Richell Booyink / Mbed 2 deprecated EMG_TEST

Dependencies:   HIDScope mbed

Files at this revision

API Documentation at this revision

Revision 0:54c54952ee82, committed 2015-10-26

Comitter:
RichellBooyink
Date:
Mon Oct 26 13:42:20 2015 +0000
Commit message:
4 filters worden afgebeeld op HIDScope en laten het gewenste filter zien;

Changed in this revision

HIDScope.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 54c54952ee82 HIDScope.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Mon Oct 26 13:42:20 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tomlankhorst/code/HIDScope/#5020a2c0934b

diff -r 000000000000 -r 54c54952ee82 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 26 13:42:20 2015 +0000
@@ -0,0 +1,168 @@
+#include "mbed.h"
+#include "HIDScope.h"
+
+AnalogIn EMG_bicepsright(A0);
+AnalogIn EMG_bicepsleft(A1);
+AnalogIn EMG_tricepsright(A2);
+AnalogIn EMG_tricepsleft(A3);
+HIDScope scope(4);
+Ticker EMG_Control;
+
+// Filter1 = High pass filter tot 20 Hz
+double ah1_v1=0, ah1_v2=0, ah2_v1=0, ah2_v2=0;
+double bh1_v1=0, bh1_v2=0, bh2_v1=0, bh2_v2=0;
+double ch1_v1=0, ch1_v2=0, ch2_v1=0, ch2_v2=0; 
+double dh1_v1=0, dh1_v2=0, dh2_v1=0, dh2_v2=0;
+const double fh1_a1=-0.50701081158, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0;
+const double fh2_a1=-1.24532140600, fh2_a2=0.54379713891, fh2_b0= 1, fh2_b1=-2, fh2_b2=1;
+// Filter2 = Low pass filter na 60 Hz
+double al1_v1=0, al1_v2=0, al2_v1=0, al2_v2=0;
+double bl1_v1=0, bl1_v2=0, bl2_v1=0, bl2_v2=0;
+double cl1_v1=0, cl1_v2=0, cl2_v1=0, cl2_v2=0;
+double dl1_v1=0, dl1_v2=0, dl2_v1=0, dl2_v2=0;
+const double fl1_a1=0.15970686439, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0;
+const double fl2_a1=0.42229458338, fl2_a2=0.35581444792, fl2_b0= 1, fl2_b1=2, fl2_b2=1;
+// Filter3 = Notch filter at 50 Hz
+double ano1_v1=0, ano1_v2=0, ano2_v1=0, ano2_v2=0, ano3_v1=0, ano3_v2=0;
+double bno1_v1=0, bno1_v2=0, bno2_v1=0, bno2_v2=0, bno3_v1=0, bno3_v2=0;
+double cno1_v1=0, cno1_v2=0, cno2_v1=0, cno2_v2=0, cno3_v1=0, cno3_v2=0;
+double dno1_v1=0, dno1_v2=0, dno2_v1=0, dno2_v2=0, dno3_v1=0, dno3_v2=0;
+const double fno1_a1 = -0.03255814954, fno1_a2= 0.92336486961, fno1_b0= 1, fno1_b1= -0.03385540628, fno1_b2= 1;
+const double fno2_a1 = 0.03447359684, fno2_a2= 0.96095720701, fno2_b0= 1, fno2_b1= -0.03385540628, fno2_b2= 1;
+const double fno3_a1 =  -0.10078591122, fno3_a2= 0.96100189080, fno3_b0= 1, fno3_b1= -0.03385540628, fno3_b2= 1;
+// Filter4 = Lowpass filter at 5 Hz
+double alp1_v1=0, alp1_v2=0, alp2_v1=0, alp2_v2=0;
+double blp1_v1=0, blp1_v2=0, blp2_v1=0, blp2_v2=0;
+double clp1_v1=0, clp1_v2=0, clp2_v1=0, clp2_v2=0;
+double dlp1_v1=0, dlp1_v2=0, dlp2_v1=0, dlp2_v2=0;
+const double flp1_a1=-0.86962685441, flp1_a2=0.00000000000, flp1_b0= 1, flp1_b1=1, flp1_b2=0;
+const double flp2_a1=-1.85211666729, flp2_a2=0.87021679713, flp2_b0= 1, flp2_b1=2, flp2_b2=1;
+double y1, y2, y3, y4, y5, y6, y7, y8, y9, y10, y11, y12, y13, y14, y15, y16, y17, y18, y19, y20, y21, y22, y23, y24, y25, y26, y27, y28, y29, y30, y31, y32, y33, y34, y35, y36; 
+double u1, u2, u3, u4, u5, u6, u7,u8 , u9, u10, u11, u12, u13, u14, u15, u16, u17, u18, u19, u20, u21, u22, u23, u24, u25, u26, u27, u28, u29, u30, u31, u32, u33, u34, u35, u36;
+double final_filter1, final_filter2, final_filter3, final_filter4;
+
+// Standaard formule voor het biquad filter
+double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2)
+
+{
+    double v = u - a1*v1 - a2*v2;
+    double y = b0*v + b1*v1 + b2*v2;
+    v2=v1;
+    v1=v;
+    return y;
+}
+
+void MyController()
+{
+    // Biceps left
+    u1 = EMG_bicepsright.read();
+    //Highpass
+    y1 = biquad (u1, ah1_v1, ah1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507);
+    u2 = y1;
+    y2 = biquad (u2, ah2_v1, ah2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278);
+    //Lowpass
+    u3 = y2;
+    y3 = biquad (u3, al1_v1, al1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853);
+    u4 = y3;
+    y4 = biquad (u4, al2_v1, al2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527);
+    // Notch
+    u5 = y4;
+    y5 = biquad (u5, ano1_v1, ano1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276);
+    u6 = y5;
+    y6 = biquad (u6, ano2_v1, ano2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678);
