Nahuel Manterola / Mbed 2 deprecated EMGfilter_2

De EMG Lowpass maakt alle signalen gelijk

Dependencies:   HIDScope biquadFilter mbed

Fork of EMGfilter by Pascal van Baardwijk

main.cpp@5:02b3550e1ff0, 2016-10-25 (annotated)

Committer:
pbaardwijk
Date:
Tue Oct 25 18:32:01 2016 +0000
Revision:
5:02b3550e1ff0
Parent:
4:c7d1ba2fa48b
Child:
6:da06585e106c
Compare 3Hz 6th order low-pass filter with RMS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pbaardwijk 0:ae0bec143f2d 1 #include "mbed.h"
pbaardwijk 0:ae0bec143f2d 2 #include "BiQuad.h"
pbaardwijk 0:ae0bec143f2d 3 #include "HIDScope.h"
pbaardwijk 0:ae0bec143f2d 4 //Enum with states
pbaardwijk 0:ae0bec143f2d 5 enum states {STATE_DEFAULT , STATE_CALIBRATION, STATE_RUN};
pbaardwijk 0:ae0bec143f2d 6
pbaardwijk 0:ae0bec143f2d 7 //Variable called 'state'
pbaardwijk 0:ae0bec143f2d 8 states state = STATE_DEFAULT;
pbaardwijk 0:ae0bec143f2d 9
pbaardwijk 0:ae0bec143f2d 10 //Creating two scope channels
pbaardwijk 3:cdac0bfafc80 11 HIDScope scope(3);
pbaardwijk 0:ae0bec143f2d 12
pbaardwijk 0:ae0bec143f2d 13 //Notch filter
pbaardwijk 0:ae0bec143f2d 14 BiQuadChain notch_50;
pbaardwijk 3:cdac0bfafc80 15 BiQuad bq1( 1.00007369335,-1.61815834791, 1.00007369335, -1.60983662066, 0.98986119869);
pbaardwijk 3:cdac0bfafc80 16 BiQuad bq2( 1.00000000000,-1.61803910919, 1.00000000000, -1.60936554071, 0.99545624832);
pbaardwijk 3:cdac0bfafc80 17 BiQuad bq3( 0.99035034846,-1.60242559561, 0.99035034846, -1.61934542233, 0.9955088075);
pbaardwijk 0:ae0bec143f2d 18
pbaardwijk 0:ae0bec143f2d 19 //High pass filter
pbaardwijk 0:ae0bec143f2d 20 BiQuadChain high_pass;
pbaardwijk 3:cdac0bfafc80 21 BiQuad bq4( 0.83315051810,-1.66630103620, 0.83315051810, -1.55025104412, 0.60696783282);
pbaardwijk 3:cdac0bfafc80 22 BiQuad bq5( 0.86554941044,-1.73109882088, 0.86554941044, -1.74142633961, 0.78400451004);
pbaardwijk 3:cdac0bfafc80 23 BiQuad bq6( 0.92490714701,-1.84981429401, 0.92490714701, -1.90032503529, 0.9352152620);
pbaardwijk 0:ae0bec143f2d 24
pbaardwijk 5:02b3550e1ff0 25 //Low pass filter
pbaardwijk 5:02b3550e1ff0 26 BiQuadChain low_pass;
pbaardwijk 5:02b3550e1ff0 27 BiQuad bq7( 0.00040400257, 0.00080800515, 0.00040400257,-1.92223307595, 0.92384908624);
pbaardwijk 5:02b3550e1ff0 28 BiQuad bq8( 0.00040816681, 0.00081633362, 0.00040816681,-1.94204639240, 0.94367905964);
pbaardwijk 5:02b3550e1ff0 29 BiQuad bq9( 0.00041558628, 0.00083117256, 0.00041558628,-1.97734803172, 0.9790103768);
pbaardwijk 5:02b3550e1ff0 30
pbaardwijk 0:ae0bec143f2d 31 //Ticker
pbaardwijk 0:ae0bec143f2d 32 Ticker emgSampleTicker;
pbaardwijk 0:ae0bec143f2d 33
pbaardwijk 0:ae0bec143f2d 34 //Timeout to change state after 5 seconds
pbaardwijk 0:ae0bec143f2d 35 Timeout change_state;
pbaardwijk 0:ae0bec143f2d 36
pbaardwijk 1:7fb4a74d33ff 37 //Timeout to change state after 15 seconds
