M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@34:13fac02ef324, 2019-10-29 (annotated)

Committer:
Jellehierck
Date:
Tue Oct 29 13:50:28 2019 +0000
Revision:
34:13fac02ef324
Parent:
33:90404e64d844
Child:
35:e82834e62e44
Fixed bug with rescale function, emg state machine is finished

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IsaRobin 0:6972d0e91af1 1 //c++ script for filtering of measured EMG signals
IsaRobin 0:6972d0e91af1 2 #include "mbed.h" //Base library
IsaRobin 0:6972d0e91af1 3 #include "HIDScope.h" // to see if program is working and EMG is filtered properly
Jellehierck 2:d3e9788ab1b3 4 // #include "QEI.h"// is needed for the encoder
Jellehierck 8:ea3de43c9e8b 5 #include "MODSERIAL.h"// in order for connection with the pc
Jellehierck 2:d3e9788ab1b3 6 #include "BiQuad.h"
Jellehierck 2:d3e9788ab1b3 7 // #include "FastPWM.h"
Jellehierck 2:d3e9788ab1b3 8 // #include "Arduino.h" //misschien handig omdat we het EMG arduino board gebruiken (?)
Jellehierck 2:d3e9788ab1b3 9 // #include "EMGFilters.h"
IsaRobin 0:6972d0e91af1 10 #include <vector> // For easy array management
Jellehierck 7:7a088536f1c9 11 #include <numeric> // For manipulating array data
IsaRobin 0:6972d0e91af1 12
Jellehierck 15:421d3d9c563b 13 /*
Jellehierck 15:421d3d9c563b 14 ------ DEFINE MBED CONNECTIONS ------
Jellehierck 15:421d3d9c563b 15 */
IsaRobin 0:6972d0e91af1 16
Jellehierck 15:421d3d9c563b 17 // PC serial connection
Jellehierck 32:b9b9c50f5429 18 HIDScope scope( 4 );
Jellehierck 15:421d3d9c563b 19 MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 20
Jellehierck 4:09a01d2db8f7 21 // LED
Jellehierck 6:5437cc97e1e6 22 DigitalOut led_g(LED_GREEN);
Jellehierck 6:5437cc97e1e6 23 DigitalOut led_r(LED_RED);
Jellehierck 8:ea3de43c9e8b 24 DigitalOut led_b(LED_BLUE);
Jellehierck 8:ea3de43c9e8b 25
Jellehierck 8:ea3de43c9e8b 26 // Buttons
Jellehierck 8:ea3de43c9e8b 27 InterruptIn button1(D11);
Jellehierck 8:ea3de43c9e8b 28 InterruptIn button2(D10);
Jellehierck 12:70f0710400c2 29 InterruptIn button3(SW3);
Jellehierck 4:09a01d2db8f7 30
Jellehierck 16:7acbcc4aa35c 31 // EMG Substates
Jellehierck 26:7e81c7db6e7a 32 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates
Jellehierck 16:7acbcc4aa35c 33 EMG_States emg_curr_state; // Initialize EMG substate variable
Jellehierck 25:a1be4cf2ab0b 34 bool emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 35
Jellehierck 25:a1be4cf2ab0b 36 bool sampleNow = false;
Jellehierck 25:a1be4cf2ab0b 37 bool calibrateNow = false;
Jellehierck 25:a1be4cf2ab0b 38 bool emg_MVC_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 39 bool emg_rest_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 40
Jellehierck 25:a1be4cf2ab0b 41 bool button1_pressed = false;
Jellehierck 25:a1be4cf2ab0b 42 bool button2_pressed = false;
Jellehierck 16:7acbcc4aa35c 43
Jellehierck 15:421d3d9c563b 44 // Global variables for EMG reading
Jellehierck 15:421d3d9c563b 45 AnalogIn emg1_in (A1); // Right biceps, x axis
Jellehierck 15:421d3d9c563b 46 AnalogIn emg2_in (A2); // Left biceps, y axis
Jellehierck 15:421d3d9c563b 47 AnalogIn emg3_in (A3); // Third muscle, TBD
Jellehierck 15:421d3d9c563b 48
IsaRobin 0:6972d0e91af1 49 double emg1;
Jellehierck 26:7e81c7db6e7a 50 double emg1_env;
Jellehierck 12:70f0710400c2 51 double emg1_MVC;
Jellehierck 12:70f0710400c2 52 double emg1_rest;
Jellehierck 26:7e81c7db6e7a 53 double emg1_factor;
Jellehierck 26:7e81c7db6e7a 54 double emg1_th;
Jellehierck 26:7e81c7db6e7a 55 double emg1_out;
Jellehierck 31:b5188b6d45db 56 double emg1_norm;
Jellehierck 7:7a088536f1c9 57 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 58 int emg1_cal_size;
Jellehierck 7:7a088536f1c9 59
Jellehierck 15:421d3d9c563b 60 double emg2;
Jellehierck 26:7e81c7db6e7a 61 double emg2_env;
Jellehierck 15:421d3d9c563b 62 double emg2_MVC;
Jellehierck 15:421d3d9c563b 63 double emg2_rest;
Jellehierck 26:7e81c7db6e7a 64 double emg2_factor;
Jellehierck 26:7e81c7db6e7a 65 double emg2_th;
Jellehierck 26:7e81c7db6e7a 66 double emg2_out;
Jellehierck 31:b5188b6d45db 67 double emg2_norm;
Jellehierck 15:421d3d9c563b 68 vector<double> emg2_cal;
Jellehierck 25:a1be4cf2ab0b 69 int emg2_cal_size;
IsaRobin 0:6972d0e91af1 70
Jellehierck 15:421d3d9c563b 71 double emg3;
Jellehierck 26:7e81c7db6e7a 72 double emg3_env;
Jellehierck 15:421d3d9c563b 73 double emg3_MVC;
Jellehierck 15:421d3d9c563b 74 double emg3_rest;
Jellehierck 26:7e81c7db6e7a 75 double emg3_factor;
Jellehierck 26:7e81c7db6e7a 76 double emg3_th;
