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?
User | Revision | Line number | New 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(¬ch, &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(¬ch, &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(¬ch,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 | } |