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@12:9e6e49af9304, 2014-10-22 (annotated)
- Committer:
- irisl
- Date:
- Wed Oct 22 15:12:34 2014 +0000
- Revision:
- 12:9e6e49af9304
- Parent:
- 11:bc24a271e6cf
- Child:
- 13:493a953a2a85
Van 50 samples wordt het gemiddelde genomen om zo de grafiek 'gladder'te maken
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 |
irisl | 12:9e6e49af9304 | 15 | HIDScope scope(4); |
jessekaiser | 0:db396b9f4b4c | 16 | |
irisl | 9:f7ec578a17c0 | 17 | arm_biquad_casd_df1_inst_f32 lowpass_biceps; |
irisl | 9:f7ec578a17c0 | 18 | arm_biquad_casd_df1_inst_f32 lowpass_deltoid; |
jessekaiser | 2:39e1bde54e73 | 19 | //lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB |
jessekaiser | 0:db396b9f4b4c | 20 | float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715}; |
jessekaiser | 0:db396b9f4b4c | 21 | //state values |
irisl | 9:f7ec578a17c0 | 22 | float lowpass_biceps_states[4]; |
irisl | 9:f7ec578a17c0 | 23 | float lowpass_deltoid_states[4]; |
irisl | 9:f7ec578a17c0 | 24 | arm_biquad_casd_df1_inst_f32 highnotch_biceps; |
irisl | 9:f7ec578a17c0 | 25 | arm_biquad_casd_df1_inst_f32 highnotch_deltoid; |
jessekaiser | 2:39e1bde54e73 | 26 | //highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB |
irisl | 9:f7ec578a17c0 | 27 | float highnotch_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353,0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533}; |
jessekaiser | 0:db396b9f4b4c | 28 | //state values |
irisl | 9:f7ec578a17c0 | 29 | float highnotch_biceps_states[8]; |
irisl | 9:f7ec578a17c0 | 30 | float highnotch_deltoid_states[8]; |
jessekaiser | 2:39e1bde54e73 | 31 | |
jessekaiser | 2:39e1bde54e73 | 32 | //De globale variabele voor het gefilterde EMG signaal |
jessekaiser | 2:39e1bde54e73 | 33 | float filtered_biceps; |
jessekaiser | 2:39e1bde54e73 | 34 | float filtered_deltoid; |
irisl | 12:9e6e49af9304 | 35 | float filtered_average_bi; |
irisl | 12:9e6e49af9304 | 36 | float filtered_average_del; |
jessekaiser | 0:db396b9f4b4c | 37 | |
jessekaiser | 0:db396b9f4b4c | 38 | |
irisl | 12:9e6e49af9304 | 39 | void average_biceps(float filtered_biceps,float *average) |
irisl | 12:9e6e49af9304 | 40 | { |
irisl | 12:9e6e49af9304 | 41 | static float total=0; |
irisl | 12:9e6e49af9304 | 42 | static float number=0; |
irisl | 12:9e6e49af9304 | 43 | total = total + filtered_biceps; |
irisl | 12:9e6e49af9304 | 44 | number = number + 1; |
irisl | 12:9e6e49af9304 | 45 | if ( number == 50) { |
irisl | 12:9e6e49af9304 | 46 | *average = total/50; |
irisl | 12:9e6e49af9304 | 47 | total = 0; |
irisl | 12:9e6e49af9304 | 48 | number = 0; |
irisl | 12:9e6e49af9304 | 49 | } |
irisl | 12:9e6e49af9304 | 50 | } |
irisl | 12:9e6e49af9304 | 51 | |
irisl | 12:9e6e49af9304 | 52 | void average_deltoid(float filtered_input,float *average_output) |
irisl | 12:9e6e49af9304 | 53 | { |
irisl | 12:9e6e49af9304 | 54 | static float total=0; |
irisl | 12:9e6e49af9304 | 55 | static float number=0; |
irisl | 12:9e6e49af9304 | 56 | total = total + filtered_input; |
irisl | 12:9e6e49af9304 | 57 | number = number + 1; |
irisl | 12:9e6e49af9304 | 58 | if ( number == 50) { |
irisl | 12:9e6e49af9304 | 59 | *average_output = total/50; |
