Er is uitleg bijgeschreven en pwm_percentage heeft een andere naam
Dependencies: Encoder HIDScope MODSERIAL mbed-dsp mbed
Fork of Lampje_EMG_Gr6 by
main.cpp@1:099b19376f16, 2014-10-15 (annotated)
- Committer:
- jessekaiser
- Date:
- Wed Oct 15 14:11:33 2014 +0000
- Revision:
- 1:099b19376f16
- Parent:
- 0:db396b9f4b4c
- Child:
- 2:39e1bde54e73
poging 1;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jessekaiser | 0:db396b9f4b4c | 1 | #include "mbed.h" |
jessekaiser | 0:db396b9f4b4c | 2 | #include "HIDScope.h" |
jessekaiser | 0:db396b9f4b4c | 3 | #include "arm_math.h" |
jessekaiser | 0:db396b9f4b4c | 4 | #include "MODSERIAL.h" |
jessekaiser | 0:db396b9f4b4c | 5 | |
jessekaiser | 0:db396b9f4b4c | 6 | Serial pc(USBTX, USBRX); // tx, rx |
jessekaiser | 0:db396b9f4b4c | 7 | DigitalOut myled1(LED_RED); |
jessekaiser | 0:db396b9f4b4c | 8 | DigitalOut myled2(LED_GREEN); |
jessekaiser | 0:db396b9f4b4c | 9 | DigitalOut myled3(LED_BLUE); |
jessekaiser | 1:099b19376f16 | 10 | PwmOut motorsignal(PTD4); |
jessekaiser | 0:db396b9f4b4c | 11 | |
jessekaiser | 0:db396b9f4b4c | 12 | //Define objects |
jessekaiser | 0:db396b9f4b4c | 13 | AnalogIn emg0(PTB1); //Analog input |
jessekaiser | 0:db396b9f4b4c | 14 | HIDScope scope(2); |
jessekaiser | 0:db396b9f4b4c | 15 | |
jessekaiser | 0:db396b9f4b4c | 16 | arm_biquad_casd_df1_inst_f32 lowpass; |
jessekaiser | 0:db396b9f4b4c | 17 | //constants for 5Hz lowpass |
jessekaiser | 0:db396b9f4b4c | 18 | float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715}; |
jessekaiser | 0:db396b9f4b4c | 19 | //state values |
jessekaiser | 0:db396b9f4b4c | 20 | float lowpass_states[4]; |
jessekaiser | 0:db396b9f4b4c | 21 | arm_biquad_casd_df1_inst_f32 highpass; |
jessekaiser | 0:db396b9f4b4c | 22 | //constants for 0.5Hz highpass |
jessekaiser | 0:db396b9f4b4c | 23 | float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353}; |
jessekaiser | 0:db396b9f4b4c | 24 | //state values |
jessekaiser | 0:db396b9f4b4c | 25 | float highpass_states[4]; |
jessekaiser | 1:099b19376f16 | 26 | float filtered_emg; |
jessekaiser | 0:db396b9f4b4c | 27 | |
jessekaiser | 0:db396b9f4b4c | 28 | |
jessekaiser | 0:db396b9f4b4c | 29 | /** Looper function |
jessekaiser | 0:db396b9f4b4c | 30 | * functions used for Ticker and Timeout should be of type void <name>(void) |
jessekaiser | 0:db396b9f4b4c | 31 | * i.e. no input arguments, no output arguments. |
jessekaiser | 0:db396b9f4b4c | 32 | * if you want to change a variable that you use in other places (for example in main) |
jessekaiser | 0:db396b9f4b4c | 33 | * you will have to make that variable global in order to be able to reach it both from |
jessekaiser | 0:db396b9f4b4c | 34 | * the function called at interrupt time, and in the main function. |
jessekaiser | 0:db396b9f4b4c | 35 | * To make a variable global, define it under the includes. |
jessekaiser | 0:db396b9f4b4c | 36 | * variables that are changed in the interrupt routine (written to) should be made |
jessekaiser | 0:db396b9f4b4c | 37 | * 'volatile' to let the compiler know that those values may change outside the current context. |
jessekaiser | 0:db396b9f4b4c | 38 | * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" |
jessekaiser | 0:db396b9f4b4c | 39 | * in the example below, the variable is not re-used in the main function, and is thus declared |
jessekaiser | 0:db396b9f4b4c | 40 | * local in the looper function only. |
jessekaiser | 0:db396b9f4b4c | 41 | **/ |
jessekaiser | 1:099b19376f16 | 42 | |
jessekaiser | 1:099b19376f16 | 43 | |
