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@29:33fa1d1f1282, 2016-10-25 (annotated)

Committer:
janreinder
Date:
Tue Oct 25 07:55:50 2016 +0000
Revision:
29:33fa1d1f1282
Parent:
28:3b1b29193851
Child:
31:07d5b1e9d7a5
final biquad values;

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
RiP 24:01b4b51b5dc6 9 InterruptIn button_calibrate(PTA4);
RiP 21:3aecd735319d 10 AnalogIn emg1( A0 );
RiP 21:3aecd735319d 11 AnalogIn emg2( A1 );
RiP 21:3aecd735319d 12 AnalogIn emg3( A2 );
tomlankhorst 19:2bf824669684 13
RiP 27:1ff7fa636f1c 14 Ticker pos_timer;
tomlankhorst 14:f83354387756 15 Ticker sample_timer;
RiP 21:3aecd735319d 16 HIDScope scope( 6 );
RiP 22:f38a15e851d2 17 MODSERIAL pc(USBTX, USBRX);
tomlankhorst 18:21d8e7a81cf5 18 DigitalOut led(LED1);
vsluiter 2:e314bb3b2d99 19
RiP 22:f38a15e851d2 20 volatile bool sampletimer = false;
RiP 24:01b4b51b5dc6 21 volatile bool buttonflag = false;
RiP 25:1a71424b05ff 22 volatile bool newcase = false;
RiP 28:3b1b29193851 23 volatile bool newcaseprint = false;
RiP 25:1a71424b05ff 24
RiP 23:54d28f9eef53 25 double threshold = 0.04;
RiP 23:54d28f9eef53 26 double samplefreq=0.002;
RiP 25:1a71424b05ff 27 double emg02;
RiP 25:1a71424b05ff 28 double emg12;
RiP 25:1a71424b05ff 29 double emg22;
RiP 27:1ff7fa636f1c 30 double ref_x=0.000;
RiP 27:1ff7fa636f1c 31 double ref_y=0.000;
RiP 27:1ff7fa636f1c 32
RiP 28:3b1b29193851 33 // create a variable called 'state', define it
RiP 23:54d28f9eef53 34 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 35
RiP 28:3b1b29193851 36 states mystate = STATE_PAUZE;
RiP 28:3b1b29193851 37
RiP 21:3aecd735319d 38 BiQuadChain bqc11;
RiP 21:3aecd735319d 39 BiQuadChain bqc13;
RiP 21:3aecd735319d 40 BiQuadChain bqc21;
RiP 21:3aecd735319d 41 BiQuadChain bqc23;
RiP 21:3aecd735319d 42 BiQuadChain bqc31;
RiP 21:3aecd735319d 43 BiQuadChain bqc33;
RiP 21:3aecd735319d 44 //BiQuad bq11( 9.87589e-01, -1.59795e+00, 9.87589e-01, -1.59795e+00, 9.75178e-01 ); //oude BiQuad waardes
RiP 21:3aecd735319d 45 /* BiQuads for filter emg1
RiP 21:3aecd735319d 46 notch filter*/
janreinder 29:33fa1d1f1282 47 BiQuad bq111(0.9815, -1.5882, 0.9815, 1.0000, -1.5882, 0.9630);
janreinder 29:33fa1d1f1282 48 BiQuad bq112(0.9850, -1.5940, 0.9850, 1.0000, -1.5833, 0.9809);
janreinder 29:33fa1d1f1282 49 BiQuad bq113(0.9960, -1.6117, 0.9960, 1.0000, -1.6220, 0.9817);
janreinder 29:33fa1d1f1282 50 /* High pass filter */
janreinder 29:33fa1d1f1282 51 BiQuad bq121( 0.8956, -1.7911, 0.8956, 1.0000, -1.7814, 0.7941);
janreinder 29:33fa1d1f1282 52 BiQuad bq122( 0.9192, -1.8385, 0.9192, 1.0000, -1.8319, 0.8450);
janreinder 29:33fa1d1f1282 53 BiQuad bq123( 0.9649, -1.9298, 0.9649, 1.0000, -1.9266, 0.9403);
janreinder 29:33fa1d1f1282 54 /* low pass filter */
RiP 21:3aecd735319d 55 BiQuad bq131( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 56
RiP 21:3aecd735319d 57 /* BiQuads for filter emg2
RiP 21:3aecd735319d 58 notch filter*/
