M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@24:540c284e881d, 2019-10-25 (annotated)

Committer:
Jellehierck
Date:
Fri Oct 25 12:02:55 2019 +0000
Revision:
24:540c284e881d
Parent:
23:8a0a0b959af1
Child:
25:a1be4cf2ab0b
Still working on state machine. Make scale function in this version

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 18:9f24792bb39a 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 21:e4569b47945e 32 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_check_cal, emg_make_scale, emg_operation }; // Define EMG substates
Jellehierck 16:7acbcc4aa35c 33 EMG_States emg_curr_state; // Initialize EMG substate variable
Jellehierck 22:9079c6c0d898 34 bool emg_state_changed;
Jellehierck 16:7acbcc4aa35c 35
Jellehierck 15:421d3d9c563b 36 // Global variables for EMG reading
Jellehierck 15:421d3d9c563b 37 AnalogIn emg1_in (A1); // Right biceps, x axis
Jellehierck 15:421d3d9c563b 38 AnalogIn emg2_in (A2); // Left biceps, y axis
Jellehierck 15:421d3d9c563b 39 AnalogIn emg3_in (A3); // Third muscle, TBD
Jellehierck 15:421d3d9c563b 40
IsaRobin 0:6972d0e91af1 41 double emg1;
Jellehierck 12:70f0710400c2 42 double emg1_MVC;
Jellehierck 12:70f0710400c2 43 double emg1_MVC_stdev;
Jellehierck 12:70f0710400c2 44 double emg1_rest;
Jellehierck 12:70f0710400c2 45 double emg1_rest_stdev;
Jellehierck 7:7a088536f1c9 46 vector<double> emg1_cal;
Jellehierck 7:7a088536f1c9 47
Jellehierck 15:421d3d9c563b 48 double emg2;
Jellehierck 15:421d3d9c563b 49 double emg2_MVC;
Jellehierck 15:421d3d9c563b 50 double emg2_MVC_stdev;
Jellehierck 15:421d3d9c563b 51 double emg2_rest;
Jellehierck 15:421d3d9c563b 52 double emg2_rest_stdev;
Jellehierck 15:421d3d9c563b 53 vector<double> emg2_cal;
IsaRobin 0:6972d0e91af1 54
Jellehierck 15:421d3d9c563b 55 double emg3;
Jellehierck 15:421d3d9c563b 56 double emg3_MVC;
Jellehierck 15:421d3d9c563b 57 double emg3_MVC_stdev;
Jellehierck 15:421d3d9c563b 58 double emg3_rest;
Jellehierck 15:421d3d9c563b 59 double emg3_rest_stdev;
Jellehierck 15:421d3d9c563b 60 vector<double> emg3_cal;
Jellehierck 15:421d3d9c563b 61
Jellehierck 15:421d3d9c563b 62 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 63 Ticker tickSample;
Jellehierck 15:421d3d9c563b 64 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 65 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 66 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 67
Jellehierck 15:421d3d9c563b 68 /*
Jellehierck 15:421d3d9c563b 69 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 70 */
Jellehierck 11:042170a9b93a 71 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 72 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 73 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 74
Jellehierck 15:421d3d9c563b 75 // Calculate global variables
Jellehierck 15:421d3d9c563b 76 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 77 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 78
Jellehierck 15:421d3d9c563b 79 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 80 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 81 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 82 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 83 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 84 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 85 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 86
Jellehierck 15:421d3d9c563b 87 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 88 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 89 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 90 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 91 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 92 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 93 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 94 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 95 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 96 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 97
