Uart Problem

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T.I don't know how can drive.The UART is enough to read or drive digital servomotors?

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You must refer to servomotor specification in order to know HOW you can drive them.

You can have different modes of operation. For example:

- positioner: the serial port sends the target position and the drive executes the motion with a predefined profile

- trajectory step: the serial port sends trajectory points at fixed intervals and the drive will follow them; the serial port master must take care to generate the correct motion profile

- open loop: you directly drive a current value into motor windings; then your system must read position and close the loop to keep motor in position.

Depending which mode you are using, you need to operate uart very differently.

With a positioner you can simply send and receive data asynchronously, when you need the motor to move, without any precise timing.

For other modes you need to operate uart with a timer, using interrupts and possibly dma.