testing

Author: t413

lib/src/multimotor/serial/lx_servo.cpp

@@ -32,8 +32,7 @@ LXServo::LXServo(uint8_t id, SerialDriveManager* bus)
 
 bool LXServo::send(uint8_t cmd, const uint8_t* params, int param_cnt, uint8_t id) {
     if (param_cnt < 0 || param_cnt > 4) return false;
-    auto serial = (bus_? bus_->getInterface() : nullptr);
-    if (!serial) return false;
+    if (!bus_) return false;
 
     uint8_t txbuf[32] = {0};
     int buflen = 6 + param_cnt;
@@ -51,7 +50,7 @@ bool LXServo::send(uint8_t cmd, const uint8_t* params, int param_cnt, uint8_t id
         cksum += txbuf[i];
     txbuf[buflen - 1] = ~cksum;
 
-    serial->write(txbuf, buflen);
+    bus_->write(txbuf, buflen);
     return true;
 }
 

lib/src/multimotor/serial/serial_drive_manager.cpp

@@ -5,6 +5,34 @@
 #include "../debugprint.h"
 #include "lx_servo.h"
 
+void SerialDriveManager::beginSinglePin(SerialInterface* port, int txRxPin) {
+    interface_ = port;
+    uartSinglePin_ = txRxPin;
+    if (!interface_)
+        return;
+#ifdef ARDUINO_ARCH_ESP32
+    auto serial = (HardwareSerial*)interface_;
+    serial->begin(115200, SERIAL_8N1, txRxPin, txRxPin);
+    pinMode(txRxPin, OUTPUT | PULLUP);
+#endif
+    delay(3);
+    while (interface_->available())
+        interface_->read();
+}
+
+void SerialDriveManager::beginDualPins(SerialInterface* port, int txPin, int rxPin) {
+    interface_ = port;
+    if (!interface_)
+        return;
+    uartSinglePin_ = GPIO_NUM_NC;
+    #ifdef ARDUINO
+    auto serial = (HardwareSerial*)interface_;
+    serial->begin(115200, SERIAL_8N1, txPin, rxPin);
+    #endif
+    pinMode(txPin, OUTPUT | PULLUP);
+    pinMode(rxPin, INPUT | PULLDOWN);
+}
+
 void SerialDriveManager::addDrive(MotorDrive* drive) {
     if (driveCount_ < MAX_DRIVES) {
         drives_[driveCount_++] = drive;
@@ -48,6 +76,13 @@ void SerialDriveManager::handleIncoming(uint32_t id, uint8_t const* indata, uint
 }
 
 void SerialDriveManager::iterate(uint32_t now) {
+    if (uartSinglePin_ != GPIO_NUM_NC) {
+        if (interface_->availableForWrite() < 1) { //finished write
+            pinMode(uartSinglePin_, INPUT | PULLUP);
+            delayMicroseconds(10);
+        }
+    }
+
     uint8_t buf[INBUF_LEN];
     int len = 0;
     while (interface_->available() && (len < INBUF_LEN)) {
@@ -57,3 +92,13 @@ void SerialDriveManager::iterate(uint32_t now) {
         handleIncoming(0, buf, len, now);
     }
 }
+
+void SerialDriveManager::write(uint8_t const* data, uint8_t len) {
+    if (!interface_ || len == 0) return;
+#if defined ARDUINO_ARCH_ESP32
+    if (uartSinglePin_ != GPIO_NUM_NC)
+        pinMode(uartSinglePin_, OUTPUT | PULLUP);
+    delayMicroseconds(10);
+#endif
+    interface_->write(data, len);
+}

lib/src/multimotor/serial/serial_drive_manager.h

@@ -4,8 +4,10 @@
 
 class SerialDriveManager : public DriveManager {
 public:
-    SerialDriveManager(SerialInterface* serialInterface) : interface_(serialInterface) {}
-    SerialInterface* getInterface() const { return interface_; }
+    SerialDriveManager() { }
+    // SerialInterface* getInterface() const { return interface_; }
+    void beginSinglePin(SerialInterface* port, int txRxPin);
+    void beginDualPins(SerialInterface* port, int txPin, int rxPin);
 
     virtual void addDrive(MotorDrive* drive) override;
     virtual MotorDrive* getDrive(uint8_t id) override;
@@ -15,10 +17,13 @@ class SerialDriveManager : public DriveManager {
     virtual void handleIncoming(uint32_t id, uint8_t const* data, uint8_t len, uint32_t now) override;
     virtual void iterate(uint32_t now) override;
 
+    void write(uint8_t const* data, uint8_t len);
+
 protected:
     static constexpr uint8_t MAX_DRIVES = 16;
     MotorDrive* drives_[MAX_DRIVES] = {nullptr};
     uint8_t driveCount_ = 0;
+    int uartSinglePin_ = -1;
     SerialInterface* interface_ = nullptr;
 
     static constexpr uint8_t INBUF_LEN = 32;