Rick Poppe / Mbed 2 deprecated EMG_filtering

the emg filtering part of the program

Dependencies:   HIDScope biquadFilter mbed MODSERIAL

Fork of EMG by Tom Tom

main.cpp@28:3b1b29193851, 2016-10-24 (annotated)

Committer:
RiP
Date:
Mon Oct 24 08:47:19 2016 +0000
Revision:
28:3b1b29193851
Parent:
27:1ff7fa636f1c
Child:
29:ac08c1a32c54
om te kijken of we een beter filter krijgen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vsluiter 0:32bb76391d89 1 #include "mbed.h"
vsluiter 11:ce72ec658a95 2 #include "HIDScope.h"
RiP 21:3aecd735319d 3 #include "BiQuad.h"
RiP 22:f38a15e851d2 4 #include "MODSERIAL.h"
RiP 23:54d28f9eef53 5 #include <string.h>
vsluiter 0:32bb76391d89 6
vsluiter 4:8b298dfada81 7 //Define objects
RiP 24:01b4b51b5dc6 8
RiP 24:01b4b51b5dc6 9 InterruptIn button_calibrate(PTA4);
RiP 21:3aecd735319d 10 AnalogIn emg1( A0 );
RiP 21:3aecd735319d 11 AnalogIn emg2( A1 );
RiP 21:3aecd735319d 12 AnalogIn emg3( A2 );
tomlankhorst 19:2bf824669684 13
RiP 27:1ff7fa636f1c 14 Ticker pos_timer;
tomlankhorst 14:f83354387756 15 Ticker sample_timer;
RiP 21:3aecd735319d 16 HIDScope scope( 6 );
RiP 22:f38a15e851d2 17 MODSERIAL pc(USBTX, USBRX);
tomlankhorst 18:21d8e7a81cf5 18 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 19
RiP 22:f38a15e851d2 20 volatile bool sampletimer = false;
RiP 24:01b4b51b5dc6 21 volatile bool buttonflag = false;
RiP 25:1a71424b05ff 22 volatile bool newcase = false;
RiP 28:3b1b29193851 23 volatile bool newcaseprint = false;
RiP 25:1a71424b05ff 24
RiP 23:54d28f9eef53 25 double threshold = 0.04;
RiP 23:54d28f9eef53 26 double samplefreq=0.002;
RiP 25:1a71424b05ff 27 double emg02;
RiP 25:1a71424b05ff 28 double emg12;
RiP 25:1a71424b05ff 29 double emg22;
RiP 27:1ff7fa636f1c 30 double ref_x=0.000;
RiP 27:1ff7fa636f1c 31 double ref_y=0.000;
RiP 27:1ff7fa636f1c 32
RiP 28:3b1b29193851 33 // create a variable called 'state', define it
RiP 23:54d28f9eef53 34 typedef enum { STATE_CALIBRATION, STATE_PAUZE, STATE_X, STATE_X_NEG, STATE_Y, STATE_Y_NEG, STATE_XY, STATE_XY_NEG } states;
RiP 22:f38a15e851d2 35
RiP 28:3b1b29193851 36 states mystate = STATE_PAUZE;
RiP 28:3b1b29193851 37
RiP 21:3aecd735319d 38 BiQuadChain bqc11;
RiP 21:3aecd735319d 39 BiQuadChain bqc13;
RiP 21:3aecd735319d 40 BiQuadChain bqc21;
RiP 21:3aecd735319d 41 BiQuadChain bqc23;
RiP 21:3aecd735319d 42 BiQuadChain bqc31;
RiP 21:3aecd735319d 43 BiQuadChain bqc33;
RiP 21:3aecd735319d 44 //BiQuad bq11( 9.87589e-01, -1.59795e+00, 9.87589e-01, -1.59795e+00, 9.75178e-01 ); //oude BiQuad waardes
RiP 21:3aecd735319d 45 /* BiQuads for filter emg1
RiP 21:3aecd735319d 46 notch filter*/
RiP 21:3aecd735319d 47 BiQuad bq111(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 48 BiQuad bq112(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 49 BiQuad bq113(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 50 /* High pass filter*/
