M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@32:b9b9c50f5429, 2019-10-29 (annotated)

Committer:
Jellehierck
Date:
Tue Oct 29 13:12:58 2019 +0000
Revision:
32:b9b9c50f5429
Parent:
31:b5188b6d45db
Child:
33:90404e64d844
Added getMax function, changed MVC from mean to max value of MVC calibration

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_MVC_stdev;
Jellehierck 12:70f0710400c2 53 double emg1_rest;
Jellehierck 12:70f0710400c2 54 double emg1_rest_stdev;
Jellehierck 26:7e81c7db6e7a 55 double emg1_factor;
Jellehierck 26:7e81c7db6e7a 56 double emg1_th;
Jellehierck 26:7e81c7db6e7a 57 double emg1_out;
Jellehierck 31:b5188b6d45db 58 double emg1_norm;
Jellehierck 7:7a088536f1c9 59 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 60 int emg1_cal_size;
Jellehierck 7:7a088536f1c9 61
Jellehierck 15:421d3d9c563b 62 double emg2;
Jellehierck 26:7e81c7db6e7a 63 double emg2_env;
Jellehierck 15:421d3d9c563b 64 double emg2_MVC;
Jellehierck 15:421d3d9c563b 65 double emg2_MVC_stdev;
Jellehierck 15:421d3d9c563b 66 double emg2_rest;
Jellehierck 15:421d3d9c563b 67 double emg2_rest_stdev;
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;
IsaRobin 0:6972d0e91af1 74
Jellehierck 15:421d3d9c563b 75 double emg3;
Jellehierck 26:7e81c7db6e7a 76 double emg3_env;
Jellehierck 15:421d3d9c563b 77 double emg3_MVC;
Jellehierck 15:421d3d9c563b 78 double emg3_MVC_stdev;
Jellehierck 15:421d3d9c563b 79 double emg3_rest;
Jellehierck 15:421d3d9c563b 80 double emg3_rest_stdev;
Jellehierck 26:7e81c7db6e7a 81 double emg3_factor;
Jellehierck 26:7e81c7db6e7a 82 double emg3_th;
Jellehierck 26:7e81c7db6e7a 83 double emg3_out;
Jellehierck 31:b5188b6d45db 84 double emg3_norm;
Jellehierck 15:421d3d9c563b 85 vector<double> emg3_cal;
Jellehierck 25:a1be4cf2ab0b 86 int emg3_cal_size;
Jellehierck 15:421d3d9c563b 87
Jellehierck 15:421d3d9c563b 88 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 89 Ticker tickSample;
Jellehierck 15:421d3d9c563b 90 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 91 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 92 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 93
Jellehierck 15:421d3d9c563b 94 /*
Jellehierck 15:421d3d9c563b 95 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 96 */
Jellehierck 11:042170a9b93a 97 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 98 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 99 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 100
Jellehierck 15:421d3d9c563b 101 // Calculate global variables
Jellehierck 15:421d3d9c563b 102 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 103 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 104
Jellehierck 15:421d3d9c563b 105 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 106 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 107 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 108 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 109 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 110 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 111 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 112
Jellehierck 15:421d3d9c563b 113 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 114 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 115 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 116 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 117 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 118 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 119 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 120 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 121 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 122 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 123
Jellehierck 15:421d3d9c563b 124 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 125 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 126 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 127 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 128 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 129 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 130 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 131 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 132 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 133 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 134
Jellehierck 15:421d3d9c563b 135 /*
Jellehierck 15:421d3d9c563b 136 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 137 */
Jellehierck 15:421d3d9c563b 138
Jellehierck 32:b9b9c50f5429 139 // Return max value of vector
Jellehierck 32:b9b9c50f5429 140 double getMax(const vector<double> &vect)
Jellehierck 32:b9b9c50f5429 141 {
Jellehierck 32:b9b9c50f5429 142 double curr_max = 0.0;
Jellehierck 32:b9b9c50f5429 143 int vect_n = vect.size();
Jellehierck 32:b9b9c50f5429 144
Jellehierck 32:b9b9c50f5429 145 for (int i = 0; i < vect_n; i++) {
Jellehierck 32:b9b9c50f5429 146 if (vect[i] < curr_max) { curr_max = vect[i]; };
Jellehierck 32:b9b9c50f5429 147 }
Jellehierck 32:b9b9c50f5429 148 return curr_max;
Jellehierck 32:b9b9c50f5429 149 }
Jellehierck 32:b9b9c50f5429 150
