BMT M9 Groep01 / Mbed 2 deprecated EMG_test_mk

test

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

Fork of emg_filter2 by BMT M9 Groep01

EMGfilter.cpp@27:24e73fd36859, 2014-10-17 (annotated)

Committer:
s1340735
Date:
Fri Oct 17 08:38:15 2014 +0000
Revision:
27:24e73fd36859
Parent:
26:b93c82fb6e1d
Child:
29:f54123765a47
void loopers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
s1340735 22:dc630dbb1dcd 1 #include "mbed.h"
s1340735 22:dc630dbb1dcd 2 #include "HIDScope.h"
s1340735 23:1c51af8386c9 3 #include "MODSERIAL.h"
s1340735 22:dc630dbb1dcd 4 #include "arm_math.h"
s1340735 22:dc630dbb1dcd 5
s1340735 22:dc630dbb1dcd 6 //Define objects
s1340735 22:dc630dbb1dcd 7 AnalogIn emgB(PTB0); //Analog input bicep
s1340735 22:dc630dbb1dcd 8 AnalogIn emgT(PTB1); //Analog input tricep
s1340735 22:dc630dbb1dcd 9
s1340735 23:1c51af8386c9 10 float filtered_emgB;
s1340735 27:24e73fd36859 11 float filtered_emgT;
s1340735 23:1c51af8386c9 12
s1340735 23:1c51af8386c9 13 MODSERIAL pc(USBTX,USBRX);
s1340735 23:1c51af8386c9 14
s1340735 26:b93c82fb6e1d 15 HIDScope scope(4);//uitgang scherm
s1340735 22:dc630dbb1dcd 16
s1340735 22:dc630dbb1dcd 17 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 18 //constants for 50Hz lowpass
s1340735 26:b93c82fb6e1d 19 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 22:dc630dbb1dcd 20 //state values
s1340735 26:b93c82fb6e1d 21 float lowpass_states[4];
s1340735 22:dc630dbb1dcd 22
s1340735 22:dc630dbb1dcd 23 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 24 //constants for 10Hz highpass
s1340735 26:b93c82fb6e1d 25 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 22:dc630dbb1dcd 26 //state values
s1340735 26:b93c82fb6e1d 27 float highpass_states[4];
s1340735 22:dc630dbb1dcd 28
s1340735 22:dc630dbb1dcd 29
s1340735 22:dc630dbb1dcd 30 /** Looper function
s1340735 22:dc630dbb1dcd 31 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 32 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 33 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 34 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 35 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 36 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 37 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 38 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 39 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 40 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 41 * local in the looper function only.
s1340735 22:dc630dbb1dcd 42 **/
s1340735 22:dc630dbb1dcd 43
s1340735 22:dc630dbb1dcd 44 //BICEP EMG LEZEN
s1340735 22:dc630dbb1dcd 45 void looperB()
s1340735 22:dc630dbb1dcd 46 {
s1340735 23:1c51af8386c9 47 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 48 uint16_t emg_valueB;
s1340735 23:1c51af8386c9 49
s1340735 22:dc630dbb1dcd 50 float emg_value_f32B;
s1340735 22:dc630dbb1dcd 51 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 52 emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
s1340735 22:dc630dbb1dcd 53 emg_value_f32B = emgB.read();
s1340735 22:dc630dbb1dcd 54
s1340735 22:dc630dbb1dcd 55 //process emg
s1340735 22:dc630dbb1dcd 56 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 57 filtered_emgB = fabs(filtered_emgB);
s1340735 22:dc630dbb1dcd 58 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 23:1c51af8386c9 59
s1340735 22:dc630dbb1dcd 60 /*send value to PC. */
