diff --git a/Makefile b/Makefile
index 48fe8d4d57ffa34dd66d3d148e28543a926574cd..418bd7f51c320402c65399732d9439f87577caa0 100755
--- a/Makefile
+++ b/Makefile
@@ -16,6 +16,7 @@ TARGET_FILES+=src/adc_dma.c
TARGET_FILES+=src/imu.c
TARGET_FILES+=src/darwin_dyn_slave.c
TARGET_FILES+=src/darwin_dyn_master.c
+TARGET_FILES+=src/darwin_dyn_master_v2.c
TARGET_FILES+=src/stm32f1xx_hal_msp.c
TARGET_FILES+=src/motion_manager.c
TARGET_FILES+=src/action.c
@@ -87,6 +88,7 @@ TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal_spi.c
TARGET_FILES+=$(HAL_PATH)/src/stm32f1xx_hal.c
TARGET_FILES+=$(USART_PATH)/src/usart3.c
+TARGET_FILES+=$(USART_PATH)/src/usart2.c
TARGET_FILES+=$(USART_PATH)/src/usart1.c
DARWIN_OBJS_TMP = $(notdir $(TARGET_FILES:.c=.o))
diff --git a/include/adc_dma.h b/include/adc_dma.h
index 898830f6e720575277306d67d865f3c0afe0ddb9..0fd1dc41c7b437f8177404d968c381193d708393 100755
--- a/include/adc_dma.h
+++ b/include/adc_dma.h
@@ -7,10 +7,10 @@ extern "C" {
#include "stm32f1xx.h"
-#define ADC_NUM_CHANNELS 16
+#define ADC_NUM_CHANNELS 12
typedef enum {ADC_CH1=0,ADC_CH2=1,ADC_CH3=2,ADC_CH4=3,ADC_CH5=4,ADC_CH6=5,ADC_CH7=6,ADC_CH8=7,
- ADC_CH9=8,ADC_CH10=9,ADC_CH11=10,ADC_CH12=11,ADC_CH13=12,ADC_CH14=13,ADC_CH16=15,ADC_CH18=17} adc_ch_t;
+ ADC_CH9=8,ADC_CH10=9,ADC_CH12=10,ADC_CH14=11} adc_ch_t;
void adc_init(void);
void adc_start(void);
diff --git a/include/darwin_dyn_master_v2.h b/include/darwin_dyn_master_v2.h
new file mode 100644
index 0000000000000000000000000000000000000000..b4a1b34d01c20f6e411ad3902e9d86682697c99c
--- /dev/null
+++ b/include/darwin_dyn_master_v2.h
@@ -0,0 +1,21 @@
+#ifndef _DARWIN_DYN_MASTER_V2_H
+#define _DARWIN_DYN_MASTER_V2_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "stm32f1xx.h"
+#include "comm.h"
+#include "dynamixel_master.h"
+
+extern TDynamixelMaster darwin_dyn_master_v2;
+
+void darwin_dyn_master_v2_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
diff --git a/include/darwin_registers.h b/include/darwin_registers.h
index ea4272ecb3e36fd1caaf4a05cb20505410eb322c..8815856bf1d7862dddd99bf8d791207ed46e438d 100644
--- a/include/darwin_registers.h
+++ b/include/darwin_registers.h
@@ -218,22 +218,14 @@ typedef enum {
DARWIN_ADC_CH9_H = 0x0128,
DARWIN_ADC_CH10_L = 0x0129,
DARWIN_ADC_CH10_H = 0x012A,
- DARWIN_ADC_CH11_L = 0x012B,
- DARWIN_ADC_CH11_H = 0x012C,
+ DARWIN_ADC_TEMP_L = 0x012B,
+ DARWIN_ADC_TEMP_H = 0x012C,
DARWIN_ADC_CH12_L = 0x012D,
DARWIN_ADC_CH12_H = 0x012E,
- DARWIN_ADC_CH13_L = 0x012F,
- DARWIN_ADC_CH13_H = 0x0130,
+ DARWIN_ADC_VREF_L = 0x012F,
+ DARWIN_ADC_VREF_H = 0x0130,
DARWIN_ADC_CH14_L = 0x0131,
DARWIN_ADC_CH14_H = 0x0132,
- DARWIN_ADC_TEMP_L = 0x0133,
- DARWIN_ADC_TEMP_H = 0x0134,
- DARWIN_ADC_CH16_L = 0x0135,
- DARWIN_ADC_CH16_H = 0x0136,
- DARWIN_ADC_VREF_L = 0x0137,
- DARWIN_ADC_VREF_H = 0x0138,
- DARWIN_ADC_CH18_L = 0x0139,
- DARWIN_ADC_CH18_H = 0x013A,
