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Master configure slave's heartbeat producer time by concise DCF.
authorgreg <greg>
Fri, 4 May 2007 10:32:08 +0000 (10:32 +0000)
committergreg <greg>
Fri, 4 May 2007 10:32:08 +0000 (10:32 +0000)
examples/TestMasterSlave/Master.c patch | blob | history
examples/TestMasterSlave/TestMaster.c patch | blob | history
examples/TestMasterSlave/TestMaster.h patch | blob | history
examples/TestMasterSlave/TestMaster.od patch | blob | history
examples/TestMasterSlave/TestMasterSlave.c patch | blob | history
examples/TestMasterSlave/TestSlave.c patch | blob | history
examples/TestMasterSlave/TestSlave.od patch | blob | history
examples/TestMasterSlave/TestSlaveC.c [new file with mode: 0644] patch | blob
examples/TestMasterSlave/TestSlaveC.h [new file with mode: 0644] patch | blob

diff --git a/examples/TestMasterSlave/Master.c b/examples/TestMasterSlave/Master.c
index f8483818e191b368c4d05a84b2fc2a80549d0dab..fc5af894e0d9e3aea29dd8d7804509a8eb5945e5 100644 (file)
--- a/examples/TestMasterSlave/Master.c
+++ b/examples/TestMasterSlave/Master.c
@@ -40,7 +40,7 @@ void TestMaster_initialisation()
        UNS32 PDO1_COBID = 0x0182; 
        UNS32 PDO2_COBID = 0x0282;
        UNS8 size = sizeof(UNS32); 
-
+       
        eprintf("TestMaster_initialisation\n");
 
        /*****************************************
@@ -61,6 +61,25 @@ void TestMaster_initialisation()
                        RW);  /* UNS8 checkAccess */
 }
 
+// Step counts number of times ConfigureSlaveNode is called
+static init_step = 0;
+
+/*Froward declaration*/
+static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
+
+/**/
+static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+{
+       UNS32 abortCode;        
+       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+               eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
+
+       /* Finalise last SDO transfer with this node */
+       closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
+
+       ConfigureSlaveNode(d, nodeId);
+}
+
 /********************************************************
  * ConfigureSlaveNode is responsible to
  *  - setup slave TPDO 1 transmit time
@@ -76,72 +95,59 @@ void TestMaster_initialisation()
  * then it called again each time a SDO exchange is
  * finished.
  ********************************************************/
+ 
 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
 {
-       // Step counts number of times ConfigureSlaveNode is called
-       static step = 1;
-       
-       UNS8 Transmission_Type = 0x01; 
+       /* Master configure heartbeat producer time at 1000 ms 
+        * for slave node-id 0x02 by DCF concise */
+        
+       UNS8 Transmission_Type = 0x01;
        UNS32 abortCode;
        UNS8 res;
        eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
 
-       switch(step++){
+       switch(++init_step){
                case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
                        eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
                        res = writeNetworkDictCallBack (d, /*CO_Data* d*/
-                                       *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+                                       nodeId, /*UNS8 nodeId*/
                                        0x1800, /*UNS16 index*/
                                        0x02, /*UNS8 subindex*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
-                                       ConfigureSlaveNode); /*SDOCallback_t Callback*/                 break;
+                                       CheckSDOAndContinue); /*SDOCallback_t Callback*/
+                                       break;
+               
                case 2: /*Second step*/
-                       /*check and warn for previous slave OD access error*/
-                       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-                               eprintf("Master : Couldn't set slave %2.2x TPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
-
-                       /* Finalise last SDO transfer with this node */
-                       closeSDOtransfer(&TestMaster_Data,
-                                       *TestSlave_Data.bDeviceNodeId,
-                                       SDO_CLIENT);
-                                       
-                       /*Setup Slave's TPDO 1 to be transmitted on SYNC*/
                        eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
                        writeNetworkDictCallBack (d, /*CO_Data* d*/
-                                       *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+                                       nodeId, /*UNS8 nodeId*/
                                        0x1801, /*UNS16 index*/
                                        0x02, /*UNS16 index*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
-                                       ConfigureSlaveNode); /*SDOCallback_t Callback*/
-                       break;
-               case 3: /*Last step*/
-                       /*check and warn for previous slave OD access error*/
-                       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-                               eprintf("Master : Couldn't set slave %2.2x TPDO 2 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
-
-                       /* Finalise last SDO transfer with this node */
-                       closeSDOtransfer(&TestMaster_Data,
-                                       *TestSlave_Data.bDeviceNodeId,
-                                       SDO_CLIENT);
-
+                                       CheckSDOAndContinue); /*SDOCallback_t Callback*/
+                                       break;
+               case 3: 
+               
+               /****************************** START *******************************/
+               
                        /* Put the master in operational mode */
                        setState(d, Operational);
-                         
+                
                        /* Ask slave node to go in operational mode */
                        masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
-       }
                        
+       }
 }
 
 void TestMaster_preOperational()
 {
 
        eprintf("TestMaster_preOperational\n");
-       ConfigureSlaveNode(&TestMaster_Data, 2);
+       ConfigureSlaveNode(&TestMaster_Data, 0x02);
        
 }
 
@@ -167,7 +173,7 @@ char waiting_answer = 0;
 void TestMaster_post_TPDO()
 {
        eprintf("TestMaster_post_TPDO\n");
-
+//
 //     {
 //             char zero = 0;
 //             if(MasterMap4 > 0x80){
@@ -217,5 +223,4 @@ void TestMaster_post_TPDO()
                        0);
                waiting_answer = 1;
        }
-               
 }
diff --git a/examples/TestMasterSlave/TestMaster.c b/examples/TestMasterSlave/TestMaster.c
index ce66c24f4e2ff8586fb5052483c6b710d7172809..9828a52a7712316dbace93e426fb7aa6cfd967a2 100644 (file)
--- a/examples/TestMasterSlave/TestMaster.c
+++ b/examples/TestMasterSlave/TestMaster.c
@@ -26,7 +26,7 @@ UNS32 TestMaster_valueRangeTest (UNS8 typeValue, void * value)
 /* The node id                                                            */
 /**************************************************************************/
 /* node_id default value.*/
-UNS8 TestMaster_bDeviceNodeId = 0x00;
+UNS8 TestMaster_bDeviceNodeId = 0x01;
 
 /**************************************************************************/
 /* Array of message processing information */
@@ -85,14 +85,6 @@ $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
                     UNS32 TestMaster_obj1010_Save_Communication_Parameters = 0x0;      /* 0 */
                     UNS32 TestMaster_obj1010_Save_Application_Parameters = 0x0;        /* 0 */
                     UNS32 TestMaster_obj1010_Save_Manufacturer_Parameters = 0x0;       /* 0 */
-                    ODCallback_t TestMaster_Index1010_callbacks[] = 
-                     {
-                       NULL,
-                       NULL,
-                       NULL,
-                       NULL,
-                       NULL,
-                     };
                     subindex TestMaster_Index1010[] = 
                      {
                        { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1010 },
@@ -108,14 +100,6 @@ $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
                     UNS32 TestMaster_obj1011_Restore_Communication_Default_Parameters = 0x0;   /* 0 */
                     UNS32 TestMaster_obj1011_Restore_Application_Default_Parameters = 0x0;     /* 0 */
                     UNS32 TestMaster_obj1011_Restore_Manufacturer_Default_Parameters = 0x0;    /* 0 */
-                    ODCallback_t TestMaster_Index1011_callbacks[] = 
-                     {
-                       NULL,
-                       NULL,
-                       NULL,
-                       NULL,
-                       NULL,
-                     };
                     subindex TestMaster_Index1011[] = 
                      {
                        { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1011 },
@@ -129,7 +113,7 @@ $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
                     UNS8 TestMaster_highestSubIndex_obj1016 = 1; /* number of subindex - 1*/
                     UNS32 TestMaster_obj1016[] = 
                     {
-                      0x20802  /* 133122 */
+                      0x5DC    /* 1500 */
                     };
                     subindex TestMaster_Index1016[] = 
                      {
@@ -230,11 +214,21 @@ $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
                        { RW, uint32, sizeof (UNS32), (void*)&TestMaster_obj1601[1] }
                      };
 
