Diff: main.cpp

Revision:

2:241b572207fb

Parent:

1:ee877d784c40

Child:

3:2f75bb307da3

--- a/main.cpp	Tue Oct 27 10:13:02 2015 +0000
+++ b/main.cpp	Tue Oct 27 10:56:41 2015 +0000
@@ -30,14 +30,39 @@
 double filter_signal_hid = 0;
 //double input_right = 0;
 
+
+//*** making the v for everything and conquer the world***
+
+//for Notchfilter
+double notch_v11=0;
+double notch_v21=0;
+double notch_v12=0;
+double notch_v22=0;
+double notch_v13=0;
+double notch_v23=0;
+
+//for highpass filter
+double high_v11=0;
+double high_v21=0;
+double high_v12=0;
+double high_v22=0;
+double high_v13=0;
+double high_v23=0;
+
+// for lowpasfilter
 double low_v11=0;
 double low_v21=0;
 double low_v12=0;
 double low_v22=0;
 double low_v13=0;
 double low_v23=0;
-//double v1_right=0;
-//double v2_right=0;
+
+// for moving average
+double n1 = 0;
+double n2 = 0;
+double n3 = 0;
+double n4 = 0;
+double n5 = 0;
 
 double filter_left;
 double filter_right;
@@ -55,7 +80,64 @@
     return y;
 }
 
+double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5)
+{
+ double average = (y + n1 + n2 +n3 + n4 + n5)/5;
+ n5 = n4;
+ n4 = n3;
+ n3 = n2;
+ n2 = n1;
+ n1 = y;
+ 
+ return average;   
+}
 
+//Specifying filter coefficients highpass
+
+/* notch filter with 3 cascaded biquads*/
+//first notch biquad
+const double notch1_a1 = -1.55951422433;
+const double notch1_a2 = 0.92705680308;
+const double notch1_b0 = 1.00000000000;
+const double notch1_b1 = -1.61854515325;
+const double notch1_b2 = 1.00000000000;
+
+//second notch biquad
+const double notch2_a1 = -1.54767435801;
+const double notch2_a2 = 0.96124842048;
+const double notch2_b0 = 1.00000000000;
+const double notch2_b1 = -1.61854515325;
+const double notch2_b2 = 1.00000000000;
+
+//third notch biquad
+const double notch3_a1 = -1.62600366964;
+const double notch3_a2 = 0.96453460373;
+const double notch3_b0 = 1.00000000000;
+const double notch3_b1 = -1.61854515325;
+const double notch3_b2 = 1.00000000000;
+
+/* high pass filter consists of three cascaded biquads
+ blow coefficients for those three biquads */
+//first high pass biquad
+const double highp1_a1 = -0.67538034389;
+const double highp1_a2 = 0.12769255668;
+const double highp1_b0 = 1.00000000000;
+const double highp1_b1 = -2.00000000000;
+const double highp1_b2 = 1.00000000000;
+
+//second high pass biquad
+const double highp2_a1 = -0.76475499450;
+const double highp2_a2 = 0.27692273367;
+const double highp2_b0 = 1.00000000000;
+const double highp2_b1 = -2.00000000000;
+const double highp2_b2 = 1.00000000000;
+
+//third high pass biquad
+const double highp3_a1 = -0.99216561242;
+const double highp3_a2 = 0.65663360837;
+const double highp3_b0 = 1.00000000000;
+const double highp3_b1 = -2.00000000000;
+const double highp3_b2 = 1.00000000000;
 
 /* lowpass filter consists of three cascaded biquads
 below the coefficients for those three biquads */
@@ -86,24 +168,6 @@
 
 
 
-//highpass
-
-
-
-/*
-//rectifier
-double rectify(double y6)
-{
-    y6 = fabs(y6);
-    return y6;
-}
-*/
-//lowpass
-
-
-
-   
-    // double y8 = biquad(y7, v1, v2, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
 
 
 
@@ -113,14 +177,31 @@
 double Filteren()
 {
     input = analog_emg_left.read();
-    //input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER
+    input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER
     //input_right = analog_emg_right.read();
-  double y7 = biquad(input, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2);
-    double y8 = biquad(y7, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
-    double filter_signal = biquad(y8, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2);
-    //filter_right = filter(input_right, v1_right, v2_right);
+    
+    // notch filter
+    double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2);
+    double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2);
+    double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2);
     
-return(filter_signal);
+    //higpass filter
+    double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2);
+    double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2);
+    double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2);
+
+    //rectivier 
+    double y7 = fabs(y6);
+
+    //lowpas filter cascade
+    double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2);
+    double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2);
+    double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2);
+    
+    // moving average 
+    double filter_signal = moving_average(y10,n1,n2,n3,n4,n5);
+
+    return(filter_signal);
 }
 void HIDScope_kijken()
 {
@@ -132,8 +213,8 @@
 {
     HIDScope_timer.attach(&Go_flag_HIDScope, 0.002);
     Filteren_timer.attach(&Go_flag_filteren,0.004);
-    while(1){
-              if(Flag_filteren) {
+    while(1) {
+        if(Flag_filteren) {
             Flag_filteren = false;
             filter_signal_hid = Filteren();
         }
@@ -142,5 +223,5 @@
             Flag_HIDScope = false;
             HIDScope_kijken();
         }
-        }
+    }
 }
\ No newline at end of file