irisl | 12:9e6e49af9304 | 60 | total = 0; |
irisl | 12:9e6e49af9304 | 61 | number = 0; |
irisl | 12:9e6e49af9304 | 62 | } |
irisl | 12:9e6e49af9304 | 63 | } |
irisl | 12:9e6e49af9304 | 64 | |
jessekaiser | 0:db396b9f4b4c | 65 | /** Looper function |
jessekaiser | 0:db396b9f4b4c | 66 | * functions used for Ticker and Timeout should be of type void <name>(void) |
jessekaiser | 0:db396b9f4b4c | 67 | * i.e. no input arguments, no output arguments. |
jessekaiser | 0:db396b9f4b4c | 68 | * if you want to change a variable that you use in other places (for example in main) |
jessekaiser | 0:db396b9f4b4c | 69 | * you will have to make that variable global in order to be able to reach it both from |
jessekaiser | 0:db396b9f4b4c | 70 | * the function called at interrupt time, and in the main function. |
jessekaiser | 0:db396b9f4b4c | 71 | * To make a variable global, define it under the includes. |
jessekaiser | 0:db396b9f4b4c | 72 | * variables that are changed in the interrupt routine (written to) should be made |
jessekaiser | 0:db396b9f4b4c | 73 | * 'volatile' to let the compiler know that those values may change outside the current context. |
jessekaiser | 0:db396b9f4b4c | 74 | * i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value" |
jessekaiser | 0:db396b9f4b4c | 75 | * in the example below, the variable is not re-used in the main function, and is thus declared |
jessekaiser | 0:db396b9f4b4c | 76 | * local in the looper function only. |
jessekaiser | 0:db396b9f4b4c | 77 | **/ |
jessekaiser | 1:099b19376f16 | 78 | |
jessekaiser | 1:099b19376f16 | 79 | |
jessekaiser | 0:db396b9f4b4c | 80 | void looper() |
jessekaiser | 0:db396b9f4b4c | 81 | { |
jessekaiser | 1:099b19376f16 | 82 | /*variable to store value in*/ |
jessekaiser | 2:39e1bde54e73 | 83 | uint16_t emg_value1; |
jessekaiser | 3:0895fa0a6ca4 | 84 | uint16_t emg_value2; |
jessekaiser | 1:099b19376f16 | 85 | |
jessekaiser | 2:39e1bde54e73 | 86 | float emg_value1_f32; |
jessekaiser | 2:39e1bde54e73 | 87 | float emg_value2_f32; |
jessekaiser | 0:db396b9f4b4c | 88 | /*put raw emg value both in red and in emg_value*/ |
jessekaiser | 2:39e1bde54e73 | 89 | 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 | 90 | emg_value1_f32 = emg0.read(); |
jessekaiser | 3:0895fa0a6ca4 | 91 | |
jessekaiser | 2:39e1bde54e73 | 92 | emg_value2 = emg1.read_u16(); |
jessekaiser | 2:39e1bde54e73 | 93 | emg_value2_f32 = emg1.read(); |
jessekaiser | 0:db396b9f4b4c | 94 | |
jessekaiser | 2:39e1bde54e73 | 95 | //process emg biceps |
irisl | 9:f7ec578a17c0 | 96 | arm_biquad_cascade_df1_f32(&highnotch_biceps, &emg_value1_f32, &filtered_biceps, 1 ); |
jessekaiser | 2:39e1bde54e73 | 97 | filtered_biceps = fabs(filtered_biceps); |
irisl | 9:f7ec578a17c0 | 98 | arm_biquad_cascade_df1_f32(&lowpass_biceps, &filtered_biceps, &filtered_biceps, 1 ); |
irisl | 12:9e6e49af9304 | 99 | average_biceps(filtered_biceps,&filtered_average_bi); |
jessekaiser | 2:39e1bde54e73 | 100 | //process emg deltoid |
irisl | 9:f7ec578a17c0 | 101 | arm_biquad_cascade_df1_f32(&highnotch_deltoid, &emg_value2_f32, &filtered_deltoid, 1 ); |
jessekaiser | 3:0895fa0a6ca4 | 102 | filtered_deltoid = fabs(filtered_deltoid); |
