Jorick Leferink
/
new_program
ff de static float variabelen definieren voor de triceps, flexoren en de extensoren.
main.cpp
- Committer:
- jorick92
- Date:
- 2013-10-31
- Revision:
- 0:8aa426d4db1f
File content as of revision 0:8aa426d4db1f:
#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 //variabelen definieren 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; 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; 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; /** 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 float emg_value;" instead of "float 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. **/ float filter(float value, int sig_number){ switch(sig_number){ case 1: break; case 2: break; case 3: break; case 4: break; } } void looper() { float emg_value; /*put raw emg value both in red and in emg_value*/ /*send value to PC. use 6 digits after decimal sign*/ // 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; emg_value = out0_3_biceps; if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) pc.printf("%.6f\n",emg_value); /**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!*/ } }