BMT M9 Groep01 / Mbed 2 deprecated emg_filter2

:)

Dependencies:   HIDScope MODSERIAL mbed-dsp mbed

Fork of emg_filter by Tanja H

EMGfilter.cpp@59:fa8d6909d8ac, 2014-10-20 (annotated)

Committer:
Tanja2211
Date:
Mon Oct 20 13:07:38 2014 +0000
Revision:
59:fa8d6909d8ac
Parent:
58:b5bb78380767 
.)

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 29:f54123765a47 6
s1340735 29:f54123765a47 7 // ****** emg filter shizzle ******
s1340735 29:f54123765a47 8
s1340735 22:dc630dbb1dcd 9 //Define objects
s1340735 22:dc630dbb1dcd 10 AnalogIn emgB(PTB0); //Analog input bicep
s1340735 22:dc630dbb1dcd 11 AnalogIn emgT(PTB1); //Analog input tricep
s1340735 22:dc630dbb1dcd 12
s1340735 23:1c51af8386c9 13 float filtered_emgB;
s1340735 27:24e73fd36859 14 float filtered_emgT;
Tanja2211 57:5136d9823508 15 float MeanT2, MeanB1, MeanB2, MeanB3;
Tanja2211 56:57a5fcfdce72 16 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 17 float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
Tanja2211 51:809e38348c91 18 float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;
Tanja2211 54:f3a9fa5f2b0e 19 float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3, drempelwaardeT1, drempelwaardeT2;
s1340735 23:1c51af8386c9 20
s1340735 23:1c51af8386c9 21 MODSERIAL pc(USBTX,USBRX);
s1340735 23:1c51af8386c9 22
s1340735 26:b93c82fb6e1d 23 HIDScope scope(4);//uitgang scherm
s1340735 22:dc630dbb1dcd 24
s1340735 22:dc630dbb1dcd 25 arm_biquad_casd_df1_inst_f32 lowpass;
s1340735 22:dc630dbb1dcd 26 //constants for 50Hz lowpass
s1340735 30:5d8e6f0fabc1 27 float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
s1340735 22:dc630dbb1dcd 28 //state values
s1340735 26:b93c82fb6e1d 29 float lowpass_states[4];
s1340735 22:dc630dbb1dcd 30
s1340735 22:dc630dbb1dcd 31 arm_biquad_casd_df1_inst_f32 highpass;
s1340735 22:dc630dbb1dcd 32 //constants for 10Hz highpass
s1340735 26:b93c82fb6e1d 33 float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
s1340735 22:dc630dbb1dcd 34 //state values
s1340735 26:b93c82fb6e1d 35 float highpass_states[4];
s1340735 22:dc630dbb1dcd 36
s1340735 22:dc630dbb1dcd 37
s1340735 22:dc630dbb1dcd 38 /** Looper function
s1340735 22:dc630dbb1dcd 39 * functions used for Ticker and Timeout should be of type void <name>(void)
s1340735 22:dc630dbb1dcd 40 * i.e. no input arguments, no output arguments.
s1340735 22:dc630dbb1dcd 41 * if you want to change a variable that you use in other places (for example in main)
s1340735 22:dc630dbb1dcd 42 * you will have to make that variable global in order to be able to reach it both from
s1340735 22:dc630dbb1dcd 43 * the function called at interrupt time, and in the main function.
s1340735 22:dc630dbb1dcd 44 * To make a variable global, define it under the includes.
s1340735 22:dc630dbb1dcd 45 * variables that are changed in the interrupt routine (written to) should be made
s1340735 22:dc630dbb1dcd 46 * 'volatile' to let the compiler know that those values may change outside the current context.
s1340735 22:dc630dbb1dcd 47 * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
s1340735 22:dc630dbb1dcd 48 * in the example below, the variable is not re-used in the main function, and is thus declared
s1340735 22:dc630dbb1dcd 49 * local in the looper function only.
