CH32V006 Servo Controller Firmware - DXL 2.0 RX Timing

Wed, 10 Jun 2026 00:00:00 +0000

This is a design note for anyone bringing up a Dynamixel 2.0 servo on the CH32V006. You don’t need prior DXL or RISC-V expertise; read it top to bottom. Protocol reference throughout is the DYNAMIXEL Protocol 2.0 spec .

If you’re new here, OpenServoCore is my effort to turn cheap SG90 / MG90 servos into networked smart actuators with sensor feedback, cascade control, and a DYNAMIXEL-style TTL bus. This is the first post in a series on how the CH32V006 firmware meets DXL 2.0’s timing budget on a $0.16 chip (qty. 1000+). Later posts will be linked here as they go live.

Dynamixel on Aaron Qian

CH32V006 Servo Controller Firmware - DXL 2.0 RX Timing