You can setup a hardware interrupt that triggers when this UART flag is set that then uses HAL_UART_recive() fuction You can basiclly modify you code so that you do this instead of the HAL_Delay() your using so it delays untill the flag is set rather than delay a set amount of time. Poll the flags register and when the flags is set then use your HAL_UART_Recive() function to read the incoming bytes.
It won’t read any more bytes until the flag is cleared then it will read the next byte that comes after the flag as cleared and put it in to the output register then set the flag again. When the UART is reading what it does is when it receives a byte it puts the recived byte in the output register then it sets a flag in the flag register to let you know there is a byte ready to read. If your having trouble reading back it will help to understand how the hardware UART peripheral works.
If your not goin to use DMA then try removing the delay you have between the sending and the recieving so that as soon as it finishes sending then it starts to receive and clear the 1 byte input register so that it can receive the next byte. If you don’t have an logic analyzer then attach 2 LEDs between the 2 lines setup each LED in oppsite polarity with the correct sized resistor so you can see if they flash so you know data is being sent.Īnother thing to note is when receiving UART I usually setup a DMA transfer to automatically move the data from the UART input register into a buffer because the hardware UART peripheral will only store 1 byte in the input register and will just throw away any further received bytes until that byte is read and the flag is cleared. If you have a logic analyzer then attach it to the data lines to see if data is being sent.
Nucleo h743zi2 serial#
Second thing I always check with Asynchronous serial com is the baud rate.
Nucleo h743zi2 full#
Beaware the other pins on the connector will be the full votage for the dynamixel servo so if you connect the data pins to full voltage you will damage your STMH7 board. I haven’t used the starter board either but the 2 data pins for the RS485 pins should be the ones with the little resistor between them. I didn’t even know that STMH7 has native RS485įirst thing I always try with serial coms is swap the 2 pins the other way around in-case wiring is backwards. Second I haven’t used RS485 but have used UART plenty of times before. Thank you!Įdit: Ok so here are some pictures to clarify more on what the setup and code (written in C) look like:įirst of all I haven’t used the STMH7 line and mainly play with the much simpler easier to use STMF4 line of MCUs. If I have left out any key details please call me out and I’ll be happy to provide what I can. I am unable to just use the SDK directly as the development board does not have a windows, Linux, or Apple based operating system. I am using CubeIDE on the development board and have wired a UART Rx and Tx line to the rs485 socket on the dynamixel starter kit.
Nucleo h743zi2 software#
I am unsure where my error is whether it be physical or software and am very novice to this so please bear with me. I have gone through many of the Robotis references and believe I have constructed the required packets to be sent to the servo correctly over UART but when transmitted and received I get nothing. I have 2 basic objectives: 1) be able to write various position 2) be able to read the data off of the servo. I am trying to control it via a NUCLEO-H743ZI2 development board. Hello! I am looking for help working with the XM540-W270-R actuator.
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