software implementing neural network trained on actual motor data
Dependencies: mbed-dsp mbed NN_lib
Fork of NN_FG_final by
main.cpp@1:4f5beb9858e7, 2016-11-07 (annotated)
- Committer:
- cpm219
- Date:
- Mon Nov 07 22:07:31 2016 +0000
- Revision:
- 1:4f5beb9858e7
- Parent:
- 0:34aeffc5e6f0
latest version
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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cpm219 | 0:34aeffc5e6f0 | 1 | // |
cpm219 | 1:4f5beb9858e7 | 2 | // File: main.cpp |
cpm219 | 0:34aeffc5e6f0 | 3 | // |
cpm219 | 0:34aeffc5e6f0 | 4 | // Code generated for Simulink model 'neural_network3'. |
cpm219 | 0:34aeffc5e6f0 | 5 | // |
cpm219 | 0:34aeffc5e6f0 | 6 | // Model version : 1.7 |
cpm219 | 0:34aeffc5e6f0 | 7 | // Simulink Coder version : 8.10 (R2016a) 10-Feb-2016 |
cpm219 | 0:34aeffc5e6f0 | 8 | // C/C++ source code generated on : Tue Oct 04 18:06:54 2016 |
cpm219 | 0:34aeffc5e6f0 | 9 | // |
cpm219 | 0:34aeffc5e6f0 | 10 | // Target selection: ert.tlc |
cpm219 | 0:34aeffc5e6f0 | 11 | // Embedded hardware selection: ARM Compatible->ARM Cortex |
cpm219 | 0:34aeffc5e6f0 | 12 | // Code generation objectives: Unspecified |
cpm219 | 0:34aeffc5e6f0 | 13 | // Validation result: Not run |
cpm219 | 1:4f5beb9858e7 | 14 | |
cpm219 | 1:4f5beb9858e7 | 15 | //#include <stddef.h> |
cpm219 | 1:4f5beb9858e7 | 16 | //#include <stdio.h> // This ert_main.c example uses printf/fflush |
cpm219 | 1:4f5beb9858e7 | 17 | #include "neural_network_3ph.h" // Model's header file |
cpm219 | 0:34aeffc5e6f0 | 18 | #include "rtwtypes.h" |
cpm219 | 0:34aeffc5e6f0 | 19 | #include "mbed.h" |
cpm219 | 1:4f5beb9858e7 | 20 | #include "arm_math.h" |
cpm219 | 1:4f5beb9858e7 | 21 | #include "arm_const_structs.h" |
cpm219 | 0:34aeffc5e6f0 | 22 | |
cpm219 | 1:4f5beb9858e7 | 23 | #define led_on 0x00 |
cpm219 | 1:4f5beb9858e7 | 24 | #define led_off 0x01 |
cpm219 | 1:4f5beb9858e7 | 25 | |
cpm219 | 1:4f5beb9858e7 | 26 | DigitalOut led_r(PTB22); |
cpm219 | 1:4f5beb9858e7 | 27 | DigitalOut led_g(PTE26); |
cpm219 | 1:4f5beb9858e7 | 28 | DigitalOut led_b(PTB21); |
cpm219 | 1:4f5beb9858e7 | 29 | |
cpm219 | 1:4f5beb9858e7 | 30 | const int FFT_LEN = 1024; |
cpm219 | 1:4f5beb9858e7 | 31 | const static arm_cfft_instance_f32 *S; |
cpm219 | 1:4f5beb9858e7 | 32 | float samples[FFT_LEN*2]; |
cpm219 | 1:4f5beb9858e7 | 33 | float samples_normalized[FFT_LEN*2]; |
cpm219 | 1:4f5beb9858e7 | 34 | real_T samples_trimmed[61]; |
cpm219 | 1:4f5beb9858e7 | 35 | float magnitudes[FFT_LEN]; |
cpm219 | 1:4f5beb9858e7 | 36 | const float dt = 0.001; // sample rate of 1kHz, letting us analyze signals up to 500Hz |
cpm219 | 1:4f5beb9858e7 | 37 | const float acquire_delay = 0.00004; |
cpm219 | 1:4f5beb9858e7 | 38 | const float sample_delay = dt-acquire_delay; |
cpm219 | 1:4f5beb9858e7 | 39 | |
cpm219 | 1:4f5beb9858e7 | 40 | AnalogIn adc_in(PTB2); |
cpm219 | 1:4f5beb9858e7 | 41 | |
cpm219 | 1:4f5beb9858e7 | 42 | void init_fft(int FFT_LEN); |
cpm219 | 1:4f5beb9858e7 | 43 | |
cpm219 | 0:34aeffc5e6f0 | 44 | void rt_OneStep(void); |
