M9 Biorobotics Group 8 / Mbed 2 deprecated EMGfiltering_EMG

Dit is alleen het EMG gedeelte

Dependencies:   mbed HIDScope biquadFilter MODSERIAL FXOS8700Q

main.cpp@36:ec2bb2a02856, 2019-10-29 (annotated)

Committer:
Jellehierck
Date:
Tue Oct 29 16:23:41 2019 +0000
Revision:
36:ec2bb2a02856
Parent:
35:e82834e62e44
Child:
37:76b2849b823d
Added velocity and acceleration of EMG output (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 36:ec2bb2a02856 58 double emg1_dt_prev;
Jellehierck 36:ec2bb2a02856 59 double emg1_dtdt;
Jellehierck 31:b5188b6d45db 60 double emg1_norm;
Jellehierck 7:7a088536f1c9 61 vector<double> emg1_cal;
Jellehierck 25:a1be4cf2ab0b 62 int emg1_cal_size;
Jellehierck 35:e82834e62e44 63 int emg1_dir = 1;
Jellehierck 7:7a088536f1c9 64
Jellehierck 15:421d3d9c563b 65 double emg2;
Jellehierck 26:7e81c7db6e7a 66 double emg2_env;
Jellehierck 15:421d3d9c563b 67 double emg2_MVC;
Jellehierck 15:421d3d9c563b 68 double emg2_rest;
Jellehierck 26:7e81c7db6e7a 69 double emg2_factor;
Jellehierck 26:7e81c7db6e7a 70 double emg2_th;
Jellehierck 26:7e81c7db6e7a 71 double emg2_out;
Jellehierck 31:b5188b6d45db 72 double emg2_norm;
Jellehierck 15:421d3d9c563b 73 vector<double> emg2_cal;
Jellehierck 25:a1be4cf2ab0b 74 int emg2_cal_size;
Jellehierck 35:e82834e62e44 75 int emg2_dir = 1;
IsaRobin 0:6972d0e91af1 76
Jellehierck 15:421d3d9c563b 77 double emg3;
Jellehierck 26:7e81c7db6e7a 78 double emg3_env;
Jellehierck 15:421d3d9c563b 79 double emg3_MVC;
Jellehierck 15:421d3d9c563b 80 double emg3_rest;
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 35:e82834e62e44 87 int emg3_dir = 1;
Jellehierck 15:421d3d9c563b 88
Jellehierck 15:421d3d9c563b 89 // Initialize tickers and timeouts
Jellehierck 4:09a01d2db8f7 90 Ticker tickSample;
Jellehierck 15:421d3d9c563b 91 Ticker tickSampleCalibration;
Jellehierck 24:540c284e881d 92 Ticker tickGlobal; // Set global ticker
Jellehierck 22:9079c6c0d898 93 Timer timerCalibration;
Jellehierck 4:09a01d2db8f7 94
Jellehierck 15:421d3d9c563b 95 /*
Jellehierck 15:421d3d9c563b 96 ------ GLOBAL VARIABLES ------
Jellehierck 15:421d3d9c563b 97 */
Jellehierck 11:042170a9b93a 98 const double Fs = 500; // Sampling frequency (s)
Jellehierck 11:042170a9b93a 99 const double Tcal = 10.0f; // Calibration duration (s)
Jellehierck 15:421d3d9c563b 100 int trim_cal = 1; // Trim transient behaviour of calibration (s)
Jellehierck 4:09a01d2db8f7 101
Jellehierck 15:421d3d9c563b 102 // Calculate global variables
Jellehierck 15:421d3d9c563b 103 const double Ts = 1/Fs; // Sampling time (s)
Jellehierck 15:421d3d9c563b 104 int trim_cal_i = trim_cal * Fs - 1; // Determine iterator of transient behaviour trim
Jellehierck 15:421d3d9c563b 105
Jellehierck 15:421d3d9c563b 106 // Notch biquad filter coefficients (iirnotch Q factor 35 @50Hz) from MATLAB:
Jellehierck 19:94dc52f8a59e 107 BiQuad bq1_notch( 0.995636295063941, -1.89829218816065, 0.995636295063941, 1, -1.89829218816065, 0.991272590127882); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 108 BiQuad bq2_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 109 BiQuad bq3_notch = bq1_notch;
Jellehierck 19:94dc52f8a59e 110 BiQuadChain bqc1_notch;
Jellehierck 19:94dc52f8a59e 111 BiQuadChain bqc2_notch;
Jellehierck 19:94dc52f8a59e 112 BiQuadChain bqc3_notch;
Jellehierck 1:059cca298369 113
Jellehierck 15:421d3d9c563b 114 // Highpass biquad filter coefficients (butter 4th order @10Hz cutoff) from MATLAB
Jellehierck 19:94dc52f8a59e 115 BiQuad bq1_H1(0.922946103200875, -1.84589220640175, 0.922946103200875, 1, -1.88920703055163, 0.892769008131025); // b01 b11 b21 a01 a11 a21
