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@9:81637351bbd1, 2016-10-27 (annotated)

Committer:
pbaardwijk
Date:
Thu Oct 27 10:27:08 2016 +0000
Revision:
9:81637351bbd1
Parent:
7:a928724ef731
Child:
10:93ff2f23b901
Working EMG filter with 6Hz low-pass cleaned up

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 7:a928724ef731 11 HIDScope scope(4);
pbaardwijk 6:da06585e106c 12
pbaardwijk 0:ae0bec143f2d 13 //Notch filter
pbaardwijk 0:ae0bec143f2d 14 BiQuadChain notch_50;
pbaardwijk 7:a928724ef731 15 BiQuad bq3( 0.98116526140, 0.00000000044, 0.98116526140, 0.00000000043, 0.95391787621);
pbaardwijk 7:a928724ef731 16 BiQuad bq4( 0.97224232015, 0.00000000043, 0.97224232015, -0.04036799459, 0.97670000725);
pbaardwijk 7:a928724ef731 17 BiQuad bq5( 1.00000000000, 0.00000000044, 1.00000000000, 0.04036799547, 0.9767000072);
pbaardwijk 0:ae0bec143f2d 18
pbaardwijk 0:ae0bec143f2d 19 //High pass filter
pbaardwijk 0:ae0bec143f2d 20 BiQuadChain high_pass;
pbaardwijk 7:a928724ef731 21 BiQuad bq6( 0.80254782780,-1.60509565560, 0.80254782780, -1.58011656361, 0.63006219630);
pbaardwijk 7:a928724ef731 22 BiQuad bq7( 0.90006571973,-1.80013143945, 0.900065719734, -1.77213098592, 0.8281459694);
pbaardwijk 7:a928724ef731 23 //BiQuad bq8( 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 7:a928724ef731 27 BiQuad bq9( 0.00801840797, 0.01603681594, 0.00801840797,-1.65212256130, 0.68416767240);
pbaardwijk 7:a928724ef731 28 BiQuad bq10( 0.00836524486, 0.01673048973, 0.00836524486,-1.72511837232, 0.75857933411);
pbaardwijk 7:a928724ef731 29 BiQuad bq11( 0.00905039996, 0.01810079992, 0.00905039996,-1.86807725180, 0.9043110909);
pbaardwijk 0:ae0bec143f2d 30 //Ticker
pbaardwijk 0:ae0bec143f2d 31 Ticker emgSampleTicker;
pbaardwijk 0:ae0bec143f2d 32
pbaardwijk 0:ae0bec143f2d 33 //Timeout to change state after 5 seconds
pbaardwijk 0:ae0bec143f2d 34 Timeout change_state;
pbaardwijk 0:ae0bec143f2d 35
pbaardwijk 1:7fb4a74d33ff 36 //Timeout to change state after 15 seconds
pbaardwijk 0:ae0bec143f2d 37 Timeout change_state2;
pbaardwijk 0:ae0bec143f2d 38
pbaardwijk 1:7fb4a74d33ff 39 //LED
pbaardwijk 1:7fb4a74d33ff 40 DigitalOut led(LED_RED);
pbaardwijk 1:7fb4a74d33ff 41
pbaardwijk 0:ae0bec143f2d 42 //Emg input
pbaardwijk 0:ae0bec143f2d 43 AnalogIn emg0( A0 );
pbaardwijk 0:ae0bec143f2d 44 AnalogIn emg1( A1 );
pbaardwijk 0:ae0bec143f2d 45 AnalogIn emg2( A2 );
pbaardwijk 0:ae0bec143f2d 46
pbaardwijk 9:81637351bbd1 47 //Go flag for emg sample
pbaardwijk 0:ae0bec143f2d 48 bool go_emgSample;
pbaardwijk 9:81637351bbd1 49
pbaardwijk 9:81637351bbd1 50 //Variables for intermediate filter values
pbaardwijk 0:ae0bec143f2d 51 double emg_sample[3];
pbaardwijk 6:da06585e106c 52 double emg_low_passed_200[3];
pbaardwijk 0:ae0bec143f2d 53 double emg_notch[3];
pbaardwijk 0:ae0bec143f2d 54 double emg_high_passed[3];
pbaardwijk 5:02b3550e1ff0 55 double emg_low_passed[3];
pbaardwijk 0:ae0bec143f2d 56 double min_emg[3];
pbaardwijk 0:ae0bec143f2d 57 double max_emg[3];
pbaardwijk 0:ae0bec143f2d 58