s1340735 22:dc630dbb1dcd 61 scope.set(0,emg_valueB); //uint value
s1340735 22:dc630dbb1dcd 62 scope.set(1,filtered_emgB); //processed float
s1340735 22:dc630dbb1dcd 63 scope.send();
s1340735 22:dc630dbb1dcd 64
s1340735 22:dc630dbb1dcd 65 }
s1340735 22:dc630dbb1dcd 66
s1340735 22:dc630dbb1dcd 67 void looperT()
s1340735 22:dc630dbb1dcd 68 {
s1340735 23:1c51af8386c9 69 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 70 uint16_t emg_valueT;
s1340735 27:24e73fd36859 71
s1340735 22:dc630dbb1dcd 72 float emg_value_f32T;
s1340735 22:dc630dbb1dcd 73 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 74 emg_valueT = emgT.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
s1340735 22:dc630dbb1dcd 75 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 76
s1340735 22:dc630dbb1dcd 77 //process emg
s1340735 22:dc630dbb1dcd 78 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 79 filtered_emgT = fabs(filtered_emgT);
s1340735 22:dc630dbb1dcd 80 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 23:1c51af8386c9 81
s1340735 22:dc630dbb1dcd 82 /*send value to PC. */
s1340735 27:24e73fd36859 83 scope.set(2,emg_valueT); //uint value
s1340735 27:24e73fd36859 84 scope.set(3,filtered_emgT); //processed float
s1340735 22:dc630dbb1dcd 85 scope.send();
s1340735 22:dc630dbb1dcd 86
s1340735 22:dc630dbb1dcd 87 }
s1340735 22:dc630dbb1dcd 88
s1340735 22:dc630dbb1dcd 89 int main()
s1340735 22:dc630dbb1dcd 90 {
s1340735 22:dc630dbb1dcd 91 Ticker log_timer;
s1340735 23:1c51af8386c9 92 //set up filters. Use external array for constants
s1340735 22:dc630dbb1dcd 93 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
s1340735 22:dc630dbb1dcd 94 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 95
s1340735 22:dc630dbb1dcd 96 /**Here you attach the 'void looper(void)' function to the Ticker object
s1340735 22:dc630dbb1dcd 97 * The looper() function will be called every 0.01 seconds.
s1340735 22:dc630dbb1dcd 98 * Please mind that the parentheses after looper are omitted when using attach.
s1340735 22:dc630dbb1dcd 99 */
s1340735 22:dc630dbb1dcd 100 log_timer.attach(looperB, 0.005);//??
s1340735 22:dc630dbb1dcd 101 log_timer.attach(looperT, 0.005);//??
s1340735 23:1c51af8386c9 102 while(1) { //Loop
s1340735 23:1c51af8386c9 103 /*Empty!*/
s1340735 23:1c51af8386c9 104 /*Everything is handled by the interrupt routine now!*/
s1340735 23:1c51af8386c9 105 }
s1340735 23:1c51af8386c9 106 }
s1340735 23:1c51af8386c9 107
s1340735 22:dc630dbb1dcd 108 //filtered_emgB
s1340735 22:dc630dbb1dcd 109 //filtered_emgT
s1340735 22:dc630dbb1dcd 110
s1340735 23:1c51af8386c9 111 void Antwoord()
s1340735 23:1c51af8386c9 112 {
s1340735 23:1c51af8386c9 113 float drempelwaarde=4.99;
s1340735 25:cfd6db9b4b5d 114 int y;
s1340735 25:cfd6db9b4b5d 115
s1340735 25:cfd6db9b4b5d 116 if (filtered_emgB > drempelwaarde)
s1340735 25:cfd6db9b4b5d 117 {
s1340735 25:cfd6db9b4b5d 118 y=1;
s1340735 23:1c51af8386c9 119 } else {
s1340735 25:cfd6db9b4b5d 120 y=0;
s1340735 23:1c51af8386c9 121 }
s1340735 23:1c51af8386c9 122
s1340735 25:cfd6db9b4b5d 123 if (y==1) {
s1340735 25:cfd6db9b4b5d 124 pc.printf("Motor 1 beweegt\n");
s1340735 23:1c51af8386c9 125 } else {
s1340735 25:cfd6db9b4b5d 126 pc.printf("Motor 1 beweegt niet\n");
s1340735 22:dc630dbb1dcd 127 }
s1340735 24:553707c8ebf8 128 }
s1340735 25:cfd6db9b4b5d 129 //drempelwaarde.....