RiP 21:3aecd735319d 59 BiQuad bq211(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 60 BiQuad bq212(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 61 BiQuad bq213(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 62 /* High pass filter*/
RiP 21:3aecd735319d 63 BiQuad bq221( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 64 /* low pass filter*/
RiP 21:3aecd735319d 65 BiQuad bq231( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 66
RiP 21:3aecd735319d 67 /* BiQuads for filter emg3
RiP 21:3aecd735319d 68 notch filter*/
RiP 21:3aecd735319d 69 BiQuad bq311(0.9795, -1.5849, 0.9795, 1.0000, -1.5849, 0.9589);
RiP 21:3aecd735319d 70 BiQuad bq312(0.9833, -1.5912, 0.9833, 1.0000, -1.5793, 0.9787);
RiP 21:3aecd735319d 71 BiQuad bq313(0.9957, -1.6111, 0.9957, 1.0000, -1.6224, 0.9798);
RiP 21:3aecd735319d 72 /* High pass filter*/
RiP 21:3aecd735319d 73 BiQuad bq321( 9.56543e-01, -1.91309e+00, 9.56543e-01, -1.91120e+00, 9.14976e-01 );
RiP 21:3aecd735319d 74 /* low pass filter*/
RiP 21:3aecd735319d 75 BiQuad bq331( 3.91302e-05, 7.82604e-05, 3.91302e-05, -1.98223e+00, 9.82385e-01 );
RiP 21:3aecd735319d 76
RiP 22:f38a15e851d2 77
RiP 27:1ff7fa636f1c 78
RiP 22:f38a15e851d2 79 void sampleflag()
RiP 22:f38a15e851d2 80 {
RiP 22:f38a15e851d2 81 sampletimer=true;
RiP 22:f38a15e851d2 82 }
RiP 22:f38a15e851d2 83
RiP 24:01b4b51b5dc6 84 void buttonflag_go()
RiP 24:01b4b51b5dc6 85 {
RiP 24:01b4b51b5dc6 86 buttonflag=true;
RiP 24:01b4b51b5dc6 87 }
RiP 22:f38a15e851d2 88
janreinder 29:33fa1d1f1282 89 //EMG input with button
janreinder 29:33fa1d1f1282 90 /**
RiP 25:1a71424b05ff 91 void sample_button(states &mystate)
RiP 25:1a71424b05ff 92 {
RiP 25:1a71424b05ff 93 states myoldstate=mystate;
RiP 25:1a71424b05ff 94 char key=pc.getc();
RiP 25:1a71424b05ff 95
RiP 26:91d48c0b722d 96 // pc.printf("%c/n",key);
RiP 25:1a71424b05ff 97
RiP 25:1a71424b05ff 98 switch (key) {
RiP 25:1a71424b05ff 99 case 'p' : // run
RiP 25:1a71424b05ff 100 emg02=0.0;
RiP 25:1a71424b05ff 101 emg12=0.0;
RiP 25:1a71424b05ff 102 emg22=0.0;
RiP 25:1a71424b05ff 103 break;
RiP 25:1a71424b05ff 104 case 'q' : // run
RiP 25:1a71424b05ff 105 emg02=0.0;
RiP 25:1a71424b05ff 106 emg12=1.0;
RiP 25:1a71424b05ff 107 emg22=0.0;
RiP 25:1a71424b05ff 108 break;
RiP 25:1a71424b05ff 109 case 'w' : // run
RiP 25:1a71424b05ff 110 emg02=0.0;
RiP 25:1a71424b05ff 111 emg12=0.0;
RiP 25:1a71424b05ff 112 emg22=1.0;
RiP 25:1a71424b05ff 113 break;
RiP 25:1a71424b05ff 114 case 'e' : // run
RiP 25:1a71424b05ff 115 emg02=0.0;
RiP 25:1a71424b05ff 116 emg12=1.0;
RiP 25:1a71424b05ff 117 emg22=1.0;
RiP 25:1a71424b05ff 118 break;
RiP 25:1a71424b05ff 119 case 'a' : // run
RiP 25:1a71424b05ff 120 emg02=1.0;
RiP 25:1a71424b05ff 121 emg12=1.0;
RiP 25:1a71424b05ff 122 emg22=0.0;
RiP 25:1a71424b05ff 123 break;
RiP 25:1a71424b05ff 124 case 's' : // run
RiP 25:1a71424b05ff 125 emg02=1.0;
RiP 25:1a71424b05ff 126 emg12=0.0;
