582f,0.228379026055336f,-0.3519742488861084f,0.42436113953590393f,-0.3015052080154419f,-0.16997049748897552f,-0.4715564250946045f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.3003051280975342f,-0.17390193045139313f,-0.0028409818187355995f,0.2943539619445801f,0.12353334575891495f,-0.4951039254665375f},
+{0.035982225090265274f,-0.3313581943511963f,-0.2894435524940491f,0.3545926511287689f,0.08946844935417175f,0.2831231355667114f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2838204801082611f,0.28033801913261414f,-0.4285939037799835f,-0.15804921090602875f,0.24909892678260803f,-0.06571611762046814f},
+{-1.3361948728561401f,-0.9798497557640076f,-0.39768946170806885f,-0.4999014437198639f,0.036378175020217896f,-1.0754427909851074f,-0.44910115003585815f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.3597677946090698f,-0.884815514087677f,-0.15269401669502258f,-0.39067545533180237f,1.1105893850326538f,0.2311859279870987f},
+{1.95911705493927f,-0.6747143864631653f,-0.49011531472206116f,-2.0458433628082275f,-0.3015052080154419f,-1.1922862529754639f,-0.7310768365859985f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.5488033294677734f,1.7947808504104614f,-0.5091095566749573f,1.4733959436416626f,0.379915714263916f,-2.2026352882385254f},
 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
-{-0.010045207105576992f,0.05922095105051994f,0.33083590865135193f,-0.4843074083328247f,-0.14358049631118774f,-0.5586643815040588f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3221753239631653f,-0.39895379543304443f,-0.5413416624069214f,0.6744462251663208f,0.48414382338523865f,0.4610564708709717f},
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 };
 
 const float h3[16][16] = { 
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+{-0.2991822361946106f,0.1481817066669464f,-0.004251172766089439f,-0.05932474136352539f,0.3329566717147827f,0.009607115760445595f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.028703585267066956f,-0.36229726672172546f,0.35251477360725403f,-0.18715228140354156f,0.2748355269432068f,0.3479139804840088f},
+{-0.2675279378890991f,-0.8848872780799866f,0.2171228677034378f,0.15358519554138184f,0.7216522693634033f,-1.1589571237564087f,-0.5819693803787231f,-7.12623405456543f,-0.5964111685752869f,-2.346191644668579f,0.9024726748466492f,-0.7827144861221313f,0.5923935174942017f,-0.09883228689432144f,-0.274576336145401f,0.9632737040519714f},
+{-0.015470266342163086f,-4.066640853881836f,-0.35172760486602783f,-0.1611492931842804f,0.011647416278719902f,-1.6305570602416992f,-0.16005642712116241f,-1.9158589839935303f,-0.5295083522796631f,-3.62418794631958f,-2.0960512161254883f,-0.5138456225395203f,-1.9036948680877686f,-2.3704395294189453f,-1.1995127201080322f,-0.005027666687965393f},
+{0.1863725483417511f,0.1643422544002533f,-3.06244158744812f,-0.7068259716033936f,-0.37519770860671997f,-0.8317462205886841f,-0.06685321033000946f,-0.9036019444465637f,-0.2971649169921875f,-0.7144879102706909f,-2.9270541667938232f,-0.05449836328625679f,-2.543490171432495f,-2.367345094680786f,-1.3904540538787842f,-0.02221091091632843f},
 };
 
-const float hout[16] = { 0.45773375034332275f,0.3763861060142517f,-0.43518444895744324f,0.06213904917240143f,-0.3407769501209259f,0.6558745503425598f,0.0030125975608825684f,0.019330613315105438f,0.3074515163898468f,-0.2398720532655716f,0.3773036599159241f,-0.024288075044751167f,-0.6909987330436707f,0.5094286799430847f,-0.8318933248519897f,-0.7963545918464661f };
+const float hout[16] = { 0.45773375034332275f,0.3510032594203949f,-0.09271220117807388f,0.23885536193847656f,-0.13681545853614807f,0.8108619451522827f,-0.013286924920976162f,0.7315025329589844f,-0.037878382951021194f,0.07188846170902252f,-0.21298690140247345f,0.053339168429374695f,0.7597355246543884f,0.32502415776252747f,1.824535846710205f,-0.24919147789478302f };
 
-const float b1[16] = { 0.9946791529655457f,0.6563421487808228f,-1.7145336866378784f,0.40616947412490845f,1.44526207447052f,0.7905153036117554f,-0.058932315558195114f,0.9510065317153931f,1.0370445251464844f,-1.0210089683532715f,1.3244307041168213f,1.8496466875076294f,-0.36624062061309814f,-0.5674612522125244f,-1.087764859199524f,1.4247647523880005f };
+const float b1[16] = { 2.6026535034179688f,2.6166093349456787f,-1.7145336866378784f,0.05604401230812073f,2.5074756145477295f,1.8178743124008179f,-0.058932315558195114f,2.566000461578369f,2.066876173019409f,-2.594883441925049f,0.573148787021637f,0.8882091641426086f,-0.367378294467926f,-2.1727375984191895f,-1.087764859199524f,3.129455089569092f };
 
-const float b2[16] = { 0.10010083019733429f,-0.9012236595153809f,-1.4564176797866821f,-0.8459519147872925f,-0.6939148902893066f,-0.7567964792251587f,-0.04195461794734001f,-0.42399078607559204f,-1.20063054561615f,-1.912178635597229f,-0.14200280606746674f,0.2866535782814026f,-0.5551586151123047f,2.0636401176452637f,-0.03939135745167732f,0.8030776381492615f };
+const float b2[16] = { 0.854680061340332f,-1.5880934000015259f,-1.5945011377334595f,-1.1204560995101929f,-0.6939148902893066f,-0.8427667021751404f,0.11775382608175278f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.1466102600097656f,2.1076982021331787f,-0.33285725116729736f,3.093627452850342f,1.846516489982605f,0.7689627408981323f };
 
-const float b3[16] = { -1.963319182395935f,-0.5206040740013123f,0.26402902603149414f,-0.4714980721473694f,-0.28282466530799866f,0.7462481260299683f,-0.45353031158447266f,-0.8076930046081543f,0.5176821947097778f,-0.13528640568256378f,-0.27718237042427063f,-0.31984272599220276f,-0.6784724593162537f,0.5469289422035217f,-2.2020673751831055f,-0.5710176229476929f };
+const float b3[16] = { -1.963319182395935f,1.6035748720169067f,-1.0893652439117432f,1.0509281158447266f,-1.7570738792419434f,-0.17915689945220947f,-0.6738864183425903f,0.7415692210197449f,-0.12905780971050262f,-0.6975569128990173f,-0.5690303444862366f,-0.27897197008132935f,-2.201923131942749f,1.7163525819778442f,-1.6757004261016846f,0.005519242025911808f };
 
-const float bout[1] = { -0.36879047751426697f };
+const float bout[1] = { 0.3794841468334198f };
 
 
 float VALVE_POS_RAW_NN = 0.0f;