frederic blanc
Keil MBC1700 demoboard and L293, QEI ,TFT, MOTOR, UART
Diff: QEI_hw_m/qeihw.cpp
- Revision:
- 0:9555690e7705
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QEI_hw_m/qeihw.cpp Fri Mar 02 14:18:23 2012 +0000
@@ -0,0 +1,584 @@
+ /* mbed Library - QEI driver for LP1768 hardware
+ * Copyright (c) 2010, hball
+ * released under MIT license http://mbed.org/licence/mit
+ * modification QEIHW::SetPositionComp line 174
+ * tmp = (uint32_t*)(((uint8_t*)&(LPC_QEI->CMPOS0)) + (bPosCompCh << 2));
+ */
+
+/***********************************************************************//**
+ * @file qeihw.cpp
+ * @brief Driver file for the QEI hardware. Requires connection to
+ * internal mbed circuit nodes. Adapted from the CMSIS
+ * driver, lpc17xx_qei.c, v 2.0
+ * @version 0.1
+ * @date 28 Dec 2010
+ * @author hb
+ **************************************************************************/
+#include "mbed.h"
+#include "qeihw.h"
+
+QEIHW *QEIHW::instance;
+
+/*********************************************************************//**
+ * @brief Create a QEI object and configure it.
+ * @param _dirinv Direction invert. When = 1, complements the QEICONF register DIR bit
+ * @param _sigmode Signal mode. When = 0, PhA and PhB are quadrature inputs. When = 1, PhA is direction and PhB is clock
+ * @param _capmode Capture mode. When = 0, count PhA edges only (2X mode). Whe = 1, count PhB edges also (4X mode).
+ * @param _invinx Invert index. When = 1, inverts the sense of the index signal
+ * @return None
+ **********************************************************************/
+QEIHW::QEIHW(uint32_t _dirinv, uint32_t _sigmode, uint32_t _capmode, uint32_t _invinx)
+{
+ /* Set up clock and power for QEI module */
+ LPC_SC->PCONP |= PCONP_QEI_ENABLE;
+
+ /* The clock for theQEI module is set to FCCLK */
+ LPC_SC->PCLKSEL1 = LPC_SC->PCLKSEL1 & ~(3UL<<0) | ((PCLKSEL_CCLK_DIV_1 & 3)<<0);
+
+ /* Assign the pins. They are hard-coded, not user-selected. The index
+ * pin is assigned, even though it is not easily accessed on the mbed.
+ * As it may be unconnected, it is given a pull-up resistor to minimize
+ * power drain.
+ */
+ // MCI0 (PhA)
+ LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI0_MASK) | PINSEL3_MCI0 ;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_MCI0;
+
+ // MCI1 (PhB)
+ LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI1_MASK) | PINSEL3_MCI1 ;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_MCI1;
+
+ // MCI2 (Index)
+ LPC_PINCON->PINSEL3 = (LPC_PINCON->PINSEL3 & PINSEL3_MCI2_MASK) | PINSEL3_MCI2 ;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_MCI2;
+
+ // Initialize all remaining values in QEI peripheral
+ LPC_QEI->QEICON = QEI_CON_RESP | QEI_CON_RESV | QEI_CON_RESI;
+ LPC_QEI->QEIMAXPOS = 0xFFFFFFFF; // Default value
+ LPC_QEI->CMPOS0 = 0x00;
+ LPC_QEI->CMPOS1 = 0x00;
+ LPC_QEI->CMPOS2 = 0x00;
+ LPC_QEI->INXCMP = 0x00;
+ LPC_QEI->QEILOAD = 0x00;
+ LPC_QEI->VELCOMP = 0x00;
+ LPC_QEI->FILTER = 200000; // Default for mechanical switches.
