File content as of revision 24:0db52d2e1d2a:

#include "mbed.h"
#include "HIDScope.h"
#include "BiQuad.h"
//#include "BiQuadchains_zelfbeun.h"
#include <iostream>
DigitalOut led1(LED_GREEN);
DigitalOut led2(LED_RED);
DigitalOut led3(LED_BLUE);

//EMG tickers, these tickers are called in the mainscript with fsample 500Hz, also sends to HIDscope with same fsample
Ticker sample_ticker; //ticker for filtering pref. with 1000Hz, define in tick.attach
Ticker threshold_check_ticker;
Timer t; //timer try out for Astrid
Timer timer_calibration; //timer for EMG calibration

//Input
AnalogIn    emg1( A1 );
AnalogIn    emg2( A2 );
AnalogIn    emg3( A3 );
AnalogIn    emg4( A4 );

// GLOBALS EMG
//Filtered EMG signals from the end of the chains
volatile double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;
int i = 0;

//Define doubles for calibration and ticker
double ts = 0.001; //tijdsstap
double calibration_time = 55; //time EMG calibration should take

volatile double temp_highest_emg1 = 0; //highest detected value right biceps
volatile double temp_highest_emg2 = 0;
volatile double temp_highest_emg3 = 0;
volatile double temp_highest_emg4 = 0;

//Doubles for calculation threshold
double biceps_p_t = 0.4; //set threshold at percentage of highest value
double triceps_p_t = 0.5; //set threshold at percentage of highest value
volatile double threshold1;
volatile double threshold2;
volatile double threshold3;
volatile double threshold4;

// thresholdreads bools
int bicepsR;
int tricepsR;
int bicepsL;
int tricepsL;

//  EMG OUTPUT
int EMGxplus;
int EMGxmin ;
int EMGyplus;
int EMGymin ;

//filters
BiQuadChain bqc2; //chain voor High Pass en Notch
BiQuad bq3(0.9561305540521468,-1.9122611081042935,0.9561305540521468,-1.9103725395337858,0.9141496766748013); //High Pass Filter
BiQuad bq4(9.91104e-01, -1.60364e+00, 9.91104e-01, -1.60364e+00, 9.82207e-01); //Notch Filter
BiQuad bq6(0.6370466299626938,1.2740932599253876,0.6370466299626938,1.13958365554699,0.40860286430378506); //Lowpass Filter
//EMG1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//Highpass 
BiQuadChain highp1;
BiQuad highp1_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
BiQuad highp1_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );

//Notch
BiQuadChain notch1;
BiQuad notch1_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
BiQuad notch1_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );

//Lowpass 4th order cutoff 3Hz
BiQuadChain lowp1;
BiQuad lowp1_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
BiQuad lowp1_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );

//EMG2!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//Highpass
BiQuadChain highp2;
BiQuad highp2_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
BiQuad highp2_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );

//Notch
BiQuadChain notch2;
BiQuad notch2_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
BiQuad notch2_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );

//Lowpass 4th order cutoff 3Hz
BiQuadChain lowp2;
BiQuad lowp2_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
BiQuad lowp2_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );

//EMG3!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//Highpass
BiQuadChain highp3;
BiQuad highp3_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
BiQuad highp3_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );

//Notch
BiQuadChain notch3;
BiQuad notch3_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
BiQuad notch3_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );

//Lowpass 4th order cutoff 3Hz
BiQuadChain lowp3;
BiQuad lowp3_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
BiQuad lowp3_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );

//EMG4!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
//Highpass
BiQuadChain highp4;
BiQuad highp4_1( 9.21171e-01, -1.84234e+00, 9.21171e-01, -1.88661e+00, 8.90340e-01 );
BiQuad highp4_2( 1.00000e+00, -2.00000e+00, 1.00000e+00, -1.94922e+00, 9.53070e-01 );

//Notch
BiQuadChain notch4;
BiQuad notch4_1( 9.56543e-01, -1.82035e+00, 9.56543e-01, -1.84459e+00, 9.53626e-01 );
BiQuad notch4_2( 1.00000e+00, -1.90305e+00, 1.00000e+00, -1.87702e+00, 9.59471e-01 );