Jellehierck 15:421d3d9c563b 151 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 152 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 153 {
Jellehierck 8:ea3de43c9e8b 154 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 155 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 156
Jellehierck 8:ea3de43c9e8b 157 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 158 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 159 }
Jellehierck 8:ea3de43c9e8b 160 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 161 }
Jellehierck 8:ea3de43c9e8b 162
Jellehierck 15:421d3d9c563b 163 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 164 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 165 {
Jellehierck 8:ea3de43c9e8b 166 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 167 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 168
Jellehierck 8:ea3de43c9e8b 169 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 170 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 171 }
Jellehierck 8:ea3de43c9e8b 172 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 173 return output;
Jellehierck 7:7a088536f1c9 174 }
Jellehierck 7:7a088536f1c9 175
Jellehierck 26:7e81c7db6e7a 176 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 177 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 178 {
Jellehierck 26:7e81c7db6e7a 179 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 180 return output;
Jellehierck 26:7e81c7db6e7a 181 }
Jellehierck 26:7e81c7db6e7a 182
Jellehierck 25:a1be4cf2ab0b 183 // Handle button press
Jellehierck 25:a1be4cf2ab0b 184 void button1Press()
Jellehierck 25:a1be4cf2ab0b 185 {
Jellehierck 25:a1be4cf2ab0b 186 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 187 }
Jellehierck 25:a1be4cf2ab0b 188
Jellehierck 25:a1be4cf2ab0b 189 // Handle button press
Jellehierck 25:a1be4cf2ab0b 190 void button2Press()
Jellehierck 25:a1be4cf2ab0b 191 {
Jellehierck 25:a1be4cf2ab0b 192 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 193 }
Jellehierck 25:a1be4cf2ab0b 194
Jellehierck 15:421d3d9c563b 195 // Check filter stability
Jellehierck 6:5437cc97e1e6 196 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 197 {
Jellehierck 29:f51683a6cbbf 198 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 19:94dc52f8a59e 199 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 200 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 201
Jellehierck 11:042170a9b93a 202 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 203 return true;
Jellehierck 6:5437cc97e1e6 204 } else {
Jellehierck 6:5437cc97e1e6 205 return false;
Jellehierck 6:5437cc97e1e6 206 }
Jellehierck 6:5437cc97e1e6 207 }
Jellehierck 6:5437cc97e1e6 208
Jellehierck 15:421d3d9c563b 209 /*
Jellehierck 15:421d3d9c563b 210 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 211 */
Jellehierck 25:a1be4cf2ab0b 212 void sampleSignal()
Jellehierck 7:7a088536f1c9 213 {
Jellehierck 29:f51683a6cbbf 214 if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 25:a1be4cf2ab0b 215 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 216 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 217 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 218 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 219
Jellehierck 7:7a088536f1c9 220
Jellehierck 25:a1be4cf2ab0b 221 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 222 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 223 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 224 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 225
Jellehierck 25:a1be4cf2ab0b 226 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 227 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 228 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 229 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 230
Jellehierck 25:a1be4cf2ab0b 231 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 232 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 233 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 234 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 235
Jellehierck 29:f51683a6cbbf 236 if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 25:a1be4cf2ab0b 237 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 238 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 239 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 240 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 241 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 242 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 243 }
Jellehierck 25:a1be4cf2ab0b 244 }
Jellehierck 7:7a088536f1c9 245 }
Jellehierck 7:7a088536f1c9 246
Jellehierck 15:421d3d9c563b 247 /*
Jellehierck 25:a1be4cf2ab0b 248 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 249 */
Jellehierck 15:421d3d9c563b 250
Jellehierck 25:a1be4cf2ab0b 251 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 252 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 253 // Entry function
Jellehierck 25:a1be4cf2ab0b 254 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 255 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 256 // More functions
