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@53:d90e54fba7d8, 2014-10-20 (annotated)

Committer:
Tanja2211
Date:
Mon Oct 20 09:11:48 2014 +0000
Revision:
53:d90e54fba7d8
Parent:
52:cce270e0753a
Child:
54:f3a9fa5f2b0e
foutjes weg

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;
Tanja2211 51:809e38348c91 50 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
Tanja2211 51:809e38348c91 51 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;
Tanja2211 52:cce270e0753a 52 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3, drempelwaardeT;
s1340735 23:1c51af8386c9 53
s1340735 23:1c51af8386c9 54 MODSERIAL pc(USBTX,USBRX);
s1340735 23:1c51af8386c9 55
s1340735 26:b93c82fb6e1d 56 HIDScope scope(4);//uitgang scherm
s1340735 22:dc630dbb1dcd 57
s1340735 22:dc630dbb1dcd 58 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 59 //constants for 50Hz lowpass
s1340735 30:5d8e6f0fabc1 60 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 22:dc630dbb1dcd 61 //state values
s1340735 26:b93c82fb6e1d 62 float lowpass_states[4];
s1340735 22:dc630dbb1dcd 63
s1340735 22:dc630dbb1dcd 64 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 65 //constants for 10Hz highpass
s1340735 26:b93c82fb6e1d 66 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 22:dc630dbb1dcd 67 //state values
s1340735 26:b93c82fb6e1d 68 float highpass_states[4];
s1340735 22:dc630dbb1dcd 69
s1340735 22:dc630dbb1dcd 70
s1340735 22:dc630dbb1dcd 71 /** Looper function
s1340735 22:dc630dbb1dcd 72 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 73 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 74 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 75 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 76 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 77 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 78 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 79 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 80 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 81 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 82 * local in the looper function only.
s1340735 22:dc630dbb1dcd 83 **/
s1340735 22:dc630dbb1dcd 84
s1340735 22:dc630dbb1dcd 85 //BICEP EMG LEZEN
s1340735 22:dc630dbb1dcd 86 void looperB()
s1340735 22:dc630dbb1dcd 87 {
s1340735 23:1c51af8386c9 88 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 89 uint16_t emg_valueB;
s1340735 30:5d8e6f0fabc1 90
s1340735 22:dc630dbb1dcd 91 float emg_value_f32B;
s1340735 22:dc630dbb1dcd 92 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 93 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 94 emg_value_f32B = emgB.read();
s1340735 22:dc630dbb1dcd 95
s1340735 22:dc630dbb1dcd 96 //process emg
s1340735 22:dc630dbb1dcd 97 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 98 filtered_emgB = fabs(filtered_emgB);
s1340735 22:dc630dbb1dcd 99 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 23:1c51af8386c9 100
s1340735 22:dc630dbb1dcd 101 /*send value to PC. */
s1340735 22:dc630dbb1dcd 102 scope.set(0,emg_valueB); //uint value
s1340735 22:dc630dbb1dcd 103 scope.set(1,filtered_emgB); //processed float
s1340735 22:dc630dbb1dcd 104 scope.send();
Tanja2211 45:7950fa411107 105
Tanja2211 44:b47f559826ba 106 // Moving Average Filter Biceps
s1340735 22:dc630dbb1dcd 107
Tanja2211 51:809e38348c91 108
