Dominique Clevers / Mbed 2 deprecated Project5-filteringBiceps

werkend filter: 50 hz notch 20 hz hoogdoorlaat 80 hz laagdoorlaat geabsoluteerd vermenigvuldigd met 10

Dependencies:   HIDScope mbed-dsp mbed

Fork of Project5-filtering2 by Dominique Clevers

main.cpp@7:46806eb44597, 2014-10-10 (annotated)

Committer:
Daanmk
Date:
Fri Oct 10 12:10:52 2014 +0000
Revision:
7:46806eb44597
Parent:
6:168e7e03e166
Child:
8:27b5468c77bc
filter werkend Notch, Highpass, Absolute

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Daanmk 0:68c8cf9a1f96 1 /***************************************/
Daanmk 0:68c8cf9a1f96 2 /* */
Daanmk 0:68c8cf9a1f96 3 /* BRONCODE GROEP 5, MODULE 9, 2014 */
Daanmk 0:68c8cf9a1f96 4 /* *****-THE SLAP-****** */
Daanmk 0:68c8cf9a1f96 5 /* */
Daanmk 0:68c8cf9a1f96 6 /* -Dominique Clevers */
Daanmk 0:68c8cf9a1f96 7 /* -Rianne van Dommelen */
Daanmk 0:68c8cf9a1f96 8 /* -Daan de Muinck Keizer */
Daanmk 0:68c8cf9a1f96 9 /* -David den Houting */
Daanmk 0:68c8cf9a1f96 10 /* -Marjolein Thijssen */
Daanmk 0:68c8cf9a1f96 11 /***************************************/
Daanmk 0:68c8cf9a1f96 12 #include "mbed.h"
Daanmk 0:68c8cf9a1f96 13 #include "HIDScope.h"
Daanmk 0:68c8cf9a1f96 14 #include "arm_math.h"
Daanmk 4:c8ec56d87a5b 15
Daanmk 0:68c8cf9a1f96 16 //Define objects
Daanmk 0:68c8cf9a1f96 17 AnalogIn emg0(PTB0); //Biceps
Daanmk 0:68c8cf9a1f96 18 AnalogIn emg1(PTB1); //Triceps
Daanmk 7:46806eb44597 19 HIDScope scope(5);
Daanmk 4:c8ec56d87a5b 20
Daanmk 4:c8ec56d87a5b 21 arm_biquad_casd_df1_inst_f32 notch;
Daanmk 4:c8ec56d87a5b 22 //constants for 50Hz notch
Daanmk 4:c8ec56d87a5b 23 float notch_const[] = {0.5857841106784856, -1.3007020142696517e-16, 0.5857841106784856, -1.3007020142696517e-16, 0.17156822135697122};
Daanmk 0:68c8cf9a1f96 24 //state values
Daanmk 4:c8ec56d87a5b 25 float notch_states[4];
Daanmk 0:68c8cf9a1f96 26 arm_biquad_casd_df1_inst_f32 highpass;
Daanmk 3:9d5879b64f3c 27 //constants for 5Hz highpass
Daanmk 3:9d5879b64f3c 28 float highpass_const[] = {0.8948577513857248, -1.7897155027714495, 0.8948577513857248, 0.8008009266036016};
Daanmk 0:68c8cf9a1f96 29 //state values
Daanmk 0:68c8cf9a1f96 30 float highpass_states[4];
Daanmk 7:46806eb44597 31 arm_biquad_casd_df1_inst_f32 envelop;
Daanmk 7:46806eb44597 32 //constants for 5Hz lowpass
Daanmk 7:46806eb44597 33 float envelop_const[] = {0.005542711916075981, 0.011085423832151962, 0.005542711916075981, -1.7786300789392977, 0.8008009266036016};
Daanmk 7:46806eb44597 34 //state values
Daanmk 7:46806eb44597 35 float envelop_states[4];
Daanmk 4:c8ec56d87a5b 36
Daanmk 0:68c8cf9a1f96 37 void looper()
Daanmk 0:68c8cf9a1f96 38 {
Daanmk 0:68c8cf9a1f96 39 /*variable to store value in*/
Daanmk 6:168e7e03e166 40 uint16_t emg_value;
Daanmk 6:168e7e03e166 41 float filtered_emg;
Daanmk 7:46806eb44597 42 float filtered_emg_notch;
Daanmk 7:46806eb44597 43 float filtered_emg_low;
Daanmk 7:46806eb44597 44 float filtered_emg_abs;
Daanmk 6:168e7e03e166 45 float emg_value_f32;
Daanmk 0:68c8cf9a1f96 46 /*put raw emg value both in red and in emg_value*/
Daanmk 6:168e7e03e166 47 emg_value = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Daanmk 6:168e7e03e166 48 emg_value_f32 = emg0.read();
Daanmk 4:c8ec56d87a5b 49
Daanmk 0:68c8cf9a1f96 50 //process emg
Daanmk 6:168e7e03e166 51 arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32, &filtered_emg, 1 );
Daanmk 7:46806eb44597 52 arm_biquad_cascade_df1_f32(&notch, &filtered_emg, &filtered_emg_notch, 1 );
Daanmk 7:46806eb44597 53 filtered_emg_abs = fabs(filtered_emg_notch);
Daanmk 7:46806eb44597 54 arm_biquad_cascade_df1_f32(&envelop, &filtered_emg_abs, &filtered_emg_low, 1 );
Daanmk 7:46806eb44597 55
Daanmk 0:68c8cf9a1f96 56
Daanmk 0:68c8cf9a1f96 57 /*send value to PC. */
Daanmk 6:168e7e03e166 58 scope.set(0,emg_value); //uint value
Daanmk 6:168e7e03e166 59 scope.set(1,filtered_emg); //processed float
Daanmk 7:46806eb44597 60 scope.set(2,filtered_emg_notch);
Daanmk 7:46806eb44597 61 scope.set(3,filtered_emg_abs);
Daanmk 7:46806eb44597 62 scope.set(4,filtered_emg_low);
Daanmk 0:68c8cf9a1f96 63 scope.send();
Daanmk 4:c8ec56d87a5b 64
Daanmk 0:68c8cf9a1f96 65 }
Daanmk 4:c8ec56d87a5b 66
Daanmk 0:68c8cf9a1f96 67 int main()
Daanmk 0:68c8cf9a1f96 68 {
Daanmk 0:68c8cf9a1f96 69 Ticker log_timer;
Daanmk 0:68c8cf9a1f96 70 //set up filters. Use external array for constants
Daanmk 4:c8ec56d87a5b 71 arm_biquad_cascade_df1_init_f32(&notch,1 , notch_const, notch_states);
Daanmk 0:68c8cf9a1f96 72 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);
Daanmk 7:46806eb44597 73 arm_biquad_cascade_df1_init_f32(&envelop,1 ,envelop_const, envelop_states);
Daanmk 0:68c8cf9a1f96 74
Daanmk 0:68c8cf9a1f96 75 log_timer.attach(looper, 0.005);
Daanmk 0:68c8cf9a1f96 76 while(1) //Loop
Daanmk 0:68c8cf9a1f96 77 {
Daanmk 0:68c8cf9a1f96 78 /*Empty!*/
Daanmk 0:68c8cf9a1f96 79 /*Everything is handled by the interrupt routine now!*/
Daanmk 0:68c8cf9a1f96 80 }
Daanmk 0:68c8cf9a1f96 81 }