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@3:cdac0bfafc80, 2016-10-25 (annotated)

Committer:
pbaardwijk
Date:
Tue Oct 25 13:17:46 2016 +0000
Revision:
3:cdac0bfafc80
Parent:
1:7fb4a74d33ff
Child:
4:c7d1ba2fa48b
EMGfilter with new high_pass and notch

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 0:ae0bec143f2d 25 //Ticker
pbaardwijk 0:ae0bec143f2d 26 Ticker emgSampleTicker;
pbaardwijk 0:ae0bec143f2d 27
pbaardwijk 0:ae0bec143f2d 28 //Timeout to change state after 5 seconds
pbaardwijk 0:ae0bec143f2d 29 Timeout change_state;
pbaardwijk 0:ae0bec143f2d 30
pbaardwijk 1:7fb4a74d33ff 31 //Timeout to change state after 15 seconds
pbaardwijk 0:ae0bec143f2d 32 Timeout change_state2;
pbaardwijk 0:ae0bec143f2d 33
pbaardwijk 1:7fb4a74d33ff 34 //LED
pbaardwijk 1:7fb4a74d33ff 35 DigitalOut led(LED_RED);
pbaardwijk 1:7fb4a74d33ff 36
pbaardwijk 0:ae0bec143f2d 37 //Emg input
pbaardwijk 0:ae0bec143f2d 38 AnalogIn emg0( A0 );
pbaardwijk 0:ae0bec143f2d 39 AnalogIn emg1( A1 );
pbaardwijk 0:ae0bec143f2d 40 AnalogIn emg2( A2 );
pbaardwijk 0:ae0bec143f2d 41
pbaardwijk 0:ae0bec143f2d 42 bool go_emgSample;
pbaardwijk 0:ae0bec143f2d 43 bool go_find_minmax;
pbaardwijk 0:ae0bec143f2d 44 double emg_sample[3];
pbaardwijk 0:ae0bec143f2d 45 double emg_notch[3];
pbaardwijk 0:ae0bec143f2d 46 double emg_high_passed[3];
pbaardwijk 0:ae0bec143f2d 47 double emg_rectified;
pbaardwijk 0:ae0bec143f2d 48 double min_emg[3];
pbaardwijk 0:ae0bec143f2d 49 double max_emg[3];
pbaardwijk 0:ae0bec143f2d 50
pbaardwijk 0:ae0bec143f2d 51 const int n = 200;
pbaardwijk 0:ae0bec143f2d 52 int counter = 0;
pbaardwijk 0:ae0bec143f2d 53 double RMSArray0[n] = {0};
pbaardwijk 0:ae0bec143f2d 54 double RMSArray1[n] = {0};
pbaardwijk 0:ae0bec143f2d 55 double RMSArray2[n] = {0};
pbaardwijk 0:ae0bec143f2d 56 double RMS0;
pbaardwijk 0:ae0bec143f2d 57 double RMS1;
pbaardwijk 0:ae0bec143f2d 58 double RMS2;
pbaardwijk 0:ae0bec143f2d 59 double SumRMS0;
pbaardwijk 0:ae0bec143f2d 60 double SumRMS1;
pbaardwijk 0:ae0bec143f2d 61 double SumRMS2;
pbaardwijk 0:ae0bec143f2d 62
pbaardwijk 0:ae0bec143f2d 63 double input_force0;
pbaardwijk 0:ae0bec143f2d 64 double input_force1;
pbaardwijk 0:ae0bec143f2d 65 double input_force2;
pbaardwijk 0:ae0bec143f2d 66
pbaardwijk 0:ae0bec143f2d 67 //count for emg min max
pbaardwijk 0:ae0bec143f2d 68 int start_calibration = 0;
pbaardwijk 0:ae0bec143f2d 69
pbaardwijk 0:ae0bec143f2d 70 void emgSample() {
pbaardwijk 0:ae0bec143f2d 71 go_emgSample = true;
pbaardwijk 0:ae0bec143f2d 72 }
pbaardwijk 0:ae0bec143f2d 73
pbaardwijk 0:ae0bec143f2d 74 void calibrate() {
pbaardwijk 0:ae0bec143f2d 75 state = STATE_CALIBRATION;
pbaardwijk 1:7fb4a74d33ff 76 led.write(0);
pbaardwijk 0:ae0bec143f2d 77 }
pbaardwijk 0:ae0bec143f2d 78
pbaardwijk 0:ae0bec143f2d 79 void run() {
pbaardwijk 0:ae0bec143f2d 80 state = STATE_RUN;
pbaardwijk 1:7fb4a74d33ff 81 led.write(1);
pbaardwijk 0:ae0bec143f2d 82 }