RiP 21:3aecd735319d 51 BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 52 /* low pass filter*/
RiP 21:3aecd735319d 53 BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 54
RiP 21:3aecd735319d 55 /* BiQuads for filter emg2
RiP 21:3aecd735319d 56 notch filter*/
RiP 21:3aecd735319d 57 BiQuad bq211(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 58 BiQuad bq212(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 59 BiQuad bq213(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 60 /* High pass filter*/
RiP 21:3aecd735319d 61 BiQuad bq221( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 62 /* low pass filter*/
RiP 21:3aecd735319d 63 BiQuad bq231( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 64
RiP 21:3aecd735319d 65 /* BiQuads for filter emg3
RiP 21:3aecd735319d 66 notch filter*/
RiP 21:3aecd735319d 67 BiQuad bq311(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 68 BiQuad bq312(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 69 BiQuad bq313(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 70 /* High pass filter*/
RiP 21:3aecd735319d 71 BiQuad bq321( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 72 /* low pass filter*/
RiP 21:3aecd735319d 73 BiQuad bq331( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 74
RiP 22:f38a15e851d2 75
RiP 27:1ff7fa636f1c 76
RiP 22:f38a15e851d2 77 void sampleflag()
RiP 22:f38a15e851d2 78 {
RiP 22:f38a15e851d2 79 sampletimer=true;
RiP 22:f38a15e851d2 80 }
RiP 22:f38a15e851d2 81
RiP 24:01b4b51b5dc6 82 void buttonflag_go()
RiP 24:01b4b51b5dc6 83 {
RiP 24:01b4b51b5dc6 84 buttonflag=true;
RiP 24:01b4b51b5dc6 85 }
RiP 22:f38a15e851d2 86
RiP 25:1a71424b05ff 87 void sample_button(states &mystate)
RiP 25:1a71424b05ff 88 {
RiP 25:1a71424b05ff 89 states myoldstate=mystate;
RiP 25:1a71424b05ff 90 char key=pc.getc();
RiP 25:1a71424b05ff 91
RiP 26:91d48c0b722d 92 // pc.printf("%c/n",key);
RiP 25:1a71424b05ff 93
RiP 25:1a71424b05ff 94 switch (key) {
RiP 25:1a71424b05ff 95 case 'p' : // run
RiP 25:1a71424b05ff 96 emg02=0.0;
RiP 25:1a71424b05ff 97 emg12=0.0;
RiP 25:1a71424b05ff 98 emg22=0.0;
RiP 25:1a71424b05ff 99 break;
RiP 25:1a71424b05ff 100 case 'q' : // run
RiP 25:1a71424b05ff 101 emg02=0.0;
RiP 25:1a71424b05ff 102 emg12=1.0;
RiP 25:1a71424b05ff 103 emg22=0.0;
RiP 25:1a71424b05ff 104 break;
RiP 25:1a71424b05ff 105 case 'w' : // run
RiP 25:1a71424b05ff 106 emg02=0.0;
RiP 25:1a71424b05ff 107 emg12=0.0;
RiP 25:1a71424b05ff 108 emg22=1.0;
RiP 25:1a71424b05ff 109 break;
RiP 25:1a71424b05ff 110 case 'e' : // run
RiP 25:1a71424b05ff 111 emg02=0.0;
RiP 25:1a71424b05ff 112 emg12=1.0;
RiP 25:1a71424b05ff 113 emg22=1.0;
RiP 25:1a71424b05ff 114 break;
RiP 25:1a71424b05ff 115 case 'a' : // run
RiP 25:1a71424b05ff 116 emg02=1.0;
RiP 25:1a71424b05ff 117 emg12=1.0;
RiP 25:1a71424b05ff 118 emg22=0.0;
RiP 25:1a71424b05ff 119 break;
RiP 25:1a71424b05ff 120 case 's' : // run