-/* index 0x2000 :   Mapped variable MasterMap1 */
-                    ODCallback_t MasterMap1_callbacks[] = 
+/* index 0x1F22 :   Concise DCF. */
+                    UNS8 TestMaster_highestSubIndex_obj1F22 = 2; /* number of subindex - 1*/
+                    UNS8* TestMaster_obj1F22[] = 
+                    {
+                      "",
+                      "\x01\x00\x00\x00\x17\x10\x00\x02\x00\x00\x00\xe8\x03"
+                    };
+                    subindex TestMaster_Index1F22[] = 
                      {
-                       NULL,
+                       { RO, uint8, sizeof (UNS8), (void*)&TestMaster_highestSubIndex_obj1F22 },
+                       { RW, domain, 0, (void*)&TestMaster_obj1F22[0] },
+                       { RW, domain, 13, (void*)&TestMaster_obj1F22[1] }
                      };
+
+/* index 0x2000 :   Mapped variable MasterMap1 */
                     subindex TestMaster_Index2000[] = 
                      {
                        { RW, uint8, sizeof (UNS8), (void*)&MasterMap1 }
@@ -273,6 +267,7 @@ const indextable TestMaster_objdict[] =
   { (subindex*)TestMaster_Index1401,sizeof(TestMaster_Index1401)/sizeof(TestMaster_Index1401[0]), 0x1401},
   { (subindex*)TestMaster_Index1600,sizeof(TestMaster_Index1600)/sizeof(TestMaster_Index1600[0]), 0x1600},
   { (subindex*)TestMaster_Index1601,sizeof(TestMaster_Index1601)/sizeof(TestMaster_Index1601[0]), 0x1601},
+  { (subindex*)TestMaster_Index1F22,sizeof(TestMaster_Index1F22)/sizeof(TestMaster_Index1F22[0]), 0x1F22},
   { (subindex*)TestMaster_Index2000,sizeof(TestMaster_Index2000)/sizeof(TestMaster_Index2000[0]), 0x2000},
   { (subindex*)TestMaster_Index2001,sizeof(TestMaster_Index2001)/sizeof(TestMaster_Index2001[0]), 0x2001},
   { (subindex*)TestMaster_Index2002,sizeof(TestMaster_Index2002)/sizeof(TestMaster_Index2002[0]), 0x2002},
@@ -288,8 +283,8 @@ const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCa
                case 0x1001: i = 1;break;
                case 0x1005: i = 2;*callbacks = TestMaster_Index1005_callbacks; break;
                case 0x1006: i = 3;*callbacks = TestMaster_Index1006_callbacks; break;
-               case 0x1010: i = 4;*callbacks = TestMaster_Index1010_callbacks; break;
-               case 0x1011: i = 5;*callbacks = TestMaster_Index1011_callbacks; break;
+               case 0x1010: i = 4;break;
+               case 0x1011: i = 5;break;
                case 0x1016: i = 6;break;
                case 0x1018: i = 7;break;
                case 0x1280: i = 8;break;
@@ -297,10 +292,11 @@ const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCa
                case 0x1401: i = 10;break;
                case 0x1600: i = 11;break;
                case 0x1601: i = 12;break;
-               case 0x2000: i = 13;*callbacks = MasterMap1_callbacks; break;
-               case 0x2001: i = 14;break;
-               case 0x2002: i = 15;break;
-               case 0x2003: i = 16;break;
+               case 0x1F22: i = 13;break;
+               case 0x2000: i = 14;break;
+               case 0x2001: i = 15;break;
+               case 0x2002: i = 16;break;
+               case 0x2003: i = 17;break;
                default:
                        *errorCode = OD_NO_SUCH_OBJECT;
                        return NULL;
diff --git a/examples/TestMasterSlave/TestMaster.h b/examples/TestMasterSlave/TestMaster.h
index 37be52453b69a8d1f62cfc2e109bfe151117a8a6..bde93407b2fe35f58de609b49bc86a33875c0772 100644 (file)
--- a/examples/TestMasterSlave/TestMaster.h
+++ b/examples/TestMasterSlave/TestMaster.h
@@ -10,10 +10,7 @@ const indextable * TestMaster_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCa
 /* Master node data struct */
 extern CO_Data TestMaster_Data;
 