Jellehierck 26:7e81c7db6e7a 77 double emg3_out;
Jellehierck 31:b5188b6d45db 78 double emg3_norm;
Jellehierck 15:421d3d9c563b 79 vector<double> emg3_cal;
Jellehierck 25:a1be4cf2ab0b 80 int emg3_cal_size;
Jellehierck 15:421d3d9c563b 81
Jellehierck 15:421d3d9c563b 82 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 83 Ticker tickSample;
Jellehierck 15:421d3d9c563b 84 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 85 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 86 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 87
Jellehierck 15:421d3d9c563b 88 /*
Jellehierck 15:421d3d9c563b 89 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 90 */
Jellehierck 11:042170a9b93a 91 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 92 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 93 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 94
Jellehierck 15:421d3d9c563b 95 // Calculate global variables
Jellehierck 15:421d3d9c563b 96 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 97 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 98
Jellehierck 15:421d3d9c563b 99 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 100 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 101 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 102 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 103 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 104 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 105 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 106
Jellehierck 15:421d3d9c563b 107 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 108 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 109 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 110 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 111 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 112 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 113 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 114 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 115 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 116 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 117
Jellehierck 15:421d3d9c563b 118 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 119 BiQuad bq1_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 120 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 121 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 122 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 123 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 124 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 125 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 126 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 127 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 128
Jellehierck 15:421d3d9c563b 129 /*
Jellehierck 15:421d3d9c563b 130 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 131 */
Jellehierck 15:421d3d9c563b 132
Jellehierck 32:b9b9c50f5429 133 // Return max value of vector
Jellehierck 32:b9b9c50f5429 134 double getMax(const vector<double> &vect)
Jellehierck 32:b9b9c50f5429 135 {
Jellehierck 32:b9b9c50f5429 136 double curr_max = 0.0;
Jellehierck 32:b9b9c50f5429 137 int vect_n = vect.size();
Jellehierck 32:b9b9c50f5429 138
Jellehierck 32:b9b9c50f5429 139 for (int i = 0; i < vect_n; i++) {
Jellehierck 34:13fac02ef324 140 if (vect[i] > curr_max) { curr_max = vect[i]; };
Jellehierck 32:b9b9c50f5429 141 }
Jellehierck 32:b9b9c50f5429 142 return curr_max;
Jellehierck 32:b9b9c50f5429 143 }
Jellehierck 32:b9b9c50f5429 144
Jellehierck 15:421d3d9c563b 145 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 146 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 147 {
Jellehierck 8:ea3de43c9e8b 148 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 149 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 150
Jellehierck 8:ea3de43c9e8b 151 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 152 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 153 }
Jellehierck 8:ea3de43c9e8b 154 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 155 }
Jellehierck 8:ea3de43c9e8b 156
Jellehierck 15:421d3d9c563b 157 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 158 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 159 {
Jellehierck 8:ea3de43c9e8b 160 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 161 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 162
Jellehierck 8:ea3de43c9e8b 163 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 164 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 165 }