pbaardwijk 9:81637351bbd1 59 //Calculating normalized outputs
pbaardwijk 0:ae0bec143f2d 60 double input_force0;
pbaardwijk 0:ae0bec143f2d 61 double input_force1;
pbaardwijk 0:ae0bec143f2d 62 double input_force2;
pbaardwijk 0:ae0bec143f2d 63
pbaardwijk 0:ae0bec143f2d 64 //count for emg min max
pbaardwijk 0:ae0bec143f2d 65 int start_calibration = 0;
pbaardwijk 0:ae0bec143f2d 66
pbaardwijk 0:ae0bec143f2d 67 void emgSample() {
pbaardwijk 0:ae0bec143f2d 68 go_emgSample = true;
pbaardwijk 0:ae0bec143f2d 69 }
pbaardwijk 0:ae0bec143f2d 70
pbaardwijk 0:ae0bec143f2d 71 void calibrate() {
pbaardwijk 0:ae0bec143f2d 72 state = STATE_CALIBRATION;
pbaardwijk 1:7fb4a74d33ff 73 led.write(0);
pbaardwijk 0:ae0bec143f2d 74 }
pbaardwijk 0:ae0bec143f2d 75
pbaardwijk 0:ae0bec143f2d 76 void run() {
pbaardwijk 0:ae0bec143f2d 77 state = STATE_RUN;
pbaardwijk 1:7fb4a74d33ff 78 led.write(1);
pbaardwijk 0:ae0bec143f2d 79 }
pbaardwijk 0:ae0bec143f2d 80
pbaardwijk 0:ae0bec143f2d 81 void EMG_filter();
pbaardwijk 0:ae0bec143f2d 82
pbaardwijk 0:ae0bec143f2d 83 int main() {
pbaardwijk 0:ae0bec143f2d 84 //combine biquads in biquad chains for notch/high- low-pass filters
pbaardwijk 6:da06585e106c 85 notch_50.add( &bq3 ).add( &bq4 ).add( &bq5 );
pbaardwijk 7:a928724ef731 86 high_pass.add( &bq6 ).add( &bq7 );
pbaardwijk 6:da06585e106c 87 low_pass.add( &bq9 ).add( &bq10 ).add( &bq11 );
pbaardwijk 1:7fb4a74d33ff 88 led.write(1);
pbaardwijk 0:ae0bec143f2d 89
pbaardwijk 0:ae0bec143f2d 90 change_state.attach( &calibrate,5);
pbaardwijk 1:7fb4a74d33ff 91 change_state2.attach( &run,15);
pbaardwijk 7:a928724ef731 92 emgSampleTicker.attach( &emgSample, 0.005); //200Hz
pbaardwijk 0:ae0bec143f2d 93 while( true ){
pbaardwijk 0:ae0bec143f2d 94 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 95 EMG_filter();
pbaardwijk 0:ae0bec143f2d 96 }
pbaardwijk 0:ae0bec143f2d 97 }
pbaardwijk 0:ae0bec143f2d 98 }
pbaardwijk 0:ae0bec143f2d 99
pbaardwijk 0:ae0bec143f2d 100
pbaardwijk 0:ae0bec143f2d 101 void EMG_filter() {
pbaardwijk 0:ae0bec143f2d 102 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 103 //read the emg signal
pbaardwijk 0:ae0bec143f2d 104 emg_sample[0] = emg0.read();
pbaardwijk 0:ae0bec143f2d 105 emg_sample[1] = emg1.read();
pbaardwijk 0:ae0bec143f2d 106 emg_sample[2] = emg2.read();
pbaardwijk 0:ae0bec143f2d 107
pbaardwijk 7:a928724ef731 108 //filter out the 50Hz components with a notch filter
pbaardwijk 7:a928724ef731 109 emg_notch[0] = notch_50.step(emg_sample[0]);
pbaardwijk 0:ae0bec143f2d 110
pbaardwijk 7:a928724ef731 111 //high pass the signal (removing motion artifacts and offset)
pbaardwijk 7:a928724ef731 112 emg_high_passed[0] = high_pass.step(emg_notch[0]);
pbaardwijk 5:02b3550e1ff0 113
pbaardwijk 7:a928724ef731 114 //low pass the rectified emg signal
pbaardwijk 7:a928724ef731 115 emg_low_passed[0] = low_pass.step(fabs(emg_high_passed[0]));
pbaardwijk 0:ae0bec143f2d 116
pbaardwijk 0:ae0bec143f2d 117
pbaardwijk 0:ae0bec143f2d 118 //Calculating min value and max value of emg signal
