a biquad working
Dependencies: HIDScope mbed QEI
main.cpp@3:2f75bb307da3, 2015-10-27 (annotated)
- Committer:
- yohoo15
- Date:
- Tue Oct 27 13:22:39 2015 +0000
- Revision:
- 3:2f75bb307da3
- Parent:
- 2:241b572207fb
- Child:
- 4:61d5e7417c4c
working;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yohoo15 | 0:fc207e186e8b | 1 | #include "mbed.h" |
yohoo15 | 0:fc207e186e8b | 2 | //#include "read_filter_emg.h" |
yohoo15 | 0:fc207e186e8b | 3 | //included for fabs() function |
yohoo15 | 0:fc207e186e8b | 4 | #include <math.h> |
yohoo15 | 0:fc207e186e8b | 5 | #include "HIDScope.h" |
yohoo15 | 0:fc207e186e8b | 6 | #include <iostream> |
yohoo15 | 3:2f75bb307da3 | 7 | #include "QEI.h" |
yohoo15 | 3:2f75bb307da3 | 8 | |
yohoo15 | 3:2f75bb307da3 | 9 | // Define pin for motor control |
yohoo15 | 3:2f75bb307da3 | 10 | DigitalOut directionPin(D4); |
yohoo15 | 3:2f75bb307da3 | 11 | PwmOut PWM(D5); |
yohoo15 | 3:2f75bb307da3 | 12 | DigitalIn buttonccw(PTA4); |
yohoo15 | 3:2f75bb307da3 | 13 | DigitalIn buttoncw(PTC6); |
yohoo15 | 3:2f75bb307da3 | 14 | |
yohoo15 | 3:2f75bb307da3 | 15 | // define ticker |
yohoo15 | 3:2f75bb307da3 | 16 | |
yohoo15 | 3:2f75bb307da3 | 17 | |
yohoo15 | 3:2f75bb307da3 | 18 | Serial pc(USBTX, USBRX); |
yohoo15 | 0:fc207e186e8b | 19 | |
yohoo15 | 0:fc207e186e8b | 20 | Ticker HIDScope_timer; |
yohoo15 | 0:fc207e186e8b | 21 | Ticker Filteren_timer; |
yohoo15 | 3:2f75bb307da3 | 22 | Ticker aansturen; |
yohoo15 | 3:2f75bb307da3 | 23 | |
yohoo15 | 0:fc207e186e8b | 24 | HIDScope scope(2); |
yohoo15 | 0:fc207e186e8b | 25 | |
yohoo15 | 0:fc207e186e8b | 26 | // defining flags |
yohoo15 | 0:fc207e186e8b | 27 | volatile bool Flag_filteren = false; |
yohoo15 | 0:fc207e186e8b | 28 | volatile bool Flag_HIDScope = false; |
yohoo15 | 3:2f75bb307da3 | 29 | volatile bool left_movement = false; |
yohoo15 | 0:fc207e186e8b | 30 | |
yohoo15 | 0:fc207e186e8b | 31 | // making function flags. |
yohoo15 | 0:fc207e186e8b | 32 | void Go_flag_filteren() |
yohoo15 | 0:fc207e186e8b | 33 | { |
yohoo15 | 0:fc207e186e8b | 34 | Flag_filteren = true; |
yohoo15 | 0:fc207e186e8b | 35 | } |
yohoo15 | 0:fc207e186e8b | 36 | |
yohoo15 | 0:fc207e186e8b | 37 | void Go_flag_HIDScope() |
yohoo15 | 0:fc207e186e8b | 38 | { |
yohoo15 | 0:fc207e186e8b | 39 | Flag_HIDScope = true; |
yohoo15 | 0:fc207e186e8b | 40 | } |
yohoo15 | 0:fc207e186e8b | 41 | |
yohoo15 | 0:fc207e186e8b | 42 | AnalogIn analog_emg_left(A0); |
yohoo15 | 0:fc207e186e8b | 43 | //AnalogIn analog_emg_right(A1); |
yohoo15 | 0:fc207e186e8b | 44 | double input = 0; |
yohoo15 | 0:fc207e186e8b | 45 | double filter_signal_hid = 0; |
yohoo15 | 0:fc207e186e8b | 46 | //double input_right = 0; |
yohoo15 | 0:fc207e186e8b | 47 | |
yohoo15 | 2:241b572207fb | 48 | |
yohoo15 | 2:241b572207fb | 49 | //*** making the v for everything and conquer the world*** |
yohoo15 | 2:241b572207fb | 50 | |
yohoo15 | 2:241b572207fb | 51 | //for Notchfilter |
yohoo15 | 2:241b572207fb | 52 | double notch_v11=0; |
yohoo15 | 2:241b572207fb | 53 | double notch_v21=0; |
yohoo15 | 2:241b572207fb | 54 | double notch_v12=0; |
yohoo15 | 2:241b572207fb | 55 | double notch_v22=0; |
