Biorobotics / Mbed 2 deprecated frdm_EMG

Emg filter function script for a uni project. Made by Teun van der Molen

Dependencies:   HIDScope MODSERIAL mbed

Fork of frdm_EMG by Teun van der Molen

main.cpp@7:43f2f7039841, 2015-09-23 (annotated)

Committer:
teunman
Date:
Wed Sep 23 13:05:49 2015 +0000
Revision:
7:43f2f7039841
Parent:
6:4cbf5c66e2fb
Child:
8:54f0a76d35f4
two filters with two rectifiers. Works pretty good;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
teunman 0:674026fdd982 1 #include "mbed.h"
teunman 0:674026fdd982 2 #include "HIDScope.h"
teunman 0:674026fdd982 3 #include "math.h"
teunman 0:674026fdd982 4 // Define the HIDScope and Ticker object
teunman 4:1baefd1397d6 5 HIDScope scope(3);
teunman 0:674026fdd982 6 Ticker scopeTimer;
teunman 1:75f61e111ed0 7 Ticker biquadTicker;
teunman 6:4cbf5c66e2fb 8 DigitalOut light(LED1);
teunman 1:75f61e111ed0 9
teunman 4:1baefd1397d6 10 double v1=0, v2=0, u=0, y=0, fy=0, fv1=0, fv2=0, fu=0;
teunman 1:75f61e111ed0 11
teunman 5:56725d9362ee 12 //const double b0 = 0.9999999999999999,b1 = 1.9999999999999998,b2 = 0.9999999999999999, a1 = 1.9999999999999998 ,a2 = 0.9999999999999998; //low-pass Fc = 50hz fs = 100hz
teunman 5:56725d9362ee 13 //const double fb0 = 0.02008333102602092 ,fb1 = 0.04016666205204184 ,fb2 = 0.02008333102602092, fa1 = -1.5610153912536877 ,fa2 = 0.6413487153577715; //low-pass Fc = 5hz fs = 100hz
teunman 5:56725d9362ee 14 //const double b0 = 0.8005910266528649,b1 = -1.6011820533057297,b2 = 0.8005910266528649,a1 = -1.5610153912536877,a2 = 0.6413487153577715; //high-pass Fc = 5hz fs = 100hz
teunman 5:56725d9362ee 15 //const double b0 = 0.007820199259120319,b1 = 0.015640398518240638,b2 = 0.007820199259120319,a1 = -1.7347238224240125,a2 = 0.7660046194604936; //low-pass Fc = 3hz fs = 100hz
teunman 5:56725d9362ee 16 //const double b0 = 0.0009446914586925257,b1 = 0.0018893829173850514,b2 = 0.0009446914586925257,a1 = -1.911196288237583,a2 = 0.914975054072353; //low-pass Fc = 1hz fs = 100hz
teunman 5:56725d9362ee 17 //const double b0 = 0.956542835577484, b1 = -1.913085671154968, b2 = 0.956542835577484, a1 = -1.911196288237583, a2 = 0.914975054072353; //high-pass Fc = 1hz fs = 100hz
teunman 3:499c71ca30a0 18
teunman 7:43f2f7039841 19 const double b0 = 0.00008765553769759188,b1 = 0.00017531107539518376,b2 = 0.00008765553769759188,a1 = -1.9733440008737442,a2 = 0.9736946230245347;//low-pass Fc = 3Hz fs = 1000hz
teunman 7:43f2f7039841 20 //const double b0 = 0.00034604125149151127,b1 = 0.0006920825029830225, b2 = 0.00034604125149151127 ,a1 = -1.9466970561224466 ,a2 = 0.9480812211284125; //low-pass Fc = 6Hz fs = 1000hz
teunman 7:43f2f7039841 21 //const double fb0 = 0.9149684297741606, fb1 = -1.8299368595483212, fb2 = 0.9149684297741606 ,fa1 = -1.8226935021735358, fa2 = 0.8371802169231065; // High-pass Fc = 20Hz fs = 1000hz
teunman 5:56725d9362ee 22 //const double fb0 = 0.8948577513857248 ,fb1 = -1.7897155027714495, fb2 = 0.8948577513857248,fa1 = -1.7786300789392977,fa2 = 0.8008009266036016; // High-pass Fc = 25Hz fs = 1000Hz
