Dan August
Meting en filter voor 2 spieren
Diff: main.cpp
- Revision:
- 0:3a1196d78030
- Child:
- 1:fb33955ca402
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 25 08:34:03 2013 +0000
@@ -0,0 +1,258 @@
+#include "mbed.h"
+#include "MODSERIAL.h"
+
+//Define objects
+AnalogIn emg_biceps(PTB0); //Analog input
+AnalogIn emg_triceps(PTB1);
+// AnalogIn emg_flexoren(PTB2);
+// AnalogIn emg_extensoren(PTB3);
+PwmOut red(LED_RED); // sig_out biceps
+PwmOut blue(LED_BLUE); // sig_out triceps
+// PwmOut green(LED_GREEN);
+
+Ticker timer;
+MODSERIAL pc(USBTX,USBRX,64,1024);
+
+#define MAXCOUNT 40
+#define inertia 4
+
+#define gain_biceps 1
+#define threshold_biceps 0.04
+#define border_biceps 0.1125 //25% van .57 - .12
+
+#define gain_triceps 1
+#define threshold_triceps 0.1
+#define border_triceps 0.1237 //25% van .605 - .11 = .12375
+
+#define NUM0 0.8841 // constante
+#define NUM1 -3.53647 // z^-1
+#define NUM2 5.3046 // z^-2etc.
+#define NUM3 -3.5364
+#define NUM4 0.8841
+
+#define DEN0 1 // constante
+#define DEN1 -3.7538
+#define DEN2 5.2912
+#define DEN3 -3.3189
+#define DEN4 0.7816
+
+//filter functie definieren. filter(signal_number)
+//signal_number=1 --> biceps filteren
+//signal_number=2 --> triceps filteren
+//signal_number=3 --> flexoren filteren
+//signal_number=4 --> extensoren filteren
+
+float filter(int signal_number){
+ //static variables keep their values between function calls
+ //the assignents are only executed the first iteration.
+
+ //variabelen biceps definieren
+ static float in0_biceps =0 , in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
+ static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
+
+ // variabelen triceps definieren
+ static float in0_triceps = 0, in1_triceps = 0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
+ static float out0_triceps = 0, out1_triceps = 0, out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
+
+ //variabelen flexoren definieren
+ static float in0_flexoren = 0, in1_flexoren = 0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
+ static float out0_flexoren = 0, out1_flexoren = 0, out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
+
+ //variablen extensoren definieren
+ static float in0_extensoren = 0, in1_extensoren = 0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
+ static float out0_extensoren = 0, out1_extensoren = 0, out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
+
+ //overige variabelen definieren
+ // verwijder static waar mogelijk, maakt programma iets sneller
+ static float count_biceps = 0, count_triceps = 0, count_extensoren = 0, count_flexoren = 0;
+ static float square_biceps = 0, square_triceps = 0, square_flexoren = 0, square_extensoren = 0;
+ static float sum_biceps = 0, sum_triceps = 0, sum_flexoren = 0, sum_extensoren = 0;
+ static float mean_biceps = 0.1, mean_triceps = 0.1, mean_flexoren = 0.1, mean_extensoren = 0.1;
+ static float EMG_biceps, EMG_triceps, EMG_flexoren, EMG_extensoren // output ruwe EMG
+ static float sig_in_biceps, sig_in_triceps, sig_in_extensoren, sig_in_flexoren; // naam gewijzigd, output StDev
+ static float sig_out_biceps, sig_out_triceps, sig_out_extensoren, sig_out_flexoren;
+ float emg_abs, sig_out, deltaV
+ static float sig_prev_biceps = 0, sig_prev_triceps = 0, sig_prev_extensoren = 0, sig_prev_flexoren = 0
+ static int stat0_biceps, stat0_triceps, stat0_extensoren, stat0_flexoren
+ static int stat1_biceps = 0, stat1_triceps = 0, stat1_extensoren = 0, stat1_flexoren = 0
+
+ switch (signal_number){
+ case 1:
+ //biceps filteren
+ in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
+ in0_biceps = emg_biceps.read();
+ out4_biceps 2= out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;
+ out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;
+
+ //std deviatie bepalen, om de N metingen
+ emg_abs = fabs(out0_biceps);
+ sum_biceps += out0_biceps;
+ square_biceps += (emg_abs - mean_biceps)*(emg_abs - mean_biceps); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
+ // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
+ count_biceps += 1; // hou bij hoeveel squares er zijn opgeteld
+ if (count_biceps >= MAXCOUNT)
+ { sig_in_biceps = sqrt(square_biceps/count_biceps);
+ mean_biceps = sum_biceps/count_biceps;
+ count_biceps = 0; square_biceps = 0; sum_biceps = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
+ // nieuw:
+ deltaV = sig_in_biceps - sig_prev_biceps
+ if (sig_in_biceps <= threshold_biceps) // threshold
+ { stat0_biceps = 0;
+ if (stat1_biceps == 1)
+ sig_out_biceps = sig_prev_biceps + deltaV / inertia;
+ else sig_out_biceps = 0;
+ }
+ else if ( deltaV >= border_biceps ) // stijging
+ { stat0_biceps = 1;
+ if (stat1_biceps == -1)
+ sig_out_biceps = sig_prev_biceps + deltaV / inertia;
+ else sig_out_biceps = sig_in_biceps;
+ }
+ else if ( deltaV <= -border_biceps ) // daling
+ { stat0_biceps = -1;
+ if (stat1_biceps == 1)
+ sig_out_biceps = sig_prev_biceps + deltaV / inertia;