Jellehierck 19:94dc52f8a59e 116 BiQuad bq1_H2(1, -2, 1, 1, -1.95046575793011, 0.954143234875078); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 117 BiQuad bq2_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 118 BiQuad bq2_H2 = bq1_H2;
Jellehierck 19:94dc52f8a59e 119 BiQuad bq3_H1 = bq1_H1;
Jellehierck 19:94dc52f8a59e 120 BiQuad bq3_H2 = bq1_H2;
Jellehierck 20:0e9218673aa8 121 BiQuadChain bqc1_high;
Jellehierck 19:94dc52f8a59e 122 BiQuadChain bqc2_high;
Jellehierck 19:94dc52f8a59e 123 BiQuadChain bqc3_high;
IsaRobin 0:6972d0e91af1 124
Jellehierck 15:421d3d9c563b 125 // Lowpass biquad filter coefficients (butter 4th order @5Hz cutoff) from MATLAB:
Jellehierck 19:94dc52f8a59e 126 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 127 BiQuad bq1_L2(1, 2, 1, 1, -1.97586467534468, 0.976794920438162); // b02 b12 b22 a02 a12 a22
Jellehierck 19:94dc52f8a59e 128 BiQuad bq2_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 129 BiQuad bq2_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 130 BiQuad bq3_L1 = bq1_L1;
Jellehierck 19:94dc52f8a59e 131 BiQuad bq3_L2 = bq1_L2;
Jellehierck 19:94dc52f8a59e 132 BiQuadChain bqc1_low;
Jellehierck 19:94dc52f8a59e 133 BiQuadChain bqc2_low;
Jellehierck 19:94dc52f8a59e 134 BiQuadChain bqc3_low;
Jellehierck 2:d3e9788ab1b3 135
Jellehierck 15:421d3d9c563b 136 /*
Jellehierck 15:421d3d9c563b 137 ------ HELPER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 138 */
Jellehierck 15:421d3d9c563b 139
Jellehierck 32:b9b9c50f5429 140 // Return max value of vector
Jellehierck 32:b9b9c50f5429 141 double getMax(const vector<double> &vect)
Jellehierck 32:b9b9c50f5429 142 {
Jellehierck 35:e82834e62e44 143 double curr_max = 0.0;
Jellehierck 32:b9b9c50f5429 144 int vect_n = vect.size();
Jellehierck 35:e82834e62e44 145
Jellehierck 32:b9b9c50f5429 146 for (int i = 0; i < vect_n; i++) {
Jellehierck 35:e82834e62e44 147 if (vect[i] > curr_max) {
Jellehierck 35:e82834e62e44 148 curr_max = vect[i];
Jellehierck 35:e82834e62e44 149 };
Jellehierck 32:b9b9c50f5429 150 }
Jellehierck 32:b9b9c50f5429 151 return curr_max;
Jellehierck 32:b9b9c50f5429 152 }
Jellehierck 32:b9b9c50f5429 153
Jellehierck 15:421d3d9c563b 154 // Return mean of vector
Jellehierck 8:ea3de43c9e8b 155 double getMean(const vector<double> &vect)
Jellehierck 7:7a088536f1c9 156 {
Jellehierck 8:ea3de43c9e8b 157 double sum = 0.0;
Jellehierck 8:ea3de43c9e8b 158 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 159
Jellehierck 8:ea3de43c9e8b 160 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 161 sum += vect[i];
Jellehierck 8:ea3de43c9e8b 162 }
Jellehierck 8:ea3de43c9e8b 163 return sum/vect_n;
Jellehierck 8:ea3de43c9e8b 164 }
Jellehierck 8:ea3de43c9e8b 165
Jellehierck 15:421d3d9c563b 166 // Return standard deviation of vector
Jellehierck 8:ea3de43c9e8b 167 double getStdev(const vector<double> &vect, const double vect_mean)
Jellehierck 8:ea3de43c9e8b 168 {
Jellehierck 8:ea3de43c9e8b 169 double sum2 = 0.0;
Jellehierck 8:ea3de43c9e8b 170 int vect_n = vect.size();
Jellehierck 8:ea3de43c9e8b 171
Jellehierck 8:ea3de43c9e8b 172 for ( int i = 0; i < vect_n; i++ ) {
Jellehierck 8:ea3de43c9e8b 173 sum2 += pow( vect[i] - vect_mean, 2 );
Jellehierck 8:ea3de43c9e8b 174 }
Jellehierck 8:ea3de43c9e8b 175 double output = sqrt( sum2 / vect_n );
Jellehierck 8:ea3de43c9e8b 176 return output;
Jellehierck 7:7a088536f1c9 177 }
Jellehierck 7:7a088536f1c9 178
Jellehierck 26:7e81c7db6e7a 179 // Rescale values to certain range
Jellehierck 26:7e81c7db6e7a 180 double rescale(double input, double out_min, double out_max, double in_min, double in_max)
Jellehierck 26:7e81c7db6e7a 181 {
Jellehierck 26:7e81c7db6e7a 182 double output = out_min + ((input-in_min)/(in_max-in_min))*(out_max-out_min); // Based on MATLAB rescale function
