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@7:1ca320a12035, 2014-10-17 (annotated)
- Committer:
- irisl
- Date:
- Fri Oct 17 12:57:01 2014 +0000
- Revision:
- 7:1ca320a12035
- Parent:
- 6:8f4138a811e0
- Child:
- 8:6c8c94e8a72f
- Child:
- 9:f7ec578a17c0
Notch toegevoegd
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 | 3:0895fa0a6ca4 | 13 | AnalogIn emg0(PTB1); //Analog input |
jessekaiser | 2:39e1bde54e73 | 14 | AnalogIn emg1(PTB2); //Analog input |
jessekaiser | 3:0895fa0a6ca4 | 15 | HIDScope scope(4); |
jessekaiser | 0:db396b9f4b4c | 16 | |
jessekaiser | 0:db396b9f4b4c | 17 | arm_biquad_casd_df1_inst_f32 lowpass; |
jessekaiser | 2:39e1bde54e73 | 18 | //lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 0:db396b9f4b4c | 19 | float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715}; |
jessekaiser | 0:db396b9f4b4c | 20 | //state values |
jessekaiser | 0:db396b9f4b4c | 21 | float lowpass_states[4]; |
jessekaiser | 0:db396b9f4b4c | 22 | arm_biquad_casd_df1_inst_f32 highpass; |
jessekaiser | 2:39e1bde54e73 | 23 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 0:db396b9f4b4c | 24 | float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353}; |
jessekaiser | 0:db396b9f4b4c | 25 | //state values |
jessekaiser | 0:db396b9f4b4c | 26 | float highpass_states[4]; |
irisl | 7:1ca320a12035 | 27 | arm_biquad_casd_df1_inst_f32 notch; |
irisl | 7:1ca320a12035 | 28 | //highpass filter settings: Fc = 50 Hz, Fs = 500 Hz, Gain = -3 dB |
irisl | 7:1ca320a12035 | 29 | float notch_const[] = {0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; |
irisl | 7:1ca320a12035 | 30 | //state values |
irisl | 7:1ca320a12035 | 31 | float notch_states[4]; |
jessekaiser | 2:39e1bde54e73 | 32 | |
jessekaiser | 2:39e1bde54e73 | 33 | //De globale variabele voor het gefilterde EMG signaal |
jessekaiser | 2:39e1bde54e73 | 34 | float filtered_biceps; |
jessekaiser | 2:39e1bde54e73 | 35 | float filtered_deltoid; |
jessekaiser | 0:db396b9f4b4c | 36 | |
jessekaiser | 0:db396b9f4b4c | 37 | |
jessekaiser | 0:db396b9f4b4c | 38 | /** Looper function |
jessekaiser | 0:db396b9f4b4c | 39 | * functions used for Ticker and Timeout should be of type void <name>(void) |
jessekaiser | 0:db396b9f4b4c | 40 | * i.e. no input arguments, no output arguments. |
jessekaiser | 0:db396b9f4b4c | 41 | * if you want to change a variable that you use in other places (for example in main) |
jessekaiser | 0:db396b9f4b4c | 42 | * you will have to make that variable global in order to be able to reach it both from |
jessekaiser | 0:db396b9f4b4c | 43 | * the function called at interrupt time, and in the main function. |
jessekaiser | 0:db396b9f4b4c | 44 | * To make a variable global, define it under the includes. |
jessekaiser | 0:db396b9f4b4c | 45 | * variables that are changed in the interrupt routine (written to) should be made |
jessekaiser | 0:db396b9f4b4c | 46 | * 'volatile' to let the compiler know that those values may change outside the current context. |
jessekaiser | 0:db396b9f4b4c | 47 | * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" |
jessekaiser | 0:db396b9f4b4c | 48 | * in the example below, the variable is not re-used in the main function, and is thus declared |
jessekaiser | 0:db396b9f4b4c | 49 | * local in the looper function only. |
jessekaiser | 0:db396b9f4b4c | 50 | **/ |
jessekaiser | 1:099b19376f16 | 51 | |
jessekaiser | 1:099b19376f16 | 52 | |
jessekaiser | 0:db396b9f4b4c | 53 | void looper() |
jessekaiser | 0:db396b9f4b4c | 54 | { |
jessekaiser | 1:099b19376f16 | 55 | /*variable to store value in*/ |
jessekaiser | 2:39e1bde54e73 | 56 | uint16_t emg_value1; |
