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Dependencies: Encoder HIDScope MODSERIAL Matrix MatrixMath biquad-master mbed
Fork of frdm_gpio1 by
main.cpp@0:b6c8d56842ce, 2017-10-13 (annotated)
- Committer:
- RoyvZ
- Date:
- Fri Oct 13 08:59:23 2017 +0000
- Revision:
- 0:b6c8d56842ce
- Child:
- 2:293665548183
Oke
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RoyvZ | 0:b6c8d56842ce | 1 | /** |
RoyvZ | 0:b6c8d56842ce | 2 | * Demo program for BiQuad and BiQuadChain classes |
RoyvZ | 0:b6c8d56842ce | 3 | * author: T.J.W. Lankhorst <t.j.w.lankhorst@student.utwente.nl> and Matthijs and Roy and Dion |
RoyvZ | 0:b6c8d56842ce | 4 | */ |
RoyvZ | 0:b6c8d56842ce | 5 | #include "mbed.h" |
RoyvZ | 0:b6c8d56842ce | 6 | #include "HIDScope.h" |
RoyvZ | 0:b6c8d56842ce | 7 | #include <stdlib.h> |
RoyvZ | 0:b6c8d56842ce | 8 | #include <iostream> |
RoyvZ | 0:b6c8d56842ce | 9 | #include <iomanip> |
RoyvZ | 0:b6c8d56842ce | 10 | #include <complex> |
RoyvZ | 0:b6c8d56842ce | 11 | #include "BiQuad.h" |
RoyvZ | 0:b6c8d56842ce | 12 | |
RoyvZ | 0:b6c8d56842ce | 13 | AnalogIn emg0( A0 ); |
RoyvZ | 0:b6c8d56842ce | 14 | AnalogIn emg1( A1 ); |
RoyvZ | 0:b6c8d56842ce | 15 | |
RoyvZ | 0:b6c8d56842ce | 16 | Ticker sample_timer; |
RoyvZ | 0:b6c8d56842ce | 17 | HIDScope scope( 2 ); |
RoyvZ | 0:b6c8d56842ce | 18 | DigitalOut led(LED1); |
RoyvZ | 0:b6c8d56842ce | 19 | DigitalOut led2(LED_GREEN); |
RoyvZ | 0:b6c8d56842ce | 20 | |
RoyvZ | 0:b6c8d56842ce | 21 | |
RoyvZ | 0:b6c8d56842ce | 22 | |
RoyvZ | 0:b6c8d56842ce | 23 | // Example: 3th order Butterworth LP (w_c = 0.1*f_nyquist) |
RoyvZ | 0:b6c8d56842ce | 24 | |
RoyvZ | 0:b6c8d56842ce | 25 | BiQuadChain bqc; |
RoyvZ | 0:b6c8d56842ce | 26 | BiQuad bq1( 0.9645651759199596, -1.5606992390030165, 0.9645651759199596, -1.5606992390030165, 0.9291303518399192 ); |
RoyvZ | 0:b6c8d56842ce | 27 | BiQuad bq2( 1, 1, 1, 1, 1 ); |
RoyvZ | 0:b6c8d56842ce | 28 | //BiQuad bq3( 0, 0, 0, 0, 0 ); |
RoyvZ | 0:b6c8d56842ce | 29 | |
RoyvZ | 0:b6c8d56842ce | 30 | void sample() |
RoyvZ | 0:b6c8d56842ce | 31 | { |
RoyvZ | 0:b6c8d56842ce | 32 | /* Set the sampled emg values in channel 0 (the first channel) and 1 (the second channel) in the 'HIDScope' instance named 'scope' */ |
RoyvZ | 0:b6c8d56842ce | 33 | scope.set(0, bq1.step(emg0.read()) ); |
RoyvZ | 0:b6c8d56842ce | 34 | scope.set(1, bq1.step(emg1.read()) ); |
RoyvZ | 0:b6c8d56842ce | 35 | /* Repeat the step above if required for more channels of required (channel 0 up to 5 = 6 channels) |
RoyvZ | 0:b6c8d56842ce | 36 | * Ensure that enough channels are available (HIDScope scope( 2 )) |