Jellehierck 26:7e81c7db6e7a 183 return output;
Jellehierck 26:7e81c7db6e7a 184 }
Jellehierck 26:7e81c7db6e7a 185
Jellehierck 35:e82834e62e44 186 // Check filter stability
Jellehierck 35:e82834e62e44 187 bool checkBQChainStable()
Jellehierck 35:e82834e62e44 188 {
Jellehierck 35:e82834e62e44 189 bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
Jellehierck 35:e82834e62e44 190 bool hp_stable = bqc1_high.stable();
Jellehierck 35:e82834e62e44 191 bool l_stable = bqc1_low.stable();
Jellehierck 35:e82834e62e44 192
Jellehierck 35:e82834e62e44 193 if (n_stable && hp_stable && l_stable) {
Jellehierck 35:e82834e62e44 194 return true;
Jellehierck 35:e82834e62e44 195 } else {
Jellehierck 35:e82834e62e44 196 return false;
Jellehierck 35:e82834e62e44 197 }
Jellehierck 35:e82834e62e44 198 }
Jellehierck 35:e82834e62e44 199
Jellehierck 35:e82834e62e44 200 /*
Jellehierck 35:e82834e62e44 201 ------ BUTTON FUNCTIONS ------
Jellehierck 35:e82834e62e44 202 */
Jellehierck 35:e82834e62e44 203
Jellehierck 25:a1be4cf2ab0b 204 // Handle button press
Jellehierck 25:a1be4cf2ab0b 205 void button1Press()
Jellehierck 25:a1be4cf2ab0b 206 {
Jellehierck 25:a1be4cf2ab0b 207 button1_pressed = true;
Jellehierck 25:a1be4cf2ab0b 208 }
Jellehierck 25:a1be4cf2ab0b 209
Jellehierck 25:a1be4cf2ab0b 210 // Handle button press
Jellehierck 25:a1be4cf2ab0b 211 void button2Press()
Jellehierck 25:a1be4cf2ab0b 212 {
Jellehierck 25:a1be4cf2ab0b 213 button2_pressed = true;
Jellehierck 25:a1be4cf2ab0b 214 }
Jellehierck 25:a1be4cf2ab0b 215
Jellehierck 35:e82834e62e44 216 // Toggle EMG direction
Jellehierck 35:e82834e62e44 217 void toggleEMG1Dir()
Jellehierck 6:5437cc97e1e6 218 {
Jellehierck 35:e82834e62e44 219 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 220 case -1:
Jellehierck 35:e82834e62e44 221 emg1_dir = 1;
Jellehierck 35:e82834e62e44 222 break;
Jellehierck 35:e82834e62e44 223 case 1:
Jellehierck 35:e82834e62e44 224 emg1_dir = -1;
Jellehierck 35:e82834e62e44 225 break;
Jellehierck 35:e82834e62e44 226 }
Jellehierck 35:e82834e62e44 227 }
Jellehierck 6:5437cc97e1e6 228
Jellehierck 35:e82834e62e44 229 // Toggle EMG direction
Jellehierck 35:e82834e62e44 230 void toggleEMG2Dir()
Jellehierck 35:e82834e62e44 231 {
Jellehierck 35:e82834e62e44 232 switch( emg1_dir ) {
Jellehierck 35:e82834e62e44 233 case -1:
Jellehierck 35:e82834e62e44 234 emg1_dir = 1;
Jellehierck 35:e82834e62e44 235 break;
Jellehierck 35:e82834e62e44 236 case 1:
Jellehierck 35:e82834e62e44 237 emg1_dir = -1;
Jellehierck 35:e82834e62e44 238 break;
Jellehierck 6:5437cc97e1e6 239 }
Jellehierck 6:5437cc97e1e6 240 }
Jellehierck 6:5437cc97e1e6 241
Jellehierck 15:421d3d9c563b 242 /*
Jellehierck 15:421d3d9c563b 243 ------ TICKER FUNCTIONS ------
Jellehierck 15:421d3d9c563b 244 */
Jellehierck 25:a1be4cf2ab0b 245 void sampleSignal()
Jellehierck 7:7a088536f1c9 246 {
Jellehierck 29:f51683a6cbbf 247 if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
Jellehierck 25:a1be4cf2ab0b 248 // Read EMG inputs
Jellehierck 25:a1be4cf2ab0b 249 emg1 = emg1_in.read();
Jellehierck 25:a1be4cf2ab0b 250 emg2 = emg2_in.read();
Jellehierck 25:a1be4cf2ab0b 251 emg3 = emg3_in.read();
Jellehierck 25:a1be4cf2ab0b 252
Jellehierck 7:7a088536f1c9 253
Jellehierck 25:a1be4cf2ab0b 254 double emg1_n = bqc1_notch.step( emg1 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 255 double emg1_hp = bqc1_high.step( emg1_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 256 double emg1_rectify = fabs( emg1_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 257 emg1_env = bqc1_low.step( emg1_rectify ); // Filter lowpass (completes envelope)
