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@60:7b5ca1a4d7c3, 2014-10-20 (annotated)

Committer:
s1340735
Date:
Mon Oct 20 17:59:08 2014 +0000
Revision:
60:7b5ca1a4d7c3
Parent:
59:fa8d6909d8ac 
test

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;
Tanja2211 57:5136d9823508 12 float MeanT2, MeanB1, MeanB2, MeanB3;
Tanja2211 56:57a5fcfdce72 13 float filtered_emgT10_C, filtered_emgT11_C, filtered_emgT12_C, filtered_emgT13_C, filtered_emgT14_C, filtered_emgT15_C, filtered_emgT16_C, filtered_emgT17_C, filtered_emgT18_C, filtered_emgT19_C, filtered_emgT110_C, filtered_emgT111_C, filtered_emgT112_C, filtered_emgT113_C, filtered_emgT114_C, filtered_emgT115_C, filtered_emgT116_C, filtered_emgT117_C, filtered_emgT118_C, filtered_emgT119_C;
Tanja2211 51:809e38348c91 14 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
Tanja2211 51:809e38348c91 15 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;
Tanja2211 54:f3a9fa5f2b0e 16 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3, drempelwaardeT1, drempelwaardeT2;
s1340735 23:1c51af8386c9 17
s1340735 23:1c51af8386c9 18 MODSERIAL pc(USBTX,USBRX);
s1340735 23:1c51af8386c9 19
s1340735 60:7b5ca1a4d7c3 20 HIDScope scope(2);//uitgang scherm
s1340735 22:dc630dbb1dcd 21
s1340735 22:dc630dbb1dcd 22 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 23 //constants for 50Hz lowpass
s1340735 30:5d8e6f0fabc1 24 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 22:dc630dbb1dcd 25 //state values
s1340735 26:b93c82fb6e1d 26 float lowpass_states[4];
s1340735 22:dc630dbb1dcd 27
s1340735 22:dc630dbb1dcd 28 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 29 //constants for 10Hz highpass
s1340735 26:b93c82fb6e1d 30 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 22:dc630dbb1dcd 31 //state values
s1340735 26:b93c82fb6e1d 32 float highpass_states[4];
s1340735 22:dc630dbb1dcd 33
s1340735 22:dc630dbb1dcd 34
s1340735 22:dc630dbb1dcd 35 /** Looper function
s1340735 22:dc630dbb1dcd 36 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 37 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 38 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 39 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 40 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 41 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 42 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 43 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 44 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 45 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 46 * local in the looper function only.
s1340735 22:dc630dbb1dcd 47 **/
s1340735 22:dc630dbb1dcd 48
Tanja2211 55:f215d954533c 49 // Calibratie
Tanja2211 55:f215d954533c 50
s1340735 60:7b5ca1a4d7c3 51 void Calibratie()
Tanja2211 56:57a5fcfdce72 52 {
s1340735 60:7b5ca1a4d7c3 53 pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
s1340735 60:7b5ca1a4d7c3 54 wait(0.5);
s1340735 60:7b5ca1a4d7c3 55 {
s1340735 60:7b5ca1a4d7c3 56 int i;
s1340735 60:7b5ca1a4d7c3 57 int j=19;
Tanja2211 58:b5bb78380767 58
s1340735 60:7b5ca1a4d7c3 59 for (i=0, i<=j; i++) {
s1340735 60:7b5ca1a4d7c3 60 /*variable to store value in*/
s1340735 60:7b5ca1a4d7c3 61 uint16_t emg_valueT1i_C;
Tanja2211 55:f215d954533c 62
s1340735 60:7b5ca1a4d7c3 63 float emg_value_f32T1i_C;
s1340735 60:7b5ca1a4d7c3 64 /*put raw emg value both in red and in emg_value*/
s1340735 60:7b5ca1a4d7c3 65 emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
s1340735 60:7b5ca1a4d7c3 66 emg_value_f32T1i_C = emgT1i_C.read();
s1340735 60:7b5ca1a4d7c3 67
s1340735 60:7b5ca1a4d7c3 68 //process emg
s1340735 60:7b5ca1a4d7c3 69 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
s1340735 60:7b5ca1a4d7c3 70 filtered_emgT1i_C = fabs(filtered_emgT1i_C);
s1340735 60:7b5ca1a4d7c3 71 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
s1340735 60:7b5ca1a4d7c3 72 }
Tanja2211 58:b5bb78380767 73 }
Tanja2211 58:b5bb78380767 74 }
Tanja2211 55:f215d954533c 75
s1340735 60:7b5ca1a4d7c3 76 // Mean Triceps stand 1
s1340735 60:7b5ca1a4d7c3 77 void MeanTriceps()
s1340735 60:7b5ca1a4d7c3 78 {
Tanja2211 58:b5bb78380767 79
s1340735 60:7b5ca1a4d7c3 80 float MeanT1=filtered_emgT10_C*0.05+filtered_emgT11_C*0.05+filtered_emgT12_C*0.05+filtered_emgT13_C*0.05+filtered_emgT14_C*0.05+filtered_emgT15_C*0.05+filtered_emgT16_C*0.05+filtered_emgT17_C*0.05+filtered_emgT18_C*0.05+filtered_emgT19_C*0.05+filtered_emgT110_C*0.05+filtered_emgT111_C*0.05+filtered_emgT112_C*0.05+filtered_emgT113_C*0.05+filtered_emgT114_C*0.05+filtered_emgT115_C*0.05+filtered_emgT116_C*0.05+filtered_emgT117_C*0.05+filtered_emgT118_C*0.05+filtered_emgT119_C*0.05;
