How to 'port_handler_ChibiOS'

[Wilzzer]

1. Which DYNAMIXEL SDK version do you use?

   • 3.7.31

2. Which programming language/tool do you use?

   • C

3. Which operating system do you use?

   • ChibiOS 20.3.x

4. Which USB serial converter do you use?

   • ex) USB2Dynamixel, U2D2, OpenCM904, OpenCR, etc

5. Which DYNAMIXEL do you use?

   • XM430-W250

6. Have you searched the issue from the closed issue threads?

   • Yes

7. Please describe the issue in detail Hi !

We want to use our Dynamixel on a microcontroller controlled by a tablet running on ChibiOS 20.3.x. From the DynamixelSDK's documentation, it seems that we'd only need to implement a personnalized port_handler_chibios.c based on existing port_handler files. How would you proceed for this ? Would this already be implemented somewhere ? Do you have any advices ?

Thank you, in advance, for your answer!

I wish you a pleasant day.

[ROBOTIS-Will]

Hi @Wilzzer Sorry, I do not have much experience with the RTOS so the information that I can provide might be very limited. Depending on DYNAMIXEL model you are using (XM430-W250-T or XM430-W250-R), you might need an additional hardware to convert the UART signal into 5V level TTL or RS-485 and vice versa. Just like you mentioned, you can create additional port handler file so that ChibiOS can access to a specific UART for transmitting and receiving packets between the tablet and DYNAMIXEL. Thanks!