File content as of revision 4:e12537bac403:

#include "mbed.h"
#include "MODSERIAL.h"

//Define objects
AnalogIn    emg_biceps(PTB0);
AnalogIn    emg_triceps(PTB1);
AnalogIn    emg_flexoren(PTB2);
AnalogIn    emg_extensoren(PTB3); //Analog input
PwmOut      red(LED_RED); //PWM output
Ticker timer;
MODSERIAL pc(USBTX,USBRX,64,1024);

#define offset_biceps 0.5 // offset ruwe invoer met adapter motoren

//high pass filter constantes 15Hz cutoff 4e orde, Fs = 500Hz
#define NUM0 0.7870 // constante
#define NUM1 -3.1255 // z^-1
#define NUM2 4.6882 // z^-2etc.
#define NUM3 -3.1255
#define NUM4 0.7814

#define DEN0 1 // constante
#define DEN1 -3.5078
#define DEN2 4.6409
#define DEN3 -2.7427
#define DEN4 0.6105

//lowpass filter constantes 40 Hz 4e orde
#define NUM0_2 0.0466 // constante
#define NUM1_2 0.1863 // z^-1
#define NUM2_2 0.2795 // z^-2etc.
#define NUM3_2 0.1863
#define NUM4_2 0.0466


#define DEN0_2 1 // constante
#define DEN1_2 -0.7821
#define DEN2_2 0.6800
#define DEN3_2 -0.1827
#define DEN4_2 0.0301

//lowpass filter constantes 4Hz 4e orde, 500Hz
#define NUM0_3 0.000000374 // constante
#define NUM1_3 0.000001496 // z^-1
#define NUM2_3 0.000002244 // z^-2etc.
#define NUM3_3 0.000001496
#define NUM4_3 0.000000374


#define DEN0_3 1 // constante
#define DEN1_3 -3.8687
#define DEN2_3 5.6145
#define DEN3_3 -3.6228
#define DEN4_3 0.8769

// highpass filter 1 Hz 2de orde, tegen storing motorshield
#define NUM0_4 0.9780 // constante
#define NUM1_4 -1.9561 // z^-1
#define NUM2_4 0.9780 // z^-2etc.

#define DEN0_4 1 // constante
#define DEN1_4 -1.9556
#define DEN2_4 0.9565


float std_dev (float input, int sig_number){
 //   define variables
    float sum;
    int size;
    float sig_out;
    float mean;
    static int count_biceps=0;
    static int count_triceps=0;
    static int count_flexoren=0;
    static int count_extensoren=0;
    static float keeper_biceps[50];
    static float keeper_triceps[50];
    static float keeper_flexoren[50];
    static float keeper_extensoren[50];
    
    switch(sig_number){
        case 1:
            keeper_biceps[count_biceps]=input;
            count_biceps++;
            if(count_triceps>=size)
                count_biceps=0;
            size=sizeof(keeper_biceps); // /sizeof(float); // waarom delen door 1?
            for(int i=0; i < size; i++)
                {sum+=keeper_biceps[i];        
                }
            mean=sum/size;
            sum=0;
            for(int i=0; i < size; i++)
            {sum+=(keeper_biceps[i]-mean)*(keeper_biceps[i]-mean);
            }
            sig_out=sqrt(sum/size);
            sum=0;
            break;
        case 2:
            keeper_triceps[count_triceps]=input;
            count_triceps++;
            if(count_triceps==size) count_triceps=0;
    
            size=sizeof(keeper_triceps)/sizeof(float);
            for(int i=0; i < size; i++){
                sum+=keeper_triceps[i];        
            }
            mean=sum/size;
            sum=0;
            for(int i=0; i < size; i++){
                sum+=(keeper_triceps[i]-mean)*(keeper_triceps[i]-mean);
            }
            sig_out=sqrt(sum/size);
            sum=0;
            break;
        case 3:
            keeper_flexoren[count_flexoren]=input;
            count_flexoren++;
            if(count_flexoren==size) count_flexoren=0;
    
            size=sizeof(keeper_flexoren)/sizeof(float);
            for(int i; i < size; i++){
                sum+=keeper_flexoren[i];        
            }
            mean=sum/size;
            sum=0;
            for(int i; i < size; i++){
                sum+=(keeper_flexoren[i]-mean)*(keeper_flexoren[i]-mean);
            }
            sig_out=sqrt(sum/size);
            sum=0;
            break;
        case 4:
            keeper_extensoren[count_extensoren]=input;
            count_extensoren++;
            if(count_extensoren==size) count_extensoren=0;
    
            size=sizeof(keeper_extensoren)/sizeof(float);
            for(int i; i < size; i++){
                sum+=keeper_extensoren[i];        
            }
            mean=sum/size;
            sum=0;
            for(int i; i < size; i++){
                sum+=(keeper_extensoren[i]-mean)*(keeper_extensoren[i]-mean);
            }
            sig_out=sqrt(sum/size);
            sum=0;
            break;
    }
    

    return sig_out;
}
   
float filter(int sig_number){
    float sig_out;
    // eerst variabelen definieren
    