yohoo15 | 2:241b572207fb | 56 | double notch_v13=0; |
yohoo15 | 2:241b572207fb | 57 | double notch_v23=0; |
yohoo15 | 2:241b572207fb | 58 | |
yohoo15 | 2:241b572207fb | 59 | //for highpass filter |
yohoo15 | 2:241b572207fb | 60 | double high_v11=0; |
yohoo15 | 2:241b572207fb | 61 | double high_v21=0; |
yohoo15 | 2:241b572207fb | 62 | double high_v12=0; |
yohoo15 | 2:241b572207fb | 63 | double high_v22=0; |
yohoo15 | 2:241b572207fb | 64 | double high_v13=0; |
yohoo15 | 2:241b572207fb | 65 | double high_v23=0; |
yohoo15 | 2:241b572207fb | 66 | |
yohoo15 | 2:241b572207fb | 67 | // for lowpasfilter |
yohoo15 | 1:ee877d784c40 | 68 | double low_v11=0; |
yohoo15 | 1:ee877d784c40 | 69 | double low_v21=0; |
yohoo15 | 1:ee877d784c40 | 70 | double low_v12=0; |
yohoo15 | 1:ee877d784c40 | 71 | double low_v22=0; |
yohoo15 | 1:ee877d784c40 | 72 | double low_v13=0; |
yohoo15 | 1:ee877d784c40 | 73 | double low_v23=0; |
yohoo15 | 2:241b572207fb | 74 | |
yohoo15 | 2:241b572207fb | 75 | // for moving average |
yohoo15 | 2:241b572207fb | 76 | double n1 = 0; |
yohoo15 | 2:241b572207fb | 77 | double n2 = 0; |
yohoo15 | 2:241b572207fb | 78 | double n3 = 0; |
yohoo15 | 2:241b572207fb | 79 | double n4 = 0; |
yohoo15 | 2:241b572207fb | 80 | double n5 = 0; |
yohoo15 | 0:fc207e186e8b | 81 | |
yohoo15 | 0:fc207e186e8b | 82 | double filter_left; |
yohoo15 | 0:fc207e186e8b | 83 | double filter_right; |
yohoo15 | 0:fc207e186e8b | 84 | |
yohoo15 | 0:fc207e186e8b | 85 | //general biquad filter that can be called in all the filter functions |
yohoo15 | 0:fc207e186e8b | 86 | double biquad(double u, double &v1, double &v2, const double a1, |
yohoo15 | 0:fc207e186e8b | 87 | const double a2, const double b0, const double b1, const double b2) |
yohoo15 | 0:fc207e186e8b | 88 | { |
yohoo15 | 0:fc207e186e8b | 89 | double v = u - a1*v1 - a2*v2; |
yohoo15 | 0:fc207e186e8b | 90 | double y = b0*v + b1*v1 + b2*v2; |
yohoo15 | 0:fc207e186e8b | 91 | //values of v2 and v1 are updated, as they are passed by reference |
yohoo15 | 0:fc207e186e8b | 92 | //they update globally |
yohoo15 | 0:fc207e186e8b | 93 | v2 = v1; |
yohoo15 | 0:fc207e186e8b | 94 | v1 = v; |
yohoo15 | 0:fc207e186e8b | 95 | return y; |
yohoo15 | 0:fc207e186e8b | 96 | } |
yohoo15 | 0:fc207e186e8b | 97 | |
yohoo15 | 2:241b572207fb | 98 | double moving_average(double y, double &n1, double &n2, double &n3, double &n4, double &n5) |
yohoo15 | 2:241b572207fb | 99 | { |
yohoo15 | 3:2f75bb307da3 | 100 | double average = (y + n1 + n2 +n3 + n4 + n5)/5; |
yohoo15 | 3:2f75bb307da3 | 101 | n5 = n4; |
yohoo15 | 3:2f75bb307da3 | 102 | n4 = n3; |
yohoo15 | 3:2f75bb307da3 | 103 | n3 = n2; |
yohoo15 | 3:2f75bb307da3 | 104 | n2 = n1; |
yohoo15 | 3:2f75bb307da3 | 105 | n1 = y; |
yohoo15 | 3:2f75bb307da3 | 106 | |
yohoo15 | 3:2f75bb307da3 | 107 | return average; |
yohoo15 | 2:241b572207fb | 108 | } |
yohoo15 | 3:2f75bb307da3 | 109 | /* |
yohoo15 | 3:2f75bb307da3 | 110 | double threshold(double signal, const double lowtreshold, const double hightreshold) |
yohoo15 | 3:2f75bb307da3 | 111 | { |
yohoo15 | 3:2f75bb307da3 | 112 | if (signal > hightreshold) |
yohoo15 | 3:2f75bb307da3 | 113 | left = true; |