-extern ODCallback_t Store_parameters_callbacks[];              /* Callbacks of index0x1010 */
-extern ODCallback_t Restore_Default_Parameters_callbacks[];            /* Callbacks of index0x1011 */
 extern UNS8 MasterMap1;                /* Mapped at index 0x2000, subindex 0x00*/
-extern ODCallback_t MasterMap1_callbacks[];            /* Callbacks of index0x2000 */
 extern UNS8 MasterMap2;                /* Mapped at index 0x2001, subindex 0x00*/
 extern UNS8 MasterMap3;                /* Mapped at index 0x2002, subindex 0x00*/
 extern UNS8 MasterMap4;                /* Mapped at index 0x2003, subindex 0x00*/
diff --git a/examples/TestMasterSlave/TestMaster.od b/examples/TestMasterSlave/TestMaster.od
index 1c46975ccf0cce3a02fe8c30989e2919497897bd..c8a6cda3b92319490ce9b89635a8f211dfaf8c47 100644 (file)
--- a/examples/TestMasterSlave/TestMaster.od
+++ b/examples/TestMasterSlave/TestMaster.od
@@ -1,10 +1,5014 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="146364268">
-<attr name="Profile" type="dict" id="146655540" >
+<PyObject module="node" class="Node" id="151825740">
+<attr name="Profile" type="dict" id="151882444" >
+  <entry>
+    <key type="numeric" value="24576" />
+    <val type="dict" id="151873980" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151823660" >
+          <item type="dict" id="151873300" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 8 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151881220" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24832" />
+    <val type="dict" id="151872348" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151788364" >
+          <item type="dict" id="151855692" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 16 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151881628" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="6" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Inputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Inputs 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24578" />
+    <val type="dict" id="151872756" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151909836" >
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+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Filter Mask Outputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Filter Mask Outputs 16 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25650" />
+    <val type="dict" id="151870428" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151909580" >
+          <item type="dict" id="151871244" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Inputs" />
+            </entry>
+          </item>
+          <item type="dict" id="151870700" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Input Scaling Integer" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25090" />
+    <val type="dict" id="151898012" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151786476" >
+          <item type="dict" id="151898964" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 8 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151899100" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Change Polarity Outputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Change Polarity Outputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25168" />
+    <val type="dict" id="151932684" >
+      <entry>
+        <key type="string" value="incr" />
+        <val type="numeric" value="1" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="15" />
+      </entry>
+      <entry>
+        <key type="string" value="nbmax" />
+        <val type="numeric" value="8" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151787724" >
+          <item type="dict" id="151928876" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 1 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151929012" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Error Mode Outputs 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Error Mode Outputs Lines %d to %d[(idx*128-127,idx*128)]" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25096" />
+    <val type="dict" id="153054716" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151910860" >
+          <item type="dict" id="153054308" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 8 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="153054444" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Filter Mask Outputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Filter Mask Outputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24632" />
+    <val type="dict" id="153054036" >
+      <entry>
+        <key type="string" value="incr" />
+        <val type="numeric" value="1" />
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+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="15" />
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+      <entry>
+        <key type="string" value="nbmax" />
+        <val type="numeric" value="8" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151836844" >
+          <item type="dict" id="153054172" >
+            <entry>
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+              <val type="string" value="ro" />
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+            <entry>
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+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 1 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="153053628" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Filter Constant Input bit 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Filter Constant Input Bit 0x%X to 0x%X[(idx*128-127,idx*128)]" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24871" />
+    <val type="dict" id="151931052" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151825964" >
+          <item type="dict" id="151930372" >
+            <entry>
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+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 32 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151930508" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Low to High Input  0x%X to 0x%X[(sub*32-31,sub*32)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input Low to High 32 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25152" />
+    <val type="dict" id="153052404" >
+      <entry>
+        <key type="string" value="incr" />
+        <val type="numeric" value="1" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="15" />
+      </entry>
+      <entry>
+        <key type="string" value="nbmax" />
+        <val type="numeric" value="8" />
+      </entry>
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+        <key type="string" value="values" />
+        <val type="list" id="151801036" >
+          <item type="dict" id="153052540" >
+            <entry>
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+              <val type="string" value="ro" />
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 1 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="153052676" >
+            <entry>
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+            <entry>
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+              <val type="True" value="" />
+            </entry>
+            <entry>
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+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Write Outputs 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Change Polarity Outputs Bit %d to %d[(idx*128-127,idx*128)]" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24864" />
+    <val type="dict" id="153051996" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
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+        <key type="string" value="values" />
+        <val type="list" id="151800108" >
+          <item type="dict" id="153052132" >
+            <entry>
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+              <val type="string" value="ro" />
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+            <entry>
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+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 32 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="153052268" >
+            <entry>
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+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
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+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Read Input 0x%X to 0x%X[(sub*32-31,sub*32)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Read Input 4 Byte" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25666" />
+    <val type="dict" id="153051180" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151799084" >
+          <item type="dict" id="153051316" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs" />
+            </entry>
+          </item>
+          <item type="dict" id="153051452" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="8" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Output Scaling Float" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25667" />
+    <val type="dict" id="153051588" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151801132" >
+          <item type="dict" id="153051724" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs" />
+            </entry>
+          </item>
+          <item type="dict" id="153051860" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Error Mode Analogue Output %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Output Error Mode" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25668" />
+    <val type="dict" id="151874524" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151798060" >
+          <item type="dict" id="151875068" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs" />
+            </entry>
+          </item>
+          <item type="dict" id="151875204" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Output Error Value Integer" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25669" />
+    <val type="dict" id="151875340" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151799692" >
+          <item type="dict" id="151899372" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs" />
+            </entry>
+          </item>
+          <item type="dict" id="151899508" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Output Error Value Float" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25665" />
+    <val type="dict" id="151899644" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151800396" >
+          <item type="dict" id="151897332" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Outputs" />
+            </entry>
+          </item>
+          <item type="dict" id="151897468" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="8" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Output Offset Float" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25648" />
+    <val type="dict" id="151897604" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151799116" >
+          <item type="dict" id="151898556" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Analogue Inputs" />
+            </entry>
+          </item>
+          <item type="dict" id="151898692" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="7" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Analogue Input %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Analogue Input SI unit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24672" />
+    <val type="dict" id="153066052" >
+      <entry>
+        <key type="string" value="incr" />
+        <val type="numeric" value="1" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="15" />
+      </entry>
+      <entry>
+        <key type="string" value="nbmax" />
+        <val type="numeric" value="8" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151825068" >
+          <item type="dict" id="153066188" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 1 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="153066324" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Mask Any Change Input bit 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input Low to High Bit 0x%X to 0x%X[(idx*128-127,idx*128)]" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25094" />
+    <val type="dict" id="151898420" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151789260" >
+          <item type="dict" id="151896516" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 8 Bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151896652" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Error Mode Outputs 0x%X to 0x%X[(sub*8-7,sub*8)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Error Mode Outputs 8 Bit" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="25634" />
+    <val type="dict" id="151898828" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151787212" >
+          <item type="dict" id="151898148" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
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+              <val type="numeric" value="2" />
+            </entry>
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Interrupt Source Bank" />
+            </entry>
+          </item>
+          <item type="dict" id="151898284" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
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+              <val type="True" value="" />
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+              <val type="numeric" value="7" />
+            </entry>
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+              <val type="string" value="Interrupt Source Bank 0x%X[(sub)]" />
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+        <val type="string" value="Analogue Input Interrupt Source" />
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+        <val type="numeric" value="7" />
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+              <val type="string" value="Filter Mask Outputs 0x%X to 0x%X[(sub*32-31,sub*32)]" />
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+              <val type="numeric" value="254" />
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+        <val type="numeric" value="7" />
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+              <val type="string" value="Number of Analogue Outputs" />
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+          <item type="dict" id="151897876" >
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+              <val type="numeric" value="7" />
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+              <key type="string" value="name" />
+              <val type="string" value="Analogue Output %d[(sub)]" />
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+              <key type="string" value="nbmax" />
+              <val type="numeric" value="254" />
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+        </val>
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+      <entry>
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+        <val type="string" value="Analogue Output SI Unit" />
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+      <entry>
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+        <val type="numeric" value="7" />
