update

components/mini_servo_motor/feite_servo_motor.cpp

@@ -74,6 +74,17 @@ bool FeiTeServoMotor::getTorqueSwitch(uint8_t id, bool& on) {
 bool FeiTeServoMotor::getNowPos(uint8_t id, int16_t& pos) { return read_s16(id, kRegServoCurrentPos, 15, pos); }
 bool FeiTeServoMotor::setTargetPos(uint8_t id, int16_t pos) { return write_s16(id, kRegServoTargetPos, 15, pos); }
 
+bool FeiTeServoMotor::triggerAysncWrite(uint8_t id) {
+  cmd_header_t* cmd_header = (cmd_header_t*)m_txbuf;
+  cmd_header->header       = 0xffff;
+  cmd_header->id           = id;
+  cmd_header->len          = 2;
+  cmd_header->cmd          = 5;
+  cmd_header->data[0]      = checksum((uint8_t*)cmd_header, sizeof(cmd_header_t) + 1);
+  HAL_UART_Transmit(m_uart, m_txbuf, sizeof(cmd_header_t) + 1, 1000);
+  return true;
+}
+
 bool FeiTeServoMotor::reCalibration(int id, int16_t pos) {
   if (pos < 0 || pos > 4095) {
     ZLOGE(TAG, "reCalibration pos:%d out of range", pos);

components/mini_servo_motor/feite_servo_motor.hpp

@@ -131,14 +131,16 @@ class FeiTeServoMotor {
   bool getServoCalibration(uint8_t, int16_t& poscalibration);
   bool reCalibration(int id, int16_t pos);
 
+  bool triggerAysncWrite(uint8_t id);
+
  public:
   bool write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval);
   bool write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval);
   bool write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval);
-  
+
   bool async_write_u8(uint8_t id, feite::reg_add_e add, uint8_t regval);
   bool async_write_u16(uint8_t id, feite::reg_add_e add, uint16_t regval);
-  bool async_write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff,int16_t regval);
+  bool async_write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval);
 
   bool read_u8(uint8_t id, feite::reg_add_e add, uint8_t& regval);
   bool read_u16(uint8_t id, feite::reg_add_e add, uint16_t& regval);