Jellehierck 25:a1be4cf2ab0b 258
Jellehierck 25:a1be4cf2ab0b 259 double emg2_n = bqc2_notch.step( emg2 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 260 double emg2_hp = bqc2_high.step( emg2_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 261 double emg2_rectify = fabs( emg2_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 262 emg2_env = bqc2_low.step( emg2_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 263
Jellehierck 25:a1be4cf2ab0b 264 double emg3_n = bqc3_notch.step( emg3 ); // Filter notch
Jellehierck 25:a1be4cf2ab0b 265 double emg3_hp = bqc3_high.step( emg3_n ); // Filter highpass
Jellehierck 25:a1be4cf2ab0b 266 double emg3_rectify = fabs( emg3_hp ); // Rectify
Jellehierck 26:7e81c7db6e7a 267 emg3_env = bqc3_low.step( emg3_rectify ); // Filter lowpass (completes envelope)
Jellehierck 20:0e9218673aa8 268
Jellehierck 29:f51683a6cbbf 269 if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
Jellehierck 25:a1be4cf2ab0b 270 emg1_cal.push_back(emg1_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 271 // emg1_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 272 emg2_cal.push_back(emg2_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 273 // emg2_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 274 emg3_cal.push_back(emg3_env); // Add values to calibration vector
Jellehierck 30:bac3b60d6283 275 // emg3_cal_size = emg1_cal.size(); // Used for debugging
Jellehierck 25:a1be4cf2ab0b 276 }
Jellehierck 25:a1be4cf2ab0b 277 }
Jellehierck 7:7a088536f1c9 278 }
Jellehierck 7:7a088536f1c9 279
Jellehierck 15:421d3d9c563b 280 /*
Jellehierck 25:a1be4cf2ab0b 281 ------ EMG CALIBRATION STATES ------
Jellehierck 15:421d3d9c563b 282 */
Jellehierck 15:421d3d9c563b 283
Jellehierck 25:a1be4cf2ab0b 284 /* ALL STATES HAVE THE FOLLOWING FORM:
Jellehierck 25:a1be4cf2ab0b 285 void do_state_function() {
Jellehierck 25:a1be4cf2ab0b 286 // Entry function
Jellehierck 25:a1be4cf2ab0b 287 if ( emg_state_changed == true ) {
Jellehierck 25:a1be4cf2ab0b 288 emg_state_changed == false;
Jellehierck 25:a1be4cf2ab0b 289 // More functions
Jellehierck 25:a1be4cf2ab0b 290 }
Jellehierck 25:a1be4cf2ab0b 291
Jellehierck 25:a1be4cf2ab0b 292 // Do stuff until end condition is met
Jellehierck 25:a1be4cf2ab0b 293 doStuff();
Jellehierck 25:a1be4cf2ab0b 294
Jellehierck 25:a1be4cf2ab0b 295 // State transition guard
Jellehierck 25:a1be4cf2ab0b 296 if ( endCondition == true ) {
Jellehierck 25:a1be4cf2ab0b 297 emg_curr_state == next_state;
Jellehierck 25:a1be4cf2ab0b 298 emg_state_changed == true;
Jellehierck 25:a1be4cf2ab0b 299 // More functions
Jellehierck 25:a1be4cf2ab0b 300 }
Jellehierck 25:a1be4cf2ab0b 301 }
Jellehierck 25:a1be4cf2ab0b 302 */
Jellehierck 25:a1be4cf2ab0b 303
Jellehierck 25:a1be4cf2ab0b 304 // Finish up calibration
Jellehierck 22:9079c6c0d898 305 void calibrationFinished()
Jellehierck 7:7a088536f1c9 306 {
Jellehierck 22:9079c6c0d898 307 switch( emg_curr_state ) {
Jellehierck 22:9079c6c0d898 308 case emg_cal_MVC:
Jellehierck 32:b9b9c50f5429 309 emg1_MVC = getMax(emg1_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 310 emg2_MVC = getMax(emg2_cal); // Store max value of MVC globally
Jellehierck 32:b9b9c50f5429 311 emg3_MVC = getMax(emg3_cal); // Store max value of MVC globally
Jellehierck 25:a1be4cf2ab0b 312
Jellehierck 29:f51683a6cbbf 313 emg_MVC_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 314 break;
Jellehierck 22:9079c6c0d898 315 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 316 emg1_rest = getMean(emg1_cal); // Store rest EMG globally
Jellehierck 23:8a0a0b959af1 317 emg2_rest = getMean(emg2_cal); // Store rest EMG globally