jessekaiser | 3:0895fa0a6ca4 | 57 | uint16_t emg_value2; |
jessekaiser | 1:099b19376f16 | 58 | |
jessekaiser | 2:39e1bde54e73 | 59 | float emg_value1_f32; |
jessekaiser | 2:39e1bde54e73 | 60 | float emg_value2_f32; |
jessekaiser | 0:db396b9f4b4c | 61 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 2:39e1bde54e73 | 62 | emg_value1 = emg0.read_u16(); // read direct ADC result, converted to 16 bit integer (0..2^16 = 0..65536 = 0..3.3V) |
jessekaiser | 2:39e1bde54e73 | 63 | emg_value1_f32 = emg0.read(); |
jessekaiser | 3:0895fa0a6ca4 | 64 | |
jessekaiser | 2:39e1bde54e73 | 65 | emg_value2 = emg1.read_u16(); |
jessekaiser | 2:39e1bde54e73 | 66 | emg_value2_f32 = emg1.read(); |
jessekaiser | 0:db396b9f4b4c | 67 | |
jessekaiser | 2:39e1bde54e73 | 68 | //process emg biceps |
jessekaiser | 2:39e1bde54e73 | 69 | arm_biquad_cascade_df1_f32(&highpass, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 2:39e1bde54e73 | 70 | filtered_biceps = fabs(filtered_biceps); |
irisl | 7:1ca320a12035 | 71 | arm_biquad_cascade_df1_f32(¬ch, &filtered_biceps, &filtered_biceps, 1 ); |
jessekaiser | 2:39e1bde54e73 | 72 | arm_biquad_cascade_df1_f32(&lowpass, &filtered_biceps, &filtered_biceps, 1 ); |
jessekaiser | 3:0895fa0a6ca4 | 73 | |
jessekaiser | 2:39e1bde54e73 | 74 | //process emg deltoid |
jessekaiser | 2:39e1bde54e73 | 75 | arm_biquad_cascade_df1_f32(&highpass, &emg_value2_f32, &filtered_deltoid, 1 ); |
jessekaiser | 3:0895fa0a6ca4 | 76 | filtered_deltoid = fabs(filtered_deltoid); |
irisl | 7:1ca320a12035 | 77 | arm_biquad_cascade_df1_f32(¬ch, &filtered_deltoid, &filtered_deltoid, 1 ); |
jessekaiser | 2:39e1bde54e73 | 78 | arm_biquad_cascade_df1_f32(&lowpass, &filtered_deltoid, &filtered_deltoid, 1 ); |
jessekaiser | 1:099b19376f16 | 79 | |
jessekaiser | 0:db396b9f4b4c | 80 | /*send value to PC. */ |
jessekaiser | 3:0895fa0a6ca4 | 81 | scope.set(0,emg_value1); //Raw EMG signal biceps |
jessekaiser | 3:0895fa0a6ca4 | 82 | scope.set(1,emg_value2); //Raw EMG signal Deltoid |
jessekaiser | 3:0895fa0a6ca4 | 83 | scope.set(2,filtered_biceps); //processed float biceps |
jessekaiser | 3:0895fa0a6ca4 | 84 | scope.set(3,filtered_deltoid); //processed float deltoid |
jessekaiser | 0:db396b9f4b4c | 85 | scope.send(); |
jessekaiser | 0:db396b9f4b4c | 86 | |
jessekaiser | 0:db396b9f4b4c | 87 | } |
jessekaiser | 0:db396b9f4b4c | 88 | |
jessekaiser | 0:db396b9f4b4c | 89 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 90 | { |
jessekaiser | 0:db396b9f4b4c | 91 | for (int i=0; i<n; i++) { |
jessekaiser | 0:db396b9f4b4c | 92 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 93 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 94 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 95 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 96 | myled1 = 0; |
jessekaiser | 0:db396b9f4b4c | 97 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 98 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 99 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 100 | } |
jessekaiser | 0:db396b9f4b4c | 101 | } |
jessekaiser | 0:db396b9f4b4c | 102 | |
jessekaiser | 3:0895fa0a6ca4 | 103 | void BlinkGreen () |
jessekaiser | 3:0895fa0a6ca4 | 104 | { |
jessekaiser | 3:0895fa0a6ca4 | 105 | |
jessekaiser | 3:0895fa0a6ca4 | 106 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 107 | myled2 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 108 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 109 | wait(0.1); |
jessekaiser | 3:0895fa0a6ca4 | 110 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 111 | myled2 = 0; |
jessekaiser | 3:0895fa0a6ca4 | 112 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 113 | wait(0.1); |
