CanServo/Protocol/DroneCAN/ReadWriteRegister/en

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

You must set Node ID and Actuator ID. ( CanServo/ID/modes/en )

NOTE: It is standard for SEQ values ​​to increase from 0 to beyond 31.

NOTE: When setting ID1 and ID2, set Target Actuator ID = 0.

1. Set a Register Value

• CAN ID = 8003F200
• CAN DATA = <Actuator ID>, < ADDR of Register >, < 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 of Register >, 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 Node ID
• CAN DATA = <Actuator ID>, < ADDR of Register >, < DATA LO BYTE >, < DATA HI BYTE >
• NOTE: This format is not a DroneCAN standard format.

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.