Merge pull request #362 from gergelytakacs/Sampling_UNO_R4

Sampling uno r4
gergelytakacs · Oct 10, 2023 · a561961 · a561961
2 parents e13f8af + 967b84c
commit a561961
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diff --git a/Octave/examples/MagnetoShield/MagnetoShield_Speed_Test.m b/Octave/examples/MagnetoShield/MagnetoShield_Speed_Test.m
@@ -5,7 +5,7 @@
 %   "arduino" package (see pkg) then the script loads it. Although it is possible to
 %   override default I2C speeds, tests show no improvement with increased
 %   I2C communication speeds. AVR-based Arduinos, such as the UNO will
-%   provide the same speed, as the architecture and clock speeed is
+%   provide the same speed, as the architecture and clock speed is
 %   identical in all of them. Due or other non-AVR boards compatible with 
 %   the MagnetoShield are not supported. The script just tests reading the
 %   analog input and sending data to the I2C bus without attempting feedback 
@@ -22,9 +22,9 @@
 %   project is available at: 
 %   https://github.com/gergelytakacs/AutomationShield/wiki/Publications
 %
-%   Created by:       Gergely Takács
+%   Created by:       Gergely Tak�cs
 %   Created on:       29.10.2020
-%   Last updated by:  Gergely Takács
+%   Last updated by:  Gergely Tak�cs
 %   Last update on:   29.10.2020
 %   Tested on:        Arduino Uno
 

diff --git a/examples/AeroShield/AeroShield_EMPC/AeroShield_EMPC.ino b/examples/AeroShield/AeroShield_EMPC/AeroShield_EMPC.ino
@@ -68,7 +68,7 @@ static float u_opt[MPT_RANGE];      // predicted inputs
 extern struct mpc_ctl ctl;          // Object representing presets for MPC controller
 
 void setup() {
-  Serial.begin(250000);                 //--Initialize serial communication
+  Serial.begin(115200);                 //--Initialize serial communication
   AeroShield.begin();                   //--Initialize AeroShield
   delay(1000);
   AeroShield.calibrate();               //  Calibrate AeroShield board + store the 0° value of the pendulum

diff --git a/examples/AeroShield/AeroShield_Identification/AeroShield_Identification.ino b/examples/AeroShield/AeroShield_Identification/AeroShield_Identification.ino
@@ -29,7 +29,7 @@ bool flag = false;
 bool realTimeViolation = false;
 int k;
 void setup() {
-  Serial.begin(250000);
+  Serial.begin(115200);
   AeroShield.begin();
   AeroShield.calibrate();
   Serial.println("y, u"); //--Print header

diff --git a/examples/AeroShield/AeroShield_LQI/AeroShield_LQI.ino b/examples/AeroShield/AeroShield_LQI/AeroShield_LQI.ino
@@ -49,7 +49,7 @@ BLA::Matrix<1, 3> K = {-0.0376, 0.3523, 0.1337};              //--LQ gain with i
 BLA::Matrix<3, 1> Xr = {0, 0, 0};                                //--Initial state reference
 
 void setup() {
- Serial.begin(250000);               //--Initialize serial communication # 2 Mbaud
+ Serial.begin(115200);               //--Initialize serial communication # 2 Mbaud
  AeroShield.begin();               //--Initialize MotoShield
  delay(1000);
  AeroShield.calibrate();              //  Calibrate AeroShield board + store the 0° value of the pendulum

diff --git a/examples/AeroShield/AeroShield_PID/AeroShield_PID.ino b/examples/AeroShield/AeroShield_PID/AeroShield_PID.ino
@@ -28,7 +28,7 @@
 #define TI 0.55                        // PID Ti constant
 #define TD 0.25                       // PID Td constant
 
