M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@37:76b2849b823d, 2019-10-30 (annotated)

Committer:
Jellehierck
Date:
Wed Oct 30 18:48:23 2019 +0000
Revision:
37:76b2849b823d
Parent:
36:ec2bb2a02856 
Program after implementing in state machine;

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
IsaRobin 0:6972d0e91af1 11
Jellehierck 15:421d3d9c563b 12 /*
Jellehierck 15:421d3d9c563b 13 ------ DEFINE MBED CONNECTIONS ------
Jellehierck 15:421d3d9c563b 14 */
IsaRobin 0:6972d0e91af1 15
Jellehierck 15:421d3d9c563b 16 // PC serial connection
Jellehierck 35:e82834e62e44 17 HIDScope scope( 4 );
Jellehierck 15:421d3d9c563b 18 MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 19
Jellehierck 4:09a01d2db8f7 20 // LED
Jellehierck 6:5437cc97e1e6 21 DigitalOut led_g(LED_GREEN);
Jellehierck 6:5437cc97e1e6 22 DigitalOut led_r(LED_RED);
Jellehierck 8:ea3de43c9e8b 23 DigitalOut led_b(LED_BLUE);
Jellehierck 8:ea3de43c9e8b 24
Jellehierck 8:ea3de43c9e8b 25 // Buttons
Jellehierck 8:ea3de43c9e8b 26 InterruptIn button1(D11);
Jellehierck 8:ea3de43c9e8b 27 InterruptIn button2(D10);
Jellehierck 12:70f0710400c2 28 InterruptIn button3(SW3);
Jellehierck 4:09a01d2db8f7 29
Jellehierck 16:7acbcc4aa35c 30 // EMG Substates
Jellehierck 26:7e81c7db6e7a 31 enum EMG_States { emg_wait, emg_cal_MVC, emg_cal_rest, emg_operation }; // Define EMG substates
Jellehierck 16:7acbcc4aa35c 32 EMG_States emg_curr_state; // Initialize EMG substate variable
Jellehierck 25:a1be4cf2ab0b 33 bool emg_state_changed = true;
Jellehierck 25:a1be4cf2ab0b 34
Jellehierck 25:a1be4cf2ab0b 35 bool sampleNow = false;
Jellehierck 25:a1be4cf2ab0b 36 bool calibrateNow = false;
Jellehierck 25:a1be4cf2ab0b 37 bool emg_MVC_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 38 bool emg_rest_cal_done = false;
Jellehierck 25:a1be4cf2ab0b 39
Jellehierck 25:a1be4cf2ab0b 40 bool button1_pressed = false;
Jellehierck 25:a1be4cf2ab0b 41 bool button2_pressed = false;
Jellehierck 16:7acbcc4aa35c 42
Jellehierck 15:421d3d9c563b 43 // Global variables for EMG reading
Jellehierck 15:421d3d9c563b 44 AnalogIn emg1_in (A1); // Right biceps, x axis
Jellehierck 15:421d3d9c563b 45 AnalogIn emg2_in (A2); // Left biceps, y axis
Jellehierck 15:421d3d9c563b 46 AnalogIn emg3_in (A3); // Third muscle, TBD
Jellehierck 15:421d3d9c563b 47
IsaRobin 0:6972d0e91af1 48 double emg1;
Jellehierck 26:7e81c7db6e7a 49 double emg1_env;
Jellehierck 12:70f0710400c2 50 double emg1_MVC;
Jellehierck 12:70f0710400c2 51 double emg1_rest;
Jellehierck 26:7e81c7db6e7a 52 double emg1_factor;
Jellehierck 26:7e81c7db6e7a 53 double emg1_th;
Jellehierck 26:7e81c7db6e7a 54 double emg1_out;
Jellehierck 35:e82834e62e44 55 double emg1_out_prev;
Jellehierck 35:e82834e62e44 56 double emg1_dt;
Jellehierck 36:ec2bb2a02856 57 double emg1_dt_prev;
Jellehierck 36:ec2bb2a02856 58 double emg1_dtdt;
Jellehierck 31:b5188b6d45db 59 double emg1_norm;
Jellehierck 7:7a088536f1c9 60 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 61 int emg1_cal_size;
Jellehierck 35:e82834e62e44 62 int emg1_dir = 1;
Jellehierck 7:7a088536f1c9 63
Jellehierck 15:421d3d9c563b 64 double emg2;
Jellehierck 26:7e81c7db6e7a 65 double emg2_env;
Jellehierck 15:421d3d9c563b 66 double emg2_MVC;
Jellehierck 15:421d3d9c563b 67 double emg2_rest;
Jellehierck 26:7e81c7db6e7a 68 double emg2_factor;
Jellehierck 26:7e81c7db6e7a 69 double emg2_th;
Jellehierck 26:7e81c7db6e7a 70 double emg2_out;
Jellehierck 31:b5188b6d45db 71 double emg2_norm;
Jellehierck 15:421d3d9c563b 72 vector<double> emg2_cal;
Jellehierck 25:a1be4cf2ab0b 73 int emg2_cal_size;
Jellehierck 35:e82834e62e44 74 int emg2_dir = 1;
IsaRobin 0:6972d0e91af1 75
Jellehierck 15:421d3d9c563b 76 double emg3;
Jellehierck 26:7e81c7db6e7a 77 double emg3_env;
Jellehierck 15:421d3d9c563b 78 double emg3_MVC;
Jellehierck 15:421d3d9c563b 79 double emg3_rest;
Jellehierck 26:7e81c7db6e7a 80 double emg3_factor;
Jellehierck 26:7e81c7db6e7a 81 double emg3_th;
Jellehierck 26:7e81c7db6e7a 82 double emg3_out;
Jellehierck 31:b5188b6d45db 83 double emg3_norm;
Jellehierck 15:421d3d9c563b 84 vector<double> emg3_cal;
