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Dependencies:   HIDScope MODSERIAL mbed

Fork of Signal Filter by BioRobotics Group 3

main.cpp@3:04f3cca82b22, 2015-09-21 (annotated)

Committer:
Peasofcake
Date:
Mon Sep 21 10:30:38 2015 +0000
Revision:
3:04f3cca82b22
Parent:
2:e30dbfec6d1e
Child:
4:d6a3b318c744
No errors filter, with Filtercoefficients for 50Hz

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Peasofcake 0:c8a6e00fbdc3 1 #include "mbed.h"
Peasofcake 1:f6110f80fa45 2 #include "MODSERIAL.h"
Peasofcake 2:e30dbfec6d1e 3 #include "math.h"
Peasofcake 1:f6110f80fa45 4 #include "HIDScope.h"
Peasofcake 2:e30dbfec6d1e 5
Peasofcake 2:e30dbfec6d1e 6
Peasofcake 2:e30dbfec6d1e 7 AnalogIn EMG(A0);
Peasofcake 1:f6110f80fa45 8 MODSERIAL pc(USBTX, USBRX);
Peasofcake 0:c8a6e00fbdc3 9
Peasofcake 2:e30dbfec6d1e 10 //const int baudrate = 115200;
Peasofcake 1:f6110f80fa45 11 //const int ms_wait = 100;
Peasofcake 0:c8a6e00fbdc3 12
Peasofcake 1:f6110f80fa45 13 // Define the HIDScope and Ticker objects
Peasofcake 2:e30dbfec6d1e 14 HIDScope scope(1);
Peasofcake 2:e30dbfec6d1e 15 Ticker scopeTimer;
Peasofcake 2:e30dbfec6d1e 16 // Define the storage variables and filter coeicients for two filters
Peasofcake 2:e30dbfec6d1e 17
Peasofcake 2:e30dbfec6d1e 18
Peasofcake 2:e30dbfec6d1e 19 // Define the storage variables and filter coeicients for two filters
Peasofcake 2:e30dbfec6d1e 20 double f1_v1 = 0, f1_v2 = 0, f2_v1 = 0, f2_v2 = 0;
Peasofcake 3:04f3cca82b22 21 const double f1_a1 = 0.25071442433, f1_a2 = 0.21711875780, f1_b0 = 1.0, f1_b1 = -1.62432585007, f1_b2 = 1.0;
Peasofcake 3:04f3cca82b22 22 const double f2_a1 = -1.77682226139, f2_a2 = 0.80213897411, f2_b0 = 1.0, f2_b1 = -1.62432585007, f2_b2 = 1.0;
Peasofcake 2:e30dbfec6d1e 23
Peasofcake 3:04f3cca82b22 24 double biquad( double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2 )
Peasofcake 3:04f3cca82b22 25 {
Peasofcake 3:04f3cca82b22 26 double v = u-a1*v1-a2*v2;
Peasofcake 3:04f3cca82b22 27 double y = b0*v + b1*v1 + b2*v2;
Peasofcake 2:e30dbfec6d1e 28 v2 = v1; v1 = v;
Peasofcake 2:e30dbfec6d1e 29 return y;
Peasofcake 2:e30dbfec6d1e 30 }
Peasofcake 2:e30dbfec6d1e 31
Peasofcake 2:e30dbfec6d1e 32 // This is your controller, call it using a Ticker
Peasofcake 3:04f3cca82b22 33 // void myController() {
Peasofcake 3:04f3cca82b22 34 //double u1 = EMG, u2 = y1 ;
Peasofcake 3:04f3cca82b22 35 //double y1 = biquad( u1, f1_v1, f1_v2, f1_a1, f1_a2, f1_b0, f1_b1, f1_b2 );
Peasofcake 3:04f3cca82b22 36 //double y2 = biquad( u2, f2_v1, f2_v2, f2_a1, f2_a2, f2_b0, f2_b1, f2_b2 );
Peasofcake 3:04f3cca82b22 37 //}
Peasofcake 2:e30dbfec6d1e 38
Peasofcake 2:e30dbfec6d1e 39
Peasofcake 2:e30dbfec6d1e 40
Peasofcake 2:e30dbfec6d1e 41
Peasofcake 2:e30dbfec6d1e 42 void scopeSend(){
Peasofcake 3:04f3cca82b22 43 double u1 = EMG ;
Peasofcake 3:04f3cca82b22 44 double y1 = biquad( u1, f1_v1, f1_v2, f1_a1, f1_a2, f1_b0, f1_b1, f1_b2 );
Peasofcake 3:04f3cca82b22 45 double u2 = y1;
Peasofcake 3:04f3cca82b22 46 double y2 = biquad( u2, f2_v1, f2_v2, f2_a1, f2_a2, f2_b0, f2_b1, f2_b2 );
Peasofcake 3:04f3cca82b22 47 scope.set(0,y2);
Peasofcake 2:e30dbfec6d1e 48 scope.send();
Peasofcake 2:e30dbfec6d1e 49 }
Peasofcake 3:04f3cca82b22 50
Peasofcake 0:c8a6e00fbdc3 51 int main()
Peasofcake 3:04f3cca82b22 52 {
Peasofcake 3:04f3cca82b22 53
Peasofcake 3:04f3cca82b22 54 scopeTimer.attach_us(&scopeSend,1e4);
Peasofcake 2:e30dbfec6d1e 55 while(1){}
Peasofcake 1:f6110f80fa45 56
Peasofcake 0:c8a6e00fbdc3 57 }