Jan Reinder / Mbed 2 deprecated EMG_filtering

10-25-16 filters in emg_filtering script

Dependencies:   HIDScope MODSERIAL biquadFilter mbed

Fork of EMG_filtering by Rick Poppe

main.cpp@31:07d5b1e9d7a5, 2016-10-25 (annotated)

Committer:
janreinder
Date:
Tue Oct 25 08:01:16 2016 +0000
Revision:
31:07d5b1e9d7a5
Parent:
29:33fa1d1f1282
Child:
32:96d4a811ae32
10/25/16 filters

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 InterruptIn button_calibrate(PTA4);
RiP 21:3aecd735319d 9 AnalogIn emg1( A0 );
RiP 21:3aecd735319d 10 AnalogIn emg2( A1 );
RiP 21:3aecd735319d 11 AnalogIn emg3( A2 );
tomlankhorst 19:2bf824669684 12
RiP 27:1ff7fa636f1c 13 Ticker pos_timer;
tomlankhorst 14:f83354387756 14 Ticker sample_timer;
RiP 21:3aecd735319d 15 HIDScope scope( 6 );
RiP 22:f38a15e851d2 16 MODSERIAL pc(USBTX, USBRX);
tomlankhorst 18:21d8e7a81cf5 17 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 18
RiP 22:f38a15e851d2 19 volatile bool sampletimer = false;
RiP 24:01b4b51b5dc6 20 volatile bool buttonflag = false;
RiP 25:1a71424b05ff 21 volatile bool newcase = false;
RiP 28:3b1b29193851 22 volatile bool newcaseprint = false;
RiP 25:1a71424b05ff 23
RiP 23:54d28f9eef53 24 double threshold = 0.04;
RiP 23:54d28f9eef53 25 double samplefreq=0.002;
RiP 25:1a71424b05ff 26 double emg02;
RiP 25:1a71424b05ff 27 double emg12;
RiP 25:1a71424b05ff 28 double emg22;
RiP 27:1ff7fa636f1c 29 double ref_x=0.000;
RiP 27:1ff7fa636f1c 30 double ref_y=0.000;
RiP 27:1ff7fa636f1c 31
RiP 28:3b1b29193851 32 // create a variable called 'state', define it
RiP 23:54d28f9eef53 33 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 34
RiP 28:3b1b29193851 35 states mystate = STATE_PAUZE;
RiP 28:3b1b29193851 36
RiP 21:3aecd735319d 37 BiQuadChain bqc11;
RiP 21:3aecd735319d 38 BiQuadChain bqc13;
RiP 21:3aecd735319d 39 BiQuadChain bqc21;
RiP 21:3aecd735319d 40 BiQuadChain bqc23;
RiP 21:3aecd735319d 41 BiQuadChain bqc31;
RiP 21:3aecd735319d 42 BiQuadChain bqc33;
RiP 21:3aecd735319d 43 //BiQuad bq11( 9.87589e-01, -1.59795e+00, 9.87589e-01, -1.59795e+00, 9.75178e-01 ); //oude BiQuad waardes
janreinder 31:07d5b1e9d7a5 44 /* BiQuads for filter emg1 [newest filter]
RiP 21:3aecd735319d 45 notch filter*/
janreinder 29:33fa1d1f1282 46 BiQuad bq111(0.9815, -1.5882, 0.9815, 1.0000, -1.5882, 0.9630);
janreinder 29:33fa1d1f1282 47 BiQuad bq112(0.9850, -1.5940, 0.9850, 1.0000, -1.5833, 0.9809);
janreinder 29:33fa1d1f1282 48 BiQuad bq113(0.9960, -1.6117, 0.9960, 1.0000, -1.6220, 0.9817);
janreinder 29:33fa1d1f1282 49 /* High pass filter */
janreinder 29:33fa1d1f1282 50 BiQuad bq121( 0.8956, -1.7911, 0.8956, 1.0000, -1.7814, 0.7941);
janreinder 29:33fa1d1f1282 51 BiQuad bq122( 0.9192, -1.8385, 0.9192, 1.0000, -1.8319, 0.8450);
janreinder 29:33fa1d1f1282 52 BiQuad bq123( 0.9649, -1.9298, 0.9649, 1.0000, -1.9266, 0.9403);
janreinder 29:33fa1d1f1282 53 /* low pass filter */