//Lowpass 4th order cutoff 3Hz
BiQuadChain lowp4;
BiQuad lowp4_1( 7.69910e-09, 1.53982e-08, 7.69910e-09, -1.96542e+00, 9.65769e-01 );
BiQuad lowp4_2( 1.00000e+00, 2.00000e+00, 1.00000e+00, -1.98532e+00, 9.85677e-01 );

// ~~~~~~~~~~~~~~~~~~~EMG FUNCTIONS~~~~~~~~~~~~~~~~~~
void emgsample()
{
    /*
    //All EMG signal through Highpass
    double emgread1 = emg1.read();
    double emgread2 = emg2.read();
    double emgread3 = emg3.read();
    double emgread4 = emg4.read();

    double emg1_highpassed = highp1.step(emgread1);
    double emg2_highpassed = highp2.step(emgread2);
    double emg3_highpassed = highp3.step(emgread3);
    double emg4_highpassed = highp4.step(emgread4);

    //All EMG highpassed through Notch
    double emg1_notched = notch1.step(emg1_highpassed);
    double emg2_notched = notch2.step(emg2_highpassed);
    double emg3_notched = notch3.step(emg3_highpassed);
    double emg4_notched = notch4.step(emg4_highpassed);

    //All EMG notched rectify
    double emg1_abs = abs(emg1_notched);
    double emg2_abs = abs(emg2_notched);
    double emg3_abs = abs(emg3_notched);
    double emg4_abs = abs(emg4_notched);

    //All EMG abs into lowpass
    emg1_filtered = lowp1.step(emg1_abs);
    emg2_filtered = lowp2.step(emg2_abs);
    emg3_filtered = lowp3.step(emg3_abs);
    emg4_filtered = lowp4.step(emg4_abs);
*/
}

void CalibrationEMG()
{
    //static float samples = calibration_time/ts;
    while(timer_calibration<55) {
        if(timer_calibration>0 && timer_calibration<10) {
            led1=!led1;
            if(emg1_filtered>temp_highest_emg1) {
                temp_highest_emg1= emg1_filtered;
                //pc.printf("Temp1 = %f \r\n",temp_highest_emg1);
            }
        }
        if(timer_calibration>10 && timer_calibration<15) {
            led1=0;
            led2=0;
            led3=0;
        }
        if(timer_calibration>15 && timer_calibration<25) {
            led2=!led2;
            if(emg2_filtered>temp_highest_emg2) {
                temp_highest_emg2= emg2_filtered;
                //pc.printf("Temp2 = %f \r\n",temp_highest_emg2);
            }
        }
        if(timer_calibration>25 && timer_calibration<30) {
            led1=0;
            led2=0;
            led3=0;
        }
        if(timer_calibration>30 && timer_calibration<40) {
            led3=!led3;
            if(emg3_filtered>temp_highest_emg3) {
                temp_highest_emg3= emg3_filtered;
                //pc.printf("Temp3 = %f \r\n",temp_highest_emg3);
            }
        }
        if(timer_calibration>40 && timer_calibration<45) {
            led1=0;
            led2=0;
            led3=0;
        }
        if(timer_calibration>45 && timer_calibration<55) {
            led2=!led2;
            led3=!led3;
            if(emg4_filtered>temp_highest_emg4) {
                temp_highest_emg4= emg4_filtered;
                //pc.printf("Temp4 = %f \r\n",temp_highest_emg4);
            }
        }
        led1=1;
        led2=1;
        led3=1;


    }

    //pc.printf("Highest value right biceps= %f \r\n", temp_highest_emg1);
    //pc.printf("Highest value right triceps= %f \r\n", temp_highest_emg2);
    //pc.printf("Highest value left biceps= %f \r\n", temp_highest_emg3);
    //pc.printf("Highest value left triceps= %f \r\n", temp_highest_emg4);


    threshold1 = temp_highest_emg1*biceps_p_t;  //Right Biceps
    threshold2 = temp_highest_emg2*triceps_p_t; //Right Triceps
    threshold3 = temp_highest_emg3*biceps_p_t;  //Left Biceps
    threshold4 = temp_highest_emg4*triceps_p_t; //Left Triceps
}

