Diff: emg.h

Revision:

12:12c162dc8893

Parent:

11:c8b6a2b314c3

Child:

13:0adbf6a5de37

--- a/emg.h	Thu Oct 27 14:10:49 2016 +0000
+++ b/emg.h	Fri Oct 28 11:46:44 2016 +0000
@@ -11,22 +11,45 @@
 //HIDScope scope(3);
 
 //Notch filter
-BiQuadChain notch_50;
-BiQuad bq3( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
-BiQuad bq4( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
-BiQuad bq5( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
+BiQuadChain notch_50_0;
+BiQuadChain notch_50_1;
+BiQuadChain notch_50_2;
+BiQuad bq03( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
+BiQuad bq04( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
+BiQuad bq05( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
+BiQuad bq13( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
+BiQuad bq14( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
+BiQuad bq15( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
+BiQuad bq23( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
+BiQuad bq24( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
+BiQuad bq25( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
 
 //High pass filter
-BiQuadChain high_pass;
-BiQuad bq6( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
-BiQuad bq7( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
+BiQuadChain high_pass_0;
+BiQuadChain high_pass_1;
+BiQuadChain high_pass_2;
+BiQuad bq06( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
+BiQuad bq07( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
+BiQuad bq16( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
+BiQuad bq17( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
+BiQuad bq26( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
+BiQuad bq27( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
 //BiQuad bq8( 0.92490714701,-1.84981429401, 0.92490714701, -1.90032503529, 0.9352152620);
 
 //Low pass filter
-BiQuadChain low_pass;
+BiQuadChain low_pass_0;
+BiQuadChain low_pass_1;
+BiQuadChain low_pass_2;
 BiQuad bq9( 0.00801840797, 0.01603681594, 0.00801840797,-1.65212256130, 0.68416767240);
 BiQuad bq10( 0.00836524486, 0.01673048973, 0.00836524486,-1.72511837232, 0.75857933411);
 BiQuad bq11( 0.00905039996, 0.01810079992, 0.00905039996,-1.86807725180, 0.9043110909);
+BiQuad bq19( 0.00801840797, 0.01603681594, 0.00801840797,-1.65212256130, 0.68416767240);
+BiQuad bq110( 0.00836524486, 0.01673048973, 0.00836524486,-1.72511837232, 0.75857933411);
+BiQuad bq111( 0.00905039996, 0.01810079992, 0.00905039996,-1.86807725180, 0.9043110909);
+BiQuad bq29( 0.00801840797, 0.01603681594, 0.00801840797,-1.65212256130, 0.68416767240);
+BiQuad bq210( 0.00836524486, 0.01673048973, 0.00836524486,-1.72511837232, 0.75857933411);
+BiQuad bq211( 0.00905039996, 0.01810079992, 0.00905039996,-1.86807725180, 0.9043110909);
+
 //Ticker
 Ticker emgSampleTicker;
 
@@ -82,21 +105,29 @@
 
 void EMG_filter() {
     if(go_emgSample == true){
-            //read the emg signal
+           //read the emg signal
             emg_sample[0] = emg0.read();
             emg_sample[1] = emg1.read();
             emg_sample[2] = emg2.read();
-            
+            //pc.printf("%f - %f - %f \r\n", emg_sample[0], emg_sample[1], emg_sample[2]); 
             //filter out the 50Hz components with a notch filter
-            emg_notch[0] = notch_50.step(emg_sample[0]);
-            
+            emg_notch[0] = notch_50_0.step(emg_sample[0]);
+            emg_notch[1] = notch_50_1.step(emg_sample[1]);
+            emg_notch[2] = notch_50_2.step(emg_sample[2]);
             //high pass the signal (removing motion artifacts and offset)
-            emg_high_passed[0] = high_pass.step(emg_notch[0]);
-                
+            emg_high_passed[0] = high_pass_0.step(emg_notch[0]);
+            emg_high_passed[1] = high_pass_1.step(emg_notch[1]);
+            emg_high_passed[2] = high_pass_2.step(emg_notch[2]);    
+            float emg_fabs[3];
+            emg_fabs[0] = fabs(emg_high_passed[0]);
+            emg_fabs[1] = fabs(emg_high_passed[1]);
+            emg_fabs[2] = fabs(emg_high_passed[2]);
             //low pass the rectified emg signal
-            emg_low_passed[0] = low_pass.step(fabs(emg_high_passed[0]));
+            emg_low_passed[0] = low_pass_0.step(emg_fabs[0]);
+            emg_low_passed[1] = low_pass_1.step(emg_fabs[1]);
+            emg_low_passed[2] = low_pass_2.step(emg_fabs[2]);
             
-            
+            //pc.printf("%f - %f - %f \r\n", emg_low_passed[0], emg_low_passed[1], emg_low_passed[2]);
             //Calculating min value and max value of emg signal
             if(state == STATE_CALIBRATION)
             {
@@ -111,6 +142,7 @@
                 }
                 else {
                     //finding min and max of emg0
+                    
                     if (emg_low_passed[0] < min_emg[0]) {
                         min_emg[0] = emg_low_passed[0];
                     }