pbaardwijk 0:ae0bec143f2d 119 if(state == STATE_CALIBRATION)
pbaardwijk 0:ae0bec143f2d 120 {
pbaardwijk 0:ae0bec143f2d 121 if (start_calibration == 0) {
pbaardwijk 9:81637351bbd1 122 min_emg[0] = emg_low_passed[0];
pbaardwijk 9:81637351bbd1 123 max_emg[0] = emg_low_passed[0];
pbaardwijk 9:81637351bbd1 124 min_emg[1] = emg_low_passed[1];
pbaardwijk 9:81637351bbd1 125 max_emg[1] = emg_low_passed[1];
pbaardwijk 9:81637351bbd1 126 min_emg[2] = emg_low_passed[2];
pbaardwijk 9:81637351bbd1 127 max_emg[2] = emg_low_passed[2];
pbaardwijk 0:ae0bec143f2d 128 start_calibration++;
pbaardwijk 0:ae0bec143f2d 129 }
pbaardwijk 0:ae0bec143f2d 130 else {
pbaardwijk 0:ae0bec143f2d 131 //finding min and max of emg0
pbaardwijk 9:81637351bbd1 132 if (emg_low_passed[0] < min_emg[0]) {
pbaardwijk 9:81637351bbd1 133 min_emg[0] = emg_low_passed[0];
pbaardwijk 0:ae0bec143f2d 134 }
pbaardwijk 9:81637351bbd1 135 else if (emg_low_passed[0] > max_emg[0]) {
pbaardwijk 9:81637351bbd1 136 max_emg[0] = emg_low_passed[0];
pbaardwijk 0:ae0bec143f2d 137 }
pbaardwijk 0:ae0bec143f2d 138
pbaardwijk 0:ae0bec143f2d 139 //finding min and max of emg1
pbaardwijk 9:81637351bbd1 140 if (emg_low_passed[1] < min_emg[1]) {
pbaardwijk 9:81637351bbd1 141 min_emg[1] = emg_low_passed[1];
pbaardwijk 0:ae0bec143f2d 142 }
pbaardwijk 9:81637351bbd1 143 else if (emg_low_passed[1] > max_emg[1]) {
pbaardwijk 9:81637351bbd1 144 max_emg[1] = emg_low_passed[1];
pbaardwijk 0:ae0bec143f2d 145 }
pbaardwijk 0:ae0bec143f2d 146
pbaardwijk 0:ae0bec143f2d 147 //finding min and max of emg2
pbaardwijk 9:81637351bbd1 148 if (emg_low_passed[2] < min_emg[2]) {
pbaardwijk 9:81637351bbd1 149 min_emg[2] = emg_low_passed[2];
pbaardwijk 0:ae0bec143f2d 150 }
pbaardwijk 9:81637351bbd1 151 else if (emg_low_passed[2] > max_emg[2]) {
pbaardwijk 9:81637351bbd1 152 max_emg[2] = emg_low_passed[2];
pbaardwijk 0:ae0bec143f2d 153 }
pbaardwijk 0:ae0bec143f2d 154 }
pbaardwijk 0:ae0bec143f2d 155 }
pbaardwijk 0:ae0bec143f2d 156
pbaardwijk 0:ae0bec143f2d 157 //calculating input_forces for controller
pbaardwijk 9:81637351bbd1 158 input_force0 = (emg_low_passed[0] - min_emg[0])/(max_emg[0]-min_emg[0]);
pbaardwijk 9:81637351bbd1 159 input_force1 = (emg_low_passed[1] - min_emg[1])/(max_emg[1]-min_emg[1]);
pbaardwijk 9:81637351bbd1 160 input_force2 = (emg_low_passed[2] - min_emg[2])/(max_emg[2]-min_emg[2]);
pbaardwijk 0:ae0bec143f2d 161
pbaardwijk 0:ae0bec143f2d 162 //Send scope data
pbaardwijk 0:ae0bec143f2d 163 scope.set(0,emg_sample[0]);
pbaardwijk 7:a928724ef731 164 scope.set(1,emg_notch[0]);
pbaardwijk 7:a928724ef731 165 scope.set(2,emg_high_passed[0]);
pbaardwijk 9:81637351bbd1 166 scope.set(3,input_force0);
pbaardwijk 7:a928724ef731 167 //scope.set(2,emg_low_passed[0]);
pbaardwijk 0:ae0bec143f2d 168 //scope.set(3,input_force2);
pbaardwijk 0:ae0bec143f2d 169 scope.send();
pbaardwijk 0:ae0bec143f2d 170
pbaardwijk 0:ae0bec143f2d 171 go_emgSample = false;
pbaardwijk 0:ae0bec143f2d 172 }
pbaardwijk 0:ae0bec143f2d 173 }
pbaardwijk 0:ae0bec143f2d 174