M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@8:ea3de43c9e8b, 2019-10-21 (annotated)

Committer:
Jellehierck
Date:
Mon Oct 21 09:57:42 2019 +0000
Revision:
8:ea3de43c9e8b
Parent:
7:7a088536f1c9
Child:
9:f6a935be28e1
Child:
10:97a79aa10a56
Testing EMG calibration MVC

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 2:d3e9788ab1b3 13 // PC serial connection
Jellehierck 4:09a01d2db8f7 14 HIDScope scope( 2 );
Jellehierck 8:ea3de43c9e8b 15 MODSERIAL pc(USBTX, USBRX);
IsaRobin 0:6972d0e91af1 16
IsaRobin 0:6972d0e91af1 17 //EMG inputs definieren
IsaRobin 0:6972d0e91af1 18 AnalogIn emg1_in (A1); //emg van rechterbicep, voor de x-richting
IsaRobin 0:6972d0e91af1 19 AnalogIn emg2_in (A2); //emg van linkerbicep, voor de y-richting
IsaRobin 0:6972d0e91af1 20 AnalogIn emg3_in (A3); //emg van een derde (nog te bepalen) spier, voor het vernaderen van de richting
IsaRobin 0:6972d0e91af1 21
Jellehierck 4:09a01d2db8f7 22 // LED
Jellehierck 6:5437cc97e1e6 23 DigitalOut led_g(LED_GREEN);
Jellehierck 6:5437cc97e1e6 24 DigitalOut led_r(LED_RED);
Jellehierck 8:ea3de43c9e8b 25 DigitalOut led_b(LED_BLUE);
Jellehierck 8:ea3de43c9e8b 26
Jellehierck 8:ea3de43c9e8b 27 // Buttons
Jellehierck 8:ea3de43c9e8b 28 InterruptIn button1(D11);
Jellehierck 8:ea3de43c9e8b 29 InterruptIn button2(D10);
Jellehierck 4:09a01d2db8f7 30
IsaRobin 0:6972d0e91af1 31 //variablen voor EMG
IsaRobin 0:6972d0e91af1 32 double emg1;
IsaRobin 0:6972d0e91af1 33 double emg2;
IsaRobin 0:6972d0e91af1 34 double emg3;
Jellehierck 7:7a088536f1c9 35
Jellehierck 7:7a088536f1c9 36 vector<double> emg1_cal;
Jellehierck 7:7a088536f1c9 37
Jellehierck 7:7a088536f1c9 38 int i_cal;
IsaRobin 0:6972d0e91af1 39
Jellehierck 4:09a01d2db8f7 40 // Initialize tickers
Jellehierck 4:09a01d2db8f7 41 Ticker tickSample;
Jellehierck 7:7a088536f1c9 42 Timeout timeoutCalibrationMVC;
Jellehierck 7:7a088536f1c9 43 Ticker tickSampleCalibration;
Jellehierck 4:09a01d2db8f7 44
Jellehierck 4:09a01d2db8f7 45 // Sample rate
Jellehierck 4:09a01d2db8f7 46 const double Fs = 500; //Hz
Jellehierck 7:7a088536f1c9 47 const double Ts = 1/Fs; //sec
Jellehierck 4:09a01d2db8f7 48
Jellehierck 3:c0ece64850db 49 // Notch filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 50 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 51 BiQuad bq_notch(0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882);
Jellehierck 1:059cca298369 52
Jellehierck 3:c0ece64850db 53 // Highpass filter coefficients (butter 4th order @10Hz cutoff) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 54 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 55 // b02 b12 b22 a02 a12 a22
Jellehierck 3:c0ece64850db 56 BiQuad bq_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025);
Jellehierck 3:c0ece64850db 57 BiQuad bq_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078);
Jellehierck 4:09a01d2db8f7 58 BiQuadChain bqc_notch_high; // Used to chain two 2nd other filters into a 4th order filter
IsaRobin 0:6972d0e91af1 59
Jellehierck 3:c0ece64850db 60 // Lowpass filter coefficients (butter 4th order @5Hz cutoff) from MATLAB in the following form:
Jellehierck 3:c0ece64850db 61 // b01 b11 b21 a01 a11 a21
Jellehierck 3:c0ece64850db 62 // b02 b12 b22 a02 a12 a22
Jellehierck 3:c0ece64850db 63 BiQuad bq_L1(5.32116245737504e-08, 1.06423249147501e-07, 5.32116245737504e-08, 1, -1.94396715039462, 0.944882378004138);
Jellehierck 3:c0ece64850db 64 BiQuad bq_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162);
