Richell Booyink
/
EMG_TEST
4 EMG filters die werken en op HIDScope afgebeeld kunnen worden
main.cpp
- Committer:
- RichellBooyink
- Date:
- 2015-10-26
- Revision:
- 0:54c54952ee82
File content as of revision 0:54c54952ee82:
#include "mbed.h" #include "HIDScope.h" AnalogIn EMG_bicepsright(A0); AnalogIn EMG_bicepsleft(A1); AnalogIn EMG_tricepsright(A2); AnalogIn EMG_tricepsleft(A3); HIDScope scope(4); Ticker EMG_Control; // Filter1 = High pass filter tot 20 Hz double ah1_v1=0, ah1_v2=0, ah2_v1=0, ah2_v2=0; double bh1_v1=0, bh1_v2=0, bh2_v1=0, bh2_v2=0; double ch1_v1=0, ch1_v2=0, ch2_v1=0, ch2_v2=0; double dh1_v1=0, dh1_v2=0, dh2_v1=0, dh2_v2=0; const double fh1_a1=-0.50701081158, fh1_a2=0.00000000000, fh1_b0= 1, fh1_b1=-1, fh1_b2=0; const double fh2_a1=-1.24532140600, fh2_a2=0.54379713891, fh2_b0= 1, fh2_b1=-2, fh2_b2=1; // Filter2 = Low pass filter na 60 Hz double al1_v1=0, al1_v2=0, al2_v1=0, al2_v2=0; double bl1_v1=0, bl1_v2=0, bl2_v1=0, bl2_v2=0; double cl1_v1=0, cl1_v2=0, cl2_v1=0, cl2_v2=0; double dl1_v1=0, dl1_v2=0, dl2_v1=0, dl2_v2=0; const double fl1_a1=0.15970686439, fl1_a2=0.00000000000, fl1_b0= 1, fl1_b1=1, fl1_b2=0; const double fl2_a1=0.42229458338, fl2_a2=0.35581444792, fl2_b0= 1, fl2_b1=2, fl2_b2=1; // Filter3 = Notch filter at 50 Hz double ano1_v1=0, ano1_v2=0, ano2_v1=0, ano2_v2=0, ano3_v1=0, ano3_v2=0; double bno1_v1=0, bno1_v2=0, bno2_v1=0, bno2_v2=0, bno3_v1=0, bno3_v2=0; double cno1_v1=0, cno1_v2=0, cno2_v1=0, cno2_v2=0, cno3_v1=0, cno3_v2=0; double dno1_v1=0, dno1_v2=0, dno2_v1=0, dno2_v2=0, dno3_v1=0, dno3_v2=0; const double fno1_a1 = -0.03255814954, fno1_a2= 0.92336486961, fno1_b0= 1, fno1_b1= -0.03385540628, fno1_b2= 1; const double fno2_a1 = 0.03447359684, fno2_a2= 0.96095720701, fno2_b0= 1, fno2_b1= -0.03385540628, fno2_b2= 1; const double fno3_a1 = -0.10078591122, fno3_a2= 0.96100189080, fno3_b0= 1, fno3_b1= -0.03385540628, fno3_b2= 1; // Filter4 = Lowpass filter at 5 Hz double alp1_v1=0, alp1_v2=0, alp2_v1=0, alp2_v2=0; double blp1_v1=0, blp1_v2=0, blp2_v1=0, blp2_v2=0; double clp1_v1=0, clp1_v2=0, clp2_v1=0, clp2_v2=0; double dlp1_v1=0, dlp1_v2=0, dlp2_v1=0, dlp2_v2=0; const double flp1_a1=-0.86962685441, flp1_a2=0.00000000000, flp1_b0= 1, flp1_b1=1, flp1_b2=0; const double flp2_a1=-1.85211666729, flp2_a2=0.87021679713, flp2_b0= 1, flp2_b1=2, flp2_b2=1; double y1, y2, y3, y4, y5, y6, y7, y8, y9, y10, y11, y12, y13, y14, y15, y16, y17, y18, y19, y20, y21, y22, y23, y24, y25, y26, y27, y28, y29, y30, y31, y32, y33, y34, y35, y36; double u1, u2, u3, u4, u5, u6, u7,u8 , u9, u10, u11, u12, u13, u14, u15, u16, u17, u18, u19, u20, u21, u22, u23, u24, u25, u26, u27, u28, u29, u30, u31, u32, u33, u34, u35, u36; double final_filter1, final_filter2, final_filter3, final_filter4; // Standaard formule voor het biquad filter double biquad(double u, double &v1, double &v2, const double a1, const double a2, const double b0, const double b1, const double b2) { double v = u - a1*v1 - a2*v2; double y = b0*v + b1*v1 + b2*v2; v2=v1; v1=v; return y; } void MyController() { // Biceps left u1 = EMG_bicepsright.read(); //Highpass y1 = biquad (u1, ah1_v1, ah1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); u2 = y1; y2 = biquad (u2, ah2_v1, ah2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); //Lowpass u3 = y2; y3 = biquad (u3, al1_v1, al1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853); u4 = y3; y4 = biquad (u4, al2_v1, al2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527); // Notch u5 = y4; y5 = biquad (u5, ano1_v1, ano1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276); u6 = y5; y6 = biquad (u6, ano2_v1, ano2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678); u7 = y6; y7 = biquad (u7, ano3_v1, ano3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); // Rectify sample y8 = fabs(y7); // Make it smooth u8 = y8; y9 = biquad (u8, alp1_v1, alp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1* 0.065187, flp1_b2* 0.065187); u9 = y9; final_filter1 = biquad(u9, alp2_v1, alp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); //Biceps right u10 = EMG_bicepsleft.read(); //Highpass y10 = biquad (u10, bh1_v1, bh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); u11 = y10; y11 = biquad (u11, bh2_v1, bh2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); //Lowpass u12 = y11; y12 = biquad (u12, bl1_v1, bl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853); u13 = y12; y13 = biquad (u13, bl2_v1, bl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527); // Notch u14 = y13; y14 = biquad (u14, bno1_v1, bno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276); u15 = y14; y15 = biquad (u15, bno2_v1, bno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678); u16 = y15; y16 = biquad (u16, bno3_v1, bno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); // Rectify sample y17 = fabs(y16); // Make it smooth u17 = y17; y18 = biquad (u17, blp1_v1, blp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187); u18 = y18; final_filter2 = biquad(u18, blp2_v1, blp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); /// EMG Filter left leg u19 = EMG_tricepsright.read(); //Highpass y19 = biquad (u19, ch1_v1, ch1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); u20 = y19; y20 = biquad (u20, ch2_v1, ch2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); //Lowpass u21 = y20; y21 = biquad (u21, cl1_v1, cl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853); u22 = y21; y22 = biquad (u22, cl2_v1, cl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527); // Notch u23 = y22; y23 = biquad (u23, cno1_v1, cno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276); u24 = y23; y24 = biquad (u24, cno2_v1, cno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678); u25 = y24; y25 = biquad (u25, cno3_v1, cno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); // Rectify sample y26 = fabs(y25); // Make it smooth u26 = y26; y27 = biquad (u26, clp1_v1, clp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187); u27 = y27; final_filter3 = biquad(u27, clp2_v1, clp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); // EMG filter right leg u28 = EMG_tricepsleft.read(); //Highpass y28 = biquad (u8, dh1_v1, dh1_v2, fh1_a1, fh1_a2, fh1_b0*0.753507, fh1_b1*0.753507, fh1_b2*0.753507); u29 = y28; y29 = biquad (u29, dh2_v1, dh2_v2, fh2_a1, fh2_a2, fh2_b0*0.697278, fh2_b1*0.697278, fh2_b2*0.697278); //Lowpass u30 = y29; y30 = biquad (u30, dl1_v1, dl1_v2, fl1_a1, fl1_a2, fl1_b0*0.579853, fl1_b1*0.579853, fl1_b2*0.579853); u31 = y30; y31 = biquad (u31, dl2_v1, dl2_v2, fl2_a1, fl2_a2, fl2_b0*0.444527, fl2_b1*0.444527, fl2_b2*0.444527); // Notch u32 = y31; y32 = biquad (u32, dno1_v1, dno1_v2, fno1_a1, fno1_a2, fno1_b0*0.968276, fno1_b1*0.968276, fno1_b2*0.968276); u33 = y32; y33 = biquad (u33, dno2_v1, dno2_v2, fno2_a1, fno2_a2, fno2_b0*0.953678, fno2_b1*0.953678, fno2_b2*0.953678); u34 = y33; y34 = biquad (u34, dno3_v1, dno3_v2, fno3_a1, fno3_a2, fno3_b0, fno3_b1, fno3_b2); // Rectify sample y35 = fabs(y34); // Make it smooth u35 = y35; y36 = biquad (u35, dlp1_v1, dlp1_v2, flp1_a1, flp1_a2, flp1_b0*0.065187, flp1_b1*0.065187, flp1_b2*0.065187); u36 = y36; final_filter4 = biquad(u36, dlp2_v1, dlp2_v2, flp2_a1, flp2_a2, flp2_b0*0.004525, flp2_b1*0.004525, flp2_b2*0.004525); scope.set (0, final_filter1); scope.set (1,final_filter2); scope.set (2,final_filter3); scope.set (3,final_filter4); scope.send (); } int main () { EMG_Control.attach_us(MyController,5e4); }