RiP 21:3aecd735319d 54 BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 55
RiP 21:3aecd735319d 56 /* BiQuads for filter emg2
RiP 21:3aecd735319d 57 notch filter*/
RiP 21:3aecd735319d 58 BiQuad bq211(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 59 BiQuad bq212(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 60 BiQuad bq213(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 61 /* High pass filter*/
RiP 21:3aecd735319d 62 BiQuad bq221( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 63 /* low pass filter*/
RiP 21:3aecd735319d 64 BiQuad bq231( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 65
RiP 21:3aecd735319d 66 /* BiQuads for filter emg3
RiP 21:3aecd735319d 67 notch filter*/
RiP 21:3aecd735319d 68 BiQuad bq311(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 69 BiQuad bq312(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 70 BiQuad bq313(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 71 /* High pass filter*/
RiP 21:3aecd735319d 72 BiQuad bq321( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 73 /* low pass filter*/
RiP 21:3aecd735319d 74 BiQuad bq331( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 75
RiP 22:f38a15e851d2 76
RiP 27:1ff7fa636f1c 77
RiP 22:f38a15e851d2 78 void sampleflag()
RiP 22:f38a15e851d2 79 {
RiP 22:f38a15e851d2 80 sampletimer=true;
RiP 22:f38a15e851d2 81 }
RiP 22:f38a15e851d2 82
RiP 24:01b4b51b5dc6 83 void buttonflag_go()
RiP 24:01b4b51b5dc6 84 {
RiP 24:01b4b51b5dc6 85 buttonflag=true;
RiP 24:01b4b51b5dc6 86 }
RiP 22:f38a15e851d2 87
janreinder 29:33fa1d1f1282 88 //EMG input with button
janreinder 29:33fa1d1f1282 89 /**
RiP 25:1a71424b05ff 90 void sample_button(states &mystate)
RiP 25:1a71424b05ff 91 {
RiP 25:1a71424b05ff 92 states myoldstate=mystate;
RiP 25:1a71424b05ff 93 char key=pc.getc();
RiP 25:1a71424b05ff 94
RiP 26:91d48c0b722d 95 // pc.printf("%c/n",key);
RiP 25:1a71424b05ff 96
RiP 25:1a71424b05ff 97 switch (key) {
RiP 25:1a71424b05ff 98 case 'p' : // run
RiP 25:1a71424b05ff 99 emg02=0.0;
RiP 25:1a71424b05ff 100 emg12=0.0;
RiP 25:1a71424b05ff 101 emg22=0.0;
RiP 25:1a71424b05ff 102 break;
RiP 25:1a71424b05ff 103 case 'q' : // run
RiP 25:1a71424b05ff 104 emg02=0.0;
RiP 25:1a71424b05ff 105 emg12=1.0;
RiP 25:1a71424b05ff 106 emg22=0.0;
RiP 25:1a71424b05ff 107 break;
RiP 25:1a71424b05ff 108 case 'w' : // run
RiP 25:1a71424b05ff 109 emg02=0.0;
RiP 25:1a71424b05ff 110 emg12=0.0;
RiP 25:1a71424b05ff 111 emg22=1.0;
RiP 25:1a71424b05ff 112 break;
RiP 25:1a71424b05ff 113 case 'e' : // run
RiP 25:1a71424b05ff 114 emg02=0.0;
RiP 25:1a71424b05ff 115 emg12=1.0;
RiP 25:1a71424b05ff 116 emg22=1.0;
RiP 25:1a71424b05ff 117 break;
RiP 25:1a71424b05ff 118 case 'a' : // run
RiP 25:1a71424b05ff 119 emg02=1.0;
RiP 25:1a71424b05ff 120 emg12=1.0;
RiP 25:1a71424b05ff 121 emg22=0.0;
RiP 25:1a71424b05ff 122 break;
RiP 25:1a71424b05ff 123 case 's' : // run
RiP 25:1a71424b05ff 124 emg02=1.0;
