Using RS485 ports for communication

[sonelu]

Hi all.

I am using a SC16IS762 SPI>UART chip to create the busses for Dynamixel and then 74LVC2G241 buffers to covert to semi duplex. The control of the buffers are done using the ~RTS pin of the SC16IS762 and for this to work properly the chip needs to be put in RS485 mode.

Despite my efforts I could not find a way to automatically configure the /dev/ttySC0 and /dev/ttySC1 with RS485 settings automatically at boot time. I have to specifically activate the RS485 settings after the port is open.

As a result, I use a modified version of ROBOTIS-Framework, a not very nice solution.

I would be interested to post pull requests to update the robotis_controller.cpp and robot.cpp so that we can have an additional parameter in the .robot file in the [port info] section to indicate if the port needs RS485 enabled and then do the initialisation in robotis_controller.cpp after the setting of the baud rate.