51 lines
1.4 KiB
C
51 lines
1.4 KiB
C
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#ifndef MODEL_H
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#define MODEL_H
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#include "stdint.h"
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#define CAP_IR 305 // mm
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#define CAP_TFLUNA 1000 // mm
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#define CAP_THROTTLE 9999 // pwm
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#define CAP_STEERING 35 // degrees
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#define CAP_ANGLE 64 // degrees
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#define CAP_ANGLE_POW 6 // 2^6 = 64
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#define CAP_DELTA_STEERING 10
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#define CAP_DELTA_THROTTLE 2000
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#define CAP_YAW 16384 // raw LSB, ~125 deg/s at 131 LSB/(deg/s)
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#define CAP_ACCEL 8192 // raw LSB, ~0.5g at 16384 LSB/g
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typedef int32_t fixed_t;
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typedef enum { ir_right,
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ir_left,
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tf_left,
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tf_middle,
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tf_right,
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throttle_left_prev,
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throttle_right_prev,
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steering_prev,
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angle_left,
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angle_right,
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yaw_rate,
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accel_lat,
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accel_long,
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NUM_INPUTS } input_t;
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typedef enum { throttle_left,
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throttle_right,
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steering,
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NUM_OUTPUTS} output_t;
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extern fixed_t Model_Inputs[NUM_INPUTS];
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extern fixed_t Model_Outputs[NUM_OUTPUTS];
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extern const fixed_t Model_Weights[NUM_OUTPUTS][NUM_INPUTS];
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extern const fixed_t Model_Bias[NUM_OUTPUTS];
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void Model_Inference(void);
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fixed_t Model_Normalize(int32_t input, int32_t cap);
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fixed_t Model_NormalizeSigned(int32_t input, int32_t cap);
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void Model_ApplyResidual(uint16_t* throttle_l, uint16_t* throttle_r, int32_t* steering_angle);
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#endif
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