RiP 25:1a71424b05ff 125 emg12=0.0;
RiP 25:1a71424b05ff 126 emg22=1.0;
RiP 25:1a71424b05ff 127 break;
RiP 25:1a71424b05ff 128 case 'd' : // run
RiP 25:1a71424b05ff 129 emg02=1.0;
RiP 25:1a71424b05ff 130 emg12=1.0;
RiP 25:1a71424b05ff 131 emg22=1.0;
RiP 25:1a71424b05ff 132 break;
RiP 25:1a71424b05ff 133 }
RiP 25:1a71424b05ff 134
RiP 25:1a71424b05ff 135
RiP 25:1a71424b05ff 136
RiP 25:1a71424b05ff 137
RiP 25:1a71424b05ff 138
RiP 25:1a71424b05ff 139 led = !led;
RiP 25:1a71424b05ff 140 if (emg02>threshold) {
RiP 25:1a71424b05ff 141 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 142 mystate = STATE_XY_NEG;
RiP 25:1a71424b05ff 143 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 144 mystate = STATE_X_NEG;
RiP 25:1a71424b05ff 145
RiP 25:1a71424b05ff 146 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 147 mystate = STATE_Y_NEG;
RiP 25:1a71424b05ff 148 } else {
RiP 25:1a71424b05ff 149 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 150 }
RiP 25:1a71424b05ff 151 } else {
RiP 25:1a71424b05ff 152 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 153 mystate = STATE_XY;
RiP 25:1a71424b05ff 154 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 155 mystate = STATE_X;
RiP 25:1a71424b05ff 156
RiP 25:1a71424b05ff 157 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 158 mystate = STATE_Y;
RiP 25:1a71424b05ff 159 } else {
RiP 25:1a71424b05ff 160 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 161 }
RiP 25:1a71424b05ff 162 }
RiP 27:1ff7fa636f1c 163
RiP 25:1a71424b05ff 164 if (buttonflag==true) {
RiP 25:1a71424b05ff 165 mystate = STATE_CALIBRATION;
RiP 25:1a71424b05ff 166 }
RiP 25:1a71424b05ff 167
RiP 25:1a71424b05ff 168 if (myoldstate==mystate) {
RiP 25:1a71424b05ff 169 newcase=false;
RiP 28:3b1b29193851 170 newcaseprint=false;
RiP 28:3b1b29193851 171
RiP 25:1a71424b05ff 172 } else {
RiP 25:1a71424b05ff 173 newcase=true;
RiP 28:3b1b29193851 174 newcaseprint=true;
RiP 28:3b1b29193851 175
RiP 25:1a71424b05ff 176 }
RiP 28:3b1b29193851 177
RiP 25:1a71424b05ff 178 sampletimer = false;
RiP 25:1a71424b05ff 179 }
janreinder 29:33fa1d1f1282 180 **/
RiP 25:1a71424b05ff 181
RiP 23:54d28f9eef53 182 void sample(states &mystate)
vsluiter 2:e314bb3b2d99 183 {
RiP 27:1ff7fa636f1c 184 states myoldstate=mystate;
RiP 23:54d28f9eef53 185
RiP 21:3aecd735319d 186 /* Read the emg signals and filter it*/
RiP 22:f38a15e851d2 187
RiP 21:3aecd735319d 188 scope.set(0, emg1.read()); //original signal
RiP 27:1ff7fa636f1c 189 emg02=bqc13.step(fabs(bqc11.step(emg1.read())));
RiP 21:3aecd735319d 190 scope.set(1, emg02);
RiP 21:3aecd735319d 191 /* Read the second emg signal and filter it*/
RiP 21:3aecd735319d 192 scope.set(2, emg2.read()); //original signal
RiP 27:1ff7fa636f1c 193 emg12=bqc23.step(fabs(bqc21.step(emg2.read())));
RiP 21:3aecd735319d 194 scope.set(3, emg12);
RiP 21:3aecd735319d 195 /* Read the third emg signal and filter it*/
