Add Raspberry Pi Pico port (#1232)

* Add Raspberry Pi Pico port - Adds BACnet/IP with abstracted network layer - Adds BACnet MS/TP support using RS485/UART - Includes README with examples * Add Pico 2 MS/TP demo, CI, and docs
2026-03-25 14:22:09 +01:00
parent 5eda68d381
commit 17e94092a1
17 changed files with 1720 additions and 0 deletions
@@ -0,0 +1,108 @@
+/**************************************************************************
+ *
+ * Copyright (C) 2025 Testimony Adams <adamstestimony@gmail.com>
+ *
+ * SPDX-License-Identifier: GPL-2.0-or-later WITH GCC-exception-2.0
+ *
+ *********************************************************************/
+
+#include "dlenv.h"
+#include <stdio.h>
+
+volatile struct mstp_port_struct_t MSTP_Port;
+
+/* Internal state associated with that port */
+static struct dlmstp_user_data_t MSTP_User_Data;
+static uint8_t Input_Buffer[DLMSTP_MPDU_MAX];
+static uint8_t Output_Buffer[DLMSTP_MPDU_MAX];
+
+static struct dlmstp_rs485_driver RS485_Driver = {
+    .init = rs485_init,
+    .send = rs485_bytes_send,
+    .read = rs485_byte_available,
+    .transmitting = rs485_rts_enabled,
+    .baud_rate = rs485_baud_rate,
+    .baud_rate_set = rs485_baud_rate_set,
+    .silence_milliseconds = rs485_silence_milliseconds,
+    .silence_reset = rs485_silence_reset
+};
+
+// TO BE IMPROVED
+volatile bool g_mstp_have_token = false;
+volatile uint8_t g_last_frame_type = 0;
+volatile uint8_t g_last_src = 0;
+volatile uint8_t g_last_dst = 0;
+
+static void mstp_frame_rx_complete_cb(
+    uint8_t src, uint8_t dst, uint8_t frame_type, uint8_t *buf, uint16_t len)
+{
+    (void)buf;
+    (void)len;
+
+    g_last_src = src;
+    g_last_dst = dst;
+    g_last_frame_type = frame_type;
+
+    // TO BE IMPROVED (For other frame types as needed)
+    if (frame_type == FRAME_TYPE_TOKEN) {
+        g_mstp_have_token = true;
+    }
+}
+
+bool pico_dlenv_init(uint8_t mac_address)
+{
+    /* RS-485 low-level init (pins, UART config, etc.) */
+    RS485_Driver.init();
+
+    /* Configure MSTP port structure that the core stack will drive */
+    MSTP_Port.Nmax_info_frames = BACNET_MSTP_MAX_INFO_FRAMES;
+    MSTP_Port.Nmax_master = BACNET_MSTP_MAX_MASTER;
+
+    MSTP_Port.InputBuffer = Input_Buffer;
+    MSTP_Port.InputBufferSize = sizeof(Input_Buffer);
+    MSTP_Port.OutputBuffer = Output_Buffer;
+    MSTP_Port.OutputBufferSize = sizeof(Output_Buffer);
+
+    /* No ZeroConfig / slaves / auto-baud for this Pico port (you can tweak) */
+    MSTP_Port.ZeroConfigEnabled = false;
+    MSTP_Port.SlaveNodeEnabled = false;
+    MSTP_Port.CheckAutoBaud = false;
+
+    MSTP_Zero_Config_UUID_Init((struct mstp_port_struct_t *)&MSTP_Port);
+
+    /* Hook the RS-485 driver into the MS/TP layer */
+    MSTP_User_Data.RS485_Driver = &RS485_Driver;
+    MSTP_Port.UserData = &MSTP_User_Data;
+
+    /* Start the MS/TP state machine using our port */
+    if (!dlmstp_init((char *)&MSTP_Port)) {
+        return false;
+    }
+
+    /* Apply logical MS/TP parameters */
+    dlmstp_set_mac_address(mac_address);
+    dlmstp_set_baud_rate(RS485_BAUD_RATE);
+    // dlmstp_slave_mode_enabled_set(true);
+    dlmstp_set_max_master(BACNET_MSTP_MAX_MASTER);
+    dlmstp_set_max_info_frames(BACNET_MSTP_MAX_INFO_FRAMES);
+    dlmstp_set_frame_rx_complete_callback(mstp_frame_rx_complete_cb);
+    // TO BE IMPROVED (Add other callbacks as needed)
+    dlmstp_set_frame_not_for_us_rx_complete_callback(NULL);
+    dlmstp_set_invalid_frame_rx_complete_callback(NULL);
+    dlmstp_set_frame_rx_start_callback(NULL);
+
+    return true;
+}
+
+/* The stack may call this periodically; for this Pico MS/TP-only port
+   we don't need extra maintenance, so it's just a no-op. */
+void dlenv_maintenance_timer(uint16_t seconds)
+{
+    (void)seconds;
+}
+
+/* Likewise, nothing special to clean up on embedded target */
+void dlenv_cleanup(void)
+{
+    /* no action */
+}