M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@35:e82834e62e44, 2019-10-29 (annotated)

Committer:
Jellehierck
Date:
Tue Oct 29 16:00:53 2019 +0000
Revision:
35:e82834e62e44
Parent:
34:13fac02ef324
Child:
36:ec2bb2a02856
Added derivative of output signal for pulse detection (needs testing)

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 35:e82834e62e44 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_rest;
Jellehierck 26:7e81c7db6e7a 53 double emg1_factor;
Jellehierck 26:7e81c7db6e7a 54 double emg1_th;
Jellehierck 26:7e81c7db6e7a 55 double emg1_out;
Jellehierck 35:e82834e62e44 56 double emg1_out_prev;
Jellehierck 35:e82834e62e44 57 double emg1_dt;
Jellehierck 31:b5188b6d45db 58 double emg1_norm;
Jellehierck 7:7a088536f1c9 59 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 60 int emg1_cal_size;
Jellehierck 35:e82834e62e44 61 int emg1_dir = 1;
Jellehierck 7:7a088536f1c9 62
Jellehierck 15:421d3d9c563b 63 double emg2;
Jellehierck 26:7e81c7db6e7a 64 double emg2_env;
Jellehierck 15:421d3d9c563b 65 double emg2_MVC;
Jellehierck 15:421d3d9c563b 66 double emg2_rest;
Jellehierck 26:7e81c7db6e7a 67 double emg2_factor;
Jellehierck 26:7e81c7db6e7a 68 double emg2_th;
Jellehierck 26:7e81c7db6e7a 69 double emg2_out;
Jellehierck 31:b5188b6d45db 70 double emg2_norm;
Jellehierck 15:421d3d9c563b 71 vector<double> emg2_cal;
Jellehierck 25:a1be4cf2ab0b 72 int emg2_cal_size;
Jellehierck 35:e82834e62e44 73 int emg2_dir = 1;
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_rest;
Jellehierck 26:7e81c7db6e7a 79 double emg3_factor;
Jellehierck 26:7e81c7db6e7a 80 double emg3_th;
Jellehierck 26:7e81c7db6e7a 81 double emg3_out;
Jellehierck 31:b5188b6d45db 82 double emg3_norm;
Jellehierck 15:421d3d9c563b 83 vector<double> emg3_cal;
Jellehierck 25:a1be4cf2ab0b 84 int emg3_cal_size;
Jellehierck 35:e82834e62e44 85 int emg3_dir = 1;
Jellehierck 15:421d3d9c563b 86
Jellehierck 15:421d3d9c563b 87 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 88 Ticker tickSample;
Jellehierck 15:421d3d9c563b 89 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 90 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 91 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 92
Jellehierck 15:421d3d9c563b 93 /*
Jellehierck 15:421d3d9c563b 94 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 95 */
Jellehierck 11:042170a9b93a 96 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 97 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 98 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 99
Jellehierck 15:421d3d9c563b 100 // Calculate global variables
Jellehierck 15:421d3d9c563b 101 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 102 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 103
Jellehierck 15:421d3d9c563b 104 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 105 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 106 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 107 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 108 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 109 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 110 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 111
Jellehierck 15:421d3d9c563b 112 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 113 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 114 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 115 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 116 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 117 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 118 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 119 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 120 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 121 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 122
Jellehierck 15:421d3d9c563b 123 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 124 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 125 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 126 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 127 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 128 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 129 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 130 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 131 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 132 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 133
Jellehierck 15:421d3d9c563b 134 /*
Jellehierck 15:421d3d9c563b 135 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 136 */
Jellehierck 15:421d3d9c563b 137
Jellehierck 32:b9b9c50f5429 138 // Return max value of vector
Jellehierck 32:b9b9c50f5429 139 double getMax(const vector<double> &vect)
Jellehierck 32:b9b9c50f5429 140 {
Jellehierck 35:e82834e62e44 141 double curr_max = 0.0;
Jellehierck 32:b9b9c50f5429 142 int vect_n = vect.size();
Jellehierck 35:e82834e62e44 143
Jellehierck 32:b9b9c50f5429 144 for (int i = 0; i < vect_n; i++) {
Jellehierck 35:e82834e62e44 145 if (vect[i] > curr_max) {
Jellehierck 35:e82834e62e44 146 curr_max = vect[i];
Jellehierck 35:e82834e62e44 147 };
Jellehierck 32:b9b9c50f5429 148 }
Jellehierck 32:b9b9c50f5429 149 return curr_max;
Jellehierck 32:b9b9c50f5429 150 }
Jellehierck 32:b9b9c50f5429 151