Jellehierck 25:a1be4cf2ab0b 257 }
Jellehierck 25:a1be4cf2ab0b 258
Jellehierck 25:a1be4cf2ab0b 259 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 260 doStuff();
Jellehierck 25:a1be4cf2ab0b 261
Jellehierck 25:a1be4cf2ab0b 262 // State transition guard
Jellehierck 25:a1be4cf2ab0b 263 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 264 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 265 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 266 // More functions
Jellehierck 25:a1be4cf2ab0b 267 }
Jellehierck 25:a1be4cf2ab0b 268 }
Jellehierck 25:a1be4cf2ab0b 269 */
Jellehierck 25:a1be4cf2ab0b 270
Jellehierck 25:a1be4cf2ab0b 271 // Finish up calibration
Jellehierck 22:9079c6c0d898 272 void calibrationFinished()
Jellehierck 7:7a088536f1c9 273 {
Jellehierck 22:9079c6c0d898 274 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 275 case emg_cal_MVC:
Jellehierck 32:b9b9c50f5429 276 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 277 // emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stdev globally
Jellehierck 21:e4569b47945e 278
Jellehierck 32:b9b9c50f5429 279 emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 280 // emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 281
Jellehierck 32:b9b9c50f5429 282 emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 283 // emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 284
Jellehierck 25:a1be4cf2ab0b 285
Jellehierck 29:f51683a6cbbf 286 emg_MVC_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 287 break;
Jellehierck 22:9079c6c0d898 288 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 289 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 290 emg1_rest_stdev = getStdev(emg1_cal, emg1_rest); // Store rest stdev globally
Jellehierck 20:0e9218673aa8 291
Jellehierck 23:8a0a0b959af1 292 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 293 emg2_rest_stdev = getStdev(emg2_cal, emg2_rest); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 294
Jellehierck 25:a1be4cf2ab0b 295 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 25:a1be4cf2ab0b 296 emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally
Jellehierck 25:a1be4cf2ab0b 297
Jellehierck 25:a1be4cf2ab0b 298
Jellehierck 29:f51683a6cbbf 299 emg_rest_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 300 break;
Jellehierck 22:9079c6c0d898 301 }
Jellehierck 23:8a0a0b959af1 302 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 303 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 304 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 305 }
Jellehierck 25:a1be4cf2ab0b 306
Jellehierck 25:a1be4cf2ab0b 307 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 308 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 309 {
Jellehierck 25:a1be4cf2ab0b 310 // Entry function
Jellehierck 25:a1be4cf2ab0b 311 if ( emg_state_changed == true ) {
Jellehierck 30:bac3b60d6283 312 emg_state_changed = false; // Disable entry functions
Jellehierck 32:b9b9c50f5429 313
Jellehierck 30:bac3b60d6283 314 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 30:bac3b60d6283 315 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 25:a1be4cf2ab0b 316 }
Jellehierck 25:a1be4cf2ab0b 317
Jellehierck 27:f18da01093c9 318 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 319
Jellehierck 29:f51683a6cbbf 320 // State transition guard. Possible next states:
Jellehierck 29:f51683a6cbbf 321 // 1. emg_cal_MVC (button1 pressed)
Jellehierck 29:f51683a6cbbf 322 // 2. emg_cal_rest (button2 pressed)
Jellehierck 29:f51683a6cbbf 323 // 3. emg_operation (both calibrations have run)
Jellehierck 25:a1be4cf2ab0b 324 if ( button1_pressed ) {
Jellehierck 29:f51683a6cbbf 325 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 326 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 327 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 328 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 29:f51683a6cbbf 329 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 330
Jellehierck 25:a1be4cf2ab0b 331 } else if ( button2_pressed ) {
Jellehierck 29:f51683a6cbbf 332 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 333 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 334 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 335 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 29:f51683a6cbbf 336 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 337
Jellehierck 25:a1be4cf2ab0b 338 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 30:bac3b60d6283 339 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 30:bac3b60d6283 340 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 29:f51683a6cbbf 341 emg_curr_state = emg_operation; // Set next state
Jellehierck 29:f51683a6cbbf 342 emg_state_changed = true; // Enable entry functions
Jellehierck 25:a1be4cf2ab0b 343 }
Jellehierck 7:7a088536f1c9 344 }
Jellehierck 7:7a088536f1c9 345
Jellehierck 21:e4569b47945e 346 // Run calibration of EMG
Jellehierck 21:e4569b47945e 347 void do_emg_cal()
Jellehierck 21:e4569b47945e 348 {
Jellehierck 28:59e8266f4633 349 // Entry functions