irisl | 9:f7ec578a17c0 | 103 | arm_biquad_cascade_df1_f32(&lowpass_deltoid, &filtered_deltoid, &filtered_deltoid, 1 ); |
irisl | 12:9e6e49af9304 | 104 | average_deltoid(filtered_deltoid, &filtered_average_del); |
jessekaiser | 1:099b19376f16 | 105 | |
jessekaiser | 0:db396b9f4b4c | 106 | /*send value to PC. */ |
irisl | 9:f7ec578a17c0 | 107 | //scope.set(0,emg_value1); //Raw EMG signal biceps |
irisl | 9:f7ec578a17c0 | 108 | //scope.set(1,emg_value2); //Raw EMG signal Deltoid |
irisl | 9:f7ec578a17c0 | 109 | scope.set(0,filtered_biceps); //processed float biceps |
irisl | 12:9e6e49af9304 | 110 | scope.set(1,filtered_average_bi); //processed float deltoid |
irisl | 12:9e6e49af9304 | 111 | scope.set(2,filtered_deltoid); //processed float biceps |
irisl | 12:9e6e49af9304 | 112 | scope.set(3,filtered_average_del); //processed float deltoid |
jessekaiser | 0:db396b9f4b4c | 113 | scope.send(); |
jessekaiser | 0:db396b9f4b4c | 114 | |
jessekaiser | 0:db396b9f4b4c | 115 | } |
jessekaiser | 0:db396b9f4b4c | 116 | |
irisl | 12:9e6e49af9304 | 117 | |
irisl | 12:9e6e49af9304 | 118 | |
jessekaiser | 0:db396b9f4b4c | 119 | void BlinkRed(int n) |
jessekaiser | 0:db396b9f4b4c | 120 | { |
jessekaiser | 0:db396b9f4b4c | 121 | for (int i=0; i<n; i++) { |
jessekaiser | 0:db396b9f4b4c | 122 | myled1 = 1; |
jessekaiser | 0:db396b9f4b4c | 123 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 124 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 125 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 126 | myled1 = 0; |
jessekaiser | 0:db396b9f4b4c | 127 | myled2 = 1; |
jessekaiser | 0:db396b9f4b4c | 128 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 129 | wait(0.1); |
jessekaiser | 0:db396b9f4b4c | 130 | } |
jessekaiser | 0:db396b9f4b4c | 131 | } |
jessekaiser | 0:db396b9f4b4c | 132 | |
jessekaiser | 3:0895fa0a6ca4 | 133 | void BlinkGreen () |
jessekaiser | 3:0895fa0a6ca4 | 134 | { |
jessekaiser | 3:0895fa0a6ca4 | 135 | |
jessekaiser | 3:0895fa0a6ca4 | 136 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 137 | myled2 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 138 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 139 | wait(0.1); |
jessekaiser | 3:0895fa0a6ca4 | 140 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 141 | myled2 = 0; |
jessekaiser | 3:0895fa0a6ca4 | 142 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 143 | wait(0.1); |
jessekaiser | 3:0895fa0a6ca4 | 144 | } |
jessekaiser | 3:0895fa0a6ca4 | 145 | |
jessekaiser | 3:0895fa0a6ca4 | 146 | |
jessekaiser | 3:0895fa0a6ca4 | 147 | void BlinkBlue(int n) |
jessekaiser | 2:39e1bde54e73 | 148 | { |
jessekaiser | 2:39e1bde54e73 | 149 | for (int i=0; i<n; i++) { |
jessekaiser | 2:39e1bde54e73 | 150 | myled1 = 1; |
jessekaiser | 2:39e1bde54e73 | 151 | myled2 = 1; |
jessekaiser | 2:39e1bde54e73 | 152 | myled3 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 153 | wait(0.1); |
jessekaiser | 2:39e1bde54e73 | 154 | myled1 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 155 | myled2 = 1; |
jessekaiser | 3:0895fa0a6ca4 | 156 | myled3 = 0; |
jessekaiser | 3:0895fa0a6ca4 | 157 | wait(0.1); |