Jellehierck 15:421d3d9c563b 152 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 153 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 154 {
Jellehierck 8:ea3de43c9e8b 155 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 156 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 157
Jellehierck 8:ea3de43c9e8b 158 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 159 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 160 }
Jellehierck 8:ea3de43c9e8b 161 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 162 }
Jellehierck 8:ea3de43c9e8b 163
Jellehierck 15:421d3d9c563b 164 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 165 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 166 {
Jellehierck 8:ea3de43c9e8b 167 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 168 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 169
Jellehierck 8:ea3de43c9e8b 170 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 171 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 172 }
Jellehierck 8:ea3de43c9e8b 173 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 174 return output;
Jellehierck 7:7a088536f1c9 175 }
Jellehierck 7:7a088536f1c9 176
Jellehierck 26:7e81c7db6e7a 177 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 178 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 179 {
Jellehierck 26:7e81c7db6e7a 180 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 181 return output;
Jellehierck 26:7e81c7db6e7a 182 }
Jellehierck 26:7e81c7db6e7a 183
Jellehierck 35:e82834e62e44 184 // Check filter stability
Jellehierck 35:e82834e62e44 185 bool checkBQChainStable()
Jellehierck 35:e82834e62e44 186 {
Jellehierck 35:e82834e62e44 187 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 35:e82834e62e44 188 bool hp_stable = bqc1_high.stable();
Jellehierck 35:e82834e62e44 189 bool l_stable = bqc1_low.stable();
Jellehierck 35:e82834e62e44 190
Jellehierck 35:e82834e62e44 191 if (n_stable && hp_stable && l_stable) {
Jellehierck 35:e82834e62e44 192 return true;
Jellehierck 35:e82834e62e44 193 } else {
Jellehierck 35:e82834e62e44 194 return false;
Jellehierck 35:e82834e62e44 195 }
Jellehierck 35:e82834e62e44 196 }
Jellehierck 35:e82834e62e44 197
Jellehierck 35:e82834e62e44 198 /*
Jellehierck 35:e82834e62e44 199 ------ BUTTON FUNCTIONS ------
Jellehierck 35:e82834e62e44 200 */
Jellehierck 35:e82834e62e44 201
Jellehierck 25:a1be4cf2ab0b 202 // Handle button press
Jellehierck 25:a1be4cf2ab0b 203 void button1Press()
Jellehierck 25:a1be4cf2ab0b 204 {
Jellehierck 25:a1be4cf2ab0b 205 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 206 }
Jellehierck 25:a1be4cf2ab0b 207
Jellehierck 25:a1be4cf2ab0b 208 // Handle button press
Jellehierck 25:a1be4cf2ab0b 209 void button2Press()
Jellehierck 25:a1be4cf2ab0b 210 {
Jellehierck 25:a1be4cf2ab0b 211 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 212 }
Jellehierck 25:a1be4cf2ab0b 213
Jellehierck 35:e82834e62e44 214 // Toggle EMG direction
Jellehierck 35:e82834e62e44 215 void toggleEMG1Dir()
Jellehierck 6:5437cc97e1e6 216 {
Jellehierck 35:e82834e62e44 217 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 218 case -1:
Jellehierck 35:e82834e62e44 219 emg1_dir = 1;
Jellehierck 35:e82834e62e44 220 break;
Jellehierck 35:e82834e62e44 221 case 1:
Jellehierck 35:e82834e62e44 222 emg1_dir = -1;
Jellehierck 35:e82834e62e44 223 break;
Jellehierck 35:e82834e62e44 224 }
Jellehierck 35:e82834e62e44 225 }
Jellehierck 6:5437cc97e1e6 226
Jellehierck 35:e82834e62e44 227 // Toggle EMG direction
Jellehierck 35:e82834e62e44 228 void toggleEMG2Dir()
Jellehierck 35:e82834e62e44 229 {
Jellehierck 35:e82834e62e44 230 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 231 case -1:
Jellehierck 35:e82834e62e44 232 emg1_dir = 1;
Jellehierck 35:e82834e62e44 233 break;
Jellehierck 35:e82834e62e44 234 case 1:
Jellehierck 35:e82834e62e44 235 emg1_dir = -1;
Jellehierck 35:e82834e62e44 236 break;
Jellehierck 6:5437cc97e1e6 237 }
Jellehierck 6:5437cc97e1e6 238 }
Jellehierck 6:5437cc97e1e6 239
Jellehierck 15:421d3d9c563b 240 /*
Jellehierck 15:421d3d9c563b 241 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 242 */
Jellehierck 25:a1be4cf2ab0b 243 void sampleSignal()
Jellehierck 7:7a088536f1c9 244 {
Jellehierck 29:f51683a6cbbf 245 if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 25:a1be4cf2ab0b 246 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 247 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 248 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 249 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 250
Jellehierck 7:7a088536f1c9 251
Jellehierck 25:a1be4cf2ab0b 252 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 253 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 254 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 255 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 256
Jellehierck 25:a1be4cf2ab0b 257 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 258 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 259 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 260 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 261
