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RTOS_SensorBoard/Model.h

@@ -0,0 +1,51 @@
+#ifndef MODEL_H
+#define MODEL_H
+
+#include "stdint.h"
+
+#define CAP_IR 305 // mm
+#define CAP_TFLUNA 1000 // mm
+#define CAP_THROTTLE 9999 // pwm
+#define CAP_STEERING 35 // degrees
+#define CAP_ANGLE 64 // degrees
+#define CAP_ANGLE_POW 6 // 2^6 = 64
+#define CAP_DELTA_STEERING 10
+#define CAP_DELTA_THROTTLE 2000
+#define CAP_YAW 16384 // raw LSB, ~125 deg/s at 131 LSB/(deg/s)
+#define CAP_ACCEL 8192 // raw LSB, ~0.5g at 16384 LSB/g
+
+typedef int32_t fixed_t;
+typedef enum { ir_right,
+               ir_left,
+               tf_left,
+               tf_middle,
+               tf_right,
+               throttle_left_prev,
+               throttle_right_prev,
+               steering_prev,
+               angle_left,
+               angle_right,
+               yaw_rate,
+               accel_lat,
+               accel_long,
+               NUM_INPUTS } input_t;
+
+typedef enum { throttle_left,
+               throttle_right,
+               steering,
+               NUM_OUTPUTS} output_t;
+
+extern fixed_t Model_Inputs[NUM_INPUTS];
+extern fixed_t Model_Outputs[NUM_OUTPUTS];
+extern const fixed_t Model_Weights[NUM_OUTPUTS][NUM_INPUTS];
+extern const fixed_t Model_Bias[NUM_OUTPUTS];
+
+void Model_Inference(void);
+
+fixed_t Model_Normalize(int32_t input, int32_t cap);
+
+fixed_t Model_NormalizeSigned(int32_t input, int32_t cap);
+
+void Model_ApplyResidual(uint16_t* throttle_l, uint16_t* throttle_r, int32_t* steering_angle);
+
+#endif