cpm219 | 0:34aeffc5e6f0 | 45 | void rt_OneStep(void) |
cpm219 | 0:34aeffc5e6f0 | 46 | { |
cpm219 | 1:4f5beb9858e7 | 47 | static int32_t i = 0; |
cpm219 | 1:4f5beb9858e7 | 48 | |
cpm219 | 1:4f5beb9858e7 | 49 | // '<Root>/Out1' |
cpm219 | 1:4f5beb9858e7 | 50 | static real_T arg_Out1[2]; |
cpm219 | 0:34aeffc5e6f0 | 51 | |
cpm219 | 1:4f5beb9858e7 | 52 | static real_T max = 0; |
cpm219 | 1:4f5beb9858e7 | 53 | static real_T min = 0; |
cpm219 | 1:4f5beb9858e7 | 54 | const float running_thresh = 0.76; |
cpm219 | 1:4f5beb9858e7 | 55 | |
cpm219 | 1:4f5beb9858e7 | 56 | //collect imag data in complex form |
cpm219 | 1:4f5beb9858e7 | 57 | for(i = 0; i< (FFT_LEN*2)+1; i+=2) |
cpm219 | 1:4f5beb9858e7 | 58 | { |
cpm219 | 1:4f5beb9858e7 | 59 | samples[i+1] = 0.0; // imaginary data |
cpm219 | 1:4f5beb9858e7 | 60 | } |
cpm219 | 1:4f5beb9858e7 | 61 | |
cpm219 | 1:4f5beb9858e7 | 62 | //collect real data in complex form |
cpm219 | 1:4f5beb9858e7 | 63 | for(i = 0; i< (FFT_LEN*2)+1; i+=2) |
cpm219 | 1:4f5beb9858e7 | 64 | { |
cpm219 | 1:4f5beb9858e7 | 65 | samples[i] = adc_in.read(); // real data |
cpm219 | 1:4f5beb9858e7 | 66 | wait(sample_delay); //timestep -40us for reading and storing value |
cpm219 | 1:4f5beb9858e7 | 67 | // wait(dt); |
cpm219 | 1:4f5beb9858e7 | 68 | } |
cpm219 | 1:4f5beb9858e7 | 69 | |
cpm219 | 1:4f5beb9858e7 | 70 | //find max |
cpm219 | 1:4f5beb9858e7 | 71 | for(i = 0; i< (FFT_LEN*2)+1; i+=2) |
cpm219 | 1:4f5beb9858e7 | 72 | { |
cpm219 | 1:4f5beb9858e7 | 73 | if (samples[i] > max) |
cpm219 | 1:4f5beb9858e7 | 74 | { |
cpm219 | 1:4f5beb9858e7 | 75 | max = samples[i]; |
cpm219 | 1:4f5beb9858e7 | 76 | } |
cpm219 | 1:4f5beb9858e7 | 77 | } |
cpm219 | 1:4f5beb9858e7 | 78 | |
cpm219 | 1:4f5beb9858e7 | 79 | //find min |
cpm219 | 1:4f5beb9858e7 | 80 | for(i = 0; i< (FFT_LEN*2)+1; i+=2) |
cpm219 | 1:4f5beb9858e7 | 81 | { |
cpm219 | 1:4f5beb9858e7 | 82 | if (samples[i] < min) |
cpm219 | 1:4f5beb9858e7 | 83 | { |
cpm219 | 1:4f5beb9858e7 | 84 | min = samples[i]; |
cpm219 | 1:4f5beb9858e7 | 85 | } |
cpm219 | 1:4f5beb9858e7 | 86 | } |
cpm219 | 1:4f5beb9858e7 | 87 | |
cpm219 | 1:4f5beb9858e7 | 88 | //normalize data |
cpm219 | 1:4f5beb9858e7 | 89 | for(i = 0; i< (FFT_LEN*2)+1; i+=2) |
cpm219 | 1:4f5beb9858e7 | 90 | { |
cpm219 | 1:4f5beb9858e7 | 91 | samples_normalized[i] = (samples[i]-min) / (max - min); // real data |
cpm219 | 1:4f5beb9858e7 | 92 | samples_normalized[i+1] = 0.0; // imaginary data |
cpm219 | 1:4f5beb9858e7 | 93 | } |
cpm219 | 1:4f5beb9858e7 | 94 | |
cpm219 | 1:4f5beb9858e7 | 95 | // Calculate complex FFT |
cpm219 | 1:4f5beb9858e7 | 96 | arm_cfft_f32(S, samples_normalized, 0, 1); |
cpm219 | 1:4f5beb9858e7 | 97 | |
cpm219 | 1:4f5beb9858e7 | 98 | // Calculate magnitude of complex numbers output by the FFT. |
cpm219 | 1:4f5beb9858e7 | 99 | arm_cmplx_mag_f32(samples_normalized, magnitudes, FFT_LEN); |
cpm219 | 0:34aeffc5e6f0 | 100 | |
cpm219 | 1:4f5beb9858e7 | 101 | // /*20 - 80 Hz */ |
cpm219 | 1:4f5beb9858e7 | 102 | for(i = 0; i< 61; i++) |