Jellehierck 25:a1be4cf2ab0b 262 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 263 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 264 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 265 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 266
Jellehierck 29:f51683a6cbbf 267 if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 25:a1be4cf2ab0b 268 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 269 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 270 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 271 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 272 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 273 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 274 }
Jellehierck 25:a1be4cf2ab0b 275 }
Jellehierck 7:7a088536f1c9 276 }
Jellehierck 7:7a088536f1c9 277
Jellehierck 15:421d3d9c563b 278 /*
Jellehierck 25:a1be4cf2ab0b 279 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 280 */
Jellehierck 15:421d3d9c563b 281
Jellehierck 25:a1be4cf2ab0b 282 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 283 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 284 // Entry function
Jellehierck 25:a1be4cf2ab0b 285 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 286 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 287 // More functions
Jellehierck 25:a1be4cf2ab0b 288 }
Jellehierck 25:a1be4cf2ab0b 289
Jellehierck 25:a1be4cf2ab0b 290 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 291 doStuff();
Jellehierck 25:a1be4cf2ab0b 292
Jellehierck 25:a1be4cf2ab0b 293 // State transition guard
Jellehierck 25:a1be4cf2ab0b 294 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 295 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 296 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 297 // More functions
Jellehierck 25:a1be4cf2ab0b 298 }
Jellehierck 25:a1be4cf2ab0b 299 }
Jellehierck 25:a1be4cf2ab0b 300 */
Jellehierck 25:a1be4cf2ab0b 301
Jellehierck 25:a1be4cf2ab0b 302 // Finish up calibration
Jellehierck 22:9079c6c0d898 303 void calibrationFinished()
Jellehierck 7:7a088536f1c9 304 {
Jellehierck 22:9079c6c0d898 305 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 306 case emg_cal_MVC:
Jellehierck 32:b9b9c50f5429 307 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 308 emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 309 emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
Jellehierck 25:a1be4cf2ab0b 310
Jellehierck 29:f51683a6cbbf 311 emg_MVC_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 312 break;
Jellehierck 22:9079c6c0d898 313 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 314 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 315 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 25:a1be4cf2ab0b 316 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 29:f51683a6cbbf 317 emg_rest_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 318 break;
Jellehierck 22:9079c6c0d898 319 }
Jellehierck 23:8a0a0b959af1 320 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 321 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 322 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 323 }
Jellehierck 25:a1be4cf2ab0b 324
Jellehierck 25:a1be4cf2ab0b 325 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 326 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 327 {
Jellehierck 25:a1be4cf2ab0b 328 // Entry function
Jellehierck 25:a1be4cf2ab0b 329 if ( emg_state_changed == true ) {
Jellehierck 30:bac3b60d6283 330 emg_state_changed = false; // Disable entry functions
Jellehierck 35:e82834e62e44 331
Jellehierck 30:bac3b60d6283 332 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 30:bac3b60d6283 333 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 25:a1be4cf2ab0b 334 }
Jellehierck 25:a1be4cf2ab0b 335
Jellehierck 27:f18da01093c9 336 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 337
Jellehierck 29:f51683a6cbbf 338 // State transition guard. Possible next states:
Jellehierck 29:f51683a6cbbf 339 // 1. emg_cal_MVC (button1 pressed)
Jellehierck 29:f51683a6cbbf 340 // 2. emg_cal_rest (button2 pressed)
Jellehierck 29:f51683a6cbbf 341 // 3. emg_operation (both calibrations have run)
Jellehierck 25:a1be4cf2ab0b 342 if ( button1_pressed ) {
Jellehierck 29:f51683a6cbbf 343 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 344 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 345 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 346 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 29:f51683a6cbbf 347 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 348
Jellehierck 25:a1be4cf2ab0b 349 } else if ( button2_pressed ) {
Jellehierck 29:f51683a6cbbf 350 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 351 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 352 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 353 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 29:f51683a6cbbf 354 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 355
Jellehierck 25:a1be4cf2ab0b 356 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 30:bac3b60d6283 357 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 30:bac3b60d6283 358 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 29:f51683a6cbbf 359 emg_curr_state = emg_operation; // Set next state
Jellehierck 29:f51683a6cbbf 360 emg_state_changed = true; // Enable entry functions
