Revision 0:b1ef0101f09c, committed 2018-10-15

Comitter:

WouterJS

Date:

Mon Oct 15 12:52:13 2018 +0000

Commit message:

Jo;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Biquad/Biquad.cpp	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,13 @@
+#include "Biquad.h"
+
+Biquad::Biquad(){};
+
+double Biquad::filter( 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;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Biquad/Biquad.h	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,26 @@
+#ifndef _BIQUAD_H_
+#define _BIQUAD_H_
+
+#include "mbed.h"
+
+class Biquad
+{
+public:
+    ///Instantiate the biquad filter
+    Biquad(void);
+
+    /**Filters the given signal with the filter values.
+    * @param u : double signal to filter
+    * @param &v1 : double variable to store previous values
+    * @param &v2 : double variable to store previous values
+    * @param a1 : double filter coefficient a1
+    * @param a1 : double filter coefficient a2
+    * @param a1 : double filter coefficient b0
+    * @param a1 : double filter coefficient b1
+    * @param a1 : double filter coefficient b2
+    * @return v : double filtered signal
+    */
+    double filter( double u, double &v1, double &v2, const double a1, const double a2,
+                   const double b0, const double b1, const double b2 );
+};
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/HIDScope.lib	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/tomlankhorst/code/HIDScope/#eade4ec5282b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/filtervalues.h	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,33 @@
+//////////////////////////////////////////////CONSTANTS
+// FS 500
+///////////////////Biquad #1 // Highpass 20 Hz
+const double gain_f1 =    1;
+const double A_f1[] = {  1 , -1.64742277e+00  , 0.70085836};
+const double B_f1[] = {  0.83707028 , -1.67414057 , 0.83707028};
+
+///////////////////Biquad #2 // Lowpass 5 Hz
+const double gain_f2 =   1;
+const double A_f2[] = { 1 , -1.91118480 , 0.91496354};
+const double B_f2[] = {  0.95653708 ,-1.91307417 ,  0.95653708};
+
+////////////////////////////////////////////ARRAYS TO VARIABLES
+/////////////////Biquad #1
+const double a1_f1 = gain_f1*A_f1[1],
+             a2_f1 = gain_f1*A_f1[2],
+             b0_f1 = gain_f1*B_f1[0],
+             b1_f1 = gain_f1*B_f1[1],
+             b2_f1 = gain_f1*B_f1[2]; //filter coefficients filter 1
+double v1_f1_emg1=0 ,
+       v2_f1_emg1=0 ,
+       v1_f1_emg2=0 ,
+       v2_f1_emg2=0;//storage variables filter 1
+/////////////////Biquad #2
+const double a1_f2 = gain_f2*A_f2[1],
+             a2_f2 = gain_f2*A_f2[2],
+             b0_f2 = gain_f2*B_f2[0],
+             b1_f2 = gain_f2*B_f2[1],
+             b2_f2 = gain_f2*B_f2[2]; //filter coefficients filter 2
+double v1_f2_emg1=0 ,
+       v2_f2_emg1=0 ,
+       v1_f2_emg2=0 ,
+       v2_f2_emg2=0;//storage variables filter 2
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "Biquad.h"
+#include "filtervalues.h"
+#include "HIDScope.h"
+
+
+DigitalOut led_red(LED_RED);
+
+Serial pc(USBTX,USBRX);// serial connection to pc
+
+Ticker      sample_timer;
+HIDScope    scope( 2 );
+
+
+Biquad myfilter1;// make filter for signal 1
+Biquad myfilter2;//make filter for signal 2
+
+AnalogIn emg1_input(A0);//input for first emg signal 1
+AnalogIn emg2_input(A1);//input for first emg signal 2
+
+volatile double filteredsignal1=0;//the first filtered emg signal 1
+volatile double filteredsignal2=0;//the first filtered emg signal 2
+
+
+void filtereverything(bool makeempty)
+{
+    //highpass  
+    double pass1_emg1 = myfilter1.filter(emg1_input.read(), v1_f1_emg1 , v2_f1_emg1 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
+    double pass1_emg2 = myfilter1.filter(emg2_input.read(), v1_f2_emg2 , v2_f1_emg2 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
+    // take aboslute values    
+    double pass2_emg1 = fabs(pass1_emg1);
+    double pass2_emg2 = fabs(pass1_emg2);
+    //lowpass   
+    double pass3_emg1 = myfilter1.filter(pass2_emg1, v1_f2_emg1 , v2_f2_emg1 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
+    double pass3_emg2 = myfilter1.filter(pass2_emg2, v1_f2_emg2 , v2_f2_emg2 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
+    
+    filteredsignal1 = pass1_emg1;
+    filteredsignal2 = pass3_emg2;
+    
+    if (makeempty==true) {//this is needed so the filtered value is not high after shooting basically it resets the filter
+        pass1_emg1 = pass2_emg1 = pass3_emg1 = 0;
+        v1_f1_emg1 = v2_f1_emg1 = v1_f2_emg1 = v2_f2_emg1 = 0;
+        pass1_emg2 = pass2_emg2 = pass3_emg2 = 0;
+        v1_f1_emg2 = v2_f1_emg2 = v1_f2_emg2 = v2_f2_emg2 = 0;
+    }
+}
+
+void scopedata()
+{
+    scope.set(0,emg1_input.read()); // 
+    scope.set(1,filteredsignal1); // 
+   
+    scope.send(); // send info to HIDScope server
+}
+
+int main()
+{
+    sample_timer.attach(&scopedata, 0.002);
+    pc.baud(115200);
+    
+    while (true) {
+      
+      filtereverything(false);
+      
+       if(filteredsignal1 > 0.8){
+           led_red = 0;
+           }
+        else{
+            led_red = 1;            
+            }
+            
+       
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Oct 15 12:52:13 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68
\ No newline at end of file