s1340735 22:dc630dbb1dcd 50 **/
s1340735 22:dc630dbb1dcd 51
Tanja2211 55:f215d954533c 52 // Calibratie
Tanja2211 55:f215d954533c 53
Tanja2211 55:f215d954533c 54 pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
Tanja2211 55:f215d954533c 55 wait(0.5);
Tanja2211 56:57a5fcfdce72 56 {
Tanja2211 58:b5bb78380767 57 int i;
Tanja2211 58:b5bb78380767 58 int j=19;
Tanja2211 55:f215d954533c 59
Tanja2211 58:b5bb78380767 60 for (i = 0, i<=j; i ++) {
Tanja2211 58:b5bb78380767 61 /*variable to store value in*/
Tanja2211 58:b5bb78380767 62 uint16_t emg_valueT1i_C;
Tanja2211 58:b5bb78380767 63
Tanja2211 58:b5bb78380767 64 float emg_value_f32T1i_C;
Tanja2211 58:b5bb78380767 65 /*put raw emg value both in red and in emg_value*/
Tanja2211 58:b5bb78380767 66 emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Tanja2211 58:b5bb78380767 67 emg_value_f32T1i_C = emgT1i_C.read();
Tanja2211 55:f215d954533c 68
Tanja2211 58:b5bb78380767 69 //process emg
Tanja2211 58:b5bb78380767 70 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
Tanja2211 58:b5bb78380767 71 filtered_emgT1i_C = fabs(filtered_emgT1i_C);
Tanja2211 58:b5bb78380767 72 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
Tanja2211 58:b5bb78380767 73 }
Tanja2211 58:b5bb78380767 74 }
Tanja2211 58:b5bb78380767 75 // Mean Triceps stand 1
Tanja2211 55:f215d954533c 76
Tanja2211 55:f215d954533c 77
Tanja2211 58:b5bb78380767 78 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 56:57a5fcfdce72 79
Tanja2211 58:b5bb78380767 80
Tanja2211 55:f215d954533c 81
Tanja2211 55:f215d954533c 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 }
Tanja2211 44:b47f559826ba 121 // Triceps EMG lezen
Tanja2211 45:7950fa411107 122 void looperT()
Tanja2211 45:7950fa411107 123 {
Tanja2211 45:7950fa411107 124 /*variable to store value in*/
Tanja2211 45:7950fa411107 125 uint16_t emg_valueT;
Tanja2211 31:b6f7ba4938d4 126
Tanja2211 45:7950fa411107 127 float emg_value_f32T;
Tanja2211 45:7950fa411107 128 /*put raw emg value both in red and in emg_value*/
Tanja2211 45:7950fa411107 129 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 130 emg_value_f32T = emgT.read();
s1340735 22:dc630dbb1dcd 131
Tanja2211 45:7950fa411107 132 //process emg
Tanja2211 45:7950fa411107 133 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
Tanja2211 45:7950fa411107 134 filtered_emgT = fabs(filtered_emgT);
Tanja2211 45:7950fa411107 135 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
s1340735 22:dc630dbb1dcd 136
Tanja2211 45:7950fa411107 137 /*send value to PC. */
Tanja2211 45:7950fa411107 138 scope.set(2,emg_valueT); //uint value
Tanja2211 45:7950fa411107 139 scope.set(3,filtered_emgT); //processed float
Tanja2211 45:7950fa411107 140 scope.send();
Tanja2211 38:7ed04177892b 141
Tanja2211 58:b5bb78380767 142 // Moving Average Filter Triceps
Tanja2211 58:b5bb78380767 143 {
Tanja2211 58:b5bb78380767 144 T0=filtered_emgT;
Tanja2211 58:b5bb78380767 145 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 146
Tanja2211 58:b5bb78380767 147 T9=T8;
Tanja2211 58:b5bb78380767 148 T8=T7;
Tanja2211 58:b5bb78380767 149 T7=T6;
Tanja2211 58:b5bb78380767 150 T6=T5;
Tanja2211 58:b5bb78380767 151 T5=T4;
Tanja2211 58:b5bb78380767 152 T4=T3;
Tanja2211 58:b5bb78380767 153 T3=T2;
Tanja2211 58:b5bb78380767 154 T2=T1;
Tanja2211 58:b5bb78380767 155 T1=T0;
Tanja2211 58:b5bb78380767 156 }
Tanja2211 50:650e8e45b870 157 }
Tanja2211 49:b103e9ed5ef2 158
Tanja2211 45:7950fa411107 159 int main()
Tanja2211 45:7950fa411107 160 {
Tanja2211 59:fa8d6909d8ac 161 Ticker log_timer,;
Tanja2211 45:7950fa411107 162 //set up filters. Use external array for constants
Tanja2211 45:7950fa411107 163 arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
Tanja2211 45:7950fa411107 164 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
s1340735 22:dc630dbb1dcd 165
Tanja2211 45:7950fa411107 166 /**Here you attach the 'void looper(void)' function to the Ticker object
Tanja2211 45:7950fa411107 167 * The looper() function will be called every 0.01 seconds.