Jellehierck 8:ea3de43c9e8b 166 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 167 return output;
Jellehierck 7:7a088536f1c9 168 }
Jellehierck 7:7a088536f1c9 169
Jellehierck 26:7e81c7db6e7a 170 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 171 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 172 {
Jellehierck 26:7e81c7db6e7a 173 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 174 return output;
Jellehierck 26:7e81c7db6e7a 175 }
Jellehierck 26:7e81c7db6e7a 176
Jellehierck 25:a1be4cf2ab0b 177 // Handle button press
Jellehierck 25:a1be4cf2ab0b 178 void button1Press()
Jellehierck 25:a1be4cf2ab0b 179 {
Jellehierck 25:a1be4cf2ab0b 180 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 181 }
Jellehierck 25:a1be4cf2ab0b 182
Jellehierck 25:a1be4cf2ab0b 183 // Handle button press
Jellehierck 25:a1be4cf2ab0b 184 void button2Press()
Jellehierck 25:a1be4cf2ab0b 185 {
Jellehierck 25:a1be4cf2ab0b 186 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 187 }
Jellehierck 25:a1be4cf2ab0b 188
Jellehierck 15:421d3d9c563b 189 // Check filter stability
Jellehierck 6:5437cc97e1e6 190 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 191 {
Jellehierck 29:f51683a6cbbf 192 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 19:94dc52f8a59e 193 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 194 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 195
Jellehierck 11:042170a9b93a 196 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 197 return true;
Jellehierck 6:5437cc97e1e6 198 } else {
Jellehierck 6:5437cc97e1e6 199 return false;
Jellehierck 6:5437cc97e1e6 200 }
Jellehierck 6:5437cc97e1e6 201 }
Jellehierck 6:5437cc97e1e6 202
Jellehierck 15:421d3d9c563b 203 /*
Jellehierck 15:421d3d9c563b 204 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 205 */
Jellehierck 25:a1be4cf2ab0b 206 void sampleSignal()
Jellehierck 7:7a088536f1c9 207 {
Jellehierck 29:f51683a6cbbf 208 if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 25:a1be4cf2ab0b 209 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 210 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 211 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 212 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 213
Jellehierck 7:7a088536f1c9 214
Jellehierck 25:a1be4cf2ab0b 215 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 216 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 217 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 218 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 219
Jellehierck 25:a1be4cf2ab0b 220 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 221 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 222 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 223 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 224
Jellehierck 25:a1be4cf2ab0b 225 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 226 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 227 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 228 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 229
Jellehierck 29:f51683a6cbbf 230 if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 25:a1be4cf2ab0b 231 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 232 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 233 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 234 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 235 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 236 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 237 }
Jellehierck 25:a1be4cf2ab0b 238 }
Jellehierck 7:7a088536f1c9 239 }
Jellehierck 7:7a088536f1c9 240
Jellehierck 15:421d3d9c563b 241 /*
Jellehierck 25:a1be4cf2ab0b 242 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 243 */
Jellehierck 15:421d3d9c563b 244
Jellehierck 25:a1be4cf2ab0b 245 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 246 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 247 // Entry function
Jellehierck 25:a1be4cf2ab0b 248 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 249 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 250 // More functions
Jellehierck 25:a1be4cf2ab0b 251 }
Jellehierck 25:a1be4cf2ab0b 252
Jellehierck 25:a1be4cf2ab0b 253 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 254 doStuff();
Jellehierck 25:a1be4cf2ab0b 255
Jellehierck 25:a1be4cf2ab0b 256 // State transition guard