+    u7 = y6;
+    y7 = biquad (u7, ano3_v1, ano3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2);
+    // Rectify sample
+    y8 = fabs(y7);
+    // Make it smooth
+    u8 = y8;
+    y9 = biquad (u8, alp1_v1, alp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1* 0.065187, flp1_b2* 0.065187);
+    u9 = y9;
+    final_filter1 = biquad(u9, alp2_v1, alp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525);
+    //Biceps right
+    u10 = EMG_bicepsleft.read();
+    //Highpass
+    y10 = biquad (u10, bh1_v1, bh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507);
+    u11 = y10;
+    y11 = biquad (u11, bh2_v1, bh2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278);
+    //Lowpass
+    u12 = y11;
+    y12 = biquad (u12, bl1_v1, bl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853);
+    u13 = y12;
+    y13 = biquad (u13, bl2_v1, bl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527);
+    // Notch
+    u14 = y13;
+    y14 = biquad (u14, bno1_v1, bno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276);
+    u15 = y14;
+    y15 = biquad (u15, bno2_v1, bno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678);
+    u16 = y15;
+    y16 = biquad (u16, bno3_v1, bno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2);
+    // Rectify sample
+    y17 = fabs(y16);
+    // Make it smooth
+    u17 = y17;
+    y18 = biquad (u17, blp1_v1, blp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187);
+    u18 = y18;
+    final_filter2 = biquad(u18, blp2_v1, blp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525);
+    /// EMG Filter left leg
+    u19 = EMG_tricepsright.read();
+    //Highpass
+    y19 = biquad (u19, ch1_v1, ch1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507);
+    u20 = y19;
+    y20 = biquad (u20, ch2_v1, ch2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278);
+    //Lowpass
+    u21 = y20;
+    y21 = biquad (u21, cl1_v1, cl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853);
+    u22 = y21;
+    y22 = biquad (u22, cl2_v1, cl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527);
+    // Notch
+    u23 = y22;
+    y23 = biquad (u23, cno1_v1, cno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276);
+    u24 = y23;
+    y24 = biquad (u24, cno2_v1, cno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678);
+    u25 = y24;
+    y25 = biquad (u25, cno3_v1, cno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2);
+    // Rectify sample
+    y26 = fabs(y25);
+    // Make it smooth
+    u26 = y26;
+    y27 = biquad (u26, clp1_v1, clp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187);
+    u27 = y27;
+    final_filter3 = biquad(u27, clp2_v1, clp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525);
+    // EMG filter right leg
+    u28 = EMG_tricepsleft.read();
+    //Highpass
+    y28 = biquad (u8, dh1_v1, dh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507);
+    u29 = y28;
+    y29 = biquad (u29, dh2_v1, dh2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278);
+    //Lowpass
+    u30 = y29;
+    y30 = biquad (u30, dl1_v1, dl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853);
+    u31 = y30;
+    y31 = biquad (u31, dl2_v1, dl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527);
+    // Notch
+    u32 = y31;
+    y32 = biquad (u32, dno1_v1, dno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276);
+    u33 = y32;
+    y33 = biquad (u33, dno2_v1, dno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678);
+    u34 = y33;
+    y34 = biquad (u34, dno3_v1, dno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2);
+    // Rectify sample
+    y35 = fabs(y34);
+    // Make it smooth
+    u35 = y35;
+    y36 = biquad (u35, dlp1_v1, dlp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187);
+    u36 = y36;
+    final_filter4 = biquad(u36, dlp2_v1, dlp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525);
+
+    scope.set (0, final_filter1);
+    scope.set (1,final_filter2);
+    scope.set (2,final_filter3);
+    scope.set (3,final_filter4);
+    scope.send ();
+}
+
+int main ()
+{
+    EMG_Control.attach_us(MyController,5e4);
+}

diff -r 000000000000 -r 54c54952ee82 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 26 13:42:20 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68
\ No newline at end of file