pbaardwijk 0:ae0bec143f2d 83
pbaardwijk 0:ae0bec143f2d 84 void EMG_filter();
pbaardwijk 0:ae0bec143f2d 85
pbaardwijk 0:ae0bec143f2d 86 int main() {
pbaardwijk 0:ae0bec143f2d 87 //combine biquads in biquad chains for notch/high- low-pass filters
pbaardwijk 0:ae0bec143f2d 88 notch_50.add( &bq1 ).add( &bq2 ).add( &bq3 );
pbaardwijk 3:cdac0bfafc80 89 high_pass.add( &bq4 ).add( &bq5 ).add( &bq6 );
pbaardwijk 1:7fb4a74d33ff 90 led.write(1);
pbaardwijk 0:ae0bec143f2d 91
pbaardwijk 0:ae0bec143f2d 92 change_state.attach( &calibrate,5);
pbaardwijk 1:7fb4a74d33ff 93 change_state2.attach( &run,15);
pbaardwijk 0:ae0bec143f2d 94 emgSampleTicker.attach( &emgSample, 0.002);
pbaardwijk 0:ae0bec143f2d 95 while( true ){
pbaardwijk 0:ae0bec143f2d 96 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 97 EMG_filter();
pbaardwijk 0:ae0bec143f2d 98 }
pbaardwijk 0:ae0bec143f2d 99 }
pbaardwijk 0:ae0bec143f2d 100 }
pbaardwijk 0:ae0bec143f2d 101
pbaardwijk 0:ae0bec143f2d 102
pbaardwijk 0:ae0bec143f2d 103 void EMG_filter() {
pbaardwijk 0:ae0bec143f2d 104 if(go_emgSample == true){
pbaardwijk 0:ae0bec143f2d 105 //read the emg signal
pbaardwijk 0:ae0bec143f2d 106 emg_sample[0] = emg0.read();
pbaardwijk 0:ae0bec143f2d 107 emg_sample[1] = emg1.read();
pbaardwijk 0:ae0bec143f2d 108 emg_sample[2] = emg2.read();
pbaardwijk 0:ae0bec143f2d 109
pbaardwijk 0:ae0bec143f2d 110 for (int i = 0; i < 3; i++){
pbaardwijk 0:ae0bec143f2d 111 //filter out the 50Hz components with a notch filter
pbaardwijk 3:cdac0bfafc80 112 emg_notch[i] = notch_50.step(emg_sample[i]);
pbaardwijk 0:ae0bec143f2d 113
pbaardwijk 0:ae0bec143f2d 114 //high pass the signal (removing motion artifacts and offset)
pbaardwijk 3:cdac0bfafc80 115 emg_high_passed[i] = high_pass.step(emg_notch[i]);
pbaardwijk 0:ae0bec143f2d 116 }
pbaardwijk 0:ae0bec143f2d 117
pbaardwijk 0:ae0bec143f2d 118 //Calculating RMS
pbaardwijk 0:ae0bec143f2d 119 SumRMS0 -= pow(RMSArray0[counter],2);
pbaardwijk 0:ae0bec143f2d 120 SumRMS1 -= pow(RMSArray1[counter],2);
pbaardwijk 0:ae0bec143f2d 121 SumRMS2 -= pow(RMSArray2[counter],2);
pbaardwijk 0:ae0bec143f2d 122
pbaardwijk 0:ae0bec143f2d 123 RMSArray0[counter] = emg_high_passed[0];
pbaardwijk 0:ae0bec143f2d 124 RMSArray1[counter] = emg_high_passed[1];
pbaardwijk 0:ae0bec143f2d 125 RMSArray2[counter] = emg_high_passed[2];
pbaardwijk 0:ae0bec143f2d 126
pbaardwijk 0:ae0bec143f2d 127 SumRMS0 += pow(RMSArray0[counter],2);
pbaardwijk 0:ae0bec143f2d 128 SumRMS1 += pow(RMSArray1[counter],2);
pbaardwijk 0:ae0bec143f2d 129 SumRMS2 += pow(RMSArray2[counter],2);
pbaardwijk 0:ae0bec143f2d 130
pbaardwijk 0:ae0bec143f2d 131 counter++;
pbaardwijk 0:ae0bec143f2d 132 if (counter == n){
pbaardwijk 0:ae0bec143f2d 133 counter = 0;
pbaardwijk 0:ae0bec143f2d 134 }
pbaardwijk 0:ae0bec143f2d 135
pbaardwijk 0:ae0bec143f2d 136 RMS0 = sqrt(SumRMS0/n);
pbaardwijk 0:ae0bec143f2d 137 RMS1 = sqrt(SumRMS1/n);