-unsigned long Ts = 3;                 // Sampling period in milliseconds
+unsigned long Ts = 5;                 // Sampling period in milliseconds
 unsigned long k = 0;                  // Sample index
 bool nextStep = false;                // Flag for step function
 bool realTimeViolation = false;       // Flag for real-time sampling violation
@@ -41,7 +41,7 @@ float y = 0.0;                // Output (Current pendulum angle)
 float u = 0.0;                // Input (motor power)
 
 void setup() {                                                  //  Setup - runs only once
-  Serial.begin(2000000);                                         //  Begin serial communication
+  Serial.begin(115200);                                         //  Begin serial communication
   AeroShield.begin();                    //  Initialise AeroShield board
   AeroShield.calibrate();              //  Calibrate AeroShield board + store the 0° value of the pendulum
   Sampling.period(Ts * 1000);            // Set sampling period in milliseconds

diff --git a/examples/FloatShield/FloatShield_Identification/FloatShield_Identification.ino b/examples/FloatShield/FloatShield_Identification/FloatShield_Identification.ino
@@ -60,7 +60,7 @@ float powerSpan = 6;                // Span +/- from stabilised value of power [
 #endif
 
 void setup() {                         // Setup - runs only once
-    Serial.begin(250000);              // Begin serial communication
+    Serial.begin(115200);              // Begin serial communication
 
     FloatShield.begin();               // Initialise FloatShield board
     FloatShield.calibrate();           // Calibrate FloatShield board

diff --git a/examples/FloatShield/FloatShield_LQ/FloatShield_LQ.ino b/examples/FloatShield/FloatShield_LQ/FloatShield_LQ.ino
@@ -54,7 +54,7 @@ BLA::Matrix<4, 1> X = {0, 0, 0, 0};                                 // Estimated
 BLA::Matrix<4, 1> Xr = {0, 0, 0, 0};                                // Reference state vector
 
 void setup() {                       // Setup - runs only once
-  Serial.begin(250000);              // Begin serial communication
+  Serial.begin(115200);              // Begin serial communication
 
   FloatShield.begin();               // Initialise FloatShield board
   FloatShield.calibrate();           // Calibrate FloatShield board

diff --git a/examples/FloatShield/FloatShield_MPC/FloatShield_MPC.ino b/examples/FloatShield/FloatShield_MPC/FloatShield_MPC.ino
@@ -54,7 +54,7 @@ float Xr[4] = {0, 0, 0, 0};         // Reference state vector
 extern struct mpc_ctl ctl;          // Object representing presets for MPC controller
 
 void setup() {                       // Setup - runs only once
-  Serial.begin(250000);              // Begin serial communication
+  Serial.begin(115200);              // Begin serial communication
 
   FloatShield.begin();               // Initialise FloatShield board
   FloatShield.calibrate();           // Calibrate FloatShield board

diff --git a/examples/FloatShield/FloatShield_OpenLoop/FloatShield_OpenLoop.ino b/examples/FloatShield/FloatShield_OpenLoop/FloatShield_OpenLoop.ino
@@ -27,7 +27,7 @@ unsigned long Ts = 25;                // Sampling period in milliseconds
 bool nextStep = false;                // Flag for step function
 
 void setup() {                        // Setup - runs only once
-    Serial.begin(250000);             // Begin serial communication
+    Serial.begin(115200);             // Begin serial communication
 
     FloatShield.begin();              // Initialise FloatShield
     FloatShield.calibrate();          // Calibrate FloatShield

diff --git a/examples/FloatShield/FloatShield_PID/FloatShield_PID.ino b/examples/FloatShield/FloatShield_PID/FloatShield_PID.ino
@@ -53,7 +53,7 @@ int i = 0;                // Section counter
 #endif
 
 void setup() {                         // Setup - runs only once
-    Serial.begin(250000);              // Begin serial communication
+    Serial.begin(115200);              // Begin serial communication
 
