Diff: hallsensor_software_decoder.h

Revision:

0:0532a6e10a23

Child:

1:878564121574

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hallsensor_software_decoder.h	Wed Mar 13 06:22:03 2019 +0000
@@ -0,0 +1,129 @@
+/*
+ software decoder is for motor2
+ "speed_count_2" can save the decoded data after one run the function "init_CH()"
+*/
+
+#ifndef _HALLSENSOR_SOFTWARE_DECODER_H
+#define _HALLSENSOR_SOFTWARE_DECODER_H
+
+
+#include "mbed.h"
+
+InterruptIn HallA_1(A1);
+InterruptIn HallB_1(A2);
+InterruptIn HallA_2(D13);
+InterruptIn HallB_2(D12);
+
+void init_CN();
+void CN_ITR();
+
+/*********************************************
+ * for_back = 1  -> forward
+ * for_back = 0  -> backward
+ *********************************************/
+int for_back_1      = 0;  
+int for_back_2      = 0;  
+
+int HallA_1_state   = 0;
+int HallB_1_state   = 0;
+int state_1         = 0;
+int state_1_old     = 0;
+
+int HallA_2_state   = 0;
+int HallB_2_state   = 0;
+int state_2         = 0;
+int state_2_old     = 0;
+
+int speed_count_1;
+int speed_count_2;
+
+void init_CN(){
+    HallA_1.rise(&CN_ITR);
+    HallA_1.fall(&CN_ITR);
+    HallB_1.rise(&CN_ITR);
+    HallB_1.fall(&CN_ITR);    
+    HallA_2.rise(&CN_ITR);
+    HallA_2.fall(&CN_ITR);
+    HallB_2.rise(&CN_ITR);
+    HallB_2.fall(&CN_ITR);
+
+}
+
+void CN_ITR() {
+    /* MOTOR1 */
+    HallA_1_state = HallA_1.read();
+    HallB_1_state = HallB_1.read();
+
+    /* state determination */
+    state_1 = (HallA_1_state << 1) + (((~HallA_1_state)&&HallB_1_state) || (HallA_1_state && (~HallB_1_state))) + 1;
+    
+    
+    if(state_1 == 1){
+        if(state_1_old == 4){
+            for_back_1 = 1;
+        } else if(state_1_old != 1){
+            for_back_1 = 0;
+        }
+    }
+    else if(state_1 == 4){
+        if(state_1_old == 1){
+            for_back_1 = 0;
+        } else if(state_1_old != 4) {
+            for_back_1 = 1;
+        }
+    }
+    else {
+        if(state_1 > state_1_old){
+            for_back_1 = 1;
+        }else if(state_1 < state_1_old){
+            for_back_1 = 0;
+        }   
+    }        
+    
+    /* do nothing if state ain't change */
+    if(state_1_old != state_1){
+        (for_back_1)? ++speed_count_1 : --speed_count_1;
+    }    
+    /* update previous state */
+    state_1_old = state_1; 
+    
+    
+    /* MOTOR2 */
+    HallA_2_state = HallA_2.read();
+    HallB_2_state = HallB_2.read();
+
+    /* state determination */
+    state_2 = (HallA_2_state << 1) + (((~HallA_2_state)&&HallB_2_state) || (HallA_2_state && (~HallB_2_state))) + 1;
+    
+    
+    if(state_2 == 1){
+        if(state_2_old == 4){
+            for_back_2 = 1;
+        } else if(state_2_old != 1){
+            for_back_2 = 0;
+        }
+    }
+    else if(state_2 == 4){
+        if(state_2_old == 1){
+            for_back_2 = 0;
+        } else if(state_2_old != 4){
+            for_back_2 = 1;
+        }
+    }
+    else{
+        if(state_2 > state_2_old){
+            for_back_2 = 1;
+        } else if(state_2 < state_2_old){
+            for_back_2 = 0;
+        }   
+    }        
+    /* do nothing if state ain't change */
+    if(state_2_old != state_2){
+        (for_back_2)? ++speed_count_2 : --speed_count_2;
+    }    
+    /* update previous state */
+    state_2_old = state_2; 
+}
+
+
+#endif 
\ No newline at end of file