Tanja2211 45:7950fa411107 168 * Please mind that the parentheses after looper are omitted when using attach.
Tanja2211 45:7950fa411107 169 */
Tanja2211 45:7950fa411107 170 log_timer.attach(looperB, 0.005);//??
Tanja2211 45:7950fa411107 171 log_timer.attach(looperT, 0.005);//??
Tanja2211 45:7950fa411107 172 while(1) { //Loop
Tanja2211 45:7950fa411107 173 /*Empty!*/
Tanja2211 45:7950fa411107 174 /*Everything is handled by the interrupt routine now!*/
s1340735 23:1c51af8386c9 175 }
Tanja2211 45:7950fa411107 176 }
s1340735 23:1c51af8386c9 177
s1340735 22:dc630dbb1dcd 178 //filtered_emgB
s1340735 22:dc630dbb1dcd 179 //filtered_emgT
s1340735 22:dc630dbb1dcd 180
Tanja2211 52:cce270e0753a 181 void AntwoordT()
Tanja2211 45:7950fa411107 182 {
Tanja2211 54:f3a9fa5f2b0e 183 drempelwaardeT1=4.99;
Tanja2211 54:f3a9fa5f2b0e 184 drempelwaardeT2=7;
Tanja2211 54:f3a9fa5f2b0e 185 int yT1, yT2;
Tanja2211 58:b5bb78380767 186
Tanja2211 58:b5bb78380767 187 if (MOVAVG_T > drempelwaardeT1) {
Tanja2211 58:b5bb78380767 188 yT1=1;
Tanja2211 58:b5bb78380767 189 if (MOVAVG_T > drempelwaardeT2) {
Tanja2211 54:f3a9fa5f2b0e 190 yT2=1;
Tanja2211 54:f3a9fa5f2b0e 191 } else {
Tanja2211 58:b5bb78380767 192 yT2=0;
Tanja2211 54:f3a9fa5f2b0e 193 }
Tanja2211 58:b5bb78380767 194 } else {
Tanja2211 58:b5bb78380767 195 yT1=0;
Tanja2211 58:b5bb78380767 196 }
Tanja2211 58:b5bb78380767 197
Tanja2211 58:b5bb78380767 198 int positie;
Tanja2211 58:b5bb78380767 199
Tanja2211 58:b5bb78380767 200 positie=yT1+yT2;
Tanja2211 58:b5bb78380767 201 if (positie==0) {
Tanja2211 58:b5bb78380767 202 pc.printf("Motor 2 beweegt niet\n");
Tanja2211 58:b5bb78380767 203 } else {
Tanja2211 58:b5bb78380767 204 pc.printf("Motor 2 gaat beweegen\n");
Tanja2211 58:b5bb78380767 205 }
Tanja2211 58:b5bb78380767 206 if (positie==1) {
Tanja2211 58:b5bb78380767 207 pc.printf("Motor 2 beweegt naar positie 1\n");
Tanja2211 58:b5bb78380767 208 } else {
Tanja2211 58:b5bb78380767 209 pc.printf("Motor 1 beweegt niet naar positie 1\n");
Tanja2211 58:b5bb78380767 210 }
Tanja2211 58:b5bb78380767 211 if (positie==2) {
Tanja2211 58:b5bb78380767 212 pc.printf("Motor 1 beweegt naar positie 2\n");
Tanja2211 58:b5bb78380767 213 } else {