Jellehierck 25:a1be4cf2ab0b 318 emg3_rest = getMean(emg3_cal); // Store rest EMG globally
Jellehierck 29:f51683a6cbbf 319 emg_rest_cal_done = true; // To set up transition guard to operation mode
Jellehierck 22:9079c6c0d898 320 break;
Jellehierck 22:9079c6c0d898 321 }
Jellehierck 23:8a0a0b959af1 322 vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
Jellehierck 23:8a0a0b959af1 323 vector<double>().swap(emg2_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 324 vector<double>().swap(emg3_cal); // Empty vector to prevent memory overflow
Jellehierck 25:a1be4cf2ab0b 325 }
Jellehierck 25:a1be4cf2ab0b 326
Jellehierck 25:a1be4cf2ab0b 327 // EMG Waiting state
Jellehierck 25:a1be4cf2ab0b 328 void do_emg_wait()
Jellehierck 25:a1be4cf2ab0b 329 {
Jellehierck 25:a1be4cf2ab0b 330 // Entry function
Jellehierck 25:a1be4cf2ab0b 331 if ( emg_state_changed == true ) {
Jellehierck 30:bac3b60d6283 332 emg_state_changed = false; // Disable entry functions
Jellehierck 35:e82834e62e44 333
Jellehierck 30:bac3b60d6283 334 button1.fall( &button1Press ); // Change to state MVC calibration on button1 press
Jellehierck 30:bac3b60d6283 335 button2.fall( &button2Press ); // Change to state rest calibration on button2 press
Jellehierck 25:a1be4cf2ab0b 336 }
Jellehierck 25:a1be4cf2ab0b 337
Jellehierck 27:f18da01093c9 338 // Do nothing until end condition is met
Jellehierck 25:a1be4cf2ab0b 339
Jellehierck 29:f51683a6cbbf 340 // State transition guard. Possible next states:
Jellehierck 29:f51683a6cbbf 341 // 1. emg_cal_MVC (button1 pressed)
Jellehierck 29:f51683a6cbbf 342 // 2. emg_cal_rest (button2 pressed)
Jellehierck 29:f51683a6cbbf 343 // 3. emg_operation (both calibrations have run)
Jellehierck 25:a1be4cf2ab0b 344 if ( button1_pressed ) {
Jellehierck 29:f51683a6cbbf 345 button1_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 346 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 347 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 348 emg_curr_state = emg_cal_MVC; // Set next state
Jellehierck 29:f51683a6cbbf 349 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 350
Jellehierck 25:a1be4cf2ab0b 351 } else if ( button2_pressed ) {
Jellehierck 29:f51683a6cbbf 352 button2_pressed = false; // Disable button pressed function until next button press
Jellehierck 30:bac3b60d6283 353 button1.fall( NULL ); // Disable interrupt during calibration
Jellehierck 30:bac3b60d6283 354 button2.fall( NULL ); // Disable interrupt during calibration
Jellehierck 29:f51683a6cbbf 355 emg_curr_state = emg_cal_rest; // Set next state
Jellehierck 29:f51683a6cbbf 356 emg_state_changed = true; // Enable entry functions
Jellehierck 31:b5188b6d45db 357
Jellehierck 25:a1be4cf2ab0b 358 } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
Jellehierck 30:bac3b60d6283 359 button1.fall( NULL ); // Disable interrupt during operation
Jellehierck 30:bac3b60d6283 360 button2.fall( NULL ); // Disable interrupt during operation
Jellehierck 29:f51683a6cbbf 361 emg_curr_state = emg_operation; // Set next state
Jellehierck 29:f51683a6cbbf 362 emg_state_changed = true; // Enable entry functions
Jellehierck 25:a1be4cf2ab0b 363 }
Jellehierck 7:7a088536f1c9 364 }
Jellehierck 7:7a088536f1c9 365
Jellehierck 21:e4569b47945e 366 // Run calibration of EMG
Jellehierck 21:e4569b47945e 367 void do_emg_cal()
Jellehierck 21:e4569b47945e 368 {
Jellehierck 28:59e8266f4633 369 // Entry functions
Jellehierck 22:9079c6c0d898 370 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 371 emg_state_changed = false; // Disable entry functions
Jellehierck 21:e4569b47945e 372 led_b = 0; // Turn on calibration led
Jellehierck 28:59e8266f4633 373
Jellehierck 22:9079c6c0d898 374 timerCalibration.reset();
