manabu kosaka / Mbed 2 deprecated EMGbasic

Skelton of EMG input method program using timer interrupt and thread.

Dependencies:   QEI mbed-rtos mbed

Fork of DCmotor by manabu kosaka

main.cpp@11:61883be906e2, 2012-11-30 (annotated)

Committer:
kosaka
Date:
Fri Nov 30 11:06:48 2012 +0000
Revision:
11:61883be906e2
Parent:
10:6be424b58abe 
debug

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kosaka 8:0540582a220e 1 // Skelton of EMG input method program using timer interrupt and thread.
kosaka 11:61883be906e2 2 // ver. 121130a by Kosaka lab.
kosaka 0:fe068497f773 3 #include "mbed.h"
kosaka 0:fe068497f773 4 #include "rtos.h"
kosaka 0:fe068497f773 5 #define PI 3.14159265358979 // def. of PI
kosaka 0:fe068497f773 6 /*********** User setting for control parameters (begin) ***************/
kosaka 8:0540582a220e 7 AnalogIn emg(p20); // *3.3 [V], Volt of emg from detection cirquit
kosaka 8:0540582a220e 8 #define N_COUNT 5000 // keep N_COUNT data to identify japanese chracter.
kosaka 8:0540582a220e 9 #define TS 0.0001 // [s], TS, sampling time[s] to detect emg from AD.
kosaka 8:0540582a220e 10 #define TMAX 5 // [s], experiment starts from 0[s] to TMAX[s]
kosaka 0:fe068497f773 11 /*********** User setting for control parameters (end) ***************/
kosaka 11:61883be906e2 12
kosaka 0:fe068497f773 13 Serial pc(USBTX, USBRX); // Display on tera term in PC
kosaka 0:fe068497f773 14 LocalFileSystem local("local"); // save data to mbed USB disk drive in PC
kosaka 0:fe068497f773 15 //Semaphore semaphore1(1); // wait and release to protect memories and so on
kosaka 0:fe068497f773 16 //Mutex stdio_mutex; // wait and release to protect memories and so on
kosaka 8:0540582a220e 17 Ticker timer_interrupt; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer.
kosaka 11:61883be906e2 18
kosaka 8:0540582a220e 19 //extern "C" void mbed_reset(); // if called, mbed is resset.
kosaka 11:61883be906e2 20
kosaka 8:0540582a220e 21 float _emg_data[N_COUNT];// emg raw data
kosaka 8:0540582a220e 22 unsigned long _count=0; // sampling number for emg detection.
kosaka 8:0540582a220e 23 unsigned long _count2=0; // = _count/N_COUNT
kosaka 11:61883be906e2 24
kosaka 8:0540582a220e 25 DigitalOut led1(LED1); // for debug
kosaka 8:0540582a220e 26 DigitalOut led2(LED2); // for debug
kosaka 11:61883be906e2 27 DigitalOut led3(LED3); // for debug
kosaka 11:61883be906e2 28
kosaka 8:0540582a220e 29 float _char=0; //-------- make japanese character from emg
kosaka 8:0540582a220e 30 FILE *fp; // save data to PC
kosaka 8:0540582a220e 31 unsigned char _f_req_slow=0; // flag requesting slow()
kosaka 8:0540582a220e 32 unsigned char _f_req_slowest=0; // flag requesting slowest()
kosaka 11:61883be906e2 33
kosaka 11:61883be906e2 34
kosaka 8:0540582a220e 35 void disp2PC(){ //-------- display japanese character to tera term on PC
kosaka 8:0540582a220e 36 pc.printf(" d %f\r\n",_char);
kosaka 0:fe068497f773 37 }
kosaka 11:61883be906e2 38
kosaka 8:0540582a220e 39 void discriminateEMG(){ //-------- discriminate EMG to make japanese character
kosaka 8:0540582a220e 40 int i;
kosaka 8:0540582a220e 41 float x;
kosaka 11:61883be906e2 42
kosaka 8:0540582a220e 43 x = 0;
kosaka 8:0540582a220e 44 for( i=0;i<N_COUNT;i++){
kosaka 8:0540582a220e 45 x = x + _emg_data[i];
kosaka 0:fe068497f773 46 }
kosaka 8:0540582a220e 47 _char = x; // _char = emg_data[0] + emg_data[1] + emg_data[2] + ...
kosaka 8:0540582a220e 48 pc.printf(" s\r\n");
kosaka 0:fe068497f773 49 }
kosaka 11:61883be906e2 50
kosaka 11:61883be906e2 51
kosaka 8:0540582a220e 52 //---------------- from here, timer interrupt and threads ---------------
kosaka 11:61883be906e2 53
kosaka 8:0540582a220e 54 void slowest(void const *argument) { // thread priority: Low
kosaka 8:0540582a220e 55 while(true){
