HiTEC UAVCAN servo set/get register value protcol.

This protocol use custom data format of actuator.ArrayCommand and actuator.Status.

You must set Node ID and Actuator ID. ( read HITEC_UAVCAN_Servo_ID_mode.txt )

1. Set a Register Value

CAN ID = 8003F200
CAN DATA = <Actuator ID>, <ADDR>, <DATA LO BYTE>, <DATA HI BYTE>, SEQ
Actuator ID = 0 (ALL), or 1~127
ADDR >= 4

ex) 8003F200 07 6A 01 00 C0
Set value 0x0001 to register 0x6A of Servo 7.
Target Actuator ID = 7
Addr = 0x6A
Data = 0x0001

2. Get a Register Value

CAN ID = 8003F200
CAN DATA = 0x80+<Actuator ID>, <ADDR>, 0, 0, SEQ
Actuator ID = 0 (ALL), or 1~127
ADDR >= 4

ex) 8003F200 80 0A 00 00 C0
Get value of register 0x0A from all servo.
Target Actuator ID = 0 (ALL)
Addr = 0x0A

3. Return Packet.

CAN ID = 0803F3xx
xx = Servo's Actautor ID
CAN DATA = <Actuator ID>, <ADDR>, <DATA LO BYTE>, <DATA HI BYTE>

ex) 0003F307 07 0A 10 00

Actuator ID = 7
Addr = 0x0A
Data = 0x0010

4. SAVE and RESET

SAVE: Set Value 0xFFFF to Target Servo's Register 0x70.
SERVO RESET: Set Value 0x0001 to Target Servo's Register 0x46.

END