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@47:54e1d3aad472, 2014-10-20 (annotated)

Committer:
Tanja2211
Date:
Mon Oct 20 08:39:05 2014 +0000
Revision:
47:54e1d3aad472
Parent:
46:d090e41fb61f
Child:
48:5a270ba60008
fouten

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 30:5d8e6f0fabc1 6 HIDScope::HIDScope(int channels) : hid(64,64)
s1340735 29:f54123765a47 7 {
s1340735 29:f54123765a47 8 bufferData = new float[channels]();
s1340735 29:f54123765a47 9 channelCount = channels;
s1340735 29:f54123765a47 10 scopeData.length = 64;
s1340735 29:f54123765a47 11 }
s1340735 29:f54123765a47 12
s1340735 29:f54123765a47 13 void HIDScope::set(int ch, float val)
s1340735 29:f54123765a47 14 {
s1340735 29:f54123765a47 15 bufferData[ch] = val;
s1340735 29:f54123765a47 16 }
s1340735 29:f54123765a47 17
s1340735 29:f54123765a47 18 void HIDScope::set(int ch, int val)
s1340735 29:f54123765a47 19 {
s1340735 29:f54123765a47 20 set(ch,(float)val);
s1340735 29:f54123765a47 21 }
s1340735 29:f54123765a47 22
s1340735 29:f54123765a47 23 void HIDScope::set(int ch, bool val)
s1340735 29:f54123765a47 24 {
s1340735 29:f54123765a47 25 set(ch,(val ? 1.0f : 0.0f));
s1340735 29:f54123765a47 26 }
s1340735 29:f54123765a47 27
s1340735 29:f54123765a47 28 void HIDScope::set(int ch, double val)
s1340735 29:f54123765a47 29 {
s1340735 29:f54123765a47 30 set(ch,(float)val);
s1340735 29:f54123765a47 31 }
s1340735 29:f54123765a47 32
s1340735 29:f54123765a47 33 void HIDScope::send()
s1340735 30:5d8e6f0fabc1 34 {
s1340735 29:f54123765a47 35 for(int ch=0; ch<channelCount; ch++)
s1340735 29:f54123765a47 36 memcpy(&scopeData.data[ch*4], &bufferData[ch], 4); // Copy a 4 byte float to the char array
s1340735 30:5d8e6f0fabc1 37
s1340735 29:f54123765a47 38 // Send non blocking, can be adjusted to blocking (hid.send)
s1340735 29:f54123765a47 39 hid.sendNB(&scopeData);
s1340735 29:f54123765a47 40 }
s1340735 29:f54123765a47 41
s1340735 29:f54123765a47 42 // ****** emg filter shizzle ******
s1340735 29:f54123765a47 43
s1340735 22:dc630dbb1dcd 44 //Define objects
s1340735 22:dc630dbb1dcd 45 AnalogIn emgB(PTB0); //Analog input bicep
s1340735 22:dc630dbb1dcd 46 AnalogIn emgT(PTB1); //Analog input tricep
s1340735 22:dc630dbb1dcd 47
s1340735 23:1c51af8386c9 48 float filtered_emgB;
s1340735 27:24e73fd36859 49 float filtered_emgT;
s1340735 23:1c51af8386c9 50
s1340735 23:1c51af8386c9 51 MODSERIAL pc(USBTX,USBRX);
s1340735 23:1c51af8386c9 52
s1340735 26:b93c82fb6e1d 53 HIDScope scope(4);//uitgang scherm
s1340735 22:dc630dbb1dcd 54
s1340735 22:dc630dbb1dcd 55 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 56 //constants for 50Hz lowpass
s1340735 30:5d8e6f0fabc1 57 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 22:dc630dbb1dcd 58 //state values
s1340735 26:b93c82fb6e1d 59 float lowpass_states[4];
s1340735 22:dc630dbb1dcd 60
s1340735 22:dc630dbb1dcd 61 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 62 //constants for 10Hz highpass
s1340735 26:b93c82fb6e1d 63 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 22:dc630dbb1dcd 64 //state values
s1340735 26:b93c82fb6e1d 65 float highpass_states[4];
s1340735 22:dc630dbb1dcd 66
s1340735 22:dc630dbb1dcd 67
s1340735 22:dc630dbb1dcd 68 /** Looper function
s1340735 22:dc630dbb1dcd 69 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 70 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 71 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 72 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 73 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 74 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 75 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 76 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 77 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 78 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 79 * local in the looper function only.