Jellehierck 25:a1be4cf2ab0b 257 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 258 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 259 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 260 // More functions
Jellehierck 25:a1be4cf2ab0b 261 }
Jellehierck 25:a1be4cf2ab0b 262 }
Jellehierck 25:a1be4cf2ab0b 263 */
Jellehierck 25:a1be4cf2ab0b 264
Jellehierck 25:a1be4cf2ab0b 265 // Finish up calibration
Jellehierck 22:9079c6c0d898 266 void calibrationFinished()
Jellehierck 7:7a088536f1c9 267 {
Jellehierck 22:9079c6c0d898 268 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 269 case emg_cal_MVC:
Jellehierck 32:b9b9c50f5429 270 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 271 emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 272 emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
Jellehierck 25:a1be4cf2ab0b 273
Jellehierck 29:f51683a6cbbf 274 emg_MVC_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 275 break;
Jellehierck 22:9079c6c0d898 276 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 277 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 278 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 25:a1be4cf2ab0b 279 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 29:f51683a6cbbf 280 emg_rest_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 281 break;
Jellehierck 22:9079c6c0d898 282 }
Jellehierck 23:8a0a0b959af1 283 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 284 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 285 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 286 }
Jellehierck 25:a1be4cf2ab0b 287
Jellehierck 25:a1be4cf2ab0b 288 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 289 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 290 {
Jellehierck 25:a1be4cf2ab0b 291 // Entry function
Jellehierck 25:a1be4cf2ab0b 292 if ( emg_state_changed == true ) {
Jellehierck 30:bac3b60d6283 293 emg_state_changed = false; // Disable entry functions
Jellehierck 32:b9b9c50f5429 294
Jellehierck 30:bac3b60d6283 295 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 30:bac3b60d6283 296 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 25:a1be4cf2ab0b 297 }
Jellehierck 25:a1be4cf2ab0b 298
Jellehierck 27:f18da01093c9 299 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 300
Jellehierck 29:f51683a6cbbf 301 // State transition guard. Possible next states:
Jellehierck 29:f51683a6cbbf 302 // 1. emg_cal_MVC (button1 pressed)
Jellehierck 29:f51683a6cbbf 303 // 2. emg_cal_rest (button2 pressed)
Jellehierck 29:f51683a6cbbf 304 // 3. emg_operation (both calibrations have run)
Jellehierck 25:a1be4cf2ab0b 305 if ( button1_pressed ) {
Jellehierck 29:f51683a6cbbf 306 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 307 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 308 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 309 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 29:f51683a6cbbf 310 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 311
Jellehierck 25:a1be4cf2ab0b 312 } else if ( button2_pressed ) {
Jellehierck 29:f51683a6cbbf 313 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 314 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 315 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 316 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 29:f51683a6cbbf 317 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 318
Jellehierck 25:a1be4cf2ab0b 319 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 30:bac3b60d6283 320 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 30:bac3b60d6283 321 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 29:f51683a6cbbf 322 emg_curr_state = emg_operation; // Set next state
Jellehierck 29:f51683a6cbbf 323 emg_state_changed = true; // Enable entry functions
Jellehierck 25:a1be4cf2ab0b 324 }
Jellehierck 7:7a088536f1c9 325 }
Jellehierck 7:7a088536f1c9 326
Jellehierck 21:e4569b47945e 327 // Run calibration of EMG
Jellehierck 21:e4569b47945e 328 void do_emg_cal()
Jellehierck 21:e4569b47945e 329 {
Jellehierck 28:59e8266f4633 330 // Entry functions
Jellehierck 22:9079c6c0d898 331 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 332 emg_state_changed = false; // Disable entry functions
Jellehierck 21:e4569b47945e 333 led_b = 0; // Turn on calibration led
Jellehierck 28:59e8266f4633 334
Jellehierck 22:9079c6c0d898 335 timerCalibration.reset();
Jellehierck 28:59e8266f4633 336 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 25:a1be4cf2ab0b 337 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 28:59e8266f4633 338 calibrateNow = true; // Enable calibration vector functionality in sampleSignal()
