Dominique Clevers / Mbed 2 deprecated Project5-filteringBiceps2

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Dependencies:   HIDScope mbed-dsp mbed

Fork of Project5-filteringBiceps by Dominique Clevers

main.cpp@31:6b6f60f64cb6, 2014-10-20 (annotated)

Committer:
DominiqueC
Date:
Mon Oct 20 08:40:39 2014 +0000
Revision:
31:6b6f60f64cb6
Parent:
30:2162f7a82fc7 
toevoeging movag

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"
DominiqueC 31:6b6f60f64cb6 15 #define TSAMP 0.005 // sampletijd 200 Hz
Daanmk 4:c8ec56d87a5b 16
Daanmk 0:68c8cf9a1f96 17 //Define objects
Daanmk 0:68c8cf9a1f96 18 AnalogIn emg0(PTB0); //Biceps
Daanmk 0:68c8cf9a1f96 19 AnalogIn emg1(PTB1); //Triceps
Daanmk 10:1efe8b0cddd0 20 HIDScope scope(5);
DominiqueC 31:6b6f60f64cb6 21 int const windowsamples = 60; //aantal samples waaruit het window voor MOVAG bestaat
Daanmk 4:c8ec56d87a5b 22
DominiqueC 20:3ae43944846a 23 arm_biquad_casd_df1_inst_f32 notch;
Daanmk 4:c8ec56d87a5b 24 //constants for 50Hz notch
DominiqueC 20:3ae43944846a 25 float notch_const[] = {0.9695312529087462, -0.0, 0.9695312529087462, 0.0, -0.9390625058174924};
Daanmk 0:68c8cf9a1f96 26 //state values
DominiqueC 20:3ae43944846a 27 float notch_states[4];
DominiqueC 18:2523eba53f16 28 arm_biquad_casd_df1_inst_f32 highpass;
DominiqueC 26:d73e33ca524d 29 //constants for 20Hz highpass
DominiqueC 25:a84afc4598fe 30 float highpass_const[] = {0.638945525159022, -1.277891050318045, 0.638945525159022, 1.142980502539901, -0.412801598096189};
Daanmk 0:68c8cf9a1f96 31 //state values
DominiqueC 18:2523eba53f16 32 float highpass_states[4];
DominiqueC 12:8a30e43337bb 33 //constants for 80Hz lowpass
DominiqueC 20:3ae43944846a 34 arm_biquad_casd_df1_inst_f32 lowpass;
DominiqueC 28:c40dc343033f 35 float lowpass_const[] = {0.638945525159022, 1.277891050318045, 0.638945525159022, -1.142980502539901, -0.412801598096189};
DominiqueC 12:8a30e43337bb 36 //state values
DominiqueC 20:3ae43944846a 37 float lowpass_states[4];
DominiqueC 11:a598cb27907f 38
DominiqueC 31:6b6f60f64cb6 39 //state values looper
DominiqueC 31:6b6f60f64cb6 40 float emg_value_f32,filtered_emg_notch,filtered_emg_notch_highpass,filtered_emg_notch_highpass_lowpass,filtered_emg_eindsignaal_abs;
DominiqueC 31:6b6f60f64cb6 41 float xpos_max,xpos_min,xneg_max,xneg_min; // kalibratiewaardes
DominiqueC 31:6b6f60f64cb6 42 float emg_biceps [windowsamples];
DominiqueC 31:6b6f60f64cb6 43
Daanmk 0:68c8cf9a1f96 44 void looper()
Daanmk 0:68c8cf9a1f96 45 {
Daanmk 0:68c8cf9a1f96 46 /*variable to store value in*/
Daanmk 0:68c8cf9a1f96 47 uint16_t emg_value;
Daanmk 0:68c8cf9a1f96 48 /*put raw emg value both in red and in emg_value*/
Daanmk 0:68c8cf9a1f96 49 emg_value = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
Daanmk 0:68c8cf9a1f96 50 emg_value_f32 = emg0.read();
Daanmk 4:c8ec56d87a5b 51
Daanmk 0:68c8cf9a1f96 52 //process emg
DominiqueC 21:c9da9adc6706 53 arm_biquad_cascade_df1_f32(&notch, &emg_value_f32, &filtered_emg_notch, 1 );
DominiqueC 22:fe4d9195f6dd 54 arm_biquad_cascade_df1_f32(&highpass, &filtered_emg_notch, &filtered_emg_notch_highpass, 1 );
