1fad381513
As I mentioned in issue #6310 while investigating that the Teensy port did not support RS485_dir pin on normal GPIO pins, I found that it was not implemented either as well on some other ports. So was curious to implement it for RP2040 using same approach as I did for the MIMXRT in the Pull Request #6328 That is I setup the specified pin as a normal GPIO pin in output mode and then when you do a write operation it sets the GPIO pin logically high, and when the write completes I set it logically low. Note: knowing when I can set it low can be tricky, as you need to make sure the full output has completed otherwise the data will be corrupted. I am using: uart_tx_wait_blocking(self->uart); Which looks like it is supposed to wait until the busy status is no longer set, which the Reference manual mentioned, but this is leaving the line logically set longer than I would like. however I have tried running it with my hacked up version of the Python Robotis DynamixelSDK and was able to talk to some AX servos. I did have to change the library slightly for the RP2040, as the library was erroring out when you did something like uart.read(5) and it timed out without receiving anything. The RP2040 returned None whereas I think the Teensy returned an empty set, which is what it looks like the PySerial original code expects. Not sure if anyone is interested in this, but thought i would put it out as PR and see.
55 lines
1.9 KiB
C
55 lines
1.9 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2021 microDev
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#ifndef MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_BUSIO_UART_H
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#define MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_BUSIO_UART_H
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#include "py/obj.h"
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#include "py/ringbuf.h"
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#include "src/rp2_common/hardware_uart/include/hardware/uart.h"
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typedef struct {
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mp_obj_base_t base;
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uint8_t tx_pin;
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uint8_t rx_pin;
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uint8_t cts_pin;
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uint8_t rs485_dir_pin;
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bool rs485_invert;
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uint8_t rts_pin;
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uint8_t uart_id;
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uint8_t uart_irq_id;
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uint32_t baudrate;
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uint32_t timeout_ms;
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uart_inst_t *uart;
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ringbuf_t ringbuf;
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} busio_uart_obj_t;
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extern void reset_uart(void);
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extern void never_reset_uart(uint8_t num);
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#endif // MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_BUSIO_UART_H
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