I'm trying to figure out how to interface a Robotis Dynamixel servo to the Axon. I *think* I figured it out, but want someone who has used these servos before to verify just in case.
Step zero, attach power (7V+) from unregulated power bus and ground.
Step one, attach the servo signal line using this schematic (pnp transistor) to Tx and Rx of UART0:
Step two, set Axon baud rate to 1Mbps (0% error at 16MHz! wow!).
Step three, use the rprintf functions that come with the Axon to xmit and receive data.
uart0SendByte(some_value);//send a single byte
temp=uart3GetByte();//get a single character
Step four, use the commands in the Dynamixel datasheet