18 WHEELS OF STEEL CONVOY CHEATS

This is our TinyG Stepper Controller Board. I tossed some code up on the xmega to test inputs from these "encoder ports" All I am doing is putting 3v onto each pin and it turns off the led that corresponds to the port.

===========CODE===============
#include
#include
#define F_CPU 32000000UL
#include

void Config32MHzClock(void);



int main(void)
{
int data;
Config32MHzClock();

CLK.PSCTRL = 0x00; // no division on peripheral clock

PORTCFG.CLKEVOUT = PORTCFG_CLKOUT_PE7_gc;


PORTA.DIR = (1 << 5);
PORTD.DIR = (1 << 5); //Sets Pin5 as an output
PORTD.DIR = (1 << 5);
PORTE.DIR = (1 << 5);
PORTF.DIR = (1 << 5);


//011 PULLUP Totempole Pull-up (on input) is what is set
//PORT A F D E 6 & 7 ENCODER PORTS
PORTA.PIN6CTRL = (0x30); //Sets Pullup on Input on pin 6
PORTA.PIN7CTRL = (0x30); //Sets Pullup on Input on pin 7

PORTF.PIN6CTRL = (0x30); //Sets Pullup on Input on pin 6
PORTF.PIN7CTRL = (0x30); //Sets Pullup on Input on pin 7

PORTD.PIN6CTRL = (0x30); //Sets Pullup on Input on pin 6
PORTD.PIN7CTRL = (0x30); //Sets Pullup on Input on pin 7

PORTE.PIN6CTRL = (0x30); //Sets Pullup on Input on pin 6
PORTE.PIN7CTRL = (0x30); //Sets Pullup on Input on pin 7

PORTA.OUT = (1<<5);

while(1){
if (PORTA.IN & (1<<6))
PORTA.OUT = (0x00);

else if (PORTD.IN & (1<<6))
PORTD.OUT = (0x00);

else if (PORTE.IN & (1<<6))
PORTE.OUT = (0x00);

else if (PORTF.IN & (1<<6))
PORTF.OUT = (0x00);



_delay_ms(10); //Cleans up the light coming back on
PORTA.OUT = (1 << 5);
PORTD.OUT = (1 << 5);
PORTE.OUT = (1 << 5);
PORTF.OUT = (1 << 5);
//_delay_ms(100);
//PORTA.OUT ^= PORTA.OUT;
//PORTD.OUT ^= PORTD.OUT;
//PORTE.OUT ^= PORTE.OUT;
//PORTF.OUT ^= PORTF.OUT;
//_delay_ms(100);
}
}


void Config32MHzClock(void)
{
CCP = CCP_IOREG_gc; //Security Signature to modify clock
// initialize clock source to be 32MHz internal oscillator (no PLL)
OSC.CTRL = OSC_RC32MEN_bm; // enable internal 32MHz oscillator
while(!(OSC.STATUS & OSC_RC32MRDY_bm)); // wait for oscillator ready
CCP = CCP_IOREG_gc; //Security Signature to modify clock
CLK.CTRL = 0x01; //select sysclock 32MHz osc
};

this is the cable measuring station. the big spool on the back holds about 10,000' of black cable (1x7 1/32' galvanized steel wire rope powder coated black) the cable is pulled through that yellow thing which has a rotary encoder attached to a wheel. as the cable is pulled through, the wheel turns, and the output from the encoder is read by that little box. the display shows how many millimeters of cable have been pulled through the machine.

the chinese thought it was the most facinating thing ever.