Code for UART communication between the Pi and Arduino
A few things must first be configured on the Pi.
- Clone this repository
- Link this repository to directory cs-minibot using command "ln -s ~/ece-minibot-communication ~/cs-minibot"
- Enable UART in system options
- Remove line "console=serial0,115200" from /boot/cmdline.txt
The Arduino does not require special configuration, simply program it with arduino/main/main.ino
Performance had been characterized using a Python script which times 10,000 performances of each GPIO command. The results using a baud rate of 1MHz are as follows:
| Command | Total time (s) | Time per command (ms) |
|---|---|---|
| digitalWrite | 3.528 | 0.353 |
| analogWrite | 3.558 | 0.356 |
| digitalRead | 9.604 | 0.960 |
| analogRead | 9.991 | 0.999 |
| motorDrive | 3.786 | 0.379 |
Write commands require an average of ~0.4 ms, while read commands require an average of ~1 ms. The best apparent potential action to improve performance is finding better serial libraries for either of the Pi or Arduino.