File content as of revision 3:0856a9fa97ec:

/* LAB DCMotor */
#include "mbed.h"

//****************************************************************************** Define
//The number will be compiled as type "double" in default
//Add a "f" after the number can make it compiled as type "float"
#define Ts 0.01f    //period of timer1 (s)

//****************************************************************************** End of Define

//****************************************************************************** I/O
//PWM
//Dc motor
PwmOut pwm1(D7);
PwmOut pwm1n(D11);
PwmOut pwm2(D8);
PwmOut pwm2n(A3);

//Motor1 sensor
InterruptIn HallA_1(A1);
InterruptIn HallB_1(A2);
//Motor2 sensor
InterruptIn HallA_2(D13);
InterruptIn HallB_2(D12);

//LED
DigitalOut led1(A4);
DigitalOut led2(A5);

//Timer Setting
Ticker timer;
//****************************************************************************** End of I/O

//****************************************************************************** Functions
void init_timer(void);
void init_CN(void);
void init_PWM(void);
void timer_interrupt(void);
void CN_interrupt(void);
//****************************************************************************** End of Functions

//****************************************************************************** Variables
// Servo
float servo_duty = 0.066; // 0.025~0.113(-90~+90) 0.069->0 degree
// motor 1
int8_t HallA_state_1 = 0;
int8_t HallB_state_1 = 0;
int8_t motor_state_1 = 0;
int8_t motor_state_old_1 = 0;
int count_1 = 0;
float speed_1 = 0.0f;
float v_ref_1 = 80.0f;
float v_err_1 = 0.0f;
float v_ierr_1 = 0.0f;
float ctrl_output_1 = 0.0f;
float pwm1_duty = 0.0f;
//motor 2
int8_t HallA_state_2 = 0;
int8_t HallB_state_2 = 0;
int8_t motor_state_2 = 0;
int8_t motor_state_old_2 = 0;
int count_2 = 0;
float speed_2 = 0.0f;
float v_ref_2 = 150.0f;
float v_err_2 = 0.0f;
float v_ierr_2 = 0.0f;
float ctrl_output_2 = 0.0f;
float pwm2_duty = 0.0f;
//****************************************************************************** End of Variables

//****************************************************************************** Main
int main()
{
    init_timer();
    init_PWM();
    init_CN();
    while(1)
    {
    }
}
//****************************************************************************** End of Main

//****************************************************************************** timer_interrupt
void timer_interrupt()
{   
    // Motor1
    speed_1 = (float)count_1 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm
    count_1 = 0;
    // Code for PI controller //
    
    ///////////////////////////
    
    if(ctrl_output_1 >= 0.5f)ctrl_output_1 = 0.5f;
    else if(ctrl_output_1 <= -0.5f)ctrl_output_1 = -0.5f;
    pwm1_duty = ctrl_output_1 + 0.5f;
    pwm1.write(pwm1_duty);
    TIM1->CCER |= 0x4;
    
    // Motor2
    speed_2 = (float)count_2 * 100.0f / 12.0f * 60.0f / 29.0f; //rpm
    count_2 = 0;
    // Code for PI controller //
    
    ///////////////////////////    
    
    if(ctrl_output_2 >= 0.5f)ctrl_output_2 = 0.5f;
    else if(ctrl_output_2 <= -0.5f)ctrl_output_2 = -0.5f;
    pwm2_duty = ctrl_output_2 + 0.5f;
    pwm2.write(pwm2_duty);
    TIM1->CCER |= 0x40;
}
//****************************************************************************** End of timer_interrupt

//****************************************************************************** CN_interrupt
void CN_interrupt()
{
    // Motor1
    // Read the current status of hall sensor
    HallA_state_1 = HallA_1.read();
    HallB_state_1 = HallB_1.read();
     
   ///code for state determination///
    
    
    //////////////////////////////////
    
    //Forward
    //v1Count +1
    //Inverse
    //v1Count -1
        
    // Motor2
    // Read the current status of hall sensor
    HallA_state_2 = HallA_2.read();
    HallB_state_2 = HallB_2.read();
     
    ///code for state determination///
    
    
    //////////////////////////////////
    
    //Forward
    //v2Count +1
    //Inverse
    //v2Count -1
}
//****************************************************************************** End of CN_interrupt

//****************************************************************************** init_timer
void init_timer()
{
     timer.attach_us(&timer_interrupt, 10000);//10ms interrupt period (100 Hz)
}
//****************************************************************************** End of init_timer

//****************************************************************************** init_PWM
void init_PWM()
{
    pwm1.period_us(50);
    pwm1.write(0.5);
    TIM1->CCER |= 0x4;
    
    pwm2.period_us(50);
    pwm2.write(0.5);
    TIM1->CCER |= 0x40;
}
//****************************************************************************** End of init_PWM

//****************************************************************************** init_CN
void init_CN()
{
    // Motor1
    HallA_1.rise(&CN_interrupt);
    HallA_1.fall(&CN_interrupt);
    HallB_1.rise(&CN_interrupt);
    HallB_1.fall(&CN_interrupt);
    
    HallA_state_1 = HallA_1.read();
    HallB_state_1 = HallB_1.read();
    
    // Motor2
    HallA_2.rise(&CN_interrupt);
    HallA_2.fall(&CN_interrupt);
    HallB_2.rise(&CN_interrupt);
    HallB_2.fall(&CN_interrupt);
    
    HallA_state_2 = HallA_2.read();
    HallB_state_2 = HallB_2.read();
}
//****************************************************************************** End of init_CN