//Check if emg_filtered has reached their threshold
void threshold_check()
{

    //EMG1 threshold check
    if(emg1_filtered>threshold1) {
        bicepsR = 1;
    } else {
        bicepsR= 0;
    }
    //EMG2 threshold check
    if(emg2_filtered>threshold2) {
        tricepsR = 1;
    } else {
        tricepsR= 0;
    }
    //EMG3 threshold check
    if(emg3_filtered>threshold3) {
        bicepsL = 1;
    } else {
        bicepsL= 0;
    }
    //EMG4 threshold check
    if(emg4_filtered>threshold4) {
        tricepsL = 1;
    } else {
        tricepsL= 0;
    }

    /*
    pc.printf("Biceps Right = %i", bicepsR);
    pc.printf("Triceps Right = %i",tricepsR);
    pc.printf("Biceps Left = %i", bicepsL);
    pc.printf("Triceps Left = %i", tricepsL);
    */

}


Ticker      sample_timer;
HIDScope    scope( 2 );
DigitalOut  led(LED1);


void sample()
{
   //All EMG signal through Highpass
    double emgread1 = emg1.read();
    double emgread2 = emg2.read();
    double emgread3 = emg3.read();
    double emgread4 = emg4.read();
    
float LB_Filter_1 = bqc2.step(emg1.read()); 

    double emg1_highpassed = highp1.step(emg1.read());
    double emg2_highpassed = highp2.step(emgread2);
    double emg3_highpassed = highp3.step(emgread3);
    double emg4_highpassed = highp4.step(emgread4);

    //All EMG highpassed through Notch
    double emg1_notched = notch1.step(emg1_highpassed);
    double emg2_notched = notch2.step(emg2_highpassed);
    double emg3_notched = notch3.step(emg3_highpassed);
    double emg4_notched = notch4.step(emg4_highpassed);

    //All EMG notched rectify
    double emg1_abs = abs(emg1_notched);
    double emg2_abs = abs(emg2_notched);
    double emg3_abs = abs(emg3_notched);
    double emg4_abs = abs(emg4_notched);

    //All EMG abs into lowpass
    emg1_filtered = lowp1.step(emg1_abs);
    emg2_filtered = lowp2.step(emg2_abs);
    emg3_filtered = lowp3.step(emg3_abs);
    emg4_filtered = lowp4.step(emg4_abs);
    
    //EMG1 threshold check
    if(emg1_filtered>threshold1) {
        bicepsR = 1;
    } else {
        bicepsR= 0;
    }
    //EMG2 threshold check
    if(emg2_filtered>threshold2) {
        tricepsR = 1;
    } else {
        tricepsR= 0;
    }
    scope.set(0, emg1.read() );
    //scope.set(1, emg2.read() );
    scope.set(1, emg1_filtered );
    //scope.set(3, emg2_filtered);
    
    scope.send();
    
    led = !led;
}

int main()
{   
    //sample_ticker.attach(&emgsample, ts);
    //bqc1.add( &bq1 ).add( &bq2 ).add( &bq5 ); //make BiQuadChain EMG left
    //BiQuad Chain add
    highp1.add( &highp1_1 ).add( &highp1_2 );
    notch1.add( &notch1_1 ).add( &notch1_2 );
    lowp1.add( &lowp1_1 ).add(&lowp1_2);

    highp2.add( &highp2_1 ).add( &highp2_2 );
    notch2.add( &notch2_1 ).add( &notch2_2 );
    lowp2.add( &lowp2_1 ).add(&lowp2_2);

    highp3.add( &highp3_1 ).add( &highp3_2 );
    notch3.add( &notch3_1 ).add( &notch3_2 );
    lowp3.add( &lowp3_1 ).add(&lowp3_2);

    highp4.add( &highp4_1 ).add( &highp4_2 );
    notch4.add( &notch4_1 ).add( &notch4_2 );
    lowp4.add( &lowp4_1 ).add(&lowp4_2);
    bqc2.add( &bq3 ).add( &bq4 ).add( &bq6 ); //make BiQuadChain EMG right
    sample_timer.attach(&sample, 0.001);
    
                /*temp_highest_emg1 = 0; //highest detected value right biceps
                temp_highest_emg2 = 0;
                temp_highest_emg3 = 0;
                temp_highest_emg4 = 0;

                timer_calibration.reset();
                timer_calibration.start();

                
                //CalibrationEMG();
                //sample_ticker.detach();
                timer_calibration.stop();
               
    */
    

    /*empty loop, sample() is executed periodically*/
    while(1) {
        wait(0.01);
        }
}