DominiqueC 27:2ccef1104c16 55 arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg_notch_highpass, &filtered_emg_notch_highpass_lowpass, 1 );
DominiqueC 29:40a157c53841 56 filtered_emg_eindsignaal_abs = 10*fabs(filtered_emg_notch_highpass_lowpass); //gelijkrichter
DominiqueC 31:6b6f60f64cb6 57 emg_biceps []= filtered_emg_eindsignaal_abs;
DominiqueC 31:6b6f60f64cb6 58
DominiqueC 28:c40dc343033f 59 scope.set(0,emg_value_f32);
DominiqueC 22:fe4d9195f6dd 60 scope.set(1,filtered_emg_notch);
DominiqueC 22:fe4d9195f6dd 61 scope.set(2,filtered_emg_notch_highpass);
DominiqueC 27:2ccef1104c16 62 scope.set(3,filtered_emg_notch_highpass_lowpass);
DominiqueC 28:c40dc343033f 63 scope.set(4,filtered_emg_eindsignaal_abs);
Daanmk 0:68c8cf9a1f96 64 scope.send();
Daanmk 0:68c8cf9a1f96 65 }
Daanmk 4:c8ec56d87a5b 66
DominiqueC 31:6b6f60f64cb6 67 // movag berekenen
DominiqueC 31:6b6f60f64cb6 68 void movag() {
DominiqueC 31:6b6f60f64cb6 69 //Variabelen voor berekenen gemiddelden
DominiqueC 31:6b6f60f64cb6 70 float avg1,avg2;
DominiqueC 31:6b6f60f64cb6 71 avg1=avg2=0;
DominiqueC 31:6b6f60f64cb6 72
DominiqueC 31:6b6f60f64cb6 73 //Inhoud van een buffer (=gefilterd signaal) optellen
DominiqueC 31:6b6f60f64cb6 74 for(int x=0; x<windowsamples; x++) {
DominiqueC 31:6b6f60f64cb6 75 avg1 = avg1 + (emg_biceps[x]);
DominiqueC 31:6b6f60f64cb6 76 // avg2 = avg2 + (filtered_emg1_eindsignaal_abs[x]);
DominiqueC 31:6b6f60f64cb6 77 }
DominiqueC 31:6b6f60f64cb6 78
DominiqueC 31:6b6f60f64cb6 79 //Gemiddelde berekenen en relativeren tov maximum voluntary contraction
DominiqueC 31:6b6f60f64cb6 80 avg1 = avg1/windowsamples/xpos_max;
DominiqueC 31:6b6f60f64cb6 81 avg2 = avg2/windowsamples/xneg_max;
DominiqueC 31:6b6f60f64cb6 82 }
DominiqueC 31:6b6f60f64cb6 83
DominiqueC 31:6b6f60f64cb6 84 //eind
DominiqueC 31:6b6f60f64cb6 85
Daanmk 0:68c8cf9a1f96 86 int main()
Daanmk 0:68c8cf9a1f96 87 {
DominiqueC 31:6b6f60f64cb6 88 //referentiewaarden bepalen (ergo kalibreren)
DominiqueC 31:6b6f60f64cb6 89 xpos_max = 0.25;
DominiqueC 31:6b6f60f64cb6 90 xpos_min = 0.1/xpos_max;
DominiqueC 31:6b6f60f64cb6 91 xneg_max = 0.20;
DominiqueC 31:6b6f60f64cb6 92 xneg_min = 0.1/xneg_max;
DominiqueC 31:6b6f60f64cb6 93
DominiqueC 31:6b6f60f64cb6 94 // Tickers
Daanmk 0:68c8cf9a1f96 95 Ticker log_timer;
DominiqueC 31:6b6f60f64cb6 96 Ticker window;
DominiqueC 31:6b6f60f64cb6 97
DominiqueC 31:6b6f60f64cb6 98 //set up filters. Use external array for constants
DominiqueC 20:3ae43944846a 99 arm_biquad_cascade_df1_init_f32(&notch,1 , notch_const, notch_states);
DominiqueC 18:2523eba53f16 100 arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);
DominiqueC 20:3ae43944846a 101 arm_biquad_cascade_df1_init_f32(&lowpass,1 ,lowpass_const,lowpass_states);
Daanmk 0:68c8cf9a1f96 102
DominiqueC 31:6b6f60f64cb6 103 log_timer.attach(looper, TSAMP);
DominiqueC 31:6b6f60f64cb6 104 window.attach(movag, TSAMP);
Daanmk 0:68c8cf9a1f96 105 while(1) //Loop
Daanmk 0:68c8cf9a1f96 106 {
Daanmk 0:68c8cf9a1f96 107 /*Empty!*/
Daanmk 0:68c8cf9a1f96 108 /*Everything is handled by the interrupt routine now!*/
Daanmk 0:68c8cf9a1f96 109 }
Daanmk 0:68c8cf9a1f96 110 }