Bart Vaart / Mbed 2 deprecated EMGfilter

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?

UserRevisionLine numberNew 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 }