Tanja2211 55:f215d954533c 81
s1340735 60:7b5ca1a4d7c3 82 }
Tanja2211 55:f215d954533c 83
s1340735 22:dc630dbb1dcd 84 //BICEP EMG LEZEN
s1340735 22:dc630dbb1dcd 85 void looperB()
s1340735 22:dc630dbb1dcd 86 {
s1340735 23:1c51af8386c9 87 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 88 uint16_t emg_valueB;
s1340735 30:5d8e6f0fabc1 89
s1340735 22:dc630dbb1dcd 90 float emg_value_f32B;
s1340735 22:dc630dbb1dcd 91 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 92 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 93 emg_value_f32B = emgB.read();
s1340735 22:dc630dbb1dcd 94
s1340735 22:dc630dbb1dcd 95 //process emg
s1340735 22:dc630dbb1dcd 96 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 97 filtered_emgB = fabs(filtered_emgB);
s1340735 22:dc630dbb1dcd 98 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 23:1c51af8386c9 99
s1340735 22:dc630dbb1dcd 100 /*send value to PC. */
s1340735 22:dc630dbb1dcd 101 scope.set(0,emg_valueB); //uint value
s1340735 22:dc630dbb1dcd 102 scope.set(1,filtered_emgB); //processed float
s1340735 22:dc630dbb1dcd 103 scope.send();
Tanja2211 45:7950fa411107 104
Tanja2211 44:b47f559826ba 105 // Moving Average Filter Biceps
Tanja2211 58:b5bb78380767 106
Tanja2211 36:82fd9d862266 107 {
Tanja2211 32:1bc34d137942 108 B0=filtered_emgB;
Tanja2211 42:d49b766ffdc7 109 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 110 B9=B8;
Tanja2211 32:1bc34d137942 111 B8=B7;
Tanja2211 32:1bc34d137942 112 B7=B6;
Tanja2211 32:1bc34d137942 113 B6=B5;
Tanja2211 32:1bc34d137942 114 B5=B4;
Tanja2211 32:1bc34d137942 115 B4=B3;
Tanja2211 32:1bc34d137942 116 B3=B2;
Tanja2211 32:1bc34d137942 117 B2=B1;
Tanja2211 32:1bc34d137942 118 B1=B0;
s1340735 30:5d8e6f0fabc1 119 }
Tanja2211 45:7950fa411107 120 }
s1340735 60:7b5ca1a4d7c3 121
Tanja2211 44:b47f559826ba 122 // Triceps EMG lezen
Tanja2211 45:7950fa411107 123 void looperT()
Tanja2211 45:7950fa411107 124 {
Tanja2211 45:7950fa411107 125 /*variable to store value in*/
Tanja2211 45:7950fa411107 126 uint16_t emg_valueT;
Tanja2211 31:b6f7ba4938d4 127
Tanja2211 45:7950fa411107 128 float emg_value_f32T;
Tanja2211 45:7950fa411107 129 /*put raw emg value both in red and in emg_value*/
Tanja2211 45:7950fa411107 130 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 131 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 132
Tanja2211 45:7950fa411107 133 //process emg
Tanja2211 45:7950fa411107 134 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
Tanja2211 45:7950fa411107 135 filtered_emgT = fabs(filtered_emgT);
Tanja2211 45:7950fa411107 136 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 137
Tanja2211 45:7950fa411107 138 /*send value to PC. */
Tanja2211 45:7950fa411107 139 scope.set(2,emg_valueT); //uint value
Tanja2211 45:7950fa411107 140 scope.set(3,filtered_emgT); //processed float
Tanja2211 45:7950fa411107 141 scope.send();
Tanja2211 38:7ed04177892b 142
Tanja2211 58:b5bb78380767 143 // Moving Average Filter Triceps
Tanja2211 58:b5bb78380767 144 {
Tanja2211 58:b5bb78380767 145 T0=filtered_emgT;
Tanja2211 58:b5bb78380767 146 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 147
Tanja2211 58:b5bb78380767 148 T9=T8;
Tanja2211 58:b5bb78380767 149 T8=T7;
Tanja2211 58:b5bb78380767 150 T7=T6;
Tanja2211 58:b5bb78380767 151 T6=T5;
Tanja2211 58:b5bb78380767 152 T5=T4;
Tanja2211 58:b5bb78380767 153 T4=T3;
Tanja2211 58:b5bb78380767 154 T3=T2;
Tanja2211 58:b5bb78380767 155 T2=T1;
Tanja2211 58:b5bb78380767 156 T1=T0;
Tanja2211 58:b5bb78380767 157 }
Tanja2211 50:650e8e45b870 158 }
Tanja2211 49:b103e9ed5ef2 159
Tanja2211 45:7950fa411107 160 int main()
Tanja2211 45:7950fa411107 161 {
s1340735 60:7b5ca1a4d7c3 162 Ticker log_timer,; //bicep logtimer
Tanja2211 45:7950fa411107 163 //set up filters. Use external array for constants
Tanja2211 45:7950fa411107 164 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
Tanja2211 45:7950fa411107 165 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 166
Tanja2211 45:7950fa411107 167 /**Here you attach the 'void looper(void)' function to the Ticker object
Tanja2211 45:7950fa411107 168 * The looper() function will be called every 0.01 seconds.