Jellehierck 26:7e81c7db6e7a 339
Jellehierck 28:59e8266f4633 340 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 32:b9b9c50f5429 341 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 32:b9b9c50f5429 342 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 22:9079c6c0d898 343 }
Jellehierck 7:7a088536f1c9 344
Jellehierck 31:b5188b6d45db 345 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 346 // Set HIDScope outputs
Jellehierck 34:13fac02ef324 347 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 348 scope.set(1, emg1_env );
Jellehierck 33:90404e64d844 349 //scope.set(2, emg2_env );
Jellehierck 33:90404e64d844 350 //scope.set(3, emg3_env );
Jellehierck 31:b5188b6d45db 351 scope.send();
Jellehierck 31:b5188b6d45db 352
Jellehierck 29:f51683a6cbbf 353 // State transition guard
Jellehierck 24:540c284e881d 354 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 355 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 356 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 357
Jellehierck 23:8a0a0b959af1 358 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 359 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 360
Jellehierck 25:a1be4cf2ab0b 361 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 362 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 363 }
Jellehierck 25:a1be4cf2ab0b 364 }
Jellehierck 23:8a0a0b959af1 365
Jellehierck 26:7e81c7db6e7a 366 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 367 {
Jellehierck 25:a1be4cf2ab0b 368 // Entry function
Jellehierck 25:a1be4cf2ab0b 369 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 370 emg_state_changed = false; // Disable entry functions
Jellehierck 34:13fac02ef324 371 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 28:59e8266f4633 372
Jellehierck 26:7e81c7db6e7a 373 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 374 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 375 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 376 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 377 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 378 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 31:b5188b6d45db 379
Jellehierck 30:bac3b60d6283 380 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 30:bac3b60d6283 381 calibrateNow = false; // Disable calibration vector functionality in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 382 }
Jellehierck 25:a1be4cf2ab0b 383
Jellehierck 25:a1be4cf2ab0b 384 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 385 emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
Jellehierck 31:b5188b6d45db 386 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 31:b5188b6d45db 387 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 28:59e8266f4633 388
Jellehierck 28:59e8266f4633 389 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 28:59e8266f4633 390 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 26:7e81c7db6e7a 391 emg1_out = 0.0;
Jellehierck 34:13fac02ef324 392 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 26:7e81c7db6e7a 393 emg1_out = 1.0;
Jellehierck 28:59e8266f4633 394 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 28:59e8266f4633 395 // Inputs may be in range [emg_th, 1]
Jellehierck 28:59e8266f4633 396 // Outputs are scaled to range [0, 1]
Jellehierck 34:13fac02ef324 397 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 26:7e81c7db6e7a 398 }
Jellehierck 28:59e8266f4633 399
Jellehierck 28:59e8266f4633 400 // Idem for emg2
Jellehierck 26:7e81c7db6e7a 401 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 402 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 403 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 404 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 405 } else {
Jellehierck 34:13fac02ef324 406 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 26:7e81c7db6e7a 407 }
Jellehierck 28:59e8266f4633 408
Jellehierck 28:59e8266f4633 409 // Idem for emg3
Jellehierck 26:7e81c7db6e7a 410 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 411 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 412 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 413 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 414 } else {
Jellehierck 34:13fac02ef324 415 emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
Jellehierck 26:7e81c7db6e7a 416 }
Jellehierck 25:a1be4cf2ab0b 417