cpm219 | 1:4f5beb9858e7 | 103 | { |
cpm219 | 1:4f5beb9858e7 | 104 | samples_trimmed[i] = magnitudes[i+20]; |
cpm219 | 1:4f5beb9858e7 | 105 | } |
cpm219 | 1:4f5beb9858e7 | 106 | |
cpm219 | 1:4f5beb9858e7 | 107 | // /* gain, tweaking lead to 17.5 */ |
cpm219 | 1:4f5beb9858e7 | 108 | for(i = 0; i< 61; i++) |
cpm219 | 1:4f5beb9858e7 | 109 | { |
cpm219 | 1:4f5beb9858e7 | 110 | samples_trimmed[i] = samples_trimmed[i]*17.5; |
cpm219 | 1:4f5beb9858e7 | 111 | } |
cpm219 | 1:4f5beb9858e7 | 112 | |
cpm219 | 1:4f5beb9858e7 | 113 | // Step the model |
cpm219 | 1:4f5beb9858e7 | 114 | neural_network_custom(samples_trimmed, arg_Out1); |
cpm219 | 1:4f5beb9858e7 | 115 | |
cpm219 | 1:4f5beb9858e7 | 116 | // for debugging, print the input to the neural network |
cpm219 | 1:4f5beb9858e7 | 117 | for(i =0;i<61;i++) |
cpm219 | 1:4f5beb9858e7 | 118 | { |
cpm219 | 1:4f5beb9858e7 | 119 | printf("%i \t %f\r\n",i+20, samples_trimmed[i]); |
cpm219 | 1:4f5beb9858e7 | 120 | } |
cpm219 | 1:4f5beb9858e7 | 121 | |
cpm219 | 1:4f5beb9858e7 | 122 | //print the output of the neural network |
cpm219 | 1:4f5beb9858e7 | 123 | for(i =0;i<2;i++) |
cpm219 | 1:4f5beb9858e7 | 124 | { |
cpm219 | 1:4f5beb9858e7 | 125 | printf("output[%i]: %i",i,(int)arg_Out1[i]); |
cpm219 | 1:4f5beb9858e7 | 126 | printf("\t"); |
cpm219 | 1:4f5beb9858e7 | 127 | } |
cpm219 | 1:4f5beb9858e7 | 128 | |
cpm219 | 1:4f5beb9858e7 | 129 | // this was used to determine when the motor was running or not |
cpm219 | 1:4f5beb9858e7 | 130 | printf("\r\n\r\nsample[0]: %f \r\n",samples[0]); |
cpm219 | 0:34aeffc5e6f0 | 131 | |
cpm219 | 1:4f5beb9858e7 | 132 | // output logic controlling leds |
cpm219 | 1:4f5beb9858e7 | 133 | if(arg_Out1[0] == 0) |
cpm219 | 1:4f5beb9858e7 | 134 | { |
cpm219 | 1:4f5beb9858e7 | 135 | if (arg_Out1[1] == 0) // 00 normal mode |
cpm219 | 1:4f5beb9858e7 | 136 | { // green |
cpm219 | 1:4f5beb9858e7 | 137 | led_r.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 138 | led_g.write(led_on); |
cpm219 | 1:4f5beb9858e7 | 139 | led_b.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 140 | } |
cpm219 | 1:4f5beb9858e7 | 141 | else if(arg_Out1[1] == 1) // 01 short circuit fault |
cpm219 | 1:4f5beb9858e7 | 142 | { // red |
cpm219 | 1:4f5beb9858e7 | 143 | led_r.write(led_on); |
cpm219 | 1:4f5beb9858e7 | 144 | led_g.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 145 | led_b.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 146 | } |
cpm219 | 1:4f5beb9858e7 | 147 | } |
cpm219 | 1:4f5beb9858e7 | 148 | if(arg_Out1[0] == 1) |
cpm219 | 1:4f5beb9858e7 | 149 | { |
cpm219 | 1:4f5beb9858e7 | 150 | if (arg_Out1[1] == 1) // 11 open circuit fault |
cpm219 | 1:4f5beb9858e7 | 151 | { // yellow |
cpm219 | 1:4f5beb9858e7 | 152 | led_r.write(led_on); |
cpm219 | 1:4f5beb9858e7 | 153 | led_g.write(led_on); |
cpm219 | 1:4f5beb9858e7 | 154 | led_b.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 155 | } |
cpm219 | 1:4f5beb9858e7 | 156 | } |
cpm219 | 1:4f5beb9858e7 | 157 | |