Jellehierck 15:421d3d9c563b 98 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 99 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 100 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 101 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 102 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 103 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 104 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 105 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 106 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 107 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 108
Jellehierck 15:421d3d9c563b 109 /*
Jellehierck 15:421d3d9c563b 110 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 111 */
Jellehierck 15:421d3d9c563b 112
Jellehierck 15:421d3d9c563b 113 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 114 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 115 {
Jellehierck 8:ea3de43c9e8b 116 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 117 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 118
Jellehierck 8:ea3de43c9e8b 119 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 120 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 121 }
Jellehierck 8:ea3de43c9e8b 122 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 123 }
Jellehierck 8:ea3de43c9e8b 124
Jellehierck 15:421d3d9c563b 125 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 126 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 127 {
Jellehierck 8:ea3de43c9e8b 128 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 129 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 130
Jellehierck 8:ea3de43c9e8b 131 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 132 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 133 }
Jellehierck 8:ea3de43c9e8b 134 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 135 return output;
Jellehierck 7:7a088536f1c9 136 }
Jellehierck 7:7a088536f1c9 137
Jellehierck 15:421d3d9c563b 138 // Check filter stability
Jellehierck 6:5437cc97e1e6 139 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 140 {
Jellehierck 19:94dc52f8a59e 141 bool n_stable = bqc1_notch.stable();
Jellehierck 19:94dc52f8a59e 142 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 143 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 144
Jellehierck 11:042170a9b93a 145 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 146 return true;
Jellehierck 6:5437cc97e1e6 147 } else {
Jellehierck 6:5437cc97e1e6 148 return false;
Jellehierck 6:5437cc97e1e6 149 }
Jellehierck 6:5437cc97e1e6 150 }
Jellehierck 6:5437cc97e1e6 151
Jellehierck 15:421d3d9c563b 152 /*
Jellehierck 15:421d3d9c563b 153 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 154 */
Jellehierck 24:540c284e881d 155 void tickGlobalFunc()
Jellehierck 2:d3e9788ab1b3 156 {
Jellehierck 24:540c284e881d 157
Jellehierck 2:d3e9788ab1b3 158 }
IsaRobin 0:6972d0e91af1 159
Jellehierck 7:7a088536f1c9 160 void sampleCalibration()
Jellehierck 7:7a088536f1c9 161 {
Jellehierck 7:7a088536f1c9 162 // Read EMG inputs
Jellehierck 7:7a088536f1c9 163 emg1 = emg1_in.read();
Jellehierck 7:7a088536f1c9 164 emg2 = emg2_in.read();
Jellehierck 7:7a088536f1c9 165 emg3 = emg3_in.read();
Jellehierck 7:7a088536f1c9 166
Jellehierck 7:7a088536f1c9 167 // Output raw EMG input
Jellehierck 19:94dc52f8a59e 168 //scope.set(0, emg1 );
Jellehierck 19:94dc52f8a59e 169 // scope.set(1, emg2 );
Jellehierck 20:0e9218673aa8 170
Jellehierck 19:94dc52f8a59e 171 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 19:94dc52f8a59e 172 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 173 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 174 double emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 175
Jellehierck 19:94dc52f8a59e 176 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 19:94dc52f8a59e 177 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 178 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 179 double emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 180
Jellehierck 19:94dc52f8a59e 181 scope.set(0, emg1_n);
Jellehierck 19:94dc52f8a59e 182 scope.set(1, emg2_n);
Jellehierck 7:7a088536f1c9 183
Jellehierck 17:e4e7b1fbb263 184 scope.set(2, emg1_env );
Jellehierck 17:e4e7b1fbb263 185 scope.set(3, emg2_env );