pbaardwijk 0:ae0bec143f2d 38 Timeout change_state2;
pbaardwijk 0:ae0bec143f2d 39
pbaardwijk 1:7fb4a74d33ff 40 //LED
pbaardwijk 1:7fb4a74d33ff 41 DigitalOut led(LED_RED);
pbaardwijk 1:7fb4a74d33ff 42
pbaardwijk 0:ae0bec143f2d 43 //Emg input
pbaardwijk 0:ae0bec143f2d 44 AnalogIn emg0( A0 );
pbaardwijk 0:ae0bec143f2d 45 AnalogIn emg1( A1 );
pbaardwijk 0:ae0bec143f2d 46 AnalogIn emg2( A2 );
pbaardwijk 0:ae0bec143f2d 47
pbaardwijk 0:ae0bec143f2d 48 bool go_emgSample;
pbaardwijk 0:ae0bec143f2d 49 bool go_find_minmax;
pbaardwijk 0:ae0bec143f2d 50 double emg_sample[3];
pbaardwijk 0:ae0bec143f2d 51 double emg_notch[3];
pbaardwijk 0:ae0bec143f2d 52 double emg_high_passed[3];
pbaardwijk 5:02b3550e1ff0 53 double emg_low_passed[3];
pbaardwijk 0:ae0bec143f2d 54 double min_emg[3];
pbaardwijk 0:ae0bec143f2d 55 double max_emg[3];
pbaardwijk 0:ae0bec143f2d 56
pbaardwijk 0:ae0bec143f2d 57 const int n = 200;
pbaardwijk 0:ae0bec143f2d 58 int counter = 0;
pbaardwijk 0:ae0bec143f2d 59 double RMSArray0[n] = {0};
pbaardwijk 0:ae0bec143f2d 60 double RMSArray1[n] = {0};
pbaardwijk 0:ae0bec143f2d 61 double RMSArray2[n] = {0};
pbaardwijk 0:ae0bec143f2d 62 double RMS0;
pbaardwijk 0:ae0bec143f2d 63 double RMS1;
pbaardwijk 0:ae0bec143f2d 64 double RMS2;
pbaardwijk 0:ae0bec143f2d 65 double SumRMS0;
pbaardwijk 0:ae0bec143f2d 66 double SumRMS1;
pbaardwijk 0:ae0bec143f2d 67 double SumRMS2;
pbaardwijk 0:ae0bec143f2d 68
pbaardwijk 0:ae0bec143f2d 69 double input_force0;
pbaardwijk 0:ae0bec143f2d 70 double input_force1;
pbaardwijk 0:ae0bec143f2d 71 double input_force2;
pbaardwijk 0:ae0bec143f2d 72
pbaardwijk 0:ae0bec143f2d 73 //count for emg min max
pbaardwijk 0:ae0bec143f2d 74 int start_calibration = 0;
pbaardwijk 0:ae0bec143f2d 75
pbaardwijk 0:ae0bec143f2d 76 void emgSample() {
pbaardwijk 0:ae0bec143f2d 77 go_emgSample = true;
pbaardwijk 0:ae0bec143f2d 78 }
pbaardwijk 0:ae0bec143f2d 79
pbaardwijk 0:ae0bec143f2d 80 void calibrate() {
pbaardwijk 0:ae0bec143f2d 81 state = STATE_CALIBRATION;
pbaardwijk 1:7fb4a74d33ff 82 led.write(0);
pbaardwijk 0:ae0bec143f2d 83 }
pbaardwijk 0:ae0bec143f2d 84
pbaardwijk 0:ae0bec143f2d 85 void run() {
pbaardwijk 0:ae0bec143f2d 86 state = STATE_RUN;
pbaardwijk 1:7fb4a74d33ff 87 led.write(1);
pbaardwijk 0:ae0bec143f2d 88 }
pbaardwijk 0:ae0bec143f2d 89
pbaardwijk 0:ae0bec143f2d 90 void EMG_filter();
pbaardwijk 0:ae0bec143f2d 91
pbaardwijk 0:ae0bec143f2d 92 int main() {
pbaardwijk 0:ae0bec143f2d 93 //combine biquads in biquad chains for notch/high- low-pass filters
pbaardwijk 0:ae0bec143f2d 94 notch_50.add( &bq1 ).add( &bq2 ).add( &bq3 );
pbaardwijk 3:cdac0bfafc80 95 high_pass.add( &bq4 ).add( &bq5 ).add( &bq6 );
pbaardwijk 5:02b3550e1ff0 96 low_pass.add( &bq7 ).add( &bq8 ).add( &bq9 );
pbaardwijk 1:7fb4a74d33ff 97 led.write(1);