DARWIN_IMU_CNTRL = 0x013B, // bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
// accel_det | gyro_det | calibrating | running | | start_cal | stop | start
DARWIN_IMU_CAL_SAMPLES_L = 0x013C,
@@ -568,7 +560,7 @@ typedef enum {
#define GPIO_BLUE_COLOR 0x7C00
#define ADC_BASE_ADDRESS 0x0115
-#define ADC_MEM_LENGTH 38
+#define ADC_MEM_LENGTH 30
#define ADC_START 0x01
#define ADC_STOP 0x02
#define ADC_RUNNING 0x10
diff --git a/src/adc_dma.c b/src/adc_dma.c
index 1928371c122637e67f6e25af1c139ef63b209be4..d24f466d8bdf495add858283b077871a3f177eb5 100755
--- a/src/adc_dma.c
+++ b/src/adc_dma.c
@@ -2,76 +2,60 @@
#include "ram.h"
#define ADC1_CH1 ADC_CHANNEL_0
-#define ADC1_CH2 ADC_CHANNEL_1
-#define ADC1_CH3 ADC_CHANNEL_2
-#define ADC1_CH4 ADC_CHANNEL_3
-#define ADC1_CH5 ADC_CHANNEL_4
-#define ADC1_CH6 ADC_CHANNEL_5
-#define ADC1_CH7 ADC_CHANNEL_6
-#define ADC1_CH8 ADC_CHANNEL_TEMPSENSOR
-#define ADC1_CH9 ADC_CHANNEL_VREFINT
-
-#define ADC2_CH1 ADC_CHANNEL_7
-#define ADC2_CH2 ADC_CHANNEL_8
-#define ADC2_CH3 ADC_CHANNEL_9
-#define ADC2_CH4 ADC_CHANNEL_10
-#define ADC2_CH5 ADC_CHANNEL_11
-#define ADC2_CH6 ADC_CHANNEL_12
-#define ADC2_CH7 ADC_CHANNEL_13
-#define ADC2_CH8 ADC_CHANNEL_14
-#define ADC2_CH9 ADC_CHANNEL_15
+#define ADC1_CH2 ADC_CHANNEL_5
+#define ADC1_CH3 ADC_CHANNEL_6
+#define ADC1_CH4 ADC_CHANNEL_7
+#define ADC1_CH5 ADC_CHANNEL_8
+#define ADC1_CH6 ADC_CHANNEL_TEMPSENSOR
+#define ADC1_CH7 ADC_CHANNEL_VREFINT
+
+#define ADC2_CH1 ADC_CHANNEL_9
+#define ADC2_CH2 ADC_CHANNEL_10
+#define ADC2_CH3 ADC_CHANNEL_11
+#define ADC2_CH4 ADC_CHANNEL_12
+#define ADC2_CH5 ADC_CHANNEL_13
+#define ADC2_CH6 ADC_CHANNEL_14
+#define ADC2_CH7 ADC_CHANNEL_15
#define ADC1_CH1_PIN GPIO_PIN_0
#define ADC1_CH1_PORT GPIOA
#define ADC1_CH1_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH2_PIN GPIO_PIN_1
+#define ADC1_CH2_PIN GPIO_PIN_5
#define ADC1_CH2_PORT GPIOA
#define ADC1_CH2_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH3_PIN GPIO_PIN_2
+#define ADC1_CH3_PIN GPIO_PIN_6
#define ADC1_CH3_PORT GPIOA
#define ADC1_CH3_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH4_PIN GPIO_PIN_3
+#define ADC1_CH4_PIN GPIO_PIN_7
#define ADC1_CH4_PORT GPIOA
#define ADC1_CH4_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH5_PIN GPIO_PIN_4
-#define ADC1_CH5_PORT GPIOA
-#define ADC1_CH5_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH6_PIN GPIO_PIN_5
-#define ADC1_CH6_PORT GPIOA
-#define ADC1_CH6_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
-#define ADC1_CH7_PIN GPIO_PIN_6
-#define ADC1_CH7_PORT GPIOA
-#define ADC1_CH7_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
+#define ADC1_CH5_PIN GPIO_PIN_0
+#define ADC1_CH5_PORT GPIOB
+#define ADC1_CH5_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
#define ADC1_ENABLE_CLK __ADC1_CLK_ENABLE()
-#define ADC2_CH1_PIN GPIO_PIN_7
-#define ADC2_CH1_PORT GPIOA
-#define ADC2_CH1_ENABLE_PORT_CLK __HAL_RCC_GPIOA_CLK_ENABLE()