RiP 21:3aecd735319d 196 scope.set(4, emg3.read()); //original signal
RiP 27:1ff7fa636f1c 197 emg22=bqc33.step(fabs(bqc31.step(emg3.read())));
RiP 21:3aecd735319d 198 scope.set(5, emg22);
RiP 22:f38a15e851d2 199 //pc.printf("Hello World!\n");
RiP 21:3aecd735319d 200 /* Ensure that enough channels are available (HIDScope scope( 2 ))
RiP 21:3aecd735319d 201 * Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 202 scope.send();
RiP 21:3aecd735319d 203 /* To indicate that the function is working, the LED is toggled */
RiP 25:1a71424b05ff 204
tomlankhorst 18:21d8e7a81cf5 205 led = !led;
RiP 23:54d28f9eef53 206 if (emg02>threshold) {
RiP 23:54d28f9eef53 207 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 208 mystate = STATE_XY_NEG;
RiP 23:54d28f9eef53 209 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 210 mystate = STATE_X_NEG;
RiP 23:54d28f9eef53 211
RiP 23:54d28f9eef53 212 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 213 mystate = STATE_Y_NEG;
RiP 23:54d28f9eef53 214 } else {
RiP 24:01b4b51b5dc6 215 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 216 }
RiP 22:f38a15e851d2 217 } else {
RiP 23:54d28f9eef53 218 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 219 mystate = STATE_XY;
RiP 23:54d28f9eef53 220 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 221 mystate = STATE_X;
RiP 23:54d28f9eef53 222
RiP 23:54d28f9eef53 223 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 224 mystate = STATE_Y;
RiP 23:54d28f9eef53 225 } else {
RiP 24:01b4b51b5dc6 226 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 227 }
RiP 22:f38a15e851d2 228 }
RiP 23:54d28f9eef53 229
RiP 24:01b4b51b5dc6 230 if (buttonflag==true) {
RiP 24:01b4b51b5dc6 231 mystate = STATE_CALIBRATION;
RiP 24:01b4b51b5dc6 232 }
RiP 24:01b4b51b5dc6 233
RiP 27:1ff7fa636f1c 234 if (myoldstate==mystate) {
RiP 28:3b1b29193851 235 newcaseprint=false;
RiP 27:1ff7fa636f1c 236 newcase=false;
RiP 27:1ff7fa636f1c 237 } else {
RiP 28:3b1b29193851 238 newcaseprint=true;
RiP 27:1ff7fa636f1c 239 newcase=true;
RiP 27:1ff7fa636f1c 240 }
RiP 27:1ff7fa636f1c 241
RiP 22:f38a15e851d2 242 sampletimer = false;
vsluiter 2:e314bb3b2d99 243 }
vsluiter 0:32bb76391d89 244
RiP 27:1ff7fa636f1c 245 void change_x(int direction)
RiP 27:1ff7fa636f1c 246 {
RiP 28:3b1b29193851 247 ref_x=ref_x+0.0002*direction;
RiP 27:1ff7fa636f1c 248
RiP 27:1ff7fa636f1c 249 }
RiP 27:1ff7fa636f1c 250
RiP 27:1ff7fa636f1c 251 void change_y(int direction)
RiP 27:1ff7fa636f1c 252 {
RiP 27:1ff7fa636f1c 253 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 254
RiP 27:1ff7fa636f1c 255 }
RiP 27:1ff7fa636f1c 256 void change_xy(int direction)
RiP 27:1ff7fa636f1c 257 {
RiP 27:1ff7fa636f1c 258 ref_x=ref_x+0.1*direction;
RiP 27:1ff7fa636f1c 259 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 260 }
RiP 27:1ff7fa636f1c 261
RiP 27:1ff7fa636f1c 262 void my_pos()
RiP 27:1ff7fa636f1c 263 {