     FloatShield.begin();               // Initialise FloatShield board
     FloatShield.calibrate();           // Calibrate FloatShield board

diff --git a/examples/MagnetoShield/MagnetoShield_EMPC/MagnetoShield_EMPC.ino b/examples/MagnetoShield/MagnetoShield_EMPC/MagnetoShield_EMPC.ino
@@ -60,7 +60,7 @@ static float u_opt[MPT_RANGE];      // predicted inputs
 extern struct mpc_ctl ctl;          // Object representing presets for MPC controller
 
 void setup() {                      // Setup - runs only once
-  Serial.begin(250000);             // Begin serial communication
+  Serial.begin(115200);             // Begin serial communication
 
   MagnetoShield.begin();            // Initialize MagnetoShield device
   MagnetoShield.calibration();      // Calibrate MagnetoShield device

diff --git a/examples/MagnetoShield/MagnetoShield_Identification/MagnetoShield_Identification.ino b/examples/MagnetoShield/MagnetoShield_Identification/MagnetoShield_Identification.ino
@@ -56,6 +56,8 @@ int   wP=(int)wPP*100;                // For (pseudo)-random generator
   unsigned long Ts = 5000;              // Sampling in microseconds                
 #elif ARDUINO_ARCH_SAM
   unsigned long Ts = 3250;              // Sampling in microseconds
+#elif ARDUINO_ARCH_RENESAS_UNO
+  unsigned long Ts = 5000;              // Sampling in microseconds
 #endif  
 
 void setup() {
@@ -64,6 +66,8 @@ void setup() {
   Serial.begin(2000000);                 // Initialize serial, maximum for AVR given by hardware
 #elif ARDUINO_ARCH_SAM
   Serial.begin(250000);                  // Initialize serial, maximum for Due (baud mismatch issues)
+#elif ARDUINO_ARCH_RENESAS_UNO
+      Serial.begin(115200);              // Initialize serial, maximum for UNO R4 (serial communication limitations)
 #endif
 
   // Initialize and calibrate board

diff --git a/examples/MagnetoShield/MagnetoShield_LQ/MagnetoShield_LQ.ino b/examples/MagnetoShield/MagnetoShield_LQ/MagnetoShield_LQ.ino
@@ -53,13 +53,16 @@ float u0  =  4.6234;                // [V] Linearization point based on the expe
 int i = 0;                          // Section counter
 
 #if ARDUINO_ARCH_AVR
-float Ts = 5;                       // Sampling in microseconds, lower limit near 5 ms
+  float Ts = 5;                       // Sampling in microseconds, lower limit near 5 ms
   int T = 1000;                     // Experiment section length (steps) 
 #elif ARDUINO_ARCH_SAMD
-float Ts = 5;                       // Sampling in microseconds
+  float Ts = 5;                       // Sampling in microseconds
   int T = 1000;                     // Experiment section length (steps) 
 #elif ARDUINO_ARCH_SAM
- float Ts = 5;                      // Sampling in microseconds, lower limit 1.3 ms
+  float Ts = 5;                      // Sampling in microseconds, lower limit 1.3 ms
+  int T = 1000;                     // Experiment section length (steps) 
+#elif ARDUINO_ARCH_RENESAS_UNO
+  float Ts = 5;                      // Sampling in microseconds, lower limit 1.3 ms
   int T = 1000;                     // Experiment section length (steps) 
 #endif
 
@@ -85,8 +88,10 @@ void setup() {
       AutomationShield.print("Kalman filter cannot be used with this architecture! Set USE_DIFFERENTIATION to 1  and USE_KALMAN_FILTER to 0 or use Aduino DUE!");
       return 0;
     #endif 
-#elif ARDUINO_ARCH_SAM
+#elif ARDUINO_ARCH_SAM 
     Serial.begin(250000);                  // Initialize serial, maximum for Due (baud mismatch issues)
+#elif ARDUINO_ARCH_RENESAS_UNO
+      Serial.begin(115200);               // Initialize serial, maximum for UNO R4 (serial communication limitations)
 #endif 
 