Jellehierck 28:59e8266f4633 418 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 419 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 420 scope.set(1, emg1_env );
Jellehierck 31:b5188b6d45db 421 scope.set(2, emg1_norm );
Jellehierck 31:b5188b6d45db 422 scope.set(3, emg1_out );
Jellehierck 31:b5188b6d45db 423 //scope.set(2, emg2_out );
Jellehierck 31:b5188b6d45db 424 //scope.set(3, emg3_out );
Jellehierck 28:59e8266f4633 425 scope.send();
Jellehierck 31:b5188b6d45db 426
Jellehierck 30:bac3b60d6283 427 led_g = !led_g;
Jellehierck 28:59e8266f4633 428
Jellehierck 28:59e8266f4633 429
Jellehierck 25:a1be4cf2ab0b 430 // State transition guard
Jellehierck 26:7e81c7db6e7a 431 if ( false ) {
Jellehierck 28:59e8266f4633 432 emg_curr_state = emg_wait; // Set next state
Jellehierck 28:59e8266f4633 433 emg_state_changed = true; // Enable entry function
Jellehierck 23:8a0a0b959af1 434 }
Jellehierck 23:8a0a0b959af1 435 }
Jellehierck 23:8a0a0b959af1 436
Jellehierck 23:8a0a0b959af1 437 /*
Jellehierck 23:8a0a0b959af1 438 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 439 */
Jellehierck 23:8a0a0b959af1 440 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 441 {
Jellehierck 23:8a0a0b959af1 442 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 443 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 444 do_emg_wait();
Jellehierck 23:8a0a0b959af1 445 break;
Jellehierck 23:8a0a0b959af1 446 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 447 do_emg_cal();
Jellehierck 23:8a0a0b959af1 448 break;
Jellehierck 23:8a0a0b959af1 449 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 450 do_emg_cal();
Jellehierck 23:8a0a0b959af1 451 break;
Jellehierck 23:8a0a0b959af1 452 case emg_operation:
Jellehierck 26:7e81c7db6e7a 453 do_emg_operation();
Jellehierck 23:8a0a0b959af1 454 break;
Jellehierck 23:8a0a0b959af1 455 }
Jellehierck 23:8a0a0b959af1 456 }
Jellehierck 23:8a0a0b959af1 457
Jellehierck 25:a1be4cf2ab0b 458 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 459 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 460 {
Jellehierck 25:a1be4cf2ab0b 461 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 462 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 463 // controller();
Jellehierck 25:a1be4cf2ab0b 464 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 465 }
Jellehierck 25:a1be4cf2ab0b 466
Jellehierck 23:8a0a0b959af1 467 void main()
Jellehierck 23:8a0a0b959af1 468 {
Jellehierck 23:8a0a0b959af1 469 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 470 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 471
Jellehierck 23:8a0a0b959af1 472 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 473
Jellehierck 23:8a0a0b959af1 474 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 475 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 476 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 477 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 478
Jellehierck 23:8a0a0b959af1 479 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 480 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 481 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 482
Jellehierck 23:8a0a0b959af1 483 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 484 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 485 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 486
Jellehierck 23:8a0a0b959af1 487 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 488 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 489 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 490
Jellehierck 23:8a0a0b959af1 491 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 492 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 493 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 494 } else {
Jellehierck 23:8a0a0b959af1 495 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 496 }
Jellehierck 34:13fac02ef324 497
Jellehierck 29:f51683a6cbbf 498 emg_curr_state = emg_wait; // Start off in EMG Wait state
Jellehierck 34:13fac02ef324 499 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 8:ea3de43c9e8b 500
Jellehierck 23:8a0a0b959af1 501 while(true) {
Jellehierck 31:b5188b6d45db 502 pc.printf("emg_state: %i emg1_env: %f emg1_out: %f emg1_th: %f emg1_factor: %f\r\n", emg_curr_state, emg1_env, emg1_out, emg1_th, emg1_factor);
Jellehierck 31:b5188b6d45db 503 pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
Jellehierck 30:bac3b60d6283 504 wait(0.5f);
Jellehierck 23:8a0a0b959af1 505 }
Jellehierck 23:8a0a0b959af1 506 }