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+              <key type="string" value="name" />
+              <val type="string" value="Number of Output 16 Bit" />
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+              <val type="string" value="Error Mode Outputs 0x%X to 0x%X[(sub*16-15,sub*16)]" />
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+        <val type="numeric" value="7" />
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+              <val type="string" value="Analogue Input Global Interrupt Enable" />
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+        </val>
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+        <val type="numeric" value="1" />
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+              <val type="numeric" value="254" />
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+              <val type="string" value="Write Outputs 0x%X to 0x%X[(sub*32-31,sub*32)]" />
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+              <val type="numeric" value="254" />
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+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="24688" />
+    <val type="dict" id="151878348" >
+      <entry>
+        <key type="string" value="incr" />
+        <val type="numeric" value="1" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="15" />
+      </entry>
+      <entry>
+        <key type="string" value="nbmax" />
+        <val type="numeric" value="8" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="151812428" >
+          <item type="dict" id="151878484" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Input 1 bit" />
+            </entry>
+          </item>
+          <item type="dict" id="151877804" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="1" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Interrupt Mask Any Change Input bit 0x%X[((idx-1)*128+sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="128" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Interrupt Mask Input High  to Low Bit 0x%X to 0x%X[(idx*128-127,idx*128)]" />
+      </entry>
+    </val>
+  </entry>
 </attr>
-<attr name="Name" type="string" value="TestMaster" />
-<attr name="Dictionary" type="dict" id="146655676" >
+<attr name="Name" type="string">TestMaster</attr>
+<attr name="Dictionary" type="dict" id="151876988" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="301" />
@@ -23,7 +5027,7 @@
   </entry>
   <entry>
     <key type="numeric" value="5121" />
-    <val type="list" id="146871116" >
+    <val type="list" id="153057644" >
       <item type="numeric" value="642" />
       <item type="numeric" value="1" />
       <item type="numeric" value="0" />
@@ -35,17 +5039,9 @@
     <key type="numeric" value="4101" />
     <val type="numeric" value="1073741952" />
   </entry>
-  <entry>
-    <key type="numeric" value="4102" />
-    <val type="numeric" value="50000" />
-  </entry>
-  <entry>
-    <key type="numeric" value="8193" />
-    <val type="numeric" value="0" />
-  </entry>
   <entry>
     <key type="numeric" value="5120" />
-    <val type="list" id="146380268" >
+    <val type="list" id="153057900" >
       <item type="numeric" value="386" />
       <item type="numeric" value="1" />
       <item type="numeric" value="0" />
@@ -53,9 +5049,27 @@
       <item type="numeric" value="0" />
     </val>
   </entry>
+  <entry>
+    <key type="numeric" value="8192" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="7970" />
+    <val type="list" id="153055308" >
+      <item type="string" value="" />
+      <item type="string" value="\x01\x00\x00\x00\x17\x10\x00\x02\x00\x00\x00\xe8\x03" />
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="5632" />
+    <val type="list" id="153057260" >
+      <item type="numeric" value="536870920" />
+      <item type="numeric" value="536936456" />
+    </val>
+  </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="list" id="146362700" >
+    <val type="list" id="153055372" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -64,42 +5078,33 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="list" id="146365740" >
+    <val type="list" id="153056364" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
     </val>
   </entry>
-  <entry>
-    <key type="numeric" value="4736" />
-    <val type="list" id="146871852" >
-      <item type="numeric" value="1538" />
-      <item type="numeric" value="1410" />
-      <item type="numeric" value="2" />
-    </val>
-  </entry>
   <entry>
     <key type="numeric" value="5633" />
-    <val type="list" id="146379724" >
+    <val type="list" id="153057420" >
       <item type="numeric" value="537001992" />
       <item type="numeric" value="537067528" />
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8192" />
-    <val type="numeric" value="0" />
+    <key type="numeric" value="4102" />
+    <val type="numeric" value="50000" />
   </entry>
   <entry>
-    <key type="numeric" value="5632" />
-    <val type="list" id="146871756" >
-      <item type="numeric" value="536870920" />
-      <item type="numeric" value="536936456" />
+    <key type="numeric" value="4118" />
+    <val type="list" id="153057484" >
+      <item type="numeric" value="1500" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="4120" />
-    <val type="list" id="146379916" >
+    <val type="list" id="153056012" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -107,55 +5112,95 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="4118" />
-    <val type="list" id="146380140" >
-      <item type="numeric" value="133122" />
+    <key type="numeric" value="4736" />
+    <val type="list" id="153056524" >
+      <item type="numeric" value="1538" />
+      <item type="numeric" value="1410" />
+      <item type="numeric" value="2" />
     </val>
   </entry>
+  <entry>
+    <key type="numeric" value="8193" />
+    <val type="numeric" value="0" />
+  </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="146382668" >
+<attr name="SpecificMenu" type="list" id="153055532" >
+  <item type="tuple" id="151770572" >
+    <item type="string" value="Read Input Bit" />
+    <item type="list" id="153055596" >
+      <item type="numeric" value="24608" />
+      <item type="numeric" value="24624" />
+      <item type="numeric" value="24632" />
+      <item type="numeric" value="24656" />
+      <item type="numeric" value="24672" />
+      <item type="numeric" value="24688" />
+    </item>
+  </item>
+  <item type="tuple" id="151771148" >
+    <item type="string" value="Write Output Bit" />
+    <item type="list" id="153055724" >
+      <item type="numeric" value="25120" />
+      <item type="numeric" value="25152" />
+      <item type="numeric" value="25168" />
+      <item type="numeric" value="25184" />
+      <item type="numeric" value="25200" />
+    </item>
+  </item>
 </attr>
-<attr name="ParamsDictionary" type="dict" id="146655812" >
+<attr name="ParamsDictionary" type="dict" id="151877124" >
+</attr>
+<attr name="UserMapping" type="dict" id="151877260" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="146655948" >
+    <val type="dict" id="151876308" >
       <entry>
-        <key type="string" value="callback" />
-        <val type="True" value="" />
+        <key type="string" value="need" />
+        <val type="False" value="" />
       </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="4112" />
-    <val type="dict" id="146665788" >
       <entry>
-        <key type="string" value="callback" />
-        <val type="True" value="" />
+        <key type="string" value="values" />
+        <val type="list" id="153056716" >
+          <item type="dict" id="151876444" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="True" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="5" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string">MasterMap1</val>
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string">MasterMap1</val>
       </entry>
-    </val>
-  </entry>
-  <entry>
-    <key type="numeric" value="4113" />
-    <val type="dict" id="146652124" >
       <entry>
-        <key type="string" value="callback" />
-        <val type="True" value="" />
+        <key type="string" value="struct" />
+        <val type="numeric" value="1" />
       </entry>
     </val>
   </entry>
-</attr>
-<attr name="UserMapping" type="dict" id="146656084" >
   <entry>
-    <key type="numeric" value="8192" />
-    <val type="dict" id="146656220" >
+    <key type="numeric" value="8193" />
+    <val type="dict" id="151876716" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="146379852" >
-          <item type="dict" id="146656356" >
+        <val type="list" id="153056812" >
+          <item type="dict" id="151876852" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -170,14 +5215,14 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="MasterMap1" />
+              <val type="string">MasterMap2</val>
             </entry>
           </item>
         </val>
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="MasterMap1" />
+        <val type="string">MasterMap2</val>
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -186,16 +5231,16 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8193" />
-    <val type="dict" id="146656492" >
+    <key type="numeric" value="8194" />
+    <val type="dict" id="151876172" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="146379660" >
-          <item type="dict" id="146656628" >
+        <val type="list" id="153058092" >
+          <item type="dict" id="151878756" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -210,14 +5255,14 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="MasterMap2" />
+              <val type="string">MasterMap3</val>
             </entry>
           </item>
         </val>
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="MasterMap2" />
+        <val type="string">MasterMap3</val>
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -226,16 +5271,16 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="8194" />
-    <val type="dict" id="146656764" >
+    <key type="numeric" value="8195" />
+    <val type="dict" id="151878892" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="146380204" >
-          <item type="dict" id="146656900" >
+        <val type="list" id="153056172" >
+          <item type="dict" id="151878212" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -250,14 +5295,14 @@
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="MasterMap3" />
+              <val type="string">MasterMap4</val>
             </entry>
           </item>
         </val>
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="MasterMap3" />
+        <val type="string">MasterMap4</val>
       </entry>
       <entry>
         <key type="string" value="struct" />
@@ -265,50 +5310,196 @@
       </entry>
     </val>
   </entry>
+</attr>
+<attr name="DS302" type="dict" id="151879164" >
   <entry>
-    <key type="numeric" value="8195" />
-    <val type="dict" id="146657036" >
+    <key type="numeric" value="7968" />
+    <val type="dict" id="151879300" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="146379756" >
-          <item type="dict" id="146665516" >
+        <val type="list" id="153056684" >
+          <item type="dict" id="151878620" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="151875764" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
             </entry>
             <entry>
               <key type="string" value="pdo" />
-              <val type="True" value="" />
+              <val type="False" value="" />
             </entry>
             <entry>
               <key type="string" value="type" />
-              <val type="numeric" value="5" />
+              <val type="numeric" value="15" />
             </entry>
             <entry>
               <key type="string" value="name" />
-              <val type="string" value="MasterMap4" />
+              <val type="string" value="Store DCF for node %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
             </entry>
           </item>
         </val>
       </entry>
       <entry>
         <key type="string" value="name" />
-        <val type="string" value="MasterMap4" />
+        <val type="string" value="Store DCF" />
       </entry>
       <entry>
         <key type="string" value="struct" />
-        <val type="numeric" value="1" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="7969" />
+    <val type="dict" id="151875900" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="153058412" >
+          <item type="dict" id="151876036" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="151877396" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Storage Format for Node %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Storage Format" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="7970" />
+    <val type="dict" id="151877532" >
+      <entry>
+        <key type="string" value="need" />
+        <val type="False" value="" />
+      </entry>
+      <entry>
+        <key type="string" value="values" />
+        <val type="list" id="153058668" >
+          <item type="dict" id="151877668" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="ro" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="2" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Number of Entries" />
+            </entry>
+          </item>
+          <item type="dict" id="151921636" >
+            <entry>
+              <key type="string" value="access" />
+              <val type="string" value="rw" />
+            </entry>
+            <entry>
+              <key type="string" value="pdo" />
+              <val type="False" value="" />
+            </entry>
+            <entry>
+              <key type="string" value="type" />
+              <val type="numeric" value="15" />
+            </entry>
+            <entry>
+              <key type="string" value="name" />
+              <val type="string" value="Concise DCF for Node %d[(sub)]" />
+            </entry>
+            <entry>
+              <key type="string" value="nbmax" />
+              <val type="numeric" value="127" />
+            </entry>
+          </item>
+        </val>
+      </entry>
+      <entry>
+        <key type="string" value="name" />
+        <val type="string" value="Concise DCF" />
+      </entry>
+      <entry>
+        <key type="string" value="struct" />
+        <val type="numeric" value="7" />
       </entry>
     </val>
   </entry>
 </attr>
-<attr name="DS302" type="dict" id="146665652" >
-</attr>
-<attr name="ProfileName" type="string" value="DS-301" />
-<attr name="Type" type="string" value="master" />
-<attr name="ID" type="numeric" value="0" />
+<attr name="ProfileName" type="string">DS-401</attr>
+<attr name="Type" type="string">master</attr>
+<attr name="ID" type="numeric" value="1" />
 </PyObject>
diff --git a/examples/TestMasterSlave/TestMasterSlave.c b/examples/TestMasterSlave/TestMasterSlave.c
index 7511ff2e9f107f4350528b6a32fb472c61f998ac..04d2263e500d0d5c7e6aa079fc3a6ad5f09af202 100644 (file)
--- a/examples/TestMasterSlave/TestMasterSlave.c
+++ b/examples/TestMasterSlave/TestMasterSlave.c
@@ -49,8 +49,8 @@ UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8
        return 0;
 }
 
