Dominique Clevers / Mbed 2 deprecated Projec5-filteringbicepsentriceps

filtering biceps en triceps

Dependencies:   HIDScope mbed-dsp mbed

main.cpp@5:6aedf68cdea2, 2014-10-20 (annotated)

Committer:
DominiqueC
Date:
Mon Oct 20 09:53:55 2014 +0000
Revision:
5:6aedf68cdea2
Parent:
4:ba04bae0f6fc 
movag toegevoegd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DominiqueC 0:055b4123367c 1 /***************************************/
DominiqueC 0:055b4123367c 2 /* */
DominiqueC 0:055b4123367c 3 /* BRONCODE GROEP 5, MODULE 9, 2014 */
DominiqueC 0:055b4123367c 4 /* *****-THE SLAP-****** */
DominiqueC 0:055b4123367c 5 /* */
DominiqueC 0:055b4123367c 6 /* -Dominique Clevers */
DominiqueC 0:055b4123367c 7 /* -Rianne van Dommelen */
DominiqueC 0:055b4123367c 8 /* -Daan de Muinck Keizer */
DominiqueC 0:055b4123367c 9 /* -David den Houting */
DominiqueC 0:055b4123367c 10 /* -Marjolein Thijssen */
DominiqueC 0:055b4123367c 11 /***************************************/
DominiqueC 0:055b4123367c 12 #include "mbed.h"
DominiqueC 0:055b4123367c 13 #include "HIDScope.h"
DominiqueC 0:055b4123367c 14 #include "arm_math.h"
DominiqueC 5:6aedf68cdea2 15 #define TSAMP 0.005 // sampletijd 200 Hz
DominiqueC 0:055b4123367c 16
DominiqueC 0:055b4123367c 17 //Define objects
DominiqueC 0:055b4123367c 18 AnalogIn emg0(PTB0); //Biceps
DominiqueC 0:055b4123367c 19 AnalogIn emg1(PTB1); //Triceps
DominiqueC 3:70f9de0ba6e0 20 HIDScope scope(4);
DominiqueC 5:6aedf68cdea2 21 int const windowsamples = 60; //aantal samples waaruit het window voor MOVAG bestaat
DominiqueC 0:055b4123367c 22
DominiqueC 0:055b4123367c 23 arm_biquad_casd_df1_inst_f32 notch;
DominiqueC 0:055b4123367c 24 //constants for 50Hz notch
DominiqueC 0:055b4123367c 25 float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924};
DominiqueC 0:055b4123367c 26 //state values
DominiqueC 0:055b4123367c 27 float notch_states[4];
DominiqueC 0:055b4123367c 28 arm_biquad_casd_df1_inst_f32 highpass;
DominiqueC 0:055b4123367c 29 //constants for 20Hz highpass
DominiqueC 0:055b4123367c 30 float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
DominiqueC 0:055b4123367c 31 //state values
DominiqueC 0:055b4123367c 32 float highpass_states[4];
DominiqueC 0:055b4123367c 33 //constants for 80Hz lowpass
DominiqueC 0:055b4123367c 34 arm_biquad_casd_df1_inst_f32 lowpass;
DominiqueC 0:055b4123367c 35 float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
DominiqueC 0:055b4123367c 36 //state values
DominiqueC 0:055b4123367c 37 float lowpass_states[4];
DominiqueC 0:055b4123367c 38
DominiqueC 5:6aedf68cdea2 39 //state values looper
DominiqueC 5:6aedf68cdea2 40 //variable to store value in for biceps
DominiqueC 5:6aedf68cdea2 41 float emg0_value_f32,filtered_emg0_notch,filtered_emg0_notch_highpass,filtered_emg0_notch_highpass_lowpass,filtered_emg0_eindsignaal_abs;
DominiqueC 5:6aedf68cdea2 42 //variable to store value in for triceps
DominiqueC 5:6aedf68cdea2 43 float emg1_value_f32,filtered_emg1_notch,filtered_emg1_notch_highpass,filtered_emg1_notch_highpass_lowpass,filtered_emg1_eindsignaal_abs;
DominiqueC 5:6aedf68cdea2 44 //kalibratiewaardes
DominiqueC 5:6aedf68cdea2 45 float xpos_max,xpos_min,xneg_max,xneg_min;
DominiqueC 5:6aedf68cdea2 46
DominiqueC 5:6aedf68cdea2 47 float emg_biceps [windowsamples];
DominiqueC 5:6aedf68cdea2 48 float emg_triceps [windowsamples];
DominiqueC 5:6aedf68cdea2 49
DominiqueC 0:055b4123367c 50
DominiqueC 0:055b4123367c 51 void looper()
DominiqueC 0:055b4123367c 52 {
DominiqueC 0:055b4123367c 53 /*put raw emg value both in red and in emg_value*/
DominiqueC 1:d4f3f7b24852 54 emg0_value_f32 = emg0.read(); //?????moet hiet eindsignaal ook bij staan???????
DominiqueC 1:d4f3f7b24852 55 emg1_value_f32 = emg1.read();
DominiqueC 0:055b4123367c 56