kosaka 8:0540582a220e 56 if( _f_req_slowest == 1 ){ // if slowest() is requested.
kosaka 11:61883be906e2 57 led3 = 1; // check calculate time
kosaka 8:0540582a220e 58 // function();
kosaka 8:0540582a220e 59 _f_req_slowest = 0; // release to request slowest()
kosaka 11:61883be906e2 60 Thread::wait(100);
kosaka 11:61883be906e2 61 led3 = 0; // check calculate time
kosaka 8:0540582a220e 62 }
kosaka 0:fe068497f773 63 }
kosaka 0:fe068497f773 64 }
kosaka 11:61883be906e2 65
kosaka 8:0540582a220e 66 void slow(void const *argument) { // thread priority: below normal
kosaka 0:fe068497f773 67 while(true){
kosaka 8:0540582a220e 68 if( _f_req_slow == 1 ){ // if slow() is requested.
kosaka 8:0540582a220e 69 led2 = 1; // check calculate time
kosaka 8:0540582a220e 70 discriminateEMG(); //-------- discriminate EMG to make japanese character
kosaka 8:0540582a220e 71 disp2PC(); //-------- display japanese character to tera term on PC
kosaka 8:0540582a220e 72 _f_req_slow = 0; // release to request slow()
kosaka 8:0540582a220e 73 _f_req_slowest = 1; // request slowest()
kosaka 8:0540582a220e 74 led2 = 0; // check calculate time
kosaka 7:613febb8f028 75 }
kosaka 11:61883be906e2 76 Thread::wait(1); // wait 1ms to give time with slowest()
kosaka 8:0540582a220e 77 }
kosaka 8:0540582a220e 78 }
kosaka 11:61883be906e2 79
kosaka 8:0540582a220e 80 void fastest() { // ticker using TIMER3 interrupt
kosaka 8:0540582a220e 81 led1 = 1; // check calculate time
kosaka 8:0540582a220e 82 // if( led1==0 ){ led1=1;}else{ led1=0;}// for debug
kosaka 8:0540582a220e 83 _emg_data[_count] = emg;
kosaka 8:0540582a220e 84 _count = _count + 1;
kosaka 8:0540582a220e 85 if( _count==N_COUNT ){
kosaka 8:0540582a220e 86 _count = 0;
kosaka 8:0540582a220e 87 _count2 += 1;
kosaka 8:0540582a220e 88 _f_req_slow = 1; // request slow()
kosaka 8:0540582a220e 89 }
kosaka 8:0540582a220e 90 led1 = 0; // check calculate time
kosaka 0:fe068497f773 91 }
kosaka 11:61883be906e2 92
kosaka 0:fe068497f773 93 int main() {
kosaka 8:0540582a220e 94 Thread threadSlow(slow,NULL,osPriorityBelowNormal); // call thread slow()
kosaka 8:0540582a220e 95 Thread threadSlowest(slowest,NULL,osPriorityLow); // call thread slowest()
kosaka 11:61883be906e2 96
kosaka 8:0540582a220e 97 pc.printf("Start!!\r\n");
kosaka 8:0540582a220e 98 // if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // open mbed USB drive
kosaka 8:0540582a220e 99 timer_interrupt.attach(&fastest, TS ); // start timer interrupt: call fastest() on each TS[s].
kosaka 8:0540582a220e 100 while( _count2 < TMAX/TS/N_COUNT ){
kosaka 8:0540582a220e 101 Thread::wait(1000); // [ms], wait
kosaka 8:0540582a220e 102 }
kosaka 8:0540582a220e 103 timer_interrupt.detach(); // stop timer interrupt fastest
kosaka 8:0540582a220e 104 // fclose( fp ); // release mbed USB drive
kosaka 8:0540582a220e 105 pc.printf("Completed!!\r\n\r\n");
kosaka 8:0540582a220e 106 }
kosaka 0:fe068497f773 107 // osStatus set_priority(osPriority osPriorityBelowNormal );
kosaka 0:fe068497f773 108 // Priority of Thread (RtosTimer has no priority?)
kosaka 0:fe068497f773 109 // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!!
kosaka 0:fe068497f773 110 // osPriorityLow = -2, ///< priority: low
kosaka 0:fe068497f773 111 // osPriorityBelowNormal = -1, ///< priority: below normal
kosaka 0:fe068497f773 112 // osPriorityNormal = 0, ///< priority: normal (default)
kosaka 0:fe068497f773 113 // osPriorityAboveNormal = +1, ///< priority: above normal
kosaka 0:fe068497f773 114 // osPriorityHigh = +2, ///< priority: high
kosaka 0:fe068497f773 115 // osPriorityRealtime = +3, ///< priority: realtime (highest)
kosaka 0:fe068497f773 116 // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
kosaka 11:61883be906e2 117
kosaka 11:61883be906e2 118