pbaardwijk 0:ae0bec143f2d 98
pbaardwijk 0:ae0bec143f2d 99 change_state.attach( &calibrate,5);
pbaardwijk 1:7fb4a74d33ff 100 change_state2.attach( &run,15);
pbaardwijk 0:ae0bec143f2d 101 emgSampleTicker.attach( &emgSample, 0.002);
pbaardwijk 0:ae0bec143f2d 102 while( true ){
pbaardwijk 0:ae0bec143f2d 103 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 104 EMG_filter();
pbaardwijk 0:ae0bec143f2d 105 }
pbaardwijk 0:ae0bec143f2d 106 }
pbaardwijk 0:ae0bec143f2d 107 }
pbaardwijk 0:ae0bec143f2d 108
pbaardwijk 0:ae0bec143f2d 109
pbaardwijk 0:ae0bec143f2d 110 void EMG_filter() {
pbaardwijk 0:ae0bec143f2d 111 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 112 //read the emg signal
pbaardwijk 0:ae0bec143f2d 113 emg_sample[0] = emg0.read();
pbaardwijk 0:ae0bec143f2d 114 emg_sample[1] = emg1.read();
pbaardwijk 0:ae0bec143f2d 115 emg_sample[2] = emg2.read();
pbaardwijk 0:ae0bec143f2d 116
pbaardwijk 0:ae0bec143f2d 117 for (int i = 0; i < 3; i++){
pbaardwijk 0:ae0bec143f2d 118 //filter out the 50Hz components with a notch filter
pbaardwijk 3:cdac0bfafc80 119 emg_notch[i] = notch_50.step(emg_sample[i]);
pbaardwijk 0:ae0bec143f2d 120
pbaardwijk 0:ae0bec143f2d 121 //high pass the signal (removing motion artifacts and offset)
pbaardwijk 3:cdac0bfafc80 122 emg_high_passed[i] = high_pass.step(emg_notch[i]);
pbaardwijk 5:02b3550e1ff0 123
pbaardwijk 5:02b3550e1ff0 124 //low pass the rectified emg signal
pbaardwijk 5:02b3550e1ff0 125 emg_low_passed[i] = low_pass.step(fabs(emg_high_passed[i]));
pbaardwijk 0:ae0bec143f2d 126 }
pbaardwijk 0:ae0bec143f2d 127
pbaardwijk 0:ae0bec143f2d 128 //Calculating RMS
pbaardwijk 0:ae0bec143f2d 129 SumRMS0 -= pow(RMSArray0[counter],2);
pbaardwijk 0:ae0bec143f2d 130 SumRMS1 -= pow(RMSArray1[counter],2);
pbaardwijk 0:ae0bec143f2d 131 SumRMS2 -= pow(RMSArray2[counter],2);
pbaardwijk 0:ae0bec143f2d 132
pbaardwijk 0:ae0bec143f2d 133 RMSArray0[counter] = emg_high_passed[0];
pbaardwijk 0:ae0bec143f2d 134 RMSArray1[counter] = emg_high_passed[1];
pbaardwijk 0:ae0bec143f2d 135 RMSArray2[counter] = emg_high_passed[2];
pbaardwijk 0:ae0bec143f2d 136
pbaardwijk 0:ae0bec143f2d 137 SumRMS0 += pow(RMSArray0[counter],2);
pbaardwijk 0:ae0bec143f2d 138 SumRMS1 += pow(RMSArray1[counter],2);
pbaardwijk 0:ae0bec143f2d 139 SumRMS2 += pow(RMSArray2[counter],2);
pbaardwijk 0:ae0bec143f2d 140
pbaardwijk 0:ae0bec143f2d 141 counter++;
pbaardwijk 0:ae0bec143f2d 142 if (counter == n){
pbaardwijk 0:ae0bec143f2d 143 counter = 0;
pbaardwijk 0:ae0bec143f2d 144 }
pbaardwijk 0:ae0bec143f2d 145
pbaardwijk 0:ae0bec143f2d 146 RMS0 = sqrt(SumRMS0/n);
pbaardwijk 0:ae0bec143f2d 147 RMS1 = sqrt(SumRMS1/n);
pbaardwijk 0:ae0bec143f2d 148 RMS2 = sqrt(SumRMS2/n);
pbaardwijk 0:ae0bec143f2d 149
pbaardwijk 0:ae0bec143f2d 150 //Calculating min value and max value of emg signal