+#define ADC2_CH1_PIN GPIO_PIN_1
+#define ADC2_CH1_PORT GPIOB
+#define ADC2_CH1_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
#define ADC2_CH2_PIN GPIO_PIN_0
-#define ADC2_CH2_PORT GPIOB
-#define ADC2_CH2_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
+#define ADC2_CH2_PORT GPIOC
+#define ADC2_CH2_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
#define ADC2_CH3_PIN GPIO_PIN_1
-#define ADC2_CH3_PORT GPIOB
-#define ADC2_CH3_ENABLE_PORT_CLK __HAL_RCC_GPIOB_CLK_ENABLE()
-#define ADC2_CH4_PIN GPIO_PIN_0
+#define ADC2_CH3_PORT GPIOC
+#define ADC2_CH3_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
+#define ADC2_CH4_PIN GPIO_PIN_2
#define ADC2_CH4_PORT GPIOC
#define ADC2_CH4_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
-#define ADC2_CH5_PIN GPIO_PIN_1
+#define ADC2_CH5_PIN GPIO_PIN_3
#define ADC2_CH5_PORT GPIOC
#define ADC2_CH5_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
-#define ADC2_CH6_PIN GPIO_PIN_2
+#define ADC2_CH6_PIN GPIO_PIN_4
#define ADC2_CH6_PORT GPIOC
#define ADC2_CH6_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
-#define ADC2_CH7_PIN GPIO_PIN_3
+#define ADC2_CH7_PIN GPIO_PIN_5
#define ADC2_CH7_PORT GPIOC
#define ADC2_CH7_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
-#define ADC2_CH8_PIN GPIO_PIN_4
-#define ADC2_CH8_PORT GPIOC
-#define ADC2_CH8_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
-#define ADC2_CH9_PIN GPIO_PIN_5
-#define ADC2_CH9_PORT GPIOC
-#define ADC2_CH9_ENABLE_PORT_CLK __HAL_RCC_GPIOC_CLK_ENABLE()
#define ADC2_ENABLE_CLK __ADC2_CLK_ENABLE()
@@ -169,9 +153,9 @@ void ADC_DMA_IRQHandler(void)
if(__HAL_DMA_GET_IT_SOURCE(&hdma_adc1, DMA_IT_TC) != RESET)
{
__HAL_DMA_CLEAR_FLAG(&hdma_adc1, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_adc1));
- for(i=0;i<9;i++)
+ for(i=0;i<7;i++)
{
- if(i==7)
+ if(i==5)
{
value=adc_convert_temperature(adc_data[i]&0x0000FFFF);
ram_data[DARWIN_ADC_TEMP_L]=value%256;
@@ -212,8 +196,6 @@ void adc_init(void)
ADC1_CH3_ENABLE_PORT_CLK;
ADC1_CH4_ENABLE_PORT_CLK;
ADC1_CH5_ENABLE_PORT_CLK;
- ADC1_CH6_ENABLE_PORT_CLK;
- ADC1_CH7_ENABLE_PORT_CLK;
ADC2_CH1_ENABLE_PORT_CLK;
ADC2_CH2_ENABLE_PORT_CLK;
ADC2_CH3_ENABLE_PORT_CLK;
@@ -221,8 +203,6 @@ void adc_init(void)
ADC2_CH5_ENABLE_PORT_CLK;
ADC2_CH6_ENABLE_PORT_CLK;
ADC2_CH7_ENABLE_PORT_CLK;
- ADC2_CH8_ENABLE_PORT_CLK;
- ADC2_CH9_ENABLE_PORT_CLK;
ADC_ENABLE_DMA_CLK;
@@ -234,7 +214,7 @@ void adc_init(void)
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T1_CC1;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
- hadc1.Init.NbrOfConversion = 9;
+ hadc1.Init.NbrOfConversion = 7;
HAL_ADC_Init(&hadc1);
multimode.Mode = ADC_DUALMODE_REGSIMULT;
@@ -270,20 +250,15 @@ void adc_init(void)
sConfig.Rank = 7;
HAL_ADC_ConfigChannel(&hadc1, &sConfig);
- sConfig.Channel = ADC1_CH8;
- sConfig.Rank = 8;
- HAL_ADC_ConfigChannel(&hadc1, &sConfig);
-
- sConfig.Channel = ADC1_CH9;