Jellehierck 3:c0ece64850db 65 BiQuadChain bqc_low; // Used to chain two 2nd other filters into a 4th order filter
Jellehierck 2:d3e9788ab1b3 66
Jellehierck 8:ea3de43c9e8b 67 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 68 {
Jellehierck 8:ea3de43c9e8b 69 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 70 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 71
Jellehierck 8:ea3de43c9e8b 72 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 73 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 74 }
Jellehierck 8:ea3de43c9e8b 75 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 76 }
Jellehierck 8:ea3de43c9e8b 77
Jellehierck 8:ea3de43c9e8b 78 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 79 {
Jellehierck 8:ea3de43c9e8b 80 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 81 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 82
Jellehierck 8:ea3de43c9e8b 83 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 84 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 85 }
Jellehierck 8:ea3de43c9e8b 86 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 87 return output;
Jellehierck 7:7a088536f1c9 88 }
Jellehierck 7:7a088536f1c9 89
Jellehierck 6:5437cc97e1e6 90 // Check if filters are stable
Jellehierck 6:5437cc97e1e6 91 bool checkBQChainStable()
Jellehierck 6:5437cc97e1e6 92 {
Jellehierck 6:5437cc97e1e6 93 bool n_hp_stable = bqc_notch_high.stable();
Jellehierck 6:5437cc97e1e6 94 bool l_stable = bqc_low.stable();
Jellehierck 6:5437cc97e1e6 95
Jellehierck 6:5437cc97e1e6 96 if (n_hp_stable && l_stable) {
Jellehierck 6:5437cc97e1e6 97 return true;
Jellehierck 6:5437cc97e1e6 98 } else {
Jellehierck 6:5437cc97e1e6 99 return false;
Jellehierck 6:5437cc97e1e6 100 }
Jellehierck 6:5437cc97e1e6 101 }
Jellehierck 6:5437cc97e1e6 102
Jellehierck 6:5437cc97e1e6 103
Jellehierck 6:5437cc97e1e6 104 // Read samples, filter samples and output to HIDScope
Jellehierck 2:d3e9788ab1b3 105 void sample()
Jellehierck 2:d3e9788ab1b3 106 {
Jellehierck 4:09a01d2db8f7 107 // Read EMG inputs
Jellehierck 2:d3e9788ab1b3 108 emg1 = emg1_in.read();
Jellehierck 2:d3e9788ab1b3 109 emg2 = emg2_in.read();
Jellehierck 2:d3e9788ab1b3 110 emg3 = emg3_in.read();
Jellehierck 4:09a01d2db8f7 111
Jellehierck 4:09a01d2db8f7 112 // Output raw EMG input
Jellehierck 4:09a01d2db8f7 113 scope.set(0, emg1 );
Jellehierck 6:5437cc97e1e6 114
Jellehierck 5:3d65f89e3755 115 // Filter notch and highpass
Jellehierck 5:3d65f89e3755 116 double emg1_n_hp = bqc_notch_high.step( emg1 );
Jellehierck 6:5437cc97e1e6 117
Jellehierck 5:3d65f89e3755 118 // Rectify
Jellehierck 5:3d65f89e3755 119 double emg1_rectify = fabs( emg1_n_hp );
Jellehierck 6:5437cc97e1e6 120
Jellehierck 5:3d65f89e3755 121 // Filter lowpass (completes envelope)
Jellehierck 5:3d65f89e3755 122 double emg1_env = bqc_low.step( emg1_rectify );
Jellehierck 4:09a01d2db8f7 123
Jellehierck 4:09a01d2db8f7 124 // Output EMG after filters
Jellehierck 5:3d65f89e3755 125 scope.set(1, emg1_env );
Jellehierck 4:09a01d2db8f7 126 scope.send();
Jellehierck 7:7a088536f1c9 127
Jellehierck 7:7a088536f1c9 128
Jellehierck 2:d3e9788ab1b3 129 }
IsaRobin 0:6972d0e91af1 130
Jellehierck 7:7a088536f1c9 131 void sampleCalibration()
Jellehierck 7:7a088536f1c9 132 {
Jellehierck 7:7a088536f1c9 133 // Read EMG inputs
Jellehierck 7:7a088536f1c9 134 emg1 = emg1_in.read();
Jellehierck 7:7a088536f1c9 135 emg2 = emg2_in.read();