RiP 25:1a71424b05ff 127 emg22=1.0;
RiP 25:1a71424b05ff 128 break;
RiP 25:1a71424b05ff 129 case 'd' : // run
RiP 25:1a71424b05ff 130 emg02=1.0;
RiP 25:1a71424b05ff 131 emg12=1.0;
RiP 25:1a71424b05ff 132 emg22=1.0;
RiP 25:1a71424b05ff 133 break;
RiP 25:1a71424b05ff 134 }
RiP 25:1a71424b05ff 135
RiP 25:1a71424b05ff 136
RiP 25:1a71424b05ff 137
RiP 25:1a71424b05ff 138
RiP 25:1a71424b05ff 139
RiP 25:1a71424b05ff 140 led = !led;
RiP 25:1a71424b05ff 141 if (emg02>threshold) {
RiP 25:1a71424b05ff 142 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 143 mystate = STATE_XY_NEG;
RiP 25:1a71424b05ff 144 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 145 mystate = STATE_X_NEG;
RiP 25:1a71424b05ff 146
RiP 25:1a71424b05ff 147 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 148 mystate = STATE_Y_NEG;
RiP 25:1a71424b05ff 149 } else {
RiP 25:1a71424b05ff 150 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 151 }
RiP 25:1a71424b05ff 152 } else {
RiP 25:1a71424b05ff 153 if (emg12>threshold&&emg22>threshold) {
RiP 25:1a71424b05ff 154 mystate = STATE_XY;
RiP 25:1a71424b05ff 155 } else if (emg12>threshold) {
RiP 25:1a71424b05ff 156 mystate = STATE_X;
RiP 25:1a71424b05ff 157
RiP 25:1a71424b05ff 158 } else if (emg22>threshold) {
RiP 25:1a71424b05ff 159 mystate = STATE_Y;
RiP 25:1a71424b05ff 160 } else {
RiP 25:1a71424b05ff 161 mystate = STATE_PAUZE;
RiP 25:1a71424b05ff 162 }
RiP 25:1a71424b05ff 163 }
RiP 27:1ff7fa636f1c 164
RiP 25:1a71424b05ff 165 if (buttonflag==true) {
RiP 25:1a71424b05ff 166 mystate = STATE_CALIBRATION;
RiP 25:1a71424b05ff 167 }
RiP 25:1a71424b05ff 168
RiP 25:1a71424b05ff 169 if (myoldstate==mystate) {
RiP 25:1a71424b05ff 170 newcase=false;
RiP 28:3b1b29193851 171 newcaseprint=false;
RiP 28:3b1b29193851 172
RiP 25:1a71424b05ff 173 } else {
RiP 25:1a71424b05ff 174 newcase=true;
RiP 28:3b1b29193851 175 newcaseprint=true;
RiP 28:3b1b29193851 176
RiP 25:1a71424b05ff 177 }
RiP 28:3b1b29193851 178
RiP 25:1a71424b05ff 179 sampletimer = false;
RiP 25:1a71424b05ff 180 }
janreinder 29:33fa1d1f1282 181 **/
RiP 25:1a71424b05ff 182
RiP 23:54d28f9eef53 183 void sample(states &mystate)
vsluiter 2:e314bb3b2d99 184 {
RiP 27:1ff7fa636f1c 185 states myoldstate=mystate;
RiP 23:54d28f9eef53 186
RiP 21:3aecd735319d 187 /* Read the emg signals and filter it*/
RiP 22:f38a15e851d2 188
RiP 21:3aecd735319d 189 scope.set(0, emg1.read()); //original signal
RiP 27:1ff7fa636f1c 190 emg02=bqc13.step(fabs(bqc11.step(emg1.read())));
RiP 21:3aecd735319d 191 scope.set(1, emg02);
RiP 21:3aecd735319d 192 /* Read the second emg signal and filter it*/
RiP 21:3aecd735319d 193 scope.set(2, emg2.read()); //original signal
RiP 27:1ff7fa636f1c 194 emg12=bqc23.step(fabs(bqc21.step(emg2.read())));
RiP 21:3aecd735319d 195 scope.set(3, emg12);
RiP 21:3aecd735319d 196 /* Read the third emg signal and filter it*/
RiP 21:3aecd735319d 197 scope.set(4, emg3.read()); //original signal
