Yoichi Nagashima
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CQ_nagasm_10_Lissajous
NucleoF401RE EMG seneor with Lissajous Analysis
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00001 unsigned char rxFIFO[256], txFIFO[256], raw_data[6]; 00002 unsigned char rx_top, rx_end, tx_top, tx_end, phase; 00003 float mean_sum1, mean_sum2, ad_data1[101], ad_data2[101]; 00004 int timer_value[6], max_count, gain, ad_pointer1, ad_pointer2; 00005 float a1, a2, b1, c0, y1[3], y2[3]; 00006 int notch_1, notch_2; 00007 float data1, data2, data3; 00008 const float _60Hz_a1 = 1.936768, _60Hz_a2 = -0.939101, _60Hz_b1 = -1.998579, _60Hz_c0 = 1.642174; 00009 const float _50Hz_a1 = 1.937188, _50Hz_a2 = -0.939101, _50Hz_b1 = -1.999013, _50Hz_c0 = 1.938304; 00010 00011 RawSerial xbee(PA_2, PA_3); 00012 Ticker timer_setup; 00013 AnalogIn analog_value0(A0); 00014 AnalogIn analog_value1(A1); 00015 AnalogIn analog_value2(A2); 00016 AnalogIn analog_value3(A3); 00017 DigitalOut myled(LED1); 00018 00019 void sum_clear(){ 00020 int i; 00021 for (i=0; i<101; i++) ad_data1[i] = ad_data2[i] = 0; 00022 ad_pointer1 = ad_pointer2 = mean_sum1 = mean_sum2 = 0; 00023 } 00024 00025 void coef_set(int herz){ 00026 if(herz < 55){ 00027 a1 = _50Hz_a1; 00028 a2 = _50Hz_a2; 00029 b1 = _50Hz_b1; 00030 c0 = _50Hz_c0; 00031 } 00032 else{ 00033 a1 = _60Hz_a1; 00034 a2 = _60Hz_a2; 00035 b1 = _60Hz_b1; 00036 c0 = _60Hz_c0; 00037 } 00038 for (int i=0; i<3; i++) y1[i] = y2[i] = 0; 00039 } 00040 void common_setup(){ 00041 rx_top = rx_end = tx_top = tx_end = phase = 0; 00042 max_count = 100; 00043 gain = 5; 00044 sum_clear(); 00045 notch_1 = notch_2 = 1; 00046 coef_set(60); 00047 } 00048 00049 void timer_interrupt(){ 00050 int i; 00051 for (i=0; i<6; i++) timer_value[i]++; 00052 } 00053 00054 void tx_fifo_check(){ 00055 if(xbee.writeable() == 1){ 00056 if(tx_top != tx_end){ 00057 xbee.putc(txFIFO[tx_end]); 00058 ++tx_end &= 255; 00059 } 00060 } 00061 } 00062 00063 int rx_fifo_check(){ 00064 unsigned char data; 00065 if(rx_top != rx_end){ 00066 data = rxFIFO[rx_end]; 00067 ++rx_end &= 255; 00068 if (data < 33){ 00069 phase = 0; 00070 return(1); 00071 } 00072 raw_data[phase] = data; 00073 if(++phase > 5) phase = 0; 00074 return(0); 00075 } 00076 return(0); 00077 } 00078 00079 void rx_fifoset(void){ 00080 rxFIFO[rx_top] = xbee.getc(); 00081 ++rx_top &= 255; 00082 } 00083 00084 void tx_fifoset(unsigned char data){ 00085 txFIFO[tx_top] = data; 00086 ++tx_top &= 255; 00087 } 00088 00089 unsigned char hex_conv(unsigned char data){ 00090 data &= 15; 00091 if(data < 10) return(data+48); 00092 else return(data+55); 00093 } 00094 00095 unsigned char conv_hex(unsigned char data){ 00096 if((data > 47) && (data < 58)) return(data-48); 00097 else if((data > 64) && (data < 71)) return(data-55); 00098 return(0); 00099 } 00100 00101 void tx_message(int data){ 00102 int i; 00103 for (i=0; i<6; i++) tx_fifoset(hex_conv((data>>(4*(5-i))) & 15)); 00104 tx_fifoset(13); 00105 } 00106 00107 float move_mean_calc1(float data){ 00108 mean_sum1 = mean_sum1 - ad_data1[ad_pointer1] + data; 00109 ad_data1[ad_pointer1] = data; 00110 ad_pointer1++; 00111 if(ad_pointer1 == max_count) ad_pointer1 = 0; 00112 return(mean_sum1 / (float)max_count); 00113 } 00114 00115 float move_mean_calc2(float data){ 00116 mean_sum2 = mean_sum2 - ad_data2[ad_pointer2] + data; 00117 ad_data2[ad_pointer2] = data; 00118 ad_pointer2++; 00119 if(ad_pointer2 == max_count) ad_pointer2 = 0; 00120 return(mean_sum2 / (float)max_count); 00121 }
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