Tanja2211 36:82fd9d862266 109 {
Tanja2211 32:1bc34d137942 110 B0=filtered_emgB;
Tanja2211 42:d49b766ffdc7 111 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 112 B9=B8;
Tanja2211 32:1bc34d137942 113 B8=B7;
Tanja2211 32:1bc34d137942 114 B7=B6;
Tanja2211 32:1bc34d137942 115 B6=B5;
Tanja2211 32:1bc34d137942 116 B5=B4;
Tanja2211 32:1bc34d137942 117 B4=B3;
Tanja2211 32:1bc34d137942 118 B3=B2;
Tanja2211 32:1bc34d137942 119 B2=B1;
Tanja2211 32:1bc34d137942 120 B1=B0;
s1340735 30:5d8e6f0fabc1 121
s1340735 30:5d8e6f0fabc1 122 }
Tanja2211 45:7950fa411107 123 }
Tanja2211 36:82fd9d862266 124
Tanja2211 36:82fd9d862266 125
Tanja2211 44:b47f559826ba 126 // Triceps EMG lezen
Tanja2211 45:7950fa411107 127 void looperT()
Tanja2211 45:7950fa411107 128 {
Tanja2211 45:7950fa411107 129 /*variable to store value in*/
Tanja2211 45:7950fa411107 130 uint16_t emg_valueT;
Tanja2211 31:b6f7ba4938d4 131
Tanja2211 45:7950fa411107 132 float emg_value_f32T;
Tanja2211 45:7950fa411107 133 /*put raw emg value both in red and in emg_value*/
Tanja2211 45:7950fa411107 134 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 135 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 136
Tanja2211 45:7950fa411107 137 //process emg
Tanja2211 45:7950fa411107 138 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
Tanja2211 45:7950fa411107 139 filtered_emgT = fabs(filtered_emgT);
Tanja2211 45:7950fa411107 140 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 141
Tanja2211 45:7950fa411107 142 /*send value to PC. */
Tanja2211 45:7950fa411107 143 scope.set(2,emg_valueT); //uint value
Tanja2211 45:7950fa411107 144 scope.set(3,filtered_emgT); //processed float
Tanja2211 45:7950fa411107 145 scope.send();
Tanja2211 38:7ed04177892b 146
Tanja2211 45:7950fa411107 147 // Moving Average Filter Triceps
Tanja2211 38:7ed04177892b 148
Tanja2211 51:809e38348c91 149
Tanja2211 50:650e8e45b870 150 {
Tanja2211 45:7950fa411107 151 T0=filtered_emgT;
Tanja2211 45:7950fa411107 152 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 153
Tanja2211 45:7950fa411107 154 T9=T8;
Tanja2211 45:7950fa411107 155 T8=T7;
Tanja2211 45:7950fa411107 156 T7=T6;
Tanja2211 45:7950fa411107 157 T6=T5;
Tanja2211 45:7950fa411107 158 T5=T4;
Tanja2211 45:7950fa411107 159 T4=T3;
Tanja2211 45:7950fa411107 160 T3=T2;
Tanja2211 45:7950fa411107 161 T2=T1;
Tanja2211 45:7950fa411107 162 T1=T0;
Tanja2211 38:7ed04177892b 163
Tanja2211 45:7950fa411107 164 }
Tanja2211 50:650e8e45b870 165 }
Tanja2211 49:b103e9ed5ef2 166
Tanja2211 36:82fd9d862266 167
Tanja2211 45:7950fa411107 168 int main()
Tanja2211 45:7950fa411107 169 {
Tanja2211 45:7950fa411107 170 Ticker log_timer;
Tanja2211 45:7950fa411107 171 //set up filters. Use external array for constants
Tanja2211 45:7950fa411107 172 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
Tanja2211 45:7950fa411107 173 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 174
Tanja2211 45:7950fa411107 175 /**Here you attach the 'void looper(void)' function to the Ticker object
Tanja2211 45:7950fa411107 176 * The looper() function will be called every 0.01 seconds.
Tanja2211 45:7950fa411107 177 * Please mind that the parentheses after looper are omitted when using attach.
Tanja2211 45:7950fa411107 178 */
Tanja2211 45:7950fa411107 179 log_timer.attach(looperB, 0.005);//??
Tanja2211 45:7950fa411107 180 log_timer.attach(looperT, 0.005);//??
