First Last / Mbed 2 deprecated BMT-K9-Groep7

Initial version

Dependencies:   MODSERIAL mbed

main.cpp@3:57c5633df1ca, 2013-10-17 (annotated)

Committer:
vsluiter
Date:
Thu Oct 17 09:29:52 2013 +0000
Revision:
3:57c5633df1ca
Parent:
2:60fc72e8ff66
Child:
4:d0b4c806f4ea
Variables that need to be rembered within a function have to be declared static!!; Otherwise make them global

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:3843c26cd5fd 1 #include "mbed.h"
vsluiter 0:3843c26cd5fd 2 #include "MODSERIAL.h"
vsluiter 0:3843c26cd5fd 3
vsluiter 0:3843c26cd5fd 4 //Define objects
vsluiter 0:3843c26cd5fd 5 AnalogIn emg_biceps(PTB0); //Analog input
vsluiter 0:3843c26cd5fd 6 PwmOut red(LED_RED); // EMG meting
vsluiter 0:3843c26cd5fd 7 // PwmOut blue(LED_BLUE); // uitgangssignaal controle
vsluiter 0:3843c26cd5fd 8 // PwmOut green(LED_GREEN);
vsluiter 0:3843c26cd5fd 9
vsluiter 0:3843c26cd5fd 10 Ticker timer;
vsluiter 0:3843c26cd5fd 11 MODSERIAL pc(USBTX,USBRX,64,1024);
vsluiter 0:3843c26cd5fd 12
vsluiter 2:60fc72e8ff66 13 #define GAIN_BICEPS 1
vsluiter 2:60fc72e8ff66 14 #define MAXCOUNT 50
vsluiter 0:3843c26cd5fd 15
vsluiter 0:3843c26cd5fd 16 #define NUM0 0.8841 // constante
vsluiter 0:3843c26cd5fd 17 #define NUM1 -3.53647 // z^-1
vsluiter 0:3843c26cd5fd 18 #define NUM2 5.3046 // z^-2etc.
vsluiter 0:3843c26cd5fd 19 #define NUM3 -3.5364
vsluiter 0:3843c26cd5fd 20 #define NUM4 0.8841
vsluiter 0:3843c26cd5fd 21
vsluiter 0:3843c26cd5fd 22 #define DEN0 1 // constante
vsluiter 0:3843c26cd5fd 23 #define DEN1 -3.7538
vsluiter 0:3843c26cd5fd 24 #define DEN2 5.2912
vsluiter 0:3843c26cd5fd 25 #define DEN3 -3.3189
vsluiter 0:3843c26cd5fd 26 #define DEN4 0.7816
vsluiter 0:3843c26cd5fd 27
vsluiter 0:3843c26cd5fd 28 /* hou in de gaten welke waarden globaal gedefinieerd moeten worden*/
vsluiter 0:3843c26cd5fd 29 float count; float square_biceps; float sum_biceps; float mean_biceps;
vsluiter 0:3843c26cd5fd 30
vsluiter 0:3843c26cd5fd 31 void looper()
vsluiter 0:3843c26cd5fd 32 {
vsluiter 0:3843c26cd5fd 33 /*value0 is huidig, 1 is t-1, 2 is t-2 etc. Gebruik later aanduidingen ABCD. */
vsluiter 3:57c5633df1ca 34 static char startup = 0;
vsluiter 3:57c5633df1ca 35 float mean;
vsluiter 0:3843c26cd5fd 36 float sig_out_biceps;
vsluiter 3:57c5633df1ca 37 static float in0,in1,in2,in3,in4;
vsluiter 3:57c5633df1ca 38 static float out0,out1,out2,out3,out4;
vsluiter 2:60fc72e8ff66 39 float emg_abs; // square, mean en count eerder gedefinieerd
vsluiter 0:3843c26cd5fd 40 if (startup != 1)
vsluiter 2:60fc72e8ff66 41 {in0 = in1 = in2 = in3 = in4 = 0;
vsluiter 2:60fc72e8ff66 42 out0 = out1 = out2 = out3 = out4 = 0;
vsluiter 2:60fc72e8ff66 43 count = 0; square_biceps = 0; sum_biceps = 0; mean_biceps = 0.2; startup = 1;
vsluiter 2:60fc72e8ff66 44 }
vsluiter 0:3843c26cd5fd 45 in4 = in3; in3 = in4; in3 = in2; in2 = in1; in1 = in0;
vsluiter 0:3843c26cd5fd 46 in0 = emg_biceps.read();
