M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@21:e4569b47945e, 2019-10-25 (annotated)

Committer:
Jellehierck
Date:
Fri Oct 25 09:57:50 2019 +0000
Revision:
21:e4569b47945e
Parent:
20:0e9218673aa8
Child:
22:9079c6c0d898
Started work on EMG 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 16:7acbcc4aa35c 34
Jellehierck 15:421d3d9c563b 35 // Global variables for EMG reading
Jellehierck 15:421d3d9c563b 36 AnalogIn emg1_in (A1); // Right biceps, x axis
Jellehierck 15:421d3d9c563b 37 AnalogIn emg2_in (A2); // Left biceps, y axis
Jellehierck 15:421d3d9c563b 38 AnalogIn emg3_in (A3); // Third muscle, TBD
Jellehierck 15:421d3d9c563b 39
IsaRobin 0:6972d0e91af1 40 double emg1;
Jellehierck 12:70f0710400c2 41 double emg1_MVC;
Jellehierck 12:70f0710400c2 42 double emg1_MVC_stdev;
Jellehierck 12:70f0710400c2 43 double emg1_rest;
Jellehierck 12:70f0710400c2 44 double emg1_rest_stdev;
Jellehierck 7:7a088536f1c9 45 vector<double> emg1_cal;
Jellehierck 7:7a088536f1c9 46
Jellehierck 15:421d3d9c563b 47 double emg2;
Jellehierck 15:421d3d9c563b 48 double emg2_MVC;
Jellehierck 15:421d3d9c563b 49 double emg2_MVC_stdev;
Jellehierck 15:421d3d9c563b 50 double emg2_rest;
Jellehierck 15:421d3d9c563b 51 double emg2_rest_stdev;
Jellehierck 15:421d3d9c563b 52 vector<double> emg2_cal;
IsaRobin 0:6972d0e91af1 53
Jellehierck 15:421d3d9c563b 54 double emg3;
Jellehierck 15:421d3d9c563b 55 double emg3_MVC;
Jellehierck 15:421d3d9c563b 56 double emg3_MVC_stdev;
Jellehierck 15:421d3d9c563b 57 double emg3_rest;
Jellehierck 15:421d3d9c563b 58 double emg3_rest_stdev;
Jellehierck 15:421d3d9c563b 59 vector<double> emg3_cal;
Jellehierck 15:421d3d9c563b 60
Jellehierck 15:421d3d9c563b 61 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 62 Ticker tickSample;
Jellehierck 15:421d3d9c563b 63 Ticker tickSampleCalibration;
Jellehierck 7:7a088536f1c9 64 Timeout timeoutCalibrationMVC;
Jellehierck 12:70f0710400c2 65 Timeout timeoutCalibrationRest;
Jellehierck 4:09a01d2db8f7 66
Jellehierck 15:421d3d9c563b 67 /*
Jellehierck 15:421d3d9c563b 68 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 69 */
Jellehierck 11:042170a9b93a 70 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 71 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 72 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 73
Jellehierck 15:421d3d9c563b 74 // Calculate global variables
Jellehierck 15:421d3d9c563b 75 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 76 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 77
Jellehierck 15:421d3d9c563b 78 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 79 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 80 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 81 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 82 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 83 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 84 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 85
Jellehierck 15:421d3d9c563b 86 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 87 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 88 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 89 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 90 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 91 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 92 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 93 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 94 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 95 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 96