Jellehierck 7:7a088536f1c9 136 emg3 = emg3_in.read();
Jellehierck 7:7a088536f1c9 137
Jellehierck 7:7a088536f1c9 138 // Output raw EMG input
Jellehierck 7:7a088536f1c9 139 scope.set(0, emg1 );
Jellehierck 7:7a088536f1c9 140
Jellehierck 7:7a088536f1c9 141 double emg1_n_hp = bqc_notch_high.step( emg1 ); // Filter notch and highpass
Jellehierck 7:7a088536f1c9 142 double emg1_rectify = fabs( emg1_n_hp ); // Filter lowpass (completes envelope)
Jellehierck 7:7a088536f1c9 143 double emg1_env = bqc_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 7:7a088536f1c9 144
Jellehierck 7:7a088536f1c9 145 // Output EMG after filters
Jellehierck 7:7a088536f1c9 146 scope.set(1, emg1_env );
Jellehierck 7:7a088536f1c9 147 scope.send();
Jellehierck 7:7a088536f1c9 148
Jellehierck 7:7a088536f1c9 149 emg1_cal.push_back(emg1_env);
Jellehierck 7:7a088536f1c9 150 }
Jellehierck 7:7a088536f1c9 151
Jellehierck 7:7a088536f1c9 152 void calibrationMVCFinished()
Jellehierck 7:7a088536f1c9 153 {
Jellehierck 7:7a088536f1c9 154 tickSampleCalibration.detach();
Jellehierck 8:ea3de43c9e8b 155 double emg1_mean = getMean(emg1_cal);
Jellehierck 8:ea3de43c9e8b 156 double emg1_stdev = getStdev(emg1_cal, emg1_mean);
Jellehierck 8:ea3de43c9e8b 157
Jellehierck 8:ea3de43c9e8b 158 led_b = 1;
Jellehierck 8:ea3de43c9e8b 159
Jellehierck 8:ea3de43c9e8b 160 pc.printf("EMG Mean: %f stdev: %f\r\n", emg1_mean, emg1_stdev);
Jellehierck 7:7a088536f1c9 161 }
Jellehierck 7:7a088536f1c9 162
Jellehierck 7:7a088536f1c9 163 void calibrationMVC()
Jellehierck 7:7a088536f1c9 164 {
Jellehierck 8:ea3de43c9e8b 165 timeoutCalibrationMVC.attach( &calibrationMVCFinished, 5.0f);
Jellehierck 7:7a088536f1c9 166 tickSampleCalibration.attach( &sampleCalibration, Ts );
Jellehierck 8:ea3de43c9e8b 167 led_b = 0;
Jellehierck 7:7a088536f1c9 168 }
Jellehierck 7:7a088536f1c9 169
Jellehierck 7:7a088536f1c9 170
Jellehierck 7:7a088536f1c9 171
Jellehierck 5:3d65f89e3755 172 void main()
Jellehierck 4:09a01d2db8f7 173 {
Jellehierck 8:ea3de43c9e8b 174 pc.baud(115200);
Jellehierck 8:ea3de43c9e8b 175 pc.printf("Starting\r\n");
Jellehierck 6:5437cc97e1e6 176 // Initialize sample ticker
Jellehierck 8:ea3de43c9e8b 177 // tickSample.attach(&sample, Ts);
Jellehierck 6:5437cc97e1e6 178
Jellehierck 6:5437cc97e1e6 179 // Create BQ chains to reduce computations
Jellehierck 5:3d65f89e3755 180 bqc_notch_high.add( &bq_notch ).add( &bq_H1 ).add( &bq_H2 );
Jellehierck 5:3d65f89e3755 181 bqc_low.add( &bq_L1 ).add( &bq_L2 );
Jellehierck 4:09a01d2db8f7 182
Jellehierck 8:ea3de43c9e8b 183 led_b = 1; // Turn led off at startup
Jellehierck 8:ea3de43c9e8b 184 led_g = 1;
Jellehierck 8:ea3de43c9e8b 185
Jellehierck 6:5437cc97e1e6 186 // If any filter chain is unstable, red led will light up
Jellehierck 6:5437cc97e1e6 187 if (checkBQChainStable) {
Jellehierck 6:5437cc97e1e6 188 led_r = 1; // LED off
Jellehierck 6:5437cc97e1e6 189 } else {
Jellehierck 6:5437cc97e1e6 190 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 191 }
Jellehierck 6:5437cc97e1e6 192
Jellehierck 8:ea3de43c9e8b 193 button1.fall( &calibrationMVC );
Jellehierck 8:ea3de43c9e8b 194
Jellehierck 4:09a01d2db8f7 195 while(true) {
Jellehierck 7:7a088536f1c9 196
Jellehierck 6:5437cc97e1e6 197 // Show that system is running
Jellehierck 8:ea3de43c9e8b 198 // led_g = !led_g;
Jellehierck 4:09a01d2db8f7 199 wait(0.5);
Jellehierck 4:09a01d2db8f7 200 }
Jellehierck 4:09a01d2db8f7 201 }