Merge pull request #103 from ROBOTIS-GIT/portenta_support

add tx_en delay

Author: ROBOTIS-Will

src/utility/port_handler.cpp

@@ -45,6 +45,7 @@ void SerialPortHandler::begin(unsigned long baud)
 
   baud_ = baud;
   port_.begin(baud_);
+  mbedTXdelayus = 24000000 / baud;
 
   if(dir_pin_ != -1){
     pinMode(dir_pin_, OUTPUT);
@@ -107,6 +108,9 @@ size_t SerialPortHandler::write(uint8_t *buf, size_t len)
 
   if(dir_pin_ != -1){
     port_.flush();
+#if defined(ARDUINO_ARCH_MBED)
+  delayMicroseconds(mbedTXdelayus);
+#endif
     digitalWrite(dir_pin_, LOW);
     while(digitalRead(dir_pin_) != LOW);
   }

src/utility/port_handler.h

@@ -61,6 +61,7 @@ class SerialPortHandler : public DXLPortHandler
     HardwareSerial& port_;
     const int dir_pin_;
     unsigned long baud_;
+    unsigned int mbedTXdelayus;
 };