pbaardwijk 0:ae0bec143f2d 151 if(state == STATE_CALIBRATION)
pbaardwijk 0:ae0bec143f2d 152 {
pbaardwijk 0:ae0bec143f2d 153 if (start_calibration == 0) {
pbaardwijk 0:ae0bec143f2d 154 min_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 155 max_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 156 min_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 157 max_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 158 min_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 159 max_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 160 start_calibration++;
pbaardwijk 0:ae0bec143f2d 161 }
pbaardwijk 0:ae0bec143f2d 162 else {
pbaardwijk 0:ae0bec143f2d 163 //finding min and max of emg0
pbaardwijk 0:ae0bec143f2d 164 if (RMS0 < min_emg[0]) {
pbaardwijk 0:ae0bec143f2d 165 min_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 166 }
pbaardwijk 0:ae0bec143f2d 167 else if (RMS0 > max_emg[0]) {
pbaardwijk 0:ae0bec143f2d 168 max_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 169 }
pbaardwijk 0:ae0bec143f2d 170
pbaardwijk 0:ae0bec143f2d 171 //finding min and max of emg1
pbaardwijk 0:ae0bec143f2d 172 if (RMS1 < min_emg[1]) {
pbaardwijk 0:ae0bec143f2d 173 min_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 174 }
pbaardwijk 0:ae0bec143f2d 175 else if (RMS1 > max_emg[1]) {
pbaardwijk 0:ae0bec143f2d 176 max_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 177 }
pbaardwijk 0:ae0bec143f2d 178
pbaardwijk 0:ae0bec143f2d 179 //finding min and max of emg2
pbaardwijk 0:ae0bec143f2d 180 if (RMS2 < min_emg[2]) {
pbaardwijk 0:ae0bec143f2d 181 min_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 182 }
pbaardwijk 0:ae0bec143f2d 183 else if (RMS2 > max_emg[2]) {
pbaardwijk 0:ae0bec143f2d 184 max_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 185 }
pbaardwijk 0:ae0bec143f2d 186 }
pbaardwijk 0:ae0bec143f2d 187 }
pbaardwijk 0:ae0bec143f2d 188
pbaardwijk 0:ae0bec143f2d 189 //calculating input_forces for controller
pbaardwijk 0:ae0bec143f2d 190 input_force0 = (RMS0 - min_emg[0])/(max_emg[0]-min_emg[0]);
pbaardwijk 0:ae0bec143f2d 191 input_force1 = (RMS1 - min_emg[1])/(max_emg[1]-min_emg[1]);
pbaardwijk 0:ae0bec143f2d 192 input_force2 = (RMS2 - min_emg[2])/(max_emg[2]-min_emg[2]);
pbaardwijk 0:ae0bec143f2d 193
pbaardwijk 0:ae0bec143f2d 194 //Send scope data
pbaardwijk 0:ae0bec143f2d 195 scope.set(0,emg_sample[0]);
pbaardwijk 5:02b3550e1ff0 196 scope.set(1,RMS0);
pbaardwijk 5:02b3550e1ff0 197 scope.set(2,emg_low_passed[0]);
pbaardwijk 0:ae0bec143f2d 198 //scope.set(3,input_force2);
pbaardwijk 0:ae0bec143f2d 199 scope.send();
pbaardwijk 0:ae0bec143f2d 200
pbaardwijk 0:ae0bec143f2d 201 go_emgSample = false;
pbaardwijk 0:ae0bec143f2d 202 }
pbaardwijk 0:ae0bec143f2d 203 }
pbaardwijk 0:ae0bec143f2d 204