jessekaiser | 2:39e1bde54e73 | 158 | } |
jessekaiser | 2:39e1bde54e73 | 159 | } |
jessekaiser | 2:39e1bde54e73 | 160 | |
jessekaiser | 0:db396b9f4b4c | 161 | int main() |
jessekaiser | 1:099b19376f16 | 162 | { |
jessekaiser | 0:db396b9f4b4c | 163 | pc.baud(115200); |
jessekaiser | 1:099b19376f16 | 164 | |
jessekaiser | 0:db396b9f4b4c | 165 | Ticker log_timer; |
jessekaiser | 1:099b19376f16 | 166 | //set up filters. Use external array for constants |
irisl | 9:f7ec578a17c0 | 167 | arm_biquad_cascade_df1_init_f32(&lowpass_biceps,1 , lowpass_const, lowpass_biceps_states); |
irisl | 9:f7ec578a17c0 | 168 | arm_biquad_cascade_df1_init_f32(&lowpass_deltoid,1 , lowpass_const, lowpass_deltoid_states); |
irisl | 9:f7ec578a17c0 | 169 | arm_biquad_cascade_df1_init_f32(&highnotch_biceps,2 ,highnotch_const,highnotch_biceps_states); |
irisl | 9:f7ec578a17c0 | 170 | arm_biquad_cascade_df1_init_f32(&highnotch_deltoid,2 ,highnotch_const,highnotch_deltoid_states); |
jessekaiser | 0:db396b9f4b4c | 171 | /**Here you attach the 'void looper(void)' function to the Ticker object |
jessekaiser | 0:db396b9f4b4c | 172 | * The looper() function will be called every 0.01 seconds. |
jessekaiser | 0:db396b9f4b4c | 173 | * Please mind that the parentheses after looper are omitted when using attach. |
jessekaiser | 0:db396b9f4b4c | 174 | */ |
jessekaiser | 0:db396b9f4b4c | 175 | log_timer.attach(looper, 0.001); |
jessekaiser | 1:099b19376f16 | 176 | while(1) { //Loop |
jessekaiser | 1:099b19376f16 | 177 | /*Empty!*/ |
jessekaiser | 1:099b19376f16 | 178 | /*Everything is handled by the interrupt routine now!*/ |
jessekaiser | 1:099b19376f16 | 179 | { |
jessekaiser | 6:8f4138a811e0 | 180 | |
jessekaiser | 1:099b19376f16 | 181 | while(1) { |
jessekaiser | 3:0895fa0a6ca4 | 182 | pc.printf("Span de biceps aan om het instellen te starten"); |
jessekaiser | 1:099b19376f16 | 183 | do { |
irisl | 11:bc24a271e6cf | 184 | myled1 = 1; |
irisl | 11:bc24a271e6cf | 185 | myled2 = 0; |
irisl | 11:bc24a271e6cf | 186 | myled3 = 1; |
irisl | 11:bc24a271e6cf | 187 | } while(filtered_biceps < 0.05); |
irisl | 11:bc24a271e6cf | 188 | if (filtered_deltoid > 0.05 && filtered_biceps < 0.05) { //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd. |
irisl | 11:bc24a271e6cf | 189 | myled1 = 0; |
irisl | 11:bc24a271e6cf | 190 | myled2 = 1; |
irisl | 11:bc24a271e6cf | 191 | myled3 = 1; |
irisl | 11:bc24a271e6cf | 192 | wait (2); |
irisl | 11:bc24a271e6cf | 193 | } else if (filtered_deltoid < 0.05 && filtered_biceps > 0.05) { |
irisl | 11:bc24a271e6cf | 194 | myled1 = 1; |
irisl | 11:bc24a271e6cf | 195 | myled2 = 1; |
irisl | 11:bc24a271e6cf | 196 | myled3 = 0; |
irisl | 11:bc24a271e6cf | 197 | wait (2); |
irisl | 11:bc24a271e6cf | 198 | //} else if (filtered_biceps < 0.05 && filtered_deltoid < 0.05) { |
irisl | 11:bc24a271e6cf | 199 | //break; |
jessekaiser | 1:099b19376f16 | 200 | } |
jessekaiser | 0:db396b9f4b4c | 201 | |
jessekaiser | 6:8f4138a811e0 | 202 | |
jessekaiser | 0:db396b9f4b4c | 203 | } |
jessekaiser | 0:db396b9f4b4c | 204 | } |
jessekaiser | 0:db396b9f4b4c | 205 | } |
jessekaiser | 1:099b19376f16 | 206 | } |
irisl | 11:bc24a271e6cf | 207 | |
irisl | 11:bc24a271e6cf | 208 |