File content as of revision 2:b0b86581ba50:

#include "mbed.h"
#include "MODSERIAL.h"

//Define objects
AnalogIn    emg_biceps(PTB0); //Analog input
PwmOut      red(LED_RED); //PWM output
Ticker timer;
MODSERIAL pc(USBTX,USBRX,64,1024);

//high pass filter constantes 15Hz cutoff 4e orde
#define NUM0 0.2754 // constante
#define NUM1 -1.1017 // z^-1
#define NUM2 1.6525 // z^-2etc.
#define NUM3 -1.1017
#define NUM4 0.2754

#define DEN0 1 // constante
#define DEN1 -1.5704
#define DEN2 1.2756
#define DEN3 -0.4844
#define DEN4 0.0762

//lowpass filter constantes 40 Hz 4e orde
#define NUM0_2 0.4328 // constante
#define NUM1_2 1.7314 // z^-1
#define NUM2_2 2.5971 // z^-2etc.
#define NUM3_2 1.7314
#define NUM4_2 0.4328


#define DEN0_2 1 // constante
#define DEN1_2 2.3695
#define DEN2_2 2.3140
#define DEN3_2 1.0547
#define DEN4_2 0.1874

//lowpass filter constantes 4z 4e orde
#define NUM0_3 0.0002 // constante
#define NUM1_3 0.0007 // z^-1
#define NUM2_3 0.0011 // z^-2etc.
#define NUM3_3 0.0007
#define NUM4_3 0.0002


#define DEN0_3 1 // constante
#define DEN1_3 -3.3441
#define DEN2_3 4.2389
#define DEN3_3 -2.4093
#define DEN4_3 0.5175

// highpass filter .5 Hz 2de orde, tegen storing motorshield
#define NUM0_4 0.9780 // constante
#define NUM1_4 -1.9561 // z^-1
#define NUM2_4 0.9780 // z^-2etc.

#define DEN0_4 1 // constante
#define DEN1_4 -1.9556
#define DEN2_4 0.9565
    
float filter(int sig_number){
    float sig_out;
    // eerst variabelen definieren
    
    //biceps
        //filter 1
    float in0_biceps =0;
    static float in1_biceps =0, in2_biceps = 0, in3_biceps = 0, in4_biceps = 0;
    static float out0_biceps = 0, out1_biceps = 0 , out2_biceps = 0, out3_biceps = 0, out4_biceps = 0;
        //filter 2
    float in0_2_biceps =0;
    static float in1_2_biceps =0, in2_2_biceps = 0, in3_2_biceps = 0, in4_2_biceps = 0;
    static float out0_2_biceps = 0, out1_2_biceps = 0 , out2_2_biceps = 0, out3_2_biceps = 0, out4_2_biceps = 0;
        //filter 3
    float in0_3_biceps =0;
    static float in1_3_biceps =0, in2_3_biceps = 0, in3_3_biceps = 0, in4_3_biceps = 0;
    static float out0_3_biceps = 0, out1_3_biceps = 0 , out2_3_biceps = 0, out3_3_biceps = 0, out4_3_biceps = 0;
        //filter 4
    float in0_4_biceps =0;
    static float in1_4_biceps =0, in2_4_biceps = 0;
    static float out0_4_biceps = 0, out1_4_biceps = 0 , out2_4_biceps = 0; 
   
    //triceps
        //filter 1
    float in0_triceps =0;
    static float in1_triceps =0, in2_triceps = 0, in3_triceps = 0, in4_triceps = 0;
    static float out0_triceps = 0, out1_triceps = 0 , out2_triceps = 0, out3_triceps = 0, out4_triceps = 0;
        //filter 2
    float in0_2_triceps =0;
    static float in1_2_triceps =0, in2_2_triceps = 0, in3_2_triceps = 0, in4_2_triceps = 0;
    static float out0_2_triceps = 0, out1_2_triceps = 0 , out2_2_triceps = 0, out3_2_triceps = 0, out4_2_triceps = 0;
        //filter 3
    float in0_3_triceps =0;
    static float in1_3_triceps =0, in2_3_triceps = 0, in3_3_triceps = 0, in4_3_triceps = 0;
    static float out0_3_triceps = 0, out1_3_triceps = 0 , out2_3_triceps = 0, out3_3_triceps = 0, out4_3_triceps = 0;
        //filter 4
    float in0_4_triceps =0;
    static float in1_4_triceps =0, in2_4_triceps = 0;
    static float out0_4_triceps = 0, out1_4_triceps = 0 , out2_4_triceps = 0;
    
