Interfacing DynamixelSDK with STM32H743ZI running Zephyr RTOS

[bdesterBEC]

Hello!

I am attempting to interface an XW540-T260-R and XH430-W210 with a Nucleo STM32H74ZI dev board running Zephyr RTOS. The plan is to use an RS485 transceiver with UART underneath as the protocol. For now I will be supplying power to the servos with the U2D2 Power Hub Board.

I have taken a look at the DynamixelSDK and noticed that there is not any direct way to interface with a microcontroller other than an Arduino. My idea right now is to create a small API which defines a new port handler so that I can make use of the rest of the SDK for packet handling. Alternatively, I was considering maybe creating a wrapper of one of the already existing port handlers, though I am not entirely sure yet what they may look like. Before I dive too deep though, I was wondering if anybody had any suggestion as to whether one of these options or something else is the best course of action, or if there may be a library that already exists somewhere that I could be pointed to that would solve this issue. I am planning on using C or C++ for this.

Thank you and any help is appreciated!

Brandon

[Yogurt_Man]

It might be hard to modify the DYNAMIXEL SDK directly. Another option is to refer to other approach as you thought.

I found that the following library for the use of DYNAMIXEL X series with Nucleo board, in C. As the DYNAMIXEL follows the same comm rule (DYNAMIXEL Protocol 2.0), it may give you hint how to interface.

https://www.enib.fr/~kerhoas/dynamixel.html

Although, the library suggested using the DYNAMIXEL Shield, you can use RS485 converter or build comm interface instead of using DYNAMIXEL Shield.