DominiqueC 1:d4f3f7b24852 57 //process emg biceps
DominiqueC 1:d4f3f7b24852 58 arm_biquad_cascade_df1_f32(&notch, &emg0_value_f32, &filtered_emg0_notch, 1 );
DominiqueC 1:d4f3f7b24852 59 arm_biquad_cascade_df1_f32(&highpass, &filtered_emg0_notch, &filtered_emg0_notch_highpass, 1 );
DominiqueC 1:d4f3f7b24852 60 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg0_notch_highpass, &filtered_emg0_notch_highpass_lowpass, 1 );
DominiqueC 5:6aedf68cdea2 61 filtered_emg0_eindsignaal_abs = 10*fabs(filtered_emg0_notch_highpass_lowpass); //gelijkrichter
DominiqueC 5:6aedf68cdea2 62 emg_biceps [0]= filtered_emg0_eindsignaal_abs;
DominiqueC 0:055b4123367c 63
DominiqueC 1:d4f3f7b24852 64 //process emg triceps
DominiqueC 1:d4f3f7b24852 65 arm_biquad_cascade_df1_f32(&notch, &emg1_value_f32, &filtered_emg1_notch, 1 );
DominiqueC 1:d4f3f7b24852 66 arm_biquad_cascade_df1_f32(&highpass, &filtered_emg1_notch, &filtered_emg1_notch_highpass, 1 );
DominiqueC 1:d4f3f7b24852 67 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg1_notch_highpass, &filtered_emg1_notch_highpass_lowpass, 1 );
DominiqueC 5:6aedf68cdea2 68 filtered_emg1_eindsignaal_abs = 10*fabs(filtered_emg1_notch_highpass_lowpass); //gelijkrichter
DominiqueC 5:6aedf68cdea2 69 emg_triceps [0]= filtered_emg1_eindsignaal_abs;
DominiqueC 5:6aedf68cdea2 70
DominiqueC 5:6aedf68cdea2 71 //Movag
DominiqueC 5:6aedf68cdea2 72 //Variabelen voor berekenen gemiddelden
DominiqueC 5:6aedf68cdea2 73 float avg0,avg1;
DominiqueC 5:6aedf68cdea2 74 avg0=avg1=0;
DominiqueC 5:6aedf68cdea2 75
DominiqueC 5:6aedf68cdea2 76 //Inhoud van een buffer (=gefilterd signaal) optellen
DominiqueC 5:6aedf68cdea2 77 for(int x=0; x<windowsamples; x++) {
DominiqueC 5:6aedf68cdea2 78 avg0 = avg0 + (emg_biceps[x]);
DominiqueC 5:6aedf68cdea2 79 avg1 = avg1 + (emg_triceps[x]);
DominiqueC 5:6aedf68cdea2 80 }
DominiqueC 5:6aedf68cdea2 81
DominiqueC 5:6aedf68cdea2 82 //Gemiddelde berekenen en relativeren tov maximum voluntary contraction
DominiqueC 5:6aedf68cdea2 83 avg0 = avg0/windowsamples/xpos_max;
DominiqueC 5:6aedf68cdea2 84 avg1 = avg1/windowsamples/xneg_max;
DominiqueC 5:6aedf68cdea2 85
DominiqueC 1:d4f3f7b24852 86
DominiqueC 1:d4f3f7b24852 87 //send to PC
DominiqueC 1:d4f3f7b24852 88 scope.set(0,emg0_value_f32);
DominiqueC 5:6aedf68cdea2 89 scope.set(1,avg0);
DominiqueC 4:ba04bae0f6fc 90 scope.set(2,emg1_value_f32);
DominiqueC 5:6aedf68cdea2 91 scope.set(3,avg1);
DominiqueC 0:055b4123367c 92 scope.send();
DominiqueC 0:055b4123367c 93 }
DominiqueC 0:055b4123367c 94
DominiqueC 0:055b4123367c 95 int main()
DominiqueC 0:055b4123367c 96 {
DominiqueC 5:6aedf68cdea2 97 //referentiewaarden bepalen (kalibreren)
DominiqueC 5:6aedf68cdea2 98 xpos_max = 0.25;
DominiqueC 5:6aedf68cdea2 99 xpos_min = 0.1/xpos_max;
DominiqueC 5:6aedf68cdea2 100 xneg_max = 0.20;
DominiqueC 5:6aedf68cdea2 101 xneg_min = 0.1/xneg_max;
DominiqueC 5:6aedf68cdea2 102
DominiqueC 5:6aedf68cdea2 103 //Ticker
DominiqueC 0:055b4123367c 104 Ticker log_timer;
DominiqueC 5:6aedf68cdea2 105
DominiqueC 0:055b4123367c 106 //set up filters. Use external array for constants
DominiqueC 0:055b4123367c 107 arm_biquad_cascade_df1_init_f32(&notch,1 , notch_const, notch_states);
DominiqueC 0:055b4123367c 108 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);
DominiqueC 0:055b4123367c 109 arm_biquad_cascade_df1_init_f32(&lowpass,1 ,lowpass_const,lowpass_states);
DominiqueC 0:055b4123367c 110
DominiqueC 5:6aedf68cdea2 111 log_timer.attach(looper, TSAMP);
DominiqueC 5:6aedf68cdea2 112
DominiqueC 0:055b4123367c 113 while(1) //Loop
DominiqueC 0:055b4123367c 114 {
DominiqueC 0:055b4123367c 115 /*Empty!*/
DominiqueC 0:055b4123367c 116 /*Everything is handled by the interrupt routine now!*/
DominiqueC 0:055b4123367c 117 }
DominiqueC 0:055b4123367c 118 }