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the emg filtering part of the program
Dependencies: HIDScope biquadFilter mbed MODSERIAL
Fork of EMG by
main.cpp@21:3aecd735319d, 2016-10-18 (annotated)
- Committer:
- RiP
- Date:
- Tue Oct 18 15:29:45 2016 +0000
- Revision:
- 21:3aecd735319d
- Parent:
- 20:97059009a491
- Child:
- 22:f38a15e851d2
3 emg signals+ filtering;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vsluiter | 0:32bb76391d89 | 1 | #include "mbed.h" |
vsluiter | 11:ce72ec658a95 | 2 | #include "HIDScope.h" |
RiP | 21:3aecd735319d | 3 | #include "BiQuad.h" |
vsluiter | 0:32bb76391d89 | 4 | |
vsluiter | 4:8b298dfada81 | 5 | //Define objects |
RiP | 21:3aecd735319d | 6 | AnalogIn emg1( A0 ); |
RiP | 21:3aecd735319d | 7 | AnalogIn emg2( A1 ); |
RiP | 21:3aecd735319d | 8 | AnalogIn emg3( A2 ); |
tomlankhorst | 19:2bf824669684 | 9 | |
tomlankhorst | 14:f83354387756 | 10 | Ticker sample_timer; |
RiP | 21:3aecd735319d | 11 | HIDScope scope( 6 ); |
tomlankhorst | 18:21d8e7a81cf5 | 12 | DigitalOut led(LED1); |
vsluiter | 2:e314bb3b2d99 | 13 | |
RiP | 21:3aecd735319d | 14 | BiQuadChain bqc11; |
RiP | 21:3aecd735319d | 15 | BiQuadChain bqc13; |
RiP | 21:3aecd735319d | 16 | BiQuadChain bqc21; |
RiP | 21:3aecd735319d | 17 | BiQuadChain bqc23; |
RiP | 21:3aecd735319d | 18 | BiQuadChain bqc31; |
RiP | 21:3aecd735319d | 19 | BiQuadChain bqc33; |
RiP | 21:3aecd735319d | 20 | //BiQuad bq11( 9.87589e-01, -1.59795e+00, 9.87589e-01, -1.59795e+00, 9.75178e-01 ); //oude BiQuad waardes |
RiP | 21:3aecd735319d | 21 | /* BiQuads for filter emg1 |
RiP | 21:3aecd735319d | 22 | notch filter*/ |
RiP | 21:3aecd735319d | 23 | BiQuad bq111(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); |
RiP | 21:3aecd735319d | 24 | BiQuad bq112(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); |
RiP | 21:3aecd735319d | 25 | BiQuad bq113(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); |
RiP | 21:3aecd735319d | 26 | /* High pass filter*/ |
RiP | 21:3aecd735319d | 27 | BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); |
RiP | 21:3aecd735319d | 28 | /* low pass filter*/ |
RiP | 21:3aecd735319d | 29 | BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
RiP | 21:3aecd735319d | 30 | |
RiP | 21:3aecd735319d | 31 | |
RiP | 21:3aecd735319d | 32 | /* BiQuads for filter emg2 |
RiP | 21:3aecd735319d | 33 | notch filter*/ |
RiP | 21:3aecd735319d | 34 | BiQuad bq211(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); |
RiP | 21:3aecd735319d | 35 | BiQuad bq212(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); |
RiP | 21:3aecd735319d | 36 | BiQuad bq213(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); |
RiP | 21:3aecd735319d | 37 | /* High pass filter*/ |
RiP | 21:3aecd735319d | 38 | BiQuad bq221( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); |
RiP | 21:3aecd735319d | 39 | /* low pass filter*/ |
RiP | 21:3aecd735319d | 40 | BiQuad bq231( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
RiP | 21:3aecd735319d | 41 | |
RiP | 21:3aecd735319d | 42 | /* BiQuads for filter emg3 |
RiP | 21:3aecd735319d | 43 | notch filter*/ |
