M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@22:9079c6c0d898, 2019-10-25 (annotated)

Committer:
Jellehierck
Date:
Fri Oct 25 10:11:29 2019 +0000
Revision:
22:9079c6c0d898
Parent:
21:e4569b47945e
Child:
23:8a0a0b959af1
Still working on calibration 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
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 22:9079c6c0d898 65 Timer timerCalibration;
Jellehierck 7:7a088536f1c9 66 Timeout timeoutCalibrationMVC;
Jellehierck 12:70f0710400c2 67 Timeout timeoutCalibrationRest;
Jellehierck 4:09a01d2db8f7 68
Jellehierck 15:421d3d9c563b 69 /*
Jellehierck 15:421d3d9c563b 70 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 71 */
Jellehierck 11:042170a9b93a 72 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 73 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 74 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 75
Jellehierck 15:421d3d9c563b 76 // Calculate global variables
Jellehierck 15:421d3d9c563b 77 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 78 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 79
Jellehierck 15:421d3d9c563b 80 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 81 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 82 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 83 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 84 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 85 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 86 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 87
Jellehierck 15:421d3d9c563b 88 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 89 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 90 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 91 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 92 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 93 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 94 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 95 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 96 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 97 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 98
Jellehierck 15:421d3d9c563b 99 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 100 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 101 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 102 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 103 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 104 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 105 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 106 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 107 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 108 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 109
Jellehierck 15:421d3d9c563b 110 /*
Jellehierck 15:421d3d9c563b 111 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 112 */
Jellehierck 15:421d3d9c563b 113
Jellehierck 15:421d3d9c563b 114 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 115 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 116 {
Jellehierck 8:ea3de43c9e8b 117 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 118 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 119
Jellehierck 8:ea3de43c9e8b 120 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 121 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 122 }
Jellehierck 8:ea3de43c9e8b 123 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 124 }
Jellehierck 8:ea3de43c9e8b 125
Jellehierck 15:421d3d9c563b 126 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 127 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 128 {
Jellehierck 8:ea3de43c9e8b 129 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 130 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 131
Jellehierck 8:ea3de43c9e8b 132 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 133 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 134 }
Jellehierck 8:ea3de43c9e8b 135 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 136 return output;
Jellehierck 7:7a088536f1c9 137 }
Jellehierck 7:7a088536f1c9 138
Jellehierck 15:421d3d9c563b 139 // Check filter stability
Jellehierck 6:5437cc97e1e6 140 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 141 {
Jellehierck 19:94dc52f8a59e 142 bool n_stable = bqc1_notch.stable();
Jellehierck 19:94dc52f8a59e 143 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 144 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 145
