Richell Booyink / Mbed 2 deprecated EMG_Controlling

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Dependencies:   HIDScope biquadFilter mbed

main.cpp@3:61f0fc41f3bc, 2015-10-19 (annotated)

Committer:
RichellBooyink
Date:
Mon Oct 19 14:08:50 2015 +0000
Revision:
3:61f0fc41f3bc
Parent:
2:e3259334299e
Child:
4:8db85182a00d
De filters werken allemaal. Hier zijn ook de waarden van de gain vermenigvuldigd met de constande b waardes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RichellBooyink 0:2ded24549b70 1 #include "mbed.h"
RichellBooyink 0:2ded24549b70 2 #include "HIDScope.h"
RichellBooyink 0:2ded24549b70 3
RichellBooyink 1:16165e207e70 4 AnalogIn EMG(A0);
RichellBooyink 3:61f0fc41f3bc 5 HIDScope scope(4);
RichellBooyink 0:2ded24549b70 6
RichellBooyink 0:2ded24549b70 7 // Filter1 = High pass filter tot 20 Hz
RichellBooyink 0:2ded24549b70 8 double fh1_v1=0, fh1_v2=0, fh2_v1=0, fh2_v2=0;
RichellBooyink 0:2ded24549b70 9 const double fh1_a1=-0.84909054461, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0;
RichellBooyink 0:2ded24549b70 10 const double fh2_a1=-1.82553264091, fh2_a2=0.85001416809, fh2_b0= 1, fh2_b1=-2, fh2_b2=1;
RichellBooyink 0:2ded24549b70 11 // Filter2 = Low pass filter na 60 Hz
RichellBooyink 0:2ded24549b70 12 double fl1_v1=0, fl1_v2=0, fl2_v1=0, fl2_v2=0;
RichellBooyink 0:2ded24549b70 13 const double fl1_a1=-0.66979455390, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0;
RichellBooyink 0:2ded24549b70 14 const double fl2_a1=-1.55376616139, fl2_a2=0.68023470431, fl2_b0= 1, fl2_b1=2, fl2_b2=1;
RichellBooyink 0:2ded24549b70 15 // Filter3 = Notch filter at 50 Hz
RichellBooyink 0:2ded24549b70 16 double fno1_v1=0, fno1_v2=0, fno2_v1=0, fno2_v2=0, fno3_v1=0, fno3_v2=0;
RichellBooyink 0:2ded24549b70 17 const double fno1_a1 = -1.87934916386, fno1_a2= 0.97731851355, fno1_b0= 1, fno1_b1= -1.90090686046, fno1_b2= 1;
RichellBooyink 0:2ded24549b70 18 const double fno2_a1 = -1.88341028603, fno2_a2= 0.98825147717, fno2_b0= 1, fno2_b1= -1.90090686046, fno2_b2= 1;
RichellBooyink 0:2ded24549b70 19 const double fno3_a1 = -1.89635403726, fno3_a2= 0.98894004849, fno3_b0= 1, fno3_b1= -1.90090686046, fno3_b2= 1;
RichellBooyink 2:e3259334299e 20 double y1, y2, y3, y4, y5, y6, y7, u1, u2, u3, u4, u5, u6, u7;
RichellBooyink 3:61f0fc41f3bc 21
RichellBooyink 3:61f0fc41f3bc 22 // Standaard formule voor het biquad filter
RichellBooyink 3:61f0fc41f3bc 23 double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
RichellBooyink 3:61f0fc41f3bc 24
RichellBooyink 3:61f0fc41f3bc 25 {
RichellBooyink 3:61f0fc41f3bc 26 double v = u - a1*v1 - a2*v2;
RichellBooyink 3:61f0fc41f3bc 27 double y = b0*v + b1*v1 + b2*v2;
RichellBooyink 3:61f0fc41f3bc 28 v2=v1;
RichellBooyink 3:61f0fc41f3bc 29 v1=v;
RichellBooyink 3:61f0fc41f3bc 30 return y;
RichellBooyink 3:61f0fc41f3bc 31 }
RichellBooyink 3:61f0fc41f3bc 32
RichellBooyink 2:e3259334299e 33 void Filters()
RichellBooyink 0:2ded24549b70 34 {
RichellBooyink 2:e3259334299e 35 u1 = EMG.read();
RichellBooyink 2:e3259334299e 36 //Highpass
RichellBooyink 3:61f0fc41f3bc 37 y1 = biquad (u1, fh1_v1, fh1_v2, fh1_a1, fh1_a2, fh1_b0*0.924547, fh1_b1*0.924547, fh1_b2*0.924547);
RichellBooyink 3:61f0fc41f3bc 38 u2 = y1;
RichellBooyink 3:61f0fc41f3bc 39 y2 = biquad (u2, fh2_v1, fh2_v2, fh2_a1, fh2_a2, fh2_b0*0.918885, fh2_b1*0.918885, fh2_b2*0.918885);
RichellBooyink 2:e3259334299e 40 //Lowpass
RichellBooyink 2:e3259334299e 41 u3 = y2;
RichellBooyink 3:61f0fc41f3bc 42 y3 = biquad (u3, fl1_v1, fl1_v2, fl1_a1, fl1_a2, fl1_b0*0.165103, fl1_b1*0.165103, fl1_b2*0.165103);
RichellBooyink 2:e3259334299e 43 u4 = y3;
RichellBooyink 3:61f0fc41f3bc 44 y4 = biquad (u4, fl2_v1, fl2_v2, fl2_a1, fl2_a2, fl2_b0*0.031617, fl2_b1*0.031617, fl2_b2*0.031617);
RichellBooyink 2:e3259334299e 45 // Notch
RichellBooyink 2:e3259334299e 46 u5 = y4;
RichellBooyink 3:61f0fc41f3bc 47 y5 = biquad (u5, fno1_v1, fno1_v2, fno1_a1, fno1_a2, fno1_b0*1.004206, fno1_b1*1.004206, fno1_b2*1.004206);
RichellBooyink 2:e3259334299e 48 u6 = y5;
RichellBooyink 3:61f0fc41f3bc 49 y6 = biquad (u6, fno2_v1, fno2_v2, fno2_a1, fno2_a2, fno2_b0, fno2_b1, fno2_b2);
RichellBooyink 2:e3259334299e 50 u7 = y6;
RichellBooyink 3:61f0fc41f3bc 51 y7 = biquad (u7, fno3_v1, fno3_v2, fno3_a1, fno3_a2, fno3_b0*0.973227, fno3_b1*0.973227, fno3_b2*0.973227);
RichellBooyink 2:e3259334299e 52 scope.set (0, u1);
RichellBooyink 2:e3259334299e 53 scope.set (1, y2);
RichellBooyink 2:e3259334299e 54 scope.set (2, y4);
RichellBooyink 2:e3259334299e 55 scope.set (3, y7);
RichellBooyink 1:16165e207e70 56 scope.send ();
RichellBooyink 1:16165e207e70 57 }
RichellBooyink 2:e3259334299e 58 Ticker filter;
RichellBooyink 0:2ded24549b70 59 int main ()
RichellBooyink 2:e3259334299e 60 {filter.attach_us(Filters,1e3);}
RichellBooyink 0:2ded24549b70 61
RichellBooyink 0:2ded24549b70 62
RichellBooyink 0:2ded24549b70 63
RichellBooyink 2:e3259334299e 64
RichellBooyink 2:e3259334299e 65