- sConfig.Rank = 9;
- HAL_ADC_ConfigChannel(&hadc1, &sConfig);
-
// configure GPIO
- GPIO_InitStruct.Pin = ADC1_CH1_PIN|ADC1_CH2_PIN|ADC1_CH3_PIN|ADC1_CH4_PIN|
- ADC1_CH5_PIN|ADC1_CH6_PIN|ADC1_CH7_PIN;
+ GPIO_InitStruct.Pin = ADC1_CH1_PIN|ADC1_CH2_PIN|ADC1_CH3_PIN|ADC1_CH4_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = ADC1_CH5_PIN;
+ GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
ADC2_ENABLE_CLK;
hadc2.Instance = ADC2;
hadc2.Init.ScanConvMode = ADC_SCAN_ENABLE;
@@ -291,7 +266,7 @@ void adc_init(void)
hadc2.Init.DiscontinuousConvMode = DISABLE;
hadc2.Init.ExternalTrigConv = ADC_SOFTWARE_START;//ADC_EXTERNALTRIGCONV_T1_CC1;
hadc2.Init.DataAlign = ADC_DATAALIGN_RIGHT;
- hadc2.Init.NbrOfConversion = 9;
+ hadc2.Init.NbrOfConversion = 7;
HAL_ADC_Init(&hadc2);
// configure ADC2 channels
@@ -324,27 +299,15 @@ void adc_init(void)
sConfig.Rank = 7;
HAL_ADC_ConfigChannel(&hadc2, &sConfig);
- sConfig.Channel = ADC2_CH8;
- sConfig.Rank = 8;
- HAL_ADC_ConfigChannel(&hadc2, &sConfig);
-
- sConfig.Channel = ADC2_CH9;
- sConfig.Rank = 9;
- HAL_ADC_ConfigChannel(&hadc2, &sConfig);
-
// configure GPIO
- GPIO_InitStruct.Pin = ADC2_CH4_PIN|ADC2_CH5_PIN|ADC2_CH6_PIN|ADC2_CH7_PIN|
- ADC2_CH8_PIN|ADC2_CH9_PIN;
+ GPIO_InitStruct.Pin = ADC2_CH2_PIN|ADC2_CH3_PIN|ADC2_CH4_PIN|ADC2_CH5_PIN|
+ ADC2_CH6_PIN|ADC2_CH7_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
- GPIO_InitStruct.Pin = ADC2_CH2_PIN|ADC2_CH3_PIN;
- GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
GPIO_InitStruct.Pin = ADC2_CH1_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//initialize DMA
hdma_adc1.Instance = ADC_DMA_CHANNEL;
@@ -403,7 +366,7 @@ void adc_init(void)
HAL_ADCEx_Calibration_Start(&hadc2);
HAL_ADC_Start(&hadc2);
- HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,9);
+ HAL_ADCEx_MultiModeStart_DMA(&hadc1,adc_data,7);
}
void adc_start(void)
@@ -461,18 +424,10 @@ uint16_t adc_get_channel(adc_ch_t channel)
break;
case ADC_CH10: value=ram_data[DARWIN_ADC_CH10_L]+ram_data[DARWIN_ADC_CH10_H]*256;
break;
- case ADC_CH11: value=ram_data[DARWIN_ADC_CH11_L]+ram_data[DARWIN_ADC_CH11_H]*256;
- break;
case ADC_CH12: value=ram_data[DARWIN_ADC_CH12_L]+ram_data[DARWIN_ADC_CH12_H]*256;
break;
- case ADC_CH13: value=ram_data[DARWIN_ADC_CH13_L]+ram_data[DARWIN_ADC_CH13_H]*256;
- break;
case ADC_CH14: value=ram_data[DARWIN_ADC_CH14_L]+ram_data[DARWIN_ADC_CH14_H]*256;
break;
- case ADC_CH16: value=ram_data[DARWIN_ADC_CH16_L]+ram_data[DARWIN_ADC_CH16_H]*256;
- break;
- case ADC_CH18: value=ram_data[DARWIN_ADC_CH18_L]+ram_data[DARWIN_ADC_CH18_H]*256;
- break;
default: value=0x0000;
}
@@ -505,18 +460,10 @@ uint16_t adc_get_channel_raw(adc_ch_t channel)
break;
case ADC_CH10: value=(adc_data[4]&0xFFFF0000)>>16;
break;
- case ADC_CH11: value=adc_data[5]&0x0000FFFF;
- break;
case ADC_CH12: value=(adc_data[5]&0xFFFF0000)>>16;
break;
- case ADC_CH13: value=adc_data[6]&0x0000FFFF;