   // Initialize and calibrate board

diff --git a/examples/MagnetoShield/MagnetoShield_PID/MagnetoShield_PID.ino b/examples/MagnetoShield/MagnetoShield_PID/MagnetoShield_PID.ino
@@ -58,6 +58,9 @@ float u = 0.0;                        // [V] Input
 #elif ARDUINO_ARCH_SAM
   unsigned long Ts = 5000;                 // Sampling in microseconds, lower limit 1.3 ms
   int T = 1000;                            // Experiment section length (steps) 
+#elif ARDUINO_ARCH_RENESAS_UNO
+  float Ts = 5;                      // Sampling in microseconds, lower limit 1.3 ms
+  int T = 1000;                     // Experiment section length (steps) 
 #endif  
 
 void setup() {
@@ -66,6 +69,8 @@ void setup() {
     Serial.begin(2000000);                 // Initialize serial, maximum for AVR given by hardware    
 #elif ARDUINO_ARCH_SAM
     Serial.begin(250000);                  // Initialize serial, maximum for Due (baud mismatch issues)
+#elif ARDUINO_ARCH_RENESAS_UNO
+      Serial.begin(115200);                  // Initialize serial, maximum for UNO R4 (serial communication limitations)
 #endif 
 
   // Initialize and calibrate board

diff --git a/examples/MagnetoShield/MagnetoShield_PolePlacement/MagnetoShield_PolePlacement.ino b/examples/MagnetoShield/MagnetoShield_PolePlacement/MagnetoShield_PolePlacement.ino
@@ -59,7 +59,10 @@ float Ts = 5;                       // Sampling in microseconds
   int T = 1000;                     // Experiment section length (steps) 
 #elif ARDUINO_ARCH_SAM
  float Ts = 4;                      // Sampling in microseconds, lower limit 1.3 ms
-  int T = 1000;                     // Experiment section length (steps) 
+  int T = 1000;                     // Experiment section length (steps)
+#elif ARDUINO_ARCH_RENESAS_UNO
+  float Ts = 5;                      // Sampling in microseconds, lower limit 1.3 ms
+  int T = 1000;                     // Experiment section length (steps)  
 #endif
 
 #if USE_KALMAN_FILTER && ARDUINO_ARCH_SAM
@@ -86,6 +89,8 @@ void setup() {
     #endif 
 #elif ARDUINO_ARCH_SAM
     Serial.begin(250000);                  // Initialize serial, maximum for Due (baud mismatch issues)
+#elif ARDUINO_ARCH_RENESAS_UNO
+      Serial.begin(115200);               // Initialize serial, maximum for UNO R4 (serial comunication limitations)
 #endif 
 
   // Initialize and calibrate board

diff --git a/examples/PressureShield/PressureShield_Identification/PressureShield_Identification.ino b/examples/PressureShield/PressureShield_Identification/PressureShield_Identification.ino
@@ -34,7 +34,7 @@ int T = 300;            // Section length
 int i = 0;              // Section counter
 
 void setup() {
-  Serial.begin(2000000);               // Initialize serial
+  Serial.begin(115200);               // Initialize serial
 
   // Initialize and calibrate board
   PressureShield.begin();               // Define hardware pins

diff --git a/examples/PressureShield/PressureShield_LQ/PressureShield_LQ.ino b/examples/PressureShield/PressureShield_LQ/PressureShield_LQ.ino
@@ -29,7 +29,7 @@ BLA::Matrix<3, 1> X = {0, 0, 0};                             // Estimated state
 BLA::Matrix<3, 1> Xr = {0, 0, 0};                            // Reference state vector
 
 void setup() {                     // Setup - runs only once
-  Serial.begin(2000000);           // Begin serial communication
+  Serial.begin(115200);           // Begin serial communication
 
