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@5:56725d9362ee, 2015-09-21 (annotated)

Committer:
teunman
Date:
Mon Sep 21 13:38:06 2015 +0000
Revision:
5:56725d9362ee
Parent:
4:1baefd1397d6
Child:
6:4cbf5c66e2fb
double filter (many types possible). Sending three signals to HIDscope (original, one filter, two filter);

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 1:75f61e111ed0 8
teunman 4:1baefd1397d6 9 double v1=0, v2=0, u=0, y=0, fy=0, fv1=0, fv2=0, fu=0;
teunman 1:75f61e111ed0 10
teunman 5:56725d9362ee 11 //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 12 //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 13 //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 14 //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 15 //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 16 //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 17
teunman 3:499c71ca30a0 18
teunman 5:56725d9362ee 19 //const double b0 = 0.00034604125149151127,b1 = 0.0006920825029830225, b2 = 0.00034604125149151127 ,a1 = -1.9466970561224466 ,a2 = 0.9480812211284125; //low-pass Fc = 6Hz fs = 1000hz
teunman 5:56725d9362ee 20 //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 21 //const double fb0 = 0.8948577513857248 ,fb1 = -1.7897155027714495, fb2 = 0.8948577513857248,fa1 = -1.7786300789392977,fa2 = 0.8008009266036016; // High-pass Fc = 25Hz fs = 1000Hz
teunman 5:56725d9362ee 22 const double b0 = 0.005542711916075981,b1 = 0.011085423832151962,b2 = 0.005542711916075981,a1 = -1.7786300789392977,a2 = 0.8008009266036016; //Low-pass Fc = 25Hz fs=1000Hz
teunman 5:56725d9362ee 23 const double fb0 = 0.9780302754084559,fb1 = -1.9560605508169118,fb2 = 0.9780302754084559,fa1 = -1.9555778328194147,fa2 = 0.9565432688144089; //high-pass Fc = 6hz fs = 1000hz
teunman 3:499c71ca30a0 24
teunman 3:499c71ca30a0 25
teunman 3:499c71ca30a0 26 // Read the analog input
teunman 3:499c71ca30a0 27 AnalogIn an_in(A0);
teunman 3:499c71ca30a0 28
teunman 3:499c71ca30a0 29 AnalogOut an_out(DAC0_OUT);
teunman 3:499c71ca30a0 30 // The data read and send function
teunman 3:499c71ca30a0 31 void scopeSend()
teunman 3:499c71ca30a0 32 {
teunman 3:499c71ca30a0 33 scope.set(0,y);
teunman 4:1baefd1397d6 34 scope.set(1,fy);
teunman 4:1baefd1397d6 35 scope.set(2,an_in);
teunman 3:499c71ca30a0 36
teunman 3:499c71ca30a0 37 scope.send();
teunman 3:499c71ca30a0 38 }
teunman 3:499c71ca30a0 39
teunman 3:499c71ca30a0 40 void computeBiquad(){
teunman 3:499c71ca30a0 41 double v = an_in - a1*v1 - a2*v2;
teunman 1:75f61e111ed0 42 y= b0*v + b1*v1 +b2*v2;
teunman 1:75f61e111ed0 43 v2=v1;
teunman 1:75f61e111ed0 44 v1=v;
teunman 4:1baefd1397d6 45
teunman 4:1baefd1397d6 46 double fv = y - fa1*fv1 - fa2*fv2;
teunman 4:1baefd1397d6 47 fy= fb0*fv + fb1*fv1 + fb2*fv2;
teunman 4:1baefd1397d6 48 fv2=fv1;
teunman 4:1baefd1397d6 49 fv1=fv;
teunman 1:75f61e111ed0 50 }
teunman 3:499c71ca30a0 51
teunman 0:674026fdd982 52
teunman 0:674026fdd982 53 int main()
teunman 0:674026fdd982 54 {
teunman 5:56725d9362ee 55 // Attach the data read and send function at 1000 Hz
teunman 5:56725d9362ee 56 scopeTimer.attach_us(&scopeSend, 1e5);
teunman 5:56725d9362ee 57 biquadTicker.attach(&computeBiquad,0.0001f);
teunman 3:499c71ca30a0 58 //float i = 1;
teunman 0:674026fdd982 59 while(1) {
teunman 4:1baefd1397d6 60
teunman 0:674026fdd982 61 }
teunman 0:674026fdd982 62 }