+
+ // Set QEI configuration value corresponding to the call parameters
+ LPC_QEI->QEICONF = (
+ ((_dirinv << 0) & 1) | \
+ ((_sigmode << 1) & 2) | \
+ ((_capmode << 2) & 4) | \
+ ((_invinx <<3) & 8) );
+
+ // Mask all int sources
+ LPC_QEI->QEIIEC = QEI_IECLR_BITMASK; // Set the "clear" bits for all sources in the IE clear register
+
+ // Clear any pending ints
+ LPC_QEI->QEICLR = QEI_INTCLR_BITMASK; // Set the "clear" bits for for all sources in the Interrupt clear register
+
+ /* preemption = 1, sub-priority = 1 */
+ NVIC_SetPriority(QEI_IRQn, ((0x01<<3)|0x01));
+
+ //* Attach IRQ
+ instance = this;
+ NVIC_SetVector(QEI_IRQn, (uint32_t)&_Qeiisr);
+
+ /* Enable interrupt for QEI */
+ NVIC_EnableIRQ(QEI_IRQn);
+
+}
+
+/*********************************************************************//**
+ * @brief Resets value for each type of QEI value, such as velocity,
+ * counter, position, etc..
+ * @param[in] ulResetType QEI Reset Type, should be one of the following:
+ * - QEI_RESET_POS: Reset Position Counter
+ * - QEI_RESET_POSOnIDX: Reset Position Counter on Index signal
+ * - QEI_RESET_VEL: Reset Velocity
+ * - QEI_RESET_IDX: Reset Index Counter
+ * @return None
+ **********************************************************************/
+void QEIHW::Reset(uint32_t ulResetType)
+{
+ LPC_QEI->QEICON = ulResetType;
+}
+
+/*********************************************************************//**
+ * @brief De-initializes the QEI peripheral registers to their
+ * default reset values.
+ *
+ * @return None
+ **********************************************************************/
+void QEIHW::DeInit()
+{
+ /* Turn off clock and power for QEI module */
+ LPC_SC->PCONP &= PCONP_QEI_DISABLE;
+
+ /* Return pins to their default assignment (PINSEL = 0, PINMODE = PULLDOWN) */
+ // MCI0 (PhA) -> LED-2 (p1.20)
+ LPC_PINCON->PINSEL3 &= PINSEL3_MCI0_MASK;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI0_MASK) | PINMODE3_GPIO1p20;
+
+ // MCI1 (PhB) -> LED-4 (p1.23)
+ LPC_PINCON->PINSEL3 &= PINSEL3_MCI1_MASK;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI1_MASK) | PINMODE3_GPIO1p23;
+
+ // MCI2 (Index) -> p1.24
+ LPC_PINCON->PINSEL3 &= PINSEL3_MCI2_MASK;
+ LPC_PINCON->PINMODE3 = (LPC_PINCON->PINMODE3 & PINMODE3_MCI2_MASK) | PINMODE3_GPIO1p24;
+}
+
+/*********************************************************************//**
+ * @brief Report direction (QEISTAT bit DIR)
+ *
+ * @return State of the DIR bit (SET or RESET)
+ **********************************************************************/
+FlagStatus QEIHW::Direction()
+{
+ return ((LPC_QEI->QEISTAT & QEI_STATUS_DIR) ? SET : RESET);
+}
+
+/*********************************************************************//**
+ * @brief Get current position value in QEI peripheral
+ *
+ * @return Current position value of QEI peripheral
+ **********************************************************************/
+uint32_t QEIHW::GetPosition()
+{
+ return (LPC_QEI->QEIPOS);
+}
+
+/*********************************************************************//**
+ * @brief Set max position value for QEI peripheral
+ *
+ * @param[in] ulMaxPos Max position value to set
+ * @return None
+ **********************************************************************/
+void QEIHW::SetMaxPosition(uint32_t ulMaxPos)
+{
+ LPC_QEI->QEIMAXPOS = ulMaxPos;
+}
+
+/*********************************************************************//**
+ * @brief Set position compare value for QEI peripheral
+ * @param[in] QEIx QEI peripheral, should be LPC_QEI
