File content as of revision 1:1fd8a80ad5df:

#include "mbed.h"
#include "HIDScope.h"
#include "biquadFilter.h" 

//Input system
AnalogIn emg1(A0); //right biceps
AnalogIn emg2(A1); //right triceps
AnalogIn emg3(A2); //left biceps
AnalogIn emg4(A3); //left triceps

DigitalOut ledje(LED_GREEN);

//EMG tickers, these tickers are called in the mainscript with fsample 500Hz, also sends to HIDscope with same fsample
Ticker sample_ticker; 
Ticker main_ticker;


//HIDscope to check whether filter is functional or not
HIDScope scope(2);  // aantal kanalen voor je HIDScope

//4th order highpass filter with fc = 20 Hz so that means there are 2 biquad chains

const double highp_1_a1 = -1.99997409063390;
const double highp_1_a2= 0.999975877656141;
const double highp_1_b0 = 0.0920510808414248;
const double highp_1_b1= -0.184501278881386;
const double highp_1_b2 = 0.0924506332000235;

const double highp_2_a1 = -1.99998249672404;
const double highp_2_a2 = 0.999982653918482;
const double highp_2_b0 = 1;
const double highp_2_b1 = -2.00367218495316;
const double highp_2_b2 = 1.00367558370516;

//notchfilter 50Hz 
const double notch_1_a1 = 1.00000018882502;
const double notch_1_a2= -1.97024348390877;
const double notch_1_b0= 0.995504923090779;
const double notch_1_b1= 1;
const double notch_1_b2= -1.97538661427765;

const double notch_2_a1 = 1.00000018882502;
const double notch_2_a2 = -1.97175302143845;
const double notch_2_b0 = 0.995629024908953;
const double notch_2_b1 = 1;
const double notch_2_b2 = -1.97538624436946;

//Enveloping, 4th order low pass filter is used with 3Hz cutoff
const double lowp_1_a1 = -2.00357645725849;
const double lowp_1_a2= 1.00357981243408;
const double lowp_1_b0 = 0.000148081325059440;
const double lowp_1_b1 = -0.000295530099020586;
const double lowp_1_b2 = 0.000147449452281968;

const double lowp_2_a1 = -2.00319253084618;
const double lowp_2_a2 = 1.00319510326279;
const double lowp_2_b0 = 1;
const double lowp_2_b1 = -1.99627963867269;
const double lowp_2_b2 = 0.996283117943831;