RiP 27:1ff7fa636f1c 198 emg22=bqc33.step(fabs(bqc31.step(emg3.read())));
RiP 21:3aecd735319d 199 scope.set(5, emg22);
RiP 22:f38a15e851d2 200 //pc.printf("Hello World!\n");
RiP 21:3aecd735319d 201 /* Ensure that enough channels are available (HIDScope scope( 2 ))
RiP 21:3aecd735319d 202 * Finally, send all channels to the PC at once */
vsluiter 11:ce72ec658a95 203 scope.send();
RiP 21:3aecd735319d 204 /* To indicate that the function is working, the LED is toggled */
RiP 25:1a71424b05ff 205
tomlankhorst 18:21d8e7a81cf5 206 led = !led;
RiP 23:54d28f9eef53 207 if (emg02>threshold) {
RiP 23:54d28f9eef53 208 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 209 mystate = STATE_XY_NEG;
RiP 23:54d28f9eef53 210 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 211 mystate = STATE_X_NEG;
RiP 23:54d28f9eef53 212
RiP 23:54d28f9eef53 213 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 214 mystate = STATE_Y_NEG;
RiP 23:54d28f9eef53 215 } else {
RiP 24:01b4b51b5dc6 216 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 217 }
RiP 22:f38a15e851d2 218 } else {
RiP 23:54d28f9eef53 219 if (emg12>threshold&&emg22>threshold) {
RiP 24:01b4b51b5dc6 220 mystate = STATE_XY;
RiP 23:54d28f9eef53 221 } else if (emg12>threshold) {
RiP 24:01b4b51b5dc6 222 mystate = STATE_X;
RiP 23:54d28f9eef53 223
RiP 23:54d28f9eef53 224 } else if (emg22>threshold) {
RiP 24:01b4b51b5dc6 225 mystate = STATE_Y;
RiP 23:54d28f9eef53 226 } else {
RiP 24:01b4b51b5dc6 227 mystate = STATE_PAUZE;
RiP 23:54d28f9eef53 228 }
RiP 22:f38a15e851d2 229 }
RiP 23:54d28f9eef53 230
RiP 24:01b4b51b5dc6 231 if (buttonflag==true) {
RiP 24:01b4b51b5dc6 232 mystate = STATE_CALIBRATION;
RiP 24:01b4b51b5dc6 233 }
RiP 24:01b4b51b5dc6 234
RiP 27:1ff7fa636f1c 235 if (myoldstate==mystate) {
RiP 28:3b1b29193851 236 newcaseprint=false;
RiP 27:1ff7fa636f1c 237 newcase=false;
RiP 27:1ff7fa636f1c 238 } else {
RiP 28:3b1b29193851 239 newcaseprint=true;
RiP 27:1ff7fa636f1c 240 newcase=true;
RiP 27:1ff7fa636f1c 241 }
RiP 27:1ff7fa636f1c 242
RiP 22:f38a15e851d2 243 sampletimer = false;
vsluiter 2:e314bb3b2d99 244 }
vsluiter 0:32bb76391d89 245
RiP 27:1ff7fa636f1c 246 void change_x(int direction)
RiP 27:1ff7fa636f1c 247 {
RiP 28:3b1b29193851 248 ref_x=ref_x+0.0002*direction;
RiP 27:1ff7fa636f1c 249
RiP 27:1ff7fa636f1c 250 }
RiP 27:1ff7fa636f1c 251
RiP 27:1ff7fa636f1c 252 void change_y(int direction)
RiP 27:1ff7fa636f1c 253 {
RiP 27:1ff7fa636f1c 254 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 255
RiP 27:1ff7fa636f1c 256 }
RiP 27:1ff7fa636f1c 257 void change_xy(int direction)
RiP 27:1ff7fa636f1c 258 {
RiP 27:1ff7fa636f1c 259 ref_x=ref_x+0.1*direction;
RiP 27:1ff7fa636f1c 260 ref_y=ref_y+0.1*direction;
RiP 27:1ff7fa636f1c 261 }
RiP 27:1ff7fa636f1c 262
RiP 27:1ff7fa636f1c 263 void my_pos()
RiP 27:1ff7fa636f1c 264 {
RiP 27:1ff7fa636f1c 265 pc.printf("x_pos=%.4f\ty_pos=%.4f\n\r",ref_x,ref_y);
