1 files changed, 74 insertions, 0 deletions
diff --git a/code/debug/IR/XIAO/XIAO.ino b/code/debug/IR/XIAO/XIAO.ino
new file mode 100644
index 0000000..67d27c4
--- /dev/null
+++ b/code/debug/IR/XIAO/XIAO.ino
@@ -0,0 +1,74 @@
+
+//set pins
+int ir1 = 0;
+int ir2 = 1;
+int ir3 = 9;
+int ir4 = 2;
+int ir5 = 3;
+int ir6 = 4;
+int ir7 = 5;
+int ir8 = 8;
+
+//arrays cus typing a lot is hard even with auto complete
+int pins[8] = {ir1, ir2, ir3, ir4, ir5, ir6, ir7, ir8};
+volatile unsigned long startTime[8];
+volatile unsigned long pulseWidth[8];
+
+void ISR0();
+void ISR1();
+void ISR2();
+void ISR3();
+void ISR4();
+void ISR5();
+void ISR6();
+void ISR7();
+
+void setup() {
+  Serial.begin(9600);
+  Serial1.begin(75);
+
+  //pins setup
+  for (int i = 0; i < 8; i++) {
+    pinMode(pins[i], INPUT);
+  }
+  //attach interpts
+  attachInterrupt(digitalPinToInterrupt(ir1), ISR0, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir2), ISR1, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir3), ISR2, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir4), ISR3, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir5), ISR4, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir6), ISR5, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir7), ISR6, CHANGE);
+  attachInterrupt(digitalPinToInterrupt(ir8), ISR7, CHANGE);
+}
+
+void loop() {
+  noInterrupts();
+  //for (int i = 0; i < 8; i++) {
+  //  Serial.print("ir"); Serial.print(i + 1);
+  //  Serial.print(": "); Serial.print(pulseWidth[i]); Serial.print("  ");
+  //}
+  //Serial.println();
+  Serial1.println(pulseWidth[8]);
+  interrupts();
+  delay(200);
+}
+
+//calc pulsewidth
+void handlePWM(int idx) {
+  if (digitalRead(pins[idx]) == HIGH) {
+    startTime[idx] = micros();
+  } else {
+    pulseWidth[idx] = micros() - startTime[idx];
+  }
+}
+
+//interupts
+void ISR0() { handlePWM(0); }
+void ISR1() { handlePWM(1); }
+void ISR2() { handlePWM(2); }
+void ISR3() { handlePWM(3); }
+void ISR4() { handlePWM(4); }
+void ISR5() { handlePWM(5); }
+void ISR6() { handlePWM(6); }
+void ISR7() { handlePWM(7); }