File content as of revision 13:493a953a2a85:

#include "mbed.h"
#include "HIDScope.h"
#include "arm_math.h"
#include "MODSERIAL.h"

Serial pc(USBTX, USBRX); // tx, rx
DigitalOut myled1(LED_RED);
DigitalOut myled2(LED_GREEN);
DigitalOut myled3(LED_BLUE);
PwmOut     motorsignal(PTD4);

//Define objects
AnalogIn    emg0(PTB1); //Analog input
AnalogIn    emg1(PTB2); //Analog input
HIDScope scope(2);

arm_biquad_casd_df1_inst_f32 lowpass_biceps;
arm_biquad_casd_df1_inst_f32 lowpass_deltoid;
//lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB
float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715};
//state values
float lowpass_biceps_states[4];
float lowpass_deltoid_states[4];
arm_biquad_casd_df1_inst_f32 highnotch_biceps;
arm_biquad_casd_df1_inst_f32 highnotch_deltoid;
//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
float highnotch_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
//state values
float highnotch_biceps_states[8];
float highnotch_deltoid_states[8];

//De globale variabele voor het gefilterde EMG signaal
float filtered_biceps;
float filtered_deltoid;
float filtered_average_bi;
float filtered_average_del;


void average_biceps(float filtered_biceps,float *average)
{
    static float total=0;
    static float number=0;
    total = total + filtered_biceps;
    number = number + 1;
    if ( number == 500) {
        *average = total/500;
        total = 0;
        number = 0;
    }
}

void average_deltoid(float filtered_input,float *average_output)
{
    static float total=0;
    static float number=0;
    total = total + filtered_input;
    number = number + 1;
    if ( number == 500) {
        *average_output = total/500;
        total = 0;
        number = 0;
    }
}

/** 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.
**/


void looper()
{
    /*variable to store value in*/
    uint16_t emg_value1;
    uint16_t emg_value2;

    float emg_value1_f32;
    float emg_value2_f32;
    /*put raw emg value both in red and in emg_value*/
    emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V)
    emg_value1_f32 = emg0.read();

    emg_value2 = emg1.read_u16();
    emg_value2_f32 = emg1.read();

    //process emg biceps
    arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 );
    filtered_biceps = fabs(filtered_biceps);
    arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 );
    average_biceps(filtered_biceps,&filtered_average_bi);
    //process emg deltoid
    arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 );
    filtered_deltoid = fabs(filtered_deltoid);
    arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 );
    average_deltoid(filtered_deltoid, &filtered_average_del);

    /*send value to PC. */
    //scope.set(0,emg_value1);     //Raw EMG signal biceps
    //scope.set(1,emg_value2);    //Raw EMG signal Deltoid
    //scope.set(0,filtered_biceps);  //processed float biceps
    scope.set(0,filtered_average_bi); //processed float deltoid
   //scope.set(2,filtered_deltoid);  //processed float biceps
    scope.set(1,filtered_average_del); //processed float deltoid
    scope.send();

}



void BlinkRed(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 0;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
    }
}

void BlinkGreen ()
{

    myled1 = 1;
    myled2 = 1;
    myled3 = 1;
    wait(0.1);
    myled1 = 1;
    myled2 = 0;
    myled3 = 1;
    wait(0.1);
}


void BlinkBlue(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 1;
        myled2 = 1;
        myled3 = 0;
        wait(0.1);
    }
}

void ShineGreen ()
{
    myled1 = 1;
    myled2 = 0;
    myled3 = 1;
}

void ShineBlue ()
{
    myled1 = 1;
    myled2 = 1;
    myled3 = 0;
}

void ShineRed ()
{
    myled1 = 0;
    myled2 = 1;
    myled3 = 1;
}

int main()
{
    pc.baud(115200);

    Ticker log_timer;
    //set up filters. Use external array for constants
    arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states);
    arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states);
    arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states);
    arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_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(looper, 0.001);
    while(1) { //Loop
        /*Empty!*/
        /*Everything is handled by the interrupt routine now!*/
        static float time = 0;

        time = time + 1;

        while(1) {
            pc.printf("Span de biceps aan om het instellen te starten");
            do {
                BlinkGreen();
            } while(filtered_average_bi < 0.02 && filtered_average_del <0.015);
            if (filtered_average_del > 0.015 && filtered_average_bi < 0.02) { //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd.
                ShineBlue();
                wait(2);
                time = 0;
            }
            if (filtered_average_del < 0.015 && filtered_average_bi > 0.02) {
                ShineGreen();
                wait(2);
                time = 0;
            } else if (filtered_average_del > 0.015 && filtered_average_bi > 0.02) {
                ShineRed();
                wait(2);
                time = 0;
            }


        }
    }
}