Diff: EMGfilter.cpp

Revision:

0:e24c2f32e23e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EMGfilter.cpp	Mon Oct 20 13:06:38 2014 +0000
@@ -0,0 +1,260 @@
+#include "mbed.h"
+#include "HIDScope.h"
+#include "MODSERIAL.h"
+#include "arm_math.h"
+
+
+// ****** emg filter shizzle ******
+
+//Define objects
+AnalogIn    emgB(PTB0); //Analog input bicep
+AnalogIn    emgT(PTB1); //Analog input tricep
+
+float filtered_emgB;
+float filtered_emgT;
+float MeanT2, MeanB1, MeanB2, MeanB3;
+float filtered_emgT10_C, filtered_emgT11_C, filtered_emgT12_C, filtered_emgT13_C, filtered_emgT14_C, filtered_emgT15_C, filtered_emgT16_C, filtered_emgT17_C, filtered_emgT18_C, filtered_emgT19_C, filtered_emgT110_C, filtered_emgT111_C, filtered_emgT112_C, filtered_emgT113_C, filtered_emgT114_C, filtered_emgT115_C, filtered_emgT116_C, filtered_emgT117_C, filtered_emgT118_C, filtered_emgT119_C;
+float B0, B1, B2, B3, B4, B5, B6, B7, B8, B9, MOVAVG_B;
+float T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, MOVAVG_T;
+float drempelwaardeB1, drempelwaardeB2, drempelwaardeB3, drempelwaardeT1, drempelwaardeT2;
+
+MODSERIAL pc(USBTX,USBRX);
+
+HIDScope scope(4);//uitgang scherm
+
+arm_biquad_casd_df1_inst_f32 lowpass;
+//constants for 50Hz lowpass
+float lowpass_const[] = {0.2928920553, 0.5857841107, 0.2928920554, -0, -0.17156822136};//{a0 a1 a2 -b1 -b2} van online calculator
+//state values
+float lowpass_states[4];
+
+arm_biquad_casd_df1_inst_f32 highpass;
+//constants for 10Hz highpass
+float highpass_const[] = {0.8005910267, -1.6011820533, 0.8005910267, 1.5610153913, -0.6413487154};//{a0 a1 a2 -b1 -b2}
+//state values
+float highpass_states[4];
+
+
+/** Looper function
+* functions used for Ticker and Timeout should be of type void <name>(void)
+* i.e. no input arguments, no output arguments.
+* if you want to change a variable that you use in other places (for example in main)
+* you will have to make that variable global in order to be able to reach it both from
+* the function called at interrupt time, and in the main function.
+* To make a variable global, define it under the includes.
+* variables that are changed in the interrupt routine (written to) should be made
+* 'volatile' to let the compiler know that those values may change outside the current context.
+* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
+* in the example below, the variable is not re-used in the main function, and is thus declared
+* local in the looper function only.
+**/
+
+// Calibratie
+
+pc.printf("Calibratie drempelwaarde Triceps stand 1\n");
+wait(0.5);
+{
+    int i;
+    int j=19;
+
+    for (i = 0, i<=j; i ++) {
+        /*variable to store value in*/
+        uint16_t emg_valueT1i_C;
+
+        float emg_value_f32T1i_C;
+        /*put raw emg value both in red and in emg_value*/
+        emg_valueT1i_C = emgT1i_C.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+        emg_value_f32T1i_C = emgT1i_C.read();
+
+        //process emg
+        arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T1i_C, &filtered_emgT1i_C, 1 );
+        filtered_emgT1i_C = fabs(filtered_emgT1i_C);
+        arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT1i_C, &filtered_emgT1i_C, 1 );
+    }
+}
+// Mean Triceps stand 1
+
+
+float MeanT1=filtered_emgT10_C*0.05+filtered_emgT11_C*0.05+filtered_emgT12_C*0.05+filtered_emgT13_C*0.05+filtered_emgT14_C*0.05+filtered_emgT15_C*0.05+filtered_emgT16_C*0.05+filtered_emgT17_C*0.05+filtered_emgT18_C*0.05+filtered_emgT19_C*0.05+filtered_emgT110_C*0.05+filtered_emgT111_C*0.05+filtered_emgT112_C*0.05+filtered_emgT113_C*0.05+filtered_emgT114_C*0.05+filtered_emgT115_C*0.05+filtered_emgT116_C*0.05+filtered_emgT117_C*0.05+filtered_emgT118_C*0.05+filtered_emgT119_C*0.05;
+
+
+
+
+
+//BICEP EMG LEZEN
+void looperB()
+{
+    /*variable to store value in*/
+    uint16_t emg_valueB;
+
+    float emg_value_f32B;
+    /*put raw emg value both in red and in emg_value*/
+    emg_valueB = emgB.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    emg_value_f32B = emgB.read();
+
+    //process emg
+    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32B, &filtered_emgB, 1 );
+    filtered_emgB = fabs(filtered_emgB);