Jellehierck 15:421d3d9c563b 97 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 98 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 99 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 100 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 101 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 102 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 103 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 104 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 105 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 106 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 107
Jellehierck 15:421d3d9c563b 108 /*
Jellehierck 15:421d3d9c563b 109 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 110 */
Jellehierck 15:421d3d9c563b 111
Jellehierck 15:421d3d9c563b 112 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 113 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 114 {
Jellehierck 8:ea3de43c9e8b 115 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 116 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 117
Jellehierck 8:ea3de43c9e8b 118 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 119 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 120 }
Jellehierck 8:ea3de43c9e8b 121 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 122 }
Jellehierck 8:ea3de43c9e8b 123
Jellehierck 15:421d3d9c563b 124 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 125 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 126 {
Jellehierck 8:ea3de43c9e8b 127 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 128 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 129
Jellehierck 8:ea3de43c9e8b 130 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 131 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 132 }
Jellehierck 8:ea3de43c9e8b 133 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 134 return output;
Jellehierck 7:7a088536f1c9 135 }
Jellehierck 7:7a088536f1c9 136
Jellehierck 15:421d3d9c563b 137 // Check filter stability
Jellehierck 6:5437cc97e1e6 138 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 139 {
Jellehierck 19:94dc52f8a59e 140 bool n_stable = bqc1_notch.stable();
Jellehierck 19:94dc52f8a59e 141 bool hp_stable = bqc1_high.stable();
Jellehierck 19:94dc52f8a59e 142 bool l_stable = bqc1_low.stable();
Jellehierck 6:5437cc97e1e6 143
Jellehierck 11:042170a9b93a 144 if (n_stable && hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 145 return true;
Jellehierck 6:5437cc97e1e6 146 } else {
Jellehierck 6:5437cc97e1e6 147 return false;
Jellehierck 6:5437cc97e1e6 148 }
Jellehierck 6:5437cc97e1e6 149 }
Jellehierck 6:5437cc97e1e6 150
Jellehierck 15:421d3d9c563b 151 /*
Jellehierck 15:421d3d9c563b 152 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 153 */
Jellehierck 11:042170a9b93a 154 /*
Jellehierck 6:5437cc97e1e6 155 // Read samples, filter samples and output to HIDScope
Jellehierck 2:d3e9788ab1b3 156 void sample()
Jellehierck 2:d3e9788ab1b3 157 {
Jellehierck 4:09a01d2db8f7 158 // Read EMG inputs
Jellehierck 2:d3e9788ab1b3 159 emg1 = emg1_in.read();
Jellehierck 2:d3e9788ab1b3 160 emg2 = emg2_in.read();
Jellehierck 2:d3e9788ab1b3 161 emg3 = emg3_in.read();
Jellehierck 4:09a01d2db8f7 162
Jellehierck 4:09a01d2db8f7 163 // Output raw EMG input
Jellehierck 4:09a01d2db8f7 164 scope.set(0, emg1 );
Jellehierck 6:5437cc97e1e6 165
Jellehierck 5:3d65f89e3755 166 // Filter notch and highpass
Jellehierck 19:94dc52f8a59e 167 double emg1_n_hp = bqc1_notch_high.step( emg1 );
Jellehierck 6:5437cc97e1e6 168
Jellehierck 5:3d65f89e3755 169 // Rectify
Jellehierck 5:3d65f89e3755 170 double emg1_rectify = fabs( emg1_n_hp );
Jellehierck 6:5437cc97e1e6 171