Jellehierck 11:042170a9b93a 146 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 147 return true;
Jellehierck 6:5437cc97e1e6 148 } else {
Jellehierck 6:5437cc97e1e6 149 return false;
Jellehierck 6:5437cc97e1e6 150 }
Jellehierck 6:5437cc97e1e6 151 }
Jellehierck 6:5437cc97e1e6 152
Jellehierck 15:421d3d9c563b 153 /*
Jellehierck 15:421d3d9c563b 154 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 155 */
Jellehierck 11:042170a9b93a 156 /*
Jellehierck 6:5437cc97e1e6 157 // Read samples, filter samples and output to HIDScope
Jellehierck 2:d3e9788ab1b3 158 void sample()
Jellehierck 2:d3e9788ab1b3 159 {
Jellehierck 4:09a01d2db8f7 160 // Read EMG inputs
Jellehierck 2:d3e9788ab1b3 161 emg1 = emg1_in.read();
Jellehierck 2:d3e9788ab1b3 162 emg2 = emg2_in.read();
Jellehierck 2:d3e9788ab1b3 163 emg3 = emg3_in.read();
Jellehierck 4:09a01d2db8f7 164
Jellehierck 4:09a01d2db8f7 165 // Output raw EMG input
Jellehierck 4:09a01d2db8f7 166 scope.set(0, emg1 );
Jellehierck 6:5437cc97e1e6 167
Jellehierck 5:3d65f89e3755 168 // Filter notch and highpass
Jellehierck 19:94dc52f8a59e 169 double emg1_n_hp = bqc1_notch_high.step( emg1 );
Jellehierck 6:5437cc97e1e6 170
Jellehierck 5:3d65f89e3755 171 // Rectify
Jellehierck 5:3d65f89e3755 172 double emg1_rectify = fabs( emg1_n_hp );
Jellehierck 6:5437cc97e1e6 173
Jellehierck 5:3d65f89e3755 174 // Filter lowpass (completes envelope)
Jellehierck 19:94dc52f8a59e 175 double emg1_env = bqc1_low.step( emg1_rectify );
Jellehierck 4:09a01d2db8f7 176
Jellehierck 4:09a01d2db8f7 177 // Output EMG after filters
Jellehierck 5:3d65f89e3755 178 scope.set(1, emg1_env );
Jellehierck 4:09a01d2db8f7 179 scope.send();
Jellehierck 2:d3e9788ab1b3 180 }
Jellehierck 11:042170a9b93a 181 */
IsaRobin 0:6972d0e91af1 182
Jellehierck 7:7a088536f1c9 183 void sampleCalibration()
Jellehierck 7:7a088536f1c9 184 {
Jellehierck 7:7a088536f1c9 185 // Read EMG inputs
Jellehierck 7:7a088536f1c9 186 emg1 = emg1_in.read();
Jellehierck 7:7a088536f1c9 187 emg2 = emg2_in.read();
Jellehierck 7:7a088536f1c9 188 emg3 = emg3_in.read();
Jellehierck 7:7a088536f1c9 189
Jellehierck 7:7a088536f1c9 190 // Output raw EMG input
Jellehierck 19:94dc52f8a59e 191 //scope.set(0, emg1 );
Jellehierck 19:94dc52f8a59e 192 // scope.set(1, emg2 );
Jellehierck 20:0e9218673aa8 193
Jellehierck 19:94dc52f8a59e 194 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 19:94dc52f8a59e 195 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 196 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 197 double emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 198
Jellehierck 19:94dc52f8a59e 199 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 19:94dc52f8a59e 200 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 201 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 202 double emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 203
Jellehierck 19:94dc52f8a59e 204 scope.set(0, emg1_n);
Jellehierck 19:94dc52f8a59e 205 scope.set(1, emg2_n);
Jellehierck 7:7a088536f1c9 206
Jellehierck 17:e4e7b1fbb263 207 scope.set(2, emg1_env );
Jellehierck 17:e4e7b1fbb263 208 scope.set(3, emg2_env );
Jellehierck 7:7a088536f1c9 209 scope.send();
Jellehierck 7:7a088536f1c9 210
Jellehierck 17:e4e7b1fbb263 211 // IF STATEMENT TOEVOEGEN VOOR CALIBRATIE
Jellehierck 17:e4e7b1fbb263 212 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 17:e4e7b1fbb263 213 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 7:7a088536f1c9 214 }
Jellehierck 7:7a088536f1c9 215
Jellehierck 15:421d3d9c563b 216 /*
Jellehierck 15:421d3d9c563b 217 ------ EMG CALIBRATION FUNCTIONS ------
Jellehierck 15:421d3d9c563b 218 */
Jellehierck 15:421d3d9c563b 219
Jellehierck 15:421d3d9c563b 220 // Finish up calibration of MVC
Jellehierck 22:9079c6c0d898 221 void calibrationFinished()
Jellehierck 7:7a088536f1c9 222 {
Jellehierck 22:9079c6c0d898 223
Jellehierck 22:9079c6c0d898 224 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 225 case emg_cal_MVC:
Jellehierck 22:9079c6c0d898 226 emg1_MVC = getMean(emg1_cal); // Store MVC globally
Jellehierck 22:9079c6c0d898 227 emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stde globally
Jellehierck 22:9079c6c0d898 228 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 21:e4569b47945e 229
Jellehierck 22:9079c6c0d898 230 emg2_MVC = getMean(emg2_cal); // Store MVC globally
