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Dependencies:   biquadFilter mbed

calibrate.cpp@0:44d3f99b08c1, 2016-11-02 (annotated)

Committer:
ofosakar
Date:
Wed Nov 02 11:08:53 2016 +0000
Revision:
0:44d3f99b08c1
Child:
1:984b6b6812c7
EMG processing for two EMG signals.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ofosakar 0:44d3f99b08c1 1 #include "mbed.h"
ofosakar 0:44d3f99b08c1 2 #include "BiQuad.h"
ofosakar 0:44d3f99b08c1 3
ofosakar 0:44d3f99b08c1 4 InterruptIn button(SW2);
ofosakar 0:44d3f99b08c1 5 AnalogIn calibrateEmg1(A0);
ofosakar 0:44d3f99b08c1 6 AnalogIn calibrateEmg2(A1);
ofosakar 0:44d3f99b08c1 7 Serial pc(USBTX, USBRX);
ofosakar 0:44d3f99b08c1 8
ofosakar 0:44d3f99b08c1 9 DigitalOut led_red(LED_RED);
ofosakar 0:44d3f99b08c1 10 DigitalOut led_green(LED_GREEN);
ofosakar 0:44d3f99b08c1 11
ofosakar 0:44d3f99b08c1 12
ofosakar 0:44d3f99b08c1 13 BiQuadChain calibrateBqc1;
ofosakar 0:44d3f99b08c1 14 BiQuadChain calibrateBqc2;
ofosakar 0:44d3f99b08c1 15 BiQuad calibrateBq11( 9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
ofosakar 0:44d3f99b08c1 16 BiQuad calibrateBq12( 9.93756e-01, -1.89024e+00, 9.93756e-01, -1.89024e+00, 9.87512e-01 );
ofosakar 0:44d3f99b08c1 17
ofosakar 0:44d3f99b08c1 18 const int calibrateNumEmgCache = 100;
ofosakar 0:44d3f99b08c1 19 float calibrateEmgCache1[calibrateNumEmgCache]; //sorted from new to old;
ofosakar 0:44d3f99b08c1 20 float calibrateEmgCache2[calibrateNumEmgCache]; //sorted from new to old;
ofosakar 0:44d3f99b08c1 21
ofosakar 0:44d3f99b08c1 22
ofosakar 0:44d3f99b08c1 23
ofosakar 0:44d3f99b08c1 24 Ticker sampler;
ofosakar 0:44d3f99b08c1 25
ofosakar 0:44d3f99b08c1 26 float sample_frequency = 500.0f; //Hz
ofosakar 0:44d3f99b08c1 27 float Ts = 1.0f / sample_frequency;
ofosakar 0:44d3f99b08c1 28
ofosakar 0:44d3f99b08c1 29 volatile float total1;
ofosakar 0:44d3f99b08c1 30 volatile float total2;
ofosakar 0:44d3f99b08c1 31
ofosakar 0:44d3f99b08c1 32
ofosakar 0:44d3f99b08c1 33 volatile float average1;
ofosakar 0:44d3f99b08c1 34 volatile float average2;
ofosakar 0:44d3f99b08c1 35
ofosakar 0:44d3f99b08c1 36 volatile bool isCalibrating;
ofosakar 0:44d3f99b08c1 37
ofosakar 0:44d3f99b08c1 38 float rectifierC(float value) {
ofosakar 0:44d3f99b08c1 39 return fabs(value - 0.5f)*2.0f;
ofosakar 0:44d3f99b08c1 40 }
ofosakar 0:44d3f99b08c1 41 float movingAverageC(float newValue, float array[], int size) {
ofosakar 0:44d3f99b08c1 42 float sumC = 0;
ofosakar 0:44d3f99b08c1 43 for (int i = size - 2; i >= 0; i--) {
ofosakar 0:44d3f99b08c1 44 array[i+1] = array[i];
ofosakar 0:44d3f99b08c1 45 sumC += array[i];
ofosakar 0:44d3f99b08c1 46 }
ofosakar 0:44d3f99b08c1 47 array[0] = newValue;
ofosakar 0:44d3f99b08c1 48 sumC += newValue;
ofosakar 0:44d3f99b08c1 49 return sumC / size;
ofosakar 0:44d3f99b08c1 50 }
ofosakar 0:44d3f99b08c1 51
ofosakar 0:44d3f99b08c1 52 float sumC(float array[], int size) {
ofosakar 0:44d3f99b08c1 53 float sumC = 0;
ofosakar 0:44d3f99b08c1 54 for (int i = 0; i < size; i++) {
ofosakar 0:44d3f99b08c1 55 sumC += array[i];
ofosakar 0:44d3f99b08c1 56 }
ofosakar 0:44d3f99b08c1 57 return sumC;
ofosakar 0:44d3f99b08c1 58 }
ofosakar 0:44d3f99b08c1 59
ofosakar 0:44d3f99b08c1 60 float meanC(float array[], int size) {
ofosakar 0:44d3f99b08c1 61 return sumC(array, size) / size;
ofosakar 0:44d3f99b08c1 62 }
ofosakar 0:44d3f99b08c1 63
ofosakar 0:44d3f99b08c1 64 void sample() {
ofosakar 0:44d3f99b08c1 65
ofosakar 0:44d3f99b08c1 66 //TODO apply filters and such.