jessekaiser | 0:db396b9f4b4c | 44 | void looper() |
jessekaiser | 0:db396b9f4b4c | 45 | { |
jessekaiser | 1:099b19376f16 | 46 | /*variable to store value in*/ |
jessekaiser | 0:db396b9f4b4c | 47 | uint16_t emg_value; |
jessekaiser | 1:099b19376f16 | 48 | |
jessekaiser | 0:db396b9f4b4c | 49 | float emg_value_f32; |
jessekaiser | 0:db396b9f4b4c | 50 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 0:db396b9f4b4c | 51 | emg_value = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
jessekaiser | 0:db396b9f4b4c | 52 | emg_value_f32 = emg0.read(); |
jessekaiser | 0:db396b9f4b4c | 53 | |
jessekaiser | 0:db396b9f4b4c | 54 | //process emg |
jessekaiser | 0:db396b9f4b4c | 55 | arm_biquad_cascade_df1_f32(&highpass, &emg_value_f32, &filtered_emg, 1 ); |
jessekaiser | 0:db396b9f4b4c | 56 | filtered_emg = fabs(filtered_emg); |
jessekaiser | 0:db396b9f4b4c | 57 | arm_biquad_cascade_df1_f32(&lowpass, &filtered_emg, &filtered_emg, 1 ); |
jessekaiser | 1:099b19376f16 | 58 | |
jessekaiser | 0:db396b9f4b4c | 59 | /*send value to PC. */ |
jessekaiser | 0:db396b9f4b4c | 60 | scope.set(0,emg_value); //uint value |
jessekaiser | 0:db396b9f4b4c | 61 | scope.set(1,filtered_emg); //processed float |
jessekaiser | 0:db396b9f4b4c | 62 | scope.send(); |
jessekaiser | 0:db396b9f4b4c | 63 | |
jessekaiser | 0:db396b9f4b4c | 64 | } |
jessekaiser | 0:db396b9f4b4c | 65 | |
jessekaiser | 0:db396b9f4b4c | 66 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 67 | { |
jessekaiser | 0:db396b9f4b4c | 68 | for (int i=0; i<n; i++) { |
jessekaiser | 0:db396b9f4b4c | 69 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 70 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 71 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 72 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 73 | myled1 = 0; |
jessekaiser | 0:db396b9f4b4c | 74 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 75 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 76 | wait(1); |
jessekaiser | 0:db396b9f4b4c | 77 | } |
jessekaiser | 0:db396b9f4b4c | 78 | } |
jessekaiser | 0:db396b9f4b4c | 79 | |
jessekaiser | 0:db396b9f4b4c | 80 | int main() |
jessekaiser | 1:099b19376f16 | 81 | { |
jessekaiser | 0:db396b9f4b4c | 82 | pc.baud(115200); |
jessekaiser | 1:099b19376f16 | 83 | |
jessekaiser | 0:db396b9f4b4c | 84 | Ticker log_timer; |
jessekaiser | 1:099b19376f16 | 85 | //set up filters. Use external array for constants |
jessekaiser | 0:db396b9f4b4c | 86 | arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states); |
jessekaiser | 0:db396b9f4b4c | 87 | arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states); |
jessekaiser | 0:db396b9f4b4c | 88 | |
jessekaiser | 0:db396b9f4b4c | 89 | /**Here you attach the 'void looper(void)' function to the Ticker object |
jessekaiser | 0:db396b9f4b4c | 90 | * The looper() function will be called every 0.01 seconds. |
jessekaiser | 0:db396b9f4b4c | 91 | * Please mind that the parentheses after looper are omitted when using attach. |
jessekaiser | 0:db396b9f4b4c | 92 | */ |
jessekaiser | 0:db396b9f4b4c | 93 | log_timer.attach(looper, 0.001); |
jessekaiser | 1:099b19376f16 | 94 | while(1) { //Loop |
jessekaiser | 1:099b19376f16 | 95 | /*Empty!*/ |
jessekaiser | 1:099b19376f16 | 96 | /*Everything is handled by the interrupt routine now!*/ |
jessekaiser | 1:099b19376f16 | 97 | { |
jessekaiser | 1:099b19376f16 | 98 | char c = '0'; |
jessekaiser | 1:099b19376f16 | 99 | while(1) { |
jessekaiser | 1:099b19376f16 | 100 | pc.printf("Het programma blijft knipperen totdat er op '1' wordt gedrukt.\n"); |