pbaardwijk 0:ae0bec143f2d 138 RMS2 = sqrt(SumRMS2/n);
pbaardwijk 0:ae0bec143f2d 139
pbaardwijk 0:ae0bec143f2d 140 //Calculating min value and max value of emg signal
pbaardwijk 0:ae0bec143f2d 141 if(state == STATE_CALIBRATION)
pbaardwijk 0:ae0bec143f2d 142 {
pbaardwijk 0:ae0bec143f2d 143 if (start_calibration == 0) {
pbaardwijk 0:ae0bec143f2d 144 min_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 145 max_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 146 min_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 147 max_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 148 min_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 149 max_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 150 start_calibration++;
pbaardwijk 0:ae0bec143f2d 151 }
pbaardwijk 0:ae0bec143f2d 152 else {
pbaardwijk 0:ae0bec143f2d 153 //finding min and max of emg0
pbaardwijk 0:ae0bec143f2d 154 if (RMS0 < min_emg[0]) {
pbaardwijk 0:ae0bec143f2d 155 min_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 156 }
pbaardwijk 0:ae0bec143f2d 157 else if (RMS0 > max_emg[0]) {
pbaardwijk 0:ae0bec143f2d 158 max_emg[0] = RMS0;
pbaardwijk 0:ae0bec143f2d 159 }
pbaardwijk 0:ae0bec143f2d 160
pbaardwijk 0:ae0bec143f2d 161 //finding min and max of emg1
pbaardwijk 0:ae0bec143f2d 162 if (RMS1 < min_emg[1]) {
pbaardwijk 0:ae0bec143f2d 163 min_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 164 }
pbaardwijk 0:ae0bec143f2d 165 else if (RMS1 > max_emg[1]) {
pbaardwijk 0:ae0bec143f2d 166 max_emg[1] = RMS1;
pbaardwijk 0:ae0bec143f2d 167 }
pbaardwijk 0:ae0bec143f2d 168
pbaardwijk 0:ae0bec143f2d 169 //finding min and max of emg2
pbaardwijk 0:ae0bec143f2d 170 if (RMS2 < min_emg[2]) {
pbaardwijk 0:ae0bec143f2d 171 min_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 172 }
pbaardwijk 0:ae0bec143f2d 173 else if (RMS2 > max_emg[2]) {
pbaardwijk 0:ae0bec143f2d 174 max_emg[2] = RMS2;
pbaardwijk 0:ae0bec143f2d 175 }
pbaardwijk 0:ae0bec143f2d 176 }
pbaardwijk 0:ae0bec143f2d 177 }
pbaardwijk 0:ae0bec143f2d 178
pbaardwijk 0:ae0bec143f2d 179 //calculating input_forces for controller
pbaardwijk 0:ae0bec143f2d 180 input_force0 = (RMS0 - min_emg[0])/(max_emg[0]-min_emg[0]);
pbaardwijk 0:ae0bec143f2d 181 input_force1 = (RMS1 - min_emg[1])/(max_emg[1]-min_emg[1]);
pbaardwijk 0:ae0bec143f2d 182 input_force2 = (RMS2 - min_emg[2])/(max_emg[2]-min_emg[2]);
pbaardwijk 0:ae0bec143f2d 183
pbaardwijk 0:ae0bec143f2d 184 //Send scope data
pbaardwijk 0:ae0bec143f2d 185 scope.set(0,emg_sample[0]);
pbaardwijk 0:ae0bec143f2d 186 scope.set(1,input_force0);
pbaardwijk 3:cdac0bfafc80 187 scope.set(2,RMS0);
pbaardwijk 0:ae0bec143f2d 188 //scope.set(3,input_force2);
pbaardwijk 0:ae0bec143f2d 189 scope.send();
pbaardwijk 0:ae0bec143f2d 190
pbaardwijk 0:ae0bec143f2d 191 go_emgSample = false;
pbaardwijk 0:ae0bec143f2d 192 }
pbaardwijk 0:ae0bec143f2d 193 }
pbaardwijk 0:ae0bec143f2d 194