    //flexoren
        //filter 1
    float in0_flexoren =0;
    static float in1_flexoren =0, in2_flexoren = 0, in3_flexoren = 0, in4_flexoren = 0;
    static float out0_flexoren = 0, out1_flexoren = 0 , out2_flexoren = 0, out3_flexoren = 0, out4_flexoren = 0;
        //filter 2
    float in0_2_flexoren =0;
    static float in1_2_flexoren =0, in2_2_flexoren = 0, in3_2_flexoren = 0, in4_2_flexoren = 0;
    static float out0_2_flexoren = 0, out1_2_flexoren = 0 , out2_2_flexoren = 0, out3_2_flexoren = 0, out4_2_flexoren = 0;
        //filter 3
    float in0_3_flexoren =0;
    static float in1_3_flexoren =0, in2_3_flexoren = 0, in3_3_flexoren = 0, in4_3_flexoren = 0;
    static float out0_3_flexoren = 0, out1_3_flexoren = 0 , out2_3_flexoren = 0, out3_3_flexoren = 0, out4_3_flexoren = 0;
        //filter 4
    float in0_4_flexoren =0;
    static float in1_4_flexoren =0, in2_4_flexoren = 0;
    static float out0_4_flexoren = 0, out1_4_flexoren = 0 , out2_4_flexoren = 0;
    
    //extensoren
        //filter 1
    float in0_extensoren =0;
    static float in1_extensoren =0, in2_extensoren = 0, in3_extensoren = 0, in4_extensoren = 0;
    static float out0_extensoren = 0, out1_extensoren = 0 , out2_extensoren = 0, out3_extensoren = 0, out4_extensoren = 0;
        //filter 2
    float in0_2_extensoren =0;
    static float in1_2_extensoren =0, in2_2_extensoren = 0, in3_2_extensoren = 0, in4_2_extensoren = 0;
    static float out0_2_extensoren = 0, out1_2_extensoren = 0 , out2_2_extensoren = 0, out3_2_extensoren = 0, out4_2_extensoren = 0;
        //filter 3
    float in0_3_extensoren =0;
    static float in1_3_extensoren =0, in2_3_extensoren = 0, in3_3_extensoren = 0, in4_3_extensoren = 0;
    static float out0_3_extensoren = 0, out1_3_extensoren = 0 , out2_3_extensoren = 0, out3_3_extensoren = 0, out4_3_extensoren = 0;
        //filter 4
    float in0_4_extensoren =0;
    static float in1_4_extensoren =0, in2_4_extensoren = 0;
    static float out0_4_extensoren = 0, out1_4_extensoren = 0 , out2_4_extensoren = 0;
    
    
    switch(sig_number){            
        case 1:        
            // signaal filteren op 15 Hz HIGHPASS
            in4_biceps = in3_biceps; in3_biceps = in2_biceps; in2_biceps = in1_biceps; in1_biceps = in0_biceps;
            in0_biceps = emg_biceps.read();
            out4_biceps = out3_biceps; out3_biceps = out2_biceps; out2_biceps = out1_biceps; out1_biceps = out0_biceps;           
            out0_biceps = (NUM0*in0_biceps + NUM1*in1_biceps + NUM2*in2_biceps + NUM3*in3_biceps + NUM4*in4_biceps - DEN1*out1_biceps - DEN2*out2_biceps - DEN3*out3_biceps - DEN4*out4_biceps ) / DEN0;                      
            