    //biceps
        //filter 1
    float in0_biceps =0;
    static float 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;
        //filter 2
    float in0_2_biceps =0;
    static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0;
    static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0;
        //filter 3
    float in0_3_biceps =0;
    static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
    static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
        //filter 4
    float in0_4_biceps =0;
    static float in1_4_biceps =0, in2_4_biceps = 0;
    static float out0_4_biceps = 0, out1_4_biceps = 0 , out2_4_biceps = 0; 
   
    //triceps
        //filter 1
    float in0_triceps =0;
    static float 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;
        //filter 2
    float in0_2_triceps =0;
    static float in1_2_triceps =0, in2_2_triceps = 0, in3_2_triceps = 0, in4_2_triceps = 0;
    static float out0_2_triceps = 0, out1_2_triceps = 0 , out2_2_triceps = 0, out3_2_triceps = 0, out4_2_triceps = 0;
        //filter 3
    float in0_3_triceps =0;
    static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
    static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0;
        //filter 4
    float in0_4_triceps =0;
    static float in1_4_triceps =0, in2_4_triceps = 0;
    static float out0_4_triceps = 0, out1_4_triceps = 0 , out2_4_triceps = 0;
    
    //flexoren
        //filter 1
    float in0_flexoren =0;
    static float 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;
        //filter 2
    float in0_2_flexoren =0;
    static float in1_2_flexoren =0, in2_2_flexoren = 0, in3_2_flexoren = 0, in4_2_flexoren = 0;
    static float out0_2_flexoren = 0, out1_2_flexoren = 0 , out2_2_flexoren = 0, out3_2_flexoren = 0, out4_2_flexoren = 0;
        //filter 3
    float in0_3_flexoren =0;
    static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
    static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0;
        //filter 4
    float in0_4_flexoren =0;
    static float in1_4_flexoren =0, in2_4_flexoren = 0;
    static float out0_4_flexoren = 0, out1_4_flexoren = 0 , out2_4_flexoren = 0;
    
    //extensoren
        //filter 1
    float in0_extensoren =0;
    static float 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;
        //filter 2
    float in0_2_extensoren =0;
    static float in1_2_extensoren =0, in2_2_extensoren = 0, in3_2_extensoren = 0, in4_2_extensoren = 0;
    static float out0_2_extensoren = 0, out1_2_extensoren = 0 , out2_2_extensoren = 0, out3_2_extensoren = 0, out4_2_extensoren = 0;
        //filter 3
    float in0_3_extensoren =0;
    static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
    static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0;
        //filter 4
    float in0_4_extensoren =0;
    static float in1_4_extensoren =0, in2_4_extensoren = 0;
    static float out0_4_extensoren = 0, out1_4_extensoren = 0 , out2_4_extensoren = 0;
    
    
    switch(sig_number){            
        case 1:        
            // signaal filteren op 15 Hz HIGHPASS
            in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
            in0_biceps = emg_biceps.read() - offset_biceps;
            out4_biceps = 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;                      
            /*
            //signaal filteren op 40 HZ LOWPASS
            in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps;
            in0_2_biceps = out0_biceps;
            out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps;           
            out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2;
            */
            //signaal filteren op 5Hz LOWPASS
            in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
            in0_3_biceps = out0_biceps; // ruw - offset -> filter 1 -> stdev (-> filter 3)
            out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;           
            out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;    
            /*
            //signaal filteren op 1 HZ HIGHPASS
            in2_4_biceps = in1_4_biceps; in1_4_biceps = in0_4_biceps;
            in0_4_biceps = out0_3_biceps;
            out2_4_biceps = out1_4_biceps; out1_4_biceps = out0_4_biceps;           
            out0_4_biceps = (NUM0_4*in0_4_biceps + NUM1_4*in1_4_biceps + NUM2_4*in2_4_biceps - DEN1_4*out1_4_biceps - DEN2_4*out2_4_biceps ) / DEN0_4;
            */
            sig_out = out0_biceps;
            break;
        case 2:
            // signaal filteren op 15 Hz HIGHPASS
            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_triceps = (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;                      
            
            //signaal filteren op 40 HZ LOWPASS
            in4_2_triceps = in3_2_triceps; in3_2_triceps = in2_2_triceps; in2_2_triceps = in1_2_triceps; in1_2_triceps = in0_2_triceps;
            in0_2_triceps = out0_triceps;
            out4_2_triceps = out3_2_triceps; out3_2_triceps = out2_2_triceps; out2_2_triceps = out1_2_triceps; out1_2_triceps = out0_2_triceps;           
            out0_2_triceps = (NUM0_2*in0_2_triceps + NUM1_2*in1_2_triceps + NUM2_2*in2_2_triceps + NUM3_2*in3_2_triceps + NUM4_2*in4_2_triceps - DEN1_2*out1_2_triceps - DEN2_2*out2_2_triceps - DEN3_2*out3_2_triceps - DEN4_2*out4_2_triceps ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
            in0_3_triceps = abs(out0_2_triceps);
            out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;           
            out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_triceps = in1_4_triceps; in1_4_triceps = in0_4_triceps;
            in0_4_triceps = out0_3_triceps;
            out2_4_triceps = out1_4_triceps; out1_4_triceps = out0_4_triceps;           
            out0_4_triceps = (NUM0_4*in0_4_triceps + NUM1_4*in1_4_triceps + NUM2_4*in2_4_triceps - DEN1_4*out1_4_triceps - DEN2_4*out2_4_triceps ) / DEN0_4;
            
            sig_out = out0_4_triceps;
            break;
        case 3:
            // signaal filteren op 15 Hz HIGHPASS
            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;                      
    