Jellehierck 28:59e8266f4633 375 timerCalibration.start(); // Sets up timer to stop calibration after Tcal seconds
Jellehierck 25:a1be4cf2ab0b 376 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 28:59e8266f4633 377 calibrateNow = true; // Enable calibration vector functionality in sampleSignal()
Jellehierck 26:7e81c7db6e7a 378
Jellehierck 28:59e8266f4633 379 emg1_cal.reserve(Fs * Tcal); // Initialize vector lengths to prevent memory overflow
Jellehierck 32:b9b9c50f5429 380 emg2_cal.reserve(Fs * Tcal); // Idem
Jellehierck 32:b9b9c50f5429 381 emg3_cal.reserve(Fs * Tcal); // Idem
Jellehierck 22:9079c6c0d898 382 }
Jellehierck 7:7a088536f1c9 383
Jellehierck 31:b5188b6d45db 384 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 385 // Set HIDScope outputs
Jellehierck 34:13fac02ef324 386 scope.set(0, emg1 );
Jellehierck 31:b5188b6d45db 387 scope.set(1, emg1_env );
Jellehierck 33:90404e64d844 388 //scope.set(2, emg2_env );
Jellehierck 33:90404e64d844 389 //scope.set(3, emg3_env );
Jellehierck 31:b5188b6d45db 390 scope.send();
Jellehierck 31:b5188b6d45db 391
Jellehierck 29:f51683a6cbbf 392 // State transition guard
Jellehierck 24:540c284e881d 393 if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
Jellehierck 25:a1be4cf2ab0b 394 sampleNow = false; // Disable signal sampling in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 395 calibrateNow = false; // Disable calibration sampling
Jellehierck 23:8a0a0b959af1 396
Jellehierck 23:8a0a0b959af1 397 calibrationFinished(); // Process calibration data
Jellehierck 23:8a0a0b959af1 398 led_b = 1; // Turn off calibration led
Jellehierck 23:8a0a0b959af1 399
Jellehierck 25:a1be4cf2ab0b 400 emg_curr_state = emg_wait; // Set next state
Jellehierck 25:a1be4cf2ab0b 401 emg_state_changed = true; // State has changed (to run
Jellehierck 25:a1be4cf2ab0b 402 }
Jellehierck 25:a1be4cf2ab0b 403 }
Jellehierck 23:8a0a0b959af1 404
Jellehierck 26:7e81c7db6e7a 405 void do_emg_operation()
Jellehierck 26:7e81c7db6e7a 406 {
Jellehierck 25:a1be4cf2ab0b 407 // Entry function
Jellehierck 25:a1be4cf2ab0b 408 if ( emg_state_changed == true ) {
Jellehierck 28:59e8266f4633 409 emg_state_changed = false; // Disable entry functions
Jellehierck 34:13fac02ef324 410 double margin_percentage = 5; // Set up % margin for rest
Jellehierck 28:59e8266f4633 411
Jellehierck 26:7e81c7db6e7a 412 emg1_factor = 1 / emg1_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 413 emg1_th = emg1_rest * emg1_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 414 emg2_factor = 1 / emg2_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 415 emg2_th = emg2_rest * emg2_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 26:7e81c7db6e7a 416 emg3_factor = 1 / emg3_MVC; // Factor to normalize MVC
Jellehierck 26:7e81c7db6e7a 417 emg3_th = emg3_rest * emg3_factor + margin_percentage/100; // Set normalized rest threshold
Jellehierck 35:e82834e62e44 418
Jellehierck 35:e82834e62e44 419
Jellehierck 35:e82834e62e44 420 // ------- TO DO: MAKE SURE THESE BUTTONS DO NOT BOUNCE (e.g. with button1.rise() ) ------
Jellehierck 35:e82834e62e44 421 //button1.fall( &toggleEMG1Dir ); // Change to state MVC calibration on button1 press
Jellehierck 35:e82834e62e44 422 //button2.fall( &toggleEMG2Dir ); // Change to state rest calibration on button2 press
Jellehierck 31:b5188b6d45db 423
Jellehierck 30:bac3b60d6283 424 sampleNow = true; // Enable signal sampling in sampleSignal()
Jellehierck 30:bac3b60d6283 425 calibrateNow = false; // Disable calibration vector functionality in sampleSignal()
Jellehierck 25:a1be4cf2ab0b 426 }
Jellehierck 25:a1be4cf2ab0b 427