yohoo15 | 3:2f75bb307da3 | 114 | else if (signal <lowtreshold) |
yohoo15 | 3:2f75bb307da3 | 115 | left = false; |
yohoo15 | 3:2f75bb307da3 | 116 | } |
yohoo15 | 3:2f75bb307da3 | 117 | */ |
yohoo15 | 2:241b572207fb | 118 | //Specifying filter coefficients highpass |
yohoo15 | 2:241b572207fb | 119 | |
yohoo15 | 2:241b572207fb | 120 | /* notch filter with 3 cascaded biquads*/ |
yohoo15 | 2:241b572207fb | 121 | //first notch biquad |
yohoo15 | 2:241b572207fb | 122 | const double notch1_a1 = -1.55951422433; |
yohoo15 | 2:241b572207fb | 123 | const double notch1_a2 = 0.92705680308; |
yohoo15 | 2:241b572207fb | 124 | const double notch1_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 125 | const double notch1_b1 = -1.61854515325; |
yohoo15 | 2:241b572207fb | 126 | const double notch1_b2 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 127 | |
yohoo15 | 2:241b572207fb | 128 | //second notch biquad |
yohoo15 | 2:241b572207fb | 129 | const double notch2_a1 = -1.54767435801; |
yohoo15 | 2:241b572207fb | 130 | const double notch2_a2 = 0.96124842048; |
yohoo15 | 2:241b572207fb | 131 | const double notch2_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 132 | const double notch2_b1 = -1.61854515325; |
yohoo15 | 2:241b572207fb | 133 | const double notch2_b2 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 134 | |
yohoo15 | 2:241b572207fb | 135 | //third notch biquad |
yohoo15 | 2:241b572207fb | 136 | const double notch3_a1 = -1.62600366964; |
yohoo15 | 2:241b572207fb | 137 | const double notch3_a2 = 0.96453460373; |
yohoo15 | 2:241b572207fb | 138 | const double notch3_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 139 | const double notch3_b1 = -1.61854515325; |
yohoo15 | 2:241b572207fb | 140 | const double notch3_b2 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 141 | |
yohoo15 | 2:241b572207fb | 142 | /* high pass filter consists of three cascaded biquads |
yohoo15 | 2:241b572207fb | 143 | blow coefficients for those three biquads */ |
yohoo15 | 2:241b572207fb | 144 | //first high pass biquad |
yohoo15 | 2:241b572207fb | 145 | const double highp1_a1 = -0.67538034389; |
yohoo15 | 2:241b572207fb | 146 | const double highp1_a2 = 0.12769255668; |
yohoo15 | 2:241b572207fb | 147 | const double highp1_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 148 | const double highp1_b1 = -2.00000000000; |
yohoo15 | 2:241b572207fb | 149 | const double highp1_b2 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 150 | |
yohoo15 | 2:241b572207fb | 151 | //second high pass biquad |
yohoo15 | 2:241b572207fb | 152 | const double highp2_a1 = -0.76475499450; |
yohoo15 | 2:241b572207fb | 153 | const double highp2_a2 = 0.27692273367; |
yohoo15 | 2:241b572207fb | 154 | const double highp2_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 155 | const double highp2_b1 = -2.00000000000; |
yohoo15 | 2:241b572207fb | 156 | const double highp2_b2 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 157 | |
yohoo15 | 2:241b572207fb | 158 | //third high pass biquad |
yohoo15 | 2:241b572207fb | 159 | const double highp3_a1 = -0.99216561242; |
yohoo15 | 2:241b572207fb | 160 | const double highp3_a2 = 0.65663360837; |