            //signaal filteren op 40 HZ LOWPASS
            in4_2_flexoren = in3_2_flexoren; in3_2_flexoren = in2_2_flexoren; in2_2_flexoren = in1_2_flexoren; in1_2_flexoren = in0_2_flexoren;
            in0_2_flexoren = out0_flexoren;
            out4_2_flexoren = out3_2_flexoren; out3_2_flexoren = out2_2_flexoren; out2_2_flexoren = out1_2_flexoren; out1_2_flexoren = out0_2_flexoren;           
            out0_2_flexoren = (NUM0_2*in0_2_flexoren + NUM1_2*in1_2_flexoren + NUM2_2*in2_2_flexoren + NUM3_2*in3_2_flexoren + NUM4_2*in4_2_flexoren - DEN1_2*out1_2_flexoren - DEN2_2*out2_2_flexoren - DEN3_2*out3_2_flexoren - DEN4_2*out4_2_flexoren ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
            in0_3_flexoren = abs(out0_2_flexoren);
            out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;           
            out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_flexoren = in1_4_flexoren; in1_4_flexoren = in0_4_flexoren;
            in0_4_flexoren = out0_3_flexoren;
            out2_4_flexoren = out1_4_flexoren; out1_4_flexoren = out0_4_flexoren;           
            out0_4_flexoren = (NUM0_4*in0_4_flexoren + NUM1_4*in1_4_flexoren + NUM2_4*in2_4_flexoren - DEN1_4*out1_4_flexoren - DEN2_4*out2_4_flexoren ) / DEN0_4;
            
            sig_out = out0_4_flexoren;
            break;
        case 4:
            // signaal filteren op 15 Hz HIGHPASS
            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;                      
    
            //signaal filteren op 40 HZ LOWPASS
            in4_2_extensoren = in3_2_extensoren; in3_2_extensoren = in2_2_extensoren; in2_2_extensoren = in1_2_extensoren; in1_2_extensoren = in0_2_extensoren;
            in0_2_extensoren = out0_extensoren;
            out4_2_extensoren = out3_2_extensoren; out3_2_extensoren = out2_2_extensoren; out2_2_extensoren = out1_2_extensoren; out1_2_extensoren = out0_2_extensoren;           
            out0_2_extensoren = (NUM0_2*in0_2_extensoren + NUM1_2*in1_2_extensoren + NUM2_2*in2_2_extensoren + NUM3_2*in3_2_extensoren + NUM4_2*in4_2_extensoren - DEN1_2*out1_2_extensoren - DEN2_2*out2_2_extensoren - DEN3_2*out3_2_extensoren - DEN4_2*out4_2_extensoren ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
            in0_3_extensoren = abs(out0_2_extensoren);
            out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;           
            out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_extensoren = in1_4_extensoren; in1_4_extensoren = in0_4_extensoren;
            in0_4_extensoren = out0_3_extensoren;
            out2_4_extensoren = out1_4_extensoren; out1_4_extensoren = out0_4_extensoren;           
            out0_4_extensoren = (NUM0_4*in0_4_extensoren + NUM1_4*in1_4_extensoren + NUM2_4*in2_4_extensoren - DEN1_4*out1_4_extensoren - DEN2_4*out2_4_extensoren ) / DEN0_4;
            
            sig_out = out0_4_extensoren;
            break;
    }
    return sig_out;
}

void looper()
{   float emg_value_biceps;
    float emg_value_triceps;
    float emg_value_flexoren;
    float emg_value_extensoren;
    float dy;
    emg_value_biceps = std_dev(filter(1), 1);
    /*emg_value_triceps = (100*filter(2)-44);
    emg_value_flexoren = (100*filter(3)-44);
    emg_value_extensoren = (100*filter(4)-44);*/
    
    /*if(emg_value_biceps < 0.10){
        emg_value_biceps=0;
        }
    else {
        emg_value_biceps = emg_value_biceps;
         }
    if(emg_value_triceps < 0.10){
        emg_value_triceps=0;
         }
    else {
        emg_value_triceps=emg_value_triceps;
         }
    */     
    dy = emg_value_biceps-emg_value_triceps;
    if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
        pc.printf("%.6f\n",emg_value_biceps);
    /**When not using the LED, the above could also have been done this way:
    * pc.printf("%.6\n", emg0.read());
    */
}

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(2);
    /**Here you attach the 'void looper(void)' function to the Ticker object
    * 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,0.002); // invullen in seconde
    while(1) //Loop
    {
      /*Empty!*/
      /*Everything is handled by the interrupt routine now!*/
    }
}