RiP 27:1ff7fa636f1c 266
RiP 27:1ff7fa636f1c 267 }
RiP 26:91d48c0b722d 268
RiP 28:3b1b29193851 269 void print_state(states mystate)
RiP 28:3b1b29193851 270 {
RiP 28:3b1b29193851 271 // switch, case
RiP 28:3b1b29193851 272 if (newcaseprint==true) {
RiP 28:3b1b29193851 273 switch (mystate) {
RiP 28:3b1b29193851 274 case STATE_CALIBRATION : { // calibration
RiP 28:3b1b29193851 275 pc.printf("calibration\n\r");
RiP 28:3b1b29193851 276 break;
RiP 28:3b1b29193851 277 }
RiP 28:3b1b29193851 278 case STATE_X : // run
RiP 28:3b1b29193851 279 pc.printf("X\n\r");
RiP 28:3b1b29193851 280 break;
RiP 28:3b1b29193851 281 case STATE_X_NEG : // run
RiP 28:3b1b29193851 282 pc.printf("Xneg\n\r");
RiP 28:3b1b29193851 283 break;
RiP 28:3b1b29193851 284 case STATE_Y : // execute mode 1
RiP 28:3b1b29193851 285 pc.printf("Y\n\r");
RiP 28:3b1b29193851 286 break;
RiP 28:3b1b29193851 287 case STATE_Y_NEG : // execute mode 1
RiP 28:3b1b29193851 288 pc.printf("Yneg\n\r");
RiP 28:3b1b29193851 289 break;
RiP 28:3b1b29193851 290 case STATE_XY : // execute mode 2
RiP 28:3b1b29193851 291 pc.printf("XY\n\r");
RiP 28:3b1b29193851 292 break;
RiP 28:3b1b29193851 293 case STATE_XY_NEG : // execute mode 2
RiP 28:3b1b29193851 294 pc.printf("XYneg\n\r");
RiP 28:3b1b29193851 295 break;
RiP 28:3b1b29193851 296 case STATE_PAUZE : // default
RiP 28:3b1b29193851 297 pc.printf("PAUZE\n\r");
RiP 28:3b1b29193851 298 break;
RiP 28:3b1b29193851 299 }
RiP 28:3b1b29193851 300 }
RiP 28:3b1b29193851 301
RiP 28:3b1b29193851 302 }
RiP 28:3b1b29193851 303
vsluiter 0:32bb76391d89 304 int main()
RiP 21:3aecd735319d 305 {
RiP 22:f38a15e851d2 306 pc.baud(115200);
RiP 22:f38a15e851d2 307
RiP 21:3aecd735319d 308 //de biquad chains instellen
janreinder 29:33fa1d1f1282 309 bqc11.add( &bq111 ).add( &bq112 ).add( &bq113 ).add( &bq121 ).add( &bq122 ).add( &bq123 );
RiP 21:3aecd735319d 310 bqc13.add( &bq131);
RiP 21:3aecd735319d 311 bqc21.add( &bq211 ).add( &bq212 ).add( &bq213 ).add( &bq221 );
RiP 21:3aecd735319d 312 bqc23.add( &bq231);
RiP 21:3aecd735319d 313 bqc31.add( &bq311 ).add( &bq312 ).add( &bq313 ).add( &bq321 );
RiP 21:3aecd735319d 314 bqc33.add( &bq331);
RiP 21:3aecd735319d 315 /*Attach the 'sample' function to the timer 'sample_timer'.
RiP 21:3aecd735319d 316 this ensures that 'sample' is executed every... 0.002 seconds = 500 Hz
vsluiter 4:8b298dfada81 317 */
RiP 27:1ff7fa636f1c 318 pos_timer.attach(&my_pos, 1);
RiP 23:54d28f9eef53 319 sample_timer.attach(&sampleflag, samplefreq);
RiP 24:01b4b51b5dc6 320 button_calibrate.fall(&buttonflag_go);
RiP 24:01b4b51b5dc6 321
tomlankhorst 15:0da764eea774 322
RiP 22:f38a15e851d2 323 while(1) {
RiP 22:f38a15e851d2 324 if (sampletimer==true) {
RiP 25:1a71424b05ff 325 //sample(mystate);
janreinder 29:33fa1d1f1282 326 sample(mystate);
RiP 28:3b1b29193851 327 print_state(mystate);
RiP 25:1a71424b05ff 328 }
RiP 22:f38a15e851d2 329 }
vsluiter 0:32bb76391d89 330 }