+ * @param[in] bPosCompCh Compare Position channel, should be:
+ * - QEI_COMPPOS_CH_0: QEI compare position channel 0
+ * - QEI_COMPPOS_CH_1: QEI compare position channel 1
+ * - QEI_COMPPOS_CH_2: QEI compare position channel 2
+ * @param[in] ulPosComp Compare Position value to set
+ * @return None
+ **********************************************************************/
+void QEIHW::SetPositionComp( uint8_t bPosCompCh, uint32_t ulPosComp)
+{
+ uint32_t *tmp;
+
+ tmp = (uint32_t*)(((uint8_t*)&(LPC_QEI->CMPOS0)) + (bPosCompCh << 2));
+ *tmp = ulPosComp;
+}
+
+/*********************************************************************//**
+ * @brief Get current index counter of QEI peripheral
+ *
+ * @return Current value of QEI index counter
+ **********************************************************************/
+uint32_t QEIHW::GetIndex()
+{
+ return (LPC_QEI->INXCNT);
+}
+
+/*********************************************************************//**
+ * @brief Set value for index compare in QEI peripheral
+ * @param[in] ulIndexComp Compare Index Value to set
+ * @return None
+ **********************************************************************/
+void QEIHW::SetIndexComp( uint32_t ulIndexComp)
+{
+ LPC_QEI->INXCMP = ulIndexComp;
+}
+
+/*********************************************************************//**
+ * @brief Set Velocity timer reload value
+ *
+ * @param[in] ulReloadValue Velocity timer reload count
+ * @return None
+ **********************************************************************/
+void QEIHW::SetVelocityTimerReload( uint32_t ulReloadValue)
+{
+ LPC_QEI->QEILOAD = ulReloadValue;
+}
+
+/*********************************************************************//**
+ * @brief Set Velocity timer reload value in microseconds
+ *
+ * @param[in] ulReloadValue Velocity timer reload count
+ * @return None
+ **********************************************************************/
+void QEIHW::SetVelocityTimerReload_us( uint32_t ulReloadValue)
+{
+ int div;
+
+ //Work out CCLK
+ uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1;
+ uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1;
+ uint32_t cclkdiv = LPC_SC->CCLKCFG + 1;
+ uint32_t Fcco = (2 * m * XTAL_FREQ) / n;
+ uint32_t cclk = Fcco / cclkdiv;
+
+
+
+// div = CLKPWR_GetPCLKSEL(ClkType);
+ div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK;
+ switch (div)
+ {
+ case 0:
+ div = 4;
+ break;
+
+ case 1:
+ div = 1;
+ break;
+
+ case 2:
+ div = 2;
+ break;
+
+ case 3:
+ div = 8;
+ break;
+ }
+ cclk /=div;
+ cclk =((uint64_t)cclk / (1000000/ulReloadValue)) - 1;
+ LPC_QEI->QEILOAD = (uint32_t) cclk;
+}
+
+/*********************************************************************//**
+ * @brief Get current timer counter in QEI peripheral
+ *
+ * @return Current timer counter in QEI peripheral
+ **********************************************************************/
+uint32_t QEIHW::GetTimer()
+{
+ return (LPC_QEI->QEITIME);
+}
+
+/*********************************************************************//**
+ * @brief Get current velocity pulse counter in current time period
+ *
+ * @return Current velocity pulse counter value
+ **********************************************************************/
+uint32_t QEIHW::GetVelocity()
+{
+ return (LPC_QEI->QEIVEL);
+}
+
+/*********************************************************************//**
+ * @brief Get the most recently captured velocity of the QEI. When
+ * the Velocity timer in QEI is over-flow, the current velocity
+ * value will be loaded into Velocity Capture register.