RiP 25:1a71424b05ff 121 emg02=1.0;
RiP 25:1a71424b05ff 122 emg12=0.0;
RiP 25:1a71424b05ff 123 emg22=1.0;
RiP 25:1a71424b05ff 124 break;
RiP 25:1a71424b05ff 125 case 'd' : // run
RiP 25:1a71424b05ff 126 emg02=1.0;
RiP 25:1a71424b05ff 127 emg12=1.0;
RiP 25:1a71424b05ff 128 emg22=1.0;
RiP 25:1a71424b05ff 129 break;
RiP 25:1a71424b05ff 130 }
RiP 25:1a71424b05ff 131
RiP 25:1a71424b05ff 132
RiP 25:1a71424b05ff 133
RiP 25:1a71424b05ff 134
RiP 25:1a71424b05ff 135
RiP 25:1a71424b05ff 136 led = !led;
RiP 25:1a71424b05ff 137 if (emg02>threshold) {
RiP 25:1a71424b05ff 138 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 139 mystate = STATE_XY_NEG;
RiP 25:1a71424b05ff 140 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 141 mystate = STATE_X_NEG;
RiP 25:1a71424b05ff 142
RiP 25:1a71424b05ff 143 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 144 mystate = STATE_Y_NEG;
RiP 25:1a71424b05ff 145 } else {
RiP 25:1a71424b05ff 146 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 147 }
RiP 25:1a71424b05ff 148 } else {
RiP 25:1a71424b05ff 149 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 150 mystate = STATE_XY;
RiP 25:1a71424b05ff 151 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 152 mystate = STATE_X;
RiP 25:1a71424b05ff 153
RiP 25:1a71424b05ff 154 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 155 mystate = STATE_Y;
RiP 25:1a71424b05ff 156 } else {
RiP 25:1a71424b05ff 157 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 158 }
RiP 25:1a71424b05ff 159 }
RiP 27:1ff7fa636f1c 160
RiP 25:1a71424b05ff 161 if (buttonflag==true) {
RiP 25:1a71424b05ff 162 mystate = STATE_CALIBRATION;
RiP 25:1a71424b05ff 163 }
RiP 25:1a71424b05ff 164
RiP 25:1a71424b05ff 165 if (myoldstate==mystate) {
RiP 25:1a71424b05ff 166 newcase=false;
RiP 28:3b1b29193851 167 newcaseprint=false;
RiP 28:3b1b29193851 168
RiP 25:1a71424b05ff 169 } else {
RiP 25:1a71424b05ff 170 newcase=true;
RiP 28:3b1b29193851 171 newcaseprint=true;
RiP 28:3b1b29193851 172
RiP 25:1a71424b05ff 173 }
RiP 28:3b1b29193851 174
RiP 25:1a71424b05ff 175 sampletimer = false;
RiP 25:1a71424b05ff 176 }
RiP 25:1a71424b05ff 177
RiP 23:54d28f9eef53 178 void sample(states &mystate)
vsluiter 2:e314bb3b2d99 179 {
RiP 27:1ff7fa636f1c 180 states myoldstate=mystate;
RiP 23:54d28f9eef53 181
RiP 21:3aecd735319d 182 /* Read the emg signals and filter it*/
RiP 22:f38a15e851d2 183
RiP 21:3aecd735319d 184 scope.set(0, emg1.read()); //original signal
RiP 27:1ff7fa636f1c 185 emg02=bqc13.step(fabs(bqc11.step(emg1.read())));
RiP 21:3aecd735319d 186 scope.set(1, emg02);
RiP 21:3aecd735319d 187 /* Read the second emg signal and filter it*/
RiP 21:3aecd735319d 188 scope.set(2, emg2.read()); //original signal
RiP 27:1ff7fa636f1c 189 emg12=bqc23.step(fabs(bqc21.step(emg2.read())));
RiP 21:3aecd735319d 190 scope.set(3, emg12);
RiP 21:3aecd735319d 191 /* Read the third emg signal and filter it*/