Jellehierck 25:a1be4cf2ab0b 85 int emg3_cal_size;
Jellehierck 35:e82834e62e44 86 int emg3_dir = 1;
Jellehierck 15:421d3d9c563b 87
Jellehierck 15:421d3d9c563b 88 // Initialize tickers and timeouts
Jellehierck 24:540c284e881d 89 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 90 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 91
Jellehierck 15:421d3d9c563b 92 /*
Jellehierck 15:421d3d9c563b 93 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 94 */
Jellehierck 11:042170a9b93a 95 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 96 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 4:09a01d2db8f7 97
Jellehierck 15:421d3d9c563b 98 // Calculate global variables
Jellehierck 15:421d3d9c563b 99 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 100
Jellehierck 15:421d3d9c563b 101 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 102 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 103 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 104 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 105 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 106 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 107 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 108
Jellehierck 15:421d3d9c563b 109 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 110 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 111 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 112 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 113 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 114 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 115 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 116 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 117 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 118 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 119
Jellehierck 15:421d3d9c563b 120 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 121 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 122 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 123 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 124 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 125 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 126 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 127 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 128 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 129 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 130
Jellehierck 15:421d3d9c563b 131 /*
Jellehierck 15:421d3d9c563b 132 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 133 */
Jellehierck 15:421d3d9c563b 134
Jellehierck 32:b9b9c50f5429 135 // Return max value of vector
Jellehierck 32:b9b9c50f5429 136 double getMax(const vector<double> &vect)
Jellehierck 32:b9b9c50f5429 137 {
Jellehierck 35:e82834e62e44 138 double curr_max = 0.0;
Jellehierck 32:b9b9c50f5429 139 int vect_n = vect.size();
Jellehierck 35:e82834e62e44 140
Jellehierck 32:b9b9c50f5429 141 for (int i = 0; i < vect_n; i++) {
Jellehierck 35:e82834e62e44 142 if (vect[i] > curr_max) {
Jellehierck 35:e82834e62e44 143 curr_max = vect[i];
Jellehierck 35:e82834e62e44 144 };
Jellehierck 32:b9b9c50f5429 145 }
Jellehierck 32:b9b9c50f5429 146 return curr_max;
Jellehierck 32:b9b9c50f5429 147 }
Jellehierck 32:b9b9c50f5429 148
Jellehierck 15:421d3d9c563b 149 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 150 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 151 {
Jellehierck 8:ea3de43c9e8b 152 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 153 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 154
Jellehierck 8:ea3de43c9e8b 155 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 156 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 157 }
Jellehierck 8:ea3de43c9e8b 158 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 159 }
Jellehierck 8:ea3de43c9e8b 160
Jellehierck 15:421d3d9c563b 161 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 162 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 163 {
