Yoichi Nagashima / Mbed 2 deprecated CQ_nagasm_09_emergency

NucleoF401RE EMG sensor with Artifact Filter, Notch Filter, etc

Dependencies:   mbed

sub.hpp@1:7bccad3c277f, 2014-12-20 (annotated)

Committer:
nagasm
Date:
Sat Dec 20 02:09:12 2014 +0000
Revision:
1:7bccad3c277f
Parent:
0:805cf4bfa472 
revised

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nagasm 0:805cf4bfa472 1 unsigned char rxFIFO[256], txFIFO[256], raw_data[6];
nagasm 0:805cf4bfa472 2 unsigned char rx_top, rx_end, tx_top, tx_end, phase;
nagasm 0:805cf4bfa472 3 float mean_sum1, mean_sum2, ad_data1[101], ad_data2[101];
nagasm 0:805cf4bfa472 4 int timer_value[6], max_count, fir_lpf, gain, ad_pointer1, ad_pointer2;
nagasm 0:805cf4bfa472 5 const int order = 200;
nagasm 0:805cf4bfa472 6 float xn1[order+1], xn2[order+1];
nagasm 0:805cf4bfa472 7 float a1, a2, b1, c0, y1[3], y2[3], old_1, old_2;
nagasm 0:805cf4bfa472 8 int notch_1, notch_2, emergence, em_count1, em_count2;
nagasm 0:805cf4bfa472 9 const float _60Hz_a1 = 1.936768, _60Hz_a2 = -0.939101, _60Hz_b1 = -1.998579, _60Hz_c0 = 1.642174;
nagasm 0:805cf4bfa472 10 const float _50Hz_a1 = 1.937188, _50Hz_a2 = -0.939101, _50Hz_b1 = -1.999013, _50Hz_c0 = 1.938304;
nagasm 0:805cf4bfa472 11
nagasm 0:805cf4bfa472 12 RawSerial xbee(PA_2, PA_3);
nagasm 0:805cf4bfa472 13 Ticker timer_setup;
nagasm 0:805cf4bfa472 14 AnalogIn analog_value0(A0);
nagasm 0:805cf4bfa472 15 AnalogIn analog_value1(A1);
nagasm 0:805cf4bfa472 16 AnalogIn analog_value2(A2);
nagasm 0:805cf4bfa472 17 AnalogIn analog_value3(A3);
nagasm 0:805cf4bfa472 18 DigitalOut myled(LED1);
nagasm 0:805cf4bfa472 19
nagasm 0:805cf4bfa472 20 void sum_clear(){
nagasm 0:805cf4bfa472 21 int i;
nagasm 0:805cf4bfa472 22 for (i=0; i<101; i++) ad_data1[i] = ad_data2[i] = 0;
nagasm 0:805cf4bfa472 23 ad_pointer1 = ad_pointer2 = mean_sum1 = mean_sum2 = 0;
nagasm 0:805cf4bfa472 24 }
nagasm 0:805cf4bfa472 25
nagasm 0:805cf4bfa472 26 void coef_set(int herz){
nagasm 0:805cf4bfa472 27 if(herz < 55){
nagasm 0:805cf4bfa472 28 a1 = _50Hz_a1;
nagasm 0:805cf4bfa472 29 a2 = _50Hz_a2;
nagasm 0:805cf4bfa472 30 b1 = _50Hz_b1;
nagasm 0:805cf4bfa472 31 c0 = _50Hz_c0;
nagasm 0:805cf4bfa472 32 }
nagasm 0:805cf4bfa472 33 else{
nagasm 0:805cf4bfa472 34 a1 = _60Hz_a1;
nagasm 0:805cf4bfa472 35 a2 = _60Hz_a2;
nagasm 0:805cf4bfa472 36 b1 = _60Hz_b1;
nagasm 0:805cf4bfa472 37 c0 = _60Hz_c0;
nagasm 0:805cf4bfa472 38 }
nagasm 0:805cf4bfa472 39 for (int i=0; i<3; i++) y1[i] = y2[i] = 0;
nagasm 0:805cf4bfa472 40 }
nagasm 0:805cf4bfa472 41 void common_setup(){
nagasm 0:805cf4bfa472 42 int i;
nagasm 0:805cf4bfa472 43 rx_top = rx_end = tx_top = tx_end = phase = 0;
nagasm 0:805cf4bfa472 44 em_count1 = em_count2 = 0;
nagasm 0:805cf4bfa472 45 max_count = 100;
nagasm 0:805cf4bfa472 46 fir_lpf = emergence = old_1 = old_2 = 0;
nagasm 0:805cf4bfa472 47 gain = 5;
nagasm 0:805cf4bfa472 48 for (i=0; i<3; i++) timer_value[i] = 0;
nagasm 0:805cf4bfa472 49 timer_value[3] = 10;
nagasm 0:805cf4bfa472 50 timer_value[4] = 1500;
nagasm 0:805cf4bfa472 51 for (i=0; i<=order; i++) xn1[i] = xn2[i] = 0.0;
nagasm 0:805cf4bfa472 52 sum_clear();
nagasm 1:7bccad3c277f 53 notch_1 = notch_2 = 1;
nagasm 0:805cf4bfa472 54 coef_set(60);
nagasm 0:805cf4bfa472 55 }
nagasm 0:805cf4bfa472 56
