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@26:b93c82fb6e1d, 2014-10-17 (annotated)

Committer:
s1340735
Date:
Fri Oct 17 08:32:39 2014 +0000
Revision:
26:b93c82fb6e1d
Parent:
25:cfd6db9b4b5d
Child:
27:24e73fd36859
filter coefficienten;

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