Jellehierck 8:ea3de43c9e8b 164 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 165 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 166
Jellehierck 8:ea3de43c9e8b 167 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 168 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 169 }
Jellehierck 8:ea3de43c9e8b 170 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 171 return output;
Jellehierck 7:7a088536f1c9 172 }
Jellehierck 7:7a088536f1c9 173
Jellehierck 26:7e81c7db6e7a 174 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 175 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 176 {
Jellehierck 26:7e81c7db6e7a 177 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 178 return output;
Jellehierck 26:7e81c7db6e7a 179 }
Jellehierck 26:7e81c7db6e7a 180
Jellehierck 35:e82834e62e44 181 // Check filter stability
Jellehierck 35:e82834e62e44 182 bool checkBQChainStable()
Jellehierck 35:e82834e62e44 183 {
Jellehierck 35:e82834e62e44 184 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 35:e82834e62e44 185 bool hp_stable = bqc1_high.stable();
Jellehierck 35:e82834e62e44 186 bool l_stable = bqc1_low.stable();
Jellehierck 35:e82834e62e44 187
Jellehierck 35:e82834e62e44 188 if (n_stable && hp_stable && l_stable) {
Jellehierck 35:e82834e62e44 189 return true;
Jellehierck 35:e82834e62e44 190 } else {
Jellehierck 35:e82834e62e44 191 return false;
Jellehierck 35:e82834e62e44 192 }
Jellehierck 35:e82834e62e44 193 }
Jellehierck 35:e82834e62e44 194
Jellehierck 35:e82834e62e44 195 /*
Jellehierck 35:e82834e62e44 196 ------ BUTTON FUNCTIONS ------
Jellehierck 35:e82834e62e44 197 */
Jellehierck 35:e82834e62e44 198
Jellehierck 25:a1be4cf2ab0b 199 // Handle button press
Jellehierck 25:a1be4cf2ab0b 200 void button1Press()
Jellehierck 25:a1be4cf2ab0b 201 {
Jellehierck 25:a1be4cf2ab0b 202 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 203 }
Jellehierck 25:a1be4cf2ab0b 204
Jellehierck 25:a1be4cf2ab0b 205 // Handle button press
Jellehierck 25:a1be4cf2ab0b 206 void button2Press()
Jellehierck 25:a1be4cf2ab0b 207 {
Jellehierck 25:a1be4cf2ab0b 208 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 209 }
Jellehierck 25:a1be4cf2ab0b 210
Jellehierck 35:e82834e62e44 211 // Toggle EMG direction
Jellehierck 35:e82834e62e44 212 void toggleEMG1Dir()
Jellehierck 6:5437cc97e1e6 213 {
Jellehierck 35:e82834e62e44 214 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 215 case -1:
Jellehierck 35:e82834e62e44 216 emg1_dir = 1;
Jellehierck 35:e82834e62e44 217 break;
Jellehierck 35:e82834e62e44 218 case 1:
Jellehierck 35:e82834e62e44 219 emg1_dir = -1;
Jellehierck 35:e82834e62e44 220 break;
Jellehierck 35:e82834e62e44 221 }
Jellehierck 35:e82834e62e44 222 }
Jellehierck 6:5437cc97e1e6 223
Jellehierck 35:e82834e62e44 224 // Toggle EMG direction
Jellehierck 35:e82834e62e44 225 void toggleEMG2Dir()
Jellehierck 35:e82834e62e44 226 {
Jellehierck 35:e82834e62e44 227 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 228 case -1:
Jellehierck 35:e82834e62e44 229 emg1_dir = 1;
Jellehierck 35:e82834e62e44 230 break;
Jellehierck 35:e82834e62e44 231 case 1:
Jellehierck 35:e82834e62e44 232 emg1_dir = -1;
Jellehierck 35:e82834e62e44 233 break;
Jellehierck 6:5437cc97e1e6 234 }
Jellehierck 6:5437cc97e1e6 235 }
Jellehierck 6:5437cc97e1e6 236
Jellehierck 15:421d3d9c563b 237 /*
Jellehierck 15:421d3d9c563b 238 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 239 */
Jellehierck 25:a1be4cf2ab0b 240 void sampleSignal()
Jellehierck 7:7a088536f1c9 241 {
Jellehierck 29:f51683a6cbbf 242 if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 25:a1be4cf2ab0b 243 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 244 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 245 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 246 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 247
Jellehierck 7:7a088536f1c9 248
Jellehierck 25:a1be4cf2ab0b 249 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 250 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 251 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 252 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 253
