Filter emg 7-10-15 v1
Dependencies: HIDScope mbed MODSERIAL
Filterdesigns.cpp@13:b01231e0b743, 2015-10-08 (annotated)
- Committer:
- Bartvaart
- Date:
- Thu Oct 08 15:02:09 2015 +0000
- Revision:
- 13:b01231e0b743
- Parent:
- 10:897db0bdb2fe
- Child:
- 14:371e0d505971
Systeem wordt weer herkend door HIDscope, maar opfuckingeens geen input meer
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Bartvaart | 5:b400209df739 | 1 | #include "Filterdesigns.h" |
Bartvaart | 6:8197f9446daf | 2 | #include "Filter.h" |
Bartvaart | 10:897db0bdb2fe | 3 | #include "Meanvalue.h" |
Bartvaart | 6:8197f9446daf | 4 | |
Bartvaart | 7:040591b3f019 | 5 | // Inputwaardes |
Bartvaart | 13:b01231e0b743 | 6 | |
Bartvaart | 13:b01231e0b743 | 7 | |
Bartvaart | 13:b01231e0b743 | 8 | //Notch 50Hz |
Bartvaart | 13:b01231e0b743 | 9 | |
Bartvaart | 7:040591b3f019 | 10 | // Filter1a: 50Hz Notch |
Bartvaart | 6:8197f9446daf | 11 | double v1_50a = 0, v2_50a = 0; |
Bartvaart | 13:b01231e0b743 | 12 | const double a1_50a = -4.45738754850, a2_50a = 0.0; |
Bartvaart | 13:b01231e0b743 | 13 | const double b0_50a = 1.00000000000, b1_50a = -4.45738754850, b2_50a = 0.0; |
Bartvaart | 6:8197f9446daf | 14 | const double gain_50a = 1.000000; |
Bartvaart | 6:8197f9446daf | 15 | |
Bartvaart | 6:8197f9446daf | 16 | // Filter1b: 50Hz Notch |
Bartvaart | 6:8197f9446daf | 17 | double v1_50b = 0, v2_50b = 0; |
Bartvaart | 13:b01231e0b743 | 18 | const double a1_50b = 6.24687974012, a2_50b = 9.75587662190; |
Bartvaart | 13:b01231e0b743 | 19 | const double b0_50b = 1.00000000000, b1_50b = 6.24687974012, b2_50b = 9.75279168287; |
Bartvaart | 13:b01231e0b743 | 20 | const double gain_50b = 1.0; |
Bartvaart | 13:b01231e0b743 | 21 | |
Bartvaart | 13:b01231e0b743 | 22 | // Filter1c: 50Hz Notch |
Bartvaart | 13:b01231e0b743 | 23 | double v1_50c = 0, v2_50c = 0; |
Bartvaart | 13:b01231e0b743 | 24 | const double a1_50c = -1.93013451976, a2_50c = 0.93135481609; |
Bartvaart | 13:b01231e0b743 | 25 | const double b0_50c = 1.00000000000, b1_50c = -1.93135518860, b2_50c = 0.93135518860; |
Bartvaart | 13:b01231e0b743 | 26 | const double gain_50c = 1.0; |
Bartvaart | 6:8197f9446daf | 27 | |
Bartvaart | 5:b400209df739 | 28 | |
Bartvaart | 13:b01231e0b743 | 29 | //HighPass 20Hz |
Bartvaart | 13:b01231e0b743 | 30 | |
Bartvaart | 13:b01231e0b743 | 31 | // Filter2a: 20Hz HighPass |
Bartvaart | 13:b01231e0b743 | 32 | double v1_HPa = 0, v2_HPa = 0; |
Bartvaart | 13:b01231e0b743 | 33 | const double a1_HPa = 1.67405904258, a2_HPa = 0.0; |
Bartvaart | 13:b01231e0b743 | 34 | const double b0_HPa = 1.00000000000, b1_HPa = 1.64732093404, b2_HPa = 0.00000000000; |
Bartvaart | 13:b01231e0b743 | 35 | const double gain_HPa = 1.0; |
Bartvaart | 13:b01231e0b743 | 36 | |
Bartvaart | 13:b01231e0b743 | 37 | // Filter2b: 20Hz HighPass |
Bartvaart | 13:b01231e0b743 | 38 | double v1_HPb = 0, v2_HPb = 0; |
Bartvaart | 13:b01231e0b743 | 39 | const double a1_HPb = -1.67405904258, a2_HPb = 0.70061841951; |
Bartvaart | 13:b01231e0b743 | 40 | const double b0_HPb = 1.00000000000, b1_HPb = -1.70079715112, b2_HPb = 0.70079715112; |
Bartvaart | 13:b01231e0b743 | 41 | const double gain_HPb = 1.0; |
Bartvaart | 13:b01231e0b743 | 42 | |
Bartvaart | 6:8197f9446daf | 43 | |
Bartvaart | 13:b01231e0b743 | 44 | //LowPass 3Hz |
Bartvaart | 13:b01231e0b743 | 45 | |
Bartvaart | 13:b01231e0b743 | 46 | // Filter3a: 3Hz LowPass |
Bartvaart | 13:b01231e0b743 | 47 | double v1_LPa = 0, v2_LPa = 0; |
Bartvaart | 13:b01231e0b743 | 48 | const double a1_LPa = -0.00034631470, a2_LPa = 0.00000000000; |
Bartvaart | 13:b01231e0b743 | 49 | const double b0_LPa = 1.00000000000, b1_LPa = 1.94667622076, b2_LPa = 0.00000000000; |