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgB, &filtered_emgB, 1 );
+
+    /*send value to PC. */
+    scope.set(0,emg_valueB);     //uint value
+    scope.set(1,filtered_emgB);  //processed float
+    scope.send();
+
+    // Moving Average Filter Biceps
+
+    {
+        B0=filtered_emgB;
+        MOVAVG_B=B0*0.1+B1*0.1+B2*0.1+B3*0.1+B4*0.1+B5*0.1+B6*0.1+B7*0.1+B8*0.1+B9*0.1;
+        B9=B8;
+        B8=B7;
+        B7=B6;
+        B6=B5;
+        B5=B4;
+        B4=B3;
+        B3=B2;
+        B2=B1;
+        B1=B0;
+    }
+}
+// Triceps EMG lezen
+void looperT()
+{
+    /*variable to store value in*/
+    uint16_t emg_valueT;
+
+    float emg_value_f32T;
+    /*put raw emg value both in red and in emg_value*/
+    emg_valueT = emgT.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
+    emg_value_f32T = emgT.read();
+
+    //process emg
+    arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32T, &filtered_emgT, 1 );
+    filtered_emgT = fabs(filtered_emgT);
+    arm_biquad_cascade_df1_f32(&lowpass, &filtered_emgT, &filtered_emgT, 1 );
+
+    /*send value to PC. */
+    scope.set(2,emg_valueT);     //uint value
+    scope.set(3,filtered_emgT);  //processed float
+    scope.send();
+
+    // Moving Average Filter Triceps
+    {
+        T0=filtered_emgT;
+        MOVAVG_T=T0*0.1+T1*0.1+T2*0.1+T3*0.1+T4*0.1+T5*0.1+T6*0.1+T7*0.1+T8*0.1+T9*0.1;
+
+        T9=T8;
+        T8=T7;
+        T7=T6;
+        T6=T5;
+        T5=T4;
+        T4=T3;
+        T3=T2;
+        T2=T1;
+        T1=T0;
+    }
+}
+
+int main()
+{
+    Ticker log_timer;
+    //set up filters. Use external array for constants
+    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
+    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const, highpass_states);
+
+    /**Here you attach the 'void looper(void)' function to the Ticker object
+    * The looper() function will be called every 0.01 seconds.
+    * Please mind that the parentheses after looper are omitted when using attach.
+    */
+    log_timer.attach(looperB, 0.005);//??
+    log_timer.attach(looperT, 0.005);//??
+    while(1) { //Loop
+        /*Empty!*/
+        /*Everything is handled by the interrupt routine now!*/
+    }
+}
+
+//filtered_emgB
+//filtered_emgT
+
+void AntwoordT()
+{
+    drempelwaardeT1=4.99;
+    drempelwaardeT2=7;
+    int yT1, yT2;
+
+    if (MOVAVG_T > drempelwaardeT1) {
+        yT1=1;
+        if (MOVAVG_T > drempelwaardeT2) {
+            yT2=1;
+        } else {
+            yT2=0;
+        }
+    } else {
+        yT1=0;
+    }
+
+    int positie;
+
+    positie=yT1+yT2;
+    if (positie==0) {
+        pc.printf("Motor 2 beweegt niet\n");
+    } else {
+        pc.printf("Motor 2 gaat beweegen\n");
+    }
+    if (positie==1) {
+        pc.printf("Motor 2 beweegt naar positie 1\n");
+    } else {
+        pc.printf("Motor 1 beweegt niet naar positie 1\n");
+    }
+    if (positie==2) {
+        pc.printf("Motor 1 beweegt naar positie 2\n");
+    } else {
+        pc.printf("Motor 1 beweegt niet naar positie 2\n");
+    }
+}
+
+    void AntwoordB() {
+        drempelwaardeB1=4.99;
+        drempelwaardeB2=6;
+        drempelwaardeB3=10;
+        int yB1;
+        int yB2;
+        int yB3;
+
+        if (MOVAVG_B > drempelwaardeB1) {
+            yB1=1;
+            if (MOVAVG_B > drempelwaardeB2) {
+                yB2=1;
+                if (MOVAVG_B > drempelwaardeB3) {
+                    yB3=1;
+                } else {
+                    yB3=0;
+                }
+            } else {
+                yB2=0;
+            }
+        } else {
+            yB1=0;
+        }
+
+        int snelheidsstand;
+
+        snelheidsstand=yB1+yB2+yB3;
+        if (snelheidsstand==1) {
+            pc.printf("Motor 1 beweegt met snelheid 1\n");
+        } else {
+            pc.printf("Motor 1 beweegt niet met snelheid 1\n");
+        }
+        if (snelheidsstand==2) {
+            pc.printf("Motor 1 beweegt met snelheid 2\n");
+        } else {
+            pc.printf("Motor 1 beweegt niet met snelheid 2\n");
+        }
+        if (snelheidsstand==3) {
+            pc.printf("Motor 1 beweegt met snelheid 3\n");
+        } else {
+            pc.printf("Motor 1 beweegt niet met snelheid 3\n");
+        }
+    }