Tanja2211 45:7950fa411107 169 * Please mind that the parentheses after looper are omitted when using attach.
Tanja2211 45:7950fa411107 170 */
Tanja2211 45:7950fa411107 171 log_timer.attach(looperB, 0.005);//??
s1340735 60:7b5ca1a4d7c3 172 while(1) { //Loop
s1340735 60:7b5ca1a4d7c3 173 /*Empty!*/
s1340735 60:7b5ca1a4d7c3 174 /*Everything is handled by the interrupt routine now!*/
s1340735 60:7b5ca1a4d7c3 175 }
s1340735 60:7b5ca1a4d7c3 176
s1340735 60:7b5ca1a4d7c3 177 Ticker log_timer,; //bicep logtimer
s1340735 60:7b5ca1a4d7c3 178 //set up filters. Use external array for constants
s1340735 60:7b5ca1a4d7c3 179 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
s1340735 60:7b5ca1a4d7c3 180 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 60:7b5ca1a4d7c3 181
s1340735 60:7b5ca1a4d7c3 182 /**Here you attach the 'void looper(void)' function to the Ticker object
s1340735 60:7b5ca1a4d7c3 183 * The looper() function will be called every 0.01 seconds.
s1340735 60:7b5ca1a4d7c3 184 * Please mind that the parentheses after looper are omitted when using attach.
s1340735 60:7b5ca1a4d7c3 185 */
Tanja2211 45:7950fa411107 186 log_timer.attach(looperT, 0.005);//??
Tanja2211 45:7950fa411107 187 while(1) { //Loop
Tanja2211 45:7950fa411107 188 /*Empty!*/
Tanja2211 45:7950fa411107 189 /*Everything is handled by the interrupt routine now!*/
s1340735 23:1c51af8386c9 190 }
s1340735 60:7b5ca1a4d7c3 191
Tanja2211 45:7950fa411107 192 }
s1340735 23:1c51af8386c9 193
Tanja2211 52:cce270e0753a 194 void AntwoordT()
Tanja2211 45:7950fa411107 195 {
Tanja2211 54:f3a9fa5f2b0e 196 drempelwaardeT1=4.99;
Tanja2211 54:f3a9fa5f2b0e 197 drempelwaardeT2=7;
Tanja2211 54:f3a9fa5f2b0e 198 int yT1, yT2;
Tanja2211 58:b5bb78380767 199
Tanja2211 58:b5bb78380767 200 if (MOVAVG_T > drempelwaardeT1) {
Tanja2211 58:b5bb78380767 201 yT1=1;
Tanja2211 58:b5bb78380767 202 if (MOVAVG_T > drempelwaardeT2) {
Tanja2211 54:f3a9fa5f2b0e 203 yT2=1;
Tanja2211 54:f3a9fa5f2b0e 204 } else {
Tanja2211 58:b5bb78380767 205 yT2=0;
Tanja2211 54:f3a9fa5f2b0e 206 }
Tanja2211 58:b5bb78380767 207 } else {
Tanja2211 58:b5bb78380767 208 yT1=0;
Tanja2211 58:b5bb78380767 209 }
Tanja2211 58:b5bb78380767 210
Tanja2211 58:b5bb78380767 211 int positie;
Tanja2211 58:b5bb78380767 212
Tanja2211 58:b5bb78380767 213 positie=yT1+yT2;
Tanja2211 58:b5bb78380767 214 if (positie==0) {
Tanja2211 58:b5bb78380767 215 pc.printf("Motor 2 beweegt niet\n");
Tanja2211 58:b5bb78380767 216 } else {
Tanja2211 58:b5bb78380767 217 pc.printf("Motor 2 gaat beweegen\n");
Tanja2211 58:b5bb78380767 218 }
Tanja2211 58:b5bb78380767 219 if (positie==1) {
