Diff: main.cpp

Revision:

91:ec77a57f947f

Parent:

90:a6cfef34bdce

Child:

92:c7eda9710d76

--- a/main.cpp	Tue Jul 28 04:36:33 2020 +0000
+++ b/main.cpp	Tue Jul 28 13:08:53 2020 +0000
@@ -1,4 +1,4 @@
-//200728-2
+//200728-3
 #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] = { 
-   {-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},
+   {-1.2045764923095703f,-0.02485206536948681f,0.12903714179992676f,0.1692826747894287f,-1.7091925144195557f,0.06678515672683716f,-0.17472904920578003f,0.5795590281486511f,-2.11746883392334f,-0.06562559306621552f,-0.23322346806526184f,-0.17399154603481293f,-0.2667962610721588f,-0.13195174932479858f,-0.2571594715118408f,-1.8036941289901733f},
+{-0.7016909122467041f,-0.2169734537601471f,-0.3927857577800751f,-0.10233694314956665f,-1.0367498397827148f,-0.5116228461265564f,-0.4054011106491089f,0.08144057542085648f,-1.2197529077529907f,0.206464022397995f,-0.2697264552116394f,0.01024568546563387f,0.23306965827941895f,-0.4916746914386749f,-0.20967772603034973f,-0.8833222389221191f},
+{-0.6923372745513916f,-0.10510539263486862f,0.36391180753707886f,-0.42305824160575867f,-0.5636495351791382f,-0.3642365634441376f,0.2872133255004883f,0.3611777424812317f,-1.124153971672058f,0.23270422220230103f,-0.34329819679260254f,0.006704795639961958f,-0.004922339227050543f,0.05072656273841858f,0.05590221285820007f,-0.9764589667320251f},
+{-1.0261441469192505f,0.10136393457651138f,0.39742106199264526f,0.2613149583339691f,-0.9092212319374084f,-0.351374089717865f,-0.11584559082984924f,1.2286179065704346f,-1.4192156791687012f,0.3871139883995056f,0.10081610828638077f,0.34635695815086365f,-0.1667657494544983f,-0.009388423524796963f,-0.2961459457874298f,-1.0842492580413818f},
+{-0.07618353515863419f,0.03889147937297821f,-0.0051451027393341064f,0.2518005073070526f,-0.5399696230888367f,-0.38818490505218506f,0.1294034719467163f,0.6968737244606018f,-1.1872122287750244f,0.22240447998046875f,0.3530246317386627f,0.10206691920757294f,-0.07012299448251724f,0.36810362339019775f,-0.3865056037902832f,-1.1093138456344604f},
+{3.994356632232666f,-3.284985065460205f,0.21773302555084229f,0.3546731472015381f,3.4075307846069336f,-3.822568416595459f,0.16514194011688232f,-2.9511349201202393f,2.4738118648529053f,0.2570652365684509f,-0.24222268164157867f,0.682106614112854f,-0.26652491092681885f,1.159996509552002f,-0.4132833778858185f,2.414874315261841f},
+{-1.1837544441223145f,2.042693614959717f,-0.2501986622810364f,-0.7289283871650696f,-2.1040024757385254f,3.048217296600342f,0.06014183163642883f,1.8297029733657837f,-0.28373897075653076f,-0.08550117909908295f,0.1522122472524643f,-2.0558958053588867f,-0.17333753407001495f,-0.7093504667282104f,-0.15618428587913513f,-1.011019229888916f},
+{0.7381495833396912f,0.11086411774158478f,-0.26619744300842285f,0.0026282949838787317f,-0.866230845451355f,0.9559378027915955f,-0.17925891280174255f,-0.061163634061813354f,0.6056218147277832f,0.023915044963359833f,0.10686657577753067f,-1.2551953792572021f,0.37086308002471924f,0.052173539996147156f,0.04303058981895447f,0.7411735653877258f},