Jellehierck 25:a1be4cf2ab0b 254 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 255 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 256 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 257 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 258
Jellehierck 25:a1be4cf2ab0b 259 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 260 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 261 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 262 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 263
Jellehierck 29:f51683a6cbbf 264 if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 25:a1be4cf2ab0b 265 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 266 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 267 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 268 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 269 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 270 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 271 }
Jellehierck 25:a1be4cf2ab0b 272 }
Jellehierck 7:7a088536f1c9 273 }
Jellehierck 7:7a088536f1c9 274
Jellehierck 15:421d3d9c563b 275 /*
Jellehierck 25:a1be4cf2ab0b 276 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 277 */
Jellehierck 15:421d3d9c563b 278
Jellehierck 25:a1be4cf2ab0b 279 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 280 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 281 // Entry function
Jellehierck 25:a1be4cf2ab0b 282 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 283 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 284 // More functions
Jellehierck 25:a1be4cf2ab0b 285 }
Jellehierck 25:a1be4cf2ab0b 286
Jellehierck 25:a1be4cf2ab0b 287 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 288 doStuff();
Jellehierck 25:a1be4cf2ab0b 289
Jellehierck 25:a1be4cf2ab0b 290 // State transition guard
Jellehierck 25:a1be4cf2ab0b 291 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 292 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 293 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 294 // More functions
Jellehierck 25:a1be4cf2ab0b 295 }
Jellehierck 25:a1be4cf2ab0b 296 }
Jellehierck 25:a1be4cf2ab0b 297 */
Jellehierck 25:a1be4cf2ab0b 298 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 299 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 300 {
Jellehierck 25:a1be4cf2ab0b 301 // Entry function
Jellehierck 25:a1be4cf2ab0b 302 if ( emg_state_changed == true ) {
Jellehierck 30:bac3b60d6283 303 emg_state_changed = false; // Disable entry functions
Jellehierck 35:e82834e62e44 304
Jellehierck 30:bac3b60d6283 305 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 30:bac3b60d6283 306 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 25:a1be4cf2ab0b 307 }
Jellehierck 25:a1be4cf2ab0b 308
Jellehierck 27:f18da01093c9 309 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 310
Jellehierck 29:f51683a6cbbf 311 // State transition guard. Possible next states:
Jellehierck 29:f51683a6cbbf 312 // 1. emg_cal_MVC (button1 pressed)
Jellehierck 29:f51683a6cbbf 313 // 2. emg_cal_rest (button2 pressed)
Jellehierck 29:f51683a6cbbf 314 // 3. emg_operation (both calibrations have run)
Jellehierck 25:a1be4cf2ab0b 315 if ( button1_pressed ) {
Jellehierck 29:f51683a6cbbf 316 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 317 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 318 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 319 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 29:f51683a6cbbf 320 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 321
Jellehierck 25:a1be4cf2ab0b 322 } else if ( button2_pressed ) {
Jellehierck 29:f51683a6cbbf 323 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 324 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 325 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 326 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 29:f51683a6cbbf 327 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 328