vsluiter 0:3843c26cd5fd 47 red = in0;
vsluiter 0:3843c26cd5fd 48 /* rode led aan voor meting emg*/
vsluiter 0:3843c26cd5fd 49 out4 = out3; out3 = out2; out2 = out1; out1 = out0;
vsluiter 0:3843c26cd5fd 50 out0 = (NUM0*in0 + NUM1*in1 + NUM2*in2 + NUM3*in3 + NUM4*in4 - DEN1*out1 - DEN2*out2 - DEN3*out3 - DEN4*out4 ) / DEN0;
vsluiter 0:3843c26cd5fd 51
vsluiter 0:3843c26cd5fd 52 /*send value to PC. use 6 digits after decimal sign*/
vsluiter 0:3843c26cd5fd 53 //if(pc.rxBufferGetSize(0)-pc.rxBufferGetCount() > 30) // ! Testen filter: gebruik de if om de serial optimaal te gebruiken.
vsluiter 0:3843c26cd5fd 54 //pc.printf("%.6f\n",emg_out_biceps);
vsluiter 0:3843c26cd5fd 55 /**When not using the LED, the above could also have been done this way:
vsluiter 0:3843c26cd5fd 56 * pc.printf("%.6\n", emg0.read());
vsluiter 0:3843c26cd5fd 57 */
vsluiter 2:60fc72e8ff66 58
vsluiter 0:3843c26cd5fd 59 emg_abs = fabs(out0);
vsluiter 0:3843c26cd5fd 60 mean = mean_biceps;
vsluiter 0:3843c26cd5fd 61 sum_biceps += out0;
vsluiter 0:3843c26cd5fd 62 square_biceps += (emg_abs - mean)*(emg_abs - mean); //neem absolute waarde, kwadrateer, voeg toe aan vorige square
vsluiter 0:3843c26cd5fd 63 // voeg rest EMG's toe, variabelen alleen _spier geven als het nodig is.
vsluiter 0:3843c26cd5fd 64 count += 1; // hou bij hoeveel squares er zijn opgeteld
vsluiter 2:60fc72e8ff66 65 if (count >= MAXCOUNT)
vsluiter 0:3843c26cd5fd 66 { sig_out_biceps = sqrt(square_biceps/count);
vsluiter 0:3843c26cd5fd 67 mean_biceps = sum_biceps/count;
vsluiter 0:3843c26cd5fd 68 count= 0; square_biceps = 0; sum_biceps = 0; // en neem de RMS als er genoeg zijn geteld, stuur die door, en reset sqaure en count
vsluiter 1:3687c7cb0648 69 if(pc.txBufferGetSize(0)-pc.txBufferGetCount() > 30)
vsluiter 0:3843c26cd5fd 70 pc.printf("%.6f\n",sig_out_biceps);
vsluiter 0:3843c26cd5fd 71 }
vsluiter 0:3843c26cd5fd 72 }
vsluiter 0:3843c26cd5fd 73
vsluiter 0:3843c26cd5fd 74 int main()
vsluiter 0:3843c26cd5fd 75 {
vsluiter 0:3843c26cd5fd 76 /*setup baudrate. Choose the same in your program on PC side*/
vsluiter 0:3843c26cd5fd 77 pc.baud(115200);
vsluiter 0:3843c26cd5fd 78 /*set the period for the PWM to the red LED*/
vsluiter 0:3843c26cd5fd 79 red.period_ms(2); // periode pwm = 2*Fs , blijkbaar.
vsluiter 0:3843c26cd5fd 80 // blue.period_ms(2);
vsluiter 0:3843c26cd5fd 81 /**Here you attach the 'void looper(void)' function to the Ticker object0
vsluiter 0:3843c26cd5fd 82 * The looper() function will be called every 0.001 seconds.
vsluiter 0:3843c26cd5fd 83 * Please mind that the parentheses after looper are omitted when using attach.
vsluiter 0:3843c26cd5fd 84 */
vsluiter 0:3843c26cd5fd 85 timer.attach(looper, 0.001);
vsluiter 0:3843c26cd5fd 86 while(1) // Loop
vsluiter 0:3843c26cd5fd 87 {
vsluiter 0:3843c26cd5fd 88 // blue = sig_out_biceps;
vsluiter 0:3843c26cd5fd 89
vsluiter 0:3843c26cd5fd 90 }
vsluiter 0:3843c26cd5fd 91 }