            //signaal filteren op 40 HZ LOWPASS
            in4_2_biceps = in3_2_biceps; in3_2_biceps = in2_2_biceps; in2_2_biceps = in1_2_biceps; in1_2_biceps = in0_2_biceps;
            in0_2_biceps = out0_biceps;
            out4_2_biceps = out3_2_biceps; out3_2_biceps = out2_2_biceps; out2_2_biceps = out1_2_biceps; out1_2_biceps = out0_2_biceps;           
            out0_2_biceps = (NUM0_2*in0_2_biceps + NUM1_2*in1_2_biceps + NUM2_2*in2_2_biceps + NUM3_2*in3_2_biceps + NUM4_2*in4_2_biceps - DEN1_2*out1_2_biceps - DEN2_2*out2_2_biceps - DEN3_2*out3_2_biceps - DEN4_2*out4_2_biceps ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_biceps = in3_3_biceps; in3_3_biceps = in2_3_biceps; in2_3_biceps = in1_3_biceps; in1_3_biceps = in0_3_biceps;
            in0_3_biceps = abs(out0_2_biceps);
            out4_3_biceps = out3_3_biceps; out3_3_biceps = out2_3_biceps; out2_3_biceps = out1_3_biceps; out1_3_biceps = out0_3_biceps;           
            out0_3_biceps = (NUM0_3*in0_3_biceps + NUM1_3*in1_3_biceps + NUM2_3*in2_3_biceps + NUM3_3*in3_3_biceps + NUM4_3*in4_3_biceps - DEN1_3*out1_3_biceps - DEN2_3*out2_3_biceps - DEN3_3*out3_3_biceps - DEN4_3*out4_3_biceps ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_biceps = in1_4_biceps; in1_4_biceps = in0_4_biceps;
            in0_4_biceps = out0_3_biceps;
            out2_4_biceps = out1_4_biceps; out1_4_biceps = out0_4_biceps;           
            out0_4_biceps = (NUM0_4*in0_4_biceps + NUM1_4*in1_4_biceps + NUM2_4*in2_4_biceps - DEN1_4*out1_4_biceps - DEN2_4*out2_4_biceps ) / DEN0_4;
            
            sig_out = out0_4_biceps;
            break;
        case 2:
            // signaal filteren op 15 Hz HIGHPASS
            in4_triceps = in3_triceps; in3_triceps = in2_triceps; in2_triceps = in1_triceps; in1_triceps = in0_triceps;
            in0_triceps = emg_triceps.read();
            out4_triceps = out3_triceps; out3_triceps = out2_triceps; out2_triceps = out1_triceps; out1_triceps = out0_triceps;           
            out0_triceps = (NUM0*in0_triceps + NUM1*in1_triceps + NUM2*in2_triceps + NUM3*in3_triceps + NUM4*in4_triceps - DEN1*out1_triceps - DEN2*out2_triceps - DEN3*out3_triceps - DEN4*out4_triceps ) / DEN0;                      
            
            //signaal filteren op 40 HZ LOWPASS
            in4_2_triceps = in3_2_triceps; in3_2_triceps = in2_2_triceps; in2_2_triceps = in1_2_triceps; in1_2_triceps = in0_2_triceps;
            in0_2_triceps = out0_triceps;
            out4_2_triceps = out3_2_triceps; out3_2_triceps = out2_2_triceps; out2_2_triceps = out1_2_triceps; out1_2_triceps = out0_2_triceps;           
            out0_2_triceps = (NUM0_2*in0_2_triceps + NUM1_2*in1_2_triceps + NUM2_2*in2_2_triceps + NUM3_2*in3_2_triceps + NUM4_2*in4_2_triceps - DEN1_2*out1_2_triceps - DEN2_2*out2_2_triceps - DEN3_2*out3_2_triceps - DEN4_2*out4_2_triceps ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_triceps = in3_3_triceps; in3_3_triceps = in2_3_triceps; in2_3_triceps = in1_3_triceps; in1_3_triceps = in0_3_triceps;
            in0_3_triceps = abs(out0_2_triceps);
            out4_3_triceps = out3_3_triceps; out3_3_triceps = out2_3_triceps; out2_3_triceps = out1_3_triceps; out1_3_triceps = out0_3_triceps;           
            out0_3_triceps = (NUM0_3*in0_3_triceps + NUM1_3*in1_3_triceps + NUM2_3*in2_3_triceps + NUM3_3*in3_3_triceps + NUM4_3*in4_3_triceps - DEN1_3*out1_3_triceps - DEN2_3*out2_3_triceps - DEN3_3*out3_3_triceps - DEN4_3*out4_3_triceps ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_triceps = in1_4_triceps; in1_4_triceps = in0_4_triceps;
            in0_4_triceps = out0_3_triceps;
            out2_4_triceps = out1_4_triceps; out1_4_triceps = out0_4_triceps;           
            out0_4_triceps = (NUM0_4*in0_4_triceps + NUM1_4*in1_4_triceps + NUM2_4*in2_4_triceps - DEN1_4*out1_4_triceps - DEN2_4*out2_4_triceps ) / DEN0_4;
            
