the emg filtering part of the program
Dependencies: HIDScope biquadFilter mbed MODSERIAL
Fork of EMG by
main.cpp
- Committer:
- RiP
- Date:
- 2016-10-20
- Revision:
- 25:1a71424b05ff
- Parent:
- 24:01b4b51b5dc6
- Child:
- 26:91d48c0b722d
File content as of revision 25:1a71424b05ff:
#include "mbed.h" #include "HIDScope.h" #include "BiQuad.h" #include "MODSERIAL.h" #include <string.h> //Define objects InterruptIn button_calibrate(PTA4); AnalogIn emg1( A0 ); AnalogIn emg2( A1 ); AnalogIn emg3( A2 ); Ticker sample_timer; HIDScope scope( 6 ); MODSERIAL pc(USBTX, USBRX); DigitalOut led(LED1); volatile bool sampletimer = false; volatile bool buttonflag = false; volatile bool newcase = false; double threshold = 0.04; double samplefreq=0.002; double emg02; double emg12; double emg22; typedef enum { STATE_CALIBRATION, STATE_PAUZE, STATE_X, STATE_X_NEG, STATE_Y, STATE_Y_NEG, STATE_XY, STATE_XY_NEG } states; BiQuadChain bqc11; BiQuadChain bqc13; BiQuadChain bqc21; BiQuadChain bqc23; BiQuadChain bqc31; BiQuadChain bqc33; //BiQuad bq11( 9.87589e-01, -1.59795e+00, 9.87589e-01, -1.59795e+00, 9.75178e-01 ); //oude BiQuad waardes /* BiQuads for filter emg1 notch filter*/ BiQuad bq111(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); BiQuad bq112(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); BiQuad bq113(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); /* High pass filter*/ BiQuad bq121( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); /* low pass filter*/ BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); /* BiQuads for filter emg2 notch filter*/ BiQuad bq211(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); BiQuad bq212(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); BiQuad bq213(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); /* High pass filter*/ BiQuad bq221( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); /* low pass filter*/ BiQuad bq231( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); /* BiQuads for filter emg3 notch filter*/ BiQuad bq311(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589); BiQuad bq312(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787); BiQuad bq313(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798); /* High pass filter*/ BiQuad bq321( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 ); /* low pass filter*/ BiQuad bq331( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 ); void sampleflag() { sampletimer=true; } void buttonflag_go() { buttonflag=true; } void sample_button(states &mystate) { states myoldstate=mystate; char key=pc.getc(); // pc.printf("%c/n",key); switch (key) { case 'p' : // run emg02=0.0; emg12=0.0; emg22=0.0; break; case 'q' : // run emg02=0.0; emg12=1.0; emg22=0.0; break; case 'w' : // run emg02=0.0; emg12=0.0; emg22=1.0; break; case 'e' : // run emg02=0.0; emg12=1.0; emg22=1.0; break; case 'a' : // run emg02=1.0; emg12=1.0; emg22=0.0; break; case 's' : // run emg02=1.0; emg12=0.0; emg22=1.0; break; case 'd' : // run emg02=1.0; emg12=1.0; emg22=1.0; break; } led = !led; if (emg02>threshold) { if (emg12>threshold&&emg22>threshold) { mystate = STATE_XY_NEG; } else if (emg12>threshold) { mystate = STATE_X_NEG; } else if (emg22>threshold) { mystate = STATE_Y_NEG; } else { mystate = STATE_PAUZE; } } else { if (emg12>threshold&&emg22>threshold) { mystate = STATE_XY; } else if (emg12>threshold) { mystate = STATE_X; } else if (emg22>threshold) { mystate = STATE_Y; } else { mystate = STATE_PAUZE; } } if (buttonflag==true) { mystate = STATE_CALIBRATION; } if (myoldstate==mystate) { newcase=false; } else { newcase=true; } sampletimer = false; } void sample(states &mystate) { /* Read the emg signals and filter it*/ scope.set(0, emg1.read()); //original signal double emg02=bqc13.step(fabs(bqc11.step(emg1.read()))); scope.set(1, emg02); /* Read the second emg signal and filter it*/ scope.set(2, emg2.read()); //original signal double emg12=bqc23.step(fabs(bqc21.step(emg2.read()))); scope.set(3, emg12); /* Read the third emg signal and filter it*/ scope.set(4, emg3.read()); //original signal double emg22=bqc33.step(fabs(bqc31.step(emg3.read()))); scope.set(5, emg22); //pc.printf("Hello World!\n"); /* Ensure that enough channels are available (HIDScope scope( 2 )) * Finally, send all channels to the PC at once */ scope.send(); /* To indicate that the function is working, the LED is toggled */ led = !led; if (emg02>threshold) { if (emg12>threshold&&emg22>threshold) { mystate = STATE_XY_NEG; } else if (emg12>threshold) { mystate = STATE_X_NEG; } else if (emg22>threshold) { mystate = STATE_Y_NEG; } else { mystate = STATE_PAUZE; } } else { if (emg12>threshold&&emg22>threshold) { mystate = STATE_XY; } else if (emg12>threshold) { mystate = STATE_X; } else if (emg22>threshold) { mystate = STATE_Y; } else { mystate = STATE_PAUZE; } } if (buttonflag==true) { mystate = STATE_CALIBRATION; } sampletimer = false; } int main() { pc.baud(115200); // create a variable called 'state', define it states mystate = STATE_PAUZE; //de biquad chains instellen bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ); bqc13.add( &bq131); bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 ); bqc23.add( &bq231); bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 ); bqc33.add( &bq331); /*Attach the 'sample' function to the timer 'sample_timer'. this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz */ sample_timer.attach(&sampleflag, samplefreq); button_calibrate.fall(&buttonflag_go); while(1) { if (sampletimer==true) { //sample(mystate); sample_button(mystate); } // switch, case switch (mystate) { case STATE_CALIBRATION : // calibration pc.printf("calibration"); while (button_calibrate==0) {} buttonflag=false; break; case STATE_X : // run for (int n=0; n<1; n++) { if (newcase==true) { pc.printf("X\n"); newcase=false; } } break; case STATE_X_NEG : // run if (newcase==true) { pc.printf("Xneg\n"); newcase=false; } break; case STATE_Y : // execute mode 1 if (newcase==true) { pc.printf("Y\n"); newcase=false; } break; case STATE_Y_NEG : // execute mode 1 if (newcase==true) { pc.printf("Yneg\n"); newcase=false; } break; case STATE_XY : // execute mode 2 if (newcase==true) { pc.printf("XY\n"); newcase=false; } break; case STATE_XY_NEG : // execute mode 2 if (newcase==true) { pc.printf("XYneg\n"); newcase=false; } break; case STATE_PAUZE : // default if (newcase==true) { pc.printf("PAUZE\n"); newcase=false; } break; } } }