Jellehierck 7:7a088536f1c9 186 scope.send();
Jellehierck 7:7a088536f1c9 187
Jellehierck 17:e4e7b1fbb263 188 // IF STATEMENT TOEVOEGEN VOOR CALIBRATIE
Jellehierck 17:e4e7b1fbb263 189 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 17:e4e7b1fbb263 190 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 7:7a088536f1c9 191 }
Jellehierck 7:7a088536f1c9 192
Jellehierck 15:421d3d9c563b 193 /*
Jellehierck 15:421d3d9c563b 194 ------ EMG CALIBRATION FUNCTIONS ------
Jellehierck 15:421d3d9c563b 195 */
Jellehierck 15:421d3d9c563b 196
Jellehierck 15:421d3d9c563b 197 // Finish up calibration of MVC
Jellehierck 22:9079c6c0d898 198 void calibrationFinished()
Jellehierck 7:7a088536f1c9 199 {
Jellehierck 22:9079c6c0d898 200
Jellehierck 22:9079c6c0d898 201 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 202 case emg_cal_MVC:
Jellehierck 22:9079c6c0d898 203 emg1_MVC = getMean(emg1_cal); // Store MVC globally
Jellehierck 23:8a0a0b959af1 204 emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally
Jellehierck 21:e4569b47945e 205
Jellehierck 22:9079c6c0d898 206 emg2_MVC = getMean(emg2_cal); // Store MVC globally
Jellehierck 23:8a0a0b959af1 207 emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally
Jellehierck 22:9079c6c0d898 208 break;
Jellehierck 22:9079c6c0d898 209 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 210 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 211 emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally
Jellehierck 20:0e9218673aa8 212
Jellehierck 23:8a0a0b959af1 213 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 214 emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally
Jellehierck 22:9079c6c0d898 215 break;
Jellehierck 22:9079c6c0d898 216 }
Jellehierck 23:8a0a0b959af1 217 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 218 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 7:7a088536f1c9 219 }
Jellehierck 7:7a088536f1c9 220
Jellehierck 21:e4569b47945e 221 // Run calibration of EMG
Jellehierck 21:e4569b47945e 222 void do_emg_cal()
Jellehierck 21:e4569b47945e 223 {
Jellehierck 22:9079c6c0d898 224 if ( emg_state_changed == true ) {
Jellehierck 22:9079c6c0d898 225 emg_state_changed == false;
Jellehierck 24:540c284e881d 226 pc.printf("Starting calibration");
Jellehierck 21:e4569b47945e 227 led_b = 0; // Turn on calibration led
Jellehierck 22:9079c6c0d898 228 timerCalibration.reset();
Jellehierck 22:9079c6c0d898 229 timerCalibration.start();
Jellehierck 22:9079c6c0d898 230
Jellehierck 22:9079c6c0d898 231 switch( emg_curr_state ) {
Jellehierck 21:e4569b47945e 232 case emg_cal_MVC:
Jellehierck 24:540c284e881d 233 pc.printf("MVC Calibration");
Jellehierck 21:e4569b47945e 234 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 235 break;
Jellehierck 21:e4569b47945e 236 case emg_cal_rest:
Jellehierck 24:540c284e881d 237 pc.printf("Rest calibration");
Jellehierck 21:e4569b47945e 238 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 239 break;
Jellehierck 21:e4569b47945e 240 }
Jellehierck 22:9079c6c0d898 241 }
Jellehierck 7:7a088536f1c9 242
Jellehierck 23:8a0a0b959af1 243 // Allemaal dingen doen tot de end conditions true zijn
Jellehierck 23:8a0a0b959af1 244
Jellehierck 24:540c284e881d 245 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 23:8a0a0b959af1 246 tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt
Jellehierck 23:8a0a0b959af1 247
Jellehierck 23:8a0a0b959af1 248 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 249 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 250
Jellehierck 24:540c284e881d 251 emg_curr_state == emg_wait; // Set next state
Jellehierck 24:540c284e881d 252 stateChanged == true; // State has changed (to run
Jellehierck 23:8a0a0b959af1 253
Jellehierck 23:8a0a0b959af1 254 pc.printf("Calibration step finished");
Jellehierck 23:8a0a0b959af1 255 }
Jellehierck 23:8a0a0b959af1 256 }
Jellehierck 23:8a0a0b959af1 257
Jellehierck 23:8a0a0b959af1 258 // Determine scale factors for operation mode
Jellehierck 23:8a0a0b959af1 259 void makeScale()
Jellehierck 23:8a0a0b959af1 260 {
Jellehierck 23:8a0a0b959af1 261 double margin_percentage = 10; // Set up % margin for rest