Jellehierck 25:a1be4cf2ab0b 361 }
Jellehierck 7:7a088536f1c9 362 }
Jellehierck 7:7a088536f1c9 363
Jellehierck 21:e4569b47945e 364 // Run calibration of EMG
Jellehierck 21:e4569b47945e 365 void do_emg_cal()
Jellehierck 21:e4569b47945e 366 {
Jellehierck 28:59e8266f4633 367 // Entry functions
Jellehierck 22:9079c6c0d898 368 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 369 emg_state_changed = false; // Disable entry functions
Jellehierck 21:e4569b47945e 370 led_b = 0; // Turn on calibration led
Jellehierck 28:59e8266f4633 371
Jellehierck 22:9079c6c0d898 372 timerCalibration.reset();
Jellehierck 28:59e8266f4633 373 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 25:a1be4cf2ab0b 374 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 28:59e8266f4633 375 calibrateNow = true; // Enable calibration vector functionality in sampleSignal()
Jellehierck 26:7e81c7db6e7a 376
Jellehierck 28:59e8266f4633 377 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 32:b9b9c50f5429 378 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 32:b9b9c50f5429 379 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 22:9079c6c0d898 380 }
Jellehierck 7:7a088536f1c9 381
Jellehierck 31:b5188b6d45db 382 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 383 // Set HIDScope outputs
Jellehierck 34:13fac02ef324 384 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 385 scope.set(1, emg1_env );
Jellehierck 33:90404e64d844 386 //scope.set(2, emg2_env );
Jellehierck 33:90404e64d844 387 //scope.set(3, emg3_env );
Jellehierck 31:b5188b6d45db 388 scope.send();
Jellehierck 31:b5188b6d45db 389
Jellehierck 29:f51683a6cbbf 390 // State transition guard
Jellehierck 24:540c284e881d 391 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 392 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 393 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 394
Jellehierck 23:8a0a0b959af1 395 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 396 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 397
Jellehierck 25:a1be4cf2ab0b 398 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 399 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 400 }
Jellehierck 25:a1be4cf2ab0b 401 }
Jellehierck 23:8a0a0b959af1 402
Jellehierck 26:7e81c7db6e7a 403 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 404 {
Jellehierck 25:a1be4cf2ab0b 405 // Entry function
Jellehierck 25:a1be4cf2ab0b 406 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 407 emg_state_changed = false; // Disable entry functions
Jellehierck 34:13fac02ef324 408 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 28:59e8266f4633 409
Jellehierck 26:7e81c7db6e7a 410 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 411 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 412 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 413 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 414 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 415 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 35:e82834e62e44 416
Jellehierck 35:e82834e62e44 417
Jellehierck 35:e82834e62e44 418 // ------- TO DO: MAKE SURE THESE BUTTONS DO NOT BOUNCE (e.g. with button1.rise() ) ------
Jellehierck 35:e82834e62e44 419 //button1.fall( &toggleEMG1Dir ); // Change to state MVC calibration on button1 press
Jellehierck 35:e82834e62e44 420 //button2.fall( &toggleEMG2Dir ); // Change to state rest calibration on button2 press
Jellehierck 31:b5188b6d45db 421
Jellehierck 30:bac3b60d6283 422 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 30:bac3b60d6283 423 calibrateNow = false; // Disable calibration vector functionality in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 424 }
Jellehierck 25:a1be4cf2ab0b 425
Jellehierck 25:a1be4cf2ab0b 426 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 427 emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
Jellehierck 31:b5188b6d45db 428 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 31:b5188b6d45db 429 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 28:59e8266f4633 430
Jellehierck 35:e82834e62e44 431 emg1_out_prev = emg1_out; // Set previous emg_out signal
Jellehierck 28:59e8266f4633 432 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 28:59e8266f4633 433 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 26:7e81c7db6e7a 434 emg1_out = 0.0;
Jellehierck 34:13fac02ef324 435 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 26:7e81c7db6e7a 436 emg1_out = 1.0;
Jellehierck 28:59e8266f4633 437 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 28:59e8266f4633 438 // Inputs may be in range [emg_th, 1]
Jellehierck 28:59e8266f4633 439 // Outputs are scaled to range [0, 1]
Jellehierck 34:13fac02ef324 440 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 26:7e81c7db6e7a 441 }
Jellehierck 35:e82834e62e44 442 emg1_dt = (emg1_out - emg1_out_prev) / Ts; // Calculate derivative of filtered normalized output signal
Jellehierck 35:e82834e62e44 443 emg1_out = emg1_out * emg1_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 444
Jellehierck 28:59e8266f4633 445 // Idem for emg2
