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Dependencies:   HIDScope MODSERIAL QEI TextLCD mbed

Fork of TotalControlEmg2 by Remco Dasselaar

Filterdesigns.cpp@50:16314b798754, 2015-10-28 (annotated)

Committer:
RemcoDas
Date:
Wed Oct 28 09:28:48 2015 +0000
Revision:
50:16314b798754
Parent:
41:91c8c39d7a33
Child:
56:1ac2487a9610
Final, schoongeveegd

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Bartvaart 5:b400209df739 1 #include "Filterdesigns.h"
Bartvaart 6:8197f9446daf 2 #include "Filter.h"
Bartvaart 6:8197f9446daf 3
RemcoDas 50:16314b798754 4 // Inputvalues
Bartvaart 13:b01231e0b743 5 //Notch 50Hz
Bartvaart 13:b01231e0b743 6
Bartvaart 7:040591b3f019 7 // Filter1a: 50Hz Notch
RemcoDas 41:91c8c39d7a33 8 double v1_50a_L = 0, v2_50a_L = 0; // Left EMG memory
RemcoDas 41:91c8c39d7a33 9 double v1_50a_R = 0, v2_50a_R = 0; // Right EMG memory
Bartvaart 15:c1a8f28d6583 10 const double a1_50a = -1.52337295428, a2_50a = 0.93195385841;
Bartvaart 15:c1a8f28d6583 11 const double b0_50a = 1.00000000000, b1_50a = -1.61854514929, b2_50a = 1.0;
Bartvaart 6:8197f9446daf 12 const double gain_50a = 1.000000;
Bartvaart 6:8197f9446daf 13
Bartvaart 6:8197f9446daf 14 // Filter1b: 50Hz Notch
RemcoDas 30:8ae855348d22 15 double v1_50b_L = 0, v2_50b_L = 0;
RemcoDas 30:8ae855348d22 16 double v1_50b_R = 0, v2_50b_R = 0;
Bartvaart 15:c1a8f28d6583 17 const double a1_50b = -1.60486796113, a2_50b = 0.93780356783;
Bartvaart 15:c1a8f28d6583 18 const double b0_50b = 1.00000000000, b1_50b = -1.61854514929, b2_50b = 1.0;
Bartvaart 15:c1a8f28d6583 19 const double gain_50b = 0.934872;
Bartvaart 6:8197f9446daf 20
Bartvaart 13:b01231e0b743 21 //HighPass 20Hz
Bartvaart 13:b01231e0b743 22 // Filter2a: 20Hz HighPass
RemcoDas 30:8ae855348d22 23 double v1_HP_L = 0, v2_HP_L = 0;
RemcoDas 30:8ae855348d22 24 double v1_HP_R = 0, v2_HP_R = 0;
Bartvaart 21:8fe8419de3e9 25 const double a1_HP = -0.76475499450, a2_HP = 0.27692273367;
Bartvaart 21:8fe8419de3e9 26 const double b0_HP = 1.00000000000, b1_HP = -2.0, b2_HP = 1.00000000000;
Bartvaart 21:8fe8419de3e9 27 const double gain_HP = 0.510419;
Bartvaart 6:8197f9446daf 28
Bartvaart 13:b01231e0b743 29 //LowPass 3Hz
Bartvaart 13:b01231e0b743 30 // Filter3a: 3Hz LowPass
RemcoDas 30:8ae855348d22 31 double v1_LP_L = 0, v2_LP_L = 0;
RemcoDas 30:8ae855348d22 32 double v1_LP_R = 0, v2_LP_R = 0;
Bartvaart 15:c1a8f28d6583 33 const double a1_LP = -1.93503824887, a2_LP = 0.93708289663;
Bartvaart 15:c1a8f28d6583 34 const double b0_LP = 1.00000000000, b1_LP = 2.0, b2_LP = 1.00000000000;
Bartvaart 15:c1a8f28d6583 35 const double gain_LP = 0.000511;
Bartvaart 6:8197f9446daf 36
RemcoDas 41:91c8c39d7a33 37 // Filter with memory values left EMG
RemcoDas 50:16314b798754 38 double FilterdesignsLeft(double u){ // input u
RemcoDas 50:16314b798754 39 double y = 0; // output
Bartvaart 5:b400209df739 40 // 50Hz Notch filter
RemcoDas 30:8ae855348d22 41 double y50a = Filter(u, v1_50a_L, v2_50a_L, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a, gain_50a);
RemcoDas 30:8ae855348d22 42 double y50b = Filter(y50a, v1_50b_L, v2_50b_L, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b, gain_50b);
RemcoDas 30:8ae855348d22 43
RemcoDas 50:16314b798754 44 // High Pass filter. To 20Hz is filtered
RemcoDas 30:8ae855348d22 45 double yHP = Filter(y50b, v1_HP_L, v2_HP_L, a1_HP, a2_HP, b0_HP, b1_HP, b2_HP, gain_HP);
RemcoDas 30:8ae855348d22 46
RemcoDas 50:16314b798754 47 // Absolute value
RemcoDas 30:8ae855348d22 48 double y1 = fabs(yHP);
RemcoDas 30:8ae855348d22 49
RemcoDas 50:16314b798754 50 // Low Pass filter 5Hz
RemcoDas 30:8ae855348d22 51 double yLP = Filter(y1, v1_LP_L, v2_LP_L, a1_LP, a2_LP, b0_LP, b1_LP, b2_LP, gain_LP);
Bartvaart 6:8197f9446daf 52
RemcoDas 50:16314b798754 53 y = 10 * yLP; // scaling
RemcoDas 30:8ae855348d22 54 return y;
RemcoDas 30:8ae855348d22 55 }
RemcoDas 41:91c8c39d7a33 56
RemcoDas 41:91c8c39d7a33 57 // Filter with memory values left EMG
RemcoDas 50:16314b798754 58 double FilterdesignsRight(double u){ // input u
RemcoDas 50:16314b798754 59 double y = 0; // output
RemcoDas 30:8ae855348d22 60
RemcoDas 30:8ae855348d22 61 // 50Hz Notch filter
RemcoDas 30:8ae855348d22 62 double y50a = Filter(u, v1_50a_R, v2_50a_R, a1_50a, a2_50a, b0_50a, b1_50a, b2_50a, gain_50a);
RemcoDas 30:8ae855348d22 63 double y50b = Filter(y50a, v1_50b_R, v2_50b_R, a1_50b, a2_50b, b0_50b, b1_50b, b2_50b, gain_50b);
RemcoDas 30:8ae855348d22 64
RemcoDas 50:16314b798754 65 // High Pass filter. Tot 20Hz is filtered
RemcoDas 41:91c8c39d7a33 66 double yHP = Filter(y50b, v1_HP_R, v2_HP_R, a1_HP, a2_HP, b0_HP, b1_HP, b2_HP, gain_HP);
Bartvaart 6:8197f9446daf 67
RemcoDas 50:16314b798754 68 // Absolute value
Bartvaart 15:c1a8f28d6583 69 double y1 = fabs(yHP);
Bartvaart 6:8197f9446daf 70
RemcoDas 50:16314b798754 71 // Low Pass filter, 50Hz
RemcoDas 30:8ae855348d22 72 double yLP = Filter(y1, v1_LP_R, v2_LP_R, a1_LP, a2_LP, b0_LP, b1_LP, b2_LP, gain_LP);
Bartvaart 6:8197f9446daf 73
RemcoDas 50:16314b798754 74 y = 10 * yLP; // scaling
Bartvaart 17:cfe44346645c 75 return y;
RemcoDas 41:91c8c39d7a33 76 }