- break;
case ADC_CH14: value=(adc_data[6]&0xFFFF0000)>>16;
break;
- case ADC_CH16: value=(adc_data[7]&0xFFFF0000)>>16;
- break;
- case ADC_CH18: value=(adc_data[8]&0xFFFF0000)>>16;
- break;
default: value=0x0000;
}
diff --git a/src/darwin_dyn_master_v2.c b/src/darwin_dyn_master_v2.c
new file mode 100755
index 0000000000000000000000000000000000000000..392c5adc5f9c4f9b6f294e0f744ce85a1a1b928b
--- /dev/null
+++ b/src/darwin_dyn_master_v2.c
@@ -0,0 +1,83 @@
+#include "darwin_dyn_master_v2.h"
+#include "darwin_time.h"
+#include "usart2.h"
+#include "ram.h"
+
+#define ENABLE_RX_EN_GPIO_CLK __GPIOA_CLK_ENABLE()
+#define RX_EN_PIN GPIO_PIN_4
+#define RX_EN_GPIO_PORT GPIOA
+
+#define ENABLE_TX_EN_GPIO_CLK __GPIOA_CLK_ENABLE()
+#define TX_EN_PIN GPIO_PIN_1
+#define TX_EN_GPIO_PORT GPIOA
+
+/* private variables */
+TDynamixelMaster darwin_dyn_master_v2;
+TTime darwin_dyn_master_v2_timer;
+TComm darwin_dyn_master_v2_comm;
+
+// private functions
+void darwin_dyn_master_v2_set_rx_mode(void)
+{
+ HAL_GPIO_WritePin(TX_EN_GPIO_PORT,TX_EN_PIN,GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(RX_EN_GPIO_PORT,RX_EN_PIN,GPIO_PIN_SET);
+}
+
+void darwin_dyn_master_v2_set_tx_mode(void)
+{
+ HAL_GPIO_WritePin(RX_EN_GPIO_PORT,RX_EN_PIN,GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(TX_EN_GPIO_PORT,TX_EN_PIN,GPIO_PIN_SET);
+}
+
+// public functions
+void darwin_dyn_master_v2_init(void)
+{
+ GPIO_InitTypeDef GPIO_InitStructure;
+ TUSART_IRQ_Priorities priorities;
+ UART_InitTypeDef Init;
+
+ // initialize timer structure
+ time_init(&darwin_dyn_master_v2_timer,darwin_time_get_counts_per_us(),darwin_time_get_counts);
+
+ // initialize GPIO
+ ENABLE_RX_EN_GPIO_CLK;
+ ENABLE_TX_EN_GPIO_CLK;
+
+ GPIO_InitStructure.Pin = RX_EN_PIN;
+ GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
+ GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
+ GPIO_InitStructure.Pull = GPIO_NOPULL;
+ HAL_GPIO_Init(RX_EN_GPIO_PORT, &GPIO_InitStructure);
+
+ GPIO_InitStructure.Pin = TX_EN_PIN;
+ HAL_GPIO_Init(TX_EN_GPIO_PORT, &GPIO_InitStructure);
+
+ darwin_dyn_master_v2_set_rx_mode();
+
+ /* initialize the comm object */
+ comm_init(&darwin_dyn_master_v2_comm,0x01,&darwin_dyn_master_v2_timer);
+ Init.BaudRate = 1000000;
+ 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;
+ priorities.dma_rx_priority=1;
+ priorities.dma_rx_subpriority=1;
+ priorities.dma_tx_priority=1;
+ priorities.dma_tx_subpriority=0;
+
+ usart2_init(&darwin_dyn_master_v2_comm,&Init,&priorities);
+ dyn_master_init(&darwin_dyn_master_v2,&darwin_dyn_master_v2_comm,DYN_VER2);
+ darwin_dyn_master_v2.set_rx_mode=darwin_dyn_master_v2_set_rx_mode;
+ darwin_dyn_master_v2.set_tx_mode=darwin_dyn_master_v2_set_tx_mode;
+
+ /* configure dynamixel master module */
+ dyn_master_set_rx_timeout(&darwin_dyn_master_v2,50);
+ dyn_master_set_return_level(&darwin_dyn_master_v2,return_all);
+}
+