Jellehierck 5:3d65f89e3755 172 // Filter lowpass (completes envelope)
Jellehierck 19:94dc52f8a59e 173 double emg1_env = bqc1_low.step( emg1_rectify );
Jellehierck 4:09a01d2db8f7 174
Jellehierck 4:09a01d2db8f7 175 // Output EMG after filters
Jellehierck 5:3d65f89e3755 176 scope.set(1, emg1_env );
Jellehierck 4:09a01d2db8f7 177 scope.send();
Jellehierck 2:d3e9788ab1b3 178 }
Jellehierck 11:042170a9b93a 179 */
IsaRobin 0:6972d0e91af1 180
Jellehierck 7:7a088536f1c9 181 void sampleCalibration()
Jellehierck 7:7a088536f1c9 182 {
Jellehierck 7:7a088536f1c9 183 // Read EMG inputs
Jellehierck 7:7a088536f1c9 184 emg1 = emg1_in.read();
Jellehierck 7:7a088536f1c9 185 emg2 = emg2_in.read();
Jellehierck 7:7a088536f1c9 186 emg3 = emg3_in.read();
Jellehierck 7:7a088536f1c9 187
Jellehierck 7:7a088536f1c9 188 // Output raw EMG input
Jellehierck 19:94dc52f8a59e 189 //scope.set(0, emg1 );
Jellehierck 19:94dc52f8a59e 190 // scope.set(1, emg2 );
Jellehierck 20:0e9218673aa8 191
Jellehierck 19:94dc52f8a59e 192 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 19:94dc52f8a59e 193 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 194 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 195 double emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 196
Jellehierck 19:94dc52f8a59e 197 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 19:94dc52f8a59e 198 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 20:0e9218673aa8 199 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 19:94dc52f8a59e 200 double emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 201
Jellehierck 19:94dc52f8a59e 202 scope.set(0, emg1_n);
Jellehierck 19:94dc52f8a59e 203 scope.set(1, emg2_n);
Jellehierck 7:7a088536f1c9 204
Jellehierck 17:e4e7b1fbb263 205 scope.set(2, emg1_env );
Jellehierck 17:e4e7b1fbb263 206 scope.set(3, emg2_env );
Jellehierck 7:7a088536f1c9 207 scope.send();
Jellehierck 7:7a088536f1c9 208
Jellehierck 17:e4e7b1fbb263 209 // IF STATEMENT TOEVOEGEN VOOR CALIBRATIE
Jellehierck 17:e4e7b1fbb263 210 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 17:e4e7b1fbb263 211 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 7:7a088536f1c9 212 }
Jellehierck 7:7a088536f1c9 213
Jellehierck 15:421d3d9c563b 214 /*
Jellehierck 15:421d3d9c563b 215 ------ EMG CALIBRATION FUNCTIONS ------
Jellehierck 15:421d3d9c563b 216 */
Jellehierck 15:421d3d9c563b 217
Jellehierck 15:421d3d9c563b 218 // Finish up calibration of MVC
Jellehierck 7:7a088536f1c9 219 void calibrationMVCFinished()
Jellehierck 7:7a088536f1c9 220 {
Jellehierck 15:421d3d9c563b 221 tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt
Jellehierck 21:e4569b47945e 222
Jellehierck 15:421d3d9c563b 223 emg1_MVC = getMean(emg1_cal); // Store MVC globally
Jellehierck 15:421d3d9c563b 224 emg1_MVC_stdev = getStdev(emg1_cal, emg1_MVC); // Store MVC stde globally
Jellehierck 21:e4569b47945e 225 vector<double>().swap(emg1_cal);
Jellehierck 20:0e9218673aa8 226
Jellehierck 19:94dc52f8a59e 227 emg2_MVC = getMean(emg2_cal); // Store MVC globally
Jellehierck 19:94dc52f8a59e 228 emg2_MVC_stdev = getStdev(emg2_cal, emg2_MVC); // Store MVC stde globally
Jellehierck 21:e4569b47945e 229 vector<double>().swap(emg2_cal);
Jellehierck 20:0e9218673aa8 230
Jellehierck 15:421d3d9c563b 231 led_b = 1; // Turn off calibration led
Jellehierck 7:7a088536f1c9 232 }
Jellehierck 7:7a088536f1c9 233
Jellehierck 15:421d3d9c563b 234 // Finish up calibration in rest
Jellehierck 12:70f0710400c2 235 void calibrationRestFinished()
Jellehierck 12:70f0710400c2 236 {
Jellehierck 15:421d3d9c563b 237 tickSampleCalibration.detach(); // Stop calibration ticker to remove interrupt
