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@22:dc630dbb1dcd, 2014-10-10 (annotated)

Committer:
s1340735
Date:
Fri Oct 10 09:54:49 2014 +0000
Revision:
22:dc630dbb1dcd
Child:
23:1c51af8386c9
poging 1 bicep tricep filter

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 22:dc630dbb1dcd 3
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 22:dc630dbb1dcd 10 HIDScope scope(2);//WHAT IS THIS
s1340735 22:dc630dbb1dcd 11
s1340735 22:dc630dbb1dcd 12 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 13 //constants for 50Hz lowpass
s1340735 22:dc630dbb1dcd 14 float lowpass_const[] = {-0.2924 , 0.1085 , 0 , 0.5587 , 0.2573};//{a1 a2 b0 b1 b2} normalized coefficients (a0=1)
s1340735 22:dc630dbb1dcd 15 //state values
s1340735 22:dc630dbb1dcd 16 float lowpass_states[4];//WHAT IS THIS
s1340735 22:dc630dbb1dcd 17
s1340735 22:dc630dbb1dcd 18 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 19 //constants for 10Hz highpass
s1340735 22:dc630dbb1dcd 20 float highpass_const[] = {-1.562, 0.6413, 1, -1.958 , 0.9576};//{a1 a2 b0 b1 b2} normalized coefficients (a0=1)
s1340735 22:dc630dbb1dcd 21 //state values
s1340735 22:dc630dbb1dcd 22 float highpass_states[4];//WHAT IS THIS
s1340735 22:dc630dbb1dcd 23
s1340735 22:dc630dbb1dcd 24
s1340735 22:dc630dbb1dcd 25 /** Looper function
s1340735 22:dc630dbb1dcd 26 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 27 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 28 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 29 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 30 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 31 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 32 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 33 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 34 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 35 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 36 * local in the looper function only.
s1340735 22:dc630dbb1dcd 37 **/
s1340735 22:dc630dbb1dcd 38
s1340735 22:dc630dbb1dcd 39 //BICEP EMG LEZEN
s1340735 22:dc630dbb1dcd 40 void looperB()
s1340735 22:dc630dbb1dcd 41 {
s1340735 22:dc630dbb1dcd 42 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 43 uint16_t emg_valueB;
s1340735 22:dc630dbb1dcd 44 float filtered_emgB;
s1340735 22:dc630dbb1dcd 45 float emg_value_f32B;
s1340735 22:dc630dbb1dcd 46 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 47 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 48 emg_value_f32B = emgB.read();
s1340735 22:dc630dbb1dcd 49
s1340735 22:dc630dbb1dcd 50 //process emg
s1340735 22:dc630dbb1dcd 51 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 52 filtered_emgB = fabs(filtered_emgB);
s1340735 22:dc630dbb1dcd 53 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
s1340735 22:dc630dbb1dcd 54
s1340735 22:dc630dbb1dcd 55 /*send value to PC. */
s1340735 22:dc630dbb1dcd 56 scope.set(0,emg_valueB); //uint value
s1340735 22:dc630dbb1dcd 57 scope.set(1,filtered_emgB); //processed float
s1340735 22:dc630dbb1dcd 58 scope.send();
s1340735 22:dc630dbb1dcd 59
s1340735 22:dc630dbb1dcd 60 }
s1340735 22:dc630dbb1dcd 61
s1340735 22:dc630dbb1dcd 62 void looperT()
s1340735 22:dc630dbb1dcd 63 {
s1340735 22:dc630dbb1dcd 64 /*variable to store value in*/
s1340735 22:dc630dbb1dcd 65 uint16_t emg_valueT;
s1340735 22:dc630dbb1dcd 66 float filtered_emgT;
s1340735 22:dc630dbb1dcd 67 float emg_value_f32T;
s1340735 22:dc630dbb1dcd 68 /*put raw emg value both in red and in emg_value*/
s1340735 22:dc630dbb1dcd 69 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 70 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 71
s1340735 22:dc630dbb1dcd 72 //process emg
s1340735 22:dc630dbb1dcd 73 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 74 filtered_emgT = fabs(filtered_emgT);
s1340735 22:dc630dbb1dcd 75 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 76
s1340735 22:dc630dbb1dcd 77 /*send value to PC. */
s1340735 22:dc630dbb1dcd 78 scope.set(0,emg_valueT); //uint value
s1340735 22:dc630dbb1dcd 79 scope.set(1,filtered_emgT); //processed float
s1340735 22:dc630dbb1dcd 80 scope.send();
s1340735 22:dc630dbb1dcd 81
s1340735 22:dc630dbb1dcd 82 }
s1340735 22:dc630dbb1dcd 83
s1340735 22:dc630dbb1dcd 84 int main()
s1340735 22:dc630dbb1dcd 85 {
s1340735 22:dc630dbb1dcd 86 Ticker log_timer;
s1340735 22:dc630dbb1dcd 87 //set up filters. Use external array for constants
s1340735 22:dc630dbb1dcd 88 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
s1340735 22:dc630dbb1dcd 89 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 90
s1340735 22:dc630dbb1dcd 91 /**Here you attach the 'void looper(void)' function to the Ticker object
s1340735 22:dc630dbb1dcd 92 * The looper() function will be called every 0.01 seconds.
s1340735 22:dc630dbb1dcd 93 * Please mind that the parentheses after looper are omitted when using attach.
s1340735 22:dc630dbb1dcd 94 */
s1340735 22:dc630dbb1dcd 95 log_timer.attach(looperB, 0.005);//??
s1340735 22:dc630dbb1dcd 96 log_timer.attach(looperT, 0.005);//??
s1340735 22:dc630dbb1dcd 97 while(1) //Loop
s1340735 22:dc630dbb1dcd 98 {
s1340735 22:dc630dbb1dcd 99 /*Empty!*/
s1340735 22:dc630dbb1dcd 100
s1340735 22:dc630dbb1dcd 101
s1340735 22:dc630dbb1dcd 102 //filtered_emgB
s1340735 22:dc630dbb1dcd 103 //filtered_emgT
s1340735 22:dc630dbb1dcd 104
s1340735 22:dc630dbb1dcd 105 /*Everything is handled by the interrupt routine now!*/
s1340735 22:dc630dbb1dcd 106 }
s1340735 22:dc630dbb1dcd 107 }