Jellehierck 22:9079c6c0d898 350 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 351 emg_state_changed = false; // Disable entry functions
Jellehierck 21:e4569b47945e 352 led_b = 0; // Turn on calibration led
Jellehierck 28:59e8266f4633 353
Jellehierck 22:9079c6c0d898 354 timerCalibration.reset();
Jellehierck 28:59e8266f4633 355 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 25:a1be4cf2ab0b 356 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 28:59e8266f4633 357 calibrateNow = true; // Enable calibration vector functionality in sampleSignal()
Jellehierck 26:7e81c7db6e7a 358
Jellehierck 28:59e8266f4633 359 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 32:b9b9c50f5429 360 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 32:b9b9c50f5429 361 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 22:9079c6c0d898 362 }
Jellehierck 7:7a088536f1c9 363
Jellehierck 31:b5188b6d45db 364 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 365 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 366 scope.set(0, emg1 ); // One notch filtered EMG to check 50Hz disturbance
Jellehierck 31:b5188b6d45db 367 scope.set(1, emg1_env );
Jellehierck 31:b5188b6d45db 368 scope.set(2, emg2_env );
Jellehierck 32:b9b9c50f5429 369 scope.set(3, emg3_env );
Jellehierck 31:b5188b6d45db 370 scope.send();
Jellehierck 31:b5188b6d45db 371
Jellehierck 31:b5188b6d45db 372
Jellehierck 29:f51683a6cbbf 373 // State transition guard
Jellehierck 24:540c284e881d 374 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 375 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 376 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 377
Jellehierck 23:8a0a0b959af1 378 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 379 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 380
Jellehierck 25:a1be4cf2ab0b 381 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 382 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 383 }
Jellehierck 25:a1be4cf2ab0b 384 }
Jellehierck 23:8a0a0b959af1 385
Jellehierck 26:7e81c7db6e7a 386 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 387 {
Jellehierck 25:a1be4cf2ab0b 388 // Entry function
Jellehierck 25:a1be4cf2ab0b 389 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 390 emg_state_changed = false; // Disable entry functions
Jellehierck 26:7e81c7db6e7a 391 double margin_percentage = 10; // Set up % margin for rest
Jellehierck 28:59e8266f4633 392
Jellehierck 26:7e81c7db6e7a 393 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 394 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 395 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 396 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 397 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 398 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 31:b5188b6d45db 399
Jellehierck 30:bac3b60d6283 400 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 30:bac3b60d6283 401 calibrateNow = false; // Disable calibration vector functionality in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 402 }
Jellehierck 25:a1be4cf2ab0b 403
Jellehierck 25:a1be4cf2ab0b 404 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 405 emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
Jellehierck 31:b5188b6d45db 406 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 31:b5188b6d45db 407 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 28:59e8266f4633 408
Jellehierck 28:59e8266f4633 409 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 28:59e8266f4633 410 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 26:7e81c7db6e7a 411 emg1_out = 0.0;
Jellehierck 28:59e8266f4633 412 } else if ( emg1_norm > 1.0f ) { // If above MVC (due to filtering perhaps), emg_out = 1 (max value)
Jellehierck 26:7e81c7db6e7a 413 emg1_out = 1.0;
Jellehierck 28:59e8266f4633 414 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 28:59e8266f4633 415 // Inputs may be in range [emg_th, 1]
Jellehierck 28:59e8266f4633 416 // Outputs are scaled to range [0, 1]
Jellehierck 26:7e81c7db6e7a 417 emg1_out = rescale(emg1_norm, emg1_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 418 }
Jellehierck 28:59e8266f4633 419
Jellehierck 28:59e8266f4633 420 // Idem for emg2
Jellehierck 26:7e81c7db6e7a 421 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 422 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 423 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 424 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 425 } else {
Jellehierck 26:7e81c7db6e7a 426 emg2_out = rescale(emg2_norm, emg2_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 427 }
Jellehierck 28:59e8266f4633 428
Jellehierck 28:59e8266f4633 429 // Idem for emg3
Jellehierck 26:7e81c7db6e7a 430 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 431 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 432 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 433 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 434 } else {
Jellehierck 26:7e81c7db6e7a 435 emg3_out = rescale(emg3_norm, emg3_th, 1, 0, 1);
Jellehierck 26:7e81c7db6e7a 436 }