Jellehierck 25:a1be4cf2ab0b 428 // Do stuff until end condition is met
Jellehierck 31:b5188b6d45db 429 emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
Jellehierck 31:b5188b6d45db 430 emg2_norm = emg2_env * emg2_factor; // Idem
Jellehierck 31:b5188b6d45db 431 emg3_norm = emg3_env * emg3_factor; // Idem
Jellehierck 28:59e8266f4633 432
Jellehierck 35:e82834e62e44 433 emg1_out_prev = emg1_out; // Set previous emg_out signal
Jellehierck 36:ec2bb2a02856 434 emg1_dt_prev = emg1_dt; // Set previous emg_out_dt signal
Jellehierck 28:59e8266f4633 435 // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
Jellehierck 28:59e8266f4633 436 if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
Jellehierck 26:7e81c7db6e7a 437 emg1_out = 0.0;
Jellehierck 34:13fac02ef324 438 } else if ( emg1_norm > 1.0f ) { // If above MVC (e.g. due to filtering), emg_out = 1 (max value)
Jellehierck 26:7e81c7db6e7a 439 emg1_out = 1.0;
Jellehierck 28:59e8266f4633 440 } else { // If in between threshold and MVC, scale EMG signal accordingly
Jellehierck 28:59e8266f4633 441 // Inputs may be in range [emg_th, 1]
Jellehierck 28:59e8266f4633 442 // Outputs are scaled to range [0, 1]
Jellehierck 34:13fac02ef324 443 emg1_out = rescale(emg1_norm, 0, 1, emg1_th, 1);
Jellehierck 26:7e81c7db6e7a 444 }
Jellehierck 35:e82834e62e44 445 emg1_dt = (emg1_out - emg1_out_prev) / Ts; // Calculate derivative of filtered normalized output signal
Jellehierck 36:ec2bb2a02856 446 emg1_dtdt = (emg1_dt - emg1_dt_prev) / Ts; // Calculate acceleration of filtered normalized output signal
Jellehierck 35:e82834e62e44 447 emg1_out = emg1_out * emg1_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 448
Jellehierck 28:59e8266f4633 449 // Idem for emg2
Jellehierck 26:7e81c7db6e7a 450 if ( emg2_norm < emg2_th ) {
Jellehierck 26:7e81c7db6e7a 451 emg2_out = 0.0;
Jellehierck 26:7e81c7db6e7a 452 } else if ( emg2_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 453 emg2_out = 1.0;
Jellehierck 26:7e81c7db6e7a 454 } else {
Jellehierck 34:13fac02ef324 455 emg2_out = rescale(emg2_norm, 0, 1, emg2_th, 1);
Jellehierck 26:7e81c7db6e7a 456 }
Jellehierck 35:e82834e62e44 457 emg2_out = emg2_out * emg2_dir; // Set direction of EMG output
Jellehierck 28:59e8266f4633 458
Jellehierck 28:59e8266f4633 459 // Idem for emg3
Jellehierck 26:7e81c7db6e7a 460 if ( emg3_norm < emg3_th ) {
Jellehierck 26:7e81c7db6e7a 461 emg3_out = 0.0;
Jellehierck 26:7e81c7db6e7a 462 } else if ( emg3_norm > 1.0f ) {
Jellehierck 26:7e81c7db6e7a 463 emg3_out = 1.0;
Jellehierck 26:7e81c7db6e7a 464 } else {
Jellehierck 34:13fac02ef324 465 emg3_out = rescale(emg3_norm, 0, 1, emg3_th, 1);
Jellehierck 26:7e81c7db6e7a 466 }
Jellehierck 25:a1be4cf2ab0b 467
Jellehierck 28:59e8266f4633 468 // Set HIDScope outputs
Jellehierck 31:b5188b6d45db 469 scope.set(0, emg1 );
Jellehierck 36:ec2bb2a02856 470 scope.set(1, emg1_out );
Jellehierck 36:ec2bb2a02856 471 scope.set(2, emg1_dt );
Jellehierck 36:ec2bb2a02856 472 scope.set(3, emg1_dtdt );
Jellehierck 31:b5188b6d45db 473 //scope.set(2, emg2_out );
Jellehierck 31:b5188b6d45db 474 //scope.set(3, emg3_out );
Jellehierck 28:59e8266f4633 475 scope.send();
Jellehierck 31:b5188b6d45db 476
Jellehierck 30:bac3b60d6283 477 led_g = !led_g;
Jellehierck 28:59e8266f4633 478
Jellehierck 28:59e8266f4633 479
Jellehierck 25:a1be4cf2ab0b 480 // State transition guard
Jellehierck 26:7e81c7db6e7a 481 if ( false ) {
Jellehierck 28:59e8266f4633 482 emg_curr_state = emg_wait; // Set next state
Jellehierck 28:59e8266f4633 483 emg_state_changed = true; // Enable entry function
Jellehierck 23:8a0a0b959af1 484 }
Jellehierck 23:8a0a0b959af1 485 }
Jellehierck 23:8a0a0b959af1 486