Tanja2211 45:7950fa411107 181 while(1) { //Loop
Tanja2211 45:7950fa411107 182 /*Empty!*/
Tanja2211 45:7950fa411107 183 /*Everything is handled by the interrupt routine now!*/
s1340735 23:1c51af8386c9 184 }
Tanja2211 45:7950fa411107 185 }
s1340735 23:1c51af8386c9 186
s1340735 22:dc630dbb1dcd 187 //filtered_emgB
s1340735 22:dc630dbb1dcd 188 //filtered_emgT
s1340735 22:dc630dbb1dcd 189
Tanja2211 52:cce270e0753a 190 void AntwoordT()
Tanja2211 45:7950fa411107 191 {
Tanja2211 52:cce270e0753a 192 drempelwaardeT=4.99;
Tanja2211 45:7950fa411107 193 int y;
s1340735 30:5d8e6f0fabc1 194
Tanja2211 45:7950fa411107 195 if (MOVAVG_T > drempelwaardeT) {
Tanja2211 45:7950fa411107 196 y=1;
Tanja2211 45:7950fa411107 197 } else {
Tanja2211 45:7950fa411107 198 y=0;
Tanja2211 45:7950fa411107 199 }
s1340735 23:1c51af8386c9 200
Tanja2211 45:7950fa411107 201 if (y==1) {
Tanja2211 45:7950fa411107 202 pc.printf("Motor 2 beweegt\n");
Tanja2211 45:7950fa411107 203 } else {
Tanja2211 45:7950fa411107 204 pc.printf("Motor 2 beweegt niet\n");
Tanja2211 45:7950fa411107 205 }
Tanja2211 52:cce270e0753a 206 }
Tanja2211 38:7ed04177892b 207
Tanja2211 52:cce270e0753a 208 void AntwoordB() {
Tanja2211 52:cce270e0753a 209 drempelwaardeB1=4.99;
Tanja2211 52:cce270e0753a 210 drempelwaardeB2=6;
Tanja2211 52:cce270e0753a 211 drempelwaardeB3=10;
Tanja2211 45:7950fa411107 212 int yB1;
Tanja2211 45:7950fa411107 213 int yB2;
Tanja2211 45:7950fa411107 214 int yB3;
Tanja2211 38:7ed04177892b 215
Tanja2211 52:cce270e0753a 216 if (MOVAVG_B > drempelwaardeB1) {
Tanja2211 45:7950fa411107 217 yB1=1;
Tanja2211 52:cce270e0753a 218 if (MOVAVG_B > drempelwaardeB2) {
Tanja2211 45:7950fa411107 219 yB2=1;
Tanja2211 53:d90e54fba7d8 220 if (MOVAVG_B > drempelwaardeB3) {
Tanja2211 53:d90e54fba7d8 221 yB3=1;}
Tanja2211 53:d90e54fba7d8 222 else {
Tanja2211 53:d90e54fba7d8 223 yB3=0;}
Tanja2211 45:7950fa411107 224 } else {
Tanja2211 53:d90e54fba7d8 225 yB2=0; }
Tanja2211 53:d90e54fba7d8 226 } else {
Tanja2211 45:7950fa411107 227 yB1=0;
Tanja2211 45:7950fa411107 228 }
Tanja2211 53:d90e54fba7d8 229
Tanja2211 45:7950fa411107 230 int snelheidsstand;
Tanja2211 53:d90e54fba7d8 231
Tanja2211 45:7950fa411107 232 snelheidsstand=yB1+yB2+yB3;
Tanja2211 45:7950fa411107 233 if (snelheidsstand==1) {
Tanja2211 45:7950fa411107 234 pc.printf("Motor 1 beweegt met snelheid 1\n");
Tanja2211 45:7950fa411107 235 } else {
Tanja2211 48:5a270ba60008 236 pc.printf("Motor 1 beweegt niet met snelheid 1\n"); }
Tanja2211 45:7950fa411107 237 if (snelheidsstand==2) {
Tanja2211 45:7950fa411107 238 pc.printf("Motor 1 beweegt met snelheid 2\n");
Tanja2211 45:7950fa411107 239 } else {
Tanja2211 48:5a270ba60008 240 pc.printf("Motor 1 beweegt niet met snelheid 2\n");
Tanja2211 38:7ed04177892b 241 }
Tanja2211 45:7950fa411107 242 if (snelheidsstand==3) {
Tanja2211 45:7950fa411107 243 pc.printf("Motor 1 beweegt met snelheid 3\n");
Tanja2211 45:7950fa411107 244 } else {
Tanja2211 48:5a270ba60008 245 pc.printf("Motor 1 beweegt niet met snelheid 3\n");
Tanja2211 44:b47f559826ba 246 }
Tanja2211 45:7950fa411107 247 }