Jellehierck 22:9079c6c0d898 231 emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stde globally
Jellehierck 22:9079c6c0d898 232 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 22:9079c6c0d898 233 break;
Jellehierck 22:9079c6c0d898 234 case emg_cal_rest:
Jellehierck 22:9079c6c0d898 235 emg1_MVC = getMean(emg1_cal); // Store MVC globally
Jellehierck 22:9079c6c0d898 236 emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stde globally
Jellehierck 22:9079c6c0d898 237 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 20:0e9218673aa8 238
Jellehierck 22:9079c6c0d898 239 emg2_MVC = getMean(emg2_cal); // Store MVC globally
Jellehierck 22:9079c6c0d898 240 emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stde globally
Jellehierck 22:9079c6c0d898 241 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 22:9079c6c0d898 242 break;
Jellehierck 22:9079c6c0d898 243 }
Jellehierck 20:0e9218673aa8 244
Jellehierck 15:421d3d9c563b 245 led_b = 1; // Turn off calibration led
Jellehierck 7:7a088536f1c9 246 }
Jellehierck 7:7a088536f1c9 247
Jellehierck 15:421d3d9c563b 248 // Finish up calibration in rest
Jellehierck 12:70f0710400c2 249 void calibrationRestFinished()
Jellehierck 12:70f0710400c2 250 {
Jellehierck 15:421d3d9c563b 251 tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt
Jellehierck 15:421d3d9c563b 252 emg1_rest = getMean(emg1_cal); // Store rest globally
Jellehierck 15:421d3d9c563b 253 emg1_rest_stdev = getStdev(emg1_cal, emg1_rest);// Store rest stdev globally
Jellehierck 15:421d3d9c563b 254 emg1_cal.clear(); // Empty vector to prevent memory overflow
Jellehierck 20:0e9218673aa8 255
Jellehierck 20:0e9218673aa8 256
Jellehierck 19:94dc52f8a59e 257 emg2_rest = getMean(emg2_cal); // Store rest globally
Jellehierck 19:94dc52f8a59e 258 emg2_rest_stdev = getStdev(emg2_cal, emg2_rest);// Store rest stdev globally
Jellehierck 19:94dc52f8a59e 259 emg2_cal.clear(); // Empty vector to prevent memory overflow
Jellehierck 15:421d3d9c563b 260 led_b = 1; // Turn off calibration led
Jellehierck 12:70f0710400c2 261 }
Jellehierck 12:70f0710400c2 262
Jellehierck 21:e4569b47945e 263 // Run calibration of EMG
Jellehierck 21:e4569b47945e 264 void do_emg_cal()
Jellehierck 21:e4569b47945e 265 {
Jellehierck 22:9079c6c0d898 266 if ( emg_state_changed == true ) {
Jellehierck 22:9079c6c0d898 267 emg_state_changed == false;
Jellehierck 21:e4569b47945e 268 led_b = 0; // Turn on calibration led
Jellehierck 22:9079c6c0d898 269 timerCalibration.reset();
Jellehierck 22:9079c6c0d898 270 timerCalibration.start();
Jellehierck 22:9079c6c0d898 271
Jellehierck 22:9079c6c0d898 272 switch( emg_curr_state ) {
Jellehierck 21:e4569b47945e 273 case emg_cal_MVC:
Jellehierck 21:e4569b47945e 274 timeoutCalibrationMVC.attach( &calibrationMVCFinished, Tcal); // Stop MVC calibration after interval
Jellehierck 21:e4569b47945e 275 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 276 break;
Jellehierck 21:e4569b47945e 277 case emg_cal_rest:
Jellehierck 21:e4569b47945e 278 timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval
Jellehierck 21:e4569b47945e 279 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 280 break;
Jellehierck 21:e4569b47945e 281 }
Jellehierck 21:e4569b47945e 282
Jellehierck 21:e4569b47945e 283 // Allemaal dingen doen tot de end conditions true zijn
Jellehierck 21:e4569b47945e 284
Jellehierck 22:9079c6c0d898 285 if ( timerCalibration.read() >= Tcal ) {
Jellehierck 22:9079c6c0d898 286 tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt
Jellehierck 22:9079c6c0d898 287
Jellehierck 22:9079c6c0d898 288 calibrationFinished();
Jellehierck 22:9079c6c0d898 289
Jellehierck 21:e4569b47945e 290 emg_curr_state == emg_wait;
Jellehierck 21:e4569b47945e 291 stateChanged == true;
Jellehierck 22:9079c6c0d898 292
Jellehierck 21:e4569b47945e 293 pc.printf("Calibration step finished");
Jellehierck 22:9079c6c0d898 294 }
Jellehierck 21:e4569b47945e 295 }
Jellehierck 21:e4569b47945e 296
Jellehierck 22:9079c6c0d898 297 /*
Jellehierck 22:9079c6c0d898 298 // Run calibration in rest
Jellehierck 22:9079c6c0d898 299 void calibrationRest()
Jellehierck 22:9079c6c0d898 300 {
Jellehierck 22:9079c6c0d898 301 timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval
Jellehierck 22:9079c6c0d898 302 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 22:9079c6c0d898 303 led_b = 0; // Turn on calibration led
Jellehierck 22:9079c6c0d898 304 }
