void QEIIntHandler(void) { long lDelta; // // Clear the QEI interrupt. // QEIIntClear(QEI_BASE, QEI_INTTIMER); // // Capture the encoder edge count. // lDelta = QEIGetVelocity(QEI_BASE); // // Get the speed of the motor and convert it from pulses per 1/100th of a // second into rpm. // g_ulSpeed = lDelta = (lDelta * 100 * 60) / (ENCODER_LINES * 4); // // The remainder of this function is the same as for the software QEI case. // ... }