Merge pull request #57 from vyeevani/xl430_support

adding support for xl430

Author: SteveNguyen

src/device/xl430.rs

@@ -1,14 +1,14 @@
 //! XL-430 robotis register (protocol v2)
 //!
-//! See <https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/> for details.
+//! See <https://emanual.robotis.com/docs/en/dxl/x/xm430-w350/> for details.
 
 use crate::device::*;
 
 reg_read_only!(model_number, 0, u16);
 reg_read_only!(model_information, 2, u32);
-reg_read_write!(firmware_version, 6, u8);
+reg_read_only!(firmware_version, 6, u8);
 reg_read_write!(id, 7, u8);
-reg_read_write!(baud_rate, 8, u8);
+reg_read_write!(buad_rate, 8, u8);
 reg_read_write!(return_delay_time, 9, u8);
 reg_read_write!(drive_mode, 10, u8);
 reg_read_write!(operating_mode, 11, u8);
@@ -21,18 +21,16 @@ reg_read_write!(max_voltage_limit, 32, u16);
 reg_read_write!(min_voltage_limit, 34, u16);
 reg_read_write!(pwm_limit, 36, u16);
 reg_read_write!(current_limit, 38, u16);
-reg_read_write!(acceleration_limit, 40, u32);
 reg_read_write!(velocity_limit, 44, u32);
 reg_read_write!(max_position_limit, 48, u32);
 reg_read_write!(min_position_limit, 52, u32);
 reg_read_write!(startup_configuration, 60, u8);
 reg_read_write!(shutdown, 63, u8);
-
 reg_read_write!(torque_enable, 64, u8);
 reg_read_write!(led, 65, u8);
 reg_read_write!(status_return_level, 68, u8);
-reg_read_write!(registered_instruction, 69, u8);
-reg_read_write!(hardware_error_status, 70, u8);
+reg_read_only!(registered_instruction, 69, u8);
+reg_read_only!(hardware_error_status, 70, u8);
 reg_read_write!(velocity_i_gain, 76, u16);
 reg_read_write!(velocity_p_gain, 78, u16);
 reg_read_write!(position_d_gain, 80, u16);
@@ -59,7 +57,6 @@ reg_read_only!(position_trajectory, 140, u32);
 reg_read_only!(present_input_voltage, 144, u16);
 reg_read_only!(present_temperature, 146, u8);
 reg_read_only!(backup_ready, 147, u8);
-
 reg_read_write!(indirect_address_1, 168, u16);
 reg_read_write!(indirect_address_2, 170, u16);
 reg_read_write!(indirect_address_3, 172, u16);