jessekaiser | 1:099b19376f16 | 101 | do { |
jessekaiser | 1:099b19376f16 | 102 | myled1 = 1; |
jessekaiser | 1:099b19376f16 | 103 | myled2 = 0; |
jessekaiser | 1:099b19376f16 | 104 | myled3 = 1; |
jessekaiser | 1:099b19376f16 | 105 | |
jessekaiser | 1:099b19376f16 | 106 | |
jessekaiser | 1:099b19376f16 | 107 | } |
jessekaiser | 0:db396b9f4b4c | 108 | } |
jessekaiser | 1:099b19376f16 | 109 | while(filtered_emg < 0.04); |
jessekaiser | 1:099b19376f16 | 110 | //c = pc.getc(); |
jessekaiser | 1:099b19376f16 | 111 | while(filtered_emg > 0.04) { //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd. |
jessekaiser | 0:db396b9f4b4c | 112 | c = '0'; |
jessekaiser | 1:099b19376f16 | 113 | BlinkRed(2); |
jessekaiser | 1:099b19376f16 | 114 | |
jessekaiser | 1:099b19376f16 | 115 | if (pc.readable()) { //Wanneer er binnen de vastgestelde tijd weer op 1 wordt gedrukt, gaat het lampje blauw knipperen, anders reset. |
jessekaiser | 1:099b19376f16 | 116 | c = pc.getc(); |
jessekaiser | 1:099b19376f16 | 117 | c = '0'; |
jessekaiser | 1:099b19376f16 | 118 | myled1 = 1; |
jessekaiser | 1:099b19376f16 | 119 | myled2 = 1; |
jessekaiser | 1:099b19376f16 | 120 | myled3 = 1; |
jessekaiser | 1:099b19376f16 | 121 | wait(1); |
jessekaiser | 1:099b19376f16 | 122 | myled1 = 1; |
jessekaiser | 1:099b19376f16 | 123 | myled2 = 1; |
jessekaiser | 1:099b19376f16 | 124 | myled3 = 0; |
jessekaiser | 1:099b19376f16 | 125 | wait(1); |
jessekaiser | 1:099b19376f16 | 126 | myled1 = 1; |
jessekaiser | 1:099b19376f16 | 127 | myled2 = 1; |
jessekaiser | 1:099b19376f16 | 128 | myled3 = 1; |
jessekaiser | 1:099b19376f16 | 129 | wait(1); |
jessekaiser | 1:099b19376f16 | 130 | myled1 = 1; |
jessekaiser | 1:099b19376f16 | 131 | myled2 = 1; |
jessekaiser | 1:099b19376f16 | 132 | myled3 = 0; |
jessekaiser | 1:099b19376f16 | 133 | wait(1); |
jessekaiser | 1:099b19376f16 | 134 | } else if (c != '1') { |
jessekaiser | 1:099b19376f16 | 135 | break; |
jessekaiser | 1:099b19376f16 | 136 | } |
jessekaiser | 0:db396b9f4b4c | 137 | |
jessekaiser | 0:db396b9f4b4c | 138 | if(pc.readable()) { |
jessekaiser | 0:db396b9f4b4c | 139 | c = pc.getc(); |
jessekaiser | 0:db396b9f4b4c | 140 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 141 | myled2 = 0; |
jessekaiser | 0:db396b9f4b4c | 142 | myled3 = 1; |
jessekaiser | 0:db396b9f4b4c | 143 | wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden. |
jessekaiser | 0:db396b9f4b4c | 144 | c = '0'; |
jessekaiser | 0:db396b9f4b4c | 145 | } |
jessekaiser | 0:db396b9f4b4c | 146 | } |
jessekaiser | 0:db396b9f4b4c | 147 | } |
jessekaiser | 0:db396b9f4b4c | 148 | } |
jessekaiser | 1:099b19376f16 | 149 | } |
jessekaiser | 0:db396b9f4b4c | 150 | } |
jessekaiser | 0:db396b9f4b4c | 151 | |
jessekaiser | 0:db396b9f4b4c | 152 | int i; |
jessekaiser | 0:db396b9f4b4c | 153 | |
jessekaiser | 0:db396b9f4b4c | 154 | int a(void) |
jessekaiser | 0:db396b9f4b4c | 155 | { |
jessekaiser | 0:db396b9f4b4c | 156 | i=22; |
jessekaiser | 0:db396b9f4b4c | 157 | return i; |
jessekaiser | 0:db396b9f4b4c | 158 | } |
jessekaiser | 0:db396b9f4b4c | 159 | |
jessekaiser | 0:db396b9f4b4c | 160 | void b (void) |
jessekaiser | 0:db396b9f4b4c | 161 | { |
jessekaiser | 0:db396b9f4b4c | 162 | int i; |
jessekaiser | 1:099b19376f16 | 163 | |
jessekaiser | 0:db396b9f4b4c | 164 | i=66; |
jessekaiser | 0:db396b9f4b4c | 165 | int j = a(); |
jessekaiser | 0:db396b9f4b4c | 166 | pc.print(i); |
jessekaiser | 1:099b19376f16 | 167 | } |
jessekaiser | 0:db396b9f4b4c | 168 | |
jessekaiser | 0:db396b9f4b4c | 169 | b(); |