File content as of revision 7:1ca320a12035:

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

Serial pc(USBTX, USBRX); // tx, rx
DigitalOut myled1(LED_RED);
DigitalOut myled2(LED_GREEN);
DigitalOut myled3(LED_BLUE);
PwmOut     motorsignal(PTD4);

//Define objects
AnalogIn    emg0(PTB1); //Analog input
AnalogIn    emg1(PTB2); //Analog input
HIDScope scope(4);

arm_biquad_casd_df1_inst_f32 lowpass;
//lowpass filter settings: Fc = 225 Hz, Fs = 500 Hz, Gain = -3 dB
float lowpass_const[] = {0.8005910266528647, 1.6011820533057295, 0.8005910266528647, -1.5610153912536877, -0.6413487153577715};
//state values
float lowpass_states[4];
arm_biquad_casd_df1_inst_f32 highpass;
//highpass filter settings: Fc = 20 Hz, Fs = 500 Hz, Gain = -3 dB
float highpass_const[] = {0.956542835577484, -1.913085671154968, 0.956542835577484, 1.911196288237583, -0.914975054072353};
//state values
float highpass_states[4];
arm_biquad_casd_df1_inst_f32 notch;
//highpass filter settings: Fc = 50 Hz, Fs = 500 Hz, Gain = -3 dB
float notch_const[] = {0.7063988100714527, -1.1429772843080923, 0.7063988100714527, 1.1429772843080923, -0.41279762014290533};
//state values
float notch_states[4];

//De globale variabele voor het gefilterde EMG signaal
float filtered_biceps;
float filtered_deltoid;


/** Looper function
* functions used for Ticker and Timeout should be of type void <name>(void)
* i.e. no input arguments, no output arguments.
* if you want to change a variable that you use in other places (for example in main)
* you will have to make that variable global in order to be able to reach it both from
* the function called at interrupt time, and in the main function.
* To make a variable global, define it under the includes.
* variables that are changed in the interrupt routine (written to) should be made
* 'volatile' to let the compiler know that those values may change outside the current context.
* i.e.: "volatile uint16_t emg_value;" instead of "uint16_t emg_value"
* in the example below, the variable is not re-used in the main function, and is thus declared
* local in the looper function only.
**/


void looper()
{
    /*variable to store value in*/
    uint16_t emg_value1;
    uint16_t emg_value2;

    float emg_value1_f32;
    float emg_value2_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();

    emg_value2 = emg1.read_u16();
    emg_value2_f32 = emg1.read();

    //process emg biceps
    arm_biquad_cascade_df1_f32(&highpass, &emg_value1_f32, &filtered_biceps, 1 );
    filtered_biceps = fabs(filtered_biceps);
    arm_biquad_cascade_df1_f32(&notch, &filtered_biceps, &filtered_biceps, 1 );
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_biceps, &filtered_biceps, 1 );

    //process emg deltoid
    arm_biquad_cascade_df1_f32(&highpass, &emg_value2_f32, &filtered_deltoid, 1 );
    filtered_deltoid = fabs(filtered_deltoid);
    arm_biquad_cascade_df1_f32(&notch, &filtered_deltoid, &filtered_deltoid, 1 );
    arm_biquad_cascade_df1_f32(&lowpass, &filtered_deltoid, &filtered_deltoid, 1 );

    /*send value to PC. */
    scope.set(0,emg_value1);     //Raw EMG signal biceps
    scope.set(1,emg_value2);    //Raw EMG signal Deltoid
    scope.set(2,filtered_biceps);  //processed float biceps
    scope.set(3,filtered_deltoid); //processed float deltoid
    scope.send();

}

void BlinkRed(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 0;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
    }
}

void BlinkGreen ()
{

    myled1 = 1;
    myled2 = 1;
    myled3 = 1;
    wait(0.1);
    myled1 = 1;
    myled2 = 0;
    myled3 = 1;
    wait(0.1);
}


void BlinkBlue(int n)
{
    for (int i=0; i<n; i++) {
        myled1 = 1;
        myled2 = 1;
        myled3 = 1;
        wait(0.1);
        myled1 = 1;
        myled2 = 1;
        myled3 = 0;
        wait(0.1);
    }
}

int main()
{
    pc.baud(115200);

    Ticker log_timer;
    //set up filters. Use external array for constants
    arm_biquad_cascade_df1_init_f32(&lowpass,1 , lowpass_const, lowpass_states);
    arm_biquad_cascade_df1_init_f32(&highpass,1 ,highpass_const,highpass_states);

    /**Here you attach the 'void looper(void)' function to the Ticker object
    * The looper() function will be called every 0.01 seconds.
    * Please mind that the parentheses after looper are omitted when using attach.
    */
    log_timer.attach(looper, 0.001);
    while(1) { //Loop
        /*Empty!*/
        /*Everything is handled by the interrupt routine now!*/
        {

            while(1) {
                pc.printf("Span de biceps aan om het instellen te starten");
                do {
                    BlinkGreen();
                }
                while(filtered_biceps < 0.04);
                while(filtered_biceps > 0.04) {    //Wanneer het EMG signaal een piek geeft wordt het volgende uitgevoerd.
                    BlinkRed(20);
                    if (filtered_deltoid > 0.1) {
                        BlinkBlue(20);
                    } else if (filtered_biceps < 0.04 && filtered_deltoid < 0.1) {
                        break;
                    }

                    if(filtered_biceps > 0.04) {
                        myled1 = 1;
                        myled2 = 0;
                        myled3 = 1;
                        wait(5); //Dit wordt de duur van het slaan en teruggaan naar de beginpositie totdat er opnieuw gemeten kan worden.

                    }
                }
            }
        }
    }
}