ofosakar 0:44d3f99b08c1 67 //Make use of EMG Processing library.
ofosakar 0:44d3f99b08c1 68 //For now we will just sumC the raw emg signals
ofosakar 0:44d3f99b08c1 69
ofosakar 0:44d3f99b08c1 70 float emgOne = calibrateEmg1.read();
ofosakar 0:44d3f99b08c1 71 float notch1 = calibrateBqc1.step( emgOne );
ofosakar 0:44d3f99b08c1 72
ofosakar 0:44d3f99b08c1 73 float emgTwo = calibrateEmg2.read();
ofosakar 0:44d3f99b08c1 74 float notch2 = calibrateBqc2.step( emgTwo );
ofosakar 0:44d3f99b08c1 75
ofosakar 0:44d3f99b08c1 76 float rect1 = rectifierC(notch1);
ofosakar 0:44d3f99b08c1 77 float rect2 = rectifierC(notch2);
ofosakar 0:44d3f99b08c1 78
ofosakar 0:44d3f99b08c1 79
ofosakar 0:44d3f99b08c1 80 float filtered1 = movingAverageC( rect1, calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 81 float filtered2 = movingAverageC( rect2, calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 82
ofosakar 0:44d3f99b08c1 83
ofosakar 0:44d3f99b08c1 84 }
ofosakar 0:44d3f99b08c1 85
ofosakar 0:44d3f99b08c1 86 void onPress() {
ofosakar 0:44d3f99b08c1 87 sampler.attach(&sample, Ts);
ofosakar 0:44d3f99b08c1 88 led_red = true;
ofosakar 0:44d3f99b08c1 89 led_green = false;
ofosakar 0:44d3f99b08c1 90
ofosakar 0:44d3f99b08c1 91 }
ofosakar 0:44d3f99b08c1 92
ofosakar 0:44d3f99b08c1 93 void onRelease() {
ofosakar 0:44d3f99b08c1 94 led_red = false;
ofosakar 0:44d3f99b08c1 95 led_green = true;
ofosakar 0:44d3f99b08c1 96 sampler.detach();
ofosakar 0:44d3f99b08c1 97 average1 = meanC(calibrateEmgCache1, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 98 average2 = meanC(calibrateEmgCache2, calibrateNumEmgCache);
ofosakar 0:44d3f99b08c1 99 pc.printf ("(avg1, avg2) = (%f, %f)\r\n", average1, average2); //Why NaN? am I deviding by zero?
ofosakar 0:44d3f99b08c1 100 }
ofosakar 0:44d3f99b08c1 101
ofosakar 0:44d3f99b08c1 102 //int main()
ofosakar 0:44d3f99b08c1 103 //{
ofosakar 0:44d3f99b08c1 104 // pc.baud(115200);
ofosakar 0:44d3f99b08c1 105 // led_red = false;
ofosakar 0:44d3f99b08c1 106 // led_green = true;
ofosakar 0:44d3f99b08c1 107 //
ofosakar 0:44d3f99b08c1 108 // calibrateBqc1.add( &calibrateBq11 );
ofosakar 0:44d3f99b08c1 109 // calibrateBqc2.add( &calibrateBq12 );
ofosakar 0:44d3f99b08c1 110 //
ofosakar 0:44d3f99b08c1 111 // button.rise(&onRelease);
ofosakar 0:44d3f99b08c1 112 // button.fall(&onPress);
ofosakar 0:44d3f99b08c1 113 //
ofosakar 0:44d3f99b08c1 114 // while(true);
ofosakar 0:44d3f99b08c1 115 //}