Jellehierck 25:a1be4cf2ab0b 437
Jellehierck 28:59e8266f4633 438 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 439 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 440 scope.set(1, emg1_env );
Jellehierck 31:b5188b6d45db 441 scope.set(2, emg1_norm );
Jellehierck 31:b5188b6d45db 442 scope.set(3, emg1_out );
Jellehierck 31:b5188b6d45db 443 //scope.set(2, emg2_out );
Jellehierck 31:b5188b6d45db 444 //scope.set(3, emg3_out );
Jellehierck 28:59e8266f4633 445 scope.send();
Jellehierck 31:b5188b6d45db 446
Jellehierck 30:bac3b60d6283 447 led_g = !led_g;
Jellehierck 28:59e8266f4633 448
Jellehierck 28:59e8266f4633 449
Jellehierck 25:a1be4cf2ab0b 450 // State transition guard
Jellehierck 26:7e81c7db6e7a 451 if ( false ) {
Jellehierck 28:59e8266f4633 452 emg_curr_state = emg_wait; // Set next state
Jellehierck 28:59e8266f4633 453 emg_state_changed = true; // Enable entry function
Jellehierck 23:8a0a0b959af1 454 }
Jellehierck 23:8a0a0b959af1 455 }
Jellehierck 23:8a0a0b959af1 456
Jellehierck 23:8a0a0b959af1 457 /*
Jellehierck 23:8a0a0b959af1 458 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 459 */
Jellehierck 23:8a0a0b959af1 460 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 461 {
Jellehierck 23:8a0a0b959af1 462 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 463 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 464 do_emg_wait();
Jellehierck 23:8a0a0b959af1 465 break;
Jellehierck 23:8a0a0b959af1 466 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 467 do_emg_cal();
Jellehierck 23:8a0a0b959af1 468 break;
Jellehierck 23:8a0a0b959af1 469 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 470 do_emg_cal();
Jellehierck 23:8a0a0b959af1 471 break;
Jellehierck 23:8a0a0b959af1 472 case emg_operation:
Jellehierck 26:7e81c7db6e7a 473 do_emg_operation();
Jellehierck 23:8a0a0b959af1 474 break;
Jellehierck 23:8a0a0b959af1 475 }
Jellehierck 23:8a0a0b959af1 476 }
Jellehierck 23:8a0a0b959af1 477
Jellehierck 25:a1be4cf2ab0b 478 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 479 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 480 {
Jellehierck 25:a1be4cf2ab0b 481 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 482 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 483 // controller();
Jellehierck 25:a1be4cf2ab0b 484 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 485 }
Jellehierck 25:a1be4cf2ab0b 486
Jellehierck 23:8a0a0b959af1 487 void main()
Jellehierck 23:8a0a0b959af1 488 {
Jellehierck 23:8a0a0b959af1 489 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 490 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 491
Jellehierck 23:8a0a0b959af1 492 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 493
Jellehierck 23:8a0a0b959af1 494 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 495 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 496 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 497 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 498
Jellehierck 23:8a0a0b959af1 499 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 500 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 501 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 502
Jellehierck 23:8a0a0b959af1 503 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 504 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 505 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 506
Jellehierck 23:8a0a0b959af1 507 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 508 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 509 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 510
Jellehierck 23:8a0a0b959af1 511 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 512 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 513 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 514 } else {
Jellehierck 23:8a0a0b959af1 515 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 516 }
Jellehierck 29:f51683a6cbbf 517 emg_curr_state = emg_wait; // Start off in EMG Wait state
Jellehierck 6:5437cc97e1e6 518
Jellehierck 25:a1be4cf2ab0b 519 tickGlobal.attach( &tickGlobalFunc, Ts );
Jellehierck 25:a1be4cf2ab0b 520
Jellehierck 29:f51683a6cbbf 521
Jellehierck 8:ea3de43c9e8b 522
Jellehierck 23:8a0a0b959af1 523 while(true) {
Jellehierck 7:7a088536f1c9 524
Jellehierck 23:8a0a0b959af1 525 // Show that system is running
Jellehierck 23:8a0a0b959af1 526 // led_g = !led_g;
Jellehierck 30:bac3b60d6283 527 // pc.printf("currentState: %i vectors size: %i %i %i\r\n", emg_curr_state, emg1_cal_size, emg2_cal_size, emg3_cal_size);
Jellehierck 31:b5188b6d45db 528 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 529 pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
Jellehierck 31:b5188b6d45db 530 //pc.printf(" emg2_env: %f emg2_out: %f emg2_th: %f emg2_factor: %f\r\n", emg2_env, emg2_out, emg2_th, emg2_factor);
Jellehierck 31:b5188b6d45db 531 //pc.printf(" emg3_env: %f emg3_out: %f emg3_th: %f emg3_factor: %f\r\n", emg3_env, emg3_out, emg3_th, emg3_factor);
Jellehierck 30:bac3b60d6283 532 wait(0.5f);
Jellehierck 23:8a0a0b959af1 533 }
Jellehierck 23:8a0a0b959af1 534 }