Jellehierck 26:7e81c7db6e7a 446 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 447 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 448 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 449 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 450 } else {
Jellehierck 34:13fac02ef324 451 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 26:7e81c7db6e7a 452 }
Jellehierck 35:e82834e62e44 453 emg2_out = emg2_out * emg2_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 454
Jellehierck 28:59e8266f4633 455 // Idem for emg3
Jellehierck 26:7e81c7db6e7a 456 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 457 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 458 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 459 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 460 } else {
Jellehierck 34:13fac02ef324 461 emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
Jellehierck 26:7e81c7db6e7a 462 }
Jellehierck 25:a1be4cf2ab0b 463
Jellehierck 28:59e8266f4633 464 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 465 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 466 scope.set(1, emg1_env );
Jellehierck 35:e82834e62e44 467 scope.set(2, emg1_out );
Jellehierck 35:e82834e62e44 468 scope.set(3, emg1_dt );
Jellehierck 31:b5188b6d45db 469 //scope.set(2, emg2_out );
Jellehierck 31:b5188b6d45db 470 //scope.set(3, emg3_out );
Jellehierck 28:59e8266f4633 471 scope.send();
Jellehierck 31:b5188b6d45db 472
Jellehierck 30:bac3b60d6283 473 led_g = !led_g;
Jellehierck 28:59e8266f4633 474
Jellehierck 28:59e8266f4633 475
Jellehierck 25:a1be4cf2ab0b 476 // State transition guard
Jellehierck 26:7e81c7db6e7a 477 if ( false ) {
Jellehierck 28:59e8266f4633 478 emg_curr_state = emg_wait; // Set next state
Jellehierck 28:59e8266f4633 479 emg_state_changed = true; // Enable entry function
Jellehierck 23:8a0a0b959af1 480 }
Jellehierck 23:8a0a0b959af1 481 }
Jellehierck 23:8a0a0b959af1 482
Jellehierck 23:8a0a0b959af1 483 /*
Jellehierck 23:8a0a0b959af1 484 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 485 */
Jellehierck 23:8a0a0b959af1 486 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 487 {
Jellehierck 23:8a0a0b959af1 488 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 489 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 490 do_emg_wait();
Jellehierck 23:8a0a0b959af1 491 break;
Jellehierck 23:8a0a0b959af1 492 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 493 do_emg_cal();
Jellehierck 23:8a0a0b959af1 494 break;
Jellehierck 23:8a0a0b959af1 495 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 496 do_emg_cal();
Jellehierck 23:8a0a0b959af1 497 break;
Jellehierck 23:8a0a0b959af1 498 case emg_operation:
Jellehierck 26:7e81c7db6e7a 499 do_emg_operation();
Jellehierck 23:8a0a0b959af1 500 break;
Jellehierck 23:8a0a0b959af1 501 }
Jellehierck 23:8a0a0b959af1 502 }
Jellehierck 23:8a0a0b959af1 503
Jellehierck 25:a1be4cf2ab0b 504 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 505 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 506 {
Jellehierck 25:a1be4cf2ab0b 507 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 508 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 509 // controller();
Jellehierck 25:a1be4cf2ab0b 510 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 511 }
Jellehierck 25:a1be4cf2ab0b 512
Jellehierck 23:8a0a0b959af1 513 void main()
Jellehierck 23:8a0a0b959af1 514 {
Jellehierck 23:8a0a0b959af1 515 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 516 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 517
Jellehierck 23:8a0a0b959af1 518 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 519
Jellehierck 23:8a0a0b959af1 520 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 521 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 522 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 523 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 524
Jellehierck 23:8a0a0b959af1 525 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 526 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 527 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 528
Jellehierck 23:8a0a0b959af1 529 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 530 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 531 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 532
Jellehierck 23:8a0a0b959af1 533 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 534 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 535 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 536
Jellehierck 23:8a0a0b959af1 537 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 538 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 539 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 540 } else {
Jellehierck 23:8a0a0b959af1 541 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 542 }
Jellehierck 35:e82834e62e44 543
Jellehierck 29:f51683a6cbbf 544 emg_curr_state = emg_wait; // Start off in EMG Wait state
Jellehierck 34:13fac02ef324 545 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 8:ea3de43c9e8b 546
Jellehierck 23:8a0a0b959af1 547 while(true) {
Jellehierck 31:b5188b6d45db 548 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 549 pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
Jellehierck 30:bac3b60d6283 550 wait(0.5f);
Jellehierck 23:8a0a0b959af1 551 }
Jellehierck 23:8a0a0b959af1 552 }