Jellehierck 25:a1be4cf2ab0b 329 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 30:bac3b60d6283 330 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 30:bac3b60d6283 331 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 29:f51683a6cbbf 332 emg_curr_state = emg_operation; // Set next state
Jellehierck 29:f51683a6cbbf 333 emg_state_changed = true; // Enable entry functions
Jellehierck 25:a1be4cf2ab0b 334 }
Jellehierck 7:7a088536f1c9 335 }
Jellehierck 7:7a088536f1c9 336
Jellehierck 21:e4569b47945e 337 // Run calibration of EMG
Jellehierck 21:e4569b47945e 338 void do_emg_cal()
Jellehierck 21:e4569b47945e 339 {
Jellehierck 28:59e8266f4633 340 // Entry functions
Jellehierck 22:9079c6c0d898 341 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 342 emg_state_changed = false; // Disable entry functions
Jellehierck 21:e4569b47945e 343 led_b = 0; // Turn on calibration led
Jellehierck 28:59e8266f4633 344
Jellehierck 22:9079c6c0d898 345 timerCalibration.reset();
Jellehierck 28:59e8266f4633 346 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 25:a1be4cf2ab0b 347 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 28:59e8266f4633 348 calibrateNow = true; // Enable calibration vector functionality in sampleSignal()
Jellehierck 26:7e81c7db6e7a 349
Jellehierck 28:59e8266f4633 350 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 32:b9b9c50f5429 351 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 32:b9b9c50f5429 352 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 22:9079c6c0d898 353 }
Jellehierck 7:7a088536f1c9 354
Jellehierck 31:b5188b6d45db 355 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 356 // Set HIDScope outputs
Jellehierck 34:13fac02ef324 357 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 358 scope.set(1, emg1_env );
Jellehierck 33:90404e64d844 359 //scope.set(2, emg2_env );
Jellehierck 33:90404e64d844 360 //scope.set(3, emg3_env );
Jellehierck 31:b5188b6d45db 361 scope.send();
Jellehierck 31:b5188b6d45db 362
Jellehierck 29:f51683a6cbbf 363 // State transition guard
Jellehierck 24:540c284e881d 364 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 365 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 366 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 367
Jellehierck 37:76b2849b823d 368 switch( emg_curr_state ) {
Jellehierck 37:76b2849b823d 369 case emg_cal_MVC:
Jellehierck 37:76b2849b823d 370 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 37:76b2849b823d 371 emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
Jellehierck 37:76b2849b823d 372 emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
Jellehierck 37:76b2849b823d 373
Jellehierck 37:76b2849b823d 374 emg_MVC_cal_done = true; // To set up transition guard to operation mode
Jellehierck 37:76b2849b823d 375 break;
Jellehierck 37:76b2849b823d 376 case emg_cal_rest:
Jellehierck 37:76b2849b823d 377 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 37:76b2849b823d 378 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 37:76b2849b823d 379 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 37:76b2849b823d 380 emg_rest_cal_done = true; // To set up transition guard to operation mode
Jellehierck 37:76b2849b823d 381 break;
Jellehierck 37:76b2849b823d 382 }
Jellehierck 37:76b2849b823d 383 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 37:76b2849b823d 384 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 37:76b2849b823d 385 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 37:76b2849b823d 386
Jellehierck 23:8a0a0b959af1 387 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 388
Jellehierck 25:a1be4cf2ab0b 389 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 390 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 391 }
Jellehierck 25:a1be4cf2ab0b 392 }
Jellehierck 23:8a0a0b959af1 393
Jellehierck 26:7e81c7db6e7a 394 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 395 {
Jellehierck 25:a1be4cf2ab0b 396 // Entry function
Jellehierck 25:a1be4cf2ab0b 397 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 398 emg_state_changed = false; // Disable entry functions
