File content as of revision 23:4d050e85e863:

#include "mbed.h"
#include "C12832_lcd.h"
#include "arm_math.h"
#include "HIDScope.h"

#define P_GAIN 0.998

//Motor control
DigitalOut Dir(p21);
PwmOut Step(p22);

//Signal to and from computer
Serial pc(USBTX, USBRX);

DigitalOut Enable(p14);

//Microstepping
DigitalOut MS1(p27);
DigitalOut MS2(p28);
DigitalOut MS3(p29);

//Potmeter and EMG
AnalogIn Pot1(p19);
AnalogIn emg0(p20);
HIDScope scope(2);
//lcd
C12832_LCD lcd;

//Joystick control (probably not necessary
BusIn Joystick(p12,p13,p14,p15,p16);
DigitalIn Up(p15);
DigitalIn Down(p12);

//Variables for motor control
float setpoint = 7000; //Frequentie
float step_freq = 1;


// Filters
arm_biquad_casd_df1_inst_f32 lowpass_pot;
arm_biquad_casd_df1_inst_f32 lowpass_step;

//lowpass filter settings: Fc = 2 Hz, Fs = 100 Hz, Gain = 6 dB
float lowpass_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};
//lowpass for step_freq: Fc = 2 Hz, Fs = 100, Gain = 6 dB
float lowpass1_const[] = {0.007820199259120319, 0.015640398518240638, 0.007820199259120319, 1.7347238224240125, -0.7660046194604936};

//EMG filter
arm_biquad_casd_df1_inst_f32 lowpass_biceps;
//lowpass filter settings biceps: Fc = 2 Hz, Fs = 500 Hz, Gain = -3 dB
float lowpass2_const[] = {0.00015514839749793376, 0.00031029679499586753, 0.00015514839749793376, 1.9644602512795832, -0.9650808448695751};
arm_biquad_casd_df1_inst_f32 highnotch_biceps;
//highpass filter settings: Fc = 10 Hz, Fs = 500 Hz, Gain = -3 dB, notch Fc = 50, Fs =500Hz, Gain = -3 dB
float highnotch_const[] = {0.9149684297741606, -1.8299368595483212, 0.9149684297741606, 1.8226935021735358, -0.8371802169231065 ,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};


//state values
float lowpass_biceps_states[4];
float highnotch_biceps_states[8];
float lowpass_pot_states[4];
float lowpass1_step_states[4];

//global variabels
float filtered_biceps;
float filtered_pot;
float filtered_average_pot;
float filtered_step;
float pot_value1_f32;

//Averaging (look if necessary)
/*void average_pot(float filtered_pot,float *average)
{
    static float total=0;
    static float number=0;
    total = total + filtered_pot;
    number = number + 1;
    if ( number == 50) {
        *average = total/50;
        total = 0;
        number = 0;
    }
}*/
void looper_emg()
{
    /*variable to store value in*/
    uint16_t emg_value1;

    float emg_value1_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();

    //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 );

    /*send value to PC. */
    scope.set(0,emg_value1);  //Raw EMG signal biceps
    scope.set(1,filtered_biceps); //Filtered signal
    scope.send();
}
void looper_pot()
{

    pot_value1_f32 = Pot1.read() - 0.500;

    //process input
    arm_biquad_cascade_df1_f32(&lowpass_pot, &pot_value1_f32, &filtered_pot, 1 );
}

void looper_motor()
{
    float new_step_freq;
    new_step_freq = (setpoint*pot_value1_f32*2);
    step_freq = abs(new_step_freq); //Gives the PWM frequenty to the motor.
    arm_biquad_cascade_df1_f32(&lowpass_step, &step_freq, &filtered_step, 1);
    Step.period(1.0/step_freq);
    
}
int main()
{
    Ticker log_timer;
    //set up filters. Use external array for constants
    arm_biquad_cascade_df1_init_f32(&lowpass_pot, 1 , lowpass_const, lowpass_pot_states);
    log_timer.attach(looper_pot, 0.01);

    Ticker looptimer;
    arm_biquad_cascade_df1_init_f32(&lowpass_step, 1, lowpass1_const, lowpass1_step_states);
    looptimer.attach(looper_motor, 0.01);

    MS1 = 1;
    MS2 = 0;
    MS3 = 0;
    //Step.period(1./step_freq); // 1 kHz, vanaf 2,5 kHz doet de motor het niet meer.
    Step.write(0.5); // Duty cycle van 50%

    while (1) {

        if (pot_value1_f32 < 0) { //Directie controle.
            Dir = 0;
        } else {
            Dir = 1;
        }


        lcd.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
        pc.printf("Spd %.0f Hz p1 %.4f \n", step_freq, pot_value1_f32); //snelheid meting op lcd
        wait(0.01);


    }
}