M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@3:c0ece64850db, 2019-10-20 (annotated)

Committer:
Jellehierck
Date:
Sun Oct 20 19:01:21 2019 +0000
Revision:
3:c0ece64850db
Parent:
2:d3e9788ab1b3
Child:
4:09a01d2db8f7
Completely rewrote biquad filters for easier manipulation and implementation of 4th order filters.

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 2:d3e9788ab1b3 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 2:d3e9788ab1b3 12 // PC serial connection
Jellehierck 2:d3e9788ab1b3 13 // MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 14
IsaRobin 0:6972d0e91af1 15 //EMG inputs definieren
IsaRobin 0:6972d0e91af1 16 AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting
IsaRobin 0:6972d0e91af1 17 AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting
IsaRobin 0:6972d0e91af1 18 AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting
IsaRobin 0:6972d0e91af1 19
IsaRobin 0:6972d0e91af1 20 //variablen voor EMG
IsaRobin 0:6972d0e91af1 21 double emg1;
IsaRobin 0:6972d0e91af1 22 double emg2;
IsaRobin 0:6972d0e91af1 23 double emg3;
IsaRobin 0:6972d0e91af1 24 double notch1;
IsaRobin 0:6972d0e91af1 25 double notch2;
IsaRobin 0:6972d0e91af1 26 double notch3;
IsaRobin 0:6972d0e91af1 27 double highpass1;
IsaRobin 0:6972d0e91af1 28 double highpass2;
IsaRobin 0:6972d0e91af1 29 double highpass3;
IsaRobin 0:6972d0e91af1 30 double lowpass1;
IsaRobin 0:6972d0e91af1 31 double lowpass2;
IsaRobin 0:6972d0e91af1 32 double lowpass3;
IsaRobin 0:6972d0e91af1 33 double rectify1;
IsaRobin 0:6972d0e91af1 34 double rectify2;
IsaRobin 0:6972d0e91af1 35 double rectify3;
IsaRobin 0:6972d0e91af1 36
Jellehierck 3:c0ece64850db 37 // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 38 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 39 BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882);
Jellehierck 1:059cca298369 40
Jellehierck 3:c0ece64850db 41 // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 42 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 43 // b02 b12 b22 a02 a12 a22
Jellehierck 3:c0ece64850db 44 BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025);
Jellehierck 3:c0ece64850db 45 BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078);
Jellehierck 3:c0ece64850db 46 BiQuadChain bqc_high; // Used to chain two 2nd other filters into a 4th order filter
IsaRobin 0:6972d0e91af1 47
Jellehierck 3:c0ece64850db 48 // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 49 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 50 // b02 b12 b22 a02 a12 a22
Jellehierck 3:c0ece64850db 51 BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138);
Jellehierck 3:c0ece64850db 52 BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162);
Jellehierck 3:c0ece64850db 53 BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter
Jellehierck 2:d3e9788ab1b3 54
Jellehierck 2:d3e9788ab1b3 55 void sample()
Jellehierck 2:d3e9788ab1b3 56 {
Jellehierck 2:d3e9788ab1b3 57 emg1 = emg1_in.read();
Jellehierck 2:d3e9788ab1b3 58 emg2 = emg2_in.read();
Jellehierck 2:d3e9788ab1b3 59 emg3 = emg3_in.read();
Jellehierck 2:d3e9788ab1b3 60 }
IsaRobin 0:6972d0e91af1 61
IsaRobin 0:6972d0e91af1 62 //notch filter toepassen
IsaRobin 0:6972d0e91af1 63 notch1 = N1.step(emg1);
IsaRobin 0:6972d0e91af1 64 notch2 = N2.step(emg2);
IsaRobin 0:6972d0e91af1 65 notch3 = N3.step(emg3);
IsaRobin 0:6972d0e91af1 66
Jellehierck 2:d3e9788ab1b3 67 //high pass filter
IsaRobin 0:6972d0e91af1 68 high1 = H1.step(notch1);
IsaRobin 0:6972d0e91af1 69 high2 = H2.step(notch2);
IsaRobin 0:6972d0e91af1 70 high3 = H3.step(notch3);
IsaRobin 0:6972d0e91af1 71
IsaRobin 0:6972d0e91af1 72 //rectify toepassen, oftewel absolute waarde van EMG signaal nemen
IsaRobin 0:6972d0e91af1 73 absolute1 = fabs(high1);
IsaRobin 0:6972d0e91af1 74 absolute2 = fabs(high2);
IsaRobin 0:6972d0e91af1 75 absolute3 = fabs(high3);
IsaRobin 0:6972d0e91af1 76
IsaRobin 0:6972d0e91af1 77 //low pass filter
IsaRobin 0:6972d0e91af1 78 low1 = L1.step(absolute1);
IsaRobin 0:6972d0e91af1 79 low2 = L2.step(absolute2);
IsaRobin 0:6972d0e91af1 80 low3 = L3.step(absolute3);