            sig_out = out0_4_triceps;
            break;
        case 3:
            // signaal filteren op 15 Hz HIGHPASS
            in4_flexoren = in3_flexoren; in3_flexoren = in2_flexoren; in2_flexoren = in1_flexoren; in1_flexoren = in0_flexoren;
            in0_flexoren = emg_flexoren.read();
            out4_flexoren = out3_flexoren; out3_flexoren = out2_flexoren; out2_flexoren = out1_flexoren; out1_flexoren = out0_flexoren;           
            out0_flexoren = (NUM0*in0_flexoren + NUM1*in1_flexoren + NUM2*in2_flexoren + NUM3*in3_flexoren + NUM4*in4_flexoren - DEN1*out1_flexoren - DEN2*out2_flexoren - DEN3*out3_flexoren - DEN4*out4_flexoren ) / DEN0;                      
    
            //signaal filteren op 40 HZ LOWPASS
            in4_2_flexoren = in3_2_flexoren; in3_2_flexoren = in2_2_flexoren; in2_2_flexoren = in1_2_flexoren; in1_2_flexoren = in0_2_flexoren;
            in0_2_flexoren = out0_flexoren;
            out4_2_flexoren = out3_2_flexoren; out3_2_flexoren = out2_2_flexoren; out2_2_flexoren = out1_2_flexoren; out1_2_flexoren = out0_2_flexoren;           
            out0_2_flexoren = (NUM0_2*in0_2_flexoren + NUM1_2*in1_2_flexoren + NUM2_2*in2_2_flexoren + NUM3_2*in3_2_flexoren + NUM4_2*in4_2_flexoren - DEN1_2*out1_2_flexoren - DEN2_2*out2_2_flexoren - DEN3_2*out3_2_flexoren - DEN4_2*out4_2_flexoren ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_flexoren = in3_3_flexoren; in3_3_flexoren = in2_3_flexoren; in2_3_flexoren = in1_3_flexoren; in1_3_flexoren = in0_3_flexoren;
            in0_3_flexoren = abs(out0_2_flexoren);
            out4_3_flexoren = out3_3_flexoren; out3_3_flexoren = out2_3_flexoren; out2_3_flexoren = out1_3_flexoren; out1_3_flexoren = out0_3_flexoren;           
            out0_3_flexoren = (NUM0_3*in0_3_flexoren + NUM1_3*in1_3_flexoren + NUM2_3*in2_3_flexoren + NUM3_3*in3_3_flexoren + NUM4_3*in4_3_flexoren - DEN1_3*out1_3_flexoren - DEN2_3*out2_3_flexoren - DEN3_3*out3_3_flexoren - DEN4_3*out4_3_flexoren ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_flexoren = in1_4_flexoren; in1_4_flexoren = in0_4_flexoren;
            in0_4_flexoren = out0_3_flexoren;
            out2_4_flexoren = out1_4_flexoren; out1_4_flexoren = out0_4_flexoren;           
            out0_4_flexoren = (NUM0_4*in0_4_flexoren + NUM1_4*in1_4_flexoren + NUM2_4*in2_4_flexoren - DEN1_4*out1_4_flexoren - DEN2_4*out2_4_flexoren ) / DEN0_4;
            
            sig_out = out0_4_flexoren;
            break;
        case 4:
            // signaal filteren op 15 Hz HIGHPASS
            in4_extensoren = in3_extensoren; in3_extensoren = in2_extensoren; in2_extensoren = in1_extensoren; in1_extensoren = in0_extensoren;
            in0_extensoren = emg_extensoren.read();
            out4_extensoren = out3_extensoren; out3_extensoren = out2_extensoren; out2_extensoren = out1_extensoren; out1_extensoren = out0_extensoren;           
            out0_extensoren = (NUM0*in0_extensoren + NUM1*in1_extensoren + NUM2*in2_extensoren + NUM3*in3_extensoren + NUM4*in4_extensoren - DEN1*out1_extensoren - DEN2*out2_extensoren - DEN3*out3_extensoren - DEN4*out4_extensoren ) / DEN0;                      
    