s1340735 22:dc630dbb1dcd 80 **/
s1340735 22:dc630dbb1dcd 81
s1340735 22:dc630dbb1dcd 82 //BICEP EMG LEZEN
s1340735 22:dc630dbb1dcd 83 void looperB()
s1340735 22:dc630dbb1dcd 84 {
s1340735 23:1c51af8386c9 85 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 86 uint16_t emg_valueB;
s1340735 30:5d8e6f0fabc1 87
s1340735 22:dc630dbb1dcd 88 float emg_value_f32B;
s1340735 22:dc630dbb1dcd 89 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 90 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 91 emg_value_f32B = emgB.read();
s1340735 22:dc630dbb1dcd 92
s1340735 22:dc630dbb1dcd 93 //process emg
s1340735 22:dc630dbb1dcd 94 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 95 filtered_emgB = fabs(filtered_emgB);
s1340735 22:dc630dbb1dcd 96 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 23:1c51af8386c9 97
s1340735 22:dc630dbb1dcd 98 /*send value to PC. */
s1340735 22:dc630dbb1dcd 99 scope.set(0,emg_valueB); //uint value
s1340735 22:dc630dbb1dcd 100 scope.set(1,filtered_emgB); //processed float
s1340735 22:dc630dbb1dcd 101 scope.send();
Tanja2211 45:7950fa411107 102
Tanja2211 44:b47f559826ba 103 // Moving Average Filter Biceps
s1340735 22:dc630dbb1dcd 104
Tanja2211 35:7556e792c260 105 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
Tanja2211 36:82fd9d862266 106 {
Tanja2211 32:1bc34d137942 107 B0=filtered_emgB;
Tanja2211 42:d49b766ffdc7 108 MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
Tanja2211 32:1bc34d137942 109 B9=B8;
Tanja2211 32:1bc34d137942 110 B8=B7;
Tanja2211 32:1bc34d137942 111 B7=B6;
Tanja2211 32:1bc34d137942 112 B6=B5;
Tanja2211 32:1bc34d137942 113 B5=B4;
Tanja2211 32:1bc34d137942 114 B4=B3;
Tanja2211 32:1bc34d137942 115 B3=B2;
Tanja2211 32:1bc34d137942 116 B2=B1;
Tanja2211 32:1bc34d137942 117 B1=B0;
s1340735 30:5d8e6f0fabc1 118
s1340735 30:5d8e6f0fabc1 119 }
Tanja2211 45:7950fa411107 120 }
Tanja2211 36:82fd9d862266 121
Tanja2211 36:82fd9d862266 122
Tanja2211 44:b47f559826ba 123 // Triceps EMG lezen
Tanja2211 45:7950fa411107 124 void looperT()
Tanja2211 45:7950fa411107 125 {
Tanja2211 45:7950fa411107 126 /*variable to store value in*/
Tanja2211 45:7950fa411107 127 uint16_t emg_valueT;
Tanja2211 31:b6f7ba4938d4 128
Tanja2211 45:7950fa411107 129 float emg_value_f32T;
Tanja2211 45:7950fa411107 130 /*put raw emg value both in red and in emg_value*/
Tanja2211 45:7950fa411107 131 emg_valueT = emgT.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Tanja2211 45:7950fa411107 132 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 133
Tanja2211 45:7950fa411107 134 //process emg
Tanja2211 45:7950fa411107 135 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
Tanja2211 45:7950fa411107 136 filtered_emgT = fabs(filtered_emgT);
Tanja2211 45:7950fa411107 137 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 138
Tanja2211 45:7950fa411107 139 /*send value to PC. */
Tanja2211 45:7950fa411107 140 scope.set(2,emg_valueT); //uint value
Tanja2211 45:7950fa411107 141 scope.set(3,filtered_emgT); //processed float
Tanja2211 45:7950fa411107 142 scope.send();
Tanja2211 38:7ed04177892b 143
Tanja2211 45:7950fa411107 144 // Moving Average Filter Triceps
Tanja2211 38:7ed04177892b 145
Tanja2211 45:7950fa411107 146 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;
Tanja2211 45:7950fa411107 147
Tanja2211 45:7950fa411107 148 T0=filtered_emgT;
Tanja2211 45:7950fa411107 149 MOVAVG_T=T0*0.1+T1*0.1+T2*0.1+T3*0.1+T4*0.1+T5*0.1+T6*0.1+T7*0.1+T8*0.1+T9*0.1;
Tanja2211 38:7ed04177892b 150
Tanja2211 45:7950fa411107 151 T9=T8;
Tanja2211 45:7950fa411107 152 T8=T7;
Tanja2211 45:7950fa411107 153 T7=T6;
Tanja2211 45:7950fa411107 154 T6=T5;
Tanja2211 45:7950fa411107 155 T5=T4;
Tanja2211 45:7950fa411107 156 T4=T3;
Tanja2211 45:7950fa411107 157 T3=T2;
Tanja2211 45:7950fa411107 158 T2=T1;
Tanja2211 45:7950fa411107 159 T1=T0;
Tanja2211 38:7ed04177892b 160
Tanja2211 45:7950fa411107 161 }
Tanja2211 45:7950fa411107 162 }
Tanja2211 36:82fd9d862266 163
Tanja2211 45:7950fa411107 164 int main()
Tanja2211 45:7950fa411107 165 {
Tanja2211 45:7950fa411107 166 Ticker log_timer;
Tanja2211 45:7950fa411107 167 //set up filters. Use external array for constants
Tanja2211 45:7950fa411107 168 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
Tanja2211 45:7950fa411107 169 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 170
Tanja2211 45:7950fa411107 171 /**Here you attach the 'void looper(void)' function to the Ticker object
Tanja2211 45:7950fa411107 172 * The looper() function will be called every 0.01 seconds.