+{1.3886348009109497f,0.1715136468410492f,0.10248100757598877f,-0.4182056486606598f,-0.3461568057537079f,0.5742411017417908f,-0.07246989011764526f,-1.0087774991989136f,0.686736524105072f,0.314855694770813f,-0.2954437732696533f,-0.22107811272144318f,0.22871431708335876f,0.357313871383667f,-0.30555272102355957f,1.3646327257156372f},
+{0.5064920783042908f,-0.17018389701843262f,0.18462657928466797f,-0.20958049595355988f,-0.30696263909339905f,1.0071170330047607f,-0.2990540862083435f,-0.8922479152679443f,0.3961635231971741f,-0.5006842017173767f,-0.006495190318673849f,-0.9311968684196472f,0.3718762993812561f,-0.188039168715477f,0.3484981060028076f,0.7810344696044922f},
+{0.764930009841919f,0.18533006310462952f,0.37182438373565674f,0.1710798293352127f,-0.3174598217010498f,0.8986842632293701f,-0.20339298248291016f,-1.0656275749206543f,-0.3244796395301819f,-0.020866239443421364f,0.3500066101551056f,-0.6749598383903503f,-0.06717753410339355f,-0.02112833969295025f,0.26688337326049805f,0.23522819578647614f},
+{-0.013853531330823898f,-0.38646379113197327f,-0.40320003032684326f,-0.0571451373398304f,0.12946301698684692f,0.6963969469070435f,0.1533789038658142f,-0.7647743821144104f,-0.018932288512587547f,0.15912452340126038f,-0.4126411974430084f,0.08778811246156693f,0.14389662444591522f,0.07021615654230118f,0.10493969917297363f,0.4731283485889435f},
+{0.03699635714292526f,-0.36537009477615356f,0.19847965240478516f,0.07069417089223862f,0.6746246814727783f,0.5485546588897705f,-0.2404318004846573f,-0.7978367209434509f,0.13918475806713104f,-0.2235451489686966f,-0.10738812386989594f,0.1654774248600006f,0.09131072461605072f,0.11426089704036713f,-0.22268100082874298f,0.12341437488794327f},
+{-0.5421447157859802f,-0.37162381410598755f,0.4127817749977112f,-0.22541047632694244f,0.16775773465633392f,-0.0702466070652008f,-0.32001304626464844f,-0.8966354131698608f,0.03508562594652176f,-0.2554728090763092f,-0.1931643933057785f,0.4695361852645874f,-0.3131785988807678f,-0.0025841747410595417f,0.0479682981967926f,0.11745736002922058f},
+{-0.4286018908023834f,-0.2663446068763733f,0.20282304286956787f,-0.09976184368133545f,0.6023834347724915f,-0.04434759169816971f,0.04202890396118164f,-0.032894305884838104f,0.09723319113254547f,0.031082788482308388f,-0.2777131199836731f,0.05025812238454819f,0.10295413434505463f,-0.10985486209392548f,0.0668090283870697f,-0.454736590385437f},
+{-0.43599778413772583f,-0.747663140296936f,-0.40439701080322266f,-0.23175373673439026f,0.3294720947742462f,-0.271278440952301f,-0.15568238496780396f,-0.26932790875434875f,0.22673556208610535f,-0.06962557137012482f,-0.47187256813049316f,0.2936002314090729f,-0.2717811167240143f,0.02432101033627987f,-0.08245879411697388f,-0.45053789019584656f},
+{-0.821532666683197f,-0.8938987851142883f,0.16706281900405884f,-0.05597909539937973f,0.39649075269699097f,-0.946435809135437f,-0.041414469480514526f,-0.050121814012527466f,0.006807052530348301f,0.027923285961151123f,-0.351508766412735f,0.7152565717697144f,0.11149675399065018f,0.3616260588169098f,0.29427415132522583f,-0.8877673745155334f},
 };
 
