File content as of revision 0:0532a6e10a23:

/*
 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