-s_BOARD SlaveBoard = {"0", "500K"};
-s_BOARD MasterBoard = {"1", "500K"};
+s_BOARD SlaveBoard = {"0", "125K"};
+s_BOARD MasterBoard = {"1", "125K"};
 
 #if !defined(WIN32) || defined(__CYGWIN__)
 void catch_signal(int sig)
@@ -69,7 +69,8 @@ void help()
   printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
   printf("*  nodes in the same process. A master and a slave. Both     *\n");
   printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
-  printf("*  SDO and PDO.                                              *\n");
+  printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
+  printf("*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n");                                  
   printf("*                                                            *\n");
   printf("*   Usage:                                                   *\n");
   printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
@@ -92,7 +93,7 @@ void help()
 void InitNodes(CO_Data* d, UNS32 id)
 {
        /****************************** INITIALISATION SLAVE *******************************/
-       if(SlaveBoard.baudrate) {
+       if(strcmp(SlaveBoard.baudrate, "none")) {
                /* Defining the node Id */
                setNodeId(&TestSlave_Data, 0x02);
                /* init */
@@ -100,21 +101,15 @@ void InitNodes(CO_Data* d, UNS32 id)
        }
 
        /****************************** INITIALISATION MASTER *******************************/
-       if(MasterBoard.baudrate){
+       if(strcmp(MasterBoard.baudrate, "none")){
                RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
-
+               
                /* Defining the node Id */
                setNodeId(&TestMaster_Data, 0x01);
 
                /* init */
                setState(&TestMaster_Data, Initialisation);
-
-               /****************************** START *******************************/
-               /* Put the master in operational mode */
-               setState(&TestMaster_Data, Operational);
-  
-               /* Ask slave node to go in operational mode */
-               masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
+                       
        }
 }
 
@@ -188,7 +183,8 @@ int main(int argc,char **argv)
        LoadCanDriver(LibraryPath);
 #endif         
        // Open CAN devices
-       if(strcmp( SlaveBoard.baudrate, "none")){
+
+       if(strcmp(SlaveBoard.baudrate, "none")){
                
                TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
                TestSlave_Data.initialisation = TestSlave_initialisation;
@@ -204,8 +200,7 @@ int main(int argc,char **argv)
                        goto fail_slave;
                }
        }
-
-       if(strcmp( MasterBoard.baudrate, "none")){
+       if(strcmp(MasterBoard.baudrate, "none")){
                
                TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
                TestMaster_Data.initialisation = TestMaster_initialisation;
@@ -216,27 +211,31 @@ int main(int argc,char **argv)
                TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
                
                if(!canOpen(&MasterBoard,&TestMaster_Data)){
-                       eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+                       eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
                        goto fail_master;
                }
        }
-       
+       sleep(2);
        // Start timer thread
        StartTimerLoop(&InitNodes);
 
        // wait Ctrl-C
+       
        pause();
        eprintf("Finishing.\n");
        
+       masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
+       eprintf("reset\n");
+       // Stop master
+       setState(&TestMaster_Data, Stopped);
+       
        // Stop timer thread
        StopTimerLoop();
        
        // Close CAN devices (and can threads)
-       if(strcmp( SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
+       if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
 fail_master:
-       if(strcmp( MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);   
+       if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);    
 fail_slave:
-       
-
-  return 0;
+       return 0;
 }
diff --git a/examples/TestMasterSlave/TestSlave.c b/examples/TestMasterSlave/TestSlave.c
index 92b4217927573dcf0e7eaf318bde59130609ebe8..67563db17110ab3467383f5d12a05e81dc8b4ec6 100644 (file)
--- a/examples/TestMasterSlave/TestSlave.c
+++ b/examples/TestMasterSlave/TestSlave.c
@@ -130,7 +130,11 @@ $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
                     UNS32 TestSlave_obj1016[]={0};
 