cpm219 | 1:4f5beb9858e7 | 158 | if(samples[0] < running_thresh) // essentially not running |
cpm219 | 1:4f5beb9858e7 | 159 | { // led off |
cpm219 | 1:4f5beb9858e7 | 160 | led_r.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 161 | led_g.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 162 | led_b.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 163 | } |
cpm219 | 1:4f5beb9858e7 | 164 | //end of function |
cpm219 | 0:34aeffc5e6f0 | 165 | } |
cpm219 | 0:34aeffc5e6f0 | 166 | |
cpm219 | 1:4f5beb9858e7 | 167 | void init_fft(int FFT_LEN) |
cpm219 | 0:34aeffc5e6f0 | 168 | { |
cpm219 | 1:4f5beb9858e7 | 169 | switch (FFT_LEN) |
cpm219 | 1:4f5beb9858e7 | 170 | { |
cpm219 | 1:4f5beb9858e7 | 171 | case 16: |
cpm219 | 1:4f5beb9858e7 | 172 | S = & arm_cfft_sR_f32_len16; |
cpm219 | 1:4f5beb9858e7 | 173 | break; |
cpm219 | 1:4f5beb9858e7 | 174 | case 32: |
cpm219 | 1:4f5beb9858e7 | 175 | S = & arm_cfft_sR_f32_len32; |
cpm219 | 1:4f5beb9858e7 | 176 | break; |
cpm219 | 1:4f5beb9858e7 | 177 | case 64: |
cpm219 | 1:4f5beb9858e7 | 178 | S = & arm_cfft_sR_f32_len64; |
cpm219 | 1:4f5beb9858e7 | 179 | break; |
cpm219 | 1:4f5beb9858e7 | 180 | case 128: |
cpm219 | 1:4f5beb9858e7 | 181 | S = & arm_cfft_sR_f32_len128; |
cpm219 | 1:4f5beb9858e7 | 182 | break; |
cpm219 | 1:4f5beb9858e7 | 183 | case 256: |
cpm219 | 1:4f5beb9858e7 | 184 | S = & arm_cfft_sR_f32_len256; |
cpm219 | 1:4f5beb9858e7 | 185 | break; |
cpm219 | 1:4f5beb9858e7 | 186 | case 512: |
cpm219 | 1:4f5beb9858e7 | 187 | S = & arm_cfft_sR_f32_len512; |
cpm219 | 1:4f5beb9858e7 | 188 | break; |
cpm219 | 1:4f5beb9858e7 | 189 | case 1024: |
cpm219 | 1:4f5beb9858e7 | 190 | S = & arm_cfft_sR_f32_len1024; |
cpm219 | 1:4f5beb9858e7 | 191 | break; |
cpm219 | 1:4f5beb9858e7 | 192 | case 2048: |
cpm219 | 1:4f5beb9858e7 | 193 | S = & arm_cfft_sR_f32_len2048; |
cpm219 | 1:4f5beb9858e7 | 194 | break; |
cpm219 | 1:4f5beb9858e7 | 195 | case 4096: |
cpm219 | 1:4f5beb9858e7 | 196 | S = & arm_cfft_sR_f32_len4096; |
cpm219 | 1:4f5beb9858e7 | 197 | break; |
cpm219 | 1:4f5beb9858e7 | 198 | } |
cpm219 | 1:4f5beb9858e7 | 199 | } |
cpm219 | 0:34aeffc5e6f0 | 200 | |
cpm219 | 1:4f5beb9858e7 | 201 | int main(void) |
cpm219 | 1:4f5beb9858e7 | 202 | { |
cpm219 | 1:4f5beb9858e7 | 203 | //initialize leds |
cpm219 | 1:4f5beb9858e7 | 204 | led_r.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 205 | led_g.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 206 | led_b.write(led_off); |
cpm219 | 1:4f5beb9858e7 | 207 | |
cpm219 | 1:4f5beb9858e7 | 208 | init_fft(FFT_LEN); |
cpm219 | 1:4f5beb9858e7 | 209 | |
cpm219 | 1:4f5beb9858e7 | 210 | //software process defined within rt_onestep() |
cpm219 | 0:34aeffc5e6f0 | 211 | for(;;) |
cpm219 | 0:34aeffc5e6f0 | 212 | { |
cpm219 | 0:34aeffc5e6f0 | 213 | rt_OneStep(); |
cpm219 | 1:4f5beb9858e7 | 214 | printf("run success!!\r\n"); |
cpm219 | 1:4f5beb9858e7 | 215 | wait(1); |
cpm219 | 0:34aeffc5e6f0 | 216 | } |
cpm219 | 0:34aeffc5e6f0 | 217 | |
cpm219 | 1:4f5beb9858e7 | 218 | return 0; |
cpm219 | 1:4f5beb9858e7 | 219 | } |