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AP_RobotisServo: Send register write values as little-endian

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Nick Exton 2023-05-05 16:23:13 +10:00 committed by Peter Barker
parent 9253d6f607
commit eb4224b818
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_RobotisServo/AP_RobotisServo.cpp
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@ -39,6 +39,7 @@
#if AP_ROBOTISSERVO_ENABLED #if AP_ROBOTISSERVO_ENABLED
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h> #include <AP_SerialManager/AP_SerialManager.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
@ -268,6 +269,9 @@ void AP_RobotisServo::send_command(uint8_t id, uint16_t reg, uint32_t value, uin
txpacket[PKT_INSTRUCTION] = INST_WRITE; txpacket[PKT_INSTRUCTION] = INST_WRITE;
txpacket[PKT_INSTRUCTION+1] = DXL_LOBYTE(reg); txpacket[PKT_INSTRUCTION+1] = DXL_LOBYTE(reg);
txpacket[PKT_INSTRUCTION+2] = DXL_HIBYTE(reg); txpacket[PKT_INSTRUCTION+2] = DXL_HIBYTE(reg);
// Register values are transmitted as little-endian.
value = htole32(value);
memcpy(&txpacket[PKT_INSTRUCTION+3], &value, MIN(len,4)); memcpy(&txpacket[PKT_INSTRUCTION+3], &value, MIN(len,4));
send_packet(txpacket); send_packet(txpacket);