 /* index 0x1017 :   Producer Heartbeat Time. */
-                    UNS16 TestSlave_obj1017 = 0x3E8;   /* 1000 */
+                    UNS16 TestSlave_obj1017 = 0x0;     /* 0 */
+                    ODCallback_t TestSlave_Index1017_callbacks[] = 
+                     {
+                       NULL,
+                     };
                     subindex TestSlave_Index1017[] = 
                      {
                        { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 }
@@ -280,7 +284,7 @@ const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCal
                case 0x1006: i = 3;*callbacks = TestSlave_Index1006_callbacks; break;
                case 0x1010: i = 4;*callbacks = TestSlave_Index1010_callbacks; break;
                case 0x1011: i = 5;*callbacks = TestSlave_Index1011_callbacks; break;
-               case 0x1017: i = 6;break;
+               case 0x1017: i = 6;*callbacks = TestSlave_Index1017_callbacks; break;
                case 0x1018: i = 7;break;
                case 0x1200: i = 8;break;
                case 0x1800: i = 9;break;
diff --git a/examples/TestMasterSlave/TestSlave.od b/examples/TestMasterSlave/TestSlave.od
index 73ec6a8f538d00040cf543078fc3d90d6102c834..67dd19ac89c4fabc2cbdc3576895af1610a94dae 100644 (file)
--- a/examples/TestMasterSlave/TestSlave.od
+++ b/examples/TestMasterSlave/TestSlave.od
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="17963560">
-<attr name="Profile" type="dict" id="18771104" >
+<PyObject module="node" class="Node" id="151439820">
+<attr name="Profile" type="dict" id="151442540" >
 </attr>
 <attr name="Name" type="string" value="TestSlave" />
-<attr name="Dictionary" type="dict" id="18772176" >
+<attr name="Dictionary" type="dict" id="151441860" >
   <entry>
     <key type="numeric" value="4096" />
     <val type="numeric" value="301" />
@@ -22,8 +22,14 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="8193" />
-    <val type="numeric" value="0" />
+    <key type="numeric" value="6145" />
+    <val type="list" id="151438060" >
+      <item type="numeric" value="642" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+      <item type="numeric" value="0" />
+    </val>
   </entry>
   <entry>
     <key type="numeric" value="4101" />
@@ -34,22 +40,22 @@
     <val type="numeric" value="0" />
   </entry>
   <entry>
-    <key type="numeric" value="6145" />
-    <val type="list" id="16025432" >
-      <item type="numeric" value="642" />
+    <key type="numeric" value="8193" />
+    <val type="numeric" value="0" />
+  </entry>
+  <entry>
+    <key type="numeric" value="6144" />
+    <val type="list" id="151437836" >
+      <item type="numeric" value="386" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
     </val>
   </entry>
-  <entry>
-    <key type="numeric" value="4102" />
-    <val type="numeric" value="0" />
-  </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="list" id="17967080" >
+    <val type="list" id="151438028" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -58,41 +64,41 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="list" id="17967008" >
+    <val type="list" id="151439020" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
     </val>
   </entry>
+  <entry>
+    <key type="numeric" value="4608" />
+    <val type="list" id="151437900" >
+      <item type="numeric" value="1537" />
+      <item type="numeric" value="1409" />
+    </val>
+  </entry>
   <entry>
     <key type="numeric" value="6657" />
-    <val type="list" id="17966648" >
+    <val type="list" id="151438540" >
       <item type="numeric" value="537001992" />
       <item type="numeric" value="537067528" />
     </val>
   </entry>
   <entry>
     <key type="numeric" value="6656" />
-    <val type="list" id="17966288" >
+    <val type="list" id="151437932" >
       <item type="numeric" value="536870920" />
       <item type="numeric" value="536936456" />
     </val>
   </entry>
-  <entry>
-    <key type="numeric" value="4608" />
-    <val type="list" id="17967152" >
-      <item type="numeric" value="1537" />
-      <item type="numeric" value="1409" />
-    </val>
-  </entry>
   <entry>
     <key type="numeric" value="4119" />
-    <val type="numeric" value="1000" />
+    <val type="numeric" value="0" />
   </entry>
   <entry>
     <key type="numeric" value="4120" />
-    <val type="list" id="17966864" >
+    <val type="list" id="151437868" >
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
       <item type="numeric" value="0" />
@@ -100,22 +106,16 @@
     </val>
   </entry>
   <entry>
-    <key type="numeric" value="6144" />
-    <val type="list" id="17965784" >
-      <item type="numeric" value="386" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-      <item type="numeric" value="0" />
-    </val>
+    <key type="numeric" value="4102" />
+    <val type="numeric" value="0" />
   </entry>
 </attr>
-<attr name="SpecificMenu" type="list" id="17966792" >
+<attr name="SpecificMenu" type="list" id="151437804" >
 </attr>
-<attr name="ParamsDictionary" type="dict" id="18773248" >
+<attr name="ParamsDictionary" type="dict" id="151442268" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="18773536" >
+    <val type="dict" id="151435844" >
       <entry>
         <key type="string" value="callback" />
         <val type="False" value="" />
@@ -124,7 +124,16 @@
   </entry>
   <entry>
     <key type="numeric" value="4112" />
-    <val type="dict" id="18771392" >
+    <val type="dict" id="151436252" >
+      <entry>
+        <key type="string" value="callback" />
+        <val type="True" value="" />
+      </entry>
+    </val>
+  </entry>
+  <entry>
+    <key type="numeric" value="4119" />
+    <val type="dict" id="151435708" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -133,10 +142,10 @@
   </entry>
   <entry>
     <key type="numeric" value="6144" />
-    <val type="dict" id="18771680" >
+    <val type="dict" id="151441588" >
       <entry>
         <key type="numeric" value="2" />
-        <val type="dict" id="18776912" >
+        <val type="dict" id="151435572" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -145,7 +154,7 @@
       </entry>
       <entry>
         <key type="numeric" value="3" />
-        <val type="dict" id="18951264" >
+        <val type="dict" id="151436932" >
           <entry>
             <key type="string" value="save" />
             <val type="True" value="" />
@@ -156,7 +165,7 @@
   </entry>
   <entry>
     <key type="numeric" value="4113" />
-    <val type="dict" id="18777200" >
+    <val type="dict" id="151441452" >
       <entry>
         <key type="string" value="callback" />
         <val type="True" value="" />
@@ -164,18 +173,18 @@
     </val>
   </entry>
 </attr>
-<attr name="UserMapping" type="dict" id="18777488" >
+<attr name="UserMapping" type="dict" id="151435436" >
   <entry>
     <key type="numeric" value="8192" />
-    <val type="dict" id="18777776" >
+    <val type="dict" id="151436524" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="17966720" >
-          <item type="dict" id="18778064" >
+        <val type="list" id="151437772" >
+          <item type="dict" id="151436796" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -207,15 +216,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8193" />
-    <val type="dict" id="18778352" >
+    <val type="dict" id="140686172" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="17967368" >
-          <item type="dict" id="18778640" >
+        <val type="list" id="151437740" >
+          <item type="dict" id="151436116" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -247,15 +256,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8194" />
-    <val type="dict" id="18778928" >
+    <val type="dict" id="151436388" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="17966936" >
-          <item type="dict" id="18779216" >
+        <val type="list" id="151437548" >
+          <item type="dict" id="140685492" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -287,15 +296,15 @@
   </entry>
   <entry>
     <key type="numeric" value="8195" />
-    <val type="dict" id="18779504" >
+    <val type="dict" id="151435028" >
       <entry>
         <key type="string" value="need" />
         <val type="False" value="" />
       </entry>
       <entry>
         <key type="string" value="values" />
-        <val type="list" id="17967296" >
-          <item type="dict" id="18779792" >
