Used the UART data structures instead of the USART ones.

CMakeLists.txt

@@ -80,7 +80,7 @@ set(hal_sources ./stm32_hal/f1/src/stm32f1xx_hal_gpio.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_tim.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_tim_ex.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_dma.c
-                ./stm32_hal/f1/src/stm32f1xx_hal_usart.c
+                ./stm32_hal/f1/src/stm32f1xx_hal_uart.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_flash.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_flash_ex.c
                 ./stm32_hal/f1/src/stm32f1xx_hal_adc.c

include/stm32f1xx_hal_conf.h

@@ -80,8 +80,8 @@
 #define HAL_SPI_MODULE_ENABLED
 //#define HAL_SRAM_MODULE_ENABLED
 #define HAL_TIM_MODULE_ENABLED
-//#define HAL_UART_MODULE_ENABLED
-#define HAL_USART_MODULE_ENABLED
+#define HAL_UART_MODULE_ENABLED
+//#define HAL_USART_MODULE_ENABLED
 //#define HAL_WWDG_MODULE_ENABLED
 
 /* ########################## Oscillator Values adaptation ####################*/

src/darwin_dyn_master.c

@@ -36,8 +36,8 @@ void darwin_dyn_master_set_tx_mode(void)
 TDynamixelMaster *darwin_dyn_master_init(void)
 {
   GPIO_InitTypeDef GPIO_InitStructure;
-  TUSART_IRQ_Priorities priorities;
-  USART_InitTypeDef Init;
+  TUART_IRQ_Priorities priorities;
+  UART_InitTypeDef Init;
 
   // initialize timer structure
   time_init(&darwin_dyn_master_timer,darwin_time_get_counts_per_us(),darwin_time_get_counts);
@@ -67,13 +67,12 @@ TDynamixelMaster *darwin_dyn_master_init(void)
   /* initialize the comm object */
   comm_init(&darwin_dyn_master_comm,0x01,&darwin_dyn_master_timer);
   Init.BaudRate     = 1000000; //57600;
-  Init.WordLength   = USART_WORDLENGTH_8B;
-  Init.StopBits     = USART_STOPBITS_1;
-  Init.Parity       = USART_PARITY_NONE;
-  Init.Mode         = USART_MODE_TX_RX;
-  Init.CLKPolarity  = USART_POLARITY_LOW;
-  Init.CLKPhase     = USART_PHASE_1EDGE;
-  Init.CLKLastBit   = USART_LASTBIT_DISABLE;
+  Init.WordLength   = UART_WORDLENGTH_8B;
+  Init.StopBits     = UART_STOPBITS_1;
+  Init.Parity       = UART_PARITY_NONE;
+  Init.Mode         = UART_MODE_TX_RX;
+  Init.HwFlowCtl    = UART_HWCONTROL_NONE;
+  Init.OverSampling = UART_OVERSAMPLING_16;
   
   priorities.irq_priority=0;
   priorities.irq_subpriority=1;

src/darwin_dyn_master2.c

@@ -37,8 +37,8 @@ void darwin_dyn_master2_set_tx_mode(void)
 TDynamixelMaster *darwin_dyn_master2_init(void)
 {
   GPIO_InitTypeDef GPIO_InitStructure;
-  TUSART_IRQ_Priorities priorities;
-  USART_InitTypeDef Init;
+  TUART_IRQ_Priorities priorities;
+  UART_InitTypeDef Init;
 
   // initialize timer structure
   time_init(&darwin_dyn_master2_timer,darwin_time_get_counts_per_us(),darwin_time_get_counts);
@@ -61,13 +61,12 @@ TDynamixelMaster *darwin_dyn_master2_init(void)
   /* initialize the comm object */
   comm_init(&darwin_dyn_master2_comm,0x01,&darwin_dyn_master2_timer);
   Init.BaudRate     = 1000000; //57600;
-  Init.WordLength   = USART_WORDLENGTH_8B;
-  Init.StopBits     = USART_STOPBITS_1;
-  Init.Parity       = USART_PARITY_NONE;
-  Init.Mode         = USART_MODE_TX_RX;
-  Init.CLKPolarity  = USART_POLARITY_LOW;
-  Init.CLKPhase     = USART_PHASE_1EDGE;
-  Init.CLKLastBit   = USART_LASTBIT_DISABLE;
+  Init.WordLength   = UART_WORDLENGTH_8B;
+  Init.StopBits     = UART_STOPBITS_1;
+  Init.Parity       = UART_PARITY_NONE;
+  Init.Mode         = UART_MODE_TX_RX;
+  Init.HwFlowCtl    = UART_HWCONTROL_NONE;
+  Init.OverSampling = UART_OVERSAMPLING_16;
   
   priorities.irq_priority=0;
   priorities.irq_subpriority=2;

src/darwin_dyn_slave.c

@@ -9,7 +9,7 @@ TDynamixelSlave darwin_dyn_slave;
 TDynamixelSlaveDevice darwin_dyn_slave_device;
 TTime darwin_dyn_slave_timer;
 TComm darwin_dyn_slave_comm;
-USART_InitTypeDef darwin_comm_init;
+UART_InitTypeDef darwin_comm_init;
 TScheduler *darwin_dyn_slave_sch;
 
 /* memory module */
@@ -40,7 +40,7 @@ void darwin_on_ping(void)
 // public functions
 uint8_t darwin_dyn_slave_init(TMemory **memory,TScheduler *scheduler)
 {
-  TUSART_IRQ_Priorities priorities;
+  TUART_IRQ_Priorities priorities;
   uint8_t status;
 
   // initialize timer structure
@@ -49,13 +49,12 @@ uint8_t darwin_dyn_slave_init(TMemory **memory,TScheduler *scheduler)
   /* initialize the comm object */
   comm_init(&darwin_dyn_slave_comm,0x01,&darwin_dyn_slave_timer);
   darwin_comm_init.BaudRate     = 2000000/(DEFAULT_BAUDRATE+1);
-  darwin_comm_init.WordLength   = USART_WORDLENGTH_8B;
-  darwin_comm_init.StopBits     = USART_STOPBITS_1;
-  darwin_comm_init.Parity       = USART_PARITY_NONE;
-  darwin_comm_init.Mode         = USART_MODE_TX_RX;
-  darwin_comm_init.CLKPolarity  = USART_POLARITY_LOW;
-  darwin_comm_init.CLKPhase     = USART_PHASE_1EDGE;
-  darwin_comm_init.CLKLastBit   = USART_LASTBIT_DISABLE;
+  darwin_comm_init.WordLength   = UART_WORDLENGTH_8B;
+  darwin_comm_init.StopBits     = UART_STOPBITS_1;
+  darwin_comm_init.Parity       = UART_PARITY_NONE;
+  darwin_comm_init.Mode         = UART_MODE_TX_RX;
+  darwin_comm_init.HwFlowCtl    = UART_HWCONTROL_NONE;
+  darwin_comm_init.OverSampling = UART_OVERSAMPLING_16;
   
   priorities.irq_priority=0;
   priorities.irq_subpriority=0;

stm32_libraries @ cbc6cc15

-Subproject commit c3575a6117c3a0bdac5d242d89eba6fa264c3938
+Subproject commit cbc6cc15187483ea809552e03aa23ef3df004439