Please solve this error: 'Need to declare TCCR1A in this scope'. on Arduino R4 minima

[chaiy012]

#define BAUD 115200

class PID
{
private:
double _prev_time, _now, _dt;
double _prev_error, _error;
double _Kp, _Ki, _Kd;
int _direction;
double _setpoint;
double _integral;
double _output, _prev_output;

public:
PID()
{
_prev_time=_now=micros()*1e-6;
_prev_error=_error=0.0;
_dt=1e9;
_setpoint=0.0;
_integral=0.0;
_Kp=_Ki=_Kd=0.0;
_output=0.0;
_direction=1.0;
}

void reverse()
{
int _direction=-1;
}
void setPoint(double setpoint)
{
_setpoint=setpoint;
}

void setTunings(double Kp, double Ki, double Kd)
{
if(Ki!=0.0)
_integral*=_Ki / Ki;
_Kp=Kp;
_Ki=Ki;
_Kd=Kd;
}

double Compute(double input)
{
_now=micros() 1e-6;
if(_now>_prev_time)
_dt=_now-_prev_time;
_error=input-_setpoint;
_integral+=_error_dt;
_output= _Kp*_error+_Ki*_integral+_Kd*(_error-_prev_error)/_dt;
_prev_time=_now;
_prev_error=_error;
_prev_output=_output;
return (unsigned int) (_output*_direction)&0x00000000ff;
}
double getIntegral()
{
return _integral;
}
};

double Setpoint=500, Input, Output, Error;
double Kp_f = 0.4;
double Ki_f = 8;
double Kd_f = 0.0;

double Kp = 1;
double Ki = 20;
double Kd = 0.002;

unsigned long ii = 0;

PID myPID;

void setup() {
pinMode(6, OUTPUT);
TCCR1A = 0b00000001;
TCCR1B = 0b00001001;
pinMode (A0, INPUT);
Serial.begin (BAUD);
myPID.setTunings (Kp, Ki, Kd);
myPID.setPoint (Setpoint);
myPID.reverse ();
}

void loop()
{
Input=analogRead(A0); // put your main code here, to run repeatedly:
Error = Input-Setpoint;
if (abs(Error)<3)
myPID.setTunings (Kp_f,Ki_f,Kd_f);
else if(abs(Error)>5)
myPID.setTunings(Kp,Ki,Kd);
Input=analogRead(A0);
Output = myPID.Compute(Input);
analogWrite(6, Output);
if(ii++%100==0)
{
Serial.print(Input);
Serial.print(',');
Serial.print(Output);
Serial.print(',');
Serial.print(abs(Error)/Setpoint*100);
Serial.print(',');
Serial.print(myPID.getIntegral());
}
}

[JohnLincoln]

Timer and Counter Control Registers are used in the AVR microcontrollers used by many Arduinos, including the Arduino Uno R3.

However the Arduino Uno R4 uses a Renesas microcontroller that does not have these registers.

You will need to alter the lines

TCCR1A = 0b00000001;
TCCR1B = 0b00001001;

to something else, sorry I can't tell you what.

Other changes may be necessary .

The document Renesas RA4M1 Group - Users Manual - Hardware will give you more information.

[bobcousins]

Porting low level register access from one architecture to another is often not simple.

I would suggest trying to find sample code that runs on your board.
Failing that, get a board that supports the software you want to use.

I think the lines

@chaiy012

TCCR1A = 0b00000001;
TCCR1B = 0b00001001;

set the PWM frequency, see ISR timer interrupt combined with fast PWM frequency - #4 by ttijass

[JohnLincoln]

bob cousins,
Nicely said.