RiP 27:1ff7fa636f1c 264 pc.printf("x_pos=%.4f\ty_pos=%.4f\n\r",ref_x,ref_y);
RiP 27:1ff7fa636f1c 265
RiP 27:1ff7fa636f1c 266 }
RiP 26:91d48c0b722d 267
RiP 28:3b1b29193851 268 void print_state(states mystate)
RiP 28:3b1b29193851 269 {
RiP 28:3b1b29193851 270 // switch, case
RiP 28:3b1b29193851 271 if (newcaseprint==true) {
RiP 28:3b1b29193851 272 switch (mystate) {
RiP 28:3b1b29193851 273 case STATE_CALIBRATION : { // calibration
RiP 28:3b1b29193851 274 pc.printf("calibration\n\r");
RiP 28:3b1b29193851 275 break;
RiP 28:3b1b29193851 276 }
RiP 28:3b1b29193851 277 case STATE_X : // run
RiP 28:3b1b29193851 278 pc.printf("X\n\r");
RiP 28:3b1b29193851 279 break;
RiP 28:3b1b29193851 280 case STATE_X_NEG : // run
RiP 28:3b1b29193851 281 pc.printf("Xneg\n\r");
RiP 28:3b1b29193851 282 break;
RiP 28:3b1b29193851 283 case STATE_Y : // execute mode 1
RiP 28:3b1b29193851 284 pc.printf("Y\n\r");
RiP 28:3b1b29193851 285 break;
RiP 28:3b1b29193851 286 case STATE_Y_NEG : // execute mode 1
RiP 28:3b1b29193851 287 pc.printf("Yneg\n\r");
RiP 28:3b1b29193851 288 break;
RiP 28:3b1b29193851 289 case STATE_XY : // execute mode 2
RiP 28:3b1b29193851 290 pc.printf("XY\n\r");
RiP 28:3b1b29193851 291 break;
RiP 28:3b1b29193851 292 case STATE_XY_NEG : // execute mode 2
RiP 28:3b1b29193851 293 pc.printf("XYneg\n\r");
RiP 28:3b1b29193851 294 break;
RiP 28:3b1b29193851 295 case STATE_PAUZE : // default
RiP 28:3b1b29193851 296 pc.printf("PAUZE\n\r");
RiP 28:3b1b29193851 297 break;
RiP 28:3b1b29193851 298 }
RiP 28:3b1b29193851 299 }
RiP 28:3b1b29193851 300
RiP 28:3b1b29193851 301 }
RiP 28:3b1b29193851 302
vsluiter 0:32bb76391d89 303 int main()
RiP 21:3aecd735319d 304 {
RiP 22:f38a15e851d2 305 pc.baud(115200);
RiP 22:f38a15e851d2 306
RiP 21:3aecd735319d 307 //de biquad chains instellen
janreinder 29:33fa1d1f1282 308 bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ).add( &bq122 ).add( &bq123 );
RiP 21:3aecd735319d 309 bqc13.add( &bq131);
RiP 21:3aecd735319d 310 bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 );
RiP 21:3aecd735319d 311 bqc23.add( &bq231);
RiP 21:3aecd735319d 312 bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 );
RiP 21:3aecd735319d 313 bqc33.add( &bq331);
RiP 21:3aecd735319d 314 /*Attach the 'sample' function to the timer 'sample_timer'.
RiP 21:3aecd735319d 315 this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 316 */
RiP 27:1ff7fa636f1c 317 pos_timer.attach(&my_pos, 1);
RiP 23:54d28f9eef53 318 sample_timer.attach(&sampleflag, samplefreq);
RiP 24:01b4b51b5dc6 319 button_calibrate.fall(&buttonflag_go);
RiP 24:01b4b51b5dc6 320
tomlankhorst 15:0da764eea774 321
RiP 22:f38a15e851d2 322 while(1) {
RiP 22:f38a15e851d2 323 if (sampletimer==true) {
RiP 25:1a71424b05ff 324 //sample(mystate);
janreinder 29:33fa1d1f1282 325 sample(mystate);
RiP 28:3b1b29193851 326 print_state(mystate);
RiP 25:1a71424b05ff 327 }
RiP 22:f38a15e851d2 328 }
vsluiter 0:32bb76391d89 329 }