Jellehierck 15:421d3d9c563b 238 emg1_rest = getMean(emg1_cal); // Store rest globally
Jellehierck 15:421d3d9c563b 239 emg1_rest_stdev = getStdev(emg1_cal, emg1_rest);// Store rest stdev globally
Jellehierck 15:421d3d9c563b 240 emg1_cal.clear(); // Empty vector to prevent memory overflow
Jellehierck 20:0e9218673aa8 241
Jellehierck 20:0e9218673aa8 242
Jellehierck 19:94dc52f8a59e 243 emg2_rest = getMean(emg2_cal); // Store rest globally
Jellehierck 19:94dc52f8a59e 244 emg2_rest_stdev = getStdev(emg2_cal, emg2_rest);// Store rest stdev globally
Jellehierck 19:94dc52f8a59e 245 emg2_cal.clear(); // Empty vector to prevent memory overflow
Jellehierck 15:421d3d9c563b 246 led_b = 1; // Turn off calibration led
Jellehierck 12:70f0710400c2 247 }
Jellehierck 12:70f0710400c2 248
Jellehierck 21:e4569b47945e 249 // Run calibration of EMG
Jellehierck 21:e4569b47945e 250 void do_emg_cal()
Jellehierck 21:e4569b47945e 251 {
Jellehierck 21:e4569b47945e 252 if (stateChanged == true) {
Jellehierck 21:e4569b47945e 253 stateChanged == false;
Jellehierck 21:e4569b47945e 254 led_b = 0; // Turn on calibration led
Jellehierck 21:e4569b47945e 255 switch(emg_curr_state) {
Jellehierck 21:e4569b47945e 256 case emg_cal_MVC:
Jellehierck 21:e4569b47945e 257 timeoutCalibrationMVC.attach( &calibrationMVCFinished, Tcal); // Stop MVC calibration after interval
Jellehierck 21:e4569b47945e 258 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 259 break;
Jellehierck 21:e4569b47945e 260 case emg_cal_rest:
Jellehierck 21:e4569b47945e 261 timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval
Jellehierck 21:e4569b47945e 262 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 21:e4569b47945e 263 break;
Jellehierck 21:e4569b47945e 264 }
Jellehierck 21:e4569b47945e 265
Jellehierck 21:e4569b47945e 266 // Allemaal dingen doen tot de end conditions true zijn
Jellehierck 21:e4569b47945e 267
Jellehierck 21:e4569b47945e 268 if (timer klaar) {
Jellehierck 21:e4569b47945e 269 emg_curr_state == emg_wait;
Jellehierck 21:e4569b47945e 270 stateChanged == true;
Jellehierck 21:e4569b47945e 271 pc.printf("Calibration step finished");
Jellehierck 21:e4569b47945e 272 }
Jellehierck 21:e4569b47945e 273 }
Jellehierck 21:e4569b47945e 274
Jellehierck 21:e4569b47945e 275 /*
Jellehierck 16:7acbcc4aa35c 276 // Run calibration in rest
Jellehierck 12:70f0710400c2 277 void calibrationRest()
Jellehierck 12:70f0710400c2 278 {
Jellehierck 15:421d3d9c563b 279 timeoutCalibrationRest.attach( &calibrationRestFinished, Tcal); // Stop rest calibration after interval
Jellehierck 15:421d3d9c563b 280 tickSampleCalibration.attach( &sampleCalibration, Ts ); // Start sample ticker
Jellehierck 15:421d3d9c563b 281 led_b = 0; // Turn on calibration led
Jellehierck 12:70f0710400c2 282 }
Jellehierck 21:e4569b47945e 283 */
Jellehierck 12:70f0710400c2 284
Jellehierck 15:421d3d9c563b 285 // Determine scale factors for operation mode
Jellehierck 12:70f0710400c2 286 void makeScale()
Jellehierck 12:70f0710400c2 287 {
Jellehierck 15:421d3d9c563b 288 double margin_percentage = 10; // Set up % margin for rest
Jellehierck 15:421d3d9c563b 289 double factor1 = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 15:421d3d9c563b 290 double emg1_th = emg1_rest * factor1 + margin_percentage/100; // Set normalized rest threshold
Jellehierck 20:0e9218673aa8 291
Jellehierck 20:0e9218673aa8 292 pc.printf("Factor: %f TH: %f\r\n", factor1, emg1_th);
Jellehierck 12:70f0710400c2 293 }
Jellehierck 7:7a088536f1c9 294
Jellehierck 16:7acbcc4aa35c 295 /*
Jellehierck 16:7acbcc4aa35c 296 ------ EMG SUBSTATE MACHINE ------
Jellehierck 16:7acbcc4aa35c 297 */
