This branch merges the Regular-Sampling and Edge-Trigger QEI server algorithms
main(): converted qei_clk to array
Updated qei_common.h
Introduced QEI_PORT definition, to allow flexible switching between QEI port types
qei_server.xc: Added conditional compilation using QEI_RS_MODE
inner_loop.h: Added some 'RS' stuff
inner_loop.h: Finished adding 'RS' stuff
Initial merge completed: Can now switch between ET & RS modes using QEI_RS_MODE
For ET mode: moved velocity calculation to inner_loop.xc, and added total-angle counter to qei_server.xc
Removed redundant code, after 'velocity change'
qei_server.xc: Merged init_qei_data() functions
qei_server.xc: In ET mode, replaced old angle estimate with simple look-up table (pinched from RS mode)
qei_server.xc ET mode: Added 16-bit time to buffer structure
qei_server.xc ET mode: Now working with both motors 180..4000 RPM, both directions
qei_server.xc ET mode: Now working with both motors 180..4000 RPM, both directions
Removed foc_qei_do_single()
qei_server: Removed redundant structure records
qei_server.h: Removed redundant structure records
qei_common.h: Removed redundant definitions
qei_server: Merged service_input_pins for RS and ET modes