   PressureShield.begin();          // Initialise PressureShield board
   PressureShield.calibration();    // Calibrate PressureShield board

diff --git a/examples/TugShield/TugShield_PID/TugShield_PID.ino b/examples/TugShield/TugShield_PID/TugShield_PID.ino
@@ -38,7 +38,7 @@ float u ;                           // Input
 #define TD 0.0                      // PID Td
 
 void setup() {
-  Serial.begin(250000);              // Initialize serial
+  Serial.begin(115200);              // Initialize serial
 
   // Initialize and calibrate board
   TugShield.begin();                // Define hardware pins

diff --git a/extras/MagnetoShield/Scilab_Speed_Test_Server/Scilab_Speed_Test_Server.ino b/extras/MagnetoShield/Scilab_Speed_Test_Server/Scilab_Speed_Test_Server.ino
@@ -515,7 +515,7 @@ if (val == 73) { //I -> Provisional I2C
       // no declaration for the moment : wait for encoder mode
       while (Serial.available() == 0) {};               // Waiting char
       int mode = Serial.read() - 48;                    // Read mode 1 ou 2 (1 counting only rising of chA, 2 counting rising and falling)
-      if (mode == 4) {                                  // mode 4x : 2 cases : chA=pin2 / chB=pin3 or chA=pin3/chB=pin2 [Uno retriction]
+      if (mode == 4) {                                  // mode 4x : 2 cases : chA=pin2 / chB=pin3 or chA=pin3/chB=pin2 [Uno restriction]
         pinMode(corresp[encoder_int2], INPUT);         // set interrupt number as input
       } else {
         pinMode(encoder_int2, INPUT);                  // set pin as input

diff --git a/src/AeroShield.cpp b/src/AeroShield.cpp
@@ -12,30 +12,24 @@
   Attribution-NonCommercial 4.0 International License.
 
   Created by Peter Tibenský, Erik Mikuláš and Ján Boldocký
-  Last update: 09.06.2023
+  Last update: 03.10.2023
 */
 
 #include "AeroShield.h"         // Include header file
 
 // Initializes hardware pins
 float AeroClass::begin(void){                                 // Board initialisation
-  #ifdef ARDUINO_ARCH_AVR                                             // For AVR architecture boards
+  #if  defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_RENESAS_UNO)  // For AVR, SAMD, Renesas architecture boards
     Wire.begin();                                                     // Use Wire object
     as5600.setWirePtr(&Wire);                                                    
   #elif ARDUINO_ARCH_SAM                                              // For SAM architecture boards
     Wire1.begin();                                                    // Use Wire1 object
     as5600.setWirePtr(&Wire1);                                                   
-  #elif ARDUINO_ARCH_SAMD                                             // For SAMD architecture boards
-    Wire.begin();                                                     // Use Wire object
-    as5600.setWirePtr(&Wire);
   #endif
 
 
   as5600.begin();
   bool isDetected = as5600.detectMagnet();
-  //pinMode(AERO_UPIN, OUTPUT);  		                                  // Actuator pin
-  //pinMode(AERO_RPIN, INPUT);
-  //pinMode(AERO_VOLTAGE_SENSOR_PIN, INPUT);
   if(isDetected == 0){                                           // If magnet not detected go on
     while(1){                                                           // Go forever until magnet detected 
         if(isDetected == 1){                                           // If magnet detected

diff --git a/src/AutomationShield.h b/src/AutomationShield.h
@@ -29,7 +29,7 @@
 #ifdef ARDUINO_ARCH_AVR                     // Chip uses 10-bit ADC
 
 	#define ADCREF 1023.0					// 10-bit resolution for AD converter
-#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM // Chip uses 12-bit ADC
+#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_SAM || ARDUINO_ARCH_RENESAS_UNO  // Chip uses 12-bit ADC
 	#define ADCREF 4095.0					// 12-bit resolution for AD converter
 #endif
 
@@ -53,7 +53,7 @@
 	float quality(float, char *method); 															// Quality metric for feedback control input
 