Jellehierck 23:8a0a0b959af1 487 /*
Jellehierck 23:8a0a0b959af1 488 ------ EMG SUBSTATE MACHINE ------
Jellehierck 23:8a0a0b959af1 489 */
Jellehierck 23:8a0a0b959af1 490 void emg_state_machine()
Jellehierck 23:8a0a0b959af1 491 {
Jellehierck 23:8a0a0b959af1 492 switch(emg_curr_state) {
Jellehierck 23:8a0a0b959af1 493 case emg_wait:
Jellehierck 25:a1be4cf2ab0b 494 do_emg_wait();
Jellehierck 23:8a0a0b959af1 495 break;
Jellehierck 23:8a0a0b959af1 496 case emg_cal_MVC:
Jellehierck 23:8a0a0b959af1 497 do_emg_cal();
Jellehierck 23:8a0a0b959af1 498 break;
Jellehierck 23:8a0a0b959af1 499 case emg_cal_rest:
Jellehierck 23:8a0a0b959af1 500 do_emg_cal();
Jellehierck 23:8a0a0b959af1 501 break;
Jellehierck 23:8a0a0b959af1 502 case emg_operation:
Jellehierck 26:7e81c7db6e7a 503 do_emg_operation();
Jellehierck 23:8a0a0b959af1 504 break;
Jellehierck 23:8a0a0b959af1 505 }
Jellehierck 23:8a0a0b959af1 506 }
Jellehierck 23:8a0a0b959af1 507
Jellehierck 25:a1be4cf2ab0b 508 // Global loop of program
Jellehierck 25:a1be4cf2ab0b 509 void tickGlobalFunc()
Jellehierck 25:a1be4cf2ab0b 510 {
Jellehierck 25:a1be4cf2ab0b 511 sampleSignal();
Jellehierck 25:a1be4cf2ab0b 512 emg_state_machine();
Jellehierck 25:a1be4cf2ab0b 513 // controller();
Jellehierck 25:a1be4cf2ab0b 514 // outputToMotors();
Jellehierck 25:a1be4cf2ab0b 515 }
Jellehierck 25:a1be4cf2ab0b 516
Jellehierck 23:8a0a0b959af1 517 void main()
Jellehierck 23:8a0a0b959af1 518 {
Jellehierck 23:8a0a0b959af1 519 pc.baud(115200); // MODSERIAL rate
Jellehierck 23:8a0a0b959af1 520 pc.printf("Starting\r\n");
Jellehierck 23:8a0a0b959af1 521
Jellehierck 23:8a0a0b959af1 522 // tickSample.attach(&sample, Ts); // Initialize sample ticker
Jellehierck 23:8a0a0b959af1 523
Jellehierck 23:8a0a0b959af1 524 // Create BQ chains to reduce computations
Jellehierck 23:8a0a0b959af1 525 bqc1_notch.add( &bq1_notch );
Jellehierck 23:8a0a0b959af1 526 bqc1_high.add( &bq1_H1 ).add( &bq1_H2 );
Jellehierck 23:8a0a0b959af1 527 bqc1_low.add( &bq1_L1 ).add( &bq1_L2 );
Jellehierck 23:8a0a0b959af1 528
Jellehierck 23:8a0a0b959af1 529 bqc2_notch.add( &bq2_notch );
Jellehierck 23:8a0a0b959af1 530 bqc2_high.add( &bq2_H1 ).add( &bq2_H2 );
Jellehierck 23:8a0a0b959af1 531 bqc2_low.add( &bq2_L1 ).add( &bq2_L2 );
Jellehierck 23:8a0a0b959af1 532
Jellehierck 23:8a0a0b959af1 533 bqc3_notch.add( &bq3_notch );
Jellehierck 23:8a0a0b959af1 534 bqc3_high.add( &bq3_H1 ).add( &bq3_H2 );
Jellehierck 23:8a0a0b959af1 535 bqc3_low.add( &bq3_L1 ).add( &bq3_L2 );
Jellehierck 23:8a0a0b959af1 536
Jellehierck 23:8a0a0b959af1 537 led_b = 1; // Turn blue led off at startup
Jellehierck 23:8a0a0b959af1 538 led_g = 1; // Turn green led off at startup
Jellehierck 23:8a0a0b959af1 539 led_r = 1; // Turn red led off at startup
Jellehierck 23:8a0a0b959af1 540
Jellehierck 23:8a0a0b959af1 541 // If any filter chain is unstable, red led will light up
Jellehierck 25:a1be4cf2ab0b 542 if (checkBQChainStable()) {
Jellehierck 23:8a0a0b959af1 543 led_r = 1; // LED off
Jellehierck 23:8a0a0b959af1 544 } else {
Jellehierck 23:8a0a0b959af1 545 led_r = 0; // LED on
Jellehierck 6:5437cc97e1e6 546 }
Jellehierck 35:e82834e62e44 547
Jellehierck 29:f51683a6cbbf 548 emg_curr_state = emg_wait; // Start off in EMG Wait state
Jellehierck 34:13fac02ef324 549 tickGlobal.attach( &tickGlobalFunc, Ts ); // Start global ticker
Jellehierck 8:ea3de43c9e8b 550
Jellehierck 23:8a0a0b959af1 551 while(true) {
Jellehierck 31:b5188b6d45db 552 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 553 pc.printf(" emg1_MVC: %f emg1_rest: %f \r\n", emg1_MVC, emg1_rest);
Jellehierck 30:bac3b60d6283 554 wait(0.5f);
Jellehierck 23:8a0a0b959af1 555 }
Jellehierck 23:8a0a0b959af1 556 }