Tanja2211 45:7950fa411107 173 * Please mind that the parentheses after looper are omitted when using attach.
Tanja2211 45:7950fa411107 174 */
Tanja2211 45:7950fa411107 175 log_timer.attach(looperB, 0.005);//??
Tanja2211 45:7950fa411107 176 log_timer.attach(looperT, 0.005);//??
Tanja2211 45:7950fa411107 177 while(1) { //Loop
Tanja2211 45:7950fa411107 178 /*Empty!*/
Tanja2211 45:7950fa411107 179 /*Everything is handled by the interrupt routine now!*/
s1340735 23:1c51af8386c9 180 }
Tanja2211 45:7950fa411107 181 }
s1340735 23:1c51af8386c9 182
s1340735 22:dc630dbb1dcd 183 //filtered_emgB
s1340735 22:dc630dbb1dcd 184 //filtered_emgT
s1340735 22:dc630dbb1dcd 185
Tanja2211 45:7950fa411107 186 void Antwoord()
Tanja2211 45:7950fa411107 187 {
Tanja2211 45:7950fa411107 188 float drempelwaardeT=4.99;
Tanja2211 45:7950fa411107 189 int y;
s1340735 30:5d8e6f0fabc1 190
Tanja2211 45:7950fa411107 191 if (MOVAVG_T > drempelwaardeT) {
Tanja2211 45:7950fa411107 192 y=1;
Tanja2211 45:7950fa411107 193 } else {
Tanja2211 45:7950fa411107 194 y=0;
Tanja2211 45:7950fa411107 195 }
s1340735 23:1c51af8386c9 196
Tanja2211 45:7950fa411107 197 if (y==1) {
Tanja2211 45:7950fa411107 198 pc.printf("Motor 2 beweegt\n");
Tanja2211 45:7950fa411107 199 } else {
Tanja2211 45:7950fa411107 200 pc.printf("Motor 2 beweegt niet\n");
Tanja2211 45:7950fa411107 201 }
Tanja2211 38:7ed04177892b 202
Tanja2211 45:7950fa411107 203 void Antwoord() {
Tanja2211 45:7950fa411107 204 float drempelwaardeB1=4.99;
Tanja2211 45:7950fa411107 205 float drempelwaardeB2=6;
Tanja2211 45:7950fa411107 206 float drempelwaardeB3=10;
Tanja2211 45:7950fa411107 207 int yB1;
Tanja2211 45:7950fa411107 208 int yB2;
Tanja2211 45:7950fa411107 209 int yB3;
Tanja2211 38:7ed04177892b 210
Tanja2211 45:7950fa411107 211 if (MOVAVG_B > drempelwaarde1) {
Tanja2211 45:7950fa411107 212 yB1=1;
Tanja2211 45:7950fa411107 213 if MOVAVG_B > drempelwaarde2 {
Tanja2211 45:7950fa411107 214 yB2=1;
Tanja2211 45:7950fa411107 215 if MOVAVG_B > drempeldwaarde3{
Tanja2211 45:7950fa411107 216 yB3=1;
Tanja2211 38:7ed04177892b 217 } else {
Tanja2211 45:7950fa411107 218 yB3=0
Tanja2211 45:7950fa411107 219 }
Tanja2211 45:7950fa411107 220 } else {
Tanja2211 45:7950fa411107 221 yB2=0
Tanja2211 45:7950fa411107 222 }
Tanja2211 45:7950fa411107 223 else {
Tanja2211 45:7950fa411107 224 yB1=0;
Tanja2211 45:7950fa411107 225 }
Tanja2211 45:7950fa411107 226 int snelheidsstand;
Tanja2211 45:7950fa411107 227 int yB1, yB2, yB3;
Tanja2211 45:7950fa411107 228 snelheidsstand=yB1+yB2+yB3;
Tanja2211 45:7950fa411107 229 if (snelheidsstand==1) {
Tanja2211 45:7950fa411107 230 pc.printf("Motor 1 beweegt met snelheid 1\n");
Tanja2211 45:7950fa411107 231 } else {
Tanja2211 47:54e1d3aad472 232 pc.printf("\n"); }
Tanja2211 45:7950fa411107 233 if (snelheidsstand==2) {
Tanja2211 45:7950fa411107 234 pc.printf("Motor 1 beweegt met snelheid 2\n");
Tanja2211 45:7950fa411107 235 } else {
Tanja2211 45:7950fa411107 236 pc.printf("\n");
Tanja2211 38:7ed04177892b 237 }
Tanja2211 45:7950fa411107 238 if (snelheidsstand==3) {
Tanja2211 45:7950fa411107 239 pc.printf("Motor 1 beweegt met snelheid 3\n");
Tanja2211 45:7950fa411107 240 } else {
Tanja2211 45:7950fa411107 241 pc.printf("\n");
Tanja2211 44:b47f559826ba 242 }
Tanja2211 45:7950fa411107 243 }