Jellehierck 34:13fac02ef324 399 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 28:59e8266f4633 400
Jellehierck 26:7e81c7db6e7a 401 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 402 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 403 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 404 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 405 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 406 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 37:76b2849b823d 407
Jellehierck 37:76b2849b823d 408
Jellehierck 35:e82834e62e44 409 // ------- TO DO: MAKE SURE THESE BUTTONS DO NOT BOUNCE (e.g. with button1.rise() ) ------
Jellehierck 35:e82834e62e44 410 //button1.fall( &toggleEMG1Dir ); // Change to state MVC calibration on button1 press
Jellehierck 35:e82834e62e44 411 //button2.fall( &toggleEMG2Dir ); // Change to state rest calibration on button2 press
Jellehierck 31:b5188b6d45db 412
Jellehierck 30:bac3b60d6283 413 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 30:bac3b60d6283 414 calibrateNow = false; // Disable calibration vector functionality in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 415 }
Jellehierck 25:a1be4cf2ab0b 416
Jellehierck 25:a1be4cf2ab0b 417 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 418 emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
Jellehierck 31:b5188b6d45db 419 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 31:b5188b6d45db 420 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 28:59e8266f4633 421
Jellehierck 35:e82834e62e44 422 emg1_out_prev = emg1_out; // Set previous emg_out signal
Jellehierck 36:ec2bb2a02856 423 emg1_dt_prev = emg1_dt; // Set previous emg_out_dt signal
Jellehierck 28:59e8266f4633 424 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 28:59e8266f4633 425 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 26:7e81c7db6e7a 426 emg1_out = 0.0;
Jellehierck 34:13fac02ef324 427 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 26:7e81c7db6e7a 428 emg1_out = 1.0;
Jellehierck 28:59e8266f4633 429 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 28:59e8266f4633 430 // Inputs may be in range [emg_th, 1]
Jellehierck 28:59e8266f4633 431 // Outputs are scaled to range [0, 1]
Jellehierck 34:13fac02ef324 432 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 26:7e81c7db6e7a 433 }
Jellehierck 35:e82834e62e44 434 emg1_dt = (emg1_out - emg1_out_prev) / Ts; // Calculate derivative of filtered normalized output signal
Jellehierck 36:ec2bb2a02856 435 emg1_dtdt = (emg1_dt - emg1_dt_prev) / Ts; // Calculate acceleration of filtered normalized output signal
Jellehierck 35:e82834e62e44 436 emg1_out = emg1_out * emg1_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 437
Jellehierck 28:59e8266f4633 438 // Idem for emg2
Jellehierck 26:7e81c7db6e7a 439 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 440 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 441 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 442 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 443 } else {
Jellehierck 34:13fac02ef324 444 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 26:7e81c7db6e7a 445 }
Jellehierck 35:e82834e62e44 446 emg2_out = emg2_out * emg2_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 447
Jellehierck 28:59e8266f4633 448 // Idem for emg3
Jellehierck 26:7e81c7db6e7a 449 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 450 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 451 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 452 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 453 } else {
Jellehierck 34:13fac02ef324 454 emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
Jellehierck 26:7e81c7db6e7a 455 }
Jellehierck 25:a1be4cf2ab0b 456
Jellehierck 28:59e8266f4633 457 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 458 scope.set(0, emg1 );
Jellehierck 36:ec2bb2a02856 459 scope.set(1, emg1_out );
Jellehierck 36:ec2bb2a02856 460 scope.set(2, emg1_dt );
Jellehierck 36:ec2bb2a02856 461 scope.set(3, emg1_dtdt );
Jellehierck 31:b5188b6d45db 462 //scope.set(2, emg2_out );
