Revision 22:dc630dbb1dcd, committed 2014-10-10

Comitter:

s1340735

Date:

Fri Oct 10 09:54:49 2014 +0000

Parent:

21:133e9390a42a

Child:

23:1c51af8386c9

Commit message:

poging 1 bicep tricep filter

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EMGfilter.cpp	Fri Oct 10 09:54:49 2014 +0000
@@ -0,0 +1,107 @@
+#include "mbed.h"
+#include "HIDScope.h"
+
+#include "arm_math.h"
+
+//Define objects
+AnalogIn    emgB(PTB0); //Analog input bicep
+AnalogIn    emgT(PTB1); //Analog input tricep
+
+HIDScope scope(2);//WHAT IS THIS
+
+arm_biquad_casd_df1_inst_f32 lowpass;
+//constants for 50Hz lowpass
+float lowpass_const[] = {-0.2924 , 0.1085 , 0 , 0.5587 , 0.2573};//{a1 a2 b0 b1 b2} normalized coefficients (a0=1)
+//state values
+float lowpass_states[4];//WHAT IS THIS
+
+arm_biquad_casd_df1_inst_f32 highpass;
+//constants for 10Hz highpass
+float highpass_const[] = {-1.562, 0.6413,  1, -1.958 , 0.9576};//{a1 a2 b0 b1 b2} normalized coefficients (a0=1)
+//state values
+float highpass_states[4];//WHAT IS THIS
+
+
+/** Looper function
+* functions used for Ticker and Timeout should be of type void <name>(void)
+* i.e. no input arguments, no output arguments.
+* if you want to change a variable that you use in other places (for example in main)
+* you will have to make that variable global in order to be able to reach it both from
+* the function called at interrupt time, and in the main function.
+* To make a variable global, define it under the includes.
+* variables that are changed in the interrupt routine (written to) should be made
+* 'volatile' to let the compiler know that those values may change outside the current context.
+* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
+* in the example below, the variable is not re-used in the main function, and is thus declared
+* local in the looper function only.
+**/
+
+//BICEP EMG LEZEN
+void looperB()
+{
+    /*variable to store value in*/    
+    uint16_t emg_valueB;
+    float filtered_emgB;
+    float emg_value_f32B;
+    /*put raw emg value both in red and in emg_value*/
+    emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    emg_value_f32B = emgB.read();
+
+    //process emg
+    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
+    filtered_emgB = fabs(filtered_emgB);
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
+    
+    /*send value to PC. */
+    scope.set(0,emg_valueB);     //uint value
+    scope.set(1,filtered_emgB);  //processed float
+    scope.send();
+
+}
+
+void looperT()
+{
+    /*variable to store value in*/    
+    uint16_t emg_valueT;
+    float filtered_emgT;
+    float emg_value_f32T;
+    /*put raw emg value both in red and in emg_value*/
+    emg_valueT = emgT.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    emg_value_f32T = emgT.read();
+
+    //process emg
+    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
+    filtered_emgT = fabs(filtered_emgT);
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
+    
+    /*send value to PC. */
+    scope.set(0,emg_valueT);     //uint value
+    scope.set(1,filtered_emgT);  //processed float
+    scope.send();
+
+}
+
+int main()
+{
+    Ticker log_timer;
+   //set up filters. Use external array for constants
+    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
+    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
+
+    /**Here you attach the 'void looper(void)' function to the Ticker object
+    * The looper() function will be called every 0.01 seconds.
+    * Please mind that the parentheses after looper are omitted when using attach.
+    */
+    log_timer.attach(looperB, 0.005);//??
+    log_timer.attach(looperT, 0.005);//??
+    while(1) //Loop
+    {
+      /*Empty!*/
+      
+      
+//filtered_emgB
+//filtered_emgT
+
+      /*Everything is handled by the interrupt routine now!*/
+    }
+}
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