RiP 21:3aecd735319d 192 scope.set(4, emg3.read()); //original signal
RiP 27:1ff7fa636f1c 193 emg22=bqc33.step(fabs(bqc31.step(emg3.read())));
RiP 21:3aecd735319d 194 scope.set(5, emg22);
RiP 22:f38a15e851d2 195 //pc.printf("Hello World!\n");
RiP 21:3aecd735319d 196 /* Ensure that enough channels are available (HIDScope scope( 2 ))
RiP 21:3aecd735319d 197 * Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 198 scope.send();
RiP 21:3aecd735319d 199 /* To indicate that the function is working, the LED is toggled */
RiP 25:1a71424b05ff 200
tomlankhorst 18:21d8e7a81cf5 201 led = !led;
RiP 23:54d28f9eef53 202 if (emg02>threshold) {
RiP 23:54d28f9eef53 203 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 204 mystate = STATE_XY_NEG;
RiP 23:54d28f9eef53 205 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 206 mystate = STATE_X_NEG;
RiP 23:54d28f9eef53 207
RiP 23:54d28f9eef53 208 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 209 mystate = STATE_Y_NEG;
RiP 23:54d28f9eef53 210 } else {
RiP 24:01b4b51b5dc6 211 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 212 }
RiP 22:f38a15e851d2 213 } else {
RiP 23:54d28f9eef53 214 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 215 mystate = STATE_XY;
RiP 23:54d28f9eef53 216 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 217 mystate = STATE_X;
RiP 23:54d28f9eef53 218
RiP 23:54d28f9eef53 219 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 220 mystate = STATE_Y;
RiP 23:54d28f9eef53 221 } else {
RiP 24:01b4b51b5dc6 222 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 223 }
RiP 22:f38a15e851d2 224 }
RiP 23:54d28f9eef53 225
RiP 24:01b4b51b5dc6 226 if (buttonflag==true) {
RiP 24:01b4b51b5dc6 227 mystate = STATE_CALIBRATION;
RiP 24:01b4b51b5dc6 228 }
RiP 24:01b4b51b5dc6 229
RiP 27:1ff7fa636f1c 230 if (myoldstate==mystate) {
RiP 28:3b1b29193851 231 newcaseprint=false;
RiP 27:1ff7fa636f1c 232 newcase=false;
RiP 27:1ff7fa636f1c 233 } else {
RiP 28:3b1b29193851 234 newcaseprint=true;
RiP 27:1ff7fa636f1c 235 newcase=true;
RiP 27:1ff7fa636f1c 236 }
RiP 27:1ff7fa636f1c 237
RiP 22:f38a15e851d2 238 sampletimer = false;
vsluiter 2:e314bb3b2d99 239 }
vsluiter 0:32bb76391d89 240
RiP 27:1ff7fa636f1c 241 void change_x(int direction)
RiP 27:1ff7fa636f1c 242 {
RiP 28:3b1b29193851 243 ref_x=ref_x+0.0002*direction;
RiP 27:1ff7fa636f1c 244
RiP 27:1ff7fa636f1c 245 }
RiP 27:1ff7fa636f1c 246
RiP 27:1ff7fa636f1c 247 void change_y(int direction)
RiP 27:1ff7fa636f1c 248 {
RiP 27:1ff7fa636f1c 249 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 250
RiP 27:1ff7fa636f1c 251 }
RiP 27:1ff7fa636f1c 252 void change_xy(int direction)
RiP 27:1ff7fa636f1c 253 {
RiP 27:1ff7fa636f1c 254 ref_x=ref_x+0.1*direction;
RiP 27:1ff7fa636f1c 255 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 256 }
RiP 27:1ff7fa636f1c 257
RiP 27:1ff7fa636f1c 258 void my_pos()
RiP 27:1ff7fa636f1c 259 {