Bartvaart | 13:b01231e0b743 | 50 | const double gain_LPa = 1.00000000000; |
Bartvaart | 13:b01231e0b743 | 51 | |
Bartvaart | 13:b01231e0b743 | 52 | // Filter3b: 3Hz LowPass |
Bartvaart | 13:b01231e0b743 | 53 | double v1_LPb = 0, v2_LPb = 0; |
Bartvaart | 13:b01231e0b743 | 54 | const double a1_LPb = -0.00103894412, a2_LPb = 0.00000023987; |
Bartvaart | 13:b01231e0b743 | 55 | const double b0_LPb = 1.00000000000, b1_LPb = -1.94806147960, b2_LPb = 0.94806147960; |
Bartvaart | 13:b01231e0b743 | 56 | const double gain_LPb = 1.0; |
Bartvaart | 13:b01231e0b743 | 57 | |
Bartvaart | 6:8197f9446daf | 58 | |
Bartvaart | 6:8197f9446daf | 59 | |
Bartvaart | 6:8197f9446daf | 60 | // constante variabelen: |
Bartvaart | 6:8197f9446daf | 61 | |
Bartvaart | 6:8197f9446daf | 62 | double gem = 0.4557; // gemiddelde waarde emgsignaal |
Bartvaart | 6:8197f9446daf | 63 | |
Bartvaart | 10:897db0bdb2fe | 64 | //gemiddelde bepalen |
Bartvaart | 10:897db0bdb2fe | 65 | double sum = 0; |
Bartvaart | 10:897db0bdb2fe | 66 | int a = 0; |
Bartvaart | 10:897db0bdb2fe | 67 | int delay = 40; |
Bartvaart | 10:897db0bdb2fe | 68 | int samples_length = 10; |
Bartvaart | 6:8197f9446daf | 69 | |
Bartvaart | 10:897db0bdb2fe | 70 | |
Bartvaart | 13:b01231e0b743 | 71 | void Filterdesigns(double u, double &y, double &ymean) |
Bartvaart | 5:b400209df739 | 72 | { |
Bartvaart | 5:b400209df739 | 73 | //u = input waarde |
Bartvaart | 5:b400209df739 | 74 | //y = output waarde |
Bartvaart | 5:b400209df739 | 75 | |
Bartvaart | 7:040591b3f019 | 76 | u = u - gem; // lees waarde van emg signaal uit |
Bartvaart | 6:8197f9446daf | 77 | |
Bartvaart | 5:b400209df739 | 78 | // Op deze manier worden de waardes ingelezen in Filter. Zorg dus voor dezelfde volgorde, zodat de waardes goed uitgelezen worden!: |
Bartvaart | 5:b400209df739 | 79 | // Filter(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain) |
Bartvaart | 6:8197f9446daf | 80 | |
Bartvaart | 5:b400209df739 | 81 | // 50Hz Notch filter |
Bartvaart | 5:b400209df739 | 82 | double y50a = Filter(u, v1_50a, v2_50a, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a, gain_50a); |
Bartvaart | 5:b400209df739 | 83 | double y50b = Filter(y50a, v1_50b, v2_50b, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b, gain_50b); |
Bartvaart | 13:b01231e0b743 | 84 | double y50c = Filter(y50b, v1_50c, v2_50c, a1_50c, a2_50c, b0_50c, b1_50c, b2_50c, gain_50c); |
Bartvaart | 6:8197f9446daf | 85 | |
Bartvaart | 5:b400209df739 | 86 | // High Pass filter. Tot 20Hz wordt weggefliterd |
Bartvaart | 13:b01231e0b743 | 87 | double yHPa = Filter(y50c, v1_HPa, v2_HPa, a1_HPa, a2_HPa, b0_HPa, b1_HPa, b2_HPa, gain_HPa); |
Bartvaart | 13:b01231e0b743 | 88 | double yHPb = Filter(yHPa, v1_HPb, v2_HPb, a1_HPb, a2_HPb, b0_HPb, b1_HPb, b2_HPb, gain_HPb); |
Bartvaart | 6:8197f9446daf | 89 | |
Bartvaart | 5:b400209df739 | 90 | // Absolute waarde wordt genomen. |
Bartvaart | 13:b01231e0b743 | 91 | double y1 = fabs(yHPb); |
Bartvaart | 6:8197f9446daf | 92 | |
Bartvaart | 6:8197f9446daf | 93 | // Low Pass filter. Alles vanaf 5Hz wordt weggefilterd |
Bartvaart | 13:b01231e0b743 | 94 | double yLPa = Filter(y1, v1_LPa, v2_LPa, a1_LPa, a2_LPa, b0_LPa, b1_LPa, b2_LPa, gain_LPa); |
Bartvaart | 13:b01231e0b743 | 95 | double yLPb = Filter(yLPa, v1_LPb, v2_LPb, a1_LPb, a2_LPb, b0_LPb, b1_LPb, b2_LPb, gain_LPb); |
Bartvaart | 6:8197f9446daf | 96 | |
Bartvaart | 13:b01231e0b743 | 97 | y = yLPb; |
Bartvaart | 10:897db0bdb2fe | 98 | |
Bartvaart | 13:b01231e0b743 | 99 | ymean = Meanvalue(y, sum, a, ymean, delay); |
Bartvaart | 13:b01231e0b743 | 100 | //ymean = Meansmooth(y, samples_length, ymean); |
Bartvaart | 10:897db0bdb2fe | 101 | |
Bartvaart | 5:b400209df739 | 102 | } |