yohoo15 | 2:241b572207fb | 161 | const double highp3_b0 = 1.00000000000; |
yohoo15 | 2:241b572207fb | 162 | const double highp3_b1 = -2.00000000000; |
yohoo15 | 2:241b572207fb | 163 | const double highp3_b2 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 164 | |
yohoo15 | 0:fc207e186e8b | 165 | /* lowpass filter consists of three cascaded biquads |
yohoo15 | 0:fc207e186e8b | 166 | below the coefficients for those three biquads */ |
yohoo15 | 1:ee877d784c40 | 167 | //first low pass biquad |
yohoo15 | 1:ee877d784c40 | 168 | const double lowp1_a1 = -1.05207469728; |
yohoo15 | 1:ee877d784c40 | 169 | const double lowp1_a2 = 0.28586907478; |
yohoo15 | 0:fc207e186e8b | 170 | const double lowp1_b0 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 171 | const double lowp1_b1 = 2.00000000000; |
yohoo15 | 0:fc207e186e8b | 172 | const double lowp1_b2 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 173 | |
yohoo15 | 1:ee877d784c40 | 174 | //second low pass biquad |
yohoo15 | 0:fc207e186e8b | 175 | const double lowp2_a1 = -1.16338171052; |
yohoo15 | 0:fc207e186e8b | 176 | const double lowp2_a2 = 0.42191097989; |
yohoo15 | 0:fc207e186e8b | 177 | const double lowp2_b0 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 178 | const double lowp2_b1 = 2.00000000000; |
yohoo15 | 0:fc207e186e8b | 179 | const double lowp2_b2 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 180 | |
yohoo15 | 1:ee877d784c40 | 181 | //third low pass biquad |
yohoo15 | 1:ee877d784c40 | 182 | const double lowp3_a1 = -1.42439823874; |
yohoo15 | 1:ee877d784c40 | 183 | const double lowp3_a2 = 0.74093118112; |
yohoo15 | 1:ee877d784c40 | 184 | const double lowp3_b0 = 1.00000000000; |
yohoo15 | 1:ee877d784c40 | 185 | const double lowp3_b1 = 2.00000000000; |
yohoo15 | 1:ee877d784c40 | 186 | const double lowp3_b2 = 1.00000000000; |
yohoo15 | 0:fc207e186e8b | 187 | |
yohoo15 | 0:fc207e186e8b | 188 | |
yohoo15 | 0:fc207e186e8b | 189 | |
yohoo15 | 0:fc207e186e8b | 190 | double Filteren() |
yohoo15 | 0:fc207e186e8b | 191 | { |
yohoo15 | 0:fc207e186e8b | 192 | input = analog_emg_left.read(); |
yohoo15 | 2:241b572207fb | 193 | input = input-0.45; //FIRST SUBTRACT MEAN THEN FILTER |
yohoo15 | 0:fc207e186e8b | 194 | //input_right = analog_emg_right.read(); |
yohoo15 | 3:2f75bb307da3 | 195 | |
yohoo15 | 2:241b572207fb | 196 | // notch filter |
yohoo15 | 2:241b572207fb | 197 | double y1 = biquad(input, notch_v11, notch_v21, notch1_a1, notch1_a2, notch1_b0, notch1_b1, notch1_b2); |
yohoo15 | 2:241b572207fb | 198 | double y2 = biquad(y1, notch_v12, notch_v22, notch2_a1, notch2_a2, notch2_b0, notch2_b1, notch2_b2); |
yohoo15 | 2:241b572207fb | 199 | double y3 = biquad(y2, notch_v13, notch_v23, notch3_a1, notch3_a2, notch3_b0, notch3_b1, notch3_b2); |
yohoo15 | 3:2f75bb307da3 | 200 | |
yohoo15 | 2:241b572207fb | 201 | //higpass filter |
yohoo15 | 2:241b572207fb | 202 | double y4 = biquad(y3, high_v11, high_v21, highp1_a1, highp1_a2, highp1_b0, highp1_b1, highp1_b2); |
yohoo15 | 2:241b572207fb | 203 | double y5 = biquad(y4, high_v12, high_v22, highp2_a1, highp2_a2, highp2_b0, highp2_b1, highp2_b2); |