+        <val type="list" id="151437708" >
+          <item type="dict" id="151434892" >
             <entry>
               <key type="string" value="access" />
               <val type="string" value="rw" />
@@ -326,7 +335,7 @@
     </val>
   </entry>
 </attr>
-<attr name="DS302" type="dict" id="18780864" >
+<attr name="DS302" type="dict" id="151434756" >
 </attr>
 <attr name="ProfileName" type="string" value="DS-301" />
 <attr name="Type" type="string" value="slave" />
diff --git a/examples/TestMasterSlave/TestSlaveC.c b/examples/TestMasterSlave/TestSlaveC.c
new file mode 100644 (file)
index 0000000..55f0102
--- /dev/null
+++ b/examples/TestMasterSlave/TestSlaveC.c
@@ -0,0 +1,329 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "TestSlaveC.h"
+
+/**************************************************************************/
+/* Declaration of the mapped variables                                    */
+/**************************************************************************/
+UNS8 SlaveMap1 = 0x0;          /* Mapped at index 0x2000, subindex 0x00 */
+UNS8 SlaveMap2 = 0x0;          /* Mapped at index 0x2001, subindex 0x00 */
+UNS8 SlaveMap3 = 0x0;          /* Mapped at index 0x2002, subindex 0x00 */
+UNS8 SlaveMap4 = 0x0;          /* Mapped at index 0x2003, subindex 0x00 */
+
+/**************************************************************************/
+/* Declaration of the value range types                                   */
+/**************************************************************************/
+
+UNS32 TestSlave_valueRangeTest (UNS8 typeValue, void * value)
+{
+  switch (typeValue) {
+  }
+  return 0;
+}
+
+/**************************************************************************/
+/* The node id                                                            */
+/**************************************************************************/
+/* node_id default value.*/
+UNS8 TestSlave_bDeviceNodeId = 0x00;
+
+/**************************************************************************/
+/* Array of message processing information */
+
+const UNS8 TestSlave_iam_a_slave = 1;
+
+TIMER_HANDLE TestSlave_heartBeatTimers[1];
+
+/*
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+
+                               OBJECT DICTIONARY
+
+$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
+*/
+
+/* index 0x1000 :   Device Type. */
+                    UNS32 TestSlave_obj1000 = 0x12D;   /* 301 */
+                    subindex TestSlave_Index1000[] = 
+                     {
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1000 }
+                     };
+
+/* index 0x1001 :   Error Register. */
+                    UNS8 TestSlave_obj1001 = 0x0;      /* 0 */
+                    subindex TestSlave_Index1001[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_obj1001 }
+                     };
+
+/* index 0x1005 :   SYNC COB ID. */
+                    UNS32 TestSlave_obj1005 = 0x80;    /* 128 */
+                    ODCallback_t TestSlave_Index1005_callbacks[] = 
+                     {
+                       NULL,
+                     };
+                    subindex TestSlave_Index1005[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1005 }
+                     };
+
+/* index 0x1006 :   Communication / Cycle Period. */
+                    UNS32 TestSlave_obj1006 = 0x0;     /* 0 */
+                    ODCallback_t TestSlave_Index1006_callbacks[] = 
+                     {
+                       NULL,
+                     };
+                    subindex TestSlave_Index1006[] = 
+                     {
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1006 }
+                     };
+
+/* index 0x1010 :   Store parameters. */
+                    UNS8 TestSlave_highestSubIndex_obj1010 = 4; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1010_Save_All_Parameters = 0x0; /* 0 */
+                    UNS32 TestSlave_obj1010_Save_Communication_Parameters = 0x0;       /* 0 */
+                    UNS32 TestSlave_obj1010_Save_Application_Parameters = 0x0; /* 0 */
+                    UNS32 TestSlave_obj1010_Save_Manufacturer_Parameters = 0x0;        /* 0 */
+                    ODCallback_t TestSlave_Index1010_callbacks[] = 
+                     {
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                     };
+                    subindex TestSlave_Index1010[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1010 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_All_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Communication_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Application_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1010_Save_Manufacturer_Parameters }
+                     };
+
+/* index 0x1011 :   Restore Default Parameters. */
+                    UNS8 TestSlave_highestSubIndex_obj1011 = 4; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1011_Restore_All_Default_Parameters = 0x0;      /* 0 */
+                    UNS32 TestSlave_obj1011_Restore_Communication_Default_Parameters = 0x0;    /* 0 */
+                    UNS32 TestSlave_obj1011_Restore_Application_Default_Parameters = 0x0;      /* 0 */
+                    UNS32 TestSlave_obj1011_Restore_Manufacturer_Default_Parameters = 0x0;     /* 0 */
+                    ODCallback_t TestSlave_Index1011_callbacks[] = 
+                     {
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                       NULL,
+                     };
+                    subindex TestSlave_Index1011[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1011 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_All_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Communication_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Application_Default_Parameters },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1011_Restore_Manufacturer_Default_Parameters }
+                     };
+
+/* index 0x1016 :   Consumer Heartbeat Time */
+                    UNS8 TestSlave_highestSubIndex_obj1016 = 0;
+                    UNS32 TestSlave_obj1016[]={0};
+
+/* index 0x1017 :   Producer Heartbeat Time. */
+                    UNS16 TestSlave_obj1017 = 0x0;     /* 0 */
+                    subindex TestSlave_Index1017[] = 
+                     {
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1017 }
+                     };
+
+/* index 0x1018 :   Identity. */
+                    UNS8 TestSlave_highestSubIndex_obj1018 = 4; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1018_Vendor_ID = 0x0;   /* 0 */
+                    UNS32 TestSlave_obj1018_Product_Code = 0x0;        /* 0 */
+                    UNS32 TestSlave_obj1018_Revision_Number = 0x0;     /* 0 */
+                    UNS32 TestSlave_obj1018_Serial_Number = 0x0;       /* 0 */
+                    subindex TestSlave_Index1018[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1018 },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Vendor_ID },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Product_Code },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Revision_Number },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1018_Serial_Number }
+                     };
+
+/* index 0x1200 :   Server SDO Parameter. */
+                    UNS8 TestSlave_highestSubIndex_obj1200 = 2; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO = 0x601;       /* 1537 */
+                    UNS32 TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO = 0x581;      /* 1409 */
+                    subindex TestSlave_Index1200[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1200 },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Client_to_Server_Receive_SDO },
+                       { RO, uint32, sizeof (UNS32), (void*)&TestSlave_obj1200_COB_ID_Server_to_Client_Transmit_SDO }
+                     };
+
+/* index 0x1800 :   Transmit PDO 1 Parameter. */
+                    UNS8 TestSlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182;        /* 386 */
+                    UNS8 TestSlave_obj1800_Transmission_Type = 0x1;    /* 1 */
+                    UNS16 TestSlave_obj1800_Inhibit_Time = 0x0;        /* 0 */
+                    UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */
+                    UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */
+                    subindex TestSlave_Index1800[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1800 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1800_COB_ID_used_by_PDO },