jessekaiser | 3:0895fa0a6ca4 | 114 | } |
jessekaiser | 3:0895fa0a6ca4 | 115 | |
jessekaiser | 3:0895fa0a6ca4 | 116 | |
jessekaiser | 3:0895fa0a6ca4 | 117 | void BlinkBlue(int n) |
jessekaiser | 2:39e1bde54e73 | 118 | { |
jessekaiser | 2:39e1bde54e73 | 119 | for (int i=0; i<n; i++) { |
jessekaiser | 2:39e1bde54e73 | 120 | myled1 = 1; |
jessekaiser | 2:39e1bde54e73 | 121 | myled2 = 1; |
jessekaiser | 2:39e1bde54e73 | 122 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 123 | wait(0.1); |
jessekaiser | 2:39e1bde54e73 | 124 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 125 | myled2 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 126 | myled3 = 0; |
jessekaiser | 3:0895fa0a6ca4 | 127 | wait(0.1); |
jessekaiser | 2:39e1bde54e73 | 128 | } |
jessekaiser | 2:39e1bde54e73 | 129 | } |
jessekaiser | 2:39e1bde54e73 | 130 | |
jessekaiser | 0:db396b9f4b4c | 131 | int main() |
jessekaiser | 1:099b19376f16 | 132 | { |
jessekaiser | 0:db396b9f4b4c | 133 | pc.baud(115200); |
jessekaiser | 1:099b19376f16 | 134 | |
jessekaiser | 0:db396b9f4b4c | 135 | Ticker log_timer; |
jessekaiser | 1:099b19376f16 | 136 | //set up filters. Use external array for constants |
jessekaiser | 0:db396b9f4b4c | 137 | arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states); |
jessekaiser | 0:db396b9f4b4c | 138 | arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states); |
jessekaiser | 0:db396b9f4b4c | 139 | |
jessekaiser | 0:db396b9f4b4c | 140 | /**Here you attach the 'void looper(void)' function to the Ticker object |
jessekaiser | 0:db396b9f4b4c | 141 | * The looper() function will be called every 0.01 seconds. |
jessekaiser | 0:db396b9f4b4c | 142 | * Please mind that the parentheses after looper are omitted when using attach. |
jessekaiser | 0:db396b9f4b4c | 143 | */ |
jessekaiser | 0:db396b9f4b4c | 144 | log_timer.attach(looper, 0.001); |
jessekaiser | 1:099b19376f16 | 145 | while(1) { //Loop |
jessekaiser | 1:099b19376f16 | 146 | /*Empty!*/ |
jessekaiser | 1:099b19376f16 | 147 | /*Everything is handled by the interrupt routine now!*/ |
jessekaiser | 1:099b19376f16 | 148 | { |
jessekaiser | 6:8f4138a811e0 | 149 | |
jessekaiser | 1:099b19376f16 | 150 | while(1) { |
jessekaiser | 3:0895fa0a6ca4 | 151 | pc.printf("Span de biceps aan om het instellen te starten"); |
jessekaiser | 1:099b19376f16 | 152 | do { |
jessekaiser | 3:0895fa0a6ca4 | 153 | BlinkGreen(); |
jessekaiser | 1:099b19376f16 | 154 | } |
jessekaiser | 3:0895fa0a6ca4 | 155 | while(filtered_biceps < 0.04); |
jessekaiser | 3:0895fa0a6ca4 | 156 | while(filtered_biceps > 0.04) { //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd. |
jessekaiser | 4:40aa1fb60a24 | 157 | BlinkRed(20); |
irisl | 7:1ca320a12035 | 158 | if (filtered_deltoid > 0.1) { |
jessekaiser | 5:03105d8bf72c | 159 | BlinkBlue(20); |
irisl | 7:1ca320a12035 | 160 | } else if (filtered_biceps < 0.04 && filtered_deltoid < 0.1) { |
jessekaiser | 3:0895fa0a6ca4 | 161 | break; |
jessekaiser | 3:0895fa0a6ca4 | 162 | } |
jessekaiser | 0:db396b9f4b4c | 163 | |
jessekaiser | 6:8f4138a811e0 | 164 | if(filtered_biceps > 0.04) { |
jessekaiser | 3:0895fa0a6ca4 | 165 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 166 | myled2 = 0; |
jessekaiser | 3:0895fa0a6ca4 | 167 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 168 | wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden. |
jessekaiser | 6:8f4138a811e0 | 169 | |
jessekaiser | 3:0895fa0a6ca4 | 170 | } |
jessekaiser | 0:db396b9f4b4c | 171 | } |
jessekaiser | 0:db396b9f4b4c | 172 | } |
jessekaiser | 0:db396b9f4b4c | 173 | } |
jessekaiser | 0:db396b9f4b4c | 174 | } |
jessekaiser | 1:099b19376f16 | 175 | } |