Tanja2211 58:b5bb78380767 220 pc.printf("Motor 2 beweegt naar positie 1\n");
Tanja2211 58:b5bb78380767 221 } else {
Tanja2211 58:b5bb78380767 222 pc.printf("Motor 1 beweegt niet naar positie 1\n");
Tanja2211 58:b5bb78380767 223 }
Tanja2211 58:b5bb78380767 224 if (positie==2) {
Tanja2211 58:b5bb78380767 225 pc.printf("Motor 1 beweegt naar positie 2\n");
Tanja2211 58:b5bb78380767 226 } else {
Tanja2211 58:b5bb78380767 227 pc.printf("Motor 1 beweegt niet naar positie 2\n");
Tanja2211 58:b5bb78380767 228 }
Tanja2211 58:b5bb78380767 229 }
Tanja2211 38:7ed04177892b 230
s1340735 60:7b5ca1a4d7c3 231 void AntwoordB()
s1340735 60:7b5ca1a4d7c3 232 {
s1340735 60:7b5ca1a4d7c3 233 drempelwaardeB1=4.99;
s1340735 60:7b5ca1a4d7c3 234 drempelwaardeB2=6;
s1340735 60:7b5ca1a4d7c3 235 drempelwaardeB3=10;
s1340735 60:7b5ca1a4d7c3 236 int yB1;
s1340735 60:7b5ca1a4d7c3 237 int yB2;
s1340735 60:7b5ca1a4d7c3 238 int yB3;
Tanja2211 38:7ed04177892b 239
s1340735 60:7b5ca1a4d7c3 240 if (MOVAVG_B > drempelwaardeB1) {
s1340735 60:7b5ca1a4d7c3 241 yB1=1;
s1340735 60:7b5ca1a4d7c3 242 if (MOVAVG_B > drempelwaardeB2) {
s1340735 60:7b5ca1a4d7c3 243 yB2=1;
s1340735 60:7b5ca1a4d7c3 244 if (MOVAVG_B > drempelwaardeB3) {
s1340735 60:7b5ca1a4d7c3 245 yB3=1;
Tanja2211 58:b5bb78380767 246 } else {
s1340735 60:7b5ca1a4d7c3 247 yB3=0;
Tanja2211 58:b5bb78380767 248 }
Tanja2211 45:7950fa411107 249 } else {
s1340735 60:7b5ca1a4d7c3 250 yB2=0;
Tanja2211 45:7950fa411107 251 }
s1340735 60:7b5ca1a4d7c3 252 } else {
s1340735 60:7b5ca1a4d7c3 253 yB1=0;
s1340735 60:7b5ca1a4d7c3 254 }
s1340735 60:7b5ca1a4d7c3 255
s1340735 60:7b5ca1a4d7c3 256 int snelheidsstand;
s1340735 60:7b5ca1a4d7c3 257
s1340735 60:7b5ca1a4d7c3 258 snelheidsstand=yB1+yB2+yB3;
s1340735 60:7b5ca1a4d7c3 259 if (snelheidsstand==1) {
s1340735 60:7b5ca1a4d7c3 260 pc.printf("Motor 1 beweegt met snelheid 1\n");
s1340735 60:7b5ca1a4d7c3 261 } else {
s1340735 60:7b5ca1a4d7c3 262 pc.printf("Motor 1 beweegt niet met snelheid 1\n");
Tanja2211 58:b5bb78380767 263 }
s1340735 60:7b5ca1a4d7c3 264 if (snelheidsstand==2) {
s1340735 60:7b5ca1a4d7c3 265 pc.printf("Motor 1 beweegt met snelheid 2\n");
s1340735 60:7b5ca1a4d7c3 266 } else {
s1340735 60:7b5ca1a4d7c3 267 pc.printf("Motor 1 beweegt niet met snelheid 2\n");
s1340735 60:7b5ca1a4d7c3 268 }
s1340735 60:7b5ca1a4d7c3 269 if (snelheidsstand==3) {
s1340735 60:7b5ca1a4d7c3 270 pc.printf("Motor 1 beweegt met snelheid 3\n");
s1340735 60:7b5ca1a4d7c3 271 } else {
s1340735 60:7b5ca1a4d7c3 272 pc.printf("Motor 1 beweegt niet met snelheid 3\n");
s1340735 60:7b5ca1a4d7c3 273 }
s1340735 60:7b5ca1a4d7c3 274 }