+                       { RW|TO_BE_SAVE, uint8, sizeof (UNS8), (void*)&TestSlave_obj1800_Transmission_Type },
+                       { RW|TO_BE_SAVE, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Inhibit_Time },
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Compatibility_Entry },
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1800_Event_Timer }
+                     };
+
+/* index 0x1801 :   Transmit PDO 2 Parameter. */
+                    UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282;        /* 642 */
+                    UNS8 TestSlave_obj1801_Transmission_Type = 0x1;    /* 1 */
+                    UNS16 TestSlave_obj1801_Inhibit_Time = 0x0;        /* 0 */
+                    UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */
+                    UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */
+                    subindex TestSlave_Index1801[] = 
+                     {
+                       { RO, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1801 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1801_COB_ID_used_by_PDO },
+                       { RW, uint8, sizeof (UNS8), (void*)&TestSlave_obj1801_Transmission_Type },
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Inhibit_Time },
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Compatibility_Entry },
+                       { RW, uint16, sizeof (UNS16), (void*)&TestSlave_obj1801_Event_Timer }
+                     };
+
+/* index 0x1A00 :   Transmit PDO 1 Mapping. */
+                    UNS8 TestSlave_highestSubIndex_obj1A00 = 2; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1A00[] = 
+                    {
+                      0x20000008,      /* 536870920 */
+                      0x20010008       /* 536936456 */
+                    };
+                    subindex TestSlave_Index1A00[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A00 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[0] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A00[1] }
+                     };
+
+/* index 0x1A01 :   Transmit PDO 2 Mapping. */
+                    UNS8 TestSlave_highestSubIndex_obj1A01 = 2; /* number of subindex - 1*/
+                    UNS32 TestSlave_obj1A01[] = 
+                    {
+                      0x20020008,      /* 537001992 */
+                      0x20030008       /* 537067528 */
+                    };
+                    subindex TestSlave_Index1A01[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&TestSlave_highestSubIndex_obj1A01 },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[0] },
+                       { RW, uint32, sizeof (UNS32), (void*)&TestSlave_obj1A01[1] }
+                     };
+
+/* index 0x2000 :   Mapped variable SlaveMap1 */
+                    subindex TestSlave_Index2000[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap1 }
+                     };
+
+/* index 0x2001 :   Mapped variable SlaveMap2 */
+                    subindex TestSlave_Index2001[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap2 }
+                     };
+
+/* index 0x2002 :   Mapped variable SlaveMap3 */
+                    subindex TestSlave_Index2002[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap3 }
+                     };
+
+/* index 0x2003 :   Mapped variable SlaveMap4 */
+                    subindex TestSlave_Index2003[] = 
+                     {
+                       { RW, uint8, sizeof (UNS8), (void*)&SlaveMap4 }
+                     };
+
+const indextable TestSlave_objdict[] = 
+{
+  { (subindex*)TestSlave_Index1000,sizeof(TestSlave_Index1000)/sizeof(TestSlave_Index1000[0]), 0x1000},
+  { (subindex*)TestSlave_Index1001,sizeof(TestSlave_Index1001)/sizeof(TestSlave_Index1001[0]), 0x1001},
+  { (subindex*)TestSlave_Index1005,sizeof(TestSlave_Index1005)/sizeof(TestSlave_Index1005[0]), 0x1005},
+  { (subindex*)TestSlave_Index1006,sizeof(TestSlave_Index1006)/sizeof(TestSlave_Index1006[0]), 0x1006},
+  { (subindex*)TestSlave_Index1010,sizeof(TestSlave_Index1010)/sizeof(TestSlave_Index1010[0]), 0x1010},
+  { (subindex*)TestSlave_Index1011,sizeof(TestSlave_Index1011)/sizeof(TestSlave_Index1011[0]), 0x1011},
+  { (subindex*)TestSlave_Index1017,sizeof(TestSlave_Index1017)/sizeof(TestSlave_Index1017[0]), 0x1017},
+  { (subindex*)TestSlave_Index1018,sizeof(TestSlave_Index1018)/sizeof(TestSlave_Index1018[0]), 0x1018},
+  { (subindex*)TestSlave_Index1200,sizeof(TestSlave_Index1200)/sizeof(TestSlave_Index1200[0]), 0x1200},
+  { (subindex*)TestSlave_Index1800,sizeof(TestSlave_Index1800)/sizeof(TestSlave_Index1800[0]), 0x1800},
+  { (subindex*)TestSlave_Index1801,sizeof(TestSlave_Index1801)/sizeof(TestSlave_Index1801[0]), 0x1801},
+  { (subindex*)TestSlave_Index1A00,sizeof(TestSlave_Index1A00)/sizeof(TestSlave_Index1A00[0]), 0x1A00},
+  { (subindex*)TestSlave_Index1A01,sizeof(TestSlave_Index1A01)/sizeof(TestSlave_Index1A01[0]), 0x1A01},
+  { (subindex*)TestSlave_Index2000,sizeof(TestSlave_Index2000)/sizeof(TestSlave_Index2000[0]), 0x2000},
+  { (subindex*)TestSlave_Index2001,sizeof(TestSlave_Index2001)/sizeof(TestSlave_Index2001[0]), 0x2001},
+  { (subindex*)TestSlave_Index2002,sizeof(TestSlave_Index2002)/sizeof(TestSlave_Index2002[0]), 0x2002},
+  { (subindex*)TestSlave_Index2003,sizeof(TestSlave_Index2003)/sizeof(TestSlave_Index2003[0]), 0x2003},
+};
+
+const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
+{
+       int i;
+       *callbacks = NULL;
+       switch(wIndex){
+               case 0x1000: i = 0;break;
+               case 0x1001: i = 1;break;
+               case 0x1005: i = 2;*callbacks = TestSlave_Index1005_callbacks; break;
+               case 0x1006: i = 3;*callbacks = TestSlave_Index1006_callbacks; break;
+               case 0x1010: i = 4;*callbacks = TestSlave_Index1010_callbacks; break;
+               case 0x1011: i = 5;*callbacks = TestSlave_Index1011_callbacks; break;
+               case 0x1017: i = 6;break;
+               case 0x1018: i = 7;break;
+               case 0x1200: i = 8;break;
+               case 0x1800: i = 9;break;
+               case 0x1801: i = 10;break;
+               case 0x1A00: i = 11;break;
+               case 0x1A01: i = 12;break;
+               case 0x2000: i = 13;break;
+               case 0x2001: i = 14;break;
+               case 0x2002: i = 15;break;
+               case 0x2003: i = 16;break;
+               default:
+                       *errorCode = OD_NO_SUCH_OBJECT;
+                       return NULL;
+       }
+       *errorCode = OD_SUCCESSFUL;
+       return &TestSlave_objdict[i];
+}
+
+/* To count at which received SYNC a PDO must be sent.
+ * Even if no pdoTransmit are defined, at least one entry is computed
+ * for compilations issues.
+ */
+UNS8 TestSlave_count_sync[2] = {0,};
+
+quick_index TestSlave_firstIndex = {
+  8, /* SDO_SVR */
+  0, /* SDO_CLT */
+  0, /* PDO_RCV */
+  0, /* PDO_RCV_MAP */
+  9, /* PDO_TRS */
+  11 /* PDO_TRS_MAP */
+};
+
+quick_index TestSlave_lastIndex = {
+  8, /* SDO_SVR */
+  0, /* SDO_CLT */
+  0, /* PDO_RCV */
+  0, /* PDO_RCV_MAP */
+  10, /* PDO_TRS */
+  12 /* PDO_TRS_MAP */
+};
+
+UNS16 TestSlave_ObjdictSize = sizeof(TestSlave_objdict)/sizeof(TestSlave_objdict[0]); 
+
+CO_Data TestSlave_Data = CANOPEN_NODE_DATA_INITIALIZER(TestSlave);
+
diff --git a/examples/TestMasterSlave/TestSlaveC.h b/examples/TestMasterSlave/TestSlaveC.h
new file mode 100644 (file)
index 0000000..4b9aada
--- /dev/null
+++ b/examples/TestMasterSlave/TestSlaveC.h
@@ -0,0 +1,18 @@
+
+/* File generated by gen_cfile.py. Should not be modified. */
+
+#include "data.h"
+
+/* Prototypes of function provided by object dictionnary */
+UNS32 TestSlave_valueRangeTest (UNS8 typeValue, void * value);
+const indextable * TestSlave_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
+
+/* Master node data struct */
+extern CO_Data TestSlave_Data;
+
+extern ODCallback_t Store_parameters_callbacks[];              /* Callbacks of index0x1010 */
+extern ODCallback_t Restore_Default_Parameters_callbacks[];            /* Callbacks of index0x1011 */
+extern UNS8 SlaveMap1;         /* Mapped at index 0x2000, subindex 0x00*/
+extern UNS8 SlaveMap2;         /* Mapped at index 0x2001, subindex 0x00*/
+extern UNS8 SlaveMap3;         /* Mapped at index 0x2002, subindex 0x00*/
+extern UNS8 SlaveMap4;         /* Mapped at index 0x2003, subindex 0x00*/
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