RiP | 21:3aecd735319d | 44 | BiQuad bq311(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); |
RiP | 21:3aecd735319d | 45 | BiQuad bq312(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); |
RiP | 21:3aecd735319d | 46 | BiQuad bq313(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); |
RiP | 21:3aecd735319d | 47 | /* High pass filter*/ |
RiP | 21:3aecd735319d | 48 | BiQuad bq321( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); |
RiP | 21:3aecd735319d | 49 | /* low pass filter*/ |
RiP | 21:3aecd735319d | 50 | BiQuad bq331( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); |
RiP | 21:3aecd735319d | 51 | |
tomlankhorst | 14:f83354387756 | 52 | void sample() |
vsluiter | 2:e314bb3b2d99 | 53 | { |
RiP | 21:3aecd735319d | 54 | /* Read the emg signals and filter it*/ |
RiP | 21:3aecd735319d | 55 | |
RiP | 21:3aecd735319d | 56 | scope.set(0, emg1.read()); //original signal |
RiP | 21:3aecd735319d | 57 | double emg02=bqc13.step(fabs(bqc11.step(emg1.read()))); |
RiP | 21:3aecd735319d | 58 | scope.set(1, emg02); |
RiP | 21:3aecd735319d | 59 | /* Read the second emg signal and filter it*/ |
RiP | 21:3aecd735319d | 60 | scope.set(2, emg2.read()); //original signal |
RiP | 21:3aecd735319d | 61 | double emg12=bqc23.step(fabs(bqc21.step(emg2.read()))); |
RiP | 21:3aecd735319d | 62 | scope.set(3, emg12); |
RiP | 21:3aecd735319d | 63 | /* Read the third emg signal and filter it*/ |
RiP | 21:3aecd735319d | 64 | scope.set(4, emg3.read()); //original signal |
RiP | 21:3aecd735319d | 65 | double emg22=bqc33.step(fabs(bqc31.step(emg3.read()))); |
RiP | 21:3aecd735319d | 66 | scope.set(5, emg22); |
RiP | 21:3aecd735319d | 67 | |
RiP | 21:3aecd735319d | 68 | /* Ensure that enough channels are available (HIDScope scope( 2 )) |
RiP | 21:3aecd735319d | 69 | * Finally, send all channels to the PC at once */ |
vsluiter | 11:ce72ec658a95 | 70 | scope.send(); |
RiP | 21:3aecd735319d | 71 | /* To indicate that the function is working, the LED is toggled */ |
tomlankhorst | 18:21d8e7a81cf5 | 72 | led = !led; |
vsluiter | 2:e314bb3b2d99 | 73 | } |
vsluiter | 0:32bb76391d89 | 74 | |
vsluiter | 0:32bb76391d89 | 75 | int main() |
RiP | 21:3aecd735319d | 76 | { |
RiP | 21:3aecd735319d | 77 | //de biquad chains instellen |
RiP | 21:3aecd735319d | 78 | bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ); |
RiP | 21:3aecd735319d | 79 | bqc13.add( &bq131); |
RiP | 21:3aecd735319d | 80 | bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 ); |
RiP | 21:3aecd735319d | 81 | bqc23.add( &bq231); |
RiP | 21:3aecd735319d | 82 | bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 ); |
RiP | 21:3aecd735319d | 83 | bqc33.add( &bq331); |
RiP | 21:3aecd735319d | 84 | /*Attach the 'sample' function to the timer 'sample_timer'. |
RiP | 21:3aecd735319d | 85 | this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz |
vsluiter | 4:8b298dfada81 | 86 | */ |
tomlankhorst | 19:2bf824669684 | 87 | sample_timer.attach(&sample, 0.002); |
tomlankhorst | 15:0da764eea774 | 88 | |
RiP | 21:3aecd735319d | 89 | /* empty loop, sample() is executed periodically*/ |
tomlankhorst | 15:0da764eea774 | 90 | while(1) {} |
vsluiter | 0:32bb76391d89 | 91 | } |