RoyvZ | 0:b6c8d56842ce | 37 | * Finally, send all channels to the PC at once */ |
RoyvZ | 0:b6c8d56842ce | 38 | scope.send(); |
RoyvZ | 0:b6c8d56842ce | 39 | /* To indicate that the function is working, the LED is toggled */ |
RoyvZ | 0:b6c8d56842ce | 40 | led = !led; |
RoyvZ | 0:b6c8d56842ce | 41 | } |
RoyvZ | 0:b6c8d56842ce | 42 | |
RoyvZ | 0:b6c8d56842ce | 43 | int main() |
RoyvZ | 0:b6c8d56842ce | 44 | { |
RoyvZ | 0:b6c8d56842ce | 45 | led2 = 0; |
RoyvZ | 0:b6c8d56842ce | 46 | bqc = bq1 * bq2; //* bq3; |
RoyvZ | 0:b6c8d56842ce | 47 | /**Attach the 'sample' function to the timer 'sample_timer'. |
RoyvZ | 0:b6c8d56842ce | 48 | * this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
RoyvZ | 0:b6c8d56842ce | 49 | */ |
RoyvZ | 0:b6c8d56842ce | 50 | sample_timer.attach(&sample, 0.002); |
RoyvZ | 0:b6c8d56842ce | 51 | |
RoyvZ | 0:b6c8d56842ce | 52 | /*empty loop, sample() is executed periodically*/ |
RoyvZ | 0:b6c8d56842ce | 53 | while(true) { |
RoyvZ | 0:b6c8d56842ce | 54 | |
RoyvZ | 0:b6c8d56842ce | 55 | // Find the poles of the filter |
RoyvZ | 0:b6c8d56842ce | 56 | std::cout << "Filter poles" << std::endl; |
RoyvZ | 0:b6c8d56842ce | 57 | std::vector< std::complex<double> > poles = bqc.poles(); |
RoyvZ | 0:b6c8d56842ce | 58 | for( size_t i = 0; i < poles.size(); i++ ) |
RoyvZ | 0:b6c8d56842ce | 59 | std::cout << "\t" << poles[i] << std::endl; |
RoyvZ | 0:b6c8d56842ce | 60 | |
RoyvZ | 0:b6c8d56842ce | 61 | // Find the zeros of the filter |
RoyvZ | 0:b6c8d56842ce | 62 | std::cout << "Filter zeros" << std::endl; |
RoyvZ | 0:b6c8d56842ce | 63 | std::vector< std::complex<double> > zeros = bqc.zeros(); |
RoyvZ | 0:b6c8d56842ce | 64 | for( size_t i = 0; i < poles.size(); i++ ) |
RoyvZ | 0:b6c8d56842ce | 65 | std::cout << "\t" << zeros[i] << std::endl; |
RoyvZ | 0:b6c8d56842ce | 66 | |
RoyvZ | 0:b6c8d56842ce | 67 | // Is the filter stable? |
RoyvZ | 0:b6c8d56842ce | 68 | std::cout << "This filter is " << (bqc.stable() ? "stable" : "instable") << std::endl; |
RoyvZ | 0:b6c8d56842ce | 69 | |
RoyvZ | 0:b6c8d56842ce | 70 | // Output the step-response of 20 samples |
RoyvZ | 0:b6c8d56842ce | 71 | std::cout << "Step response 20 samples" << std::endl; |
RoyvZ | 0:b6c8d56842ce | 72 | for( int i = 0; i < 20; i++ ) |
RoyvZ | 0:b6c8d56842ce | 73 | std::cout << "\t" << bqc.step( 1.0 ) << std::endl; |
RoyvZ | 0:b6c8d56842ce | 74 | |
RoyvZ | 0:b6c8d56842ce | 75 | // Done0 |
RoyvZ | 0:b6c8d56842ce | 76 | } |
RoyvZ | 0:b6c8d56842ce | 77 | |
RoyvZ | 0:b6c8d56842ce | 78 | } |