Description
This repository contains several libraries intended for the STM32 micro- processors.
This repository also includes implementations of several communication peripherals compatible with the Comm library for several families of the STM32 micro-processors.
This libraries include:
Utils
An implementation of a simple circular buffer and a placeholder to handle time functions using a hardware timer.
Memory
A set of data structures that simplifies the managment of the memory space of a Dynamixel slave. It allows to allocate a specific ammount of memory either in RAM or EPPOM, and also at a pre-defined position or anywhere in the available memory space.
It also provides user defined read and write callback functions to further simplify read and write operations started from the bus master.
Comm
A generic communication device which allows working either in blocking mode, in interrupt mode or DMA mode with almost any communcation peripheral in the STM32.
It provides a set of user defined callback functions, both on the low level peripheral side and also in the high level application side, which simplifies handling the communciation channel.
Dynamixel base
This library implements the whole Dynamixel protocol, both version 1 and 2, and also as a master and as a slave. This implementation is idependant of the communication channel because it uses the comm library.
All the operations of both supported versions are available.
Dynamixel manager
An experimental library designed to simplify the bus access to the shared Dynamixel bus by several heterogeneous modules. This library allows to configure the necessary transactions (READ, WRITE, SYNC_READ, SYNC_WRITE, BULK_READ or BULK_WRITE) on several dynamixel buses.
Additionally, each transaction can be configured as periodic or one shot.