 const float h2[16][16] = { 
-    {-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},
+    {-2.919337034225464f,-0.5179003477096558f,-0.06966331601142883f,-0.9392852783203125f,-0.21907491981983185f,-0.6777383089065552f,1.4962505102157593f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.9343112707138062f,-0.5006767511367798f,0.09027843177318573f,1.7209340333938599f,-0.44259077310562134f,-0.34574827551841736f},
+{1.92194402217865f,-1.5673640966415405f,0.057057321071624756f,-0.9685341119766235f,-0.35503754019737244f,-1.4583938121795654f,-4.501441478729248f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.1407350301742554f,-0.7869279980659485f,0.30330753326416016f,0.8588218688964844f,-0.3557557761669159f,-4.33712100982666f},
 {-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},
-{0.035982225090265274f,-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},
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 };
 
 const float h3[16][16] = { 
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+{0.15459725260734558f,1.0166099071502686f,-0.31368574500083923f,-0.23878717422485352f,-0.5215308666229248f,0.7871754169464111f,-0.08742031455039978f,0.05785742402076721f,-0.17206071317195892f,-0.3839503526687622f,0.17987996339797974f,-0.30447322130203247f,0.18490733206272125f,0.08898267149925232f,0.41058549284935f,0.06179133430123329f},
+{-0.408692330121994f,0.12162651866674423f,0.20052829384803772f,0.0922636091709137f,0.10023551434278488f,-0.31391194462776184f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.24884364008903503f,-0.3611330986022949f,-0.33603498339653015f,0.2827291190624237f},
+{-0.2991822361946106f,0.2850281298160553f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,-0.061253249645233154f,-0.13475483655929565f,0.36124154925346375f,-0.09299453347921371f},
+{-0.2675279378890991f,0.18049928545951843f,-0.05131088197231293f,-0.26644182205200195f,-1.6708656549453735f,-2.3131160736083984f,-2.9513862133026123f,-0.47388964891433716f,-0.7870574593544006f,-2.4073164463043213f,-1.1825343370437622f,-1.4640882015228271f,0.2536326050758362f,-3.2512922286987305f,0.0069736577570438385f,-0.2769014835357666f},
+{-0.015470266342163086f,-0.5236588716506958f,0.45666739344596863f,0.3630228638648987f,0.22582358121871948f,-0.5417947769165039f,0.05196094512939453f,-0.008358269929885864f,-0.42404377460479736f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.18517181277275085f,-0.1628071367740631f,-0.0056947763077914715f,0.033013083040714264f},
+{0.1863725483417511f,3.607189655303955f,-0.44050857424736023f,-0.7073460817337036f,2.380007266998291f,-1.4075449705123901f,0.563779890537262f,0.17769548296928406f,-0.21075184643268585f,-0.47716405987739563f,-0.3929237127304077f,0.29849761724472046f,3.3036351203918457f,0.21577829122543335f,-0.01923312619328499f,0.5594362616539001f},
 };
 
-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 hout[16] = { 0.45773375034332275f,0.22967581450939178f,-0.0717943012714386f,-0.024000566452741623f,-0.549458920955658f,-0.6117286682128906f,-0.09980393201112747f,0.003224039915949106f,0.07727165520191193f,1.3765428066253662f,0.9317008256912231f,-0.7084391117095947f,-0.04823613539338112f,1.021606206893921f,0.4870172142982483f,-0.17144380509853363f };
 
-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 b1[16] = { -0.03143974393606186f,4.176156997680664f,-1.7145336866378784f,0.1904430091381073f,2.418353319168091f,2.11586594581604f,-0.058932315558195114f,2.6734960079193115f,3.4673190116882324f,-0.9682435393333435f,0.5739635229110718f,-0.015039386227726936f,-0.3719368278980255f,-1.017250895500183f,-1.087764859199524f,3.270554780960083f };
 
-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 b2[16] = { 0.2875247299671173f,-0.8313738107681274f,-1.4564176797866821f,-0.8466981649398804f,-0.6939148902893066f,0.011128111742436886f,0.5578509569168091f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.17395496368408203f,0.021093016490340233f,-0.1509302258491516f,-0.7613070607185364f,-0.18032704293727875f,2.2685976028442383f };
 
-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 b3[16] = { -1.963319182395935f,1.7754796743392944f,-0.002020448911935091f,-0.3760737478733063f,0.8974840044975281f,0.09867151826620102f,-1.0802415609359741f,-0.8115718960762024f,-0.01466897502541542f,-0.715161919593811f,-1.0395888090133667f,-0.8204963803291321f,0.41714078187942505f,2.1652324199676514f,-1.496157169342041f,-1.9632149934768677f };
 
-const float bout[1] = { 0.3794841468334198f };
+const float bout[1] = { -0.07203265279531479f};
 
 
 float VALVE_POS_RAW_NN = 0.0f;