Jellehierck 21:e4569b47945e 298 void emg_state_machine()
Jellehierck 21:e4569b47945e 299 {
Jellehierck 21:e4569b47945e 300 switch(emg_curr_state) {
Jellehierck 21:e4569b47945e 301 case emg_wait:
Jellehierck 21:e4569b47945e 302 //do_emg_wait();
Jellehierck 21:e4569b47945e 303 break;
Jellehierck 21:e4569b47945e 304 case emg_cal_MVC:
Jellehierck 21:e4569b47945e 305 do_emg_cal();
Jellehierck 21:e4569b47945e 306 break;
Jellehierck 21:e4569b47945e 307 case emg_cal_rest:
Jellehierck 21:e4569b47945e 308 do_emg_cal();
Jellehierck 21:e4569b47945e 309 break;
Jellehierck 21:e4569b47945e 310 case emg_check_cal:
Jellehierck 21:e4569b47945e 311 //do_emg_check_cal();
Jellehierck 21:e4569b47945e 312 break;
Jellehierck 21:e4569b47945e 313 case emg_make_scale:
Jellehierck 21:e4569b47945e 314 //do_make_scale();
Jellehierck 21:e4569b47945e 315 break;
Jellehierck 21:e4569b47945e 316 case emg_operation:
Jellehierck 21:e4569b47945e 317 //do_emg_operation();
Jellehierck 21:e4569b47945e 318 break;
Jellehierck 21:e4569b47945e 319 }
Jellehierck 21:e4569b47945e 320 }
Jellehierck 16:7acbcc4aa35c 321
Jellehierck 5:3d65f89e3755 322 void main()
Jellehierck 4:09a01d2db8f7 323 {
Jellehierck 15:421d3d9c563b 324 pc.baud(115200); // MODSERIAL rate
Jellehierck 8:ea3de43c9e8b 325 pc.printf("Starting\r\n");
Jellehierck 20:0e9218673aa8 326
Jellehierck 15:421d3d9c563b 327 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 6:5437cc97e1e6 328
Jellehierck 6:5437cc97e1e6 329 // Create BQ chains to reduce computations
Jellehierck 19:94dc52f8a59e 330 bqc1_notch.add( &bq1_notch );
Jellehierck 19:94dc52f8a59e 331 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 19:94dc52f8a59e 332 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 20:0e9218673aa8 333
Jellehierck 19:94dc52f8a59e 334 bqc2_notch.add( &bq2_notch );
Jellehierck 19:94dc52f8a59e 335 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 19:94dc52f8a59e 336 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 20:0e9218673aa8 337
Jellehierck 19:94dc52f8a59e 338 bqc3_notch.add( &bq3_notch );
Jellehierck 19:94dc52f8a59e 339 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 19:94dc52f8a59e 340 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 4:09a01d2db8f7 341
Jellehierck 15:421d3d9c563b 342 led_b = 1; // Turn blue led off at startup
Jellehierck 15:421d3d9c563b 343 led_g = 1; // Turn green led off at startup
Jellehierck 15:421d3d9c563b 344 led_r = 1; // Turn red led off at startup
Jellehierck 8:ea3de43c9e8b 345
Jellehierck 6:5437cc97e1e6 346 // If any filter chain is unstable, red led will light up
Jellehierck 6:5437cc97e1e6 347 if (checkBQChainStable) {
Jellehierck 6:5437cc97e1e6 348 led_r = 1; // LED off
Jellehierck 6:5437cc97e1e6 349 } else {
Jellehierck 6:5437cc97e1e6 350 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 351 }
Jellehierck 6:5437cc97e1e6 352
Jellehierck 15:421d3d9c563b 353 button1.fall( &calibrationMVC ); // Run MVC calibration on button press
Jellehierck 15:421d3d9c563b 354 button2.fall( &calibrationRest ); // Run rest calibration on button press
Jellehierck 15:421d3d9c563b 355 button3.fall( &makeScale ); // Create scale factors and close calibration at button press
Jellehierck 8:ea3de43c9e8b 356
Jellehierck 4:09a01d2db8f7 357 while(true) {
Jellehierck 7:7a088536f1c9 358
Jellehierck 6:5437cc97e1e6 359 // Show that system is running
Jellehierck 8:ea3de43c9e8b 360 // led_g = !led_g;
Jellehierck 21:e4569b47945e 361 pc.printf("Vector emg1_cal: %i vector emg2_cal: %i\r\n", emg1_cal.size(), emg2_cal.size());
Jellehierck 19:94dc52f8a59e 362 wait(1.0f);
Jellehierck 4:09a01d2db8f7 363 }
Jellehierck 4:09a01d2db8f7 364 }