nagasm 0:805cf4bfa472 57 void timer_interrupt(){
nagasm 0:805cf4bfa472 58 int i;
nagasm 0:805cf4bfa472 59 for (i=0; i<6; i++) timer_value[i]++;
nagasm 0:805cf4bfa472 60 }
nagasm 0:805cf4bfa472 61
nagasm 0:805cf4bfa472 62 void tx_fifo_check(){
nagasm 0:805cf4bfa472 63 if(xbee.writeable() == 1){
nagasm 0:805cf4bfa472 64 if(tx_top != tx_end){
nagasm 0:805cf4bfa472 65 xbee.putc(txFIFO[tx_end]);
nagasm 0:805cf4bfa472 66 ++tx_end &= 255;
nagasm 0:805cf4bfa472 67 }
nagasm 0:805cf4bfa472 68 }
nagasm 0:805cf4bfa472 69 }
nagasm 0:805cf4bfa472 70
nagasm 0:805cf4bfa472 71 int rx_fifo_check(){
nagasm 0:805cf4bfa472 72 unsigned char data;
nagasm 0:805cf4bfa472 73 if(rx_top != rx_end){
nagasm 0:805cf4bfa472 74 data = rxFIFO[rx_end];
nagasm 0:805cf4bfa472 75 ++rx_end &= 255;
nagasm 0:805cf4bfa472 76 if (data < 33){
nagasm 0:805cf4bfa472 77 phase = 0;
nagasm 0:805cf4bfa472 78 return(1);
nagasm 0:805cf4bfa472 79 }
nagasm 0:805cf4bfa472 80 raw_data[phase] = data;
nagasm 0:805cf4bfa472 81 if(++phase > 5) phase = 0;
nagasm 0:805cf4bfa472 82 return(0);
nagasm 0:805cf4bfa472 83 }
nagasm 0:805cf4bfa472 84 return(0);
nagasm 0:805cf4bfa472 85 }
nagasm 0:805cf4bfa472 86
nagasm 0:805cf4bfa472 87 void rx_fifoset(void){
nagasm 0:805cf4bfa472 88 rxFIFO[rx_top] = xbee.getc();
nagasm 0:805cf4bfa472 89 ++rx_top &= 255;
nagasm 0:805cf4bfa472 90 }
nagasm 0:805cf4bfa472 91
nagasm 0:805cf4bfa472 92 void tx_fifoset(unsigned char data){
nagasm 0:805cf4bfa472 93 txFIFO[tx_top] = data;
nagasm 0:805cf4bfa472 94 ++tx_top &= 255;
nagasm 0:805cf4bfa472 95 }
nagasm 0:805cf4bfa472 96
nagasm 0:805cf4bfa472 97 unsigned char hex_conv(unsigned char data){
nagasm 0:805cf4bfa472 98 data &= 15;
nagasm 0:805cf4bfa472 99 if(data < 10) return(data+48);
nagasm 0:805cf4bfa472 100 else return(data+55);
nagasm 0:805cf4bfa472 101 }
nagasm 0:805cf4bfa472 102
nagasm 0:805cf4bfa472 103 unsigned char conv_hex(unsigned char data){
nagasm 0:805cf4bfa472 104 if((data > 47) && (data < 58)) return(data-48);
nagasm 0:805cf4bfa472 105 else if((data > 64) && (data < 71)) return(data-55);
nagasm 0:805cf4bfa472 106 return(0);
nagasm 0:805cf4bfa472 107 }
nagasm 0:805cf4bfa472 108
nagasm 0:805cf4bfa472 109 void tx_message(int data){
nagasm 0:805cf4bfa472 110 int i;
nagasm 0:805cf4bfa472 111 for (i=0; i<6; i++) tx_fifoset(hex_conv((data>>(4*(5-i))) & 15));
nagasm 0:805cf4bfa472 112 tx_fifoset(13);
nagasm 0:805cf4bfa472 113 }
nagasm 0:805cf4bfa472 114
nagasm 0:805cf4bfa472 115 float move_mean_calc1(float data){
nagasm 0:805cf4bfa472 116 mean_sum1 = mean_sum1 - ad_data1[ad_pointer1] + data;
nagasm 0:805cf4bfa472 117 ad_data1[ad_pointer1] = data;
nagasm 0:805cf4bfa472 118 ad_pointer1++;
nagasm 0:805cf4bfa472 119 if(ad_pointer1 == max_count) ad_pointer1 = 0;
nagasm 0:805cf4bfa472 120 return(mean_sum1 / (float)max_count);
nagasm 0:805cf4bfa472 121 }
nagasm 0:805cf4bfa472 122
nagasm 0:805cf4bfa472 123 float move_mean_calc2(float data){
nagasm 0:805cf4bfa472 124 mean_sum2 = mean_sum2 - ad_data2[ad_pointer2] + data;
nagasm 0:805cf4bfa472 125 ad_data2[ad_pointer2] = data;
nagasm 0:805cf4bfa472 126 ad_pointer2++;
nagasm 0:805cf4bfa472 127 if(ad_pointer2 == max_count) ad_pointer2 = 0;
nagasm 0:805cf4bfa472 128 return(mean_sum2 / (float)max_count);
nagasm 0:805cf4bfa472 129 }