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