+ *
+ * @return The most recently measured velocity value
+ **********************************************************************/
+uint32_t QEIHW::GetVelocityCap()
+{
+ return (LPC_QEI->QEICAP);
+}
+
+/*********************************************************************//**
+ * @brief Set Velocity Compare value for QEI peripheral
+ *
+ * @param[in] ulVelComp Compare Velocity value to set
+ * @return None
+ **********************************************************************/
+void QEIHW::SetVelocityComp( uint32_t ulVelComp)
+{
+ LPC_QEI->VELCOMP = ulVelComp;
+}
+
+/*********************************************************************//**
+ * @brief Set value of sampling count for the digital filter in
+ * QEI peripheral
+ *
+ * @param[in] ulSamplingPulse Value of sampling count to set
+ * @return None
+ **********************************************************************/
+void QEIHW::SetDigiFilter( uint32_t ulSamplingPulse)
+{
+ LPC_QEI->FILTER = ulSamplingPulse;
+}
+
+/*********************************************************************//**
+ * @brief Check whether if specified interrupt flag status in QEI
+ * peripheral is set or not
+ *
+ * @param[in] ulIntType Interrupt Flag Status type, should be:
+ - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ index count interrupt
+ - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return New State of specified interrupt flag status (SET or RESET)
+ **********************************************************************/
+FlagStatus QEIHW::GetIntStatus( uint32_t ulIntType)
+{
+ return((LPC_QEI->QEIINTSTAT & ulIntType) ? SET : RESET);
+}
+
+/*********************************************************************//**
+ * @brief Enable/Disable specified interrupt in QEI peripheral
+ *
+ * @param[in] ulIntType Interrupt Flag Status type, should be:
+ * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ * index count interrupt
+ * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @param[in] NewState New function state, should be:
+ * - DISABLE
+ * - ENABLE
+ * @return None
+ **********************************************************************/
+void QEIHW::IntCmd( uint32_t ulIntType, FunctionalState NewState)
+{
+ if (NewState == ENABLE) {
+ LPC_QEI->QEIIES = ulIntType;
+ } else {
+ LPC_QEI->QEIIEC = ulIntType;
+ }
+}
+
+/*********************************************************************//**
+ * @brief Assert specified interrupt in QEI peripheral
+ *
+ * @param[in] ulIntType Interrupt Flag Status type, should be:
+ - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ index count interrupt
+ - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return None
+ **********************************************************************/
+void QEIHW::IntSet( uint32_t ulIntType)
+{
+ LPC_QEI->QEISET = ulIntType;
+}
+
+/*********************************************************************//**
+ * @brief De-assert specified interrupt (pending) in QEI peripheral
+ *
+ * @param[in] ulIntType Interrupt Flag Status type, should be:
+ - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ current position interrupt
+ - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ index count interrupt
+ - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ * @return None
+ **********************************************************************/
+void QEIHW::IntClear( uint32_t ulIntType)
+{
+ LPC_QEI->QEICLR = ulIntType;
+}
+
+/*********************************************************************//**
+ * @brief Calculates the actual velocity in RPM passed via velocity
+ * capture value and Pulse Per Revolution (of the encoder) value
+ * parameter input.