            //signaal filteren op 40 HZ LOWPASS
            in4_2_extensoren = in3_2_extensoren; in3_2_extensoren = in2_2_extensoren; in2_2_extensoren = in1_2_extensoren; in1_2_extensoren = in0_2_extensoren;
            in0_2_extensoren = out0_extensoren;
            out4_2_extensoren = out3_2_extensoren; out3_2_extensoren = out2_2_extensoren; out2_2_extensoren = out1_2_extensoren; out1_2_extensoren = out0_2_extensoren;           
            out0_2_extensoren = (NUM0_2*in0_2_extensoren + NUM1_2*in1_2_extensoren + NUM2_2*in2_2_extensoren + NUM3_2*in3_2_extensoren + NUM4_2*in4_2_extensoren - DEN1_2*out1_2_extensoren - DEN2_2*out2_2_extensoren - DEN3_2*out3_2_extensoren - DEN4_2*out4_2_extensoren ) / DEN0_2;
      
            //signaal filteren op 5Hz LOWPASS
            in4_3_extensoren = in3_3_extensoren; in3_3_extensoren = in2_3_extensoren; in2_3_extensoren = in1_3_extensoren; in1_3_extensoren = in0_3_extensoren;
            in0_3_extensoren = abs(out0_2_extensoren);
            out4_3_extensoren = out3_3_extensoren; out3_3_extensoren = out2_3_extensoren; out2_3_extensoren = out1_3_extensoren; out1_3_extensoren = out0_3_extensoren;           
            out0_3_extensoren = (NUM0_3*in0_3_extensoren + NUM1_3*in1_3_extensoren + NUM2_3*in2_3_extensoren + NUM3_3*in3_3_extensoren + NUM4_3*in4_3_extensoren - DEN1_3*out1_3_extensoren - DEN2_3*out2_3_extensoren - DEN3_3*out3_3_extensoren - DEN4_3*out4_3_extensoren ) / DEN0_3;    
            
            //signaal filteren op .5 HZ HIGHPASS
            in2_4_extensoren = in1_4_extensoren; in1_4_extensoren = in0_4_extensoren;
            in0_4_extensoren = out0_3_extensoren;
            out2_4_extensoren = out1_4_extensoren; out1_4_extensoren = out0_4_extensoren;           
            out0_4_extensoren = (NUM0_4*in0_4_extensoren + NUM1_4*in1_4_extensoren + NUM2_4*in2_4_extensoren - DEN1_4*out1_4_extensoren - DEN2_4*out2_4_extensoren ) / DEN0_4;
            
            sig_out = out0_4_extensoren;
            break;
    }
    return sig_out;
}

void looper()
{   float emg_value_biceps;
    float emg_value_triceps;
    float emg_value_flexoren;
    float emg_value_extensoren;
    float dy;
    emg_value_biceps = 100*filter(1);
    emg_value_triceps = 100*filter(2);
    //emg_value_flexoren = 100*filter(3);
    //emg_value_extensoren = 100*filter(4);
    
    /*if(emg_value_biceps < 0.10){
        emg_value_biceps=0;
        }
    else {
        emg_value_biceps = emg_value_biceps;
         }
    if(emg_value_triceps < 0.10){
        emg_value_triceps=0;
         }
    else {
        emg_value_triceps=emg_value_triceps;
         }
    */     
    dy = emg_value_biceps-emg_value_triceps;
    if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30)
        pc.printf("%.6f, %.6f\n",emg_value_biceps,emg_value_triceps);
    /**When not using the LED, the above could also have been done this way:
    * pc.printf("%.6\n", emg0.read());
    */
}

int main()
{
    /*setup baudrate. Choose the same in your program on PC side*/
    pc.baud(115200);
    /*set the period for the PWM to the red LED*/
    red.period_ms(2);
    /**Here you attach the 'void looper(void)' function to the Ticker object
    * The looper() function will be called every 0.001 seconds.
    * Please mind that the parentheses after looper are omitted when using attach.
    */
    timer.attach(looper, 0.01);
    while(1) //Loop
    {
      /*Empty!*/
      /*Everything is handled by the interrupt routine now!*/
    }
}