RiP 27:1ff7fa636f1c 260 pc.printf("x_pos=%.4f\ty_pos=%.4f\n\r",ref_x,ref_y);
RiP 27:1ff7fa636f1c 261
RiP 27:1ff7fa636f1c 262 }
RiP 26:91d48c0b722d 263
RiP 28:3b1b29193851 264 void print_state(states mystate)
RiP 28:3b1b29193851 265 {
RiP 28:3b1b29193851 266 // switch, case
RiP 28:3b1b29193851 267 if (newcaseprint==true) {
RiP 28:3b1b29193851 268 switch (mystate) {
RiP 28:3b1b29193851 269 case STATE_CALIBRATION : { // calibration
RiP 28:3b1b29193851 270 pc.printf("calibration\n\r");
RiP 28:3b1b29193851 271 break;
RiP 28:3b1b29193851 272 }
RiP 28:3b1b29193851 273 case STATE_X : // run
RiP 28:3b1b29193851 274 pc.printf("X\n\r");
RiP 28:3b1b29193851 275 break;
RiP 28:3b1b29193851 276 case STATE_X_NEG : // run
RiP 28:3b1b29193851 277 pc.printf("Xneg\n\r");
RiP 28:3b1b29193851 278 break;
RiP 28:3b1b29193851 279 case STATE_Y : // execute mode 1
RiP 28:3b1b29193851 280 pc.printf("Y\n\r");
RiP 28:3b1b29193851 281 break;
RiP 28:3b1b29193851 282 case STATE_Y_NEG : // execute mode 1
RiP 28:3b1b29193851 283 pc.printf("Yneg\n\r");
RiP 28:3b1b29193851 284 break;
RiP 28:3b1b29193851 285 case STATE_XY : // execute mode 2
RiP 28:3b1b29193851 286 pc.printf("XY\n\r");
RiP 28:3b1b29193851 287 break;
RiP 28:3b1b29193851 288 case STATE_XY_NEG : // execute mode 2
RiP 28:3b1b29193851 289 pc.printf("XYneg\n\r");
RiP 28:3b1b29193851 290 break;
RiP 28:3b1b29193851 291 case STATE_PAUZE : // default
RiP 28:3b1b29193851 292 pc.printf("PAUZE\n\r");
RiP 28:3b1b29193851 293 break;
RiP 28:3b1b29193851 294 }
RiP 28:3b1b29193851 295 }
RiP 28:3b1b29193851 296
RiP 28:3b1b29193851 297 }
RiP 28:3b1b29193851 298
vsluiter 0:32bb76391d89 299 int main()
RiP 21:3aecd735319d 300 {
RiP 22:f38a15e851d2 301 pc.baud(115200);
RiP 22:f38a15e851d2 302
RiP 21:3aecd735319d 303 //de biquad chains instellen
RiP 21:3aecd735319d 304 bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 );
RiP 21:3aecd735319d 305 bqc13.add( &bq131);
RiP 21:3aecd735319d 306 bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 );
RiP 21:3aecd735319d 307 bqc23.add( &bq231);
RiP 21:3aecd735319d 308 bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 );
RiP 21:3aecd735319d 309 bqc33.add( &bq331);
RiP 21:3aecd735319d 310 /*Attach the 'sample' function to the timer 'sample_timer'.
RiP 21:3aecd735319d 311 this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 312 */
RiP 27:1ff7fa636f1c 313 pos_timer.attach(&my_pos, 1);
RiP 23:54d28f9eef53 314 sample_timer.attach(&sampleflag, samplefreq);
RiP 24:01b4b51b5dc6 315 button_calibrate.fall(&buttonflag_go);
RiP 24:01b4b51b5dc6 316
tomlankhorst 15:0da764eea774 317
RiP 22:f38a15e851d2 318 while(1) {
RiP 22:f38a15e851d2 319 if (sampletimer==true) {
RiP 25:1a71424b05ff 320 //sample(mystate);
RiP 25:1a71424b05ff 321 sample_button(mystate);
RiP 28:3b1b29193851 322 print_state(mystate);
RiP 25:1a71424b05ff 323 }
RiP 22:f38a15e851d2 324 }
vsluiter 0:32bb76391d89 325 }