Jellehierck 22:9079c6c0d898 305 */
Jellehierck 12:70f0710400c2 306
Jellehierck 15:421d3d9c563b 307 // Determine scale factors for operation mode
Jellehierck 22:9079c6c0d898 308 void makeScale() {
Jellehierck 22:9079c6c0d898 309 double margin_percentage = 10; // Set up % margin for rest
Jellehierck 22:9079c6c0d898 310 double factor1 = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 22:9079c6c0d898 311 double emg1_th = emg1_rest * factor1 + margin_percentage/100; // Set normalized rest threshold
Jellehierck 20:0e9218673aa8 312
Jellehierck 22:9079c6c0d898 313 pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th);
Jellehierck 22:9079c6c0d898 314 }
Jellehierck 7:7a088536f1c9 315
Jellehierck 22:9079c6c0d898 316 /*
Jellehierck 22:9079c6c0d898 317 ------ EMG SUBSTATE MACHINE ------
Jellehierck 22:9079c6c0d898 318 */
Jellehierck 22:9079c6c0d898 319 void emg_state_machine() {
Jellehierck 22:9079c6c0d898 320 switch(emg_curr_state) {
Jellehierck 22:9079c6c0d898 321 case emg_wait:
Jellehierck 22:9079c6c0d898 322 //do_emg_wait();
Jellehierck 22:9079c6c0d898 323 break;
Jellehierck 22:9079c6c0d898 324 case emg_cal_MVC:
Jellehierck 22:9079c6c0d898 325 do_emg_cal();
Jellehierck 22:9079c6c0d898 326 break;
Jellehierck 22:9079c6c0d898 327 case emg_cal_rest:
Jellehierck 22:9079c6c0d898 328 do_emg_cal();
Jellehierck 22:9079c6c0d898 329 break;
Jellehierck 22:9079c6c0d898 330 case emg_check_cal:
Jellehierck 22:9079c6c0d898 331 //do_emg_check_cal();
Jellehierck 22:9079c6c0d898 332 break;
Jellehierck 22:9079c6c0d898 333 case emg_make_scale:
Jellehierck 22:9079c6c0d898 334 //do_make_scale();
Jellehierck 22:9079c6c0d898 335 break;
Jellehierck 22:9079c6c0d898 336 case emg_operation:
Jellehierck 22:9079c6c0d898 337 //do_emg_operation();
Jellehierck 22:9079c6c0d898 338 break;
Jellehierck 22:9079c6c0d898 339 }
Jellehierck 6:5437cc97e1e6 340 }
Jellehierck 6:5437cc97e1e6 341
Jellehierck 22:9079c6c0d898 342 void main() {
Jellehierck 22:9079c6c0d898 343 pc.baud(115200); // MODSERIAL rate
Jellehierck 22:9079c6c0d898 344 pc.printf("Starting\r\n");
Jellehierck 22:9079c6c0d898 345
Jellehierck 22:9079c6c0d898 346 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 8:ea3de43c9e8b 347
Jellehierck 22:9079c6c0d898 348 // Create BQ chains to reduce computations
Jellehierck 22:9079c6c0d898 349 bqc1_notch.add( &bq1_notch );
Jellehierck 22:9079c6c0d898 350 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 22:9079c6c0d898 351 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 22:9079c6c0d898 352
Jellehierck 22:9079c6c0d898 353 bqc2_notch.add( &bq2_notch );
Jellehierck 22:9079c6c0d898 354 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 22:9079c6c0d898 355 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 22:9079c6c0d898 356
Jellehierck 22:9079c6c0d898 357 bqc3_notch.add( &bq3_notch );
Jellehierck 22:9079c6c0d898 358 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 22:9079c6c0d898 359 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 7:7a088536f1c9 360
Jellehierck 22:9079c6c0d898 361 led_b = 1; // Turn blue led off at startup
Jellehierck 22:9079c6c0d898 362 led_g = 1; // Turn green led off at startup
Jellehierck 22:9079c6c0d898 363 led_r = 1; // Turn red led off at startup
Jellehierck 22:9079c6c0d898 364
Jellehierck 22:9079c6c0d898 365 // If any filter chain is unstable, red led will light up
Jellehierck 22:9079c6c0d898 366 if (checkBQChainStable) {
Jellehierck 22:9079c6c0d898 367 led_r = 1; // LED off
Jellehierck 22:9079c6c0d898 368 } else {
Jellehierck 22:9079c6c0d898 369 led_r = 0; // LED on
Jellehierck 22:9079c6c0d898 370 }
Jellehierck 22:9079c6c0d898 371
Jellehierck 22:9079c6c0d898 372 button1.fall( &calibrationMVC ); // Run MVC calibration on button press
Jellehierck 22:9079c6c0d898 373 button2.fall( &calibrationRest ); // Run rest calibration on button press
Jellehierck 22:9079c6c0d898 374 button3.fall( &makeScale ); // Create scale factors and close calibration at button press
Jellehierck 22:9079c6c0d898 375
Jellehierck 22:9079c6c0d898 376 while(true) {
Jellehierck 22:9079c6c0d898 377
Jellehierck 22:9079c6c0d898 378 // Show that system is running
Jellehierck 22:9079c6c0d898 379 // led_g = !led_g;
Jellehierck 22:9079c6c0d898 380 pc.printf("Vector emg1_cal: %i vector emg2_cal: %i\r\n", emg1_cal.size(), emg2_cal.size());
Jellehierck 22:9079c6c0d898 381 wait(1.0f);
Jellehierck 22:9079c6c0d898 382 }
Jellehierck 22:9079c6c0d898 383 }