Jellehierck 23:8a0a0b959af1 262 double factor1 = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 23:8a0a0b959af1 263 double emg1_th = emg1_rest * factor1 + margin_percentage/100; // Set normalized rest threshold
Jellehierck 23:8a0a0b959af1 264
Jellehierck 23:8a0a0b959af1 265 pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th);
Jellehierck 23:8a0a0b959af1 266 }
Jellehierck 23:8a0a0b959af1 267
Jellehierck 23:8a0a0b959af1 268 /*
Jellehierck 23:8a0a0b959af1 269 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 270 */
Jellehierck 23:8a0a0b959af1 271 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 272 {
Jellehierck 23:8a0a0b959af1 273 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 274 case emg_wait:
Jellehierck 23:8a0a0b959af1 275 //do_emg_wait();
Jellehierck 23:8a0a0b959af1 276 break;
Jellehierck 23:8a0a0b959af1 277 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 278 do_emg_cal();
Jellehierck 23:8a0a0b959af1 279 break;
Jellehierck 23:8a0a0b959af1 280 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 281 do_emg_cal();
Jellehierck 23:8a0a0b959af1 282 break;
Jellehierck 23:8a0a0b959af1 283 case emg_check_cal:
Jellehierck 23:8a0a0b959af1 284 //do_emg_check_cal();
Jellehierck 23:8a0a0b959af1 285 break;
Jellehierck 23:8a0a0b959af1 286 case emg_make_scale:
Jellehierck 23:8a0a0b959af1 287 //do_make_scale();
Jellehierck 23:8a0a0b959af1 288 break;
Jellehierck 23:8a0a0b959af1 289 case emg_operation:
Jellehierck 23:8a0a0b959af1 290 //do_emg_operation();
Jellehierck 23:8a0a0b959af1 291 break;
Jellehierck 23:8a0a0b959af1 292 }
Jellehierck 23:8a0a0b959af1 293 }
Jellehierck 23:8a0a0b959af1 294
Jellehierck 23:8a0a0b959af1 295 void main()
Jellehierck 23:8a0a0b959af1 296 {
Jellehierck 23:8a0a0b959af1 297 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 298 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 299
Jellehierck 23:8a0a0b959af1 300 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 301
Jellehierck 23:8a0a0b959af1 302 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 303 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 304 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 305 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 306
Jellehierck 23:8a0a0b959af1 307 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 308 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 309 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 310
Jellehierck 23:8a0a0b959af1 311 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 312 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 313 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 314
Jellehierck 23:8a0a0b959af1 315 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 316 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 317 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 318
Jellehierck 23:8a0a0b959af1 319 // If any filter chain is unstable, red led will light up
Jellehierck 23:8a0a0b959af1 320 if (checkBQChainStable) {
Jellehierck 23:8a0a0b959af1 321 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 322 } else {
Jellehierck 23:8a0a0b959af1 323 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 324 }
Jellehierck 24:540c284e881d 325
Jellehierck 24:540c284e881d 326 tickGlobal.attach(
Jellehierck 6:5437cc97e1e6 327
Jellehierck 23:8a0a0b959af1 328 button1.fall( &calibrationMVC ); // Run MVC calibration on button press
Jellehierck 23:8a0a0b959af1 329 button2.fall( &calibrationRest ); // Run rest calibration on button press
Jellehierck 23:8a0a0b959af1 330 button3.fall( &makeScale ); // Create scale factors and close calibration at button press
Jellehierck 8:ea3de43c9e8b 331
Jellehierck 23:8a0a0b959af1 332 while(true) {
Jellehierck 7:7a088536f1c9 333
Jellehierck 23:8a0a0b959af1 334 // Show that system is running
Jellehierck 23:8a0a0b959af1 335 // led_g = !led_g;
Jellehierck 23:8a0a0b959af1 336 pc.printf("Vector emg1_cal: %i vector emg2_cal: %i\r\n", emg1_cal.size(), emg2_cal.size());
Jellehierck 23:8a0a0b959af1 337 wait(1.0f);
Jellehierck 23:8a0a0b959af1 338 }
Jellehierck 23:8a0a0b959af1 339 }