Tanja2211 58:b5bb78380767 214 pc.printf("Motor 1 beweegt niet naar positie 2\n");
Tanja2211 58:b5bb78380767 215 }
Tanja2211 58:b5bb78380767 216 }
Tanja2211 38:7ed04177892b 217
Tanja2211 52:cce270e0753a 218 void AntwoordB() {
Tanja2211 52:cce270e0753a 219 drempelwaardeB1=4.99;
Tanja2211 52:cce270e0753a 220 drempelwaardeB2=6;
Tanja2211 52:cce270e0753a 221 drempelwaardeB3=10;
Tanja2211 45:7950fa411107 222 int yB1;
Tanja2211 45:7950fa411107 223 int yB2;
Tanja2211 45:7950fa411107 224 int yB3;
Tanja2211 38:7ed04177892b 225
Tanja2211 52:cce270e0753a 226 if (MOVAVG_B > drempelwaardeB1) {
Tanja2211 45:7950fa411107 227 yB1=1;
Tanja2211 52:cce270e0753a 228 if (MOVAVG_B > drempelwaardeB2) {
Tanja2211 58:b5bb78380767 229 yB2=1;
Tanja2211 58:b5bb78380767 230 if (MOVAVG_B > drempelwaardeB3) {
Tanja2211 58:b5bb78380767 231 yB3=1;
Tanja2211 58:b5bb78380767 232 } else {
Tanja2211 58:b5bb78380767 233 yB3=0;
Tanja2211 58:b5bb78380767 234 }
Tanja2211 58:b5bb78380767 235 } else {
Tanja2211 58:b5bb78380767 236 yB2=0;
Tanja2211 58:b5bb78380767 237 }
Tanja2211 45:7950fa411107 238 } else {
Tanja2211 45:7950fa411107 239 yB1=0;
Tanja2211 45:7950fa411107 240 }
Tanja2211 58:b5bb78380767 241
Tanja2211 45:7950fa411107 242 int snelheidsstand;
Tanja2211 58:b5bb78380767 243
Tanja2211 45:7950fa411107 244 snelheidsstand=yB1+yB2+yB3;
Tanja2211 45:7950fa411107 245 if (snelheidsstand==1) {
Tanja2211 58:b5bb78380767 246 pc.printf("Motor 1 beweegt met snelheid 1\n");
Tanja2211 58:b5bb78380767 247 } else {
Tanja2211 58:b5bb78380767 248 pc.printf("Motor 1 beweegt niet met snelheid 1\n");
Tanja2211 45:7950fa411107 249 }
Tanja2211 58:b5bb78380767 250 if (snelheidsstand==2) {
Tanja2211 58:b5bb78380767 251 pc.printf("Motor 1 beweegt met snelheid 2\n");
Tanja2211 58:b5bb78380767 252 } else {
Tanja2211 58:b5bb78380767 253 pc.printf("Motor 1 beweegt niet met snelheid 2\n");
Tanja2211 58:b5bb78380767 254 }
Tanja2211 58:b5bb78380767 255 if (snelheidsstand==3) {
Tanja2211 58:b5bb78380767 256 pc.printf("Motor 1 beweegt met snelheid 3\n");
Tanja2211 58:b5bb78380767 257 } else {
Tanja2211 58:b5bb78380767 258 pc.printf("Motor 1 beweegt niet met snelheid 3\n");
Tanja2211 58:b5bb78380767 259 }
Tanja2211 58:b5bb78380767 260 }