//For every EMG signal a set of biquad cascades
//EMG1
biquadFilter     highpass1_1( highp_1_a1 , highp_1_a2 , highp_1_b0 , highp_1_b1 , highp_1_b2);  
biquadFilter     highpass1_2( highp_2_a1 , highp_2_a2 , highp_2_b0 , highp_2_b1 , highp_2_b2);                 // removes artifacts
biquadFilter     notch1_1( notch_1_a1  , notch_1_a2 , notch_1_b0 , notch_1_b1 , notch_1_b2 );  // removes 49-51 Hz power interference
biquadFilter     notch1_2( notch_2_a1  , notch_2_a2 , notch_2_b0 , notch_2_b1 , notch_2_b2 );  //
biquadFilter     lowpass1_1( lowp_1_a1 , lowp_1_a2 , lowp_1_b0 , lowp_1_b1 , lowp_1_b2 );                     // EMG envelope 
biquadFilter     lowpass1_2( lowp_2_a1 , lowp_2_a2 , lowp_2_b0 , lowp_2_b1 , lowp_2_b2 ); 
//EMG2
biquadFilter     highpass2_1( highp_1_a1 , highp_1_a2 , highp_1_b0 , highp_1_b1 , highp_1_b2);  
biquadFilter     highpass2_2( highp_2_a1 , highp_2_a2 , highp_2_b0 , highp_2_b1 , highp_2_b2);   
biquadFilter     notch2_1( notch_1_a1  , notch_1_a2 , notch_1_b0 , notch_1_b1 , notch_1_b2 );  // removes 49-51 Hz power interference
biquadFilter     notch2_2( notch_2_a1  , notch_2_a2 , notch_2_b0 , notch_2_b1 , notch_2_b2 );   //
biquadFilter     lowpass2_1( lowp_1_a1 , lowp_1_a2 , lowp_1_b0 , lowp_1_b1 , lowp_1_b2 );                     // EMG envelope 
biquadFilter     lowpass2_2( lowp_2_a1 , lowp_2_a2 , lowp_2_b0 , lowp_2_b1 , lowp_2_b2 );   
//EMG3
biquadFilter     highpass3_1( highp_1_a1 , highp_1_a2 , highp_1_b0 , highp_1_b1 , highp_1_b2);  
biquadFilter     highpass3_2( highp_2_a1 , highp_2_a2 , highp_2_b0 , highp_2_b1 , highp_2_b2);   
biquadFilter     notch3_1( notch_1_a1  , notch_1_a2 , notch_1_b0 , notch_1_b1 , notch_1_b2 );  // removes 49-51 Hz power interference
biquadFilter     notch3_2( notch_2_a1  , notch_2_a2 , notch_2_b0 , notch_2_b1 , notch_2_b2 );   //
biquadFilter     lowpass3_1( lowp_1_a1 , lowp_1_a2 , lowp_1_b0 , lowp_1_b1 , lowp_1_b2 );                     // EMG envelope 
biquadFilter     lowpass3_2( lowp_2_a1 , lowp_2_a2 , lowp_2_b0 , lowp_2_b1 , lowp_2_b2 ); 
//EMG4
biquadFilter     highpass4_1( highp_1_a1 , highp_1_a2 , highp_1_b0 , highp_1_b1 , highp_1_b2);  
biquadFilter     highpass4_2( highp_2_a1 , highp_2_a2 , highp_2_b0 , highp_2_b1 , highp_2_b2);   
biquadFilter     notch4_1( notch_1_a1  , notch_1_a2 , notch_1_b0 , notch_1_b1 , notch_1_b2 );  // removes 49-51 Hz power interference
biquadFilter     notch4_2( notch_2_a1  , notch_2_a2 , notch_2_b0 , notch_2_b1 , notch_2_b2 );   //
biquadFilter     lowpass4_1( lowp_1_a1 , lowp_1_a2 , lowp_1_b0 , lowp_1_b1 , lowp_1_b2 );                     // EMG envelope 
biquadFilter     lowpass4_2( lowp_2_a1 , lowp_2_a2 , lowp_2_b0 , lowp_2_b1 , lowp_2_b2 ); 

//Ticker executes this bit
double emg1_filtered, emg2_filtered, emg3_filtered, emg4_filtered;

void emg_samples()
{
//EMG1
double y1_1 = highpass1_1.step ( emg1.read());
double y1_2 = highpass1_2.step ( y1_1);
double y1_3 = notch1_1.step (y1_2);
double y1_4 = notch1_2.step (y1_3);
double y1_5 = abs(y1_4);
double y1_6 = lowpass1_1.step (y1_5);
emg1_filtered = lowpass1_2.step (y1_6);

//EMG2
//double y2_1 = highpass2_1.step ( emg2.read());
//double y2_2 = highpass2_2.step ( y2_1);
//double y2_3 = notch2_1.step (y2_2);
//double y2_4 = notch2_2.step (y2_3);
//double y2_5 = abs(y2_4);
//double y2_6 = lowpass2_1.step (y2_5);
//emg2_filtered = lowpass2_2.step (y2_6);
//EMG3
//double y3_1 = highpass3_1.step ( emg3.read());
//double y3_2 = highpass3_2.step ( y3_1);
//double y3_3 = notch3_1.step (y3_2);
//double y3_4 = notch3_2.step (y3_3);
//double y3_5 = abs(y3_4);
//double y3_6 = lowpass3_1.step (y3_5);
//emg3_filtered = lowpass3_2.step (y3_6);
//EMG4     
//double y4_1 = highpass4_1.step ( emg4.read());
//double y4_2 = highpass4_2.step ( y4_1);
//double y4_3 = notch4_1.step (y4_2);
//double y4_4 = notch4_2.step (y4_3);
//double y4_5 = abs(y4_4);
//double y4_6 = lowpass4_1.step (y4_5);
//emg4_filtered = lowpass4_1.step (y4_6);

//Send scope value to HIDScope        

//scope.set(2, emg2_filtered);
//scope.set(3, emg3_filtered);


ledje = !ledje;      
}  

void setscope(){
scope.set(0,emg1.read());  
scope.set(1,emg1_filtered); 
scope.send();
} 

int main()
{
    sample_ticker.attach(&emg_samples,0.002); //fsample = 500Hz for every ticker
    main_ticker.attach(&setscope,0.1);
   while (true){}  
}