 	// Printing functions
-    void serialPrint(const char *str); 														// Should be renamed to diagnostic printLowHigh
+  void serialPrint(const char *str); 														// Should be renamed to diagnostic printLowHigh
 	void print(float, float, float);
 	void printLowHigh(char *named, float low, float high, char *unit, short int precision); // Prints a single line for range measurements in an ordered form
 	void printSeparator(char); 																// Prints a line of dashes, 60 characters wide, then a new line.

diff --git a/src/FloatShield.cpp b/src/FloatShield.cpp
@@ -39,7 +39,7 @@ void FloatClass::begin(void) {                                      // Board ini
 #elif ARDUINO_ARCH_SAM                                              // For SAM architecture boards
   analogReadResolution(12);
   Wire1.begin();                                                    // Use Wire1 object
-#elif ARDUINO_ARCH_SAMD                                             // For SAMD architecture boards
+#elif ARDUINO_ARCH_SAMD || ARDUINO_ARCH_RENESAS_UNO                 // For SAMD and RA4M1 architecture boards
   analogReadResolution(12);
   Wire.begin();                                                     // Use Wire object
 #endif
@@ -94,7 +94,7 @@ void FloatClass::calibrate(void) {                       // Board calibration
 
 #if SHIELDRELEASE == 4
 void FloatClass::dacWrite(uint16_t DAClevel){	// 16 bits in the form (0,0,0,0,D11,D10,D9,D8,D7,D6,D5,D4,D3,D2,D1,D0)
-	#ifdef ARDUINO_ARCH_AVR
+	#if (defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_RENESAS_UNO) || defined(ARDUINO_ARCH_SAMD))
 		Wire.beginTransmission(MCP4725); 					//addressing
 	    Wire.write(0x40); 								// write dac(DAC and EEPROM is 0x60)
 	    uint8_t firstbyte=(DAClevel>>4);					//(0,0,0,0,0,0,0,0,D11,D10,D9,D8,D7,D6,D5,D4) of which only the 8 LSB's survive
@@ -112,15 +112,6 @@ void FloatClass::dacWrite(uint16_t DAClevel){	// 16 bits in the form (0,0,0,0,D1
 	    Wire1.write(firstbyte); //first 8 MSB's
 	    Wire1.write(secndbyte); //last 4 LSB's
 	    Wire1.endTransmission();
-	#elif ARDUINO_ARCH_SAMD
-		Wire.beginTransmission(MCP4725); 					//addressing
-	    Wire.write(0x40); 								// write dac(DAC and EEPROM is 0x60)
-	    uint8_t firstbyte=(DAClevel>>4);					//(0,0,0,0,0,0,0,0,D11,D10,D9,D8,D7,D6,D5,D4) of which only the 8 LSB's survive
-	    DAClevel = DAClevel << 12;  						//(D3,D2,D1,D0,0,0,0,0,0,0,0,0,0,0,0,0) 
-	    uint8_t secndbyte=(DAClevel>>8);					//(0,0,0,0,0,0,0,0,D3,D2,D1,D0,0,0,0,0) of which only the 8 LSB's survive.
-	    Wire.write(firstbyte); //first 8 MSB's
-	    Wire.write(secndbyte); //last 4 LSB's
-	    Wire.endTransmission();
 	#endif
 }
 

diff --git a/src/LinkShield.h b/src/LinkShield.h
@@ -68,6 +68,9 @@ void LinkClass::begin() {
   #elif ARDUINO_ARCH_SAMD
         //analogReadResolution(12);
 	Wire.begin(); // Initialize I2C communication
+  #elif ARDUINO_ARCH_RENESAS_UNO
+    Wire.begin();	// Starts the "Wire" library for I2C
+	  analogReference(AR_EXTERNAL); // Set reference voltage
   #endif
 
   LinkShield.ADXL_POWER_CTL();