+ *
+ * @param[in] ulVelCapValue Velocity capture input value that can
+ * be got from QEI_GetVelocityCap() function
+ * @param[in] ulPPR Pulse per round of encoder
+ * @return The actual value of velocity in RPM (Revolutions per minute)
+ **********************************************************************/
+uint32_t QEIHW::CalculateRPM( uint32_t ulVelCapValue, uint32_t ulPPR)
+{
+ uint64_t rpm, Load, edges;
+ int div;
+
+ // Get current Clock rate for timer input
+ //Work out CCLK
+ uint32_t m = (LPC_SC->PLL0CFG & 0xFFFF) + 1;
+ uint32_t n = (LPC_SC->PLL0CFG >> 16) + 1;
+ uint32_t cclkdiv = LPC_SC->CCLKCFG + 1;
+ uint32_t Fcco = (2 * m * XTAL_FREQ) / n;
+ uint32_t cclk = Fcco / cclkdiv;
+
+// div = CLKPWR_GetPCLKSEL(ClkType);
+ div = LPC_SC->PCLKSEL1 & PCLKSEL1_PCLK_QEI_MASK;
+ switch (div)
+ {
+ case 0:
+ div = 4;
+ break;
+
+ case 1:
+ div = 1;
+ break;
+
+ case 2:
+ div = 2;
+ break;
+
+ case 3:
+ div = 8;
+ break;
+ }
+ cclk /= div;
+
+ // Get Timer load value (velocity capture period)
+ Load = (uint64_t)(LPC_QEI->QEILOAD + 1);
+ // Get Edge
+ edges = (uint64_t)((LPC_QEI->QEICONF & QEI_CONF_CAPMODE) ? 4 : 2);
+ // Calculate RPM
+ rpm = ((( uint64_t)cclk * ulVelCapValue * 60) / (Load * ulPPR * edges));
+
+ return (uint32_t)(rpm);
+}
+
+/*********************************************************************//**
+ * @brief Append interrupt handler for specific QEI interrupt source
+ *
+ * @param[in] ulISRType Interrupt Flag Status type, should be:
+ * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ * index count interrupt
+ * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ *
+ * @return none
+ **********************************************************************/
+void QEIHW::AppendISR(uint32_t ulISRType, void(*fptr)(void)) {
+ int i;
+
+ for(i = 0; i < 13; i++) {
+ if( ulISRType == (1UL << i) ) {
+ _qei_isr[i] = fptr;
+ break;
+ }
+ }
+ return;
+}
+
+/*********************************************************************//**
+ * @brief Unappend interrupt handler for specific QEI interrupt source
+ *
+ * @param[in] ulISRType Interrupt Flag Status type, should be:
+ * - QEI_INTFLAG_INX_Int: index pulse was detected interrupt
+ * - QEI_INTFLAG_TIM_Int: Velocity timer over flow interrupt
+ * - QEI_INTFLAG_VELC_Int: Capture velocity is less than compare interrupt
+ * - QEI_INTFLAG_DIR_Int: Change of direction interrupt
+ * - QEI_INTFLAG_ERR_Int: An encoder phase error interrupt
+ * - QEI_INTFLAG_ENCLK_Int: An encoder clock pulse was detected interrupt
+ * - QEI_INTFLAG_POS0_Int: position 0 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS1_Int: position 1 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_POS2_Int: position 2 compare value is equal to the
+ * current position interrupt
+ * - QEI_INTFLAG_REV_Int: Index compare value is equal to the current
+ * index count interrupt
+ * - QEI_INTFLAG_POS0REV_Int: Combined position 0 and revolution count interrupt
+ * - QEI_INTFLAG_POS1REV_Int: Combined position 1 and revolution count interrupt
+ * - QEI_INTFLAG_POS2REV_Int: Combined position 2 and revolution count interrupt
+ *
+ * @return none
+ **********************************************************************/
+void QEIHW::UnAppendISR(uint32_t ulISRType) {
+ int i;
+
+ for(i = 0; i < 13; i++) {
+ if( ulISRType == (1UL << i) ) {
+ _qei_isr[i] = NULL;
+ break;
+ }
+ }
+ return;
+}
+
+
+void QEIHW::_Qeiisr(void)
+{
+ instance->Qeiisr();
+}
+
+/*********************************************************************//**
+ * @brief QEI interrupt service dispatcher.
+ *
+ * @param[in] none
+ *
+ * @return none
+ **********************************************************************/
+void QEIHW::Qeiisr(void)
+{
+ int32_t i;
+
+ //User defined interrupt handlers. Check all possible sources, dispatch to corresponding non-null service routines.
+ for(i = 0; i < 13; i++) {
+ if(LPC_QEI->QEIINTSTAT & ((uint32_t)(1<<i)) ) {
+ if (_qei_isr[i] != NULL) {
+ _qei_isr[i]();
+ }
+ }
+ }
+ return;
+}
+