Interrupts – Steep Learning Curve
Well have the controller setup and have uploaded the demo code, all working 
The Board is based on the AT91SAM7X MPU, of which I have absolutely no experience, so the learning curve begins (right at the bottom). First thing I want to do is get the interrupts for the two wheel encoders working. From my initial research I gather that any of the inputs on the GPIO can generate an interrupt on a state change, exactly what I want. So now more research on how to make it happen using the ARM7 GCC tools I’ve installed, all demo code is compiling and working ok.
Looks like my starting point is some examples found here http://gandalf.arubi.uni-kl.de/avr_projects/arm_projects/index_at91.html
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