+ else sig_out_biceps = sig_in_biceps;
+ }
+ else { stat0_biceps = 0;
+ sig_out_biceps = sig_in_biceps;
+ }
+ sig_prev_biceps = sig_in_biceps;
+ stat1_biceps = stat0_biceps;
+ sig_out = sig_out_biceps;
+ red = sig_out_biceps;
+ }
+ else sig_out = -1;
+ break;
+ case 2:
+ //triceps filteren
+ in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
+ in0_triceps = emg_triceps.read();
+ out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;
+ out0_biceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;
+
+ //std deviatie bepalen om de N metingen
+ emg_abs = fabs(out0_triceps);
+ sum_triceps += out0_triceps;
+ square_triceps += (emg_abs - mean_triceps)*(emg_abs - mean_triceps); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
+ // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
+ count_triceps += 1; // hou bij hoeveel squares er zijn opgeteld
+
+ if (count_triceps >= MAXCOUNT)
+ { sig_in_triceps = sqrt(square_triceps/count_triceps);
+ mean_triceps = sum_triceps/count_triceps;
+ count_triceps = 0; square_triceps = 0; sum_triceps = 0;// en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
+ deltaV = sig_in_triceps - sig_prev_triceps
+ if (sig_in_triceps <= threshold_triceps) // threshold
+ { stat0_triceps = 0;
+ if (stat1_triceps == 1)
+ sig_out_triceps = sig_prev_triceps + deltaV / inertia;
+ else sig_out_triceps = 0;
+ }
+ else if ( deltaV >= border_triceps ) // stijging
+ { stat0_triceps = 1;
+ if (stat1_triceps == -1)
+ sig_out_triceps = sig_prev_triceps + deltaV / inertia;
+ else sig_out_triceps = sig_in_triceps;
+ }
+ else if ( deltaV <= -border_triceps ) // daling
+ { stat0_triceps = -1;
+ if (stat1_triceps == 1)
+ sig_out_triceps = sig_prev_triceps + deltaV / inertia;
+ else sig_out_triceps = sig_in_triceps;
+ }
+ else { stat0_triceps = 0;
+ sig_out_triceps = sig_in_triceps;
+ }
+ sig_prev_triceps = sig_in_triceps;
+ stat1_triceps = stat0_triceps;
+ sig_out = sig_out_triceps;
+ blue = sig_out_triceps;
+ }
+ else sig_out = -1;
+ break;
+ case 3:
+ //flexoren filteren
+ in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
+ in0_flexoren = emg_flexoren.read();
+ out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;
+ out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren) / DEN0;
+
+ //std deviatie bepalen om de N metingen
+ emg_abs = fabs(out0_flexoren);
+ sum_flexoren += out0_flexoren;
+ square_flexoren += (emg_abs - mean_flexoren)*(emg_abs - mean_flexoren); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
+ // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
+ count_flexoren += 1; // hou bij hoeveel squares er zijn opgeteld
+ if (count_flexoren >= MAXCOUNT)
+ { sig_in_flexoren = sqrt(square_flexoren/count_flexoren);
+ mean_flexoren = sum_flexoren/count_flexoren;
+ count_flexoren = 0; square_flexoren = 0; sum_flexoren = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
+
+ sig_out = sig_out_flexoren;
+ }
+ else sig_out = -1;
+ break;
+ case 4:
+ //extensoren filteren
+ in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
+ in0_extensoren = emg_extensoren.read();
+ out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;
+ out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren) / DEN0;
+
+ //std deviatie bepalen om de 50 metingen
+ emg_abs = fabs(out0_extensoren);
+ sum_extensoren += out0_extensoren;
+ square_extensoren += (emg_abs - mean_extensoren)*(emg_abs - mean_extensoren); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
+ // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
+ count_extensoren += 1; // hou bij hoeveel squares er zijn opgeteld
+ if (count_extensoren >= MAXCOUNT)
+ { sig_in_extensoren = sqrt(square_extensoren/count_extensoren);
+ mean_extensoren = sum_extensoren/count_extensoren;
+ count_extensoren = 0; square_extensoren = 0; sum_extensoren = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
+
+ sig_out=sig_out_extensoren;
+ }
+ else sig_out = -1;
+ break;
+ }
+
+ return sig_out;
+
+}
+
+void looper()
+{
+static float biceps, triceps, extensoren, flexoren, emg_filter_test;
+
+ emg_filter_test = filter(1);
+ if (emg_filter_test != -1) biceps = emg_filter_test;
+ emg_filter_test = filter(2);
+ if (emg_filter_test != -1) triceps = emg_filter_test;
+ /*emg_filter_test = filter(3);
+ if (emg_filter_test != -1) flexoren = emg_filter_test;
+ emg_filter_test = filter(4);
+ if (emg_filter_test != -1) extensoren = emg_filter_test;
+ */
+}
+
+int main()
+{
+ /*setup baudrate. Choose the same in your program on PC side*/
+ pc.baud(115200);
+ /*set the period for the PWM to the red LED*/
+ red.period_ms(80); // periode pwm = 2*Fs , blijkbaar.
+ blue.period_ms(80);
+
+
+ /**Here you attach the 'void looper(void)' function to the Ticker object0
+ * The looper() function will be called every 0.001 seconds.
+ * Please mind that the parentheses after looper are omitted when using attach.
+ */
+ timer.attach(looper, 0.001);
+ while(1) // Loop
+ {
+ // blue = sig_out_biceps;
+
+ }
+}