yohoo15 | 2:241b572207fb | 204 | double y6 = biquad(y5, high_v13, high_v23, highp3_a1, highp3_a2, highp3_b0, highp3_b1, highp3_b2); |
yohoo15 | 2:241b572207fb | 205 | |
yohoo15 | 3:2f75bb307da3 | 206 | //rectivier |
yohoo15 | 2:241b572207fb | 207 | double y7 = fabs(y6); |
yohoo15 | 2:241b572207fb | 208 | |
yohoo15 | 2:241b572207fb | 209 | //lowpas filter cascade |
yohoo15 | 2:241b572207fb | 210 | double y8 = biquad(y7, low_v11, low_v21, lowp1_a1, lowp1_a2, lowp1_b0, lowp1_b1, lowp1_b2); |
yohoo15 | 2:241b572207fb | 211 | double y9 = biquad(y8, low_v12, low_v22, lowp2_a1, lowp2_a2, lowp2_b0, lowp2_b1, lowp2_b2); |
yohoo15 | 2:241b572207fb | 212 | double y10= biquad(y9, low_v13, low_v23, lowp3_a1, lowp3_a2, lowp3_b0, lowp3_b1, lowp3_b2); |
yohoo15 | 3:2f75bb307da3 | 213 | |
yohoo15 | 3:2f75bb307da3 | 214 | // moving average |
yohoo15 | 2:241b572207fb | 215 | double filter_signal = moving_average(y10,n1,n2,n3,n4,n5); |
yohoo15 | 2:241b572207fb | 216 | |
yohoo15 | 3:2f75bb307da3 | 217 | double high_threshold = 1200; |
yohoo15 | 3:2f75bb307da3 | 218 | double low_threshold = 500; |
yohoo15 | 3:2f75bb307da3 | 219 | |
yohoo15 | 3:2f75bb307da3 | 220 | if (filter_signal > high_threshold) { |
yohoo15 | 3:2f75bb307da3 | 221 | left_movement = true; |
yohoo15 | 3:2f75bb307da3 | 222 | } else if (filter_signal < low_threshold) { |
yohoo15 | 3:2f75bb307da3 | 223 | left_movement = false; |
yohoo15 | 3:2f75bb307da3 | 224 | } |
yohoo15 | 3:2f75bb307da3 | 225 | |
yohoo15 | 2:241b572207fb | 226 | return(filter_signal); |
yohoo15 | 0:fc207e186e8b | 227 | } |
yohoo15 | 3:2f75bb307da3 | 228 | |
yohoo15 | 3:2f75bb307da3 | 229 | /*************************************************************motor control******************************************************************************************************/ |
yohoo15 | 3:2f75bb307da3 | 230 | |
yohoo15 | 3:2f75bb307da3 | 231 | |
yohoo15 | 0:fc207e186e8b | 232 | void HIDScope_kijken() |
yohoo15 | 0:fc207e186e8b | 233 | { |
yohoo15 | 0:fc207e186e8b | 234 | scope.set(0, input); |
yohoo15 | 0:fc207e186e8b | 235 | scope.set(1, filter_signal_hid); |
yohoo15 | 0:fc207e186e8b | 236 | scope.send(); |
yohoo15 | 0:fc207e186e8b | 237 | } |
yohoo15 | 0:fc207e186e8b | 238 | int main() |
yohoo15 | 0:fc207e186e8b | 239 | { |
yohoo15 | 0:fc207e186e8b | 240 | HIDScope_timer.attach(&Go_flag_HIDScope, 0.002); |
yohoo15 | 0:fc207e186e8b | 241 | Filteren_timer.attach(&Go_flag_filteren,0.004); |
yohoo15 | 2:241b572207fb | 242 | while(1) { |
yohoo15 | 2:241b572207fb | 243 | if(Flag_filteren) { |
yohoo15 | 0:fc207e186e8b | 244 | Flag_filteren = false; |
yohoo15 | 0:fc207e186e8b | 245 | filter_signal_hid = Filteren(); |
yohoo15 | 0:fc207e186e8b | 246 | } |
yohoo15 | 0:fc207e186e8b | 247 | |
yohoo15 | 0:fc207e186e8b | 248 | if(Flag_HIDScope) { |
yohoo15 | 0:fc207e186e8b | 249 | Flag_HIDScope = false; |
yohoo15 | 0:fc207e186e8b | 250 | HIDScope_kijken(); |
yohoo15 | 0:fc207e186e8b | 251 | } |
yohoo15 | 3:2f75bb307da3 | 252 | if(left_movement) { |
yohoo15 | 3:2f75bb307da3 | 253 | pc.printf("left = true /n"); |
yohoo15 | 3:2f75bb307da3 | 254 | } |
yohoo15 | 2:241b572207fb | 255 | } |
yohoo15 | 3:2f75bb307da3 | 256 | } |
yohoo15 | 3:2f75bb307da3 | 257 |