Jellehierck 31:b5188b6d45db 463 //scope.set(3, emg3_out );
Jellehierck 28:59e8266f4633 464 scope.send();
Jellehierck 31:b5188b6d45db 465
Jellehierck 30:bac3b60d6283 466 led_g = !led_g;
Jellehierck 28:59e8266f4633 467
Jellehierck 28:59e8266f4633 468
Jellehierck 25:a1be4cf2ab0b 469 // State transition guard
Jellehierck 26:7e81c7db6e7a 470 if ( false ) {
Jellehierck 28:59e8266f4633 471 emg_curr_state = emg_wait; // Set next state
Jellehierck 28:59e8266f4633 472 emg_state_changed = true; // Enable entry function
Jellehierck 23:8a0a0b959af1 473 }
Jellehierck 23:8a0a0b959af1 474 }
Jellehierck 23:8a0a0b959af1 475
Jellehierck 23:8a0a0b959af1 476 /*
Jellehierck 23:8a0a0b959af1 477 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 478 */
Jellehierck 23:8a0a0b959af1 479 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 480 {
Jellehierck 23:8a0a0b959af1 481 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 482 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 483 do_emg_wait();
Jellehierck 23:8a0a0b959af1 484 break;
Jellehierck 23:8a0a0b959af1 485 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 486 do_emg_cal();
Jellehierck 23:8a0a0b959af1 487 break;
Jellehierck 23:8a0a0b959af1 488 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 489 do_emg_cal();
Jellehierck 23:8a0a0b959af1 490 break;
Jellehierck 23:8a0a0b959af1 491 case emg_operation:
Jellehierck 26:7e81c7db6e7a 492 do_emg_operation();
Jellehierck 23:8a0a0b959af1 493 break;
Jellehierck 23:8a0a0b959af1 494 }
Jellehierck 23:8a0a0b959af1 495 }
Jellehierck 23:8a0a0b959af1 496
Jellehierck 25:a1be4cf2ab0b 497 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 498 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 499 {
Jellehierck 25:a1be4cf2ab0b 500 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 501 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 502 // controller();
Jellehierck 25:a1be4cf2ab0b 503 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 504 }
Jellehierck 25:a1be4cf2ab0b 505
Jellehierck 23:8a0a0b959af1 506 void main()
Jellehierck 23:8a0a0b959af1 507 {
Jellehierck 23:8a0a0b959af1 508 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 509 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 510
Jellehierck 23:8a0a0b959af1 511 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 512
Jellehierck 23:8a0a0b959af1 513 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 514 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 515 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 516 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 517
Jellehierck 23:8a0a0b959af1 518 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 519 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 520 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 521
Jellehierck 23:8a0a0b959af1 522 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 523 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 524 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 525
Jellehierck 23:8a0a0b959af1 526 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 527 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 528 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 529
Jellehierck 23:8a0a0b959af1 530 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 531 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 532 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 533 } else {
Jellehierck 23:8a0a0b959af1 534 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 535 }
Jellehierck 35:e82834e62e44 536
Jellehierck 29:f51683a6cbbf 537 emg_curr_state = emg_wait; // Start off in EMG Wait state
Jellehierck 34:13fac02ef324 538 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 8:ea3de43c9e8b 539
Jellehierck 23:8a0a0b959af1 540 while(true) {
Jellehierck 31:b5188b6d45db 541 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 542 pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
Jellehierck 30:bac3b60d6283 543 wait(0.5f);
Jellehierck 23:8a0a0b959af1 544 }
Jellehierck 23:8a0a0b959af1 545 }