Master Driver
=============

The master node handles the creation of the necessary can interface and sets up a canopen event loop which drivers can hook onto. In addition, the node offers services for communicating with nodes via nmt and sdo. The device manager will automatically spawn a master node on start-up. The master node is configured by the provided dcf file.

Services
--------

.. list-table::
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  * - Services
    - Type
    - Description
  * - ~/read_sdo
    - COReadID
    - Reads an SDO object specified by Index, Subindex and Datatype of the device with the specified nodeid.
  * - ~/write_sdo
    - COWriteID
    - Writes Data to an SDO object specified by Index, Subindex and Datatype on the device with the specified nodeid.
  * - ~/set_heartbeat
    - COHeartbeatID
    - Sets the heartbeat of the device with the specified nodeid to the heartbeat value (ms)
  * - ~/set_nmt
    - CONmtID
    - Sends the NMT command to the device with the specified nodeid