teunman 6:4cbf5c66e2fb 23 //const double b0 = 0.005542711916075981,b1 = 0.011085423832151962,b2 = 0.005542711916075981,a1 = -1.7786300789392977,a2 = 0.8008009266036016; //Low-pass Fc = 25Hz fs=1000Hz
teunman 6:4cbf5c66e2fb 24 //const double fb0 = 0.9780302754084559,fb1 = -1.9560605508169118,fb2 = 0.9780302754084559,fa1 = -1.9555778328194147,fa2 = 0.9565432688144089; //high-pass Fc = 6hz fs = 1000hz
teunman 7:43f2f7039841 25 const double fb0 = 0.9911535113858849,fb1 = -1.9823070227717698,fb2 = 0.9911535113858849,fa1 = -1.9822287623675816,fa2 = 0.982385283175958; //High-pass Fc = 2Hz fs = 1000Hz
teunman 6:4cbf5c66e2fb 26 //const double fb0 = 0.0036216786873927774,fb1 = 0.007243357374785555,fb2 = 0.0036216786873927774,fa1 = -1.8226935021735358,fa2 = 0.8371802169231065; ///Low-pass Fc = 20 Hz Fs = 1000Hz
teunman 6:4cbf5c66e2fb 27
teunman 3:499c71ca30a0 28
teunman 3:499c71ca30a0 29
teunman 3:499c71ca30a0 30 // Read the analog input
teunman 3:499c71ca30a0 31 AnalogIn an_in(A0);
teunman 3:499c71ca30a0 32
teunman 3:499c71ca30a0 33 AnalogOut an_out(DAC0_OUT);
teunman 3:499c71ca30a0 34 // The data read and send function
teunman 3:499c71ca30a0 35 void scopeSend()
teunman 3:499c71ca30a0 36 {
teunman 3:499c71ca30a0 37 scope.set(0,y);
teunman 4:1baefd1397d6 38 scope.set(1,fy);
teunman 4:1baefd1397d6 39 scope.set(2,an_in);
teunman 3:499c71ca30a0 40
teunman 3:499c71ca30a0 41 scope.send();
teunman 3:499c71ca30a0 42 }
teunman 3:499c71ca30a0 43
teunman 3:499c71ca30a0 44 void computeBiquad(){
teunman 7:43f2f7039841 45
teunman 7:43f2f7039841 46
teunman 7:43f2f7039841 47
teunman 3:499c71ca30a0 48 double v = an_in - a1*v1 - a2*v2;
teunman 1:75f61e111ed0 49 y= b0*v + b1*v1 +b2*v2;
teunman 1:75f61e111ed0 50 v2=v1;
teunman 1:75f61e111ed0 51 v1=v;
teunman 4:1baefd1397d6 52
teunman 7:43f2f7039841 53 y = abs(y);
teunman 7:43f2f7039841 54
teunman 6:4cbf5c66e2fb 55
teunman 4:1baefd1397d6 56 double fv = y - fa1*fv1 - fa2*fv2;
teunman 4:1baefd1397d6 57 fy= fb0*fv + fb1*fv1 + fb2*fv2;
teunman 4:1baefd1397d6 58 fv2=fv1;
teunman 4:1baefd1397d6 59 fv1=fv;
teunman 7:43f2f7039841 60
teunman 7:43f2f7039841 61 fy = abs(fy);
teunman 1:75f61e111ed0 62 }
teunman 3:499c71ca30a0 63
teunman 0:674026fdd982 64
teunman 0:674026fdd982 65 int main()
teunman 0:674026fdd982 66 {
teunman 6:4cbf5c66e2fb 67 light = 1;
teunman 5:56725d9362ee 68 // Attach the data read and send function at 1000 Hz
teunman 5:56725d9362ee 69 scopeTimer.attach_us(&scopeSend, 1e5);
teunman 5:56725d9362ee 70 biquadTicker.attach(&computeBiquad,0.0001f);
teunman 3:499c71ca30a0 71 //float i = 1;
teunman 0:674026fdd982 72 while(1) {
teunman 6:4cbf5c66e2fb 73 if (fy >= 0.12){
teunman 6:4cbf5c66e2fb 74 light = 0;
teunman 6:4cbf5c66e2fb 75 }
teunman 6:4cbf5c66e2fb 76 else{
teunman 6:4cbf5c66e2fb 77 light =1;
teunman 6:4cbf5c66e2fb 78 }
teunman 6:4cbf5c66e2fb 79
teunman 4:1baefd1397d6 80
teunman 0:674026fdd982 81 }
teunman 0:674026fdd982 82 }